+ python -m lidar_slam --no-model /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/6f5c8b1a-58a1-4765-8143-c576e9cba7c9 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 0.00463044 Adjusted end_distance from 9.223372036854776e+18 to 505.36463044 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00463044 meters 0.6972671285080775 Centerline is valid? [0, False] SLAMing on 0.06463044 meters 0.6890591698498338 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998325e-01 1.82659277e-03 -1.13921320e-04 1.29370201e-02] [-1.82643938e-03 9.99997444e-01 1.33233846e-03 4.20087482e-03] [ 1.16354669e-04 -1.33212816e-03 9.99999106e-01 -1.28875129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12463044 meters 0.6480425110251773 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999071e-01 1.16290717e-03 -7.10851035e-04 1.66486995e-02] [-1.16286156e-03 9.99999322e-01 6.45762991e-05 1.29493022e-02] [ 7.10925649e-04 -6.37496178e-05 9.99999745e-01 -1.42681706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18463044 meters 0.6972841414893678 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.02 [[ 9.99999129e-01 7.57817098e-04 -1.08018176e-03 1.89459976e-02] [-7.58443239e-04 9.99999545e-01 -5.79370758e-04 1.72519885e-02] [ 1.07974222e-03 5.80189510e-04 9.99999249e-01 -1.50386812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24463044 meters 0.6196037552867032 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99998555e-01 -1.52347224e-04 -1.69287452e-03 2.96332156e-02] [ 1.49590699e-04 9.99998663e-01 -1.62831753e-03 2.33829957e-02] [ 1.69312033e-03 1.62806194e-03 9.99997241e-01 -2.34065024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30463044 meters 0.6708415784323709 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.03 [[ 9.99997048e-01 -9.14003499e-04 -2.25133988e-03 3.98243698e-02] [ 9.08970415e-04 9.99997088e-01 -2.23560469e-03 2.53214187e-02] [ 2.25337668e-03 2.23355169e-03 9.99994967e-01 -3.18547295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36463044 meters 1.0909302608351041 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.04 [[ 0.99999458 -0.00162859 -0.00286034 0.05078573] [ 0.00162053 0.99999471 -0.00281919 0.02796967] [ 0.00286492 0.00281454 0.99999194 -0.04077353] [ 0. 0. 0. 1. ]] SLAMing on 0.42463044 meters 0.7611584042913146 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.05 [[ 9.99993408e-01 -7.96720879e-04 -3.54253397e-03 5.78695148e-02] [ 7.89699497e-04 9.99997722e-01 -1.98297966e-03 2.52675860e-02] [ 3.54410578e-03 1.98016905e-03 9.99991759e-01 -4.56734769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48463044 meters 0.650685464789351 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.05 [[ 9.99992067e-01 -8.39780552e-04 -3.89365028e-03 6.03156549e-02] [ 8.31360824e-04 9.99997314e-01 -2.16353969e-03 2.68216233e-02] [ 3.89545672e-03 2.16028550e-03 9.99990079e-01 -4.70065255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54463044 meters 0.6684869474155524 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 9.99987945e-01 5.54261401e-04 -4.87882547e-03 6.98751795e-02] [-5.59467030e-04 9.99999276e-01 -1.06568406e-03 2.38579968e-02] [ 4.87823127e-03 1.06840075e-03 9.99987531e-01 -5.29750958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60463044 meters 0.9627000341764907 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.06 [[ 0.99997987 0.00141805 -0.00618429 0.08298847] [-0.00142591 0.99999818 -0.00126724 0.02899547] [ 0.00618248 0.00127603 0.99998007 -0.06275059] [ 0. 0. 0. 1. ]] SLAMing on 0.6646304399999999 meters 1.214686567857117 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.07 [[ 0.99997349 0.00161271 -0.00710127 0.08871688] [-0.00162528 0.99999712 -0.00176419 0.03359443] [ 0.0070984 0.00177569 0.99997323 -0.06532903] [ 0. 0. 0. 1. ]] SLAMing on 0.72463044 meters 0.7572735027034961 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.07 [[ 0.9999671 0.00220463 -0.00780571 0.09824018] [-0.00221778 0.99999614 -0.00167624 0.03600426] [ 0.00780199 0.00169349 0.99996813 -0.07243847] [ 0. 0. 0. 1. ]] SLAMing on 0.78463044 meters 0.8317778034955919 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.07 [[ 0.99996515 0.00189059 -0.00813123 0.10030746] [-0.00190938 0.99999552 -0.00230382 0.04053139] [ 0.00812684 0.00231927 0.99996429 -0.07333322] [ 0. 0. 0. 1. ]] SLAMing on 0.84463044 meters 0.6933884698712626 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.07 [[ 0.9999622 0.00170277 -0.00852589 0.10261037] [-0.00172489 0.99999516 -0.00258767 0.04256699] [ 0.00852144 0.00260228 0.99996031 -0.07368411] [ 0. 0. 0. 1. ]] SLAMing on 0.9046304399999999 meters 1.4399871829395001 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.07 [[ 0.99995681 0.00137427 -0.00919225 0.10637462] [-0.00140027 0.99999503 -0.00282321 0.04403001] [ 0.00918833 0.00283596 0.99995376 -0.07439932] [ 0. 0. 0. 1. ]] SLAMing on 0.96463044 meters 1.262324246414691 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.07 [[ 0.99995424 0.00141643 -0.00946074 0.10800683] [-0.00144258 0.99999516 -0.00275756 0.04373593] [ 0.00945679 0.00277108 0.99995144 -0.07462748] [ 0. 0. 0. 1. ]] SLAMing on 1.02463044 meters 0.9588409617703672 Centerline is valid? [False, False] Translation: X:0.11, Y:0.04, Z:-0.08 [[ 9.99945974e-01 8.61150869e-04 -1.03588934e-02 1.13016037e-01] [-8.89656156e-04 9.99995830e-01 -2.74747628e-03 4.21520099e-02] [ 1.03564842e-02 2.75654369e-03 9.99942571e-01 -7.56327157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08463044 meters 0.9712216576782391 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.08 [[ 9.99935808e-01 2.72293210e-04 -1.13272225e-02 1.23393494e-01] [-3.07289857e-04 9.99995185e-01 -3.08797968e-03 4.28495894e-02] [ 1.13263271e-02 3.09126219e-03 9.99931077e-01 -8.22334252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1446304399999998 meters 0.9237525980761895 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.08 [[ 9.99931995e-01 4.34026300e-04 -1.16540310e-02 1.25440163e-01] [-4.66622205e-04 9.99995987e-01 -2.79439051e-03 4.08215645e-02] [ 1.16527714e-02 2.79963850e-03 9.99928185e-01 -8.28230336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2046304399999999 meters 1.3235744852829503 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:-0.09 [[ 9.99919109e-01 2.84909047e-04 -1.27158863e-02 1.36151511e-01] [-3.22772822e-04 9.99995520e-01 -2.97572191e-03 4.26828515e-02] [ 1.27149816e-02 2.97958554e-03 9.99914722e-01 -8.98258339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26463044 meters 0.7154968443137033 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.09 [[ 0.9999817 -0.00132747 -0.0059018 0.17346097] [ 0.00130622 0.99999266 -0.00360315 0.04379822] [ 0.00590654 0.00359538 0.99997609 -0.08802889] [ 0. 0. 0. 1. ]] SLAMing on 1.3246304399999997 meters SLAMing on 1.3846304399999998 meters 1.4159175111081443 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 0.99997143 -0.00167556 -0.00737137 0.18581797] [ 0.00165194 0.99999349 -0.00320925 0.03813348] [ 0.00737669 0.00319698 0.99996768 -0.0946052 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4446304399999998 meters 1.053649358364176 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.10 [[ 0.99996981 -0.00121681 -0.00767423 0.18775463] [ 0.00119777 0.99999619 -0.00248572 0.0331794 ] [ 0.00767722 0.00247645 0.99996746 -0.09513014] [ 0. 0. 0. 1. ]] SLAMing on 1.50463044 meters 0.8041291417854325 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.10 [[ 9.99968769e-01 -6.02030420e-04 -7.88025689e-03 1.89232771e-01] [ 5.91059218e-04 9.99998853e-01 -1.39449394e-03 2.50562054e-02] [ 7.88108738e-03 1.38979269e-03 9.99967978e-01 -9.58411360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56463044 meters 0.7839724869925951 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.10 [[ 9.99966787e-01 -1.57624163e-04 -8.14867088e-03 1.90843995e-01] [ 1.51877776e-04 9.99999739e-01 -7.05807226e-04 2.02603726e-02] [ 8.14878001e-03 7.04546181e-04 9.99966550e-01 -9.60929622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6246304399999998 meters 0.7670525534967898 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.10 [[ 9.99964448e-01 3.19927845e-05 -8.43213828e-03 1.92440628e-01] [-3.51134463e-05 9.99999931e-01 -3.69943606e-04 1.80171195e-02] [ 8.43212586e-03 3.70226536e-04 9.99964380e-01 -9.61958216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6846304399999998 meters 0.5968769003075977 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.10 [[ 9.99961840e-01 3.90668331e-04 -8.72729175e-03 1.94032315e-01] [-3.88734122e-04 9.99999900e-01 2.23322875e-04 1.38891435e-02] [ 8.72737811e-03 -2.19921757e-04 9.99961892e-01 -9.62201394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74463044 meters 0.7651645357682664 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.10 [[ 9.99958741e-01 8.16223823e-04 -9.04709059e-03 1.95993964e-01] [-8.07384972e-04 9.99999193e-01 9.80591950e-04 8.47298995e-03] [ 9.04788368e-03 -9.73247007e-04 9.99958593e-01 -9.65075368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8046304399999997 meters 0.9663084132080775 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.10 [[ 0.9999563 0.00102374 -0.00929216 0.19725998] [-0.00101163 0.99999863 0.00130727 0.00620454] [ 0.00929349 -0.00129781 0.99995597 -0.09649955] [ 0. 0. 0. 1. ]] SLAMing on 1.8646304399999998 meters 0.9679362472283572 Centerline is valid? [False, False] Translation: X:0.20, Y:0.00, Z:-0.10 [[ 0.99995569 0.00131096 -0.00932159 0.19780463] [-0.00129462 0.99999762 0.00175846 0.00298295] [ 0.00932387 -0.00174631 0.99995501 -0.09721579] [ 0. 0. 0. 1. ]] SLAMing on 1.9246304399999998 meters 0.5356076842602616 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.09 [[ 9.99997540e-01 4.63200937e-05 -2.21772698e-03 2.31701675e-01] [-4.32648188e-05 9.99999050e-01 1.37768864e-03 2.85080545e-03] [ 2.21778869e-03 -1.37758930e-03 9.99996592e-01 -9.32568455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9846304399999999 meters 0.5401043842090053 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.09 [[ 9.99996409e-01 -4.78592700e-04 -2.63669103e-03 2.33870574e-01] [ 4.84295838e-04 9.99997544e-01 2.16277697e-03 -5.06573394e-03] [ 2.63564947e-03 -2.16404614e-03 9.99994185e-01 -9.38520623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04463044 meters 0.5420080958444115 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:-0.09 [[ 9.99995829e-01 -1.53040037e-04 -2.88404634e-03 2.35358905e-01] [ 1.61622280e-04 9.99995559e-01 2.97576654e-03 -1.08597175e-02] [ 2.88357812e-03 -2.97622025e-03 9.99991414e-01 -9.41948602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10463044 meters 0.5509205603456722 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.10 [[ 9.99995610e-01 2.20577018e-04 -2.95481043e-03 2.36140377e-01] [-2.09260715e-04 9.99992645e-01 3.82955178e-03 -1.73251589e-02] [ 2.95563341e-03 -3.82891664e-03 9.99988302e-01 -9.51459727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1646304400000003 meters 0.5700130378201743 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.10 [[ 9.99995328e-01 3.59449130e-04 -3.03571824e-03 2.36780885e-01] [-3.47352562e-04 9.99992002e-01 3.98433438e-03 -1.83114007e-02] [ 3.03712613e-03 -3.98326130e-03 9.99987455e-01 -9.58341234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22463044 meters 0.5656225292269393 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.10 [[ 9.99994897e-01 4.87421457e-04 -3.15730549e-03 2.37359591e-01] [-4.74174439e-04 9.99991088e-01 4.19506252e-03 -1.97936089e-02] [ 3.15932212e-03 -4.19354400e-03 9.99986216e-01 -9.58219455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28463044 meters 0.5714344044934644 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.09 [[ 0.99999409 -0.00227601 -0.00257579 0.23139248] [ 0.00227911 0.99999668 0.00120304 -0.02425813] [ 0.00257304 -0.00120891 0.99999596 -0.09119688] [ 0. 0. 0. 1. ]] SLAMing on 2.34463044 meters 0.8819883381246006 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.09 [[ 0.99999449 -0.00187899 -0.00273742 0.2323431 ] [ 0.00188496 0.99999585 0.00217825 -0.03114686] [ 0.00273331 -0.0021834 0.99999388 -0.09130399] [ 0. 0. 0. 1. ]] SLAMing on 2.40463044 meters 0.890944058556724 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.09 [[ 0.99999499 -0.00148717 -0.00279352 0.23278269] [ 0.00149618 0.99999368 0.00322457 -0.03875515] [ 0.0027887 -0.00322874 0.9999909 -0.09143284] [ 0. 0. 0. 1. ]] SLAMing on 2.46463044 meters 0.6064873809646656 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.04, Z:-0.09 [[ 0.99999461 -0.00141596 -0.00296221 0.23352466] [ 0.00142584 0.99999342 0.00333673 -0.03947143] [ 0.00295747 -0.00334094 0.99999005 -0.09128157] [ 0. 0. 0. 1. ]] SLAMing on 2.52463044 meters 0.8958423818444388 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.08 [[ 0.99997218 0.0065034 -0.00365213 0.25296967] [-0.0064986 0.99997801 0.00132572 -0.03603 ] [ 0.00366067 -0.00130195 0.99999245 -0.08442465] [ 0. 0. 0. 1. ]] SLAMing on 2.58463044 meters 0.9226458427197196 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.08 [[ 9.99970438e-01 6.63507058e-03 -3.88561668e-03 2.54053224e-01] [-6.63222881e-03 9.99977730e-01 7.43786247e-04 -3.10880433e-02] [ 3.89046522e-03 -7.17993960e-04 9.99992174e-01 -8.46032638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64463044 meters 1.0013252704481512 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:-0.08 [[ 0.99989359 0.00823767 0.01203966 0.23882929] [-0.00826715 0.99996294 0.00240085 -0.02795391] [-0.01201943 -0.00250013 0.99992464 -0.07631114] [ 0. 0. 0. 1. ]] SLAMing on 2.70463044 meters 0.9725478328305656 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.07 [[ 0.9999564 0.00194262 0.00913359 0.26002522] [-0.00197272 0.99999265 0.00328806 -0.02164793] [-0.00912713 -0.00330594 0.99995288 -0.0724611 ] [ 0. 0. 0. 1. ]] SLAMing on 2.76463044 meters 0.9826929015449388 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.07 [[ 0.99998837 -0.00471637 0.00100388 0.24251143] [ 0.0047104 0.99997173 0.00586059 -0.02214059] [-0.00103149 -0.00585579 0.99998232 -0.06788766] [ 0. 0. 0. 1. ]] SLAMing on 2.82463044 meters 1.0022998565050356 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.06 [[ 9.99995214e-01 5.37533931e-04 3.04694199e-03 2.55713061e-01] [-5.40947249e-04 9.99999227e-01 1.11953048e-03 -2.16156436e-02] [-3.04633785e-03 -1.12117336e-03 9.99994731e-01 -5.96908639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88463044 meters 0.9899845399869288 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.06 [[ 9.99995436e-01 5.32269226e-04 2.97388734e-03 2.55905073e-01] [-5.35604940e-04 9.99999228e-01 1.12098426e-03 -2.15671530e-02] [-2.97328838e-03 -1.12257198e-03 9.99994950e-01 -5.94361669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94463044 meters 0.9955817798254205 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.05 [[ 9.99820918e-01 -7.74465470e-04 1.89085444e-02 2.38054733e-01] [ 7.55584140e-04 9.99999209e-01 1.00568445e-03 -2.39311299e-02] [-1.89093083e-02 -9.91217357e-04 9.99820712e-01 -5.15910003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00463044 meters 0.9919105494852538 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.03, Z:-0.05 [[ 9.99821575e-01 -5.60316529e-04 1.88813165e-02 2.38242705e-01] [ 5.32192719e-04 9.99998742e-01 1.49449653e-03 -2.72133276e-02] [-1.88821301e-02 -1.48418138e-03 9.99820615e-01 -5.16833800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06463044 meters 0.9938115082385942 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.06 [[ 9.99995376e-01 7.88794809e-04 2.93681964e-03 2.59557138e-01] [-7.93838158e-04 9.99998212e-01 1.71651309e-03 -2.77404789e-02] [-2.93546041e-03 -1.71883651e-03 9.99994214e-01 -5.53120147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1246304400000002 meters 0.9482895591968469 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.05 [[ 0.99982691 0.01060009 0.01528998 0.22464356] [-0.0106268 0.99994215 0.00166644 -0.02740416] [-0.01527144 -0.00182864 0.99988171 -0.05123263] [ 0. 0. 0. 1. ]] SLAMing on 3.18463044 meters 0.9622296514683559 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.05 [[ 0.99977699 0.01449548 0.01535724 0.22425964] [-0.01457452 0.99988104 0.00504783 -0.02239161] [-0.01528224 -0.00527053 0.99986933 -0.05081911] [ 0. 0. 0. 1. ]] SLAMing on 3.24463044 meters 0.963274360670182 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.05 [[ 0.99977769 0.01438216 0.01541839 0.22407087] [-0.0144574 0.99988406 0.00477993 -0.02073735] [-0.01534785 -0.00500178 0.9998697 -0.0507841 ] [ 0. 0. 0. 1. ]] SLAMing on 3.30463044 meters 0.9590261265869445 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.05 [[ 9.99832431e-01 1.00526947e-02 1.52988085e-02 2.23889527e-01] [-1.00576838e-02 9.99949389e-01 2.49203728e-04 -1.80181081e-02] [-1.52955290e-02 -4.03032548e-04 9.99882935e-01 -5.02414530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36463044 meters 0.9355796969855045 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.05 [[ 9.99922364e-01 1.06299530e-04 1.24601601e-02 2.04083884e-01] [-1.05123712e-04 9.99999990e-01 -9.50211213e-05 -2.08206084e-02] [-1.24601701e-02 9.37038859e-05 9.99922365e-01 -4.99001354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42463044 meters 0.9037479033991526 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.05 [[ 0.99989881 -0.00198071 0.0140873 0.19810374] [ 0.00200458 0.99999658 -0.00168055 -0.02340504] [-0.01408392 0.00170862 0.99989936 -0.04639705] [ 0. 0. 0. 1. ]] SLAMing on 3.48463044 meters 0.8400028959678061 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99996502 -0.00214112 0.00808592 0.1586857 ] [ 0.00215669 0.99999584 -0.00191721 -0.02920719] [-0.00808178 0.00193458 0.99996547 -0.04543648] [ 0. 0. 0. 1. ]] SLAMing on 3.54463044 meters 0.8869548191171385 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99996512 -0.00207644 0.00808982 0.15873432] [ 0.00209059 0.9999963 -0.00174108 -0.03028123] [-0.00808618 0.00175793 0.99996576 -0.04558183] [ 0. 0. 0. 1. ]] SLAMing on 3.6046304399999998 meters 0.83751630637561 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 9.99950826e-01 1.26707093e-04 9.91608648e-03 1.52591349e-01] [-1.32692086e-04 9.99999809e-01 6.02908448e-04 -3.24398130e-02] [-9.91600819e-03 -6.04194587e-04 9.99950653e-01 -4.24255118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66463044 meters 0.4915789857437791 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 9.99946268e-01 7.45556518e-05 1.03660477e-02 1.52050174e-01] [-8.00292017e-05 9.99999858e-01 5.27612891e-04 -3.25592373e-02] [-1.03660069e-02 -5.28414128e-04 9.99946132e-01 -4.31344164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72463044 meters 0.42009775785501285 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 0.99992543 0.00206271 0.01203698 0.14624865] [-0.0020958 0.99999406 0.0027375 -0.0344418 ] [-0.01203126 -0.00276252 0.99992381 -0.03968216] [ 0. 0. 0. 1. ]] SLAMing on 3.78463044 meters 0.43684908992652444 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 0.99992515 0.0020468 0.01206232 0.14602446] [-0.00207943 0.99999421 0.00269273 -0.03422371] [-0.01205674 -0.00271761 0.99992362 -0.03936466] [ 0. 0. 0. 1. ]] SLAMing on 3.84463044 meters 0.4900626894682878 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 0.99992477 0.00198373 0.01210463 0.14585251] [-0.00201361 0.99999496 0.00245666 -0.0329944 ] [-0.0120997 -0.00248085 0.99992372 -0.03923444] [ 0. 0. 0. 1. ]] SLAMing on 3.90463044 meters 0.32287510423789 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 0.99992223 0.00195814 0.01231664 0.14556103] [-0.00198037 0.99999643 0.00179281 -0.02913416] [-0.01231309 -0.00181706 0.99992254 -0.03975894] [ 0. 0. 0. 1. ]] SLAMing on 3.96463044 meters 0.3171416190494134 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.04 [[ 0.99992226 0.00182346 0.01233505 0.14547429] [-0.00184087 0.99999733 0.00140037 -0.02706753] [-0.01233246 -0.00142297 0.99992294 -0.03971382] [ 0. 0. 0. 1. ]] SLAMing on 4.024630439999999 meters 0.30251247468716774 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99993356 -0.0059409 0.00987875 0.12821692] [ 0.00591504 0.99997901 0.0026443 -0.02454468] [-0.00989425 -0.00258569 0.99994771 -0.0414359 ] [ 0. 0. 0. 1. ]] SLAMing on 4.08463044 meters 0.2962587218103136 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99993528 -0.00599026 0.009672 0.12857745] [ 0.00596641 0.99997909 0.0024923 -0.02376379] [-0.00968673 -0.00243443 0.99995012 -0.04128418] [ 0. 0. 0. 1. ]] SLAMing on 4.144630439999999 meters 0.2927256407195746 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99993583 -0.00604806 0.00957871 0.12853862] [ 0.00602645 0.99997923 0.0022841 -0.02265076] [-0.00959233 -0.00222623 0.99995151 -0.04067062] [ 0. 0. 0. 1. ]] SLAMing on 4.20463044 meters 0.2900087038737188 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99993425 -0.00620401 0.00964419 0.12848101] [ 0.00618703 0.99997926 0.00178998 -0.02026549] [-0.0096551 -0.00173019 0.99995189 -0.04099198] [ 0. 0. 0. 1. ]] SLAMing on 4.2646304399999995 meters 0.2880128825648284 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99995854 -0.00419504 0.00808167 0.13434689] [ 0.00416935 0.99998621 0.00319369 -0.01591229] [-0.00809496 -0.00315986 0.99996224 -0.04498834] [ 0. 0. 0. 1. ]] SLAMing on 4.32463044 meters 0.2827729981058279 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.04 [[ 0.99995948 -0.00426191 0.00792959 0.13456221] [ 0.00423816 0.99998649 0.00300923 -0.01502117] [-0.0079423 -0.0029755 0.99996403 -0.04475618] [ 0. 0. 0. 1. ]] SLAMing on 4.38463044 meters 0.2797223644036607 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.05 [[ 0.99996366 0.00378561 0.00763858 0.11516412] [-0.00379886 0.9999913 0.00172022 -0.0188379 ] [-0.007632 -0.00174918 0.99996935 -0.04519716] [ 0. 0. 0. 1. ]] SLAMing on 4.444630439999999 meters 0.41843027505568087 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.05 [[ 0.999964 0.0037438 0.007615 0.1152852 ] [-0.00375611 0.99999166 0.00160288 -0.0182862 ] [-0.00760894 -0.00163143 0.99996972 -0.04540324] [ 0. 0. 0. 1. ]] SLAMing on 4.50463044 meters 0.27927743494358054 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.05 [[ 0.9999647 0.00365327 0.00756703 0.11549829] [-0.00366356 0.99999238 0.00134579 -0.01709052] [-0.00756206 -0.00137347 0.99997046 -0.04572773] [ 0. 0. 0. 1. ]] SLAMing on 4.564630439999999 meters 0.27545752775516136 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.04 [[ 0.99996656 0.00354347 0.00737045 0.11550066] [-0.00355105 0.99999318 0.00101658 -0.01550398] [-0.0073668 -0.00104272 0.99997232 -0.04478194] [ 0. 0. 0. 1. ]] SLAMing on 4.62463044 meters 0.275462463336104 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.04 [[ 9.99966979e-01 3.52247165e-03 7.32345823e-03 1.15379700e-01] [-3.52956991e-03 9.99993314e-01 9.56550993e-04 -1.52014303e-02] [-7.32003984e-03 -9.82368064e-04 9.99972726e-01 -4.41922990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684630439999999 meters 0.27615868711775393 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 9.99966646e-01 3.48651261e-03 7.38586676e-03 1.15439226e-01] [-3.49292652e-03 9.99993534e-01 8.55681417e-04 -1.47147524e-02] [-7.38283566e-03 -8.81451166e-04 9.99972358e-01 -4.46849714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74463044 meters 0.27676449208479176 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.04 [[ 0.9999629 -0.00508644 0.0069518 0.13706058] [ 0.00507438 0.99998559 0.0017505 -0.01275506] [-0.00696061 -0.00171516 0.9999743 -0.04421384] [ 0. 0. 0. 1. ]] SLAMing on 4.8046304399999995 meters 0.27263729755522026 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.04 [[ 0.99996458 -0.00497181 0.00679134 0.13745637] [ 0.00495771 0.99998552 0.0020919 -0.01428179] [-0.00680165 -0.00205815 0.99997475 -0.04428338] [ 0. 0. 0. 1. ]] SLAMing on 4.864630439999999 meters 0.27093442919242217 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.04 [[ 0.9999685 -0.0047717 0.00634315 0.13847654] [ 0.00475128 0.9999835 0.00322946 -0.01901807] [-0.00635846 -0.00319922 0.99997467 -0.04445941] [ 0. 0. 0. 1. ]] SLAMing on 4.92463044 meters 0.27000693608788146 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.04 [[ 0.99996938 -0.00456969 0.00635296 0.13863475] [ 0.00454413 0.99998155 0.00403187 -0.02245942] [-0.00637126 -0.00400288 0.99997169 -0.04483168] [ 0. 0. 0. 1. ]] SLAMing on 4.984630439999999 meters 0.26979016921316185 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.04 [[ 0.99997136 -0.00426268 0.00625308 0.13886706] [ 0.00423088 0.9999781 0.00508924 -0.02705055] [-0.00627463 -0.00506264 0.9999675 -0.0448123 ] [ 0. 0. 0. 1. ]] SLAMing on 5.04463044 meters 0.2708689529323741 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.9999733 0.00182594 0.00707593 0.16115753] [-0.00184179 0.99999581 0.00223398 -0.02877694] [-0.00707182 -0.00224695 0.99997247 -0.04571482] [ 0. 0. 0. 1. ]] SLAMing on 5.104630439999999 meters 0.27229493891434015 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99997307 0.00193603 0.00707899 0.16140523] [-0.00195396 0.9999949 0.00252699 -0.03008489] [-0.00707407 -0.00254075 0.99997175 -0.04627008] [ 0. 0. 0. 1. ]] SLAMing on 5.16463044 meters 0.2696023106463051 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99997262 0.00209996 0.00709545 0.16121442] [-0.00212112 0.99999332 0.00297584 -0.03205372] [-0.00708915 -0.00299081 0.9999704 -0.04585874] [ 0. 0. 0. 1. ]] SLAMing on 5.224630439999999 meters 0.27099720978795505 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99997211 0.00219626 0.00713815 0.16100805] [-0.00221936 0.99999232 0.00322965 -0.03317125] [-0.007131 -0.0032454 0.99996931 -0.04555545] [ 0. 0. 0. 1. ]] SLAMing on 5.284630439999999 meters 0.2676189088362861 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99982705e-01 1.54561985e-04 5.87919738e-03 1.66010497e-01] [-1.61796631e-04 9.99999230e-01 1.23009417e-03 -3.50990076e-02] [-5.87900273e-03 -1.23102413e-03 9.99981961e-01 -4.86874489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3446304399999995 meters 0.26844553711175007 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99982688e-01 2.23704270e-04 5.87998518e-03 1.65939943e-01] [-2.32083186e-04 9.99998959e-01 1.42434569e-03 -3.59127024e-02] [-5.87966043e-03 -1.42568568e-03 9.99981698e-01 -4.84824975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404630439999999 meters 0.2681421804981521 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99983680e-01 4.46836825e-04 5.69561042e-03 1.66107498e-01] [-4.58446657e-04 9.99997820e-01 2.03723988e-03 -3.85848948e-02] [-5.69468769e-03 -2.03981777e-03 9.99981705e-01 -4.78636606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46463044 meters 0.2650164551423542 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99984004e-01 6.02095329e-04 5.62396086e-03 1.66170200e-01] [-6.16196855e-04 9.99996670e-01 2.50600516e-03 -4.05397748e-02] [-5.62243328e-03 -2.50943054e-03 9.99981045e-01 -4.75739090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524630439999999 meters 0.26432390507838505 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99983108e-01 8.17314634e-04 5.75455218e-03 1.65587827e-01] [-8.36238985e-04 9.99994248e-01 3.28695007e-03 -4.38372388e-02] [-5.75183261e-03 -3.29170673e-03 9.99978040e-01 -4.66995782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58463044 meters 0.26490141152822005 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99982789e-01 9.15461629e-04 5.79506154e-03 1.65564040e-01] [-9.36045438e-04 9.99993260e-01 3.55024180e-03 -4.49375145e-02] [-5.79177237e-03 -3.55560514e-03 9.99976906e-01 -4.68151616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644630439999999 meters 0.265169007819601 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 0.99998889 0.00100789 0.00460429 0.16867368] [-0.00102231 0.99999458 0.00313014 -0.04279784] [-0.00460111 -0.00313481 0.9999845 -0.04911589] [ 0. 0. 0. 1. ]] SLAMing on 5.70463044 meters 0.26872793313443827 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99991738e-01 9.14774889e-04 3.96070932e-03 1.70255638e-01] [-9.24479162e-04 9.99996574e-01 2.44899797e-03 -3.97739279e-02] [-3.95845547e-03 -2.45263933e-03 9.99989158e-01 -5.00084528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7646304399999995 meters 0.2686978790179688 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99989047e-01 6.21196450e-04 4.63886405e-03 1.68598176e-01] [-6.26677457e-04 9.99999107e-01 1.18018090e-03 -3.47466450e-02] [-4.63812678e-03 -1.18307505e-03 9.99988544e-01 -4.94980196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824630439999999 meters 0.26948160452928915 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99989085e-01 4.06444575e-04 4.65448808e-03 1.68334074e-01] [-4.09347746e-04 9.99999722e-01 6.22800200e-04 -3.23393641e-02] [-4.65423365e-03 -6.24698707e-04 9.99988974e-01 -4.90709528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88463044 meters 0.26675358180598824 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99990273e-01 3.41739377e-04 4.39747476e-03 1.68723684e-01] [-3.43656582e-04 9.99999846e-01 4.35230342e-04 -3.15212122e-02] [-4.39732535e-03 -4.36737329e-04 9.99990236e-01 -4.87408006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944630439999999 meters 0.2663270846048704 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99990438e-01 3.96698623e-04 4.35512813e-03 1.68656677e-01] [-3.99288207e-04 9.99999744e-01 5.93752464e-04 -3.21880591e-02] [-4.35489148e-03 -5.95485737e-04 9.99990340e-01 -4.83216565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00463044 meters 0.26247744389602423 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.05 [[ 9.99998131e-01 -1.20838145e-04 1.92970976e-03 1.27067293e-01] [ 1.20441114e-04 9.99999972e-01 2.05861376e-04 -3.52296676e-02] [-1.92973458e-03 -2.05628575e-04 9.99998117e-01 -4.83665259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064630439999999 meters 0.2660350793402196 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99996354e-01 6.72160549e-04 2.61550350e-03 1.71823135e-01] [-6.74087394e-04 9.99999502e-01 7.35889646e-04 -2.99473301e-02] [-2.61500756e-03 -7.37650041e-04 9.99996309e-01 -4.99183466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12463044 meters 0.26623729632796217 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99995258e-01 6.02618741e-04 3.01996470e-03 1.70512143e-01] [-6.03946340e-04 9.99999721e-01 4.38714700e-04 -2.82956261e-02] [-3.01969948e-03 -4.40536516e-04 9.99995344e-01 -4.90026897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184630439999999 meters 0.2679551847968952 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99994968e-01 5.22037537e-04 3.12915488e-03 1.70355666e-01] [-5.22762665e-04 9.99999837e-01 2.30919458e-04 -2.74171820e-02] [-3.12903382e-03 -2.32554101e-04 9.99995078e-01 -4.92313959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24463044 meters 0.26587417679689385 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.05 [[ 9.99995085e-01 5.52386651e-04 3.08611879e-03 1.70570014e-01] [-5.53355222e-04 9.99999798e-01 3.13002580e-04 -2.77903836e-02] [-3.08594526e-03 -3.14708762e-04 9.99995189e-01 -4.94937175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3046304399999995 meters 0.26709881312745454 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.05 [[ 0.99997524 -0.00584132 0.00392432 0.19302881] [ 0.0058278 0.99997707 0.0034491 -0.02950135] [-0.00394438 -0.00342615 0.99998635 -0.05004127] [ 0. 0. 0. 1. ]] SLAMing on 6.364630439999999 meters 0.2658058850202705 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999569 0.0016706 0.00241584 0.17690724] [-0.00167551 0.99999653 0.0020321 -0.03680931] [-0.00241243 -0.00203614 0.99999502 -0.05290458] [ 0. 0. 0. 1. ]] SLAMing on 6.42463044 meters 0.26604750539918287 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999568 0.00174871 0.00236051 0.17743508] [-0.00175397 0.99999598 0.00222716 -0.03773334] [-0.0023566 -0.00223129 0.99999473 -0.05373102] [ 0. 0. 0. 1. ]] SLAMing on 6.484630439999999 meters 0.2663674748255862 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999592 0.00162908 0.00234848 0.17733508] [-0.0016335 0.99999689 0.0018829 -0.03628133] [-0.00234541 -0.00188672 0.99999547 -0.05349029] [ 0. 0. 0. 1. ]] SLAMing on 6.54463044 meters 0.2681810814839907 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.05 [[ 0.99999391 0.00152607 0.00313949 0.17557148] [-0.00153045 0.99999786 0.00139462 -0.03404137] [-0.00313735 -0.00139942 0.9999941 -0.05331479] [ 0. 0. 0. 1. ]] SLAMing on 6.604630439999999 meters 0.269401182310659 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.05 [[ 0.99999408 0.00140269 0.00314309 0.17577399] [-0.00140609 0.99999843 0.00108184 -0.03275515] [-0.00314156 -0.00108625 0.99999448 -0.05383029] [ 0. 0. 0. 1. ]] SLAMing on 6.66463044 meters 0.2668594608757082 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.05 [[ 9.99994721e-01 1.36684350e-03 2.94771926e-03 1.76203792e-01] [-1.36977771e-03 9.99998568e-01 9.93628300e-04 -3.23988613e-02] [-2.94635691e-03 -9.97660775e-04 9.99995162e-01 -5.38271521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724630439999999 meters 0.2674120382513745 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.05 [[ 0.9999946 0.00142455 0.00296102 0.1756933 ] [-0.00142799 0.99999831 0.00115981 -0.03292223] [-0.00295936 -0.00116404 0.99999494 -0.05272108] [ 0. 0. 0. 1. ]] SLAMing on 6.784630439999999 meters 0.2656157927948535 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.05 [[ 0.99997526 -0.00687194 0.00150171 0.15556967] [ 0.00686858 0.99997393 0.00222911 -0.03445129] [-0.00151699 -0.00221874 0.99999639 -0.05359828] [ 0. 0. 0. 1. ]] SLAMing on 6.8446304399999995 meters 0.268420166368545 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999624 0.00206683 0.00180041 0.17743727] [-0.00207062 0.99999564 0.00210384 -0.03716799] [-0.00179605 -0.00210756 0.99999617 -0.0540138 ] [ 0. 0. 0. 1. ]] SLAMing on 6.904630439999999 meters 0.2694612002100964 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999599 0.00216656 0.00182116 0.17712245] [-0.00217086 0.99999486 0.00236162 -0.03822211] [-0.00181604 -0.00236556 0.99999555 -0.05339098] [ 0. 0. 0. 1. ]] SLAMing on 6.96463044 meters 0.2686138767793937 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999569 0.00230422 0.00182059 0.1769888 ] [-0.00230924 0.99999353 0.00275775 -0.0398424 ] [-0.00181422 -0.00276195 0.99999454 -0.05301924] [ 0. 0. 0. 1. ]] SLAMing on 7.024630439999999 meters 0.26880050427412694 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.05 [[ 0.99999427 0.00253022 0.00224781 0.1758049 ] [-0.0025383 0.99999029 0.00360126 -0.04327556] [-0.00223867 -0.00360694 0.99999099 -0.0523769 ] [ 0. 0. 0. 1. ]] SLAMing on 7.08463044 meters 0.26667114469120456 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.05 [[ 9.99975934e-01 6.93728062e-03 7.49928084e-05 1.55457524e-01] [-6.93724223e-03 9.99975812e-01 -5.00608906e-04 -4.64339598e-02] [-7.84638589e-05 5.00076615e-04 9.99999872e-01 -5.26344117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144630439999999 meters 0.2676022135841647 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.05 [[ 9.99976164e-01 6.90270585e-03 1.52615034e-04 1.55378749e-01] [-6.90261527e-03 9.99976005e-01 -5.86281351e-04 -4.60665471e-02] [-1.56658299e-04 5.85213933e-04 9.99999816e-01 -5.28704384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204630439999999 meters 0.2690195280036726 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.05 [[ 9.99996873e-01 -2.36231385e-03 8.21159033e-04 1.74974068e-01] [ 2.36294158e-03 9.99996916e-01 -7.64312606e-04 -4.00276513e-02] [-8.19350955e-04 7.66250567e-04 9.99999371e-01 -5.34844532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2646304399999995 meters 0.27126726795355705 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:-0.05 [[ 0.99999052 0.00419452 0.00116572 0.19843815] [-0.00419023 0.99998454 -0.00365634 -0.03746369] [-0.00118104 0.00365142 0.99999264 -0.05471797] [ 0. 0. 0. 1. ]] SLAMing on 7.324630439999999 meters 0.26959116718143433 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 0.99999215 -0.00357631 -0.00170368 0.180594 ] [ 0.0035728 0.99999149 -0.00206355 -0.0393794 ] [ 0.00171105 0.00205745 0.99999642 -0.0564475 ] [ 0. 0. 0. 1. ]] SLAMing on 7.38463044 meters 0.2687758130860222 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 0.99999237 -0.00331897 -0.00205811 0.18149235] [ 0.00331655 0.99999381 -0.0011751 -0.04298345] [ 0.002062 0.00116827 0.99999719 -0.05659288] [ 0. 0. 0. 1. ]] SLAMing on 7.444630439999999 meters 0.26953050687065294 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99993372e-01 -3.05388679e-03 -1.98217611e-03 1.81118535e-01] [ 3.05293457e-03 9.99995223e-01 -4.83237215e-04 -4.58778188e-02] [ 1.98364239e-03 4.77182558e-04 9.99997919e-01 -5.60468243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50463044 meters 0.2680792397020164 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99994689e-01 -2.65356784e-03 -1.89229444e-03 1.80536359e-01] [ 2.65447400e-03 9.99996363e-01 4.76518809e-04 -5.02889595e-02] [ 1.89102309e-03 -4.81539324e-04 9.99998096e-01 -5.53748682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564630439999999 meters 0.2683513047992397 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 0.99999558 -0.0023793 -0.00178074 0.18051721] [ 0.00238132 0.99999653 0.00112915 -0.05304977] [ 0.00177805 -0.00113338 0.99999778 -0.05580091] [ 0. 0. 0. 1. ]] SLAMing on 7.62463044 meters 0.27012937954527816 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 0.99999637 -0.00207256 -0.00172306 0.18008129] [ 0.00207579 0.99999608 0.00187747 -0.05621552] [ 0.00171916 -0.00188104 0.99999675 -0.0551521 ] [ 0. 0. 0. 1. ]] SLAMing on 7.684630439999999 meters 0.2661126571301102 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.05 [[ 9.99995156e-01 3.03100166e-03 -7.07143703e-04 1.57309790e-01] [-3.03184343e-03 9.99994693e-01 -1.19236502e-03 -6.44196380e-02] [ 7.03525890e-04 1.19450319e-03 9.99999039e-01 -5.48198538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744630439999999 meters 0.26992480944087893 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.06 [[ 9.99985547e-01 -5.37214532e-03 2.12561855e-04 1.78720311e-01] [ 5.37210773e-03 9.99985554e-01 1.77012229e-04 -6.77617073e-02] [-2.13509720e-04 -1.75867766e-04 9.99999962e-01 -5.51763376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8046304399999995 meters 0.26874648641776266 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.06 [[ 9.99986585e-01 -5.17398312e-03 2.42349421e-04 1.78663554e-01] [ 5.17382742e-03 9.99986412e-01 6.38719129e-04 -6.97137129e-02] [-2.45650850e-04 -6.37456687e-04 9.99999767e-01 -5.51486089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864630439999999 meters 0.26830021852628844 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.06 [[ 9.99997078e-01 2.26813581e-03 -8.36045765e-04 1.61008388e-01] [-2.26860404e-03 9.99997270e-01 -5.59532298e-04 -7.83566581e-02] [ 8.34774387e-04 5.61427320e-04 9.99999494e-01 -5.76494447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92463044 meters 0.2677893194490849 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.06 [[ 9.99996576e-01 2.47796632e-03 -8.40846734e-04 1.61202359e-01] [-2.47801003e-03 9.99996928e-01 -5.09491010e-05 -8.04914431e-02] [ 8.40717901e-04 5.30325532e-05 9.99999645e-01 -5.79575751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984630439999999 meters 0.26858862999362176 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.08, Z:-0.06 [[ 9.99995308e-01 -2.95107157e-03 8.21464544e-04 1.82538287e-01] [ 2.94787636e-03 9.99988189e-01 3.86406192e-03 -8.28737433e-02] [-8.32857965e-04 -3.86162221e-03 9.99992197e-01 -5.87149695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044630439999999 meters 0.2728139375510511 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.06 [[ 9.99995897e-01 2.84876952e-03 3.01776493e-04 1.60369446e-01] [-2.84892505e-03 9.99995809e-01 5.16233153e-04 -8.35603162e-02] [-3.00304599e-04 -5.17090773e-04 9.99999821e-01 -5.79598735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10463044 meters 0.27066469027585977 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.06 [[ 9.99984254e-01 -4.68767884e-03 -3.08516814e-03 1.80980258e-01] [ 4.69010960e-03 9.99988696e-01 7.81123908e-04 -7.34664639e-02] [ 3.08147161e-03 -7.95581385e-04 9.99994936e-01 -5.70401251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16463044 meters 0.27183390871957724 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.06 [[ 9.99984207e-01 -4.93718684e-03 -2.68506674e-03 1.80006092e-01] [ 4.93711462e-03 9.99987812e-01 -3.35259744e-05 -7.01377112e-02] [ 2.68519954e-03 2.02689627e-05 9.99996395e-01 -5.69889258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224630439999999 meters 0.2723537445144211 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.07, Z:-0.06 [[ 9.99995588e-01 -9.84869865e-04 -2.80264986e-03 1.80124961e-01] [ 9.94136921e-04 9.99994037e-01 3.30706356e-03 -6.63319100e-02] [ 2.79937612e-03 -3.30983519e-03 9.99990604e-01 -5.69083386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284630439999999 meters 0.27065787225549315 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 0.99999508 -0.00125518 -0.00287439 0.18061919] [ 0.00126285 0.99999564 0.00266813 -0.06360937] [ 0.00287103 -0.00267174 0.99999231 -0.05768319] [ 0. 0. 0. 1. ]] SLAMing on 8.34463044 meters 0.27165126113726934 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 0.99999437 -0.00152261 -0.00299167 0.18081355] [ 0.00152876 0.99999672 0.00205557 -0.06102365] [ 0.00298853 -0.00206014 0.99999341 -0.05761151] [ 0. 0. 0. 1. ]] SLAMing on 8.40463044 meters 0.2692794277868979 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 0.99999177 0.00249127 -0.00320263 0.18099673] [-0.00247392 0.99998231 0.00540865 -0.05736881] [ 0.00321605 -0.00540068 0.99998024 -0.05718679] [ 0. 0. 0. 1. ]] SLAMing on 8.464630439999999 meters 0.2700041926795478 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 0.99999225 0.00241816 -0.00310668 0.18088405] [-0.00240186 0.9999834 0.00523756 -0.05661408] [ 0.00311929 -0.00523006 0.99998146 -0.05744422] [ 0. 0. 0. 1. ]] SLAMing on 8.52463044 meters 0.26580965599120776 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.06 [[ 0.99996386 0.00776835 -0.00345317 0.15750766] [-0.00776307 0.99996868 0.00154008 -0.05661322] [ 0.00346503 -0.00151321 0.99999285 -0.05639246] [ 0. 0. 0. 1. ]] SLAMing on 8.58463044 meters 0.2678533023326485 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.05 [[ 9.99993407e-01 -3.17171646e-04 -3.61741669e-03 1.76679408e-01] [ 3.26428119e-04 9.99996674e-01 2.55855954e-03 -5.15570938e-02] [ 3.61659315e-03 -2.55972349e-03 9.99990184e-01 -5.48729012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64463044 meters 0.2692873828085693 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99993078e-01 -3.44305421e-04 -3.70469689e-03 1.77045269e-01] [ 3.53548608e-04 9.99996826e-01 2.49462586e-03 -5.13243771e-02] [ 3.70382622e-03 -2.49591839e-03 9.99990026e-01 -5.52003798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704630439999999 meters 0.26836831481575724 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.06 [[ 0.99998099 0.00443641 -0.00428111 0.15514468] [-0.00444339 0.99998881 -0.00162153 -0.05344047] [ 0.00427387 0.00164052 0.99998952 -0.05562599] [ 0. 0. 0. 1. ]] SLAMing on 8.76463044 meters 0.2709013291657384 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 0.99999094 0.00362355 -0.00223463 0.20030429] [-0.00362842 0.99999104 -0.00217902 -0.05102013] [ 0.00222672 0.00218711 0.99999513 -0.0572643 ] [ 0. 0. 0. 1. ]] SLAMing on 8.82463044 meters 0.26814427185625067 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.05, Z:-0.06 [[ 0.99998825 0.00231021 -0.00426129 0.15737112] [-0.00232382 0.99999221 -0.00319115 -0.05466551] [ 0.00425389 0.00320102 0.99998583 -0.05707126] [ 0. 0. 0. 1. ]] SLAMing on 8.884630439999999 meters 0.26766351625399504 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 9.99994491e-01 -3.27575965e-03 -5.36532514e-04 1.76240588e-01] [ 3.27588059e-03 9.99994609e-01 2.24694450e-04 -5.81095748e-02] [ 5.35793577e-04 -2.26450828e-04 9.99999831e-01 -5.69332920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94463044 meters 0.2689676091734614 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 9.99994691e-01 -3.18810999e-03 -6.74355743e-04 1.76767114e-01] [ 3.18840852e-03 9.99994819e-01 4.42078928e-04 -5.90465054e-02] [ 6.72942853e-04 -4.44226703e-04 9.99999675e-01 -5.73206311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00463044 meters 0.26812433261409735 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 9.99994957e-01 -3.06373032e-03 -8.35911973e-04 1.77627319e-01] [ 3.06439532e-03 9.99994988e-01 7.95416055e-04 -6.06786480e-02] [ 8.33470844e-04 -7.97973609e-04 9.99999334e-01 -5.84430188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06463044 meters 0.26792671542569324 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 9.99995024e-01 -3.02172351e-03 -9.06072400e-04 1.77470600e-01] [ 3.02252524e-03 9.99995041e-01 8.84779057e-04 -6.11118914e-02] [ 9.03394349e-04 -8.87513281e-04 9.99999198e-01 -5.78013269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124630439999999 meters 0.26838568977689525 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.06, Z:-0.06 [[ 9.99994950e-01 -3.11902414e-03 -6.09223572e-04 1.76576552e-01] [ 3.11939793e-03 9.99994946e-01 6.13583288e-04 -5.98371828e-02] [ 6.07306712e-04 -6.15480601e-04 9.99999626e-01 -5.73378658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18463044 meters 0.26640621361287625 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.06 [[ 0.9999904 0.00339611 -0.00277025 0.15432874] [-0.00340137 0.99999242 -0.00189702 -0.05705856] [ 0.00276378 0.00190643 0.99999436 -0.05596526] [ 0. 0. 0. 1. ]] SLAMing on 9.24463044 meters 0.26950588993483365 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99987050e-01 -2.55512612e-03 -4.40121171e-03 1.79222631e-01] [ 2.55772866e-03 9.99996557e-01 5.85796967e-04 -5.13577337e-02] [ 4.39969978e-03 -5.97046486e-04 9.99990143e-01 -5.72750505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304630439999999 meters 0.26742546146835267 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:-0.06 [[ 9.99970624e-01 5.83030988e-03 -4.97572457e-03 1.59500209e-01] [-5.83172545e-03 9.99982959e-01 -2.70032753e-04 -5.53367174e-02] [ 4.97406540e-03 2.99041880e-04 9.99987585e-01 -5.77684034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36463044 meters 0.2677545434134141 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99990601e-01 -2.01757815e-03 -3.83749338e-03 1.78630028e-01] [ 2.02140661e-03 9.99997463e-01 9.94028548e-04 -5.15854625e-02] [ 3.83547811e-03 -1.00177634e-03 9.99992143e-01 -5.63163517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42463044 meters 0.2666255726058239 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99990682e-01 -2.02115574e-03 -3.81447107e-03 1.78632423e-01] [ 2.02491654e-03 9.99997467e-01 9.82325869e-04 -5.15518500e-02] [ 3.81247598e-03 -9.90040702e-04 9.99992242e-01 -5.64462488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48463044 meters 0.2697262083544854 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99979649e-01 6.11537781e-03 -1.81739104e-03 1.98214369e-01] [-6.11582725e-03 9.99981269e-01 -2.41843153e-04 -5.03691964e-02] [ 1.81587804e-03 2.52953081e-04 9.99998319e-01 -5.55199996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544630439999999 meters 0.26731821556244706 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99990221e-01 -2.20568846e-03 -3.83313523e-03 1.79442325e-01] [ 2.20789018e-03 9.99997400e-01 5.70254815e-04 -4.80903936e-02] [ 3.83186746e-03 -5.78712380e-04 9.99992491e-01 -5.63855793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60463044 meters 0.26757509072957697 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.06 [[ 9.99989973e-01 -2.17857763e-03 -3.91254021e-03 1.80017407e-01] [ 2.18106623e-03 9.99997422e-01 6.31903562e-04 -4.84656151e-02] [ 3.91115347e-03 -6.40430736e-04 9.99992146e-01 -5.72142483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66463044 meters 0.2701255119953446 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99977231e-01 6.11647187e-03 -2.85058950e-03 1.99748226e-01] [-6.11768593e-03 9.99981200e-01 -4.17375506e-04 -5.07832333e-02] [ 2.84798305e-03 4.34805014e-04 9.99995850e-01 -5.64502341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724630439999999 meters 0.27014429087537295 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.05, Z:-0.05 [[ 0.99999847 -0.00136375 -0.00109504 0.2174715 ] [ 0.00136543 0.99999788 0.00154156 -0.04915574] [ 0.00109294 -0.00154306 0.99999821 -0.05379326] [ 0. 0. 0. 1. ]] SLAMing on 9.784630439999999 meters 0.26874818870671613 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99975859e-01 6.11349875e-03 -3.30262615e-03 2.00619918e-01] [-6.11371671e-03 9.99981309e-01 -5.59032047e-05 -5.37378671e-02] [ 3.30222266e-03 7.60931758e-05 9.99994545e-01 -5.57127814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84463044 meters 0.2689659063668212 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99975689e-01 6.04855066e-03 -3.46928555e-03 2.01298895e-01] [-6.04931502e-03 9.99981681e-01 -2.09872980e-04 -5.31001751e-02] [ 3.46795257e-03 2.30854679e-04 9.99993960e-01 -5.63726690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90463044 meters 0.268264734800079 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99976465e-01 5.98289453e-03 -3.35780652e-03 2.00777462e-01] [-5.98418053e-03 9.99982025e-01 -3.73071656e-04 -5.23129029e-02] [ 3.35551411e-03 3.93156596e-04 9.99994293e-01 -5.58137852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964630439999999 meters 0.26849752700085855 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99976558e-01 5.97352956e-03 -3.34656733e-03 2.00499820e-01] [-5.97488255e-03 9.99982072e-01 -3.94440112e-04 -5.21757614e-02] [ 3.34415114e-03 4.14426213e-04 9.99994322e-01 -5.52671530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02463044 meters 0.2694056476580951 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 9.99976865e-01 5.88096267e-03 -3.41817504e-03 2.00673753e-01] [-5.88310005e-03 9.99982505e-01 -6.15579655e-04 -5.12433334e-02] [ 3.41449504e-03 6.35674880e-04 9.99993969e-01 -5.52747174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08463044 meters 0.26954048112955775 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.06 [[ 0.99997798 0.00569222 -0.00341196 0.20072242] [-0.00569609 0.99998314 -0.00112747 -0.04911241] [ 0.00340549 0.00114688 0.99999354 -0.05545855] [ 0. 0. 0. 1. ]] SLAMing on 10.144630439999998 meters 0.2684162977830036 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 9.99986366e-01 -2.85328750e-03 -4.37347329e-03 1.82166108e-01] [ 2.84921035e-03 9.99995501e-01 -9.38192372e-04 -4.15654428e-02] [ 4.37613054e-03 9.25718635e-04 9.99989996e-01 -5.67014484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204630439999999 meters 0.2687042657361023 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 0.99998631 -0.00305437 -0.00424822 0.18164687] [ 0.00304773 0.99999413 -0.00156849 -0.03899074] [ 0.00425298 0.00155552 0.99998975 -0.05620615] [ 0. 0. 0. 1. ]] SLAMing on 10.26463044 meters 0.26951165287164774 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.06 [[ 0.99998657 -0.00327674 -0.00401523 0.18094306] [ 0.00326782 0.99999218 -0.00222698 -0.03629814] [ 0.00402249 0.00221383 0.99998946 -0.05589529] [ 0. 0. 0. 1. ]] SLAMing on 10.32463044 meters 0.26920942032580875 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.06 [[ 0.99998654 -0.00358659 -0.00374932 0.1800315 ] [ 0.00357458 0.99998848 -0.00320435 -0.03227743] [ 0.00376076 0.0031909 0.99998784 -0.05531029] [ 0. 0. 0. 1. ]] SLAMing on 10.384630439999999 meters 0.2734981949426714 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999293 -0.00258219 -0.00273274 0.2238244 ] [ 0.00257522 0.99999342 -0.00255444 -0.0247966 ] [ 0.00273932 0.00254738 0.999993 -0.05566232] [ 0. 0. 0. 1. ]] SLAMing on 10.44463044 meters 0.27175013854798974 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999185 -0.00271304 -0.00299115 0.22461135] [ 0.00270442 0.99999219 -0.00288056 -0.02347166] [ 0.00299894 0.00287244 0.99999138 -0.05613062] [ 0. 0. 0. 1. ]] SLAMing on 10.50463044 meters 0.271692686941566 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.06 [[ 0.99999134 -0.00274097 -0.0031306 0.22502924] [ 0.00273174 0.99999192 -0.00294981 -0.02322413] [ 0.00313866 0.00294123 0.99999075 -0.05632086] [ 0. 0. 0. 1. ]] SLAMing on 10.564630439999998 meters 0.26972707352898667 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999168 -0.00280207 -0.00296404 0.22416364] [ 0.00279284 0.99999125 -0.00311591 -0.02249724] [ 0.00297275 0.00310761 0.99999075 -0.05526139] [ 0. 0. 0. 1. ]] SLAMing on 10.624630439999999 meters 0.2695415933909634 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999141 -0.00291423 -0.00294874 0.22407107] [ 0.00290423 0.99999003 -0.0033909 -0.02134959] [ 0.00295859 0.00338231 0.9999899 -0.05516644] [ 0. 0. 0. 1. ]] SLAMing on 10.68463044 meters 0.2695043460121562 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999081 -0.00308633 -0.00297415 0.22425728] [ 0.00307487 0.99998786 -0.00385044 -0.01946299] [ 0.002986 0.00384126 0.99998816 -0.05548998] [ 0. 0. 0. 1. ]] SLAMing on 10.74463044 meters 0.2693382044234081 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 0.99999024 -0.00323695 -0.00300756 0.22440081] [ 0.00322416 0.99998579 -0.00424513 -0.01786055] [ 0.00302126 0.0042354 0.99998647 -0.0556637 ] [ 0. 0. 0. 1. ]] SLAMing on 10.804630439999999 meters 0.2699852686609509 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.06 [[ 9.99995236e-01 8.92985319e-04 -2.95478063e-03 2.23916720e-01] [-8.93669060e-04 9.99999574e-01 -2.30089325e-04 -1.79548588e-02] [ 2.95457391e-03 2.32728825e-04 9.99995608e-01 -5.51169954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86463044 meters 0.27080997209622787 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.05 [[ 9.99995490e-01 9.51726840e-04 -2.84858816e-03 2.23554189e-01] [-9.51939565e-04 9.99999544e-01 -7.33225445e-05 -1.85736889e-02] [ 2.84851708e-03 7.60338976e-05 9.99995940e-01 -5.48153342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92463044 meters 0.2691180781816619 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.05 [[ 9.99961304e-01 -8.41714116e-03 -2.55772030e-03 2.00218982e-01] [ 8.41764605e-03 9.99964554e-01 1.86696837e-04 -2.13935338e-02] [ 2.55605818e-03 -2.08219597e-04 9.99996712e-01 -5.45296683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98463044 meters 0.27092388767621484 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.03, Z:-0.05 [[ 9.99997332e-01 3.07621959e-04 -2.28935831e-03 2.21406689e-01] [-3.07294595e-04 9.99999943e-01 1.43344012e-04 -2.64377935e-02] [ 2.28940227e-03 -1.42640122e-04 9.99997369e-01 -5.40596665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044630439999999 meters 0.27060421685418495 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.03, Z:-0.06 [[ 9.99997573e-01 -3.01457224e-04 -2.18240729e-03 1.86968913e-01] [ 3.01750056e-04 9.99999946e-01 1.33850503e-04 -3.43379732e-02] [ 2.18236682e-03 -1.34508720e-04 9.99997610e-01 -5.91589310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10463044 meters 0.2693459794915829 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.06 [[ 9.99997774e-01 -4.47729812e-05 -2.10959380e-03 1.86998034e-01] [ 4.63104881e-05 9.99999733e-01 7.28773322e-04 -3.68176390e-02] [ 2.10956060e-03 -7.28869396e-04 9.99997509e-01 -5.94972934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16463044 meters 0.27014275785149455 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.06 [[ 9.99997692e-01 -6.18325723e-05 -2.14774563e-03 1.87237727e-01] [ 6.33017735e-05 9.99999764e-01 6.84005421e-04 -3.66502497e-02] [ 2.14770283e-03 -6.84139799e-04 9.99997460e-01 -5.98424763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224630439999999 meters 0.2713295281417256 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.06 [[ 0.99997953 0.00222718 -0.00599859 0.14852598] [-0.00221452 0.99999531 0.00211553 -0.03357403] [ 0.00600328 -0.0021022 0.99997977 -0.06173137] [ 0. 0. 0. 1. ]] SLAMing on 11.284630439999999 meters 0.27176084657789257 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.06 [[ 0.99998243 0.00202522 -0.00557198 0.14750429] [-0.00201735 0.99999696 0.00141861 -0.03061997] [ 0.00557484 -0.00140734 0.99998347 -0.06163531] [ 0. 0. 0. 1. ]] SLAMing on 11.34463044 meters 0.27178001020079795 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.06 [[ 9.99984012e-01 1.61098690e-03 -5.42046438e-03 1.46830580e-01] [-1.60903179e-03 9.99998639e-01 3.65031688e-04 -2.61408159e-02] [ 5.42104506e-03 -3.56304152e-04 9.99985243e-01 -6.10298047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40463044 meters 0.27248137999145966 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.06 [[ 0.99997093 -0.00592033 -0.00480569 0.16465347] [ 0.00592974 0.99998053 0.00194471 -0.01872446] [ 0.00479408 -0.00197315 0.99998656 -0.05824296] [ 0. 0. 0. 1. ]] SLAMing on 11.464630439999999 meters 0.26933041823986886 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.06 [[ 0.9999892 0.00316014 -0.0034085 0.14340553] [-0.00315528 0.999994 0.00142824 -0.02231106] [ 0.00341299 -0.00141747 0.99999317 -0.05826605] [ 0. 0. 0. 1. ]] SLAMing on 11.52463044 meters 0.27028374451405035 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.06 [[ 0.99998855 0.00307945 -0.00366418 0.14379557] [-0.00307495 0.99999451 0.00123436 -0.02150427] [ 0.00366796 -0.00122308 0.99999253 -0.05783647] [ 0. 0. 0. 1. ]] SLAMing on 11.58463044 meters 0.2703825413953324 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.06 [[ 0.99999089 -0.00321857 -0.00280329 0.16507514] [ 0.0032299 0.9999866 0.00404493 -0.01843129] [ 0.00279023 -0.00405395 0.99998789 -0.05790162] [ 0. 0. 0. 1. ]] SLAMing on 11.644630439999998 meters 0.2685313556864303 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.06 [[ 0.99998894 0.00352636 -0.00311153 0.14164133] [-0.00352209 0.99999285 0.0013757 -0.01820511] [ 0.00311636 -0.00136473 0.99999421 -0.05636898] [ 0. 0. 0. 1. ]] SLAMing on 11.704630439999999 meters 0.27289495194442576 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.06 [[ 0.99997947 -0.00463839 -0.00441995 0.16158692] [ 0.00464407 0.9999884 0.00127447 -0.00535991] [ 0.00441399 -0.00129497 0.99998942 -0.05587728] [ 0. 0. 0. 1. ]] SLAMing on 11.76463044 meters 0.27378250979849067 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.00, Z:-0.06 [[ 9.99977296e-01 -4.64023894e-03 -4.88631804e-03 1.63099373e-01] [ 4.64334653e-03 9.99989024e-01 6.24826005e-04 -2.09247272e-03] [ 4.88336506e-03 -6.47500687e-04 9.99987867e-01 -5.68740373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82463044 meters 0.2706897668652353 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99977381e-01 -3.34636432e-03 -5.83426535e-03 1.18459311e-01] [ 3.34797284e-03 9.99994360e-01 2.65956162e-04 6.27800626e-03] [ 5.83334246e-03 -2.85483108e-04 9.99982945e-01 -5.63914042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884630439999999 meters 0.2730287126794353 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.06 [[ 9.99982283e-01 -3.37814260e-03 -4.90124126e-03 1.60594955e-01] [ 3.37635059e-03 9.99994230e-01 -3.73851754e-04 2.20048081e-02] [ 4.90247590e-03 3.57296821e-04 9.99987919e-01 -5.56302137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94463044 meters 0.2717656400312295 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99985490e-01 -2.34718389e-03 -4.84875432e-03 1.59963748e-01] [ 2.34540946e-03 9.99997180e-01 -3.71608572e-04 2.92396772e-02] [ 4.84961289e-03 3.60230866e-04 9.99988176e-01 -5.49404062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00463044 meters 0.27111780542323594 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99987040e-01 -2.38230806e-03 -4.49941183e-03 1.59018969e-01] [ 2.38023284e-03 9.99997058e-01 -4.66519164e-04 2.96891453e-02] [ 4.50050999e-03 4.55803470e-04 9.99989769e-01 -5.45129315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064630439999998 meters 0.2718295043300673 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.05 [[ 9.99985743e-01 -2.58936590e-03 -4.66997865e-03 1.59512800e-01] [ 2.58476257e-03 9.99996168e-01 -9.91495172e-04 3.17995987e-02] [ 4.67252809e-03 9.79410251e-04 9.99988604e-01 -5.48003505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124630439999999 meters 0.27300858701148384 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.06 [[ 0.99998385 -0.00289972 -0.00488832 0.16018759] [ 0.00289053 0.99999404 -0.00188793 0.03554427] [ 0.00489377 0.00187377 0.99998627 -0.05516586] [ 0. 0. 0. 1. ]] SLAMing on 12.18463044 meters 0.269864631378859 Centerline is valid? [False, False] Translation: X:0.14, Y:0.03, Z:-0.06 [[ 0.99997629 0.00394488 -0.00564447 0.1395972 ] [-0.00397147 0.99998103 -0.00470813 0.03348452] [ 0.00562579 0.00473043 0.99997299 -0.055012 ] [ 0. 0. 0. 1. ]] SLAMing on 12.24463044 meters 0.27212274932416464 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.06 [[ 0.99998999 -0.0026113 -0.00363416 0.16055767] [ 0.00260465 0.99999493 -0.00183176 0.03327156] [ 0.00363893 0.00182228 0.99999172 -0.05531822] [ 0. 0. 0. 1. ]] SLAMing on 12.304630439999999 meters 0.267810906088549 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.06 [[ 0.99998756 -0.00367721 -0.00337117 0.11737558] [ 0.00366811 0.99998962 -0.00270116 0.02493376] [ 0.00338107 0.00268876 0.99999067 -0.05522736] [ 0. 0. 0. 1. ]] SLAMing on 12.36463044 meters 0.269702256808075 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.05 [[ 0.99998341 0.00484964 -0.00310855 0.13806713] [-0.00485793 0.99998465 -0.00266452 0.01879463] [ 0.00309558 0.00267958 0.99999162 -0.0545503 ] [ 0. 0. 0. 1. ]] SLAMing on 12.42463044 meters 0.26850542682244205 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.05 [[ 0.99998621 -0.00315298 -0.00420056 0.11747237] [ 0.00314712 0.99999407 -0.00140029 0.0176274 ] [ 0.00420495 0.00138705 0.9999902 -0.05492824] [ 0. 0. 0. 1. ]] SLAMing on 12.48463044 meters 0.2695150592408002 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.06 [[ 0.99998544 0.0018741 -0.00506081 0.14154861] [-0.00189446 0.99999012 -0.00402094 0.00830314] [ 0.00505323 0.00403047 0.99997911 -0.05544869] [ 0. 0. 0. 1. ]] SLAMing on 12.544630439999999 meters 0.27138147961382314 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.06 [[ 0.99998491 0.00222591 -0.00502281 0.14194773] [-0.00224228 0.99999219 -0.00325483 0.005052 ] [ 0.00501553 0.00326604 0.99998209 -0.05625807] [ 0. 0. 0. 1. ]] SLAMing on 12.60463044 meters 0.26841145505297875 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:-0.06 [[ 0.99998408 0.00255496 -0.00503125 0.14191118] [-0.00256764 0.99999354 -0.00251578 0.00201425] [ 0.00502479 0.00252866 0.99998418 -0.05606569] [ 0. 0. 0. 1. ]] SLAMing on 12.66463044 meters 0.269406840246833 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.06 [[ 0.99998213 0.00295876 -0.00519462 0.14219993] [-0.00296766 0.99999414 -0.00170563 -0.00145935] [ 0.00518954 0.00172101 0.99998505 -0.05577312] [ 0. 0. 0. 1. ]] SLAMing on 12.724630439999999 meters 0.26977526968153337 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.06 [[ 0.99998248 0.00321783 -0.00496789 0.14182396] [-0.0032234 0.99999418 -0.00111351 -0.00389348] [ 0.00496428 0.00112951 0.99998704 -0.05602096] [ 0. 0. 0. 1. ]] SLAMing on 12.784630439999999 meters 0.2698458725344596 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.06 [[ 9.99983194e-01 3.38200178e-03 -4.70885452e-03 1.41174537e-01] [-3.38544400e-03 9.99994008e-01 -7.23231484e-04 -5.49293558e-03] [ 4.70638033e-03 7.39160893e-04 9.99988652e-01 -5.58764277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84463044 meters 0.27073286980508193 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.06 [[ 9.99982086e-01 3.35398506e-03 -4.95775344e-03 1.41863839e-01] [-3.35794881e-03 9.99994049e-01 -7.91397796e-04 -5.22798390e-03] [ 4.95506960e-03 8.08031501e-04 9.99987397e-01 -5.62578674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90463044 meters 0.2740859067966375 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.06 [[ 0.99998038 0.00316204 -0.00540683 0.14322835] [-0.00317016 0.99999386 -0.00149457 -0.0018618 ] [ 0.00540207 0.00151168 0.99998427 -0.05707226] [ 0. 0. 0. 1. ]] SLAMing on 12.964630439999999 meters 0.2729381768624312 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:-0.06 [[ 0.99998264 0.00289289 -0.00513246 0.14232054] [-0.00290473 0.99999313 -0.00230086 0.00138946] [ 0.00512577 0.00231573 0.99998418 -0.05655777] [ 0. 0. 0. 1. ]] SLAMing on 13.02463044 meters 0.2711403147120845 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.06 [[ 0.99998482 0.00240076 -0.00495904 0.14140076] [-0.00241837 0.99999078 -0.00354812 0.0064796 ] [ 0.00495047 0.00356006 0.99998141 -0.0557051 ] [ 0. 0. 0. 1. ]] SLAMing on 13.08463044 meters 0.2720979311661189 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 0.99996601 -0.00532633 -0.00629349 0.15939007] [ 0.00530889 0.99998203 -0.00278506 0.01914436] [ 0.00630821 0.00275155 0.99997632 -0.05249822] [ 0. 0. 0. 1. ]] SLAMing on 13.144630439999998 meters 0.2709289667933128 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 0.99996551 -0.00536272 -0.0063422 0.15926119] [ 0.00534456 0.99998158 -0.00287636 0.0195032 ] [ 0.00635751 0.00284237 0.99997575 -0.05202672] [ 0. 0. 0. 1. ]] SLAMing on 13.204630439999999 meters 0.27136045041651685 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 0.99996703 -0.00535896 -0.00610071 0.15818053] [ 0.00534179 0.99998174 -0.00282736 0.01899944] [ 0.00611575 0.00279468 0.99997739 -0.05078737] [ 0. 0. 0. 1. ]] SLAMing on 13.26463044 meters 0.26837080957148224 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.05 [[ 0.99996969 -0.00508241 -0.00589886 0.15767183] [ 0.00507063 0.99998512 -0.00201073 0.0158728 ] [ 0.005909 0.00198076 0.99998058 -0.05051013] [ 0. 0. 0. 1. ]] SLAMing on 13.32463044 meters 0.2690198904269013 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.05 [[ 0.9999699 -0.00489325 -0.00602101 0.15815366] [ 0.00488427 0.99998694 -0.0015049 0.0137552 ] [ 0.00602829 0.00147545 0.99998074 -0.0508835 ] [ 0. 0. 0. 1. ]] SLAMing on 13.384630439999999 meters 0.2693619847799956 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.05 [[ 9.99970485e-01 -4.63251490e-03 -6.12935961e-03 1.58583501e-01] [ 4.62740272e-03 9.99988934e-01 -8.47966768e-04 1.10600427e-02] [ 6.13322001e-03 8.19578725e-04 9.99980856e-01 -5.11893449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44463044 meters 0.2693901875106526 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.05 [[ 9.99972014e-01 -4.23518103e-03 -6.16719978e-03 1.58804863e-01] [ 4.23596117e-03 9.99991022e-01 1.13442714e-04 7.10727554e-03] [ 6.16666396e-03 -1.39563558e-04 9.99980976e-01 -5.13701447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50463044 meters 0.2685028559640141 Centerline is valid? [False, False] Translation: X:0.18, Y:0.00, Z:-0.05 [[ 9.99980825e-01 3.67982595e-03 -4.98079758e-03 1.77865338e-01] [-3.68258425e-03 9.99993071e-01 -5.44727304e-04 1.31064640e-03] [ 4.97875857e-03 5.63059066e-04 9.99987447e-01 -4.98105604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564630439999998 meters 0.26742517594931897 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:-0.05 [[ 9.99977551e-01 -4.90449117e-03 -4.56549735e-03 1.54795621e-01] [ 4.90831165e-03 9.99987613e-01 8.25988407e-04 -4.36668520e-03] [ 4.56138975e-03 -8.48378749e-04 9.99989237e-01 -5.01531809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624630439999999 meters 0.2696493366211375 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.01, Z:-0.05 [[ 9.99985088e-01 3.05842631e-03 -4.52427582e-03 1.74929906e-01] [-3.05888354e-03 9.99995317e-01 -9.41449768e-05 -9.73200171e-03] [ 4.52396670e-03 1.07982806e-04 9.99989761e-01 -4.91657336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68463044 meters 0.2684403070847086 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.05 [[ 9.99984253e-01 3.15178037e-03 -4.64330198e-03 1.75352939e-01] [-3.15117903e-03 9.99995026e-01 1.36817737e-04 -1.06972767e-02] [ 4.64371010e-03 -1.22183707e-04 9.99989210e-01 -4.94598029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74463044 meters 0.26854494179184624 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.05 [[ 9.99982748e-01 3.26176568e-03 -4.88504912e-03 1.75901907e-01] [-3.25927302e-03 9.99994554e-01 5.18136078e-04 -1.22058054e-02] [ 4.88671256e-03 -5.02205430e-04 9.99987934e-01 -4.94680053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804630439999999 meters 0.2675329416212545 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.05 [[ 9.99981087e-01 3.38501500e-03 -5.13492146e-03 1.76510939e-01] [-3.38028758e-03 9.99993855e-01 9.29040253e-04 -1.38361097e-02] [ 5.13803472e-03 -9.11665171e-04 9.99986385e-01 -4.96054503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86463044 meters 0.26658313321264904 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.05 [[ 0.99998206 0.00350946 -0.00485383 0.17601955] [-0.00350302 0.99999297 0.00133455 -0.01542653] [ 0.00485848 -0.00131752 0.99998733 -0.04987416] [ 0. 0. 0. 1. ]] SLAMing on 13.92463044 meters 0.2686797030221528 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.05 [[ 0.99998083 0.00353005 -0.00508693 0.1768699 ] [-0.003523 0.99999282 0.00139463 -0.0156863 ] [ 0.00509181 -0.00137668 0.99998609 -0.0505667 ] [ 0. 0. 0. 1. ]] SLAMing on 13.984630439999998 meters 0.26861308265973527 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.02, Z:-0.05 [[ 0.99998024 0.00352116 -0.00520758 0.17721889] [-0.003514 0.99999287 0.00138347 -0.01559427] [ 0.00521241 -0.00136514 0.99998548 -0.05069558] [ 0. 0. 0. 1. ]] SLAMing on 14.044630439999999 meters 0.2696587827246089 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.05 [[ 0.99998661 -0.0042581 -0.00294242 0.19514157] [ 0.00426666 0.99998666 0.00290958 -0.01456957] [ 0.00292999 -0.0029221 0.99999144 -0.04829603] [ 0. 0. 0. 1. ]] SLAMing on 14.10463044 meters 0.26541951649928275 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.05 [[ 0.99998318 -0.0036525 -0.00450558 0.14982044] [ 0.00366754 0.99998771 0.00333472 -0.01901218] [ 0.00449334 -0.00335118 0.99998429 -0.04694255] [ 0. 0. 0. 1. ]] SLAMing on 14.16463044 meters 0.266189353657488 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99995818e-01 1.64813934e-03 -2.37650592e-03 1.70984908e-01] [-1.64728875e-03 9.99998578e-01 3.59830529e-04 -2.11801434e-02] [ 2.37709560e-03 -3.55914233e-04 9.99997111e-01 -4.72030624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224630439999999 meters 0.26732382565785545 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99995454e-01 1.68969996e-03 -2.49740348e-03 1.71231090e-01] [-1.68852780e-03 9.99998463e-01 4.71386619e-04 -2.16287892e-02] [ 2.49819614e-03 -4.67167541e-04 9.99996770e-01 -4.71354192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284630439999999 meters 0.2662633579467216 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99995345e-01 1.68198863e-03 -2.54574502e-03 1.71456796e-01] [-1.68083586e-03 9.99998484e-01 4.54894327e-04 -2.15530390e-02] [ 2.54650629e-03 -4.50613230e-04 9.99996656e-01 -4.73781437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34463044 meters 0.26679506697231564 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99995577e-01 1.63194233e-03 -2.48651440e-03 1.71292703e-01] [-1.63113656e-03 9.99998617e-01 3.26047077e-04 -2.10320951e-02] [ 2.48704305e-03 -3.21989790e-04 9.99996855e-01 -4.73264500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404630439999998 meters 0.2672187041670978 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99996470e-01 1.50909076e-03 -2.18691988e-03 1.70678418e-01] [-1.50900283e-03 9.99998861e-01 4.18559357e-05 -1.98338512e-02] [ 2.18698055e-03 -3.85557197e-05 9.99997608e-01 -4.75236887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464630439999999 meters 0.26661076400990485 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99996620e-01 1.36891100e-03 -2.21026562e-03 1.70875026e-01] [-1.36955480e-03 9.99999020e-01 -2.89790626e-04 -1.84606641e-02] [ 2.20986675e-03 2.92816726e-04 9.99997515e-01 -4.78218385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52463044 meters 0.2657339438538812 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.05 [[ 0.9999815 -0.00434875 -0.00425294 0.14988949] [ 0.00435961 0.99998725 0.00254873 -0.01576224] [ 0.0042418 -0.00256723 0.99998771 -0.04750319] [ 0. 0. 0. 1. ]] SLAMing on 14.58463044 meters 0.2670854490531971 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99998018 -0.00449004 -0.00441257 0.15058352] [ 0.00449968 0.99998751 0.00217769 -0.01430617] [ 0.00440274 -0.00219751 0.99998789 -0.04823678] [ 0. 0. 0. 1. ]] SLAMing on 14.644630439999998 meters 0.2662387181566185 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99997853 -0.0045988 -0.00466893 0.15157264] [ 0.00460771 0.99998758 0.00190012 -0.01313228] [ 0.00466013 -0.00192159 0.9999873 -0.04909052] [ 0. 0. 0. 1. ]] SLAMing on 14.704630439999999 meters 0.2674305679646095 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99997873 -0.00463163 -0.00459251 0.15152316] [ 0.00464008 0.99998756 0.00182963 -0.01281744] [ 0.00458398 -0.0018509 0.99998778 -0.04933862] [ 0. 0. 0. 1. ]] SLAMing on 14.76463044 meters 0.26438142316075136 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99998034 -0.00465387 -0.00420237 0.15057412] [ 0.00466135 0.99998757 0.00177158 -0.01261505] [ 0.00419407 -0.00179114 0.9999896 -0.04915215] [ 0. 0. 0. 1. ]] SLAMing on 14.82463044 meters 0.2681548098927745 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 9.99994093e-01 3.08625167e-03 -1.51263667e-03 1.68035034e-01] [-3.08497811e-03 9.99994886e-01 8.43553756e-04 -1.77898783e-02] [ 1.51523235e-03 -8.38882323e-04 9.99998500e-01 -4.85966415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884630439999999 meters 0.267214961228624 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.05 [[ 0.99999391 0.00317517 -0.00145174 0.16821208] [-0.00317358 0.99999437 0.00109365 -0.01878048] [ 0.00145521 -0.00108904 0.99999835 -0.04933017] [ 0. 0. 0. 1. ]] SLAMing on 14.94463044 meters 0.2635647182379267 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.05 [[ 9.99990551e-01 3.16327134e-03 -2.98189707e-03 1.23611734e-01] [-3.16197047e-03 9.99994904e-01 4.40869597e-04 -1.53731700e-02] [ 2.98327646e-03 -4.31436761e-04 9.99995457e-01 -4.84656218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00463044 meters 0.2653361908430115 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.05 [[ 0.9999932 -0.00313852 -0.00193842 0.14729975] [ 0.0031448 0.99998979 0.00324464 -0.01552158] [ 0.00192822 -0.00325071 0.99999286 -0.05023477] [ 0. 0. 0. 1. ]] SLAMing on 15.064630439999998 meters 0.2675102688875435 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99999327 -0.00319746 -0.00180046 0.14701742] [ 0.00320303 0.99999007 0.00309895 -0.01493418] [ 0.00179053 -0.00310469 0.99999358 -0.05032895] [ 0. 0. 0. 1. ]] SLAMing on 15.124630439999999 meters 0.2645762781352064 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.05 [[ 9.99990259e-01 2.76336624e-03 -3.44183723e-03 1.25885510e-01] [-2.76489653e-03 9.99996081e-01 -4.39933777e-04 -1.25874391e-02] [ 3.44060804e-03 4.49445815e-04 9.99993980e-01 -5.03190144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18463044 meters 0.26557917664202185 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.05 [[ 9.99988008e-01 6.98712989e-04 -4.84719794e-03 1.31931953e-01] [-7.10643408e-04 9.99996722e-01 -2.46001674e-03 -1.09938362e-02] [ 4.84546320e-03 2.46343187e-03 9.99985226e-01 -5.43706494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24463044 meters 0.26569662982022013 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.06 [[ 9.99986881e-01 8.10194002e-04 -5.05775829e-03 1.32755249e-01] [-8.20927077e-04 9.99997415e-01 -2.12038605e-03 -1.22740576e-02] [ 5.05602729e-03 2.12451029e-03 9.99984961e-01 -5.52327114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304630439999999 meters 0.2670282654595371 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.05 [[ 0.9999883 0.00101904 -0.0047296 0.13185361] [-0.00102542 0.99999857 -0.00134655 -0.01517278] [ 0.00472822 0.00135139 0.99998791 -0.05485495] [ 0. 0. 0. 1. ]] SLAMing on 15.36463044 meters 0.2648717213043445 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.06 [[ 9.99988410e-01 1.19660386e-03 -4.66349549e-03 1.31830506e-01] [-1.20092451e-03 9.99998852e-01 -9.23792420e-04 -1.69258327e-02] [ 4.66238473e-03 9.29382219e-04 9.99988699e-01 -5.51742664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42463044 meters 0.26715197586041356 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.06 [[ 9.99987794e-01 1.29375898e-03 -4.76837733e-03 1.32318773e-01] [-1.29706596e-03 9.99998920e-01 -6.90496016e-04 -1.78703185e-02] [ 4.76747884e-03 6.96672488e-04 9.99988393e-01 -5.56754303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484630439999998 meters 0.26469401837534046 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.06 [[ 9.99985022e-01 1.41869759e-03 -5.28607836e-03 1.33679611e-01] [-1.42047930e-03 9.99998936e-01 -3.33318567e-04 -1.91856957e-02] [ 5.28559986e-03 3.40822340e-04 9.99985973e-01 -5.62195142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544630439999999 meters 0.2641240038547428 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.06 [[ 9.99987878e-01 1.38308202e-03 -4.72547804e-03 1.32238771e-01] [-1.38516479e-03 9.99998945e-01 -4.37510483e-04 -1.88249240e-02] [ 4.72486794e-03 4.44050746e-04 9.99988739e-01 -5.56438722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60463044 meters 0.26617091201728865 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 9.99976485e-01 -6.45614998e-03 -2.31238853e-03 1.49306315e-01] [ 6.45824531e-03 9.99978740e-01 8.99814178e-04 -1.41021501e-02] [ 2.30653004e-03 -9.14726992e-04 9.99996922e-01 -5.38166027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66463044 meters 0.26518909619466213 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.05 [[ 9.99981250e-01 2.78033428e-03 -5.45622182e-03 1.31359950e-01] [-2.77938464e-03 9.99996121e-01 1.81622770e-04 -9.70561981e-03] [ 5.45670563e-03 -1.66454426e-04 9.99985098e-01 -5.44615458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724630439999999 meters 0.2650870864043896 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.05 [[ 9.99983231e-01 2.44975957e-03 -5.24756592e-03 1.30614786e-01] [-2.45316934e-03 9.99996784e-01 -6.43443157e-04 -6.31314018e-03] [ 5.24597276e-03 6.56305535e-04 9.99986024e-01 -5.38631309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784630439999999 meters 0.2638522939612674 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.05 [[ 0.99998346 0.00223256 -0.00530129 0.1305638 ] [-0.00223869 0.99999683 -0.00115024 -0.00425252] [ 0.00529871 0.00116209 0.99998529 -0.05347939] [ 0. 0. 0. 1. ]] SLAMing on 15.84463044 meters 0.2663949399171479 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.05 [[ 0.99997275 -0.00333946 -0.00658419 0.15370834] [ 0.00335498 0.99999162 0.00234723 0.00115194] [ 0.0065763 -0.00236926 0.99997557 -0.05339152] [ 0. 0. 0. 1. ]] SLAMing on 15.904630439999998 meters 0.26543470034193845 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.05 [[ 0.99997221 -0.00378121 -0.00642465 0.15320667] [ 0.00378986 0.99999193 0.00133504 0.00524215] [ 0.00641955 -0.00135935 0.99997847 -0.05318584] [ 0. 0. 0. 1. ]] SLAMing on 15.964630439999999 meters 0.2639933549823539 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.06 [[ 0.99996592 -0.00244281 -0.00788648 0.15827823] [ 0.00246094 0.99999435 0.00228987 0.00853673] [ 0.00788084 -0.0023092 0.99996628 -0.05544788] [ 0. 0. 0. 1. ]] SLAMing on 16.02463044 meters 0.2660747601262856 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.06 [[ 0.99996236 -0.00287159 -0.00818694 0.15945996] [ 0.00288155 0.99999512 0.00120531 0.01331721] [ 0.00818344 -0.00122886 0.99996576 -0.05632232] [ 0. 0. 0. 1. ]] SLAMing on 16.084630439999998 meters 0.26530075392394364 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.06 [[ 9.99952628e-01 -9.90662974e-04 -9.68302908e-03 1.65222960e-01] [ 1.01047668e-03 9.99997405e-01 2.04155245e-03 2.13375238e-02] [ 9.68098147e-03 -2.05124021e-03 9.99951034e-01 -5.94602308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14463044 meters 0.2652406533860503 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.06 [[ 0.99995269 -0.00135455 -0.00963278 0.1650865 ] [ 0.00136627 0.99999833 0.00120975 0.02471657] [ 0.00963113 -0.00122286 0.99995287 -0.05943283] [ 0. 0. 0. 1. ]] SLAMing on 16.20463044 meters 0.26592995761830696 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99951746e-01 -1.52074936e-03 -9.70533623e-03 1.65339678e-01] [ 1.52870560e-03 9.99998502e-01 8.12414018e-04 2.63422618e-02] [ 9.70408621e-03 -8.27211417e-04 9.99952572e-01 -5.95787263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264630439999998 meters 0.26544499605150673 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.06 [[ 9.99951425e-01 -1.82038073e-03 -9.68679718e-03 1.64930277e-01] [ 1.82195087e-03 9.99998329e-01 1.53268757e-04 2.90221360e-02] [ 9.68650198e-03 -1.70910180e-04 9.99953070e-01 -5.88981891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32463044 meters 0.2645628690661771 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.06 [[ 9.99953365e-01 -1.82831083e-03 -9.48284575e-03 1.64454612e-01] [ 1.82968246e-03 9.99998317e-01 1.35970797e-04 2.90797052e-02] [ 9.48258120e-03 -1.53315053e-04 9.99955028e-01 -5.88968878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38463044 meters 0.26497757005011985 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.06 [[ 9.99954271e-01 -1.74461441e-03 -9.40274041e-03 1.64195503e-01] [ 1.74820370e-03 9.99998402e-01 3.73521763e-04 2.81141480e-02] [ 9.40207373e-03 -3.89942588e-04 9.99955723e-01 -5.87446706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444630439999997 meters 0.2656246548721008 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.06 [[ 9.99951550e-01 -1.53862326e-03 -9.72269968e-03 1.65084523e-01] [ 1.54765382e-03 9.99998378e-01 9.21356621e-04 2.59180159e-02] [ 9.72126629e-03 -9.36359354e-04 9.99952309e-01 -5.91215680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50463044 meters 0.26687421804550066 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.06 [[ 0.99995316 -0.00144935 -0.0095693 0.16455744] [ 0.00146026 0.99999829 0.00113325 0.02503405] [ 0.00956764 -0.00114717 0.99995357 -0.05880211] [ 0. 0. 0. 1. ]] SLAMing on 16.56463044 meters 0.26583968934132585 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.06 [[ 0.99995452 -0.00131743 -0.00944575 0.16382646] [ 0.00133133 0.99999804 0.00146616 0.02355691] [ 0.0094438 -0.00147867 0.99995431 -0.0578966 ] [ 0. 0. 0. 1. ]] SLAMing on 16.62463044 meters 0.26700094858874596 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.06 [[ 9.99953091e-01 6.06799152e-03 -7.54955231e-03 1.81111569e-01] [-6.06378716e-03 9.99981447e-01 5.79668330e-04 1.50450981e-02] [ 7.55292967e-03 -5.33862260e-04 9.99971334e-01 -5.65927419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68463044 meters 0.2655832320952286 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.06 [[ 0.99995457 -0.00260758 -0.00916795 0.16075839] [ 0.00262042 0.9999956 0.00138864 0.01099374] [ 0.00916429 -0.0014126 0.99995701 -0.05730351] [ 0. 0. 0. 1. ]] SLAMing on 16.744630439999998 meters 0.26724490389310435 Centerline is valid? [False, False] Translation: X:0.18, Y:0.01, Z:-0.06 [[ 9.99961622e-01 2.91240177e-03 -8.26271288e-03 1.84705201e-01] [-2.92070967e-03 9.99995241e-01 -9.93581076e-04 6.83105649e-03] [ 8.25977986e-03 1.01767593e-03 9.99965370e-01 -5.88522467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80463044 meters 0.2673848246278691 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.06 [[ 9.99959764e-01 3.07634443e-03 -8.42649337e-03 1.85541734e-01] [-3.08152108e-03 9.99995071e-01 -6.01415174e-04 5.14993385e-03] [ 8.42460168e-03 6.27357393e-04 9.99964316e-01 -5.98455284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86463044 meters 0.26451662145278587 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.06 [[ 9.99916461e-01 5.21066313e-03 -1.18287645e-02 1.45257885e-01] [-5.20608023e-03 9.99986361e-01 4.18196250e-04 7.68491479e-03] [ 1.18307823e-02 -3.56579817e-04 9.99929950e-01 -6.10560490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924630439999998 meters 0.2646302431829375 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.06 [[ 0.99992956 -0.00295419 -0.01149596 0.16442088] [ 0.0029747 0.99999401 0.00176712 0.01342864] [ 0.01149067 -0.00180119 0.99993236 -0.05946577] [ 0. 0. 0. 1. ]] SLAMing on 16.98463044 meters 0.2665993172876617 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.06 [[ 9.99952642e-01 5.05265258e-03 -8.31777852e-03 1.81851791e-01] [-5.05057354e-03 9.99987209e-01 2.70938007e-04 1.86322873e-02] [ 8.31904108e-03 -2.28915624e-04 9.99965370e-01 -5.77438229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04463044 meters 0.26465755486955495 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.06 [[ 9.99954015e-01 4.79187825e-03 -8.30696865e-03 1.81475261e-01] [-4.79499786e-03 9.99988441e-01 -3.55665664e-04 2.11928973e-02] [ 8.30516832e-03 3.95481206e-04 9.99965433e-01 -5.70018569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104630439999998 meters 0.26658847377533057 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.06 [[ 9.99963024e-01 -5.12805905e-03 -6.90315671e-03 2.00879092e-01] [ 5.12544362e-03 9.99986786e-01 -3.96512194e-04 2.21869750e-02] [ 6.90509883e-03 3.61115792e-04 9.99976094e-01 -5.59436872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16463044 meters 0.2664752510470967 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.06 [[ 9.99961368e-01 -5.07201305e-03 -7.17894667e-03 2.01656045e-01] [ 5.07036242e-03 9.99987115e-01 -2.48107244e-04 2.16154276e-02] [ 7.18011257e-03 2.11697798e-04 9.99974200e-01 -5.63051376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22463044 meters 0.26723093683175336 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.06 [[ 9.99961528e-01 -4.96544220e-03 -7.23103162e-03 2.01902519e-01] [ 4.96586060e-03 9.99987669e-01 3.99073754e-05 2.04606744e-02] [ 7.23074429e-03 -7.58141351e-05 9.99973855e-01 -5.66010273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28463044 meters 0.26826660424714777 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.05 [[ 9.99987781e-01 2.45356859e-03 -4.29151862e-03 2.19152475e-01] [-2.45677377e-03 9.99996707e-01 -7.41751665e-04 1.49808528e-02] [ 4.28968455e-03 7.52285892e-04 9.99990516e-01 -5.49850179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34463044 meters 0.267827808856131 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.06 [[ 9.99971838e-01 -5.39770326e-03 -5.21418488e-03 1.99820759e-01] [ 5.39919357e-03 9.99985387e-01 2.71784978e-04 1.81601394e-02] [ 5.21264167e-03 -2.99929718e-04 9.99986369e-01 -5.60521744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40463044 meters 0.2677034129099664 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.06 [[ 9.99985120e-01 2.58978420e-03 -4.80140336e-03 2.20370793e-01] [-2.59120546e-03 9.99996601e-01 -2.89812472e-04 1.36888730e-02] [ 4.80063648e-03 3.02249582e-04 9.99988431e-01 -5.50834920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46463044 meters 0.26765479937225717 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.06 [[ 9.99975399e-01 -5.45804640e-03 -4.40573506e-03 2.00741445e-01] [ 5.46058134e-03 9.99984932e-01 5.63548975e-04 1.85709357e-02] [ 4.40259280e-03 -5.87592986e-04 9.99990136e-01 -5.57781563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52463044 meters 0.26869671672097445 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.06 [[ 9.99989429e-01 2.29109610e-03 -3.98660956e-03 2.21032085e-01] [-2.29204422e-03 9.99997346e-01 -2.33273001e-04 1.28418765e-02] [ 3.98606453e-03 2.42408021e-04 9.99992026e-01 -5.55246160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584630439999998 meters 0.26548958491486474 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.06 [[ 0.99996785 -0.00499643 -0.00627111 0.20295694] [ 0.00500454 0.99998666 0.001279 0.01453597] [ 0.00626464 -0.00131035 0.99997952 -0.05718461] [ 0. 0. 0. 1. ]] SLAMing on 17.64463044 meters 0.26717497236112453 Centerline is valid? [False, False] Translation: X:0.20, Y:0.01, Z:-0.06 [[ 0.99996743 -0.0047217 -0.00654488 0.20374545] [ 0.00473514 0.99998671 0.00203821 0.01147288] [ 0.00653517 -0.00206914 0.9999765 -0.05756983] [ 0. 0. 0. 1. ]] SLAMing on 17.70463044 meters 0.26726840413240677 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.06 [[ 9.99978329e-01 2.73020911e-03 -5.99061098e-03 2.21505264e-01] [-2.72115541e-03 9.99995144e-01 1.51894508e-03 4.53506248e-05] [ 5.99472893e-03 -1.50261078e-03 9.99980903e-01 -5.59540932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764630439999998 meters 0.2713727637963683 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.01, Z:-0.06 [[ 0.99997204 -0.00629128 -0.00404334 0.24175535] [ 0.00630236 0.99997641 0.00273216 -0.0055485 ] [ 0.00402606 -0.00275757 0.99998809 -0.05601027] [ 0. 0. 0. 1. ]] SLAMing on 17.82463044 meters 0.26550665565427495 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 9.99988975e-01 4.60481726e-04 -4.67319952e-03 2.18731756e-01] [-4.59152795e-04 9.99999854e-01 2.85441749e-04 -8.49182576e-03] [ 4.67333027e-03 -2.83292889e-04 9.99989040e-01 -5.48635180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88463044 meters 0.2661940620443914 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 9.99988669e-01 5.01216931e-04 -4.73393059e-03 2.18304647e-01] [-4.99265607e-04 9.99999790e-01 4.13372369e-04 -8.98388873e-03] [ 4.73413679e-03 -4.11004196e-04 9.99988709e-01 -5.36393307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944630439999997 meters 0.26684281330907517 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 9.99988178e-01 3.81680546e-04 -4.84751649e-03 2.18764285e-01] [-3.81332955e-04 9.99999925e-01 7.26291582e-05 -7.58880591e-03] [ 4.84754385e-03 -7.07797818e-05 9.99988248e-01 -5.40519936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00463044 meters 0.26830080777663445 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 9.99988336e-01 1.94381722e-04 -4.82601534e-03 2.18612038e-01] [-1.96106372e-04 9.99999917e-01 -3.56894439e-04 -5.79396033e-03] [ 4.82594557e-03 3.57836689e-04 9.99988291e-01 -5.38224407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06463044 meters 0.26564088958782434 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.01, Z:-0.05 [[ 9.99987174e-01 1.22262986e-04 -5.06326845e-03 2.19086341e-01] [-1.24955753e-04 9.99999851e-01 -5.31510850e-04 -5.07255174e-03] [ 5.06320271e-03 5.32136717e-04 9.99987040e-01 -5.36211082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12463044 meters 0.26709835928873155 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.05 [[ 9.99987116e-01 7.63305235e-05 -5.07568601e-03 2.19085987e-01] [-7.96002379e-05 9.99999789e-01 -6.43992736e-04 -4.61367619e-03] [ 5.07563579e-03 6.44388464e-04 9.99986911e-01 -5.35543537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18463044 meters 0.2674080508335259 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.05 [[ 9.99987243e-01 -1.69137804e-04 -5.04833360e-03 2.18874648e-01] [ 1.63003234e-04 9.99999248e-01 -1.21555409e-03 -2.24206315e-03] [ 5.04853540e-03 1.21471569e-03 9.99986518e-01 -5.32361982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244630439999998 meters 0.26684413148012054 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.05 [[ 9.99987815e-01 -4.00630545e-04 -4.92024984e-03 2.18436125e-01] [ 3.91777310e-04 9.99998303e-01 -1.80017866e-03 1.10241737e-04] [ 4.92096270e-03 1.79822909e-03 9.99986275e-01 -5.29263354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30463044 meters 0.267242896434853 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.05 [[ 9.99988169e-01 -5.88199934e-04 -4.82857613e-03 2.17964629e-01] [ 5.77351438e-04 9.99997307e-01 -2.24781424e-03 1.95575767e-03] [ 4.82988529e-03 2.24499986e-03 9.99985816e-01 -5.24040751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36463044 meters 0.26779033571515165 Centerline is valid? [False, False] Translation: X:0.22, Y:0.00, Z:-0.05 [[ 9.99987250e-01 -8.06377185e-04 -4.98495785e-03 2.18781066e-01] [ 7.92578601e-04 9.99995851e-01 -2.76940030e-03 4.27136869e-03] [ 4.98717035e-03 2.76541402e-03 9.99983740e-01 -5.32374349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424630439999998 meters 0.26916116488172415 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.05 [[ 9.99986001e-01 -8.79546539e-04 -5.21772170e-03 2.19621097e-01] [ 8.64084747e-04 9.99995232e-01 -2.96483685e-03 5.10035851e-03] [ 5.22030453e-03 2.96028680e-03 9.99981992e-01 -5.39028337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48463044 meters 0.26738401672756434 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.05 [[ 9.99985282e-01 -9.44427387e-04 -5.34260882e-03 2.19706257e-01] [ 9.27771594e-04 9.99994705e-01 -3.11915909e-03 5.72276958e-03] [ 5.34552635e-03 3.11415646e-03 9.99980864e-01 -5.34603644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54463044 meters 0.26952357414841704 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:-0.05 [[ 9.99975659e-01 -6.24732085e-03 -3.10670433e-03 2.39575115e-01] [ 6.25035245e-03 9.99979999e-01 9.67075273e-04 6.30741559e-03] [ 3.10060056e-03 -9.86469731e-04 9.99994707e-01 -5.30438483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604630439999998 meters 0.2673860166143916 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:-0.05 [[ 9.99974990e-01 -6.36441801e-03 -3.08445342e-03 2.39508304e-01] [ 6.36653583e-03 9.99979504e-01 6.77277697e-04 7.48846294e-03] [ 3.08007972e-03 -6.96898042e-04 9.99995014e-01 -5.30210397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66463044 meters 0.26622735406605913 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.05 [[ 9.99994773e-01 2.79222969e-03 -1.62991292e-03 2.16600546e-01] [-2.79251612e-03 9.99996086e-01 -1.73487010e-04 6.89590044e-03] [ 1.62942212e-03 1.78037661e-04 9.99998657e-01 -5.27190767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72463044 meters 0.26689398536811365 Centerline is valid? [False, False] Translation: X:0.22, Y:0.01, Z:-0.05 [[ 9.99995298e-01 2.74467936e-03 -1.36765788e-03 2.15721018e-01] [-2.74508002e-03 9.99996190e-01 -2.91162094e-04 7.37532698e-03] [ 1.36685352e-03 2.94915055e-04 9.99999022e-01 -5.20477812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784630439999997 meters 0.26688098434982077 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:-0.05 [[ 0.99999294 -0.00350084 0.00136288 0.23596554] [ 0.00349718 0.99999028 0.00268342 0.00643069] [-0.00137226 -0.00267864 0.99999547 -0.05243448] [ 0. 0. 0. 1. ]] SLAMing on 18.84463044 meters 0.2664120180638833 Centerline is valid? [False, False] Translation: X:0.24, Y:0.01, Z:-0.05 [[ 0.99999268 -0.00353992 0.00144881 0.23555613] [ 0.00353619 0.99999044 0.00257125 0.00673729] [-0.0014579 -0.00256611 0.99999564 -0.0520192 ] [ 0. 0. 0. 1. ]] SLAMing on 18.90463044 meters 0.266294743478854 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.05 [[ 0.99998838 0.00428266 0.00221466 0.25557002] [-0.00428619 0.99998954 0.00159518 0.00381816] [-0.00220781 -0.00160465 0.99999628 -0.05087363] [ 0. 0. 0. 1. ]] SLAMing on 18.96463044 meters 0.2658325264398068 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.00, Z:-0.05 [[ 9.99995704e-01 1.67395810e-03 2.40633405e-03 2.53583676e-01] [-1.67354860e-03 9.99998585e-01 -1.72177806e-04 -6.64464689e-04] [-2.40661886e-03 1.68149949e-04 9.99997090e-01 -4.89517302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02463044 meters 0.2660744971704135 Centerline is valid? [False, False] Translation: X:0.23, Y:0.00, Z:-0.05 [[ 9.99995222e-01 -3.07454510e-03 -3.21085428e-04 2.32359281e-01] [ 3.07547075e-03 9.99990998e-01 2.92331676e-03 1.43040273e-04] [ 3.12094669e-04 -2.92429028e-03 9.99995676e-01 -4.86881966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084630439999998 meters 0.26600478102665703 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.00, Z:-0.05 [[ 9.99985910e-01 5.29247602e-03 -4.11985773e-04 2.53962143e-01] [-5.29140077e-03 9.99982701e-01 2.56868133e-03 -4.32107469e-03] [ 4.25573331e-04 -2.56646515e-03 9.99996616e-01 -4.86504977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14463044 meters 0.26610073294277264 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:-0.05 [[ 9.99985053e-01 5.43553913e-03 -5.89756539e-04 2.54446371e-01] [-5.43379426e-03 9.99980971e-01 2.92095496e-03 -5.73182202e-03] [ 6.05622281e-04 -2.91770669e-03 9.99995560e-01 -4.88052582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20463044 meters 0.26713033898320343 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:-0.05 [[ 9.99998798e-01 1.29081711e-03 -8.59192270e-04 2.54755860e-01] [-1.29158058e-03 9.99998771e-01 -8.88632781e-04 -7.08287795e-03] [ 8.58044152e-04 8.89741429e-04 9.99999236e-01 -4.84557196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264630439999998 meters 0.2675711950366618 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.05 [[ 9.99998501e-01 1.43777360e-03 -9.64510252e-04 2.55176423e-01] [-1.43829294e-03 9.99998821e-01 -5.37972828e-04 -8.53890521e-03] [ 9.63735631e-04 5.39359270e-04 9.99999390e-01 -4.88177382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32463044 meters 0.26750322530680615 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.01, Z:-0.05 [[ 9.99998092e-01 1.63312813e-03 -1.07194679e-03 2.56010114e-01] [-1.63314943e-03 9.99998666e-01 -1.89956447e-05 -1.07588704e-02] [ 1.07191434e-03 2.07462577e-05 9.99999425e-01 -5.00452262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38463044 meters 0.2640793714058638 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.05 [[ 9.99973175e-01 -7.17687360e-03 -1.46365964e-03 2.33238674e-01] [ 7.17761093e-03 9.99974116e-01 4.99126249e-04 -1.30962922e-02] [ 1.46003959e-03 -5.09618439e-04 9.99998804e-01 -4.89670622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444630439999997 meters 0.26420736339559686 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:-0.05 [[ 9.99994981e-01 5.21885102e-04 3.12490596e-03 2.06808780e-01] [-5.22358222e-04 9.99999852e-01 1.50588796e-04 -2.29073980e-02] [-3.12482691e-03 -1.52220361e-04 9.99995106e-01 -4.71422919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50463044 meters 0.2645532200332833 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.02, Z:-0.05 [[ 9.99994021e-01 6.46362702e-04 3.39719219e-03 2.06488968e-01] [-6.47911709e-04 9.99999687e-01 4.54886147e-04 -2.41552112e-02] [-3.39689711e-03 -4.57084507e-04 9.99994126e-01 -4.77913648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56463044 meters 0.2661092681741787 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.05 [[ 0.99998349 0.00166122 0.00550045 0.24771354] [-0.00167109 0.999997 0.00179073 -0.02407505] [-0.00549746 -0.00179989 0.99998327 -0.04770743] [ 0. 0. 0. 1. ]] SLAMing on 19.62463044 meters 0.26467854700960103 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.05 [[ 0.99998531 0.00159427 0.00518135 0.24828379] [-0.00160254 0.99999745 0.0015921 -0.02334868] [-0.0051788 -0.00160038 0.99998531 -0.04746203] [ 0. 0. 0. 1. ]] SLAMing on 19.68463044 meters 0.26601808957996714 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.05 [[ 0.99998558 0.00161806 0.00512039 0.2483727 ] [-0.00162655 0.99999731 0.00165338 -0.02359842] [-0.0051177 -0.00166168 0.99998552 -0.04735326] [ 0. 0. 0. 1. ]] SLAMing on 19.744630439999998 meters 0.26584767037876533 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.05 [[ 0.99998345 0.00190375 0.00543004 0.24743501] [-0.00191701 0.99999519 0.00243805 -0.02683022] [-0.00542537 -0.00244841 0.99998229 -0.04680129] [ 0. 0. 0. 1. ]] SLAMing on 19.80463044 meters 0.2643083316656985 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.05 [[ 9.99991266e-01 -2.38153526e-04 4.17272756e-03 2.53046274e-01] [ 2.35005321e-04 9.99999687e-01 7.54945678e-04 -3.06352780e-02] [-4.17290605e-03 -7.53958471e-04 9.99991009e-01 -5.04674262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86463044 meters 0.2652759112936372 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.05 [[ 9.99992400e-01 8.51828775e-06 3.89872722e-03 2.53913169e-01] [-1.39121745e-05 9.99999043e-01 1.38347437e-03 -3.31922304e-02] [-3.89871170e-03 -1.38351809e-03 9.99991443e-01 -5.09990010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924630439999998 meters 0.26506100138928945 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.05 [[ 9.99992267e-01 2.86689276e-04 3.92227496e-03 2.54082391e-01] [-2.94557030e-04 9.99997946e-01 2.00548535e-03 -3.57332162e-02] [-3.92169195e-03 -2.00662517e-03 9.99990297e-01 -5.13759500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98463044 meters 0.26610025371086526 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.05 [[ 9.99992964e-01 4.08921991e-04 3.72885963e-03 2.54734232e-01] [-4.17646647e-04 9.99997177e-01 2.33928679e-03 -3.70544430e-02] [-3.72789252e-03 -2.34082768e-03 9.99990312e-01 -5.18513398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04463044 meters 0.265233625491359 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.04, Z:-0.05 [[ 9.99993414e-01 3.90700941e-04 3.60826756e-03 2.55107556e-01] [-3.98969482e-04 9.99997296e-01 2.29111897e-03 -3.68597583e-02] [-3.60736266e-03 -2.29254347e-03 9.99990866e-01 -5.20718521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104630439999998 meters 0.2654543268157291 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.04, Z:-0.05 [[ 9.99993147e-01 3.15380541e-04 3.68871319e-03 2.54699390e-01] [-3.23016773e-04 9.99997806e-01 2.06974913e-03 -3.61017898e-02] [-3.68805234e-03 -2.07092646e-03 9.99991055e-01 -5.16111121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16463044 meters 0.2672614258161018 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.05 [[ 9.99950043e-01 8.19000271e-03 5.73025496e-03 2.74021509e-01] [-8.19580987e-03 9.99965923e-01 9.90672963e-04 -3.77948694e-02] [-5.72194608e-03 -1.03758755e-03 9.99983091e-01 -5.06568053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22463044 meters 0.2663090819989787 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.05 [[ 0.99997478 0.00414777 0.00576535 0.27341793] [-0.00413248 0.99998792 -0.0026629 -0.04041062] [-0.00577633 0.002639 0.99997983 -0.04973141] [ 0. 0. 0. 1. ]] SLAMing on 20.284630439999997 meters 0.2637863521379402 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.04, Z:-0.05 [[ 0.99997324 0.00443277 0.00581978 0.27298991] [-0.00442241 0.99998861 -0.00179237 -0.0438191 ] [-0.00582766 0.00176658 0.99998146 -0.04902525] [ 0. 0. 0. 1. ]] SLAMing on 20.34463044 meters 0.26597858586511913 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.05 [[ 0.99997328 0.004647 0.00564299 0.27379861] [-0.00464027 0.99998851 -0.0012062 -0.04629556] [-0.00564853 0.00117999 0.99998335 -0.04981661] [ 0. 0. 0. 1. ]] SLAMing on 20.40463044 meters 0.2648602085296834 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.05 [[ 9.99972946e-01 4.86246473e-03 5.51938152e-03 2.74080021e-01] [-4.85882088e-03 9.99987969e-01 -6.73407760e-04 -4.84642589e-02] [-5.52258954e-03 6.46571856e-04 9.99984541e-01 -4.97649237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46463044 meters 0.2666106751358925 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.05, Z:-0.05 [[ 9.99972677e-01 4.92512035e-03 5.51249977e-03 2.73948885e-01] [-4.92239880e-03 9.99987756e-01 -5.07165024e-04 -4.91199678e-02] [-5.51493012e-03 4.80016444e-04 9.99984677e-01 -4.94439979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52463044 meters 0.26487639123505335 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.05 [[ 9.99978394e-01 -4.15674747e-03 5.09248629e-03 2.53736547e-01] [ 4.15632220e-03 9.99991358e-01 9.40884248e-05 -4.91490891e-02] [-5.09283338e-03 -7.29203781e-05 9.99987029e-01 -4.99781771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584630439999998 meters 0.2657499636564441 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.05 [[ 9.99978655e-01 -4.10010156e-03 5.08704468e-03 2.53917929e-01] [ 4.09895086e-03 9.99991571e-01 2.36608109e-04 -4.97334908e-02] [-5.08797192e-03 -2.15751513e-04 9.99987033e-01 -5.03275391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64463044 meters 0.26539395184179576 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.05 [[ 9.99980375e-01 -3.92989040e-03 4.87906182e-03 2.54584133e-01] [ 3.92638587e-03 9.99992027e-01 7.27650357e-04 -5.17363290e-02] [-4.88188250e-03 -7.08478997e-04 9.99987833e-01 -5.06965198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70463044 meters 0.2659542967386825 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.05 [[ 0.9999836 -0.00367427 0.00439332 0.25567131] [ 0.00366714 0.99999195 0.00163125 -0.05525501] [-0.00439928 -0.00161511 0.99998902 -0.0506807 ] [ 0. 0. 0. 1. ]] SLAMing on 20.764630439999998 meters 0.26780788462749566 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.05 [[ 0.99998636 0.00206713 0.00479729 0.2789414 ] [-0.00206111 0.99999708 -0.00126077 -0.05883502] [-0.00479988 0.00125086 0.9999877 -0.05165304] [ 0. 0. 0. 1. ]] SLAMing on 20.82463044 meters 0.2672161358975827 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.05 [[ 9.99985801e-01 2.29214137e-03 4.81073534e-03 2.79054543e-01] [-2.28876504e-03 9.99997131e-01 -7.07219664e-04 -6.10724700e-02] [-4.81234258e-03 6.96198979e-04 9.99988178e-01 -5.19297487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88463044 meters 0.26724076981197 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.06, Z:-0.05 [[ 0.999988 -0.00171694 0.00458839 0.27943074] [ 0.00173594 0.99998992 -0.00414111 -0.06442056] [-0.00458123 0.00414903 0.9999809 -0.05169999] [ 0. 0. 0. 1. ]] SLAMing on 20.944630439999997 meters 0.2649558960696903 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998783 -0.00161154 0.00466259 0.2789454 ] [ 0.00162952 0.99999125 -0.00385318 -0.06553211] [-0.00465634 0.00386073 0.99998171 -0.05095836] [ 0. 0. 0. 1. ]] SLAMing on 21.00463044 meters 0.26804915361477466 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998317 -0.00151032 0.00560176 0.27676861] [ 0.00153044 0.99999238 -0.00359014 -0.06647653] [-0.0055963 0.00359865 0.99997787 -0.05039218] [ 0. 0. 0. 1. ]] SLAMing on 21.06463044 meters 0.26613349465350855 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998178 -0.00149601 0.00584871 0.27620068] [ 0.00151676 0.99999257 -0.0035449 -0.06663107] [-0.00584336 0.0035537 0.99997661 -0.0503583 ] [ 0. 0. 0. 1. ]] SLAMing on 21.124630439999997 meters 0.2663852358231625 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998123 -0.00150615 0.00593874 0.27592309] [ 0.00152737 0.99999246 -0.00356995 -0.06651675] [-0.00593331 0.00357896 0.99997599 -0.0501964 ] [ 0. 0. 0. 1. ]] SLAMing on 21.18463044 meters 0.26549435250829984 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.07, Z:-0.05 [[ 0.99997368 0.00585323 0.00428635 0.25882903] [-0.00583092 0.99996948 -0.00520012 -0.07328701] [-0.00431666 0.00517499 0.99997729 -0.05159571] [ 0. 0. 0. 1. ]] SLAMing on 21.244630439999998 meters 0.26742818861092443 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998428 -0.00163201 0.00536503 0.27698991] [ 0.00165039 0.99999278 -0.00342411 -0.06981775] [-0.00535941 0.00343292 0.99997975 -0.04969836] [ 0. 0. 0. 1. ]] SLAMing on 21.30463044 meters 0.26824853269899634 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998397 -0.0017427 0.00538776 0.27721214] [ 0.00176286 0.99999145 -0.00373954 -0.06858086] [-0.0053812 0.00374898 0.99997849 -0.05030922] [ 0. 0. 0. 1. ]] SLAMing on 21.36463044 meters 0.2691782376220319 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998451 -0.00183891 0.00525392 0.27786686] [ 0.00185989 0.99999031 -0.00399081 -0.06757558] [-0.00524653 0.00400052 0.99997823 -0.05108684] [ 0. 0. 0. 1. ]] SLAMing on 21.424630439999998 meters 0.26898999344002117 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.9999855 -0.00180807 0.00507266 0.27845812] [ 0.00182796 0.99999065 -0.00391884 -0.06795942] [-0.00506553 0.00392806 0.99997946 -0.05144376] [ 0. 0. 0. 1. ]] SLAMing on 21.48463044 meters 0.2666252003257456 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99989414e-01 2.08184095e-03 4.10350480e-03 2.81048026e-01] [-2.08095241e-03 9.99997810e-01 -2.20789711e-04 -6.70249279e-02] [-4.10395546e-03 2.12248176e-04 9.99991556e-01 -5.23398021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54463044 meters 0.26672815529254 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99989307e-01 2.17786515e-03 4.07967106e-03 2.81157493e-01] [-2.17801284e-03 9.99997628e-01 3.17589539e-05 -6.80499726e-02] [-4.07959222e-03 -4.06441903e-05 9.99991678e-01 -5.24367086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604630439999998 meters 0.268442174798553 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99989599e-01 2.14340322e-03 4.02581572e-03 2.81131723e-01] [-2.14322252e-03 9.99997702e-01 -4.91982521e-05 -6.76969485e-02] [-4.02591192e-03 4.05695215e-05 9.99991895e-01 -5.21229334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66463044 meters 0.27002055742332154 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99990177e-01 2.10025005e-03 3.90323981e-03 2.81315412e-01] [-2.09963073e-03 9.99997783e-01 -1.62758350e-04 -6.72225985e-02] [-3.90357299e-03 1.54561389e-04 9.99992369e-01 -5.19520986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72463044 meters 0.2694615158547904 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99989702e-01 2.18785718e-03 3.97595521e-03 2.80801768e-01] [-2.18807686e-03 9.99997605e-01 5.09034460e-05 -6.80482260e-02] [-3.97583432e-03 -5.96026175e-05 9.99992095e-01 -5.12485197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784630439999997 meters 0.268700944240849 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 9.99989236e-01 2.37098267e-03 3.98833310e-03 2.80460746e-01] [-2.37299886e-03 9.99997059e-01 5.00866316e-04 -6.98612320e-02] [-3.98713383e-03 -5.10325234e-04 9.99991921e-01 -5.06086512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84463044 meters 0.2690656616478509 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99998803 0.00265951 0.00410666 0.27975891] [-0.00266476 0.99999564 0.00127201 -0.0730212 ] [-0.00410326 -0.00128294 0.99999076 -0.04968628] [ 0. 0. 0. 1. ]] SLAMing on 21.90463044 meters 0.26641136116997166 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.05 [[ 0.99998713 0.00300943 0.00408369 0.27961651] [-0.00301826 0.99999311 0.00215924 -0.07654013] [-0.00407716 -0.00217154 0.99998933 -0.04926893] [ 0. 0. 0. 1. ]] SLAMing on 21.96463044 meters 0.26743302777715994 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.05 [[ 0.99998686 0.00331296 0.00391296 0.28035188] [-0.00332414 0.9999904 0.00285497 -0.07940227] [-0.00390347 -0.00286794 0.99998827 -0.0497832 ] [ 0. 0. 0. 1. ]] SLAMing on 22.02463044 meters 0.2681167046707476 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.08, Z:-0.05 [[ 0.99998606 0.00353593 0.00392012 0.28037713] [-0.00354911 0.99998806 0.00335924 -0.08147742] [-0.00390819 -0.00337311 0.99998667 -0.04978517] [ 0. 0. 0. 1. ]] SLAMing on 22.084630439999998 meters 0.26826591960240764 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.05 [[ 9.99989254e-01 7.71892791e-04 4.57130868e-03 2.78288124e-01] [-7.80285553e-04 9.99998013e-01 1.83446595e-03 -8.81483698e-02] [-4.56988359e-03 -1.83801316e-03 9.99987869e-01 -4.89702758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14463044 meters 0.26889951156953906 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.05 [[ 9.99989080e-01 7.85006205e-04 4.60680819e-03 2.78490086e-01] [-7.93661785e-04 9.99997923e-01 1.87733987e-03 -8.83019243e-02] [-4.60532489e-03 -1.88097562e-03 9.99987626e-01 -4.95576121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20463044 meters 0.2684564368436468 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.05 [[ 9.99989368e-01 8.80827386e-04 4.52629000e-03 2.78888128e-01] [-8.90396174e-04 9.99997372e-01 2.11246652e-03 -8.93116797e-02] [-4.52441739e-03 -2.11647426e-03 9.99987525e-01 -4.99614715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264630439999998 meters 0.26597731068157243 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.09, Z:-0.05 [[ 9.99990364e-01 9.82017088e-04 4.27881042e-03 2.79163790e-01] [-9.92318722e-04 9.99996613e-01 2.40613554e-03 -9.04452582e-02] [-4.27643306e-03 -2.41035829e-03 9.99987951e-01 -4.93342608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32463044 meters 0.26909935311796085 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.05 [[ 0.99996488 -0.00676927 0.00494089 0.29849038] [ 0.0067498 0.99996942 0.00394851 -0.08797543] [-0.00496746 -0.00391502 0.99998 -0.04732142] [ 0. 0. 0. 1. ]] SLAMing on 22.38463044 meters 0.2685498548589413 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.05 [[ 0.99996657 -0.00673583 0.0046361 0.29911938] [ 0.0067171 0.99996927 0.00404206 -0.0883798 ] [-0.00466318 -0.00401078 0.99998108 -0.04713362] [ 0. 0. 0. 1. ]] SLAMing on 22.444630439999997 meters 0.26985493418213824 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.09, Z:-0.05 [[ 0.99996793 -0.00670817 0.00437596 0.29937508] [ 0.00669014 0.99996912 0.00412257 -0.08865928] [-0.00440348 -0.00409317 0.99998193 -0.04637908] [ 0. 0. 0. 1. ]] SLAMing on 22.50463044 meters 0.26566256670521926 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.10, Z:-0.05 [[ 0.99997972 0.00122406 0.00625 0.27838425] [-0.00124656 0.99999276 0.00359593 -0.09642829] [-0.00624555 -0.00360365 0.999974 -0.04600224] [ 0. 0. 0. 1. ]] SLAMing on 22.56463044 meters 0.2671330437319497 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.04 [[ 0.9999781 0.00172961 0.00638869 0.31404416] [-0.00175373 0.99999135 0.00377089 -0.09476416] [-0.00638211 -0.00378201 0.99997248 -0.04123176] [ 0. 0. 0. 1. ]] SLAMing on 22.624630439999997 meters 0.2672254084727204 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:-0.04 [[ 0.99997862 0.00176753 0.00629516 0.31411712] [-0.00179187 0.99999093 0.00386351 -0.09513161] [-0.00628827 -0.00387471 0.99997272 -0.0409266 ] [ 0. 0. 0. 1. ]] SLAMing on 22.68463044 meters 0.26850369953933456 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:-0.04 [[ 0.99997828 0.00176016 0.0063519 0.31383612] [-0.00178462 0.999991 0.00384786 -0.09501945] [-0.00634507 -0.00385911 0.99997242 -0.04061851] [ 0. 0. 0. 1. ]] SLAMing on 22.744630439999998 meters 0.2665566768837726 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.09, Z:-0.04 [[ 0.99997824 0.00171402 0.00637076 0.31386039] [-0.00173789 0.99999149 0.00374264 -0.0945708 ] [-0.00636429 -0.00375363 0.9999727 -0.04076832] [ 0. 0. 0. 1. ]] SLAMing on 22.80463044 meters 0.2682921881537993 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.10, Z:-0.04 [[ 0.99998015 0.00177393 0.00604592 0.31486491] [-0.00179769 0.99999067 0.0039272 -0.09548821] [-0.0060389 -0.00393799 0.99997401 -0.04126812] [ 0. 0. 0. 1. ]] SLAMing on 22.86463044 meters 0.2678021158040023 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:-0.04 [[ 0.99998237 0.0019106 0.0056215 0.31565522] [-0.00193518 0.99998858 0.00436986 -0.09724712] [-0.00561309 -0.00438066 0.99997465 -0.04086169] [ 0. 0. 0. 1. ]] SLAMing on 22.924630439999998 meters 0.2658720278190869 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.10, Z:-0.04 [[ 0.99998169 0.00220362 0.00563616 0.31542367] [-0.00223433 0.99998266 0.00544808 -0.10133587] [-0.00562405 -0.00546058 0.99996928 -0.04042367] [ 0. 0. 0. 1. ]] SLAMing on 22.98463044 meters 0.26593931314663155 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.04 [[ 0.99998174 0.00252184 0.00549124 0.31599709] [-0.00255679 0.99997646 0.00636676 -0.10500946] [-0.00547505 -0.00638069 0.99996465 -0.04089453] [ 0. 0. 0. 1. ]] SLAMing on 23.04463044 meters 0.26788427805811715 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.04 [[ 0.99998265 0.00279419 0.00518581 0.31685626] [-0.00283048 0.99997147 0.00700375 -0.10770675] [-0.00516609 -0.0070183 0.99996203 -0.04105788] [ 0. 0. 0. 1. ]] SLAMing on 23.104630439999998 meters 0.2684590601642424 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:-0.04 [[ 9.99983716e-01 -5.05026493e-05 5.70651310e-03 3.14155259e-01] [ 2.01887305e-05 9.99985891e-01 5.31209418e-03 -1.13673359e-01] [-5.70670085e-03 -5.31189247e-03 9.99969608e-01 -3.88979145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16463044 meters 0.26973045588797645 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.11, Z:-0.04 [[ 9.99982386e-01 -1.70318606e-07 5.93525715e-03 3.13535598e-01] [-3.22342756e-05 9.99985096e-01 5.45958213e-03 -1.14162823e-01] [-5.93516962e-03 -5.45967728e-03 9.99967482e-01 -3.86485544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22463044 meters 0.2692403103185368 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.12, Z:-0.04 [[ 9.99982633e-01 1.70174931e-04 5.89109282e-03 3.13404043e-01] [-2.04640556e-04 9.99982866e-01 5.85035540e-03 -1.15815496e-01] [-5.88999630e-03 -5.85145935e-03 9.99965534e-01 -3.81707851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284630439999997 meters 0.26826471100926247 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.12, Z:-0.04 [[ 9.99982848e-01 3.90215357e-04 5.84384507e-03 3.13148453e-01] [-4.28235876e-04 9.99978742e-01 6.50624184e-03 -1.18376462e-01] [-5.84118201e-03 -6.50863279e-03 9.99961758e-01 -3.73093751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34463044 meters 0.2660586566737868 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.12, Z:-0.04 [[ 9.99980213e-01 7.40574941e-04 6.24708777e-03 3.11683457e-01] [-7.90145042e-04 9.99968196e-01 7.93618104e-03 -1.23727052e-01] [-6.24101175e-03 -7.94096011e-03 9.99948994e-01 -3.58528404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40463044 meters 0.2670736539158307 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.13, Z:-0.04 [[ 0.99997596 -0.00307799 0.00621398 0.31168665] [ 0.00304837 0.99998398 0.00477016 -0.12840683] [-0.00622857 -0.00475111 0.99996932 -0.03559294] [ 0. 0. 0. 1. ]] SLAMing on 23.46463044 meters 0.270209415839059 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.14, Z:-0.04 [[ 0.99998933 0.00218341 0.00407104 0.33438163] [-0.00219164 0.99999556 0.00201749 -0.14204918] [-0.00406662 -0.00202639 0.99998968 -0.03581694] [ 0. 0. 0. 1. ]] SLAMing on 23.52463044 meters 0.26629723860555876 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.04 [[ 0.99998261 -0.00575751 0.00127415 0.31635 ] [ 0.00575197 0.99997417 0.00430956 -0.148451 ] [-0.00129893 -0.00430216 0.9999899 -0.03685824] [ 0. 0. 0. 1. ]] SLAMing on 23.584630439999998 meters 0.2677357906423056 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.15, Z:-0.04 [[ 0.9999849 -0.00538625 0.0010889 0.31702924] [ 0.00538057 0.99997225 0.00515211 -0.15195007] [-0.00111662 -0.00514618 0.99998613 -0.03721951] [ 0. 0. 0. 1. ]] SLAMing on 23.64463044 meters 0.2715184226662146 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.16, Z:-0.04 [[ 0.99999656 0.00108162 0.00238863 0.33824311] [-0.0010883 0.9999955 0.00279396 -0.16017806] [-0.0023856 -0.00279655 0.99999324 -0.03748399] [ 0. 0. 0. 1. ]] SLAMing on 23.70463044 meters 0.27130224661457014 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.16, Z:-0.04 [[ 0.99999581 0.00142352 0.0025205 0.33768393] [-0.00143263 0.99999244 0.00361544 -0.16349283] [-0.00251533 -0.00361904 0.99999029 -0.03693637] [ 0. 0. 0. 1. ]] SLAMing on 23.764630439999998 meters 0.2693132752657854 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.04 [[ 0.99999649 0.00174972 0.00198842 0.33916966] [-0.00175876 0.99998809 0.00455198 -0.16752985] [-0.00198043 -0.00455546 0.99998766 -0.03729891] [ 0. 0. 0. 1. ]] SLAMing on 23.82463044 meters 0.26732082591111933 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.04 [[ 0.99999638 0.00188445 0.00191975 0.33929756] [-0.00189384 0.9999862 0.00490094 -0.16893251] [-0.00191049 -0.00490456 0.99998615 -0.03720255] [ 0. 0. 0. 1. ]] SLAMing on 23.88463044 meters 0.2700276940330024 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.04 [[ 0.99999598 -0.00196579 0.00204367 0.33830689] [ 0.00196235 0.99999665 0.00168803 -0.17289572] [-0.00204698 -0.00168401 0.99999649 -0.03575561] [ 0. 0. 0. 1. ]] SLAMing on 23.944630439999997 meters 0.26823659697148905 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.04 [[ 0.99999646 -0.00176516 0.00199343 0.33810533] [ 0.0017608 0.99999606 0.00218471 -0.17491551] [-0.00199728 -0.00218119 0.99999563 -0.03505893] [ 0. 0. 0. 1. ]] SLAMing on 24.00463044 meters 0.27127002997188493 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.04 [[ 0.99999713 -0.00157411 0.00180517 0.33886757] [ 0.00156929 0.99999521 0.00266807 -0.17703583] [-0.00180936 -0.00266523 0.99999481 -0.03569898] [ 0. 0. 0. 1. ]] SLAMing on 24.06463044 meters 0.2683541067446157 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.03 [[ 0.99999775 -0.00122283 0.00173225 0.33862904] [ 0.00121651 0.99999263 0.00364229 -0.18097554] [-0.00173669 -0.00364018 0.99999187 -0.03486828] [ 0. 0. 0. 1. ]] SLAMing on 24.124630439999997 meters 0.26835648646378535 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.18, Z:-0.03 [[ 9.99998014e-01 -9.45941461e-04 1.75397908e-03 3.38133394e-01] [ 9.38097167e-04 9.99989580e-01 4.46772674e-03 -1.84144496e-01] [-1.75818701e-03 -4.46607247e-03 9.99988481e-01 -3.38765469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18463044 meters 0.2655930090418561 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.04 [[ 0.99997223 0.00401224 0.00628021 0.31521057] [-0.00403242 0.99998674 0.00320411 -0.19837171] [-0.00626727 -0.00322935 0.99997515 -0.03500013] [ 0. 0. 0. 1. ]] SLAMing on 24.244630439999998 meters 0.26722253603282664 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.20, Z:-0.04 [[ 0.99997436 -0.00423259 0.00577628 0.33826315] [ 0.00420819 0.9999822 0.00422955 -0.20216269] [-0.00579408 -0.00420513 0.99997437 -0.03560909] [ 0. 0. 0. 1. ]] SLAMing on 24.30463044 meters 0.2678151388696774 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.04 [[ 0.99997883 -0.00385 0.00524654 0.33963662] [ 0.00382194 0.99997839 0.00534847 -0.2069724 ] [-0.00526702 -0.00532831 0.99997193 -0.03575262] [ 0. 0. 0. 1. ]] SLAMing on 24.36463044 meters 0.26575534820947355 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.04 [[ 9.99984147e-01 1.23892459e-04 5.62950685e-03 3.18406382e-01] [-1.39105613e-04 9.99996340e-01 2.70208424e-03 -2.22424730e-01] [-5.62915147e-03 -2.70282450e-03 9.99980504e-01 -3.55695291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424630439999998 meters 0.26832575981682405 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:-0.04 [[ 9.99983563e-01 5.15502965e-04 5.71032932e-03 3.18298075e-01] [-5.36303974e-04 9.99993225e-01 3.64176667e-03 -2.26268441e-01] [-5.70841329e-03 -3.64476928e-03 9.99977065e-01 -3.56457698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48463044 meters 0.2693676914492366 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.04 [[ 0.99998998 -0.00142706 0.00424307 0.32286139] [ 0.0014152 0.99999509 0.00279736 -0.23551198] [-0.00424704 -0.00279133 0.99998709 -0.03737032] [ 0. 0. 0. 1. ]] SLAMing on 24.54463044 meters 0.27057206851142196 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.04 [[ 0.99999142 -0.00110371 0.00399213 0.32352525] [ 0.00108916 0.99999277 0.00364466 -0.23903878] [-0.00399612 -0.00364028 0.99998539 -0.03746696] [ 0. 0. 0. 1. ]] SLAMing on 24.604630439999998 meters 0.2703310784902185 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.04 [[ 9.99991190e-01 -7.68046243e-04 4.12668156e-03 3.22819709e-01] [ 7.49237968e-04 9.99989335e-01 4.55733834e-03 -2.42710119e-01] [-4.13013779e-03 -4.55420633e-03 9.99981100e-01 -3.66362336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66463044 meters 0.2681954822453027 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.25, Z:-0.03 [[ 9.99987339e-01 -3.28576772e-04 5.02143061e-03 3.19931635e-01] [ 2.97785731e-04 9.99981158e-01 6.13144404e-03 -2.48373949e-01] [-5.02335065e-03 -6.12987110e-03 9.99968595e-01 -3.42431638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72463044 meters 0.26703279940645436 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.25, Z:-0.03 [[ 9.99988695e-01 -3.60230645e-04 4.74134206e-03 3.20772963e-01] [ 3.27943495e-04 9.99976767e-01 6.80872367e-03 -2.51892677e-01] [-4.74368461e-03 -6.80709181e-03 9.99965580e-01 -3.44270154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784630439999997 meters 0.2694374716958639 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.26, Z:-0.03 [[ 0.99996937 0.00603437 0.00498475 0.34144197] [-0.00605183 0.99997558 0.00349495 -0.257794 ] [-0.00496354 -0.00352501 0.99998147 -0.03424532] [ 0. 0. 0. 1. ]] SLAMing on 24.84463044 meters 0.26661500541738786 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.04 [[ 0.99998836 -0.00275646 0.00396047 0.32293231] [ 0.00273482 0.99998137 0.00545682 -0.25783451] [-0.00397544 -0.00544592 0.99997727 -0.03536275] [ 0. 0. 0. 1. ]] SLAMing on 24.90463044 meters 0.2685574278843324 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.04 [[ 0.9999893 -0.00260295 0.00382444 0.32361714] [ 0.00258035 0.99997926 0.00590108 -0.25981522] [-0.00383972 -0.00589115 0.99997528 -0.03609022] [ 0. 0. 0. 1. ]] SLAMing on 24.96463044 meters 0.2689875774838129 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.26, Z:-0.04 [[ 0.99999021 -0.00242996 0.00369855 0.32399703] [ 0.0024063 0.9999767 0.00638756 -0.26181074] [-0.00371399 -0.0063786 0.99997276 -0.03625233] [ 0. 0. 0. 1. ]] SLAMing on 25.02463044 meters 0.2683838555948755 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.27, Z:-0.04 [[ 0.99999289 -0.00259281 0.00273988 0.3263867 ] [ 0.00257384 0.99997284 0.00690632 -0.26517048] [-0.00275771 -0.00689922 0.9999724 -0.0366449 ] [ 0. 0. 0. 1. ]] SLAMing on 25.084630439999998 meters 0.2680625328975798 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.27, Z:-0.04 [[ 0.99998354 0.00382642 0.00427497 0.34660605] [-0.00384419 0.99998397 0.00415754 -0.27250005] [-0.004259 -0.00417391 0.99998222 -0.03679931] [ 0. 0. 0. 1. ]] SLAMing on 25.14463044 meters 0.2692526288953778 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.03 [[ 0.99998305 0.00197201 0.00547746 0.34193764] [-0.00198628 0.99999464 0.00260124 -0.27430242] [-0.0054723 -0.00261208 0.99998162 -0.03391869] [ 0. 0. 0. 1. ]] SLAMing on 25.20463044 meters 0.26984824464460333 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.03 [[ 0.99998446 0.00197559 0.00521274 0.34287398] [-0.00198938 0.99999454 0.00264035 -0.2744681 ] [-0.00520749 -0.00265068 0.99998293 -0.03467514] [ 0. 0. 0. 1. ]] SLAMing on 25.264630439999998 meters 0.2682463367669652 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.27, Z:-0.03 [[ 0.99998525 0.00186354 0.00510177 0.34304315] [-0.00187552 0.99999549 0.00234467 -0.27325178] [-0.00509738 -0.0023542 0.99998424 -0.03450859] [ 0. 0. 0. 1. ]] SLAMing on 25.32463044 meters 0.26981616968595795 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.27, Z:-0.03 [[ 9.99984701e-01 3.81699153e-03 4.00361765e-03 3.78543423e-01] [-3.82059546e-03 9.99992303e-01 8.92907312e-04 -2.65865101e-01] [-4.00017861e-03 -9.08189854e-04 9.99991587e-01 -2.99094352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38463044 meters 0.26825098376411133 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 0.99998302 0.00195828 0.00548923 0.37345596] [-0.00195103 0.99999722 -0.00132585 -0.26122605] [-0.00549181 0.00131512 0.99998406 -0.02701441] [ 0. 0. 0. 1. ]] SLAMing on 25.444630439999997 meters 0.2700637381946618 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 0.99998349 0.00193808 0.00541016 0.37349938] [-0.00193063 0.99999718 -0.00138097 -0.26096544] [-0.00541282 0.00137051 0.99998441 -0.02673054] [ 0. 0. 0. 1. ]] SLAMing on 25.50463044 meters 0.2679574825597114 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 0.99998246 0.00195607 0.00558988 0.37297565] [-0.00194865 0.99999721 -0.00133339 -0.2610717 ] [-0.00559247 0.00132247 0.99998349 -0.02648818] [ 0. 0. 0. 1. ]] SLAMing on 25.56463044 meters 0.268326896535051 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 0.9999814 0.00204724 0.0057445 0.371972 ] [-0.00204076 0.99999728 -0.00113274 -0.26188707] [-0.0057468 0.001121 0.99998286 -0.02520533] [ 0. 0. 0. 1. ]] SLAMing on 25.624630439999997 meters 0.26806149334342855 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 0.99998207 0.00206175 0.00562151 0.37229102] [-0.00205571 0.9999973 -0.00107973 -0.26203984] [-0.00562372 0.00106816 0.99998362 -0.02530361] [ 0. 0. 0. 1. ]] SLAMing on 25.68463044 meters 0.2671671206130641 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 9.99982786e-01 2.06255944e-03 5.49297670e-03 3.73172939e-01] [-2.05716721e-03 9.99997397e-01 -9.87128654e-04 -2.62807296e-01] [-5.49499841e-03 9.75811690e-04 9.99984426e-01 -2.64746676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744630439999998 meters 0.26863200952973115 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 9.99982746e-01 2.09393695e-03 5.48850734e-03 3.73257187e-01] [-2.08895051e-03 9.99997400e-01 -9.14099635e-04 -2.63138443e-01] [-5.49040714e-03 9.02618642e-04 9.99984520e-01 -2.66391224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80463044 meters 0.26695075272231095 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 9.99982652e-01 2.17108164e-03 5.47566787e-03 3.73155394e-01] [-2.16710668e-03 9.99997384e-01 -7.31759267e-04 -2.63878312e-01] [-5.47724226e-03 7.19880215e-04 9.99984741e-01 -2.63969137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86463044 meters 0.26690316344764303 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.26, Z:-0.03 [[ 9.99983455e-01 2.14462549e-03 5.33757825e-03 3.73353960e-01] [-2.14040632e-03 9.99997392e-01 -7.96051578e-04 -2.63607530e-01] [-5.33927157e-03 7.84613822e-04 9.99985438e-01 -2.61454134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924630439999998 meters 0.26739763694711394 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.26, Z:-0.03 [[ 9.99967924e-01 -5.25137168e-03 6.04771520e-03 3.92486041e-01] [ 5.25294861e-03 9.99986173e-01 -2.44891994e-04 -2.57378527e-01] [-6.04634556e-03 2.76652476e-04 9.99981682e-01 -2.59421798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98463044 meters 0.2663088171248189 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.25, Z:-0.03 [[ 0.9999945 0.00154293 0.0029363 0.37433122] [-0.00153705 0.99999681 -0.00200355 -0.25418237] [-0.00293938 0.00199902 0.99999368 -0.02704966] [ 0. 0. 0. 1. ]] SLAMing on 26.04463044 meters 0.2695889109429654 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.03 [[ 0.99999212 -0.00282753 0.00278636 0.39807969] [ 0.00282395 0.99999518 0.00128744 -0.25051174] [-0.00278999 -0.00127956 0.99999529 -0.02810086] [ 0. 0. 0. 1. ]] SLAMing on 26.104630439999998 meters 0.26666956439169426 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.25, Z:-0.03 [[ 9.99990942e-01 -2.99546583e-03 3.02368857e-03 3.97443211e-01] [ 2.99281201e-03 9.99995133e-01 8.81820288e-04 -2.48708830e-01] [-3.02631532e-03 -8.72762970e-04 9.99995040e-01 -2.79349302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16463044 meters 0.2675694451421313 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.24, Z:-0.03 [[ 9.99989400e-01 -3.40342611e-03 3.10121891e-03 3.97254993e-01] [ 3.40408398e-03 9.99994185e-01 -2.06878624e-04 -2.44196612e-01] [-3.10049678e-03 2.17433240e-04 9.99995170e-01 -2.79316602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22463044 meters 0.2675208684829386 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.24, Z:-0.03 [[ 9.99963842e-01 7.27349661e-03 4.40569537e-03 4.18456758e-01] [-7.27134193e-03 9.99973436e-01 -5.04887134e-04 -2.38666023e-01] [-4.40925063e-03 4.72833561e-04 9.99990167e-01 -2.91617657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284630439999997 meters 0.26839565364279017 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.23, Z:-0.03 [[ 9.99971496e-01 -1.66647313e-03 7.36405875e-03 3.97455721e-01] [ 1.67224630e-03 9.99998299e-01 -7.77878743e-04 -2.25707133e-01] [-7.36274991e-03 7.90171091e-04 9.99972582e-01 -2.96619202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34463044 meters 0.26655234339005957 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.02 [[ 9.99999787e-01 -6.45010869e-05 -6.49085649e-04 3.90128223e-01] [ 6.42666652e-05 9.99999933e-01 -3.61171246e-04 -2.20574228e-01] [ 6.49108901e-04 3.61129455e-04 9.99999724e-01 -2.29481941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40463044 meters 0.26789657987568843 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.22, Z:-0.02 [[ 0.99999046 -0.0041162 0.00146021 0.4114329 ] [ 0.00411194 0.99998733 0.00290467 -0.21580611] [-0.00147214 -0.00289863 0.99999472 -0.02327312] [ 0. 0. 0. 1. ]] SLAMing on 26.464630439999997 meters 0.2688476250433263 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.02 [[ 0.99998957 -0.00431285 0.0015052 0.41121523] [ 0.00430933 0.99998798 0.00233803 -0.21346277] [-0.00151527 -0.00233152 0.99999613 -0.02306799] [ 0. 0. 0. 1. ]] SLAMing on 26.52463044 meters 0.26824854757199035 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.02 [[ 0.99998923 -0.0045277 0.00102258 0.41264476] [ 0.00452598 0.99998834 0.00168206 -0.21105936] [-0.00103019 -0.00167741 0.99999806 -0.023883 ] [ 0. 0. 0. 1. ]] SLAMing on 26.584630439999998 meters 0.2676464459352982 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.21, Z:-0.02 [[ 9.99996712e-01 7.52725470e-04 -2.45127418e-03 3.93067500e-01] [-7.55358659e-04 9.99999139e-01 -1.07346386e-03 -2.09880742e-01] [ 2.45046404e-03 1.07531192e-03 9.99996419e-01 -2.36726353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64463044 meters 0.2693183982010272 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.02 [[ 9.99980643e-01 -6.22033014e-03 -1.43422884e-04 4.11891325e-01] [ 6.22036914e-03 9.99980616e-01 2.73063059e-04 -2.10164557e-01] [ 1.41721562e-04 -2.73949916e-04 9.99999952e-01 -2.20834417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70463044 meters 0.26832926084860625 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.21, Z:-0.02 [[ 9.99981140e-01 -6.13986532e-03 -1.46558922e-04 4.11988007e-01] [ 6.13993312e-03 9.99981042e-01 4.66699306e-04 -2.11000750e-01] [ 1.43690673e-04 -4.67590366e-04 9.99999880e-01 -2.22392456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764630439999998 meters 0.26927302944704384 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.21, Z:-0.02 [[ 9.99988184e-01 4.86010703e-03 -1.03815168e-04 4.34476124e-01] [-4.85998529e-03 9.99987538e-01 1.14244267e-03 -2.11449165e-01] [ 1.09366267e-04 -1.14192463e-03 9.99999342e-01 -2.35938486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82463044 meters 0.2684834922336176 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.21, Z:-0.02 [[ 9.99990681e-01 -4.24712777e-03 -7.74997188e-04 4.15960770e-01] [ 4.24893939e-03 9.99988209e-01 2.35109244e-03 -2.08417880e-01] [ 7.65002660e-04 -2.35436345e-03 9.99996936e-01 -2.45489863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88463044 meters 0.26970132141540454 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.21, Z:-0.02 [[ 9.99990762e-01 4.28410404e-03 -3.50608295e-04 4.34613050e-01] [-4.28389334e-03 9.99990644e-01 5.99517643e-04 -2.11458366e-01] [ 3.53173410e-04 -5.98010136e-04 9.99999759e-01 -2.25195823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944630439999997 meters 0.2703630458659283 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.21, Z:-0.02 [[ 9.99990349e-01 4.38713287e-03 -2.32695838e-04 4.34295731e-01] [-4.38693479e-03 9.99990020e-01 8.45029253e-04 -2.12464167e-01] [ 2.36400772e-04 -8.44000276e-04 9.99999616e-01 -2.24339695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00463044 meters 0.2677182536859251 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.21, Z:-0.02 [[ 9.99989421e-01 4.59929065e-03 -5.95692285e-05 4.33676205e-01] [-4.59920424e-03 9.99988475e-01 1.37747779e-03 -2.14587997e-01] [ 6.59039627e-05 -1.37718925e-03 9.99999050e-01 -2.19780365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06463044 meters 0.2685523557689265 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.22, Z:-0.02 [[ 0.99999479 -0.00273684 0.00171278 0.4534742 ] [ 0.00273177 0.9999919 0.00295663 -0.21824792] [-0.00172086 -0.00295193 0.99999416 -0.02086555] [ 0. 0. 0. 1. ]] SLAMing on 27.124630439999997 meters 0.2683093136507249 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.22, Z:-0.02 [[ 0.99999586 -0.00244798 0.00151441 0.45406331] [ 0.00244232 0.99999006 0.00373094 -0.22149383] [-0.00152352 -0.00372723 0.99999189 -0.02107926] [ 0. 0. 0. 1. ]] SLAMing on 27.18463044 meters 0.2689616026227979 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.02 [[ 0.99999718 -0.00189281 0.00143213 0.45466417] [ 0.00188562 0.99998569 0.00500558 -0.22748246] [-0.00144158 -0.00500286 0.99998645 -0.02166237] [ 0. 0. 0. 1. ]] SLAMing on 27.244630439999998 meters 0.2689167526645001 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.23, Z:-0.02 [[ 0.99999777 -0.00155091 0.00143243 0.45430638] [ 0.00154254 0.99998185 0.00582443 -0.23079789] [-0.00144144 -0.00582221 0.99998201 -0.02095312] [ 0. 0. 0. 1. ]] SLAMing on 27.30463044 meters 0.270076791110949 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.24, Z:-0.02 [[ 0.99998866 0.0045526 -0.00140128 0.47633791] [-0.00454799 0.9999843 0.00327397 -0.24375498] [ 0.00141616 -0.00326756 0.99999366 -0.02034835] [ 0. 0. 0. 1. ]] SLAMing on 27.36463044 meters 0.26867787915401803 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:-0.02 [[ 0.99997696 -0.00630634 -0.00251046 0.45564413] [ 0.00631556 0.99997327 0.00368284 -0.24982723] [ 0.00248717 -0.00369861 0.99999007 -0.01998351] [ 0. 0. 0. 1. ]] SLAMing on 27.424630439999998 meters 0.2670282720854325 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:-0.02 [[ 0.99998041 -0.00573263 -0.00251416 0.45552648] [ 0.00574521 0.99997088 0.00502219 -0.25538958] [ 0.0024853 -0.00503653 0.99998423 -0.01968491] [ 0. 0. 0. 1. ]] SLAMing on 27.48463044 meters 0.27010331622093225 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.26, Z:-0.02 [[ 0.99999633 0.00113928 -0.00245798 0.47778379] [-0.00113343 0.99999652 0.00238143 -0.26238548] [ 0.00246068 -0.00237864 0.99999414 -0.02027733] [ 0. 0. 0. 1. ]] SLAMing on 27.54463044 meters 0.2693912870445013 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.02 [[ 0.99999573 0.0014344 -0.00254613 0.47748331] [-0.00142464 0.99999165 0.00383103 -0.26850221] [ 0.0025516 -0.00382738 0.99998942 -0.01925966] [ 0. 0. 0. 1. ]] SLAMing on 27.604630439999998 meters 0.2682559058018045 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.02 [[ 0.99999539 0.00179679 -0.00244737 0.47697607] [-0.00178456 0.99998597 0.00498795 -0.2727833 ] [ 0.0024563 -0.00498356 0.99998457 -0.01869499] [ 0. 0. 0. 1. ]] SLAMing on 27.66463044 meters 0.2690157080204254 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.28, Z:-0.02 [[ 0.9999952 0.00220984 -0.00217118 0.47600393] [-0.00219639 0.9999785 0.00617782 -0.2776865 ] [ 0.00218478 -0.00617303 0.99997856 -0.01800475] [ 0. 0. 0. 1. ]] SLAMing on 27.72463044 meters 0.2686744370636483 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.28, Z:-0.02 [[ 9.99998979e-01 -8.34444656e-04 -1.15968538e-03 4.72019628e-01] [ 8.38854785e-04 9.99992399e-01 3.80759827e-03 -2.82433732e-01] [ 1.15649933e-03 -3.80856719e-03 9.99992079e-01 -1.53208074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784630439999997 meters 0.26795526721441515 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.29, Z:-0.02 [[ 9.99999117e-01 -5.26101012e-04 -1.22014613e-03 4.72140664e-01] [ 5.31610342e-04 9.99989646e-01 4.51938270e-03 -2.85395114e-01] [ 1.21775585e-03 -4.52002735e-03 9.99989043e-01 -1.52751976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84463044 meters 0.26779245263347845 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.02 [[ 0.9999833 0.00335744 -0.00470299 0.45272947] [-0.00335263 0.99999385 0.0010305 -0.28510302] [ 0.00470642 -0.00101471 0.99998841 -0.01587502] [ 0. 0. 0. 1. ]] SLAMing on 27.90463044 meters 0.26879479081297203 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.28, Z:-0.02 [[ 0.99998987 -0.0036886 -0.00257836 0.4718388 ] [ 0.00369349 0.99999139 0.00189256 -0.2840808 ] [ 0.00257136 -0.00190206 0.99999489 -0.0150189 ] [ 0. 0. 0. 1. ]] SLAMing on 27.964630439999997 meters 0.2702510825265954 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.29, Z:-0.01 [[ 9.99983648e-01 5.51956051e-03 -1.49601798e-03 4.89899319e-01] [-5.51874325e-03 9.99984620e-01 5.49870392e-04 -2.87182517e-01] [ 1.49903001e-03 -5.41605262e-04 9.99998730e-01 -1.36961429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02463044 meters 0.26887598393234485 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.28, Z:-0.02 [[ 0.999991 -0.00368635 -0.00209888 0.47249558] [ 0.00369085 0.99999089 0.00214614 -0.28461093] [ 0.00209095 -0.00215387 0.99999549 -0.01627522] [ 0. 0. 0. 1. ]] SLAMing on 28.084630439999998 meters 0.2683132801624845 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.29, Z:-0.02 [[ 0.99999122 -0.00364124 -0.0020728 0.47286269] [ 0.00364596 0.99999076 0.00227618 -0.2851949 ] [ 0.00206449 -0.00228372 0.99999526 -0.01709669] [ 0. 0. 0. 1. ]] SLAMing on 28.14463044 meters 0.2693004661297025 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.02 [[ 9.99988790e-01 2.78521887e-03 -3.82919845e-03 4.56288241e-01] [-2.78139592e-03 9.99995629e-01 1.00333160e-03 -2.92203458e-01] [ 3.83197621e-03 -9.92669839e-04 9.99992165e-01 -1.97941680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20463044 meters 0.2687834184538507 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.02 [[ 0.99998826 0.00294819 -0.00384525 0.45641419] [-0.0029428 0.99999468 0.00140635 -0.29389102] [ 0.00384938 -0.00139502 0.99999162 -0.01997159] [ 0. 0. 0. 1. ]] SLAMing on 28.264630439999998 meters 0.2701625257161136 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 0.99998761 0.00312327 -0.00387674 0.45660232] [-0.00311616 0.99999346 0.00183766 -0.29569403] [ 0.00388245 -0.00182555 0.9999908 -0.02020189] [ 0. 0. 0. 1. ]] SLAMing on 28.32463044 meters 0.27159948340416784 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 9.99987049e-01 1.24409356e-03 -4.93506135e-03 4.61244429e-01] [-1.24112700e-03 9.99999047e-01 6.04137373e-04 -3.01282973e-01] [ 4.93580825e-03 -5.98004511e-04 9.99987640e-01 -2.31822003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38463044 meters 0.2698205189259009 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 9.99987156e-01 1.39792075e-03 -4.87170885e-03 4.60949679e-01] [-1.39314142e-03 9.99998545e-01 9.84292186e-04 -3.02789831e-01] [ 4.87307772e-03 -9.77492564e-04 9.99987649e-01 -2.29172407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444630439999997 meters 0.27028834519221656 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 0.99998729 0.00150761 -0.00481056 0.4608493 ] [-0.00150158 0.99999808 0.0012579 -0.30390792] [ 0.00481245 -0.00125066 0.99998764 -0.02301527] [ 0. 0. 0. 1. ]] SLAMing on 28.50463044 meters 0.27020716614725404 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 0.99998911 0.0015516 -0.00440133 0.45968503] [-0.00154577 0.99999793 0.00132604 -0.30397616] [ 0.00440337 -0.00131922 0.99998943 -0.022526 ] [ 0. 0. 0. 1. ]] SLAMing on 28.56463044 meters 0.27115968770021776 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 9.99990887e-01 1.40496175e-03 -4.03130487e-03 4.58965020e-01] [-1.40100970e-03 9.99998535e-01 9.82996980e-04 -3.02539634e-01] [ 4.03268004e-03 -9.77340125e-04 9.99991391e-01 -2.27040764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624630439999997 meters 0.2696569324397818 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 9.99991181e-01 1.18882231e-03 -4.02794855e-03 4.59240276e-01] [-1.18684322e-03 9.99999174e-01 4.93693273e-04 -3.00563847e-01] [ 4.02853214e-03 -4.88908376e-04 9.99991766e-01 -2.31844826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68463044 meters 0.26994035152318857 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.30, Z:-0.02 [[ 9.99992581e-01 7.28772694e-04 -3.78235117e-03 4.59732430e-01] [-7.30410424e-04 9.99999640e-01 -4.31629246e-04 -2.96639736e-01] [ 3.78203525e-03 4.34388712e-04 9.99992754e-01 -2.48638443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744630439999998 meters 0.2690590547175196 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.29, Z:-0.02 [[ 0.99996393 -0.0068387 -0.00503601 0.43891082] [ 0.00684894 0.99997451 0.00201898 -0.29328534] [ 0.00502207 -0.0020534 0.99998528 -0.02445129] [ 0. 0. 0. 1. ]] SLAMing on 28.804630439999997 meters 0.2688064669114966 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.02 [[ 9.99990221e-01 2.46489196e-03 -3.67174256e-03 4.56881177e-01] [-2.46350784e-03 9.99996893e-01 3.81439890e-04 -2.93498502e-01] [ 3.67267136e-03 -3.72390793e-04 9.99993186e-01 -2.39195872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86463044 meters 0.26964654457981224 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.03 [[ 9.99992294e-01 2.15281849e-03 -3.28273076e-03 4.56637846e-01] [-2.15370564e-03 9.99997645e-01 -2.66737686e-04 -2.90822293e-01] [ 3.28214879e-03 2.73805666e-04 9.99994576e-01 -2.50010704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924630439999998 meters 0.2702208920718958 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.29, Z:-0.03 [[ 9.99993367e-01 1.89781865e-03 -3.10870438e-03 4.56876819e-01] [-1.90028557e-03 9.99997882e-01 -7.90789312e-04 -2.88621432e-01] [ 3.10719702e-03 7.96691493e-04 9.99994855e-01 -2.60877440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98463044 meters 0.267941025778397 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.03 [[ 0.9999946 0.0014253 -0.00296219 0.45642075] [-0.00143097 0.99999715 -0.00191086 -0.28372437] [ 0.00295945 0.00191509 0.99999379 -0.02572033] [ 0. 0. 0. 1. ]] SLAMing on 29.04463044 meters 0.26890490941037143 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 9.99996691e-01 6.82848472e-04 -2.48030404e-03 4.57577724e-01] [-6.91868658e-04 9.99993144e-01 -3.63769035e-03 -2.73106702e-01] [ 2.47780304e-03 3.63939436e-03 9.99990308e-01 -2.87003726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104630439999998 meters 0.26893597803456465 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 9.99996819e-01 1.56842819e-04 -2.51748529e-03 4.58457340e-01] [-1.69205260e-04 9.99987926e-01 -4.91116951e-03 -2.68055937e-01] [ 2.51668461e-03 4.91157986e-03 9.99984771e-01 -3.00569784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16463044 meters 0.270221169877623 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:-0.03 [[ 9.99995955e-01 -3.69793865e-04 -2.82020702e-03 4.59446996e-01] [ 3.52290636e-04 9.99980691e-01 -6.20433653e-03 -2.62888921e-01] [ 2.82244689e-03 6.20331790e-03 9.99976776e-01 -3.05304671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22463044 meters 0.2705738124375198 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.26, Z:-0.03 [[ 0.99999198 0.00310977 -0.00252297 0.45949335] [-0.00311912 0.99998825 -0.00371107 -0.25541675] [ 0.0025114 0.00371891 0.99998993 -0.03155426] [ 0. 0. 0. 1. ]] SLAMing on 29.284630439999997 meters 0.2702861756915095 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:-0.03 [[ 0.99999316 0.00270006 -0.00252831 0.45991864] [-0.00271197 0.99998519 -0.00471849 -0.25138951] [ 0.00251554 0.00472532 0.99998567 -0.03225113] [ 0. 0. 0. 1. ]] SLAMing on 29.34463044 meters 0.2698463271546777 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:-0.03 [[ 0.99999352 0.00237022 -0.00270857 0.46094725] [-0.00238521 0.9999818 -0.00554121 -0.24809328] [ 0.00269539 0.00554763 0.99998098 -0.03338012] [ 0. 0. 0. 1. ]] SLAMing on 29.40463044 meters 0.2697404576912432 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:-0.03 [[ 0.99999427 0.00203597 -0.00270601 0.46157 ] [-0.00205351 0.9999768 -0.00649448 -0.24425015] [ 0.00269272 0.0065 0.99997525 -0.03453944] [ 0. 0. 0. 1. ]] SLAMing on 29.464630439999997 meters 0.27077494881821035 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:-0.04 [[ 0.99999412 0.0017137 -0.00296896 0.46254032] [-0.00173591 0.99997043 -0.00749134 -0.24053538] [ 0.00295603 0.00749645 0.99996753 -0.03530891] [ 0. 0. 0. 1. ]] SLAMing on 29.52463044 meters 0.27021551417647344 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:-0.04 [[ 0.99999455 0.00157266 -0.00290431 0.46245279] [-0.00159551 0.99996766 -0.0078824 -0.23896929] [ 0.00289182 0.00788699 0.99996472 -0.03543135] [ 0. 0. 0. 1. ]] SLAMing on 29.584630439999998 meters 0.27103058612118563 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:-0.04 [[ 0.9999953 0.001332 -0.00275989 0.46247901] [-0.00135591 0.9999614 -0.00868139 -0.23581562] [ 0.00274822 0.0086851 0.99995851 -0.03611136] [ 0. 0. 0. 1. ]] SLAMing on 29.64463044 meters 0.27048422013572976 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.23, Z:-0.04 [[ 9.99995248e-01 9.42409831e-04 -2.93521691e-03 4.63880268e-01] [-9.71694420e-04 9.99949611e-01 -9.99158147e-03 -2.30731267e-01] [ 2.92565285e-03 9.99438613e-03 9.99945775e-01 -3.80538722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70463044 meters 0.26989192980306853 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.23, Z:-0.04 [[ 0.99998039 -0.00566261 -0.00267497 0.44241777] [ 0.00564387 0.99995984 -0.00696143 -0.22505138] [ 0.00271428 0.0069462 0.99997219 -0.03850193] [ 0. 0. 0. 1. ]] SLAMing on 29.764630439999998 meters 0.26999023855316523 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.04 [[ 9.99948342e-01 -1.01573459e-02 -3.75504647e-04 4.63312741e-01] [ 1.01559181e-02 9.99941851e-01 -3.62651131e-03 -2.22088360e-01] [ 4.12318542e-04 3.62251038e-03 9.99993354e-01 -3.88257058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82463044 meters 0.2694711024933289 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.04 [[ 9.99998560e-01 -1.68054808e-03 2.37480378e-04 4.41508056e-01] [ 1.68151891e-03 9.99989980e-01 -4.14875262e-03 -2.21935427e-01] [-2.30505820e-04 4.14914597e-03 9.99991366e-01 -3.90176245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88463044 meters 0.2703970690541636 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.22, Z:-0.04 [[ 9.99977632e-01 -6.42693843e-03 1.85178748e-03 4.63915192e-01] [ 6.42855712e-03 9.99978959e-01 -8.69501386e-04 -2.21215019e-01] [-1.84616029e-03 8.81386259e-04 9.99997907e-01 -3.98934627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944630439999997 meters 0.2691658230992677 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.04 [[ 0.9999987 0.00126228 0.00100186 0.44303595] [-0.00126044 0.99999753 -0.00183231 -0.2210256 ] [-0.00100417 0.00183104 0.99999782 -0.04107185] [ 0. 0. 0. 1. ]] SLAMing on 30.00463044 meters 0.26940735995559784 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.04 [[ 0.99999882 0.00112786 0.00104547 0.44298812] [-0.00112556 0.99999694 -0.00220256 -0.21953814] [-0.00104795 0.00220138 0.99999703 -0.04118954] [ 0. 0. 0. 1. ]] SLAMing on 30.06463044 meters 0.27093630571158955 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.22, Z:-0.04 [[ 9.99999228e-01 9.12474414e-04 8.43003279e-04 4.44049960e-01] [-9.09908322e-04 9.99994967e-01 -3.03937320e-03 -2.16265885e-01] [-8.45772387e-04 3.03860380e-03 9.99995026e-01 -4.24483657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124630439999997 meters 0.27027263843523414 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.04 [[ 9.99999688e-01 6.60694402e-04 4.33029056e-04 4.45807402e-01] [-6.59029988e-04 9.99992438e-01 -3.83259177e-03 -2.13093745e-01] [-4.35557953e-04 3.83230519e-03 9.99992562e-01 -4.43593601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18463044 meters 0.2717168992406976 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.05 [[ 9.99999822e-01 4.74664816e-04 3.62828529e-04 4.46286866e-01] [-4.73092949e-04 9.99990556e-01 -4.32013806e-03 -2.11133677e-01] [-3.64875720e-04 4.31996564e-03 9.99990602e-01 -4.50261390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244630439999998 meters 0.27108509223821603 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.05 [[ 9.99999819e-01 4.20509917e-04 4.30590767e-04 4.46120686e-01] [-4.18586468e-04 9.99989978e-01 -4.45738937e-03 -2.10565682e-01] [-4.32460828e-04 4.45720832e-03 9.99989973e-01 -4.50006748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304630439999997 meters 0.27302631914684516 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.21, Z:-0.05 [[ 0.99999431 0.00213186 0.00261498 0.48928739] [-0.00212048 0.99998829 -0.00434906 -0.20939527] [-0.00262422 0.00434349 0.99998712 -0.0460753 ] [ 0. 0. 0. 1. ]] SLAMing on 30.36463044 meters 0.2708507577929317 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.05 [[ 0.9999906 0.00103929 0.00421028 0.45083988] [-0.00102419 0.99999304 -0.00358691 -0.21162351] [-0.00421397 0.00358256 0.9999847 -0.04929188] [ 0. 0. 0. 1. ]] SLAMing on 30.424630439999998 meters 0.27288475550931957 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.05 [[ 9.99991052e-01 9.26364659e-04 4.12779260e-03 4.51460220e-01] [-9.10311297e-04 9.99992022e-01 -3.88927418e-03 -2.10458401e-01] [-4.13136256e-03 3.88548180e-03 9.99983917e-01 -5.02260949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48463044 meters 0.27250658883486367 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.21, Z:-0.05 [[ 9.99989195e-01 7.23154922e-04 4.59208359e-03 4.51100529e-01] [-7.01286733e-04 9.99988416e-01 -4.76197549e-03 -2.06932402e-01] [-4.59547404e-03 4.75870367e-03 9.99978118e-01 -5.15199493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54463044 meters 0.27212546269584376 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.20, Z:-0.05 [[ 0.99997698 -0.00542358 0.00407612 0.43007937] [ 0.00542959 0.99998419 -0.00146586 -0.20107047] [-0.0040681 0.00148796 0.99999062 -0.0517534 ] [ 0. 0. 0. 1. ]] SLAMing on 30.604630439999998 meters 0.27203494026881436 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.20, Z:-0.05 [[ 0.99999067 -0.00141888 0.00408046 0.43046738] [ 0.00141032 0.9999968 0.00210141 -0.19815628] [-0.00408343 -0.00209564 0.99998947 -0.05256748] [ 0. 0. 0. 1. ]] SLAMing on 30.66463044 meters 0.27190424092791055 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.05 [[ 9.99989094e-01 -2.03110212e-03 4.20564363e-03 4.31000466e-01] [ 2.02832881e-03 9.99997723e-01 6.63585339e-04 -1.92271391e-01] [-4.20698186e-03 -6.55047673e-04 9.99990936e-01 -5.40529789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72463044 meters 0.27157904362418867 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.19, Z:-0.05 [[ 9.99986903e-01 -2.41807929e-03 4.51081667e-03 4.30171980e-01] [ 2.41915543e-03 9.99997047e-01 -2.33126004e-04 -1.88352482e-01] [-4.51023963e-03 2.44035317e-04 9.99989799e-01 -5.38963658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784630439999997 meters 0.2710303363210652 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.05 [[ 0.99998501 -0.00288545 0.00465314 0.43026372] [ 0.00289145 0.999995 -0.00128231 -0.18402329] [-0.00464942 0.00129574 0.99998835 -0.05474842] [ 0. 0. 0. 1. ]] SLAMing on 30.84463044 meters 0.27233574842161806 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.06 [[ 0.99998519 -0.00311489 0.00446364 0.43125603] [ 0.00312321 0.99999339 -0.00185956 -0.18193283] [-0.00445781 0.00187347 0.99998831 -0.05592934] [ 0. 0. 0. 1. ]] SLAMing on 30.90463044 meters 0.2732395376437401 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.06 [[ 0.99996112 0.00584093 0.00660581 0.44895783] [-0.00582104 0.99997848 -0.00302687 -0.18357078] [-0.00662335 0.0029883 0.9999736 -0.05516242] [ 0. 0. 0. 1. ]] SLAMing on 30.964630439999997 meters 0.27208401009722005 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.06 [[ 0.99998438 -0.0026055 0.00494559 0.43019093] [ 0.0026136 0.99999525 -0.00163108 -0.18148873] [-0.00494132 0.00164398 0.99998644 -0.05651937] [ 0. 0. 0. 1. ]] SLAMing on 31.02463044 meters 0.2727725237593462 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.06 [[ 9.99993152e-01 -1.11534474e-03 3.52884521e-03 4.35453799e-01] [ 1.11646349e-03 9.99999327e-01 -3.15075778e-04 -1.82130349e-01] [-3.52849141e-03 3.19013447e-04 9.99993724e-01 -5.99566328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084630439999998 meters 0.2735133344226848 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.06 [[ 9.99993874e-01 -1.32736897e-03 3.23885611e-03 4.36216159e-01] [ 1.33036089e-03 9.99998690e-01 -9.21777078e-04 -1.79705876e-01] [-3.23762833e-03 9.26080279e-04 9.99994330e-01 -6.02096709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14463044 meters 0.2743605876536403 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.06 [[ 0.9999938 -0.00165817 0.0031076 0.43653902] [ 0.00166401 0.99999685 -0.00187983 -0.17589712] [-0.00310448 0.00188499 0.9999934 -0.06029159] [ 0. 0. 0. 1. ]] SLAMing on 31.20463044 meters 0.2714578647408957 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.17, Z:-0.06 [[ 9.99987018e-01 -1.14382040e-03 4.96534798e-03 3.97983278e-01] [ 1.14592959e-03 9.99999254e-01 -4.21957658e-04 -1.74574720e-01] [-4.96486163e-03 4.27642120e-04 9.99987584e-01 -6.39872218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264630439999998 meters 0.2751220685922119 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.17, Z:-0.07 [[ 9.99976979e-01 8.92011529e-04 6.72643586e-03 4.41612843e-01] [-8.90624867e-04 9.99999582e-01 -2.09143661e-04 -1.67622394e-01] [-6.72661960e-03 2.03148116e-04 9.99977355e-01 -6.53231002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32463044 meters 0.27299633681188556 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.07 [[ 9.99976814e-01 5.36801625e-04 6.78846937e-03 4.41633443e-01] [-5.27464671e-04 9.99998913e-01 -1.37712930e-03 -1.63009878e-01] [-6.78920124e-03 1.37351669e-03 9.99976010e-01 -6.57792890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38463044 meters 0.272915379389119 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.16, Z:-0.07 [[ 9.99976456e-01 2.81493023e-04 6.85630449e-03 4.41871320e-01] [-2.67348124e-04 9.99997834e-01 -2.06387906e-03 -1.60134977e-01] [-6.85687061e-03 2.06199745e-03 9.99974365e-01 -6.66196091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444630439999997 meters 0.27301716731020065 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.16, Z:-0.07 [[ 0.99995944 -0.00500742 0.0074865 0.46488606] [ 0.00499937 0.99998691 0.00109318 -0.1581415 ] [-0.00749188 -0.00105571 0.99997138 -0.06772522] [ 0. 0. 0. 1. ]] SLAMing on 31.50463044 meters 0.2745344378105307 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 9.99987870e-01 2.36296265e-03 4.32162885e-03 4.48032110e-01] [-2.36194739e-03 9.99997182e-01 -2.40015380e-04 -1.60328809e-01] [-4.32218382e-03 2.29805008e-04 9.99990633e-01 -6.90013531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56463044 meters 0.2731115731211908 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 9.99985371e-01 2.43883831e-03 4.82801158e-03 4.46897318e-01] [-2.43873771e-03 9.99997026e-01 -2.67249093e-05 -1.61227461e-01] [-4.82806240e-03 1.49502645e-05 9.99988345e-01 -6.89209619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624630439999997 meters 0.27304073762636905 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 9.99984944e-01 2.42055272e-03 4.92464196e-03 4.46544530e-01] [-2.42024754e-03 9.99997069e-01 -6.79289115e-05 -1.61016821e-01] [-4.92479195e-03 5.60090362e-05 9.99987872e-01 -6.86574897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68463044 meters 0.2729907649351664 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.16, Z:-0.07 [[ 9.99987064e-01 2.21676229e-03 4.57794701e-03 4.47951755e-01] [-2.21372537e-03 9.99997326e-01 -6.68341202e-04 -1.58406022e-01] [-4.57941633e-03 6.58198239e-04 9.99989298e-01 -7.01873522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744630439999998 meters 0.2731129306898392 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.15, Z:-0.07 [[ 9.99972446e-01 -5.45022147e-03 5.04016938e-03 4.66693962e-01] [ 5.44993400e-03 9.99985146e-01 7.07683881e-05 -1.50676978e-01] [-5.04048022e-03 -4.32978476e-05 9.99987296e-01 -6.92944454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804630439999997 meters 0.27451779602401344 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.07 [[ 0.99996201 0.002709 0.00828444 0.48443903] [-0.00269487 0.9999949 -0.00171681 -0.14785085] [-0.00828905 0.00169442 0.99996421 -0.06838922] [ 0. 0. 0. 1. ]] SLAMing on 31.86463044 meters 0.2746014395988995 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.07 [[ 0.99996401 0.00230539 0.00816507 0.48523773] [-0.00228349 0.99999377 -0.00269074 -0.14378813] [-0.00817122 0.00267199 0.99996305 -0.06943516] [ 0. 0. 0. 1. ]] SLAMing on 31.924630439999998 meters 0.27172851488221145 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.07 [[ 0.99998095 -0.00325879 0.00524284 0.46717315] [ 0.00325349 0.99999419 0.00101803 -0.14045451] [-0.00524613 -0.00100096 0.99998574 -0.07069215] [ 0. 0. 0. 1. ]] SLAMing on 31.98463044 meters 0.2721766668828944 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.07 [[ 9.99978659e-01 -3.44985442e-03 5.54803619e-03 4.66294876e-01] [ 3.44700461e-03 9.99993922e-01 5.23141674e-04 -1.38385945e-01] [-5.54980724e-03 -5.04006403e-04 9.99984473e-01 -7.03126763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04463044 meters 0.2718665788901834 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.07 [[ 9.99978820e-01 -3.53208589e-03 5.46654984e-03 4.66575355e-01] [ 3.53038934e-03 9.99993717e-01 3.19969887e-04 -1.37581467e-01] [-5.46764565e-03 -3.00664061e-04 9.99985007e-01 -7.04988206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10463044 meters 0.2717810027239065 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.07 [[ 9.99977305e-01 -3.77287507e-03 5.58167473e-03 4.66575470e-01] [ 3.77443463e-03 9.99992841e-01 -2.68898718e-04 -1.35166230e-01] [-5.58062024e-03 2.89960282e-04 9.99984386e-01 -7.10592905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164630439999996 meters 0.27169469838620897 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.07 [[ 9.99976210e-01 -4.01326990e-03 5.61011019e-03 4.66561705e-01] [ 4.01833188e-03 9.99991529e-01 -8.91315160e-04 -1.32635577e-01] [-5.60648558e-03 9.13837240e-04 9.99983866e-01 -7.12099076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22463044 meters 0.2739484460787526 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.13, Z:-0.07 [[ 0.99997441 0.00575199 0.00425391 0.49170333] [-0.00574475 0.99998203 -0.00171152 -0.12873394] [-0.00426368 0.00168704 0.99998949 -0.07342149] [ 0. 0. 0. 1. ]] SLAMing on 32.28463044 meters 0.27202705610808386 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.07 [[ 0.99998242 -0.00354453 0.00475283 0.46941395] [ 0.00355168 0.99999257 -0.00149675 -0.12513846] [-0.00474749 0.0015136 0.99998759 -0.07319972] [ 0. 0. 0. 1. ]] SLAMing on 32.344630439999996 meters 0.2713586121823239 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.07 [[ 0.99998341 -0.00344698 0.0046144 0.46995887] [ 0.00345274 0.99999327 -0.00124018 -0.12621178] [-0.00461009 0.0012561 0.99998858 -0.0736806 ] [ 0. 0. 0. 1. ]] SLAMing on 32.40463044 meters 0.27213537493441226 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.13, Z:-0.07 [[ 0.99998342 -0.00349552 0.00457698 0.47047173] [ 0.00350182 0.99999293 -0.00136886 -0.12581165] [-0.00457216 0.00138486 0.99998859 -0.07454477] [ 0. 0. 0. 1. ]] SLAMing on 32.46463044 meters 0.27413945902191866 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.9999828 -0.00369771 0.00455158 0.47080781] [ 0.00370698 0.99999107 -0.00202932 -0.12316115] [-0.00454403 0.00204616 0.99998758 -0.07517218] [ 0. 0. 0. 1. ]] SLAMing on 32.524630439999996 meters 0.27385451944805 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 9.99989832e-01 3.98180578e-04 4.49189446e-03 4.71042810e-01] [-4.06102483e-04 9.99998364e-01 1.76282587e-03 -1.20951480e-01] [-4.49118519e-03 -1.76463211e-03 9.99988358e-01 -7.54210723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58463044 meters 0.27215774751184885 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 9.99989806e-01 2.05602280e-04 4.51072263e-03 4.71305069e-01] [-2.11234438e-04 9.99999199e-01 1.24817462e-03 -1.18870670e-01] [-4.51046238e-03 -1.24911472e-03 9.99989048e-01 -7.61127374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64463044 meters 0.27285041337523464 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 9.99988176e-01 1.58756476e-06 4.86292421e-03 4.70831246e-01] [-5.33971698e-06 9.99999702e-01 7.71570642e-04 -1.16831062e-01] [-4.86292154e-03 -7.71587485e-04 9.99987878e-01 -7.68481771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704630439999995 meters 0.2714107924127402 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.08 [[ 9.99988738e-01 -1.97780352e-04 4.74188058e-03 4.71260041e-01] [ 1.96513351e-04 9.99999945e-01 2.67658166e-04 -1.14746754e-01] [-4.74193325e-03 -2.66723309e-04 9.99988721e-01 -7.71893037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76463044 meters 0.27200920762300507 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.11, Z:-0.08 [[ 9.99989544e-01 -3.72390329e-04 4.55779110e-03 4.72096132e-01] [ 3.73227800e-04 9.99999914e-01 -1.82895811e-04 -1.12817036e-01] [-4.55772260e-03 1.84594993e-04 9.99989596e-01 -7.81057905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82463044 meters 0.27393318215934115 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.08 [[ 9.99978542e-01 1.02796546e-03 6.46987364e-03 5.16813090e-01] [-1.03029006e-03 9.99999406e-01 3.55972414e-04 -1.07377410e-01] [-6.46950387e-03 -3.62630622e-04 9.99979007e-01 -8.07347311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884630439999995 meters 0.27400503616789096 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.08 [[ 9.99977075e-01 9.15041092e-04 6.70905499e-03 5.15918224e-01] [-9.15480295e-04 9.99999579e-01 6.23934404e-05 -1.06059983e-01] [-6.70899508e-03 -6.85340177e-05 9.99977492e-01 -7.99806519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94463044 meters 0.2722840881056266 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.08 [[ 9.99981536e-01 8.73812343e-04 6.01366323e-03 5.17664915e-01] [-8.73935608e-04 9.99999618e-01 1.78696689e-05 -1.06138091e-01] [-6.01364532e-03 -2.31248934e-05 9.99981918e-01 -8.05630560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00463044 meters 0.2710638427413646 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.08 [[ 9.99982581e-01 1.03777506e-03 5.81034201e-03 5.18834243e-01] [-1.04157089e-03 9.99999246e-01 6.50300304e-04 -1.08491129e-01] [-5.80966276e-03 -6.56340860e-04 9.99982908e-01 -8.20960139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06463044 meters 0.27430681296123305 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.08 [[ 9.99967390e-01 -9.28996446e-04 8.02217523e-03 5.61610062e-01] [ 9.40119957e-04 9.99998602e-01 -1.38293573e-03 -1.11248478e-01] [-8.02087927e-03 1.39043244e-03 9.99966866e-01 -8.28780409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12463044 meters 0.27230306416791544 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.08 [[ 9.99968799e-01 -7.89844328e-04 7.85989657e-03 5.61863169e-01] [ 7.97977289e-04 9.99999149e-01 -1.03165929e-03 -1.12707795e-01] [-7.85907504e-03 1.03789912e-03 9.99968578e-01 -8.25986762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18463044 meters 0.2731779271012321 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.08 [[ 9.99969089e-01 -5.78950488e-04 7.84130094e-03 5.61981053e-01] [ 5.82957706e-04 9.99999701e-01 -5.08763962e-04 -1.14891603e-01] [-7.84100404e-03 5.13319382e-04 9.99969127e-01 -8.27728291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24463044 meters 0.2739326421853352 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 9.99969436e-01 -4.29583372e-04 7.80658440e-03 5.61964435e-01] [ 4.30935679e-04 9.99999892e-01 -1.71545180e-04 -1.16417890e-01] [-7.80650987e-03 1.74904073e-04 9.99969513e-01 -8.25602782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30463044 meters 0.2752822159958371 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 9.99971390e-01 -2.46175614e-04 7.56034298e-03 5.63032284e-01] [ 2.43784055e-04 9.99999920e-01 3.17249264e-04 -1.18460847e-01] [-7.56042047e-03 -3.15397097e-04 9.99971370e-01 -8.36628566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36463044 meters 0.2729995285247849 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 9.99972071e-01 -1.50061918e-04 7.47231116e-03 5.63396868e-01] [ 1.45851435e-04 9.99999830e-01 5.64019826e-04 -1.19483563e-01] [-7.47239453e-03 -5.62914226e-04 9.99971923e-01 -8.40106848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42463044 meters 0.27343975093043704 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 9.99973878e-01 4.84181312e-05 7.22779213e-03 5.64067776e-01] [-5.60098833e-05 9.99999447e-01 1.05015690e-03 -1.21525226e-01] [-7.22773728e-03 -1.05053430e-03 9.99973328e-01 -8.41760610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48463044 meters 0.27455736203103215 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.08 [[ 0.99995259 0.00256418 0.00939331 0.60615945] [-0.00259203 0.99999228 0.00295391 -0.124705 ] [-0.00938566 -0.00297812 0.99995152 -0.08433254] [ 0. 0. 0. 1. ]] SLAMing on 33.54463044 meters 0.27424455968097955 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.12, Z:-0.09 [[ 0.99995962 -0.00594659 0.00673792 0.58823967] [ 0.00592014 0.99997472 0.00393961 -0.12254996] [-0.00676117 -0.00389957 0.99996954 -0.08530898] [ 0. 0. 0. 1. ]] SLAMing on 33.60463044 meters 0.276085362239409 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.09 [[ 0.99997262 0.00367746 0.0064218 0.61071087] [-0.00370284 0.99998536 0.00394558 -0.12542095] [-0.0064072 -0.00396925 0.9999716 -0.08542662] [ 0. 0. 0. 1. ]] SLAMing on 33.664630439999996 meters 0.27578555183132375 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.09 [[ 9.99979359e-01 -5.76697073e-04 6.39907597e-03 6.10565213e-01] [ 5.78190559e-04 9.99999806e-01 -2.31543363e-04 -1.25648907e-01] [-6.39894120e-03 2.35238469e-04 9.99979499e-01 -8.51581047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72463044 meters 0.27353833999567095 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99978808e-01 -4.42758414e-04 6.49512230e-03 6.10261877e-01] [ 4.41999774e-04 9.99999895e-01 1.18236325e-04 -1.27114448e-01] [-6.49517398e-03 -1.15362977e-04 9.99978899e-01 -8.49971228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78463044 meters 0.27421238811117066 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.09 [[ 9.99978819e-01 -2.35790555e-04 6.50422715e-03 6.10313150e-01] [ 2.30886382e-04 9.99999689e-01 7.54738346e-04 -1.29603507e-01] [-6.50440308e-03 -7.53220623e-04 9.99978562e-01 -8.51359792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844630439999996 meters 0.27446485343019855 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99978980e-01 -3.32288814e-05 6.48372526e-03 6.10154347e-01] [ 2.47880594e-05 9.99999152e-01 1.30192359e-03 -1.31818134e-01] [-6.48376302e-03 -1.30173551e-03 9.99978133e-01 -8.46752571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90463044 meters 0.2749312626888127 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99977670e-01 8.71448955e-05 6.68220708e-03 6.09232734e-01] [-9.80829254e-05 9.99998656e-01 1.63657856e-03 -1.33134075e-01] [-6.68205548e-03 -1.63719743e-03 9.99976335e-01 -8.36738788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96463044 meters 0.27256037214937545 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.08 [[ 0.99997852 0.00492467 0.00432446 0.58629884] [-0.00491785 0.99998665 -0.00158727 -0.13302203] [-0.00433222 0.00156597 0.99998939 -0.08196569] [ 0. 0. 0. 1. ]] SLAMing on 34.024630439999996 meters 0.27628861333315136 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 0.99999056 -0.00349497 0.00258134 0.61034544] [ 0.00349776 0.9999933 -0.00107626 -0.13104257] [-0.00257756 0.00108528 0.99999609 -0.08243003] [ 0. 0. 0. 1. ]] SLAMing on 34.08463044 meters 0.2722961470497615 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.08 [[ 0.99997034 0.00449284 0.00625597 0.58674889] [-0.00448381 0.99998889 -0.00145729 -0.13649378] [-0.00626245 0.0014292 0.99997937 -0.08182056] [ 0. 0. 0. 1. ]] SLAMing on 34.14463044 meters 0.27296922053035905 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.08 [[ 9.99972456e-01 4.60775386e-03 5.81850879e-03 5.88081174e-01] [-4.60225239e-03 9.99988950e-01 -9.58548359e-04 -1.38699053e-01] [-5.82286125e-03 9.31743711e-04 9.99982613e-01 -8.26668993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204630439999995 meters 0.27376455154038093 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.08 [[ 9.99970322e-01 4.75521220e-03 6.06155590e-03 5.87342031e-01] [-4.75226337e-03 9.99988583e-01 -5.00791335e-04 -1.40540110e-01] [-6.06386806e-03 4.71970363e-04 9.99981503e-01 -8.22672948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26463044 meters 0.27439415179889687 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.08 [[ 9.99965233e-01 -2.64447173e-03 7.90823255e-03 6.05445083e-01] [ 2.63805786e-03 9.99996183e-01 8.21358675e-04 -1.37092010e-01] [-7.91037443e-03 -8.00467744e-04 9.99968392e-01 -7.99592065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32463044 meters 0.2742408237230633 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.08 [[ 9.99967366e-01 -2.81298686e-03 7.57330644e-03 6.06591425e-01] [ 2.81048948e-03 9.99995993e-01 3.40383421e-04 -1.35119639e-01] [-7.57423359e-03 -3.19087615e-04 9.99971264e-01 -8.08223173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384630439999995 meters 0.27399502917570323 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99967416e-01 -3.15200004e-03 7.43182953e-03 6.07405298e-01] [ 3.15670065e-03 9.99994825e-01 -6.20851902e-04 -1.31290888e-01] [-7.42983415e-03 6.44291733e-04 9.99972191e-01 -8.18011551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44463044 meters 0.2739073716702882 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.08 [[ 9.99962622e-01 -1.14270161e-03 8.57021402e-03 6.01604656e-01] [ 1.13449267e-03 9.99998893e-01 9.62644800e-04 -1.27612608e-01] [-8.57130455e-03 -9.52885974e-04 9.99962812e-01 -7.73980472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50463044 meters 0.2732081030385564 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.08 [[ 9.99967177e-01 -1.33687618e-03 7.99104524e-03 6.03270307e-01] [ 1.33491575e-03 9.99999078e-01 2.50657272e-04 -1.24801053e-01] [-7.99137297e-03 -2.39981673e-04 9.99968040e-01 -7.83293720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56463044 meters 0.2720308126184488 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.08 [[ 9.99968926e-01 -1.45319087e-03 7.74828439e-03 6.03754227e-01] [ 1.45417851e-03 9.99998935e-01 -1.21832412e-04 -1.23364971e-01] [-7.74809909e-03 1.33096015e-04 9.99969974e-01 -7.82064577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62463044 meters 0.27600752987598637 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.08 [[ 9.99971260e-01 -1.45851302e-03 7.43992825e-03 6.04362129e-01] [ 1.45962482e-03 9.99998924e-01 -1.44009110e-04 -1.23256428e-01] [-7.43971021e-03 1.54864475e-04 9.99972313e-01 -7.80464764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68463044 meters 0.27389084806696395 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.08 [[ 9.99971585e-01 -1.41248070e-03 7.40494173e-03 6.05314771e-01] [ 1.41245022e-03 9.99999002e-01 9.34594434e-06 -1.23993830e-01] [-7.40494754e-03 1.11343276e-06 9.99972583e-01 -8.00813388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74463044 meters 0.27641491573007476 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99972344e-01 -1.29451603e-03 7.32361828e-03 6.05607124e-01] [ 1.29222811e-03 9.99999115e-01 3.17125756e-04 -1.25260854e-01] [-7.32402232e-03 -3.07653201e-04 9.99973132e-01 -8.03028639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80463044 meters 0.27634733583136495 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99975648e-01 -1.06073985e-03 6.89772484e-03 6.06245187e-01] [ 1.05488129e-03 9.99999080e-01 8.52929591e-04 -1.27481065e-01] [-6.89862323e-03 -8.45632539e-04 9.99975847e-01 -7.95528718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86463044 meters 0.2735110847830492 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.08 [[ 9.99976159e-01 -8.96307151e-04 6.84676742e-03 6.06344431e-01] [ 8.87696179e-04 9.99998811e-01 1.26060519e-03 -1.29171570e-01] [-6.84788917e-03 -1.25449728e-03 9.99975766e-01 -7.94952697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92463044 meters 0.27563631302829705 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.08 [[ 0.99992816 0.00785152 0.009057 0.62567344] [-0.00786097 0.99996859 0.00100881 -0.13534732] [-0.0090488 -0.00107993 0.99995848 -0.07952127] [ 0. 0. 0. 1. ]] SLAMing on 34.98463044 meters 0.2740655734916925 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.08 [[ 0.99995164 0.00385403 0.00904787 0.62496269] [-0.00383071 0.9999893 -0.00259344 -0.13807827] [-0.00905777 0.00255865 0.9999557 -0.0782543 ] [ 0. 0. 0. 1. ]] SLAMing on 35.04463044 meters 0.27344217900193046 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.08 [[ 9.99958966e-01 -1.71022489e-04 9.05741117e-03 6.24608780e-01] [ 2.27723047e-04 9.99980383e-01 -6.25946723e-03 -1.40739656e-01] [-9.05616299e-03 6.26127296e-03 9.99939389e-01 -7.76712082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10463044 meters 0.27354548560363673 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.08 [[ 9.99958259e-01 2.77452772e-05 9.13675433e-03 6.24532301e-01] [ 2.49080277e-05 9.99983396e-01 -5.76263766e-03 -1.42803716e-01] [-9.13676251e-03 5.76262469e-03 9.99941654e-01 -7.79135861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164630439999996 meters 0.274092068611638 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.08 [[ 9.99957718e-01 1.31141088e-04 9.19481186e-03 6.24650568e-01] [-8.03669186e-05 9.99984749e-01 -5.52219752e-03 -1.43885921e-01] [-9.19539582e-03 5.52122507e-03 9.99942479e-01 -7.84360660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22463044 meters 0.27491399135222727 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.08 [[ 9.99959154e-01 2.84408762e-04 9.03374828e-03 6.24737373e-01] [-2.37946193e-04 9.99986742e-01 -5.14388003e-03 -1.45443745e-01] [-9.03509148e-03 5.14152038e-03 9.99945964e-01 -7.78177327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28463044 meters 0.27431538571363 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.08 [[ 9.99959484e-01 3.17632372e-04 8.99607141e-03 6.24839144e-01] [-2.72122850e-04 9.99987163e-01 -5.05959407e-03 -1.45797367e-01] [-8.99756302e-03 5.05694103e-03 9.99946734e-01 -7.78447672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344630439999996 meters 0.27609629038469424 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 0.99993566 -0.00816247 0.00787751 0.6467506 ] [ 0.00820095 0.99995454 -0.00486396 -0.140707 ] [-0.00783745 0.00492825 0.99995714 -0.07815651] [ 0. 0. 0. 1. ]] SLAMing on 35.40463044 meters 0.27544416919581644 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 9.99961867e-01 -3.88386523e-03 7.82174808e-03 6.46613498e-01] [ 3.88873637e-03 9.99992254e-01 -6.07656685e-04 -1.40443436e-01] [-7.81932744e-03 6.38050229e-04 9.99969225e-01 -7.77359686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46463044 meters 0.275197166184169 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 9.99962063e-01 -3.90102386e-03 7.78807246e-03 6.46886202e-01] [ 3.90622253e-03 9.99992158e-01 -6.52417411e-04 -1.40300253e-01] [-7.78546629e-03 6.82814605e-04 9.99969460e-01 -7.81470551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524630439999996 meters 0.274565095113256 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 9.99963368e-01 -3.90220058e-03 7.61804207e-03 6.47257006e-01] [ 3.90729822e-03 9.99992152e-01 -6.54385738e-04 -1.40315787e-01] [-7.61542874e-03 6.84127729e-04 9.99970768e-01 -7.80671659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58463044 meters 0.275878471339774 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 9.99964926e-01 -3.93860466e-03 7.39145144e-03 6.47770754e-01] [ 3.94419014e-03 9.99991947e-01 -7.41242344e-04 -1.39966287e-01] [-7.38847246e-03 7.70369636e-04 9.99972408e-01 -7.79998595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64463044 meters 0.2758447939270119 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 9.99964700e-01 -3.97918223e-03 7.40027794e-03 6.47790129e-01] [ 3.98559433e-03 9.99991695e-01 -8.51921355e-04 -1.39547016e-01] [-7.39682653e-03 8.81385789e-04 9.99972255e-01 -7.80917611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704630439999995 meters 0.27349133274010046 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.08 [[ 0.9999599 -0.00391515 0.0080543 0.64566393] [ 0.00392356 0.99999177 -0.00102845 -0.13770858] [-0.00805021 0.00106001 0.99996703 -0.07675025] [ 0. 0. 0. 1. ]] SLAMing on 35.76463044 meters 0.2751037010531647 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 0.99996109 -0.00418156 0.00776758 0.6464804 ] [ 0.00419548 0.99998962 -0.00177753 -0.13470248] [-0.00776007 0.00181005 0.99996825 -0.07713848] [ 0. 0. 0. 1. ]] SLAMing on 35.82463044 meters 0.2755683644231264 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99976753e-01 -1.59611333e-03 6.62911531e-03 6.51579709e-01] [ 1.59482075e-03 9.99998708e-01 2.00267609e-04 -1.29866573e-01] [-6.62942639e-03 -1.89690703e-04 9.99978007e-01 -8.08301276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884630439999995 meters 0.27690509236275146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99976116e-01 -1.74371185e-03 6.68787399e-03 6.51213243e-01] [ 1.74491582e-03 9.99998462e-01 -1.74192281e-04 -1.28294301e-01] [-6.68755997e-03 1.85857898e-04 9.99977621e-01 -8.03460104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94463044 meters 0.2760137666264526 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99976194e-01 -1.90018886e-03 6.63337605e-03 6.51147193e-01] [ 1.90414410e-03 9.99998013e-01 -5.89999182e-04 -1.26599890e-01] [-6.63224176e-03 6.02616040e-04 9.99977825e-01 -7.99527120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00463044 meters 0.27343879417325523 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99975441e-01 -1.85154120e-03 6.75942698e-03 6.50609368e-01] [ 1.85473996e-03 9.99998171e-01 -4.66992766e-04 -1.27078071e-01] [-6.75854996e-03 4.79518277e-04 9.99977046e-01 -7.93975830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064630439999995 meters 0.2743205321564976 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99978667e-01 -1.77440440e-03 6.28628801e-03 6.51927434e-01] [ 1.77561600e-03 9.99998406e-01 -1.87159897e-04 -1.28411950e-01] [-6.28594589e-03 1.98317938e-04 9.99980224e-01 -7.98858554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12463044 meters 0.2754248803210464 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99979297e-01 -1.63875548e-03 6.22258012e-03 6.52369482e-01] [ 1.63778000e-03 9.99998646e-01 1.61857257e-04 -1.29896462e-01] [-6.22283693e-03 -1.51662689e-04 9.99980626e-01 -8.04980718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18463044 meters 0.27360965014895555 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99978747e-01 -1.50909374e-03 6.34259118e-03 6.51787631e-01] [ 1.50604225e-03 9.99998748e-01 4.85858402e-04 -1.31246641e-01] [-6.34331644e-03 -4.76295866e-04 9.99979768e-01 -7.98172459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24463044 meters 0.2734347631388011 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99977302e-01 -1.50038887e-03 6.56840669e-03 6.50925984e-01] [ 1.49713286e-03 9.99998754e-01 5.00596024e-04 -1.31175109e-01] [-6.56914960e-03 -4.90750884e-04 9.99978302e-01 -7.90379507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30463044 meters 0.27419743743115127 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99977264e-01 -1.63359428e-03 6.54231762e-03 6.51032735e-01] [ 1.63296641e-03 9.99998662e-01 1.01311616e-04 -1.29589926e-01] [-6.54247437e-03 -9.06259280e-05 9.99978594e-01 -7.91555137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36463044 meters 0.27615701519390967 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99977513e-01 -1.82788152e-03 6.45237821e-03 6.51403306e-01] [ 1.83113412e-03 9.99998199e-01 -4.98221303e-04 -1.27139304e-01] [-6.45145590e-03 5.10025269e-04 9.99979059e-01 -7.95129443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42463044 meters 0.27492883847447863 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99977092e-01 -1.85451378e-03 6.50963050e-03 6.51197372e-01] [ 1.85829571e-03 9.99998108e-01 -5.74973689e-04 -1.26815057e-01] [-6.50855188e-03 5.87057336e-04 9.99978647e-01 -7.93585733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48463044 meters 0.2735168025683056 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99976193e-01 -1.80969171e-03 6.65874021e-03 6.50507850e-01] [ 1.81282745e-03 9.99998249e-01 -4.64915609e-04 -1.27180213e-01] [-6.65788720e-03 4.76975687e-04 9.99977722e-01 -7.86510911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54463044 meters 0.2729016584597359 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99976870e-01 -1.77678950e-03 6.56527464e-03 6.50697776e-01] [ 1.77931611e-03 9.99998345e-01 -3.79024054e-04 -1.27530591e-01] [-6.56459033e-03 3.90696986e-04 9.99978377e-01 -7.85758902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60463044 meters 0.275279372211712 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.08 [[ 0.99997654 0.00466054 0.00501965 0.67527898] [-0.00464298 0.99998308 -0.00350498 -0.13085832] [-0.0050359 0.00348159 0.99998126 -0.07990478] [ 0. 0. 0. 1. ]] SLAMing on 36.664630439999996 meters 0.27519493844823784 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.08 [[ 0.99997664 0.0047863 0.00488057 0.67540804] [-0.00477082 0.99998356 -0.0031801 -0.13216062] [-0.00489571 0.00315674 0.99998303 -0.0794615 ] [ 0. 0. 0. 1. ]] SLAMing on 36.72463044 meters 0.274843257309792 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.08 [[ 0.99997619 0.00484182 0.00491745 0.67512938] [-0.00482689 0.99998372 -0.0030448 -0.13271728] [-0.00493211 0.00302099 0.99998327 -0.07905843] [ 0. 0. 0. 1. ]] SLAMing on 36.78463044 meters 0.2747515721179521 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99997577 0.00469242 0.00514167 0.67447906] [-0.00467459 0.99998304 -0.00347437 -0.13091003] [-0.00515789 0.00345025 0.99998075 -0.07883319] [ 0. 0. 0. 1. ]] SLAMing on 36.844630439999996 meters 0.2730611821475754 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99995293e-01 -1.33049361e-03 2.76475306e-03 6.54395786e-01] [ 1.33111979e-03 9.99999089e-01 -2.24657228e-04 -1.28815398e-01] [-2.76445163e-03 2.28336388e-04 9.99996153e-01 -7.86178848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90463044 meters 0.27573471265077454 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.08 [[ 9.99995711e-01 -1.48168019e-03 2.52642037e-03 6.55226820e-01] [ 1.48328898e-03 9.99998698e-01 -6.35034179e-04 -1.27164019e-01] [-2.52547616e-03 6.38778867e-04 9.99996607e-01 -7.92953180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96463044 meters 0.2764008442025055 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99995819e-01 -1.39208663e-03 2.53451529e-03 6.54534920e-01] [ 1.39315314e-03 9.99998942e-01 -4.19077795e-04 -1.27876220e-01] [-2.53392921e-03 4.22607011e-04 9.99996700e-01 -7.78909013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024630439999996 meters 0.2717922100377942 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.08 [[ 0.99998769 0.00394174 0.00301482 0.63031884] [-0.00393103 0.99998598 -0.00354897 -0.13069245] [-0.00302877 0.00353708 0.99998916 -0.07654691] [ 0. 0. 0. 1. ]] SLAMing on 37.08463044 meters 0.27565948381712424 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 0.999985 -0.00448042 0.00314894 0.65188771] [ 0.00449067 0.99998461 -0.00325781 -0.12709436] [-0.0031343 0.0032719 0.99998974 -0.07671816] [ 0. 0. 0. 1. ]] SLAMing on 37.14463044 meters 0.2746350031462823 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 0.99998494 -0.00451969 0.00311371 0.65209297] [ 0.00453014 0.9999841 -0.00335805 -0.12670027] [-0.00309849 0.00337211 0.99998951 -0.07698466] [ 0. 0. 0. 1. ]] SLAMing on 37.204630439999995 meters 0.27489909008458513 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.08 [[ 9.99995451e-01 -1.91111893e-04 3.01025196e-03 6.52326986e-01] [ 1.88250597e-04 9.99999530e-01 9.50771761e-04 -1.26979982e-01] [-3.01043225e-03 -9.50200754e-04 9.99995017e-01 -7.69915387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26463044 meters 0.2724552309634491 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99994379e-01 -3.39117396e-04 3.33557766e-03 6.51060128e-01] [ 3.37533985e-04 9.99999830e-01 4.75254989e-04 -1.24738135e-01] [-3.33573826e-03 -4.74126447e-04 9.99994324e-01 -7.59914936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32463044 meters 0.27265855021604624 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99993654e-01 -5.45932578e-04 3.52040362e-03 6.50466664e-01] [ 5.46186959e-04 9.99999848e-01 -7.12978463e-05 -1.22425993e-01] [-3.52036416e-03 7.32201924e-05 9.99993801e-01 -7.56962699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384630439999995 meters 0.27262792839389927 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99993461e-01 -7.53917019e-04 3.53681819e-03 6.50198433e-01] [ 7.56069478e-04 9.99999530e-01 -6.07288762e-04 -1.20204985e-01] [-3.53635868e-03 6.09958871e-04 9.99993561e-01 -7.52264920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44463044 meters 0.2728718751955339 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 0.99999281 -0.00103044 0.00364878 0.64996675] [ 0.00103513 0.99999864 -0.00128322 -0.11742015] [-0.00364745 0.00128699 0.99999252 -0.07533275] [ 0. 0. 0. 1. ]] SLAMing on 37.50463044 meters 0.2727497761295317 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 0.99999285 -0.00109583 0.00361845 0.65008358] [ 0.00110107 0.99999835 -0.00144752 -0.11676308] [-0.00361686 0.0014515 0.99999241 -0.07543275] [ 0. 0. 0. 1. ]] SLAMing on 37.564630439999995 meters 0.27219801142808986 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 0.99999342 -0.00105004 0.00347247 0.65036856] [ 0.00105464 0.99999857 -0.00132391 -0.11726483] [-0.00347108 0.00132756 0.99999309 -0.0752903 ] [ 0. 0. 0. 1. ]] SLAMing on 37.62463044 meters 0.27098749052432314 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99994348e-01 -8.91435573e-04 3.24168466e-03 6.50824916e-01] [ 8.94047577e-04 9.99999277e-01 -8.04395286e-04 -1.19280280e-01] [-3.24096525e-03 8.07288960e-04 9.99994422e-01 -7.51352013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68463044 meters 0.27139937141286063 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99994339e-01 -7.05298874e-04 3.29000229e-03 6.50859327e-01] [ 7.06213598e-04 9.99999712e-01 -2.76877782e-04 -1.21398428e-01] [-3.28980606e-03 2.79199659e-04 9.99994550e-01 -7.54567762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74463044 meters 0.2717573707369948 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99994478e-01 -5.21437742e-04 3.28223553e-03 6.50874402e-01] [ 5.20746192e-04 9.99999842e-01 2.11545955e-04 -1.23370953e-01] [-3.28234532e-03 -2.09835575e-04 9.99994591e-01 -7.54538405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80463044 meters 0.27203704240530335 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99995565e-01 -3.91131540e-04 2.95240152e-03 6.51929907e-01] [ 3.89567723e-04 9.99999784e-01 5.30232941e-04 -1.24860209e-01] [-2.95260827e-03 -5.29080429e-04 9.99995501e-01 -7.60004167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86463044 meters 0.27256182499016146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99995907e-01 -4.55538492e-04 2.82473235e-03 6.52450862e-01] [ 4.54535836e-04 9.99999833e-01 3.55588061e-04 -1.24167416e-01] [-2.82489387e-03 -3.54302663e-04 9.99995947e-01 -7.65123579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92463044 meters 0.27246581516609136 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99992648e-01 -4.36393965e-04 3.80962596e-03 6.49851118e-01] [ 4.36210500e-04 9.99999904e-01 4.89889912e-05 -1.22308967e-01] [-3.80964697e-03 -4.73268322e-05 9.99992742e-01 -7.51291227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98463044 meters 0.2724112145708412 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.08 [[ 9.99993055e-01 -6.08082395e-04 3.67686165e-03 6.50494833e-01] [ 6.09746928e-04 9.99999712e-01 -4.51600774e-04 -1.20293939e-01] [-3.67658599e-03 4.53839593e-04 9.99993138e-01 -7.59465642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04463044 meters 0.27427513657666397 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.08 [[ 9.99994130e-01 1.54477333e-03 -3.05823486e-03 6.96061132e-01] [-1.54607076e-03 9.99998716e-01 -4.21922391e-04 -1.14539119e-01] [ 3.05757916e-03 4.26648161e-04 9.99995235e-01 -7.55167532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10463044 meters 0.27291359214256794 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.08 [[ 9.99994228e-01 1.48761479e-03 -3.05461767e-03 6.96054343e-01] [-1.48936908e-03 9.99998727e-01 -5.72112672e-04 -1.13934523e-01] [ 3.05376270e-03 5.76658823e-04 9.99995171e-01 -7.55155350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164630439999996 meters 0.27300383680557183 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.07 [[ 9.99994408e-01 1.61459547e-03 -2.92872077e-03 6.95477689e-01] [-1.61525732e-03 9.99998670e-01 -2.23632491e-04 -1.15281873e-01] [ 2.92835580e-03 2.28361879e-04 9.99995686e-01 -7.48693749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22463044 meters 0.27358602456711506 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.08 [[ 9.99993329e-01 1.78789316e-03 -3.18526160e-03 6.96470723e-01] [-1.78695754e-03 9.99998359e-01 2.96554983e-04 -1.17502523e-01] [ 3.18578658e-03 -2.90861077e-04 9.99994883e-01 -7.57900999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28463044 meters 0.27269820939143735 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.08 [[ 9.99993318e-01 1.74434109e-03 -3.21276304e-03 6.96480890e-01] [-1.74374099e-03 9.99998462e-01 1.89577255e-04 -1.17053234e-01] [ 3.21308878e-03 -1.83973762e-04 9.99994821e-01 -7.56789056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344630439999996 meters 0.2720607294681298 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.08 [[ 9.99993872e-01 1.68600530e-03 -3.06806537e-03 6.96006045e-01] [-1.68598027e-03 9.99998579e-01 1.07473534e-05 -1.16345882e-01] [ 3.06807913e-03 -5.57458986e-06 9.99995293e-01 -7.53721641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40463044 meters 0.2727496943744671 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.08 [[ 9.99994864e-01 1.54211168e-03 -2.80943020e-03 6.95550070e-01] [-1.54355264e-03 9.99998678e-01 -5.10805395e-04 -1.14352200e-01] [ 2.80863877e-03 5.15139275e-04 9.99995923e-01 -7.56678622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46463044 meters 0.2737801170049693 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.08 [[ 9.99995572e-01 1.36942096e-03 -2.64228366e-03 6.95198275e-01] [-1.37201257e-03 9.99998579e-01 -9.79258085e-04 -1.12438144e-01] [ 2.64093889e-03 9.82878994e-04 9.99996030e-01 -7.57790782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524630439999996 meters 0.274996167477807 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.08 [[ 0.99999543 0.00118212 -0.00278264 0.69570977] [-0.0011861 0.99999828 -0.00142939 -0.1105909 ] [ 0.00278094 0.00143268 0.99999511 -0.07616656] [ 0. 0. 0. 1. ]] SLAMing on 38.58463044 meters 0.2747456967526042 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.08 [[ 9.99970962e-01 -7.13314854e-03 -2.68191761e-03 6.75573512e-01] [ 7.13282492e-03 9.99974553e-01 -1.30212846e-04 -1.06037346e-01] [ 2.68277819e-03 1.11079416e-04 9.99996395e-01 -7.74968252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64463044 meters 0.2730010670138939 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 0.9999927 -0.0032409 -0.00202575 0.67352059] [ 0.00324779 0.99998893 0.0034057 -0.10447806] [ 0.00201469 -0.00341226 0.99999215 -0.07640481] [ 0. 0. 0. 1. ]] SLAMing on 38.704630439999995 meters 0.27356426151655105 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 0.99999153 -0.00355149 -0.00208137 0.67329964] [ 0.00355705 0.9999901 0.00267497 -0.10131038] [ 0.00207184 -0.00268235 0.99999426 -0.07579106] [ 0. 0. 0. 1. ]] SLAMing on 38.76463044 meters 0.2737205151136002 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 0.99999056 -0.00382536 -0.002061 0.67300172] [ 0.00382939 0.99999076 0.00195486 -0.09831924] [ 0.0020535 -0.00196274 0.99999597 -0.07533702] [ 0. 0. 0. 1. ]] SLAMing on 38.82463044 meters 0.2717102143347521 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.08 [[ 9.99986492e-01 4.26557637e-03 -2.97004339e-03 6.52303271e-01] [-4.26356560e-03 9.99990678e-01 6.83018417e-04 -9.78222837e-02] [ 2.97292917e-03 -6.70346216e-04 9.99995356e-01 -7.57723934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884630439999995 meters 0.2742586151859403 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.08 [[ 9.99988768e-01 3.93247910e-03 -2.64556350e-03 6.51204262e-01] [-3.93322636e-03 9.99992226e-01 -2.77312665e-04 -9.37386833e-02] [ 2.64445241e-03 2.87715150e-04 9.99996462e-01 -7.50650395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94463044 meters 0.2724535342384456 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.07 [[ 9.99990372e-01 3.68584160e-03 -2.38136957e-03 6.50116525e-01] [-3.68816495e-03 9.99992726e-01 -9.71981426e-04 -9.06702930e-02] [ 2.37776968e-03 9.80754952e-04 9.99996692e-01 -7.41501052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00463044 meters 0.2724785282857713 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.08 [[ 0.99998907 0.00342987 -0.00317777 0.65280766] [-0.0034374 0.99999129 -0.0023665 -0.08452496] [ 0.00316962 0.0023774 0.99999215 -0.07621517] [ 0. 0. 0. 1. ]] SLAMing on 39.064630439999995 meters 0.27456220544098714 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.08 [[ 0.99998959 0.00320057 -0.00325267 0.653244 ] [-0.00321032 0.99999036 -0.00299638 -0.0819868 ] [ 0.00324304 0.00300679 0.99999022 -0.07682287] [ 0. 0. 0. 1. ]] SLAMing on 39.12463044 meters 0.2740889483286855 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.08 [[ 0.99998991 0.00279411 -0.0035174 0.65426669] [-0.00280903 0.99998704 -0.00424502 -0.07708836] [ 0.00350549 0.00425486 0.9999848 -0.07778414] [ 0. 0. 0. 1. ]] SLAMing on 39.18463044 meters 0.27509972373008335 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.08 [[ 0.99997356 0.00632305 -0.0035909 0.65460682] [-0.00632914 0.99997854 -0.0016889 -0.06965379] [ 0.00358014 0.00171158 0.99999213 -0.07808897] [ 0. 0. 0. 1. ]] SLAMing on 39.24463044 meters 0.2749028200869883 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.08 [[ 0.99997689 0.00582461 -0.0035076 0.65444137] [-0.00583451 0.99997901 -0.00281834 -0.06500065] [ 0.00349111 0.00283874 0.99998988 -0.07824634] [ 0. 0. 0. 1. ]] SLAMing on 39.30463044 meters 0.27341047411611263 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.08 [[ 0.99998033 0.00533996 -0.0032915 0.65355419] [-0.00535271 0.99997816 -0.00387671 -0.06071193] [ 0.00327072 0.00389426 0.99998707 -0.07768083] [ 0. 0. 0. 1. ]] SLAMing on 39.36463044 meters 0.2735914606906929 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.08 [[ 0.9999901 -0.00233646 -0.00378692 0.67275748] [ 0.00232531 0.99999296 -0.00294636 -0.05105249] [ 0.00379378 0.00293753 0.99998849 -0.07562476] [ 0. 0. 0. 1. ]] SLAMing on 39.42463044 meters 0.2738211482484983 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.08 [[ 9.99989911e-01 1.56429256e-03 -4.21072138e-03 6.73641958e-01] [-1.56355279e-03 9.99998762e-01 1.78972804e-04 -4.72068568e-02] [ 4.21099613e-03 -1.72387313e-04 9.99991119e-01 -7.55905981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48463044 meters 0.2733289281447184 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.07 [[ 9.99991371e-01 1.58229849e-03 -3.84108662e-03 6.72308200e-01] [-1.58133740e-03 9.99998718e-01 2.53237233e-04 -4.74917604e-02] [ 3.84148239e-03 -2.47160994e-04 9.99992591e-01 -7.44527299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54463044 meters 0.2737011834107281 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.08 [[ 9.99990352e-01 1.70155554e-03 -4.04976068e-03 6.73055665e-01] [-1.69898735e-03 9.99998354e-01 6.37514029e-04 -4.90526807e-02] [ 4.05083878e-03 -6.30627386e-04 9.99991596e-01 -7.50527388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60463044 meters 0.2721392926615093 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.07 [[ 0.99998806 0.00192037 -0.00449339 0.67383151] [-0.00191305 0.99999684 0.00163197 -0.05295945] [ 0.00449651 -0.00162335 0.99998857 -0.07465026] [ 0. 0. 0. 1. ]] SLAMing on 39.664630439999996 meters 0.27197183189796026 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.07 [[ 0.99998671 0.00225899 -0.00463526 0.67426422] [-0.00224703 0.99999414 0.00258306 -0.05671585] [ 0.00464106 -0.00257261 0.99998592 -0.07490066] [ 0. 0. 0. 1. ]] SLAMing on 39.72463044 meters 0.2725635060316378 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.08 [[ 0.99998561 0.00236545 -0.00481587 0.67495589] [-0.00235189 0.99999326 0.0028199 -0.05773513] [ 0.00482251 -0.00280853 0.99998443 -0.07535478] [ 0. 0. 0. 1. ]] SLAMing on 39.78463044 meters 0.2739063659486985 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.08 [[ 9.99985380e-01 -1.36665759e-04 -5.40564949e-03 6.77724568e-01] [ 1.43202706e-04 9.99999259e-01 1.20891192e-03 -6.21018879e-02] [ 5.40548026e-03 -1.20966835e-03 9.99984659e-01 -7.73731926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844630439999996 meters 0.27537191937449934 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.08 [[ 9.99984605e-01 -3.34969891e-04 -5.53868093e-03 6.78464971e-01] [ 3.37441084e-04 9.99999844e-01 4.45241495e-04 -5.92651649e-02] [ 5.53853093e-03 -4.47103619e-04 9.99984562e-01 -7.84667186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90463044 meters 0.2744680634348567 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.08 [[ 9.99985177e-01 -5.86668551e-04 -5.41309912e-03 6.78047459e-01] [ 5.84546793e-04 9.99999752e-01 -3.93541146e-04 -5.60076986e-02] [ 5.41332865e-03 3.90371103e-04 9.99985272e-01 -7.82113026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96463044 meters 0.2761524758114478 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.08 [[ 9.99985014e-01 -8.75073429e-04 -5.40432688e-03 6.77912556e-01] [ 8.69430729e-04 9.99999075e-01 -1.04636887e-03 -5.32639606e-02] [ 5.40523753e-03 1.04165450e-03 9.99984849e-01 -7.80138553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024630439999996 meters 0.2738178319957168 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.08 [[ 9.99986271e-01 -8.88130690e-04 -5.16420403e-03 6.76924870e-01] [ 8.82529390e-04 9.99999020e-01 -1.08681727e-03 -5.30600387e-02] [ 5.16516420e-03 1.08224479e-03 9.99986075e-01 -7.71267712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08463044 meters 0.27456078411092094 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.08 [[ 9.99986451e-01 -9.34903404e-04 -5.12093231e-03 6.76941050e-01] [ 9.28727813e-04 9.99998839e-01 -1.20819571e-03 -5.25729801e-02] [ 5.12205591e-03 1.20342339e-03 9.99986158e-01 -7.73803331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14463044 meters 0.27250674122720553 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.08 [[ 9.99986956e-01 -9.17276789e-04 -5.02460196e-03 6.76728765e-01] [ 9.11420196e-04 9.99998903e-01 -1.16774942e-03 -5.27305684e-02] [ 5.02566760e-03 1.16315466e-03 9.99986695e-01 -7.74167549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204630439999995 meters 0.27218007532438315 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.08 [[ 9.99988444e-01 -8.39445820e-04 -4.73370560e-03 6.75589599e-01] [ 8.34949971e-04 9.99999199e-01 -9.51648737e-04 -5.35631592e-02] [ 4.73450066e-03 9.47685332e-04 9.99988343e-01 -7.63356944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26463044 meters 0.2726322022205424 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.08 [[ 9.99986964e-01 -7.00763374e-04 -5.05782542e-03 6.76563303e-01] [ 6.97990102e-04 9.99999605e-01 -5.50057555e-04 -5.52510966e-02] [ 5.05820888e-03 5.46520072e-04 9.99987058e-01 -7.68014402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32463044 meters 0.2712653401795415 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.06, Z:-0.08 [[ 9.99991717e-01 -7.17697709e-04 -4.00624666e-03 6.40742634e-01] [ 7.19172171e-04 9.99999674e-01 3.66612223e-04 -6.12532840e-02] [ 4.00598223e-03 -3.69490368e-04 9.99991908e-01 -8.22361262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384630439999995 meters 0.2718385991919548 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.08 [[ 9.99993085e-01 -3.80444663e-04 -3.69924087e-03 6.39604616e-01] [ 3.85529685e-04 9.99998982e-01 1.37399626e-03 -6.55086970e-02] [ 3.69871437e-03 -1.37541292e-03 9.99992214e-01 -8.14217369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44463044 meters 0.2740929545177846 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.08 [[ 9.99977135e-01 6.58098604e-03 -1.55566018e-03 6.61555724e-01] [-6.58181411e-03 9.99978200e-01 -5.27770511e-04 -6.70954283e-02] [ 1.55215302e-03 5.37997510e-04 9.99998651e-01 -8.28829229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50463044 meters 0.2741408257389074 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.08 [[ 9.99988020e-01 -2.31660174e-03 -4.31203134e-03 6.43814892e-01] [ 2.31659768e-03 9.99997317e-01 -5.93698357e-06 -6.53988256e-02] [ 4.31203352e-03 -4.05232935e-06 9.99990703e-01 -8.39065278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564630439999995 meters 0.2738754490672982 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.07, Z:-0.08 [[ 9.99988811e-01 -2.24039333e-03 -4.16631903e-03 6.43317481e-01] [ 2.24125628e-03 9.99997468e-01 2.02466611e-04 -6.62338816e-02] [ 4.16585488e-03 -2.11802134e-04 9.99991300e-01 -8.35568573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62463044 meters 0.273682632202277 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.07, Z:-0.09 [[ 9.99975820e-01 5.67608420e-03 -4.01776042e-03 6.23234483e-01] [-5.68011020e-03 9.99983377e-01 -9.91349788e-04 -7.05869474e-02] [ 4.01206665e-03 1.01414714e-03 9.99991437e-01 -8.55923824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68463044 meters 0.2733590182863579 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.09 [[ 0.99997873 -0.00354758 -0.005473 0.64628074] [ 0.00354026 0.99999283 -0.001347 -0.06500165] [ 0.00547774 0.00132759 0.99998412 -0.08652964] [ 0. 0. 0. 1. ]] SLAMing on 40.74463044 meters 0.27356096433688015 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.09 [[ 0.99997758 -0.00366107 -0.00560655 0.64664592] [ 0.00365203 0.99999202 -0.00162199 -0.06382651] [ 0.00561244 0.00160148 0.99998297 -0.08663929] [ 0. 0. 0. 1. ]] SLAMing on 40.80463044 meters 0.2744991145648748 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.09 [[ 0.99997592 -0.00383518 -0.00578329 0.64709553] [ 0.00382339 0.99999059 -0.0020481 -0.06207182] [ 0.00579109 0.00202594 0.99998118 -0.08670832] [ 0. 0. 0. 1. ]] SLAMing on 40.86463044 meters 0.2730198997141116 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.09 [[ 0.9999665 0.00447691 -0.00685177 0.62710017] [-0.0044973 0.9999855 -0.00296296 -0.06477437] [ 0.00683841 0.00299368 0.99997214 -0.08778857] [ 0. 0. 0. 1. ]] SLAMing on 40.92463044 meters 0.2741957085017076 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.09 [[ 0.99996754 0.0044916 -0.00668947 0.6261954 ] [-0.00451125 0.99998554 -0.0029255 -0.06492548] [ 0.00667624 0.00295558 0.99997335 -0.08668216] [ 0. 0. 0. 1. ]] SLAMing on 40.98463044 meters 0.27437975594152 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.09 [[ 0.99996801 0.00444471 -0.00665056 0.62597209] [-0.004465 0.99998541 -0.00303882 -0.06443495] [ 0.00663696 0.00306842 0.99997327 -0.08640346] [ 0. 0. 0. 1. ]] SLAMing on 41.04463044 meters 0.27423339951279013 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.09 [[ 0.99996779 -0.00339795 -0.00727144 0.64609372] [ 0.00338354 0.99999229 -0.00199252 -0.05752924] [ 0.00727816 0.00196785 0.99997158 -0.08526077] [ 0. 0. 0. 1. ]] SLAMing on 41.10463044 meters 0.2734739152303155 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.06, Z:-0.09 [[ 0.99994375 0.00377105 -0.00991384 0.62917635] [-0.00381537 0.9999828 -0.00445535 -0.05618882] [ 0.00989687 0.00449292 0.99994093 -0.08818574] [ 0. 0. 0. 1. ]] SLAMing on 41.164630439999996 meters 0.2745222003971684 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99994068 -0.00182487 -0.01073809 0.65251858] [ 0.00181128 0.99999755 -0.00127511 -0.05119638] [ 0.01074039 0.00125558 0.99994153 -0.08846163] [ 0. 0. 0. 1. ]] SLAMing on 41.22463044 meters 0.27431678341630317 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99993974 -0.00190077 -0.01081212 0.65263108] [ 0.00188515 0.99999717 -0.00145461 -0.05045282] [ 0.01081485 0.00143414 0.99994049 -0.08834333] [ 0. 0. 0. 1. ]] SLAMing on 41.28463044 meters 0.2755552673210698 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99993971 -0.00194656 -0.01080658 0.65241828] [ 0.00192978 0.99999692 -0.001563 -0.04997418] [ 0.01080959 0.00154205 0.99994039 -0.08795666] [ 0. 0. 0. 1. ]] SLAMing on 41.344630439999996 meters 0.2742748607872868 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99994004 -0.00191682 -0.01078174 0.65219817] [ 0.00190077 0.99999707 -0.00149865 -0.05025753] [ 0.01078458 0.00147806 0.99994075 -0.08763071] [ 0. 0. 0. 1. ]] SLAMing on 41.40463044 meters 0.2740965810201337 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99993893 -0.00182882 -0.01089892 0.6524048 ] [ 0.00181491 0.99999753 -0.00128602 -0.05115101] [ 0.01090124 0.00126616 0.99993978 -0.08746058] [ 0. 0. 0. 1. ]] SLAMing on 41.46463044 meters 0.27344418894668676 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.09 [[ 0.99993754 -0.00186331 -0.01102017 0.65295136] [ 0.00184827 0.99999735 -0.00137447 -0.05083619] [ 0.01102271 0.00135402 0.99993833 -0.08799116] [ 0. 0. 0. 1. ]] SLAMing on 41.524630439999996 meters 0.27785688678155446 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.09 [[ 0.99994673 0.00482768 -0.00912359 0.67541847] [-0.00486338 0.99998059 -0.00389505 -0.04854735] [ 0.0091046 0.00393921 0.99995079 -0.0892385 ] [ 0. 0. 0. 1. ]] SLAMing on 41.58463044 meters 0.27824097851564167 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.09 [[ 0.99994704 0.00469905 -0.00915582 0.67509616] [-0.00473861 0.99997951 -0.00430411 -0.04688567] [ 0.00913541 0.00434727 0.99994882 -0.08847152] [ 0. 0. 0. 1. ]] SLAMing on 41.64463044 meters 0.27613841336890427 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 0.99994406 -0.00414472 -0.00973158 0.65576827] [ 0.00410499 0.99998317 -0.00409915 -0.04007651] [ 0.00974841 0.00405897 0.99994425 -0.08944952] [ 0. 0. 0. 1. ]] SLAMing on 41.704630439999995 meters 0.27842088999896675 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 0.99993947 -0.00443916 -0.01006712 0.65662199] [ 0.00438818 0.99997746 -0.00508089 -0.03611967] [ 0.01008944 0.0050364 0.99993642 -0.08969697] [ 0. 0. 0. 1. ]] SLAMing on 41.76463044 meters 0.27894164519017656 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.09 [[ 9.99948716e-01 -3.15426879e-04 -1.01225215e-02 6.56604078e-01] [ 3.01644708e-04 9.99999026e-01 -1.36303323e-03 -3.36549025e-02] [ 1.01229416e-02 1.35990993e-03 9.99947837e-01 -8.95352695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82463044 meters 0.2790454986756884 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.09 [[ 9.99958184e-01 1.93966583e-03 -8.93693305e-03 6.51709246e-01] [-1.94380701e-03 9.99998007e-01 -4.54715462e-04 -2.44761666e-02] [ 8.93603325e-03 4.72068120e-04 9.99959961e-01 -8.62597041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884630439999995 meters 0.27555475405317686 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.02, Z:-0.09 [[ 0.99994224 -0.00368881 -0.01009515 0.62853553] [ 0.00371133 0.99999066 0.0022134 -0.01903134] [ 0.01008689 -0.00225074 0.99994659 -0.08539149] [ 0. 0. 0. 1. ]] SLAMing on 41.94463044 meters 0.27594612178310135 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99977196e-01 3.52080345e-03 -5.76292047e-03 6.45726309e-01] [-3.51861487e-03 9.99993734e-01 3.89863956e-04 -1.32888671e-02] [ 5.76425699e-03 -3.69577568e-04 9.99983318e-01 -8.39383654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00463044 meters 0.2762256967275282 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99977775e-01 3.45251210e-03 -5.70340480e-03 6.45001458e-01] [-3.45136510e-03 9.99994022e-01 2.10939155e-04 -1.25130054e-02] [ 5.70409897e-03 -1.91249935e-04 9.99983713e-01 -8.27932667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064630439999995 meters 0.2754886856184136 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99976897e-01 3.43006287e-03 -5.86856495e-03 6.45363280e-01] [-3.42933740e-03 9.99994111e-01 1.33677056e-04 -1.21751526e-02] [ 5.86898891e-03 -1.13548679e-04 9.99982771e-01 -8.27541681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12463044 meters 0.2745679464493612 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.99977634e-01 3.41158468e-03 -5.75260752e-03 6.44774769e-01] [-3.41119806e-03 9.99994179e-01 7.70176459e-05 -1.19944835e-02] [ 5.75283678e-03 -5.73926398e-05 9.99983451e-01 -8.20336198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18463044 meters 0.27605479165850144 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.99977557e-01 3.45093396e-03 -5.74257056e-03 6.44505261e-01] [-3.44995971e-03 9.99994033e-01 1.79551495e-04 -1.24196416e-02] [ 5.74315591e-03 -1.59735828e-04 9.99983495e-01 -8.15025009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244630439999995 meters 0.2734831529327254 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.08 [[ 9.99975938e-01 3.67427895e-03 -5.88422221e-03 6.44719376e-01] [-3.66940361e-03 9.99992916e-01 8.39125246e-04 -1.50428947e-02] [ 5.88726370e-03 -8.17513468e-04 9.99982336e-01 -8.12257758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30463044 meters 0.27594797324930015 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 0.99997402 0.00395778 -0.00602381 0.64513336] [-0.00394799 0.99999087 0.00163633 -0.0183154 ] [ 0.00603023 -0.0016125 0.99998052 -0.08135825] [ 0. 0. 0. 1. ]] SLAMing on 42.36463044 meters 0.27555751747042473 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 0.99997275 0.00425007 -0.00603702 0.64513944] [-0.00423595 0.99998827 0.00234958 -0.02124927] [ 0.00604693 -0.00232394 0.99997902 -0.08129819] [ 0. 0. 0. 1. ]] SLAMing on 42.42463044 meters 0.2764581277776985 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:-0.08 [[ 9.99985683e-01 5.02240622e-04 -5.32752369e-03 6.43153788e-01] [-5.05293294e-04 9.99999709e-01 -5.71669639e-04 -2.57113565e-02] [ 5.32723503e-03 5.74353416e-04 9.99985645e-01 -8.03414896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48463044 meters 0.27651647398322665 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.08 [[ 9.99980976e-01 6.59086699e-04 -6.13298161e-03 6.45613619e-01] [-6.60728508e-04 9.99999746e-01 -2.65679434e-04 -2.69510728e-02] [ 6.13280495e-03 2.69726615e-04 9.99981158e-01 -8.18989140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54463044 meters 0.2753428196517702 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.08 [[ 9.99981252e-01 6.08831422e-04 -6.09306298e-03 6.45450578e-01] [-6.11386081e-04 9.99999726e-01 -4.17419557e-04 -2.63983840e-02] [ 6.09280717e-03 4.21136945e-04 9.99981350e-01 -8.17586425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60463044 meters 0.27655930242443577 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:-0.08 [[ 9.99982446e-01 4.98524185e-04 -5.90422683e-03 6.44848161e-01] [-5.02892800e-04 9.99999601e-01 -7.38451563e-04 -2.50658593e-02] [ 5.90385634e-03 7.41407793e-04 9.99982297e-01 -8.14102557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664630439999996 meters 0.2765661218619118 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99981599e-01 3.86098688e-04 -6.05416432e-03 6.45329673e-01] [-3.92363217e-04 9.99999389e-01 -1.03359350e-03 -2.38346267e-02] [ 6.05376155e-03 1.03594992e-03 9.99981139e-01 -8.17228478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72463044 meters 0.27779086681569365 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99979512e-01 3.51389852e-04 -6.39158680e-03 6.46313457e-01] [-3.58516776e-04 9.99999315e-01 -1.11393613e-03 -2.35045195e-02] [ 6.39119100e-03 1.11620479e-03 9.99978953e-01 -8.22254137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78463044 meters 0.2773029310366084 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99977540e-01 2.88833171e-04 -6.69601586e-03 6.46598215e-01] [-2.97432424e-04 9.99999132e-01 -1.28327403e-03 -2.29036717e-02] [ 6.69563940e-03 1.28523682e-03 9.99976758e-01 -8.14271025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844630439999996 meters 0.2771593437083218 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99978097e-01 1.53629816e-04 -6.61677632e-03 6.46131558e-01] [-1.64143474e-04 9.99998725e-01 -1.58842598e-03 -2.15359322e-02] [ 6.61652385e-03 1.58947729e-03 9.99976847e-01 -8.09074007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90463044 meters 0.27576408376603223 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99978527e-01 7.43578391e-05 -6.55287533e-03 6.45844401e-01] [-8.60124448e-05 9.99998415e-01 -1.77828448e-03 -2.07306127e-02] [ 6.55273272e-03 1.77880992e-03 9.99976948e-01 -8.06436164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96463044 meters 0.2773527268847449 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99978605e-01 -4.98843288e-05 -6.54110509e-03 6.45448814e-01] [ 3.61403250e-05 9.99997792e-01 -2.10127595e-03 -1.94297972e-02] [ 6.54119547e-03 2.10099460e-03 9.99976399e-01 -7.98752535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024630439999996 meters 0.2751868883550439 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99977830e-01 1.14351280e-05 -6.65882578e-03 6.45400965e-01] [-2.43933598e-05 9.99998106e-01 -1.94594558e-03 -2.00536533e-02] [ 6.65879092e-03 1.94606487e-03 9.99975936e-01 -7.92121742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08463044 meters 0.27390177901172363 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.08 [[ 9.99977491e-01 -2.86237204e-05 -6.70949014e-03 6.44936530e-01] [ 1.47776555e-05 9.99997870e-01 -2.06369430e-03 -1.97478485e-02] [ 6.70953492e-03 2.06354870e-03 9.99975362e-01 -7.79961820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14463044 meters 0.27580261419361657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.08 [[ 9.99977030e-01 -1.00120530e-04 -6.77717977e-03 6.44961542e-01] [ 8.48787434e-05 9.99997467e-01 -2.24923691e-03 -1.90100119e-02] [ 6.77738780e-03 2.24861000e-03 9.99974505e-01 -7.77125537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204630439999995 meters 0.2740510104388044 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.02, Z:-0.08 [[ 9.99977792e-01 -2.41784537e-04 -6.66004374e-03 6.44505637e-01] [ 2.24691744e-04 9.99996680e-01 -2.56709731e-03 -1.76155969e-02] [ 6.66064231e-03 2.56554384e-03 9.99974527e-01 -7.73997854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26463044 meters 0.27630470463611495 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.08 [[ 9.99942865e-01 -6.64894456e-03 -8.37006636e-03 6.69727097e-01] [ 6.64223712e-03 9.99977597e-01 -8.28904873e-04 -8.98029914e-03] [ 8.37539019e-03 7.73261548e-04 9.99964627e-01 -7.86594246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32463044 meters 0.2774737047086302 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.08 [[ 0.99995903 -0.00262088 -0.00866409 0.67029004] [ 0.00264388 0.99999301 0.00264429 -0.00559611] [ 0.0086571 -0.00266709 0.99995897 -0.07867357] [ 0. 0. 0. 1. ]] SLAMing on 43.384630439999995 meters 0.27625328734055143 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:-0.08 [[ 9.99958124e-01 -3.27324750e-03 -8.54613509e-03 6.69593932e-01] [ 3.28379849e-03 9.99993863e-01 1.22085132e-03 2.91451015e-04] [ 8.54208650e-03 -1.24886398e-03 9.99962736e-01 -7.80982299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44463044 meters 0.27630111036076604 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99995266 -0.00106618 -0.00967205 0.67372998] [ 0.00108944 0.99999653 0.00239936 0.00787401] [ 0.00966946 -0.00240978 0.99995035 -0.08009626] [ 0. 0. 0. 1. ]] SLAMing on 43.50463044 meters 0.27581741090731493 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99995404 -0.00137323 -0.00948886 0.67290121] [ 0.00138977 0.99999753 0.00173706 0.01064832] [ 0.00948645 -0.00175017 0.99995347 -0.07943676] [ 0. 0. 0. 1. ]] SLAMing on 43.564630439999995 meters 0.27376980894995107 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.9999624 -0.00178555 -0.00848644 0.66993638] [ 0.00179514 0.99999776 0.00112293 0.01218218] [ 0.00848442 -0.00113812 0.99996336 -0.07764194] [ 0. 0. 0. 1. ]] SLAMing on 43.62463044 meters 0.2743281127160531 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99996051 -0.00173865 -0.00871489 0.67051076] [ 0.00174973 0.99999767 0.00126468 0.01158199] [ 0.00871267 -0.00127988 0.99996122 -0.0777851 ] [ 0. 0. 0. 1. ]] SLAMing on 43.68463044 meters 0.27466064851849015 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99996138 -0.00169761 -0.00862332 0.67020512] [ 0.00170957 0.99999759 0.00138012 0.01108843] [ 0.00862095 -0.00139481 0.99996187 -0.07755434] [ 0. 0. 0. 1. ]] SLAMing on 43.744630439999995 meters 0.2736111439738165 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99996156 -0.00148945 -0.00864021 0.67060216] [ 0.00150585 0.99999708 0.00189112 0.00912764] [ 0.00863737 -0.00190406 0.99996088 -0.07820127] [ 0. 0. 0. 1. ]] SLAMing on 43.80463044 meters 0.2759267498847693 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.08 [[ 0.99996023 -0.00121989 -0.00883514 0.67148112] [ 0.00124305 0.9999958 0.00261677 0.00605219] [ 0.00883191 -0.00262765 0.99995755 -0.07897928] [ 0. 0. 0. 1. ]] SLAMing on 43.86463044 meters 0.2742354097422441 Centerline is valid? [False, False] Translation: X:0.65, Y:0.00, Z:-0.08 [[ 9.99943513e-01 5.39261409e-03 -9.15920764e-03 6.49866070e-01] [-5.39118739e-03 9.99985451e-01 1.80449218e-04 5.24204445e-04] [ 9.16004747e-03 -1.31060020e-04 9.99958037e-01 -7.91193113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92463044 meters 0.2759620885920511 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.00, Z:-0.08 [[ 9.99941938e-01 5.62490847e-03 -9.19140464e-03 6.50269136e-01] [-5.61810077e-03 9.99983925e-01 7.66310760e-04 -1.86790838e-03] [ 9.19556731e-03 -7.14628029e-04 9.99957465e-01 -7.98187864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98463044 meters 0.2742963870546196 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99960613e-01 3.27619399e-03 -8.24855134e-03 6.45849398e-01] [-3.28230724e-03 9.99994348e-01 -7.27701960e-04 -8.11013091e-03] [ 8.24612063e-03 7.54747578e-04 9.99965715e-01 -7.68443511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04463044 meters 0.2744476864437004 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99959702e-01 3.39262763e-03 -8.31171953e-03 6.45831350e-01] [-3.39651801e-03 9.99994129e-01 -4.53988047e-04 -9.26536976e-03] [ 8.31013052e-03 4.82200657e-04 9.99965354e-01 -7.65135001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10463044 meters 0.2751737726141066 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 9.99960680e-01 3.39676341e-03 -8.19146903e-03 6.45311395e-01] [-3.40050620e-03 9.99994120e-01 -4.43027794e-04 -9.37288845e-03] [ 8.18991601e-03 4.70865516e-04 9.99966351e-01 -7.60116796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164630439999996 meters 0.2753658876180852 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.07 [[ 9.99969110e-01 3.37522520e-03 -7.09841258e-03 6.42411917e-01] [-3.38015191e-03 9.99994055e-01 -6.82174838e-04 -8.46607505e-03] [ 7.09606788e-03 7.06147478e-04 9.99974573e-01 -7.46741871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22463044 meters 0.274235783822166 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.08 [[ 9.99946857e-01 -4.48802878e-03 -9.28121997e-03 6.23457530e-01] [ 4.49028567e-03 9.99989894e-01 2.22343192e-04 -6.02475194e-03] [ 9.28012829e-03 -2.64006705e-04 9.99956904e-01 -7.57676272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28463044 meters 0.273836415822149 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.99953813e-01 3.85026132e-03 -8.80610037e-03 6.43981943e-01] [-3.85289577e-03 9.99992538e-01 -2.82216481e-04 -1.10566512e-02] [ 8.80494805e-03 3.16132433e-04 9.99961186e-01 -7.52302975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344630439999996 meters 0.2720431092462118 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.07 [[ 9.99954357e-01 3.96275561e-03 -8.69370435e-03 6.43485041e-01] [-3.96289246e-03 9.99992148e-01 1.48522947e-06 -1.22281485e-02] [ 8.69364197e-03 3.29670537e-05 9.99962209e-01 -7.47450746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40463044 meters 0.27413479496434784 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.08 [[ 9.99951969e-01 -5.10219932e-03 -8.36827395e-03 6.65378177e-01] [ 5.10675534e-03 9.99986824e-01 5.23161777e-04 -1.14498808e-02] [ 8.36549441e-03 -5.65871376e-04 9.99964849e-01 -7.51032944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46463044 meters 0.2749958804321515 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.01, Z:-0.08 [[ 0.99995326 -0.00487566 -0.00834854 0.66560999] [ 0.00488466 0.99998751 0.00105819 -0.01368607] [ 0.00834328 -0.00109892 0.99996459 -0.07562709] [ 0. 0. 0. 1. ]] SLAMing on 44.524630439999996 meters 0.275207778264288 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.08 [[ 0.9999536 -0.00468279 -0.00841814 0.66571407] [ 0.00469563 0.99998784 0.00150638 -0.01555508] [ 0.00841098 -0.00154584 0.99996343 -0.07549083] [ 0. 0. 0. 1. ]] SLAMing on 44.58463044 meters 0.27362167235504953 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.08 [[ 0.99995342 -0.0044423 -0.00856846 0.66657388] [ 0.00446015 0.99998792 0.0020656 -0.01805025] [ 0.00855918 -0.00210372 0.99996116 -0.07642259] [ 0. 0. 0. 1. ]] SLAMing on 44.64463044 meters 0.27616403045373655 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.08 [[ 0.99995307 -0.00438572 -0.00863794 0.66691723] [ 0.00440503 0.99998784 0.00221677 -0.01864563] [ 0.00862811 -0.00225472 0.99996024 -0.07679804] [ 0. 0. 0. 1. ]] SLAMing on 44.704630439999995 meters 0.2749973748356789 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.08 [[ 0.99995413 -0.00423611 -0.00858988 0.66652482] [ 0.00425841 0.99998761 0.00257895 -0.02016483] [ 0.00857885 -0.00261541 0.99995978 -0.07623466] [ 0. 0. 0. 1. ]] SLAMing on 44.76463044 meters 0.27501981951770565 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:-0.08 [[ 0.99995496 -0.00418487 -0.00851863 0.66625657] [ 0.00420802 0.9999875 0.00270123 -0.02068197] [ 0.00850722 -0.00273696 0.99996007 -0.07603405] [ 0. 0. 0. 1. ]] SLAMing on 44.82463044 meters 0.277699625000654 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.08 [[ 9.99979847e-01 2.29352474e-03 -5.91985927e-03 6.87488723e-01] [-2.29166634e-03 9.99997323e-01 3.20691187e-04 -2.03689593e-02] [ 5.92057893e-03 -3.07118382e-04 9.99982426e-01 -7.72013862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884630439999995 meters 0.27541147618618694 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99985045e-01 2.48494884e-03 -4.87184010e-03 6.49273090e-01] [-2.48427713e-03 9.99996904e-01 1.43923437e-04 -2.01845522e-02] [ 4.87218265e-03 -1.31818284e-04 9.99988122e-01 -8.06629606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94463044 meters 0.27666350834977244 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.08 [[ 9.99984429e-01 2.29634524e-03 -5.08616525e-03 6.49679801e-01] [-2.29823465e-03 9.99997292e-01 -3.65667665e-04 -1.81027391e-02] [ 5.08531178e-03 3.77351172e-04 9.99986999e-01 -8.05113230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00463044 meters 0.27486307641726915 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.08 [[ 0.99999525 0.00207832 -0.00227747 0.60878521] [-0.00208066 0.99999731 -0.00102798 -0.01772545] [ 0.00227533 0.00103272 0.99999688 -0.08305204] [ 0. 0. 0. 1. ]] SLAMing on 45.064630439999995 meters 0.2768857834846201 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.02, Z:-0.08 [[ 0.99998934 -0.00450639 0.00100286 0.62755875] [ 0.00450454 0.99998818 0.00183096 -0.02135117] [-0.0010111 -0.00182642 0.99999782 -0.08215175] [ 0. 0. 0. 1. ]] SLAMing on 45.12463044 meters 0.27477713555601935 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.02, Z:-0.08 [[ 0.99999032 -0.00427926 0.00102499 0.62710443] [ 0.00427666 0.99998767 0.00252526 -0.02417782] [-0.00103578 -0.00252085 0.99999629 -0.08124457] [ 0. 0. 0. 1. ]] SLAMing on 45.18463044 meters 0.2751678021280541 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.03, Z:-0.08 [[ 0.99999162 -0.00396954 0.00100361 0.62694798] [ 0.00396616 0.99998653 0.00334745 -0.02760675] [-0.00101688 -0.00334344 0.99999389 -0.08084547] [ 0. 0. 0. 1. ]] SLAMing on 45.244630439999995 meters 0.2743887588277503 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99999382 0.00234963 0.0026161 0.60263429] [-0.00235252 0.99999662 0.00110429 -0.03431751] [-0.00261349 -0.00111043 0.99999597 -0.07957527] [ 0. 0. 0. 1. ]] SLAMing on 45.30463044 meters 0.27378219870679427 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99999416 0.00233036 0.00249892 0.60310337] [-0.002333 0.99999673 0.00105151 -0.03410651] [-0.00249647 -0.00105733 0.99999632 -0.08003432] [ 0. 0. 0. 1. ]] SLAMing on 45.36463044 meters 0.2756132368117731 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99999524 0.00235184 0.00199703 0.60447656] [-0.002354 0.99999664 0.00108325 -0.03416314] [-0.00199448 -0.00108794 0.99999742 -0.0806899 ] [ 0. 0. 0. 1. ]] SLAMing on 45.42463044 meters 0.27644948356305177 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99999545 0.00234315 0.00190077 0.60472516] [-0.00234517 0.99999668 0.00106389 -0.0340794 ] [-0.00189827 -0.00106834 0.99999763 -0.08073422] [ 0. 0. 0. 1. ]] SLAMing on 45.48463044 meters 0.27571057054452985 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99999522 0.00243164 0.00191219 0.60486458] [-0.0024341 0.99999621 0.00128373 -0.03499065] [-0.00190906 -0.00128838 0.99999735 -0.08105788] [ 0. 0. 0. 1. ]] SLAMing on 45.54463044 meters 0.2757603209854274 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 0.99999506 0.00248687 0.00192251 0.6048706 ] [-0.00248962 0.99999588 0.00142612 -0.0355623 ] [-0.00191895 -0.0014309 0.99999714 -0.08111941] [ 0. 0. 0. 1. ]] SLAMing on 45.60463044 meters 0.2770048318398166 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.08 [[ 0.99999054 -0.00362585 0.00240275 0.62883717] [ 0.00361527 0.99998382 0.00439269 -0.03507115] [-0.00241864 -0.00438396 0.99998747 -0.08275541] [ 0. 0. 0. 1. ]] SLAMing on 45.664630439999996 meters 0.27672948123352636 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.09 [[ 0.99999227 0.00376218 0.00114248 0.61167705] [-0.00376509 0.99998966 0.00255204 -0.04081808] [-0.00113286 -0.00255632 0.99999609 -0.08505007] [ 0. 0. 0. 1. ]] SLAMing on 45.72463044 meters 0.2752325106651603 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.08 [[ 0.99999188 0.0038366 0.00123418 0.61116493] [-0.00383998 0.99998886 0.00274489 -0.04157928] [-0.00122364 -0.00274961 0.99999547 -0.0843798 ] [ 0. 0. 0. 1. ]] SLAMing on 45.78463044 meters 0.2767611358765552 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.08 [[ 0.99999216 0.00382418 0.00102474 0.61182157] [-0.00382695 0.99998898 0.00271986 -0.04148137] [-0.00101433 -0.00272376 0.99999578 -0.08475993] [ 0. 0. 0. 1. ]] SLAMing on 45.844630439999996 meters 0.2768465177089386 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.09 [[ 9.99997718e-01 2.12004400e-03 -2.64970384e-04 6.16916669e-01] [-2.11990812e-03 9.99997622e-01 5.12034646e-04 -3.73264423e-02] [ 2.66055289e-04 -5.11471765e-04 9.99999834e-01 -8.81306995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90463044 meters 0.2777740645256878 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.09 [[ 9.99997991e-01 1.95092909e-03 -4.59521244e-04 6.17428819e-01] [-1.95088017e-03 9.99998091e-01 1.06903815e-04 -3.56168039e-02] [ 4.59728928e-04 -1.06007130e-04 9.99999889e-01 -8.82618658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96463044 meters 0.27799088829719354 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99999008 -0.00416829 0.00156775 0.59214903] [ 0.00416405 0.99998768 0.0027029 -0.031307 ] [-0.001579 -0.00269635 0.99999512 -0.08677393] [ 0. 0. 0. 1. ]] SLAMing on 46.024630439999996 meters 0.27663986594689344 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.9999898 -0.00423013 0.00158032 0.59193992] [ 0.0042261 0.99998783 0.00254563 -0.03065706] [-0.00159106 -0.00253892 0.99999551 -0.08641767] [ 0. 0. 0. 1. ]] SLAMing on 46.08463044 meters 0.27376579092744474 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99998283 0.00472128 0.00347054 0.57000632] [-0.00472966 0.99998591 0.0024084 -0.03617683] [-0.00345912 -0.00242478 0.99999108 -0.08573223] [ 0. 0. 0. 1. ]] SLAMing on 46.14463044 meters 0.274476577511963 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.08 [[ 0.99997252 -0.00409449 0.00618087 0.58870906] [ 0.0040761 0.99998724 0.00298518 -0.03636357] [-0.00619302 -0.00295991 0.99997644 -0.08484569] [ 0. 0. 0. 1. ]] SLAMing on 46.204630439999995 meters 0.27424233487344885 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.08 [[ 0.9999734 -0.00398262 0.00611017 0.58894598] [ 0.00396271 0.99998681 0.00326776 -0.03751535] [-0.00612311 -0.00324346 0.99997599 -0.08497728] [ 0. 0. 0. 1. ]] SLAMing on 46.26463044 meters 0.2774115321793889 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.09 [[ 0.99997846 -0.00398491 0.00521604 0.59130332] [ 0.00396971 0.99998785 0.00292121 -0.03583907] [-0.00522762 -0.00290044 0.99998213 -0.08620843] [ 0. 0. 0. 1. ]] SLAMing on 46.32463044 meters 0.2775812256286013 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99997985 -0.00421944 0.00474317 0.59260579] [ 0.00420932 0.99998885 0.00214083 -0.03277201] [-0.00475215 -0.00212082 0.99998646 -0.08698954] [ 0. 0. 0. 1. ]] SLAMing on 46.384630439999995 meters 0.2766064836135752 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99997874 -0.00438567 0.00482481 0.59206918] [ 0.0043776 0.99998901 0.00168073 -0.03072029] [-0.00483213 -0.00165958 0.99998695 -0.08636091] [ 0. 0. 0. 1. ]] SLAMing on 46.44463044 meters 0.2746252925754957 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.08 [[ 9.99965260e-01 2.02811702e-03 8.08493713e-03 5.64962552e-01] [-2.02217189e-03 9.99997679e-01 -7.43440372e-04 -3.41836905e-02] [-8.08642615e-03 7.27065412e-04 9.99967040e-01 -8.37737492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50463044 meters 0.2743532281155962 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.08 [[ 0.99993355 -0.00449939 0.01061367 0.58635769] [ 0.00447594 0.99998749 0.00223201 -0.03966509] [-0.01062358 -0.00218435 0.99994118 -0.08454689] [ 0. 0. 0. 1. ]] SLAMing on 46.564630439999995 meters 0.2734691523231367 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.08 [[ 9.99953019e-01 5.79477857e-04 9.67594426e-03 5.65398761e-01] [-5.63225800e-04 9.99998426e-01 -1.68227574e-03 -4.41272351e-02] [-9.67690387e-03 1.67674696e-03 9.99951772e-01 -8.46041420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62463044 meters 0.27558941660522 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.09 [[ 0.99994341 -0.00459548 0.00959439 0.58829276] [ 0.00457186 0.99998647 0.00248302 -0.04309274] [-0.00960568 -0.00243901 0.99995089 -0.08530002] [ 0. 0. 0. 1. ]] SLAMing on 46.68463044 meters 0.2753780648811668 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.09 [[ 0.99994352 -0.00457902 0.00959125 0.58829676] [ 0.00455495 0.99998643 0.00252993 -0.04327638] [-0.0096027 -0.0024861 0.9999508 -0.08528647] [ 0. 0. 0. 1. ]] SLAMing on 46.744630439999995 meters 0.27725215139283105 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.09 [[ 0.99994516 -0.00468102 0.00936869 0.58867323] [ 0.0046601 0.9999866 0.00225364 -0.04238251] [-0.00937911 -0.00220985 0.99995357 -0.08510731] [ 0. 0. 0. 1. ]] SLAMing on 46.80463044 meters 0.2764470115125941 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.09 [[ 0.99995413 0.00330319 0.00898997 0.56925137] [-0.00331362 0.99999385 0.00114547 -0.04717807] [-0.00898613 -0.00117521 0.99995893 -0.08683188] [ 0. 0. 0. 1. ]] SLAMing on 46.86463044 meters 0.27459407272012265 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.09 [[ 0.99995041 0.00359414 0.00928792 0.56824433] [-0.00361332 0.99999137 0.00205 -0.05096287] [-0.00928047 -0.00208346 0.99995477 -0.08606158] [ 0. 0. 0. 1. ]] SLAMing on 46.92463044 meters 0.2752812238564324 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.05, Z:-0.09 [[ 0.9999382 -0.00517866 0.00983733 0.58939106] [ 0.00514791 0.99998179 0.00314819 -0.05378152] [-0.00985346 -0.00309735 0.99994666 -0.08536654] [ 0. 0. 0. 1. ]] SLAMing on 46.98463044 meters 0.27478084910055917 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.08 [[ 9.99965813e-01 2.06498316e-04 8.26625321e-03 5.68066621e-01] [-2.05355063e-04 9.99999969e-01 -1.39152281e-04 -5.83877127e-02] [-8.26628169e-03 1.37450007e-04 9.99965824e-01 -8.49189603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04463044 meters 0.2751237549878778 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.08 [[ 9.99969395e-01 1.00274133e-03 7.75905185e-03 6.04665674e-01] [-1.00297501e-03 9.99999497e-01 2.62268623e-05 -5.46700693e-02] [-7.75902165e-03 -3.40081948e-05 9.99969898e-01 -8.09329505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10463044 meters 0.2754702704719321 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.08 [[ 9.99967593e-01 9.46389329e-04 7.99485402e-03 6.03864880e-01] [-9.43712826e-04 9.99999497e-01 -3.38544125e-04 -5.28985935e-02] [-7.99517039e-03 3.30988308e-04 9.99967983e-01 -8.04693811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164630439999996 meters 0.2780173257714832 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.08 [[ 9.99968876e-01 6.91892245e-04 7.85924051e-03 6.04429775e-01] [-6.83656635e-04 9.99999215e-01 -1.05052700e-03 -5.00084732e-02] [-7.85996118e-03 1.04512128e-03 9.99968564e-01 -8.11168520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22463044 meters 0.2771072961989678 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.08 [[ 9.99968881e-01 2.88382250e-04 7.88377960e-03 6.04554698e-01] [-2.71846198e-04 9.99997761e-01 -2.09846893e-03 -4.54363003e-02] [-7.88436712e-03 2.09626045e-03 9.99966721e-01 -8.14786389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28463044 meters 0.277170014662706 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 9.99967555e-01 1.06078124e-05 8.05531638e-03 6.03608916e-01] [ 1.23668107e-05 9.99995933e-01 -2.85205169e-03 -4.21737290e-02] [-8.05531387e-03 2.85205878e-03 9.99963488e-01 -8.03325443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344630439999996 meters 0.2750796805368866 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 9.99968499e-01 -2.04621573e-04 7.93466251e-03 6.03835536e-01] [ 2.31245444e-04 9.99994347e-01 -3.35461579e-03 -4.01002082e-02] [-7.93393122e-03 3.35634497e-03 9.99962893e-01 -8.02553814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40463044 meters 0.27495780744536086 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 9.99967813e-01 -3.38115461e-04 8.01612957e-03 6.03259489e-01] [ 3.67725032e-04 9.99993115e-01 -3.69256303e-03 -3.86493364e-02] [-8.01482586e-03 3.69539191e-03 9.99961053e-01 -7.95236733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46463044 meters 0.27561964908967107 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 9.99966660e-01 -3.60598127e-04 8.15777052e-03 6.02640625e-01] [ 3.91327362e-04 9.99992834e-01 -3.76558420e-03 -3.84023466e-02] [-8.15635419e-03 3.76865101e-03 9.99959635e-01 -7.88776547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524630439999996 meters 0.27446823245148533 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.04, Z:-0.08 [[ 9.99966552e-01 -5.29216298e-04 8.16177204e-03 6.02494995e-01] [ 5.63263444e-04 9.99991148e-01 -4.16980415e-03 -3.67031408e-02] [-8.15949306e-03 4.17426190e-03 9.99957998e-01 -7.86526898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58463044 meters 0.2735271825701869 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 9.99967192e-01 -7.34972486e-04 8.06685240e-03 6.02789326e-01] [ 7.73142914e-04 9.99988516e-01 -4.72966420e-03 -3.44558599e-02] [-8.06328359e-03 4.73574586e-03 9.99956277e-01 -7.88619244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64463044 meters 0.2737069104476043 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99996949 -0.00102808 0.00774323 0.60356911] [ 0.001072 0.99998334 -0.00567103 -0.03064344] [-0.00773727 0.00567916 0.99995394 -0.07902111] [ 0. 0. 0. 1. ]] SLAMing on 47.704630439999995 meters 0.2740029137772656 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99996908 -0.0012225 0.00776829 0.60382623] [ 0.00127076 0.99997991 -0.00620999 -0.02846577] [-0.00776054 0.00621967 0.99995054 -0.07976186] [ 0. 0. 0. 1. ]] SLAMing on 47.76463044 meters 0.27338376760982225 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.03, Z:-0.08 [[ 0.99996871 -0.00148098 0.00777034 0.60392082] [ 0.00153469 0.99997494 -0.00691072 -0.02562884] [-0.00775991 0.00692243 0.99994593 -0.08001458] [ 0. 0. 0. 1. ]] SLAMing on 47.82463044 meters 0.27336026399816743 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.08 [[ 0.99996913 -0.00154451 0.00770452 0.6040542 ] [ 0.00159903 0.9999737 -0.0070745 -0.02497646] [-0.00769339 0.0070866 0.99994529 -0.07996926] [ 0. 0. 0. 1. ]] SLAMing on 47.884630439999995 meters 0.27477505814439585 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.08 [[ 0.99996897 -0.00161103 0.007711 0.60437361] [ 0.0016668 0.99997246 -0.00723223 -0.02428633] [-0.00769914 0.00724486 0.99994412 -0.08065737] [ 0. 0. 0. 1. ]] SLAMing on 47.94463044 meters 0.2734953103754546 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.08 [[ 0.99996771 0.00265558 0.00758462 0.60468207] [-0.00263278 0.99999199 -0.00301424 -0.02407781] [-0.00759256 0.00299417 0.99996669 -0.08065975] [ 0. 0. 0. 1. ]] SLAMing on 48.00463044 meters 0.27419063210714895 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.08 [[ 0.99996735 0.00245628 0.00769899 0.6043792 ] [-0.00242815 0.99999035 -0.0036615 -0.02155181] [-0.00770791 0.00364269 0.99996366 -0.08062132] [ 0. 0. 0. 1. ]] SLAMing on 48.064630439999995 meters 0.2773777877947391 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 0.99997013 -0.00312344 0.00706921 0.62640885] [ 0.00313119 0.99999451 -0.00108533 -0.01072562] [-0.00706578 0.00110743 0.99997442 -0.08103078] [ 0. 0. 0. 1. ]] SLAMing on 48.12463044 meters 0.2751608707150351 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 0.99996882 -0.00327075 0.0071877 0.6259546 ] [ 0.00328126 0.99999357 -0.00145007 -0.00920272] [-0.00718291 0.00147361 0.99997312 -0.0807197 ] [ 0. 0. 0. 1. ]] SLAMing on 48.18463044 meters 0.27593445295723185 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99978492e-01 -1.20473067e-03 6.44700953e-03 6.29673846e-01] [ 1.20462705e-03 9.99999274e-01 1.99552945e-05 -5.76829641e-03] [-6.44702889e-03 -1.21886232e-05 9.99979218e-01 -8.34601609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244630439999995 meters 0.27535895001070554 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99979133e-01 -1.15629248e-03 6.35586160e-03 6.29779756e-01] [ 1.15531657e-03 9.99999320e-01 1.57214044e-04 -6.30770171e-03] [-6.35603907e-03 -1.49867731e-04 9.99979789e-01 -8.32137754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30463044 meters 0.2756630477224827 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99979959e-01 -1.02822920e-03 6.24690578e-03 6.29843912e-01] [ 1.02514341e-03 9.99999351e-01 4.97151536e-04 -7.69383285e-03] [-6.24741292e-03 -4.90737599e-04 9.99980364e-01 -8.27935745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36463044 meters 0.2753057231382524 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99979577e-01 -9.12773015e-04 6.32550163e-03 6.29453690e-01] [ 9.07748653e-04 9.99999270e-01 7.97128105e-04 -8.96856217e-03] [-6.32622461e-03 -7.91369860e-04 9.99979676e-01 -8.23123228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42463044 meters 0.27419768130286704 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99979241e-01 -7.72450429e-04 6.39689876e-03 6.29047239e-01] [ 7.64962618e-04 9.99999020e-01 1.17290169e-03 -1.05225839e-02] [-6.39779850e-03 -1.16798395e-03 9.99978852e-01 -8.17454065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48463044 meters 0.27596320625761206 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99980094e-01 -7.14877887e-04 6.26901438e-03 6.29458836e-01] [ 7.06602901e-04 9.99998876e-01 1.32209750e-03 -1.11309166e-02] [-6.26995247e-03 -1.31764148e-03 9.99979476e-01 -8.19554211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54463044 meters 0.27615084924542055 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.08 [[ 0.99994183 0.00555211 0.00924726 0.649391 ] [-0.00553949 0.99998369 -0.00138994 -0.01008758] [-0.00925483 0.00133864 0.99995628 -0.08230857] [ 0. 0. 0. 1. ]] SLAMing on 48.60463044 meters 0.2754980236499452 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.08 [[ 9.99959771e-01 -2.45502937e-03 8.62718106e-03 6.29538014e-01] [ 2.45559602e-03 9.99996984e-01 -5.50897211e-05 -8.26351825e-03] [-8.62701979e-03 7.62723764e-05 9.99962784e-01 -8.32158843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664630439999996 meters 0.27306280281442774 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.08 [[ 0.99997129 0.00405079 0.00640335 0.60978311] [-0.00403344 0.99998816 -0.002721 -0.01002233] [-0.0064143 0.0026951 0.9999758 -0.08297399] [ 0. 0. 0. 1. ]] SLAMing on 48.72463044 meters 0.2740214539438013 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.08 [[ 0.99996573 -0.00379878 0.00735525 0.62744999] [ 0.00380768 0.99999204 -0.00119621 -0.00465466] [-0.00735065 0.00122417 0.99997223 -0.08093982] [ 0. 0. 0. 1. ]] SLAMing on 48.78463044 meters 0.27477520930022825 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:-0.08 [[ 0.99996605 -0.00388673 0.00726592 0.6277666 ] [ 0.00389717 0.99999139 -0.00142346 -0.00373919] [-0.00726032 0.00145172 0.99997259 -0.08121035] [ 0. 0. 0. 1. ]] SLAMing on 48.844630439999996 meters 0.2743369729328517 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.08 [[ 0.99997447 0.00413482 0.00582713 0.60862646] [-0.00411798 0.99998732 -0.00289888 -0.00534586] [-0.00583904 0.00287481 0.99997882 -0.08262638] [ 0. 0. 0. 1. ]] SLAMing on 48.90463044 meters 0.2742305011140006 Centerline is valid? [False, False] Translation: X:0.63, Y:0.00, Z:-0.08 [[ 0.99998 -0.00409173 0.00482278 0.62832364] [ 0.00410352 0.99998861 -0.00243603 0.00459534] [-0.00481276 0.00245577 0.9999854 -0.08164341] [ 0. 0. 0. 1. ]] SLAMing on 48.96463044 meters 0.27453980017963797 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99997947 -0.00426811 0.00477987 0.62832798] [ 0.00428189 0.9999867 -0.00287623 0.00638433] [-0.00476753 0.00289664 0.99998444 -0.08148584] [ 0. 0. 0. 1. ]] SLAMing on 49.024630439999996 meters 0.27521725866802216 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99997873 -0.00424376 0.00495184 0.62755477] [ 0.00425772 0.99998698 -0.00281288 0.00614121] [-0.00493984 0.00283391 0.99998378 -0.08063323] [ 0. 0. 0. 1. ]] SLAMing on 49.08463044 meters 0.27393453607016693 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99998034 -0.00423588 0.00462286 0.62863174] [ 0.00424878 0.9999871 -0.0027841 0.00597937] [-0.00461101 0.00280368 0.99998544 -0.08138284] [ 0. 0. 0. 1. ]] SLAMing on 49.14463044 meters 0.2751350276020503 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.9999801 -0.00432492 0.00459191 0.62867467] [ 0.00433876 0.99998607 -0.00300695 0.00688778] [-0.00457884 0.00302681 0.99998494 -0.08134807] [ 0. 0. 0. 1. ]] SLAMing on 49.204630439999995 meters 0.2737319563567506 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99997924 -0.00439217 0.00471548 0.62775397] [ 0.00440727 0.99998518 -0.00319612 0.0078128 ] [-0.00470137 0.00321684 0.99998377 -0.0799856 ] [ 0. 0. 0. 1. ]] SLAMing on 49.26463044 meters 0.27470176934564877 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99999175 -0.0020783 0.0034905 0.6326541 ] [ 0.0020834 0.99999677 -0.00145774 0.01192759] [-0.00348746 0.001465 0.99999285 -0.08295832] [ 0. 0. 0. 1. ]] SLAMing on 49.32463044 meters 0.27485346064427596 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 0.99999193 -0.00220254 0.0033595 0.63322279] [ 0.0022085 0.99999599 -0.00177158 0.01321672] [-0.00335558 0.00177898 0.99999279 -0.08355599] [ 0. 0. 0. 1. ]] SLAMing on 49.384630439999995 meters 0.2728555381702208 Centerline is valid? [False, False] Translation: X:0.61, Y:0.02, Z:-0.08 [[ 0.99998833 0.00434132 0.00211961 0.61126828] [-0.00433077 0.99997834 -0.0049565 0.01500339] [-0.00214108 0.00494726 0.99998547 -0.08242138] [ 0. 0. 0. 1. ]] SLAMing on 49.44463044 meters 0.2737592108257714 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99999148 -0.00109803 0.0039796 0.63118587] [ 0.00110498 0.99999787 -0.00174335 0.02164492] [-0.00397767 0.00174773 0.99999056 -0.08206052] [ 0. 0. 0. 1. ]] SLAMing on 49.50463044 meters 0.2743511074765731 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99999108 -0.00128529 0.00402437 0.63108462] [ 0.00129415 0.99999674 -0.00219972 0.02351196] [-0.00402153 0.00220491 0.99998948 -0.08212876] [ 0. 0. 0. 1. ]] SLAMing on 49.564630439999995 meters 0.27370124843636173 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99999117 -0.00134907 0.00398107 0.63103832] [ 0.00135848 0.99999628 -0.00236365 0.02416723] [-0.00397787 0.00236904 0.99998928 -0.08182919] [ 0. 0. 0. 1. ]] SLAMing on 49.62463044 meters 0.2750107924463417 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99999253 -0.00136484 0.00361693 0.63220563] [ 0.00137351 0.99999619 -0.00239621 0.02435362] [-0.00361365 0.00240116 0.99999059 -0.08260212] [ 0. 0. 0. 1. ]] SLAMing on 49.68463044 meters 0.2739602010893423 Centerline is valid? [False, False] Translation: X:0.61, Y:0.02, Z:-0.08 [[ 9.99972759e-01 -7.37131902e-03 3.81323714e-04 6.11729273e-01] [ 7.37118031e-03 9.99972766e-01 3.63910910e-04 2.02109274e-02] [-3.83995833e-04 -3.61090191e-04 9.99999861e-01 -8.17373360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744630439999995 meters 0.2743679990588654 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 9.99998544e-01 1.12648568e-03 1.28200104e-03 6.33461467e-01] [-1.12645670e-03 9.99999365e-01 -2.33264239e-05 1.92156358e-02] [-1.28202650e-03 2.18822712e-05 9.99999178e-01 -8.17530942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80463044 meters 0.27607471103736503 Centerline is valid? [False, False] Translation: X:0.66, Y:0.02, Z:-0.08 [[ 9.99988710e-01 -4.66729677e-03 8.92766129e-04 6.56664283e-01] [ 4.66444523e-03 9.99984097e-01 3.16989914e-03 2.42439486e-02] [-9.07546792e-04 -3.16569909e-03 9.99994577e-01 -8.29423381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86463044 meters 0.2744277487726002 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.9999885 0.00467644 0.00106753 0.63383403] [-0.00467937 0.99998523 0.00276304 0.02399588] [-0.00105459 -0.00276801 0.99999561 -0.08146603] [ 0. 0. 0. 1. ]] SLAMing on 49.92463044 meters 0.2741070811144078 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99998811 0.0047277 0.00119689 0.63325794] [-0.00473116 0.99998459 0.00290605 0.02339562] [-0.00118313 -0.00291167 0.99999506 -0.08076111] [ 0. 0. 0. 1. ]] SLAMing on 49.98463044 meters 0.274235567052617 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 0.99998738 0.00486102 0.00127121 0.63316177] [-0.00486535 0.9999823 0.00342497 0.02144457] [-0.00125454 -0.00343111 0.99999333 -0.08079067] [ 0. 0. 0. 1. ]] SLAMing on 50.04463044 meters 0.2726687322499759 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 9.99999104e-01 8.34100437e-04 1.04733849e-03 6.33653623e-01] [-8.33966861e-04 9.99999644e-01 -1.27968496e-04 1.83320019e-02] [-1.04744486e-03 1.27094936e-04 9.99999443e-01 -8.07771323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10463044 meters 0.2736015264913865 Centerline is valid? [False, False] Translation: X:0.63, Y:0.02, Z:-0.08 [[ 9.99999105e-01 1.08602248e-03 7.80866452e-04 6.34327647e-01] [-1.08655026e-03 9.99999181e-01 6.75791060e-04 1.51907867e-02] [-7.80131889e-04 -6.76638906e-04 9.99999467e-01 -8.08983501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164630439999996 meters 0.2728636613673082 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 9.99998441e-01 1.53812355e-03 8.67505029e-04 6.34122814e-01] [-1.53979762e-03 9.99996947e-01 1.93240585e-03 1.02320783e-02] [-8.64530102e-04 -1.93373862e-03 9.99997757e-01 -8.08767773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22463044 meters 0.27407628611779117 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 9.99997739e-01 1.89560918e-03 9.63648224e-04 6.34311292e-01] [-1.89819654e-03 9.99994577e-01 2.69117147e-03 7.07572603e-03] [-9.58541589e-04 -2.69299458e-03 9.99995914e-01 -8.15017492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28463044 meters 0.27429882937980843 Centerline is valid? [False, False] Translation: X:0.63, Y:0.01, Z:-0.08 [[ 9.99997401e-01 2.08787335e-03 9.15352420e-04 6.34731693e-01] [-2.09074951e-03 9.99992845e-01 3.15251489e-03 5.17756303e-03] [-9.08763819e-04 -3.15442047e-03 9.99994612e-01 -8.20795465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344630439999996 meters 0.27411363061374566 Centerline is valid? [False, False] Translation: X:0.66, Y:0.00, Z:-0.08 [[ 9.99944908e-01 1.04527983e-02 9.59460786e-04 6.56106655e-01] [-1.04554780e-02 9.99941330e-01 2.83178161e-03 5.21213375e-07] [-9.29804453e-04 -2.84165722e-03 9.99995530e-01 -8.11118012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40463044 meters 0.2747887993068603 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.08 [[ 9.99979718e-01 6.27367695e-03 1.09785445e-03 6.55794577e-01] [-6.27244846e-03 9.99979702e-01 -1.11888094e-03 -7.66756358e-04] [-1.10485166e-03 1.11197201e-03 9.99998771e-01 -8.12386320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46463044 meters 0.2743518499415268 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.08 [[ 9.99978883e-01 6.38956757e-03 1.18589017e-03 6.55439985e-01] [-6.38857125e-03 9.99979238e-01 -8.42038552e-04 -1.91939076e-03] [-1.19124581e-03 8.34444627e-04 9.99998942e-01 -8.09332340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524630439999996 meters 0.27248320939955134 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.08 [[ 9.99998725e-01 -1.59273599e-03 -1.17298278e-04 6.35521694e-01] [ 1.59278994e-03 9.99998625e-01 4.61298867e-04 -1.23088184e-03] [ 1.16563390e-04 -4.61485110e-04 9.99999887e-01 -8.17392127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58463044 meters 0.2737387111265262 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.00, Z:-0.08 [[ 9.99999155e-01 -1.27117704e-03 -2.71203467e-04 6.35933796e-01] [ 1.27153535e-03 9.99998314e-01 1.32511992e-03 -4.67511848e-03] [ 2.69518548e-04 -1.32546365e-03 9.99999085e-01 -8.17706310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64463044 meters 0.27293811575223237 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.99999575e-01 -9.15364435e-04 -1.12112001e-04 6.35333085e-01] [ 9.15631130e-04 9.99996695e-01 2.40233896e-03 -9.30457910e-03] [ 1.09912615e-04 -2.40244059e-03 9.99997108e-01 -8.13120153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704630439999995 meters 0.2754142921390001 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.08 [[ 9.99999812e-01 -6.10188904e-04 -5.40635316e-05 6.35079658e-01] [ 6.10358849e-04 9.99994690e-01 3.20123997e-03 -1.25588086e-02] [ 5.21098834e-05 -3.20127236e-03 9.99994875e-01 -8.10209067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76463044 meters 0.2716131722582801 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.08 [[ 0.99999668 -0.00191419 -0.00172269 0.59235861] [ 0.00191804 0.99999566 0.0022363 -0.02184461] [ 0.0017184 -0.0022396 0.99999602 -0.08067301] [ 0. 0. 0. 1. ]] SLAMing on 50.82463044 meters 0.2738608790616015 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:-0.08 [[ 9.99993509e-01 3.37519367e-03 -1.26129422e-03 6.15206105e-01] [-3.37570293e-03 9.99994222e-01 -4.01847763e-04 -3.09255768e-02] [ 1.25993061e-03 4.06102909e-04 9.99999124e-01 -8.10369249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884630439999995 meters 0.27331893550122693 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:-0.08 [[ 9.99992407e-01 3.66536003e-03 -1.32315905e-03 6.15499281e-01] [-3.66498056e-03 9.99993242e-01 2.89106641e-04 -3.37129947e-02] [ 1.32420979e-03 -2.84255094e-04 9.99999083e-01 -8.13051505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94463044 meters 0.27436085133692345 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.03, Z:-0.08 [[ 9.99987921e-01 -4.89603314e-03 4.32734693e-04 6.35271415e-01] [ 4.89544870e-03 9.99987117e-01 1.34146770e-03 -3.44223953e-02] [-4.39296989e-04 -1.33933306e-03 9.99999007e-01 -8.09277084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00463044 meters 0.2736446355397162 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.08 [[ 9.99998158e-01 1.68228481e-03 -9.24231513e-04 6.12523225e-01] [-1.68313409e-03 9.99998161e-01 -9.18900632e-04 -3.63841620e-02] [ 9.22683961e-04 9.20454545e-04 9.99999151e-01 -7.97398313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064630439999995 meters 0.2760900533619298 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.08 [[ 9.99973586e-01 -7.23155356e-03 -7.29690817e-04 6.34270045e-01] [ 7.23131395e-03 9.99973799e-01 -3.30480698e-04 -3.53665274e-02] [ 7.32061588e-04 3.25195345e-04 9.99999679e-01 -8.00438597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12463044 meters 0.2748630747213523 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.08 [[ 9.99975470e-01 -6.95952737e-03 -7.89742387e-04 6.34393676e-01] [ 6.95985606e-03 9.99975694e-01 4.14214599e-04 -3.83375073e-02] [ 7.86840453e-04 -4.19700932e-04 9.99999602e-01 -7.99373113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18463044 meters 0.27429243892885896 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.08 [[ 9.99999808e-01 5.53271262e-04 -2.77785344e-04 6.16448556e-01] [-5.53386377e-04 9.99999761e-01 -4.14494737e-04 -4.97441641e-02] [ 2.77555949e-04 4.14648380e-04 9.99999876e-01 -8.19786009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244630439999995 meters 0.27347703647860677 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.08 [[ 9.99999668e-01 7.57468214e-04 -2.98988849e-04 6.16601175e-01] [-7.57423101e-04 9.99999702e-01 1.50967940e-04 -5.19913270e-02] [ 2.99103113e-04 -1.50741429e-04 9.99999944e-01 -8.22240694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30463044 meters 0.2736240392105088 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.08 [[ 9.99999555e-01 9.18389946e-04 -2.16753841e-04 6.16281314e-01] [-9.18270336e-04 9.99999426e-01 5.51279873e-04 -5.36163096e-02] [ 2.17260006e-04 -5.51080589e-04 9.99999825e-01 -8.19299378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36463044 meters 0.2737275357222638 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.08 [[ 9.99999553e-01 8.89694266e-04 -3.21326856e-04 6.16604197e-01] [-8.89539513e-04 9.99999488e-01 4.81428272e-04 -5.33262664e-02] [ 3.21755015e-04 -4.81142223e-04 9.99999832e-01 -8.20833729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424630439999994 meters 0.27304094331072126 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.08 [[ 9.99999704e-01 7.62120121e-04 -1.02581656e-04 6.15930755e-01] [-7.62101458e-04 9.99999693e-01 1.81855404e-04 -5.20235382e-02] [ 1.02720220e-04 -1.81777173e-04 9.99999978e-01 -8.17920916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48463044 meters 0.2738766488931984 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998554 -0.00491063 0.00219325 0.63685005] [ 0.00490334 0.99998247 0.00331829 -0.05008992] [-0.00220951 -0.00330749 0.99999209 -0.0823512 ] [ 0. 0. 0. 1. ]] SLAMing on 51.54463044 meters 0.27356878863204415 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998608 -0.00502717 0.00160084 0.63855492] [ 0.00502233 0.99998284 0.00301634 -0.04889368] [-0.00161597 -0.00300825 0.99999417 -0.08328068] [ 0. 0. 0. 1. ]] SLAMing on 51.60463044 meters 0.2746643562656412 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.08 [[ 9.99992824e-01 3.77929252e-03 2.61075453e-04 6.59661582e-01] [-3.77982782e-03 9.99990691e-01 2.08124124e-03 -5.13640105e-02] [-2.53207403e-04 -2.08221313e-03 9.99997800e-01 -8.28434656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664630439999996 meters 0.27263666846611734 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998816 -0.00452017 0.00180108 0.6379577 ] [ 0.00451407 0.99998411 0.00337562 -0.04774526] [-0.00181631 -0.00336745 0.99999268 -0.08410304] [ 0. 0. 0. 1. ]] SLAMing on 51.72463044 meters 0.2719047597700678 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998874 -0.00454589 0.0013605 0.63905744] [ 0.00454138 0.99998425 0.00329872 -0.0474967 ] [-0.00137548 -0.00329251 0.99999363 -0.08439417] [ 0. 0. 0. 1. ]] SLAMing on 51.78463044 meters 0.2723981337244756 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998891 -0.00446715 0.0014902 0.63849617] [ 0.00446182 0.99998372 0.00355688 -0.04851825] [-0.00150607 -0.00355019 0.99999256 -0.08383226] [ 0. 0. 0. 1. ]] SLAMing on 51.844630439999996 meters 0.2735465428107585 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998927 -0.00438053 0.00150787 0.6385022 ] [ 0.00437476 0.99998317 0.00380956 -0.04954652] [-0.00152454 -0.00380292 0.99999161 -0.08392865] [ 0. 0. 0. 1. ]] SLAMing on 51.90463044 meters 0.2720888868680175 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998942 -0.00439198 0.00136621 0.63859566] [ 0.00438678 0.99998322 0.00378476 -0.04942911] [-0.00138281 -0.00377873 0.9999919 -0.08343666] [ 0. 0. 0. 1. ]] SLAMing on 51.96463044 meters 0.2734857931688263 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.08 [[ 0.99998869 -0.00453932 0.00141692 0.63825422] [ 0.00453451 0.99998399 0.00338529 -0.04781757] [-0.00143227 -0.00337882 0.99999327 -0.08297535] [ 0. 0. 0. 1. ]] SLAMing on 52.024630439999996 meters 0.2735486813690531 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.08 [[ 0.99998705 -0.00484259 0.00156708 0.63773765] [ 0.00483868 0.9999852 0.00248669 -0.04428305] [-0.0015791 -0.00247908 0.99999568 -0.08266277] [ 0. 0. 0. 1. ]] SLAMing on 52.08463044 meters 0.2711166375987421 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.08 [[ 0.99998614 -0.00501566 0.00159896 0.63762647] [ 0.00501237 0.99998532 0.00205747 -0.04252586] [-0.00160925 -0.00204943 0.99999661 -0.08259787] [ 0. 0. 0. 1. ]] SLAMing on 52.14463044 meters 0.271016273448889 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.08 [[ 0.99998797 0.00386545 0.00302115 0.61579452] [-0.00386916 0.99999177 0.00122197 -0.04411957] [-0.0030164 -0.00123365 0.99999469 -0.08317494] [ 0. 0. 0. 1. ]] SLAMing on 52.204630439999995 meters 0.2737386942582603 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 9.99987886e-01 1.88925926e-03 4.54520607e-03 6.60400529e-01] [-1.88706791e-03 9.99998101e-01 -4.86364506e-04 -4.20193110e-02] [-4.54611631e-03 4.77781501e-04 9.99989552e-01 -8.50193177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26463044 meters 0.27192340877098875 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 9.99987778e-01 1.80986789e-03 4.60095271e-03 6.60303559e-01] [-1.80670916e-03 9.99998129e-01 -6.90603590e-04 -4.11848675e-02] [-4.60219400e-03 6.82282566e-04 9.99989177e-01 -8.50707274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32463044 meters 0.27115648506458084 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 9.99988245e-01 1.72652857e-03 4.53094292e-03 6.60531872e-01] [-1.72247003e-03 9.99998112e-01 -8.99486018e-04 -4.03106455e-02] [-4.53248736e-03 8.91671030e-04 9.99989331e-01 -8.51765146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384630439999995 meters 0.2739339520447025 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.09 [[ 0.99997157 -0.00467755 0.00591399 0.68251559] [ 0.00466618 0.99998724 0.00193507 -0.04035588] [-0.00592297 -0.00190742 0.99998064 -0.08608154] [ 0. 0. 0. 1. ]] SLAMing on 52.44463044 meters 0.27386557167243036 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.09 [[ 0.99997196 -0.00475391 0.00578551 0.68337533] [ 0.00474394 0.99998724 0.00173479 -0.03952855] [-0.00579368 -0.0017073 0.99998176 -0.08726433] [ 0. 0. 0. 1. ]] SLAMing on 52.50463044 meters 0.27332224116539017 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.09 [[ 9.99990327e-01 2.88535817e-03 3.31974485e-03 6.65754381e-01] [-2.88560129e-03 9.99995834e-01 6.84481623e-05 -4.15168598e-02] [-3.31953353e-03 -7.80269603e-05 9.99994487e-01 -8.86325094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564630439999995 meters 0.27460713963377015 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.09 [[ 9.99990730e-01 3.00025064e-03 3.08852713e-03 6.66679318e-01] [-3.00140479e-03 9.99995428e-01 3.69124769e-04 -4.27416557e-02] [-3.08740554e-03 -3.78391267e-04 9.99995162e-01 -8.95057559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62463044 meters 0.274593246906842 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.09 [[ 9.99991153e-01 3.00521778e-03 2.94307510e-03 6.67158815e-01] [-3.00635452e-03 9.99995408e-01 3.81896617e-04 -4.27755701e-02] [-2.94191390e-03 -3.90741165e-04 9.99995596e-01 -8.97761094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68463044 meters 0.27251322704151393 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.09 [[ 0.99997652 -0.00557606 0.00398407 0.64474117] [ 0.00557144 0.9999838 0.00116862 -0.03955855] [-0.00399052 -0.00114639 0.99999138 -0.08855274] [ 0. 0. 0. 1. ]] SLAMing on 52.744630439999995 meters 0.2717126757607186 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.09 [[ 9.99979776e-01 3.73720071e-03 5.14600260e-03 6.65540490e-01] [-3.74145269e-03 9.99992667e-01 8.16891402e-04 -3.87291519e-02] [-5.14291198e-03 -8.36128407e-04 9.99986426e-01 -8.83387996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80463044 meters 0.2733784991894505 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 9.99978944e-01 3.63492647e-03 5.37567434e-03 6.64740663e-01] [-3.63749812e-03 9.99993274e-01 4.68686893e-04 -3.73871556e-02] [-5.37393455e-03 -4.88231030e-04 9.99985441e-01 -8.77309824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86463044 meters 0.2719331385219573 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.09 [[ 9.99978600e-01 3.46841604e-03 5.54699329e-03 6.64158741e-01] [-3.46778098e-03 9.99993980e-01 -1.24101491e-04 -3.50760359e-02] [-5.54739033e-03 1.04863077e-04 9.99984608e-01 -8.73425104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924630439999994 meters 0.27255273100113103 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.09 [[ 9.99978450e-01 3.29779793e-03 5.67667814e-03 6.63311157e-01] [-3.29453395e-03 9.99994402e-01 -5.84235824e-04 -3.31118831e-02] [-5.67857306e-03 5.65521224e-04 9.99983717e-01 -8.62111425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98463044 meters 0.272107456446465 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:-0.08 [[ 0.99996314 -0.00429008 0.00743736 0.68132717] [ 0.00428027 0.99998995 0.00133361 -0.03138642] [-0.007443 -0.00130173 0.99997145 -0.08414841] [ 0. 0. 0. 1. ]] SLAMing on 53.04463044 meters 0.27190528063028846 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.03, Z:-0.08 [[ 0.99996135 -0.00406916 0.0077939 0.68029803] [ 0.0040533 0.99998968 0.00205019 -0.03434411] [-0.00780216 -0.00201852 0.99996753 -0.08364246] [ 0. 0. 0. 1. ]] SLAMing on 53.10463044 meters 0.2711773607006566 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.08 [[ 0.99996538 -0.00357301 0.00751492 0.68104812] [ 0.00354466 0.99998657 0.00378201 -0.04072024] [-0.00752833 -0.00375524 0.99996461 -0.08392207] [ 0. 0. 0. 1. ]] SLAMing on 53.164630439999996 meters 0.2699086266922034 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.08 [[ 9.99980694e-01 1.69653157e-03 5.97772399e-03 6.61049150e-01] [-1.69982107e-03 9.99998407e-01 5.45255026e-04 -4.81572717e-02] [-5.97678942e-03 -5.55405560e-04 9.99981985e-01 -8.45508655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22463044 meters 0.2705378778276283 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.09 [[ 9.99990108e-01 -8.00918811e-04 4.37516313e-03 6.65969866e-01] [ 8.04759014e-04 9.99999292e-01 -8.76037936e-04 -5.47711885e-02] [-4.37445840e-03 8.79550223e-04 9.99990045e-01 -8.67183461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28463044 meters 0.27258950358271744 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.09 [[ 9.99949939e-01 8.89480751e-03 4.58283739e-03 6.87841428e-01] [-8.89228490e-03 9.99960300e-01 -5.70530072e-04 -5.71119508e-02] [-4.58773021e-03 5.29749615e-04 9.99989336e-01 -8.69480844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344630439999996 meters 0.27306037777448267 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.09 [[ 9.99985379e-01 -3.72623835e-04 5.39473525e-03 6.67759721e-01] [ 3.73776928e-04 9.99999908e-01 -2.12737390e-04 -5.39334989e-02] [-5.39465548e-03 2.14750707e-04 9.99985426e-01 -8.84024587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40463044 meters 0.27323440777594976 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.09 [[ 9.99986716e-01 -4.27808951e-04 5.13658326e-03 6.68797849e-01] [ 4.29731460e-04 9.99999838e-01 -3.73180077e-04 -5.32309938e-02] [-5.13642278e-03 3.75382472e-04 9.99986738e-01 -8.95065473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46463044 meters 0.27261832459423807 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.09 [[ 9.99987878e-01 -4.17687492e-04 4.90615366e-03 6.69575964e-01] [ 4.19357204e-04 9.99999855e-01 -3.39306500e-04 -5.33916465e-02] [-4.90601122e-03 3.41359818e-04 9.99987907e-01 -9.00328933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524630439999996 meters 0.27356823142089914 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.05, Z:-0.09 [[ 9.99987632e-01 -3.17474835e-04 4.96328031e-03 6.69143935e-01] [ 3.17831084e-04 9.99999947e-01 -7.09881714e-05 -5.44197419e-02] [-4.96325751e-03 7.25647782e-05 9.99987680e-01 -8.93892769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58463044 meters 0.2737753446384985 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.09 [[ 9.99987653e-01 -1.63098331e-04 4.96665922e-03 6.68831865e-01] [ 1.61481461e-04 9.99999934e-01 3.25944047e-04 -5.60605720e-02] [-4.96671206e-03 -3.25137999e-04 9.99987613e-01 -8.87710416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64463044 meters 0.272800886590313 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.09 [[ 9.99987333e-01 -1.25632888e-04 5.03167968e-03 6.68376129e-01] [ 1.23537494e-04 9.99999906e-01 4.16748773e-04 -5.64229671e-02] [-5.03173156e-03 -4.16121893e-04 9.99987254e-01 -8.81551031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704630439999995 meters 0.273298014095851 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.09 [[ 9.99986954e-01 -1.50014023e-04 5.10573689e-03 6.68112632e-01] [ 1.48278975e-04 9.99999931e-01 3.40200191e-04 -5.60225763e-02] [-5.10578758e-03 -3.39438679e-04 9.99986908e-01 -8.79529638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76463044 meters 0.2722006016578228 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.09 [[ 9.99987745e-01 -2.05940922e-04 4.94636568e-03 6.68405806e-01] [ 2.04993034e-04 9.99999961e-01 1.92139368e-04 -5.54621020e-02] [-4.94640505e-03 -1.91123043e-04 9.99987748e-01 -8.78189862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82463044 meters 0.2726412443817318 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.09 [[ 9.99987850e-01 -8.90575745e-05 4.92861772e-03 6.68292045e-01] [ 8.66501844e-05 9.99999877e-01 4.88662754e-04 -5.66599968e-02] [-4.92866063e-03 -4.88229751e-04 9.99987735e-01 -8.74684554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884630439999995 meters 0.2722650014729006 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.08 [[ 9.99977910e-01 -1.46961246e-03 6.48219034e-03 6.63046737e-01] [ 1.47416023e-03 9.99998671e-01 -6.96856965e-04 -5.68837405e-02] [-6.48115761e-03 7.06397359e-04 9.99978748e-01 -8.48115423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94463044 meters 0.2706832119249501 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.08 [[ 9.99979303e-01 -1.40764301e-03 6.27795520e-03 6.63568312e-01] [ 1.41106147e-03 9.99998859e-01 -5.40120745e-04 -5.75576737e-02] [-6.27718773e-03 5.48968147e-04 9.99980148e-01 -8.48984612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00463044 meters 0.27340502629935615 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.09 [[ 0.99997593 0.00129723 0.00681536 0.71028428] [-0.00130848 0.99999779 0.00164696 -0.05288756] [-0.0068132 -0.00165584 0.99997542 -0.08746575] [ 0. 0. 0. 1. ]] SLAMing on 54.064630439999995 meters 0.2741683588313373 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.09 [[ 0.99997576 0.0012395 0.00685082 0.71016743] [-0.00124982 0.99999809 0.00150279 -0.0523098 ] [-0.00684894 -0.00151132 0.9999754 -0.08741992] [ 0. 0. 0. 1. ]] SLAMing on 54.12463044 meters 0.27291871751992947 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.09 [[ 0.99997696 0.00136242 0.00665061 0.71093988] [-0.00137465 0.99999737 0.00183423 -0.05371301] [-0.00664809 -0.00184333 0.9999762 -0.08804377] [ 0. 0. 0. 1. ]] SLAMing on 54.18463044 meters 0.27211480862785054 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.09 [[ 0.99995423 0.00627761 0.00722068 0.6878356 ] [-0.00626397 0.99997856 -0.00191055 -0.05893241] [-0.00723252 0.00186523 0.99997211 -0.08724139] [ 0. 0. 0. 1. ]] SLAMing on 54.244630439999995 meters 0.2711401103735841 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.09 [[ 0.99995291 0.00649261 0.00721298 0.68756343] [-0.006483 0.99997807 -0.00135419 -0.06122817] [-0.00722162 0.00130737 0.99997307 -0.08662172] [ 0. 0. 0. 1. ]] SLAMing on 54.30463044 meters 0.2727070158708929 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.09 [[ 9.99952093e-01 6.68051578e-03 7.15419143e-03 6.87922232e-01] [-6.67435841e-03 9.99977335e-01 -8.84195850e-04 -6.31552348e-02] [-7.15993617e-03 8.36403853e-04 9.99974018e-01 -8.70629829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36463044 meters 0.272460015224963 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 9.99968265e-01 -2.14904987e-03 7.67140724e-03 7.09179277e-01] [ 2.15002035e-03 9.99997682e-01 -1.18261858e-04 -6.40664706e-02] [-7.67113531e-03 1.34751787e-04 9.99970567e-01 -8.71119692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424630439999994 meters 0.2720545089602271 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99997729 0.00393594 0.00547011 0.68730106] [-0.00392366 0.99998976 -0.00225423 -0.07028339] [-0.00547893 0.00223272 0.9999825 -0.0854197 ] [ 0. 0. 0. 1. ]] SLAMing on 54.48463044 meters 0.27191496672258986 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99997782 0.00405284 0.00528459 0.68785215] [-0.00404238 0.99998985 -0.00198756 -0.07143425] [-0.00529259 0.00196616 0.99998406 -0.0856074 ] [ 0. 0. 0. 1. ]] SLAMing on 54.54463044 meters 0.27316879615283385 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99997494 0.00419671 0.00570224 0.68677147] [-0.00418771 0.99998997 -0.00158904 -0.07294987] [-0.00570885 0.00156513 0.99998248 -0.08521832] [ 0. 0. 0. 1. ]] SLAMing on 54.60463044 meters 0.27359321088904914 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99997553 0.00413089 0.00564611 0.68695372] [-0.00412105 0.99998997 -0.00175415 -0.07230075] [-0.0056533 0.00173084 0.99998252 -0.08532202] [ 0. 0. 0. 1. ]] SLAMing on 54.664630439999996 meters 0.27384504031176515 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99997679 0.00405019 0.00547853 0.68739295] [-0.00403953 0.99998993 -0.00195495 -0.07149244] [-0.0054864 0.00193277 0.99998308 -0.08543139] [ 0. 0. 0. 1. ]] SLAMing on 54.72463044 meters 0.2742366634923636 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 9.99988272e-01 -9.29502171e-04 4.75311612e-03 7.10065958e-01] [ 9.22226678e-04 9.99998400e-01 1.53264118e-03 -6.47222882e-02] [-4.75453311e-03 -1.52823976e-03 9.99987529e-01 -8.62698001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78463044 meters 0.2729450523644151 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 0.99998781 -0.00109768 0.00481391 0.70960787] [ 0.00109238 0.9999988 0.00110274 -0.06296332] [-0.00481512 -0.00109747 0.99998781 -0.0856685 ] [ 0. 0. 0. 1. ]] SLAMing on 54.844630439999996 meters 0.27272738823220544 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 9.99986450e-01 -1.19442441e-03 5.06694847e-03 7.08867643e-01] [ 1.19006794e-03 9.99998920e-01 8.62710971e-04 -6.18826686e-02] [-5.06797344e-03 -8.56669268e-04 9.99986791e-01 -8.53345911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90463044 meters 0.2724581213660447 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99986934e-01 -1.22322341e-03 4.96345483e-03 7.08936265e-01] [ 1.21931938e-03 9.99998945e-01 7.89505618e-04 -6.15669950e-02] [-4.96441534e-03 -7.83443265e-04 9.99987370e-01 -8.49913436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96463044 meters 0.274441656903169 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 0.9999897 -0.00115303 0.00438926 0.71033924] [ 0.0011486 0.99999883 0.0010103 -0.06237324] [-0.00439042 -0.00100525 0.99998986 -0.08532371] [ 0. 0. 0. 1. ]] SLAMing on 55.024630439999996 meters 0.2712941124360331 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 0.99998966 -0.00103469 0.00442855 0.70977399] [ 0.00102883 0.99999859 0.00132447 -0.06366442] [-0.00442992 -0.0013199 0.99998932 -0.08430836] [ 0. 0. 0. 1. ]] SLAMing on 55.08463044 meters 0.27316681208548876 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 0.99999075 -0.00107639 0.00416473 0.71053426] [ 0.00107135 0.99999869 0.00121073 -0.06326501] [-0.00416603 -0.00120626 0.99999059 -0.08467051] [ 0. 0. 0. 1. ]] SLAMing on 55.14463044 meters 0.2731624645486389 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.09 [[ 9.99992076e-01 -1.16806185e-03 3.80565222e-03 7.11589344e-01] [ 1.16451986e-03 9.99998887e-01 9.32800721e-04 -6.21419770e-02] [-3.80673755e-03 -9.28361572e-04 9.99992323e-01 -8.53437570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204630439999995 meters 0.27394282751500965 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99990381e-01 -1.32863693e-03 4.17996783e-03 7.10462418e-01] [ 1.32703524e-03 9.99999045e-01 3.85933073e-04 -5.97727917e-02] [-4.18047660e-03 -3.80382396e-04 9.99991189e-01 -8.48033413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26463044 meters 0.27211850527162146 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.08 [[ 0.99998151 0.00507011 0.0033572 0.68851455] [-0.0050618 0.99998411 -0.00247952 -0.05956223] [-0.00336972 0.00246248 0.99999129 -0.08400054] [ 0. 0. 0. 1. ]] SLAMing on 55.32463044 meters 0.272620771848827 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999013 -0.00320558 0.0030766 0.70889253] [ 0.00321198 0.99999268 -0.00207754 -0.05290204] [-0.00306992 0.0020874 0.99999311 -0.08312499] [ 0. 0. 0. 1. ]] SLAMing on 55.384630439999995 meters 0.27346846009267095 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99998967 -0.00339858 0.00301936 0.70925754] [ 0.00340625 0.99999097 -0.00254051 -0.05101421] [-0.0030107 0.00255077 0.99999221 -0.08362209] [ 0. 0. 0. 1. ]] SLAMing on 55.44463044 meters 0.272251859662618 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99998978 -0.00347268 0.00289345 0.70963842] [ 0.00348053 0.99999027 -0.00271204 -0.05028181] [-0.00288401 0.00272208 0.99999214 -0.08381186] [ 0. 0. 0. 1. ]] SLAMing on 55.50463044 meters 0.27290594991781847 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999106 -0.00344065 0.00245977 0.71092354] [ 0.00344707 0.99999066 -0.00260835 -0.05092436] [-0.00245077 0.00261681 0.99999357 -0.08447519] [ 0. 0. 0. 1. ]] SLAMing on 55.564630439999995 meters 0.27311118714502974 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999172 -0.00332685 0.00234268 0.71109312] [ 0.00333228 0.99999177 -0.0023141 -0.05214732] [-0.00233497 0.00232189 0.99999458 -0.08424404] [ 0. 0. 0. 1. ]] SLAMing on 55.62463044 meters 0.27158338435172 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999198 -0.00321735 0.00238518 0.71062304] [ 0.0032222 0.99999274 -0.00203372 -0.05336446] [-0.00237862 0.00204139 0.99999509 -0.08342062] [ 0. 0. 0. 1. ]] SLAMing on 55.68463044 meters 0.2739042045202225 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.9999924 -0.00322917 0.00218578 0.71136612] [ 0.00323366 0.99999266 -0.00205294 -0.05325302] [-0.00217913 0.00205999 0.9999955 -0.08400514] [ 0. 0. 0. 1. ]] SLAMing on 55.744630439999995 meters 0.2729151519729639 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999221 -0.0033277 0.00212051 0.71150217] [ 0.00333258 0.9999918 -0.00229983 -0.05226492] [-0.00211284 0.00230688 0.99999511 -0.08400299] [ 0. 0. 0. 1. ]] SLAMing on 55.80463044 meters 0.27345387652651093 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99999142 -0.00339798 0.00236928 0.71068499] [ 0.0034039 0.99999109 -0.00249712 -0.05135873] [-0.00236077 0.00250516 0.99999408 -0.08351449] [ 0. 0. 0. 1. ]] SLAMing on 55.86463044 meters 0.27214427837000216 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.9999907 -0.00350078 0.00251778 0.71009985] [ 0.00350777 0.99999 -0.00277463 -0.05016298] [-0.00250804 0.00278343 0.99999298 -0.08302931] [ 0. 0. 0. 1. ]] SLAMing on 55.924630439999994 meters 0.2737876972501592 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 0.99998953 -0.00361884 0.00280141 0.70916245] [ 0.00362783 0.99998827 -0.00320986 -0.04826296] [-0.00278976 0.00321998 0.99999092 -0.08247832] [ 0. 0. 0. 1. ]] SLAMing on 55.98463044 meters 0.2736695099654958 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.08 [[ 0.9999767 0.00485792 0.00479586 0.72976588] [-0.00483726 0.99997901 -0.00431124 -0.04554372] [-0.0048167 0.00428794 0.99997921 -0.08215253] [ 0. 0. 0. 1. ]] SLAMing on 56.04463044 meters 0.27269803800873166 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99994170e-01 -5.09207288e-04 3.37647600e-03 7.08169896e-01] [ 5.12353425e-04 9.99999435e-01 -9.30981742e-04 -4.19262797e-02] [-3.37600003e-03 9.32706264e-04 9.99993866e-01 -8.20011513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10463044 meters 0.2738713790031727 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99994581e-01 -6.25948967e-04 3.23210105e-03 7.08757734e-01] [ 6.29897591e-04 9.99999056e-01 -1.22081610e-03 -4.07963967e-02] [-3.23133383e-03 1.22284538e-03 9.99994032e-01 -8.25338284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164630439999996 meters 0.2726009608389026 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99993701e-01 -6.55125924e-04 3.48829448e-03 7.07715310e-01] [ 6.59749545e-04 9.99998905e-01 -1.32448188e-03 -4.03206035e-02] [-3.48742296e-03 1.32677493e-03 9.99993039e-01 -8.14936380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22463044 meters 0.2728093832699359 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99993749e-01 -6.53627724e-04 3.47490651e-03 7.07605805e-01] [ 6.58230031e-04 9.99998908e-01 -1.32346176e-03 -4.03264811e-02] [-3.47403766e-03 1.32574078e-03 9.99993087e-01 -8.11938233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28463044 meters 0.2719130441246465 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99994063e-01 -7.56162254e-04 3.36193128e-03 7.07865548e-01] [ 7.61476697e-04 9.99998462e-01 -1.57977197e-03 -3.92934648e-02] [-3.36073155e-03 1.58232262e-03 9.99993101e-01 -8.11995784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344630439999996 meters 0.27318174211869956 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99995291e-01 -8.55195400e-04 2.94732305e-03 7.09276221e-01] [ 8.61385811e-04 9.99997425e-01 -2.09972119e-03 -3.68001808e-02] [-2.94551979e-03 2.10225008e-03 9.99993452e-01 -8.22759946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40463044 meters 0.2734024855480564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 9.99995449e-01 -9.94007002e-04 2.84839269e-03 7.09646867e-01] [ 1.00118115e-03 9.99996328e-01 -2.51834814e-03 -3.51799079e-02] [-2.84587898e-03 2.52118844e-03 9.99992772e-01 -8.26541273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46463044 meters 0.27979849808077084 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.03, Z:-0.08 [[ 9.99994499e-01 4.20262198e-04 3.29029072e-03 7.53605892e-01] [-4.13003762e-04 9.99997481e-01 -2.20638542e-03 -2.57304560e-02] [-3.29120969e-03 2.20501438e-03 9.99992153e-01 -8.33925707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524630439999996 meters 0.27510007962657235 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 0.99998891 -0.00434882 0.00180925 0.73236289] [ 0.00434548 0.99998886 0.00184512 -0.02326799] [-0.00181725 -0.00183724 0.99999666 -0.08357761] [ 0. 0. 0. 1. ]] SLAMing on 56.58463044 meters 0.27372336673341746 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.08 [[ 9.99990157e-01 3.89480778e-03 2.12494252e-03 7.11003151e-01] [-3.89574526e-03 9.99992316e-01 4.37218782e-04 -2.42528340e-02] [-2.12322331e-03 -4.45492713e-04 9.99997647e-01 -8.34650029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64463044 meters 0.27355436988358484 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.08 [[ 9.99990675e-01 3.76444874e-03 2.11651837e-03 7.10829558e-01] [-3.76473705e-03 9.99992905e-01 1.32253131e-04 -2.29210751e-02] [-2.11600549e-03 -1.40220033e-04 9.99997751e-01 -8.31135874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704630439999995 meters 0.27274222934803377 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.08 [[ 9.99990676e-01 3.69931061e-03 2.22782749e-03 7.10184379e-01] [-3.69926305e-03 9.99993157e-01 -2.54673295e-05 -2.21251893e-02] [-2.22790646e-03 1.72257721e-05 9.99997518e-01 -8.23631078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76463044 meters 0.27225905341907036 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.02, Z:-0.08 [[ 9.99990051e-01 3.46889139e-03 2.80455411e-03 7.08211310e-01] [-3.46784720e-03 9.99993916e-01 -3.77094889e-04 -2.13702364e-02] [-2.80584515e-03 3.67365372e-04 9.99995996e-01 -8.08588974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82463044 meters 0.2724265886137857 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 9.99974502e-01 -5.98149925e-03 3.90101538e-03 7.28417149e-01] [ 5.98044364e-03 9.99982077e-01 2.82208527e-04 -2.30096236e-02] [-3.90263349e-03 -2.58871529e-04 9.99992351e-01 -8.03058274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884630439999995 meters 0.2712920812393822 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.08 [[ 9.99975734e-01 -5.84264790e-03 3.79411441e-03 7.28532201e-01] [ 5.83977411e-03 9.99982653e-01 7.68072676e-04 -2.48989365e-02] [-3.79853617e-03 -7.45897267e-04 9.99992507e-01 -8.00138065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94463044 meters 0.2706729450151247 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:-0.08 [[ 9.99994451e-01 2.57738229e-03 2.11073397e-03 7.10663451e-01] [-2.57810057e-03 9.99996620e-01 3.37647643e-04 -3.16750844e-02] [-2.10985659e-03 -3.43087454e-04 9.99997715e-01 -8.07018304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00463044 meters 0.270379853185324 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 0.99999216 0.00280999 0.00279019 0.70887977] [-0.00281355 0.99999523 0.00127144 -0.0356593 ] [-0.0027866 -0.00127928 0.9999953 -0.07991717] [ 0. 0. 0. 1. ]] SLAMing on 57.064630439999995 meters 0.26841772387030177 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.04, Z:-0.08 [[ 0.99999129 0.00305563 0.00284185 0.70875496] [-0.00306113 0.99999345 0.00193169 -0.03834097] [-0.00283593 -0.00194037 0.9999941 -0.07989451] [ 0. 0. 0. 1. ]] SLAMing on 57.12463044 meters 0.26958762741776426 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.08 [[ 9.99998620e-01 1.08433212e-03 1.25868278e-03 7.15026300e-01] [-1.08479394e-03 9.99999345e-01 3.66282331e-04 -4.20259250e-02] [-1.25828478e-03 -3.67647237e-04 9.99999141e-01 -8.38298923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18463044 meters 0.2705466282210167 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.08 [[ 9.99998554e-01 1.18576438e-03 1.21900237e-03 7.15377360e-01] [-1.18651272e-03 9.99999108e-01 6.13350049e-04 -4.30540459e-02] [-1.21827399e-03 -6.14795524e-04 9.99999069e-01 -8.43251920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244630439999995 meters 0.27064858100655326 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.04, Z:-0.08 [[ 0.99999816 0.00135234 0.00135963 0.71515549] [-0.00135371 0.99999857 0.00101166 -0.04471198] [-0.00135826 -0.0010135 0.99999856 -0.08450899] [ 0. 0. 0. 1. ]] SLAMing on 57.30463044 meters 0.2705554518716868 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.08 [[ 0.99999791 0.00152294 0.00136653 0.71519158] [-0.00152488 0.99999784 0.00141383 -0.04638129] [-0.00136437 -0.00141591 0.99999807 -0.08459288] [ 0. 0. 0. 1. ]] SLAMing on 57.36463044 meters 0.26975840617875935 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.05, Z:-0.08 [[ 0.99999762 0.00171153 0.00135077 0.71517192] [-0.00171407 0.99999677 0.00187815 -0.04827358] [-0.00134755 -0.00188046 0.99999732 -0.08444736] [ 0. 0. 0. 1. ]] SLAMing on 57.424630439999994 meters 0.26862010533123976 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99996131e-01 2.88114995e-04 2.76682949e-03 7.10070845e-01] [-2.90026755e-04 9.99999719e-01 6.90580642e-04 -4.91459269e-02] [-2.76662975e-03 -6.91380424e-04 9.99995934e-01 -8.18942738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48463044 meters 0.2700473970023684 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99996244e-01 4.29209342e-04 2.70700623e-03 7.10478571e-01] [-4.32039077e-04 9.99999361e-01 1.04483923e-03 -5.06111053e-02] [-2.70655604e-03 -1.04600484e-03 9.99995790e-01 -8.24210693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54463044 meters 0.27121069637012124 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99996034e-01 5.58218848e-04 2.76064656e-03 7.10493819e-01] [-5.61959646e-04 9.99998925e-01 1.35445396e-03 -5.19023537e-02] [-2.75988751e-03 -1.35599996e-03 9.99995272e-01 -8.26776848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604630439999994 meters 0.27005140033959707 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99996044e-01 5.49795553e-04 2.75869340e-03 7.10433543e-01] [-5.53489712e-04 9.99998951e-01 1.33851262e-03 -5.18130445e-02] [-2.75795460e-03 -1.34003423e-03 9.99995299e-01 -8.25378401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664630439999996 meters 0.2700607117218434 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99996174e-01 5.88710513e-04 2.70277845e-03 7.10738343e-01] [-5.92604866e-04 9.99998787e-01 1.44029545e-03 -5.22323158e-02] [-2.70192725e-03 -1.44189162e-03 9.99995310e-01 -8.28838063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72463044 meters 0.2692185794618476 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99995800e-01 7.12543748e-04 2.80918720e-03 7.10149176e-01] [-7.17650533e-04 9.99998091e-01 1.81729847e-03 -5.36959218e-02] [-2.80788693e-03 -1.81930685e-03 9.99994403e-01 -8.20829485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78463044 meters 0.26993947200116963 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99996579e-01 9.32245254e-04 2.44399066e-03 7.11361838e-01] [-9.38724030e-04 9.99996045e-01 2.65109502e-03 -5.69488223e-02] [-2.44150952e-03 -2.65338019e-03 9.99993499e-01 -8.29305545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844630439999996 meters 0.27061098768194436 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 0.99999693 0.00105851 0.00224227 0.71198972] [-0.00106514 0.99999505 0.00295976 -0.05823696] [-0.00223913 -0.00296214 0.99999311 -0.08320351] [ 0. 0. 0. 1. ]] SLAMing on 57.90463044 meters 0.2708051074968486 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99998080e-01 9.85968255e-04 1.69374992e-03 7.13458658e-01] [-9.90576388e-04 9.99995805e-01 2.72198795e-03 -5.73032370e-02] [-1.69105902e-03 -2.72366051e-03 9.99994861e-01 -8.39400686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96463044 meters 0.2722894379091514 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99998149e-01 8.71957111e-04 1.71503628e-03 7.13340199e-01] [-8.76117681e-04 9.99996672e-01 2.42668353e-03 -5.60425941e-02] [-1.71291461e-03 -2.42818161e-03 9.99995585e-01 -8.38207619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024630439999996 meters 0.2712262544810441 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99998099e-01 8.43008058e-04 1.75811887e-03 7.12948224e-01] [-8.47146516e-04 9.99996869e-01 2.35449773e-03 -5.57383310e-02] [-1.75612850e-03 -2.35598264e-03 9.99995683e-01 -8.32435250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08463044 meters 0.2698769138815566 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99997959e-01 8.64152696e-04 1.82643908e-03 7.12568590e-01] [-8.68550350e-04 9.99996723e-01 2.40835458e-03 -5.59132050e-02] [-1.82435191e-03 -2.40993602e-03 9.99995432e-01 -8.28071752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14463044 meters 0.27168968768814045 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99997941e-01 8.71089634e-04 1.83268991e-03 7.12434171e-01] [-8.75532994e-04 9.99996676e-01 2.42509834e-03 -5.59742218e-02] [-1.83057134e-03 -2.42669793e-03 9.99995380e-01 -8.25550283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204630439999995 meters 0.26961864982783157 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99997897e-01 9.01858428e-04 1.84198782e-03 7.12332530e-01] [-9.06467837e-04 9.99996456e-01 2.50311036e-03 -5.62701026e-02] [-1.83972385e-03 -2.50477480e-03 9.99995171e-01 -8.23971661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26463044 meters 0.270253861806863 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99998265e-01 8.94195503e-04 1.63413923e-03 7.13101293e-01] [-8.98265806e-04 9.99996492e-01 2.49175947e-03 -5.61880142e-02] [-1.63190538e-03 -2.49322304e-03 9.99995560e-01 -8.30813451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32463044 meters 0.27072943078083367 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.08 [[ 9.99966992e-01 7.18316697e-03 3.79709180e-03 7.33053305e-01] [-7.18047938e-03 9.99973960e-01 -7.20960416e-04 -5.57961966e-02] [-3.80217170e-03 6.93671679e-04 9.99992531e-01 -8.26990542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384630439999995 meters 0.27009878697454687 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99988128e-01 -1.95062519e-03 4.46526633e-03 7.11382044e-01] [ 1.95010888e-03 9.99998091e-01 1.19977453e-04 -5.53573476e-02] [-4.46549184e-03 -1.11268273e-04 9.99990023e-01 -8.24200726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44463044 meters 0.2709924636864686 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99988452e-01 -1.98306569e-03 4.37763780e-03 7.11855965e-01] [ 1.98294002e-03 9.99998033e-01 3.30462314e-05 -5.50357058e-02] [-4.37769473e-03 -2.43652565e-05 9.99990418e-01 -8.30188352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50463044 meters 0.27119554212502417 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99987786e-01 -2.02229374e-03 4.50971253e-03 7.11274276e-01] [ 2.02269432e-03 9.99997951e-01 -8.42660897e-05 -5.44705276e-02] [-4.50953288e-03 9.33868304e-05 9.99989828e-01 -8.24725701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564630439999995 meters 0.2715590935018878 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.08 [[ 9.99986693e-01 -2.02767795e-03 4.74365874e-03 7.10940411e-01] [ 2.02819292e-03 9.99997938e-01 -1.03750655e-04 -5.44141518e-02] [-4.74343858e-03 1.13370329e-04 9.99988743e-01 -8.29059510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62463044 meters 0.2707077296381487 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.08 [[ 0.99998814 0.003496 0.00339084 0.68913448] [-0.00348465 0.99998833 -0.0033474 -0.05638424] [-0.00340251 0.00333554 0.99998865 -0.08193898] [ 0. 0. 0. 1. ]] SLAMing on 58.68463044 meters 0.26926654004240147 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.06, Z:-0.08 [[ 0.99998741 0.00363299 0.00346023 0.68861915] [-0.00362263 0.99998895 -0.00299563 -0.05780746] [-0.00347108 0.00298306 0.99998953 -0.08115671] [ 0. 0. 0. 1. ]] SLAMing on 58.744630439999995 meters 0.2714332887981919 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99980734e-01 -2.74800172e-03 5.56590928e-03 7.10846061e-01] [ 2.74925986e-03 9.99996197e-01 -2.18405558e-04 -6.16284189e-02] [-5.56528793e-03 2.33703481e-04 9.99984486e-01 -8.26148175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80463044 meters 0.27227482457319824 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.06, Z:-0.08 [[ 9.99982125e-01 -2.58147362e-03 5.39311384e-03 7.11650821e-01] [ 2.58036489e-03 9.99996648e-01 2.12530646e-04 -6.35115000e-02] [-5.39364440e-03 -1.98610645e-04 9.99985434e-01 -8.34113636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86463044 meters 0.27032511177702495 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99998246 0.00470335 0.00359873 0.6940744 ] [-0.00469886 0.99998817 -0.0012572 -0.0695949 ] [-0.0036046 0.00124027 0.99999273 -0.08502547] [ 0. 0. 0. 1. ]] SLAMing on 58.924630439999994 meters 0.2700370268494668 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.07, Z:-0.09 [[ 0.99998256 0.0047952 0.00344791 0.69452975] [-0.00479169 0.99998799 -0.00102501 -0.07057542] [-0.00345278 0.00100847 0.99999353 -0.08520687] [ 0. 0. 0. 1. ]] SLAMing on 58.98463044 meters 0.27111754671923666 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.09 [[ 9.99986098e-01 -3.79963228e-03 3.65602585e-03 7.16451159e-01] [ 3.79957255e-03 9.99992781e-01 2.32822217e-05 -7.27787635e-02] [-3.65608792e-03 -9.39056258e-06 9.99993316e-01 -8.50787377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04463044 meters 0.27069560804803894 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.08 [[ 9.99986937e-01 -3.59632880e-03 3.63201675e-03 7.16146263e-01] [ 3.59443781e-03 9.99993401e-01 5.27039256e-04 -7.49370515e-02] [-3.63388819e-03 -5.13977313e-04 9.99993265e-01 -8.43791943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104630439999994 meters 0.2702651286490076 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.08 [[ 9.99987019e-01 -3.60858176e-03 3.59717982e-03 7.16103729e-01] [ 3.60681083e-03 9.99993371e-01 4.98676292e-04 -7.48036128e-02] [-3.59895549e-03 -4.85695472e-04 9.99993406e-01 -8.41363575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164630439999996 meters 0.26995708534771257 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.07, Z:-0.08 [[ 9.99987322e-01 -3.82557637e-03 3.27431665e-03 7.17155983e-01] [ 3.82630831e-03 9.99992656e-01 -2.17305029e-04 -7.20352648e-02] [-3.27346129e-03 2.29830819e-04 9.99994616e-01 -8.49970292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22463044 meters 0.27344057650528814 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 9.99966946e-01 5.92198037e-03 5.57109578e-03 7.37674499e-01] [-5.91871379e-03 9.99982303e-01 -6.02647876e-04 -6.49411951e-02] [-5.57456605e-03 5.69654235e-04 9.99984300e-01 -8.52236546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28463044 meters 0.27078506722050955 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.06, Z:-0.09 [[ 9.99985308e-01 -2.65288915e-03 4.72724813e-03 7.17237264e-01] [ 2.65328377e-03 9.99996477e-01 -7.72098697e-05 -6.02049211e-02] [-4.72702665e-03 8.97514660e-05 9.99988824e-01 -8.57194975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344630439999996 meters 0.27061371563652215 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 9.99965188e-01 6.43093802e-03 5.31653606e-03 7.37979222e-01] [-6.42596752e-03 9.99978901e-01 -9.51467034e-04 -5.97957049e-02] [-5.32254271e-03 9.17270024e-04 9.99985414e-01 -8.56053588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40463044 meters 0.2704153965276974 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 9.99965927e-01 6.41001689e-03 5.20165064e-03 7.38128338e-01] [-6.40490609e-03 9.99978990e-01 -9.98597845e-04 -5.95574760e-02] [-5.20794238e-03 9.65247736e-04 9.99985973e-01 -8.53862250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46463044 meters 0.27151274740934705 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 9.99966564e-01 6.44726726e-03 5.03025206e-03 7.38375197e-01] [-6.44291211e-03 9.99978856e-01 -8.81515104e-04 -6.00573840e-02] [-5.03582906e-03 8.49076158e-04 9.99986960e-01 -8.51351923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524630439999996 meters 0.2692468541303155 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 9.99967403e-01 6.45593016e-03 4.84901921e-03 7.38957768e-01] [-6.45184722e-03 9.99978819e-01 -8.57184587e-04 -6.01804130e-02] [-4.85445042e-03 8.25871515e-04 9.99987876e-01 -8.54358018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58463044 meters 0.27066499313211506 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.06, Z:-0.09 [[ 0.99996995 0.00629051 0.0045314 0.73984695] [-0.00628423 0.99997928 -0.00139822 -0.0580662 ] [-0.0045401 0.0013697 0.99998876 -0.08591312] [ 0. 0. 0. 1. ]] SLAMing on 59.64463044 meters 0.2718545599379573 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.09 [[ 9.99986164e-01 -1.69936282e-03 4.97838187e-03 7.58380438e-01] [ 1.70284683e-03 9.99998308e-01 -6.95671749e-04 -5.00224762e-02] [-4.97719125e-03 7.04139546e-04 9.99987366e-01 -8.52177166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704630439999995 meters 0.2732702178952243 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.08 [[ 0.99998556 -0.00201658 0.00498203 0.75810145] [ 0.00202511 0.99999649 -0.00170683 -0.04609648] [-0.00497857 0.00171689 0.99998613 -0.08474864] [ 0. 0. 0. 1. ]] SLAMing on 59.76463044 meters 0.2724198423027282 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998573 -0.00216189 0.00488457 0.75814097] [ 0.00217195 0.99999553 -0.0020553 -0.04466053] [-0.0048801 0.00206588 0.99998596 -0.08440435] [ 0. 0. 0. 1. ]] SLAMing on 59.82463044 meters 0.27043530301679414 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998549 0.00156409 0.00515432 0.75718941] [-0.00156987 0.99999814 0.00111796 -0.04179963] [-0.00515256 -0.00112604 0.99998609 -0.08368875] [ 0. 0. 0. 1. ]] SLAMing on 59.884630439999995 meters 0.272153666887252 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998679 0.00159433 0.00488627 0.75756676] [-0.00160026 0.99999799 0.00120987 -0.04213317] [-0.00488434 -0.00121767 0.99998733 -0.08318335] [ 0. 0. 0. 1. ]] SLAMing on 59.94463044 meters 0.2695337777445135 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998787 0.00159181 0.00466173 0.75790233] [-0.00159743 0.999998 0.00120254 -0.04212816] [-0.0046598 -0.00120997 0.99998841 -0.08280518] [ 0. 0. 0. 1. ]] SLAMing on 60.00463044 meters 0.2707132512122597 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998847 0.00160849 0.00452539 0.75789849] [-0.00161417 0.99999791 0.00125206 -0.0422621 ] [-0.00452337 -0.00125935 0.99998898 -0.08216499] [ 0. 0. 0. 1. ]] SLAMing on 60.064630439999995 meters 0.2701619597095314 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.9999901 0.00161248 0.00414745 0.75866457] [-0.00161779 0.99999787 0.00127917 -0.04234666] [-0.00414538 -0.00128587 0.99999058 -0.08192104] [ 0. 0. 0. 1. ]] SLAMing on 60.12463044 meters 0.2694482894171608 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99999006 0.00163442 0.00414858 0.75830404] [-0.00163993 0.99999778 0.00132547 -0.04259053] [-0.00414641 -0.00133226 0.99999052 -0.08123082] [ 0. 0. 0. 1. ]] SLAMing on 60.18463044 meters 0.2692946211184925 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.99998927 0.00170125 0.00430793 0.75743288] [-0.00170774 0.99999741 0.00150415 -0.04325491] [-0.00430536 -0.00151149 0.99998959 -0.08011728] [ 0. 0. 0. 1. ]] SLAMing on 60.244630439999995 meters 0.2687389756306588 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.08 [[ 0.9999893 0.00183328 0.0042461 0.75720244] [-0.00184104 0.99999664 0.00182402 -0.04467866] [-0.00424274 -0.00183182 0.99998932 -0.07936981] [ 0. 0. 0. 1. ]] SLAMing on 60.30463044 meters 0.269683485613987 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.08 [[ 0.99998903 0.00193506 0.00426528 0.75706293] [-0.00194393 0.99999595 0.00207788 -0.04568981] [-0.00426125 -0.00208615 0.99998874 -0.07916222] [ 0. 0. 0. 1. ]] SLAMing on 60.36463044 meters 0.2704551258377188 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.08 [[ 0.99998866 0.00217478 0.00423612 0.75700157] [-0.00218613 0.99999403 0.00267544 -0.04814737] [-0.00423028 -0.00268467 0.99998745 -0.07887109] [ 0. 0. 0. 1. ]] SLAMing on 60.424630439999994 meters 0.26997930439579704 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.05, Z:-0.08 [[ 9.99990290e-01 -1.56457785e-03 4.11966470e-03 7.57445463e-01] [ 1.56571160e-03 9.99998737e-01 -2.71993149e-04 -5.37152154e-02] [-4.11923395e-03 2.78440715e-04 9.99991477e-01 -7.91409703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48463044 meters 0.27096269541987567 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.08 [[ 9.99991381e-01 -1.19064603e-03 3.97757362e-03 7.57929066e-01] [ 1.18792439e-03 9.99999059e-01 6.86539047e-04 -5.76756448e-02] [-3.97838730e-03 -6.81808073e-04 9.99991854e-01 -7.93432498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54463044 meters 0.26901218241737834 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.08 [[ 9.99992088e-01 -6.21556674e-04 3.92906008e-03 7.57546757e-01] [ 6.13495906e-04 9.99997706e-01 2.05244893e-03 -6.35545512e-02] [-3.93032678e-03 -2.05002223e-03 9.99990175e-01 -7.84938370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604630439999994 meters 0.271053358063409 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.08 [[ 9.99992862e-01 -3.95228099e-04 3.75754676e-03 7.58258973e-01] [ 3.85419335e-04 9.99996518e-01 2.61078289e-03 -6.59036475e-02] [-3.75856553e-03 -2.60931602e-03 9.99989532e-01 -7.90649692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664630439999996 meters 0.27020508434843765 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.08 [[ 9.99993697e-01 -1.28928249e-04 3.54810608e-03 7.59205898e-01] [ 1.17283191e-04 9.99994607e-01 3.28206159e-03 -6.90073933e-02] [-3.54851010e-03 -3.28162477e-03 9.99988319e-01 -7.98883905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72463044 meters 0.2711012545842924 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.08 [[ 9.99993382e-01 9.38475701e-05 3.63700219e-03 7.58782972e-01] [-1.07980770e-04 9.99992444e-01 3.88594597e-03 -7.13962933e-02] [-3.63661002e-03 -3.88631297e-03 9.99985836e-01 -7.93788250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78463044 meters 0.2689316914076149 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.08 [[ 9.99990242e-01 3.51667085e-04 4.40357354e-03 7.56561997e-01] [-3.73844887e-04 9.99987247e-01 5.03650938e-03 -7.56929468e-02] [-4.40174621e-03 -5.03810649e-03 9.99977621e-01 -7.78888276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844630439999996 meters 0.27004389021674485 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.08, Z:-0.08 [[ 0.99997832 0.0057296 0.00324543 0.73518328] [-0.00573821 0.99998002 0.00265047 -0.08360439] [-0.00323018 -0.00266904 0.99999122 -0.07725269] [ 0. 0. 0. 1. ]] SLAMing on 60.90463044 meters 0.2704440566436816 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.08 [[ 0.99998555 -0.00446614 0.00299347 0.75969357] [ 0.00445836 0.99998668 0.0026 -0.09232034] [-0.00300504 -0.00258661 0.99999214 -0.07867812] [ 0. 0. 0. 1. ]] SLAMing on 60.96463044 meters 0.27018472980277025 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.08 [[ 0.99998662 -0.00414967 0.00308881 0.75915025] [ 0.00413864 0.99998506 0.00356963 -0.09614227] [-0.00310358 -0.0035568 0.99998886 -0.07801273] [ 0. 0. 0. 1. ]] SLAMing on 61.024630439999996 meters 0.2679861785299246 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.08 [[ 0.99999036 0.0019415 0.00393863 0.73699603] [-0.00194731 0.99999702 0.00147083 -0.10305192] [-0.00393576 -0.00147848 0.99999116 -0.07816591] [ 0. 0. 0. 1. ]] SLAMing on 61.08463044 meters 0.2693609319812321 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.11, Z:-0.08 [[ 9.99985987e-01 4.56731096e-04 5.27423206e-03 7.80811072e-01] [-4.56976730e-04 9.99999895e-01 4.53674690e-05 -1.12691771e-01] [-5.27421078e-03 -4.77770346e-05 9.99986090e-01 -7.90362926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14463044 meters 0.26941467180608364 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 9.99985145e-01 7.87095712e-04 5.39349919e-03 7.80242468e-01] [-7.91838982e-04 9.99999302e-01 8.77363051e-04 -1.16122504e-01] [-5.39280486e-03 -8.81620801e-04 9.99985070e-01 -7.85148871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204630439999995 meters 0.2717676263798635 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 0.99998451 0.00112757 0.00545066 0.7794005 ] [-0.00113664 0.99999798 0.00166019 -0.11933245] [-0.00544878 -0.00166636 0.99998377 -0.07724465] [ 0. 0. 0. 1. ]] SLAMing on 61.26463044 meters 0.27071644400100986 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 0.9999853 0.00133301 0.00525543 0.77985178] [-0.00134437 0.99999677 0.00215874 -0.1213874 ] [-0.00525253 -0.00216577 0.99998386 -0.0772215 ] [ 0. 0. 0. 1. ]] SLAMing on 61.32463044 meters 0.2693002604723239 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.12, Z:-0.08 [[ 0.99998444 0.00158394 0.00534971 0.77953931] [-0.00159887 0.99999484 0.00278713 -0.12394118] [-0.00534527 -0.00279564 0.99998181 -0.07702376] [ 0. 0. 0. 1. ]] SLAMing on 61.384630439999995 meters 0.2679856469051861 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:-0.08 [[ 9.99982751e-01 -2.24910705e-03 5.42579212e-03 7.78834846e-01] [ 2.25067491e-03 9.99997427e-01 -2.82875562e-04 -1.28892145e-01] [-5.42514194e-03 2.95082377e-04 9.99985240e-01 -7.60476025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44463044 meters 0.2679404047082547 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:-0.08 [[ 9.99983776e-01 -2.00185769e-03 5.33303377e-03 7.78671730e-01] [ 1.99923529e-03 9.99997878e-01 4.97013115e-04 -1.31850441e-01] [-5.33401740e-03 -4.86343062e-04 9.99985656e-01 -7.52795156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50463044 meters 0.27024770525970426 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99998032 -0.00171384 0.00603586 0.77687507] [ 0.00170451 0.99999735 0.00155025 -0.13573127] [-0.0060385 -0.00153993 0.99998058 -0.0745376 ] [ 0. 0. 0. 1. ]] SLAMing on 61.564630439999995 meters 0.2702760571916277 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99998065 -0.00149603 0.00603754 0.77678722] [ 0.00148231 0.99999631 0.00227693 -0.13846107] [-0.00604092 -0.00226794 0.99997918 -0.07441705] [ 0. 0. 0. 1. ]] SLAMing on 61.62463044 meters 0.26877254839050413 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99998367 -0.00134785 0.0055536 0.77785834] [ 0.00133041 0.99999417 0.00314327 -0.14212743] [-0.0055578 -0.00313583 0.99997964 -0.07449617] [ 0. 0. 0. 1. ]] SLAMing on 61.68463044 meters 0.26901177559491307 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:-0.07 [[ 0.99998372 -0.00120027 0.00557759 0.77783813] [ 0.00118049 0.99999301 0.00354829 -0.14377239] [-0.00558181 -0.00354165 0.99997815 -0.07459469] [ 0. 0. 0. 1. ]] SLAMing on 61.744630439999995 meters 0.2723474509776376 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.08 [[ 0.99997119 0.00194953 0.00733558 0.8209688 ] [-0.00198775 0.99998447 0.00520593 -0.14200199] [-0.00732532 -0.00522036 0.99995954 -0.07514012] [ 0. 0. 0. 1. ]] SLAMing on 61.80463044 meters 0.26976654026697894 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.08 [[ 0.99997173 0.00173366 0.00731663 0.82112763] [-0.00176721 0.99998795 0.0045806 -0.13953206] [-0.0073086 -0.0045934 0.99996274 -0.07537156] [ 0. 0. 0. 1. ]] SLAMing on 61.86463044 meters 0.2701876501085877 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.08 [[ 0.99997335 0.00135563 0.00717384 0.82214001] [-0.00138131 0.99999265 0.00357618 -0.13534084] [-0.00716894 -0.003586 0.99996787 -0.07656347] [ 0. 0. 0. 1. ]] SLAMing on 61.924630439999994 meters 0.27089534149888067 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.08 [[ 0.99997407 0.00122821 0.0070953 0.82250164] [-0.00125139 0.99999389 0.00326346 -0.13407166] [-0.00709125 -0.00327225 0.9999695 -0.07693625] [ 0. 0. 0. 1. ]] SLAMing on 61.98463044 meters 0.2703889109929685 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.08 [[ 0.99997554 0.0010486 0.00691538 0.82307832] [-0.00106818 0.99999543 0.00282906 -0.13227102] [-0.00691238 -0.00283638 0.99997209 -0.07725509] [ 0. 0. 0. 1. ]] SLAMing on 62.04463044 meters 0.27006092787506164 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.08 [[ 9.99975169e-01 8.67524562e-04 6.99347281e-03 8.22934683e-01] [-8.84256777e-04 9.99996753e-01 2.38981053e-03 -1.30443366e-01] [-6.99137688e-03 -2.39593521e-03 9.99972690e-01 -7.73145624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104630439999994 meters 0.27125794972681716 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:-0.08 [[ 9.99974962e-01 5.50893525e-04 7.05492383e-03 8.22712224e-01] [-5.61755306e-04 9.99998660e-01 1.53771391e-03 -1.26930208e-01] [-7.05406726e-03 -1.54163855e-03 9.99973931e-01 -7.71346941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164630439999996 meters 0.27155602982854804 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99976936e-01 2.69762195e-04 6.78638782e-03 8.23433985e-01] [-2.73894928e-04 9.99999778e-01 6.08051801e-04 -1.23256134e-01] [-6.78622228e-03 -6.09896534e-04 9.99976787e-01 -7.74082835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22463044 meters 0.27035987989074456 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99977349e-01 1.37719640e-05 6.73063020e-03 8.23475306e-01] [-1.30662091e-05 9.99999994e-01 -1.04901142e-04 -1.20379934e-01] [-6.73063160e-03 1.04810822e-04 9.99977344e-01 -7.72116612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28463044 meters 0.2693485776170709 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99976480e-01 -2.55958579e-04 6.85369075e-03 8.23105519e-01] [ 2.61524376e-04 9.99999637e-01 -8.11203758e-04 -1.17387062e-01] [-6.85348062e-03 8.12977086e-04 9.99976184e-01 -7.70395930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344630439999996 meters 0.2683242368102097 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99976238e-01 -4.58044143e-04 6.87850196e-03 8.23034717e-01] [ 4.67043148e-04 9.99999037e-01 -1.30673041e-03 -1.15347631e-01] [-6.87789680e-03 1.30991191e-03 9.99975489e-01 -7.70043445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40463044 meters 0.2703830967961571 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99976443e-01 -4.21222455e-04 6.85101405e-03 8.23079840e-01] [ 4.29534129e-04 9.99999174e-01 -1.21177723e-03 -1.15727309e-01] [-6.85049796e-03 1.21469143e-03 9.99975797e-01 -7.69582303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46463044 meters 0.2696440943589389 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.12, Z:-0.08 [[ 9.99975626e-01 -4.77611145e-04 6.96562512e-03 8.22658729e-01] [ 4.87148196e-04 9.99998946e-01 -1.36752697e-03 -1.15115903e-01] [-6.96496463e-03 1.37088693e-03 9.99974805e-01 -7.65956902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524630439999996 meters 0.27045251088840144 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.08 [[ 9.99977467e-01 -7.19939475e-04 6.67437451e-03 8.23431978e-01] [ 7.33692521e-04 9.99997612e-01 -2.05835509e-03 -1.12355661e-01] [-6.67287669e-03 2.06320565e-03 9.99975608e-01 -7.68481280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58463044 meters 0.2706067566835807 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.11, Z:-0.08 [[ 9.99978901e-01 -9.70779795e-04 6.42296155e-03 8.24293145e-01] [ 9.89612755e-04 9.99995219e-01 -2.92960210e-03 -1.08896643e-01] [-6.42008684e-03 2.93589654e-03 9.99975081e-01 -7.74476606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64463044 meters 0.26991044714778795 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.10, Z:-0.08 [[ 0.99997639 -0.00142283 0.00672269 0.82348129] [ 0.00145325 0.99998872 -0.00452277 -0.10273666] [-0.00671618 0.00453243 0.99996717 -0.07700411] [ 0. 0. 0. 1. ]] SLAMing on 62.704630439999995 meters 0.26897969687936385 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.10, Z:-0.07 [[ 9.99968432e-01 8.24049105e-04 7.90292106e-03 8.19025919e-01] [-8.00473187e-04 9.99995222e-01 -2.98588961e-03 -9.72752640e-02] [-7.90534382e-03 2.97946927e-03 9.99964314e-01 -7.45480275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76463044 meters 0.2684233071480943 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:-0.08 [[ 9.99974747e-01 4.31089335e-04 7.09358009e-03 8.21069400e-01] [-4.02889280e-04 9.99992013e-01 -3.97638229e-03 -9.40794120e-02] [-7.09523761e-03 3.97342395e-03 9.99966934e-01 -7.53305262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82463044 meters 0.268395422511512 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:-0.07 [[ 0.99996935 0.00119896 0.00773767 0.81786521] [-0.00117296 0.99999365 -0.00336426 -0.09270569] [-0.00774165 0.00335508 0.9999644 -0.07287279] [ 0. 0. 0. 1. ]] SLAMing on 62.884630439999995 meters 0.26824604958037107 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.09, Z:-0.07 [[ 9.99968993e-01 7.73792359e-04 7.83677836e-03 8.17750372e-01] [-7.37811517e-04 9.99989179e-01 -4.59313061e-03 -8.77651622e-02] [-7.84024769e-03 4.58720612e-03 9.99958743e-01 -7.30452940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94463044 meters 0.2684284139312705 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.07 [[ 9.99970232e-01 3.83916709e-04 7.70629478e-03 8.18401473e-01] [-3.39662290e-04 9.99983450e-01 -5.74312003e-03 -8.31336666e-02] [-7.70837212e-03 5.74033153e-03 9.99953814e-01 -7.36234531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00463044 meters 0.268357869699753 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.07 [[ 0.99996277 0.0041161 0.00758451 0.81878073] [-0.00409421 0.99998742 -0.00289919 -0.07763838] [-0.00759635 0.00286803 0.99996703 -0.07372839] [ 0. 0. 0. 1. ]] SLAMing on 63.064630439999995 meters 0.2682544386091987 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.9999679 -0.00422534 0.00680814 0.79962044] [ 0.00423851 0.99998917 -0.00192083 -0.07280609] [-0.00679995 0.00194962 0.99997498 -0.07506632] [ 0. 0. 0. 1. ]] SLAMing on 63.12463044 meters 0.2698353597072142 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.08 [[ 0.99996399 0.00461893 0.0071191 0.81913777] [-0.00459816 0.99998513 -0.00293146 -0.07521372] [-0.00713253 0.00289862 0.99997036 -0.07523734] [ 0. 0. 0. 1. ]] SLAMing on 63.18463044 meters 0.26926636563917866 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.9999688 -0.00375043 0.00695282 0.79930452] [ 0.00376513 0.9999907 -0.00210203 -0.07018028] [-0.00694487 0.00212814 0.99997362 -0.07595262] [ 0. 0. 0. 1. ]] SLAMing on 63.244630439999995 meters 0.2717817557728861 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.99996906 -0.00395457 0.00679958 0.7993703 ] [ 0.00397346 0.99998828 -0.00276665 -0.06754239] [-0.00678856 0.00279359 0.99997306 -0.07534779] [ 0. 0. 0. 1. ]] SLAMing on 63.30463044 meters 0.2702058541718365 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.99996976 -0.00410929 0.00660194 0.80021727] [ 0.00413068 0.99998625 -0.0032292 -0.06567113] [-0.00658858 0.00325637 0.99997299 -0.07624073] [ 0. 0. 0. 1. ]] SLAMing on 63.36463044 meters 0.2705599278120985 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.08 [[ 0.99996985 -0.00417302 0.00654918 0.80075727] [ 0.00419532 0.99998544 -0.00339545 -0.06496691] [-0.00653492 0.00342282 0.99997279 -0.07711189] [ 0. 0. 0. 1. ]] SLAMing on 63.424630439999994 meters 0.2722306644954355 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.99996986 -0.00410651 0.00658943 0.80020366] [ 0.00412762 0.99998638 -0.00319429 -0.06590165] [-0.00657623 0.00322139 0.99997319 -0.07616019] [ 0. 0. 0. 1. ]] SLAMing on 63.48463044 meters 0.2717860285429375 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.99997249 -0.00398689 0.00625561 0.80137956] [ 0.00400459 0.99998801 -0.00281833 -0.06746608] [-0.0062443 0.0028433 0.99997646 -0.07717781] [ 0. 0. 0. 1. ]] SLAMing on 63.54463044 meters 0.272190600827656 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.08 [[ 0.99997236 -0.00398778 0.00627511 0.80135028] [ 0.00400554 0.999988 -0.0028206 -0.06746995] [-0.00626379 0.00284566 0.99997633 -0.07721388] [ 0. 0. 0. 1. ]] SLAMing on 63.604630439999994 meters 0.2691988462390993 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 0.99996436 -0.002527 0.00805564 0.79577219] [ 0.00254006 0.99999548 -0.00161106 -0.06693878] [-0.00805153 0.00163147 0.99996625 -0.07430767] [ 0. 0. 0. 1. ]] SLAMing on 63.664630439999996 meters 0.27118106067531644 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 0.99996395 -0.00253754 0.00810293 0.79559632] [ 0.0025509 0.9999954 -0.00163923 -0.06683999] [-0.00809873 0.00165984 0.99996583 -0.07416243] [ 0. 0. 0. 1. ]] SLAMing on 63.72463044 meters 0.2696027024000185 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 0.99996732 -0.00240417 0.00771881 0.79672476] [ 0.00241352 0.99999637 -0.00120101 -0.06862492] [-0.00771589 0.0012196 0.99996949 -0.07489401] [ 0. 0. 0. 1. ]] SLAMing on 63.78463044 meters 0.27107878413949427 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.07 [[ 0.99994802 0.00594478 0.00828403 0.81512258] [-0.00592906 0.99998058 -0.0019213 -0.07632893] [-0.00829529 0.00187208 0.99996384 -0.07390534] [ 0. 0. 0. 1. ]] SLAMing on 63.844630439999996 meters 0.27027909394139343 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:-0.07 [[ 0.99994683 0.00601683 0.00837461 0.8148068 ] [-0.00600264 0.99998051 -0.00171824 -0.0771333 ] [-0.00838478 0.00166788 0.99996346 -0.07368361] [ 0. 0. 0. 1. ]] SLAMing on 63.90463044 meters 0.2730733073052729 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:-0.07 [[ 0.99994631 0.00619152 0.00830884 0.81499543] [-0.00618184 0.99998018 -0.00118981 -0.07922674] [-0.00831604 0.00113838 0.99996477 -0.07384086] [ 0. 0. 0. 1. ]] SLAMing on 63.96463044 meters 0.2715630443631937 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.08 [[ 9.99976664e-01 -2.94518387e-03 6.16419348e-03 7.96565587e-01] [ 2.94667602e-03 9.99995631e-01 -2.32999769e-04 -8.31553122e-02] [-6.16348033e-03 2.51158213e-04 9.99980974e-01 -7.50932601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02463044 meters 0.2717651180710729 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.08 [[ 9.99976069e-01 -2.62781955e-03 6.39969752e-03 7.95935455e-01] [ 2.62374603e-03 9.99996350e-01 6.44828793e-04 -8.66925190e-02] [-6.40136865e-03 -6.28022180e-04 9.99979314e-01 -7.50135365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08463044 meters 0.2707083831632239 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.07 [[ 9.99976398e-01 -2.49129263e-03 6.40291535e-03 7.95853550e-01] [ 2.48508065e-03 9.99996434e-01 9.77952427e-04 -8.80682393e-02] [-6.40532888e-03 -9.62017584e-04 9.99979023e-01 -7.48907051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14463044 meters 0.2697082020018499 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.08 [[ 0.99997737 -0.00242451 0.00627479 0.79631856] [ 0.00241734 0.99999642 0.00114954 -0.08873474] [-0.00627756 -0.00113435 0.99997965 -0.07525894] [ 0. 0. 0. 1. ]] SLAMing on 64.20463044 meters 0.2708910737924099 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.08 [[ 0.99997778 -0.00242455 0.00620978 0.79636259] [ 0.00241748 0.99999642 0.00114679 -0.08873001] [-0.00621254 -0.00113176 0.99998006 -0.07502418] [ 0. 0. 0. 1. ]] SLAMing on 64.26463043999999 meters 0.27049452829173287 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.09, Z:-0.07 [[ 0.99997716 -0.00247496 0.00628993 0.79586076] [ 0.0024686 0.99999643 0.001019 -0.08814285] [-0.00629243 -0.00100345 0.9999797 -0.0743295 ] [ 0. 0. 0. 1. ]] SLAMing on 64.32463043999999 meters 0.26880285696925044 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.07 [[ 0.99999006 0.00377972 0.00236374 0.77767241] [-0.00377588 0.99999154 -0.00163033 -0.0845605 ] [-0.00236989 0.00162139 0.99999588 -0.07441579] [ 0. 0. 0. 1. ]] SLAMing on 64.38463044 meters 0.2707190088482068 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.07 [[ 0.99999087 0.0036478 0.00222522 0.77813959] [-0.00364342 0.99999142 -0.00196895 -0.08316226] [-0.00223238 0.00196082 0.99999559 -0.07468471] [ 0. 0. 0. 1. ]] SLAMing on 64.44463044 meters 0.2714462875248612 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.07 [[ 0.99998969 0.00338535 0.00302692 0.77598877] [-0.00337628 0.99998981 -0.00299649 -0.07873291] [-0.00303704 0.00298624 0.99999093 -0.07354426] [ 0. 0. 0. 1. ]] SLAMing on 64.50463044 meters 0.2691267004267845 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 9.99997704e-01 -1.95346346e-03 -8.80435135e-04 8.00131700e-01] [ 1.95255532e-03 9.99997562e-01 -1.03115476e-03 -6.71815640e-02] [ 8.82447311e-04 1.02943329e-03 9.99999081e-01 -7.32319451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56463044 meters 0.2705295614238697 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.07 [[ 0.99999678 -0.00229638 -0.0010832 0.80078539] [ 0.0022944 0.9999957 -0.00182766 -0.0639608 ] [ 0.00108739 0.00182517 0.99999774 -0.07346202] [ 0. 0. 0. 1. ]] SLAMing on 64.62463044 meters 0.2690241833915571 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.07 [[ 9.99999979e-01 3.82304503e-05 1.99505499e-04 7.95903845e-01] [-3.81725965e-05 9.99999957e-01 -2.89981667e-04 -5.80992101e-02] [-1.99516577e-04 2.89974045e-04 9.99999938e-01 -7.06565426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68463043999999 meters 0.2704856461374745 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.07 [[ 9.99999885e-01 -2.39854451e-04 4.16265104e-04 7.96099975e-01] [ 2.40226114e-04 9.99999572e-01 -8.93029222e-04 -5.55734260e-02] [-4.16050729e-04 8.93129117e-04 9.99999515e-01 -7.18338864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74463044 meters 0.2716196610690956 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.07 [[ 9.99999802e-01 -4.53067480e-04 4.37156413e-04 7.96194447e-01] [ 4.53682259e-04 9.99998907e-01 -1.40724082e-03 -5.34784911e-02] [-4.36518360e-04 1.40743888e-03 9.99998914e-01 -7.20583467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80463044 meters 0.27153573380148 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.07 [[ 9.99999736e-01 -7.23485200e-04 6.17031096e-05 7.97208975e-01] [ 7.23623579e-04 9.99997155e-01 -2.27291982e-03 -5.00416125e-02] [-6.00585102e-05 2.27296387e-03 9.99997415e-01 -7.23601567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86463044 meters 0.2716331916667372 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.07 [[ 9.99999545e-01 -9.47756658e-04 -1.12428719e-04 7.97499703e-01] [ 9.47417934e-04 9.99995124e-01 -2.97552255e-03 -4.73139540e-02] [ 1.15248242e-04 2.97541468e-03 9.99995567e-01 -7.21020286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92463044 meters 0.2689859968620624 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.07 [[ 9.99999145e-01 -1.30001418e-03 1.41818773e-04 7.96337806e-01] [ 1.30059099e-03 9.99990560e-01 -4.14590065e-03 -4.28105188e-02] [-1.36427704e-04 4.14608155e-03 9.99991396e-01 -7.08805075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98463044 meters 0.26766277339402655 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.07 [[ 9.99978944e-01 -6.48906896e-03 -5.48023117e-05 7.73351923e-01] [ 6.48902500e-03 9.99978652e-01 -7.67411269e-04 -3.83768993e-02] [ 5.97809264e-05 7.67039497e-04 9.99999704e-01 -7.02192552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04463043999999 meters 0.26887692682132835 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 9.99997728e-01 2.12720183e-03 -1.35347963e-04 7.94542508e-01] [-2.12738995e-03 9.99996750e-01 -1.40527818e-03 -4.23265995e-02] [ 1.32358213e-04 1.40556293e-03 9.99999003e-01 -7.04500793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10463044 meters 0.2694917320330608 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.07 [[ 9.99997859e-01 2.05630231e-03 -2.31006605e-04 7.95057091e-01] [-2.05666260e-03 9.99996652e-01 -1.57042316e-03 -4.16005141e-02] [ 2.27776566e-04 1.57089491e-03 9.99998740e-01 -7.10061881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16463044 meters 0.26870832214189966 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 9.99997998e-01 1.97700669e-03 -3.10055721e-04 7.94994550e-01] [-1.97755102e-03 9.99996487e-01 -1.76521570e-03 -4.08112778e-02] [ 3.06564788e-04 1.76582532e-03 9.99998394e-01 -7.04715372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22463044 meters 0.27102444595986697 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 0.99999228 -0.00336291 0.00203387 0.81561187] [ 0.00335952 0.99999297 0.00166462 -0.04033951] [-0.00203945 -0.00165777 0.99999655 -0.07051887] [ 0. 0. 0. 1. ]] SLAMing on 65.28463044 meters 0.2690646022789918 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 0.99999186 -0.00340167 0.00217046 0.81502549] [ 0.00339826 0.99999299 0.00157288 -0.03996942] [-0.00217579 -0.00156549 0.99999641 -0.06995581] [ 0. 0. 0. 1. ]] SLAMing on 65.34463044 meters 0.2688637955245131 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.07 [[ 9.99998981e-01 1.40756226e-03 -2.38157988e-04 7.95843864e-01] [-1.40824728e-03 9.99994800e-01 -2.90104766e-03 -3.94062096e-02] [ 2.34073344e-04 2.90138009e-03 9.99995764e-01 -7.04727234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40463043999999 meters 0.2709425073906193 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 9.99989479e-01 -4.15143057e-03 1.95138212e-03 8.15732053e-01] [ 4.14958411e-03 9.99990940e-01 9.49334811e-04 -4.06345756e-02] [-1.95530554e-03 -9.41227399e-04 9.99997645e-01 -7.02255181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46463044 meters 0.2686321477882241 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.999996 0.0024791 0.00136157 0.79389567] [-0.00247665 0.99999533 -0.0017929 -0.04136762] [-0.00136601 0.00178952 0.99999747 -0.06970787] [ 0. 0. 0. 1. ]] SLAMing on 65.52463044 meters 0.27026236060954917 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.99999588 0.00257216 0.0012717 0.79412672] [-0.00257022 0.99999553 -0.00152448 -0.04241729] [-0.00127562 0.0015212 0.99999803 -0.0698298 ] [ 0. 0. 0. 1. ]] SLAMing on 65.58463044 meters 0.2705886053035975 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.99999572 0.0026741 0.00118639 0.79462531] [-0.00267263 0.99999565 -0.00124655 -0.04352321] [-0.00118971 0.00124338 0.99999852 -0.07051248] [ 0. 0. 0. 1. ]] SLAMing on 65.64463044 meters 0.269471588944757 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.99999584 0.00265488 0.00113093 0.79472082] [-0.00265341 0.99999565 -0.00129152 -0.04332965] [-0.00113435 0.00128852 0.99999853 -0.07044459] [ 0. 0. 0. 1. ]] SLAMing on 65.70463044 meters 0.2691635303306766 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.99999624 0.00254539 0.00101579 0.79493007] [-0.00254375 0.99999547 -0.00161178 -0.04205459] [-0.00101989 0.00160919 0.99999819 -0.07030507] [ 0. 0. 0. 1. ]] SLAMing on 65.76463043999999 meters 0.2695723529983104 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 9.99996545e-01 2.44127216e-03 9.74449152e-04 7.94993203e-01] [-2.43943160e-03 9.99995247e-01 -1.88556535e-03 -4.09714967e-02] [-9.79047698e-04 1.88318174e-03 9.99997748e-01 -7.02026470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82463043999999 meters 0.26950158583805756 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.9999968 0.00229852 0.00105628 0.79457675] [-0.00229611 0.99999476 -0.00228082 -0.03944449] [-0.00106152 0.00227839 0.99999684 -0.06965873] [ 0. 0. 0. 1. ]] SLAMing on 65.88463044 meters 0.26816703584293117 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.07 [[ 0.99999665 0.00228796 0.00121405 0.79396436] [-0.00228515 0.99999472 -0.00231104 -0.03939083] [-0.00121933 0.00230825 0.99999659 -0.06914034] [ 0. 0. 0. 1. ]] SLAMing on 65.94463044 meters 0.26877266328955185 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 9.99976067e-01 -6.85668066e-03 9.23086480e-04 8.15224217e-01] [ 6.85837782e-03 9.99974773e-01 -1.84813935e-03 -3.76701133e-02] [-9.10391092e-04 1.85442600e-03 9.99997866e-01 -6.89134078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00463044 meters 0.2676198989048268 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 9.99976718e-01 -6.80232241e-03 5.40687227e-04 8.15819513e-01] [ 6.80322440e-03 9.99975439e-01 -1.68427182e-03 -3.81995754e-02] [-5.29216987e-04 1.68791102e-03 9.99998435e-01 -6.84621731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06463044 meters 0.2676484514670691 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.07 [[ 0.99997458 -0.0070322 0.00117552 0.81439988] [ 0.00703492 0.99997255 -0.00232654 -0.03620374] [-0.00115913 0.00233475 0.9999966 -0.06826346] [ 0. 0. 0. 1. ]] SLAMing on 66.12463044 meters 0.26746850433766844 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.07 [[ 0.99999527 -0.00282772 0.0012109 0.8140838 ] [ 0.00282567 0.99999458 0.00169271 -0.03502961] [-0.00121568 -0.00168928 0.99999783 -0.06791781] [ 0. 0. 0. 1. ]] SLAMing on 66.18463043999999 meters 0.26749213005296335 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.07 [[ 0.99999515 -0.00292499 0.00106948 0.81414924] [ 0.0029235 0.99999476 0.00139269 -0.03384854] [-0.00107355 -0.00138956 0.99999846 -0.06740495] [ 0. 0. 0. 1. ]] SLAMing on 66.24463044 meters 0.2666420717465572 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.07 [[ 9.99981253e-01 6.12048030e-03 -1.83586286e-04 7.93779013e-01] [-6.12040788e-03 9.99981193e-01 3.92457678e-04 -2.99296152e-02] [ 1.85984863e-04 -3.91326698e-04 9.99999906e-01 -6.79424407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30463044 meters 0.26717804218638075 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.07 [[ 9.99998325e-01 -1.83034689e-03 -1.21037023e-05 8.12446136e-01] [ 1.83036511e-03 9.99996824e-01 1.73239224e-03 -2.47824923e-02] [ 8.93278511e-06 -1.73241149e-03 9.99998499e-01 -6.60785805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36463044 meters 0.2670875131165758 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.07 [[ 9.99992720e-01 3.81431753e-03 1.06858111e-04 8.35391288e-01] [-3.81414737e-03 9.99991525e-01 -1.54975233e-03 -2.66518381e-02] [-1.12768453e-04 1.54933348e-03 9.99998793e-01 -6.67491601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42463044 meters 0.2672014458695145 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.07 [[ 9.99992459e-01 3.88306110e-03 -6.02520861e-05 8.35794153e-01] [-3.88314009e-03 9.99991520e-01 -1.37158946e-03 -2.73901103e-02] [ 5.49256095e-05 1.37181308e-03 9.99999058e-01 -6.67902640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48463044 meters 0.2671241974662518 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.07 [[ 9.99991697e-01 4.05354936e-03 -4.18895197e-04 8.36614526e-01] [-4.05392830e-03 9.99991371e-01 -9.07760726e-04 -2.92334641e-02] [ 4.15211930e-04 9.09451360e-04 9.99999500e-01 -6.68311615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54463043999999 meters 0.2662917943332441 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.07 [[ 9.99989179e-01 -4.01668137e-03 -2.34681146e-03 8.17356297e-01] [ 4.01747553e-03 9.99991874e-01 3.33782997e-04 -3.01577133e-02] [ 2.34545169e-03 -3.43207642e-04 9.99997191e-01 -6.79610436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60463044 meters 0.26590716306170664 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.07 [[ 0.99999039 -0.00372168 -0.00231926 0.81665366] [ 0.00372416 0.9999925 0.00106693 -0.03340792] [ 0.00231528 -0.00107556 0.99999674 -0.06675606] [ 0. 0. 0. 1. ]] SLAMing on 66.66463044 meters 0.26686527073471766 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:-0.07 [[ 0.99999102 -0.00356212 -0.0022959 0.81642029] [ 0.00356547 0.99999259 0.00145407 -0.03501036] [ 0.0022907 -0.00146224 0.99999631 -0.06638646] [ 0. 0. 0. 1. ]] SLAMing on 66.72463044 meters 0.2678344037249232 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.04, Z:-0.06 [[ 9.99988553e-01 4.45977012e-03 -1.73302481e-03 8.36000525e-01] [-4.45924310e-03 9.99990010e-01 3.07848171e-04 -3.91624604e-02] [ 1.73438043e-03 -3.00116668e-04 9.99998451e-01 -6.47216030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78463044 meters 0.26728354328182913 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:-0.06 [[ 9.99989000e-01 4.54192003e-03 -1.17100236e-03 8.34353426e-01] [-4.54131093e-03 9.99989552e-01 5.22291249e-04 -3.97737350e-02] [ 1.17336233e-03 -5.16967618e-04 9.99999178e-01 -6.37849950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84463044 meters 0.26628436521397814 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:-0.06 [[ 9.99989249e-01 4.53161604e-03 -9.82697812e-04 8.33658550e-01] [-4.53113338e-03 9.99989613e-01 4.92829111e-04 -3.96505311e-02] [ 9.84920917e-04 -4.88371078e-04 9.99999396e-01 -6.31941317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90463043999999 meters 0.26512855208569996 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.06 [[ 9.99983513e-01 4.86364403e-03 -3.05258371e-03 7.91033391e-01] [-4.86089424e-03 9.99987774e-01 9.07580783e-04 -4.05948045e-02] [ 3.05696054e-03 -8.92727533e-04 9.99994929e-01 -6.29871622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96463044 meters 0.26550501926957343 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.06 [[ 9.99995028e-01 7.24471377e-04 -3.06891392e-03 7.91332085e-01] [-7.33180335e-04 9.99995705e-01 -2.83762397e-03 -4.28013520e-02] [ 3.06684497e-03 2.83985993e-03 9.99991265e-01 -6.35416939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02463044 meters 0.26722161349728013 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.06 [[ 9.99994833e-01 9.69575463e-04 -3.06485337e-03 7.91342165e-01] [-9.76352987e-04 9.99997080e-01 -2.21064739e-03 -4.53118543e-02] [ 3.06270104e-03 2.21362834e-03 9.99992860e-01 -6.35694822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08463044 meters 0.2687177114274532 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.06 [[ 0.99999402 0.00133058 -0.00319324 0.79170348] [-0.00133501 0.99999815 -0.00138419 -0.04871947] [ 0.00319139 0.00138845 0.99999394 -0.06366631] [ 0. 0. 0. 1. ]] SLAMing on 67.14463044 meters 0.2674088959426632 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.06 [[ 9.99962114e-01 -6.75907713e-03 -5.48493283e-03 7.72912249e-01] [ 6.75931762e-03 9.99977155e-01 2.53083771e-05 -5.01964004e-02] [ 5.48463646e-03 -6.23818214e-05 9.99984957e-01 -6.45956658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20463044 meters 0.26760237216272675 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.06, Z:-0.06 [[ 9.99973540e-01 1.75400640e-03 -7.05994817e-03 7.94845304e-01] [-1.75578980e-03 9.99998428e-01 -2.46418347e-04 -5.73919556e-02] [ 7.05950485e-03 2.58807612e-04 9.99975048e-01 -6.40658262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26463043999999 meters 0.2689390917536813 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.06 [[ 9.99971346e-01 2.02194852e-03 -7.29507963e-03 7.95531872e-01] [-2.01930850e-03 9.99997893e-01 3.69238340e-04 -5.98822006e-02] [ 7.29581084e-03 -3.54496744e-04 9.99973322e-01 -6.43272883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32463043999999 meters 0.2685406124804127 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.06 [[ 9.99969534e-01 2.17016136e-03 -7.49804684e-03 7.96198045e-01] [-2.16481380e-03 9.99997397e-01 7.21236847e-04 -6.13598885e-02] [ 7.49959252e-03 -7.04982999e-04 9.99971629e-01 -6.47027704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38463044 meters 0.2722757686711768 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.06, Z:-0.06 [[ 0.9999499 -0.00660331 -0.00752286 0.81725566] [ 0.00661393 0.99997717 0.00138707 -0.05992869] [ 0.00751353 -0.00143675 0.99997074 -0.06460678] [ 0. 0. 0. 1. ]] SLAMing on 67.44463044 meters 0.27017680797454796 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.06, Z:-0.06 [[ 9.99984960e-01 1.43384759e-03 -5.29375776e-03 8.35810576e-01] [-1.43220284e-03 9.99998925e-01 3.14474839e-04 -6.22691494e-02] [ 5.29420298e-03 -3.06888375e-04 9.99985939e-01 -6.27029913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50463044 meters 0.27068102407239253 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.06 [[ 9.99980747e-01 -2.62355795e-04 -6.19972773e-03 7.92648251e-01] [ 2.60571923e-04 9.99999924e-01 -2.88540040e-04 -7.14005914e-02] [ 6.19980296e-03 2.86919010e-04 9.99980740e-01 -6.23308611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56463044 meters 0.2704333413624385 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.07, Z:-0.06 [[ 9.99980923e-01 -6.27631561e-05 -6.17660888e-03 7.92600902e-01] [ 6.38077074e-05 9.99999984e-01 1.68917134e-04 -7.32970203e-02] [ 6.17659818e-03 -1.69308027e-04 9.99980910e-01 -6.23199404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62463044 meters 0.26935247352732067 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.06 [[ 9.99981338e-01 1.28670718e-04 -6.10799614e-03 7.92215812e-01] [-1.24970957e-04 9.99999809e-01 6.06102097e-04 -7.51086369e-02] [ 6.10807295e-03 -6.05327464e-04 9.99981162e-01 -6.18755269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68463043999999 meters 0.27066189597554347 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.08, Z:-0.06 [[ 9.99982125e-01 2.57370882e-04 -5.97357758e-03 7.91914750e-01] [-2.51954388e-04 9.99999557e-01 9.07476956e-04 -7.63444708e-02] [ 5.97380849e-03 -9.05955666e-04 9.99981746e-01 -6.18656026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74463044 meters 0.27150632007419917 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.08, Z:-0.06 [[ 9.99940113e-01 9.04267600e-03 -6.16445035e-03 8.13306344e-01] [-9.03971507e-03 9.99959012e-01 5.08017436e-04 -8.12297181e-02] [ 6.16879152e-03 -4.52262137e-04 9.99980871e-01 -6.11392589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80463044 meters 0.27136643313722786 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 9.99962048e-01 4.94258484e-04 -8.69816691e-03 7.95854506e-01] [-4.81535301e-04 9.99998811e-01 1.46477658e-03 -8.06653141e-02] [ 8.69888055e-03 -1.46053251e-03 9.99961097e-01 -6.32788011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86463044 meters 0.27203114150256674 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 9.99962283e-01 4.58221608e-04 -8.67311216e-03 7.95696048e-01] [-4.46243102e-04 9.99998944e-01 1.38299296e-03 -8.03014101e-02] [ 8.67373672e-03 -1.37907048e-03 9.99961431e-01 -6.31009695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92463044 meters 0.2707215435511077 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 9.99962402e-01 4.34292753e-04 -8.66057068e-03 7.95368557e-01] [-4.22786519e-04 9.99999026e-01 1.33036350e-03 -8.00164316e-02] [ 8.66114001e-03 -1.32665191e-03 9.99961612e-01 -6.25265273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98463044 meters 0.27144047189535614 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 9.99961970e-01 3.74227617e-04 -8.71307417e-03 7.95731513e-01] [-3.63859166e-04 9.99999224e-01 1.19154250e-03 -7.94409335e-02] [ 8.71351332e-03 -1.18832686e-03 9.99961331e-01 -6.30158018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04463043999999 meters 0.2701032699632283 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 9.99960625e-01 2.87949387e-04 -8.86933117e-03 7.96096514e-01] [-2.79110994e-04 9.99999463e-01 9.97733440e-04 -7.86196673e-02] [ 8.86961371e-03 -9.95218627e-04 9.99960169e-01 -6.30264685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10463044 meters 0.27198758442395415 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.06 [[ 0.99995334 0.00604898 -0.0075318 0.81851919] [-0.00606732 0.99997868 -0.0024151 -0.07799661] [ 0.00751703 0.00246069 0.99996872 -0.0634055 ] [ 0. 0. 0. 1. ]] SLAMing on 68.16463044 meters 0.27103629883118335 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:-0.06 [[ 0.99995055 -0.00265965 -0.00958262 0.79996521] [ 0.0026491 0.99999587 -0.00111321 -0.08057364] [ 0.00958554 0.00108777 0.99995347 -0.06480282] [ 0. 0. 0. 1. ]] SLAMing on 68.22463044 meters 0.2686426777401287 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.07 [[ 0.99992577 -0.00496175 -0.01112835 0.75831867] [ 0.00494137 0.99998607 -0.00185759 -0.09080337] [ 0.01113741 0.00180246 0.99993635 -0.06538734] [ 0. 0. 0. 1. ]] SLAMing on 68.28463044 meters 0.26812274748781145 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.06 [[ 0.99992944 -0.00473598 -0.01089412 0.7574423 ] [ 0.00472264 0.99998807 -0.00125057 -0.09335506] [ 0.01089992 0.00119903 0.99993988 -0.06463296] [ 0. 0. 0. 1. ]] SLAMing on 68.34463044 meters 0.2706401441254557 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.06 [[ 0.9999496 0.00348506 -0.00941596 0.77609197] [-0.00350255 0.99999217 -0.00184231 -0.10085906] [ 0.00940947 0.0018752 0.99995397 -0.06294529] [ 0. 0. 0. 1. ]] SLAMing on 68.40463043999999 meters 0.27056538131669644 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.10, Z:-0.06 [[ 0.9999483 0.00376389 -0.00944604 0.77621937] [-0.00377524 0.99999217 -0.00118363 -0.10355284] [ 0.00944152 0.00121923 0.99995468 -0.06302304] [ 0. 0. 0. 1. ]] SLAMing on 68.46463044 meters 0.2702286148337349 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.11, Z:-0.06 [[ 9.99955336e-01 -2.13306406e-04 -9.44888541e-03 7.76229638e-01] [ 1.69800437e-04 9.99989383e-01 -4.60491229e-03 -1.07304222e-01] [ 9.44976735e-03 4.60310219e-03 9.99944755e-01 -6.30299677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52463044 meters 0.2693208569984252 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.06 [[ 0.9999807 -0.00138727 -0.00605639 0.73602298] [ 0.00137556 0.99999718 -0.00193747 -0.12396865] [ 0.00605906 0.0019291 0.99997978 -0.06497361] [ 0. 0. 0. 1. ]] SLAMing on 68.58463044 meters 0.2690740920552028 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.06 [[ 9.99981858e-01 -9.13838178e-04 -5.95385308e-03 7.35779410e-01] [ 9.08939154e-04 9.99999246e-01 -8.25486416e-04 -1.28631968e-01] [ 5.95460295e-03 8.20059750e-04 9.99981935e-01 -6.49533745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64463044 meters 0.27133871563737966 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 9.99979758e-01 -5.08423974e-04 -6.34230559e-03 7.37348539e-01] [ 5.08857490e-04 9.99999868e-01 6.67396215e-05 -1.32854668e-01] [ 6.34227083e-03 -6.99656002e-05 9.99979885e-01 -6.59419240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70463044 meters 0.2713293518633152 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 9.99977100e-01 -3.48253119e-04 -6.75860090e-03 7.38719784e-01] [ 3.51706864e-04 9.99999808e-01 5.09833025e-04 -1.34623799e-01] [ 6.75842205e-03 -5.12198396e-04 9.99977030e-01 -6.68929531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76463043999999 meters 0.27177714320763335 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 9.99976289e-01 -3.16570117e-04 -6.87898549e-03 7.39291534e-01] [ 3.20605931e-04 9.99999777e-01 5.85592600e-04 -1.34996228e-01] [ 6.87879857e-03 -5.87784159e-04 9.99976168e-01 -6.74752209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82463043999999 meters 0.271212651788485 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99976255e-01 -1.45375029e-04 -6.88974261e-03 7.39604641e-01] [ 1.52362191e-04 9.99999475e-01 1.01362576e-03 -1.36719016e-01] [ 6.88959164e-03 -1.01465143e-03 9.99975752e-01 -6.80137809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88463044 meters 0.271414417828744 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99978071e-01 4.83624906e-05 -6.62231219e-03 7.38202743e-01] [-3.52046685e-05 9.99998025e-01 1.98699461e-03 -1.40998078e-01] [ 6.62239521e-03 -1.98671790e-03 9.99976098e-01 -6.63896470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94463044 meters 0.2719242279398529 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99977827e-01 3.36004388e-04 -6.65071054e-03 7.38231895e-01] [-3.17372123e-04 9.99996023e-01 2.80240230e-03 -1.44257450e-01] [ 6.65162571e-03 -2.80022941e-03 9.99973957e-01 -6.63009940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00463044 meters 0.272513043014706 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.07 [[ 9.99978355e-01 5.24618276e-04 -6.55856547e-03 7.38123088e-01] [-5.03391702e-04 9.99994632e-01 3.23769789e-03 -1.46092864e-01] [ 6.56022882e-03 -3.23432628e-03 9.99973251e-01 -6.64631859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06463044 meters 0.27266856126101763 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.07 [[ 9.99978490e-01 6.44650584e-04 -6.52722506e-03 7.38085589e-01] [-6.21337845e-04 9.99993424e-01 3.57301366e-03 -1.47377536e-01] [ 6.52948548e-03 -3.56888120e-03 9.99972314e-01 -6.64537556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12463044 meters 0.2735025226713451 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.07 [[ 9.99978254e-01 6.34062184e-04 -6.56418504e-03 7.37968135e-01] [-6.10816272e-04 9.99993538e-01 3.54272415e-03 -1.47301414e-01] [ 6.56638893e-03 -3.53863761e-03 9.99972180e-01 -6.60692401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18463043999999 meters 0.27514839313543343 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.15, Z:-0.07 [[ 9.99980241e-01 5.42880574e-04 -6.26283274e-03 7.37335104e-01] [-5.22404039e-04 9.99994515e-01 3.27070523e-03 -1.46181953e-01] [ 6.26457398e-03 -3.26736887e-03 9.99975039e-01 -6.61951236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24463044 meters 0.27459968103006765 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99982058e-01 3.85598524e-04 -5.97788394e-03 7.36765630e-01] [-3.68617281e-04 9.99995895e-01 2.84151959e-03 -1.44394507e-01] [ 5.97895509e-03 -2.83926505e-03 9.99978095e-01 -6.64313653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30463044 meters 0.2742601604512807 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99982143e-01 1.65639126e-04 -5.97382694e-03 7.36592100e-01] [-1.52362547e-04 9.99997518e-01 2.22284448e-03 -1.41835085e-01] [ 5.97418030e-03 -2.22189459e-03 9.99979686e-01 -6.61806721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36463044 meters 0.2734827449129666 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.14, Z:-0.07 [[ 9.99980552e-01 -2.29752640e-04 -6.23246477e-03 7.37801138e-01] [ 2.35077470e-04 9.99999608e-01 8.53650726e-04 -1.36544440e-01] [ 6.23226620e-03 -8.55099236e-04 9.99980214e-01 -6.76135791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42463044 meters 0.2731208907229261 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 9.99981795e-01 -5.29123458e-04 -6.01077717e-03 7.37634505e-01] [ 5.29343071e-04 9.99999859e-01 3.49458030e-05 -1.33294986e-01] [ 6.01075784e-03 -3.81269300e-05 9.99981935e-01 -6.83472822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48463044 meters 0.27426534750357945 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 9.99981177e-01 -9.69053499e-04 -6.05855749e-03 7.37583395e-01] [ 9.63220934e-04 9.99999070e-01 -9.65542335e-04 -1.29143279e-01] [ 6.05948752e-03 9.59688432e-04 9.99981181e-01 -6.81601262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54463043999999 meters 0.2748562658872519 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 0.99998111 -0.00104537 -0.00605778 0.7374879 ] [ 0.00103842 0.9999988 -0.00115118 -0.12836654] [ 0.00605897 0.00114487 0.99998099 -0.06798253] [ 0. 0. 0. 1. ]] SLAMing on 69.60463044 meters 0.27408834334632803 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.07 [[ 0.99998138 -0.00121493 -0.00598103 0.7373273 ] [ 0.00120573 0.99999809 -0.00154121 -0.12675331] [ 0.00598289 0.00153397 0.99998093 -0.06806123] [ 0. 0. 0. 1. ]] SLAMing on 69.66463044 meters 0.27252518696358147 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.07 [[ 0.99998086 -0.0018012 -0.00591867 0.73780397] [ 0.00178465 0.99999449 -0.00279982 -0.12149264] [ 0.00592368 0.0027892 0.99997856 -0.06919084] [ 0. 0. 0. 1. ]] SLAMing on 69.72463044 meters 0.2709336748700474 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.07 [[ 9.99989973e-01 1.70146777e-04 -4.47497198e-03 7.32071269e-01] [-1.76607602e-04 9.99998943e-01 -1.44341328e-03 -1.15541525e-01] [ 4.47472166e-03 1.44418912e-03 9.99988946e-01 -6.59120253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78463044 meters 0.27162288459519746 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99990012e-01 -2.85644111e-04 -4.46034151e-03 7.31946603e-01] [ 2.74566072e-04 9.99996877e-01 -2.48408995e-03 -1.11273108e-01] [ 4.46103714e-03 2.48284048e-03 9.99986967e-01 -6.58498567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84463044 meters 0.27123481004893224 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99990798e-01 -4.49048741e-04 -4.26650039e-03 7.31496404e-01] [ 4.36843197e-04 9.99995811e-01 -2.86128708e-03 -1.09645923e-01] [ 4.26776738e-03 2.85939696e-03 9.99986805e-01 -6.58931661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90463043999999 meters 0.27175873787111 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99990965e-01 -5.74348300e-04 -4.21181870e-03 7.31006700e-01] [ 5.61044016e-04 9.99994852e-01 -3.15929943e-03 -1.08339848e-01] [ 4.21361156e-03 3.15690787e-03 9.99986140e-01 -6.52238853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96463044 meters 0.2714167156894895 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.07 [[ 9.99953375e-01 -5.60078928e-03 -7.86630166e-03 7.12076581e-01] [ 5.60451263e-03 9.99984193e-01 4.51365577e-04 -1.07315440e-01] [ 7.86364931e-03 -4.95431319e-04 9.99968958e-01 -6.57584280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02463044 meters 0.27187322863476315 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99960687e-01 3.74377667e-03 -8.03793130e-03 7.34590019e-01] [-3.74444026e-03 9.99992987e-01 -6.75092744e-05 -1.07014897e-01] [ 8.03762219e-03 9.76041740e-05 9.99967693e-01 -6.58137761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08463044 meters 0.27260781087364866 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99961491e-01 3.56367019e-03 -8.01975449e-03 7.34644418e-01] [-3.56833719e-03 9.99993472e-01 -5.67704309e-04 -1.05015477e-01] [ 8.01767903e-03 5.96299636e-04 9.99967680e-01 -6.60591671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14463044 meters 0.27490391915018775 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.07 [[ 0.99997573 -0.00184058 -0.00671958 0.75745491] [ 0.00185533 0.99999588 0.0021897 -0.10150892] [ 0.00671552 -0.00220212 0.99997503 -0.06735287] [ 0. 0. 0. 1. ]] SLAMing on 70.20463044 meters 0.27385384186095146 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.07 [[ 0.99997653 -0.00193749 -0.00657198 0.75692964] [ 0.00195039 0.99999618 0.00195704 -0.10047208] [ 0.00656816 -0.00196981 0.99997649 -0.06703515] [ 0. 0. 0. 1. ]] SLAMing on 70.26463043999999 meters 0.2712447651325335 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.07 [[ 0.99997611 -0.00224783 -0.00653596 0.75734887] [ 0.00225552 0.99999677 0.0011696 -0.09729551] [ 0.00653331 -0.00118432 0.99997796 -0.06809895] [ 0. 0. 0. 1. ]] SLAMing on 70.32463043999999 meters 0.2716534334361938 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.10, Z:-0.07 [[ 9.99976451e-01 -2.43381749e-03 -6.41671647e-03 7.57119563e-01] [ 2.43870146e-03 9.99996743e-01 7.53417832e-04 -9.55087916e-02] [ 6.41486189e-03 -7.69048546e-04 9.99979129e-01 -6.82450390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38463044 meters 0.272417138266197 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.07 [[ 9.99976740e-01 -2.61970187e-03 -6.29737873e-03 7.56722258e-01] [ 2.62175920e-03 9.99996512e-01 3.18464428e-04 -9.36761191e-02] [ 6.29652248e-03 -3.34967231e-04 9.99980121e-01 -6.80752200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44463044 meters 0.27455687506700444 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.07 [[ 9.99975516e-01 -2.71426616e-03 -6.44978219e-03 7.57171629e-01] [ 2.71490531e-03 9.99996311e-01 9.03435607e-05 -9.27709177e-02] [ 6.44951317e-03 -1.07851897e-04 9.99979196e-01 -6.82650692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50463044 meters 0.2720003356976853 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.07 [[ 9.99973850e-01 -3.00630692e-03 -6.57735344e-03 7.57867265e-01] [ 3.00217070e-03 9.99995290e-01 -6.38641361e-04 -8.97948695e-02] [ 6.57924241e-03 6.18878322e-04 9.99978165e-01 -6.91303406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56463044 meters 0.2744301902320925 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.09, Z:-0.07 [[ 0.9999793 0.00493538 -0.00412809 0.77722174] [-0.00494537 0.99998486 -0.00241467 -0.0850183 ] [ 0.00411611 0.00243504 0.99998856 -0.06815079] [ 0. 0. 0. 1. ]] SLAMing on 70.62463043999999 meters 0.27089592914106875 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.07 [[ 9.99991456e-01 -8.24710312e-04 -4.05053610e-03 7.54420046e-01] [ 8.28363624e-04 9.99999252e-01 9.00338214e-04 -8.14220277e-02] [ 4.04979055e-03 -9.03685839e-04 9.99991391e-01 -6.80225270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68463043999999 meters 0.272570241022623 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.08, Z:-0.07 [[ 0.99998397 0.00537696 -0.00177178 0.77538448] [-0.0053817 0.99998191 -0.00268481 -0.07563452] [ 0.00175731 0.0026943 0.99999483 -0.06853552] [ 0. 0. 0. 1. ]] SLAMing on 70.74463044 meters 0.2709431441849694 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.07 [[ 9.99998398e-01 -1.37847036e-03 -1.14226633e-03 7.52558304e-01] [ 1.37846942e-03 9.99999050e-01 -1.61432995e-06 -7.39018806e-02] [ 1.14226747e-03 3.97481574e-08 9.99999348e-01 -6.81080821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80463044 meters 0.2700490337373568 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.07 [[ 9.99998381e-01 -1.44577704e-03 -1.07123649e-03 7.52407778e-01] [ 1.44559529e-03 9.99998941e-01 -1.70417655e-04 -7.31776692e-02] [ 1.07148174e-03 1.68868804e-04 9.99999412e-01 -6.81440590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86463044 meters 0.2753961228222475 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 9.99999465e-01 -9.05852127e-04 -5.00406258e-04 7.98179754e-01] [ 9.05865161e-04 9.99999589e-01 2.58199837e-05 -7.03106251e-02] [ 5.00382664e-04 -2.62732705e-05 9.99999874e-01 -6.99341327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92463044 meters 0.2720035051803209 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.07, Z:-0.07 [[ 9.99999476e-01 -8.35598113e-04 -5.90958487e-04 7.98248017e-01] [ 8.35715538e-04 9.99999631e-01 1.98484334e-04 -7.10405437e-02] [ 5.90792416e-04 -1.98978103e-04 9.99999806e-01 -6.96120960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98463044 meters 0.2691366431801104 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.07 [[ 9.99998216e-01 -1.04107092e-03 -1.57616232e-03 7.53721531e-01] [ 1.04233668e-03 9.99999135e-01 8.02456447e-04 -7.55371757e-02] [ 1.57532554e-03 -8.04097907e-04 9.99998436e-01 -6.87003978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04463043999999 meters 0.26956480545790096 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.07 [[ 9.99998032e-01 -9.71713342e-04 -1.72982175e-03 7.54353141e-01] [ 9.73444735e-04 9.99999026e-01 1.00034781e-03 -7.64213728e-02] [ 1.72884801e-03 -1.00202973e-03 9.99998004e-01 -6.92653684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10463044 meters 0.27080031657941045 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.07 [[ 9.99998049e-01 -8.23618975e-04 -1.79563789e-03 7.54706336e-01] [ 8.26134264e-04 9.99998678e-01 1.40048616e-03 -7.80487968e-02] [ 1.79448205e-03 -1.40196686e-03 9.99997407e-01 -6.96497717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16463044 meters 0.27001500859354366 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.07 [[ 0.99998657 -0.004869 -0.00177779 0.7546109 ] [ 0.00486506 0.99998571 -0.00221447 -0.08099144] [ 0.00178855 0.00220579 0.99999597 -0.06944241] [ 0. 0. 0. 1. ]] SLAMing on 71.22463044 meters 0.27154181985151477 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.07 [[ 0.99998723 -0.00463529 -0.00201539 0.75540679] [ 0.00463203 0.99998796 -0.00161909 -0.08351549] [ 0.00202287 0.00160973 0.99999666 -0.06987095] [ 0. 0. 0. 1. ]] SLAMing on 71.28463044 meters 0.26948555886959985 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.09, Z:-0.07 [[ 0.99999254 0.00371752 0.00104711 0.73269275] [-0.00371632 0.99999244 -0.00114767 -0.09327528] [-0.00105137 0.00114377 0.99999879 -0.07085179] [ 0. 0. 0. 1. ]] SLAMing on 71.34463044 meters 0.2687438199981823 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.07 [[ 9.99991634e-01 3.94097151e-03 1.09605825e-03 7.32551004e-01] [-3.94031562e-03 9.99992057e-01 -5.99918281e-04 -9.55898830e-02] [-1.09841381e-03 5.95594446e-04 9.99999219e-01 -7.07656651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40463043999999 meters 0.2701149944827974 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.07 [[ 0.99999555 -0.00226471 0.00194221 0.75421923] [ 0.00225995 0.99999444 0.00245057 -0.0963306 ] [-0.00194775 -0.00244617 0.99999511 -0.07142323] [ 0. 0. 0. 1. ]] SLAMing on 71.46463044 meters 0.26868114854965436 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.07 [[ 0.99998113 0.00558332 0.00256292 0.73429596] [-0.00558711 0.99998331 0.00147185 -0.1010552 ] [-0.00255466 -0.00148614 0.99999563 -0.07289464] [ 0. 0. 0. 1. ]] SLAMing on 71.52463044 meters 0.2687897053009799 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.07 [[ 0.99998052 0.00560475 0.0027487 0.73360069] [-0.00560894 0.99998311 0.00152163 -0.10125972] [-0.00274013 -0.00153701 0.99999506 -0.07231965] [ 0. 0. 0. 1. ]] SLAMing on 71.58463044 meters 0.2712812327097549 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.07 [[ 0.99999414 -0.00196923 0.00279966 0.75258545] [ 0.00196107 0.99999382 0.00291726 -0.09644218] [-0.00280538 -0.00291175 0.99999183 -0.07045534] [ 0. 0. 0. 1. ]] SLAMing on 71.64463044 meters 0.27152765937091267 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.07 [[ 0.99999502 -0.00192849 0.00250002 0.75364998] [ 0.00192089 0.99999354 0.00303856 -0.09711189] [-0.00250586 -0.00303375 0.99999226 -0.07124619] [ 0. 0. 0. 1. ]] SLAMing on 71.70463044 meters 0.2693814732013752 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.10, Z:-0.07 [[ 9.99996547e-01 2.62442260e-03 1.38426246e-04 7.32808685e-01] [-2.62436010e-03 9.99996455e-01 -4.49746386e-04 -1.00905324e-01] [-1.39606080e-04 4.49381553e-04 9.99999889e-01 -7.08149128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76463043999999 meters 0.26817970334213764 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.11, Z:-0.07 [[ 9.99994985e-01 3.14764116e-03 3.49442743e-04 7.31998432e-01] [-3.14803504e-03 9.99994404e-01 1.13239625e-03 -1.07580494e-01] [-3.45876410e-04 -1.13349063e-03 9.99999298e-01 -7.01543124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82463043999999 meters 0.26997398534966777 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.07 [[ 0.99998482 -0.00532382 0.00141775 0.75368991] [ 0.00532072 0.99998346 0.00218264 -0.11213876] [-0.00142934 -0.00217506 0.99999661 -0.07050624] [ 0. 0. 0. 1. ]] SLAMing on 71.88463044 meters 0.2684104197185913 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.07 [[ 9.99999580e-01 3.69105154e-04 -8.38459508e-04 7.33901962e-01] [-3.69335062e-04 9.99999894e-01 -2.74063969e-04 -1.20111044e-01] [ 8.38358261e-04 2.74373526e-04 9.99999611e-01 -7.05475251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94463044 meters 0.2692317389141038 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.07 [[ 9.99988876e-01 -4.71346496e-03 1.76888299e-04 7.57533618e-01] [ 4.71283531e-03 9.99983095e-01 3.40556914e-03 -1.22857064e-01] [-1.92937339e-04 -3.40469761e-03 9.99994185e-01 -7.19213473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00463044 meters 0.2700689512072768 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.07 [[ 9.99990598e-01 -4.31982692e-03 3.79233572e-04 7.56857640e-01] [ 4.31817432e-03 9.99981622e-01 4.25544421e-03 -1.26529202e-01] [-3.97609385e-04 -4.25376660e-03 9.99990874e-01 -7.15335073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06463044 meters 0.26943766309210865 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.07 [[ 9.99991709e-01 -4.07069151e-03 1.02377507e-04 7.57599578e-01] [ 4.07013276e-03 9.99979379e-01 4.96742544e-03 -1.29499814e-01] [-1.22596253e-04 -4.96696757e-03 9.99987657e-01 -7.16808283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12463043999999 meters 0.2683286623583706 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.13, Z:-0.07 [[ 9.99992844e-01 -3.78308064e-03 -2.83131567e-05 7.57749039e-01] [ 3.78318163e-03 9.99975641e-01 5.86561365e-03 -1.32916483e-01] [ 6.12237757e-06 -5.86567878e-03 9.99982797e-01 -7.13311989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18463043999999 meters 0.26815062129288175 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.07 [[ 9.99993700e-01 -3.54519304e-03 1.79730894e-04 7.56766962e-01] [ 3.54385274e-03 9.99969378e-01 6.97744015e-03 -1.37344934e-01] [-2.04461763e-04 -6.97675925e-03 9.99975641e-01 -7.01473094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24463044 meters 0.2669107130718565 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.07 [[ 0.99999787 0.00168718 0.00118732 0.73412498] [-0.00169235 0.99998903 0.00436828 -0.14483306] [-0.00117993 -0.00437028 0.99998975 -0.07022865] [ 0. 0. 0. 1. ]] SLAMing on 72.30463044 meters 0.2680852079523493 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.15, Z:-0.07 [[ 9.99970850e-01 7.61727445e-03 5.26055208e-04 7.55948059e-01] [-7.61814059e-03 9.99969596e-01 1.66459827e-03 -1.54789706e-01] [-5.13359512e-04 -1.66855731e-03 9.99998476e-01 -7.00260892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36463044 meters 0.268757755190025 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.07 [[ 9.99993346e-01 -3.24281455e-03 1.67069145e-03 7.73762044e-01] [ 3.24229171e-03 9.99994694e-01 3.15561441e-04 -1.54568796e-01] [-1.67170589e-03 -3.10142473e-04 9.99998555e-01 -6.82455840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42463044 meters 0.2677750648482046 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.07 [[ 0.99999424 -0.00290377 0.00175703 0.77338939] [ 0.00290178 0.99999515 0.00113404 -0.15795227] [-0.00176031 -0.00112894 0.99999781 -0.06793968] [ 0. 0. 0. 1. ]] SLAMing on 72.48463044 meters 0.26669523774270393 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.07 [[ 0.99999556 -0.00244246 0.00170663 0.77301267] [ 0.00243873 0.99999464 0.00218536 -0.1624494 ] [-0.00171195 -0.00218119 0.99999616 -0.06711311] [ 0. 0. 0. 1. ]] SLAMing on 72.54463043999999 meters 0.2678144772353139 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.17, Z:-0.07 [[ 0.99999594 -0.00218699 0.00182407 0.77272208] [ 0.00218185 0.99999366 0.00281306 -0.16502665] [-0.00183021 -0.00280906 0.99999438 -0.06703178] [ 0. 0. 0. 1. ]] SLAMing on 72.60463044 meters 0.265845757345106 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:-0.07 [[ 0.99999669 -0.00236288 0.00102123 0.77533759] [ 0.00235945 0.99999161 0.00334732 -0.16907504] [-0.00102913 -0.0033449 0.99999388 -0.06832386] [ 0. 0. 0. 1. ]] SLAMing on 72.66463044 meters 0.26610295861151156 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.17, Z:-0.07 [[ 9.99997853e-01 -1.97543885e-03 6.25339348e-04 7.76197358e-01] [ 1.97263643e-03 9.99988150e-01 4.45078298e-03 -1.73467444e-01] [-6.34124187e-04 -4.44953986e-03 9.99989900e-01 -6.82401908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72463044 meters 0.2678977146192828 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.18, Z:-0.07 [[ 9.99999002e-01 -1.37035531e-03 3.44752724e-04 7.76671003e-01] [ 1.36830127e-03 9.99981722e-01 5.88930132e-03 -1.79457464e-01] [-3.52816858e-04 -5.88882372e-03 9.99982598e-01 -6.78919812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78463044 meters 0.2683328313916955 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.19, Z:-0.07 [[ 9.99985041e-01 5.42056982e-03 7.31370212e-04 7.99299974e-01] [-5.42313624e-03 9.99978979e-01 3.55392796e-03 -1.86192108e-01] [-7.12090524e-04 -3.55784112e-03 9.99993417e-01 -6.90523568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84463044 meters 0.26706104490960864 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.19, Z:-0.07 [[ 0.99999398 -0.00287748 -0.00194134 0.78165717] [ 0.00288881 0.99997866 0.00585914 -0.19061916] [ 0.00192444 -0.00586472 0.99998095 -0.06992008] [ 0. 0. 0. 1. ]] SLAMing on 72.90463043999999 meters 0.26828833560823395 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.19, Z:-0.07 [[ 0.99999411 -0.00255063 -0.00229703 0.78289086] [ 0.00256573 0.99997496 0.00659491 -0.19393355] [ 0.00228015 -0.00660077 0.99997562 -0.07046696] [ 0. 0. 0. 1. ]] SLAMing on 72.96463044 meters 0.2680280602954356 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.19, Z:-0.07 [[ 0.999995 -0.00244006 -0.002013 0.78228153] [ 0.0024539 0.99997318 0.00690009 -0.19498215] [ 0.00199611 -0.00690499 0.99997417 -0.07036399] [ 0. 0. 0. 1. ]] SLAMing on 73.02463044 meters 0.26701396181013454 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.19, Z:-0.07 [[ 0.99999513 -0.00255141 -0.00179971 0.78171535] [ 0.00256309 0.99997549 0.00651527 -0.19341949] [ 0.00178304 -0.00651985 0.99997716 -0.07014528] [ 0. 0. 0. 1. ]] SLAMing on 73.08463044 meters 0.2692084568213984 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.19, Z:-0.07 [[ 9.99984910e-01 5.40349014e-03 9.91488467e-04 8.00893352e-01] [-5.40750469e-03 9.99977007e-01 4.09202058e-03 -1.88714879e-01] [-9.69354477e-04 -4.09732030e-03 9.99991136e-01 -7.06896063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14463044 meters 0.26734517342157604 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:-0.07 [[ 0.99999134 0.00345986 0.00231297 0.7965902 ] [-0.00346305 0.99999306 0.00137468 -0.1825997 ] [-0.0023082 -0.00138268 0.99999638 -0.06864398] [ 0. 0. 0. 1. ]] SLAMing on 73.20463044 meters 0.26965442873652934 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:-0.07 [[ 0.99999457 -0.00202635 0.00259734 0.82017357] [ 0.0020158 0.99998973 0.0040589 -0.17953816] [-0.00260554 -0.00405364 0.99998839 -0.07030932] [ 0. 0. 0. 1. ]] SLAMing on 73.26463043999999 meters 0.269670611846492 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:-0.07 [[ 0.9999875 0.0046008 -0.0019582 0.80492019] [-0.00459533 0.99998555 0.00278887 -0.18272329] [ 0.001971 -0.00277983 0.99999419 -0.07236977] [ 0. 0. 0. 1. ]] SLAMing on 73.32463043999999 meters 0.27027445232585523 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.07 [[ 0.99998651 0.0046778 -0.00225745 0.80560532] [-0.00467101 0.99998457 0.00300534 -0.18361309] [ 0.00227148 -0.00299476 0.99999294 -0.0723695 ] [ 0. 0. 0. 1. ]] SLAMing on 73.38463044 meters 0.26787931686566896 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.07 [[ 0.99998651 0.00464868 -0.00231893 0.80572506] [-0.00464186 0.99998492 0.00293598 -0.18332905] [ 0.00233255 -0.00292517 0.999993 -0.07231584] [ 0. 0. 0. 1. ]] SLAMing on 73.44463044 meters 0.26888974664575016 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.07 [[ 0.99998737 0.00453002 -0.00217716 0.8053415 ] [-0.00452439 0.99998642 0.00258745 -0.18197085] [ 0.00218885 -0.00257756 0.99999428 -0.07214883] [ 0. 0. 0. 1. ]] SLAMing on 73.50463044 meters 0.2685515546587887 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.07 [[ 0.99998869 -0.00446735 -0.00163375 0.78588808] [ 0.00447341 0.99998306 0.00372458 -0.177599 ] [ 0.00161708 -0.00373185 0.99999173 -0.07359392] [ 0. 0. 0. 1. ]] SLAMing on 73.56463044 meters 0.26833372173238695 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.18, Z:-0.07 [[ 0.99998766 -0.00464583 -0.00176159 0.78633822] [ 0.00465144 0.99998409 0.00318977 -0.17554126] [ 0.00174674 -0.00319793 0.99999336 -0.07399946] [ 0. 0. 0. 1. ]] SLAMing on 73.62463043999999 meters 0.27141669715341976 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.07 [[ 0.9999911 0.00409394 -0.00101637 0.80540965] [-0.00409251 0.99999063 0.00140936 -0.17454401] [ 0.00102213 -0.00140518 0.99999849 -0.0724086 ] [ 0. 0. 0. 1. ]] SLAMing on 73.68463043999999 meters 0.2703406409228292 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:-0.07 [[ 9.99994425e-01 -3.31675242e-03 -3.87147855e-04 8.25222402e-01] [ 3.31767866e-03 9.99991576e-01 2.41685134e-03 -1.70940113e-01] [ 3.79128496e-04 -2.41812230e-03 9.99997004e-01 -7.06421382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74463044 meters 0.26944732298305923 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99994871e-01 -3.20250912e-03 -4.34647412e-05 8.24136237e-01] [ 3.20261513e-03 9.99991201e-01 2.70956765e-03 -1.71935134e-01] [ 3.47869436e-05 -2.70969295e-03 9.99996328e-01 -6.99661128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80463044 meters 0.26892286398189863 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99994796e-01 -3.22476548e-03 -9.52157021e-05 8.24379936e-01] [ 3.22500677e-03 9.99991280e-01 2.65320207e-03 -1.71727545e-01] [ 8.66589174e-05 -2.65349534e-03 9.99996476e-01 -7.02342508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86463044 meters 0.26902715333704147 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99994492e-01 -3.30621564e-03 -2.90911904e-04 8.24944842e-01] [ 3.30691871e-03 9.99991530e-01 2.45042653e-03 -1.70949812e-01] [ 2.82807801e-04 -2.45137505e-03 9.99996955e-01 -7.04731295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92463044 meters 0.26868657820712577 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99994339e-01 -3.36065023e-03 -1.66775489e-04 8.24617401e-01] [ 3.36102707e-03 9.99991676e-01 2.31321802e-03 -1.70341134e-01] [ 1.59000184e-04 -2.31376546e-03 9.99997311e-01 -7.04129015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98463044 meters 0.2698532470554586 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.17, Z:-0.07 [[ 9.99991297e-01 3.85040370e-03 1.60614165e-03 8.44271609e-01] [-3.84953478e-03 9.99992443e-01 -5.43739986e-04 -1.70993027e-01] [-1.60822313e-03 5.37552356e-04 9.99998562e-01 -7.05140001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04463043999999 meters 0.26959406235989114 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.18, Z:-0.07 [[ 0.99999299 -0.00343293 -0.00149532 0.82465033] [ 0.0034362 0.99999169 0.00219301 -0.17557993] [ 0.00148778 -0.00219813 0.99999648 -0.06970892] [ 0. 0. 0. 1. ]] SLAMing on 74.10463044 meters 0.2715652461031719 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.18, Z:-0.07 [[ 9.99982030e-01 5.97043096e-03 -5.42314660e-04 8.45021376e-01] [-5.96940912e-03 9.99980441e-01 1.86669095e-03 -1.78626751e-01] [ 5.53449002e-04 -1.86342011e-03 9.99998111e-01 -6.94654390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16463044 meters 0.26785504769521223 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99991930e-01 -3.97561224e-03 5.78328993e-04 8.23151676e-01] [ 3.97448281e-03 9.99990218e-01 1.94113401e-03 -1.74553311e-01] [-5.86040532e-04 -1.93881979e-03 9.99997949e-01 -6.92550721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22463044 meters 0.27200843149186543 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99991738e-01 -4.05833807e-03 2.34119021e-04 8.24239195e-01] [ 4.05794437e-03 9.99990392e-01 1.65829228e-03 -1.73368718e-01] [-2.40846682e-04 -1.65732853e-03 9.99998598e-01 -7.00848499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28463044 meters 0.27217874774849565 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.17, Z:-0.07 [[ 9.99991022e-01 -4.23469032e-03 1.54717861e-04 8.24369829e-01] [ 4.23451101e-03 9.99990383e-01 1.14144157e-03 -1.71364497e-01] [-1.59550024e-04 -1.14077617e-03 9.99999337e-01 -6.99940995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34463044 meters 0.27326335194334483 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.18, Z:-0.07 [[ 9.99994504e-01 3.19033487e-03 9.02461276e-04 8.04692353e-01] [-3.19031763e-03 9.99994911e-01 -2.05367684e-05 -1.76040567e-01] [-9.02522202e-04 1.76575174e-05 9.99999593e-01 -7.11233064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40463043999999 meters 0.27226614891461043 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:-0.07 [[ 9.99988803e-01 -4.38454635e-03 -1.78012210e-03 8.27209481e-01] [ 4.38489303e-03 9.99990368e-01 1.90889726e-04 -1.69127973e-01] [ 1.77926799e-03 -1.98693233e-04 9.99998397e-01 -7.05950640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46463044 meters 0.27209196042060335 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.17, Z:-0.07 [[ 9.99988005e-01 -4.54123008e-03 -1.83473591e-03 8.27214722e-01] [ 4.54089598e-03 9.99989673e-01 -1.86221414e-04 -1.67575662e-01] [ 1.83556263e-03 1.77887836e-04 9.99998300e-01 -7.03997297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52463044 meters 0.2707257461220958 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.16, Z:-0.07 [[ 9.99987006e-01 -4.78971018e-03 -1.74569883e-03 8.26892622e-01] [ 4.78825375e-03 9.99988186e-01 -8.37522530e-04 -1.64940946e-01] [ 1.74968970e-03 8.29152798e-04 9.99998126e-01 -7.02434190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58463044 meters 0.27055836899501545 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.16, Z:-0.07 [[ 0.99998889 0.00259784 -0.00393323 0.80789058] [-0.00260916 0.99999246 -0.00287665 -0.1595646 ] [ 0.00392573 0.00288688 0.99998813 -0.07157636] [ 0. 0. 0. 1. ]] SLAMing on 74.64463044 meters 0.2724027389753064 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.15, Z:-0.07 [[ 0.99998198 -0.00484192 -0.00354993 0.82702271] [ 0.00483298 0.99998514 -0.00252033 -0.14969878] [ 0.00356208 0.00250313 0.99999052 -0.07018866] [ 0. 0. 0. 1. ]] SLAMing on 74.70463044 meters 0.27040632062325076 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.07 [[ 9.99995439e-01 -2.58013664e-03 -1.57011001e-03 8.21052303e-01] [ 2.57868756e-03 9.99996248e-01 -9.24238942e-04 -1.43663096e-01] [ 1.57248878e-03 9.20185903e-04 9.99998340e-01 -6.76647281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76463043999999 meters 0.26931501592477447 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.07 [[ 0.99999479 -0.00284352 -0.0015247 0.82119216] [ 0.00284116 0.99999477 -0.00154617 -0.14119149] [ 0.00152909 0.00154183 0.99999764 -0.06820273] [ 0. 0. 0. 1. ]] SLAMing on 74.82463043999999 meters 0.26939570494237297 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.07 [[ 0.99999283 -0.00334604 -0.00177257 0.82222159] [ 0.00334102 0.99999042 -0.00282822 -0.1358656 ] [ 0.00178202 0.00282228 0.99999443 -0.06911565] [ 0. 0. 0. 1. ]] SLAMing on 74.88463044 meters 0.27102883559649943 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998412e-01 -1.55505698e-03 8.70660033e-04 8.63569142e-01] [ 1.55723084e-03 9.99995658e-01 -2.50171082e-03 -1.29103689e-01] [-8.66765950e-04 2.50306266e-03 9.99996492e-01 -6.83401119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94463044 meters 0.26893478934011084 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998331e-01 -1.61180466e-03 8.60093529e-04 8.63271676e-01] [ 1.61408037e-03 9.99995181e-01 -2.65177824e-03 -1.28497423e-01] [-8.55815236e-04 2.65316207e-03 9.99996114e-01 -6.77222283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00463044 meters 0.2689439492356901 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998325e-01 -1.64646156e-03 7.99086081e-04 8.63789972e-01] [ 1.64864284e-03 9.99994896e-01 -2.73677967e-03 -1.28186962e-01] [-7.94576000e-04 2.73809249e-03 9.99995936e-01 -6.85152782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06463044 meters 0.27007158442944174 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998246e-01 -1.72006212e-03 7.40596590e-04 8.63915898e-01] [ 1.72221974e-03 9.99994246e-01 -2.92264440e-03 -1.27455509e-01] [-7.35565198e-04 2.92391475e-03 9.99995455e-01 -6.84956821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12463043999999 meters 0.2702945217351194 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998187e-01 -1.79214107e-03 6.43845557e-04 8.64328258e-01] [ 1.79413651e-03 9.99993548e-01 -3.11215060e-03 -1.26718410e-01] [-6.38263990e-04 3.11330010e-03 9.99994950e-01 -6.89152060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18463043999999 meters 0.27025223468272497 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998293e-01 -1.74045300e-03 6.20731148e-04 8.64430006e-01] [ 1.74230105e-03 9.99994015e-01 -2.98920546e-03 -1.27239241e-01] [-6.15524861e-04 2.99028185e-03 9.99995340e-01 -6.90012692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24463044 meters 0.2695767688749785 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 9.99998304e-01 -1.70402129e-03 6.98787804e-04 8.64027509e-01] [ 1.70604141e-03 9.99994338e-01 -2.90055791e-03 -1.27586356e-01] [-6.93841235e-04 2.90174516e-03 9.99995549e-01 -6.85187225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30463044 meters 0.2700617611806154 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 0.99999809 -0.00156651 0.00117122 0.86223476] [ 0.00156966 0.99999514 -0.00269492 -0.12800184] [-0.00116699 0.00269675 0.99999568 -0.06667013] [ 0. 0. 0. 1. ]] SLAMing on 75.36463044 meters 0.2693935050094806 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:-0.07 [[ 0.99999802 -0.00154212 0.00125668 0.86205589] [ 0.00154543 0.99999532 -0.0026386 -0.12824938] [-0.00125261 0.00264054 0.99999573 -0.06671016] [ 0. 0. 0. 1. ]] SLAMing on 75.42463044 meters 0.2715002494820934 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999898e-01 3.60871934e-04 -2.70968280e-04 8.67297776e-01] [-3.60981044e-04 9.99999854e-01 -4.02725862e-04 -1.32373902e-01] [ 2.70822907e-04 4.02823636e-04 9.99999882e-01 -6.92658276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48463044 meters 0.2713730304076298 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999854e-01 4.22833705e-04 -3.36087006e-04 8.67479908e-01] [-4.22919270e-04 9.99999878e-01 -2.54562273e-04 -1.32993666e-01] [ 3.35979327e-04 2.54704373e-04 9.99999911e-01 -6.93010983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54463043999999 meters 0.2720482948615527 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999814e-01 4.61788464e-04 -3.98117054e-04 8.68218061e-01] [-4.61848252e-04 9.99999882e-01 -1.50100394e-04 -1.33485446e-01] [ 3.98047693e-04 1.50284236e-04 9.99999909e-01 -7.04830323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60463044 meters 0.27167892325599646 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999777e-01 5.35969631e-04 -3.98524943e-04 8.68075399e-01] [-5.35961585e-04 9.99999856e-01 2.02975308e-05 -1.34225069e-01] [ 3.98535764e-04 -2.00839322e-05 9.99999920e-01 -7.01691142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66463044 meters 0.2703646268406678 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.07 [[ 9.99999706e-01 6.59183395e-04 -3.91380834e-04 8.67943160e-01] [-6.59058047e-04 9.99999732e-01 3.20313691e-04 -1.35378492e-01] [ 3.91591875e-04 -3.20055654e-04 9.99999872e-01 -6.99712783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72463044 meters 0.2717346637185545 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.07 [[ 9.99999591e-01 7.15603633e-04 -5.52425242e-04 8.68398876e-01] [-7.15353186e-04 9.99999641e-01 4.53423258e-04 -1.35990042e-01] [ 5.52749515e-04 -4.53027893e-04 9.99999745e-01 -7.00970497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78463044 meters 0.27115088657330744 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.14, Z:-0.07 [[ 9.99999563e-01 6.84443734e-04 -6.36138670e-04 8.68528746e-01] [-6.84202014e-04 9.99999694e-01 3.80120325e-04 -1.35679373e-01] [ 6.36398646e-04 -3.79684911e-04 9.99999725e-01 -6.99754639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84463044 meters 0.2725950285597689 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999807e-01 6.04506135e-04 -1.40410086e-04 8.67228111e-01] [-6.04493252e-04 9.99999813e-01 9.17798315e-05 -1.34431607e-01] [ 1.40465542e-04 -9.16949369e-05 9.99999986e-01 -6.95459557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90463043999999 meters 0.27369059626118625 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99999824e-01 3.63983495e-04 -4.68550943e-04 8.68454789e-01] [-3.64253270e-04 9.99999768e-01 -5.75806887e-04 -1.31891472e-01] [ 4.68341250e-04 5.75977457e-04 9.99999724e-01 -7.06832560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96463044 meters 0.27225229129857986 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99990427e-01 4.33398775e-03 -6.01677266e-04 8.68651399e-01] [-4.33223240e-03 9.99986444e-01 2.88869505e-03 -1.28317791e-01] [ 6.14188678e-04 -2.88606079e-03 9.99995647e-01 -7.05459468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02463044 meters 0.2726925780846932 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.13, Z:-0.07 [[ 9.99991340e-01 4.13955294e-03 -4.29994484e-04 8.67879382e-01] [-4.13851905e-03 9.99988609e-01 2.37810337e-03 -1.26120110e-01] [ 4.39833871e-04 -2.37630323e-03 9.99997080e-01 -6.97909830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08463044 meters 0.2727256278722352 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99992752e-01 3.80023533e-03 -2.33288942e-04 8.67655212e-01] [-3.79988436e-03 9.99991675e-01 1.48688116e-03 -1.22517276e-01] [ 2.38937498e-04 -1.48598391e-03 9.99998867e-01 -7.03882340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14463044 meters 0.27211645333028306 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99993313e-01 3.63704737e-03 3.81422588e-04 8.65932745e-01] [-3.63723152e-03 9.99993268e-01 4.83227380e-04 -1.17382893e-01] [-3.79662499e-04 -4.84611471e-04 9.99999811e-01 -6.99372138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20463044 meters 0.2705356657847784 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.07 [[ 9.99994812e-01 3.19856963e-03 3.79703286e-04 8.65086570e-01] [-3.19835021e-03 9.99994719e-01 -5.77067779e-04 -1.12830285e-01] [-3.81547073e-04 5.75850362e-04 9.99999761e-01 -6.85104012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26463043999999 meters 0.27119355308674764 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.07 [[ 9.99995175e-01 3.07936708e-03 4.09825779e-04 8.65227977e-01] [-3.07902356e-03 9.99994910e-01 -8.36216959e-04 -1.11688429e-01] [-4.12398712e-04 8.34951060e-04 9.99999566e-01 -6.89309620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32463043999999 meters 0.27237028078178405 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.07 [[ 9.99994076e-01 -3.29471671e-03 9.96396083e-04 8.88677252e-01] [ 3.29349905e-03 9.99993831e-01 1.22124335e-03 -1.08990425e-01] [-1.00041359e-03 -1.21795449e-03 9.99998758e-01 -7.05631073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38463044 meters 0.2706767722911769 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99984335e-01 4.98739982e-03 2.54085247e-03 8.67298490e-01] [-4.98983309e-03 9.99987097e-01 9.52219530e-04 -1.15582394e-01] [-2.53607058e-03 -9.64883043e-04 9.99996319e-01 -7.04570309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44463044 meters 0.2721886344528203 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 0.99998498 0.00503062 0.00217756 0.86845512] [-0.00503303 0.99998673 0.00110005 -0.11625448] [-0.002172 -0.00111099 0.99999702 -0.07123638] [ 0. 0. 0. 1. ]] SLAMing on 76.50463044 meters 0.26913084077523974 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 0.99998522 0.0050352 0.00204956 0.86912963] [-0.0050375 0.99998669 0.00111767 -0.11633514] [-0.00204391 -0.00112798 0.99999728 -0.07201157] [ 0. 0. 0. 1. ]] SLAMing on 76.56463044 meters 0.2718143862930534 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99985579e-01 4.96509119e-03 2.04704581e-03 8.69192359e-01] [-4.96704816e-03 9.99987211e-01 9.52023517e-04 -1.15617054e-01] [-2.04229274e-03 -9.62177562e-04 9.99997452e-01 -7.21345815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62463043999999 meters 0.271123352596874 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99985771e-01 4.94598462e-03 1.99892671e-03 8.69198002e-01] [-4.94780864e-03 9.99987347e-01 9.08589314e-04 -1.15414155e-01] [-1.99440755e-03 -9.18466692e-04 9.99997589e-01 -7.19259558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68463043999999 meters 0.27227220455309464 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.07 [[ 0.99999248 -0.00330456 0.00203096 0.8906898 ] [ 0.00330179 0.99999362 0.00136539 -0.11245483] [-0.00203546 -0.00135868 0.99999701 -0.07168806] [ 0. 0. 0. 1. ]] SLAMing on 76.74463044 meters 0.2701365392580674 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 0.99997938 0.00507446 0.00393537 0.86827718] [-0.00507916 0.9999864 0.00118565 -0.1176079 ] [-0.0039293 -0.00120561 0.99999155 -0.07209464] [ 0. 0. 0. 1. ]] SLAMing on 76.80463044 meters 0.2715649123603332 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 0.99997936 0.00503215 0.0039953 0.86810134] [-0.00503651 0.99998673 0.00108393 -0.11716695] [-0.00398979 -0.00110403 0.99999143 -0.072014 ] [ 0. 0. 0. 1. ]] SLAMing on 76.86463044 meters 0.27359574074949133 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.12, Z:-0.07 [[ 9.99979911e-01 4.85869558e-03 4.07074490e-03 8.68226244e-01] [-4.86104993e-03 9.99988023e-01 5.68664861e-04 -1.15273933e-01] [-4.06793318e-03 -5.88441531e-04 9.99991553e-01 -7.26079836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92463044 meters 0.2736152317132466 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.07 [[ 9.99979574e-01 4.69106138e-03 4.34125262e-03 8.67646759e-01] [-4.69135943e-03 9.99988994e-01 5.84745449e-05 -1.13218638e-01] [-4.34093053e-03 -7.88397269e-05 9.99990575e-01 -7.26745345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98463044 meters 0.271171272132867 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:-0.07 [[ 0.99998235 -0.00217956 0.00552725 0.84353797] [ 0.0021653 0.99999432 0.00258429 -0.11001449] [-0.00553285 -0.00257227 0.99998139 -0.07227423] [ 0. 0. 0. 1. ]] SLAMing on 77.04463043999999 meters 0.27297876808682286 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.07 [[ 0.99995933 0.00656545 0.00618371 0.86408482] [-0.00657358 0.99997756 0.00129406 -0.10967936] [-0.00617507 -0.00133466 0.99998004 -0.07193422] [ 0. 0. 0. 1. ]] SLAMing on 77.10463044 meters 0.2738004521465495 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.07 [[ 0.99996054 0.00651685 0.00603785 0.86465742] [-0.0065241 0.99997802 0.0011815 -0.10924257] [-0.00603002 -0.00122085 0.99998107 -0.072419 ] [ 0. 0. 0. 1. ]] SLAMing on 77.16463044 meters 0.2723534427200667 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.11, Z:-0.07 [[ 0.999961 0.00648001 0.00600124 0.86471487] [-0.00648669 0.99997836 0.00109523 -0.10887759] [-0.00599402 -0.00113411 0.99998139 -0.07236339] [ 0. 0. 0. 1. ]] SLAMing on 77.22463044 meters 0.2737325766456914 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:-0.07 [[ 0.9999808 -0.0013516 0.00604825 0.88491969] [ 0.00133986 0.99999721 0.00194547 -0.10403863] [-0.00605086 -0.00193733 0.99997982 -0.07149292] [ 0. 0. 0. 1. ]] SLAMing on 77.28463044 meters 0.27270654183703746 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 0.99998144 -0.00138825 0.00593313 0.88535161] [ 0.00137728 0.99999733 0.00185327 -0.10369776] [-0.00593568 -0.00184507 0.99998068 -0.07181927] [ 0. 0. 0. 1. ]] SLAMing on 77.34463044 meters 0.27233404399989425 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 0.99998205 -0.00154033 0.00579093 0.88605842] [ 0.00153177 0.99999773 0.00148172 -0.1021162 ] [-0.0057932 -0.00147283 0.99998213 -0.07265214] [ 0. 0. 0. 1. ]] SLAMing on 77.40463043999999 meters 0.2728879688872104 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 0.9999808 -0.00168847 0.0059628 0.88536969] [ 0.00168194 0.99999798 0.00110011 -0.1004235 ] [-0.00596464 -0.00109006 0.99998162 -0.07210093] [ 0. 0. 0. 1. ]] SLAMing on 77.46463044 meters 0.2721975002029963 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.10, Z:-0.07 [[ 0.99997972 -0.00171073 0.00613478 0.8846058 ] [ 0.00170443 0.99999802 0.00103192 -0.10012836] [-0.00613654 -0.00102145 0.99998065 -0.07132521] [ 0. 0. 0. 1. ]] SLAMing on 77.52463044 meters 0.2714455975703334 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 0.99998028 -0.00166678 0.00605414 0.88514155] [ 0.00165985 0.99999796 0.00114851 -0.10062473] [-0.00605604 -0.00113844 0.99998101 -0.07205606] [ 0. 0. 0. 1. ]] SLAMing on 77.58463044 meters 0.2706463905825154 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 9.99979955e-01 -1.72725547e-03 6.09143165e-03 8.85264795e-01] [ 1.72124256e-03 9.99998026e-01 9.92213516e-04 -1.00037640e-01] [-6.09313344e-03 -9.81708796e-04 9.99980955e-01 -7.24843849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64463044 meters 0.27212246602152734 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.10, Z:-0.07 [[ 9.99934058e-01 6.44895746e-03 9.50213608e-03 9.03462398e-01] [-6.44471899e-03 9.99979119e-01 -4.76607227e-04 -9.59327272e-02] [-9.50501128e-03 4.15337202e-04 9.99954740e-01 -7.16929741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70463044 meters 0.2726503851431138 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.07 [[ 0.99993361 0.00623933 0.00968746 0.90303372] [-0.00622896 0.99997999 -0.00110076 -0.09333981] [-0.00969413 0.00104034 0.99995247 -0.07173963] [ 0. 0. 0. 1. ]] SLAMing on 77.76463043999999 meters 0.27328159428718096 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.09, Z:-0.07 [[ 0.99993962 0.00587864 0.00928441 0.90471308] [-0.00585688 0.99998004 -0.00236826 -0.08833842] [-0.00929815 0.00231374 0.99995409 -0.07342826] [ 0. 0. 0. 1. ]] SLAMing on 77.82463043999999 meters 0.27269093899040237 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.07 [[ 0.99995207 -0.00261398 0.00943532 0.88504475] [ 0.00262937 0.99999523 -0.00161892 -0.08158484] [-0.00943104 0.00164365 0.99995418 -0.07479478] [ 0. 0. 0. 1. ]] SLAMing on 77.88463044 meters 0.2716465748982492 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.08 [[ 0.99995719 0.00119082 0.00917559 0.88583129] [-0.00120431 0.9999982 0.00146469 -0.07731779] [-0.00917383 -0.00147568 0.99995683 -0.07530933] [ 0. 0. 0. 1. ]] SLAMing on 77.94463044 meters 0.27117280027033064 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:-0.08 [[ 9.99957346e-01 9.38133370e-04 9.18833429e-03 8.85740473e-01] [-9.46021351e-04 9.99999188e-01 8.54169197e-04 -7.47896700e-02] [-9.18752550e-03 -8.62825124e-04 9.99957422e-01 -7.52493902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00463044 meters 0.27053702202111757 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:-0.07 [[ 9.99958871e-01 6.98777686e-04 9.04254979e-03 8.85890723e-01] [-7.01346692e-04 9.99999715e-01 2.80934077e-04 -7.23916383e-02] [-9.04235090e-03 -2.87264484e-04 9.99959076e-01 -7.49118564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06463044 meters 0.27023222734342783 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:-0.08 [[ 9.99957876e-01 4.60800566e-04 9.16698592e-03 8.85682776e-01] [-4.58324207e-04 9.99999858e-01 -2.72237782e-04 -6.99356470e-02] [-9.16711006e-03 2.68024862e-04 9.99957945e-01 -7.51264274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12463043999999 meters 0.2715202660145599 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.07, Z:-0.08 [[ 0.99992784 -0.0050258 0.01091172 0.90758392] [ 0.00499658 0.99998386 0.0027037 -0.06646058] [-0.01092513 -0.00264898 0.99993681 -0.07635399] [ 0. 0. 0. 1. ]] SLAMing on 78.18463043999999 meters 0.2703897329031154 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:-0.08 [[ 0.99994091 0.00292493 0.01046983 0.88836342] [-0.00294028 0.99999463 0.00145065 -0.07005338] [-0.01046553 -0.00148134 0.99994414 -0.07743313] [ 0. 0. 0. 1. ]] SLAMing on 78.24463044 meters 0.26876848345037485 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.08 [[ 0.99995258 -0.00579477 0.00782735 0.8699082 ] [ 0.00577523 0.99998016 0.00251598 -0.07275761] [-0.00784178 -0.00247065 0.9999662 -0.07838755] [ 0. 0. 0. 1. ]] SLAMing on 78.30463044 meters 0.26892390976509395 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.08 [[ 0.99995992 0.00300507 0.00843403 0.89035426] [-0.00302262 0.99999329 0.00206845 -0.07677382] [-0.00842775 -0.00209386 0.99996229 -0.07785283] [ 0. 0. 0. 1. ]] SLAMing on 78.36463044 meters 0.268471517103553 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.08 [[ 0.9999597 0.00316245 0.00840239 0.89056009] [-0.0031833 0.99999189 0.00246884 -0.07841982] [-0.00839451 -0.00249548 0.99996165 -0.07810921] [ 0. 0. 0. 1. ]] SLAMing on 78.42463044 meters 0.26943234667168403 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 9.99974980e-01 1.24579315e-03 6.96325627e-03 8.96736860e-01] [-1.25188688e-03 9.99998837e-01 8.70836560e-04 -8.17853126e-02] [-6.96216329e-03 -8.79531981e-04 9.99975377e-01 -8.22724345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48463044 meters 0.2704251651900003 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 9.99975622e-01 1.27449634e-03 6.86518938e-03 8.97077173e-01] [-1.28107832e-03 9.99998724e-01 9.54435310e-04 -8.20964433e-02] [-6.86396419e-03 -9.63206888e-04 9.99975979e-01 -8.24994751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54463043999999 meters 0.27060889223302986 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 0.99997538 0.00135139 0.00688634 0.89690831] [-0.00135923 0.99999843 0.00113345 -0.08290332] [-0.00688479 -0.00114278 0.99997565 -0.08225523] [ 0. 0. 0. 1. ]] SLAMing on 78.60463044 meters 0.2693249849962094 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 0.99997599 0.00137282 0.00679196 0.89717705] [-0.00138094 0.99999834 0.00119064 -0.08318404] [-0.00679032 -0.00119999 0.99997623 -0.08237483] [ 0. 0. 0. 1. ]] SLAMing on 78.66463044 meters 0.27032538591342625 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 9.99977762e-01 1.23935130e-03 6.55283981e-03 8.98066400e-01] [-1.24423247e-03 9.99998951e-01 7.40870982e-04 -8.15462332e-02] [-6.55191474e-03 -7.49007763e-04 9.99978255e-01 -8.32601127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72463044 meters 0.2716248242758387 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.08 [[ 0.99995797 -0.0039635 0.00826793 0.91988109] [ 0.00393443 0.99998603 0.00352922 -0.07615098] [-0.0082818 -0.00349654 0.99995959 -0.08419516] [ 0. 0. 0. 1. ]] SLAMing on 78.78463044 meters 0.27337743879656146 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:-0.08 [[ 0.99995525 -0.00417958 0.00848668 0.91919303] [ 0.00415493 0.9999871 0.00292034 -0.07361884] [-0.00849877 -0.00288494 0.99995972 -0.08389219] [ 0. 0. 0. 1. ]] SLAMing on 78.84463044 meters 0.2701987907882002 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.08, Z:-0.08 [[ 0.9999481 0.00465919 0.00906075 0.89645659] [-0.00468394 0.99998535 0.00271266 -0.07546281] [-0.00904797 -0.00275496 0.99995527 -0.08275702] [ 0. 0. 0. 1. ]] SLAMing on 78.90463043999999 meters 0.27076180632459806 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:-0.08 [[ 0.99995087 -0.00339409 0.00931355 0.91697625] [ 0.00336411 0.99998912 0.00323277 -0.06923608] [-0.00932442 -0.00320128 0.9999514 -0.08222597] [ 0. 0. 0. 1. ]] SLAMing on 78.96463044 meters 0.2701514569698864 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:-0.08 [[ 0.99996598 0.00397318 0.00722839 0.89864421] [-0.00398392 0.99999098 0.00147315 -0.07020365] [-0.00722247 -0.0015019 0.99997279 -0.08364702] [ 0. 0. 0. 1. ]] SLAMing on 79.02463044 meters 0.2726538794817085 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.07, Z:-0.08 [[ 9.99969656e-01 3.61023637e-03 6.90310656e-03 8.99658701e-01] [-3.61207110e-03 9.99993444e-01 2.53334730e-04 -6.54236093e-02] [-6.90214671e-03 -2.78261555e-04 9.99976141e-01 -8.44095522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08463044 meters 0.27026042862872746 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:-0.08 [[ 9.99970616e-01 3.38971376e-03 6.87581925e-03 8.99789099e-01] [-3.38741631e-03 9.99994203e-01 -3.45752296e-04 -6.29976540e-02] [-6.87695139e-03 3.22450874e-04 9.99976302e-01 -8.45960090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14463044 meters 0.2721160484944534 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.06, Z:-0.09 [[ 0.99995253 0.00698222 0.006796 0.90046923] [-0.00699781 0.99997293 0.00227252 -0.05577013] [-0.00677995 -0.00231997 0.99997432 -0.08552198] [ 0. 0. 0. 1. ]] SLAMing on 79.20463044 meters 0.27277835598380695 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:-0.08 [[ 9.99981709e-01 -9.65209251e-04 5.97070678e-03 9.19978642e-01] [ 9.50981180e-04 9.99996703e-01 2.38535958e-03 -4.41129502e-02] [-5.97298946e-03 -2.37963792e-03 9.99979330e-01 -8.35805425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26463043999999 meters 0.2687199147136882 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.04, Z:-0.08 [[ 0.99993534 -0.00775143 0.00832087 0.8949311 ] [ 0.00771271 0.99995933 0.00467564 -0.03783751] [-0.00835677 -0.00461116 0.99995445 -0.08131586] [ 0. 0. 0. 1. ]] SLAMing on 79.32463043999999 meters 0.2681726983049133 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:-0.08 [[ 0.9999713 0.00125971 0.00747055 0.87633922] [-0.00128995 0.99999099 0.00404365 -0.04012541] [-0.00746539 -0.00405317 0.99996392 -0.08200108] [ 0. 0. 0. 1. ]] SLAMing on 79.38463044 meters 0.2655149941205843 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:-0.08 [[ 0.99997373 0.00104806 0.00717155 0.87649884] [-0.0010733 0.99999324 0.0035157 -0.03858611] [-0.00716781 -0.0035233 0.9999681 -0.08109032] [ 0. 0. 0. 1. ]] SLAMing on 79.44463044 meters 0.2656171334367229 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.04, Z:-0.08 [[ 0.99997027 0.00111421 0.00762973 0.87509118] [-0.00114304 0.99999222 0.00377519 -0.03960154] [-0.00762547 -0.0037838 0.99996377 -0.07996789] [ 0. 0. 0. 1. ]] SLAMing on 79.50463044 meters 0.26530554318456956 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.08 [[ 0.99996761 0.00136729 0.00793116 0.8744308 ] [-0.00140462 0.99998795 0.00470323 -0.04314551] [-0.00792464 -0.00471421 0.99995749 -0.07978089] [ 0. 0. 0. 1. ]] SLAMing on 79.56463044 meters 0.26573236984812915 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.08 [[ 0.99996843 0.00162766 0.00777734 0.87489224] [-0.00167092 0.99998315 0.00555903 -0.04661179] [-0.00776816 -0.00557185 0.9999543 -0.08000387] [ 0. 0. 0. 1. ]] SLAMing on 79.62463043999999 meters 0.26704451867918605 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.06, Z:-0.08 [[ 9.99979008e-01 -6.17583393e-04 6.44998710e-03 8.79575623e-01] [ 5.87450039e-04 9.99988910e-01 4.67269713e-03 -5.57791924e-02] [-6.45280135e-03 -4.66880999e-03 9.99968281e-01 -8.26899361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68463043999999 meters 0.2663912706434204 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.08 [[ 0.9999745 0.00423241 0.00575192 0.85752312] [-0.00424039 0.99999006 0.0013753 -0.06292954] [-0.00574604 -0.00139966 0.99998251 -0.0825326 ] [ 0. 0. 0. 1. ]] SLAMing on 79.74463044 meters 0.26660775555449917 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.08 [[ 0.99997267 -0.00429489 0.00601807 0.8795281 ] [ 0.00427845 0.99998709 0.00274258 -0.06711406] [-0.00602977 -0.00271676 0.99997813 -0.08299697] [ 0. 0. 0. 1. ]] SLAMing on 79.80463044 meters 0.26591923021761504 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:-0.09 [[ 0.99998319 0.00302302 0.00494786 0.86186524] [-0.00303004 0.99999441 0.00141223 -0.0749875 ] [-0.00494356 -0.0014272 0.99998676 -0.08552839] [ 0. 0. 0. 1. ]] SLAMing on 79.86463044 meters 0.26715356400126555 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.08, Z:-0.08 [[ 9.99996294e-01 -2.70215401e-03 -3.32130401e-04 8.79780828e-01] [ 2.70304628e-03 9.99992658e-01 2.71607997e-03 -7.68110746e-02] [ 3.24788696e-04 -2.71696767e-03 9.99996256e-01 -8.31747188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92463044 meters 0.2663154353223911 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.08 [[ 9.99995288e-01 2.88628706e-03 -1.04558364e-03 8.56432259e-01] [-2.88577623e-03 9.99995716e-01 4.89741478e-04 -8.42675337e-02] [ 1.04699270e-03 -4.86721850e-04 9.99999333e-01 -8.11520888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98463044 meters 0.26696894163609747 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.09, Z:-0.08 [[ 9.99984888e-01 -5.49112004e-03 2.68989103e-04 8.77363475e-01] [ 5.49072307e-03 9.99983867e-01 1.45492609e-03 -8.69468819e-02] [-2.76973938e-04 -1.45342716e-03 9.99998905e-01 -8.03176387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04463043999999 meters 0.2657534694116692 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.08 [[ 9.99991471e-01 2.43376112e-03 3.33676708e-03 8.93558421e-01] [-2.43594527e-03 9.99996821e-01 6.50662915e-04 -9.36901829e-02] [-3.33517291e-03 -6.58785547e-04 9.99994221e-01 -7.80745726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10463044 meters 0.26574318379455575 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.08 [[ 9.99994232e-01 1.02163597e-03 3.23923357e-03 8.48222631e-01] [-1.02226530e-03 9.99999459e-01 1.92631724e-04 -9.62798604e-02] [-3.23903502e-03 -1.95941969e-04 9.99994735e-01 -7.66618654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16463044 meters 0.2661922538127461 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.07 [[ 0.9999689 -0.00633951 0.00469047 0.86698004] [ 0.00633173 0.99997856 0.0016712 -0.09314095] [-0.00470097 -0.00164145 0.9999876 -0.07460254] [ 0. 0. 0. 1. ]] SLAMing on 80.22463044 meters 0.2644484075480478 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.07 [[ 0.9999683 -0.00643978 0.00468305 0.86709838] [ 0.00643321 0.9999783 0.00141607 -0.09211386] [-0.00469207 -0.00138589 0.99998803 -0.07482016] [ 0. 0. 0. 1. ]] SLAMing on 80.28463044 meters 0.2655420641287219 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.09, Z:-0.08 [[ 9.99991157e-01 1.77168214e-03 3.81416501e-03 8.47378823e-01] [-1.77354690e-03 9.99998309e-01 4.85576445e-04 -9.40379907e-02] [-3.81329827e-03 -4.92336752e-04 9.99992608e-01 -7.57067446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34463044 meters 0.26710734442643863 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.08 [[ 9.99972949e-01 -6.50379907e-03 3.43527436e-03 8.69071247e-01] [ 6.50033657e-03 9.99978354e-01 1.01813089e-03 -9.04904986e-02] [-3.44182172e-03 -9.95772906e-04 9.99993581e-01 -7.51835149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40463043999999 meters 0.2657492936116537 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.08 [[ 0.99997321 -0.00646107 0.00344 0.8691935 ] [ 0.00645726 0.99997853 0.00111812 -0.09093773] [-0.00344715 -0.00109588 0.99999346 -0.07544896] [ 0. 0. 0. 1. ]] SLAMing on 80.46463044 meters 0.2657501174292961 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.08 [[ 0.99997317 -0.00649792 0.00338323 0.86990325] [ 0.00649449 0.99997838 0.00102607 -0.0904795 ] [-0.00338982 -0.00100407 0.99999375 -0.07665817] [ 0. 0. 0. 1. ]] SLAMing on 80.52463044 meters 0.26771272659753426 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.08 [[ 9.99995708e-01 2.50292831e-03 1.52265267e-03 8.93548363e-01] [-2.50353977e-03 9.99996786e-01 3.99798939e-04 -9.25447490e-02] [-1.52164711e-03 -4.03609245e-04 9.99998761e-01 -7.69338943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58463044 meters 0.2681926249692164 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.08 [[ 9.99996443e-01 2.34395841e-03 1.27243171e-03 8.94207345e-01] [-2.34385668e-03 9.99997250e-01 -8.14392383e-05 -9.06190900e-02] [-1.27261910e-03 7.84565511e-05 9.99999187e-01 -7.72321687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64463044 meters 0.2662541072843077 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.08 [[ 9.99996786e-01 2.16911916e-03 1.31278705e-03 8.94088342e-01] [-2.16840874e-03 9.99997502e-01 -5.42337043e-04 -8.87268574e-02] [-1.31396016e-03 5.39488641e-04 9.99998991e-01 -7.71927716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70463044 meters 0.26752556450354326 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.08 [[ 0.99999716 0.00197725 0.00132685 0.89316847] [-0.0019758 0.99999745 -0.00109225 -0.08628961] [-0.00132901 0.00108963 0.99999852 -0.07541321] [ 0. 0. 0. 1. ]] SLAMing on 80.76463043999999 meters 0.26745508037715865 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.08 [[ 0.99999767 0.00178546 0.00121355 0.89329428] [-0.00178356 0.99999719 -0.00156214 -0.08434092] [-0.00121633 0.00155997 0.99999804 -0.07512047] [ 0. 0. 0. 1. ]] SLAMing on 80.82463043999999 meters 0.2671159321534112 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.08, Z:-0.07 [[ 0.9999979 0.00171371 0.00112427 0.89326221] [-0.00171176 0.99999703 -0.00173575 -0.08357947] [-0.00112724 0.00173382 0.99999786 -0.07465198] [ 0. 0. 0. 1. ]] SLAMing on 80.88463044 meters 0.2665088119772408 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.07 [[ 0.9999977 0.00188114 0.00102644 0.89305242] [-0.00187987 0.99999746 -0.00124212 -0.08551831] [-0.00102877 0.00124019 0.9999987 -0.07375842] [ 0. 0. 0. 1. ]] SLAMing on 80.94463044 meters 0.2665790135405281 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.07 [[ 9.99996559e-01 2.33023374e-03 1.20487449e-03 8.92582060e-01] [-2.33042336e-03 9.99997272e-01 1.55997113e-04 -9.11176592e-02] [-1.20450769e-03 -1.58804444e-04 9.99999262e-01 -7.36898030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00463044 meters 0.264865367490127 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.09, Z:-0.07 [[ 9.99996076e-01 2.49006534e-03 1.28329495e-03 8.92394888e-01] [-2.49077438e-03 9.99996746e-01 5.51210681e-04 -9.27303897e-02] [-1.28191822e-03 -5.54404916e-04 9.99999025e-01 -7.36924016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06463044 meters 0.265188688075525 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.09, Z:-0.07 [[ 0.99997982 -0.00557628 0.00304267 0.91188689] [ 0.00557014 0.99998244 0.00202234 -0.09435597] [-0.00305389 -0.00200535 0.99999333 -0.07352656] [ 0. 0. 0. 1. ]] SLAMing on 81.12463043999999 meters 0.26630181560853317 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:-0.07 [[ 0.99999351 0.00291672 0.00211566 0.93306356] [-0.0029197 0.99999475 0.00140227 -0.10105091] [-0.00211156 -0.00140844 0.99999678 -0.07280793] [ 0. 0. 0. 1. ]] SLAMing on 81.18463043999999 meters 0.2666806936606584 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:-0.07 [[ 0.9999926 0.00332058 0.00194088 0.93375724] [-0.00332507 0.99999179 0.00231677 -0.10498428] [-0.00193317 -0.0023232 0.99999543 -0.07326886] [ 0. 0. 0. 1. ]] SLAMing on 81.24463044 meters 0.26732506837385306 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 0.99999238 0.00348441 0.0017582 0.9344064 ] [-0.00348919 0.9999902 0.00272402 -0.10669469] [-0.00174869 -0.00273013 0.99999474 -0.07371646] [ 0. 0. 0. 1. ]] SLAMing on 81.30463044 meters 0.2678066120421911 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 0.99999219 0.00358473 0.00166541 0.93470155] [-0.00358965 0.99998918 0.00295875 -0.10768257] [-0.00165478 -0.00296471 0.99999424 -0.07384382] [ 0. 0. 0. 1. ]] SLAMing on 81.36463044 meters 0.2670143101988077 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 0.99999165 0.00377167 0.00157476 0.93477787] [-0.00377704 0.99998701 0.00342173 -0.10957276] [-0.00156183 -0.00342765 0.99999291 -0.07356598] [ 0. 0. 0. 1. ]] SLAMing on 81.42463044 meters 0.26750905284591986 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.07 [[ 0.99999113 0.00396406 0.0014245 0.93518376] [-0.00396962 0.99998442 0.0039246 -0.11164743] [-0.00140892 -0.00393022 0.99999128 -0.07366155] [ 0. 0. 0. 1. ]] SLAMing on 81.48463044 meters 0.26751871288595663 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.07 [[ 9.99998981e-01 -5.64842779e-05 1.42656754e-03 9.35277573e-01] [ 5.59867128e-05 9.99999938e-01 3.48822340e-04 -1.14674942e-01] [-1.42658716e-03 -3.48742115e-04 9.99998922e-01 -7.38551925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54463043999999 meters 0.26816379762669007 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:-0.07 [[ 9.99998912e-01 1.32832596e-04 1.46939681e-03 9.35152151e-01] [-1.34009138e-04 9.99999671e-01 8.00628127e-04 -1.16558865e-01] [-1.46928997e-03 -8.00824169e-04 9.99998600e-01 -7.37832190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60463044 meters 0.2675810970347897 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.07 [[ 9.99998556e-01 1.16276340e-04 1.69526933e-03 9.34541633e-01] [-1.17559392e-04 9.99999707e-01 7.56762709e-04 -1.16475982e-01] [-1.69518084e-03 -7.56960911e-04 9.99998277e-01 -7.35768147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66463044 meters 0.26901282762574297 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.07 [[ 9.99997949e-01 6.92569581e-05 2.02418221e-03 9.33710169e-01] [-7.04765713e-05 9.99999816e-01 6.02456297e-04 -1.15628846e-01] [-2.02414011e-03 -6.02597719e-04 9.99997770e-01 -7.33943414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72463044 meters 0.26896800009946104 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 9.99997744e-01 -6.76695855e-06 2.12403394e-03 9.33632714e-01] [ 5.90737838e-06 9.99999918e-01 4.04698306e-04 -1.14843171e-01] [-2.12403651e-03 -4.04684846e-04 9.99997662e-01 -7.37178932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78463044 meters 0.27000925945987136 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 9.99997441e-01 -7.36903116e-05 2.26087809e-03 9.33353163e-01] [ 7.31601409e-05 9.99999970e-01 2.34579496e-04 -1.14135506e-01] [-2.26089531e-03 -2.34413490e-04 9.99997417e-01 -7.37878956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84463044 meters 0.26915444544840345 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 9.99997721e-01 -2.62415893e-04 2.11855658e-03 9.33977974e-01] [ 2.62954027e-04 9.99999933e-01 -2.53734976e-04 -1.12051915e-01] [-2.11848985e-03 2.54291481e-04 9.99997724e-01 -7.44278613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90463043999999 meters 0.2693049633670606 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 9.99997748e-01 -4.51280578e-04 2.07356419e-03 9.34295772e-01] [ 4.52928539e-04 9.99999582e-01 -7.94347516e-04 -1.09905280e-01] [-2.07320485e-03 7.95284904e-04 9.99997535e-01 -7.49456026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96463044 meters 0.2696494697197641 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.08 [[ 9.99997682e-01 -6.66287820e-04 2.04725718e-03 9.34565224e-01] [ 6.69357495e-04 9.99998652e-01 -1.49908926e-03 -1.07154870e-01] [-2.04625560e-03 1.50045613e-03 9.99996781e-01 -7.54291039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02463044 meters 0.2695163800376706 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.08 [[ 0.99999752 -0.00102343 0.00197845 0.93505821] [ 0.00102907 0.99999539 -0.00285616 -0.10185295] [-0.00197552 0.00285819 0.99999396 -0.07623786] [ 0. 0. 0. 1. ]] SLAMing on 82.08463044 meters 0.27195767434932966 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.08 [[ 0.9999971 -0.0013427 0.00199832 0.93519722] [ 0.00135032 0.9999918 -0.00381892 -0.09799761] [-0.00199317 0.00382161 0.99999071 -0.0766281 ] [ 0. 0. 0. 1. ]] SLAMing on 82.14463044 meters 0.2692148663022358 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:-0.07 [[ 9.99994611e-01 6.68134031e-04 3.21423389e-03 9.29743494e-01] [-6.59881391e-04 9.99996485e-01 -2.56790515e-03 -9.18175176e-02] [-3.21593830e-03 2.56577030e-03 9.99991537e-01 -7.28971972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20463044 meters 0.2736047628305516 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.09, Z:-0.07 [[ 9.99987155e-01 -4.36771192e-03 2.57165864e-03 9.53328797e-01] [ 4.36571880e-03 9.99990166e-01 7.80137883e-04 -8.69082309e-02] [-2.57504077e-03 -7.68900723e-04 9.99996389e-01 -7.35560702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26463043999999 meters 0.26961671130653453 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.09, Z:-0.08 [[ 9.99993796e-01 3.20528428e-03 1.46088157e-03 9.35113610e-01] [-3.20394217e-03 9.99994444e-01 -9.20115614e-04 -8.93756579e-02] [-1.46382269e-03 9.15429325e-04 9.99998510e-01 -7.50213481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32463043999999 meters 0.26974086553367616 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:-0.07 [[ 0.99999461 0.00291901 0.00150548 0.93410895] [-0.00291643 0.99999428 -0.00171409 -0.08531222] [-0.00151047 0.00170969 0.9999974 -0.07335289] [ 0. 0. 0. 1. ]] SLAMing on 82.38463044 meters 0.27059291394460383 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:-0.07 [[ 0.99999521 0.00264468 0.00160652 0.93377339] [-0.00264087 0.9999937 -0.00237008 -0.08257033] [-0.00161278 0.00236583 0.9999959 -0.07320844] [ 0. 0. 0. 1. ]] SLAMing on 82.44463044 meters 0.27087263454342464 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.07 [[ 9.99985894e-01 -5.26106308e-03 -7.29541643e-04 9.55197433e-01] [ 5.25914460e-03 9.99982772e-01 -2.60715230e-03 -7.12730472e-02] [ 7.43245467e-04 2.60327876e-03 9.99996335e-01 -7.26971570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50463044 meters 0.2694104232563724 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.07 [[ 9.99995293e-01 2.94954759e-03 -8.44556297e-04 9.34311520e-01] [-2.95271294e-03 9.99988528e-01 -3.77155819e-03 -7.17055172e-02] [ 8.33422218e-04 3.77403417e-03 9.99992531e-01 -7.31872479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56463044 meters 0.2691468765151301 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.07 [[ 9.99989663e-01 -4.52176699e-03 4.78029202e-04 9.52670770e-01] [ 4.52308019e-03 9.99985899e-01 -2.78267577e-03 -6.45894628e-02] [-4.65439850e-04 2.78480917e-03 9.99996014e-01 -7.09511430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62463043999999 meters 0.2695945052985875 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.07 [[ 9.99989150e-01 -4.62455639e-03 5.60350772e-04 9.52915117e-01] [ 4.62622517e-03 9.99984756e-01 -3.01433023e-03 -6.35514002e-02] [-5.46402290e-04 3.01688983e-03 9.99995300e-01 -7.17614861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68463043999999 meters 0.2689556166014925 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.07 [[ 9.99989380e-01 -4.58664064e-03 4.49329124e-04 9.53327289e-01] [ 4.58792976e-03 9.99985238e-01 -2.91124784e-03 -6.40392733e-02] [-4.35969643e-04 2.91327842e-03 9.99995661e-01 -7.20434157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74463044 meters 0.2691480795393906 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.07 [[ 9.99999199e-01 -7.61928783e-04 1.01083492e-03 9.50704591e-01] [ 7.60750369e-04 9.99999031e-01 1.16565513e-03 -6.54301434e-02] [-1.01172208e-03 -1.16488520e-03 9.99998810e-01 -6.96399644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80463044 meters 0.2691621448279962 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.07 [[ 9.99991651e-01 4.01544631e-03 7.57724981e-04 9.29061673e-01] [-4.01386883e-03 9.99989798e-01 -2.07202494e-03 -7.35112556e-02] [-7.66037355e-04 2.06896623e-03 9.99997566e-01 -6.97526305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86463044 meters 0.26672578445175993 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:-0.07 [[ 9.99990861e-01 4.22567296e-03 6.48646913e-04 9.29325361e-01] [-4.22466867e-03 9.99989887e-01 -1.54192787e-03 -7.56875036e-02] [-6.55156036e-04 1.53917347e-03 9.99998601e-01 -6.97741038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92463044 meters 0.2677530074242071 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.08, Z:-0.07 [[ 9.99991393e-01 -3.65032312e-03 1.97217733e-03 9.50335052e-01] [ 3.64906436e-03 9.99993136e-01 6.41479993e-04 -8.39413250e-02] [-1.97450540e-03 -6.34277870e-04 9.99997850e-01 -6.92991567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98463044 meters 0.26726238635398614 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:-0.07 [[ 9.99992017e-01 9.89823234e-04 3.87113836e-03 9.27293089e-01] [-9.81583872e-04 9.99997250e-01 -2.12972904e-03 -9.65097841e-02] [-3.87323577e-03 2.12591219e-03 9.99990239e-01 -6.88550732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04463043999999 meters 0.26863065888152343 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.07 [[ 9.99976961e-01 -6.28838982e-03 2.55614997e-03 9.52755589e-01] [ 6.28648754e-03 9.99979957e-01 7.51550379e-04 -1.04939873e-01] [-2.56082478e-03 -7.35463859e-04 9.99996451e-01 -7.04525385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10463044 meters 0.26986311504974514 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.07 [[ 0.99997857 -0.00602136 0.00257091 0.95300489] [ 0.00601795 0.99998101 0.00133162 -0.10744658] [-0.00257888 -0.00131612 0.99999581 -0.07089607] [ 0. 0. 0. 1. ]] SLAMing on 83.16463044 meters 0.26940359339478115 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.07 [[ 0.99998022 -0.00579817 0.00243815 0.95336679] [ 0.00579359 0.99998145 0.00188123 -0.10971603] [-0.00244901 -0.00186706 0.99999526 -0.07092569] [ 0. 0. 0. 1. ]] SLAMing on 83.22463044 meters 0.2684682750428856 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.07 [[ 9.99998640e-01 1.29252173e-03 1.02465223e-03 9.35498389e-01] [-1.29281618e-03 9.99999123e-01 2.86758065e-04 -1.14211563e-01] [-1.02428069e-03 -2.88082361e-04 9.99999434e-01 -7.36855316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28463044 meters 0.2706767098580382 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.11, Z:-0.07 [[ 9.99998381e-01 1.29364473e-03 1.25097187e-03 9.35010247e-01] [-1.29400815e-03 9.99999121e-01 2.89743921e-04 -1.14175747e-01] [-1.25059595e-03 -2.91362220e-04 9.99999176e-01 -7.37560621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34463044 meters 0.26922075944403084 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.07 [[ 9.99998206e-01 1.31537437e-03 1.36309563e-03 9.34606135e-01] [-1.31584137e-03 9.99999076e-01 3.41763039e-04 -1.14368398e-01] [-1.36264483e-03 -3.43556044e-04 9.99999013e-01 -7.34459347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40463043999999 meters 0.2687339545556379 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:-0.07 [[ 9.99998389e-01 1.43644273e-03 1.07624885e-03 9.35482945e-01] [-1.43727185e-03 9.99998671e-01 7.70006279e-04 -1.16161180e-01] [-1.07514135e-03 -7.71551901e-04 9.99999124e-01 -7.39379797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46463044 meters 0.2680990587943564 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.08 [[ 9.99996513e-01 -3.58765815e-05 2.64063009e-03 8.97795096e-01] [ 3.23713854e-05 9.99999118e-01 1.32743976e-03 -1.22268014e-01] [-2.64067539e-03 -1.32734965e-03 9.99995632e-01 -7.72270715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52463044 meters 0.269643885152614 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.12, Z:-0.08 [[ 9.99992024e-01 6.15377980e-04 3.94640655e-03 9.41894821e-01] [-6.20864886e-04 9.99998842e-01 1.38928080e-03 -1.23298996e-01] [-3.94554705e-03 -1.39171991e-03 9.99991248e-01 -7.78843604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58463044 meters 0.2675849702686129 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.08 [[ 0.99998039 0.00565292 0.00269443 0.91989312] [-0.00564793 0.99998233 -0.00185696 -0.12734552] [-0.00270488 0.00184171 0.99999465 -0.07692502] [ 0. 0. 0. 1. ]] SLAMing on 83.64463044 meters 0.26866037223774947 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.08 [[ 0.99998033 0.00573738 0.00253231 0.92024681] [-0.00573323 0.99998221 -0.00164406 -0.12825577] [-0.0025417 0.00162951 0.99999544 -0.07688291] [ 0. 0. 0. 1. ]] SLAMing on 83.70463044 meters 0.2680955031188441 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.08 [[ 0.99997968 0.00580891 0.00262729 0.92012515] [-0.0058051 0.99998209 -0.0014555 -0.12908073] [-0.00263569 0.00144021 0.99999549 -0.07704043] [ 0. 0. 0. 1. ]] SLAMing on 83.76463043999999 meters 0.2682553096717776 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.08 [[ 0.99997941 0.00592768 0.00245935 0.92063151] [-0.00592483 0.99998177 -0.00116259 -0.1303302 ] [-0.0024662 0.001148 0.9999963 -0.07727941] [ 0. 0. 0. 1. ]] SLAMing on 83.82463043999999 meters 0.26790535151724715 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.13, Z:-0.08 [[ 9.99978295e-01 6.12016107e-03 2.43977362e-03 9.20475929e-01] [-6.11848190e-03 9.99981040e-01 -6.95115835e-04 -1.32306381e-01] [-2.44398158e-03 6.80173037e-04 9.99996782e-01 -7.68789306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88463044 meters 0.2701459658815773 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.14, Z:-0.08 [[ 9.99987406e-01 -1.51205303e-03 4.78564632e-03 9.39766507e-01] [ 1.50810378e-03 9.99998519e-01 8.28729221e-04 -1.35282322e-01] [-4.78689232e-03 -8.21501532e-04 9.99988205e-01 -7.57916240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94463044 meters 0.2682020821601026 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.08 [[ 0.99998332 0.00359426 0.00452094 0.91744843] [-0.00358476 0.99999135 -0.00210752 -0.14060968] [-0.00452848 0.00209128 0.99998756 -0.07570951] [ 0. 0. 0. 1. ]] SLAMing on 84.00463044 meters 0.26937390210101925 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.14, Z:-0.08 [[ 0.99997825 -0.0050248 0.00427295 0.9404494 ] [ 0.00503114 0.99998626 -0.0014733 -0.1436314 ] [-0.00426549 0.00149476 0.99998979 -0.07583816] [ 0. 0. 0. 1. ]] SLAMing on 84.06463044 meters 0.2675907678292898 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.08 [[ 0.99999276 0.00288881 0.00247686 0.922235 ] [-0.00288501 0.99999466 -0.00153692 -0.15115138] [-0.00248129 0.00152976 0.99999575 -0.07654484] [ 0. 0. 0. 1. ]] SLAMing on 84.12463043999999 meters 0.26879288720030436 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.16, Z:-0.08 [[ 9.99996261e-01 -6.47919335e-04 2.65658793e-03 9.21146792e-01] [ 6.57924667e-04 9.99992688e-01 -3.76709124e-03 -1.60626043e-01] [-2.65412773e-03 3.76882499e-03 9.99989376e-01 -7.53732450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18463043999999 meters 0.26889118195735906 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.08 [[ 9.99996562e-01 -2.01551899e-04 2.61442583e-03 9.21316748e-01] [ 2.08526647e-04 9.99996420e-01 -2.66779535e-03 -1.65287070e-01] [-2.61387877e-03 2.66833136e-03 9.99993024e-01 -7.55259640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24463044 meters 0.26880948496011525 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.08 [[ 9.99997137e-01 -2.75055403e-05 2.39267208e-03 9.21915653e-01] [ 3.28451748e-05 9.99997509e-01 -2.23165099e-03 -1.67118419e-01] [-2.39260474e-03 2.23172319e-03 9.99994647e-01 -7.56658331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30463044 meters 0.2700857749398 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.08 [[ 9.99998630e-01 3.54505741e-04 1.61665812e-03 9.23640842e-01] [-3.52357986e-04 9.99999055e-01 -1.32860679e-03 -1.69927324e-01] [-1.61712759e-03 1.32803532e-03 9.99997811e-01 -7.58013444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36463044 meters 0.27079209206280574 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.08 [[ 9.99998383e-01 3.33038062e-04 1.76695275e-03 9.23293180e-01] [-3.30600335e-04 9.99998994e-01 -1.37973482e-03 -1.69863596e-01] [-1.76741048e-03 1.37914844e-03 9.99997487e-01 -7.57160061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42463044 meters 0.27247652992593474 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.07 [[ 9.99997932e-01 2.83163793e-04 2.01371065e-03 9.22171072e-01] [-2.80006295e-04 9.99998731e-01 -1.56810906e-03 -1.69015335e-01] [-2.01415213e-03 1.56754197e-03 9.99996743e-01 -7.46015834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48463043999999 meters 0.2717009006253491 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.17, Z:-0.08 [[ 9.99998036e-01 7.74356009e-05 1.98019938e-03 9.22490550e-01] [-7.32098766e-05 9.99997720e-01 -2.13397274e-03 -1.66650084e-01] [-1.98036011e-03 2.13382358e-03 9.99995762e-01 -7.51260997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54463043999999 meters 0.27015748347462326 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.16, Z:-0.08 [[ 9.99998236e-01 -2.61287364e-04 1.85997736e-03 9.23054800e-01] [ 2.66845830e-04 9.99995498e-01 -2.98883872e-03 -1.63092527e-01] [-1.85918804e-03 2.98932977e-03 9.99993804e-01 -7.57277607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60463044 meters 0.27197646241846923 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:-0.08 [[ 9.99979668e-01 -6.00831964e-03 2.13626190e-03 9.45126187e-01] [ 6.00930844e-03 9.99981840e-01 -4.56749034e-04 -1.59015694e-01] [-2.13347881e-03 4.69577204e-04 9.99997614e-01 -7.59227916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66463044 meters 0.2721136648432407 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:-0.08 [[ 9.99979797e-01 -6.04876660e-03 1.95412431e-03 9.45451229e-01] [ 6.04987906e-03 9.99981540e-01 -5.63879198e-04 -1.58596552e-01] [-1.95067747e-03 5.75690022e-04 9.99997932e-01 -7.57228104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72463044 meters 0.2717955842616445 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.16, Z:-0.08 [[ 0.99999617 -0.00197769 0.0019384 0.94512282] [ 0.00197177 0.9999934 0.00305163 -0.15613802] [-0.00194443 -0.0030478 0.99999347 -0.07511035] [ 0. 0. 0. 1. ]] SLAMing on 84.78463044 meters 0.27040303291697715 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.08 [[ 0.999996 -0.00211498 0.00187729 0.9452862 ] [ 0.00210985 0.99999405 0.00272955 -0.15478376] [-0.00188305 -0.00272558 0.99999451 -0.07517477] [ 0. 0. 0. 1. ]] SLAMing on 84.84463044 meters 0.27202932412226183 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.08 [[ 0.99999546 -0.00257233 0.0015675 0.94619247] [ 0.00256978 0.99999537 0.0016285 -0.15011619] [-0.00157168 -0.00162446 0.99999745 -0.07554112] [ 0. 0. 0. 1. ]] SLAMing on 84.90463043999999 meters 0.2735246307953126 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.15, Z:-0.07 [[ 0.99999491 -0.00279047 0.00154913 0.94588739] [ 0.0027887 0.99999546 0.00114339 -0.14792145] [-0.00155231 -0.00113906 0.99999815 -0.07499013] [ 0. 0. 0. 1. ]] SLAMing on 84.96463044 meters 0.26986987143616875 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.07 [[ 0.99999513 0.00232169 0.00208644 0.92100122] [-0.00231667 0.99999441 -0.00240959 -0.14723064] [-0.00209202 0.00240474 0.99999492 -0.07290855] [ 0. 0. 0. 1. ]] SLAMing on 85.02463044 meters 0.27079125117132524 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.07 [[ 0.99999592 0.00209885 0.00193658 0.92130571] [-0.00209316 0.99999349 -0.00293778 -0.14497441] [-0.00194274 0.00293371 0.99999381 -0.0728243 ] [ 0. 0. 0. 1. ]] SLAMing on 85.08463044 meters 0.2695530935850048 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.14, Z:-0.07 [[ 0.99998761 0.00387514 0.00312598 0.91561214] [-0.00387111 0.99999167 -0.00129599 -0.14341714] [-0.00313097 0.00128387 0.99999427 -0.06868084] [ 0. 0. 0. 1. ]] SLAMing on 85.14463044 meters 0.2700865199111129 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.14, Z:-0.07 [[ 0.9999958 -0.0013037 0.0025893 0.94001865] [ 0.00130031 0.99999829 0.00131157 -0.1373579 ] [-0.00259101 -0.0013082 0.99999579 -0.07017097] [ 0. 0. 0. 1. ]] SLAMing on 85.20463044 meters 0.2710259586721259 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.14, Z:-0.07 [[ 9.99996059e-01 -1.44247434e-03 2.40871720e-03 9.40700706e-01] [ 1.44012998e-03 9.99998488e-01 9.74734188e-04 -1.36020039e-01] [-2.41011959e-03 -9.71261480e-04 9.99996624e-01 -7.07337658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26463043999999 meters 0.2716082361421161 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.07 [[ 9.99995189e-01 -1.68941860e-03 2.60159580e-03 9.40091648e-01] [ 1.68840817e-03 9.99998498e-01 3.90536507e-04 -1.33480466e-01] [-2.60225167e-03 -3.86142073e-04 9.99996540e-01 -7.04581682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32463043999999 meters 0.2706703190572756 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.07 [[ 9.99994866e-01 -1.96712192e-03 2.52946363e-03 9.40116036e-01] [ 1.96779861e-03 9.99998029e-01 -2.65058785e-04 -1.30722289e-01] [-2.52893724e-03 2.70034899e-04 9.99996766e-01 -7.02046955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38463044 meters 0.27028410972852157 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997720e-01 -1.45176060e-03 -1.56627547e-03 9.01106872e-01] [ 1.45279825e-03 9.99998726e-01 6.61561659e-04 -1.24037485e-01] [ 1.56531305e-03 -6.63835633e-04 9.99998555e-01 -7.17108492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44463044 meters 0.2698985988123477 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997346e-01 -1.68021685e-03 -1.57606223e-03 9.01177359e-01] [ 1.68041228e-03 9.99998581e-01 1.22681630e-04 -1.21801083e-01] [ 1.57585386e-03 -1.25329739e-04 9.99998750e-01 -7.18382085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50463044 meters 0.2701002963910917 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997261e-01 -1.70790766e-03 -1.60026737e-03 9.00759701e-01] [ 1.70798318e-03 9.99998540e-01 4.58286608e-05 -1.21448524e-01] [ 1.60018676e-03 -4.85617650e-05 9.99998719e-01 -7.09106803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56463044 meters 0.2695102819542636 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997192e-01 -1.59993749e-03 -1.74834582e-03 9.00712623e-01] [ 1.60056113e-03 9.99998656e-01 3.55361640e-04 -1.22618061e-01] [ 1.74777491e-03 -3.58158976e-04 9.99998409e-01 -7.01398893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62463043999999 meters 0.26994725211716153 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997280e-01 -1.51049309e-03 -1.77704852e-03 9.00619051e-01] [ 1.51150660e-03 9.99998696e-01 5.69129908e-04 -1.23539175e-01] [ 1.77618654e-03 -5.71814381e-04 9.99998259e-01 -6.98361225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68463043999999 meters 0.26778759337906816 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99997360e-01 -1.50177898e-03 -1.73894537e-03 9.00434088e-01] [ 1.50280970e-03 9.99998696e-01 5.91573491e-04 -1.23586593e-01] [ 1.73805469e-03 -5.94185234e-04 9.99998313e-01 -6.96851259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74463044 meters 0.27054359672347317 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.07 [[ 9.99963081e-01 8.46718305e-03 -1.46395170e-03 9.22599241e-01] [-8.46617751e-03 9.99963922e-01 6.91706943e-04 -1.23737498e-01] [ 1.46975569e-03 -6.79287331e-04 9.99998689e-01 -6.97158314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80463044 meters 0.2727306327443674 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.07 [[ 0.99999005 0.00412831 -0.00169064 0.92320159] [-0.00413455 0.9999846 -0.00370251 -0.12319744] [ 0.00167533 0.00370946 0.99999172 -0.07005994] [ 0. 0. 0. 1. ]] SLAMing on 85.86463044 meters 0.27162560473366737 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.12, Z:-0.07 [[ 0.99999131 0.00399896 -0.00118061 0.9219767 ] [-0.00400406 0.99998254 -0.00434585 -0.12041858] [ 0.00116321 0.00435054 0.99998986 -0.06989685] [ 0. 0. 0. 1. ]] SLAMing on 85.92463044 meters 0.2714808527480995 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 0.99999702 -0.0021878 -0.00108313 0.89995403] [ 0.00218651 0.99999689 -0.00119667 -0.11712306] [ 0.00108574 0.0011943 0.9999987 -0.07019336] [ 0. 0. 0. 1. ]] SLAMing on 85.98463043999999 meters 0.26974957529970534 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99996987e-01 -2.29338457e-03 -8.75974049e-04 8.99160593e-01] [ 2.29210308e-03 9.99996306e-01 -1.46113667e-03 -1.15751051e-01] [ 8.79321761e-04 1.45912444e-03 9.99998549e-01 -6.96098409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04463043999999 meters 0.27092190245383896 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 0.99999671 -0.00228524 -0.00116347 0.90001287] [ 0.00228358 0.99999637 -0.00142828 -0.11600239] [ 0.00116672 0.00142561 0.9999983 -0.0700239 ] [ 0. 0. 0. 1. ]] SLAMing on 86.10463044 meters 0.27133121768738133 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 0.99999623 -0.00231275 -0.00148274 0.90096291] [ 0.00231054 0.99999622 -0.00149254 -0.1158259 ] [ 0.00148619 0.0014891 0.99999779 -0.07052184] [ 0. 0. 0. 1. ]] SLAMing on 86.16463044 meters 0.2695802549326183 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999850e-01 -5.16004478e-04 -1.82167977e-04 8.95433553e-01] [ 5.16121971e-04 9.99999658e-01 6.45511889e-04 -1.18379709e-01] [ 1.81834828e-04 -6.45605814e-04 9.99999775e-01 -6.69189764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22463044 meters 0.2703309488998747 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999907e-01 -4.21905915e-04 -8.79553452e-05 8.95245476e-01] [ 4.21981719e-04 9.99999538e-01 8.63610453e-04 -1.19363942e-01] [ 8.75909422e-05 -8.63647488e-04 9.99999623e-01 -6.69382599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28463044 meters 0.2712818231020774 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999947e-01 -2.67550903e-04 -1.83914173e-04 8.95629473e-01] [ 2.67788879e-04 9.99999125e-01 1.29514357e-03 -1.21156484e-01] [ 1.83567495e-04 -1.29519275e-03 9.99999144e-01 -6.72386668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34463044 meters 0.27133790095383936 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999900e-01 -3.66726562e-04 -2.54144002e-04 8.95826808e-01] [ 3.66995747e-04 9.99999371e-01 1.05994778e-03 -1.20152550e-01] [ 2.53755132e-04 -1.06004094e-03 9.99999406e-01 -6.73288740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40463043999999 meters 0.27169269453055206 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999862e-01 -5.25205836e-04 -2.49007916e-05 8.95024627e-01] [ 5.25220803e-04 9.99999679e-01 6.04939952e-04 -1.18162394e-01] [ 2.45830656e-05 -6.04952946e-04 9.99999817e-01 -6.68204985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46463044 meters 0.2710344848429125 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99999716e-01 -7.50948920e-04 -5.60852609e-05 8.95149865e-01] [ 7.50948856e-04 9.99999718e-01 -1.15837190e-06 -1.15718467e-01] [ 5.60861149e-05 1.11625440e-06 9.99999998e-01 -6.69784733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52463044 meters 0.2700176093286014 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.07 [[ 9.99969468e-01 7.80196976e-03 4.39267209e-04 8.71545253e-01] [-7.80163483e-03 9.99969279e-01 -7.59108474e-04 -1.12394144e-01] [-4.45176255e-04 7.55658294e-04 9.99999615e-01 -6.65463044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58463044 meters 0.27015477377968994 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.11, Z:-0.07 [[ 9.99971626e-01 7.51975430e-03 4.47769889e-04 8.71695314e-01] [-7.51910032e-03 9.99970688e-01 -1.44470753e-03 -1.09526886e-01] [-4.58620609e-04 1.44129971e-03 9.99998856e-01 -6.69265806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64463044 meters 0.2709668397273567 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 9.99997672e-01 4.28697438e-05 -2.15755532e-03 8.92052022e-01] [-4.57354679e-05 9.99999117e-01 -1.32819557e-03 -9.72055408e-02] [ 2.15749648e-03 1.32829115e-03 9.99996790e-01 -6.54525041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70463044 meters 0.2696509169414628 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.07 [[ 9.99997738e-01 -3.14376721e-05 -2.12663546e-03 8.91839359e-01] [ 2.82466765e-05 9.99998874e-01 -1.50050354e-03 -9.64403997e-02] [ 2.12668024e-03 1.50044008e-03 9.99996613e-01 -6.51901764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76463043999999 meters 0.2697299857917963 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.06 [[ 9.99998304e-01 -8.18224551e-05 -1.83998586e-03 8.90823549e-01] [ 7.87806111e-05 9.99998630e-01 -1.65320052e-03 -9.57481168e-02] [ 1.84011861e-03 1.65305276e-03 9.99996941e-01 -6.43449954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82463043999999 meters 0.2698879466363819 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.06 [[ 9.99998659e-01 -7.14410553e-05 -1.63615555e-03 8.90451565e-01] [ 6.87673785e-05 9.99998662e-01 -1.63411936e-03 -9.57802736e-02] [ 1.63627011e-03 1.63400466e-03 9.99997326e-01 -6.44524407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88463044 meters 0.26917069331304355 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.06 [[ 9.99998460e-01 3.62466548e-05 -1.75457186e-03 8.90854959e-01] [-3.85801585e-05 9.99999115e-01 -1.32994063e-03 -9.70409337e-02] [ 1.75452210e-03 1.33000627e-03 9.99997576e-01 -6.47475398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94463044 meters 0.26972742287571794 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.06 [[ 9.99998197e-01 1.74076188e-04 -1.89098791e-03 8.91216327e-01] [-1.75719934e-04 9.99999607e-01 -8.69120847e-04 -9.88585342e-02] [ 1.89083588e-03 8.69451564e-04 9.99997834e-01 -6.48621919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00463044 meters 0.2698127554606327 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.10, Z:-0.06 [[ 9.99998174e-01 3.35768886e-04 -1.88135320e-03 8.91135093e-01] [-3.36511015e-04 9.99999866e-01 -3.94162819e-04 -1.00737045e-01] [ 1.88122060e-03 3.94795196e-04 9.99998153e-01 -6.47061062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06463044 meters 0.26738616824451855 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.10, Z:-0.07 [[ 0.9999594 -0.00824824 -0.00362766 0.87157338] [ 0.00825204 0.99996541 0.00103581 -0.10459897] [ 0.003619 -0.0010657 0.99999288 -0.06557167] [ 0. 0. 0. 1. ]] SLAMing on 87.12463043999999 meters 0.26768174774400605 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.06 [[ 9.99992869e-01 6.21028900e-04 -3.72498669e-03 8.91489553e-01] [-6.17586862e-04 9.99999381e-01 9.25119645e-04 -1.11736073e-01] [ 3.72555891e-03 -9.22812545e-04 9.99992634e-01 -6.37550224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18463043999999 meters 0.26806732888978424 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.06 [[ 9.99992509e-01 8.84109012e-04 -3.76845296e-03 8.91685920e-01] [-8.77494067e-04 9.99998072e-01 1.75663983e-03 -1.15005220e-01] [ 3.76999876e-03 -1.75331987e-03 9.99991356e-01 -6.39853600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24463044 meters 0.26773470977892594 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.06 [[ 0.99998812 -0.00315218 -0.00371807 0.8914768 ] [ 0.00314547 0.99999342 -0.00180898 -0.11801562] [ 0.00372374 0.00179727 0.99999145 -0.06375219] [ 0. 0. 0. 1. ]] SLAMing on 87.30463044 meters 0.2690253208592471 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.06 [[ 0.99998779 -0.00315231 -0.0038064 0.89194714] [ 0.00314546 0.99999342 -0.00180453 -0.11801709] [ 0.00381206 0.00179253 0.99999113 -0.06428094] [ 0. 0. 0. 1. ]] SLAMing on 87.36463044 meters 0.2689720000932834 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 0.99998784 -0.00318439 -0.00376501 0.89233655] [ 0.00317732 0.99999318 -0.00188299 -0.11769014] [ 0.00377098 0.001871 0.99999114 -0.0652312 ] [ 0. 0. 0. 1. ]] SLAMing on 87.42463044 meters 0.26978223496106213 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 0.99998848 -0.00311686 -0.00365005 0.89197181] [ 0.00311067 0.99999371 -0.00170141 -0.11849567] [ 0.00365533 0.00169004 0.99999189 -0.06502642] [ 0. 0. 0. 1. ]] SLAMing on 87.48463043999999 meters 0.2697195277360126 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 0.9999865 -0.00311318 -0.00416105 0.89350623] [ 0.00310657 0.9999939 -0.0015947 -0.1189628 ] [ 0.00416599 0.00158175 0.99999007 -0.06597411] [ 0. 0. 0. 1. ]] SLAMing on 87.54463043999999 meters 0.2679673698035662 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 0.99998728 -0.00308528 -0.00398915 0.89312131] [ 0.00307924 0.9999941 -0.00152029 -0.11923644] [ 0.00399381 0.00150798 0.99999089 -0.06597828] [ 0. 0. 0. 1. ]] SLAMing on 87.60463044 meters 0.26660778319286116 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 0.99998744 -0.00314058 -0.00390587 0.89272441] [ 0.00313412 0.99999371 -0.00165883 -0.11867375] [ 0.00391105 0.00164657 0.999991 -0.06553597] [ 0. 0. 0. 1. ]] SLAMing on 87.66463044 meters 0.2687253975270469 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99984376e-01 -1.18532090e-03 -5.46293276e-03 8.98883688e-01] [ 1.18584329e-03 9.99999293e-01 9.23866416e-05 -1.18381575e-01] [ 5.46281939e-03 -9.88633803e-05 9.99985074e-01 -6.93579423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72463044 meters 0.26850758303054284 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99984222e-01 -1.33985512e-03 -5.45530594e-03 8.98827367e-01] [ 1.33839786e-03 9.99999068e-01 -2.70768768e-04 -1.16833194e-01] [ 5.45566364e-03 2.63463126e-04 9.99985083e-01 -6.92618893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78463044 meters 0.26798395018747495 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99984859e-01 -1.39320156e-03 -5.32358276e-03 8.98445463e-01] [ 1.39105037e-03 9.99998949e-01 -4.07768972e-04 -1.16275959e-01] [ 5.32414528e-03 4.00357426e-04 9.99985746e-01 -6.90573511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84463044 meters 0.2679618298371581 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99985313e-01 -1.30712298e-03 -5.25968583e-03 8.98165743e-01] [ 1.30609069e-03 9.99999127e-01 -1.99694697e-04 -1.17160336e-01] [ 5.25994227e-03 1.92822137e-04 9.99986148e-01 -6.87985945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90463043999999 meters 0.2685533393513306 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99985679e-01 -1.20555706e-03 -5.21424583e-03 8.97785514e-01] [ 1.20581180e-03 9.99999272e-01 4.57095738e-05 -1.18187691e-01] [ 5.21418693e-03 -5.19963183e-05 9.99986405e-01 -6.82663071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96463044 meters 0.267334964978086 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.07 [[ 9.99960341e-01 6.70817889e-03 -5.85813332e-03 8.78198293e-01] [-6.71267755e-03 9.99977190e-01 -7.48609162e-04 -1.23270468e-01] [ 5.85297789e-03 7.87903232e-04 9.99982561e-01 -6.96060478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02463044 meters 0.268341171641299 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.12, Z:-0.07 [[ 9.99983559e-01 -1.47958031e-03 -5.54017256e-03 8.99389661e-01] [ 1.48086636e-03 9.99998878e-01 2.28037573e-04 -1.22979641e-01] [ 5.53982894e-03 -2.36238079e-04 9.99984627e-01 -6.89262226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08463044 meters 0.2665877013396935 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:-0.07 [[ 9.99969203e-01 7.03823435e-03 -3.47223277e-03 8.75470059e-01] [-7.03985160e-03 9.99975117e-01 -4.53763520e-04 -1.23933234e-01] [ 3.46895268e-03 4.78193549e-04 9.99993869e-01 -6.86104975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14463044 meters 0.2673261638173242 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.12, Z:-0.07 [[ 9.99993558e-01 -8.04241865e-04 -3.49806478e-03 8.94385073e-01] [ 8.05339280e-04 9.99999627e-01 3.12323373e-04 -1.16721022e-01] [ 3.49781229e-03 -3.15138490e-04 9.99993833e-01 -6.66167537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20463044 meters 0.2665220539273093 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.11, Z:-0.07 [[ 0.99998866 0.00331954 -0.0034152 0.894346 ] [-0.0033057 0.99998634 0.00404931 -0.11439352] [ 0.00342859 -0.00403797 0.99998597 -0.06685121] [ 0. 0. 0. 1. ]] SLAMing on 88.26463043999999 meters 0.26689904664846653 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:-0.07 [[ 0.9999781 -0.00571307 -0.00334071 0.916501 ] [ 0.00572456 0.9999777 0.00343887 -0.10777735] [ 0.00332099 -0.00345792 0.99998851 -0.06711029] [ 0. 0. 0. 1. ]] SLAMing on 88.32463043999999 meters 0.26829923251016446 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.11, Z:-0.07 [[ 0.99997555 -0.00584693 -0.00383579 0.91813182] [ 0.00585898 0.99997791 0.00313853 -0.10636431] [ 0.00381735 -0.00316093 0.99998772 -0.06814102] [ 0. 0. 0. 1. ]] SLAMing on 88.38463044 meters 0.26908361342205 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.10, Z:-0.07 [[ 0.99998136 -0.00368903 -0.00486543 0.921642 ] [ 0.00370946 0.99998432 0.00419592 -0.09987567] [ 0.00484988 -0.00421389 0.99997936 -0.06997961] [ 0. 0. 0. 1. ]] SLAMing on 88.44463044 meters 0.26910523496920524 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.10, Z:-0.07 [[ 0.99998102 -0.00370437 -0.00492365 0.92181124] [ 0.00372485 0.99998442 0.00415728 -0.09965735] [ 0.00490817 -0.00417554 0.99997924 -0.07006407] [ 0. 0. 0. 1. ]] SLAMing on 88.50463044 meters 0.2685607489371741 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.10, Z:-0.07 [[ 0.99998038 -0.00379146 -0.00498626 0.92197994] [ 0.00381113 0.99998497 0.00394196 -0.0987504 ] [ 0.00497124 -0.00396089 0.9999798 -0.07011043] [ 0. 0. 0. 1. ]] SLAMing on 88.56463044 meters 0.2696804412395516 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.10, Z:-0.07 [[ 0.99998422 0.00510203 -0.00235246 0.94093732] [-0.00509459 0.99998203 0.00315932 -0.09527492] [ 0.00236853 -0.00314728 0.99999224 -0.06933034] [ 0. 0. 0. 1. ]] SLAMing on 88.62463043999999 meters 0.26847088420120396 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.07 [[ 9.99993978e-01 -3.42107790e-03 -5.83587473e-04 9.20344807e-01] [ 3.42330384e-03 9.99986703e-01 3.85686218e-03 -8.94155567e-02] [ 5.70385087e-04 -3.85883675e-03 9.99992392e-01 -7.02209427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68463043999999 meters 0.2674102623996697 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.07 [[ 9.99992746e-01 -3.78872267e-03 3.90723685e-04 9.18053379e-01] [ 3.78785114e-03 9.99990389e-01 2.20765875e-03 -8.32583791e-02] [-3.99084136e-04 -2.20616273e-03 9.99997487e-01 -6.95287898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74463044 meters 0.2686747214666715 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.07 [[ 9.99991287e-01 -4.17411808e-03 4.67963439e-05 9.19523148e-01] [ 4.17406696e-03 9.99990744e-01 1.04380580e-03 -7.82705832e-02] [-5.11528794e-05 -1.04360137e-03 9.99999454e-01 -7.07855282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80463044 meters 0.2669980204524658 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:-0.07 [[ 9.99989862e-01 -4.50024652e-03 -1.51445407e-04 9.20340970e-01] [ 4.50028152e-03 9.99989847e-01 2.31555729e-04 -7.47775093e-02] [ 1.50401812e-04 -2.32234928e-04 9.99999962e-01 -7.14945145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86463044 meters 0.2680744401306313 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:-0.07 [[ 0.99999368 0.00336221 0.00115264 0.93893038] [-0.0033599 0.99999236 -0.00199943 -0.07369225] [-0.00115935 0.00199554 0.99999734 -0.07030858] [ 0. 0. 0. 1. ]] SLAMing on 88.92463044 meters 0.26788450714313117 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.07, Z:-0.07 [[ 9.99997093e-01 -2.27499020e-03 7.99290980e-04 9.15935454e-01] [ 2.27419721e-03 9.99996922e-01 9.91630532e-04 -6.85615541e-02] [-8.01544470e-04 -9.89809904e-04 9.99999189e-01 -6.96143964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98463043999999 meters 0.2695661864420513 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:-0.07 [[ 9.99998692e-01 1.49303457e-03 6.22488813e-04 9.16133706e-01] [-1.49546307e-03 9.99991202e-01 3.91923798e-03 -6.28100657e-02] [-6.16631778e-04 -3.92016376e-03 9.99992126e-01 -6.92849944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04463043999999 meters 0.2669124922751257 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.06, Z:-0.07 [[ 9.99999089e-01 1.20811203e-03 6.02037333e-04 9.15960961e-01] [-1.20985744e-03 9.99995042e-01 2.90728719e-03 -5.89722373e-02] [-5.98522019e-04 -2.90801292e-03 9.99995593e-01 -6.88174020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10463044 meters 0.2665379485596571 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:-0.07 [[ 9.99999629e-01 8.58930801e-04 5.71173693e-05 9.17148556e-01] [-8.59014744e-04 9.99998527e-01 1.48624220e-03 -5.38706332e-02] [-5.58407060e-05 -1.48629071e-03 9.99998894e-01 -6.88982870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16463044 meters 0.2661908287974087 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:-0.07 [[ 9.99999822e-01 5.85396758e-04 1.11910954e-04 9.16639070e-01] [-5.85459875e-04 9.99999669e-01 5.64796273e-04 -5.02824015e-02] [-1.11580287e-04 -5.64861692e-04 9.99999834e-01 -6.80858027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22463044 meters 0.26731956204004065 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.07 [[ 9.99999536e-01 4.09456081e-04 8.72324719e-04 9.14437703e-01] [-4.08914511e-04 9.99999724e-01 -6.20923778e-04 -4.48722780e-02] [-8.72578719e-04 6.20566784e-04 9.99999427e-01 -6.68291026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28463044 meters 0.2658199235973941 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.07 [[ 9.99999141e-01 1.06708705e-04 1.30633717e-03 9.13164717e-01] [-1.04485372e-04 9.99998546e-01 -1.70190964e-03 -4.05751380e-02] [-1.30651688e-03 1.70177168e-03 9.99997698e-01 -6.61558573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34463044 meters 0.2660404227765309 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.07 [[ 9.99998597e-01 -2.81428635e-04 1.65159618e-03 9.12089937e-01] [ 2.86206245e-04 9.99995774e-01 -2.89319944e-03 -3.57867163e-02] [-1.65077497e-03 2.89366808e-03 9.99994451e-01 -6.55805640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40463043999999 meters 0.2657974212090392 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.03, Z:-0.07 [[ 9.99992445e-01 3.39366033e-03 1.89546139e-03 9.11895417e-01] [-3.39355988e-03 9.99994240e-01 -5.62094464e-05 -2.97428734e-02] [-1.89564123e-03 4.97766600e-05 9.99998202e-01 -6.61065668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46463044 meters 0.2681476551551111 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.02, Z:-0.07 [[ 9.99986639e-01 -5.14097855e-03 -5.41127095e-04 9.33582697e-01] [ 5.14083856e-03 9.99986752e-01 -2.59780127e-04 -1.94710315e-02] [ 5.42455450e-04 2.56994809e-04 9.99999820e-01 -6.55785661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52463044 meters 0.26846282993617504 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.01, Z:-0.07 [[ 9.99993361e-01 -3.13901810e-03 -1.85062433e-03 9.39259867e-01] [ 3.14071064e-03 9.99994652e-01 9.12379144e-04 -1.29645263e-02] [ 1.84775045e-03 -9.18185362e-04 9.99997871e-01 -6.95618932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58463044 meters 0.2681269382098127 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.01, Z:-0.07 [[ 9.99991928e-01 -3.43028592e-03 -2.09234715e-03 9.40236205e-01] [ 3.43034116e-03 9.99994116e-01 2.28114756e-05 -9.43570973e-03] [ 2.09225658e-03 -2.99887560e-05 9.99997811e-01 -7.05468969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64463044 meters 0.2675326669376351 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.00, Z:-0.07 [[ 0.99999333 -0.00116206 -0.00346196 0.94525159] [ 0.00116634 0.99999856 0.00123403 -0.00273848] [ 0.00346052 -0.00123806 0.99999325 -0.07377765] [ 0. 0. 0. 1. ]] SLAMing on 89.70463044 meters 0.26773972716901656 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.00, Z:-0.07 [[ 9.99993857e-01 -1.36683000e-03 -3.22769660e-03 9.44614286e-01] [ 1.36887858e-03 9.99998863e-01 6.32564965e-04 -3.42068786e-04] [ 3.22682833e-03 -6.36979404e-04 9.99994591e-01 -7.35673865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76463043999999 meters 0.2685070504129815 Centerline is valid? [False, False] Translation: X:0.96, Y:0.00, Z:-0.07 [[ 9.99986345e-01 5.19831980e-03 -5.36679478e-04 9.64803449e-01] [-5.19937496e-03 9.99984515e-01 -1.98377764e-03 3.27973435e-03] [ 5.26358857e-04 1.98654094e-03 9.99997888e-01 -7.38087234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82463043999999 meters 0.2688193204153063 Centerline is valid? [False, False] Translation: X:0.97, Y:0.01, Z:-0.07 [[ 9.99987514e-01 4.96117148e-03 -5.99159118e-04 9.65033019e-01] [-4.96281378e-03 9.99983845e-01 -2.77136614e-03 6.46309670e-03] [ 5.85400215e-04 2.77430505e-03 9.99995980e-01 -7.40137763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88463044 meters 0.2687743423076384 Centerline is valid? [False, False] Translation: X:0.96, Y:0.01, Z:-0.07 [[ 9.99988880e-01 4.68813762e-03 -5.10861909e-04 9.64728896e-01] [-4.68989885e-03 9.99982868e-01 -3.50271516e-03 9.46266120e-03] [ 4.94431946e-04 3.50507211e-03 9.99993735e-01 -7.38375909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94463044 meters 0.2674157783632425 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.08 [[ 0.99999454 -0.00301106 0.00135777 0.94441663] [ 0.00301516 0.99999088 -0.0030261 0.01924712] [-0.00134864 0.00303018 0.9999945 -0.07540775] [ 0. 0. 0. 1. ]] SLAMing on 90.00463044 meters 0.2683827230279098 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.08 [[ 0.99998452 -0.00353293 0.00429753 0.98584397] [ 0.00354525 0.99998962 -0.00286106 0.02290962] [-0.00428738 0.00287626 0.99998667 -0.07535863] [ 0. 0. 0. 1. ]] SLAMing on 90.06463044 meters 0.26824534010919404 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.08 [[ 0.99998454 -0.00357975 0.00425491 0.98587667] [ 0.00359251 0.99998906 -0.00299679 0.02341503] [-0.00424413 0.00301203 0.99998646 -0.07523098] [ 0. 0. 0. 1. ]] SLAMing on 90.12463043999999 meters 0.2668207805968424 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.08 [[ 9.99991589e-01 5.67645243e-04 4.06194851e-03 9.86277214e-01] [-5.71122668e-04 9.99999471e-01 8.54988966e-04 2.48555956e-02] [-4.06146103e-03 -8.57301645e-04 9.99991385e-01 -7.52729556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18463043999999 meters 0.266893724444092 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.08 [[ 9.99991469e-01 4.97860590e-04 4.10060707e-03 9.86078687e-01] [-5.00662342e-04 9.99999642e-01 6.82254760e-04 2.55744940e-02] [-4.10026593e-03 -6.84301959e-04 9.99991360e-01 -7.50613878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24463044 meters 0.267435204314629 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.08 [[ 9.99991442e-01 5.06567466e-04 4.10600186e-03 9.86280146e-01] [-5.09450207e-04 9.99999624e-01 7.01064218e-04 2.54888541e-02] [-4.10564518e-03 -7.03150022e-04 9.99991325e-01 -7.54641474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30463044 meters 0.2684196074151673 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.08 [[ 0.99997166 0.00576668 0.00483928 1.01007388] [-0.00575537 0.99998068 -0.00234741 0.02281378] [-0.00485272 0.0023195 0.99998554 -0.07673759] [ 0. 0. 0. 1. ]] SLAMing on 90.36463044 meters 0.2687540287214387 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.08 [[ 9.99996164e-01 -1.70105020e-03 2.18583282e-03 9.91448521e-01] [ 1.70267440e-03 9.99998276e-01 -7.41411151e-04 2.04343607e-02] [-2.18456788e-03 7.45130069e-04 9.99997336e-01 -7.81650026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42463044 meters 0.2674803941661802 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.08 [[ 9.99997052e-01 -1.20815525e-03 2.10620440e-03 9.92491049e-01] [ 1.20728985e-03 9.99999186e-01 4.12103822e-04 1.51142767e-02] [-2.10670057e-03 -4.09559808e-04 9.99997697e-01 -7.95465111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48463043999999 meters 0.2695489411551776 Centerline is valid? [False, False] Translation: X:1.02, Y:0.01, Z:-0.08 [[ 0.99998583 0.00424796 0.00320833 1.01548008] [-0.00423923 0.99998731 -0.00272209 0.01386656] [-0.00321985 0.00270845 0.99999115 -0.08073886] [ 0. 0. 0. 1. ]] SLAMing on 90.54463043999999 meters 0.26791701876702656 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.08 [[ 9.99992744e-01 -3.72639832e-03 7.90836878e-04 9.95934987e-01] [ 3.72755224e-03 9.99991983e-01 -1.46269045e-03 1.06787811e-02] [-7.85379970e-04 1.46562772e-03 9.99998618e-01 -8.10461952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60463044 meters 0.26811086421800123 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.08 [[ 9.99994565e-01 -3.22324913e-03 6.93878989e-04 9.95856566e-01] [ 3.22348794e-03 9.99994746e-01 -3.43325012e-04 5.79807189e-03] [-6.92768721e-04 3.45559856e-04 9.99999700e-01 -8.04409063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66463044 meters 0.2674830125551639 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.08 [[ 9.99995813e-01 -2.78679952e-03 7.79402456e-04 9.95337546e-01] [ 2.78625615e-03 9.99995875e-01 6.97371243e-04 1.22569692e-03] [-7.81342675e-04 -6.95196708e-04 9.99999453e-01 -7.98288165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72463044 meters 0.26749798661303154 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.00, Z:-0.08 [[ 9.99996821e-01 -2.40018064e-03 7.73354205e-04 9.94989636e-01] [ 2.39893833e-03 9.99995837e-01 1.60334168e-03 -2.77811779e-03] [-7.77199295e-04 -1.60148136e-03 9.99998416e-01 -7.91812989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78463044 meters 0.27030474097388935 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 9.99988810e-01 3.45087214e-03 3.23605769e-03 1.01575282e+00] [-3.44812548e-03 9.99993691e-01 -8.53960738e-04 -7.92411037e-03] [-3.23898419e-03 8.42792849e-04 9.99994399e-01 -7.95158622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84463044 meters 0.2671413459377794 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.08 [[ 9.99989163e-01 -4.47354695e-03 1.28883230e-03 9.96749263e-01] [ 4.47279878e-03 9.99989827e-01 5.82801851e-04 -8.37877698e-03] [-1.29142638e-03 -5.77030848e-04 9.99999000e-01 -8.03395198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90463043999999 meters 0.26913368320023545 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 0.99999355 0.00182397 0.00309562 1.01884557] [-0.00181772 0.99999631 -0.00201946 -0.00791515] [-0.0030993 0.00201382 0.99999317 -0.08143793] [ 0. 0. 0. 1. ]] SLAMing on 90.96463044 meters 0.2696659971110579 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 0.9999942 0.00176556 0.00291403 1.01983237] [-0.00175922 0.99999609 -0.00217588 -0.0071948 ] [-0.00291786 0.00217074 0.99999339 -0.08265729] [ 0. 0. 0. 1. ]] SLAMing on 91.02463044 meters 0.2689855717087628 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 0.99999449 0.0017071 0.00284874 1.02026441] [-0.0017005 0.99999586 -0.00231918 -0.00659908] [-0.00285269 0.00231432 0.99999325 -0.08321817] [ 0. 0. 0. 1. ]] SLAMing on 91.08463044 meters 0.26686317088583394 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.08 [[ 9.99989116e-01 -4.45167037e-03 1.39689646e-03 9.98054709e-01] [ 4.45060227e-03 9.99989802e-01 7.66798747e-04 -8.11042148e-03] [-1.40029575e-03 -7.60573370e-04 9.99998730e-01 -8.19116122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14463044 meters 0.2672450960824187 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 9.99986192e-01 3.81727745e-03 3.61173930e-03 1.01600031e+00] [-3.81805144e-03 9.99992690e-01 2.07426731e-04 -1.18716172e-02] [-3.61092110e-03 -2.21213673e-04 9.99993456e-01 -8.04025512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20463044 meters 0.26728151289176655 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.01, Z:-0.08 [[ 9.99985802e-01 3.99686324e-03 3.52419181e-03 1.01608122e+00] [-3.99920214e-03 9.99991787e-01 6.56872282e-04 -1.37843744e-02] [-3.52153744e-03 -6.70956912e-04 9.99993574e-01 -8.01595843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26463043999999 meters 0.2668090572947516 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.02, Z:-0.08 [[ 0.99998561 -0.00462088 0.0027256 0.99413924] [ 0.00461574 0.99998756 0.00189043 -0.01935145] [-0.0027343 -0.00187783 0.9999945 -0.07999643] [ 0. 0. 0. 1. ]] SLAMing on 91.32463043999999 meters 0.269038005214579 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.03, Z:-0.08 [[ 9.99993329e-01 9.40266281e-04 3.52943302e-03 1.01707550e+00] [-9.37354959e-04 9.99999219e-01 -8.26433246e-04 -2.56200532e-02] [-3.53020733e-03 8.23119402e-04 9.99993430e-01 -8.08499423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38463044 meters 0.26782432236423986 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.03, Z:-0.09 [[ 9.99992618e-01 6.70562412e-04 3.78337125e-03 9.81977251e-01] [-6.70187010e-04 9.99999770e-01 -1.00490956e-04 -3.42645272e-02] [-3.78343777e-03 9.79546484e-05 9.99992838e-01 -8.55124448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44463044 meters 0.2684625033141551 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:-0.09 [[ 0.99999192 0.0013191 0.00379703 0.98210326] [-0.0013241 0.99999826 0.00131359 -0.04043838] [-0.00379529 -0.00131861 0.99999193 -0.08566369] [ 0. 0. 0. 1. ]] SLAMing on 91.50463044 meters 0.266610466655738 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.04, Z:-0.09 [[ 0.99999139 0.00175628 0.00375863 0.98189009] [-0.00176516 0.99999566 0.00235861 -0.04490152] [-0.00375447 -0.00236522 0.99999015 -0.08506336] [ 0. 0. 0. 1. ]] SLAMing on 91.56463044 meters 0.2683168086478586 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.09 [[ 9.99998764e-01 2.13424896e-04 1.55763245e-03 9.88967976e-01] [-2.16553359e-04 9.99997959e-01 2.00858124e-03 -5.48047899e-02] [-1.55720059e-03 -2.00891607e-03 9.99996770e-01 -8.88122224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62463043999999 meters 0.26709044686659117 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.06, Z:-0.09 [[ 0.99999206 -0.00364469 0.00160884 0.98886 ] [ 0.00364655 0.99999269 -0.00114982 -0.05952858] [-0.00160464 0.00115568 0.99999804 -0.08865463] [ 0. 0. 0. 1. ]] SLAMing on 91.68463043999999 meters 0.2677121730384279 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:-0.09 [[ 0.99998649 0.0039885 0.00333335 1.0053499 ] [-0.0039812 0.99998967 -0.00219537 -0.07028937] [-0.00334207 0.00218207 0.99999203 -0.08518051] [ 0. 0. 0. 1. ]] SLAMing on 91.74463044 meters 0.27033441544750003 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.09 [[ 9.99991812e-01 -4.03450335e-03 3.15733248e-04 9.88319187e-01] [ 4.03466483e-03 9.99991729e-01 -5.12499041e-04 -7.19797275e-02] [-3.13662957e-04 5.13768722e-04 9.99999819e-01 -8.64130331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80463044 meters 0.26957862081964085 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:-0.09 [[ 9.99996771e-01 2.47128257e-03 5.93050374e-04 1.01110614e+00] [-2.46956801e-03 9.99992819e-01 -2.87459965e-03 -7.70919221e-02] [-6.00150063e-04 2.87312579e-03 9.99995692e-01 -8.74345727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86463044 meters 0.2699983495077061 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.08, Z:-0.09 [[ 9.99995628e-01 2.92913624e-03 4.06217836e-04 1.01098165e+00] [-2.92839753e-03 9.99994079e-01 -1.80732661e-03 -8.17421930e-02] [-4.11509336e-04 1.80612914e-03 9.99998284e-01 -8.64068363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92463044 meters 0.26913076359765553 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:-0.09 [[ 9.99983447e-01 -5.72821445e-03 -5.42453405e-04 9.90260764e-01] [ 5.72792065e-03 9.99983449e-01 -5.41626539e-04 -8.41692607e-02] [ 5.45546980e-04 5.38510443e-04 9.99999706e-01 -8.63644786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98463043999999 meters 0.2680682939505449 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.09, Z:-0.09 [[ 9.99984467e-01 -5.54971187e-03 -5.15391273e-04 9.89857889e-01] [ 5.54966500e-03 9.99984596e-01 -9.23344176e-05 -8.60966266e-02] [ 5.15895763e-04 8.94727345e-05 9.99999863e-01 -8.56133005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04463043999999 meters 0.27021209269368957 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99995627e-01 2.85626678e-03 -7.67128624e-04 1.01028112e+00] [-2.85701192e-03 9.99995446e-01 -9.72015000e-04 -9.10381604e-02] [ 7.64348797e-04 9.74202444e-04 9.99999233e-01 -8.41401515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10463044 meters 0.2689152077417043 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99995185e-01 2.96205258e-03 -9.24898254e-04 1.01069806e+00] [-2.96271654e-03 9.99995354e-01 -7.17331611e-04 -9.21385196e-02] [ 9.22769183e-04 7.20068369e-04 9.99999315e-01 -8.42151627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16463044 meters 0.2698709362055775 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99994891e-01 3.06257255e-03 -9.15780785e-04 1.01063636e+00] [-3.06301251e-03 9.99995194e-01 -4.79406459e-04 -9.31475810e-02] [ 9.14308166e-04 4.82209058e-04 9.99999466e-01 -8.40991228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22463044 meters 0.26958688936253344 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99994910e-01 3.04543316e-03 -9.51305818e-04 1.01103444e+00] [-3.04592489e-03 9.99995228e-01 -5.15885554e-04 -9.29765697e-02] [ 9.49730184e-04 5.18780535e-04 9.99999414e-01 -8.47206578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28463044 meters 0.2706375171941514 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99995115e-01 2.97158429e-03 -9.69028753e-04 1.01115615e+00] [-2.97226128e-03 9.99995339e-01 -6.97938102e-04 -9.21282202e-02] [ 9.66950255e-04 7.00814900e-04 9.99999287e-01 -8.48693217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34463044 meters 0.2694715785093156 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.09, Z:-0.09 [[ 9.99983622e-01 -5.54686812e-03 -1.41004160e-03 9.91333444e-01] [ 5.54753446e-03 9.99984502e-01 4.69096804e-04 -8.99929647e-02] [ 1.40741773e-03 -4.76911375e-04 9.99998896e-01 -8.55001994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40463043999999 meters 0.27043304787499894 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99996171e-01 2.66315735e-03 -7.51992828e-04 1.01069185e+00] [-2.66389446e-03 9.99995971e-01 -9.80905362e-04 -9.19016244e-02] [ 7.49377493e-04 9.82904836e-04 9.99999236e-01 -8.41020705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46463044 meters 0.27205080372240703 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.08 [[ 9.99996269e-01 2.63195268e-03 -7.30986542e-04 1.01074280e+00] [-2.63272207e-03 9.99995979e-01 -1.05357293e-03 -9.15747157e-02] [ 7.28210648e-04 1.05549348e-03 9.99999178e-01 -8.42992617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52463044 meters 0.2713434280416229 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.09 [[ 9.99996553e-01 2.50796877e-03 -7.77285913e-04 1.01128041e+00] [-2.50903004e-03 9.99995917e-01 -1.36739795e-03 -9.02167086e-02] [ 7.73853348e-04 1.36934347e-03 9.99998763e-01 -8.51841648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58463044 meters 0.27026274630588687 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.09, Z:-0.09 [[ 9.99996793e-01 2.35530694e-03 -9.31060570e-04 1.01172490e+00] [-2.35694410e-03 9.99995671e-01 -1.76121219e-03 -8.86043713e-02] [ 9.26908344e-04 1.76340100e-03 9.99998016e-01 -8.53944227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64463044 meters 0.2694646324486322 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:-0.08 [[ 9.99993536e-01 -3.56487304e-03 4.69275876e-04 9.88219079e-01] [ 3.56428123e-03 9.99992859e-01 1.25597267e-03 -8.29345485e-02] [-4.73749908e-04 -1.25429192e-03 9.99999101e-01 -8.47145987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70463044 meters 0.27174610443669167 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:-0.09 [[ 9.99991969e-01 -3.92120069e-03 8.28416104e-04 9.87587870e-01] [ 3.92102372e-03 9.99992290e-01 2.15137811e-04 -7.86425215e-02] [-8.29253315e-04 -2.11887844e-04 9.99999634e-01 -8.51195435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76463043999999 meters 0.2714937249764321 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:-0.09 [[ 9.99990658e-01 -4.25106844e-03 7.82518739e-04 9.87788723e-01] [ 4.25157275e-03 9.99990755e-01 -6.43936225e-04 -7.50306260e-02] [-7.79774087e-04 6.47257144e-04 9.99999487e-01 -8.53676814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82463043999999 meters 0.2708630943358049 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.08 [[ 9.99989392e-01 -4.50738041e-03 9.48545161e-04 9.86953202e-01] [ 4.50867261e-03 9.99988905e-01 -1.36459622e-03 -7.18334310e-02] [-9.42383883e-04 1.36885843e-03 9.99998619e-01 -8.45873596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88463044 meters 0.2717008350957127 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.08 [[ 9.99999578e-01 -4.01368485e-04 8.26940105e-04 9.86942014e-01] [ 3.99407964e-04 9.99997113e-01 2.36961577e-03 -6.96738459e-02] [-8.27888806e-04 -2.36928449e-03 9.99996851e-01 -8.41277145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94463044 meters 0.2719405681314912 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.08 [[ 9.99999535e-01 -5.60164817e-04 7.85146326e-04 9.87160200e-01] [ 5.58603755e-04 9.99997870e-01 1.98705385e-03 -6.80446871e-02] [-7.86257731e-04 -1.98661434e-03 9.99997718e-01 -8.43968024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00463044 meters 0.27222039548226173 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.08 [[ 9.99999608e-01 -5.47466951e-04 6.95782328e-04 9.87242321e-01] [ 5.46061976e-04 9.99997815e-01 2.01786202e-03 -6.81893585e-02] [-6.96885520e-04 -2.01748129e-03 9.99997722e-01 -8.41607362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06463044 meters 0.2734816076756917 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:-0.08 [[ 9.99995772e-01 -9.07753499e-05 2.90665215e-03 1.02953305e+00] [ 8.37845206e-05 9.99997104e-01 2.40514531e-03 -6.79480199e-02] [-2.90686206e-03 -2.40489160e-03 9.99992883e-01 -8.38939930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12463043999999 meters 0.27158037457592354 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.07, Z:-0.08 [[ 9.99996518e-01 7.69950310e-05 2.63765126e-03 1.03030848e+00] [-8.46797969e-05 9.99995752e-01 2.91350046e-03 -7.01081055e-02] [-2.63741573e-03 -2.91371367e-03 9.99992277e-01 -8.41816908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18463043999999 meters 0.27046866547299164 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.08, Z:-0.08 [[ 9.99998869e-01 -1.44836970e-03 -4.06315694e-04 9.89805762e-01] [ 1.44925613e-03 9.99996552e-01 2.18986892e-03 -7.83018224e-02] [ 4.03142553e-04 -2.19045529e-03 9.99997520e-01 -8.48768179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24463044 meters 0.27250759074356495 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.08, Z:-0.08 [[ 9.99997483e-01 -5.49653806e-04 2.17506509e-03 1.03157056e+00] [ 5.43530321e-04 9.99995890e-01 2.81490116e-03 -7.65022411e-02] [-2.17660337e-03 -2.81371187e-03 9.99993673e-01 -8.42091049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30463044 meters 0.2723429453502747 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.08, Z:-0.08 [[ 9.99997745e-01 -6.33116253e-04 2.02701122e-03 1.03188849e+00] [ 6.27812064e-04 9.99996380e-01 2.61632137e-03 -7.56410456e-02] [-2.02866032e-03 -2.61504289e-03 9.99994523e-01 -8.41636367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36463044 meters 0.2706481240131223 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.07, Z:-0.08 [[ 9.99988259e-01 4.83079583e-03 -3.79932092e-04 1.01132369e+00] [-4.83122826e-03 9.99987673e-01 -1.14560916e-03 -7.13522308e-02] [ 3.74393205e-04 1.14743125e-03 9.99999272e-01 -8.40300865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42463044 meters 0.26986100609399444 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 9.99995449e-01 -2.22616846e-03 2.03601852e-03 1.02696404e+00] [ 2.22513643e-03 9.99997395e-01 5.09014177e-04 -6.45321131e-02] [-2.03714636e-03 -5.04481441e-04 9.99997798e-01 -8.10064376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48463043999999 meters 0.27123434561311455 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 9.99995526e-01 -2.37542257e-03 1.81807033e-03 1.02749902e+00] [ 2.37517877e-03 9.99997170e-01 1.36248493e-04 -6.30027698e-02] [-1.81838883e-03 -1.31929641e-04 9.99998338e-01 -8.11436949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54463043999999 meters 0.27071489172415125 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 9.99995707e-01 -2.38047520e-03 1.70881385e-03 1.02804208e+00] [ 2.38026315e-03 9.99997159e-01 1.26115711e-04 -6.29568309e-02] [-1.70910921e-03 -1.22047743e-04 9.99998532e-01 -8.17555666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60463044 meters 0.27101154670419114 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.08 [[ 0.99997594 0.00519996 0.00459156 1.04599998] [-0.0051925 0.99998518 -0.00163531 -0.06214704] [-0.00459999 0.00161143 0.99998812 -0.08032694] [ 0. 0. 0. 1. ]] SLAMing on 93.66463044 meters 0.27090147644626944 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.08 [[ 0.99997636 0.00501164 0.00470751 1.04554845] [-0.0050017 0.99998524 -0.00212115 -0.0599668 ] [-0.00471807 0.00209756 0.99998667 -0.08001898] [ 0. 0. 0. 1. ]] SLAMing on 93.72463044 meters 0.2750097762834248 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.08 [[ 0.99997763 0.00478715 0.0046724 1.04575474] [-0.00477439 0.99998485 -0.00273898 -0.05741898] [-0.00468545 0.00271662 0.99998533 -0.08030968] [ 0. 0. 0. 1. ]] SLAMing on 93.78463044 meters 0.2714101231330719 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 9.99997999e-01 -9.23584778e-04 1.77450123e-03 1.02510043e+00] [ 9.23438902e-04 9.99999570e-01 8.30245672e-05 -5.54894492e-02] [-1.77457715e-03 -8.13857576e-05 9.99998422e-01 -7.97548055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84463044 meters 0.27249561241900677 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99996947e-01 -7.24570038e-04 2.36234979e-03 1.07075546e+00] [ 7.25151749e-04 9.99999707e-01 -2.45395188e-04 -4.98057775e-02] [-2.36217129e-03 2.47107501e-04 9.99997180e-01 -8.13422962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90463043999999 meters 0.27273782064035723 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99997229e-01 -7.58363598e-04 2.22859407e-03 1.07126403e+00] [ 7.59098036e-04 9.99999658e-01 -3.28724546e-04 -4.95218163e-02] [-2.22834402e-03 3.30415357e-04 9.99997463e-01 -8.17145204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96463044 meters 0.2715800462498067 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99997132e-01 -7.74762044e-04 2.26605712e-03 1.07102163e+00] [ 7.75601812e-04 9.99999631e-01 -3.69730217e-04 -4.93188844e-02] [-2.26576983e-03 3.71486715e-04 9.99997364e-01 -8.14351223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02463044 meters 0.2708520547902605 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.08 [[ 9.99988830e-01 4.72642305e-03 -2.98123743e-05 1.05097228e+00] [-4.72650386e-03 9.99981058e-01 -3.94244309e-03 -4.88562430e-02] [ 1.11781557e-05 3.94253996e-03 9.99992228e-01 -8.12543612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08463044 meters 0.27230635512240203 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.04, Z:-0.08 [[ 9.99999350e-01 -2.39907254e-04 1.11434636e-03 1.07197951e+00] [ 2.40294814e-04 9.99999911e-01 -3.47669789e-04 -4.46349484e-02] [-1.11426285e-03 3.47937335e-04 9.99999319e-01 -8.09745657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14463044 meters 0.2701162863445654 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99982007e-01 9.33321781e-05 5.99810318e-03 1.02955493e+00] [-9.33538887e-05 9.99999996e-01 3.33960003e-06 -4.60700505e-02] [-5.99810284e-03 -3.89948620e-06 9.99982011e-01 -8.34426047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20463044 meters 0.2716682282218475 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99981231e-01 7.07683324e-05 6.12632598e-03 1.02922310e+00] [-7.04519397e-05 9.99999996e-01 -5.18605702e-05 -4.58142292e-02] [-6.12632962e-03 5.14279853e-05 9.99981233e-01 -8.33698370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26463043999999 meters 0.27027279728776193 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99982794e-01 2.09391142e-04 5.86240449e-03 1.02991061e+00] [-2.11373495e-04 9.99999921e-01 3.37529209e-04 -4.75007407e-02] [-5.86233335e-03 -3.38762559e-04 9.99982759e-01 -8.35046800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32463043999999 meters 0.2720606157402236 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99983077e-01 3.00471328e-04 5.81002601e-03 1.03002610e+00] [-3.03723045e-04 9.99999798e-01 5.58799105e-04 -4.84595848e-02] [-5.80985693e-03 -5.60554287e-04 9.99982966e-01 -8.34667656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38463044 meters 0.27065341668808574 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99982466e-01 4.53829895e-04 5.90442565e-03 1.02962998e+00] [-4.59345717e-04 9.99999459e-01 9.32861762e-04 -5.01214062e-02] [-5.90399910e-03 -9.35557577e-04 9.99982134e-01 -8.30975145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44463044 meters 0.2731910397001038 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99982483e-01 5.18290777e-04 5.89621101e-03 1.03007232e+00] [-5.24730772e-04 9.99999267e-01 1.09073147e-03 -5.09384847e-02] [-5.89564137e-03 -1.09380629e-03 9.99982022e-01 -8.38895803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50463044 meters 0.2719139231054004 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99982991e-01 5.67396946e-04 5.80488122e-03 1.03022115e+00] [-5.74420202e-04 9.99999105e-01 1.20829238e-03 -5.14609132e-02] [-5.80419044e-03 -1.21160627e-03 9.99982422e-01 -8.37710435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56463044 meters 0.2709602497062065 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99983579e-01 7.30652030e-04 5.68395103e-03 1.03021381e+00] [-7.40065947e-04 9.99998358e-01 1.65430077e-03 -5.33398668e-02] [-5.68273298e-03 -1.65848011e-03 9.99982478e-01 -8.31689908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62463043999999 meters 0.27031980918544757 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 9.99984817e-01 8.83431974e-04 5.43923046e-03 1.03095565e+00] [-8.95091016e-04 9.99997307e-01 2.14144846e-03 -5.54731351e-02] [-5.43732399e-03 -2.14628455e-03 9.99982914e-01 -8.35570206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68463043999999 meters 0.27133144472700027 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.06, Z:-0.08 [[ 0.99998459 0.00103762 0.00545417 1.03084375] [-0.00105154 0.9999962 0.00254987 -0.057182 ] [-0.0054515 -0.00255557 0.99998187 -0.08337369] [ 0. 0. 0. 1. ]] SLAMing on 94.74463044 meters 0.27094666555762337 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.06, Z:-0.08 [[ 0.99997999 0.0059988 0.00200935 1.01217747] [-0.00599605 0.99998108 -0.00137146 -0.05642155] [-0.00201754 0.00135939 0.99999704 -0.08381714] [ 0. 0. 0. 1. ]] SLAMing on 94.80463044 meters 0.27138859645841484 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99997558e-01 -1.73015878e-03 1.37497141e-03 1.03131861e+00] [ 1.73021914e-03 9.99998502e-01 -4.27147853e-05 -5.09201887e-02] [-1.37489544e-03 4.50936829e-05 9.99999054e-01 -8.22886367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86463044 meters 0.27119137886231354 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99997082e-01 -1.77118359e-03 1.64264518e-03 1.03034488e+00] [ 1.77148681e-03 9.99998414e-01 -1.83155979e-04 -5.02484290e-02] [-1.64231817e-03 1.86065369e-04 9.99998634e-01 -8.15434531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92463044 meters 0.2709042259800939 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.08 [[ 9.99997177e-01 -1.68104569e-03 1.67903480e-03 1.03015895e+00] [ 1.68100090e-03 9.99998587e-01 2.80874761e-05 -5.12090991e-02] [-1.67907965e-03 -2.52649378e-05 9.99998590e-01 -8.13546063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98463043999999 meters 0.27178737412070425 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99991181e-01 -1.30977986e-03 3.99018781e-03 1.07245418e+00] [ 1.30858858e-03 9.99999098e-01 3.01148707e-04 -4.94138208e-02] [-3.99057865e-03 -2.95924537e-04 9.99991994e-01 -8.13943164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04463043999999 meters 0.26957068183660393 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99991993e-01 -1.25977177e-03 3.79816803e-03 1.07254734e+00] [ 1.25818604e-03 9.99999120e-01 4.19859072e-04 -4.99187989e-02] [-3.79869362e-03 -4.15076908e-04 9.99992699e-01 -8.07509110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10463044 meters 0.26994132802860116 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.05, Z:-0.08 [[ 9.99992364e-01 -1.42269943e-03 3.63972250e-03 1.07313052e+00] [ 1.42271496e-03 9.99998988e-01 -1.67764203e-06 -4.81376204e-02] [-3.63971643e-03 6.85591687e-06 9.99993376e-01 -8.12834709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16463044 meters 0.27184264785817636 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:-0.08 [[ 9.99997033e-01 3.19921787e-04 2.41504750e-03 1.07836419e+00] [-3.24009914e-04 9.99998515e-01 1.69257138e-03 -4.87875962e-02] [-2.41450243e-03 -1.69334886e-03 9.99995651e-01 -8.47122433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22463044 meters 0.27015802341723305 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:-0.08 [[ 9.99996203e-01 3.88119397e-04 2.72829392e-03 1.07712732e+00] [-3.93506179e-04 9.99997974e-01 1.97415480e-03 -4.99216877e-02] [-2.72752218e-03 -1.97522090e-03 9.99994330e-01 -8.34471761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28463044 meters 0.27022501142922173 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.05, Z:-0.08 [[ 9.99996935e-01 6.14732105e-04 2.39845946e-03 1.07751545e+00] [-6.21446988e-04 9.99995887e-01 2.79992515e-03 -5.31387257e-02] [-2.39672839e-03 -2.80140709e-03 9.99993204e-01 -8.27778290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34463044 meters 0.2694098267273272 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.06, Z:-0.08 [[ 9.99997037e-01 9.36463860e-04 2.24689771e-03 1.07796464e+00] [-9.45541643e-04 9.99991382e-01 4.04248569e-03 -5.82632570e-02] [-2.24309270e-03 -4.04459825e-03 9.99989305e-01 -8.28985089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40463043999999 meters 0.2690065000979708 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.07, Z:-0.08 [[ 0.99999464 -0.00258282 0.00201328 1.07802848] [ 0.00257807 0.9999939 0.00235638 -0.07197855] [-0.00201935 -0.00235118 0.9999952 -0.08210113] [ 0. 0. 0. 1. ]] SLAMing on 95.46463044 meters 0.2694066111948187 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.08, Z:-0.08 [[ 0.99999723 -0.00195002 0.00131831 1.07945272] [ 0.00194471 0.99999004 0.00401682 -0.0803594 ] [-0.00132613 -0.00401424 0.99999106 -0.08164485] [ 0. 0. 0. 1. ]] SLAMing on 95.52463044 meters 0.2689666395480184 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.10, Z:-0.08 [[ 0.9999743 0.00311408 0.00645723 1.05737797] [-0.00314112 0.99998632 0.0041821 -0.10082046] [-0.00644412 -0.00420227 0.99997041 -0.08219036] [ 0. 0. 0. 1. ]] SLAMing on 95.58463044 meters 0.26994390658325024 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.11, Z:-0.08 [[ 0.99996182 -0.00505397 0.00712898 1.07922147] [ 0.00501366 0.9999714 0.00566187 -0.10543791] [-0.00715739 -0.00562591 0.99995856 -0.08232442] [ 0. 0. 0. 1. ]] SLAMing on 95.64463044 meters 0.26963083594231385 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.08 [[ 0.9999635 0.00254766 0.0081555 1.05995548] [-0.00259281 0.99998135 0.00553055 -0.11888368] [-0.00814126 -0.00555149 0.99995145 -0.08378367] [ 0. 0. 0. 1. ]] SLAMing on 95.70463044 meters 0.2706968235131648 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.08 [[ 0.99996176 0.00280723 0.00828258 1.0595266 ] [-0.00285809 0.99997709 0.00613522 -0.12159946] [-0.00826517 -0.00615866 0.99994688 -0.08345648] [ 0. 0. 0. 1. ]] SLAMing on 95.76463043999999 meters 0.27099606800937515 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.08 [[ 0.99996302 -0.00136635 0.00849082 1.0588374 ] [ 0.00134872 0.99999692 0.00208173 -0.12207986] [-0.00849364 -0.0020702 0.99996179 -0.08309787] [ 0. 0. 0. 1. ]] SLAMing on 95.82463043999999 meters 0.26820340865478837 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.08 [[ 0.99996334 -0.00120738 0.00847728 1.05899168] [ 0.00118611 0.99999614 0.00251305 -0.12408244] [-0.00848028 -0.0025029 0.99996091 -0.08327555] [ 0. 0. 0. 1. ]] SLAMing on 95.88463044 meters 0.26840555597853905 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.08 [[ 0.99996388 -0.00111573 0.00842636 1.05917514] [ 0.00109252 0.9999956 0.00275749 -0.12514966] [-0.0084294 -0.00274818 0.9999607 -0.08335941] [ 0. 0. 0. 1. ]] SLAMing on 95.94463044 meters 0.270692829925175 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.08 [[ 0.99994701 0.00816646 0.00626832 1.08205037] [-0.00818178 0.9999636 0.00242076 -0.12894442] [-0.00624832 -0.00247192 0.99997742 -0.08326002] [ 0. 0. 0. 1. ]] SLAMing on 96.00463044 meters 0.26860032996565375 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 9.99994358e-01 -3.82208853e-04 3.33734092e-03 1.06525425e+00] [ 3.70172662e-04 9.99993428e-01 3.60639439e-03 -1.28271248e-01] [-3.33869739e-03 -3.60513865e-03 9.99987928e-01 -8.52848207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06463044 meters 0.2684192648197074 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.08 [[ 9.99981969e-01 4.48986557e-03 3.98782741e-03 1.04243710e+00] [-4.48938608e-03 9.99989914e-01 -1.29181095e-04 -1.31181518e-01] [-3.98836720e-03 1.11275869e-04 9.99992040e-01 -8.49813038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12463043999999 meters 0.2692993652308566 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.08 [[ 0.99997625 0.00348341 0.00594687 1.08475949] [-0.00347569 0.99999311 -0.0013071 -0.13366824] [-0.00595138 0.0012864 0.99998146 -0.08460114] [ 0. 0. 0. 1. ]] SLAMing on 96.18463043999999 meters 0.2679437495064437 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 9.99982435e-01 -4.54321826e-03 3.80634824e-03 1.06629875e+00] [ 4.54194759e-03 9.99989627e-01 3.42406470e-04 -1.33733771e-01] [-3.80786438e-03 -3.25112222e-04 9.99992697e-01 -8.60589779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24463044 meters 0.2677682178331103 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 9.99982525e-01 -4.53480223e-03 3.79268330e-03 1.06648214e+00] [ 4.53346579e-03 9.99989659e-01 3.60897934e-04 -1.33841579e-01] [-3.79428068e-03 -3.43697627e-04 9.99992743e-01 -8.63641465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30463044 meters 0.2673995577242724 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.08 [[ 0.99998266 -0.00279566 0.00518367 1.06098165] [ 0.00278363 0.99999342 0.00232653 -0.13645505] [-0.00519014 -0.00231206 0.99998386 -0.08273002] [ 0. 0. 0. 1. ]] SLAMing on 96.36463044 meters 0.26737651653951333 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.08 [[ 0.99998237 -0.002757 0.00525875 1.06072089] [ 0.00274432 0.99999331 0.002418 -0.1368622 ] [-0.00526538 -0.00240353 0.99998325 -0.08254995] [ 0. 0. 0. 1. ]] SLAMing on 96.42463044 meters 0.26639749587825884 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.08 [[ 0.99998169 -0.00268023 0.00542534 1.06027716] [ 0.00266602 0.999993 0.00262507 -0.13774706] [-0.00543234 -0.00261055 0.99998184 -0.08237489] [ 0. 0. 0. 1. ]] SLAMing on 96.48463043999999 meters 0.2674103156583409 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.14, Z:-0.08 [[ 9.99956440e-01 2.71233386e-03 8.93097089e-03 1.07944790e+00] [-2.70385841e-03 9.99995883e-01 -9.60933260e-04 -1.36637634e-01] [-8.93354049e-03 9.36743321e-04 9.99959656e-01 -8.21134922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54463043999999 meters 0.26693442699647435 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.08 [[ 9.99944232e-01 -5.90818699e-03 8.75365444e-03 1.05874634e+00] [ 5.90592302e-03 9.99982519e-01 2.84458055e-04 -1.35868101e-01] [-8.75518206e-03 -2.32743782e-04 9.99961646e-01 -8.29066069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60463044 meters 0.26648325126994654 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.08 [[ 9.99945345e-01 -5.96546314e-03 8.58609039e-03 1.05951731e+00] [ 5.96458492e-03 9.99982204e-01 1.27887743e-04 -1.35241548e-01] [-8.58670050e-03 -7.66682880e-05 9.99963131e-01 -8.36915355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66463044 meters 0.26458220737758303 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.14, Z:-0.08 [[ 9.99973064e-01 1.90769549e-03 7.08742587e-03 1.03978718e+00] [-1.90104424e-03 9.99997746e-01 -9.45075880e-04 -1.35547959e-01] [-7.08921281e-03 9.31576914e-04 9.99974437e-01 -8.49394646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72463044 meters 0.2659791984311287 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.08 [[ 9.99963036e-01 -6.37777386e-03 5.76632508e-03 1.06263334e+00] [ 6.38171851e-03 9.99979415e-01 -6.65943535e-04 -1.31439782e-01] [-5.76195914e-03 7.02717983e-04 9.99983153e-01 -8.49171199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78463044 meters 0.26756409540429393 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 9.99967185e-01 -6.58757253e-03 4.71524917e-03 1.06536685e+00] [ 6.59152089e-03 9.99977938e-01 -8.22309432e-04 -1.31630413e-01] [-4.70972811e-03 8.53363111e-04 9.99988545e-01 -8.62046241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84463044 meters 0.26665304303870246 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 0.99998588 -0.00258017 0.00464594 1.06561063] [ 0.00256678 0.99999254 0.00288496 -0.13035579] [-0.00465335 -0.00287299 0.99998505 -0.08640568] [ 0. 0. 0. 1. ]] SLAMing on 96.90463043999999 meters 0.26601235055892986 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.13, Z:-0.09 [[ 0.99998479 -0.00287518 0.00470567 1.06537082] [ 0.0028649 0.9999935 0.00219077 -0.12723249] [-0.00471194 -0.00217726 0.99998653 -0.0862175 ] [ 0. 0. 0. 1. ]] SLAMing on 96.96463044 meters 0.2651719394161671 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.13, Z:-0.09 [[ 9.99984034e-01 4.59524050e-03 3.28879645e-03 1.04627095e+00] [-4.59595383e-03 9.99989417e-01 2.09371369e-04 -1.25345032e-01] [-3.28779954e-03 -2.24483183e-04 9.99994570e-01 -8.78312858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02463044 meters 0.2664402886552543 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.09 [[ 9.99985727e-01 4.26335300e-03 3.22034178e-03 1.04665554e+00] [-4.26158381e-03 9.99990765e-01 -5.56040557e-04 -1.21973734e-01] [-3.22268263e-03 5.42308864e-04 9.99994660e-01 -8.81887286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08463044 meters 0.26744318142838236 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.11, Z:-0.09 [[ 0.99999704 -0.00114763 0.00214749 1.07125796] [ 0.00114402 0.99999793 0.00168398 -0.11203506] [-0.00214942 -0.00168151 0.99999628 -0.08945911] [ 0. 0. 0. 1. ]] SLAMing on 97.14463044 meters 0.26569835907017614 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.10, Z:-0.09 [[ 9.99973954e-01 7.04121572e-03 1.58529912e-03 1.04903462e+00] [-7.04122254e-03 9.99975210e-01 -1.28447075e-06 -1.04698297e-01] [-1.58526886e-03 -9.87800657e-06 9.99998743e-01 -8.89759393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20463044 meters 0.2678634245036981 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.09 [[ 9.99998061e-01 -6.34431438e-04 1.86411279e-03 1.06798218e+00] [ 6.33236840e-04 9.99999594e-01 6.41360181e-04 -9.52909318e-02] [-1.86451893e-03 -6.40178512e-04 9.99998057e-01 -8.72373370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26463043999999 meters 0.2644399018664794 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.09, Z:-0.08 [[ 0.99999398 0.00137462 0.00318714 1.06321212] [-0.00138039 0.99999741 0.00180837 -0.08869477] [-0.00318465 -0.00181276 0.99999329 -0.08466535] [ 0. 0. 0. 1. ]] SLAMing on 97.32463043999999 meters 0.26629369490639704 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.09 [[ 0.99998341 0.0048481 0.00310917 1.0640124 ] [-0.00486035 0.9999804 0.00394659 -0.07881304] [-0.00308998 -0.00396163 0.99998738 -0.08554061] [ 0. 0. 0. 1. ]] SLAMing on 97.38463044 meters 0.2650752921722306 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.09 [[ 0.99998614 0.00445231 0.00281103 1.06501515] [-0.00445958 0.99998672 0.00258242 -0.0732312 ] [-0.00279949 -0.00259492 0.99999271 -0.08616277] [ 0. 0. 0. 1. ]] SLAMing on 97.44463044 meters 0.26452208611556566 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:-0.09 [[ 0.99998439 -0.00364027 0.00423913 1.04378283] [ 0.00362751 0.99998888 0.00301282 -0.06383533] [-0.00425005 -0.0029974 0.99998648 -0.08677171] [ 0. 0. 0. 1. ]] SLAMing on 97.50463044 meters 0.26639322547952754 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.09 [[ 9.99975018e-01 2.79177970e-03 6.49379776e-03 1.06459662e+00] [-2.78928972e-03 9.99996033e-01 -3.92464712e-04 -5.72085956e-02] [-6.49486767e-03 3.74341825e-04 9.99978838e-01 -8.72417948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56463044 meters 0.2664744004196321 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99975415e-01 2.75677236e-03 6.44743845e-03 1.06520404e+00] [-2.75373044e-03 9.99996093e-01 -4.80632411e-04 -5.68246960e-02] [-6.44873825e-03 4.62866087e-04 9.99979100e-01 -8.82619262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62463043999999 meters 0.2675053896745789 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99976499e-01 2.78709789e-03 6.26361317e-03 1.06549895e+00] [-2.78458653e-03 9.99996039e-01 -4.09628636e-04 -5.71406421e-02] [-6.26473003e-03 3.92177437e-04 9.99980299e-01 -8.80088609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68463043999999 meters 0.26423822891341614 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99977472e-01 2.82791631e-03 6.08748361e-03 1.06554698e+00] [-2.82608821e-03 9.99995959e-01 -3.08885976e-04 -5.76118370e-02] [-6.08833251e-03 2.91675252e-04 9.99981423e-01 -8.73709679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74463044 meters 0.2660431627774373 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99976618e-01 2.83220779e-03 6.22423951e-03 1.06553377e+00] [-2.83045013e-03 9.99995952e-01 -2.91180079e-04 -5.77055117e-02] [-6.22503899e-03 2.73555872e-04 9.99980587e-01 -8.79295357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80463044 meters 0.26582986383666424 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99976477e-01 2.71888407e-03 6.29704764e-03 1.06517512e+00] [-2.71545198e-03 9.99996160e-01 -5.53516448e-04 -5.69649233e-02] [-6.29852840e-03 5.36404098e-04 9.99980020e-01 -8.75410017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86463044 meters 0.26518564208523043 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99977979e-01 2.77034239e-03 6.03040318e-03 1.06590621e+00] [-2.76790268e-03 9.99996084e-01 -4.12876418e-04 -5.74477896e-02] [-6.03152338e-03 3.96175757e-04 9.99981732e-01 -8.78400737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92463044 meters 0.2656563541267358 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99975667e-01 3.08211423e-03 6.25821984e-03 1.06600218e+00] [-3.08435895e-03 9.99995182e-01 3.49064673e-04 -6.06810485e-02] [-6.25711383e-03 -3.68358776e-04 9.99980356e-01 -8.89295004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98463043999999 meters 0.26595486387133266 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99974291e-01 3.28552475e-03 6.37360554e-03 1.06536311e+00] [-3.29106463e-03 9.99994216e-01 8.58897856e-04 -6.30109920e-02] [-6.37074674e-03 -8.79851722e-04 9.99979320e-01 -8.81456423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04463043999999 meters 0.2665603664630526 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 0.9999738 0.00337323 0.00640416 1.06508641] [-0.00338018 0.99999371 0.00107522 -0.06402375] [-0.00640049 -0.00109684 0.99997892 -0.08773376] [ 0. 0. 0. 1. ]] SLAMing on 98.10463044 meters 0.2673513849399632 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 0.99997396 0.00337468 0.00637817 1.06524878] [-0.00338166 0.99999369 0.00108521 -0.06404446] [-0.00637447 -0.00110675 0.99997907 -0.08794839] [ 0. 0. 0. 1. ]] SLAMing on 98.16463044 meters 0.2666735166614069 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 0.99997355 0.00345653 0.00640003 1.06581541] [-0.00346463 0.99999321 0.00125437 -0.06433102] [-0.00639565 -0.00127652 0.99997873 -0.08905826] [ 0. 0. 0. 1. ]] SLAMing on 98.22463044 meters 0.268751438543853 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99975657e-01 3.31346318e-03 6.14053924e-03 1.06674436e+00] [-3.31873804e-03 9.99994133e-01 8.49032358e-04 -6.26757226e-02] [-6.13768998e-03 -8.69390532e-04 9.99980786e-01 -8.97822314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28463044 meters 0.26884385879559847 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.06, Z:-0.09 [[ 0.99999132 -0.00231427 0.00346413 1.09207214] [ 0.00230194 0.99999102 0.00355873 -0.05667737] [-0.00347233 -0.00355073 0.99998767 -0.09147043] [ 0. 0. 0. 1. ]] SLAMing on 98.34463044 meters 0.267568769917091 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99992737e-01 2.49454545e-03 2.88146514e-03 1.06967178e+00] [-2.49304138e-03 9.99996754e-01 -5.25453926e-04 -5.78023705e-02] [-2.88276655e-03 5.18266498e-04 9.99995711e-01 -9.06770475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40463043999999 meters 0.2669433417755701 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99993278e-01 2.58187676e-03 2.60337387e-03 1.07008151e+00] [-2.58116945e-03 9.99996631e-01 -2.75013837e-04 -5.88259623e-02] [-2.60407515e-03 2.68292239e-04 9.99996573e-01 -9.02430827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46463044 meters 0.2661686437195908 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99993821e-01 2.71628901e-03 2.23133121e-03 1.07118931e+00] [-2.71696571e-03 9.99996264e-01 3.00296586e-04 -6.13412167e-02] [-2.23050718e-03 -3.06357181e-04 9.99997465e-01 -9.08267507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52463044 meters 0.2682177922288791 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99993700e-01 2.87653598e-03 2.08000663e-03 1.07180758e+00] [-2.87803338e-03 9.99995601e-01 7.17268542e-04 -6.31258634e-02] [-2.07793423e-03 -7.23250351e-04 9.99997580e-01 -9.13488838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58463044 meters 0.267595765171292 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.06, Z:-0.09 [[ 9.99993599e-01 3.01567158e-03 1.92568594e-03 1.07211075e+00] [-3.01769052e-03 9.99994899e-01 1.04637849e-03 -6.45373007e-02] [-1.92252058e-03 -1.05218292e-03 9.99997598e-01 -9.12288428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64463044 meters 0.2656032183101441 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.07, Z:-0.09 [[ 0.99998181 -0.00407912 0.0044432 1.04477695] [ 0.00406209 0.9999844 0.00383475 -0.06736166] [-0.00445877 -0.00381663 0.99998278 -0.08876109] [ 0. 0. 0. 1. ]] SLAMing on 98.70463044 meters 0.2664037796722704 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.09 [[ 9.99972324e-01 1.88173001e-03 7.19800110e-03 1.06370724e+00] [-1.88827351e-03 9.99997810e-01 9.02383549e-04 -7.25213119e-02] [-7.19628729e-03 -9.15950369e-04 9.99973687e-01 -8.82209726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76463043999999 meters 0.26644444464997386 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.09 [[ 9.99971465e-01 1.92035708e-03 7.30624674e-03 1.06371714e+00] [-1.92784335e-03 9.99997624e-01 1.01773475e-03 -7.29743643e-02] [-7.30427497e-03 -1.03179101e-03 9.99972791e-01 -8.86938363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82463043999999 meters 0.26580997210787094 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.09 [[ 9.99970092e-01 1.87363949e-03 7.50366911e-03 1.06336394e+00] [-1.87998739e-03 9.99997881e-01 8.39008631e-04 -7.20463659e-02] [-7.50208121e-03 -8.53090341e-04 9.99971495e-01 -8.88691294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88463044 meters 0.26849515702710514 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.09 [[ 9.99976610e-01 1.83134105e-03 6.58982894e-03 1.06590909e+00] [-1.83352091e-03 9.99998266e-01 3.24765212e-04 -6.98212766e-02] [-6.58922276e-03 -3.36840205e-04 9.99978234e-01 -9.05023101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94463044 meters 0.2685909107726961 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.09 [[ 9.99977687e-01 1.74438345e-03 6.44838214e-03 1.06645053e+00] [-1.74512606e-03 9.99998471e-01 1.09538184e-04 -6.89107043e-02] [-6.44818121e-03 -1.20788979e-04 9.99979203e-01 -9.09539485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00463044 meters 0.2677987737498628 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.09 [[ 9.99978302e-01 1.82288430e-03 6.33030634e-03 1.06635428e+00] [-1.82527808e-03 9.99998265e-01 3.72388872e-04 -7.00430168e-02] [-6.32961653e-03 -3.83935361e-04 9.99979894e-01 -9.01968668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06463044 meters 0.2673646102299693 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.07, Z:-0.09 [[ 0.99997764 0.00203172 0.00637166 1.06606209] [-0.00203906 0.99999727 0.00114541 -0.07304136] [-0.00636931 -0.00115838 0.99997904 -0.08969199] [ 0. 0. 0. 1. ]] SLAMing on 99.12463043999999 meters 0.26790768783774854 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.09 [[ 0.99997919 0.00221659 0.00605781 1.06709112] [-0.00222683 0.9999961 0.00168312 -0.07551896] [-0.00605406 -0.00169657 0.99998023 -0.09025465] [ 0. 0. 0. 1. ]] SLAMing on 99.18463043999999 meters 0.26727679173490676 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.09 [[ 0.99997936 0.00243313 0.00594579 1.06768244] [-0.00244639 0.99999454 0.00222336 -0.07789382] [-0.00594035 -0.00223786 0.99997985 -0.09086081] [ 0. 0. 0. 1. ]] SLAMing on 99.24463044 meters 0.26764808024574094 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.09 [[ 0.9999792 0.00254119 0.00592857 1.06768566] [-0.00255598 0.99999364 0.00248835 -0.07899503] [-0.00592221 -0.00250345 0.99997933 -0.09075345] [ 0. 0. 0. 1. ]] SLAMing on 99.30463044 meters 0.2667782995544156 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.09 [[ 0.99997952 0.00268952 0.00580658 1.06784251] [-0.00270609 0.99999228 0.00284792 -0.08054025] [-0.00579887 -0.00286358 0.99997909 -0.09047452] [ 0. 0. 0. 1. ]] SLAMing on 99.36463044 meters 0.26758624962556476 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.09 [[ 9.99975213e-01 2.21000137e-04 7.03734893e-03 1.06338128e+00] [-2.27706160e-04 9.99999521e-01 9.52132020e-04 -8.47626809e-02] [-7.03713514e-03 -9.53710868e-04 9.99974784e-01 -8.80173664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42463044 meters 0.2690306524334167 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.09, Z:-0.09 [[ 9.99956435e-01 -2.05104968e-04 9.33199431e-03 1.10627102e+00] [ 2.05973603e-04 9.99999975e-01 -9.21204614e-05 -8.50891961e-02] [-9.33197518e-03 9.40385927e-05 9.99956452e-01 -8.85413281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48463043999999 meters 0.26627106436249104 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.09, Z:-0.09 [[ 0.99994736 -0.00678027 0.00770109 1.08443283] [ 0.00675464 0.99997158 0.00334987 -0.09028802] [-0.00772358 -0.00329767 0.99996474 -0.08685022] [ 0. 0. 0. 1. ]] SLAMing on 99.54463043999999 meters 0.2666801718141705 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.08 [[ 0.99996036 0.00131625 0.00880649 1.1021744 ] [-0.0013396 0.9999956 0.00264709 -0.10003472] [-0.00880297 -0.00265878 0.99995772 -0.08416406] [ 0. 0. 0. 1. ]] SLAMing on 99.60463044 meters 0.26651965293581714 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.08 [[ 0.99995914 0.0017235 0.00887412 1.10163421] [-0.00175643 0.99999159 0.00370524 -0.10460245] [-0.00886766 -0.00372068 0.99995376 -0.08339955] [ 0. 0. 0. 1. ]] SLAMing on 99.66463044 meters 0.2667156014360588 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.08 [[ 9.99945797e-01 5.90899067e-03 8.57245998e-03 1.08097280e+00] [-5.91036021e-03 9.99982525e-01 1.34434401e-04 -1.15916687e-01] [-8.57151581e-03 -1.85093440e-04 9.99963247e-01 -8.44529929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72463044 meters 0.2680504270178208 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.08 [[ 9.99979995e-01 -2.47018548e-03 5.82306234e-03 1.10372071e+00] [ 2.46643582e-03 9.99996746e-01 6.51027459e-04 -1.13223079e-01] [-5.82465155e-03 -6.36652225e-04 9.99982834e-01 -8.49992508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78463044 meters 0.26974629926622345 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.09 [[ 9.99980094e-01 -2.49234586e-03 5.79651917e-03 1.10401574e+00] [ 2.48894865e-03 9.99996727e-01 5.93218670e-04 -1.12966477e-01] [-5.79797870e-03 -5.78779623e-04 9.99983024e-01 -8.55242183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84463044 meters 0.27220892593171475 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.09 [[ 9.99981350e-01 -2.55768591e-03 5.54594889e-03 1.10488145e+00] [ 2.55546156e-03 9.99996652e-01 4.08124402e-04 -1.12200280e-01] [-5.54697418e-03 -3.93944331e-04 9.99984538e-01 -8.62258264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90463043999999 meters 0.27012311881431994 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.11, Z:-0.09 [[ 9.99981623e-01 -2.50822759e-03 5.51932336e-03 1.10516063e+00] [ 2.50531936e-03 9.99996719e-01 5.33768206e-04 -1.12790488e-01] [-5.52064406e-03 -5.19930729e-04 9.99984626e-01 -8.66612399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96463044 meters 0.2693192243255608 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.11, Z:-0.09 [[ 9.99982372e-01 -2.39079890e-03 5.43507020e-03 1.10510898e+00] [ 2.38566898e-03 9.99996703e-01 9.50142578e-04 -1.14447939e-01] [-5.43732388e-03 -9.37159550e-04 9.99984779e-01 -8.61176450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02463044 meters 0.2688269105251925 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.09 [[ 0.99998287 -0.00227318 0.00539291 1.10505022] [ 0.00226637 0.99999663 0.00126915 -0.11574757] [-0.00539578 -0.0012569 0.99998465 -0.0857468 ] [ 0. 0. 0. 1. ]] SLAMing on 100.08463044 meters 0.2702892531546244 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.09 [[ 0.99998395 -0.00206158 0.00527652 1.10514575] [ 0.00205146 0.99999605 0.00192259 -0.11829493] [-0.00528047 -0.00191174 0.99998423 -0.08533852] [ 0. 0. 0. 1. ]] SLAMing on 100.14463044 meters 0.2684958399196913 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.09 [[ 0.99998634 -0.0018742 0.00487858 1.10638188] [ 0.00186192 0.99999509 0.00251919 -0.12111782] [-0.00488328 -0.00251007 0.99998493 -0.08591705] [ 0. 0. 0. 1. ]] SLAMing on 100.20463044 meters 0.27079134186042947 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.12, Z:-0.08 [[ 0.99995485 0.00653013 0.00690331 1.12553862] [-0.00653901 0.99997782 0.00126482 -0.1210561 ] [-0.0068949 -0.0013099 0.99997537 -0.08489599] [ 0. 0. 0. 1. ]] SLAMing on 100.26463043999999 meters 0.2699362622652481 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.12, Z:-0.08 [[ 9.99954201e-01 6.44870587e-03 7.07180955e-03 1.12503708e+00] [-6.45633543e-03 9.99978599e-01 1.05657024e-03 -1.20097407e-01] [-7.06484470e-03 -1.10217982e-03 9.99974436e-01 -8.46971098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32463043999999 meters 0.26826428202130664 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.09 [[ 0.99998483 -0.00207982 0.00509949 1.10636464] [ 0.00206923 0.99999569 0.00208174 -0.1187223 ] [-0.00510379 -0.00207116 0.99998483 -0.08611995] [ 0. 0. 0. 1. ]] SLAMing on 100.38463044 meters 0.2700277891111089 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.09 [[ 9.99971119e-01 -1.73645717e-03 7.39909369e-03 1.14864241e+00] [ 1.72824705e-03 9.99997884e-01 1.11586101e-03 -1.13748889e-01] [-7.40101568e-03 -1.10304132e-03 9.99972004e-01 -8.62826971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44463044 meters 0.2708135034122358 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.09 [[ 0.99997041 -0.00163626 0.00751611 1.14832796] [ 0.00162613 0.99999776 0.00135352 -0.11475296] [-0.0075183 -0.00134126 0.99997084 -0.08619671] [ 0. 0. 0. 1. ]] SLAMing on 100.50463044 meters 0.27010139224001933 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.12, Z:-0.09 [[ 0.9999715 -0.00140006 0.00741864 1.14865321] [ 0.00138472 0.99999689 0.002072 -0.11771517] [-0.00742152 -0.00206167 0.99997033 -0.086314 ] [ 0. 0. 0. 1. ]] SLAMing on 100.56463044 meters 0.2697378110702725 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.12, Z:-0.09 [[ 0.9999728 -0.00122396 0.00727366 1.14920689] [ 0.00120535 0.99999599 0.00256331 -0.11980545] [-0.00727677 -0.00255448 0.99997026 -0.08672094] [ 0. 0. 0. 1. ]] SLAMing on 100.62463043999999 meters 0.26894923961801515 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.12, Z:-0.09 [[ 9.99972980e-01 -9.12224176e-04 7.29433814e-03 1.14897717e+00] [ 8.87061749e-04 9.99993648e-01 3.45207478e-03 -1.23686514e-01] [-7.29744087e-03 -3.44551098e-03 9.99967437e-01 -8.63176669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68463043999999 meters 0.2690347346618453 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99973887e-01 3.61981789e-03 6.25483215e-03 1.12666079e+00] [-3.62077549e-03 9.99993435e-01 1.41780666e-04 -1.28619663e-01] [-6.25427787e-03 -1.64424306e-04 9.99980428e-01 -8.54828645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74463044 meters 0.26988047522178954 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99974043e-01 3.91951325e-03 6.04576746e-03 1.12741740e+00] [-3.92550979e-03 9.99991815e-01 9.80310018e-04 -1.32401385e-01] [-6.04187563e-03 -1.00401729e-03 9.99981244e-01 -8.59058980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80463044 meters 0.2716144600122268 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 0.99997316 0.00409293 0.0060765 1.12747954] [-0.00410158 0.99999059 0.0014124 -0.1342287 ] [-0.00607066 -0.00143729 0.99998054 -0.08614508] [ 0. 0. 0. 1. ]] SLAMing on 100.86463044 meters 0.2718995128017484 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.13, Z:-0.09 [[ 0.99997986 -0.00367551 0.00517345 1.14831998] [ 0.00366226 0.99999 0.00256708 -0.13170461] [-0.00518284 -0.00254808 0.99998332 -0.08565431] [ 0. 0. 0. 1. ]] SLAMing on 100.92463044 meters 0.27108102698140707 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99995707e-01 1.33742204e-03 2.60710936e-03 1.12884011e+00] [-1.33450795e-03 9.99998483e-01 -1.11916571e-03 -1.31502384e-01] [-2.60860220e-03 1.11568169e-03 9.99995975e-01 -8.60856482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98463043999999 meters 0.27246427647660043 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.13, Z:-0.09 [[ 0.999991 -0.00321984 0.00276184 1.15117948] [ 0.00321315 0.9999919 0.00242399 -0.12638565] [-0.00276963 -0.00241509 0.99999325 -0.08697519] [ 0. 0. 0. 1. ]] SLAMing on 101.04463043999999 meters 0.2738514849982625 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99990730e-01 4.02562373e-03 1.52800045e-03 1.13208902e+00] [-4.02661476e-03 9.99991684e-01 6.46060302e-04 -1.26407898e-01] [-1.52538695e-03 -6.52206982e-04 9.99998624e-01 -8.92187816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10463044 meters 0.2704735111146643 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.12, Z:-0.09 [[ 0.99999134 -0.00358671 0.00211159 1.11020482] [ 0.00358043 0.99998917 0.00297195 -0.12444504] [-0.00212223 -0.00296437 0.99999335 -0.08943152] [ 0. 0. 0. 1. ]] SLAMing on 101.16463044 meters 0.2730632531313529 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.12, Z:-0.09 [[ 0.99997829 0.00466286 0.00465586 1.12859252] [-0.00467045 0.99998778 0.00162085 -0.12481711] [-0.00464825 -0.00164256 0.99998785 -0.08828233] [ 0. 0. 0. 1. ]] SLAMing on 101.22463044 meters 0.27288463230808696 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99988819e-01 4.63233956e-04 4.70612795e-03 1.12893877e+00] [-4.51907429e-04 9.99997000e-01 -2.40753993e-03 -1.25753615e-01] [-4.70722908e-03 2.40538627e-03 9.99986028e-01 -8.90884325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28463044 meters 0.2692614675055431 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.13, Z:-0.09 [[ 9.99988826e-01 7.52315294e-04 4.66705017e-03 1.12879100e+00] [-7.44882025e-04 9.99998452e-01 -1.59424631e-03 -1.29070818e-01] [-4.66824232e-03 1.59075210e-03 9.99987838e-01 -8.85806782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34463043999999 meters 0.2736764438091439 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.14, Z:-0.09 [[ 9.99944550e-01 -7.87326730e-03 6.99352704e-03 1.14987858e+00] [ 7.88017020e-03 9.99968490e-01 -9.60034920e-04 -1.36485429e-01] [-6.98574806e-03 1.01509187e-03 9.99975084e-01 -8.92547311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40463043999999 meters 0.26943624267515104 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.14, Z:-0.09 [[ 9.99987090e-01 -6.50858767e-04 5.03944259e-03 1.13241701e+00] [ 6.59797944e-04 9.99998212e-01 -1.77238294e-03 -1.43469356e-01] [-5.03828000e-03 1.77568508e-03 9.99985731e-01 -9.13920051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46463044 meters 0.2702418131372484 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.09 [[ 9.99987857e-01 -3.95432165e-04 4.91215466e-03 1.13271689e+00] [ 4.01079747e-04 9.99999260e-01 -1.14878398e-03 -1.46159854e-01] [-4.91169675e-03 1.15074020e-03 9.99987275e-01 -9.13709260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52463044 meters 0.26871354684955345 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.09 [[ 9.99987001e-01 1.18522125e-04 5.09751556e-03 1.13143028e+00] [-1.19750874e-04 9.99999964e-01 2.40744063e-04 -1.52995314e-01] [-5.09748684e-03 -2.41351365e-04 9.99986979e-01 -8.97639368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58463044 meters 0.27286542745098247 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.16, Z:-0.09 [[ 9.99964360e-01 -8.94158853e-04 8.39522932e-03 1.17321093e+00] [ 9.10277564e-04 9.99997749e-01 -1.91635987e-03 -1.58577623e-01] [-8.39349690e-03 1.92393356e-03 9.99962923e-01 -9.08023687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64463044 meters 0.2694457111865447 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.09 [[ 9.99985339e-01 -2.33417561e-04 5.41001685e-03 1.13349057e+00] [ 2.31822463e-04 9.99999929e-01 2.95466828e-04 -1.63543364e-01] [-5.41008543e-03 -2.94208332e-04 9.99985322e-01 -9.19820031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70463044 meters 0.27150443385554884 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.16, Z:-0.09 [[ 0.99997939 -0.0048009 0.00426237 1.15747542] [ 0.00478499 0.99998157 0.00373622 -0.15875506] [-0.00428023 -0.00371575 0.99998394 -0.09328846] [ 0. 0. 0. 1. ]] SLAMing on 101.76463043999999 meters 0.2725803065404882 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.09 [[ 0.99998643 0.00265309 0.00448337 1.13683826] [-0.00266519 0.99999282 0.00269504 -0.1627488 ] [-0.00447618 -0.00270695 0.99998632 -0.09431347] [ 0. 0. 0. 1. ]] SLAMing on 101.82463043999999 meters 0.2730710710119696 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.09 [[ 0.99998632 0.00268898 0.00448654 1.13705608] [-0.00270149 0.99999247 0.00278668 -0.16319944] [-0.00447901 -0.00279876 0.99998605 -0.09474015] [ 0. 0. 0. 1. ]] SLAMing on 101.88463044 meters 0.2713212865029378 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.09 [[ 0.99998613 0.00281946 0.00444882 1.13720594] [-0.00283368 0.99999089 0.00319304 -0.16484885] [-0.00443978 -0.0032056 0.99998501 -0.09482915] [ 0. 0. 0. 1. ]] SLAMing on 101.94463044 meters 0.26968987106061715 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.17, Z:-0.09 [[ 0.99998487 0.00311057 0.00453772 1.13659548] [-0.00312913 0.99998675 0.00408723 -0.16819527] [-0.00452495 -0.00410137 0.99998135 -0.09388849] [ 0. 0. 0. 1. ]] SLAMing on 102.00463044 meters 0.2694843070875089 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.17, Z:-0.09 [[ 0.99998566 0.0033923 0.00414414 1.13725602] [-0.00341323 0.9999814 0.00505483 -0.17206948] [-0.00412692 -0.0050689 0.99997864 -0.09343916] [ 0. 0. 0. 1. ]] SLAMing on 102.06463044 meters 0.2693282975971446 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.09 [[ 9.99990341e-01 -5.90747700e-04 4.35534117e-03 1.13686008e+00] [ 5.84018122e-04 9.99998634e-01 1.54624210e-03 -1.75099231e-01] [-4.35624866e-03 -1.54368357e-03 9.99989320e-01 -9.34383274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12463043999999 meters 0.27067749128575086 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.17, Z:-0.09 [[ 0.99995635 0.00669457 0.00651807 1.15717048] [-0.00668669 0.99997689 -0.00123031 -0.17401329] [-0.00652616 0.00118667 0.999978 -0.09401049] [ 0. 0. 0. 1. ]] SLAMing on 102.18463043999999 meters 0.2712597150492708 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.17, Z:-0.10 [[ 9.99991670e-01 -1.52937287e-03 3.78430212e-03 1.14100573e+00] [ 1.52756704e-03 9.99998718e-01 4.80032180e-04 -1.71362495e-01] [-3.78503142e-03 -4.74247407e-04 9.99992724e-01 -9.62494614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24463044 meters 0.27269422298645424 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.17, Z:-0.10 [[ 9.99991959e-01 -1.46006395e-03 3.73503595e-03 1.14118544e+00] [ 1.45764691e-03 9.99998727e-01 6.49767563e-04 -1.72200474e-01] [-3.73597989e-03 -6.44317975e-04 9.99992814e-01 -9.63116925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30463044 meters 0.2698769302699472 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.17, Z:-0.10 [[ 9.99992469e-01 -1.36265413e-03 3.63392617e-03 1.14153725e+00] [ 1.35927159e-03 9.99998641e-01 9.33128988e-04 -1.73372522e-01] [-3.63519276e-03 -9.28182468e-04 9.99992962e-01 -9.65580565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36463044 meters 0.2684675289839128 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.18, Z:-0.10 [[ 9.99992971e-01 -1.12282713e-03 3.57724065e-03 1.14150582e+00] [ 1.11694877e-03 9.99998023e-01 1.64484140e-03 -1.76079359e-01] [-3.57908045e-03 -1.64083425e-03 9.99992249e-01 -9.62749132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42463044 meters 0.26874630120737975 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.18, Z:-0.10 [[ 0.99997747 0.00495389 0.00452955 1.16259459] [-0.00494505 0.99998585 -0.00195977 -0.17964951] [-0.00453919 0.00193732 0.99998782 -0.09645879] [ 0. 0. 0. 1. ]] SLAMing on 102.48463043999999 meters 0.26970362815003995 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.18, Z:-0.10 [[ 9.99978361e-01 5.14134132e-03 4.10405918e-03 1.16398595e+00] [-5.13669481e-03 9.99986155e-01 -1.14191277e-03 -1.83514930e-01] [-4.10987333e-03 1.12080676e-03 9.99990926e-01 -9.72717402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54463043999999 meters 0.2698804025347176 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.19, Z:-0.10 [[ 9.99994755e-01 -3.10233617e-03 9.30460565e-04 1.14687251e+00] [ 3.10150650e-03 9.99994793e-01 8.91801327e-04 -1.86465441e-01] [-9.33222387e-04 -8.88910820e-04 9.99999169e-01 -9.86237547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60463044 meters 0.2685442443040283 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.19, Z:-0.10 [[ 9.99995140e-01 -2.98280537e-03 9.07092911e-04 1.14700612e+00] [ 2.98172529e-03 9.99994847e-01 1.18973163e-03 -1.87740191e-01] [-9.10636974e-04 -1.18702115e-03 9.99998881e-01 -9.87792607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66463044 meters 0.2706121039514963 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.19, Z:-0.10 [[ 9.99981225e-01 5.25477197e-03 3.15225034e-03 1.16480351e+00] [-5.25339560e-03 9.99986102e-01 -4.44753407e-04 -1.91491478e-01] [-3.15454360e-03 4.28185038e-04 9.99994933e-01 -9.71104533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72463044 meters 0.27115157276376334 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.10 [[ 9.99996070e-01 -2.34690420e-03 1.53375784e-03 1.18643901e+00] [ 2.34562645e-03 9.99996901e-01 8.34352249e-04 -1.90204344e-01] [-1.53571123e-03 -8.30751347e-04 9.99998476e-01 -9.67454051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78463044 meters 0.2699617129520224 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.10 [[ 0.9999967 -0.00215893 0.00139415 1.18650818] [ 0.00215716 0.99999687 0.00126622 -0.19207091] [-0.00139688 -0.0012632 0.99999823 -0.09626512] [ 0. 0. 0. 1. ]] SLAMing on 102.84463043999999 meters 0.2698637169528624 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.20, Z:-0.10 [[ 9.99989226e-01 4.52946805e-03 1.01568048e-03 1.20862241e+00] [-4.52754295e-03 9.99987965e-01 -1.88973760e-03 -1.96537478e-01] [-1.02422777e-03 1.88511870e-03 9.99997699e-01 -9.62998962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90463043999999 meters 0.2674251935349068 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.21, Z:-0.10 [[ 9.99992301e-01 -3.89406933e-03 -4.84888961e-04 1.18803583e+00] [ 3.89457870e-03 9.99991861e-01 1.05401235e-03 -2.05406143e-01] [ 4.80780618e-04 -1.05589267e-03 9.99999327e-01 -9.58152390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96463044 meters 0.26867012437911764 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.21, Z:-0.10 [[ 9.99992892e-01 -3.73727208e-03 -4.97963864e-04 1.18775577e+00] [ 3.73806123e-03 9.99991744e-01 1.59335772e-03 -2.07616262e-01] [ 4.92004942e-04 -1.59520781e-03 9.99998607e-01 -9.51911851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02463044 meters 0.2699572487426754 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.21, Z:-0.10 [[ 9.99994814e-01 3.21295381e-03 -2.21723826e-04 1.20987495e+00] [-3.21325492e-03 9.99993897e-01 -1.37130344e-03 -2.10274423e-01] [ 2.17316538e-04 1.37200878e-03 9.99999035e-01 -9.58053169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08463044 meters 0.26988117400645567 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.21, Z:-0.10 [[ 9.99994493e-01 3.29256815e-03 -4.15279942e-04 1.21034689e+00] [-3.29303861e-03 9.99993931e-01 -1.13732283e-03 -2.11218768e-01] [ 4.11532709e-04 1.13868410e-03 9.99999267e-01 -9.59080531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14463044 meters 0.26806961500435733 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.09 [[ 9.99997803e-01 7.49242466e-04 -1.95777257e-03 1.16654231e+00] [-7.52192832e-04 9.99998582e-01 -1.50669984e-03 -2.12894327e-01] [ 1.95664091e-03 1.50816915e-03 9.99996948e-01 -9.47730949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20463044 meters 0.26867612022703413 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.21, Z:-0.09 [[ 0.99998929 -0.00433953 0.00160699 1.1851355 ] [ 0.00433679 0.99998914 0.00170557 -0.21431814] [-0.00161437 -0.00169858 0.99999725 -0.09413903] [ 0. 0. 0. 1. ]] SLAMing on 103.26463043999999 meters 0.26928623225039283 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.09 [[ 0.99998968 -0.00427814 0.00153192 1.18549951] [ 0.00427522 0.99998905 0.00190395 -0.2152052 ] [-0.00154005 -0.00189738 0.99999701 -0.09455871] [ 0. 0. 0. 1. ]] SLAMing on 103.32463043999999 meters 0.26810847276113386 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.09 [[ 0.99999009 -0.00420373 0.00146267 1.18583637] [ 0.00420063 0.99998893 0.00211889 -0.21611093] [-0.00147156 -0.00211272 0.99999669 -0.09494437] [ 0. 0. 0. 1. ]] SLAMing on 103.38463044 meters 0.26681384878991093 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.22, Z:-0.09 [[ 0.99999031 -0.00407322 0.00166982 1.18516988] [ 0.00406908 0.99998865 0.0024788 -0.21738325] [-0.00167989 -0.00247198 0.99999553 -0.0945386 ] [ 0. 0. 0. 1. ]] SLAMing on 103.44463044 meters 0.2677817775557847 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.09 [[ 9.99995033e-01 3.05688554e-03 7.67346537e-04 1.20721039e+00] [-3.05652152e-03 9.99995216e-01 -4.75123878e-04 -2.20816637e-01] [-7.68795265e-04 4.72776107e-04 9.99999593e-01 -9.41880474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50463044 meters 0.2680142634340529 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.09 [[ 9.99995449e-01 3.01553783e-03 8.80502844e-05 1.20890831e+00] [-3.01551400e-03 9.99995417e-01 -2.69611827e-04 -2.22040230e-01] [-8.88629056e-05 2.69345083e-04 9.99999960e-01 -9.46902192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56463044 meters 0.2692112574639784 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.23, Z:-0.09 [[ 0.99998647 -0.00474238 -0.00213731 1.18894571] [ 0.00474748 0.99998588 0.00238701 -0.22567999] [ 0.00212596 -0.00239713 0.99999487 -0.09428824] [ 0. 0. 0. 1. ]] SLAMing on 103.62463043999999 meters 0.2697705497319264 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.10 [[ 9.99994985e-01 2.43515884e-03 -2.02475295e-03 1.21206328e+00] [-2.43522772e-03 9.99997034e-01 -3.15585871e-05 -2.29582306e-01] [ 2.02467010e-03 3.64891633e-05 9.99997950e-01 -9.58410709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68463043999999 meters 0.2685499892630745 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.10 [[ 9.99994100e-01 2.30804103e-03 -2.54431941e-03 1.21305889e+00] [-2.30885510e-03 9.99997284e-01 -3.17066892e-04 -2.28767984e-01] [ 2.54358070e-03 3.22939486e-04 9.99996713e-01 -9.54857709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74463044 meters 0.2693005580594229 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.09 [[ 9.99994847e-01 2.55890892e-03 -1.93864174e-03 1.21089843e+00] [-2.55929187e-03 9.99996706e-01 -1.95077791e-04 -2.28210962e-01] [ 1.93813617e-03 2.00038336e-04 9.99998102e-01 -9.38592197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80463044 meters 0.2693308171466868 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.09 [[ 9.99995161e-01 2.32814024e-03 -2.06328596e-03 1.21149411e+00] [-2.33000160e-03 9.99996880e-01 -9.00188317e-04 -2.25699467e-01] [ 2.06118376e-03 9.04991420e-04 9.99997466e-01 -9.43650168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86463044 meters 0.2684697544692238 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.09 [[ 0.99999543 0.00219746 -0.00207838 1.21162492] [-0.00220007 0.99999679 -0.00125316 -0.22429802] [ 0.00207562 0.00125772 0.99999705 -0.09456212] [ 0. 0. 0. 1. ]] SLAMing on 103.92463044 meters 0.2687538035184093 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.09 [[ 0.99999622 0.00196801 -0.00191767 1.211394 ] [-0.00197173 0.99999618 -0.00193684 -0.22156745] [ 0.00191385 0.00194062 0.99999629 -0.09478097] [ 0. 0. 0. 1. ]] SLAMing on 103.98463043999999 meters 0.2689865370397084 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.10 [[ 0.9999967 0.00159418 -0.0020129 1.21184475] [-0.00159996 0.9999946 -0.00286946 -0.21766577] [ 0.00200831 0.00287267 0.99999386 -0.09515029] [ 0. 0. 0. 1. ]] SLAMing on 104.04463043999999 meters 0.268096009551743 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.10 [[ 0.99999661 0.0013757 -0.00220875 1.21245021] [-0.0013832 0.99999328 -0.00339538 -0.21547132] [ 0.00220406 0.00339843 0.9999918 -0.09544274] [ 0. 0. 0. 1. ]] SLAMing on 104.10463044 meters 0.2678091945717736 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.09 [[ 9.99995283e-01 -2.51287284e-03 1.76620201e-03 1.22938693e+00] [ 2.51190423e-03 9.99996694e-01 5.50420372e-04 -2.12085992e-01] [-1.76757930e-03 -5.45981245e-04 9.99998289e-01 -9.38187556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16463044 meters 0.2686668828194903 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.09 [[ 9.99995420e-01 -2.48558948e-03 1.72663938e-03 1.22943516e+00] [ 2.48453963e-03 9.99996728e-01 6.09906519e-04 -2.12375816e-01] [-1.72814970e-03 -6.05613822e-04 9.99998323e-01 -9.37274404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22463044 meters 0.2678082555559113 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.09 [[ 9.99995648e-01 -2.45711829e-03 1.63320759e-03 1.22985021e+00] [ 2.45599815e-03 9.99996748e-01 6.87501381e-04 -2.12708886e-01] [-1.63489155e-03 -6.83487234e-04 9.99998430e-01 -9.41402615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28463044 meters 0.26939056023655783 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.21, Z:-0.09 [[ 9.99996146e-01 -2.29737903e-03 1.55877207e-03 1.23009993e+00] [ 2.29568799e-03 9.99996775e-01 1.08577686e-03 -2.14419264e-01] [-1.56126149e-03 -1.08219423e-03 9.99998196e-01 -9.42968283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34463043999999 meters 0.2693038895331832 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 0.99999667 -0.00214212 0.00143694 1.23042755] [ 0.00214003 0.99999666 0.0014507 -0.21602085] [-0.00144004 -0.00144762 0.99999792 -0.09436364] [ 0. 0. 0. 1. ]] SLAMing on 104.40463043999999 meters 0.2695442868009864 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 9.99997231e-01 -2.06619159e-03 1.12660724e-03 1.23129482e+00] [ 2.06433266e-03 9.99996510e-01 1.64870029e-03 -2.16954476e-01] [-1.13000984e-03 -1.64637003e-03 9.99998006e-01 -9.46882709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46463044 meters 0.26940840401527183 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.10 [[ 9.99984279e-01 5.60422803e-03 -1.82857581e-04 1.21194428e+00] [-5.60404216e-03 9.99983796e-01 1.00162445e-03 -2.21289423e-01] [ 1.88467950e-04 -1.00058396e-03 9.99999482e-01 -9.59296109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52463044 meters 0.27092964668344316 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:-0.10 [[ 9.99983957e-01 5.66144205e-03 -1.85107453e-04 1.21187814e+00] [-5.66122619e-03 9.99983318e-01 1.14660432e-03 -2.21881546e-01] [ 1.91595799e-04 -1.14553799e-03 9.99999326e-01 -9.57743561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58463044 meters 0.27120870192297425 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 0.99999785 -0.0014655 0.00146954 1.23141477] [ 0.00146179 0.99999573 0.00252875 -0.22221136] [-0.00147324 -0.0025266 0.99999572 -0.09425373] [ 0. 0. 0. 1. ]] SLAMing on 104.64463044 meters 0.2719643187719194 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 0.99999801 -0.0013922 0.0014264 1.23135446] [ 0.00138833 0.99999535 0.00271475 -0.22293093] [-0.00143018 -0.00271277 0.9999953 -0.09393755] [ 0. 0. 0. 1. ]] SLAMing on 104.70463044 meters 0.27060976245766244 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 0.99999825 -0.00137904 0.00126429 1.23137252] [ 0.00137557 0.99999529 0.00274537 -0.22301248] [-0.00126807 -0.00274362 0.99999543 -0.09328201] [ 0. 0. 0. 1. ]] SLAMing on 104.76463043999999 meters 0.27061323074737825 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:-0.09 [[ 0.99999815 -0.00143306 0.00128285 1.23128277] [ 0.00142971 0.99999557 0.00261166 -0.22243296] [-0.00128659 -0.00260982 0.99999577 -0.09318776] [ 0. 0. 0. 1. ]] SLAMing on 104.82463043999999 meters 0.2722023546937174 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.22, Z:-0.09 [[ 9.99967843e-01 7.60675072e-03 2.53991190e-03 1.25018729e+00] [-7.60983277e-03 9.99970318e-01 1.20599627e-03 -2.22768910e-01] [-2.53066280e-03 -1.22528579e-03 9.99996047e-01 -9.23857965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88463044 meters 0.27195160635069554 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.22, Z:-0.09 [[ 9.99967984e-01 7.57194280e-03 2.58781477e-03 1.24970449e+00] [-7.57485621e-03 9.99970686e-01 1.11787746e-03 -2.22255475e-01] [-2.57927441e-03 -1.13744400e-03 9.99996027e-01 -9.16544317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94463044 meters 0.27049904254634394 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.22, Z:-0.09 [[ 9.99980254e-01 4.98917654e-03 3.82102177e-03 1.24435979e+00] [-4.98455500e-03 9.99986835e-01 -1.21807335e-03 -2.23386560e-01] [-3.82704865e-03 1.19900320e-03 9.99991958e-01 -8.83205375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00463044 meters 0.2709911430062401 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.23, Z:-0.09 [[ 0.99999132 0.00329733 0.00254626 1.24988835] [-0.00329155 0.999992 -0.00227196 -0.22838274] [-0.00255373 0.00226356 0.99999418 -0.09232889] [ 0. 0. 0. 1. ]] SLAMing on 105.06463044 meters 0.2709496805802295 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.23, Z:-0.09 [[ 9.99984327e-01 -5.48584934e-03 -1.11891055e-03 1.23349649e+00] [ 5.48525026e-03 9.99984811e-01 -5.37785444e-04 -2.32668531e-01] [ 1.12184376e-03 5.31639511e-04 9.99999229e-01 -9.32381818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12463043999999 meters 0.2702453364282377 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.24, Z:-0.09 [[ 9.99993657e-01 3.47139955e-03 -7.96912410e-04 1.25189077e+00] [-3.47246839e-03 9.99993068e-01 -1.34378456e-03 -2.40190354e-01] [ 7.92242073e-04 1.34654329e-03 9.99998780e-01 -9.11762153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18463043999999 meters 0.27185416535611207 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.24, Z:-0.09 [[ 9.99990694e-01 -4.16998097e-03 1.10574942e-03 1.27219855e+00] [ 4.17014188e-03 9.99991295e-01 -1.43249450e-04 -2.44304828e-01] [-1.10514245e-03 1.47859249e-04 9.99999378e-01 -9.06582153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24463044 meters 0.27157245826019255 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 9.99991486e-01 -4.00353038e-03 9.99810466e-04 1.27235975e+00] [ 4.00321140e-03 9.99991936e-01 3.20836011e-04 -2.46206032e-01] [-1.00108688e-03 -3.16830826e-04 9.99999449e-01 -9.05345419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30463044 meters 0.2693636616065478 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 9.99991940e-01 -3.76348011e-03 1.39851428e-03 1.27043405e+00] [ 3.76195207e-03 9.99992326e-01 1.09364952e-03 -2.49092186e-01] [-1.40261947e-03 -1.08837957e-03 9.99998424e-01 -8.83941811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36463044 meters 0.2706336087085499 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 0.99999237 -0.00353897 0.00165223 1.26910293] [ 0.00353608 0.99999222 0.00175032 -0.25149408] [-0.00165841 -0.00174446 0.9999971 -0.08685835] [ 0. 0. 0. 1. ]] SLAMing on 105.42463044 meters 0.2713175667917861 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.26, Z:-0.09 [[ 9.99987930e-01 3.63993437e-03 3.30016573e-03 1.29001865e+00] [-3.63812382e-03 9.99993228e-01 -5.54461480e-04 -2.56095461e-01] [-3.30216159e-03 5.42448376e-04 9.99994401e-01 -8.78361569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48463043999999 meters 0.27174562956754345 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.26, Z:-0.09 [[ 9.99987991e-01 3.70514935e-03 3.20764794e-03 1.29046388e+00] [-3.70391061e-03 9.99993064e-01 -3.92036766e-04 -2.56831894e-01] [-3.20907825e-03 3.80151217e-04 9.99994779e-01 -8.82521794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54463043999999 meters 0.2699036951852181 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.26, Z:-0.09 [[ 9.99988453e-01 3.82083339e-03 2.91478860e-03 1.29116583e+00] [-3.82052983e-03 9.99992696e-01 -1.09706016e-04 -2.58068522e-01] [-2.91518647e-03 9.85687127e-05 9.99995746e-01 -8.83298772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60463044 meters 0.2689715871072775 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 9.99983974e-01 -5.58349664e-03 9.36012792e-04 1.27373045e+00] [ 5.58279390e-03 9.99984134e-01 7.51721085e-04 -2.54506972e-01] [-9.40195173e-04 -7.46483471e-04 9.99999279e-01 -8.90110183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66463044 meters 0.269534211132908 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 9.99983239e-01 -5.62579000e-03 1.36848599e-03 1.27284126e+00] [ 5.62509725e-03 9.99984049e-01 5.09535434e-04 -2.53292954e-01] [-1.37133070e-03 -5.01829026e-04 9.99998934e-01 -8.91007719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72463044 meters 0.27042685898767294 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 9.99988549e-01 3.43309374e-03 3.33402908e-03 1.29160068e+00] [-3.43016371e-03 9.99993726e-01 -8.84145908e-04 -2.52422010e-01] [-3.33704352e-03 8.72699518e-04 9.99994051e-01 -8.87293268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78463044 meters 0.27122104588091467 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 0.99998908 0.00326165 0.00334539 1.29158081] [-0.00325729 0.99999384 -0.00130778 -0.25062567] [-0.00334963 0.00129687 0.99999355 -0.08870899] [ 0. 0. 0. 1. ]] SLAMing on 105.84463043999999 meters 0.2709184740590536 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 0.99998956 0.0032274 0.00323554 1.29170664] [-0.0032229 0.99999383 -0.00139672 -0.25023556] [-0.00324002 0.00138628 0.99999379 -0.0884656 ] [ 0. 0. 0. 1. ]] SLAMing on 105.90463043999999 meters 0.2695205443576381 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 0.99998911 -0.00338556 0.00321218 1.26987686] [ 0.0033782 0.99999166 0.00229361 -0.2480447 ] [-0.00321992 -0.00228273 0.99999221 -0.0880135 ] [ 0. 0. 0. 1. ]] SLAMing on 105.96463044 meters 0.2699407833829113 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.25, Z:-0.09 [[ 0.9999878 -0.00357696 0.00340591 1.26942389] [ 0.00357095 0.99999205 0.00177167 -0.24578609] [-0.00341222 -0.00175949 0.99999263 -0.08799221] [ 0. 0. 0. 1. ]] SLAMing on 106.02463044 meters 0.26987157094703307 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.24, Z:-0.09 [[ 0.99996609 0.00714626 0.00409249 1.29068155] [-0.00715387 0.9999727 0.00184863 -0.24486566] [-0.00407917 -0.00187785 0.99998992 -0.08850067] [ 0. 0. 0. 1. ]] SLAMing on 106.08463044 meters 0.2714122362998208 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 0.99998799 0.00289507 0.00395393 1.29134661] [-0.0028861 0.99999326 -0.00227114 -0.24549145] [-0.00396048 0.00225971 0.9999896 -0.08927011] [ 0. 0. 0. 1. ]] SLAMing on 106.14463044 meters 0.2712046252417164 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 0.99998716 0.00312586 0.0039882 1.29120883] [-0.00311909 0.99999368 -0.00170425 -0.24787972] [-0.0039935 0.00169179 0.99999059 -0.08918819] [ 0. 0. 0. 1. ]] SLAMing on 106.20463044 meters 0.27129145024415097 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.25, Z:-0.09 [[ 9.99985703e-01 3.56567453e-03 3.98504376e-03 1.29132926e+00] [-3.56361178e-03 9.99993513e-01 -5.24603894e-04 -2.53099857e-01] [-3.98688847e-03 5.10395245e-04 9.99991922e-01 -8.93653546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26463043999999 meters 0.2709682639997002 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.26, Z:-0.09 [[ 9.99984796e-01 3.96597425e-03 3.83117818e-03 1.29193971e+00] [-3.96771197e-03 9.99992029e-01 4.46079237e-04 -2.57342848e-01] [-3.82937851e-03 -4.61273467e-04 9.99992562e-01 -8.97967764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32463043999999 meters 0.27020497883514477 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.26, Z:-0.09 [[ 9.99991880e-01 5.46770668e-04 3.99271827e-03 1.29142611e+00] [-5.39609592e-04 9.99998244e-01 -1.79439095e-03 -2.64920837e-01] [-3.99369238e-03 1.79222187e-03 9.99990419e-01 -8.94331532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38463044 meters 0.27174394123742457 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.09 [[ 9.99960609e-01 -7.14961929e-03 5.25969177e-03 1.31352125e+00] [ 7.15431278e-03 9.99974026e-01 -8.74076913e-04 -2.69799254e-01] [-5.25330584e-03 9.11671961e-04 9.99985786e-01 -9.00014189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44463044 meters 0.27218086911296285 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.27, Z:-0.09 [[ 9.99963867e-01 -6.65072994e-03 5.29449214e-03 1.31365571e+00] [ 6.64943112e-03 9.99977858e-01 2.62879518e-04 -2.74628547e-01] [-5.29612325e-03 -2.27664659e-04 9.99985950e-01 -9.03447126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50463044 meters 0.2730148783553313 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.09 [[ 0.99996771 -0.0059674 0.00538285 1.31383232] [ 0.00595844 0.99998084 0.00167875 -0.28141021] [-0.00539276 -0.00164663 0.9999841 -0.09085377] [ 0. 0. 0. 1. ]] SLAMing on 106.56463044 meters 0.27374578442375513 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.09 [[ 9.99988304e-01 3.21186992e-03 3.61599652e-03 1.33479722e+00] [-3.21528391e-03 9.99994390e-01 9.38717221e-04 -2.88979255e-01] [-3.61296120e-03 -9.50332697e-04 9.99993022e-01 -9.00261793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62463043999999 meters 0.27367047733901817 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.09 [[ 0.99998639 0.00359902 0.00377793 1.33386882] [-0.0036061 0.99999175 0.00186733 -0.29273141] [-0.00377118 -0.00188093 0.99999112 -0.0889 ] [ 0. 0. 0. 1. ]] SLAMing on 106.68463043999999 meters 0.2725055890470132 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.09 [[ 0.99998514 0.00380177 0.0039079 1.3333907 ] [-0.00381111 0.99998989 0.00238679 -0.29479683] [-0.00389878 -0.00240165 0.99998952 -0.08854412] [ 0. 0. 0. 1. ]] SLAMing on 106.74463044 meters 0.2725803508216339 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.30, Z:-0.09 [[ 0.99998575 0.00385348 0.00369599 1.33418611] [-0.00386316 0.99998912 0.00261459 -0.29598877] [-0.00368587 -0.00262883 0.99998975 -0.0891692 ] [ 0. 0. 0. 1. ]] SLAMing on 106.80463044 meters 0.2734327621254757 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.30, Z:-0.09 [[ 0.99998461 0.00404629 0.00379606 1.33337673] [-0.00405799 0.99998702 0.00307962 -0.29756725] [-0.00378355 -0.00309498 0.99998805 -0.0880548 ] [ 0. 0. 0. 1. ]] SLAMing on 106.86463044 meters 0.2728471301424033 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.30, Z:-0.09 [[ 0.99998301 0.0042444 0.00399577 1.3323963 ] [-0.00425868 0.99998455 0.00357225 -0.29943414] [-0.00398055 -0.00358921 0.99998564 -0.08701169] [ 0. 0. 0. 1. ]] SLAMing on 106.92463044 meters 0.2706030329027159 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.09 [[ 0.99998223 -0.00535776 0.00261388 1.31406643] [ 0.00534331 0.99997057 0.00550548 -0.30443901] [-0.0026433 -0.00549141 0.99998143 -0.08794852] [ 0. 0. 0. 1. ]] SLAMing on 106.98463043999999 meters 0.27055446059271177 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.31, Z:-0.09 [[ 0.99998394 -0.00514212 0.0023819 1.31468666] [ 0.00512737 0.9999679 0.00615681 -0.30720539] [-0.00241348 -0.00614449 0.99997821 -0.08815182] [ 0. 0. 0. 1. ]] SLAMing on 107.04463043999999 meters 0.272154718594946 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999477 0.00227441 0.00229922 1.33638597] [-0.00228216 0.99999171 0.00337355 -0.3121781 ] [-0.00229152 -0.00337878 0.99999167 -0.08914391] [ 0. 0. 0. 1. ]] SLAMing on 107.10463044 meters 0.2727820013319612 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999482 0.00232714 0.00222383 1.33665029] [-0.00233494 0.99999111 0.00351049 -0.31273508] [-0.00221564 -0.00351567 0.99999137 -0.08930358] [ 0. 0. 0. 1. ]] SLAMing on 107.16463044 meters 0.27324503321160915 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999409 0.00252114 0.00233867 1.33638543] [-0.00253048 0.99998881 0.00399592 -0.31488598] [-0.00232857 -0.00400181 0.99998928 -0.08925754] [ 0. 0. 0. 1. ]] SLAMing on 107.22463044 meters 0.27099126159105813 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.32, Z:-0.09 [[ 0.99999329 0.00267157 0.00250628 1.33590082] [-0.00268249 0.99998688 0.0043644 -0.31630838] [-0.00249459 -0.00437109 0.99998734 -0.08909598] [ 0. 0. 0. 1. ]] SLAMing on 107.28463044 meters 0.27052705558150164 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.32, Z:-0.09 [[ 0.99999298 0.00273755 0.00255718 1.33585011] [-0.00274911 0.99998597 0.00452771 -0.31699308] [-0.00254475 -0.00453471 0.99998648 -0.08922905] [ 0. 0. 0. 1. ]] SLAMing on 107.34463043999999 meters 0.2725582539926484 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.32, Z:-0.09 [[ 0.99999321 0.00263815 0.00257404 1.3366417 ] [-0.00264936 0.99998698 0.00436205 -0.31667677] [-0.0025625 -0.00436884 0.99998717 -0.09075885] [ 0. 0. 0. 1. ]] SLAMing on 107.40463043999999 meters 0.2722141948699583 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.32, Z:-0.09 [[ 0.99999349 0.00254702 0.00255587 1.33717477] [-0.00255768 0.99998801 0.00417587 -0.31600343] [-0.00254521 -0.00418238 0.99998801 -0.09166232] [ 0. 0. 0. 1. ]] SLAMing on 107.46463044 meters 0.27203882863471307 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999437 0.00234892 0.00239524 1.33819646] [-0.00235794 0.99999012 0.00376794 -0.31460662] [-0.00238637 -0.00377356 0.99999003 -0.09289821] [ 0. 0. 0. 1. ]] SLAMing on 107.52463044 meters 0.2711761808835313 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999441 0.0021989 0.00251746 1.33817081] [-0.00220753 0.99999167 0.00343178 -0.31323005] [-0.0025099 -0.00343732 0.99999094 -0.09332019] [ 0. 0. 0. 1. ]] SLAMing on 107.58463044 meters 0.2713735414907121 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999412 0.00198316 0.00279651 1.33753152] [-0.00199111 0.99999398 0.00284309 -0.31068467] [-0.00279086 -0.00284864 0.99999205 -0.09321008] [ 0. 0. 0. 1. ]] SLAMing on 107.64463044 meters 0.2722203704947198 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.31, Z:-0.09 [[ 0.99999463 0.00161993 0.00284834 1.33782943] [-0.00162503 0.99999707 0.00179215 -0.30660957] [-0.00284543 -0.00179677 0.99999434 -0.09397351] [ 0. 0. 0. 1. ]] SLAMing on 107.70463044 meters 0.2711724564062123 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.30, Z:-0.10 [[ 9.99994211e-01 7.10852505e-04 3.32751038e-03 1.30299203e+00] [-7.19800720e-04 9.99996126e-01 2.68873747e-03 -2.99349913e-01] [-3.32558619e-03 -2.69111705e-03 9.99990849e-01 -9.85604458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76463043999999 meters 0.2717560257180808 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99990379e-01 4.06960208e-03 1.63693072e-03 1.33986697e+00] [-4.07086438e-03 9.99991419e-01 7.68542755e-04 -2.84890085e-01] [-1.63378901e-03 -7.75199084e-04 9.99998365e-01 -9.65248843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82463043999999 meters 0.2710208140401206 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99991684e-01 3.69597503e-03 1.72395884e-03 1.33999988e+00] [-3.69588661e-03 9.99993169e-01 -5.44729816e-05 -2.81388709e-01] [-1.72414839e-03 4.81009722e-05 9.99998512e-01 -9.70737404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88463044 meters 0.271540928577326 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.28, Z:-0.10 [[ 9.99988988e-01 -3.19091763e-03 3.44124792e-03 1.35852663e+00] [ 3.18849421e-03 9.99994665e-01 7.09484960e-04 -2.76308679e-01] [-3.44349347e-03 -6.98504748e-04 9.99993827e-01 -9.54935447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94463044 meters 0.27145184216775525 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.28, Z:-0.10 [[ 9.99987571e-01 -3.18066783e-03 3.83954731e-03 1.35770288e+00] [ 3.17787391e-03 9.99994681e-01 7.33550167e-04 -2.76254567e-01] [-3.84186007e-03 -7.21339452e-04 9.99992360e-01 -9.56751390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00463044 meters 0.2698186123802616 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99986895e-01 3.91042926e-03 3.30421072e-03 1.33826933e+00] [-3.91040799e-03 9.99992354e-01 -1.28964749e-05 -2.81069484e-01] [-3.30423588e-03 -2.45060885e-08 9.99994541e-01 -9.72206285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06463044 meters 0.26966454576848076 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99985808e-01 4.12337550e-03 3.37380512e-03 1.33811095e+00] [-4.12496851e-03 9.99991384e-01 4.65347539e-04 -2.83135482e-01] [-3.37185725e-03 -4.79257774e-04 9.99994200e-01 -9.72329501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12463043999999 meters 0.27029600778125984 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99986490e-01 4.07029952e-03 3.23313787e-03 1.33930140e+00] [-4.07178245e-03 9.99991608e-01 4.52215873e-04 -2.83344462e-01] [-3.23127008e-03 -4.65374398e-04 9.99994671e-01 -9.88139343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18463043999999 meters 0.27011117402666 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99987642e-01 3.94051922e-03 3.03131328e-03 1.34067488e+00] [-3.94128096e-03 9.99992203e-01 2.45358690e-04 -2.82885433e-01] [-3.03032280e-03 -2.57302915e-04 9.99995375e-01 -1.00534304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24463044 meters 0.2721456213299195 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99988395e-01 3.85951943e-03 2.88340907e-03 1.34136519e+00] [-3.85980067e-03 9.99992547e-01 9.19804239e-05 -2.82483664e-01] [-2.88303258e-03 -1.03108741e-04 9.99995839e-01 -1.01136033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30463044 meters 0.2704882221921249 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99988308e-01 3.82765118e-03 2.95530839e-03 1.34168327e+00] [-3.82787539e-03 9.99992671e-01 7.02131043e-05 -2.82639453e-01] [-2.95501798e-03 -8.15248356e-05 9.99995631e-01 -1.01925416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36463044 meters 0.27050824806836044 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99987949e-01 3.72747018e-03 3.19497061e-03 1.34141422e+00] [-3.72695663e-03 9.99993041e-01 -1.66676664e-04 -2.81689483e-01] [-3.19556966e-03 1.54767139e-04 9.99994882e-01 -1.02451218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42463044 meters 0.2694476692176027 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 9.99988259e-01 3.46318525e-03 3.38935134e-03 1.34134607e+00] [-3.46006332e-03 9.99993585e-01 -9.26530858e-04 -2.78619766e-01] [-3.39253834e-03 9.14792609e-04 9.99993827e-01 -1.03240596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48463043999999 meters 0.27065240598574747 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.28, Z:-0.10 [[ 0.999989 0.00314316 0.00348064 1.34201334] [-0.0031368 0.99999341 -0.00183007 -0.27506548] [-0.00348637 0.00181913 0.99999227 -0.1048843 ] [ 0. 0. 0. 1. ]] SLAMing on 108.54463043999999 meters 0.2709988604918919 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.27, Z:-0.11 [[ 0.99999122 0.00268476 0.00321893 1.343098 ] [-0.0026751 0.99999192 -0.00299993 -0.2704439 ] [-0.00322695 0.00299129 0.99999032 -0.10578419] [ 0. 0. 0. 1. ]] SLAMing on 108.60463044 meters 0.2697293811262902 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.27, Z:-0.11 [[ 9.99986466e-01 -5.02228885e-03 1.35831596e-03 1.32441473e+00] [ 5.02298381e-03 9.99987255e-01 -5.08709183e-04 -2.65632533e-01] [-1.35574377e-03 5.15525097e-04 9.99998948e-01 -1.06358784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66463044 meters 0.2717965585562576 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.27, Z:-0.11 [[ 0.99998968 0.00412408 0.00190512 1.34355768] [-0.0041193 0.99998837 -0.00250987 -0.26574895] [-0.00191545 0.002502 0.99999504 -0.1062045 ] [ 0. 0. 0. 1. ]] SLAMing on 108.72463044 meters 0.2705304956335858 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.26, Z:-0.10 [[ 0.99998866 -0.00333741 0.00339702 1.36277514] [ 0.00334493 0.99999197 -0.00220919 -0.26015997] [-0.00338962 0.00222052 0.99999179 -0.10453773] [ 0. 0. 0. 1. ]] SLAMing on 108.78463044 meters 0.2693055957235602 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.26, Z:-0.11 [[ 0.99998799 0.0043207 0.00231195 1.34181654] [-0.00431385 0.99998632 -0.00295875 -0.25841417] [-0.0023247 0.00294874 0.99999295 -0.10511961] [ 0. 0. 0. 1. ]] SLAMing on 108.84463043999999 meters 0.2703671779264655 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.25, Z:-0.11 [[ 9.99995579e-01 -2.52609375e-04 2.96269314e-03 1.36587280e+00] [ 2.54078259e-04 9.99999845e-01 -4.95427678e-04 -2.52217566e-01] [-2.96256753e-03 4.96178244e-04 9.99995488e-01 -1.07385951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90463043999999 meters 0.26926833517862514 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.25, Z:-0.11 [[ 9.99995576e-01 -5.25725434e-04 2.92781957e-03 1.36604320e+00] [ 5.29352676e-04 9.99999093e-01 -1.23825139e-03 -2.49199752e-01] [-2.92716594e-03 1.23979576e-03 9.99994947e-01 -1.07611748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96463044 meters 0.2702683604453491 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.25, Z:-0.11 [[ 9.99995234e-01 -8.76871416e-04 2.96037325e-03 1.36627159e+00] [ 8.83594022e-04 9.99997032e-01 -2.27032058e-03 -2.45148221e-01] [-2.95837369e-03 2.27292553e-03 9.99993041e-01 -1.08214095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02463044 meters 0.2683458886774516 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.24, Z:-0.11 [[ 9.99991689e-01 2.56843754e-03 3.16617732e-03 1.36658123e+00] [-2.56817243e-03 9.99996698e-01 -8.77972946e-05 -2.35611041e-01] [-3.16639237e-03 7.96652756e-05 9.99994984e-01 -1.09525269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08463044 meters 0.2714243402953995 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.11 [[ 9.99994681e-01 -1.07237091e-03 3.08028316e-03 1.38805964e+00] [ 1.06284216e-03 9.99994650e-01 3.09343993e-03 -2.23683448e-01] [-3.08358400e-03 -3.09014962e-03 9.99990471e-01 -1.09388626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14463044 meters 0.2704973287094999 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.22, Z:-0.11 [[ 0.99999391 -0.00182988 0.00297232 1.38890912] [ 0.00182537 0.99999718 0.00151987 -0.2160159 ] [-0.00297509 -0.00151443 0.99999443 -0.11038213] [ 0. 0. 0. 1. ]] SLAMing on 109.20463044 meters 0.2698977892628516 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.11 [[ 9.99993551e-01 -2.05914349e-03 2.94236450e-03 1.38942075e+00] [ 2.05625584e-03 9.99997402e-01 9.84092527e-04 -2.13908952e-01] [-2.94438324e-03 -9.78035927e-04 9.99995187e-01 -1.11251187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26463043999999 meters 0.26957252800130854 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.21, Z:-0.11 [[ 9.99993526e-01 -2.27833580e-03 2.78508556e-03 1.38997111e+00] [ 2.27703312e-03 9.99997297e-01 4.70814832e-04 -2.11842875e-01] [-2.78615071e-03 -4.64470052e-04 9.99996011e-01 -1.11613623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32463043999999 meters 0.2675904793531395 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.21, Z:-0.11 [[ 9.99989113e-01 4.66530714e-03 -9.06749084e-05 1.37062818e+00] [-4.66541741e-03 9.99988327e-01 -1.25656469e-03 -2.05843659e-01] [ 8.48115897e-05 1.25697405e-03 9.99999206e-01 -1.12665203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38463044 meters 0.2677768495324546 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.20, Z:-0.11 [[ 9.99990728e-01 4.30550649e-03 -7.62681223e-05 1.37078340e+00] [-4.30566356e-03 9.99988321e-01 -2.19523426e-03 -2.01984593e-01] [ 6.68156362e-05 2.19554229e-03 9.99997588e-01 -1.12998221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44463044 meters 0.26863913888818214 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.11 [[ 0.99999413 -0.00265753 -0.00216467 1.38977576] [ 0.00265268 0.99999397 -0.00224178 -0.18918248] [ 0.00217062 0.00223603 0.99999514 -0.11108581] [ 0. 0. 0. 1. ]] SLAMing on 109.50463044 meters 0.2690632559484062 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.11 [[ 0.99999356 -0.00293412 -0.00206778 1.38962216] [ 0.00292811 0.99999149 -0.00290524 -0.18642042] [ 0.00207628 0.00289916 0.99999364 -0.11127 ] [ 0. 0. 0. 1. ]] SLAMing on 109.56463044 meters 0.26819113266833816 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.11 [[ 0.99999326 -0.00310542 -0.00195862 1.38941607] [ 0.00309889 0.99998967 -0.00332661 -0.18467763] [ 0.00196893 0.00332052 0.99999255 -0.11138001] [ 0. 0. 0. 1. ]] SLAMing on 109.62463043999999 meters 0.2692569249607789 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.11 [[ 9.99998093e-01 6.29883137e-04 -1.84855283e-03 1.38951772e+00] [-6.30638061e-04 9.99999718e-01 -4.07832013e-04 -1.79317489e-01] [ 1.84829542e-03 4.08997003e-04 9.99998208e-01 -1.11909152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68463043999999 meters 0.2699486698849539 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.11 [[ 0.99998826 0.00444968 -0.00191746 1.39021932] [-0.00444451 0.99998649 0.00269469 -0.17438763] [ 0.00192943 -0.00268614 0.99999453 -0.11280216] [ 0. 0. 0. 1. ]] SLAMing on 109.74463044 meters 0.26852374900748044 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.17, Z:-0.11 [[ 9.99990207e-01 3.92697789e-03 -2.04054358e-03 1.39094219e+00] [-3.92467147e-03 9.99991657e-01 1.13307702e-03 -1.67489463e-01] [ 2.04497613e-03 -1.12505747e-03 9.99997276e-01 -1.13581407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80463044 meters 0.26987029866383394 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.16, Z:-0.12 [[ 9.99991651e-01 3.15662745e-03 -2.59486151e-03 1.39296842e+00] [-3.15971466e-03 9.99994304e-01 -1.18650015e-03 -1.57440184e-01] [ 2.59110140e-03 1.19468926e-03 9.99995929e-01 -1.15033741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86463044 meters 0.2687772955381331 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.15, Z:-0.12 [[ 0.99999331 0.00265821 -0.00251081 1.39288966] [-0.00266436 0.99999345 -0.00245119 -0.15232683] [ 0.00250428 0.00245786 0.99999384 -0.11521156] [ 0. 0. 0. 1. ]] SLAMing on 109.92463044 meters 0.2699759611482923 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.15, Z:-0.12 [[ 0.99999492 0.00211649 -0.00238471 1.39280054] [-0.00212525 0.99999099 -0.00367392 -0.14716981] [ 0.00237691 0.00367897 0.99999041 -0.1156366 ] [ 0. 0. 0. 1. ]] SLAMing on 109.98463043999999 meters 0.26929344570415226 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.14, Z:-0.12 [[ 9.99996003e-01 1.27640556e-03 -2.52292341e-03 1.39344259e+00] [-1.29009981e-03 9.99984405e-01 -5.43377367e-03 -1.36722114e-01] [ 2.51594837e-03 5.43700677e-03 9.99982054e-01 -1.16024383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04463043999999 meters 0.2692926634949088 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.13, Z:-0.11 [[ 0.99999489 0.00275676 -0.0016159 1.39073431] [-0.0027658 0.99998039 -0.00561908 -0.12520333] [ 0.00160038 0.00562352 0.99998291 -0.11467396] [ 0. 0. 0. 1. ]] SLAMing on 110.10463044 meters 0.27005286812110546 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.11, Z:-0.12 [[ 0.99999165 -0.00179213 -0.00367373 1.41457782] [ 0.0017813 0.99999407 -0.00294885 -0.11450109] [ 0.00367899 0.00294228 0.9999889 -0.11510403] [ 0. 0. 0. 1. ]] SLAMing on 110.16463044 meters 0.2706770624469517 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.12 [[ 9.99990083e-01 -1.84155851e-04 -4.44966920e-03 1.41876697e+00] [ 1.77905343e-04 9.99998997e-01 -1.40506793e-03 -1.13794934e-01] [ 4.44992349e-03 1.40426238e-03 9.99989113e-01 -1.18122010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22463044 meters 0.268867409364468 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.11, Z:-0.12 [[ 0.9999397 -0.01007518 -0.0043691 1.39652447] [ 0.01006715 0.9999476 -0.0018558 -0.10842668] [ 0.00438757 0.00181171 0.99998873 -0.11782567] [ 0. 0. 0. 1. ]] SLAMing on 110.28463044 meters 0.26916531231160595 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.11, Z:-0.12 [[ 9.99989666e-01 -2.00585466e-04 -4.54179257e-03 1.41941638e+00] [ 1.89489380e-04 9.99996997e-01 -2.44340576e-03 -1.05579006e-01] [ 4.54226904e-03 2.44251988e-03 9.99986701e-01 -1.18394352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34463043999999 meters 0.2691435746768789 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:-0.12 [[ 9.99987376e-01 -6.11738782e-04 -4.98726944e-03 1.42099583e+00] [ 5.92097498e-04 9.99992068e-01 -3.93880979e-03 -9.92200989e-02] [ 4.98963940e-03 3.93580712e-03 9.99979806e-01 -1.19539787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40463043999999 meters 0.26930878250633034 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.10, Z:-0.12 [[ 9.99988285e-01 -8.91555456e-04 -4.75770704e-03 1.42015036e+00] [ 8.69141874e-04 9.99988525e-01 -4.71099507e-03 -9.58837247e-02] [ 4.76185257e-03 4.70680476e-03 9.99977585e-01 -1.18929344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46463044 meters 0.2710967918853672 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.09, Z:-0.12 [[ 9.99987328e-01 -4.81671383e-03 -1.46361235e-03 1.43890320e+00] [ 4.81501254e-03 9.99987731e-01 -1.16369938e-03 -8.77935284e-02] [ 1.46919960e-03 1.15663733e-03 9.99998252e-01 -1.18222880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52463044 meters 0.2702691645178033 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.08, Z:-0.12 [[ 9.99985611e-01 -5.22096489e-03 -1.23251240e-03 1.43860977e+00] [ 5.21795802e-03 9.99983433e-01 -2.43036562e-03 -8.27513617e-02] [ 1.24518083e-03 2.42389945e-03 9.99996287e-01 -1.18778861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58463044 meters 0.2707460381432232 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.12 [[ 9.99997542e-01 -1.66773109e-03 -1.46130010e-03 1.43924158e+00] [ 1.66764899e-03 9.99998608e-01 -5.73995460e-05 -7.47035168e-02] [ 1.46139379e-03 5.49624692e-05 9.99998931e-01 -1.19110768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64463044 meters 0.2716426390803974 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.12 [[ 9.99996784e-01 -2.10416421e-03 -1.41585908e-03 1.43932368e+00] [ 2.10263251e-03 9.99997204e-01 -1.08243819e-03 -7.03919599e-02] [ 1.41813275e-03 1.07945768e-03 9.99998412e-01 -1.19497167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70463044 meters 0.2716706686953322 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.12 [[ 9.99996440e-01 -2.28986968e-03 -1.36979281e-03 1.43928360e+00] [ 2.28775995e-03 9.99996198e-01 -1.53977275e-03 -6.85245719e-02] [ 1.37331348e-03 1.53663351e-03 9.99997876e-01 -1.19662452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76463043999999 meters 0.27085627593535067 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.12 [[ 0.99999586 -0.00247454 -0.00146723 1.43906783] [ 0.00247159 0.99999494 -0.00200476 -0.0666042 ] [ 0.00147218 0.00200112 0.99999691 -0.11882054] [ 0. 0. 0. 1. ]] SLAMing on 110.82463043999999 meters 0.2712627497943942 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.12 [[ 9.99995698e-01 -6.92806645e-04 -2.85030420e-03 1.44456226e+00] [ 6.91758470e-04 9.99999693e-01 -3.68711029e-04 -6.65848328e-02] [ 2.85055877e-03 3.66737721e-04 9.99995870e-01 -1.22016378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88463044 meters 0.2727787728376687 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.06, Z:-0.12 [[ 9.99995583e-01 7.71306534e-04 -2.87029166e-03 1.49080651e+00] [-7.72890339e-04 9.99999550e-01 -5.50724040e-04 -5.76404742e-02] [ 2.86986559e-03 5.52940028e-04 9.99995729e-01 -1.23796733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94463044 meters 0.2714289095958463 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:-0.12 [[ 0.99998635 -0.00437525 -0.00285542 1.46906656] [ 0.00438203 0.99998758 0.00237447 -0.04437791] [ 0.00284499 -0.00238695 0.9999931 -0.12425291] [ 0. 0. 0. 1. ]] SLAMing on 111.00463044 meters 0.2712957314281938 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.04, Z:-0.12 [[ 9.99995615e-01 -5.65957868e-04 -2.90692207e-03 1.46911112e+00] [ 5.81569484e-04 9.99985399e-01 5.37246213e-03 -3.90839057e-02] [ 2.90383904e-03 -5.37412914e-03 9.99981343e-01 -1.24229374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06463044 meters 0.2713549592801193 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.03, Z:-0.12 [[ 9.99995073e-01 -1.02921512e-03 -2.96554136e-03 1.46953857e+00] [ 1.04223736e-03 9.99989808e-01 4.39298883e-03 -3.48106932e-02] [ 2.96098980e-03 -4.39605798e-03 9.99985954e-01 -1.24786259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12463043999999 meters 0.26957631081153116 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.03, Z:-0.12 [[ 9.99984125e-01 5.52863012e-03 -1.08847407e-03 1.44391336e+00] [-5.52687426e-03 9.99983431e-01 1.60959752e-03 -3.40303758e-02] [ 1.09735491e-03 -1.60355611e-03 9.99998112e-01 -1.23829374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18463043999999 meters 0.272078613676934 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.03, Z:-0.12 [[ 9.99993342e-01 2.89054882e-03 2.22710252e-03 1.48460058e+00] [-2.88761210e-03 9.99994959e-01 -1.32071841e-03 -2.70699516e-02] [-2.23090889e-03 1.31427861e-03 9.99996648e-01 -1.23923687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24463044 meters 0.27103390980241604 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.02, Z:-0.12 [[ 0.99999419 0.00256196 0.00224955 1.48465049] [-0.00255726 0.99999454 -0.00209268 -0.02379703] [-0.0022549 0.00208692 0.99999528 -0.12413888] [ 0. 0. 0. 1. ]] SLAMing on 111.30463044 meters 0.2712184607633894 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.02, Z:-0.12 [[ 0.99999538 0.0022333 0.00206023 1.48501589] [-0.00222711 0.99999302 -0.00300148 -0.02009519] [-0.00206692 0.00299688 0.99999337 -0.12397916] [ 0. 0. 0. 1. ]] SLAMing on 111.36463044 meters 0.2715412350687661 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.01, Z:-0.12 [[ 0.99999695 0.00171681 0.00177486 1.48528722] [-0.00170921 0.9999894 -0.00427423 -0.01458701] [-0.00178218 0.00427118 0.99998929 -0.12322678] [ 0. 0. 0. 1. ]] SLAMing on 111.42463044 meters 0.2711904941405347 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.01, Z:-0.12 [[ 0.99999732 0.00150031 0.0017648 1.4854976 ] [-0.00149183 0.9999874 -0.00479324 -0.01242994] [-0.00177197 0.0047906 0.99998696 -0.12359282] [ 0. 0. 0. 1. ]] SLAMing on 111.48463043999999 meters 0.27055347235062216 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.01, Z:-0.12 [[ 9.99997525e-01 1.37612276e-03 1.74845556e-03 1.48537865e+00] [-1.36716964e-03 9.99986002e-01 -5.11150403e-03 -1.11202226e-02] [-1.75546514e-03 5.10910094e-03 9.99985408e-01 -1.23273909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54463043999999 meters 0.26938096233693953 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:-0.12 [[ 9.99985952e-01 -5.28002505e-03 4.66648081e-04 1.46353379e+00] [ 5.28124538e-03 9.99982533e-01 -2.65373770e-03 -8.89064460e-03] [-4.52628128e-04 2.65616490e-03 9.99996370e-01 -1.22420006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60463044 meters 0.2704601661544221 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.01, Z:-0.12 [[ 9.99998666e-01 -1.63258314e-03 4.27677890e-05 1.46503230e+00] [ 1.63256233e-03 9.99998551e-01 4.82027713e-04 -6.40805387e-03] [-4.35546774e-05 -4.81957249e-04 9.99999883e-01 -1.23398125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66463044 meters 0.271654215391054 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.00, Z:-0.12 [[ 9.99998343e-01 -1.81781879e-03 -9.25429646e-05 1.46539480e+00] [ 1.81781992e-03 9.99998348e-01 1.21933987e-05 -4.47276627e-03] [ 9.25206463e-05 -1.23616049e-05 9.99999996e-01 -1.23493295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72463044 meters 0.2703877316554767 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.00, Z:-0.12 [[ 9.99997850e-01 -2.04591225e-03 -3.38127077e-04 1.46608033e+00] [ 2.04570976e-03 9.99997729e-01 -5.98108953e-04 -1.86963248e-03] [ 3.39349987e-04 5.97415957e-04 9.99999764e-01 -1.23719153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78463044 meters 0.27252255929490066 Centerline is valid? [False, False] Translation: X:1.47, Y:0.00, Z:-0.12 [[ 9.99997417e-01 -2.22752532e-03 -4.52501196e-04 1.46656751e+00] [ 2.22704787e-03 9.99996966e-01 -1.05290136e-03 3.83495157e-05] [ 4.54845188e-04 1.05189090e-03 9.99999343e-01 -1.24148511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84463043999999 meters 0.2704758868213432 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:-0.12 [[ 9.99999519e-01 -3.99150896e-04 8.95616344e-04 1.46089343e+00] [ 3.98491683e-04 9.99999650e-01 7.36101628e-04 -8.93761962e-04] [-8.95909846e-04 -7.35744379e-04 9.99999328e-01 -1.20400545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90463043999999 meters 0.271180166530454 Centerline is valid? [False, False] Translation: X:1.46, Y:0.00, Z:-0.12 [[ 9.99999238e-01 -7.41482216e-04 9.87086835e-04 1.46018062e+00] [ 7.41805953e-04 9.99999671e-01 -3.27646366e-04 3.76084021e-03] [-9.86843567e-04 3.28378344e-04 9.99999459e-01 -1.19519177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96463044 meters 0.27128630216796074 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:-0.12 [[ 9.99999188e-01 -1.07409466e-03 6.85434618e-04 1.46140742e+00] [ 1.07503898e-03 9.99998472e-01 -1.37882296e-03 8.18907525e-03] [-6.83952584e-04 1.37955871e-03 9.99998815e-01 -1.20707555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02463044 meters 0.2717407612351496 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:-0.12 [[ 9.99998717e-01 -1.41778520e-03 7.45029286e-04 1.46169414e+00] [ 1.41946725e-03 9.99996434e-01 -2.26203484e-03 1.18806488e-02] [-7.41819550e-04 2.26308948e-03 9.99997164e-01 -1.21489182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08463044 meters 0.2710030386991769 Centerline is valid? [False, False] Translation: X:1.46, Y:0.01, Z:-0.12 [[ 9.99998416e-01 -1.67427304e-03 6.03980785e-04 1.46162205e+00] [ 1.67599316e-03 9.99994509e-01 -2.85880243e-03 1.44226459e-02] [-5.99191053e-04 2.85981017e-03 9.99995731e-01 -1.20738293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14463044 meters 0.2712421839080424 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:-0.12 [[ 9.99997858e-01 -2.02580454e-03 4.25135082e-04 1.46209169e+00] [ 2.02737433e-03 9.99991007e-01 -3.72508324e-03 1.80364412e-02] [-4.17584968e-04 3.72593717e-03 9.99992971e-01 -1.20839456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20463044 meters 0.2707673942836561 Centerline is valid? [False, False] Translation: X:1.46, Y:0.02, Z:-0.12 [[ 9.99997131e-01 -2.33604533e-03 5.30769675e-04 1.46184630e+00] [ 2.33848435e-03 9.99986491e-01 -4.64206556e-03 2.17832628e-02] [-5.19918429e-04 4.64329344e-03 9.99989085e-01 -1.20892206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26463043999999 meters 0.27019276644648293 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.12 [[ 9.99998732e-01 1.54280673e-03 3.95558028e-04 1.46168135e+00] [-1.54222437e-03 9.99997733e-01 -1.46835689e-03 2.65228255e-02] [-3.97822522e-04 1.46774499e-03 9.99998844e-01 -1.20081501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32463043999999 meters 0.2724380519595028 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.12 [[ 9.99996556e-01 2.49727241e-03 8.07296871e-04 1.50675416e+00] [-2.49574207e-03 9.99995097e-01 -1.89111704e-03 4.27904096e-02] [-8.12015548e-04 1.88909573e-03 9.99997886e-01 -1.21954543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38463044 meters 0.27082083301553384 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.12 [[ 9.99992838e-01 -2.53611088e-03 2.80914041e-03 1.48360043e+00] [ 2.53340368e-03 9.99996324e-01 9.66849146e-04 5.23753105e-02] [-2.81158212e-03 -9.59725536e-04 9.99995587e-01 -1.22184016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44463044 meters 0.2707501594710742 Centerline is valid? [False, False] Translation: X:1.48, Y:0.06, Z:-0.12 [[ 9.99992046e-01 -3.04327339e-03 2.57789740e-03 1.48384414e+00] [ 3.04420491e-03 9.99995302e-01 -3.57502596e-04 5.77705339e-02] [-2.57679731e-03 3.65347401e-04 9.99996613e-01 -1.21660550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50463044 meters 0.27010384193339726 Centerline is valid? [False, False] Translation: X:1.48, Y:0.06, Z:-0.12 [[ 9.99990960e-01 -3.32253545e-03 2.65359410e-03 1.48339402e+00] [ 3.32544598e-03 9.99993873e-01 -1.09316619e-03 6.08041247e-02] [-2.64994576e-03 1.10198069e-03 9.99995882e-01 -1.21165884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56463044 meters 0.2711411063643695 Centerline is valid? [False, False] Translation: X:1.48, Y:0.06, Z:-0.12 [[ 0.99998984 -0.0035782 0.00274301 1.4828728 ] [ 0.00358317 0.99999194 -0.00181011 0.06386985] [-0.00273652 0.00181992 0.9999946 -0.12055968] [ 0. 0. 0. 1. ]] SLAMing on 112.62463043999999 meters 0.27212901660551964 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.12 [[ 0.99998894 -0.00379586 0.00277569 1.48284962] [ 0.00380254 0.99998988 -0.00240311 0.06632114] [-0.00276654 0.00241364 0.99999326 -0.12068775] [ 0. 0. 0. 1. ]] SLAMing on 112.68463043999999 meters 0.2718597475690019 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.12 [[ 0.9999883 -0.00396179 0.00277539 1.4828463 ] [ 0.00396972 0.99998804 -0.00285788 0.06825774] [-0.00276403 0.00286887 0.99999206 -0.12067607] [ 0. 0. 0. 1. ]] SLAMing on 112.74463044 meters 0.272458215180449 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.12 [[ 0.99998768 -0.00419793 0.00264832 1.4833319 ] [ 0.00420733 0.99998483 -0.00355366 0.07110063] [-0.00263337 0.00356476 0.99999018 -0.12114638] [ 0. 0. 0. 1. ]] SLAMing on 112.80463044 meters 0.2725974712293919 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.12 [[ 9.99997084e-01 5.50510499e-05 2.41433269e-03 1.48414665e+00] [-5.64435908e-05 9.99999832e-01 5.76716533e-04 7.16765736e-02] [-2.41430053e-03 -5.76851125e-04 9.99996919e-01 -1.21788283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86463044 meters 0.2708213092600302 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.12 [[ 9.99996815e-01 9.74610752e-05 2.52206398e-03 1.48382084e+00] [-9.91992742e-05 9.99999758e-01 6.89081113e-04 7.12011783e-02] [-2.52199621e-03 -6.89329105e-04 9.99996582e-01 -1.21623391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92463044 meters 0.27275263283635515 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.12 [[ 0.99997774 0.0050165 0.00439907 1.50652144] [-0.00500337 0.99998301 -0.00299071 0.07230012] [-0.004414 0.00296863 0.99998585 -0.12268665] [ 0. 0. 0. 1. ]] SLAMing on 112.98463043999999 meters 0.2728049059963765 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.12 [[ 0.99997945 0.00487152 0.00416779 1.50734522] [-0.00485749 0.99998253 -0.00336804 0.07398668] [-0.00418412 0.00334772 0.99998564 -0.1232645 ] [ 0. 0. 0. 1. ]] SLAMing on 113.04463043999999 meters 0.2711216543557839 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.12 [[ 9.99998767e-01 4.50717291e-05 1.56990567e-03 1.48565575e+00] [-4.50228533e-05 9.99999999e-01 -3.11682597e-05 7.45600183e-02] [-1.56990708e-03 3.10975396e-05 9.99998767e-01 -1.22549712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10463044 meters 0.27286479295148536 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.12 [[ 9.99989599e-01 1.14403797e-04 4.55943707e-03 1.52705925e+00] [-1.16911657e-04 9.99999842e-01 5.49774467e-04 7.86469513e-02] [-4.55937345e-03 -5.50301800e-04 9.99989455e-01 -1.22306409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16463044 meters 0.27295867235644633 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.12 [[ 9.99989757e-01 1.06362702e-04 4.52491518e-03 1.52718562e+00] [-1.08766050e-04 9.99999853e-01 5.30893790e-04 7.87310857e-02] [-4.52485805e-03 -5.31380509e-04 9.99989622e-01 -1.22398116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22463044 meters 0.27402207667366113 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.12 [[ 9.99990269e-01 1.07863910e-04 4.41013946e-03 1.52773517e+00] [-1.10198589e-04 9.99999854e-01 5.29149307e-04 7.87180425e-02] [-4.41008174e-03 -5.29630150e-04 9.99990135e-01 -1.22996290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28463044 meters 0.2736916672614498 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.12 [[ 9.99990008e-01 7.74838382e-06 4.47029672e-03 1.52727076e+00] [-8.97113792e-06 9.99999963e-01 2.73508636e-04 7.98145722e-02] [-4.47029443e-03 -2.73546007e-04 9.99989971e-01 -1.22340966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34463043999999 meters 0.2729379829315591 Centerline is valid? [False, False] Translation: X:1.53, Y:0.08, Z:-0.12 [[ 9.99990137e-01 -7.23033947e-05 4.44082514e-03 1.52724605e+00] [ 7.19941288e-05 9.99999995e-01 6.98013513e-05 8.06412646e-02] [-4.44083016e-03 -6.94809495e-05 9.99990137e-01 -1.22153354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40463043999999 meters 0.27381390150820484 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.12 [[ 9.99996481e-01 2.16158477e-04 2.64421508e-03 1.53175260e+00] [-2.14488030e-04 9.99999777e-01 -6.32003586e-04 8.50685203e-02] [-2.64435110e-03 6.31434210e-04 9.99996304e-01 -1.24550611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46463044 meters 0.2766155901022096 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.13 [[ 9.99997710e-01 1.69510799e-04 2.13323424e-03 1.53330069e+00] [-1.66527627e-04 9.99999008e-01 -1.39852659e-03 8.89169185e-02] [-2.13346919e-03 1.39816815e-03 9.99996747e-01 -1.25468649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52463044 meters 0.2753901316465674 Centerline is valid? [False, False] Translation: X:1.53, Y:0.09, Z:-0.12 [[ 9.99989873e-01 3.87646769e-03 2.28638068e-03 1.53210306e+00] [-3.87980655e-03 9.99991411e-01 1.45769951e-03 9.49965458e-02] [-2.28071032e-03 -1.46655546e-03 9.99996324e-01 -1.24034385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58463044 meters 0.2754867977554188 Centerline is valid? [False, False] Translation: X:1.53, Y:0.10, Z:-0.12 [[ 9.99990634e-01 3.76242156e-03 2.13914530e-03 1.53254772e+00] [-3.76491162e-03 9.99992238e-01 1.16120897e-03 9.61945149e-02] [-2.13475974e-03 -1.16925179e-03 9.99997038e-01 -1.24270913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64463044 meters 0.27305507536505086 Centerline is valid? [False, False] Translation: X:1.52, Y:0.10, Z:-0.13 [[ 9.99987265e-01 -4.86675065e-03 -1.33555889e-03 1.51528670e+00] [ 4.86879672e-03 9.99986972e-01 1.53304311e-03 9.57476528e-02] [ 1.32808056e-03 -1.53952615e-03 9.99997933e-01 -1.25556644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70463044 meters 0.27258036907979105 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.13 [[ 9.99991493e-01 4.07674286e-03 6.27369453e-04 1.49285271e+00] [-4.07737404e-03 9.99991179e-01 1.00809914e-03 8.99535967e-02] [-6.23254159e-04 -1.01064858e-03 9.99999295e-01 -1.25106203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76463043999999 meters 0.27139963937695494 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.12 [[ 9.99990765e-01 4.22682604e-03 7.76903011e-04 1.49241197e+00] [-4.22793644e-03 9.99990035e-01 1.43321474e-03 8.82943006e-02] [-7.70837320e-04 -1.43648620e-03 9.99998671e-01 -1.24811236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82463043999999 meters 0.27442795457305497 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.13 [[ 9.99990124e-01 4.43685288e-03 2.57423518e-04 1.49399620e+00] [-4.43740966e-03 9.99987725e-01 2.20420180e-03 8.50743226e-02] [-2.47640639e-04 -2.20532232e-03 9.99997538e-01 -1.25744812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88463044 meters 0.2722882815439054 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.13 [[ 9.99999954e-01 2.34989410e-04 1.93280820e-04 1.49426023e+00] [-2.34643523e-04 9.99998375e-01 -1.78763643e-03 8.41904629e-02] [-1.93700582e-04 1.78759100e-03 9.99998383e-01 -1.25965640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94463044 meters 0.2726626963377761 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.13 [[ 9.99999944e-01 3.23903118e-04 8.36304824e-05 1.49434716e+00] [-3.23770741e-04 9.99998702e-01 -1.57806711e-03 8.32409233e-02] [-8.41415148e-05 1.57803995e-03 9.99998751e-01 -1.25612563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00463044 meters 0.2741348471769857 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.13 [[ 9.99999946e-01 2.65639216e-04 1.91634103e-04 1.49417703e+00] [-2.65302707e-04 9.99998427e-01 -1.75388886e-03 8.40209140e-02] [-1.92099703e-04 1.75383793e-03 9.99998444e-01 -1.25794056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06463044 meters 0.2741511142171104 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.13 [[ 9.99999881e-01 1.98544296e-04 4.44630480e-04 1.49330814e+00] [-1.97675042e-04 9.99998071e-01 -1.95419396e-03 8.48230373e-02] [-4.45017617e-04 1.95410584e-03 9.99997992e-01 -1.25163528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12463043999999 meters 0.2732850431889168 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.13 [[ 9.99959564e-01 -8.96828286e-03 6.63644383e-04 1.47154789e+00] [ 8.96998234e-03 9.99956379e-01 -2.60377265e-03 9.04337715e-02] [-6.40264064e-04 2.60962024e-03 9.99996390e-01 -1.25016810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18463043999999 meters 0.2761710551898645 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.12 [[ 9.99992443e-01 1.46884641e-03 3.59950253e-03 1.49099164e+00] [-1.46258500e-03 9.99997414e-01 -1.74153670e-03 9.74908346e-02] [-3.60205127e-03 1.73625896e-03 9.99992005e-01 -1.24683210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24463044 meters 0.27505459826888934 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.13 [[ 9.99992680e-01 1.22060506e-03 3.62616666e-03 1.49113344e+00] [-1.21157271e-03 9.99996161e-01 -2.49203468e-03 1.00554968e-01] [-3.62919453e-03 2.48762307e-03 9.99990320e-01 -1.25169822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30463044 meters 0.2757678887434004 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.13 [[ 9.99992962e-01 1.01337217e-03 3.61225610e-03 1.49112634e+00] [-1.00258161e-03 9.99995034e-01 -2.98776591e-03 1.02659385e-01] [-3.61526588e-03 2.98412331e-03 9.99989012e-01 -1.25132945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36463044 meters 0.2747330799759172 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.12 [[ 9.99980450e-01 -5.44193309e-03 3.07983115e-03 1.46650980e+00] [ 5.44400617e-03 9.99984960e-01 -6.65131442e-04 1.02591619e-01] [-3.07616523e-03 6.81885059e-04 9.99995036e-01 -1.21833327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42463044 meters 0.27464259580533107 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.12 [[ 9.99981257e-01 -5.45426151e-03 2.78133937e-03 1.46721400e+00] [ 5.45621325e-03 9.99984874e-01 -6.94621963e-04 1.02698489e-01] [-2.77750865e-03 7.09784525e-04 9.99995891e-01 -1.21876266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48463043999999 meters 0.2750476422563475 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.12 [[ 9.99981495e-01 -5.50362799e-03 2.59230915e-03 1.46805518e+00] [ 5.50575282e-03 9.99984513e-01 -8.13246729e-04 1.03268935e-01] [-2.58779319e-03 8.27504294e-04 9.99996309e-01 -1.22714600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54463043999999 meters 0.27421611219638253 Centerline is valid? [False, False] Translation: X:1.47, Y:0.11, Z:-0.12 [[ 9.99980076e-01 -5.72948322e-03 2.64968561e-03 1.46779323e+00] [ 5.73311263e-03 9.99982635e-01 -1.36418738e-03 1.05570040e-01] [-2.64182351e-03 1.37935114e-03 9.99995559e-01 -1.22517487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60463044 meters 0.2753957860957166 Centerline is valid? [False, False] Translation: X:1.47, Y:0.11, Z:-0.12 [[ 0.9999788 -0.00598087 0.00257348 1.46794736] [ 0.00598603 0.99998008 -0.0019995 0.10823611] [-0.00256147 0.00201486 0.99999469 -0.12252566] [ 0. 0. 0. 1. ]] SLAMing on 114.66463044 meters 0.2729071661680188 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.12 [[ 9.99985804e-01 -3.93403518e-03 3.59363903e-03 1.46259189e+00] [ 3.93300619e-03 9.99992223e-01 2.93358977e-04 1.06815038e-01] [-3.59476517e-03 -2.79221008e-04 9.99993500e-01 -1.18222066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72463044 meters 0.27227522405717364 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 9.99986917e-01 -3.79389882e-03 3.43102845e-03 1.46271495e+00] [ 3.79139769e-03 9.99992542e-01 7.35183366e-04 1.04967147e-01] [-3.43379208e-03 -7.22165354e-04 9.99993844e-01 -1.17690008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78463044 meters 0.27306750695067034 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.12 [[ 9.99988279e-01 4.26564040e-03 2.29050689e-03 1.48458134e+00] [-4.26657193e-03 9.99990817e-01 4.01958695e-04 9.81682020e-02] [-2.28877124e-03 -4.11726596e-04 9.99997296e-01 -1.17203555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84463043999999 meters 0.27295230660777603 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 9.99990879e-01 -3.95050875e-03 1.62309600e-03 1.46339165e+00] [ 3.94848991e-03 9.99991429e-01 1.24514642e-03 9.83028682e-02] [-1.62800106e-03 -1.23872629e-03 9.99997908e-01 -1.17468207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90463043999999 meters 0.2725776290476324 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 9.99990678e-01 -4.00887694e-03 1.60375391e-03 1.46341198e+00] [ 4.00713027e-03 9.99991376e-01 1.09084341e-03 9.89274540e-02] [-1.60811313e-03 -1.08440679e-03 9.99998119e-01 -1.17435926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96463044 meters 0.273059391572308 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 9.99990698e-01 -4.10014281e-03 1.33929949e-03 1.46396201e+00] [ 4.09910809e-03 9.99991299e-01 7.74416352e-04 1.00202718e-01] [-1.34246305e-03 -7.68919214e-04 9.99998803e-01 -1.17465309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02463044 meters 0.2736704800578332 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 9.99990575e-01 -4.14576135e-03 1.28959693e-03 1.46413288e+00] [ 4.14491526e-03 9.99991193e-01 6.58072686e-04 1.00695729e-01] [-1.29231379e-03 -6.52721214e-04 9.99998952e-01 -1.17591953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08463044 meters 0.2725901299347267 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.12 [[ 9.99995807e-01 2.86189191e-03 4.42449250e-04 1.44281646e+00] [-2.86096302e-03 9.99993732e-01 -2.08599747e-03 9.79669162e-02] [-4.48416376e-04 2.08472289e-03 9.99997726e-01 -1.16262376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14463044 meters 0.27347662257642613 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.12 [[ 9.99995846e-01 2.86797871e-03 2.85982064e-04 1.44326634e+00] [-2.86737909e-03 9.99993735e-01 -2.07551630e-03 9.78761259e-02] [-2.91932809e-04 2.07468766e-03 9.99997805e-01 -1.16422472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20463043999999 meters 0.27474001308907886 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 0.99999081 -0.00254367 0.00345183 1.46210445] [ 0.00253651 0.99999463 0.00207613 0.09718853] [-0.00345709 -0.00206735 0.99999189 -0.11631917] [ 0. 0. 0. 1. ]] SLAMing on 115.26463043999999 meters 0.2748381351360419 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 0.99999085 -0.00249032 0.00347872 1.46193483] [ 0.00248267 0.9999945 0.00220127 0.09664426] [-0.00348419 -0.00219261 0.99999153 -0.11608959] [ 0. 0. 0. 1. ]] SLAMing on 115.32463043999999 meters 0.2734924365151121 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.12 [[ 0.99999167 -0.00242355 0.0032841 1.46264039] [ 0.00241578 0.99999428 0.00236796 0.09586406] [-0.00328982 -0.00236 0.9999918 -0.11664392] [ 0. 0. 0. 1. ]] SLAMing on 115.38463044 meters 0.27533281562050094 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.12 [[ 0.99999281 -0.00232928 0.00299083 1.46362295] [ 0.00232148 0.99999391 0.00260759 0.09479346] [-0.00299689 -0.00260063 0.99999213 -0.11730261] [ 0. 0. 0. 1. ]] SLAMing on 115.44463044 meters 0.27233822977676 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.11 [[ 9.99982298e-01 -4.21904600e-03 4.19559385e-03 1.45796704e+00] [ 4.21436659e-03 9.99990488e-01 1.12353116e-03 9.18715489e-02] [-4.20029417e-03 -1.10582950e-03 9.99990567e-01 -1.13143463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50463044 meters 0.2745858793930095 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.11 [[ 9.99982638e-01 -4.19777122e-03 4.13555065e-03 1.45807767e+00] [ 4.19293647e-03 9.99990517e-01 1.17704712e-03 9.16386781e-02] [-4.14045240e-03 -1.15968659e-03 9.99990756e-01 -1.13069085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56463044 meters 0.27366441139316583 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.11 [[ 9.99982549e-01 -4.34572716e-03 4.00212005e-03 1.45852123e+00] [ 4.34250663e-03 9.99990241e-01 8.13043431e-04 9.32294262e-02] [-4.00561426e-03 -7.95650010e-04 9.99991661e-01 -1.13396248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62463043999999 meters 0.2749977858909013 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.11 [[ 9.99982504e-01 -4.43949375e-03 3.90922959e-03 1.45871503e+00] [ 4.43723016e-03 9.99989983e-01 5.87520376e-04 9.41908386e-02] [-3.91179872e-03 -5.70163946e-04 9.99992186e-01 -1.13373491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68463043999999 meters 0.2736242536044505 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.11 [[ 0.99998664 -0.00210335 0.00472129 1.45366082] [ 0.00209202 0.99999492 0.00240398 0.09858509] [-0.00472632 -0.00239407 0.99998597 -0.10891579] [ 0. 0. 0. 1. ]] SLAMing on 115.74463044 meters 0.2752159750136517 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.11 [[ 0.99998643 -0.0023356 0.00465627 1.4535062 ] [ 0.00232719 0.99999565 0.00181054 0.101056 ] [-0.00466048 -0.00179968 0.99998752 -0.10839708] [ 0. 0. 0. 1. ]] SLAMing on 115.80463044 meters 0.27604769697537024 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.11 [[ 9.99972888e-01 3.27576463e-03 6.59491961e-03 1.47702673e+00] [-3.26712284e-03 9.99993791e-01 -1.32071814e-03 1.05968415e-01] [-6.59920502e-03 1.29913592e-03 9.99977381e-01 -1.10744624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86463044 meters 0.2729428643600576 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.11 [[ 0.99997409 0.00317082 0.00646299 1.47666427] [-0.00316075 0.99999378 -0.00156657 0.10700422] [-0.00646792 0.0015461 0.99997789 -0.10948996] [ 0. 0. 0. 1. ]] SLAMing on 115.92463044 meters 0.27384422578346135 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.11 [[ 0.99997616 0.00311801 0.0061611 1.47723643] [-0.00310767 0.99999375 -0.00168629 0.10752243] [-0.00616632 0.00166711 0.9999796 -0.10926581] [ 0. 0. 0. 1. ]] SLAMing on 115.98463043999999 meters 0.27543302965297417 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.11 [[ 0.99996985 -0.00609306 0.00481387 1.49875475] [ 0.00610061 0.99998018 -0.0015551 0.1142336 ] [-0.0048043 0.00158442 0.9999872 -0.10934499] [ 0. 0. 0. 1. ]] SLAMing on 116.04463043999999 meters 0.27433534748821486 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.11 [[ 9.99974757e-01 -4.24731421e-03 5.69611289e-03 1.49396192e+00] [ 4.24379482e-03 9.99990797e-01 6.29801170e-04 1.11070751e-01] [-5.69873543e-03 -6.05612137e-04 9.99983579e-01 -1.05346797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10463044 meters 0.27436154015904857 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.10 [[ 9.99975409e-01 -4.22367199e-03 5.59844286e-03 1.49394384e+00] [ 4.21989850e-03 9.99990861e-01 6.85666985e-04 1.10784316e-01] [-5.60128773e-03 -6.62025263e-04 9.99984094e-01 -1.04847695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16463044 meters 0.27238694609300473 Centerline is valid? [False, False] Translation: X:1.47, Y:0.11, Z:-0.10 [[ 0.99998732 0.00192129 0.00465542 1.47280009] [-0.00190907 0.99999473 -0.00262762 0.10640436] [-0.00466044 0.0026187 0.99998571 -0.10401183] [ 0. 0. 0. 1. ]] SLAMing on 116.22463044 meters 0.2744120080801843 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998702 0.00209128 0.004647 1.47271854] [-0.00208108 0.99999542 -0.00219825 0.10456089] [-0.00465158 0.00218855 0.99998679 -0.10373646] [ 0. 0. 0. 1. ]] SLAMing on 116.28463044 meters 0.2737607580586003 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.10 [[ 9.99962364e-01 -6.78689354e-03 5.40456923e-03 1.49307075e+00] [ 6.79229879e-03 9.99976450e-01 -9.82400654e-04 1.04706562e-01] [-5.39777450e-03 1.01907313e-03 9.99984913e-01 -1.02986850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34463043999999 meters 0.2730650904178351 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998629 0.00179006 0.00492188 1.47361753] [-0.00178088 0.99999667 -0.00186922 0.09849258] [-0.0049252 0.00186042 0.99998614 -0.10393721] [ 0. 0. 0. 1. ]] SLAMing on 116.40463043999999 meters 0.2737843046526558 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998597 0.00169952 0.00501678 1.47360406] [-0.00168868 0.99999623 -0.00216405 0.09980888] [-0.00502044 0.00215555 0.99998507 -0.1043879 ] [ 0. 0. 0. 1. ]] SLAMing on 116.46463044 meters 0.27653511200260583 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.11 [[ 0.99998625 0.00158453 0.00499841 1.47396265] [-0.00157203 0.99999563 -0.00250305 0.10128676] [-0.00500235 0.00249516 0.99998438 -0.10509215] [ 0. 0. 0. 1. ]] SLAMing on 116.52463044 meters 0.2775278838910215 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998745 0.00163981 0.00473506 1.47399883] [-0.00162865 0.99999589 -0.00236062 0.1007568 ] [-0.00473891 0.00235287 0.999986 -0.10406102] [ 0. 0. 0. 1. ]] SLAMing on 116.58463044 meters 0.2752267282007202 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998826 0.00168658 0.00454268 1.47417835] [-0.00167648 0.99999612 -0.00222648 0.10009542] [-0.00454642 0.00221884 0.9999872 -0.10354129] [ 0. 0. 0. 1. ]] SLAMing on 116.64463044 meters 0.27390317746861464 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998902 0.00171961 0.0043594 1.47467831] [-0.00171032 0.99999626 -0.00213426 0.09967575] [-0.00436306 0.00212678 0.99998822 -0.10368809] [ 0. 0. 0. 1. ]] SLAMing on 116.70463043999999 meters 0.2754461817690839 Centerline is valid? [False, False] Translation: X:1.47, Y:0.10, Z:-0.10 [[ 0.99998918 0.00183974 0.0042735 1.47441417] [-0.00183203 0.99999669 -0.00180849 0.09830625] [-0.00427681 0.00180064 0.99998923 -0.10270776] [ 0. 0. 0. 1. ]] SLAMing on 116.76463043999999 meters 0.27138866925016536 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 0.99996113 -0.00774694 0.00420974 1.44977154] [ 0.00775596 0.99996765 -0.00213078 0.09332962] [-0.0041931 0.00216335 0.99998887 -0.10046767] [ 0. 0. 0. 1. ]] SLAMing on 116.82463043999999 meters 0.27142405873029496 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 0.99998454 -0.00352505 0.00429973 1.44955786] [ 0.00351309 0.99998995 0.00278632 0.08967037] [-0.00430951 -0.00277117 0.99998687 -0.10042205] [ 0. 0. 0. 1. ]] SLAMing on 116.88463044 meters 0.27115175416075843 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 0.99998626 -0.00328186 0.00408679 1.44989401] [ 0.00326807 0.99998896 0.00337592 0.08697184] [-0.00409783 -0.00336252 0.99998595 -0.10005517] [ 0. 0. 0. 1. ]] SLAMing on 116.94463044 meters 0.27124360859674745 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 0.99998691 -0.00320358 0.00398902 1.4497432 ] [ 0.0031893 0.9999885 0.00358149 0.08612528] [-0.00400045 -0.00356872 0.99998563 -0.0992923 ] [ 0. 0. 0. 1. ]] SLAMing on 117.00463044 meters 0.27328568254714647 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 0.99998561 -0.00316214 0.00433464 1.44921125] [ 0.00314618 0.99998827 0.00368383 0.08569221] [-0.00434624 -0.00367014 0.99998382 -0.09972293] [ 0. 0. 0. 1. ]] SLAMing on 117.06463044 meters 0.2727243371943499 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.10 [[ 9.99992609e-01 3.03886634e-03 2.35540564e-03 1.42977639e+00] [-3.03935762e-03 9.99995360e-01 2.05023500e-04 8.36919746e-02] [-2.35477167e-03 -2.12180904e-04 9.99997205e-01 -9.97000731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12463043999999 meters 0.2726699591390686 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.10 [[ 9.99992676e-01 2.99663026e-03 2.38086358e-03 1.42982191e+00] [-2.99681526e-03 9.99995507e-01 7.41402032e-05 8.43348540e-02] [-2.38063071e-03 -8.12746685e-05 9.99997163e-01 -9.99050941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18463043999999 meters 0.2746487291056516 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.10 [[ 9.99992880e-01 2.93162029e-03 2.37612629e-03 1.42990176e+00] [-2.93142853e-03 9.99995700e-01 -8.41823566e-05 8.50241354e-02] [-2.37636286e-03 7.72163128e-05 9.99997173e-01 -1.00069305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24463044 meters 0.27668435354713355 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.10 [[ 9.99993179e-01 2.82184669e-03 2.38299970e-03 1.43000810e+00] [-2.82101365e-03 9.99995959e-01 -3.52866218e-04 8.62342627e-02] [-2.38398581e-03 3.46141336e-04 9.99997098e-01 -1.00332710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30463044 meters 0.27196856002709074 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.10 [[ 9.99977246e-01 -5.88502017e-03 3.29743585e-03 1.40588567e+00] [ 5.88574355e-03 9.99982657e-01 -2.09715028e-04 8.71149978e-02] [-3.29614448e-03 2.29118118e-04 9.99994541e-01 -9.91201389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36463044 meters 0.2731486215380098 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.10 [[ 9.99994199e-01 2.58893266e-03 2.21337968e-03 1.42792844e+00] [-2.58757165e-03 9.99996462e-01 -6.17545681e-04 8.37513144e-02] [-2.21497063e-03 6.11814820e-04 9.99997360e-01 -9.85018404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42463044 meters 0.2703759518184674 Centerline is valid? [False, False] Translation: X:1.41, Y:0.08, Z:-0.10 [[ 9.99994079e-01 -3.43724513e-03 1.68167391e-04 1.40537338e+00] [ 3.43687336e-03 9.99991754e-01 2.16319209e-03 7.94191543e-02] [-1.75601426e-04 -2.16260131e-03 9.99997646e-01 -9.67874929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48463043999999 meters 0.2733998750609381 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.10 [[ 0.99999171 -0.00309218 0.00264846 1.44786952] [ 0.00308295 0.99998919 0.0034806 0.08129467] [-0.00265919 -0.00347241 0.99999044 -0.09673915] [ 0. 0. 0. 1. ]] SLAMing on 117.54463043999999 meters 0.2729773366272957 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.10 [[ 9.99996599e-01 2.49261491e-03 7.67894529e-04 1.42815297e+00] [-2.49226067e-03 9.99996788e-01 -4.61931157e-04 7.96143775e-02] [-7.69043478e-04 4.60015793e-04 9.99999598e-01 -9.68694062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60463044 meters 0.2747822521256415 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 9.99988294e-01 -4.69161303e-03 -1.18373401e-03 1.45053884e+00] [ 4.69317201e-03 9.99988119e-01 1.31768012e-03 8.73610317e-02] [ 1.17753790e-03 -1.32322017e-03 9.99998431e-01 -9.69519120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66463044 meters 0.27454343187860536 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 9.99987348e-01 -4.88671794e-03 -1.19349327e-03 1.45051665e+00] [ 4.88764165e-03 9.99987757e-01 7.72272840e-04 8.97104573e-02] [ 1.18970478e-03 -7.78096437e-04 9.99998990e-01 -9.69320076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72463044 meters 0.2748670849161087 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 9.99986892e-01 -5.00392768e-03 -1.08446990e-03 1.44989699e+00] [ 5.00444166e-03 9.99987366e-01 4.71747043e-04 9.09602280e-02] [ 1.08209561e-03 -4.77168026e-04 9.99999301e-01 -9.62461852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78463044 meters 0.27443653610305463 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 9.99998525e-01 -8.52322261e-04 -1.49147933e-03 1.45031579e+00] [ 8.58767593e-04 9.99990273e-01 4.32614458e-03 9.24589333e-02] [ 1.48777755e-03 -4.32741903e-03 9.99989530e-01 -9.54921128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84463043999999 meters 0.2715144104389052 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 9.99998500e-01 -9.46291180e-04 -1.45062703e-03 1.44989081e+00] [ 9.52225593e-04 9.99991159e-01 4.09571244e-03 9.34784708e-02] [ 1.44673847e-03 -4.09708762e-03 9.99990560e-01 -9.48822436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90463043999999 meters 0.2720645799587888 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 9.99998676e-01 -9.05513707e-04 -1.35185251e-03 1.44922079e+00] [ 9.11183818e-04 9.99990766e-01 4.19961900e-03 9.30833126e-02] [ 1.34803721e-03 -4.20084522e-03 9.99990268e-01 -9.40038004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96463044 meters 0.27339072652195595 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 9.99998473e-01 -6.64374765e-04 -1.61624984e-03 1.45022076e+00] [ 6.72226877e-04 9.99987952e-01 4.86254661e-03 9.01805141e-02] [ 1.61299981e-03 -4.86362567e-03 9.99986872e-01 -9.46461113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02463044 meters 0.271202654528209 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.10 [[ 9.99997572e-01 -3.85855678e-04 -2.16968216e-03 1.45178268e+00] [ 3.98536504e-04 9.99982826e-01 5.84716286e-03 8.59552421e-02] [ 2.16738874e-03 -5.84801336e-03 9.99980551e-01 -9.52425028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08463044 meters 0.27040203930138373 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.09 [[ 9.99998114e-01 -2.23482566e-05 -1.94218259e-03 1.45077692e+00] [ 3.67034218e-05 9.99972682e-01 7.39153289e-03 7.92402030e-02] [ 1.94196435e-03 -7.39159024e-03 9.99970796e-01 -9.40612282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14463044 meters 0.2725612103014786 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.09 [[ 0.99998327 0.00492048 -0.00304156 1.47493896] [-0.00490811 0.99997971 0.00406113 0.07464093] [ 0.00306148 -0.00404614 0.99998713 -0.09432067] [ 0. 0. 0. 1. ]] SLAMing on 118.20463043999999 meters 0.27205698636406034 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.10 [[ 9.99992209e-01 1.36819299e-03 -3.70271800e-03 1.47674368e+00] [-1.36509926e-03 9.99998717e-01 8.37929026e-04 7.29844120e-02] [ 3.70385970e-03 -8.32867920e-04 9.99992794e-01 -9.51182688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26463043999999 meters 0.27164580400755 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.09 [[ 9.99993406e-01 1.40470011e-03 -3.34888301e-03 1.47559138e+00] [-1.40138595e-03 9.99998526e-01 9.91773012e-04 7.21239633e-02] [ 3.35027122e-03 -9.87073394e-04 9.99993901e-01 -9.44230061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32463043999999 meters 0.2722848553480891 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.09 [[ 9.99993416e-01 1.29773721e-03 -3.38878122e-03 1.47536949e+00] [-1.29529266e-03 9.99998899e-01 7.23459182e-04 7.31935163e-02] [ 3.38971635e-03 -7.19064955e-04 9.99993996e-01 -9.38862154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38463044 meters 0.27226706750970453 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.09 [[ 9.99993961e-01 1.16658033e-03 -3.27354272e-03 1.47512607e+00] [-1.16531146e-03 9.99999245e-01 3.89496207e-04 7.46502959e-02] [ 3.27399463e-03 -3.85679158e-04 9.99994566e-01 -9.39873638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44463044 meters 0.2712271821957949 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.09 [[ 9.99988508e-01 -4.67540486e-03 -1.06025658e-03 1.44952011e+00] [ 4.67863916e-03 9.99984346e-01 3.06880778e-03 7.74315179e-02] [ 1.04589206e-03 -3.07373308e-03 9.99994729e-01 -9.29100578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50463044 meters 0.2732272132476761 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.09 [[ 9.99999541e-01 7.68166767e-04 5.73403966e-04 1.47290584e+00] [-7.67944988e-04 9.99999630e-01 -3.86896411e-04 8.41972927e-02] [-5.73700955e-04 3.86455891e-04 9.99999761e-01 -9.39738698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56463044 meters 0.2714234124370396 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 9.99988137e-01 -4.87082791e-03 -9.26437202e-06 1.44961397e+00] [ 4.87083667e-03 9.99986050e-01 2.04328116e-03 9.08826636e-02] [-6.88228127e-07 -2.04330205e-03 9.99997912e-01 -9.25233043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62463043999999 meters 0.2708464674121972 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.09 [[ 9.99985489e-01 -5.38593080e-03 1.20321512e-04 1.44918180e+00] [ 5.38584020e-03 9.99985222e-01 7.40990703e-04 9.66577037e-02] [-1.24310658e-04 -7.40331917e-04 9.99999718e-01 -9.24721980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68463043999999 meters 0.27175767480708574 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.10 [[ 9.99993918e-01 -3.29557931e-03 -1.14130738e-03 1.45371508e+00] [ 3.29757997e-03 9.99993022e-01 1.75553354e-03 1.04533568e-01] [ 1.13551392e-03 -1.75928642e-03 9.99997808e-01 -9.50965934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74463044 meters 0.27011927446523815 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.09 [[ 9.99992165e-01 -3.72199338e-03 -1.34750100e-03 1.45328855e+00] [ 3.72305871e-03 9.99992758e-01 7.88954421e-04 1.08517883e-01] [ 1.34455476e-03 -7.93965065e-04 9.99998781e-01 -9.37491321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80463044 meters 0.2704990677404336 Centerline is valid? [False, False] Translation: X:1.47, Y:0.11, Z:-0.09 [[ 9.99988913e-01 4.67371740e-03 -5.74134611e-04 1.47461763e+00] [-4.67365976e-03 9.99989073e-01 1.01689305e-04 1.10000904e-01] [ 5.74603605e-04 -9.90048682e-05 9.99999830e-01 -9.35833821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86463044 meters 0.2722461500161421 Centerline is valid? [False, False] Translation: X:1.47, Y:0.11, Z:-0.09 [[ 9.99990028e-01 4.42915770e-03 -5.71544052e-04 1.47447780e+00] [-4.42942275e-03 9.99990083e-01 -4.63307864e-04 1.12479688e-01] [ 5.69486320e-04 4.65834854e-04 9.99999729e-01 -9.34007978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92463044 meters 0.26903252024534835 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 9.99991638e-01 -3.86111067e-03 1.34753713e-03 1.45158002e+00] [ 3.86152539e-03 9.99992498e-01 -3.05291852e-04 1.17534263e-01] [-1.34634826e-03 3.10492848e-04 9.99999045e-01 -9.34603473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98463043999999 meters 0.2688246452337633 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 9.99991617e-01 -3.90275052e-03 1.23868540e-03 1.45181046e+00] [ 3.90325628e-03 9.99992300e-01 -4.06146877e-04 1.17968657e-01] [-1.23709077e-03 4.10978379e-04 9.99999150e-01 -9.34334471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04463043999999 meters 0.2717928337585449 Centerline is valid? [False, False] Translation: X:1.47, Y:0.12, Z:-0.09 [[ 0.99998901 0.00358942 0.00301557 1.47118595] [-0.0035845 0.99999224 -0.00163602 0.11690327] [-0.00302142 0.0016252 0.99999411 -0.09227303] [ 0. 0. 0. 1. ]] SLAMing on 119.10463044 meters 0.2716437304189177 Centerline is valid? [False, False] Translation: X:1.47, Y:0.12, Z:-0.09 [[ 0.99998886 0.00361254 0.00303682 1.47097608] [-0.00360775 0.99999224 -0.00157988 0.11667244] [-0.0030425 0.00156891 0.99999414 -0.09194181] [ 0. 0. 0. 1. ]] SLAMing on 119.16463044 meters 0.2692644762410033 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 9.99987948e-01 -4.28156651e-03 2.40256189e-03 1.45009684e+00] [ 4.28299450e-03 9.99990654e-01 -5.89530390e-04 1.17363412e-01] [-2.40001533e-03 5.99813445e-04 9.99996940e-01 -9.21812831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22463044 meters 0.26938729883676943 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 9.99988883e-01 -4.21111792e-03 2.12148669e-03 1.45102070e+00] [ 4.21203294e-03 9.99991038e-01 -4.27027285e-04 1.16560287e-01] [-2.11966942e-03 4.35958309e-04 9.99997658e-01 -9.27460318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28463044 meters 0.2694763554436176 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 9.99989763e-01 -4.06890365e-03 1.97937615e-03 1.45126434e+00] [ 4.06906061e-03 9.99991719e-01 -7.52766484e-05 1.15108287e-01] [-1.97905347e-03 8.33300793e-05 9.99998038e-01 -9.25484351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34463043999999 meters 0.2683642852845737 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.09 [[ 9.99986390e-01 4.38665337e-03 2.82426691e-03 1.43207166e+00] [-4.38436177e-03 9.99990055e-01 -8.17076875e-04 1.06181109e-01] [-2.82782305e-03 8.04683147e-04 9.99995678e-01 -9.33592575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40463043999999 meters 0.2684400190155176 Centerline is valid? [False, False] Translation: X:1.41, Y:0.10, Z:-0.09 [[ 9.99987340e-01 -4.95252485e-03 8.89708129e-04 1.41073457e+00] [ 4.95323509e-03 9.99987414e-01 -7.97857178e-04 9.97966627e-02] [-8.85745523e-04 8.02254011e-04 9.99999286e-01 -9.25307392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46463044 meters 0.2681588618380175 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99993884e-01 3.46641813e-03 4.63756052e-04 1.43303540e+00] [-3.46599145e-03 9.99993572e-01 -9.17712560e-04 9.61167132e-02] [-4.66934247e-04 9.16099573e-04 9.99999471e-01 -9.26260965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52463044 meters 0.2701888506916085 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.09 [[ 9.99993730e-01 -3.46653466e-03 -7.23504939e-04 1.45587400e+00] [ 3.46784022e-03 9.99992347e-01 1.81110525e-03 9.85996178e-02] [ 7.17221143e-04 -1.81360289e-03 9.99998098e-01 -9.31080044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58463044 meters 0.26943148801492944 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.09 [[ 9.99993503e-01 -3.54052455e-03 -6.77134203e-04 1.45561587e+00] [ 3.54161206e-03 9.99992430e-01 1.61164011e-03 9.93886666e-02] [ 6.71423025e-04 -1.61402778e-03 9.99998472e-01 -9.28677476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64463044 meters 0.27140453707558926 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.09 [[ 9.99993722e-01 -3.49834111e-03 -5.63869252e-04 1.45474141e+00] [ 3.49930842e-03 9.99992392e-01 1.72371153e-03 9.89303453e-02] [ 5.57834831e-04 -1.72567386e-03 9.99998355e-01 -9.16119537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70463043999999 meters 0.26818485405314474 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.09 [[ 9.99994286e-01 -3.28585715e-03 -7.94266563e-04 1.45513443e+00] [ 3.28766289e-03 9.99991990e-01 2.28295597e-03 9.64134835e-02] [ 7.86758733e-04 -2.28555420e-03 9.99997079e-01 -9.13017184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76463043999999 meters 0.2688042746849123 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.09 [[ 9.99997198e-01 1.92218534e-03 1.38203250e-03 1.47751522e+00] [-1.92170768e-03 9.99998093e-01 -3.46865428e-04 9.48055863e-02] [-1.38269660e-03 3.44208593e-04 9.99998985e-01 -9.21546665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82463043999999 meters 0.2687824787131216 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.09 [[ 9.99996776e-01 2.34169332e-03 9.82126084e-04 1.47889169e+00] [-2.34249611e-03 9.99996923e-01 8.17048021e-04 8.96395733e-02] [-9.80209785e-04 -8.19346013e-04 9.99999184e-01 -9.28436601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88463044 meters 0.2685237301142837 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.09 [[ 9.99996202e-01 2.61338784e-03 8.74788475e-04 1.47897286e+00] [-2.61465442e-03 9.99995531e-01 1.44986626e-03 8.68595541e-02] [-8.70995503e-04 -1.45214802e-03 9.99998566e-01 -9.24444723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94463044 meters 0.26819264736639464 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.09 [[ 9.99997797e-01 6.46971265e-04 1.99705226e-03 1.47403494e+00] [-6.46803078e-04 9.99999787e-01 -8.48624284e-05 8.41139497e-02] [-1.99710674e-03 8.35705418e-05 9.99998002e-01 -8.90079134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00463044 meters 0.2677838639712018 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.09 [[ 9.99996544e-01 6.39971258e-04 2.54991211e-03 1.47266999e+00] [-6.39759031e-04 9.99999792e-01 -8.40437695e-05 8.40858612e-02] [-2.54996537e-03 8.24121497e-05 9.99996745e-01 -8.86058829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06463044 meters 0.26885850381802207 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99997078e-01 4.97404497e-04 2.36574064e-03 1.47329347e+00] [-4.96218775e-04 9.99999751e-01 -5.01765652e-04 8.57890970e-02] [-2.36598963e-03 5.00590261e-04 9.99997076e-01 -8.91750429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12463043999999 meters 0.2699632451530212 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99997451e-01 3.74410054e-04 2.22657230e-03 1.47379060e+00] [-3.72528241e-04 9.99999573e-01 -8.45515827e-04 8.73385948e-02] [-2.22688792e-03 8.44684211e-04 9.99997164e-01 -8.96084362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18463043999999 meters 0.2695935172772485 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99997444e-01 2.36534577e-04 2.24848521e-03 1.47349910e+00] [-2.33890889e-04 9.99999281e-01 -1.17595433e-03 8.87541745e-02] [-2.24876175e-03 1.17542543e-03 9.99996781e-01 -8.92156828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24463044 meters 0.271549514150139 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99997831e-01 2.61660237e-04 2.06648100e-03 1.47354203e+00] [-2.59378859e-04 9.99999357e-01 -1.10418243e-03 8.84737332e-02] [-2.06676859e-03 1.10364404e-03 9.99997255e-01 -8.84777515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30463044 meters 0.26939218907330864 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99998040e-01 3.55202618e-04 1.94795870e-03 1.47351270e+00] [-3.53522898e-04 9.99999565e-01 -8.62574055e-04 8.75446265e-02] [-1.94826424e-03 8.61883716e-04 9.99997731e-01 -8.78661523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36463044 meters 0.2704467259543212 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99998108e-01 3.75695485e-04 1.90856306e-03 1.47384211e+00] [-3.74141246e-04 9.99999598e-01 -8.14642129e-04 8.73097357e-02] [-1.90886835e-03 8.13926515e-04 9.99997847e-01 -8.83099882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42463044 meters 0.2704182616767209 Centerline is valid? [False, False] Translation: X:1.47, Y:0.09, Z:-0.09 [[ 9.99998103e-01 2.91898613e-04 1.92582519e-03 1.47404882e+00] [-2.89917017e-04 9.99999428e-01 -1.02915847e-03 8.82519938e-02] [-1.92612449e-03 1.02859819e-03 9.99997616e-01 -8.88311729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48463043999999 meters 0.2692894160302741 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 0.99997042 -0.00517399 0.00569174 1.44817291] [ 0.00516239 0.99998457 0.00205094 0.09060933] [-0.00570226 -0.0020215 0.9999817 -0.08810513] [ 0. 0. 0. 1. ]] SLAMing on 120.54463043999999 meters 0.2705743753784773 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 0.99997009 -0.00527119 0.00565965 1.44810327] [ 0.005261 0.99998452 0.00181365 0.09161664] [-0.00566912 -0.00178382 0.99998234 -0.08786016] [ 0. 0. 0. 1. ]] SLAMing on 120.60463044 meters 0.26965725518134626 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.09 [[ 9.99969239e-01 -5.46268486e-03 5.62854297e-03 1.44829824e+00] [ 5.45541910e-03 9.99984267e-01 1.30542379e-03 9.38003452e-02] [-5.63558553e-03 -1.27467758e-03 9.99983308e-01 -8.82063095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66463044 meters 0.27125943330633484 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99980840e-01 3.87252939e-03 4.82932046e-03 1.42763386e+00] [-3.87406030e-03 9.99992448e-01 3.07688878e-04 9.73664944e-02] [-4.82809246e-03 -3.26392061e-04 9.99988291e-01 -8.82419213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72463044 meters 0.2712672542487233 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99981007e-01 3.62527170e-03 4.98425764e-03 1.42731270e+00] [-3.62376099e-03 9.99993385e-01 -3.12093685e-04 1.00020112e-01] [-4.98535610e-03 2.94025999e-04 9.99987530e-01 -8.83572681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78463044 meters 0.27108652506804254 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99983049e-01 3.55125813e-03 4.61405830e-03 1.42782289e+00] [-3.54902668e-03 9.99993581e-01 -4.91717746e-04 1.00793906e-01] [-4.61577490e-03 4.75333996e-04 9.99989234e-01 -8.77809335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84463043999999 meters 0.27031576657240997 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99984455e-01 3.58098574e-03 4.27393903e-03 1.42865080e+00] [-3.57935784e-03 9.99993519e-01 -3.88478304e-04 1.00377073e-01] [-4.27530247e-03 3.73174308e-04 9.99990791e-01 -8.79176663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90463043999999 meters 0.26842360152630534 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99984185e-01 3.72268394e-03 4.21560139e-03 1.42858186e+00] [-3.72292605e-03 9.99993069e-01 4.95857914e-05 9.85660507e-02] [-4.21538758e-03 -6.52793794e-05 9.99991113e-01 -8.74505094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96463044 meters 0.2686072266782183 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99984513e-01 3.76163110e-03 4.10176210e-03 1.42872662e+00] [-3.76228348e-03 9.99992911e-01 1.51343985e-04 9.81548401e-02] [-4.10116372e-03 -1.66773633e-04 9.99991576e-01 -8.71839304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02463044 meters 0.2686469451789741 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.09 [[ 9.99985093e-01 3.88450305e-03 3.83719908e-03 1.42921525e+00] [-3.88634649e-03 9.99992336e-01 4.73073875e-04 9.68097112e-02] [-3.83533201e-03 -4.87979508e-04 9.99992526e-01 -8.69037215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08463044 meters 0.26733316934268564 Centerline is valid? [False, False] Translation: X:1.41, Y:0.09, Z:-0.09 [[ 9.99993008e-01 -3.59682524e-03 1.02326497e-03 1.41051530e+00] [ 3.59477619e-03 9.99991544e-01 1.99730273e-03 9.32666373e-02] [-1.03044027e-03 -1.99361036e-03 9.99997482e-01 -8.80816445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14463044 meters 0.26806517911868144 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.09 [[ 9.99991006e-01 3.46229431e-03 2.44947535e-03 1.42801210e+00] [-3.46497058e-03 9.99993404e-01 1.08919388e-03 8.40991553e-02] [-2.44568809e-03 -1.09767144e-03 9.99996407e-01 -8.53422771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20463043999999 meters 0.2659094719116672 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.08 [[ 0.9999901 0.00373922 0.00241108 1.42771414] [-0.00374394 0.99999108 0.00195451 0.08047375] [-0.00240375 -0.00196352 0.99999518 -0.0845481 ] [ 0. 0. 0. 1. ]] SLAMing on 121.26463043999999 meters 0.2673521135199834 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.08 [[ 0.99998076 -0.00527612 0.00326265 1.44838089] [ 0.00526617 0.99998148 0.00305228 0.07872587] [-0.00327869 -0.00303504 0.99999002 -0.08444052] [ 0. 0. 0. 1. ]] SLAMing on 121.32463043999999 meters 0.2675916630216654 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.08 [[ 0.99998313 -0.00483356 0.00322189 1.44857893] [ 0.00482044 0.99998012 0.00406577 0.07433621] [-0.00324148 -0.00405017 0.99998654 -0.08449588] [ 0. 0. 0. 1. ]] SLAMing on 121.38463044 meters 0.26633258764742157 Centerline is valid? [False, False] Translation: X:1.43, Y:0.06, Z:-0.09 [[ 0.99999303 0.0027197 0.00255714 1.43211166] [-0.00272641 0.99999285 0.00262187 0.06265345] [-0.00254999 -0.00262883 0.99999329 -0.08715366] [ 0. 0. 0. 1. ]] SLAMing on 121.44463044 meters 0.2654022023880666 Centerline is valid? [False, False] Translation: X:1.43, Y:0.06, Z:-0.09 [[ 0.99999205 0.00302323 0.002601 1.43200539] [-0.00303195 0.99998977 0.00335731 0.05954706] [-0.00259083 -0.00336517 0.99999098 -0.08705874] [ 0. 0. 0. 1. ]] SLAMing on 121.50463044 meters 0.2654271235030361 Centerline is valid? [False, False] Translation: X:1.43, Y:0.06, Z:-0.09 [[ 9.99995771e-01 -1.00581583e-03 2.72879962e-03 1.43180448e+00] [ 1.00644595e-03 9.99999467e-01 -2.29550451e-04 5.65762625e-02] [-2.72856728e-03 2.32295870e-04 9.99996250e-01 -8.71223186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56463044 meters 0.26648819120066347 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997050e-01 -4.45566753e-04 2.38758354e-03 1.43279781e+00] [ 4.42782946e-04 9.99999222e-01 1.16635338e-03 5.04517874e-02] [-2.38810137e-03 -1.16529276e-03 9.99996470e-01 -8.74432387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62463043999999 meters 0.26715536942820967 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997257e-01 -2.22481597e-04 2.33146933e-03 1.43329063e+00] [ 2.18519461e-04 9.99998532e-01 1.69953282e-03 4.81483988e-02] [-2.33184402e-03 -1.69901869e-03 9.99995838e-01 -8.80488362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68463043999999 meters 0.2684483464501839 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997237e-01 -1.02835282e-04 2.34842136e-03 1.43342120e+00] [ 9.81681235e-05 9.99998020e-01 1.98738879e-03 4.68389784e-02] [-2.34862109e-03 -1.98715276e-03 9.99995268e-01 -8.83087567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74463044 meters 0.26771563932004294 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997273e-01 -1.52562779e-04 2.33048857e-03 1.43329784e+00] [ 1.48231513e-04 9.99998262e-01 1.85858241e-03 4.75731891e-02] [-2.33076807e-03 -1.85823189e-03 9.99995557e-01 -8.80669218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80463044 meters 0.2670022532542199 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997250e-01 -2.09138338e-04 2.33586053e-03 1.43328074e+00] [ 2.05111479e-04 9.99998493e-01 1.72403567e-03 4.81525847e-02] [-2.33621757e-03 -1.72355182e-03 9.99995786e-01 -8.80955858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86463044 meters 0.2679097387080973 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997096e-01 -1.49545662e-04 2.40522446e-03 1.43308112e+00] [ 1.45048740e-04 9.99998242e-01 1.86971367e-03 4.75102843e-02] [-2.40549984e-03 -1.86935937e-03 9.99995360e-01 -8.79843123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92463044 meters 0.2678950967348352 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.09 [[ 9.99997196e-01 -3.83159860e-05 2.36774071e-03 1.43295088e+00] [ 3.31884369e-05 9.99997655e-01 2.16558860e-03 4.62648187e-02] [-2.36781813e-03 -2.16550395e-03 9.99994852e-01 -8.75067679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98463043999999 meters 0.2663259666656 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.08 [[ 9.99992302e-01 -1.91165982e-03 3.42647142e-03 1.42762121e+00] [ 1.90991025e-03 9.99998044e-01 5.13801822e-04 4.56012908e-02] [-3.42744694e-03 -5.07253614e-04 9.99993998e-01 -8.34077767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04463043999999 meters 0.2646640488837523 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.08 [[ 9.99993124e-01 -1.64667339e-03 3.32282112e-03 1.42790733e+00] [ 1.64264538e-03 9.99997913e-01 1.21459025e-03 4.26039995e-02] [-3.32481422e-03 -1.20912368e-03 9.99993742e-01 -8.34402320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10463044 meters 0.2660890637069586 Centerline is valid? [False, False] Translation: X:1.43, Y:0.04, Z:-0.08 [[ 9.99993415e-01 -1.37731743e-03 3.35759629e-03 1.42795913e+00] [ 1.37083594e-03 9.99997194e-01 1.93193288e-03 3.95396667e-02] [-3.36024775e-03 -1.92731744e-03 9.99992497e-01 -8.36064219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16463044 meters 0.2670255828850971 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.08 [[ 9.99983661e-01 3.40794202e-03 4.58949114e-03 1.44973443e+00] [-3.40144123e-03 9.99993202e-01 -1.42351384e-03 3.38831896e-02] [-4.59431119e-03 1.40787970e-03 9.99988455e-01 -8.36111091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22463044 meters 0.26530321181649585 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.08 [[ 9.99982554e-01 1.12093718e-03 5.79963187e-03 1.44571185e+00] [-1.10308809e-03 9.99994649e-01 -3.07990878e-03 2.89395731e-02] [-5.80305321e-03 3.07345754e-03 9.99978439e-01 -8.18247917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28463044 meters 0.2682721959297649 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.08 [[ 9.99982502e-01 1.20741543e-03 5.79120841e-03 1.44590796e+00] [-1.19114641e-03 9.99995337e-01 -2.81188918e-03 2.78863715e-02] [-5.79457652e-03 2.80494180e-03 9.99979277e-01 -8.21477567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34463043999999 meters 0.2687403791843979 Centerline is valid? [False, False] Translation: X:1.46, Y:0.04, Z:-0.08 [[ 0.99995632 -0.00726333 0.00588153 1.46486013] [ 0.0072765 0.99997106 -0.00222094 0.03577473] [-0.00586523 0.00226364 0.99998024 -0.08153513] [ 0. 0. 0. 1. ]] SLAMing on 122.40463043999999 meters 0.2697545163161673 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.08 [[ 0.99997199 0.00152753 0.00732654 1.48567011] [-0.00150531 0.99999425 -0.0030377 0.03940518] [-0.00733114 0.00302659 0.99996855 -0.08132202] [ 0. 0. 0. 1. ]] SLAMing on 122.46463044 meters 0.26868574475565243 Centerline is valid? [False, False] Translation: X:1.47, Y:0.04, Z:-0.08 [[ 9.99983955e-01 -3.30115437e-03 4.60351225e-03 1.46548197e+00] [ 3.29903908e-03 9.99994449e-01 4.67012031e-04 4.18753971e-02] [-4.60502838e-03 -4.51817371e-04 9.99989295e-01 -8.13058409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52463044 meters 0.2687075488660167 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:-0.08 [[ 9.99983192e-01 4.82194537e-03 3.21935730e-03 1.44642655e+00] [-4.81891920e-03 9.99987940e-01 -9.47088916e-04 4.02441375e-02] [-3.22388529e-03 9.31559175e-04 9.99994369e-01 -8.19063569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58463044 meters 0.2669901745839695 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:-0.08 [[ 0.99998423 0.00450216 0.0033571 1.44549749] [-0.00449624 0.99998832 -0.00177121 0.0440846 ] [-0.00336503 0.00175609 0.9999928 -0.08098908] [ 0. 0. 0. 1. ]] SLAMing on 122.64463044 meters 0.2699064940820637 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.08 [[ 0.99998565 0.00421275 0.00331024 1.44601382] [-0.0042043 0.9999879 -0.00255327 0.04729048] [-0.00332096 0.00253931 0.99999126 -0.08188873] [ 0. 0. 0. 1. ]] SLAMing on 122.70463043999999 meters 0.26855469381140445 Centerline is valid? [False, False] Translation: X:1.43, Y:0.05, Z:-0.08 [[ 9.99993693e-01 -3.26834144e-03 1.39007741e-03 1.42820073e+00] [ 3.27047929e-03 9.99993469e-01 -1.53845283e-03 5.37000032e-02] [-1.38504015e-03 1.54298934e-03 9.99997850e-01 -8.35477676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76463043999999 meters 0.26783753656416276 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99984106e-01 -2.77697317e-03 4.90671819e-03 1.46734083e+00] [ 2.77988613e-03 9.99995964e-01 -5.86947792e-04 6.36826654e-02] [-4.90506844e-03 6.00578581e-04 9.99987790e-01 -8.15921671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82463043999999 meters 0.2686265952691995 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99984866e-01 -2.83784699e-03 4.71314055e-03 1.46760653e+00] [ 2.84137079e-03 9.99995689e-01 -7.41126178e-04 6.42916935e-02] [-4.71101702e-03 7.54506742e-04 9.99988618e-01 -8.12485294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88463044 meters 0.26858333477662 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99984945e-01 -2.83690158e-03 4.69703394e-03 1.46755364e+00] [ 2.84039717e-03 9.99995694e-01 -7.37707762e-04 6.43313237e-02] [-4.69492091e-03 7.51038097e-04 9.99988697e-01 -8.10594878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94463044 meters 0.2684775792151971 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99984979e-01 -2.78619050e-03 4.72010811e-03 1.46727457e+00] [ 2.78910458e-03 9.99995924e-01 -6.10907154e-04 6.37495442e-02] [-4.71838677e-03 6.24062852e-04 9.99988674e-01 -8.05969026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00463044 meters 0.26662767690008526 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99986201e-01 -2.68662852e-03 4.51440898e-03 1.46764982e+00] [ 2.68811885e-03 9.99996334e-01 -3.24093113e-04 6.25454057e-02] [-4.51352172e-03 3.36223909e-04 9.99989757e-01 -8.04114518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06463044 meters 0.2664608396637467 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99990586e-01 -2.46307682e-03 3.57227980e-03 1.47021088e+00] [ 2.46088195e-03 9.99996781e-01 6.18683062e-04 5.85149937e-02] [-3.57379216e-03 -6.09886279e-04 9.99993428e-01 -8.16332944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12463043999999 meters 0.26625722386761225 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.08 [[ 9.99991336e-01 -2.23662994e-03 3.51070463e-03 1.47043377e+00] [ 2.23219361e-03 9.99996706e-01 1.26706801e-03 5.55058940e-02] [-3.51352703e-03 -1.25922046e-03 9.99993035e-01 -8.17612630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18463043999999 meters 0.26596318218146525 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.08 [[ 0.9999782 -0.0027531 0.00600226 1.51226885] [ 0.00274126 0.99999428 0.00197999 0.05038728] [-0.00600767 -0.00196349 0.99998003 -0.0817079 ] [ 0. 0. 0. 1. ]] SLAMing on 123.24463044 meters 0.26485184699137754 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.08 [[ 9.99980945e-01 2.89028703e-03 5.45493143e-03 1.49052175e+00] [-2.88568235e-03 9.99995474e-01 -8.51813858e-04 4.34878782e-02] [-5.45736872e-03 8.36056427e-04 9.99984759e-01 -8.10248971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30463044 meters 0.26422485363094317 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.08 [[ 9.99981249e-01 3.23990942e-03 5.19667042e-03 1.49143431e+00] [-3.24078325e-03 9.99994736e-01 1.59739643e-04 3.90955781e-02] [-5.19612552e-03 -1.76577930e-04 9.99986484e-01 -8.15932762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36463044 meters 0.2653028812461435 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:-0.08 [[ 9.99979826e-01 3.76156879e-03 5.11838775e-03 1.49175854e+00] [-3.76873897e-03 9.99991930e-01 1.39194336e-03 3.33110961e-02] [-5.11311055e-03 -1.41120514e-03 9.99985932e-01 -8.17526996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42463044 meters 0.26433527897803194 Centerline is valid? [False, False] Translation: X:1.49, Y:0.03, Z:-0.08 [[ 0.99997906 0.00405112 0.0050457 1.49176833] [-0.00406169 0.99998957 0.00208736 0.03032715] [-0.00503719 -0.00210781 0.99998509 -0.08137305] [ 0. 0. 0. 1. ]] SLAMing on 123.48463043999999 meters 0.26545338892958414 Centerline is valid? [False, False] Translation: X:1.51, Y:0.03, Z:-0.08 [[ 0.99997274 -0.00403313 0.00618484 1.51140758] [ 0.00400924 0.99998447 0.0038701 0.0290705 ] [-0.00620035 -0.0038452 0.99997338 -0.08055086] [ 0. 0. 0. 1. ]] SLAMing on 123.54463043999999 meters 0.2651044418311194 Centerline is valid? [False, False] Translation: X:1.49, Y:0.02, Z:-0.08 [[ 9.99966281e-01 1.23128276e-03 8.11919822e-03 1.48843810e+00] [-1.24180930e-03 9.99998395e-01 1.29158586e-03 1.69659829e-02] [-8.11759488e-03 -1.30162480e-03 9.99966205e-01 -7.98810945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60463044 meters 0.26588648006345794 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.08 [[ 9.99942312e-01 5.30266162e-04 1.07280408e-02 1.52921863e+00] [-5.45431785e-04 9.99998856e-01 1.41076694e-03 9.93415643e-03] [-1.07272804e-02 -1.41653698e-03 9.99941458e-01 -7.91392501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66463044 meters 0.2644155094560413 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.08 [[ 9.99941963e-01 7.60288554e-04 1.07467896e-02 1.52902966e+00] [-7.81322632e-04 9.99997787e-01 1.95317996e-03 7.53146998e-03] [-1.07452809e-02 -1.96146331e-03 9.99940344e-01 -7.88078405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72463044 meters 0.26463485255934693 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.08 [[ 9.99942629e-01 9.03526032e-04 1.06734079e-02 1.52929743e+00] [-9.28181198e-04 9.99996912e-01 2.30523422e-03 6.03996735e-03] [-1.06712921e-02 -2.31500882e-03 9.99940380e-01 -7.89531089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78463044 meters 0.2645538185471654 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.08 [[ 0.99996273 -0.00376024 0.00777227 1.50844355] [ 0.00371166 0.99997354 0.00625603 0.00280593] [-0.00779559 -0.00622695 0.99995023 -0.07843007] [ 0. 0. 0. 1. ]] SLAMing on 123.84463043999999 meters 0.2662821233462897 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.08 [[ 0.99995466 0.00310165 0.00900284 1.53017634] [-0.0031343 0.99998855 0.00361496 0.00529294] [-0.00899152 -0.00364301 0.99995294 -0.07957573] [ 0. 0. 0. 1. ]] SLAMing on 123.90463043999999 meters 0.2688708605319741 Centerline is valid? [False, False] Translation: X:1.53, Y:0.01, Z:-0.08 [[ 0.99995578 0.00298093 0.00891886 1.53041502] [-0.00300963 0.99999033 0.00320612 0.00711163] [-0.00890921 -0.00323282 0.99995509 -0.07978579] [ 0. 0. 0. 1. ]] SLAMing on 123.96463044 meters 0.2690948916399272 Centerline is valid? [False, False] Translation: X:1.55, Y:0.01, Z:-0.08 [[ 0.99993994 -0.00494851 0.00977851 1.54862572] [ 0.00490834 0.99997943 0.00412839 0.01495574] [-0.00979874 -0.00408014 0.99994367 -0.07867084] [ 0. 0. 0. 1. ]] SLAMing on 124.02463044 meters 0.2690454036773343 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.08 [[ 9.99965781e-01 1.61239152e-03 8.11403394e-03 1.52742149e+00] [-1.62304964e-03 9.99997829e-01 1.30712806e-03 1.68815367e-02] [-8.11190872e-03 -1.32025281e-03 9.99966226e-01 -7.79268575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08463044 meters 0.269462522304683 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.08 [[ 9.99966225e-01 1.29514800e-03 8.11616438e-03 1.52747767e+00] [-1.29931703e-03 9.99999027e-01 5.08419066e-04 2.04758799e-02] [-8.11549800e-03 -5.18947364e-04 9.99966934e-01 -7.81155947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14463044 meters 0.2698912521073807 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.08 [[ 9.99967752e-01 1.11677187e-03 7.95281911e-03 1.52787872e+00] [-1.11751386e-03 9.99999372e-01 8.88564200e-05 2.23318103e-02] [-7.95271488e-03 -9.77409402e-05 9.99968372e-01 -7.82141883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20463043999999 meters 0.27095518914315625 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.08 [[ 9.99969151e-01 9.21168603e-04 7.80052670e-03 1.52802279e+00] [-9.18275034e-04 9.99999508e-01 -3.74518853e-04 2.44875839e-02] [-7.80086786e-03 3.67344270e-04 9.99969505e-01 -7.79311050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26463043999999 meters 0.2670936019784072 Centerline is valid? [False, False] Translation: X:1.50, Y:0.03, Z:-0.08 [[ 9.99921749e-01 -7.94535026e-03 9.66264925e-03 1.50377233e+00] [ 7.94735787e-03 9.99968405e-01 -1.69390159e-04 2.70164590e-02] [-9.66099810e-03 2.46169436e-04 9.99953301e-01 -7.75591697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32463043999999 meters 0.26596301246360615 Centerline is valid? [False, False] Translation: X:1.52, Y:0.03, Z:-0.08 [[ 9.99937414e-01 4.08814200e-04 1.11803762e-02 1.52239183e+00] [-3.94166627e-04 9.99999061e-01 -1.31228665e-03 2.66079038e-02] [-1.11809022e-02 1.30779759e-03 9.99936637e-01 -7.67554566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38463044 meters 0.2650548832016083 Centerline is valid? [False, False] Translation: X:1.52, Y:0.03, Z:-0.08 [[ 9.99931124e-01 5.04570548e-04 1.17256924e-02 1.52114195e+00] [-4.91741979e-04 9.99999277e-01 -1.09691376e-03 2.62723492e-02] [-1.17262374e-02 1.09107219e-03 9.99930650e-01 -7.64706605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44463044 meters 0.2655237872008242 Centerline is valid? [False, False] Translation: X:1.52, Y:0.03, Z:-0.08 [[ 9.99930902e-01 5.33137287e-04 1.17434086e-02 1.52092356e+00] [-5.21691342e-04 9.99999386e-01 -9.77711440e-04 2.56715609e-02] [-1.17439227e-02 9.71517447e-04 9.99930566e-01 -7.60483879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50463044 meters 0.26360707372484615 Centerline is valid? [False, False] Translation: X:1.52, Y:0.02, Z:-0.08 [[ 9.99935147e-01 6.93408186e-04 1.13675655e-02 1.52198182e+00] [-6.88642417e-04 9.99999673e-01 -4.23151584e-04 2.36475943e-02] [-1.13678552e-02 4.15295953e-04 9.99935298e-01 -7.65723967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56463044 meters 0.2640505462282602 Centerline is valid? [False, False] Translation: X:1.52, Y:0.02, Z:-0.08 [[ 9.99937266e-01 8.60393938e-04 1.11680014e-02 1.52279500e+00] [-8.61932183e-04 9.99999620e-01 1.32924342e-04 2.11823424e-02] [-1.11678828e-02 -1.42542063e-04 9.99937627e-01 -7.72627771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62463043999999 meters 0.26453815051630836 Centerline is valid? [False, False] Translation: X:1.52, Y:0.02, Z:-0.08 [[ 9.99941836e-01 1.12828836e-03 1.07261798e-02 1.52387558e+00] [-1.13887036e-03 9.99998871e-01 9.80500855e-04 1.74960976e-02] [-1.07250614e-02 -9.92659554e-04 9.99941992e-01 -7.74998443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68463043999999 meters 0.2646343590276645 Centerline is valid? [False, False] Translation: X:1.52, Y:0.01, Z:-0.08 [[ 9.99927627e-01 -7.83732018e-04 1.20052571e-02 1.51935932e+00] [ 7.89693204e-04 9.99999567e-01 -4.91815611e-04 1.41797211e-02] [-1.20048664e-02 5.01260487e-04 9.99927813e-01 -7.50758342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74463044 meters 0.26399149635883856 Centerline is valid? [False, False] Translation: X:1.52, Y:0.01, Z:-0.08 [[ 9.99929263e-01 -5.29924842e-04 1.18822669e-02 1.51981630e+00] [ 5.26602709e-04 9.99999821e-01 2.82714448e-04 1.07852341e-02] [-1.18824146e-02 -2.76437216e-04 9.99929363e-01 -7.54016771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80463044 meters 0.26373799143226123 Centerline is valid? [False, False] Translation: X:1.52, Y:0.01, Z:-0.08 [[ 9.99929817e-01 -3.53006326e-04 1.18421562e-02 1.51994424e+00] [ 3.43987818e-04 9.99999649e-01 7.63587845e-04 8.75147192e-03] [-1.18424216e-02 -7.59460697e-04 9.99929588e-01 -7.54573553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86463044 meters 0.2634091551892192 Centerline is valid? [False, False] Translation: X:1.52, Y:0.00, Z:-0.07 [[ 9.99930065e-01 9.62333067e-06 1.18264574e-02 1.51952119e+00] [-3.27155342e-05 9.99998094e-01 1.95239648e-03 3.84940243e-03] [-1.18264161e-02 -1.95264685e-03 9.99928159e-01 -7.45785400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92463044 meters 0.26342801954980594 Centerline is valid? [False, False] Translation: X:1.56, Y:0.00, Z:-0.07 [[ 9.99898280e-01 -5.20277096e-04 1.42534019e-02 1.56159759e+00] [ 4.93199893e-04 9.99998067e-01 1.90315032e-03 6.42681511e-04] [-1.42543645e-02 -1.89592696e-03 9.99896604e-01 -7.47778306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98463043999999 meters 0.2618870098512422 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.00, Z:-0.07 [[ 9.99908622e-01 4.93582140e-03 1.25851195e-02 1.54101852e+00] [-4.91341227e-03 9.99986289e-01 -1.81090297e-03 -2.89728998e-05] [-1.25938852e-02 1.74890161e-03 9.99919164e-01 -7.44950734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04463043999999 meters 0.26218805230164843 Centerline is valid? [False, False] Translation: X:1.54, Y:0.00, Z:-0.07 [[ 9.99909185e-01 4.91849410e-03 1.25471282e-02 1.54112476e+00] [-4.89561493e-03 9.99986299e-01 -1.85352198e-03 1.60747377e-04] [-1.25560728e-02 1.79192774e-03 9.99919564e-01 -7.45265493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10463044 meters 0.2623962799871709 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.00, Z:-0.07 [[ 9.99909565e-01 4.96997577e-03 1.24964331e-02 1.54098288e+00] [-4.94875076e-03 9.99986260e-01 -1.72883457e-03 -4.00663657e-04] [-1.25048537e-02 1.66683649e-03 9.99920422e-01 -7.40230512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16463044 meters 0.2624649972856617 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.00, Z:-0.07 [[ 9.99909346e-01 5.14626407e-03 1.24425098e-02 1.54113823e+00] [-5.13165155e-03 9.99986106e-01 -1.20604475e-03 -2.61648454e-03] [-1.24485436e-02 1.14208479e-03 9.99921862e-01 -7.40841368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22463044 meters 0.2613133674319626 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.07 [[ 9.99933824e-01 -3.44682807e-03 1.09757243e-02 1.52054549e+00] [ 3.45190739e-03 9.99993944e-01 -4.43866598e-04 -4.01383161e-03] [-1.09741279e-02 4.81724409e-04 9.99939666e-01 -7.38523680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28463044 meters 0.26283492061476926 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.01, Z:-0.07 [[ 9.99915199e-01 -2.21460734e-03 1.28331945e-02 1.56382831e+00] [ 2.19820093e-03 9.99996749e-01 1.29240001e-03 -8.52227539e-03] [-1.28360149e-02 -1.26408048e-03 9.99916816e-01 -7.47219903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34463043999999 meters 0.26094022795448896 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.01, Z:-0.07 [[ 0.99993462 0.00320985 0.0109752 1.5438939 ] [-0.00318729 0.99999277 -0.00207242 -0.01247741] [-0.01098177 0.00203731 0.99993762 -0.07482253] [ 0. 0. 0. 1. ]] SLAMing on 125.40463043999999 meters 0.26136088999356333 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.07 [[ 9.99934773e-01 3.54641213e-03 1.08569027e-02 1.54413986e+00] [-3.53249040e-03 9.99992914e-01 -1.30120113e-03 -1.58668092e-02] [-1.08614403e-02 1.26276436e-03 9.99940215e-01 -7.47487851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46463044 meters 0.26331004611633135 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:-0.07 [[ 9.99934997e-01 3.64501716e-03 1.08035387e-02 1.54432638e+00] [-3.63401659e-03 9.99992859e-01 -1.03769322e-03 -1.70185728e-02] [-1.08072440e-02 9.98365525e-04 9.99941102e-01 -7.48669694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52463044 meters 0.2638982888953036 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.08 [[ 9.99942590e-01 3.72799621e-03 1.00458510e-02 1.54622468e+00] [-3.71896785e-03 9.99992664e-01 -9.17245916e-04 -1.72763519e-02] [-1.00491968e-02 8.79833060e-04 9.99949118e-01 -7.56182724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58463044 meters 0.2637250591812539 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.02, Z:-0.08 [[ 9.99946366e-01 3.60873456e-03 9.70787476e-03 1.54720987e+00] [-3.59576832e-03 9.99992620e-01 -1.35276348e-03 -1.55624813e-02] [-9.71268489e-03 1.31778366e-03 9.99951962e-01 -7.62557502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64463044 meters 0.2636363488098442 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.01, Z:-0.07 [[ 9.99925693e-01 -3.96437043e-03 1.15279149e-02 1.56444937e+00] [ 3.96413290e-03 9.99992142e-01 4.34548630e-05 -9.55292174e-03] [-1.15279966e-02 2.24655284e-06 9.99933550e-01 -7.49560999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70463043999999 meters 0.2621431280957185 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.01, Z:-0.07 [[ 9.99927297e-01 -3.88274249e-03 1.14159657e-02 1.56465852e+00] [ 3.87996261e-03 9.99992438e-01 2.65645898e-04 -1.05573681e-02] [-1.14169108e-02 -2.21333065e-04 9.99934800e-01 -7.48480929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76463043999999 meters 0.26359537274890477 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.01, Z:-0.07 [[ 9.99932785e-01 4.43013092e-03 1.07144648e-02 1.58482063e+00] [-4.42187893e-03 9.99989908e-01 -7.93740308e-04 -1.49473948e-02] [-1.07178730e-02 7.46308891e-04 9.99942283e-01 -7.38947970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82463043999999 meters 0.2633553482518897 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.02, Z:-0.07 [[ 9.99928771e-01 4.64352375e-03 1.09949817e-02 1.58408587e+00] [-4.64273641e-03 9.99989218e-01 -9.71326252e-05 -1.78623107e-02] [-1.09953142e-02 4.60789048e-05 9.99939549e-01 -7.34670379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88463044 meters 0.26185397707607 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.07 [[ 9.99950465e-01 -3.85942490e-03 9.17451426e-03 1.56444114e+00] [ 3.84666793e-03 9.99991611e-01 1.40771944e-03 -2.34105648e-02] [-9.17987028e-03 -1.37235840e-03 9.99956922e-01 -7.38974962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94463044 meters 0.2624317910053328 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.08 [[ 9.99965991e-01 3.52922304e-03 7.45392149e-03 1.54672806e+00] [-3.52991079e-03 9.99993767e-01 7.91133796e-05 -2.89157281e-02] [-7.45359582e-03 -1.05422367e-04 9.99972216e-01 -7.61155228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00463044 meters 0.26234925578136964 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.08 [[ 9.99964698e-01 3.63241838e-03 7.57684886e-03 1.54665006e+00] [-3.63503569e-03 9.99993338e-01 3.31691692e-04 -3.00136735e-02] [-7.57559354e-03 -3.59222099e-04 9.99971240e-01 -7.64666849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06463044 meters 0.26312388610473586 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.08 [[ 9.99964273e-01 3.80277869e-03 7.54924957e-03 1.54667298e+00] [-3.80885611e-03 9.99992434e-01 7.90822748e-04 -3.18909991e-02] [-7.54618513e-03 -8.19548500e-04 9.99971191e-01 -7.63887525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12463043999999 meters 0.2633655270945183 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.08 [[ 9.99966068e-01 -5.07019057e-03 6.49275163e-03 1.56847439e+00] [ 5.06231773e-03 9.99986432e-01 1.22841872e-03 -2.99502413e-02] [-6.49889185e-03 -1.19550867e-03 9.99978167e-01 -7.63550789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18463043999999 meters 0.2633566958039365 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.08 [[ 0.99996755 -0.00491802 0.00638031 1.56880136] [ 0.00490777 0.99998664 0.00162065 -0.03162508] [-0.0063882 -0.00158928 0.99997833 -0.07648629] [ 0. 0. 0. 1. ]] SLAMing on 126.24463044 meters 0.26311821865039803 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.08 [[ 0.99996902 -0.00479226 0.00624417 1.56930888] [ 0.00478028 0.99998671 0.00193101 -0.03302706] [-0.00625334 -0.00190111 0.99997864 -0.07687014] [ 0. 0. 0. 1. ]] SLAMing on 126.30463044 meters 0.2626799200782901 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.04, Z:-0.08 [[ 9.99978159e-01 2.80757057e-03 5.98324930e-03 1.55042015e+00] [-2.81300674e-03 9.99995638e-01 9.00343143e-04 -3.98804262e-02] [-5.98069543e-03 -9.17154399e-04 9.99981695e-01 -7.82738540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36463044 meters 0.26187830979916343 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.04, Z:-0.08 [[ 0.99997625 0.00315142 0.00612997 1.54955064] [-0.00316334 0.99999312 0.00193595 -0.04455711] [-0.00612382 -0.0019553 0.99997934 -0.07723141] [ 0. 0. 0. 1. ]] SLAMing on 126.42463044 meters 0.2634770561422787 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.08 [[ 0.99995803 0.00331031 0.00854239 1.59146233] [-0.00332806 0.99999233 0.00206455 -0.04630081] [-0.00853549 -0.00209289 0.99996138 -0.07716546] [ 0. 0. 0. 1. ]] SLAMing on 126.48463043999999 meters 0.26237991125920046 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.07 [[ 9.99952333e-01 1.48006495e-03 9.65098486e-03 1.58636828e+00] [-1.48371417e-03 9.99998830e-01 3.70970328e-04 -4.64094028e-02] [-9.65042451e-03 -3.85271948e-04 9.99953359e-01 -7.35107083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54463043999999 meters 0.26364225800407864 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.07 [[ 9.99953054e-01 1.53191872e-03 9.56781207e-03 1.58662724e+00] [-1.53673549e-03 9.99998696e-01 4.96103200e-04 -4.69667383e-02] [-9.56703960e-03 -5.10783106e-04 9.99954104e-01 -7.36243083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60463044 meters 0.26069545770637775 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.05, Z:-0.07 [[ 0.99994945 -0.00480281 0.00883371 1.5631121 ] [ 0.00476973 0.99998155 0.00376189 -0.05007659] [-0.00885161 -0.00371957 0.99995391 -0.07156148] [ 0. 0. 0. 1. ]] SLAMing on 126.66463044 meters 0.2627578673628029 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.05, Z:-0.07 [[ 0.99993473 -0.00418512 0.01063106 1.60727521] [ 0.00414137 0.99998288 0.00413405 -0.05272977] [-0.01064818 -0.00408976 0.99993494 -0.07323635] [ 0. 0. 0. 1. ]] SLAMing on 126.72463044 meters 0.2633163667989788 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.08 [[ 0.9999521 0.00302485 0.00930823 1.58978722] [-0.00304942 0.9999919 0.00262591 -0.05869503] [-0.00930021 -0.00265416 0.99995323 -0.07516578] [ 0. 0. 0. 1. ]] SLAMing on 126.78463044 meters 0.2612429505886028 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.08 [[ 0.99997978 -0.00407267 0.00488349 1.57250829] [ 0.00404875 0.9999798 0.00489896 -0.06752907] [-0.00490335 -0.00487908 0.99997608 -0.07597717] [ 0. 0. 0. 1. ]] SLAMing on 126.84463043999999 meters 0.26271649848695344 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.08 [[ 0.99998028 -0.00388368 0.0049353 1.57244637] [ 0.00385723 0.99997821 0.00535677 -0.069549 ] [-0.004956 -0.00533763 0.99997347 -0.07602397] [ 0. 0. 0. 1. ]] SLAMing on 126.90463043999999 meters 0.26291020452630237 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.08 [[ 0.99998065 -0.00387581 0.00486589 1.5729995 ] [ 0.00384959 0.99997808 0.00538722 -0.06967498] [-0.00488666 -0.00536838 0.99997365 -0.07680275] [ 0. 0. 0. 1. ]] SLAMing on 126.96463044 meters 0.2638336921178234 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.08 [[ 0.99998602 -0.00375823 0.00372017 1.57580401] [ 0.00373863 0.99997917 0.00526153 -0.06856572] [-0.00373987 -0.00524755 0.99997924 -0.07803828] [ 0. 0. 0. 1. ]] SLAMing on 127.02463044 meters 0.2657040728092153 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.08 [[ 0.99998576 -0.00385708 0.00368953 1.57611706] [ 0.00383855 0.99998005 0.00501616 -0.06750874] [-0.00370881 -0.00500193 0.99998061 -0.07853993] [ 0. 0. 0. 1. ]] SLAMing on 127.08463044 meters 0.2652799206376213 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.08 [[ 0.999961 0.0037017 0.00801827 1.59235847] [-0.00373257 0.99998567 0.00383811 -0.06758606] [-0.00800395 -0.00386789 0.99996049 -0.0762995 ] [ 0. 0. 0. 1. ]] SLAMing on 127.14463044 meters 0.2632549892703056 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.07 [[ 9.99957123e-01 1.45533696e-03 9.14514489e-03 1.58713747e+00] [-1.47071552e-03 9.99997515e-01 1.67510921e-03 -6.71548991e-02] [-9.14268432e-03 -1.68848729e-03 9.99956779e-01 -7.27171474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20463043999999 meters 0.2614924759472603 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.07 [[ 9.99956722e-01 1.57535806e-03 9.16911860e-03 1.58697664e+00] [-1.59382983e-03 9.99996715e-01 2.00760568e-03 -6.85838564e-02] [-9.16592578e-03 -2.02213281e-03 9.99955947e-01 -7.24639644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26463043999999 meters 0.2627947306201727 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.07 [[ 0.99995863 0.0018187 0.00891239 1.58762353] [-0.00184427 0.9999942 0.00286173 -0.07210788] [-0.00890714 -0.00287805 0.99995619 -0.07254775] [ 0. 0. 0. 1. ]] SLAMing on 127.32463043999999 meters 0.26223321302363056 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.08, Z:-0.07 [[ 0.99996049 0.00216077 0.00862224 1.58823529] [-0.00219505 0.99998972 0.00396805 -0.07697751] [-0.00861358 -0.00398682 0.99995495 -0.07244338] [ 0. 0. 0. 1. ]] SLAMing on 127.38463044 meters 0.2610358547274411 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.08, Z:-0.07 [[ 0.99995993 0.00239492 0.00862592 1.58815209] [-0.00243425 0.99998667 0.00455266 -0.07947624] [-0.0086149 -0.00457348 0.99995243 -0.07227018] [ 0. 0. 0. 1. ]] SLAMing on 127.44463044 meters 0.2632565989727278 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.08, Z:-0.07 [[ 0.99993335 0.00314778 0.01110807 1.63073601] [-0.00320107 0.99998344 0.0047831 -0.08136986] [-0.01109283 -0.00481834 0.99992686 -0.07301909] [ 0. 0. 0. 1. ]] SLAMing on 127.50463044 meters 0.26261192365119196 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:-0.07 [[ 9.99936587e-01 6.64828310e-03 9.08965890e-03 1.61194750e+00] [-6.65360168e-03 9.99977711e-01 5.55009135e-04 -9.11043009e-02] [-9.08576644e-03 -6.15452910e-04 9.99958534e-01 -7.41771434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56463044 meters 0.2631578399474278 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.10, Z:-0.07 [[ 0.99995543 0.0028175 0.00901125 1.61210274] [-0.00279372 0.99999259 -0.00265035 -0.09583179] [-0.00901865 0.00262506 0.99995589 -0.07421047] [ 0. 0. 0. 1. ]] SLAMing on 127.62463043999999 meters 0.2630580781679232 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.10, Z:-0.07 [[ 9.99953552e-01 3.29288314e-03 9.05823118e-03 1.61143254e+00] [-3.28270344e-03 9.99993964e-01 -1.13844504e-03 -1.02620720e-01] [-9.06192527e-03 1.10865668e-03 9.99958325e-01 -7.31758692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68463043999999 meters 0.26233750458998856 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.07 [[ 9.99954013e-01 3.88226097e-03 8.76921508e-03 1.61196803e+00] [-3.88409635e-03 9.99992438e-01 1.92277067e-04 -1.08897853e-01] [-8.76840230e-03 -2.26328701e-04 9.99961531e-01 -7.28625822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74463044 meters 0.2627352235271653 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.07 [[ 9.99953949e-01 4.03840397e-03 8.70575964e-03 1.61225463e+00] [-4.04378602e-03 9.99991643e-01 6.00703419e-04 -1.10694754e-01] [-8.70326100e-03 -6.35879986e-04 9.99961924e-01 -7.31061645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80463044 meters 0.2632568264485284 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.07 [[ 9.99953631e-01 4.19178625e-03 8.66978213e-03 1.61208057e+00] [-4.20040356e-03 9.99990702e-01 9.75978511e-04 -1.12370016e-01] [-8.66561043e-03 -1.01234984e-03 9.99961940e-01 -7.26312278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86463044 meters 0.2640406747339369 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 0.99996558 -0.00381953 0.00736526 1.63374165] [ 0.00380492 0.99999077 0.00199708 -0.11087634] [-0.00737282 -0.00196899 0.99997088 -0.07189269] [ 0. 0. 0. 1. ]] SLAMing on 127.92463044 meters 0.26553177504016495 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 0.99996709 -0.00361143 0.00726483 1.63428565] [ 0.00359322 0.99999037 0.00251817 -0.11333176] [-0.00727386 -0.00249198 0.99997044 -0.07239393] [ 0. 0. 0. 1. ]] SLAMing on 127.98463043999999 meters 0.2648762843076288 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.12, Z:-0.07 [[ 0.99996765 -0.00332428 0.00732479 1.63381698] [ 0.003301 0.99998947 0.00318845 -0.11622036] [-0.00733531 -0.00316417 0.99996809 -0.07177014] [ 0. 0. 0. 1. ]] SLAMing on 128.04463044 meters 0.26370861382705585 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.07 [[ 0.99995786 0.00453276 0.00798368 1.61261713] [-0.00455337 0.99998634 0.002565 -0.12022398] [-0.00797194 -0.00260125 0.99996484 -0.07238046] [ 0. 0. 0. 1. ]] SLAMing on 128.10463044 meters 0.2652591234665393 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.07 [[ 9.99962196e-01 7.37441385e-04 8.66391227e-03 1.61099864e+00] [-7.26536438e-04 9.99998940e-01 -1.26174302e-03 -1.19906863e-01] [-8.66483355e-03 1.25540067e-03 9.99961672e-01 -7.20799955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16463044 meters 0.26685199308417745 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.11, Z:-0.07 [[ 9.99933308e-01 3.13276958e-03 1.11159630e-02 1.65215074e+00] [-3.12804997e-03 9.99995010e-01 -4.41939752e-04 -1.14279442e-01] [-1.11172920e-02 4.07138990e-04 9.99938118e-01 -7.16647653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22463044 meters 0.2644242897611598 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 9.99935660e-01 -5.34671624e-03 1.00043770e-02 1.63339009e+00] [ 5.33825173e-03 9.99985371e-01 8.72593153e-04 -1.11896134e-01] [-1.00088962e-02 -8.19131128e-04 9.99949574e-01 -7.29654932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28463044 meters 0.26647733907077453 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 9.99935816e-01 -5.42385193e-03 9.94713504e-03 1.63382272e+00] [ 5.41733184e-03 9.99985093e-01 6.82301318e-04 -1.11153847e-01] [-9.95068746e-03 -6.28370594e-04 9.99950293e-01 -7.35298451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34463044 meters 0.26518292091579576 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 0.99993107 -0.00346983 0.01121672 1.62909937] [ 0.00344272 0.99999111 0.00243494 -0.10877309] [-0.01122507 -0.00239616 0.99993413 -0.07089018] [ 0. 0. 0. 1. ]] SLAMing on 128.40463044 meters 0.26829922901884334 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.07 [[ 0.99992999 -0.00362602 0.01126358 1.62929005] [ 0.00360334 0.99999144 0.0020329 -0.10704421] [-0.01127086 -0.00199217 0.9999345 -0.0714899 ] [ 0. 0. 0. 1. ]] SLAMing on 128.46463044 meters 0.267839522347942 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99928895e-01 -3.86201132e-03 1.12823194e-02 1.62941185e+00] [ 3.84564921e-03 9.99991523e-01 1.47157812e-03 -1.04532729e-01] [-1.12879070e-02 -1.42808564e-03 9.99935270e-01 -7.18166712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52463043999998 meters 0.26656274204462066 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99927955e-01 -3.97746458e-03 1.13253942e-02 1.62952179e+00] [ 3.96438014e-03 9.99991449e-01 1.17753394e-03 -1.03335286e-01] [-1.13299809e-02 -1.13255093e-03 9.99935172e-01 -7.22790993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58463043999998 meters 0.26670924881749614 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99928280e-01 -4.03308012e-03 1.12768996e-02 1.62963016e+00] [ 4.02162775e-03 9.99991374e-01 1.03805258e-03 -1.02743562e-01] [-1.12809889e-02 -9.92626643e-04 9.99935875e-01 -7.22947941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64463044 meters 0.26616107053838606 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99929765e-01 -4.06795970e-03 1.11318278e-02 1.62968937e+00] [ 4.05778131e-03 9.99991328e-01 9.36783694e-04 -1.02232819e-01] [-1.11355420e-02 -8.91547376e-04 9.99937600e-01 -7.18012979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70463044 meters 0.26704704972792076 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99929966e-01 -4.07087987e-03 1.11126383e-02 1.62976563e+00] [ 4.06089194e-03 9.99991330e-01 9.21206510e-04 -1.01994129e-01] [-1.11162921e-02 -8.76014771e-04 9.99937828e-01 -7.18640158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76463044 meters 0.2647704290676881 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99929159e-01 -4.16098622e-03 1.11518591e-02 1.62972749e+00] [ 4.15335767e-03 9.99991125e-01 7.07133438e-04 -1.01017916e-01] [-1.11547025e-02 -6.60765684e-04 9.99937566e-01 -7.19584129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82463044 meters 0.2645369717512782 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.07 [[ 9.99927852e-01 -4.23714829e-03 1.12399633e-02 1.62909279e+00] [ 4.23195128e-03 9.99990927e-01 4.86112735e-04 -9.99186683e-02] [-1.12419211e-02 -4.38510686e-04 9.99936711e-01 -7.11294738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88463044 meters 0.26655907013199975 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.09, Z:-0.07 [[ 9.99897654e-01 -2.49178102e-03 1.40880583e-02 1.66995727e+00] [ 2.48154526e-03 9.99996644e-01 7.43990214e-04 -9.36035225e-02] [-1.40898649e-02 -7.08953915e-04 9.99900482e-01 -7.08721873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94463044 meters 0.26491188958473383 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.07 [[ 0.99993694 0.00290009 0.01084884 1.65082913] [-0.00286664 0.99999109 -0.00309776 -0.08676123] [-0.01085773 0.00306646 0.99993635 -0.07134892] [ 0. 0. 0. 1. ]] SLAMing on 129.00463044 meters 0.2655089628186106 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.08, Z:-0.07 [[ 0.999937 0.0026227 0.0109143 1.65077957] [-0.00258107 0.99998935 -0.00382654 -0.08346582] [-0.01092422 0.00379813 0.99993312 -0.07154482] [ 0. 0. 0. 1. ]] SLAMing on 129.06463044 meters 0.2649456016807738 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.08, Z:-0.07 [[ 0.99993816 0.00230506 0.01087927 1.65113904] [-0.00225505 0.99998684 -0.00460746 -0.07998182] [-0.01088975 0.00458265 0.9999302 -0.072112 ] [ 0. 0. 0. 1. ]] SLAMing on 129.12463044 meters 0.26506648129314325 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.08, Z:-0.07 [[ 0.99993784 0.00220485 0.01092942 1.65129333] [-0.00215194 0.99998592 -0.00485044 -0.07892713] [-0.01093996 0.00482662 0.99992851 -0.07263464] [ 0. 0. 0. 1. ]] SLAMing on 129.18463044 meters 0.26596860674784684 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.08, Z:-0.07 [[ 9.99903711e-01 -2.72328541e-03 1.36070947e-02 1.67081589e+00] [ 2.74104087e-03 9.99995416e-01 -1.28638807e-03 -7.67644557e-02] [-1.36035291e-02 1.32356181e-03 9.99906592e-01 -7.23016774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24463044 meters 0.2647863059105369 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.07, Z:-0.07 [[ 0.99990159 -0.00297645 0.01370931 1.67042234] [ 0.00300383 0.99999353 -0.00197692 -0.07360048] [-0.01370333 0.0020179 0.99990407 -0.07213149] [ 0. 0. 0. 1. ]] SLAMing on 129.30463043999998 meters 0.2657954273517595 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.07, Z:-0.07 [[ 0.99991885 0.00510397 0.01167223 1.65152623] [-0.00506881 0.99998253 -0.00303959 -0.07235168] [-0.01168754 0.00298018 0.99992726 -0.07342728] [ 0. 0. 0. 1. ]] SLAMing on 129.36463043999998 meters 0.26724423921178864 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.07, Z:-0.07 [[ 0.99991898 0.00481172 0.01178435 1.65127184] [-0.00476684 0.99998129 -0.00383355 -0.06883809] [-0.01180258 0.00377706 0.99992321 -0.07342132] [ 0. 0. 0. 1. ]] SLAMing on 129.42463044 meters 0.2664292647103635 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994091 -0.0033252 0.0103498 1.6332308 ] [ 0.00335344 0.9999907 -0.002713 -0.06333112] [-0.01034069 0.00274755 0.99994276 -0.0751069 ] [ 0. 0. 0. 1. ]] SLAMing on 129.48463044 meters 0.26620853519818743 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994063 -0.00350115 0.01031869 1.63354982] [ 0.00353392 0.99998877 -0.00315911 -0.06137207] [-0.01030752 0.00319539 0.99994177 -0.07561607] [ 0. 0. 0. 1. ]] SLAMing on 129.54463044 meters 0.26637797776785394 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994065 -0.0034988 0.01031764 1.63376434] [ 0.00353152 0.99998879 -0.00315408 -0.06141714] [-0.01030649 0.00319033 0.9999418 -0.0760042 ] [ 0. 0. 0. 1. ]] SLAMing on 129.60463044 meters 0.266997120756318 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994123 -0.00337133 0.01030416 1.63348083] [ 0.00340013 0.99999036 -0.00277963 -0.06318675] [-0.01029469 0.00281451 0.99994305 -0.07533815] [ 0. 0. 0. 1. ]] SLAMing on 129.66463044 meters 0.2648208468807813 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994054 -0.00330639 0.01039152 1.63326364] [ 0.00333378 0.99999101 -0.00261954 -0.06389826] [-0.01038277 0.00265403 0.99994258 -0.07527321] [ 0. 0. 0. 1. ]] SLAMing on 129.72463044 meters 0.26532639131233493 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99993898 -0.00349935 0.01047847 1.6333696 ] [ 0.00353327 0.99998857 -0.00322073 -0.06128254] [-0.01046708 0.00325756 0.99993991 -0.0758999 ] [ 0. 0. 0. 1. ]] SLAMing on 129.78463044 meters 0.26717182016560226 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.06, Z:-0.08 [[ 0.9999349 0.00604398 0.0096783 1.65709812] [-0.00600992 0.99997566 -0.00354506 -0.06057796] [-0.0096995 0.00348666 0.99994688 -0.07678514] [ 0. 0. 0. 1. ]] SLAMing on 129.84463044 meters 0.2654358725369379 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994792 -0.00358399 0.00955532 1.63465639] [ 0.00361638 0.99998777 -0.00337447 -0.06134196] [-0.00954311 0.00340885 0.99994865 -0.07625084] [ 0. 0. 0. 1. ]] SLAMing on 129.90463044 meters 0.26468553001677964 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994709 -0.00342296 0.00970105 1.63399359] [ 0.0034518 0.99998967 -0.00295763 -0.06301274] [-0.00969083 0.00299096 0.99994857 -0.07554018] [ 0. 0. 0. 1. ]] SLAMing on 129.96463044 meters 0.26442330376740514 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.9999469 -0.00326614 0.00977423 1.63381628] [ 0.00329151 0.99999125 -0.00258074 -0.06474401] [-0.00976572 0.00261277 0.9999489 -0.07549307] [ 0. 0. 0. 1. ]] SLAMing on 130.02463043999998 meters 0.2655906008656068 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.07, Z:-0.08 [[ 0.99994893 -0.00317274 0.00959511 1.63468933] [ 0.00319537 0.99999215 -0.00234392 -0.06602912] [-0.0095876 0.00237446 0.99995122 -0.07640386] [ 0. 0. 0. 1. ]] SLAMing on 130.08463043999998 meters 0.26608146859880333 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.07, Z:-0.08 [[ 0.99994891 -0.00315745 0.00960208 1.63481065] [ 0.00317962 0.99999231 -0.00229454 -0.06623073] [-0.00959476 0.00232495 0.99995127 -0.07666599] [ 0. 0. 0. 1. ]] SLAMing on 130.14463044 meters 0.26631332621379067 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.07, Z:-0.08 [[ 0.99994516 -0.00320989 0.00996867 1.63374412] [ 0.00323478 0.99999169 -0.00248192 -0.06530917] [-0.00996062 0.00251403 0.99994723 -0.07616533] [ 0. 0. 0. 1. ]] SLAMing on 130.20463044 meters 0.26518942814261326 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994356 -0.00329455 0.01010063 1.63358366] [ 0.00332198 0.99999084 -0.0027001 -0.06433743] [-0.01009164 0.00273351 0.99994534 -0.07645927] [ 0. 0. 0. 1. ]] SLAMing on 130.26463044 meters 0.2661248286741812 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.06, Z:-0.08 [[ 0.99994489 -0.00327157 0.00997611 1.63421596] [ 0.00329801 0.99999109 -0.00263548 -0.06475727] [-0.0099674 0.00266824 0.99994676 -0.07714781] [ 0. 0. 0. 1. ]] SLAMing on 130.32463044 meters 0.266181489338469 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 0.9999485 -0.00320695 0.00962927 1.63522669] [ 0.0032305 0.99999183 -0.00243095 -0.06570956] [-0.00962139 0.00246193 0.99995068 -0.07764793] [ 0. 0. 0. 1. ]] SLAMing on 130.38463044 meters 0.2648988037125632 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.07, Z:-0.08 [[ 0.99994598 -0.00309473 0.00992306 1.63453679] [ 0.00311567 0.99999295 -0.00209537 -0.06691986] [-0.00991651 0.00212617 0.99994857 -0.07744282] [ 0. 0. 0. 1. ]] SLAMing on 130.44463044 meters 0.26549419848158246 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.07, Z:-0.08 [[ 0.9999418 0.00378836 0.01010125 1.6574836 ] [-0.00374097 0.99998193 -0.00470544 -0.06759835] [-0.0101189 0.00466738 0.99993791 -0.07832971] [ 0. 0. 0. 1. ]] SLAMing on 130.50463044 meters 0.265588466912351 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99968341e-01 -2.68273779e-03 7.49132040e-03 1.63847816e+00] [ 2.69405160e-03 9.99995245e-01 -1.50057347e-03 -6.90882244e-02] [-7.48725913e-03 1.52070797e-03 9.99970814e-01 -7.87483137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56463044 meters 0.26476141611750054 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99968757e-01 -2.58264768e-03 7.47094265e-03 1.63840443e+00] [ 2.59205237e-03 9.99995860e-01 -1.24942761e-03 -7.02023203e-02] [-7.46768489e-03 1.26875365e-03 9.99971312e-01 -7.84962631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62463044 meters 0.26509212141671756 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99969950e-01 -2.47176607e-03 7.34772496e-03 1.63854192e+00] [ 2.47912019e-03 9.99996435e-01 -9.91930887e-04 -7.14193764e-02] [-7.34524695e-03 1.01011697e-03 9.99972513e-01 -7.82102051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68463044 meters 0.2663729522250181 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99970694e-01 -2.45830849e-03 7.25042687e-03 1.63890659e+00] [ 2.46525661e-03 9.99996510e-01 -9.49523935e-04 -7.15718858e-02] [-7.24806734e-03 9.67370270e-04 9.99973264e-01 -7.85083643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74463044 meters 0.2657371918709293 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99969558e-01 -2.47787002e-03 7.39881969e-03 1.63848261e+00] [ 2.48536299e-03 9.99996408e-01 -1.00370268e-03 -7.13342854e-02] [-7.39630607e-03 1.02206088e-03 9.99972125e-01 -7.83337359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80463043999998 meters 0.2654108481397087 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.07, Z:-0.08 [[ 0.99993153 0.0059171 0.010096 1.65569619] [-0.00589161 0.99997939 -0.00255284 -0.06969175] [-0.0101109 0.00249318 0.99994578 -0.07622729] [ 0. 0. 0. 1. ]] SLAMing on 130.86463043999998 meters 0.26479243726478807 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 0.99995684 -0.00281949 0.00885243 1.63659829] [ 0.0028367 0.99999411 -0.0019322 -0.06584663] [-0.00884693 0.00195723 0.99995895 -0.07709548] [ 0. 0. 0. 1. ]] SLAMing on 130.92463044 meters 0.2664045829927089 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.06, Z:-0.08 [[ 0.99995443 -0.00304319 0.00904827 1.63651173] [ 0.00306871 0.99999135 -0.0028076 -0.0614783 ] [-0.00903965 0.00283524 0.99995512 -0.07775757] [ 0. 0. 0. 1. ]] SLAMing on 130.98463044 meters 0.26832729188257154 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.06, Z:-0.08 [[ 0.99993597 0.00617121 0.00948565 1.65896324] [-0.00613407 0.99997343 -0.00393902 -0.05646417] [-0.00950971 0.00388058 0.99994725 -0.07835596] [ 0. 0. 0. 1. ]] SLAMing on 131.04463044 meters 0.2663433586233671 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.08 [[ 9.99980957e-01 9.06535984e-04 6.10447454e-03 1.64101676e+00] [-9.01964933e-04 9.99999311e-01 -7.51514695e-04 -5.00740271e-02] [-6.10515161e-03 7.45994362e-04 9.99981085e-01 -7.95048323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10463044 meters 0.2650488337481321 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.08 [[ 9.99981307e-01 5.89607386e-04 6.08589743e-03 1.64117056e+00] [-5.80478667e-04 9.99998704e-01 -1.50163662e-03 -4.66657253e-02] [-6.08677492e-03 1.49807582e-03 9.99980353e-01 -7.98093324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16463044 meters 0.26492456768207695 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.08 [[ 9.99980734e-01 3.95683145e-04 6.19482104e-03 1.64070274e+00] [-3.83326952e-04 9.99997935e-01 -1.99566084e-03 -4.43677467e-02] [-6.19559789e-03 1.99324775e-03 9.99978821e-01 -7.93873606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22463044 meters 0.2658889130173342 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:-0.08 [[ 9.99978618e-01 4.11636511e-04 6.52640306e-03 1.63995899e+00] [-3.98683508e-04 9.99997949e-01 -1.98588466e-03 -4.40236618e-02] [-6.52720713e-03 1.98324023e-03 9.99976731e-01 -7.93170182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28463044 meters 0.26476625420467387 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.08 [[ 9.99979947e-01 5.38674135e-04 6.31000313e-03 1.64040509e+00] [-5.28522296e-04 9.99998564e-01 -1.61040545e-03 -4.57604014e-02] [-6.31086155e-03 1.60703818e-03 9.99978795e-01 -7.92330401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34463044 meters 0.2640701198591042 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.05, Z:-0.08 [[ 9.99981472e-01 7.82253653e-04 6.03690469e-03 1.64127932e+00] [-7.78609468e-04 9.99999513e-01 -6.05977924e-04 -5.02861641e-02] [-6.03737578e-03 6.01266305e-04 9.99981594e-01 -7.96680987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40463044 meters 0.2642620067417091 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.06, Z:-0.08 [[ 9.99936393e-01 -7.57664300e-03 8.35486701e-03 1.66133815e+00] [ 7.56998927e-03 9.99971005e-01 8.27726470e-04 -5.78622000e-02] [-8.36089615e-03 -7.64427568e-04 9.99964755e-01 -7.96945669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46463044 meters 0.2660345649896375 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.06, Z:-0.08 [[ 9.99940093e-01 -7.22098006e-03 8.22603404e-03 1.66169525e+00] [ 7.20731703e-03 9.99972600e-01 1.68938457e-03 -6.17154950e-02] [-8.23800765e-03 -1.62999573e-03 9.99964739e-01 -7.97221759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52463043999998 meters 0.2658255346190654 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 9.99972045e-01 8.86133782e-05 7.47668403e-03 1.64409902e+00] [-9.30089542e-05 9.99999823e-01 5.87558823e-04 -7.04233858e-02] [-7.47663064e-03 -5.88237797e-04 9.99971877e-01 -8.18518227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58463043999998 meters 0.2636696799410261 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.07, Z:-0.08 [[ 0.99996421 -0.0038129 0.00755272 1.64381753] [ 0.00383393 0.99998881 -0.00277203 -0.07438885] [-0.00754206 0.00280089 0.99996764 -0.08160257] [ 0. 0. 0. 1. ]] SLAMing on 131.64463044 meters 0.2629032171248108 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.08, Z:-0.08 [[ 0.99996537 -0.00353029 0.00753663 1.64379709] [ 0.00354554 0.99999169 -0.00201154 -0.07772092] [-0.00752947 0.00203819 0.99996958 -0.08148138] [ 0. 0. 0. 1. ]] SLAMing on 131.70463044 meters 0.2646205415986798 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.09, Z:-0.08 [[ 0.99997363 0.00411981 0.00597985 1.66647902] [-0.00410031 0.99998625 -0.00326891 -0.08546676] [-0.00599323 0.00324431 0.99997678 -0.08182331] [ 0. 0. 0. 1. ]] SLAMing on 131.76463044 meters 0.2627180204359067 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.08 [[ 9.99987356e-01 -2.66258554e-03 4.26599226e-03 1.64573325e+00] [ 2.66209812e-03 9.99996449e-01 1.19931354e-04 -8.98987435e-02] [-4.26629644e-03 -1.08573347e-04 9.99990893e-01 -8.12783156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82463044 meters 0.26283542014851047 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.08 [[ 9.99988879e-01 -2.34780436e-03 4.09015517e-03 1.64646462e+00] [ 2.34355192e-03 9.99996709e-01 1.04415934e-03 -9.44951184e-02] [-4.09259319e-03 -1.03456224e-03 9.99991090e-01 -8.18042099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88463044 meters 0.2626839919737831 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.10, Z:-0.08 [[ 9.99989124e-01 -2.20588566e-03 4.10932542e-03 1.64646744e+00] [ 2.20017722e-03 9.99996609e-01 1.39314585e-03 -9.60222856e-02] [-4.11238461e-03 -1.38408945e-03 9.99990586e-01 -8.18756658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94463044 meters 0.26354427413005677 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.10, Z:-0.08 [[ 9.99970458e-01 6.18207375e-03 4.56789787e-03 1.66633134e+00] [-6.18269302e-03 9.99980880e-01 1.21462573e-04 -9.88863185e-02] [-4.56705964e-03 -1.49700895e-04 9.99989560e-01 -8.05762007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00463044 meters 0.26386734770520304 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.10, Z:-0.08 [[ 9.99989865e-01 -2.77783717e-03 3.54315582e-03 1.64816547e+00] [ 2.77469366e-03 9.99995753e-01 8.91815016e-04 -9.53926953e-02] [-3.54561809e-03 -8.81974805e-04 9.99993325e-01 -8.19784432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06463044 meters 0.26510041091834574 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.08 [[ 9.99989341e-01 -2.87459474e-03 3.61310421e-03 1.64830316e+00] [ 2.87249448e-03 9.99995702e-01 5.86344371e-04 -9.39581692e-02] [-3.61477419e-03 -5.75959499e-04 9.99993301e-01 -8.25768584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12463044 meters 0.26573921293520564 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.08 [[ 9.99986979e-01 -3.04738126e-03 4.09341612e-03 1.64692806e+00] [ 3.04801953e-03 9.99995344e-01 -1.49694792e-04 -9.06450658e-02] [-4.09294088e-03 1.62169655e-04 9.99991611e-01 -8.19168776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18463044 meters 0.26404996208937614 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.09, Z:-0.08 [[ 9.99984579e-01 -3.29068632e-03 4.47361026e-03 1.64623508e+00] [ 3.29673280e-03 9.99993661e-01 -1.34488776e-03 -8.52659486e-02] [-4.46915630e-03 1.35961532e-03 9.99989089e-01 -8.22856257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24463044 meters 0.2651621789904908 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.08, Z:-0.08 [[ 0.99998207 -0.00365242 0.00474556 1.64606304] [ 0.00366451 0.99999005 -0.00254217 -0.08018577] [-0.00473623 0.00255951 0.99998551 -0.08322633] [ 0. 0. 0. 1. ]] SLAMing on 132.30463043999998 meters 0.26387330634352757 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.07, Z:-0.08 [[ 9.99988316e-01 -1.16351929e-04 4.83254642e-03 1.64647390e+00] [ 1.16795608e-04 9.99999989e-01 -9.15285571e-05 -7.13249861e-02] [-4.83253571e-03 9.20919079e-05 9.99988319e-01 -8.45099606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36463043999998 meters 0.26626360660401477 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.06, Z:-0.09 [[ 9.99994756e-01 1.20857059e-03 3.00446484e-03 1.65053991e+00] [-1.20798777e-03 9.99999251e-01 -1.95794318e-04 -6.15028139e-02] [-3.00469922e-03 1.92163935e-04 9.99995467e-01 -8.55286264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42463044 meters 0.26648836996075703 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.06, Z:-0.09 [[ 9.99994911e-01 9.12214257e-04 3.05715891e-03 1.65045157e+00] [-9.09312607e-04 9.99999135e-01 -9.50388370e-04 -5.82848244e-02] [-3.05802323e-03 9.47603620e-04 9.99994875e-01 -8.56367228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48463044 meters 0.2667451179786898 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.05, Z:-0.09 [[ 9.99994428e-01 4.44433555e-04 3.30844286e-03 1.64986419e+00] [-4.36454577e-04 9.99996996e-01 -2.41203366e-03 -4.87953245e-02] [-3.30950490e-03 2.41057623e-03 9.99991618e-01 -8.57288622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54463044 meters 0.2654751484588331 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.04, Z:-0.09 [[ 0.99999625 0.00209897 0.00175858 1.65520021] [-0.00209508 0.99999536 -0.00221174 -0.03785468] [-0.00176321 0.00220804 0.99999601 -0.08899624] [ 0. 0. 0. 1. ]] SLAMing on 132.60463044 meters 0.2668787596606056 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.03, Z:-0.09 [[ 9.99997357e-01 1.54920552e-03 1.69907686e-03 1.65515213e+00] [-1.54348754e-03 9.99993159e-01 -3.36151255e-03 -3.24076470e-02] [-1.70427291e-03 3.35888116e-03 9.99992907e-01 -8.88136365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66463044 meters 0.26706481970038565 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.03, Z:-0.09 [[ 9.99998025e-01 1.22812183e-03 1.56241107e-03 1.65536211e+00] [-1.22172913e-03 9.99990906e-01 -4.08595342e-03 -2.92487992e-02] [-1.56741491e-03 4.08403651e-03 9.99990432e-01 -8.86589538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72463044 meters 0.26691948123269593 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.03, Z:-0.09 [[ 9.99998214e-01 9.97041236e-04 1.60571669e-03 1.65489793e+00] [-9.89593297e-04 9.99988780e-01 -4.63252319e-03 -2.66814349e-02] [-1.61031749e-03 4.63092591e-03 9.99987981e-01 -8.80621221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78463044 meters 0.2647101161998596 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.02, Z:-0.09 [[ 9.99998045e-01 8.51368248e-04 1.78489824e-03 1.65420101e+00] [-8.42376544e-04 9.99986983e-01 -5.03236991e-03 -2.48603322e-02] [-1.78915940e-03 5.03085651e-03 9.99985745e-01 -8.74599901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84463044 meters 0.2643411274355289 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.02, Z:-0.09 [[ 9.99998232e-01 8.52650016e-04 1.67612398e-03 1.65448529e+00] [-8.44211878e-04 9.99987000e-01 -5.02859369e-03 -2.49043037e-02] [-1.68038982e-03 5.02716980e-03 9.99985952e-01 -8.75173391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90463044 meters 0.26508747473302197 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.03, Z:-0.09 [[ 9.99998018e-01 9.32788536e-04 1.75869923e-03 1.65416142e+00] [-9.24262655e-04 9.99987848e-01 -4.84242970e-03 -2.58498436e-02] [-1.76319482e-03 4.84079460e-03 9.99986729e-01 -8.72249716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96463044 meters 0.2647458968806008 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.02, Z:-0.09 [[ 9.99988381e-01 -4.59787924e-03 1.44833062e-03 1.63247168e+00] [ 4.59938825e-03 9.99988882e-01 -1.04028846e-03 -2.48642260e-02] [-1.44353140e-03 1.04693781e-03 9.99998410e-01 -8.80277045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02463043999998 meters 0.26680682135621064 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:-0.09 [[ 9.99989211e-01 4.61548814e-03 -5.25436063e-04 1.65780462e+00] [-4.61628414e-03 9.99988184e-01 -1.52393636e-03 -2.45806984e-02] [ 5.18396145e-04 1.52634548e-03 9.99998701e-01 -8.94764650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08463043999998 meters 0.2664385465624192 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.02, Z:-0.09 [[ 9.99993689e-01 -3.39760014e-03 -1.03875990e-03 1.63868810e+00] [ 3.39734383e-03 9.99994198e-01 -2.48413419e-04 -2.01541611e-02] [ 1.03959788e-03 2.44882827e-04 9.99999430e-01 -9.15132392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14463044 meters 0.26798676983946207 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:-0.09 [[ 9.99989795e-01 4.49762232e-03 4.25466250e-04 1.65795388e+00] [-4.49680173e-03 9.99988065e-01 -1.91036534e-03 -2.09182501e-02] [-4.34053274e-04 1.90843260e-03 9.99998085e-01 -9.02913173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20463044 meters 0.2691626571222289 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.02, Z:-0.09 [[ 9.99990069e-01 4.43828600e-03 4.03867354e-04 1.65817303e+00] [-4.43745199e-03 9.99988067e-01 -2.04304440e-03 -2.02998832e-02] [-4.12930150e-04 2.04123197e-03 9.99997831e-01 -9.06021630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26463044 meters 0.268671011027059 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.09 [[ 9.99992974e-01 -3.70710183e-03 -5.55993940e-04 1.67909499e+00] [ 3.70613083e-03 9.99991623e-01 -1.73740850e-03 -1.20955148e-02] [ 5.62430032e-04 1.73533571e-03 9.99998336e-01 -8.97390863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32463044 meters 0.2669422942610043 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.09 [[ 9.99992902e-01 -3.72056956e-03 -5.94961855e-04 1.67918831e+00] [ 3.71951585e-03 9.99991529e-01 -1.76245478e-03 -1.19387208e-02] [ 6.01514151e-04 1.76022930e-03 9.99998270e-01 -8.97335264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38463044 meters 0.2657250957188525 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.09 [[ 9.99992724e-01 -3.72042593e-03 -8.42276952e-04 1.67996301e+00] [ 3.71894192e-03 9.99991542e-01 -1.75666702e-03 -1.21108386e-02] [ 8.48805377e-04 1.75352186e-03 9.99998102e-01 -9.01977716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44463044 meters 0.26640401497411587 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.09 [[ 9.99992725e-01 -3.65270261e-03 -1.09930138e-03 1.68039447e+00] [ 3.65096148e-03 9.99992084e-01 -1.58170522e-03 -1.28783521e-02] [ 1.10507018e-03 1.57768021e-03 9.99998145e-01 -8.98989497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50463044 meters 0.26597953095200977 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.01, Z:-0.09 [[ 9.99993208e-01 -3.54017627e-03 -1.02503366e-03 1.67977893e+00] [ 3.53884700e-03 9.99992899e-01 -1.29572237e-03 -1.40849044e-02] [ 1.02961347e-03 1.29208613e-03 9.99998635e-01 -8.90389844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56463044 meters 0.2644675479720958 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.09 [[ 9.99993852e-01 -3.36470879e-03 -9.87224853e-04 1.67987641e+00] [ 3.36385693e-03 9.99993970e-01 -8.63280984e-04 -1.60394384e-02] [ 9.90123589e-04 8.59954793e-04 9.99999140e-01 -8.93234643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62463044 meters 0.2644559204092586 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.09 [[ 9.99994446e-01 -3.15270357e-03 -1.08105629e-03 1.68016698e+00] [ 3.15233672e-03 9.99994973e-01 -3.40881465e-04 -1.83141333e-02] [ 1.08212556e-03 3.37471718e-04 9.99999358e-01 -8.94208156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68463044 meters 0.26618697574999023 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.02, Z:-0.09 [[ 9.99995528e-01 2.94532344e-03 -5.18866225e-04 1.70400341e+00] [-2.94672111e-03 9.99991976e-01 -2.71384372e-03 -2.40507709e-02] [ 5.10868914e-04 2.71536054e-03 9.99996183e-01 -9.09838587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74463044 meters 0.2659706950577435 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.09 [[ 9.99979806e-01 -4.37737503e-03 -4.60714669e-03 1.68709315e+00] [ 4.37317722e-03 9.99990014e-01 -9.20831401e-04 -2.75827458e-02] [ 4.61113150e-03 9.00664937e-04 9.99988963e-01 -9.26690003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80463043999998 meters 0.2661905080536824 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:-0.09 [[ 9.99975322e-01 4.49529318e-03 -5.39877847e-03 1.70978838e+00] [-4.50163969e-03 9.99989190e-01 -1.16397095e-03 -3.14746210e-02] [ 5.39348772e-03 1.18824558e-03 9.99984749e-01 -9.20466965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86463043999998 meters 0.2660033057650802 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.09 [[ 9.99977415e-01 -4.40662986e-03 -5.07455979e-03 1.69021520e+00] [ 4.40508723e-03 9.99990248e-01 -3.15129580e-04 -2.93877764e-02] [ 5.07589896e-03 2.92768584e-04 9.99987075e-01 -9.36842692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92463044 meters 0.2659594859792731 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.09 [[ 9.99977041e-01 -4.49839773e-03 -5.06764987e-03 1.69069707e+00] [ 4.49560192e-03 9.99989736e-01 -5.62953549e-04 -2.82122034e-02] [ 5.07013025e-03 5.40158488e-04 9.99987001e-01 -9.47032142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98463044 meters 0.26525410243350034 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.09 [[ 9.99977383e-01 -4.56196969e-03 -4.94191385e-03 1.69016098e+00] [ 4.55843994e-03 9.99989347e-01 -7.25276747e-04 -2.74541504e-02] [ 4.94516989e-03 7.02732925e-04 9.99987526e-01 -9.42431254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04463044 meters 0.26478675495432724 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.09 [[ 9.99977148e-01 -4.55377170e-03 -4.99671296e-03 1.68984603e+00] [ 4.55025354e-03 9.99989392e-01 -7.15237500e-04 -2.74826164e-02] [ 4.99991699e-03 6.92484845e-04 9.99987261e-01 -9.34274869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10463044 meters 0.26642444952996197 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:-0.09 [[ 9.99983853e-01 4.22053584e-03 -3.80546427e-03 1.71059697e+00] [-4.22505668e-03 9.99990377e-01 -1.18073169e-03 -2.97450912e-02] [ 3.80044433e-03 1.19679092e-03 9.99992062e-01 -9.34890049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16463044 meters 0.26628583256375316 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.03, Z:-0.10 [[ 9.99977509e-01 -3.97490813e-03 -5.40192738e-03 1.69224288e+00] [ 3.97559554e-03 9.99992091e-01 1.16521883e-04 -2.77131922e-02] [ 5.40142149e-03 -1.37995140e-04 9.99985403e-01 -9.53268489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22463044 meters 0.2682651197719779 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.10 [[ 9.99974272e-01 5.92188296e-03 -4.04805209e-03 1.71374102e+00] [-5.92151082e-03 9.99982462e-01 1.03909587e-04 -2.43158326e-02] [ 4.04859644e-03 -7.99363292e-05 9.99991801e-01 -9.54499643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28463044 meters 0.2683635740050823 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.09 [[ 9.99974604e-01 5.87195898e-03 -4.03864105e-03 1.71344779e+00] [-5.87207138e-03 9.99982759e-01 -1.59738619e-05 -2.37615599e-02] [ 4.03847762e-03 3.96886447e-05 9.99991845e-01 -9.49564887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34463044 meters 0.2663708539108231 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.09 [[ 9.99974345e-01 5.86771375e-03 -4.10841121e-03 1.71357260e+00] [-5.86785496e-03 9.99982784e-01 -2.23179282e-05 -2.37212026e-02] [ 4.10820952e-03 4.64249168e-05 9.99991560e-01 -9.48795452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40463044 meters 0.2672077616806704 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.10 [[ 9.99974121e-01 5.89206308e-03 -4.12801952e-03 1.71382179e+00] [-5.89195350e-03 9.99982642e-01 3.87068186e-05 -2.40063122e-02] [ 4.12817592e-03 -1.43837179e-05 9.99991479e-01 -9.52231443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46463044 meters 0.26592147983485187 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:-0.09 [[ 9.99971903e-01 6.00035253e-03 -4.49329980e-03 1.71436412e+00] [-5.99902162e-03 9.99981958e-01 3.09618070e-04 -2.52947930e-02] [ 4.49507655e-03 -2.82653968e-04 9.99989857e-01 -9.47001982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52463043999998 meters 0.26662449515880704 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.02, Z:-0.09 [[ 9.99990394e-01 -1.66489905e-03 -4.05463815e-03 1.73446335e+00] [ 1.67356722e-03 9.99996320e-01 2.13538754e-03 -2.49571552e-02] [ 4.05106802e-03 -2.14215274e-03 9.99989500e-01 -9.31546694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58463043999998 meters 0.26607525698075796 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.09 [[ 9.99990771e-01 -1.43117029e-03 -4.05100696e-03 1.73436644e+00] [ 1.44216724e-03 9.99995280e-01 2.71300120e-03 -2.76551564e-02] [ 4.04710507e-03 -2.71881839e-03 9.99988114e-01 -9.29634894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64463044 meters 0.26655615461066323 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.09 [[ 9.99990293e-01 -1.22010049e-03 -4.23370884e-03 1.73491881e+00] [ 1.23376774e-03 9.99994032e-01 3.22709004e-03 -2.99512306e-02] [ 4.22974620e-03 -3.23228213e-03 9.99985831e-01 -9.31455317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70463044 meters 0.2672471323512413 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.03, Z:-0.09 [[ 9.99989516e-01 -9.48428946e-04 -4.47988220e-03 1.73579415e+00] [ 9.65948271e-04 9.99991889e-01 3.91012289e-03 -3.30897706e-02] [ 4.47613739e-03 -3.91440923e-03 9.99982321e-01 -9.36031783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76463044 meters 0.26707208411514066 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.03, Z:-0.09 [[ 9.99989373e-01 -8.10975049e-04 -4.53837105e-03 1.73588361e+00] [ 8.30174601e-04 9.99990708e-01 4.23021039e-03 -3.45103395e-02] [ 4.53489829e-03 -4.23393308e-03 9.99980754e-01 -9.34752022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82463044 meters 0.26754087843205576 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:-0.09 [[ 9.99974451e-01 4.47309232e-03 -5.57571136e-03 1.71439833e+00] [-4.46957525e-03 9.99989805e-01 6.43084112e-04 -3.73762675e-02] [ 5.57853109e-03 -6.18146621e-04 9.99984249e-01 -9.26836834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88463044 meters 0.26805443104721743 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.09 [[ 0.99998385 -0.00305397 -0.00479295 1.73339206] [ 0.00306414 0.99999306 0.00211702 -0.03297653] [ 0.00478645 -0.00213167 0.99998627 -0.09162365] [ 0. 0. 0. 1. ]] SLAMing on 134.94463044 meters 0.2675233543341376 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.03, Z:-0.09 [[ 0.99998351 -0.00309034 -0.00483957 1.73347264] [ 0.00310019 0.99999314 0.002029 -0.03261172] [ 0.00483326 -0.00204397 0.99998623 -0.09158355] [ 0. 0. 0. 1. ]] SLAMing on 135.00463044 meters 0.2671670625570927 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.03, Z:-0.09 [[ 9.99983414e-01 3.61359454e-03 -4.48479400e-03 1.75624482e+00] [-3.61542774e-03 9.99993384e-01 -4.00719861e-04 -3.35992016e-02] [ 4.48331629e-03 4.16927663e-04 9.99989863e-01 -9.13554067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06463044 meters 0.2676851528497766 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99982650e-01 3.84067994e-03 -4.46635158e-03 1.75604104e+00] [-3.83946880e-03 9.99992590e-01 2.79713367e-04 -3.63229661e-02] [ 4.46739277e-03 -2.62560097e-04 9.99989987e-01 -9.09357636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12463044 meters 0.26743639933345364 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.09 [[ 9.99984012e-01 -5.31219593e-03 -1.93827516e-03 1.77537160e+00] [ 5.31339918e-03 9.99985694e-01 6.16161933e-04 -4.05711044e-02] [ 1.93497426e-03 -6.26450911e-04 9.99997932e-01 -9.00997498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18463044 meters 0.2666692111531174 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.09 [[ 9.99992602e-01 2.71591042e-03 -2.72394278e-03 1.75730532e+00] [-2.71497862e-03 9.99996255e-01 3.45715864e-04 -5.03340293e-02] [ 2.72487151e-03 -3.38317860e-04 9.99996230e-01 -9.17068414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24463044 meters 0.26666363746151706 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.05, Z:-0.09 [[ 9.99973535e-01 -5.89990369e-03 -4.25681361e-03 1.73902332e+00] [ 5.90615315e-03 9.99981497e-01 1.45703338e-03 -4.88842171e-02] [ 4.24813849e-03 -1.48213621e-03 9.99989878e-01 -9.31315137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30463043999998 meters 0.2675773090646079 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.09 [[ 0.99998698 0.00454889 -0.00231364 1.75855097] [-0.00454441 0.99998779 0.00193927 -0.04667577] [ 0.00232243 -0.00192873 0.99999544 -0.09201283] [ 0. 0. 0. 1. ]] SLAMing on 135.36463043999998 meters 0.2684782641192163 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987150e-01 4.38882723e-03 -2.53721786e-03 1.75936876e+00] [-4.38507508e-03 9.99989287e-01 1.48252235e-03 -4.48727983e-02] [ 2.54369721e-03 -1.47137740e-03 9.99995682e-01 -9.26775133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42463044 meters 0.2703524013210685 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987723e-01 4.25926875e-03 -2.53242239e-03 1.75931470e+00] [-4.25634612e-03 9.99990271e-01 1.15835676e-03 -4.34945258e-02] [ 2.53733151e-03 -1.14756368e-03 9.99996123e-01 -9.26239641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48463044 meters 0.26784488971143056 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987944e-01 4.25866768e-03 -2.44444982e-03 1.75850087e+00] [-4.25589394e-03 9.99990295e-01 1.13879305e-03 -4.29777377e-02] [ 2.44927584e-03 -1.12837600e-03 9.99996364e-01 -9.15600731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54463044 meters 0.2688526666408773 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987140e-01 4.31432387e-03 -2.66574999e-03 1.75918669e+00] [-4.31086778e-03 9.99989862e-01 1.30087035e-03 -4.39079128e-02] [ 2.67133534e-03 -1.28936193e-03 9.99995601e-01 -9.18610103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60463044 meters 0.267844229236582 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99986432e-01 4.36761557e-03 -2.83886578e-03 1.75965461e+00] [-4.36353879e-03 9.99989442e-01 1.44067097e-03 -4.45065618e-02] [ 2.84512811e-03 -1.42826392e-03 9.99994933e-01 -9.19850382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66463044 meters 0.2670094562466053 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99986107e-01 4.38305489e-03 -2.92835324e-03 1.75974884e+00] [-4.37872333e-03 9.99989312e-01 1.48395838e-03 -4.46530559e-02] [ 2.93482622e-03 -1.47111531e-03 9.99994611e-01 -9.17648076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72463044 meters 0.2698586418180002 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.09 [[ 0.99998758 -0.00408645 -0.00285466 1.78110533] [ 0.00409162 0.99999 0.00180524 -0.04024055] [ 0.00284726 -0.0018169 0.9999943 -0.09220919] [ 0. 0. 0. 1. ]] SLAMing on 135.78463044 meters 0.26949620068937 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.09 [[ 9.99987653e-01 -4.16436883e-03 -2.71160203e-03 1.78060006e+00] [ 4.16868835e-03 9.99990048e-01 1.58927865e-03 -3.91965436e-02] [ 2.70495671e-03 -1.60056285e-03 9.99995061e-01 -9.18960732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84463044 meters 0.2675578363677578 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987613e-01 3.39324864e-03 -3.64140019e-03 1.76185191e+00] [-3.39298330e-03 9.99994241e-01 7.90421914e-05 -4.21531414e-02] [ 3.64164743e-03 -6.66860023e-05 9.99993367e-01 -9.33917399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90463044 meters 0.26708779885599804 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99988037e-01 3.33892267e-03 -3.57468180e-03 1.76217756e+00] [-3.33911986e-03 9.99994424e-01 -4.91952401e-05 -4.15538494e-02] [ 3.57449761e-03 6.11309425e-05 9.99993610e-01 -9.43009305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96463044 meters 0.2686584796796188 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99987720e-01 3.41018557e-03 -3.59584138e-03 1.76219418e+00] [-3.40945614e-03 9.99994166e-01 2.08964140e-04 -4.28714847e-02] [ 3.59653300e-03 -1.96701711e-04 9.99993513e-01 -9.41497806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02463043999998 meters 0.2673901045114522 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99986657e-01 3.56993553e-03 -3.73384469e-03 1.76233035e+00] [-3.56729052e-03 9.99993382e-01 7.14809158e-04 -4.49333914e-02] [ 3.73637180e-03 -7.01479912e-04 9.99992774e-01 -9.37333824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08463043999998 meters 0.2680781283640385 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.09 [[ 9.99984730e-01 3.78253579e-03 -4.02885303e-03 1.76301117e+00] [-3.77606539e-03 9.99991571e-01 1.61241146e-03 -4.86250840e-02] [ 4.03491807e-03 -1.59717363e-03 9.99990584e-01 -9.37377411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14463044 meters 0.2675896648195489 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.05, Z:-0.09 [[ 0.99998268 0.00403885 -0.0042817 1.76372967] [-0.00402863 0.99998902 0.00239376 -0.05199584] [ 0.00429132 -0.00237647 0.99998797 -0.09398618] [ 0. 0. 0. 1. ]] SLAMing on 136.20463044 meters 0.2681525553719686 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 0.99998067 0.00434393 -0.0044489 1.76423248] [-0.0043296 0.99998542 0.00322746 -0.05560082] [ 0.00446286 -0.00320813 0.9999849 -0.0941384 ] [ 0. 0. 0. 1. ]] SLAMing on 136.26463044 meters 0.2675839735628419 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 9.99992507e-01 1.98288399e-03 -3.32485101e-03 1.75925584e+00] [-1.97758416e-03 9.99996770e-01 1.59653585e-03 -6.11650290e-02] [ 3.32800601e-03 -1.58994871e-03 9.99993198e-01 -9.07086632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32463044 meters 0.26723957656615654 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 0.99999185 0.00224905 -0.00335353 1.7587325 ] [-0.00224149 0.99999494 0.00225537 -0.06400892] [ 0.00335859 -0.00224784 0.99999183 -0.08954844] [ 0. 0. 0. 1. ]] SLAMing on 136.38463044 meters 0.2674417043434876 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.99999148 0.00258686 -0.00321558 1.75861001] [-0.00257723 0.9999922 0.00299462 -0.0676117 ] [ 0.0032233 -0.00298631 0.99999035 -0.08975787] [ 0. 0. 0. 1. ]] SLAMing on 136.44463044 meters 0.2688040564490443 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.99999076 0.0026855 -0.00335648 1.75889077] [-0.00267464 0.99999119 0.00323637 -0.0686224 ] [ 0.00336514 -0.00322737 0.99998913 -0.08966188] [ 0. 0. 0. 1. ]] SLAMing on 136.50463044 meters 0.26832185009550574 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.99999031 0.00271987 -0.00346038 1.75906001] [-0.00270836 0.9999908 0.00332724 -0.06903592] [ 0.00346939 -0.00331784 0.99998848 -0.0895314 ] [ 0. 0. 0. 1. ]] SLAMing on 136.56463044 meters 0.2681145168138438 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.99999071 0.00264485 -0.00340504 1.75940432] [-0.00263421 0.99999165 0.00312382 -0.06811362] [ 0.00341328 -0.00311482 0.99998932 -0.09045262] [ 0. 0. 0. 1. ]] SLAMing on 136.62463044 meters 0.2692567398146987 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.9999911 0.00263787 -0.00329178 1.7592065 ] [-0.00262762 0.9999917 0.00311482 -0.06801205] [ 0.00329997 -0.00310614 0.99998973 -0.09056464] [ 0. 0. 0. 1. ]] SLAMing on 136.68463044 meters 0.26986880596334406 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.99999062 0.00262684 -0.00344384 1.7592869 ] [-0.00261619 0.99999179 0.00309442 -0.06787088] [ 0.00345194 -0.00308538 0.99998928 -0.09004877] [ 0. 0. 0. 1. ]] SLAMing on 136.74463044 meters 0.26929229629968765 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.07, Z:-0.09 [[ 0.9999911 0.00254554 -0.00336331 1.75928179] [-0.00253579 0.99999258 0.00289956 -0.06700162] [ 0.00337066 -0.00289101 0.99999014 -0.0904273 ] [ 0. 0. 0. 1. ]] SLAMing on 136.80463043999998 meters 0.2691467193549414 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 0.9999931 0.00235054 -0.00287557 1.75805022] [-0.00234423 0.99999484 0.0021958 -0.06403371] [ 0.00288072 -0.00218904 0.99999345 -0.09012159] [ 0. 0. 0. 1. ]] SLAMing on 136.86463043999998 meters 0.26993476150475265 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 9.99992805e-01 2.09259597e-03 -3.16400397e-03 1.75904368e+00] [-2.08836299e-03 9.99996921e-01 1.34056744e-03 -6.05110698e-02] [ 3.16679949e-03 -1.33395020e-03 9.99994096e-01 -9.10370354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92463044 meters 0.2706126849219474 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.06, Z:-0.09 [[ 9.99992807e-01 1.76200519e-03 -3.35870166e-03 1.76015457e+00] [-1.76102127e-03 9.99998406e-01 2.95881735e-04 -5.59792172e-02] [ 3.35921765e-03 -2.89964861e-04 9.99994316e-01 -9.24885047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98463044 meters 0.2757834007389544 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.05, Z:-0.09 [[ 0.99998755 -0.00306103 -0.00394195 1.78293758] [ 0.00307303 0.99999066 0.00303996 -0.04574576] [ 0.00393261 -0.00305204 0.99998761 -0.09196855] [ 0. 0. 0. 1. ]] SLAMing on 137.04463044 meters 0.2722773942643726 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99978340e-01 2.53293836e-03 -6.07477048e-03 1.76111237e+00] [-2.53436418e-03 9.99996763e-01 -2.27024816e-04 -4.33344184e-02] [ 6.07417578e-03 2.42415580e-04 9.99981523e-01 -9.05341808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10463044 meters 0.2695580809486562 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.04, Z:-0.09 [[ 9.99978247e-01 2.38350285e-03 -6.15023190e-03 1.76115600e+00] [-2.38726960e-03 9.99996967e-01 -6.05188891e-04 -4.17338566e-02] [ 6.14877078e-03 6.19857988e-04 9.99980904e-01 -9.03308666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16463044 meters 0.2719569968217112 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.09 [[ 9.99982073e-01 -4.83977900e-03 -3.52558638e-03 1.77755498e+00] [ 4.84456949e-03 9.99987352e-01 1.35151009e-03 -3.98473421e-02] [ 3.51900078e-03 -1.36856581e-03 9.99992872e-01 -8.67864780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22463044 meters 0.2713113882484038 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.09 [[ 0.99998306 -0.00467391 -0.00346824 1.77693797] [ 0.00468023 0.9999874 0.00181672 -0.04168205] [ 0.0034597 -0.00183292 0.99999234 -0.08575753] [ 0. 0. 0. 1. ]] SLAMing on 137.28463044 meters 0.2691135307014697 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.04, Z:-0.08 [[ 0.99998375 -0.00450365 -0.00349621 1.77658252] [ 0.00451169 0.99998719 0.00229484 -0.04379781] [ 0.00348583 -0.00231057 0.99999126 -0.08496297] [ 0. 0. 0. 1. ]] SLAMing on 137.34463044 meters 0.2688950473152066 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.05, Z:-0.08 [[ 9.99992482e-01 3.82423180e-03 -6.41772821e-04 1.79462302e+00] [-3.82326753e-03 9.99991571e-01 1.49705565e-03 -4.55532331e-02] [ 6.47492499e-04 -1.49459072e-03 9.99998673e-01 -8.37231385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40463044 meters 0.26895368862267827 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.05, Z:-0.08 [[ 9.99992451e-01 3.83891083e-03 -6.00566217e-04 1.79438109e+00] [-3.83798787e-03 9.99991464e-01 1.53049884e-03 -4.56636449e-02] [ 6.06436539e-04 -1.52818232e-03 9.99998648e-01 -8.34353536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46463044 meters 0.2693558270418624 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.05, Z:-0.08 [[ 9.99992403e-01 3.83757314e-03 -6.82677608e-04 1.79457854e+00] [-3.83652777e-03 9.99991476e-01 1.52605094e-03 -4.56415325e-02] [ 6.88528121e-04 -1.52342024e-03 9.99998603e-01 -8.34631147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52463043999998 meters 0.2700091833043702 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.08 [[ 9.99992667e-01 3.74614618e-03 -7.94983271e-04 1.79503692e+00] [-3.74511436e-03 9.99992148e-01 1.29546277e-03 -4.46886498e-02] [ 7.99830021e-04 -1.29247597e-03 9.99998845e-01 -8.38404708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58463043999998 meters 0.2687035718242996 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.08 [[ 9.99993600e-01 3.45244249e-03 -9.38243354e-04 1.79567108e+00] [-3.45186653e-03 9.99993853e-01 6.14793219e-04 -4.16258241e-02] [ 9.40360125e-04 -6.11550593e-04 9.99999371e-01 -8.44354478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64463044 meters 0.26780097042676787 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.08 [[ 9.99994250e-01 3.24271461e-03 -9.92276770e-04 1.79607719e+00] [-3.24258714e-03 9.99994734e-01 1.30042787e-04 -3.94222683e-02] [ 9.92693237e-04 -1.26824496e-04 9.99999499e-01 -8.49831309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70463044 meters 0.2684035963035926 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:-0.08 [[ 9.99978706e-01 -5.95345228e-03 -2.67270697e-03 1.81972312e+00] [ 5.95211255e-03 9.99982157e-01 -5.08936290e-04 -3.43626133e-02] [ 2.67568921e-03 4.93017200e-04 9.99996299e-01 -8.48278145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76463044 meters 0.2683985370136764 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.09 [[ 9.99994438e-01 3.11967104e-03 -1.17982653e-03 1.79921379e+00] [-3.12013441e-03 9.99995056e-01 -3.91106400e-04 -3.93542340e-02] [ 1.17860057e-03 3.94785441e-04 9.99999228e-01 -8.52656027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82463044 meters 0.26734811937244385 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.09 [[ 9.99994482e-01 3.20565494e-03 -8.71330447e-04 1.79856820e+00] [-3.20575930e-03 9.99994855e-01 -1.18395371e-04 -4.06428239e-02] [ 8.70946429e-04 1.21187993e-04 9.99999613e-01 -8.52605595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88463044 meters 0.26674952924531126 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.09 [[ 9.99994489e-01 3.15495024e-03 -1.03387391e-03 1.79912038e+00] [-3.15519274e-03 9.99994995e-01 -2.33001878e-04 -4.00980102e-02] [ 1.03313362e-03 2.36262665e-04 9.99999438e-01 -8.56349473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94463044 meters 0.2674799467169272 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.04, Z:-0.09 [[ 9.99994740e-01 3.04285711e-03 -1.12266073e-03 1.79911967e+00] [-3.04343979e-03 9.99995235e-01 -5.17672994e-04 -3.88300413e-02] [ 1.12108018e-03 5.21087022e-04 9.99999236e-01 -8.52809777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00463044 meters 0.26813173446567506 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 9.99997031e-01 2.23830711e-03 9.62836978e-04 1.84208074e+00] [-2.23659616e-03 9.99995925e-01 -1.77441016e-03 -3.68100874e-02] [-9.66804729e-04 1.77225141e-03 9.99997962e-01 -8.53712152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06463044 meters 0.2671121205126292 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.08 [[ 9.99996763e-01 2.29570369e-03 1.09739059e-03 1.84153984e+00] [-2.29392084e-03 9.99996052e-01 -1.62313178e-03 -3.73241384e-02] [-1.10111248e-03 1.62060920e-03 9.99998081e-01 -8.49006278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12463044 meters 0.268230511551257 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.04, Z:-0.08 [[ 9.99965255e-01 -7.13034370e-03 4.31823437e-03 1.85971867e+00] [ 7.13737331e-03 9.99973225e-01 -1.61467275e-03 -4.01509056e-02] [-4.30660558e-03 1.64543750e-03 9.99989373e-01 -8.40252783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18463044 meters 0.26704673708021975 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.08 [[ 9.99989938e-01 1.60983189e-03 4.18724541e-03 1.83879993e+00] [-1.60129554e-03 9.99996635e-01 -2.04120897e-03 -4.24046727e-02] [-4.19051732e-03 2.03448342e-03 9.99989150e-01 -8.43754528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24463044 meters 0.26649053610422724 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.08 [[ 9.99989949e-01 1.62980585e-03 4.17669098e-03 1.83897379e+00] [-1.62152648e-03 9.99996715e-01 -1.98489830e-03 -4.25836739e-02] [-4.17991226e-03 1.97810573e-03 9.99989308e-01 -8.46459495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30463043999998 meters 0.2666262470154714 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.08 [[ 9.99990748e-01 1.53909860e-03 4.01685119e-03 1.83909522e+00] [-1.53022148e-03 9.99996382e-01 -2.21210902e-03 -4.16693444e-02] [-4.02024131e-03 2.20594188e-03 9.99989486e-01 -8.41669882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36463043999998 meters 0.2668764720174689 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.08 [[ 9.99990780e-01 1.50054283e-03 4.02339784e-03 1.83893220e+00] [-1.49129139e-03 9.99996240e-01 -2.30142509e-03 -4.12272033e-02] [-4.02683610e-03 2.29540381e-03 9.99989258e-01 -8.38914188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42463044 meters 0.26572979930874246 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:-0.09 [[ 9.99976730e-01 -6.45683136e-03 2.20208180e-03 1.82042718e+00] [ 6.45892353e-03 9.99978695e-01 -9.44302256e-04 -3.94750059e-02] [-2.19593768e-03 9.58503359e-04 9.99997130e-01 -8.59314039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48463044 meters 0.267357457235491 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 9.99997489e-01 2.24100726e-03 2.13078837e-05 1.84340633e+00] [-2.24096170e-03 9.99995607e-01 -1.94002747e-03 -4.12920105e-02] [-2.56554058e-05 1.93997485e-03 9.99998118e-01 -8.63246651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54463044 meters 0.2671003417616058 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 9.99998157e-01 1.91340829e-03 -1.56539741e-04 1.84373195e+00] [-1.91385935e-03 9.99993865e-01 -2.93388925e-03 -3.71172779e-02] [ 1.50925052e-04 2.93418344e-03 9.99995684e-01 -8.62018237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60463044 meters 0.2678853848285282 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.03, Z:-0.09 [[ 9.99998738e-01 1.58541207e-03 -9.93533653e-05 1.84339288e+00] [-1.58577832e-03 9.99991517e-01 -3.80149932e-03 -3.34279889e-02] [ 9.33255795e-05 3.80165207e-03 9.99992769e-01 -8.57736441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66463044 meters 0.2654447231852133 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:-0.08 [[ 9.99989744e-01 -4.33832446e-03 1.29999887e-03 1.81917600e+00] [ 4.33942064e-03 9.99990231e-01 -8.41580683e-04 -2.85260089e-02] [-1.29633512e-03 8.47213294e-04 9.99998801e-01 -8.46109230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72463044 meters 0.26745636885405 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.03, Z:-0.09 [[ 9.99991696e-01 3.70818433e-03 1.69008125e-03 1.84016937e+00] [-3.70424618e-03 9.99990431e-01 -2.32735696e-03 -3.04496240e-02] [-1.69869534e-03 2.32107716e-03 9.99995864e-01 -8.51470037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78463044 meters 0.2675103023463174 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:-0.09 [[ 9.99985353e-01 -5.25352810e-03 -1.30129012e-03 1.82300711e+00] [ 5.25156049e-03 9.99985069e-01 -1.51087746e-03 -3.26241697e-02] [ 1.30920813e-03 1.50402153e-03 9.99998012e-01 -8.69590828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84463044 meters 0.2662924773432531 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:-0.09 [[ 9.99986024e-01 -5.10410476e-03 -1.37818964e-03 1.82302949e+00] [ 5.10262200e-03 9.99986401e-01 -1.07725482e-03 -3.43900721e-02] [ 1.38366932e-03 1.07020739e-03 9.99998470e-01 -8.67462648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90463044 meters 0.26698591248752934 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.03, Z:-0.09 [[ 9.99986322e-01 -5.05773448e-03 -1.33247434e-03 1.82312981e+00] [ 5.05644594e-03 9.99986747e-01 -9.68629489e-04 -3.48923973e-02] [ 1.33735575e-03 9.61878656e-04 9.99998643e-01 -8.71272305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96463044 meters 0.2676503587551948 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 9.99995622e-01 2.93856376e-03 -3.46542909e-04 1.84214323e+00] [-2.93932801e-03 9.99993203e-01 -2.22587629e-03 -3.94787132e-02] [ 3.39999674e-04 2.22688515e-03 9.99997463e-01 -8.60970685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02463043999998 meters 0.2682621598712864 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.04, Z:-0.09 [[ 9.99995365e-01 3.02669802e-03 -3.31671037e-04 1.84237505e+00] [-3.02736026e-03 9.99993388e-01 -2.01471331e-03 -4.04142796e-02] [ 3.25570915e-04 2.01570806e-03 9.99997915e-01 -8.66151822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08463043999998 meters 0.2675834910135172 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:-0.09 [[ 9.99980125e-01 -5.28401602e-03 -3.43931924e-03 1.82509609e+00] [ 5.28157725e-03 9.99985795e-01 -7.17779514e-04 -4.27641804e-02] [ 3.44306314e-03 6.99600218e-04 9.99993828e-01 -8.89068879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14463044 meters 0.2685915449179516 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:-0.09 [[ 9.99980761e-01 -5.14368108e-03 -3.46700233e-03 1.82541737e+00] [ 5.14245531e-03 9.99986712e-01 -3.62374090e-04 -4.42815858e-02] [ 3.46882020e-03 3.44538214e-04 9.99993924e-01 -8.94206273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20463044 meters 0.2689079486398076 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:-0.09 [[ 9.99980368e-01 -5.17701079e-03 -3.53031622e-03 1.82567303e+00] [ 5.17546861e-03 9.99986508e-01 -4.45835161e-04 -4.39674399e-02] [ 3.53257668e-03 4.27555367e-04 9.99993669e-01 -8.96230609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26463044 meters 0.26798037515529005 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.04, Z:-0.09 [[ 9.99980381e-01 -5.14803710e-03 -3.56860357e-03 1.82588603e+00] [ 5.14671296e-03 9.99986683e-01 -3.80136298e-04 -4.42854638e-02] [ 3.57051300e-03 3.61762262e-04 9.99993560e-01 -8.98601545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32463044 meters 0.2688099974233365 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.05, Z:-0.09 [[ 9.99981313e-01 -4.99598923e-03 -3.52326254e-03 1.82589733e+00] [ 4.99611960e-03 9.99987519e-01 2.82011858e-05 -4.60713459e-02] [ 3.52307768e-03 -4.58032999e-05 9.99993793e-01 -9.00813048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38463044 meters 0.2686571307989051 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:-0.09 [[ 9.99983361e-01 -4.89419194e-03 -3.05364309e-03 1.82433722e+00] [ 4.89581374e-03 9.99987878e-01 5.23855446e-04 -4.84400371e-02] [ 3.05104222e-03 -5.38796798e-04 9.99995200e-01 -8.91139793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44463044 meters 0.269359362928895 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.06, Z:-0.09 [[ 9.99991439e-01 3.72238072e-03 -1.80729983e-03 1.84363881e+00] [-3.72163105e-03 9.99992987e-01 4.17987876e-04 -5.54906034e-02] [ 1.80884306e-03 -4.11258194e-04 9.99998279e-01 -8.84518355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50463044 meters 0.2683410530175051 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998293 -0.0046516 -0.00353614 1.82417672] [ 0.0046588 0.99998709 0.00202832 -0.05881789] [ 0.00352666 -0.00204476 0.99999169 -0.08931959] [ 0. 0. 0. 1. ]] SLAMing on 139.56463044 meters 0.268918153661483 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.09 [[ 9.99985456e-01 3.71569435e-03 -3.90915617e-03 1.84418126e+00] [-3.71007053e-03 9.99992074e-01 1.44489706e-03 -6.56640797e-02] [ 3.91449398e-03 -1.43037280e-03 9.99991315e-01 -8.80611191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62463044 meters 0.2691006511994048 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.09 [[ 9.99992160e-01 -3.29246850e-04 -3.94607976e-03 1.84407818e+00] [ 3.20903561e-04 9.99997712e-01 -2.11477022e-03 -6.81647720e-02] [ 3.94676702e-03 2.11348733e-03 9.99989978e-01 -8.77528765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68463044 meters 0.2686919084846403 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.09 [[ 9.99992012e-01 -2.50014999e-04 -3.98904873e-03 1.84402427e+00] [ 2.42375551e-04 9.99998136e-01 -1.91547365e-03 -6.89980370e-02] [ 3.98952020e-03 1.91449151e-03 9.99990209e-01 -8.74609418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74463043999998 meters 0.2676221046225574 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.07, Z:-0.09 [[ 9.99991730e-01 -3.00973967e-04 -4.05584280e-03 1.84403669e+00] [ 2.92665561e-04 9.99997858e-01 -2.04894077e-03 -6.84357890e-02] [ 4.05645079e-03 2.04773682e-03 9.99989676e-01 -8.71606292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80463043999998 meters 0.26881699978625057 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.07, Z:-0.09 [[ 9.99990064e-01 -4.49612514e-04 -4.43495856e-03 1.84541016e+00] [ 4.38524266e-04 9.99996777e-01 -2.50084765e-03 -6.64028701e-02] [ 4.43606867e-03 2.49887797e-03 9.99987038e-01 -8.81474547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86463043999998 meters 0.26769578376769626 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 9.99965148e-01 -6.42067623e-03 -5.33645275e-03 1.82386992e+00] [ 6.42467993e-03 9.99979093e-01 7.33450667e-04 -6.34044333e-02] [ 5.33163193e-03 -7.67710106e-04 9.99985492e-01 -8.78015047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92463044 meters 0.2678022139030343 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998386 -0.00226041 -0.00521294 1.82376566] [ 0.0022848 0.99998645 0.00467818 -0.06278391] [ 0.00520229 -0.00469002 0.99997547 -0.08803931] [ 0. 0. 0. 1. ]] SLAMing on 139.98463044 meters 0.2684685583855613 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998379 -0.00234053 -0.00519001 1.82399755] [ 0.00236381 0.99998715 0.00448405 -0.06194319] [ 0.00517945 -0.00449625 0.99997648 -0.08853404] [ 0. 0. 0. 1. ]] SLAMing on 140.04463044 meters 0.27120583265295484 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998339 -0.00238458 -0.00524816 1.82428406] [ 0.0024076 0.99998749 0.00438462 -0.06149481] [ 0.00523764 -0.00439719 0.99997662 -0.08881367] [ 0. 0. 0. 1. ]] SLAMing on 140.10463044 meters 0.26949577955788495 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998264 -0.00244516 -0.00536077 1.82465305] [ 0.00246786 0.99998801 0.00423055 -0.0607707 ] [ 0.00535036 -0.0042437 0.99997668 -0.08903727] [ 0. 0. 0. 1. ]] SLAMing on 140.16463044 meters 0.26941912221302816 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.9999822 -0.00255405 -0.00539238 1.82454397] [ 0.00257549 0.99998879 0.00397239 -0.05963918] [ 0.00538217 -0.00398621 0.99997757 -0.08866166] [ 0. 0. 0. 1. ]] SLAMing on 140.22463044 meters 0.2680461227704118 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.09 [[ 0.99998215 -0.00292342 -0.00521057 1.82380291] [ 0.00293909 0.99999118 0.00300119 -0.05530907] [ 0.00520175 -0.00301645 0.99998192 -0.08807144] [ 0. 0. 0. 1. ]] SLAMing on 140.28463044 meters 0.26911936204192133 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.05, Z:-0.09 [[ 0.99998148 -0.00326416 -0.00513732 1.82375162] [ 0.00327481 0.9999925 0.00206675 -0.05121275] [ 0.00513053 -0.00208353 0.99998467 -0.0882573 ] [ 0. 0. 0. 1. ]] SLAMing on 140.34463044 meters 0.2676081000828555 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:-0.09 [[ 9.99982461e-01 -3.66517518e-03 -4.65235484e-03 1.82264338e+00] [ 3.66798659e-03 9.99993095e-01 5.95908817e-04 -4.49523303e-02] [ 4.65013861e-03 -6.12963140e-04 9.99989000e-01 -8.81099369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40463044 meters 0.2670534294469211 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.04, Z:-0.09 [[ 9.99989169e-01 3.97459691e-05 -4.65413616e-03 1.82344812e+00] [-2.37664075e-05 9.99994106e-01 3.43341584e-03 -3.82521688e-02] [ 4.65424519e-03 -3.43326804e-03 9.99983275e-01 -8.94435876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46463044 meters 0.2689886843125673 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.04, Z:-0.09 [[ 0.99994532 0.00904616 -0.00524631 1.84667114] [-0.00903166 0.99995535 0.00278094 -0.03781286] [ 0.00527123 -0.00273341 0.99998237 -0.0902236 ] [ 0. 0. 0. 1. ]] SLAMing on 140.52463043999998 meters 0.26978079202505517 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.03, Z:-0.09 [[ 9.99985252e-01 3.87199659e-04 -5.41709253e-03 1.86810620e+00] [-3.70348114e-04 9.99995091e-01 3.11146721e-03 -3.36703142e-02] [ 5.41827069e-03 -3.10941511e-03 9.99980487e-01 -8.91286039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58463043999998 meters 0.26860337751839486 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.03, Z:-0.09 [[ 9.99973569e-01 7.46018148e-04 -7.23219983e-03 1.82649079e+00] [-7.24012166e-04 9.99995102e-01 3.04491932e-03 -2.53532650e-02] [ 7.23443597e-03 -3.03960263e-03 9.99969211e-01 -9.03599868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64463044 meters 0.2681226767272859 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99973727e-01 5.94326440e-04 -7.22437733e-03 1.82668636e+00] [-5.74885848e-04 9.99996209e-01 2.69275011e-03 -2.37599654e-02] [ 7.22595031e-03 -2.68852617e-03 9.99970278e-01 -9.07396576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70463044 meters 0.26923678782774624 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99973300e-01 5.08624486e-04 -7.28974451e-03 1.82692801e+00] [-4.90467583e-04 9.99996774e-01 2.49231736e-03 -2.28210264e-02] [ 7.29098865e-03 -2.48867544e-03 9.99970324e-01 -9.08761680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76463044 meters 0.2691218320636734 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99973970e-01 5.25844389e-04 -7.19597012e-03 1.82683865e+00] [-5.07605033e-04 9.99996655e-01 2.53625426e-03 -2.30070718e-02] [ 7.19727972e-03 -2.53253553e-03 9.99970892e-01 -9.11247536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82463044 meters 0.2696232398753899 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99974156e-01 4.78762140e-04 -7.17348195e-03 1.82693087e+00] [-4.61340465e-04 9.99996941e-01 2.43007968e-03 -2.24952913e-02] [ 7.17462343e-03 -2.42670746e-03 9.99971318e-01 -9.13774822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88463044 meters 0.2692205012926902 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99973108e-01 3.67478502e-04 -7.32456310e-03 1.82694874e+00] [-3.51845901e-04 9.99997658e-01 2.13544509e-03 -2.12192000e-02] [ 7.32533068e-03 -2.13281055e-03 9.99970895e-01 -9.07640845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94463044 meters 0.26831276044387714 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99972887e-01 2.42419572e-04 -7.35974727e-03 1.82703759e+00] [-2.28989380e-04 9.99998307e-01 1.82560489e-03 -1.98342153e-02] [ 7.36017738e-03 -1.82387009e-03 9.99971250e-01 -9.08036486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00463044 meters 0.2676107089362225 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.09 [[ 9.99936616e-01 8.88264892e-03 -6.91825069e-03 1.80473187e+00] [-8.87690469e-03 9.99960229e-01 8.60566446e-04 -1.89055843e-02] [ 6.92561966e-03 -7.99099248e-04 9.99975698e-01 -9.15176418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06463044 meters 0.26850153252725806 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:-0.09 [[ 9.99981917e-01 1.48650874e-04 -6.01191750e-03 1.82554972e+00] [-1.42425284e-04 9.99999453e-01 1.03595637e-03 -1.53148648e-02] [ 6.01206821e-03 -1.03508138e-03 9.99981392e-01 -9.05675542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12463044 meters 0.2662660619579621 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.01, Z:-0.09 [[ 9.99972367e-01 3.11419527e-04 -7.42748378e-03 1.78203121e+00] [-3.08967469e-04 9.99999897e-01 3.31278244e-04 -5.31352028e-03] [ 7.42758619e-03 -3.28974239e-04 9.99972361e-01 -9.03191291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18463044 meters 0.2673851222687287 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.09 [[ 0.99997395 0.0051926 -0.00501451 1.803185 ] [-0.00521125 0.99997953 -0.0037123 -0.00288108] [ 0.00499513 0.00373833 0.99998054 -0.09068071] [ 0. 0. 0. 1. ]] SLAMing on 141.24463043999998 meters 0.2675959206418835 Centerline is valid? [False, False] Translation: X:1.82, Y:0.00, Z:-0.09 [[ 0.99998937 -0.00208858 -0.00411087 1.8213217 ] [ 0.00208084 0.99999606 -0.00188391 0.00359062] [ 0.00411479 0.00187534 0.99998978 -0.08833374] [ 0. 0. 0. 1. ]] SLAMing on 141.30463043999998 meters 0.26758056491351073 Centerline is valid? [False, False] Translation: X:1.82, Y:0.01, Z:-0.09 [[ 0.99998872 -0.00226243 -0.00417519 1.82170584] [ 0.00225281 0.9999948 -0.00230785 0.0054096 ] [ 0.00418039 0.00229842 0.99998862 -0.08875281] [ 0. 0. 0. 1. ]] SLAMing on 141.36463043999998 meters 0.26860964320819347 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.09 [[ 9.99984219e-01 -3.76240864e-04 -5.60531277e-03 1.82773068e+00] [ 3.72219288e-04 9.99999673e-01 -7.18483848e-04 8.00545907e-03] [ 5.60558125e-03 7.16386104e-04 9.99984032e-01 -9.27429803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42463044 meters 0.26990151234442233 Centerline is valid? [False, False] Translation: X:1.83, Y:0.01, Z:-0.09 [[ 9.99983734e-01 -5.08403681e-04 -5.68094571e-03 1.82789196e+00] [ 5.02596040e-04 9.99999350e-01 -1.02368277e-03 9.34004104e-03] [ 5.68146246e-03 1.02081090e-03 9.99983339e-01 -9.26766203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48463044 meters 0.26861906234826705 Centerline is valid? [False, False] Translation: X:1.78, Y:0.02, Z:-0.09 [[ 9.99969357e-01 1.87142091e-04 -7.82626154e-03 1.78492470e+00] [-1.94600770e-04 9.99999528e-01 -9.52281544e-04 1.51938109e-02] [ 7.82607963e-03 9.53775360e-04 9.99968921e-01 -9.23196860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54463044 meters 0.26804209365339104 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99969007e-01 1.95746190e-04 -7.87056251e-03 1.78540725e+00] [-2.03124401e-04 9.99999541e-01 -9.36655501e-04 1.51401009e-02] [ 7.87037555e-03 9.38225175e-04 9.99968588e-01 -9.30967522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60463044 meters 0.2694099325625042 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.09 [[ 9.99967548e-01 2.17555130e-04 -8.05329163e-03 1.78586797e+00] [-2.24756437e-04 9.99999576e-01 -8.93312485e-04 1.49476361e-02] [ 8.05309387e-03 8.95093525e-04 9.99967173e-01 -9.31659885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66463044 meters 0.26886757701828906 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.09 [[ 9.99965732e-01 2.45400533e-04 -8.27493700e-03 1.78630556e+00] [-2.52249797e-04 9.99999626e-01 -8.26678371e-04 1.47586648e-02] [ 8.27473104e-03 8.28737394e-04 9.99965420e-01 -9.30270487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72463044 meters 0.2697425894198749 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.09 [[ 9.99965727e-01 3.10490029e-04 -8.27333295e-03 1.78610422e+00] [-3.16166735e-04 9.99999716e-01 -6.84845945e-04 1.39174301e-02] [ 8.27311796e-03 6.87438226e-04 9.99965541e-01 -9.26847551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78463044 meters 0.2694925974037298 Centerline is valid? [False, False] Translation: X:1.79, Y:0.01, Z:-0.09 [[ 9.99965561e-01 2.50460189e-04 -8.29537667e-03 1.78573929e+00] [-2.57421178e-04 9.99999616e-01 -8.38083695e-04 1.45804242e-02] [ 8.29516358e-03 8.40190238e-04 9.99965242e-01 -9.18682124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84463044 meters 0.2701668146708174 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99966090e-01 1.36951011e-04 -8.23413341e-03 1.78549837e+00] [-1.46090644e-04 9.99999374e-01 -1.10937778e-03 1.58011213e-02] [ 8.23397633e-03 1.11054309e-03 9.99965484e-01 -9.16497353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90463044 meters 0.2678906459627148 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99964854e-01 -7.64960726e-05 -8.38356224e-03 1.78538566e+00] [ 6.24401143e-05 9.99998592e-01 -1.67685820e-03 1.81946920e-02] [ 8.38367871e-03 1.67627580e-03 9.99963451e-01 -9.07973239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96463044 meters 0.2680530296648225 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99964744e-01 -1.69701765e-04 -8.39535559e-03 1.78536627e+00] [ 1.53730069e-04 9.99998177e-01 -1.90305305e-03 1.91613028e-02] [ 8.39566324e-03 1.90169534e-03 9.99962948e-01 -9.06866957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02463043999998 meters 0.2706279154004371 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99964980e-01 -3.38919512e-04 -8.36207113e-03 1.78533362e+00] [ 3.19608120e-04 9.99997279e-01 -2.31063125e-03 2.09134355e-02] [ 8.36283150e-03 2.30787775e-03 9.99962368e-01 -9.07355545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08463043999998 meters 0.26795489382416254 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99964465e-01 -4.31182002e-04 -8.41920530e-03 1.78573132e+00] [ 4.09856803e-04 9.99996704e-01 -2.53448413e-03 2.19068731e-02] [ 8.42027037e-03 2.53094340e-03 9.99961346e-01 -9.12229397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14463044 meters 0.2686687081202606 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99963149e-01 -3.69360765e-04 -8.57701259e-03 1.78619925e+00] [ 3.48806148e-04 9.99997064e-01 -2.39784958e-03 2.12899815e-02] [ 8.57787309e-03 2.39476950e-03 9.99960342e-01 -9.14487660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20463044 meters 0.2692952480897674 Centerline is valid? [False, False] Translation: X:1.79, Y:0.02, Z:-0.09 [[ 9.99961807e-01 -3.16224393e-04 -8.73414740e-03 1.78640937e+00] [ 2.96236237e-04 9.99997335e-01 -2.28970579e-03 2.06982063e-02] [ 8.73484818e-03 2.28703097e-03 9.99959235e-01 -9.11731779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26463044 meters 0.2677844051181677 Centerline is valid? [False, False] Translation: X:1.76, Y:0.02, Z:-0.09 [[ 9.99942800e-01 -5.04924390e-03 -9.42875633e-03 1.76394546e+00] [ 5.06382358e-03 9.99986019e-01 1.52306735e-03 2.42866367e-02] [ 9.42093416e-03 -1.57072579e-03 9.99954388e-01 -9.08594004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32463044 meters 0.269213175615386 Centerline is valid? [False, False] Translation: X:1.79, Y:0.03, Z:-0.09 [[ 9.99957758e-01 4.64154504e-03 -7.93330663e-03 1.78551452e+00] [-4.62811646e-03 9.99987828e-01 1.71020519e-03 2.80155157e-02] [ 7.94114806e-03 -1.67341668e-03 9.99967068e-01 -9.07791514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38463044 meters 0.2685892025086027 Centerline is valid? [False, False] Translation: X:1.79, Y:0.03, Z:-0.09 [[ 9.99958500e-01 4.36114701e-03 -7.99869146e-03 1.78521431e+00] [-4.35455097e-03 9.99990165e-01 8.41870177e-04 3.17151013e-02] [ 8.00228431e-03 -8.07004530e-04 9.99967656e-01 -8.99477091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44463044 meters 0.26899652211822184 Centerline is valid? [False, False] Translation: X:1.79, Y:0.04, Z:-0.09 [[ 9.99959521e-01 4.04420940e-03 -8.03749485e-03 1.78532804e+00] [-4.04451052e-03 9.99991821e-01 -2.12104803e-05 3.53497403e-02] [ 8.03734333e-03 5.37173542e-05 9.99967699e-01 -8.98858304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50463044 meters 0.26907134456955806 Centerline is valid? [False, False] Translation: X:1.79, Y:0.04, Z:-0.09 [[ 9.99959856e-01 3.77648000e-03 -8.12558502e-03 1.78570803e+00] [-3.78205608e-03 9.99992623e-01 -6.70980580e-04 3.81284642e-02] [ 8.12299113e-03 7.01685062e-04 9.99966762e-01 -9.01817797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56463044 meters 0.26781307558634543 Centerline is valid? [False, False] Translation: X:1.77, Y:0.05, Z:-0.09 [[ 9.99969828e-01 -3.82934892e-03 -6.75862417e-03 1.76591959e+00] [ 3.83076665e-03 9.99992643e-01 1.96832432e-04 4.66094404e-02] [ 6.75782071e-03 -2.22717205e-04 9.99977141e-01 -9.14427556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62463044 meters 0.2665907936395609 Centerline is valid? [False, False] Translation: X:1.74, Y:0.05, Z:-0.09 [[ 9.99960198e-01 5.43348826e-03 -7.07669206e-03 1.74408127e+00] [-5.44142481e-03 9.99984587e-01 -1.10273463e-03 5.31331822e-02] [ 7.07059129e-03 1.14119802e-03 9.99974352e-01 -9.12119779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68463044 meters 0.26701601258548063 Centerline is valid? [False, False] Translation: X:1.76, Y:0.06, Z:-0.09 [[ 9.99974821e-01 -3.33581585e-03 -6.26339327e-03 1.76371974e+00] [ 3.32970198e-03 9.99993970e-01 -9.86301717e-04 5.98244151e-02] [ 6.26664563e-03 9.65421649e-04 9.99979898e-01 -8.99754341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74463043999998 meters 0.2668776033811731 Centerline is valid? [False, False] Translation: X:1.76, Y:0.06, Z:-0.09 [[ 0.99997497 -0.0035597 -0.00611484 1.76310655] [ 0.0035482 0.99999192 -0.00188933 0.06355043] [ 0.00612152 0.00186759 0.99997952 -0.08935347] [ 0. 0. 0. 1. ]] SLAMing on 142.80463043999998 meters 0.26721148808974693 Centerline is valid? [False, False] Translation: X:1.76, Y:0.07, Z:-0.09 [[ 0.9999732 -0.00385149 -0.00622591 1.76341134] [ 0.0038299 0.99998662 -0.00347594 0.07006605] [ 0.00623921 0.003452 0.99997458 -0.08937595] [ 0. 0. 0. 1. ]] SLAMing on 142.86463043999998 meters 0.2672487626829387 Centerline is valid? [False, False] Translation: X:1.77, Y:0.08, Z:-0.09 [[ 0.99996888 -0.00372922 -0.00695187 1.7653808 ] [ 0.00369866 0.99998347 -0.00440285 0.07764339] [ 0.00696817 0.004377 0.99996614 -0.09004228] [ 0. 0. 0. 1. ]] SLAMing on 142.92463044 meters 0.26659656546772625 Centerline is valid? [False, False] Translation: X:1.77, Y:0.09, Z:-0.09 [[ 9.99975484e-01 -2.14644081e-04 -6.99892299e-03 1.76532289e+00] [ 1.96866889e-04 9.99996753e-01 -2.54057971e-03 9.00016357e-02] [ 6.99944559e-03 2.53913957e-03 9.99972280e-01 -8.97713137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98463044 meters 0.26894902567728945 Centerline is valid? [False, False] Translation: X:1.79, Y:0.10, Z:-0.09 [[ 9.99939460e-01 -5.65314074e-03 -9.44026435e-03 1.78855852e+00] [ 5.65231460e-03 9.99984019e-01 -1.14189783e-04 1.03799914e-01] [ 9.44075902e-03 6.08235257e-05 9.99955433e-01 -8.96995928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04463044 meters 0.2681333691446752 Centerline is valid? [False, False] Translation: X:1.77, Y:0.11, Z:-0.09 [[ 9.99907902e-01 4.38611423e-03 -1.28432839e-02 1.77174922e+00] [-4.39776815e-03 9.99989943e-01 -8.79292586e-04 1.12844590e-01] [ 1.28392981e-02 9.35693389e-04 9.99917135e-01 -9.05277116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10463044 meters 0.268916419802832 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.09 [[ 9.99899858e-01 -4.67416006e-03 -1.33576387e-02 1.79306319e+00] [ 4.66305041e-03 9.99988756e-01 -8.62731837e-04 1.20810288e-01] [ 1.33615211e-02 8.00358099e-04 9.99910411e-01 -8.94595044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16463044 meters 0.2693208799546269 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.09 [[ 9.99901492e-01 -4.72081327e-03 -1.32181442e-02 1.79295241e+00] [ 4.70824239e-03 9.99988434e-01 -9.81989343e-04 1.21446433e-01] [ 1.32226271e-02 9.19658382e-04 9.99912154e-01 -8.97389387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22463044 meters 0.2696806800745109 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.09 [[ 9.99899118e-01 -4.80499084e-03 -1.33666176e-02 1.79350831e+00] [ 4.78921417e-03 9.99987797e-01 -1.21206296e-03 1.22397059e-01] [ 1.33722784e-02 1.14792509e-03 9.99909928e-01 -9.01283625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28463044 meters 0.26882125187369893 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.09 [[ 9.99899241e-01 -4.94331198e-03 -1.33067895e-02 1.79316990e+00] [ 4.92297128e-03 9.99986664e-01 -1.56091839e-03 1.23810374e-01] [ 1.33143281e-02 1.49525217e-03 9.99910242e-01 -8.97764246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34463044 meters 0.2674850251202218 Centerline is valid? [False, False] Translation: X:1.77, Y:0.13, Z:-0.09 [[ 0.99989339 0.00499495 -0.01372105 1.77175152] [-0.00502353 0.99998528 -0.00204945 0.12656927] [ 0.01371062 0.00211816 0.99990376 -0.08963556] [ 0. 0. 0. 1. ]] SLAMing on 143.40463044 meters 0.26840646373015514 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.09 [[ 0.99989848 -0.00454135 -0.01350557 1.79217604] [ 0.00451285 0.99998753 -0.00214028 0.1320602 ] [ 0.01351512 0.00207911 0.9999065 -0.08914869] [ 0. 0. 0. 1. ]] SLAMing on 143.46463044 meters 0.26895656523727685 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.09 [[ 0.99990029 -0.00459367 -0.01335315 1.79167716] [ 0.00456381 0.99998702 -0.00226629 0.13256953] [ 0.01336339 0.00220512 0.99990827 -0.08886606] [ 0. 0. 0. 1. ]] SLAMing on 143.52463043999998 meters 0.2685455819724562 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.09 [[ 0.99990176 -0.00446664 -0.01328616 1.79158759] [ 0.00444062 0.99998817 -0.00198734 0.13128044] [ 0.01329488 0.00192815 0.99990976 -0.08896197] [ 0. 0. 0. 1. ]] SLAMing on 143.58463043999998 meters 0.2684751342980276 Centerline is valid? [False, False] Translation: X:1.79, Y:0.13, Z:-0.09 [[ 9.99902082e-01 -4.20192955e-03 -1.33480563e-02 1.79226817e+00] [ 4.18408606e-03 9.99990316e-01 -1.36443049e-03 1.28634942e-01] [ 1.33536602e-02 1.30844747e-03 9.99909980e-01 -8.99136353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64463044 meters 0.2695385774974017 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.09 [[ 0.99991076 0.00345526 -0.01290513 1.81272361] [-0.0034828 0.9999917 -0.00211192 0.12321969] [ 0.01289773 0.00215668 0.9999145 -0.08911091] [ 0. 0. 0. 1. ]] SLAMing on 143.70463044 meters 0.26949309574202823 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.09 [[ 9.99908455e-01 3.88116142e-03 -1.29621913e-02 1.81306359e+00] [-3.89541554e-03 9.99991835e-01 -1.07460253e-03 1.18810536e-01] [ 1.29579147e-02 1.12499728e-03 9.99915410e-01 -8.94598222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76463044 meters 0.27015009442172 Centerline is valid? [False, False] Translation: X:1.84, Y:0.12, Z:-0.09 [[ 9.99902475e-01 -5.38563974e-03 -1.28854770e-02 1.83534345e+00] [ 5.38352176e-03 9.99985489e-01 -1.99050694e-04 1.16510742e-01] [ 1.28863620e-02 1.29662036e-04 9.99916959e-01 -8.97496468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82463044 meters 0.2689283595082136 Centerline is valid? [False, False] Translation: X:1.81, Y:0.11, Z:-0.09 [[ 9.99902877e-01 1.45074436e-03 -1.38611588e-02 1.81353082e+00] [-1.48585303e-03 9.99995714e-01 -2.52291885e-03 1.12072025e-01] [ 1.38574393e-02 2.54326946e-03 9.99900747e-01 -8.92884095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88463044 meters 0.26848297160184814 Centerline is valid? [False, False] Translation: X:1.81, Y:0.11, Z:-0.09 [[ 9.99904932e-01 1.57773430e-03 -1.36980822e-02 1.81317668e+00] [-1.60802229e-03 9.99996286e-01 -2.20037940e-03 1.10749447e-01] [ 1.36945597e-02 2.22219704e-03 9.99903756e-01 -8.92664755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94463044 meters 0.269776665351372 Centerline is valid? [False, False] Translation: X:1.83, Y:0.11, Z:-0.09 [[ 9.99884061e-01 -7.80119630e-03 -1.30769289e-02 1.83421998e+00] [ 7.77906625e-03 9.99968225e-01 -1.74230998e-03 1.11688810e-01] [ 1.30901055e-02 1.64038168e-03 9.99912975e-01 -8.94023791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00463044 meters 0.2698586187113757 Centerline is valid? [False, False] Translation: X:1.83, Y:0.11, Z:-0.09 [[ 9.99886242e-01 -7.67894804e-03 -1.29821729e-02 1.83389876e+00] [ 7.66074526e-03 9.99969603e-01 -1.45128515e-03 1.10354127e-01] [ 1.29929226e-02 1.35166693e-03 9.99914675e-01 -8.91986167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06463044 meters 0.2698677122914158 Centerline is valid? [False, False] Translation: X:1.85, Y:0.11, Z:-0.09 [[ 9.99933703e-01 -1.83216982e-04 -1.15133278e-02 1.85322171e+00] [ 1.53888662e-04 9.99996742e-01 -2.54817073e-03 1.07163420e-01] [ 1.15137572e-02 2.54623002e-03 9.99930473e-01 -8.76309223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12463044 meters 0.2702274388236665 Centerline is valid? [False, False] Translation: X:1.85, Y:0.11, Z:-0.09 [[ 9.99933938e-01 -1.71728640e-04 -1.14930089e-02 1.85334380e+00] [ 1.42796807e-04 9.99996819e-01 -2.51811520e-03 1.07066224e-01] [ 1.14934048e-02 2.51630768e-03 9.99930783e-01 -8.79397833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18463044 meters 0.2695708535138231 Centerline is valid? [False, False] Translation: X:1.85, Y:0.11, Z:-0.09 [[ 9.99934115e-01 -1.29785043e-04 -1.14781972e-02 1.85337156e+00] [ 1.01997231e-04 9.99997063e-01 -2.42147360e-03 1.06630706e-01] [ 1.14784778e-02 2.42014332e-03 9.99931191e-01 -8.80486520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24463043999998 meters 0.2687253447807339 Centerline is valid? [False, False] Translation: X:1.85, Y:0.10, Z:-0.09 [[ 9.99933933e-01 1.37983226e-04 -1.14939502e-02 1.85347336e+00] [-1.58300529e-04 9.99998427e-01 -1.76676087e-03 1.03712058e-01] [ 1.14936883e-02 1.76846364e-03 9.99932382e-01 -8.81261378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30463043999998 meters 0.2675451830445431 Centerline is valid? [False, False] Translation: X:1.83, Y:0.10, Z:-0.09 [[ 9.99898383e-01 -5.70274696e-03 -1.30653126e-02 1.83115173e+00] [ 5.72458710e-03 9.99982278e-01 1.63482382e-03 9.76274117e-02] [ 1.30557580e-02 -1.70945122e-03 9.99913309e-01 -8.77077327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36463043999998 meters 0.26808131970367904 Centerline is valid? [False, False] Translation: X:1.85, Y:0.09, Z:-0.09 [[ 9.99927364e-01 1.75765857e-03 -1.19238491e-02 1.85043948e+00] [-1.74940630e-03 9.99998223e-01 7.02475739e-04 9.00213004e-02] [ 1.19250626e-02 -6.81565057e-04 9.99928662e-01 -8.70326988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42463044 meters 0.26916880672637955 Centerline is valid? [False, False] Translation: X:1.85, Y:0.09, Z:-0.09 [[ 9.99924880e-01 1.72743598e-03 -1.21346886e-02 1.85131628e+00] [-1.72008583e-03 9.99998331e-01 6.16124816e-04 9.04359634e-02] [ 1.21357327e-02 -5.95205827e-04 9.99926182e-01 -8.78567771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48463044 meters 0.268485851698541 Centerline is valid? [False, False] Translation: X:1.85, Y:0.09, Z:-0.09 [[ 9.99923846e-01 1.69105048e-03 -1.22246688e-02 1.85171090e+00] [-1.68589595e-03 9.99998486e-01 4.31943053e-04 9.14733498e-02] [ 1.22253807e-02 -4.11300639e-04 9.99925183e-01 -8.82720478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54463044 meters 0.2705994293892607 Centerline is valid? [False, False] Translation: X:1.87, Y:0.10, Z:-0.09 [[ 0.99992201 0.00769867 -0.00983355 1.87306745] [-0.00772621 0.99996633 -0.00276534 0.09594695] [ 0.00981192 0.0028411 0.99994783 -0.08897783] [ 0. 0. 0. 1. ]] SLAMing on 144.60463044 meters 0.2715132465473366 Centerline is valid? [False, False] Translation: X:1.89, Y:0.10, Z:-0.09 [[ 9.99943468e-01 -1.21224214e-03 -1.05637133e-02 1.89390897e+00] [ 1.18907858e-03 9.99996876e-01 -2.19875253e-03 1.00976231e-01] [ 1.05663457e-02 2.18606714e-03 9.99941785e-01 -8.83467151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66463044 meters 0.27048557945508517 Centerline is valid? [False, False] Translation: X:1.89, Y:0.10, Z:-0.09 [[ 9.99942755e-01 -1.18739652e-03 -1.06337387e-02 1.89382971e+00] [ 1.16472948e-03 9.99997037e-01 -2.13755402e-03 1.00742187e-01] [ 1.06362453e-02 2.12504622e-03 9.99941176e-01 -8.79077896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72463044 meters 0.26814922887726883 Centerline is valid? [False, False] Translation: X:1.87, Y:0.10, Z:-0.09 [[ 0.9999381 0.00600197 -0.00936829 1.86943442] [-0.00604049 0.99997339 -0.0040893 0.0968624 ] [ 0.00934349 0.00414563 0.99994776 -0.08656872] [ 0. 0. 0. 1. ]] SLAMing on 144.78463044 meters 0.2689068323060794 Centerline is valid? [False, False] Translation: X:1.89, Y:0.10, Z:-0.09 [[ 0.99996085 -0.00277909 -0.00840093 1.89016719] [ 0.00275429 0.99999182 -0.00296211 0.09572624] [ 0.0084091 0.00293885 0.99996032 -0.08603491] [ 0. 0. 0. 1. ]] SLAMing on 144.84463044 meters 0.26947236609549857 Centerline is valid? [False, False] Translation: X:1.90, Y:0.09, Z:-0.09 [[ 9.99999072e-01 1.27985091e-03 -4.67628016e-04 1.89680940e+00] [-1.28014111e-03 9.99998988e-01 -6.20797388e-04 8.71100167e-02] [ 4.66833014e-04 6.21395441e-04 9.99999698e-01 -9.18190347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90463044 meters 0.2689007853953712 Centerline is valid? [False, False] Translation: X:1.90, Y:0.09, Z:-0.09 [[ 9.99998899e-01 1.42480071e-03 -4.15745053e-04 1.89666808e+00] [-1.42491232e-03 9.99998949e-01 -2.68292578e-04 8.56090751e-02] [ 4.15362353e-04 2.68884683e-04 9.99999878e-01 -9.17498097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96463044 meters 0.268463054711591 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.09 [[ 9.99998471e-01 1.71223765e-03 -3.54344161e-04 1.89634162e+00] [-1.71207878e-03 9.99998434e-01 4.48170215e-04 8.25275463e-02] [ 3.55110980e-04 -4.47562864e-04 9.99999837e-01 -9.13550657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02463043999998 meters 0.2673947796897722 Centerline is valid? [False, False] Translation: X:1.88, Y:0.08, Z:-0.09 [[ 0.99998054 -0.00582433 -0.00223429 1.87727809] [ 0.00582978 0.99998003 0.00244074 0.07822369] [ 0.00222003 -0.00245371 0.99999453 -0.09297549] [ 0. 0. 0. 1. ]] SLAMing on 145.08463043999998 meters 0.2684957955093209 Centerline is valid? [False, False] Translation: X:1.90, Y:0.07, Z:-0.09 [[ 9.99993697e-01 -1.01123138e-03 -3.40349818e-03 1.90007768e+00] [ 1.00948284e-03 9.99999358e-01 -5.15424887e-04 6.77025935e-02] [ 3.40401720e-03 5.11985865e-04 9.99994075e-01 -9.27011019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14463044 meters 0.2685123180450434 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:-0.09 [[ 9.99993621e-01 -6.47583131e-04 -3.51265560e-03 1.90058018e+00] [ 6.49032285e-04 9.99999705e-01 4.11427903e-04 6.38006187e-02] [ 3.51238813e-03 -4.13705106e-04 9.99993746e-01 -9.31356243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20463044 meters 0.26738750145720636 Centerline is valid? [False, False] Translation: X:1.88, Y:0.06, Z:-0.09 [[ 0.99997542 0.00471763 -0.00518713 1.87978321] [-0.00473288 0.9999845 -0.00293179 0.05856725] [ 0.00517322 0.00295627 0.99998225 -0.09316863] [ 0. 0. 0. 1. ]] SLAMing on 145.26463044 meters 0.26813022307749484 Centerline is valid? [False, False] Translation: X:1.88, Y:0.05, Z:-0.10 [[ 0.999974 0.00252085 -0.00675636 1.88490991] [-0.00255024 0.99998731 -0.00434455 0.05183998] [ 0.00674533 0.00436167 0.99996774 -0.09535687] [ 0. 0. 0. 1. ]] SLAMing on 145.32463044 meters 0.2686908093671508 Centerline is valid? [False, False] Translation: X:1.91, Y:0.04, Z:-0.10 [[ 0.99996225 -0.00623202 -0.00605442 1.90737477] [ 0.00621479 0.9999766 -0.00286039 0.04498705] [ 0.0060721 0.00282265 0.99997758 -0.0959705 ] [ 0. 0. 0. 1. ]] SLAMing on 145.38463044 meters 0.2689093032842702 Centerline is valid? [False, False] Translation: X:1.91, Y:0.04, Z:-0.10 [[ 0.99996381 -0.00595116 -0.00608032 1.90745728] [ 0.00593764 0.99997987 -0.00223916 0.04216941] [ 0.00609352 0.00220298 0.99997901 -0.09597035] [ 0. 0. 0. 1. ]] SLAMing on 145.44463044 meters 0.26735858629406595 Centerline is valid? [False, False] Translation: X:1.88, Y:0.04, Z:-0.09 [[ 9.99982861e-01 1.22760789e-03 -5.72462257e-03 1.88376630e+00] [-1.25020805e-03 9.99991433e-01 -3.94598037e-03 3.76791019e-02] [ 5.71972941e-03 3.95306971e-03 9.99975829e-01 -9.49118130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50463044 meters 0.27060038497080047 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.10 [[ 0.99998786 0.00208002 -0.00446623 1.92793088] [-0.0020928 0.99999372 -0.0028588 0.03929345] [ 0.00446025 0.00286811 0.99998594 -0.09531734] [ 0. 0. 0. 1. ]] SLAMing on 145.56463044 meters 0.2681543207747086 Centerline is valid? [False, False] Translation: X:1.91, Y:0.04, Z:-0.10 [[ 9.99961601e-01 -5.55566304e-03 -6.77725989e-03 1.90916443e+00] [ 5.54626397e-03 9.99983633e-01 -1.40486114e-03 3.99261565e-02] [ 6.78495390e-03 1.36721872e-03 9.99976047e-01 -9.62609191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62463044 meters 0.26984293937680387 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.09 [[ 0.99999061 0.00232615 -0.00365534 1.92704896] [-0.00233361 0.9999952 -0.00203926 0.03645635] [ 0.00365058 0.00204777 0.99999124 -0.09493482] [ 0. 0. 0. 1. ]] SLAMing on 145.68463044 meters 0.2679068785721143 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:-0.10 [[ 9.99972255e-01 -5.78903350e-03 -4.68782296e-03 1.90676161e+00] [ 5.78591390e-03 9.99983031e-01 -6.78757320e-04 3.47559276e-02] [ 4.69167276e-03 6.51615148e-04 9.99988782e-01 -9.57429633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74463043999998 meters 0.267296530799352 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:-0.10 [[ 9.99973006e-01 -5.64698123e-03 -4.70095811e-03 1.90683051e+00] [ 5.64543451e-03 9.99984006e-01 -3.42228532e-04 3.33181788e-02] [ 4.70281548e-03 3.15680343e-04 9.99988892e-01 -9.57915830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80463043999998 meters 0.267642487430984 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:-0.10 [[ 9.99974780e-01 -5.35517074e-03 -4.66500682e-03 1.90669321e+00] [ 5.35674169e-03 9.99985600e-01 3.24322255e-04 3.02885878e-02] [ 4.66320284e-03 -3.49303312e-04 9.99989066e-01 -9.56414842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86463043999998 meters 0.2687771477612611 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.09 [[ 9.99983262e-01 2.92854152e-03 -4.98995742e-03 1.92790843e+00] [-2.93082362e-03 9.99995604e-01 -4.50087569e-04 2.63546295e-02] [ 4.98861739e-03 4.64704721e-04 9.99987449e-01 -9.45165054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92463044 meters 0.2690457203303899 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.09 [[ 9.99982824e-01 2.95324876e-03 -5.06259905e-03 1.92809844e+00] [-2.95523157e-03 9.99995559e-01 -3.84220969e-04 2.60515479e-02] [ 5.06144187e-03 3.99175522e-04 9.99987111e-01 -9.45845553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98463044 meters 0.27031583571875134 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.10 [[ 9.99982192e-01 3.02926244e-03 -5.14181601e-03 1.92852025e+00] [-3.03034001e-03 9.99995388e-01 -2.01791515e-04 2.52647831e-02] [ 5.14118102e-03 2.17369372e-04 9.99986760e-01 -9.50303230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04463044 meters 0.2710695279000629 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.10 [[ 9.99981859e-01 3.02937892e-03 -5.20627345e-03 1.92881466e+00] [-3.03048064e-03 9.99995387e-01 -2.03738225e-04 2.51368555e-02] [ 5.20563224e-03 2.19512039e-04 9.99986427e-01 -9.53347224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10463044 meters 0.2683023355310307 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.10 [[ 9.99982296e-01 2.91288703e-03 -5.18877274e-03 1.92875433e+00] [-2.91558613e-03 9.99995618e-01 -5.12692886e-04 2.64419959e-02] [ 5.18725659e-03 5.27812123e-04 9.99986407e-01 -9.53244681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16463044 meters 0.27103818993991496 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.10 [[ 0.99998496 -0.0024905 -0.00488613 1.95065914] [ 0.0025027 0.99999376 0.00249198 0.03385762] [ 0.00487989 -0.00250417 0.99998496 -0.09616392] [ 0. 0. 0. 1. ]] SLAMing on 146.22463044 meters 0.2702188370458354 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 0.999985 -0.00266852 -0.00478357 1.95049199] [ 0.00267847 0.99999426 0.00207506 0.03565761] [ 0.00477801 -0.00208784 0.99998641 -0.09633825] [ 0. 0. 0. 1. ]] SLAMing on 146.28463044 meters 0.2718586445721836 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99984342e-01 -2.79076209e-03 -4.85045741e-03 1.95026186e+00] [ 2.79941372e-03 9.99994501e-01 1.77779960e-03 3.69299577e-02] [ 4.84546932e-03 -1.79135020e-03 9.99986656e-01 -9.56407841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34463044 meters 0.2699918095110979 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99984834e-01 -2.96149912e-03 -4.64333967e-03 1.94952698e+00] [ 2.96801417e-03 9.99994620e-01 1.39683449e-03 3.87564855e-02] [ 4.63917796e-03 -1.41059481e-03 9.99988244e-01 -9.52339627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40463044 meters 0.26840954610759005 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.10 [[ 9.99975186e-01 4.92883547e-03 -5.03319795e-03 1.93043438e+00] [-4.93109009e-03 9.99987747e-01 -4.35637574e-04 3.72537264e-02] [ 5.03098910e-03 4.60445917e-04 9.99987238e-01 -9.71042594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46463044 meters 0.2703710998253514 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99973325e-01 -3.71811913e-03 -6.28683684e-03 1.95245584e+00] [ 3.71702941e-03 9.99993075e-01 -1.85008779e-04 4.31873983e-02] [ 6.28748119e-03 1.61635486e-04 9.99980221e-01 -9.60507544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52463043999998 meters 0.2700460756617314 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99973546e-01 -3.68584976e-03 -6.27072492e-03 1.95290463e+00] [ 3.68526068e-03 9.99993204e-01 -1.05492295e-04 4.28655983e-02] [ 6.27107113e-03 8.23802486e-05 9.99980333e-01 -9.69525772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58463043999998 meters 0.26934967639502055 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99973243e-01 -3.61858483e-03 -6.35752775e-03 1.95324369e+00] [ 3.61906376e-03 9.99993449e-01 6.38309431e-05 4.21237339e-02] [ 6.35725512e-03 -8.68375334e-05 9.99979789e-01 -9.72048665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64463044 meters 0.2695559095062745 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99974057e-01 -3.47853383e-03 -6.30762140e-03 1.95284685e+00] [ 3.48134637e-03 9.99993845e-01 4.34970227e-04 4.05267831e-02] [ 6.30606953e-03 -4.56917957e-04 9.99980012e-01 -9.65996432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70463044 meters 0.27032093348488195 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99974189e-01 -3.38056305e-03 -6.33984294e-03 1.95353982e+00] [ 3.38501824e-03 9.99994031e-01 6.92129819e-04 3.92980606e-02] [ 6.33746531e-03 -7.13572438e-04 9.99979663e-01 -9.77898432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76463044 meters 0.2700194913177385 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99973388e-01 -3.37822102e-03 -6.46613476e-03 1.95433708e+00] [ 3.38280457e-03 9.99994035e-01 6.98049117e-04 3.93288397e-02] [ 6.46373802e-03 -7.19904210e-04 9.99978851e-01 -9.88013204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82463044 meters 0.2709941838135206 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99973219e-01 -3.25448927e-03 -6.55509650e-03 1.95444708e+00] [ 3.26096359e-03 9.99994206e-01 9.77231160e-04 3.80026041e-02] [ 6.55187813e-03 -9.98580920e-04 9.99978038e-01 -9.85945917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88463044 meters 0.26978937879892473 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.10 [[ 9.99966188e-01 4.83881776e-03 -6.64891482e-03 1.93451636e+00] [-4.83919125e-03 9.99988290e-01 -4.00876252e-05 3.28862047e-02] [ 6.64864298e-03 7.22616402e-05 9.99977895e-01 -1.00073856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94463044 meters 0.2706933710626557 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99989427e-01 -2.67461886e-03 -3.74066599e-03 1.95208280e+00] [ 2.68060226e-03 9.99995134e-01 1.59545864e-03 3.59672585e-02] [ 3.73638055e-03 -1.60546901e-03 9.99991731e-01 -9.94658612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00463044 meters 0.27063218768106795 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99990223e-01 -2.68629490e-03 -3.51262625e-03 1.95116195e+00] [ 2.69171502e-03 9.99995193e-01 1.53922279e-03 3.63006875e-02] [ 3.50847456e-03 -1.54866273e-03 9.99992646e-01 -9.86132018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06463044 meters 0.2722591692603472 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.10 [[ 9.99990267e-01 -2.77229051e-03 -3.43225141e-03 1.95084220e+00] [ 2.77671567e-03 9.99995319e-01 1.28519580e-03 3.73234789e-02] [ 3.42867241e-03 -1.29471367e-03 9.99993284e-01 -9.83570945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12463044 meters 0.27073780763436844 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.10 [[ 9.99967324e-01 6.70237059e-03 -4.51989808e-03 1.93063482e+00] [-6.69860896e-03 9.99977205e-01 8.46863667e-04 3.91440017e-02] [ 4.52547105e-03 -8.16558964e-04 9.99989427e-01 -9.93948237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18463044 meters 0.2712062601284466 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.10 [[ 9.99992157e-01 -1.27151463e-03 -3.75090575e-03 1.94810732e+00] [ 1.27726337e-03 9.99998013e-01 1.53063070e-03 4.91853228e-02] [ 3.74895208e-03 -1.53540959e-03 9.99991794e-01 -9.73608870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24463043999998 meters 0.2723521847597929 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.10 [[ 9.99987306e-01 1.16952588e-03 -4.90097624e-03 1.95253546e+00] [-1.15325067e-03 9.99993816e-01 3.32231986e-03 5.39928629e-02] [ 4.90483147e-03 -3.31662563e-03 9.99982471e-01 -9.97956156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30463043999998 meters 0.2700820846513205 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99991567e-01 1.45844043e-04 -4.10425616e-03 1.91722567e+00] [-1.39139123e-04 9.99998656e-01 1.63388877e-03 5.75168376e-02] [ 4.10448894e-03 -1.63330392e-03 9.99990243e-01 -1.05372520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36463043999998 meters 0.2718910063456923 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99991355e-01 -6.48369410e-05 -4.15766883e-03 1.91760759e+00] [ 6.95184323e-05 9.99999364e-01 1.12585481e-03 5.96657638e-02] [ 4.15759319e-03 -1.12613411e-03 9.99990723e-01 -1.05926552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42463044 meters 0.27144260465578773 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99990928e-01 -2.04984990e-04 -4.25467415e-03 1.91809402e+00] [ 2.08378846e-04 9.99999660e-01 7.97249202e-04 6.11203068e-02] [ 4.25450928e-03 -7.98128553e-04 9.99990631e-01 -1.06479786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48463044 meters 0.27231166838808185 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99990840e-01 -4.06557927e-04 -4.26074786e-03 1.91839902e+00] [ 4.07907305e-04 9.99999867e-01 3.15835663e-04 6.31817652e-02] [ 4.26061889e-03 -3.17570760e-04 9.99990873e-01 -1.07069202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54463044 meters 0.27083982044173494 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99990728e-01 -6.26857051e-04 -4.26042626e-03 1.91855702e+00] [ 6.25942674e-04 9.99999781e-01 -2.15951134e-04 6.54363690e-02] [ 4.26056069e-03 2.13282350e-04 9.99990901e-01 -1.07424288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60463044 meters 0.2712863039398634 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99990805e-01 -8.09885109e-04 -4.21121605e-03 1.91850540e+00] [ 8.07197242e-04 9.99999469e-01 -6.39924476e-04 6.73324263e-02] [ 4.21173208e-03 6.36519310e-04 9.99990928e-01 -1.07598219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66463044 meters 0.27146003657966417 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99990430e-01 -9.03882270e-04 -4.28042509e-03 1.91878931e+00] [ 9.00191970e-04 9.99999222e-01 -8.63982179e-04 6.82767715e-02] [ 4.28120269e-03 8.60120706e-04 9.99990466e-01 -1.07853750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72463044 meters 0.27200829062294124 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99989564e-01 -9.13510381e-04 -4.47623435e-03 1.91927021e+00] [ 9.09546104e-04 9.99999192e-01 -8.87583359e-04 6.83403414e-02] [ 4.47704156e-03 8.83502755e-04 9.99989588e-01 -1.07890603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78463044 meters 0.27187484792052613 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99989902e-01 -8.57612397e-04 -4.41142567e-03 1.91903960e+00] [ 8.54318701e-04 9.99999355e-01 -7.48458549e-04 6.77584011e-02] [ 4.41206471e-03 7.44682228e-04 9.99989990e-01 -1.07684909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84463044 meters 0.26968108634028126 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.11 [[ 0.99998102 0.0052299 -0.00325695 1.89425165] [-0.0052422 0.99997912 -0.00377861 0.06462058] [ 0.00323712 0.00379561 0.99998756 -0.10576434] [ 0. 0. 0. 1. ]] SLAMing on 147.90463044 meters 0.2694280397474288 Centerline is valid? [False, False] Translation: X:1.89, Y:0.07, Z:-0.11 [[ 0.9999816 0.005089 -0.003303 1.8943052 ] [-0.00510264 0.99997844 -0.00413212 0.06613075] [ 0.0032819 0.0041489 0.99998601 -0.10568403] [ 0. 0. 0. 1. ]] SLAMing on 147.96463044 meters 0.27191723624361364 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99995017e-01 -5.06693608e-04 -3.11595315e-03 1.91678005e+00] [ 5.03146022e-04 9.99999225e-01 -1.13920216e-03 7.30475753e-02] [ 3.11652796e-03 1.13762871e-03 9.99994497e-01 -1.06646182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02463043999998 meters 0.26998672308308624 Centerline is valid? [False, False] Translation: X:1.90, Y:0.08, Z:-0.11 [[ 9.99959987e-01 -8.39946380e-03 -3.07774926e-03 1.89652115e+00] [ 8.39907353e-03 9.99964717e-01 -1.39709319e-04 7.77441386e-02] [ 3.07881416e-03 1.13853486e-04 9.99995254e-01 -1.07736204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08463043999998 meters 0.27088707652869687 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.11 [[ 9.99997992e-01 -2.05916818e-04 -1.99342694e-03 1.91568914e+00] [ 2.02742427e-04 9.99998711e-01 -1.59250013e-03 7.97481314e-02] [ 1.99375230e-03 1.59209278e-03 9.99996745e-01 -1.06092617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14463044 meters 0.269320131986411 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.11 [[ 9.99997870e-01 -2.97869537e-04 -2.04228373e-03 1.91548932e+00] [ 2.94164578e-04 9.99998311e-01 -1.81418598e-03 8.07770734e-02] [ 2.04282067e-03 1.81358135e-03 9.99996269e-01 -1.05515542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20463044 meters 0.2695626326611905 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.10 [[ 9.99997985e-01 -3.20506762e-04 -1.98185481e-03 1.91504288e+00] [ 3.16796670e-04 9.99998198e-01 -1.87206056e-03 8.10675892e-02] [ 1.98245124e-03 1.87142894e-03 9.99996284e-01 -1.04895114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26463044 meters 0.268587704780805 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.10 [[ 9.99997119e-01 -2.61924897e-04 -2.38625300e-03 1.91589245e+00] [ 2.57816172e-04 9.99998484e-01 -1.72197644e-03 8.03371818e-02] [ 2.38670041e-03 1.72135627e-03 9.99995670e-01 -1.04814639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32463044 meters 0.26912429228849344 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.10 [[ 9.99996060e-01 -1.47480209e-04 -2.80333948e-03 1.91646994e+00] [ 1.43512527e-04 9.99998988e-01 -1.41548957e-03 7.90775313e-02] [ 2.80354540e-03 1.41508168e-03 9.99995069e-01 -1.04154016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38463044 meters 0.26872346118103524 Centerline is valid? [False, False] Translation: X:1.94, Y:0.08, Z:-0.10 [[ 9.99985360e-01 -5.40515230e-03 2.51545077e-04 1.93532231e+00] [ 5.40443808e-03 9.99981592e-01 2.75832139e-03 7.74972342e-02] [-2.66449593e-04 -2.75692155e-03 9.99996164e-01 -1.03764347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44463044 meters 0.26894154715790836 Centerline is valid? [False, False] Translation: X:1.94, Y:0.08, Z:-0.10 [[ 9.99985508e-01 -5.37308800e-03 3.35912701e-04 1.93532848e+00] [ 5.37211689e-03 9.99981571e-01 2.82794673e-03 7.71442207e-02] [-3.51101317e-04 -2.82610119e-03 9.99995945e-01 -1.04130313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50463044 meters 0.2687620108060938 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99994405e-01 2.45843131e-03 -2.26840798e-03 1.91825738e+00] [-2.45537244e-03 9.99996074e-01 1.35026580e-03 7.35281529e-02] [ 2.27171861e-03 -1.34468846e-03 9.99996516e-01 -1.05639645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56463044 meters 0.26825453660802623 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.11 [[ 9.99993966e-01 2.51556315e-03 -2.39588316e-03 1.91829499e+00] [-2.51199753e-03 9.99995735e-01 1.49007518e-03 7.29142180e-02] [ 2.39962132e-03 -1.48404774e-03 9.99996020e-01 -1.05140962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62463044 meters 0.2676948180144845 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.10 [[ 0.99999363 0.00274743 -0.00227676 1.91767396] [-0.00274254 0.99999393 0.00214994 0.07020165] [ 0.00228265 -0.00214368 0.9999951 -0.10441364] [ 0. 0. 0. 1. ]] SLAMing on 148.68463044 meters 0.2692173153361172 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.10 [[ 0.9999932 0.00294915 -0.00221502 1.91770169] [-0.00294315 0.999992 0.00270731 0.06784307] [ 0.00222299 -0.00270077 0.99999388 -0.10469859] [ 0. 0. 0. 1. ]] SLAMing on 148.74463043999998 meters 0.2686036674664795 Centerline is valid? [False, False] Translation: X:1.92, Y:0.07, Z:-0.10 [[ 0.99999207 0.00315377 -0.00243124 1.91800763] [-0.0031457 0.99998955 0.0033161 0.06522331] [ 0.00244168 -0.00330842 0.99999155 -0.10435649] [ 0. 0. 0. 1. ]] SLAMing on 148.80463043999998 meters 0.2681279236099826 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99990747e-01 1.18942739e-03 -4.13413010e-03 1.92355409e+00] [-1.17927507e-03 9.99996285e-01 2.45730429e-03 5.83606180e-02] [ 4.13703753e-03 -2.45240628e-03 9.99988435e-01 -1.07411861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86463043999998 meters 0.26839494491921123 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99989829e-01 1.36060149e-03 -4.30010623e-03 1.92424255e+00] [-1.34803191e-03 9.99994815e-01 2.92463347e-03 5.62035496e-02] [ 4.30406319e-03 -2.91880705e-03 9.99986478e-01 -1.07952005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92463044 meters 0.26795878981420274 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99989170e-01 1.41114676e-03 -4.43487899e-03 1.92397441e+00] [-1.39762353e-03 9.99994369e-01 3.05090933e-03 5.57502703e-02] [ 4.43915930e-03 -3.04467800e-03 9.99985512e-01 -1.06916885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98463044 meters 0.26823819321176495 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99989841e-01 1.31309269e-03 -4.31213691e-03 1.92397740e+00] [-1.30093997e-03 9.99995178e-01 2.81985504e-03 5.67350819e-02] [ 4.31581884e-03 -2.81421656e-03 9.99986727e-01 -1.07434428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04463044 meters 0.26837754632130806 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99989817e-01 1.21673447e-03 -4.34566423e-03 1.92431798e+00] [-1.20546034e-03 9.99995904e-01 2.59601650e-03 5.77452479e-02] [ 4.34880509e-03 -2.59075154e-03 9.99987188e-01 -1.07877285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10463044 meters 0.267091746387758 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99990136e-01 1.10858979e-03 -4.30092506e-03 1.92366978e+00] [-1.09856699e-03 9.99996677e-01 2.33204512e-03 5.89095912e-02] [ 4.30349605e-03 -2.32729726e-03 9.99988032e-01 -1.06805270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16463044 meters 0.26602854284180755 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99990370e-01 9.26268516e-04 -4.28973738e-03 1.92321261e+00] [-9.18176595e-04 9.99997796e-01 1.88792949e-03 6.07816837e-02] [ 4.29147665e-03 -1.88397257e-03 9.99989017e-01 -1.06030816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22463044 meters 0.26762816820338753 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.11 [[ 9.99989116e-01 7.53236662e-04 -4.60443219e-03 1.92455577e+00] [-7.47850309e-04 9.99999034e-01 1.17142901e-03 6.43668994e-02] [ 4.60531011e-03 -1.16797283e-03 9.99988713e-01 -1.07206150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28463044 meters 0.2684622963603485 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:-0.11 [[ 0.99997671 0.00646768 -0.00218046 1.94551768] [-0.00647238 0.99997673 -0.00215639 0.06761964] [ 0.00216646 0.00217045 0.9999953 -0.10774136] [ 0. 0. 0. 1. ]] SLAMing on 149.34463044 meters 0.26735194093186 Centerline is valid? [False, False] Translation: X:1.95, Y:0.07, Z:-0.11 [[ 9.99975689e-01 6.58835279e-03 -2.28360269e-03 1.94582455e+00] [-6.59262299e-03 9.99976525e-01 -1.86748130e-03 6.63930324e-02] [ 2.27124546e-03 1.88249084e-03 9.99995649e-01 -1.07861035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40463044 meters 0.26649865738690204 Centerline is valid? [False, False] Translation: X:1.93, Y:0.07, Z:-0.11 [[ 9.99994893e-01 -1.27775416e-03 -2.92935348e-03 1.92571637e+00] [ 1.27689032e-03 9.99999141e-01 -2.96739642e-04 6.50990296e-02] [ 2.92973012e-03 2.92997664e-04 9.99995665e-01 -1.09277368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46463044 meters 0.26595855302270976 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:-0.11 [[ 9.99991354e-01 3.96396591e-03 -1.25644654e-03 1.90374805e+00] [-3.96874493e-03 9.99984812e-01 -3.82420393e-03 5.67935607e-02] [ 1.24126844e-03 3.82915738e-03 9.99991898e-01 -1.10280570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52463043999998 meters 0.2662962793649503 Centerline is valid? [False, False] Translation: X:1.90, Y:0.05, Z:-0.11 [[ 9.99989838e-01 4.31996431e-03 -1.28899943e-03 1.90413313e+00] [-4.32377980e-03 9.99986236e-01 -2.97208489e-03 5.31907517e-02] [ 1.27614239e-03 2.97762803e-03 9.99994753e-01 -1.10814574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58463043999998 meters 0.26761224192807226 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.11 [[ 9.99998252e-01 -1.86148597e-03 1.74241126e-04 1.92632868e+00] [ 1.86139942e-03 9.99998145e-01 4.95605012e-04 5.00672038e-02] [-1.75163364e-04 -4.95279813e-04 9.99999862e-01 -1.12285492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64463044 meters 0.26837335458783296 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.11 [[ 9.99984762e-01 -5.51949175e-03 1.03514411e-04 1.92637373e+00] [ 5.51972079e-03 9.99981979e-01 -2.36093843e-03 4.37621812e-02] [-9.04813658e-05 2.36147383e-03 9.99997208e-01 -1.11930748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70463044 meters 0.26592034130795805 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.11 [[ 9.99986870e-01 -5.12437264e-03 9.60822303e-06 1.92674801e+00] [ 5.12438121e-03 9.99985802e-01 -1.46171876e-03 3.98287672e-02] [-2.11769501e-06 1.46174880e-03 9.99998932e-01 -1.12128444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76463044 meters 0.2668814098051148 Centerline is valid? [False, False] Translation: X:1.93, Y:0.04, Z:-0.11 [[ 9.99988583e-01 -4.77808704e-03 6.38324159e-05 1.92729177e+00] [ 4.77812624e-03 9.99988387e-01 -6.28834801e-04 3.65174858e-02] [-6.08270472e-05 6.29132621e-04 9.99999800e-01 -1.13171612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82463044 meters 0.2663161805317638 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.11 [[ 9.99989443e-01 -4.59492784e-03 2.23026433e-05 1.92724944e+00] [ 4.59493246e-03 9.99989421e-01 -2.11826330e-04 3.46260690e-02] [-2.13290806e-05 2.11926572e-04 9.99999977e-01 -1.12896140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88463044 meters 0.26726383386092506 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.11 [[ 9.99990295e-01 -4.40415758e-03 -1.14072351e-04 1.92789538e+00] [ 4.40418514e-03 9.99990272e-01 2.42504712e-04 3.25608238e-02] [ 1.13003212e-04 -2.43004754e-04 9.99999964e-01 -1.13486108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94463044 meters 0.2667581396413866 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99993169e-01 3.61614895e-03 7.65556388e-04 1.94766319e+00] [-3.61554446e-03 9.99993152e-01 -7.89525008e-04 2.91790147e-02] [-7.68406186e-04 7.86751711e-04 9.99999395e-01 -1.12461423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00463044 meters 0.26670480086449583 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99992911e-01 3.67546770e-03 8.18292183e-04 1.94687014e+00] [-3.67494706e-03 9.99993045e-01 -6.36841998e-04 2.87444621e-02] [-8.20627184e-04 6.33830303e-04 9.99999462e-01 -1.11179386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06463044 meters 0.26706264619809406 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99992467e-01 3.80994517e-03 7.42043270e-04 1.94712989e+00] [-3.80970691e-03 9.99992691e-01 -3.22235890e-04 2.73272088e-02] [-7.43265548e-04 3.19406495e-04 9.99999673e-01 -1.11317755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12463044 meters 0.26713927232741336 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99992143e-01 3.90271367e-03 6.95458336e-04 1.94761209e+00] [-3.90265180e-03 9.99992381e-01 -9.02854239e-05 2.63857216e-02] [-6.95805395e-04 8.75705828e-05 9.99999754e-01 -1.12000494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18463044 meters 0.26613690748753216 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 9.99987126e-01 -4.93299637e-03 1.18874353e-03 1.92499850e+00] [ 4.93196413e-03 9.99987460e-01 8.69719284e-04 2.40049150e-02] [-1.19301894e-03 -8.63845247e-04 9.99998915e-01 -1.12087811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24463043999998 meters 0.26622259835581497 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.11 [[ 9.99993479e-01 3.26895342e-03 1.53494339e-03 1.94590884e+00] [-3.26893505e-03 9.99994657e-01 -1.44826024e-05 2.16770577e-02] [-1.53498253e-03 9.46487774e-06 9.99998822e-01 -1.11150507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30463043999998 meters 0.2654243621892561 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.11 [[ 9.99993869e-01 3.19594951e-03 1.43076489e-03 1.94636552e+00] [-3.19564573e-03 9.99994871e-01 -2.14553543e-04 2.25863635e-02] [-1.43144325e-03 2.09980010e-04 9.99998953e-01 -1.11604941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36463043999998 meters 0.2665085019730517 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.11 [[ 9.99993714e-01 3.13100796e-03 1.66406378e-03 1.94594989e+00] [-3.13032007e-03 9.99995014e-01 -4.15819688e-04 2.34602626e-02] [-1.66535742e-03 4.10608022e-04 9.99998529e-01 -1.11809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42463044 meters 0.2667010587183032 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.11 [[ 9.99994008e-01 3.04307825e-03 1.65056165e-03 1.94663952e+00] [-3.04203147e-03 9.99995171e-01 -6.36336140e-04 2.44981596e-02] [-1.65249010e-03 6.31311266e-04 9.99998435e-01 -1.13077758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48463044 meters 0.2677675786640501 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99994425e-01 2.94417658e-03 1.57509982e-03 1.94697067e+00] [-2.94281776e-03 9.99995296e-01 -8.64315459e-04 2.54943445e-02] [-1.57763711e-03 8.59675409e-04 9.99998386e-01 -1.13386297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54463044 meters 0.2687536255515047 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99994706e-01 2.78687185e-03 1.67960468e-03 1.94620377e+00] [-2.78472474e-03 9.99995304e-01 -1.27932931e-03 2.74219293e-02] [-1.68316212e-03 1.27464530e-03 9.99997771e-01 -1.12431289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60463044 meters 0.2687156658188425 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99995325e-01 2.58623552e-03 1.63124463e-03 1.94671537e+00] [-2.58330171e-03 9.99995047e-01 -1.79806177e-03 2.97660961e-02] [-1.63588676e-03 1.79383936e-03 9.99997053e-01 -1.13212165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66463044 meters 0.26798158703139874 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.11 [[ 9.99995719e-01 2.44156113e-03 1.61256548e-03 1.94722293e+00] [-2.43811884e-03 9.99994753e-01 -2.13319178e-03 3.12310756e-02] [-1.61776534e-03 2.12925102e-03 9.99996425e-01 -1.14021943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72463044 meters 0.26657803162626387 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.11 [[ 9.99983435e-01 -5.66790618e-03 1.00186219e-03 1.92686451e+00] [ 5.66879718e-03 9.99983537e-01 -8.88750613e-04 3.26801696e-02] [-9.96808343e-04 8.94415245e-04 9.99999103e-01 -1.14606136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78463044 meters 0.2666168765684155 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.11 [[ 9.99984050e-01 -5.55305658e-03 1.03096713e-03 1.92683397e+00] [ 5.55369673e-03 9.99984386e-01 -6.19102076e-04 3.16763157e-02] [-1.02751312e-03 6.24817880e-04 9.99999277e-01 -1.14587108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84463044 meters 0.2678740022828478 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.12 [[ 9.99984748e-01 -5.42961157e-03 1.01150796e-03 1.92716652e+00] [ 5.42995122e-03 9.99985202e-01 -3.33345091e-04 3.02607276e-02] [-1.00968306e-03 3.38832445e-04 9.99999433e-01 -1.15025973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90463044 meters 0.2674624872221107 Centerline is valid? [False, False] Translation: X:1.93, Y:0.03, Z:-0.12 [[ 9.99985234e-01 -5.35262880e-03 9.38171633e-04 1.92746420e+00] [ 5.35277344e-03 9.99985662e-01 -1.51731994e-04 2.94319557e-02] [-9.37346016e-04 1.56751574e-04 9.99999548e-01 -1.15206008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96463044 meters 0.2667176972636864 Centerline is valid? [False, False] Translation: X:1.91, Y:0.03, Z:-0.12 [[ 9.99994475e-01 3.26150558e-03 6.41804438e-04 1.90725739e+00] [-3.26097793e-03 9.99994346e-01 -8.21466144e-04 2.57644006e-02] [-6.44480026e-04 8.19368695e-04 9.99999457e-01 -1.16464442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02463043999998 meters 0.2662798841763661 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:-0.12 [[ 9.99994033e-01 3.37262366e-03 7.48388414e-04 1.90696600e+00] [-3.37220768e-03 9.99994159e-01 -5.56404920e-04 2.45050863e-02] [-7.50260587e-04 5.53877879e-04 9.99999565e-01 -1.16340080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08463043999998 meters 0.2680757882144708 Centerline is valid? [False, False] Translation: X:1.92, Y:0.03, Z:-0.11 [[ 9.99989581e-01 -4.15336689e-03 1.89417476e-03 1.92472043e+00] [ 4.15082652e-03 9.99990483e-01 1.34311530e-03 2.84310661e-02] [-1.89973518e-03 -1.33523892e-03 9.99997304e-01 -1.14218037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14463044 meters 0.2665346881472627 Centerline is valid? [False, False] Translation: X:1.92, Y:0.03, Z:-0.11 [[ 9.99989658e-01 -4.11994342e-03 1.92603286e-03 1.92483136e+00] [ 4.11721201e-03 9.99990516e-01 1.41997335e-03 2.80552752e-02] [-1.93186480e-03 -1.41202878e-03 9.99997137e-01 -1.14557035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20463044 meters 0.26705025528899284 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.11 [[ 9.99994341e-01 9.60012046e-04 -3.22448247e-03 1.94129104e+00] [-9.59563878e-04 9.99999530e-01 1.40533245e-04 2.59904002e-02] [ 3.22461587e-03 -1.37438352e-04 9.99994791e-01 -1.11097540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26463044 meters 0.26763193405714897 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.11 [[ 9.99994016e-01 9.48994524e-04 -3.32677299e-03 1.94161042e+00] [-9.48601245e-04 9.99999543e-01 1.19792312e-04 2.60780355e-02] [ 3.32688515e-03 -1.16635814e-04 9.99994459e-01 -1.11251680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32463044 meters 0.26846841886238876 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.11 [[ 9.99993647e-01 9.76125359e-04 -3.42831614e-03 1.94233129e+00] [-9.75489735e-04 9.99999507e-01 1.87071380e-04 2.56824207e-02] [ 3.42849705e-03 -1.83725904e-04 9.99994106e-01 -1.12107922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38463044 meters 0.2676170496507224 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 0.99997335 -0.00509418 -0.00522998 1.92052115] [ 0.00511254 0.9999808 0.00350283 0.02205779] [ 0.00521204 -0.00352948 0.99998019 -0.11103916] [ 0. 0. 0. 1. ]] SLAMing on 151.44463044 meters 0.269160204121733 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 0.99997357 -0.005016 -0.00526226 1.92052047] [ 0.00503546 0.99998051 0.00369038 0.02126654] [ 0.00524365 -0.00371678 0.99997934 -0.11085775] [ 0. 0. 0. 1. ]] SLAMing on 151.50463044 meters 0.267177282691143 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 0.99997463 -0.00489361 -0.00517568 1.92051936] [ 0.0049142 0.99998003 0.00397269 0.01997197] [ 0.00515614 -0.00399803 0.99997871 -0.11116719] [ 0. 0. 0. 1. ]] SLAMing on 151.56463044 meters 0.26858963677181635 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 0.99997961 -0.00486312 -0.0041399 1.91852801] [ 0.00487886 0.99998087 0.00380248 0.02121436] [ 0.00412133 -0.0038226 0.9999842 -0.11152991] [ 0. 0. 0. 1. ]] SLAMing on 151.62463044 meters 0.2700545813371625 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.11 [[ 0.99998015 -0.00504868 -0.00376984 1.91753538] [ 0.00505999 0.99998271 0.00299698 0.02453173] [ 0.00375465 -0.00301599 0.9999884 -0.11130793] [ 0. 0. 0. 1. ]] SLAMing on 151.68463044 meters 0.26992801846738934 Centerline is valid? [False, False] Translation: X:1.92, Y:0.03, Z:-0.11 [[ 9.99992682e-01 -1.32391314e-03 -3.58941579e-03 1.91754796e+00] [ 1.34227385e-03 9.99986004e-01 5.11766131e-03 3.41364985e-02] [ 3.58259021e-03 -5.12244183e-03 9.99980463e-01 -1.12405803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74463043999998 meters 0.27074745539761874 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:-0.11 [[ 9.99992920e-01 -1.82758898e-03 -3.28927906e-03 1.91679792e+00] [ 1.84032810e-03 9.99990802e-01 3.87407227e-03 3.95655070e-02] [ 3.28216859e-03 -3.88009820e-03 9.99987086e-01 -1.12468202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80463043999998 meters 0.2713589310673923 Centerline is valid? [False, False] Translation: X:1.92, Y:0.04, Z:-0.11 [[ 0.99999156 -0.00223044 -0.00345119 1.9171039 ] [ 0.00224059 0.99999317 0.00294017 0.04362745] [ 0.00344461 -0.00294788 0.99998972 -0.11255691] [ 0. 0. 0. 1. ]] SLAMing on 151.86463043999998 meters 0.2700668887231015 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:-0.11 [[ 9.99990026e-01 3.57053934e-03 -2.68326680e-03 1.94055069e+00] [-3.57208504e-03 9.99993457e-01 -5.71480583e-04 4.87770448e-02] [ 2.68120874e-03 5.81059740e-04 9.99996237e-01 -1.13177454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92463044 meters 0.2683363616043253 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:-0.12 [[ 9.99982169e-01 -4.19329994e-03 -4.25192498e-03 1.92198995e+00] [ 4.19576152e-03 9.99991035e-01 5.70177069e-04 5.38755230e-02] [ 4.24949594e-03 -5.88006965e-04 9.99990798e-01 -1.15179745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98463044 meters 0.268502621387223 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.12 [[ 9.99981488e-01 -4.40620991e-03 -4.19635011e-03 1.92184081e+00] [ 4.40651116e-03 9.99990289e-01 6.25451917e-05 5.60419888e-02] [ 4.19603377e-03 -8.10352975e-05 9.99991193e-01 -1.15231705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04463044 meters 0.2682568195972293 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.12 [[ 9.99980611e-01 -4.64263908e-03 -4.15014329e-03 1.92196433e+00] [ 4.64057840e-03 9.99989104e-01 -5.06024399e-04 5.84664413e-02] [ 4.15244736e-03 4.86755522e-04 9.99991260e-01 -1.15742947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10463044 meters 0.26777577590805113 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.12 [[ 9.99979606e-01 -4.81060188e-03 -4.20073826e-03 1.92213600e+00] [ 4.80683010e-03 9.99988035e-01 -9.07520896e-04 6.01839633e-02] [ 4.20505372e-03 8.87310153e-04 9.99990765e-01 -1.15900313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16463044 meters 0.26776720385375624 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.12 [[ 9.99979162e-01 -4.80907441e-03 -4.30675082e-03 1.92203365e+00] [ 4.80520270e-03 9.99988042e-01 -9.08883126e-04 6.01518965e-02] [ 4.31107021e-03 8.88169376e-04 9.99990313e-01 -1.15227798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22463044 meters 0.26853514563296976 Centerline is valid? [False, False] Translation: X:1.92, Y:0.06, Z:-0.12 [[ 9.99979312e-01 -4.78298738e-03 -4.30104627e-03 1.92203374e+00] [ 4.77939624e-03 9.99988222e-01 -8.44837733e-04 5.99607222e-02] [ 4.30503646e-03 8.24263850e-04 9.99990394e-01 -1.15197442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28463044 meters 0.2660430096709078 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:-0.12 [[ 0.99998714 0.00311161 -0.00400499 1.90303342] [-0.00312154 0.99999207 -0.00247505 0.05543828] [ 0.00399726 0.00248752 0.99998892 -0.11723684] [ 0. 0. 0. 1. ]] SLAMing on 152.34463044 meters 0.2683964394755268 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.12 [[ 9.99976335e-01 -3.23640897e-03 -6.07088215e-03 1.92666165e+00] [ 3.23645562e-03 9.99994763e-01 -2.14049672e-06 6.18009463e-02] [ 6.07085729e-03 -1.75076946e-05 9.99981572e-01 -1.17662555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40463044 meters 0.2682708498283528 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.12 [[ 9.99978347e-01 -3.31582738e-03 -5.68422885e-03 1.92576411e+00] [ 3.31464059e-03 9.99994483e-01 -2.18194451e-04 6.27471026e-02] [ 5.68492099e-03 1.99348551e-04 9.99983821e-01 -1.17600678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46463044 meters 0.26753426879194075 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.12 [[ 9.99978536e-01 -3.21041300e-03 -5.71148545e-03 1.92544633e+00] [ 3.21063589e-03 9.99994845e-01 2.98561245e-05 6.14885266e-02] [ 5.71136016e-03 -4.81929839e-05 9.99983689e-01 -1.16900746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52463043999998 meters 0.2672358421571057 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.12 [[ 9.99977565e-01 -3.10305519e-03 -5.93631825e-03 1.92638523e+00] [ 3.10497147e-03 9.99995130e-01 3.13616614e-04 6.01854430e-02] [ 5.93531617e-03 -3.32041677e-04 9.99982331e-01 -1.17660244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58463043999998 meters 0.26851482967289386 Centerline is valid? [False, False] Translation: X:1.93, Y:0.06, Z:-0.12 [[ 9.99974691e-01 -2.87675848e-03 -6.50700906e-03 1.92825329e+00] [ 2.88327417e-03 9.99995351e-01 9.92175397e-04 5.70304410e-02] [ 6.50412456e-03 -1.01091178e-03 9.99978337e-01 -1.18635652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64463044 meters 0.2665703266579341 Centerline is valid? [False, False] Translation: X:1.91, Y:0.05, Z:-0.12 [[ 0.99997451 0.00290666 -0.00652082 1.90595528] [-0.00292094 0.99999335 -0.00218207 0.05180253] [ 0.00651443 0.00220106 0.99997636 -0.11810722] [ 0. 0. 0. 1. ]] SLAMing on 152.70463044 meters 0.2676739663731249 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99986529e-01 -3.35000495e-03 -3.96487817e-03 1.92620643e+00] [ 3.35375584e-03 9.99993935e-01 9.39757898e-04 5.08881288e-02] [ 3.96170592e-03 -9.53042471e-04 9.99991698e-01 -1.18908963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76463044 meters 0.26655378929850587 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99986387e-01 -3.33955969e-03 -4.00916548e-03 1.92640184e+00] [ 3.34345304e-03 9.99993945e-01 9.64804330e-04 5.07511021e-02] [ 4.00591919e-03 -9.78195652e-04 9.99991498e-01 -1.19080524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82463044 meters 0.26912090764223373 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.12 [[ 9.99993469e-01 2.88548104e-03 -2.17634517e-03 1.94908885e+00] [-2.88913198e-03 9.99994421e-01 -1.67628028e-03 5.32472745e-02] [ 2.17149615e-03 1.68255708e-03 9.99996227e-01 -1.20337075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88463044 meters 0.2689099340568886 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.12 [[ 9.99993046e-01 2.91700462e-03 -2.32362230e-03 1.94904752e+00] [-2.92075800e-03 9.99994433e-01 -1.61356340e-03 5.26649992e-02] [ 2.31890259e-03 1.62033892e-03 9.99995999e-01 -1.19704665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94463044 meters 0.2675315930125397 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99981584e-01 -4.73983093e-03 -3.79012690e-03 1.93024480e+00] [ 4.73958551e-03 9.99988765e-01 -7.37315862e-05 5.45854788e-02] [ 3.79043379e-03 5.57665978e-05 9.99992815e-01 -1.21220838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00463044 meters 0.2699374482004718 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99981392e-01 -4.69750000e-03 -3.89222533e-03 1.93031667e+00] [ 4.69763438e-03 9.99988966e-01 2.53835832e-05 5.41311096e-02] [ 3.89206314e-03 -4.36673623e-05 9.99992425e-01 -1.20860144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06463044 meters 0.2672572170928749 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99989531e-01 -3.07760113e-03 -3.38615795e-03 1.92608645e+00] [ 3.08411404e-03 9.99993401e-01 1.91985533e-03 5.19399747e-02] [ 3.38022705e-03 -1.93027853e-03 9.99992424e-01 -1.16443578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12463044 meters 0.2683931523208336 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99988762e-01 -3.18513425e-03 -3.51143249e-03 1.92617183e+00] [ 3.19105212e-03 9.99993496e-01 1.68100062e-03 5.30494086e-02] [ 3.50605543e-03 -1.69218690e-03 9.99992422e-01 -1.16080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18463044 meters 0.2676783729202252 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99987572e-01 -3.29681328e-03 -3.73987762e-03 1.92653072e+00] [ 3.30215335e-03 9.99993536e-01 1.42259933e-03 5.42260941e-02] [ 3.73516340e-03 -1.43493130e-03 9.99991995e-01 -1.15793084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24463043999998 meters 0.26690770470913855 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99986932e-01 -3.29992862e-03 -3.90474526e-03 1.92691760e+00] [ 3.30551548e-03 9.99993521e-01 1.42520033e-03 5.43158156e-02] [ 3.90001690e-03 -1.43808890e-03 9.99991361e-01 -1.15772562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30463043999998 meters 0.2672705010741597 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99984097e-01 -3.30002889e-03 -4.57334211e-03 1.92856615e+00] [ 3.30672095e-03 9.99993472e-01 1.45648829e-03 5.40429269e-02] [ 4.56850581e-03 -1.47158790e-03 9.99988482e-01 -1.16118009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36463043999998 meters 0.26745403206613705 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99983520e-01 -3.27194403e-03 -4.71733259e-03 1.92891244e+00] [ 3.27915045e-03 9.99993467e-01 1.52072365e-03 5.37595683e-02] [ 4.71232605e-03 -1.53616744e-03 9.99987717e-01 -1.16113242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42463044 meters 0.26569777367384245 Centerline is valid? [False, False] Translation: X:1.91, Y:0.05, Z:-0.12 [[ 9.99974115e-01 5.32258840e-03 -4.84134167e-03 1.90953708e+00] [-5.31887918e-03 9.99985551e-01 7.78707153e-04 4.80178949e-02] [ 4.84541646e-03 -7.52936485e-04 9.99987977e-01 -1.16842324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48463044 meters 0.26693151613977856 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 0.99999121 -0.00283635 -0.00308628 1.92892979] [ 0.00284321 0.9999935 0.00221865 0.04827292] [ 0.00307996 -0.00222741 0.99999278 -0.11566884] [ 0. 0. 0. 1. ]] SLAMing on 153.54463044 meters 0.2668694493556122 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 0.99999097 -0.00272371 -0.00326257 1.92934614] [ 0.0027318 0.9999932 0.00247887 0.04704093] [ 0.00325579 -0.00248776 0.99999161 -0.1156491 ] [ 0. 0. 0. 1. ]] SLAMing on 153.60463044 meters 0.26922976391566755 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.12 [[ 9.99984662e-01 3.87822726e-03 -3.95409205e-03 1.95285122e+00] [-3.87866025e-03 9.99992473e-01 -1.01841874e-04 4.68971366e-02] [ 3.95366732e-03 1.17176892e-04 9.99992177e-01 -1.15860657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66463044 meters 0.267320744092197 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.12 [[ 9.99983642e-01 -4.87794638e-03 -2.98674866e-03 1.93104776e+00] [ 4.87918582e-03 9.99988014e-01 4.07835925e-04 4.93889900e-02] [ 2.98472345e-03 -4.22402155e-04 9.99995456e-01 -1.15510278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72463044 meters 0.26827098038242847 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.11 [[ 9.99995666e-01 2.87208879e-03 -6.46867323e-04 1.94927967e+00] [-2.87280680e-03 9.99995255e-01 -1.11179731e-03 5.11070453e-02] [ 6.43671073e-04 1.11365082e-03 9.99999173e-01 -1.13028044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78463044 meters 0.2684722883184128 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.11 [[ 9.99995733e-01 2.83913697e-03 -6.87549230e-04 1.94937456e+00] [-2.83995407e-03 9.99995259e-01 -1.19038368e-03 5.14592687e-02] [ 6.84166308e-04 1.19233121e-03 9.99999055e-01 -1.13053404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84463044 meters 0.26741080573625947 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.11 [[ 9.99995925e-01 2.82640691e-03 -4.00589240e-04 1.94797680e+00] [-2.82680616e-03 9.99995505e-01 -9.99622115e-04 5.02282786e-02] [ 3.97762101e-04 1.00075043e-03 9.99999420e-01 -1.11435553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90463044 meters 0.26688673784001216 Centerline is valid? [False, False] Translation: X:1.95, Y:0.05, Z:-0.11 [[ 9.99995381e-01 2.98583995e-03 -5.67374951e-04 1.94787000e+00] [-2.98614505e-03 9.99995397e-01 -5.37649577e-04 4.83926675e-02] [ 5.65767003e-04 5.39341358e-04 9.99999695e-01 -1.10474194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96463044 meters 0.26702426358372733 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.11 [[ 9.99980257e-01 -4.77613066e-03 -4.08339497e-03 1.93112705e+00] [ 4.78036544e-03 9.99988046e-01 1.02794195e-03 4.54984472e-02] [ 4.07843657e-03 -1.04744178e-03 9.99991135e-01 -1.12252858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02463043999998 meters 0.2675335697858676 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.11 [[ 9.99971527e-01 3.32235394e-03 -6.77546387e-03 1.95357913e+00] [-3.31737776e-03 9.99994220e-01 7.45547699e-04 3.76949561e-02] [ 6.77790168e-03 -7.23049698e-04 9.99976768e-01 -1.11323780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08463043999998 meters 0.26731070665199863 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.11 [[ 9.99970228e-01 3.48692372e-03 -6.88369917e-03 1.95347443e+00] [-3.47914066e-03 9.99993295e-01 1.14230272e-03 3.59187982e-02] [ 6.88763614e-03 -1.11831936e-03 9.99975655e-01 -1.10638194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14463044 meters 0.2674286612426755 Centerline is valid? [False, False] Translation: X:1.98, Y:0.04, Z:-0.11 [[ 0.99996367 -0.0051589 -0.00678603 1.97503908] [ 0.00517349 0.99998434 0.00213507 0.03648394] [ 0.00677491 -0.0021701 0.9999747 -0.11040395] [ 0. 0. 0. 1. ]] SLAMing on 154.20463044 meters 0.2690669369349432 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:-0.11 [[ 0.99996536 -0.00465749 -0.0068986 1.97534338] [ 0.00468079 0.99998338 0.00336571 0.0308062 ] [ 0.00688281 -0.00339788 0.99997054 -0.11034628] [ 0. 0. 0. 1. ]] SLAMing on 154.26463044 meters 0.2683133513353504 Centerline is valid? [False, False] Translation: X:1.98, Y:0.02, Z:-0.11 [[ 0.99996504 -0.0041912 -0.00723602 1.97567413] [ 0.00422401 0.99998085 0.00452406 0.02128924] [ 0.00721693 -0.00455447 0.99996359 -0.10949433] [ 0. 0. 0. 1. ]] SLAMing on 154.32463044 meters 0.26880287434490063 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:-0.11 [[ 0.99997104 0.00364083 -0.00668243 1.99515642] [-0.00361508 0.99998601 0.00386167 0.01300678] [ 0.0066964 -0.00383741 0.99997022 -0.10794174] [ 0. 0. 0. 1. ]] SLAMing on 154.38463044 meters 0.2691209553210976 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:-0.11 [[ 9.99976866e-01 -4.20380047e-04 -6.78902711e-03 1.99503031e+00] [ 4.22531616e-04 9.99999861e-01 3.15487430e-04 1.03504234e-02] [ 6.78889354e-03 -3.18348710e-04 9.99976905e-01 -1.07322491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44463044 meters 0.27049432698606224 Centerline is valid? [False, False] Translation: X:2.00, Y:0.01, Z:-0.11 [[ 9.99974659e-01 -1.77810291e-04 -7.11682707e-03 1.99590734e+00] [ 1.84684822e-04 9.99999517e-01 9.65308863e-04 7.79358140e-03] [ 7.11665200e-03 -9.66598771e-04 9.99974209e-01 -1.07619029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50463044 meters 0.2725198504742662 Centerline is valid? [False, False] Translation: X:2.02, Y:0.01, Z:-0.11 [[ 9.99969681e-01 5.88233694e-03 -5.10253483e-03 2.01682184e+00] [-5.89249697e-03 9.99980682e-01 -1.97842900e-03 7.17526914e-03] [ 5.09079847e-03 2.00843568e-03 9.99985025e-01 -1.07640680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56463044 meters 0.27323541672504503 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:-0.11 [[ 9.99966955e-01 6.12872435e-03 -5.34119816e-03 2.01704144e+00] [-6.13620825e-03 9.99980213e-01 -1.38590609e-03 4.53497615e-03] [ 5.33259864e-03 1.41863499e-03 9.99984775e-01 -1.07027555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62463044 meters 0.27071731189787973 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.11 [[ 9.99989223e-01 -2.95363816e-03 -3.58200207e-03 1.99326318e+00] [ 2.95006433e-03 9.99995146e-01 -1.00259160e-03 5.30780205e-03] [ 3.58494598e-03 9.92013659e-04 9.99993082e-01 -1.06471269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68463044 meters 0.2703123006518423 Centerline is valid? [False, False] Translation: X:1.99, Y:0.00, Z:-0.11 [[ 9.99989184e-01 -2.90719343e-03 -3.63038137e-03 1.99310786e+00] [ 2.90399606e-03 9.99995391e-01 -8.85684624e-04 4.82675817e-03] [ 3.63293950e-03 8.75132431e-04 9.99993018e-01 -1.05938873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74463043999998 meters 0.27125091653057365 Centerline is valid? [False, False] Translation: X:1.99, Y:0.00, Z:-0.11 [[ 9.99988949e-01 -2.90478605e-03 -3.69662117e-03 1.99327510e+00] [ 2.90156959e-03 9.99995407e-01 -8.75173100e-04 4.79296462e-03] [ 3.69914638e-03 8.64437425e-04 9.99992785e-01 -1.06003006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80463043999998 meters 0.27298960939562056 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.11 [[ 9.99988657e-01 -2.93261929e-03 -3.75319009e-03 1.99348380e+00] [ 2.92907813e-03 9.99995260e-01 -9.48654726e-04 5.04493496e-03] [ 3.75595435e-03 9.37650578e-04 9.99992507e-01 -1.06164282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86463043999998 meters 0.2721232541312306 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.11 [[ 9.99988607e-01 -3.00316336e-03 -3.71036442e-03 1.99326480e+00] [ 2.99905136e-03 9.99994883e-01 -1.11331313e-03 5.82163257e-03] [ 3.71368889e-03 1.10217288e-03 9.99992497e-01 -1.05956067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92463044 meters 0.2701177491958722 Centerline is valid? [False, False] Translation: X:1.97, Y:0.00, Z:-0.11 [[ 0.99998878 0.00298464 -0.00367897 1.97102511] [-0.003 0.99998679 -0.00417448 0.00293014] [ 0.00366646 0.00418547 0.99998452 -0.1058455 ] [ 0. 0. 0. 1. ]] SLAMing on 154.98463044 meters 0.27241031266900795 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.11 [[ 0.99997641 -0.00523177 -0.00444973 1.99222451] [ 0.00521659 0.99998056 -0.00341598 0.00804889] [ 0.00446751 0.00339268 0.99998427 -0.10501506] [ 0. 0. 0. 1. ]] SLAMing on 155.04463044 meters 0.27256776129813004 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 0.99999164 0.00277844 -0.00299929 2.01177908] [-0.00279234 0.99998534 -0.00463979 0.00715605] [ 0.00298635 0.00464813 0.99998474 -0.10346161] [ 0. 0. 0. 1. ]] SLAMing on 155.10463044 meters 0.2706280453272577 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.10 [[ 9.99986684e-01 -3.53375406e-03 -3.76089991e-03 1.99003712e+00] [ 3.52761183e-03 9.99992436e-01 -1.63856366e-03 7.49060760e-03] [ 3.76666174e-03 1.62527484e-03 9.99991585e-01 -1.02964420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16463044 meters 0.27067041364002364 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.10 [[ 9.99986215e-01 -3.60882328e-03 -3.81398823e-03 1.99021206e+00] [ 3.60187640e-03 9.99991845e-01 -1.82672506e-03 8.22097730e-03] [ 3.82054945e-03 1.81296237e-03 9.99991058e-01 -1.03086885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22463044 meters 0.2698307014828548 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.10 [[ 0.99998603 -0.00373466 -0.0037393 1.9896663 ] [ 0.00372621 0.9999905 -0.00226346 0.01060539] [ 0.00374772 0.00224949 0.99999045 -0.10259324] [ 0. 0. 0. 1. ]] SLAMing on 155.28463044 meters 0.2727209430099759 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99989986e-01 4.10225879e-03 -1.78853874e-03 2.00893621e+00] [-4.10874134e-03 9.99984949e-01 -3.63601736e-03 1.12202021e-02] [ 1.77359593e-03 3.64332959e-03 9.99991790e-01 -1.01235082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34463044 meters 0.2727956482599087 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99991016e-01 3.88429118e-03 -1.69687619e-03 2.00858283e+00] [-3.89137528e-03 9.99983644e-01 -4.19162907e-03 1.35886422e-02] [ 1.68056693e-03 4.19819460e-03 9.99989775e-01 -1.01047282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40463044 meters 0.27042041568438874 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99995374e-01 -1.38629332e-03 -2.70755360e-03 1.98675186e+00] [ 1.38468263e-03 9.99998863e-01 -5.96670199e-04 1.51753475e-02] [ 2.70837769e-03 5.92918336e-04 9.99996157e-01 -1.01224220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46463044 meters 0.27078972115921096 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99995159e-01 -1.59068912e-03 -2.67420892e-03 1.98635147e+00] [ 1.58776291e-03 9.99998139e-01 -1.09600142e-03 1.74332463e-02] [ 2.67594734e-03 1.09175010e-03 9.99995824e-01 -1.00633060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52463043999998 meters 0.2711155833950783 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99994612e-01 -1.80721763e-03 -2.74037617e-03 1.98629597e+00] [ 1.80278773e-03 9.99997066e-01 -1.61813905e-03 1.96972033e-02] [ 2.74329246e-03 1.61319002e-03 9.99994936e-01 -1.00282496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58463043999998 meters 0.27076809259469997 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99994012e-01 -1.96574693e-03 -2.84820767e-03 1.98650815e+00] [ 1.96010207e-03 9.99996112e-01 -1.98333761e-03 2.14339459e-02] [ 2.85209534e-03 1.97774295e-03 9.99993977e-01 -1.00281477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64463044 meters 0.26978395708249614 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99993472e-01 -1.94840986e-03 -3.04300639e-03 1.98684280e+00] [ 1.94250059e-03 9.99996224e-01 -1.94366767e-03 2.11809855e-02] [ 3.04678196e-03 1.93774394e-03 9.99993481e-01 -1.00100782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70463044 meters 0.270134427868438 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99992463e-01 -1.90685776e-03 -3.38205052e-03 1.98744868e+00] [ 1.90064400e-03 9.99996502e-01 -1.83953733e-03 2.07301625e-02] [ 3.38554643e-03 1.83309540e-03 9.99992589e-01 -9.98044763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76463044 meters 0.2712319857974984 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99992271e-01 -1.96782271e-03 -3.40363927e-03 1.98762701e+00] [ 1.96107797e-03 9.99996109e-01 -1.98382974e-03 2.13625833e-02] [ 3.40752985e-03 1.97713960e-03 9.99992240e-01 -1.00051098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82463044 meters 0.2701606163664559 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 0.9999926 -0.00204433 -0.00325971 1.98707476] [ 0.00203724 0.99999556 -0.00217647 0.02218628] [ 0.00326414 0.00216981 0.99999232 -0.09966688] [ 0. 0. 0. 1. ]] SLAMing on 155.88463044 meters 0.2704149623157577 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.10 [[ 9.99992511e-01 -1.91899000e-03 -3.36078298e-03 1.98718342e+00] [ 1.91268770e-03 9.99996408e-01 -1.87745872e-03 2.08194537e-02] [ 3.36437373e-03 1.87101653e-03 9.99992590e-01 -9.94217083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94463044 meters 0.27136413081061367 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99982124e-01 5.66378729e-03 -1.91674715e-03 2.00557904e+00] [-5.66926070e-03 9.99979833e-01 -2.86229291e-03 1.36983423e-02] [ 1.90049708e-03 2.87310828e-03 9.99994067e-01 -9.73268420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00463044 meters 0.27064165146697106 Centerline is valid? [False, False] Translation: X:2.01, Y:0.01, Z:-0.10 [[ 9.99980500e-01 5.93894907e-03 -1.93078745e-03 2.00551842e+00] [-5.94309774e-03 9.99980028e-01 -2.15010312e-03 1.05168402e-02] [ 1.91797953e-03 2.16153605e-03 9.99995825e-01 -9.71042548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06463044 meters 0.26860681676961234 Centerline is valid? [False, False] Translation: X:1.98, Y:0.00, Z:-0.10 [[ 9.99987671e-01 -3.44165077e-03 -3.57958021e-03 1.98403734e+00] [ 3.43660218e-03 9.99993093e-01 -1.41558214e-03 1.04896514e-03] [ 3.58442743e-03 1.40326309e-03 9.99992591e-01 -9.67321851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12463044 meters 0.2701975693221054 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.00, Z:-0.10 [[ 9.99988537e-01 -3.11473125e-03 -3.63639072e-03 1.98416124e+00] [ 3.11237914e-03 9.99994944e-01 -6.52306799e-04 -2.33873268e-03] [ 3.63840410e-03 6.40981495e-04 9.99993176e-01 -9.66367268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18463044 meters 0.2694859655585812 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:-0.10 [[ 9.99988747e-01 -2.90342966e-03 -3.75192708e-03 1.98436699e+00] [ 2.90296124e-03 9.99995778e-01 -1.30287725e-04 -5.00779056e-03] [ 3.75228952e-03 1.19394560e-04 9.99992953e-01 -9.64818507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24463043999998 meters 0.27120422223241747 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.01, Z:-0.10 [[ 9.99988731e-01 -2.74606911e-03 -3.87257316e-03 1.98490473e+00] [ 2.74710776e-03 9.99996192e-01 2.62913450e-04 -6.65033837e-03] [ 3.87183643e-03 -2.73548863e-04 9.99992467e-01 -9.68971917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30463043999998 meters 0.2709615509193547 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99989314e-01 -2.58227184e-03 -3.83460503e-03 1.98511113e+00] [ 2.58470072e-03 9.99996462e-01 6.28590194e-04 -8.46956800e-03] [ 3.83296827e-03 -6.38494783e-04 9.99992450e-01 -9.73293398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36463043999998 meters 0.27156994617815866 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99989467e-01 -2.49555557e-03 -3.85193035e-03 1.98525191e+00] [ 2.49876564e-03 9.99996535e-01 8.28779455e-04 -9.38843992e-03] [ 3.84984873e-03 -8.38395797e-04 9.99992238e-01 -9.74788630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42463044 meters 0.27434039855835085 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.10 [[ 9.99989369e-01 -2.42240579e-03 -3.92344395e-03 1.98608254e+00] [ 2.42637666e-03 9.99996549e-01 1.00764490e-03 -1.01095603e-02] [ 3.92098948e-03 -1.01715394e-03 9.99991796e-01 -9.86838772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48463044 meters 0.27319240171804887 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.99996734 0.00357248 -0.00725009 1.96976642] [-0.00358939 0.99999087 -0.00232016 -0.01050019] [ 0.00724174 0.00234611 0.99997103 -0.10054146] [ 0. 0. 0. 1. ]] SLAMing on 156.54463044 meters 0.2706380565071274 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.9999691 0.00331195 -0.00712925 1.96889536] [-0.00333406 0.99998966 -0.00309143 -0.00674379] [ 0.00711894 0.0031151 0.99996981 -0.09959561] [ 0. 0. 0. 1. ]] SLAMing on 156.60463044 meters 0.2723049305996014 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.99996989 0.00317193 -0.00708241 1.96839724] [-0.0031963 0.999989 -0.00343312 -0.00512135] [ 0.00707144 0.00345565 0.99996903 -0.098846 ] [ 0. 0. 0. 1. ]] SLAMing on 156.66463044 meters 0.2711661956390733 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.00, Z:-0.10 [[ 0.99997016 0.00311322 -0.00707033 1.96806339] [-0.00313868 0.99998862 -0.00359301 -0.00424956] [ 0.00705906 0.0036151 0.99996855 -0.09827124] [ 0. 0. 0. 1. ]] SLAMing on 156.72463044 meters 0.26942770568693136 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.01, Z:-0.10 [[ 0.99997793 0.00283477 -0.00600873 1.9646051 ] [-0.00285563 0.99998992 -0.00346629 -0.00579485] [ 0.00599884 0.00348337 0.99997594 -0.09546798] [ 0. 0. 0. 1. ]] SLAMing on 156.78463044 meters 0.27056143311408815 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.01, Z:-0.10 [[ 0.99997664 0.0030232 -0.00612945 1.9648593 ] [-0.00304125 0.99999106 -0.00293662 -0.007985 ] [ 0.00612051 0.00295519 0.9999769 -0.0953695 ] [ 0. 0. 0. 1. ]] SLAMing on 156.84463044 meters 0.26924946839500236 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.10 [[ 0.9999758 0.00325596 -0.00614871 1.96500114] [-0.00327045 0.9999919 -0.00234667 -0.0106764 ] [ 0.00614102 0.00236673 0.99997834 -0.09550507] [ 0. 0. 0. 1. ]] SLAMing on 156.90463044 meters 0.26777593042654757 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.09 [[ 9.99972808e-01 3.61979037e-03 -6.42493305e-03 1.96526993e+00] [-3.62967590e-03 9.99992246e-01 -1.52762769e-03 -1.45156820e-02] [ 6.41935354e-03 1.55090658e-03 9.99978193e-01 -9.48196362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96463044 meters 0.26961845263864187 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.10 [[ 9.99971705e-01 3.75508148e-03 -6.51837312e-03 1.96595073e+00] [-3.76289817e-03 9.99992215e-01 -1.18732878e-03 -1.59496782e-02] [ 6.51386386e-03 1.21182315e-03 9.99978050e-01 -9.56723571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02463043999998 meters 0.27095653424146043 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.10 [[ 9.99971326e-01 3.98537075e-03 -6.43920723e-03 1.96579271e+00] [-3.98987463e-03 9.99991805e-01 -6.86752610e-04 -1.86206052e-02] [ 6.43641749e-03 7.12424548e-04 9.99979032e-01 -9.55947738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08463043999998 meters 0.2689425213798338 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.10 [[ 9.99971215e-01 -4.04703489e-03 -6.41803134e-03 1.94561568e+00] [ 4.05590032e-03 9.99990838e-01 1.36891823e-03 -2.05615595e-02] [ 6.41243248e-03 -1.39490972e-03 9.99978467e-01 -9.68795552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14463044 meters 0.2720156355692509 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.10 [[ 9.99976085e-01 2.30594323e-03 -6.52013668e-03 1.97005924e+00] [-2.31489451e-03 9.99996388e-01 -1.36565304e-03 -2.13286406e-02] [ 6.51696401e-03 1.38071381e-03 9.99977811e-01 -9.82661243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20463044 meters 0.26967236273499473 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 9.99954157e-01 1.23144276e-03 -9.49564473e-03 1.92905948e+00] [-1.25144134e-03 9.99997011e-01 -2.10042489e-03 -2.64792291e-02] [ 9.49302980e-03 2.11221185e-03 9.99952709e-01 -9.92945249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26463044 meters 0.26976525690840975 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 9.99953604e-01 1.29163722e-03 -9.54577659e-03 1.92902204e+00] [-1.31033199e-03 9.99997236e-01 -1.95243880e-03 -2.70759809e-02] [ 9.54322835e-03 1.96485635e-03 9.99952532e-01 -9.90057138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32463044 meters 0.2706411978828031 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.99936973e-01 -7.00061904e-03 -8.77731395e-03 1.94978669e+00] [ 6.98944816e-03 9.99974725e-01 -1.30272928e-03 -2.53557881e-02] [ 8.78621201e-03 1.24129859e-03 9.99960630e-01 -9.76492896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38463044 meters 0.2707889411456235 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 9.99946245e-01 4.19911320e-04 -1.03601019e-02 1.93217592e+00] [-4.48821051e-04 9.99996012e-01 -2.78832002e-03 -2.95820473e-02] [ 1.03588897e-02 2.79281996e-03 9.99942445e-01 -1.00499288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44463044 meters 0.27087216100564676 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.99960788e-01 -4.68628866e-03 -7.51402737e-03 1.95124096e+00] [ 4.69257590e-03 9.99988654e-01 8.19321437e-04 -2.84022800e-02] [ 7.51010254e-03 -8.54549453e-04 9.99971434e-01 -9.97955288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50463044 meters 0.26915402414999756 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.99959523e-01 -4.74207080e-03 -7.64621850e-03 1.95102256e+00] [ 4.74748871e-03 9.99988492e-01 6.90579814e-04 -2.77694222e-02] [ 7.64285573e-03 -7.26852197e-04 9.99970529e-01 -9.88817234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56463044 meters 0.26917212366961 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.99960746e-01 -4.78520124e-03 -7.45710578e-03 1.95037712e+00] [ 4.78973855e-03 9.99988355e-01 5.90713785e-04 -2.71947809e-02] [ 7.45419226e-03 -6.26408184e-04 9.99972021e-01 -9.84950556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62463044 meters 0.26701158310274786 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 9.99975004e-01 3.21755847e-03 -6.29586491e-03 1.93000256e+00] [-3.22029885e-03 9.99994724e-01 -4.25177729e-04 -3.23140683e-02] [ 6.29446366e-03 4.45441668e-04 9.99980090e-01 -9.91173234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68463044 meters 0.2695463069677783 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 0.99998962 -0.00229731 -0.00393592 1.94898153] [ 0.00231058 0.99999165 0.00337038 -0.03227541] [ 0.00392815 -0.00337944 0.99998657 -0.09815896] [ 0. 0. 0. 1. ]] SLAMing on 157.74463043999998 meters 0.2673668852961174 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.04, Z:-0.10 [[ 9.99988375e-01 2.07669484e-03 -4.35163771e-03 1.92859158e+00] [-2.08089079e-03 9.99997374e-01 -9.59918283e-04 -3.76255672e-02] [ 4.34963283e-03 9.68962407e-04 9.99990071e-01 -9.90473044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80463043999998 meters 0.2668550204664526 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.04, Z:-0.10 [[ 9.99960151e-01 -4.81491473e-03 -7.51749093e-03 1.91282407e+00] [ 4.82648394e-03 9.99987195e-01 1.52158894e-03 -3.65630414e-02] [ 7.51006835e-03 -1.55781135e-03 9.99970586e-01 -1.01795590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86463043999998 meters 0.26794519147328744 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.04, Z:-0.10 [[ 9.99960476e-01 -4.67037909e-03 -7.56531465e-03 1.91357999e+00] [ 4.68473718e-03 9.99987257e-01 1.88127609e-03 -3.86860212e-02] [ 7.55643197e-03 -1.91664324e-03 9.99969613e-01 -1.02752385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92463044 meters 0.26991427063878304 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99955901e-01 4.10495728e-03 -8.44656557e-03 1.93584490e+00] [-4.09375799e-03 9.99990719e-01 1.34276110e-03 -4.13691446e-02] [ 8.45199915e-03 -1.30812369e-03 9.99963426e-01 -1.02338787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98463044 meters 0.2709834563647354 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99955278e-01 4.16196679e-03 -8.49230906e-03 1.93641940e+00] [-4.14951779e-03 9.99990291e-01 1.48300797e-03 -4.21231173e-02] [ 8.49839884e-03 -1.44770266e-03 9.99962840e-01 -1.03116560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04463044 meters 0.2704490815411689 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99956015e-01 4.16120141e-03 -8.40544831e-03 1.93620328e+00] [-4.14883896e-03 9.99990287e-01 1.48766855e-03 -4.20762245e-02] [ 8.41155716e-03 -1.45273027e-03 9.99963567e-01 -1.03068783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10463044 meters 0.26903074775113206 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.04, Z:-0.10 [[ 0.99995999 -0.00429581 -0.00784692 1.91602403] [ 0.00431652 0.99998724 0.00262483 -0.03931875] [ 0.00783554 -0.0026586 0.99996577 -0.10441093] [ 0. 0. 0. 1. ]] SLAMing on 158.16463044 meters 0.26930176997622896 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.04, Z:-0.10 [[ 0.99996093 -0.00429792 -0.00772457 1.91559535] [ 0.00431829 0.99998724 0.00262224 -0.03924856] [ 0.0077132 -0.0026555 0.99996673 -0.10416082] [ 0. 0. 0. 1. ]] SLAMing on 158.22463044 meters 0.2689565426647711 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.04, Z:-0.10 [[ 0.99996223 -0.00420681 -0.00760586 1.9149613 ] [ 0.00422854 0.99998701 0.00284426 -0.04011975] [ 0.0075938 -0.00287631 0.99996703 -0.10342818] [ 0. 0. 0. 1. ]] SLAMing on 158.28463044 meters 0.2696761597304301 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99974093e-01 1.64059838e-03 -7.00867275e-03 1.93774660e+00] [-1.64278162e-03 9.99998604e-01 -3.05759402e-04 -4.20541126e-02] [ 7.00816134e-03 3.17265200e-04 9.99975392e-01 -1.03994135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34463044 meters 0.26886281622594066 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99973862e-01 1.78951662e-03 -7.00526169e-03 1.93771479e+00] [-1.78902972e-03 9.99998397e-01 7.57712539e-05 -4.36412078e-02] [ 7.00538606e-03 -6.32366521e-05 9.99975460e-01 -1.03895525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40463044 meters 0.2679592799041532 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99973832e-01 1.98041340e-03 -6.95791531e-03 1.93701576e+00] [-1.97610464e-03 9.99997852e-01 6.26081733e-04 -4.59126854e-02] [ 6.95914026e-03 -6.12315781e-04 9.99975597e-01 -1.02739500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46463044 meters 0.26738411966892894 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99970922e-01 2.09015976e-03 -7.33389467e-03 1.93793286e+00] [-2.08312063e-03 9.99997362e-01 9.67314710e-04 -4.75798964e-02] [ 7.33589717e-03 -9.52009195e-04 9.99972639e-01 -1.02912658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52463043999998 meters 0.2667804873658073 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99968356e-01 2.26218564e-03 -7.62687889e-03 1.93879978e+00] [-2.25029262e-03 9.99996239e-01 1.56757728e-03 -4.98618251e-02] [ 7.63039636e-03 -1.55036497e-03 9.99969686e-01 -1.03277529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58463043999998 meters 0.2668337037499804 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99964754e-01 2.33210336e-03 -8.06547574e-03 1.93961387e+00] [-2.31755359e-03 9.99995671e-01 1.81283214e-03 -5.09499597e-02] [ 8.06966854e-03 -1.79407608e-03 9.99965830e-01 -1.03010945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64463044 meters 0.2666784292236119 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 0.99996411 0.00241454 -0.0081209 1.93992148] [-0.00239801 0.99999503 0.00204476 -0.05189958] [ 0.0081258 -0.00202521 0.99996493 -0.10329628] [ 0. 0. 0. 1. ]] SLAMing on 158.70463044 meters 0.2662208392922335 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 0.99996502 0.00238198 -0.00801757 1.93944455] [-0.00236626 0.99999526 0.00196971 -0.05154291] [ 0.00802223 -0.00195067 0.99996592 -0.10283744] [ 0. 0. 0. 1. ]] SLAMing on 158.76463044 meters 0.26560397599862234 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99963912e-01 2.17165022e-03 -8.21332331e-03 1.93997527e+00] [-2.15996664e-03 9.99996643e-01 1.43111941e-03 -4.92411523e-02] [ 8.21640363e-03 -1.41332726e-03 9.99965246e-01 -1.03020743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82463044 meters 0.2663550735996408 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99964985e-01 2.07532389e-03 -8.10686060e-03 1.93992017e+00] [-2.06559153e-03 9.99997136e-01 1.20869783e-03 -4.82596432e-02] [ 8.10934583e-03 -1.19191005e-03 9.99966408e-01 -1.03364180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88463044 meters 0.2667266981984754 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99964522e-01 2.11509784e-03 -8.15353518e-03 1.94013911e+00] [-2.10449051e-03 9.99996928e-01 1.30930912e-03 -4.86311992e-02] [ 8.15627945e-03 -1.29210363e-03 9.99965902e-01 -1.03531199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94463044 meters 0.2675100452838501 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99964752e-01 2.02622796e-03 -8.14796290e-03 1.94040708e+00] [-2.01731751e-03 9.99997358e-01 1.10164995e-03 -4.76974512e-02] [ 8.15017357e-03 -1.08517409e-03 9.99966198e-01 -1.04031514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00463044 meters 0.2666543635814086 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.10 [[ 9.99967530e-01 1.81839727e-03 -7.85060242e-03 1.93972607e+00] [-1.81445176e-03 9.99998224e-01 5.09667269e-04 -4.53318254e-02] [ 7.85151525e-03 -4.95406180e-04 9.99969054e-01 -1.03968836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06463044 meters 0.26639031859406176 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99967187e-01 1.72399742e-03 -7.91537950e-03 1.93978508e+00] [-1.72176753e-03 9.99998476e-01 2.88522093e-04 -4.43502037e-02] [ 7.91586485e-03 -2.74884182e-04 9.99968631e-01 -1.03826583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12463044 meters 0.2675299063562322 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99966066e-01 1.62439739e-03 -8.07645564e-03 1.94024032e+00] [-1.62411323e-03 9.99998680e-01 4.17414874e-05 -4.31771657e-02] [ 8.07651278e-03 -2.86229925e-05 9.99967384e-01 -1.03998956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18463044 meters 0.2685642716850981 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99967938e-01 1.46096235e-03 -7.87330861e-03 1.93991839e+00] [-1.46418641e-03 9.99998847e-01 -4.03743715e-04 -4.13679514e-02] [ 7.87270967e-03 4.15258761e-04 9.99968924e-01 -1.04280657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24463043999998 meters 0.26799100536786763 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.04, Z:-0.10 [[ 9.99968665e-01 1.26645469e-03 -7.81436069e-03 1.93989254e+00] [-1.27422042e-03 9.99998699e-01 -9.88877864e-04 -3.88702568e-02] [ 7.81309815e-03 9.98804096e-04 9.99968978e-01 -1.04537979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30463043999998 meters 0.26827717377633437 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.11 [[ 9.99970650e-01 1.02415416e-03 -7.59281202e-03 1.93973865e+00] [-1.03822248e-03 9.99997751e-01 -1.84913697e-03 -3.49333028e-02] [ 7.59090115e-03 1.85696572e-03 9.99969464e-01 -1.05236943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36463043999998 meters 0.26701615948292967 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.11 [[ 9.99972144e-01 7.51250045e-04 -7.42611225e-03 1.93923127e+00] [-7.69950457e-04 9.99996539e-01 -2.51565876e-03 -3.19657329e-02] [ 7.42419667e-03 2.52130642e-03 9.99969262e-01 -1.05023162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42463044 meters 0.2670114085787372 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.11 [[ 9.99971679e-01 3.44015258e-04 -7.51820601e-03 1.93944151e+00] [-3.69835454e-04 9.99994038e-01 -3.43323557e-03 -2.80182008e-02] [ 7.51698011e-03 3.43591884e-03 9.99965844e-01 -1.05142242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48463044 meters 0.2668423591471744 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.11 [[ 9.99972813e-01 1.24495818e-04 -7.37271811e-03 1.93905582e+00] [-1.53476878e-04 9.99992264e-01 -3.93041610e-03 -2.57277813e-02] [ 7.37217176e-03 3.93144079e-03 9.99965097e-01 -1.05079691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54463044 meters 0.2658135127389068 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.10 [[ 9.99971512e-01 -2.48632909e-04 -7.54414453e-03 1.93853418e+00] [ 2.12505390e-04 9.99988509e-01 -4.78923966e-03 -2.16791462e-02] [ 7.54524860e-03 4.78750005e-03 9.99960074e-01 -1.03727709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60463044 meters 0.2669464276324773 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.02, Z:-0.11 [[ 9.99959670e-01 1.89521734e-03 -8.77874761e-03 1.94405015e+00] [-1.92334751e-03 9.99993040e-01 -3.19701487e-03 -1.78092983e-02] [ 8.77262747e-03 3.21377051e-03 9.99956355e-01 -1.07362619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66463044 meters 0.26741518484644633 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.11 [[ 9.99961100e-01 1.56504752e-03 -8.68042031e-03 1.94376283e+00] [-1.59955721e-03 9.99990840e-01 -3.97006083e-03 -1.43071066e-02] [ 8.67412746e-03 3.98379122e-03 9.99954443e-01 -1.07292731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72463044 meters 0.26759322552079856 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.11 [[ 9.99960974e-01 1.41170780e-03 -8.72112512e-03 1.94367270e+00] [-1.44941586e-03 9.99989623e-01 -4.31895443e-03 -1.27520993e-02] [ 8.71493752e-03 4.33142641e-03 9.99952643e-01 -1.06988872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78463044 meters 0.26696182588121653 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.01, Z:-0.11 [[ 9.99960723e-01 1.40209527e-03 -8.75139832e-03 1.94375595e+00] [-1.44015532e-03 9.99989527e-01 -4.34423892e-03 -1.26656883e-02] [ 8.74521562e-03 4.35667166e-03 9.99952269e-01 -1.07012542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84463044 meters 0.2683815279438847 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.11 [[ 9.99966466e-01 -4.57620602e-03 -6.79151775e-03 1.96555897e+00] [ 4.56750095e-03 9.99988728e-01 -1.29671276e-03 -1.42522864e-02] [ 6.79737522e-03 1.26564902e-03 9.99976097e-01 -1.07896220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90463044 meters 0.26701232045965584 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.02, Z:-0.11 [[ 0.99998416 0.00286793 -0.00484325 1.94524249] [-0.00287886 0.99999332 -0.00225149 -0.02361089] [ 0.00483676 0.0022654 0.99998574 -0.10945451] [ 0. 0. 0. 1. ]] SLAMing on 159.96463044 meters 0.2661173767083149 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99983678e-01 3.09547960e-03 -4.80235889e-03 1.94523449e+00] [-3.10373447e-03 9.99993717e-01 -1.71242114e-03 -2.60169132e-02] [ 4.79702795e-03 1.72729843e-03 9.99987002e-01 -1.09582244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02463043999998 meters 0.26563151161203763 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99982477e-01 3.30790587e-03 -4.90961979e-03 1.94605984e+00] [-3.31361491e-03 9.99993843e-01 -1.15515039e-03 -2.85897672e-02] [ 4.90576843e-03 1.17139874e-03 9.99987281e-01 -1.10662250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08463043999998 meters 0.2667285340709723 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99977731e-01 1.26104399e-03 -6.55344428e-03 1.95209645e+00] [-1.27992870e-03 9.99995039e-01 -2.87825135e-03 -3.21242106e-02] [ 6.54978217e-03 2.88657520e-03 9.99974384e-01 -1.13902747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14463044 meters 0.26677723600180875 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99977652e-01 1.36725900e-03 -6.54416676e-03 1.95186953e+00] [-1.38445758e-03 9.99995598e-01 -2.62426904e-03 -3.32446654e-02] [ 6.54054990e-03 2.63327051e-03 9.99975143e-01 -1.13469292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20463044 meters 0.26716990789199857 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99979016e-01 1.48627350e-03 -6.30540204e-03 1.95185406e+00] [-1.50122164e-03 9.99996073e-01 -2.36661696e-03 -3.47243610e-02] [ 6.30185984e-03 2.37603310e-03 9.99977320e-01 -1.14313653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26463044 meters 0.26838118736552896 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.11 [[ 9.99986722e-01 -4.16528317e-03 -3.03426997e-03 1.96852145e+00] [ 4.16944598e-03 9.99990374e-01 1.36689876e-03 -3.58141753e-02] [ 3.02854724e-03 -1.37953183e-03 9.99994462e-01 -1.12674196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32463044 meters 0.2667938052061761 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:-0.11 [[ 9.99996060e-01 1.35997784e-03 -2.45555477e-03 1.94673438e+00] [-1.36469123e-03 9.99997228e-01 -1.91882923e-03 -4.07205449e-02] [ 2.45293840e-03 1.92217275e-03 9.99995144e-01 -1.12951815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38463044 meters 0.2686813241078909 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.11 [[ 9.99991739e-01 -3.84032193e-03 -1.33199244e-03 1.96939487e+00] [ 3.84253949e-03 9.99991229e-01 1.66630055e-03 -4.03720860e-02] [ 1.32558163e-03 -1.67140502e-03 9.99997725e-01 -1.14173922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44463044 meters 0.2692898380346177 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.11 [[ 9.99991880e-01 -3.83232817e-03 -1.24667135e-03 1.96938589e+00] [ 3.83443034e-03 9.99991223e-01 1.68823294e-03 -4.04522576e-02] [ 1.24019055e-03 -1.69299950e-03 9.99997798e-01 -1.14501276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50463044 meters 0.2669947751762548 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:-0.11 [[ 9.99993212e-01 1.69868642e-03 -3.26949292e-03 1.94897725e+00] [-1.70418837e-03 9.99997135e-01 -1.68076312e-03 -4.22596659e-02] [ 3.26662847e-03 1.68632355e-03 9.99993243e-01 -1.14183790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56463044 meters 0.2669274805755192 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.04, Z:-0.11 [[ 9.99993172e-01 1.58528327e-03 -3.33801284e-03 1.94881319e+00] [-1.59198006e-03 9.99996724e-01 -2.00451939e-03 -4.06801635e-02] [ 3.33482417e-03 2.00981976e-03 9.99992420e-01 -1.13693612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62463044 meters 0.26953608456842826 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.11 [[ 9.99993824e-01 -3.28191205e-03 -1.25721574e-03 1.96952125e+00] [ 3.28347949e-03 9.99993832e-01 1.24672736e-03 -3.56290818e-02] [ 1.25311633e-03 -1.25084771e-03 9.99998433e-01 -1.13638089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68463044 meters 0.2688307817729873 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.11 [[ 9.99982813e-01 5.40880644e-03 -2.26240602e-03 1.94888371e+00] [-5.40851003e-03 9.99985365e-01 1.37113130e-04 -3.21223891e-02] [ 2.26311453e-03 -1.24874527e-04 9.99997431e-01 -1.13948017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74463043999998 meters 0.27057192665250557 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.12 [[ 9.99979724e-01 -5.30322738e-04 -6.34582084e-03 1.97514191e+00] [ 5.38029552e-04 9.99999120e-01 1.21282527e-03 -1.95869365e-02] [ 6.34517206e-03 -1.21621492e-03 9.99979130e-01 -1.15682879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80463043999998 meters 0.268381584102417 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.12 [[ 9.99967361e-01 4.24331148e-04 -8.06825218e-03 1.93247174e+00] [-4.09821473e-04 9.99998296e-01 1.79993480e-03 -1.56070989e-02] [ 8.06900221e-03 -1.79656951e-03 9.99965831e-01 -1.16176797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86463043999998 meters 0.2714998906694073 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99968352e-01 9.38099453e-06 -7.95576817e-03 1.93211834e+00] [-3.19399448e-06 9.99999698e-01 7.77687102e-04 -1.08886863e-02] [ 7.95577306e-03 -7.77637079e-04 9.99968050e-01 -1.16146977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92463044 meters 0.27047313805758477 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99968740e-01 -3.24661534e-04 -7.90022267e-03 1.93157961e+00] [ 3.24959168e-04 9.99999947e-01 3.63905678e-05 -7.35506127e-03] [ 7.90021043e-03 -3.89566800e-05 9.99968792e-01 -1.15600268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98463044 meters 0.27024385640842835 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99968806e-01 -3.91482961e-04 -7.88883007e-03 1.93157923e+00] [ 3.90561035e-04 9.99999917e-01 -1.18405011e-04 -6.66574389e-03] [ 7.88887576e-03 1.15320248e-04 9.99968876e-01 -1.15642685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04463044 meters 0.2688195669382776 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99970930e-01 -5.45651843e-04 -7.60529206e-03 1.93083126e+00] [ 5.42464389e-04 9.99999764e-01 -4.21166447e-04 -6.06872619e-03] [ 7.60552008e-03 4.17028604e-04 9.99970991e-01 -1.15275701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10463044 meters 0.2687297156626495 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.12 [[ 0.99996474 -0.0062275 -0.00563312 1.95112989] [ 0.0062445 0.99997598 0.00300693 -0.00501118] [ 0.00561426 -0.003042 0.99997961 -0.11507021] [ 0. 0. 0. 1. ]] SLAMing on 161.16463044 meters 0.26828310638968117 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.00, Z:-0.12 [[ 0.99996301 -0.00632703 -0.00582641 1.95180373] [ 0.00634328 0.99997603 0.00277597 -0.00381459] [ 0.00580871 -0.00281283 0.99997917 -0.11550557] [ 0. 0. 0. 1. ]] SLAMing on 161.22463044 meters 0.26766740202604855 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99978136e-01 1.34912292e-03 -6.47364314e-03 1.93333286e+00] [-1.34160224e-03 9.99998420e-01 1.16594040e-03 -7.28230938e-03] [ 6.47520591e-03 -1.15722985e-03 9.99978366e-01 -1.17432026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28463044 meters 0.2687722885764545 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99978079e-01 1.38853669e-03 -6.47411802e-03 1.93334995e+00] [-1.38042161e-03 9.99998256e-01 1.25776393e-03 -7.73786698e-03] [ 6.47585318e-03 -1.24879934e-03 9.99978252e-01 -1.17428257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34463044 meters 0.2666591687195966 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.11 [[ 9.99987448e-01 -6.44503951e-04 -4.96864902e-03 1.92800559e+00] [ 6.44212447e-04 9.99999791e-01 -6.02688779e-05 -1.22033395e-02] [ 4.96868682e-03 5.70672559e-05 9.99987654e-01 -1.14430497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40463044 meters 0.2671933414396238 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.11 [[ 9.99985876e-01 -4.66900759e-04 -5.29432574e-03 1.92902005e+00] [ 4.69457086e-04 9.99999774e-01 4.81610232e-04 -1.46347333e-02] [ 5.29409968e-03 -4.84088888e-04 9.99985869e-01 -1.14926746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46463044 meters 0.26588209958412945 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.12 [[ 0.9999747 0.00511702 -0.00494186 1.90707133] [-0.00512985 0.9999835 -0.00258702 -0.01970499] [ 0.00492854 0.00261231 0.99998444 -0.11571845] [ 0. 0. 0. 1. ]] SLAMing on 161.52463043999998 meters 0.268015823096956 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.12 [[ 0.99997905 -0.00410781 -0.00500204 1.92869544] [ 0.00409497 0.9999883 -0.00257391 -0.01692296] [ 0.00501255 0.00255337 0.99998418 -0.11647721] [ 0. 0. 0. 1. ]] SLAMing on 161.58463043999998 meters 0.26883062871554014 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.12 [[ 0.99997657 -0.0039663 -0.00557842 1.93046381] [ 0.0039524 0.99998906 -0.00250101 -0.01658402] [ 0.00558828 0.00247891 0.99998131 -0.11762523] [ 0. 0. 0. 1. ]] SLAMing on 161.64463044 meters 0.2702610490092247 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.02, Z:-0.12 [[ 0.99997627 -0.00408898 -0.00554428 1.93034424] [ 0.00407337 0.99998772 -0.00282408 -0.01521437] [ 0.00555576 0.00280143 0.99998064 -0.11759139] [ 0. 0. 0. 1. ]] SLAMing on 161.70463044 meters 0.2684405359644342 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 0.99997656 -0.00434447 -0.00529195 1.92988054] [ 0.00432558 0.99998425 -0.00357597 -0.01195771] [ 0.00530741 0.00355299 0.9999796 -0.11789018] [ 0. 0. 0. 1. ]] SLAMing on 161.76463044 meters 0.2701535680738319 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99986183e-01 -1.63453265e-04 -5.25433868e-03 1.92962921e+00] [ 1.65130757e-04 9.99999936e-01 3.18826246e-04 -1.04305129e-02] [ 5.25428623e-03 -3.19689493e-04 9.99986145e-01 -1.17621812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82463044 meters 0.2703581003360603 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99986305e-01 -4.07772693e-04 -5.21768001e-03 1.92956909e+00] [ 4.06452651e-04 9.99999885e-01 -2.54051866e-04 -7.83749955e-03] [ 5.21778300e-03 2.51927646e-04 9.99986356e-01 -1.17727348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88463044 meters 0.27073287022001163 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99985065e-01 -5.34859433e-04 -5.43904184e-03 1.93025804e+00] [ 5.31789842e-04 9.99999699e-01 -5.65792934e-04 -6.44343011e-03] [ 5.43934282e-03 5.62892056e-04 9.99985048e-01 -1.18103684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94463044 meters 0.26828144713847146 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99985347e-01 -4.99549811e-04 -5.39041428e-03 1.92990647e+00] [ 4.97021641e-04 9.99999766e-01 -4.70341676e-04 -6.90280635e-03] [ 5.39064798e-03 4.67655631e-04 9.99985361e-01 -1.17582502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00463044 meters 0.26897387697841457 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.12 [[ 9.99985118e-01 -5.49347106e-04 -5.42794927e-03 1.93000565e+00] [ 5.46191960e-04 9.99999681e-01 -5.82742871e-04 -6.34814892e-03] [ 5.42826767e-03 5.79769497e-04 9.99985099e-01 -1.17588238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06463044 meters 0.2677992916187645 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.12 [[ 9.99965505e-01 6.39156919e-04 -8.28136713e-03 1.89051924e+00] [-6.39140682e-04 9.99999796e-01 4.60718182e-06 -5.48643048e-03] [ 8.28136838e-03 6.85935740e-07 9.99965709e-01 -1.19492567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12463044 meters 0.27067608318563763 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.12 [[ 9.99976815e-01 1.62069429e-03 -6.61377116e-03 1.93354809e+00] [-1.61591701e-03 9.99998430e-01 7.27602955e-04 3.97467948e-04] [ 6.61494000e-03 -7.16898781e-04 9.99977864e-01 -1.19051239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18463044 meters 0.26928558724682283 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99999057e-01 9.25473423e-04 1.01476835e-03 1.88942318e+00] [-9.25474254e-04 9.99999572e-01 3.49894657e-07 -1.00740335e-03] [-1.01476759e-03 -1.28903630e-06 9.99999485e-01 -1.21148727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24463043999998 meters 0.26710831127919443 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998962e-01 9.55969830e-04 1.07816865e-03 1.88924456e+00] [-9.56053699e-04 9.99999540e-01 7.72759629e-05 -1.36090619e-03] [-1.07809428e-03 -7.83066698e-05 9.99999416e-01 -1.21011687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30463043999998 meters 0.26820109485080496 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998872e-01 1.02886870e-03 1.09427329e-03 1.88953017e+00] [-1.02915367e-03 9.99999437e-01 2.59886766e-04 -2.23033713e-03] [-1.09400529e-03 -2.61012648e-04 9.99999368e-01 -1.21544898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36463043999998 meters 0.26924579286485667 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998944e-01 1.02741246e-03 1.02761698e-03 1.88985334e+00] [-1.02768307e-03 9.99999437e-01 2.62845855e-04 -2.22651029e-03] [-1.02734635e-03 -2.63901642e-04 9.99999437e-01 -1.21862626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42463044 meters 0.2684991405200543 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998929e-01 9.58546929e-04 1.10613558e-03 1.88980386e+00] [-9.58656268e-04 9.99999536e-01 9.83220149e-05 -1.48664864e-03] [-1.10604082e-03 -9.93823134e-05 9.99999383e-01 -1.22110606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48463044 meters 0.2687991205545568 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998816e-01 9.73490827e-04 1.19153098e-03 1.88951424e+00] [-9.73648853e-04 9.99999517e-01 1.32051126e-04 -1.59181992e-03] [-1.19140186e-03 -1.33211103e-04 9.99999281e-01 -1.21876470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54463044 meters 0.2696876710565257 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998845e-01 9.90373884e-04 1.15317782e-03 1.89021348e+00] [-9.90579932e-04 9.99999494e-01 1.78120588e-04 -1.71869314e-03] [-1.15300083e-03 -1.79262697e-04 9.99999319e-01 -1.22961090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60463044 meters 0.2683610125785486 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.12 [[ 9.99998935e-01 9.74458419e-04 1.08669581e-03 1.89055052e+00] [-9.74611800e-04 9.99999515e-01 1.40623495e-04 -1.58770229e-03] [-1.08655825e-03 -1.41682452e-04 9.99999400e-01 -1.23312950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66463044 meters 0.2701859269465613 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999004e-01 8.11511678e-04 1.15448700e-03 1.89061620e+00] [-8.11213416e-04 9.99999637e-01 -2.58794963e-04 4.02581268e-04] [-1.15469659e-03 2.57858170e-04 9.99999300e-01 -1.23731122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72463044 meters 0.26861275803181084 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999103e-01 6.84539347e-04 1.15134363e-03 1.89061386e+00] [-6.83891918e-04 9.99999608e-01 -5.62624295e-04 1.76307376e-03] [-1.15172832e-03 5.61836395e-04 9.99999179e-01 -1.23731168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78463044 meters 0.268477295948124 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999210e-01 5.87317841e-04 1.11143205e-03 1.89064631e+00] [-5.86442423e-04 9.99999518e-01 -7.87810867e-04 2.83252751e-03] [-1.11189421e-03 7.87158453e-04 9.99999072e-01 -1.23642925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84463044 meters 0.26967117461765705 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999158e-01 6.15309567e-04 1.14240579e-03 1.89056988e+00] [-6.14486205e-04 9.99999551e-01 -7.20937314e-04 2.50789063e-03] [-1.14284888e-03 7.20234714e-04 9.99999088e-01 -1.23607213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90463044 meters 0.2696045709008415 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999347e-01 6.66325168e-04 9.28446867e-04 1.89115873e+00] [-6.65778707e-04 9.99999605e-01 -5.88760252e-04 1.87319589e-03] [-9.28838806e-04 5.88141727e-04 9.99999396e-01 -1.23771685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96463044 meters 0.2685473260758075 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999309e-01 6.59991376e-04 9.73074760e-04 1.89089642e+00] [-6.59400161e-04 9.99999598e-01 -6.07770016e-04 1.96287818e-03] [-9.73475492e-04 6.07127950e-04 9.99999342e-01 -1.23460545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02463043999998 meters 0.2674423443599539 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999096e-01 6.07731676e-04 1.19945039e-03 1.89021050e+00] [-6.06839740e-04 9.99999539e-01 -7.43844664e-04 2.69317392e-03] [-1.19990190e-03 7.43116117e-04 9.99999004e-01 -1.23085864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08463043999998 meters 0.2671244844023187 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99999180e-01 5.70632179e-04 1.14660368e-03 1.89085764e+00] [-5.69671807e-04 9.99999487e-01 -8.37732399e-04 2.96671196e-03] [-1.14708113e-03 8.37078524e-04 9.99998992e-01 -1.24161963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14463044 meters 0.26737797867614427 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99998867e-01 5.50128949e-04 1.40146133e-03 1.89032464e+00] [-5.48873126e-04 9.99999448e-01 -8.96308065e-04 3.27216563e-03] [-1.40195364e-03 8.95537824e-04 9.99998616e-01 -1.24222197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20463044 meters 0.26751657621504193 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.12 [[ 9.99998671e-01 6.24264320e-04 1.50585507e-03 1.89018939e+00] [-6.23179649e-04 9.99999546e-01 -7.20664000e-04 2.49013659e-03] [-1.50630427e-03 7.19724624e-04 9.99998607e-01 -1.24374832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26463044 meters 0.26764179826790113 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.00, Z:-0.13 [[ 0.99998561 -0.00485878 -0.00227425 1.87216045] [ 0.00486546 0.99998385 0.00293875 -0.00214231] [ 0.00225993 -0.00294978 0.9999931 -0.1253266 ] [ 0. 0. 0. 1. ]] SLAMing on 163.32463044 meters 0.26855230829301874 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.00, Z:-0.13 [[ 9.99998298e-01 1.72725215e-03 -6.48634599e-04 1.89313456e+00] [-1.72712798e-03 9.99998490e-01 1.91946115e-04 -3.20731250e-04] [ 6.48965159e-04 -1.90825514e-04 9.99999771e-01 -1.25569230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38463044 meters 0.26881021874540356 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.13 [[ 9.99998571e-01 1.59673878e-03 -5.55416121e-04 1.89298972e+00] [-1.59680766e-03 9.99998717e-01 -1.23585798e-04 1.11869229e-03] [ 5.55218074e-04 1.24472514e-04 9.99999838e-01 -1.25747688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44463044 meters 0.268571251874644 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.13 [[ 9.99998780e-01 1.45846533e-03 -5.59892065e-04 1.89335440e+00] [-1.45872534e-03 9.99998828e-01 -4.64261903e-04 2.54425416e-03] [ 5.59214299e-04 4.65078065e-04 9.99999735e-01 -1.26465232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50463044 meters 0.2679689847424331 Centerline is valid? [False, False] Translation: X:1.89, Y:0.00, Z:-0.13 [[ 9.99999046e-01 1.26516932e-03 -5.53756695e-04 1.89329666e+00] [-1.26568357e-03 9.99998767e-01 -9.29293645e-04 4.55330420e-03] [ 5.52580299e-04 9.29993639e-04 9.99999415e-01 -1.26438526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56463044 meters 0.2695211779006494 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.13 [[ 9.99989425e-01 -4.52816196e-03 8.02946465e-04 1.91419722e+00] [ 4.52645474e-03 9.99987518e-01 2.11541119e-03 8.50683751e-03] [-8.12515367e-04 -2.11175432e-03 9.99997440e-01 -1.26721400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62463044 meters 0.26739280891546 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:-0.13 [[ 9.99992889e-01 3.70734406e-03 6.91372896e-04 1.89421585e+00] [-3.70785238e-03 9.99992855e-01 7.35398417e-04 7.18586632e-03] [-6.88641582e-04 -7.37956696e-04 9.99999491e-01 -1.28143913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68463044 meters 0.27023704044672686 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.13 [[ 9.99997570e-01 -2.04258161e-03 8.29696256e-04 1.91726448e+00] [ 2.03990656e-03 9.99992760e-01 3.21228475e-03 1.54975491e-02] [-8.36251603e-04 -3.21058444e-03 9.99994496e-01 -1.29301310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74463043999998 meters 0.2682669607341525 Centerline is valid? [False, False] Translation: X:1.92, Y:0.02, Z:-0.13 [[ 9.99997381e-01 -2.12040940e-03 8.61000236e-04 1.91688495e+00] [ 2.11779999e-03 9.99993196e-01 3.02036630e-03 1.63974985e-02] [-8.67398791e-04 -3.01853496e-03 9.99995068e-01 -1.28759486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80463043999998 meters 0.26758418617604834 Centerline is valid? [False, False] Translation: X:1.90, Y:0.01, Z:-0.13 [[ 9.99986223e-01 4.97261546e-03 -1.68109232e-03 1.90200715e+00] [-4.97126552e-03 9.99987318e-01 8.06238222e-04 1.17905960e-02] [ 1.68508011e-03 -7.97869958e-04 9.99998262e-01 -1.32137210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86463043999998 meters 0.26954725485327063 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99987482e-01 -3.82251446e-03 -3.22869039e-03 1.92483924e+00] [ 3.82692830e-03 9.99991750e-01 1.36199754e-03 1.45144116e-02] [ 3.22345750e-03 -1.37433646e-03 9.99993860e-01 -1.32063813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92463044 meters 0.26981810724107913 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99987646e-01 -3.79899160e-03 -3.20568171e-03 1.92464287e+00] [ 3.80356369e-03 9.99991756e-01 1.42135660e-03 1.42875653e-02] [ 3.20025556e-03 -1.43353206e-03 9.99993852e-01 -1.31765781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98463044 meters 0.2686352189336379 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99987990e-01 -3.79746319e-03 -3.09813876e-03 1.92454199e+00] [ 3.80188864e-03 9.99991759e-01 1.42378356e-03 1.42371971e-02] [ 3.09270646e-03 -1.43554524e-03 9.99994187e-01 -1.32014880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04463044 meters 0.26942553646404244 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99987918e-01 -3.76923428e-03 -3.15553960e-03 1.92482331e+00] [ 3.77394696e-03 9.99991770e-01 1.48884410e-03 1.38993319e-02] [ 3.14990183e-03 -1.50073495e-03 9.99993913e-01 -1.32295520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10463044 meters 0.26878754179321157 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99988618e-01 -3.76543990e-03 -2.93018220e-03 1.92424042e+00] [ 3.76985035e-03 9.99991767e-01 1.50111474e-03 1.38817778e-02] [ 2.92450572e-03 -1.51214401e-03 9.99994580e-01 -1.32099626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16463044 meters 0.2694242975478177 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.13 [[ 9.99988712e-01 -3.85692508e-03 -2.77494945e-03 1.92401311e+00] [ 3.86047909e-03 9.99991734e-01 1.27653418e-03 1.48444866e-02] [ 2.77000301e-03 -1.28723241e-03 9.99995335e-01 -1.32362095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22463044 meters 0.2690166829825435 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.14 [[ 9.99981743e-01 2.92003868e-03 -5.29023314e-03 1.90746169e+00] [-2.92818241e-03 9.99994539e-01 -1.53229894e-03 1.39845626e-02] [ 5.28572987e-03 1.54776173e-03 9.99984833e-01 -1.35136370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28463044 meters 0.26781548050348875 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.13 [[ 9.99982249e-01 2.85164106e-03 -5.23153972e-03 1.90698131e+00] [-2.86053844e-03 9.99994474e-01 -1.69402505e-03 1.48009163e-02] [ 5.22668006e-03 1.70896000e-03 9.99984881e-01 -1.34484743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34463044 meters 0.268474433374958 Centerline is valid? [False, False] Translation: X:1.91, Y:0.02, Z:-0.13 [[ 9.99983007e-01 2.83138164e-03 -5.09593334e-03 1.90679577e+00] [-2.84029759e-03 9.99994447e-01 -1.74323384e-03 1.50528887e-02] [ 5.09096928e-03 1.75767819e-03 9.99985496e-01 -1.34657242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40463044 meters 0.2668580771897299 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.14 [[ 9.99983113e-01 2.83844610e-03 -5.07110315e-03 1.90698532e+00] [-2.84722646e-03 9.99994459e-01 -1.72507035e-03 1.49991575e-02] [ 5.06617853e-03 1.73947980e-03 9.99985654e-01 -1.35117281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46463044 meters 0.26891412283785465 Centerline is valid? [False, False] Translation: X:1.93, Y:0.02, Z:-0.13 [[ 9.99965751e-01 -5.93251680e-03 -5.77074701e-03 1.92872710e+00] [ 5.92528270e-03 9.99981639e-01 -1.26987178e-03 1.86065571e-02] [ 5.77817459e-03 1.23563498e-03 9.99982543e-01 -1.34174537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52463043999998 meters 0.2672895536535308 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.14 [[ 9.99973984e-01 1.89091751e-03 -6.96107883e-03 1.91170633e+00] [-1.91010569e-03 9.99994392e-01 -2.75087954e-03 1.30802958e-02] [ 6.95583810e-03 2.76410437e-03 9.99971988e-01 -1.36585205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58463043999998 meters 0.26943443135282263 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.14 [[ 0.9999739 0.00197563 -0.00695005 1.91161797] [-0.00199333 0.99999478 -0.00254129 0.01222585] [ 0.00694499 0.00255508 0.99997262 -0.13646311] [ 0. 0. 0. 1. ]] SLAMing on 164.64463044 meters 0.266513098008127 Centerline is valid? [False, False] Translation: X:1.89, Y:0.01, Z:-0.14 [[ 9.99958424e-01 -6.15718754e-03 -6.72594556e-03 1.89023574e+00] [ 6.14980306e-03 9.99980465e-01 -1.11804172e-03 1.10382805e-02] [ 6.73269816e-03 1.07663200e-03 9.99976756e-01 -1.37645190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70463044 meters 0.2686435397019323 Centerline is valid? [False, False] Translation: X:1.91, Y:0.01, Z:-0.14 [[ 9.99969389e-01 2.26717188e-03 -7.48867090e-03 1.91283235e+00] [-2.27953913e-03 9.99996052e-01 -1.64333898e-03 7.38794617e-03] [ 7.48491560e-03 1.66035939e-03 9.99970609e-01 -1.37523986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76463044 meters 0.26655294091170534 Centerline is valid? [False, False] Translation: X:1.87, Y:0.00, Z:-0.14 [[ 9.99936161e-01 2.90592819e-03 -1.09192265e-02 1.87412856e+00] [-2.91977569e-03 9.99994953e-01 -1.25244872e-03 2.76880453e-03] [ 1.09155319e-02 1.28425046e-03 9.99939599e-01 -1.39762157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82463044 meters 0.2688468409130736 Centerline is valid? [False, False] Translation: X:1.90, Y:0.00, Z:-0.14 [[ 0.9999473 -0.00283022 -0.00986822 1.89640869] [ 0.00285078 0.99999379 0.0020703 0.00331424] [ 0.0098623 -0.00209833 0.99994916 -0.14039967] [ 0. 0. 0. 1. ]] SLAMing on 164.88463044 meters 0.26802128353285865 Centerline is valid? [False, False] Translation: X:1.90, Y:0.00, Z:-0.14 [[ 0.99995066 -0.00270821 -0.00955714 1.89543267] [ 0.00273091 0.99999348 0.00236264 0.0020879 ] [ 0.00955068 -0.00238863 0.99995154 -0.1398354 ] [ 0. 0. 0. 1. ]] SLAMing on 164.94463044 meters 0.26595255016172026 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.14 [[ 9.99943726e-01 4.87097967e-03 -9.42435882e-03 1.87739852e+00] [-4.86230055e-03 9.99987734e-01 9.43618324e-04 -5.14830073e-03] [ 9.42883957e-03 -8.97741158e-04 9.99955145e-01 -1.42477022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00463044 meters 0.2674765007621274 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.14 [[ 9.99941918e-01 5.12668581e-03 -9.48042861e-03 1.87796596e+00] [-5.11193455e-03 9.99985686e-01 1.57954806e-03 -7.95746399e-03] [ 9.48839076e-03 -1.53099299e-03 9.99953812e-01 -1.43205896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06463044 meters 0.2666810417748587 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.14 [[ 9.99941146e-01 5.26477998e-03 -9.48611161e-03 1.87803170e+00] [-5.24695997e-03 9.99984425e-01 1.90244621e-03 -9.35941131e-03] [ 9.49597982e-03 -1.85256099e-03 9.99953196e-01 -1.43249831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12463044 meters 0.26860496596564903 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.14 [[ 0.99994591 -0.00340037 -0.00982918 1.89991392] [ 0.00342873 0.99999 0.00286993 -0.00871258] [ 0.00981932 -0.00290348 0.99994757 -0.14304214] [ 0. 0. 0. 1. ]] SLAMing on 165.18463044 meters 0.2688900442567534 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.14 [[ 0.99994864 -0.00321229 -0.00961236 1.89944232] [ 0.00324402 0.99998934 0.00328725 -0.01062429] [ 0.0096017 -0.00331827 0.9999484 -0.1430485 ] [ 0. 0. 0. 1. ]] SLAMing on 165.24463043999998 meters 0.2665239655047947 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.14 [[ 0.99994949 -0.00320814 -0.00952541 1.89938111] [ 0.00323967 0.99998932 0.00329626 -0.01068237] [ 0.00951473 -0.00332695 0.9999492 -0.14329192] [ 0. 0. 0. 1. ]] SLAMing on 165.30463043999998 meters 0.267625362469745 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.14 [[ 0.9999491 -0.00325699 -0.00954906 1.8998742 ] [ 0.00328743 0.99998956 0.00317318 -0.01003805] [ 0.00953863 -0.00320441 0.99994937 -0.14409405] [ 0. 0. 0. 1. ]] SLAMing on 165.36463043999998 meters 0.26903020696374624 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.14 [[ 9.99951512e-01 3.33575974e-03 -9.26533808e-03 1.92227746e+00] [-3.33169744e-03 9.99994347e-01 4.53840085e-04 -9.95253078e-03] [ 9.26679960e-03 -4.22948776e-04 9.99956973e-01 -1.44474731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42463044 meters 0.2670881691877221 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.01, Z:-0.15 [[ 9.99932872e-01 -4.89469097e-03 -1.05020973e-02 1.90255737e+00] [ 4.91328681e-03 9.99986406e-01 1.74560933e-03 -1.06477960e-02] [ 1.04934103e-02 -1.79709196e-03 9.99943328e-01 -1.45905882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48463044 meters 0.26815430577283234 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.14 [[ 9.99960906e-01 2.78630760e-03 -8.39189702e-03 1.92105412e+00] [-2.78289065e-03 9.99996040e-01 4.18822833e-04 -1.23304835e-02] [ 8.39303076e-03 -3.95452728e-04 9.99964700e-01 -1.43846191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54463044 meters 0.26865575740196285 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.01, Z:-0.14 [[ 9.99961013e-01 2.56344122e-03 -8.44996297e-03 1.92169592e+00] [-2.56484819e-03 9.99996699e-01 -1.55674397e-04 -9.82509643e-03] [ 8.44953602e-03 1.77341200e-04 9.99964286e-01 -1.44810079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60463044 meters 0.2720229258934977 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.00, Z:-0.15 [[ 9.99941359e-01 4.68451103e-03 -9.76394785e-03 1.92698365e+00] [-4.67486520e-03 9.99988562e-01 1.01049215e-03 -3.31127146e-03] [ 9.76856983e-03 -9.64787758e-04 9.99951821e-01 -1.48248687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66463044 meters 0.2702456771192733 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.00, Z:-0.15 [[ 9.99943150e-01 4.39808394e-03 -9.71353332e-03 1.92681103e+00] [-4.39506010e-03 9.99990286e-01 3.32626508e-04 -2.97689588e-04] [ 9.71490188e-03 -2.89916036e-04 9.99952767e-01 -1.48212490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72463044 meters 0.26829383050285 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.15 [[ 9.99945738e-01 4.08121806e-03 -9.58461845e-03 1.92577401e+00] [-4.08522130e-03 9.99991576e-01 -3.98132934e-04 3.31110827e-03] [ 9.58291285e-03 4.37266618e-04 9.99953987e-01 -1.47075688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78463044 meters 0.2684106397403771 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.15 [[ 9.99946182e-01 3.97328320e-03 -9.58361766e-03 1.92560459e+00] [-3.97966426e-03 9.99991872e-01 -6.46852049e-04 4.43587279e-03] [ 9.58096963e-03 6.84956818e-04 9.99953867e-01 -1.46810308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84463044 meters 0.2665918361539502 Centerline is valid? [False, False] Translation: X:1.93, Y:0.00, Z:-0.15 [[ 9.99945121e-01 3.92682765e-03 -9.71262917e-03 1.92591522e+00] [-3.93433332e-03 9.99991976e-01 -7.53787906e-04 4.90848068e-03] [ 9.70959125e-03 7.91959260e-04 9.99952547e-01 -1.46838842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90463044 meters 0.2681199651795823 Centerline is valid? [False, False] Translation: X:1.95, Y:0.01, Z:-0.15 [[ 9.99956402e-01 -3.08514724e-03 -8.81342796e-03 1.94851412e+00] [ 3.09877220e-03 9.99994024e-01 1.53269521e-03 5.26818261e-03] [ 8.80864670e-03 -1.55993919e-03 9.99959986e-01 -1.47536595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96463044 meters 0.26788922032212864 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.15 [[ 9.99957127e-01 -2.92691765e-03 -8.78511110e-03 1.94828505e+00] [ 2.94377182e-03 9.99993850e-01 1.90617575e-03 3.56585800e-03] [ 8.77947785e-03 -1.93195538e-03 9.99959593e-01 -1.47177981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02463043999998 meters 0.2680466701850742 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.15 [[ 0.99995678 -0.00286396 -0.00884534 1.94870517] [ 0.00288234 0.99999371 0.00206668 0.00287062] [ 0.00883937 -0.00209209 0.99995874 -0.14766701] [ 0. 0. 0. 1. ]] SLAMing on 166.08463043999998 meters 0.2666587649282661 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.15 [[ 0.99995596 -0.00287363 -0.00893391 1.94934661] [ 0.00289201 0.99999373 0.00204495 0.00284138] [ 0.00892798 -0.0020707 0.999958 -0.1484862 ] [ 0. 0. 0. 1. ]] SLAMing on 166.14463044 meters 0.2675197015311463 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.15 [[ 9.99956177e-01 -2.77574422e-03 -8.94083161e-03 1.94938474e+00] [ 2.79621471e-03 9.99993496e-01 2.27786515e-03 1.86317025e-03] [ 8.93445069e-03 -2.30276581e-03 9.99957436e-01 -1.48494947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20463044 meters 0.265927674177346 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.00, Z:-0.15 [[ 9.99958871e-01 2.43549775e-03 -8.73639023e-03 1.92827258e+00] [-2.44834253e-03 9.99995937e-01 -1.45986839e-03 -2.95515214e-03] [ 8.73279923e-03 1.48119802e-03 9.99960771e-01 -1.49140948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26463044 meters 0.26613782725439133 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.00, Z:-0.15 [[ 9.99952256e-01 -6.58973427e-03 -7.21531057e-03 1.94838783e+00] [ 6.58458698e-03 9.99978050e-01 -7.36908400e-04 -4.88477077e-03] [ 7.22000823e-03 6.89363377e-04 9.99973698e-01 -1.48678114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32463044 meters 0.266079574543431 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.15 [[ 9.99953525e-01 -6.27385940e-03 -7.32027429e-03 1.94905860e+00] [ 6.27447927e-03 9.99980313e-01 6.17153444e-05 -8.40777075e-03] [ 7.31974299e-03 -1.07643385e-04 9.99973205e-01 -1.49305088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38463044 meters 0.2652712349104341 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.15 [[ 9.99979736e-01 1.49523895e-03 -6.18803258e-03 1.96836922e+00] [-1.50229916e-03 9.99998226e-01 -1.13645552e-03 -1.15695234e-02] [ 6.18632233e-03 1.14572877e-03 9.99980208e-01 -1.47293276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44463044 meters 0.2671580329060298 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.01, Z:-0.15 [[ 9.99979554e-01 1.48013312e-03 -6.22101679e-03 1.96893420e+00] [-1.48745410e-03 9.99998207e-01 -1.17235187e-03 -1.14025000e-02] [ 6.21927039e-03 1.18158137e-03 9.99979962e-01 -1.48185424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50463044 meters 0.2660711571607492 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.01, Z:-0.15 [[ 9.99960578e-01 1.69933170e-03 -8.71518542e-03 1.92752344e+00] [-1.71110017e-03 9.99997634e-01 -1.34306148e-03 -1.21962122e-02] [ 8.71288249e-03 1.35792109e-03 9.99961120e-01 -1.48921366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56463044 meters 0.2677699060644207 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.01, Z:-0.15 [[ 9.99952832e-01 -3.96997961e-03 -8.86418227e-03 1.95005017e+00] [ 3.98249124e-03 9.99991098e-01 1.39427717e-03 -5.06246077e-03] [ 8.85856811e-03 -1.42951293e-03 9.99959740e-01 -1.49322522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62463044 meters 0.26894481923454033 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.00, Z:-0.15 [[ 9.99953237e-01 -4.16261909e-03 -8.72902556e-03 1.94996068e+00] [ 4.17110882e-03 9.99990845e-01 9.54606319e-04 -3.11855502e-03] [ 8.72497199e-03 -9.90971394e-04 9.99961446e-01 -1.49772457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68463044 meters 0.2674986724953772 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.00, Z:-0.15 [[ 9.99950640e-01 -4.42066900e-03 -8.89809859e-03 1.95024296e+00] [ 4.42425591e-03 9.99990139e-01 3.83465167e-04 -5.70386456e-04] [ 8.89631568e-03 -4.22813704e-04 9.99960338e-01 -1.49689767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74463043999998 meters 0.2659154406776743 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.00, Z:-0.15 [[ 9.99942623e-01 3.45555774e-03 -1.01395295e-02 1.93205276e+00] [-3.46820442e-03 9.99993229e-01 -1.22994738e-03 -3.59773338e-03] [ 1.01352107e-02 1.26504277e-03 9.99947837e-01 -1.50945503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80463043999998 meters 0.26738436896681284 Centerline is valid? [False, False] Translation: X:1.95, Y:0.00, Z:-0.15 [[ 9.99939744e-01 -4.02909979e-03 -1.02115461e-02 1.95096345e+00] [ 4.03084572e-03 9.99991865e-01 1.50401020e-04 4.42501760e-03] [ 1.02108571e-02 -1.91553124e-04 9.99947849e-01 -1.48809138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86463043999998 meters 0.26687661399749557 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:-0.15 [[ 9.99977366e-01 2.93840231e-03 -6.05253922e-03 1.96763768e+00] [-2.94948809e-03 9.99993988e-01 -1.82348078e-03 8.37768969e-03] [ 6.04714471e-03 1.84129140e-03 9.99980021e-01 -1.46779841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92463044 meters 0.2652672311148724 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:-0.15 [[ 0.99997788 0.00273943 -0.00606161 1.96751128] [-0.0027533 0.99999361 -0.00228054 0.01044365] [ 0.00605532 0.00229718 0.99997903 -0.14656591] [ 0. 0. 0. 1. ]] SLAMing on 166.98463044 meters 0.2667305520912808 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:-0.15 [[ 0.99997819 0.00251753 -0.00610546 1.96795866] [-0.00253476 0.99999282 -0.00281665 0.01285176] [ 0.00609832 0.00283207 0.99997739 -0.14722918] [ 0. 0. 0. 1. ]] SLAMing on 167.04463044 meters 0.2682575019888158 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:-0.15 [[ 0.99997753 0.00234209 -0.0062816 1.96825893] [-0.00236258 0.99999191 -0.00325559 0.01483012] [ 0.00627393 0.00327036 0.99997497 -0.14710633] [ 0. 0. 0. 1. ]] SLAMing on 167.10463044 meters 0.26688741917485503 Centerline is valid? [False, False] Translation: X:1.97, Y:0.02, Z:-0.15 [[ 0.99997815 0.00214778 -0.00625148 1.96831419] [-0.00217103 0.99999075 -0.00371425 0.01689553] [ 0.00624344 0.00372775 0.99997356 -0.14737133] [ 0. 0. 0. 1. ]] SLAMing on 167.16463044 meters 0.2653158585144449 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.15 [[ 0.99996484 -0.0058242 -0.00603334 1.94855557] [ 0.00580777 0.99997939 -0.00273795 0.02191002] [ 0.00604916 0.00270281 0.99997805 -0.14907665] [ 0. 0. 0. 1. ]] SLAMing on 167.22463044 meters 0.2640570596048565 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.15 [[ 9.99976337e-01 -4.43863115e-03 -5.25588923e-03 1.94427071e+00] [ 4.43215897e-03 9.99989406e-01 -1.24242244e-03 2.08904820e-02] [ 5.26134820e-03 1.21909810e-03 9.99985416e-01 -1.45485648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28463044 meters 0.2646266609060056 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.15 [[ 9.99975290e-01 -4.47195864e-03 -5.42417588e-03 1.94472562e+00] [ 4.46482196e-03 9.99989152e-01 -1.32711234e-03 2.11781757e-02] [ 5.43005183e-03 1.30286157e-03 9.99984408e-01 -1.45623560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34463044 meters 0.2649337077351057 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.15 [[ 9.99975061e-01 -4.47303223e-03 -5.46535005e-03 1.94462785e+00] [ 4.46582639e-03 9.99989144e-01 -1.32995208e-03 2.12718666e-02] [ 5.47123964e-03 1.30551161e-03 9.99984180e-01 -1.45277989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40463044 meters 0.26792256510910845 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:-0.14 [[ 0.99998406 0.00336477 -0.00453506 1.9649181 ] [-0.00337668 0.99999086 -0.00262194 0.02061025] [ 0.00452619 0.00263722 0.99998628 -0.1440973 ] [ 0. 0. 0. 1. ]] SLAMing on 167.46463044 meters 0.2668935931466665 Centerline is valid? [False, False] Translation: X:1.97, Y:0.02, Z:-0.14 [[ 0.99998401 0.00320864 -0.00465769 1.96533899] [-0.00322294 0.9999901 -0.00306652 0.02260502] [ 0.0046478 0.00308148 0.99998445 -0.1444319 ] [ 0. 0. 0. 1. ]] SLAMing on 167.52463043999998 meters 0.26607433283340814 Centerline is valid? [False, False] Translation: X:1.95, Y:0.03, Z:-0.15 [[ 0.99997767 -0.00492813 -0.00451431 1.94533951] [ 0.00491776 0.99998525 -0.00230557 0.02715476] [ 0.0045256 0.00228331 0.99998715 -0.14618601] [ 0. 0. 0. 1. ]] SLAMing on 167.58463043999998 meters 0.2656987763068853 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.15 [[ 9.99989343e-01 -1.00222676e-03 -4.50654121e-03 1.94496548e+00] [ 1.00681200e-03 9.99998978e-01 1.01531042e-03 3.13446941e-02] [ 4.50551903e-03 -1.01983684e-03 9.99989330e-01 -1.45767728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64463044 meters 0.2665866558472242 Centerline is valid? [False, False] Translation: X:1.94, Y:0.03, Z:-0.15 [[ 9.99989329e-01 -1.31090016e-03 -4.42975084e-03 1.94490101e+00] [ 1.31207735e-03 9.99999105e-01 2.62850749e-04 3.45861425e-02] [ 4.42940230e-03 -2.68660120e-04 9.99990154e-01 -1.46045932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70463044 meters 0.26536290301323645 Centerline is valid? [False, False] Translation: X:1.94, Y:0.04, Z:-0.15 [[ 9.99988596e-01 -1.56232239e-03 -4.51301932e-03 1.94481757e+00] [ 1.56091220e-03 9.99998732e-01 -3.15977079e-04 3.71381925e-02] [ 4.51350725e-03 3.08929049e-04 9.99989766e-01 -1.45658244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76463044 meters 0.26809221791876126 Centerline is valid? [False, False] Translation: X:1.95, Y:0.04, Z:-0.15 [[ 9.99987158e-01 -1.79445751e-03 -4.73962908e-03 1.94506558e+00] [ 1.79042447e-03 9.99998032e-01 -8.55026916e-04 3.95643680e-02] [ 4.74115406e-03 8.46529988e-04 9.99988402e-01 -1.45295323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82463044 meters 0.2669038389106643 Centerline is valid? [False, False] Translation: X:1.97, Y:0.04, Z:-0.15 [[ 0.9999883 0.0037059 -0.00310797 1.96698084] [-0.00371699 0.99998672 -0.00356925 0.03801594] [ 0.0030947 0.00358076 0.9999888 -0.14529135] [ 0. 0. 0. 1. ]] SLAMing on 167.88463044 meters 0.2665325540376408 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.15 [[ 0.99998673 0.00396597 -0.00328803 1.9676789 ] [-0.00397518 0.99998818 -0.00279861 0.03454687] [ 0.00327689 0.00281164 0.99999068 -0.14573707] [ 0. 0. 0. 1. ]] SLAMing on 167.94463044 meters 0.2653877008800127 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.15 [[ 9.99984722e-01 4.39474437e-03 -3.35288992e-03 1.96779230e+00] [-4.40031549e-03 9.99988947e-01 -1.65602236e-03 2.94434390e-02] [ 3.34557506e-03 1.67075083e-03 9.99993008e-01 -1.45624640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00463044 meters 0.26604226735634673 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.15 [[ 9.99984179e-01 4.49071075e-03 -3.38752478e-03 1.96820905e+00] [-4.49556508e-03 9.99988877e-01 -1.42675083e-03 2.84176858e-02] [ 3.38107997e-03 1.44195710e-03 9.99993245e-01 -1.46166005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06463044 meters 0.26756201506511385 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.15 [[ 9.99983941e-01 4.56803784e-03 -3.35429745e-03 1.96833957e+00] [-4.57217299e-03 9.99988796e-01 -1.22615838e-03 2.74878687e-02] [ 3.34865873e-03 1.24147512e-03 9.99993623e-01 -1.46510972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12463044 meters 0.26686615689411736 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.15 [[ 9.99983193e-01 4.71877505e-03 -3.36839778e-03 1.96798979e+00] [-4.72167913e-03 9.99988488e-01 -8.54724635e-04 2.59113190e-02] [ 3.36432575e-03 8.70614764e-04 9.99993962e-01 -1.45719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18463044 meters 0.26734096821970266 Centerline is valid? [False, False] Translation: X:1.97, Y:0.02, Z:-0.15 [[ 9.99990601e-01 3.71462128e-03 -2.23579006e-03 1.96525846e+00] [-3.71677342e-03 9.99992633e-01 -9.59202041e-04 1.82029277e-02] [ 2.23221052e-03 9.67502951e-04 9.99997041e-01 -1.45001522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24463043999998 meters 0.26546109329948964 Centerline is valid? [False, False] Translation: X:1.95, Y:0.02, Z:-0.15 [[ 9.99985214e-01 -4.24189842e-03 -3.40263067e-03 1.94627284e+00] [ 4.24382122e-03 9.99990839e-01 5.58071826e-04 1.73064014e-02] [ 3.40023221e-03 -5.72503730e-04 9.99994055e-01 -1.46860614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30463043999998 meters 0.26665505278770374 Centerline is valid? [False, False] Translation: X:1.97, Y:0.01, Z:-0.15 [[ 9.99978487e-01 4.13489296e-03 -5.09202944e-03 1.96914407e+00] [-4.13505741e-03 9.99991450e-01 -2.17678638e-05 1.41844622e-02] [ 5.09189589e-03 4.28232295e-05 9.99987035e-01 -1.45603212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36463043999998 meters 0.26923157739993014 Centerline is valid? [False, False] Translation: X:1.99, Y:0.02, Z:-0.14 [[ 9.99981294e-01 -3.89919435e-03 -4.71252419e-03 1.98880561e+00] [ 3.90612612e-03 9.99991301e-01 1.46261806e-03 1.74304091e-02] [ 4.70678017e-03 -1.48099841e-03 9.99987826e-01 -1.44497183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42463044 meters 0.26753278034955646 Centerline is valid? [False, False] Translation: X:1.99, Y:0.01, Z:-0.14 [[ 0.99998301 -0.0037393 -0.00447224 1.98761166] [ 0.00374851 0.99999087 0.00205214 0.01454399] [ 0.00446453 -0.00206887 0.99998789 -0.14308813] [ 0. 0. 0. 1. ]] SLAMing on 168.48463044 meters 0.2651951260942536 Centerline is valid? [False, False] Translation: X:1.96, Y:0.01, Z:-0.14 [[ 9.99995213e-01 3.00803885e-03 -7.24632003e-04 1.96367872e+00] [-3.00757774e-03 9.99995275e-01 6.36587979e-04 5.55251839e-03] [ 7.26543460e-04 -6.34405545e-04 9.99999535e-01 -1.42520234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54463044 meters 0.26353505260137366 Centerline is valid? [False, False] Translation: X:1.96, Y:0.00, Z:-0.14 [[ 9.99994923e-01 3.15100556e-03 -4.74270373e-04 1.96262861e+00] [-3.15021995e-03 9.99993680e-01 1.64820856e-03 1.24092834e-03] [ 4.79460889e-04 -1.64670613e-03 9.99998529e-01 -1.41359653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60463044 meters 0.2627936425936587 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.00, Z:-0.14 [[ 9.99994152e-01 3.34590626e-03 -7.08143682e-04 1.96316229e+00] [-3.34431889e-03 9.99991919e-01 2.23102578e-03 -1.19680233e-03] [ 7.15602763e-04 -2.22864448e-03 9.99997261e-01 -1.41373750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66463044 meters 0.2634039411370912 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.01, Z:-0.14 [[ 9.99999628e-01 -3.81511242e-04 -7.73358404e-04 1.96409778e+00] [ 3.81046991e-04 9.99999747e-01 -6.00364383e-04 -6.95449764e-03] [ 7.73587254e-04 6.00069474e-04 9.99999521e-01 -1.42506261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72463044 meters 0.26376458251632057 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.01, Z:-0.14 [[ 9.99991742e-01 -3.99743037e-03 -7.31936354e-04 1.96474497e+00] [ 3.99505767e-03 9.99986852e-01 -3.21494458e-03 -1.46565908e-02] [ 7.44778248e-04 3.21199390e-03 9.99994564e-01 -1.43526410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78463044 meters 0.264444642854629 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.02, Z:-0.14 [[ 9.99992914e-01 -3.68256173e-03 -7.81176765e-04 1.96492193e+00] [ 3.68063608e-03 9.99990219e-01 -2.45233927e-03 -1.80560812e-02] [ 7.90200015e-04 2.44944667e-03 9.99996688e-01 -1.43592817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84463044 meters 0.26490921543408263 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.14 [[ 9.99994266e-01 -3.32889329e-03 -6.21427501e-04 1.96526979e+00] [ 3.32786475e-03 9.99993103e-01 -1.64887827e-03 -2.18423794e-02] [ 6.26912155e-04 1.64680079e-03 9.99998448e-01 -1.44673399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90463044 meters 0.26495809387200037 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.02, Z:-0.15 [[ 9.99994905e-01 -3.10644818e-03 -7.35286152e-04 1.96595554e+00] [ 3.10565341e-03 9.99994595e-01 -1.07957961e-03 -2.44296845e-02] [ 7.38635835e-04 1.07729056e-03 9.99999147e-01 -1.45417814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96463043999998 meters 0.2648246215456184 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.15 [[ 9.99995829e-01 -2.68477150e-03 -1.06473329e-03 1.96649624e+00] [ 2.68501126e-03 9.99996370e-01 2.23813333e-04 -2.98928313e-02] [ 1.06412854e-03 -2.26671220e-04 9.99999408e-01 -1.45073082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02463043999998 meters 0.2644747618396497 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.14 [[ 9.99985950e-01 5.23862394e-03 -8.10205836e-04 1.98562347e+00] [-5.23919777e-03 9.99986025e-01 -7.07768945e-04 -3.70173370e-02] [ 8.06486778e-04 7.12003829e-04 9.99999421e-01 -1.43379787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08463043999998 meters 0.262984809976993 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:-0.14 [[ 9.99992391e-01 -3.88370651e-03 -3.67082122e-04 1.96286119e+00] [ 3.88368108e-03 9.99992456e-01 -6.99580615e-05 -3.87528291e-02] [ 3.67351050e-04 6.85318993e-05 9.99999930e-01 -1.43087943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14463044 meters 0.2650531818281502 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.14 [[ 9.99990352e-01 4.38798373e-03 -2.04332975e-04 1.98369486e+00] [-4.38817523e-03 9.99989924e-01 -9.46378044e-04 -4.14571247e-02] [ 2.00178225e-04 9.47265562e-04 9.99999531e-01 -1.41849244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20463044 meters 0.2644157800331921 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.14 [[ 9.99989881e-01 4.48990369e-03 -2.80039726e-04 1.98376694e+00] [-4.49009787e-03 9.99989677e-01 -6.96646135e-04 -4.25502624e-02] [ 2.76908961e-04 6.97896492e-04 9.99999718e-01 -1.41651894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26463044 meters 0.26442256108812556 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.04, Z:-0.14 [[ 9.99986116e-01 -5.04896624e-03 1.50860783e-03 1.95990978e+00] [ 5.04960338e-03 9.99987163e-01 -4.18825472e-04 -4.36278982e-02] [-1.50647383e-03 4.26437528e-04 9.99998774e-01 -1.41297858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32463044 meters 0.2638527926560994 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.05, Z:-0.14 [[ 9.99987163e-01 -4.83935376e-03 1.50169212e-03 1.95997299e+00] [ 4.83923171e-03 9.99988287e-01 8.48921742e-05 -4.58472766e-02] [-1.50208536e-03 -7.76240483e-05 9.99998869e-01 -1.41339743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38463044 meters 0.2651039001000062 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.05, Z:-0.14 [[ 9.99994528e-01 3.30181993e-03 -2.04770119e-04 1.98161079e+00] [-3.30195561e-03 9.99994327e-01 -6.65862790e-04 -5.22741897e-02] [ 2.02570398e-04 6.66535289e-04 9.99999757e-01 -1.40206395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44463044 meters 0.26486613625162003 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.06, Z:-0.14 [[ 9.99993685e-01 3.55208249e-03 -1.16758826e-04 1.98128874e+00] [-3.55208942e-03 9.99993690e-01 -5.91855134e-05 -5.50006359e-02] [ 1.16547857e-04 5.95998774e-05 9.99999991e-01 -1.39920791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50463044 meters 0.2668506133577959 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:-0.14 [[ 9.99987112e-01 -5.07675974e-03 4.93223896e-05 2.00254724e+00] [ 5.07673208e-03 9.99986964e-01 5.45609466e-04 -5.30977365e-02] [-5.20916748e-05 -5.45352038e-04 9.99999850e-01 -1.39977351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56463044 meters 0.26712654429625643 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:-0.14 [[ 9.99992676e-01 3.06855760e-03 -2.28742367e-03 1.98504555e+00] [-3.06926664e-03 9.99995243e-01 -3.06529551e-04 -5.73146478e-02] [ 2.28647219e-03 3.13548019e-04 9.99997337e-01 -1.42120431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62463044 meters 0.26683824272962753 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:-0.14 [[ 9.99992976e-01 2.99912784e-03 -2.24777615e-03 1.98506788e+00] [-3.00022702e-03 9.99995381e-01 -4.85796596e-04 -5.65802510e-02] [ 2.24630881e-03 4.92537023e-04 9.99997356e-01 -1.42325182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68463044 meters 0.2681645947969431 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.14 [[ 9.99993595e-01 2.82880615e-03 -2.19282670e-03 1.98524660e+00] [-2.83084864e-03 9.99995562e-01 -9.28897794e-04 -5.44728283e-02] [ 2.19018929e-03 9.35099404e-04 9.99997164e-01 -1.42882632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74463043999998 meters 0.2674622445744276 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.14 [[ 9.99993711e-01 2.80042220e-03 -2.17624492e-03 1.98530044e+00] [-2.80259635e-03 9.99995576e-01 -9.96628643e-04 -5.41550203e-02] [ 2.17344431e-03 1.00272151e-03 9.99997135e-01 -1.43039569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80463043999998 meters 0.2666800972873526 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.14 [[ 9.99992963e-01 2.80631383e-03 -2.48981457e-03 1.98593158e+00] [-2.80873882e-03 9.99995584e-01 -9.71005578e-04 -5.43378910e-02] [ 2.48707863e-03 9.77991983e-04 9.99996429e-01 -1.42919442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86463043999998 meters 0.2656908562062658 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.05, Z:-0.14 [[ 9.99982453e-01 -5.49331046e-03 -2.21747091e-03 1.96493104e+00] [ 5.49379330e-03 9.99984887e-01 2.11712089e-04 -5.20481486e-02] [ 2.21627439e-03 -2.23890701e-04 9.99997519e-01 -1.43518188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92463044 meters 0.267290233221349 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.14 [[ 9.99995998e-01 2.59527292e-03 -1.12593578e-03 1.98508533e+00] [-2.59661023e-03 9.99995923e-01 -1.18790302e-03 -5.18983156e-02] [ 1.12284826e-03 1.19082188e-03 9.99998661e-01 -1.42390700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98463044 meters 0.26706793091962167 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.14 [[ 9.99996308e-01 2.48543928e-03 -1.09856731e-03 1.98500176e+00] [-2.48704863e-03 9.99995833e-01 -1.46602231e-03 -5.06135818e-02] [ 1.09491902e-03 1.46874909e-03 9.99998322e-01 -1.42413262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04463044 meters 0.2674532894549635 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.05, Z:-0.14 [[ 9.99996856e-01 2.37013588e-03 -8.18229451e-04 1.98391856e+00] [-2.37160195e-03 9.99995576e-01 -1.79546227e-03 -4.92507372e-02] [ 8.13970341e-04 1.79739714e-03 9.99998053e-01 -1.41522092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10463044 meters 0.2677170491547223 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.05, Z:-0.14 [[ 9.99997309e-01 2.25738499e-03 -5.34703468e-04 1.98310683e+00] [-2.25852167e-03 9.99995171e-01 -2.13482282e-03 -4.76572181e-02] [ 5.29881769e-04 2.13602472e-03 9.99997578e-01 -1.41218924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16463044 meters 0.2682707727583086 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.14 [[ 9.99998064e-01 1.95429472e-03 -2.29845210e-04 1.98298172e+00] [-1.95504079e-03 9.99992671e-01 -3.29180177e-03 -4.26784534e-02] [ 2.23410375e-04 3.29224475e-03 9.99994556e-01 -1.42264906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22463044 meters 0.2682471753700565 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.14 [[ 9.99998522e-01 1.71385482e-03 -1.39934176e-04 1.98265710e+00] [-1.71440784e-03 9.99990319e-01 -4.05243093e-03 -3.94030932e-02] [ 1.32987543e-04 4.05266484e-03 9.99991779e-01 -1.42123970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28463044 meters 0.26971789143595604 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.03, Z:-0.14 [[ 9.99999164e-01 1.29239132e-03 4.99030015e-05 1.98253930e+00] [-1.29211157e-03 9.99985389e-01 -5.24906707e-03 -3.39073911e-02] [-5.66861211e-05 5.24899819e-03 9.99986222e-01 -1.42693078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34463044 meters 0.2696070869055735 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.14 [[ 9.99988839e-01 -4.60143756e-03 -1.07156334e-03 2.00628985e+00] [ 4.59838749e-03 9.99985418e-01 -2.83165594e-03 -2.69704095e-02] [ 1.08457741e-03 2.82669688e-03 9.99995417e-01 -1.43912286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40463044 meters 0.27087896550144536 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.14 [[ 9.99997030e-01 -1.15309064e-03 -2.14730770e-03 2.00855072e+00] [ 1.15301244e-03 9.99999335e-01 -3.76552952e-05 -2.36911433e-02] [ 2.14734970e-03 3.51793109e-05 9.99997694e-01 -1.44055115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46463043999998 meters 0.267044777657783 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.14 [[ 9.99997140e-01 -1.06950559e-03 -2.13924389e-03 2.00827282e+00] [ 1.06985611e-03 9.99999414e-01 1.62715206e-04 -2.43527106e-02] [ 2.13906861e-03 -1.65003424e-04 9.99997699e-01 -1.43532944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52463043999998 meters 0.26865323220102555 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.14 [[ 9.99996952e-01 -1.06518178e-03 -2.22761049e-03 2.00861720e+00] [ 1.06558448e-03 9.99999416e-01 1.79597495e-04 -2.44236980e-02] [ 2.22741789e-03 -1.81970655e-04 9.99997503e-01 -1.43796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58463043999998 meters 0.2679981958456636 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.14 [[ 9.99996666e-01 -1.04780725e-03 -2.36023009e-03 2.00903247e+00] [ 1.04832504e-03 9.99999427e-01 2.18156082e-04 -2.46523855e-02] [ 2.36000016e-03 -2.20629643e-04 9.99997191e-01 -1.43968453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64463044 meters 0.26915523362099986 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.14 [[ 9.99985400e-01 5.40371994e-03 2.10027964e-05 2.03038226e+00] [-5.40365428e-03 9.99982542e-01 -2.39102797e-03 -2.24775615e-02] [-3.39228752e-05 2.39087957e-03 9.99997141e-01 -1.44934717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70463044 meters 0.26798905071296 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.15 [[ 9.99993332e-01 -3.51578986e-03 9.87575497e-04 2.00753003e+00] [ 3.51755903e-03 9.99992202e-01 -1.79543252e-03 -2.15455190e-02] [-9.81255432e-04 1.79889440e-03 9.99997901e-01 -1.45138058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76463044 meters 0.26619751805937175 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.14 [[ 9.99993704e-01 -3.41472498e-03 9.65082775e-04 2.00737451e+00] [ 3.41622278e-03 9.99992956e-01 -1.55462548e-03 -2.26308444e-02] [-9.59767359e-04 1.55791263e-03 9.99998326e-01 -1.44696524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82463044 meters 0.2677818343424044 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.14 [[ 9.99986483e-01 5.04805478e-03 1.24537365e-03 2.02820041e+00] [-5.04542614e-03 9.99985056e-01 -2.10490995e-03 -2.70864237e-02] [-1.25598074e-03 2.09859806e-03 9.99997009e-01 -1.43839711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88463044 meters 0.26760527725698297 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.14 [[ 9.99986108e-01 5.08765190e-03 1.37819198e-03 2.02773044e+00] [-5.08488165e-03 9.99985060e-01 -2.00616377e-03 -2.74845909e-02] [-1.38837805e-03 1.99912796e-03 9.99997038e-01 -1.43501724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94463044 meters 0.2667586130449871 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.14 [[ 9.99986313e-01 4.94786172e-03 1.70094341e-03 2.02704864e+00] [-4.94370390e-03 9.99984803e-01 -2.43999311e-03 -2.56559015e-02] [-1.71299031e-03 2.43155075e-03 9.99995577e-01 -1.43556281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00463044 meters 0.26845363422942536 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.14 [[ 9.99994107e-01 -3.41755525e-03 3.25961733e-04 2.04872717e+00] [ 3.41822972e-03 9.99991970e-01 -2.09158087e-03 -1.87060221e-02] [-3.18811023e-04 2.09268276e-03 9.99997760e-01 -1.43895289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06463044 meters 0.2688252021492943 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.14 [[ 9.99993857e-01 -3.49505837e-03 2.63693615e-04 2.04901798e+00] [ 3.49564783e-03 9.99991316e-01 -2.26906875e-03 -1.79112754e-02] [-2.55760798e-04 2.26997659e-03 9.99997391e-01 -1.44163462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12463044 meters 0.27014220392649585 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.14 [[ 9.99993687e-01 -3.54507435e-03 2.42278082e-04 2.04928313e+00] [ 3.54564362e-03 9.99990856e-01 -2.39104308e-03 -1.74570719e-02] [-2.33799441e-04 2.39188702e-03 9.99997112e-01 -1.44555347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18463044 meters 0.269249393476718 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.01, Z:-0.15 [[ 9.99998651e-01 -1.35091466e-03 -9.34155035e-04 2.05498988e+00] [ 1.35030554e-03 9.99998876e-01 -6.52382463e-04 -1.40806577e-02] [ 9.35035297e-04 6.51120189e-04 9.99999351e-01 -1.48835346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24463043999998 meters 0.2693060400070218 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.01, Z:-0.15 [[ 9.99998431e-01 -1.53792047e-03 -8.78821438e-04 2.05457045e+00] [ 1.53695134e-03 9.99998211e-01 -1.10236699e-03 -1.19276815e-02] [ 8.80515218e-04 1.10101456e-03 9.99999006e-01 -1.48409661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30463043999998 meters 0.2697413227636173 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99997683e-01 2.54772222e-04 -2.13768245e-03 2.05901118e+00] [-2.54921389e-04 9.99999965e-01 -6.95076814e-05 -6.30653883e-03] [ 2.13766467e-03 7.00524613e-05 9.99997713e-01 -1.50807640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36463043999998 meters 0.2686636373609609 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99997858e-01 -1.12176096e-04 -2.06676865e-03 2.05910323e+00] [ 1.10124294e-04 9.99999501e-01 -9.92845714e-04 -2.22959028e-03] [ 2.06687899e-03 9.92615986e-04 9.99997371e-01 -1.51346937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42463044 meters 0.270131691419 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99997790e-01 -6.09307903e-04 -2.01192861e-03 2.05864513e+00] [ 6.05202120e-04 9.99997735e-01 -2.04069871e-03 2.71695402e-03] [ 2.01316747e-03 2.03947658e-03 9.99995894e-01 -1.50968555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48463044 meters 0.2695402296773201 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99997560e-01 -6.62137696e-04 -2.10746101e-03 2.05830841e+00] [ 6.57545470e-04 9.99997410e-01 -2.17898038e-03 3.54994055e-03] [ 2.10889833e-03 2.17758931e-03 9.99995405e-01 -1.49986075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54463044 meters 0.2667248667221715 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99997630e-01 -7.67784517e-04 -2.03709231e-03 2.05790453e+00] [ 7.62757524e-04 9.99996665e-01 -2.46735972e-03 4.88572017e-03] [ 2.03897991e-03 2.46580006e-03 9.99994881e-01 -1.49525283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60463044 meters 0.26613978868033517 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99997617e-01 -9.02169741e-04 -1.98819771e-03 2.05753234e+00] [ 8.96638676e-04 9.99995731e-01 -2.78108687e-03 6.40614462e-03] [ 1.99069823e-03 2.77929754e-03 9.99994156e-01 -1.49073150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66463044 meters 0.266496382622154 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99997838e-01 -1.03182883e-03 -1.80512650e-03 2.05681967e+00] [ 1.02620803e-03 9.99994631e-01 -3.11195997e-03 8.04283942e-03] [ 1.80832782e-03 3.11010081e-03 9.99993529e-01 -1.48547216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72463044 meters 0.2651405220028876 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99997744e-01 -9.75141489e-04 -1.88694470e-03 2.05750019e+00] [ 9.69529148e-04 9.99995111e-01 -2.97293307e-03 7.02223683e-03] [ 1.88983451e-03 2.97109692e-03 9.99993801e-01 -1.49378227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78463044 meters 0.26502755248358667 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99997920e-01 -6.99919776e-04 -1.91574513e-03 2.05765399e+00] [ 6.95648238e-04 9.99997273e-01 -2.22945944e-03 4.06469255e-03] [ 1.91730035e-03 2.22812212e-03 9.99995680e-01 -1.49465301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84463044 meters 0.26557152539448714 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99998113e-01 -5.04633387e-04 -1.87622995e-03 2.05780906e+00] [ 5.01361988e-04 9.99998354e-01 -1.74366421e-03 1.53345567e-03] [ 1.87710677e-03 1.74272025e-03 9.99996720e-01 -1.49763351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90463044 meters 0.2662688409303809 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99998134e-01 -5.34468439e-04 -1.85619714e-03 2.05844695e+00] [ 5.31081909e-04 9.99998195e-01 -1.82445951e-03 2.12911013e-03] [ 1.85716891e-03 1.82347032e-03 9.99996613e-01 -1.51017754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96463043999998 meters 0.2664074622990214 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99998070e-01 -5.45029465e-04 -1.88750833e-03 2.05871522e+00] [ 5.41530151e-04 9.99998135e-01 -1.85394808e-03 2.14065001e-03] [ 1.88851526e-03 1.85292236e-03 9.99996500e-01 -1.51379893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02463043999998 meters 0.2661635536255547 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99997710e-01 -5.18826186e-04 -2.07616162e-03 2.05939085e+00] [ 5.15107819e-04 9.99998263e-01 -1.79111550e-03 1.79393471e-03] [ 2.07708729e-03 1.79004195e-03 9.99996241e-01 -1.51836738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08463043999998 meters 0.2680441130275305 Centerline is valid? [False, False] Translation: X:2.08, Y:0.00, Z:-0.15 [[ 9.99983931e-01 -5.56786200e-03 -1.06597742e-03 2.08055423e+00] [ 5.57063224e-03 9.99981068e-01 2.61368707e-03 1.70524335e-03] [ 1.05140459e-03 -2.61958324e-03 9.99996016e-01 -1.52019995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14463044 meters 0.26853356148116714 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99997246e-01 2.33773698e-03 2.05351422e-04 2.05976989e+00] [-2.33805567e-03 9.99996041e-01 1.56563600e-03 -4.41979019e-03] [-2.01690564e-04 -1.56611182e-03 9.99998753e-01 -1.52840864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20463044 meters 0.26958189790935067 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99997250e-01 2.29405702e-03 4.86148785e-04 2.05911770e+00] [-2.29474832e-03 9.99996350e-01 1.42624070e-03 -3.71749944e-03] [-4.82875133e-04 -1.42735237e-03 9.99998865e-01 -1.52783809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26463044 meters 0.26906830387516645 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99997636e-01 2.15369177e-03 2.97799836e-04 2.05966076e+00] [-2.15400347e-03 9.99997129e-01 1.05032295e-03 -2.05425994e-03] [-2.95536909e-04 -1.05096192e-03 9.99999404e-01 -1.53084631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32463044 meters 0.26861379054795453 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:-0.15 [[ 9.99998186e-01 1.83875250e-03 -4.97810166e-04 2.01530875e+00] [-1.83869339e-03 9.99998303e-01 1.19154342e-04 5.52349931e-04] [ 4.98028416e-04 -1.18238805e-04 9.99999869e-01 -1.52364645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38463044 meters 0.2682651412999243 Centerline is valid? [False, False] Translation: X:2.04, Y:0.01, Z:-0.15 [[ 9.99994382e-01 -3.35044410e-03 9.81901805e-05 2.03760871e+00] [ 3.35009528e-03 9.99988743e-01 3.36009821e-03 6.48174080e-03] [-1.09446896e-04 -3.35975039e-03 9.99994350e-01 -1.52908542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44463044 meters 0.2674217705987207 Centerline is valid? [False, False] Translation: X:2.02, Y:0.00, Z:-0.15 [[ 9.99986607e-01 5.16984890e-03 -2.43854542e-04 2.01734477e+00] [-5.16923846e-03 9.99983661e-01 2.44078385e-03 4.76091459e-03] [ 2.56469041e-04 -2.43949062e-03 9.99996992e-01 -1.53898244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50463044 meters 0.2681858994541153 Centerline is valid? [False, False] Translation: X:2.04, Y:0.01, Z:-0.15 [[ 9.99995508e-01 -2.90260078e-03 -7.47829174e-04 2.03682547e+00] [ 2.90483442e-03 9.99991271e-01 3.00327093e-03 1.36323048e-02] [ 7.39105350e-04 -3.00542976e-03 9.99995211e-01 -1.51936900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56463044 meters 0.2685449549165189 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.15 [[ 9.99994738e-01 -3.07545467e-03 -1.03227745e-03 2.03768995e+00] [ 3.07811847e-03 9.99991911e-01 2.58891595e-03 1.55403703e-02] [ 1.02430701e-03 -2.59207980e-03 9.99996116e-01 -1.52396400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62463044 meters 0.2679182251735722 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.15 [[ 9.99994644e-01 -3.09792894e-03 -1.05619817e-03 2.03800336e+00] [ 3.10059529e-03 9.99991987e-01 2.53225939e-03 1.57187712e-02] [ 1.04834495e-03 -2.53552067e-03 9.99996236e-01 -1.52865595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68463044 meters 0.2683131731057081 Centerline is valid? [False, False] Translation: X:2.04, Y:0.02, Z:-0.15 [[ 9.99994739e-01 -3.03513125e-03 -1.14473736e-03 2.03801216e+00] [ 3.03819680e-03 9.99991778e-01 2.68578049e-03 1.50051622e-02] [ 1.13657626e-03 -2.68924429e-03 9.99995738e-01 -1.52519013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74463043999998 meters 0.2694404798946186 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99984067e-01 5.32389497e-03 -1.87658617e-03 2.05968811e+00] [-5.32029593e-03 9.99984008e-01 1.91766580e-03 1.15974308e-02] [ 1.88676561e-03 -1.90765125e-03 9.99996400e-01 -1.51550738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80463043999998 meters 0.26982312794726065 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99983280e-01 5.45879762e-03 -1.90841467e-03 2.05983230e+00] [-5.45447714e-03 9.99982566e-01 2.26183005e-03 1.00956227e-02] [ 1.92072827e-03 -2.25138282e-03 9.99995621e-01 -1.51661379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86463043999998 meters 0.2694624666225821 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99997125e-01 1.23980223e-03 -2.05256817e-03 2.06017169e+00] [-1.24354136e-03 9.99997568e-01 -1.82141196e-03 1.00489084e-02] [ 2.05030499e-03 1.82395918e-03 9.99996235e-01 -1.51732230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92463044 meters 0.2683279867670445 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99996673e-01 1.25453599e-03 -2.25400519e-03 2.06052263e+00] [-1.25857865e-03 9.99997601e-01 -1.79302107e-03 9.84675078e-03] [ 2.25175037e-03 1.79585195e-03 9.99995852e-01 -1.51511839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98463044 meters 0.2671105294430139 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99996555e-01 1.35123918e-03 -2.25053590e-03 2.06002767e+00] [-1.35470607e-03 9.99997897e-01 -1.53966404e-03 8.87693217e-03] [ 2.24845071e-03 1.54270755e-03 9.99996282e-01 -1.50587274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04463044 meters 0.26764669382054085 Centerline is valid? [False, False] Translation: X:2.06, Y:0.01, Z:-0.15 [[ 9.99995517e-01 1.52326569e-03 -2.57806573e-03 2.06062853e+00] [-1.52596381e-03 9.99998290e-01 -1.04492213e-03 6.86018857e-03] [ 2.57646963e-03 1.04885148e-03 9.99996131e-01 -1.50241463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10463044 meters 0.2676674936857928 Centerline is valid? [False, False] Translation: X:2.06, Y:0.00, Z:-0.15 [[ 9.99993831e-01 1.84976507e-03 -2.98607896e-03 2.06132887e+00] [-1.84971369e-03 9.99998289e-01 1.99669581e-05 1.99973220e-03] [ 2.98611079e-03 -1.44434438e-05 9.99995541e-01 -1.49862164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16463044 meters 0.26713858905202004 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99993065e-01 2.27923207e-03 -2.94523162e-03 2.06130503e+00] [-2.27607842e-03 9.99996833e-01 1.07367493e-03 -2.73197290e-03] [ 2.94766945e-03 -1.06696391e-03 9.99995086e-01 -1.49924761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22463044 meters 0.26780575087773006 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.00, Z:-0.15 [[ 9.99992277e-01 2.48532263e-03 -3.04458803e-03 2.06173939e+00] [-2.48056691e-03 9.99995699e-01 1.56480716e-03 -4.86683019e-03] [ 3.04846399e-03 -1.55724277e-03 9.99994141e-01 -1.50240812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28463044 meters 0.2688759668227648 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 0.99999124 0.00279205 -0.00311959 2.06173479] [-0.00278491 0.9999935 0.00229106 -0.00809034] [ 0.00312596 -0.00228235 0.99999251 -0.14978382] [ 0. 0. 0. 1. ]] SLAMing on 173.34463044 meters 0.2689902220172356 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 0.99999066 0.00295894 -0.00314918 2.06190598] [-0.00295051 0.99999206 0.00268022 -0.00978684] [ 0.00315708 -0.00267091 0.99999145 -0.14990819] [ 0. 0. 0. 1. ]] SLAMing on 173.40463044 meters 0.2694151642450682 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 0.99998989 0.00322899 -0.00312874 2.06216743] [-0.00321856 0.99998927 0.00333295 -0.01255276] [ 0.00313947 -0.00332285 0.99998955 -0.15033077] [ 0. 0. 0. 1. ]] SLAMing on 173.46463043999998 meters 0.2694060440592062 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994792e-01 -9.97035826e-04 -3.06947284e-03 2.06205493e+00] [ 9.94990307e-04 9.99999282e-01 -6.67862244e-04 -1.35215279e-02] [ 3.07013652e-03 6.64804670e-04 9.99995066e-01 -1.50326672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52463043999998 meters 0.2690346722157795 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994137e-01 -9.75885052e-04 -3.28235638e-03 2.06259909e+00] [ 9.73880833e-04 9.99999338e-01 -6.12146767e-04 -1.37865082e-02] [ 3.28295160e-03 6.08946554e-04 9.99994426e-01 -1.50510452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58463043999998 meters 0.27188349082782187 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994382e-01 -1.01021797e-03 -3.19627059e-03 2.06290235e+00] [ 1.00798853e-03 9.99999248e-01 -6.99046546e-04 -1.33702126e-02] [ 3.19697438e-03 6.95820814e-04 9.99994648e-01 -1.51474105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64463044 meters 0.27101749698592736 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994223e-01 -1.12530556e-03 -3.20754917e-03 2.06282763e+00] [ 1.12209299e-03 9.99998867e-01 -1.00318956e-03 -1.20950788e-02] [ 3.20867443e-03 9.99584597e-04 9.99994353e-01 -1.51316046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70463044 meters 0.27354274401920897 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99993959e-01 -1.23948336e-03 -3.24750830e-03 2.06309848e+00] [ 1.23531964e-03 9.99998413e-01 -1.28382012e-03 -1.08834525e-02] [ 3.24909442e-03 1.27980065e-03 9.99993903e-01 -1.51682041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76463044 meters 0.27080556724901544 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99993861e-01 -1.24473950e-03 -3.27536028e-03 2.06307060e+00] [ 1.24048373e-03 9.99998384e-01 -1.30104201e-03 -1.08370362e-02] [ 3.27697445e-03 1.29697100e-03 9.99993790e-01 -1.51514949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82463044 meters 0.27207830566504376 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994036e-01 -1.15891207e-03 -3.25343894e-03 2.06284163e+00] [ 1.15541347e-03 9.99998753e-01 -1.07702681e-03 -1.17549430e-02] [ 3.25468306e-03 1.07326132e-03 9.99994128e-01 -1.51073043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88463044 meters 0.269128774272196 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.01, Z:-0.15 [[ 9.99994450e-01 -1.00332210e-03 -3.17712425e-03 2.06245544e+00] [ 1.00132139e-03 9.99999299e-01 -6.31249311e-04 -1.37253716e-02] [ 3.17775537e-03 6.28064485e-04 9.99994754e-01 -1.50582086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94463044 meters 0.271438875510681 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994869e-01 -7.86196555e-04 -3.10551738e-03 2.06233231e+00] [ 7.85943537e-04 9.99999688e-01 -8.26933733e-05 -1.61046721e-02] [ 3.10558142e-03 8.02521877e-05 9.99995174e-01 -1.50583158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00463044 meters 0.26900091044918406 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994662e-01 -4.90878273e-04 -3.23047633e-03 2.06252054e+00] [ 4.93133043e-04 9.99999635e-01 6.97208844e-04 -1.95033004e-02] [ 3.23013290e-03 -6.98798176e-04 9.99994539e-01 -1.50351160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06463044 meters 0.2693406602029852 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994386e-01 -2.86464091e-04 -3.33869206e-03 2.06293229e+00] [ 2.90472954e-04 9.99999237e-01 1.20030542e-03 -2.17382102e-02] [ 3.33834567e-03 -1.20126848e-03 9.99993706e-01 -1.50617640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12463044 meters 0.26857001225836197 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994191e-01 -1.27295994e-04 -3.40613945e-03 2.06337608e+00] [ 1.32712166e-04 9.99998727e-01 1.58994174e-03 -2.34367703e-02] [ 3.40593272e-03 -1.59038454e-03 9.99992935e-01 -1.51112244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18463044 meters 0.2690584632844836 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99993957e-01 -1.76981318e-04 -3.47204192e-03 2.06373238e+00] [ 1.82081565e-04 9.99998905e-01 1.46868655e-03 -2.29605116e-02] [ 3.47177819e-03 -1.46930987e-03 9.99992894e-01 -1.51519944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24463043999998 meters 0.27056255057321804 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994190e-01 -2.54864469e-04 -3.39913470e-03 2.06347060e+00] [ 2.59190524e-04 9.99999157e-01 1.27231311e-03 -2.20537713e-02] [ 3.39880757e-03 -1.27318674e-03 9.99993414e-01 -1.51360927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30463043999998 meters 0.2723421091218478 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994312e-01 -2.93813006e-04 -3.36014672e-03 2.06335326e+00] [ 2.97793302e-04 9.99999255e-01 1.18412124e-03 -2.16332067e-02] [ 3.35979631e-03 -1.18511514e-03 9.99993654e-01 -1.51312154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36463043999998 meters 0.27096368857625974 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994592e-01 -2.45154828e-04 -3.27956352e-03 2.06308104e+00] [ 2.49369728e-04 9.99999143e-01 1.28485436e-03 -2.22078038e-02] [ 3.27924572e-03 -1.28566524e-03 9.99993797e-01 -1.51154278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42463044 meters 0.27093008871342805 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.02, Z:-0.15 [[ 9.99994261e-01 -1.70178632e-04 -3.38375569e-03 2.06339949e+00] [ 1.75145439e-04 9.99998908e-01 1.46759649e-03 -2.30147235e-02] [ 3.38350224e-03 -1.46818072e-03 9.99993198e-01 -1.51254060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48463044 meters 0.26852033637094996 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.15 [[ 9.99982865e-01 5.75910100e-03 -1.04977540e-03 2.04043990e+00] [-5.76005922e-03 9.99982995e-01 -9.12058734e-04 -3.00618951e-02] [ 1.04450491e-03 9.18089875e-04 9.99999033e-01 -1.51613805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54463044 meters 0.2694863485966648 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.15 [[ 9.99982484e-01 5.84684022e-03 -9.20252888e-04 2.04035258e+00] [-5.84749420e-03 9.99982652e-01 -7.09577594e-04 -3.09749162e-02] [ 9.16088136e-04 7.14946338e-04 9.99999325e-01 -1.51955272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60463044 meters 0.27036434193051145 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.15 [[ 9.99982083e-01 5.90182206e-03 -1.00143861e-03 2.04056472e+00] [-5.90239957e-03 9.99982416e-01 -5.74709138e-04 -3.15478514e-02] [ 9.98029164e-04 5.80609732e-04 9.99999333e-01 -1.51985701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66463044 meters 0.27096373899517145 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.03, Z:-0.15 [[ 9.99982237e-01 5.89170429e-03 -9.01867030e-04 2.04070841e+00] [-5.89224633e-03 9.99982461e-01 -5.99543775e-04 -3.14834751e-02] [ 8.98318877e-04 6.04847148e-04 9.99999414e-01 -1.52639929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72463044 meters 0.2695130396232166 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.15 [[ 9.99996254e-01 -2.33417506e-03 -1.42927795e-03 2.02130632e+00] [ 2.33509929e-03 9.99997065e-01 6.45315585e-04 -2.93407324e-02] [ 1.42776748e-03 -6.48650674e-04 9.99998770e-01 -1.54627995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78463044 meters 0.2704722104499133 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99996112e-01 -2.40754893e-03 -1.40683132e-03 2.02156925e+00] [ 2.40822141e-03 9.99996987e-01 4.76514463e-04 -2.85575692e-02] [ 1.40567985e-03 -4.79900572e-04 9.99998897e-01 -1.55192807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84463044 meters 0.2714972095197743 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99995845e-01 -2.39770698e-03 -1.60003382e-03 2.02218908e+00] [ 2.39852533e-03 9.99996994e-01 5.09740371e-04 -2.87698336e-02] [ 1.59880680e-03 -5.13575975e-04 9.99998590e-01 -1.55507456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90463044 meters 0.27047381687822997 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99995400e-01 -2.33084591e-03 -1.94113969e-03 2.02295987e+00] [ 2.33230646e-03 9.99996999e-01 7.50496316e-04 -2.99053433e-02] [ 1.93938458e-03 -7.55020196e-04 9.99997834e-01 -1.55565399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96463043999998 meters 0.26962513505935654 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99995451e-01 -2.34684595e-03 -1.89480200e-03 2.02302599e+00] [ 2.34819792e-03 9.99996990e-01 7.11608047e-04 -2.97468118e-02] [ 1.89312627e-03 -7.16054180e-04 9.99997952e-01 -1.55901033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02463043999998 meters 0.2696990671176334 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.16 [[ 0.9999819 0.00385202 -0.00462108 2.00309241] [-0.00386256 0.99998995 -0.0022753 -0.02644891] [ 0.00461227 0.00229311 0.99998673 -0.15625283] [ 0. 0. 0. 1. ]] SLAMing on 175.08463043999998 meters 0.2716453108480732 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.16 [[ 9.99989426e-01 -1.69858819e-03 -4.27345641e-03 2.02681461e+00] [ 1.70107485e-03 9.99998386e-01 5.78318111e-04 -2.26015963e-02] [ 4.27246719e-03 -5.85581466e-04 9.99990702e-01 -1.57177106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14463044 meters 0.2696058297191896 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.02, Z:-0.16 [[ 9.99985744e-01 -1.31665951e-03 -5.17481066e-03 1.98187051e+00] [ 1.32142551e-03 9.99998706e-01 9.17688488e-04 -2.04330479e-02] [ 5.17359568e-03 -9.24513532e-04 9.99986189e-01 -1.56165176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20463044 meters 0.271072729003638 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.15 [[ 9.99979774e-01 6.15010721e-03 -1.62083620e-03 1.99950277e+00] [-6.15117605e-03 9.99980867e-01 -6.55276298e-04 -1.86166991e-02] [ 1.61677517e-03 6.65233093e-04 9.99998472e-01 -1.54804844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26463044 meters 0.2697070552580501 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.15 [[ 9.99979898e-01 6.11573875e-03 -1.67373145e-03 1.99930799e+00] [-6.11699185e-03 9.99981014e-01 -7.44592568e-04 -1.82052732e-02] [ 1.66914593e-03 7.54815802e-04 9.99998322e-01 -1.54236181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32463044 meters 0.2700244044801425 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.15 [[ 9.99996144e-01 -2.09475053e-03 -1.82321543e-03 2.02054928e+00] [ 2.09518095e-03 9.99997778e-01 2.34197484e-04 -1.55697731e-02] [ 1.82272079e-03 -2.38016548e-04 9.99998311e-01 -1.53513741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38463044 meters 0.2683187326849194 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.15 [[ 9.99993799e-01 3.19415934e-03 -1.48280346e-03 1.99842763e+00] [-3.19848526e-03 9.99990609e-01 -2.92424592e-03 -2.19080502e-02] [ 1.47344903e-03 2.92897051e-03 9.99994625e-01 -1.53677177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44463044 meters 0.26993564174546586 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99996007e-01 -2.82560789e-03 -3.13754063e-05 2.02084810e+00] [ 2.82562555e-03 9.99995841e-01 5.77710503e-04 -2.59862002e-02] [ 2.97428924e-05 -5.77796851e-04 9.99999833e-01 -1.55485810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50463044 meters 0.26872194240521596 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.16 [[ 0.99999396 0.00277343 -0.00209242 2.00039394] [-0.00277886 0.99999277 -0.00259661 -0.02886451] [ 0.0020852 0.00260241 0.99999444 -0.15565405] [ 0. 0. 0. 1. ]] SLAMing on 175.56463044 meters 0.2702077847318783 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.16 [[ 0.9999936 0.00276504 -0.00227097 2.00115002] [-0.00277099 0.99999272 -0.00262284 -0.02879132] [ 0.0022637 0.00262911 0.99999398 -0.15640363] [ 0. 0. 0. 1. ]] SLAMing on 175.62463044 meters 0.2719342644539943 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.16 [[ 9.99986854e-01 -3.55537121e-03 -3.69476799e-03 2.02501948e+00] [ 3.55388692e-03 9.99993602e-01 -4.08216508e-04 -2.34561631e-02] [ 3.69619571e-03 3.95080353e-04 9.99993091e-01 -1.57475726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68463044 meters 0.26891894406354966 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.16 [[ 0.99998422 0.00229261 -0.00512915 2.00317957] [-0.00231117 0.99999079 -0.00361557 -0.02329753] [ 0.00512081 0.00362737 0.99998031 -0.15679601] [ 0. 0. 0. 1. ]] SLAMing on 175.74463043999998 meters 0.26995940646453265 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.16 [[ 9.99991391e-01 -3.29057533e-03 -2.52791628e-03 2.02268576e+00] [ 3.29002172e-03 9.99994563e-01 -2.23128536e-04 -2.28171740e-02] [ 2.52863676e-03 2.14809715e-04 9.99996780e-01 -1.56524990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80463043999998 meters 0.2702450327782447 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.16 [[ 9.99991174e-01 -3.30806083e-03 -2.59015372e-03 2.02280901e+00] [ 3.30737844e-03 9.99994495e-01 -2.67692845e-04 -2.26563636e-02] [ 2.59102501e-03 2.59123864e-04 9.99996610e-01 -1.56475339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86463043999998 meters 0.2697619641488346 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.16 [[ 9.99991092e-01 -3.34010251e-03 -2.58072865e-03 2.02287840e+00] [ 3.33923104e-03 9.99994366e-01 -3.41920090e-04 -2.23216965e-02] [ 2.58185616e-03 3.33299395e-04 9.99996611e-01 -1.56651067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92463044 meters 0.2686584669103696 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.16 [[ 9.99992293e-01 -3.12285869e-03 -2.37954535e-03 2.02239512e+00] [ 3.12327696e-03 9.99995108e-01 1.72082211e-04 -2.46020596e-02] [ 2.37899632e-03 -1.79512864e-04 9.99997154e-01 -1.56538593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98463044 meters 0.27057106721412855 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 9.99993822e-01 -2.72030307e-03 -2.22611152e-03 2.02177162e+00] [ 2.72337316e-03 9.99995343e-01 1.37726178e-03 -2.96639361e-02] [ 2.22235459e-03 -1.38331580e-03 9.99996574e-01 -1.55884477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04463044 meters 0.2702626201169099 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.16 [[ 0.99999482 -0.00232035 -0.00222899 2.02178905] [ 0.00232572 0.99999439 0.00240972 -0.03407378] [ 0.00222338 -0.00241489 0.99999461 -0.1558107 ] [ 0. 0. 0. 1. ]] SLAMing on 176.10463044 meters 0.26943126948296103 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99995780e-01 -1.77277330e-03 -2.30171922e-03 2.02311562e+00] [ 1.78163153e-03 9.99990993e-01 3.85219828e-03 -4.18852927e-02] [ 2.29486942e-03 -3.85628284e-03 9.99989931e-01 -1.57277089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16463044 meters 0.2708488637876609 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99995822e-01 -1.53369060e-03 -2.45011085e-03 2.02400371e+00] [ 1.54450587e-03 9.99989046e-01 4.41841934e-03 -4.44129134e-02] [ 2.44330753e-03 -4.42218509e-03 9.99987237e-01 -1.58203894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22463044 meters 0.2709849288939168 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99995653e-01 -1.49926252e-03 -2.53888464e-03 2.02437781e+00] [ 1.51067526e-03 9.99988737e-01 4.49924475e-03 -4.47764792e-02] [ 2.53211050e-03 -4.50306062e-03 9.99986655e-01 -1.58522268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28463044 meters 0.2715626172134852 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99996154e-01 -1.49462146e-03 -2.33613374e-03 2.02424280e+00] [ 1.50513492e-03 9.99988719e-01 4.50510648e-03 -4.47335393e-02] [ 2.32937395e-03 -4.50860535e-03 9.99987123e-01 -1.59125629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34463044 meters 0.27109431614560336 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99996509e-01 -1.61817701e-03 -2.08885447e-03 2.02362158e+00] [ 1.62679044e-03 9.99990155e-01 4.12842802e-03 -4.31321426e-02] [ 2.08215338e-03 -4.13181173e-03 9.99989296e-01 -1.59028447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40463044 meters 0.27361150398267603 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99996118e-01 -1.80106958e-03 -2.12628664e-03 2.02379398e+00] [ 1.80890763e-03 9.99991555e-01 3.69011049e-03 -4.12597131e-02] [ 2.11962254e-03 -3.69394242e-03 9.99990931e-01 -1.59237954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46463043999998 meters 0.27113908570855483 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.16 [[ 9.99995864e-01 -1.79855673e-03 -2.24417159e-03 2.02407605e+00] [ 1.80685517e-03 9.99991518e-01 3.70124215e-03 -4.13267635e-02] [ 2.23749566e-03 -3.70528173e-03 9.99990632e-01 -1.59250343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52463043999998 meters 0.2706486840945194 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.16 [[ 9.99989064e-01 4.35894654e-03 -1.69456096e-03 2.04690788e+00] [-4.35789082e-03 9.99990308e-01 6.26199193e-04 -4.08392227e-02] [ 1.69727411e-03 -6.18807633e-04 9.99998368e-01 -1.59531536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58463043999998 meters 0.26849943411418326 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.16 [[ 0.99998864 -0.00389558 -0.00274668 2.0272038 ] [ 0.0039014 0.99999015 0.00211412 -0.04076395] [ 0.00273842 -0.00212481 0.99999399 -0.16064009] [ 0. 0. 0. 1. ]] SLAMing on 176.64463044 meters 0.26993826276846045 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.16 [[ 9.99987896e-01 4.55302892e-03 -1.86513551e-03 2.04721603e+00] [-4.55087612e-03 9.99988976e-01 1.15685719e-03 -4.31798158e-02] [ 1.87038215e-03 -1.14835519e-03 9.99997591e-01 -1.59873992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70463044 meters 0.2679990900940011 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.16 [[ 9.99993022e-01 -3.73532353e-03 -5.70761126e-05 2.02554973e+00] [ 3.73546030e-03 9.99989588e-01 2.62093643e-03 -4.11529541e-02] [ 4.72854729e-05 -2.62113134e-03 9.99996564e-01 -1.61158527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76463044 meters 0.26912801839300926 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.16 [[ 9.99990904e-01 4.20363280e-03 7.22725210e-04 2.04501571e+00] [-4.20426479e-03 9.99990779e-01 8.75158876e-04 -4.26088286e-02] [-7.19039699e-04 -8.78189443e-04 9.99999356e-01 -1.59591912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82463044 meters 0.270959346601376 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.16 [[ 9.99990641e-01 4.26567416e-03 7.21881710e-04 2.04522865e+00] [-4.26641416e-03 9.99990372e-01 1.02668722e-03 -4.32761253e-02] [-7.17495247e-04 -1.02975746e-03 9.99999212e-01 -1.59967849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88463044 meters 0.2693918446502361 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.16 [[ 9.99995822e-01 1.96276692e-03 2.12235314e-03 2.03974395e+00] [-1.96121523e-03 9.99997808e-01 -7.32951019e-04 -4.74676296e-02] [-2.12378710e-03 7.28785565e-04 9.99997479e-01 -1.56727044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94463044 meters 0.26806009849820606 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.16 [[ 9.99995528e-01 2.16189607e-03 2.06634457e-03 2.04029851e+00] [-2.16142750e-03 9.99997638e-01 -2.28966246e-04 -4.97955321e-02] [-2.06683469e-03 2.24498968e-04 9.99997839e-01 -1.57458261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00463044 meters 0.2699653310013443 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.16 [[ 0.99999082 -0.00343327 0.00256551 2.06429481] [ 0.00342554 0.9999896 0.00301242 -0.05045175] [-0.00257583 -0.0030036 0.99999217 -0.15907684] [ 0. 0. 0. 1. ]] SLAMing on 177.06463044 meters 0.27101527604660003 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.16 [[ 0.99999151 -0.00333629 0.0024182 2.06504829] [ 0.0033284 0.99998916 0.00325721 -0.05166646] [-0.00242904 -0.00324913 0.99999177 -0.15986706] [ 0. 0. 0. 1. ]] SLAMing on 177.12463044 meters 0.27139531013670665 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.16 [[ 0.99999157 -0.00327993 0.00246977 2.06515813] [ 0.00327155 0.99998891 0.00338911 -0.05226276] [-0.00248086 -0.003381 0.99999121 -0.16027069] [ 0. 0. 0. 1. ]] SLAMing on 177.18463044 meters 0.2692340626445823 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:-0.16 [[ 9.99994246e-01 2.28354357e-03 2.50882356e-03 2.04335928e+00] [-2.28420319e-03 9.99997357e-01 2.60083973e-04 -5.62818508e-02] [-2.50822302e-03 -2.65813139e-04 9.99996819e-01 -1.60309415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24463043999998 meters 0.2700485921615365 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:-0.16 [[ 9.99994114e-01 2.41207512e-03 2.43996459e-03 2.04357018e+00] [-2.41353133e-03 9.99996911e-01 5.94048700e-04 -5.77514862e-02] [-2.43852417e-03 -5.99934135e-04 9.99996847e-01 -1.60353943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30463043999998 meters 0.2696105679856381 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:-0.16 [[ 9.99994009e-01 2.65378155e-03 2.22256988e-03 2.04419103e+00] [-2.65659814e-03 9.99995671e-01 1.26527443e-03 -6.05735218e-02] [-2.21920249e-03 -1.27117133e-03 9.99996730e-01 -1.60560446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36463043999998 meters 0.27094295135552043 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:-0.16 [[ 9.99993466e-01 2.86368142e-03 2.20602642e-03 2.04420488e+00] [-2.86763967e-03 9.99994280e-01 1.79322441e-03 -6.28803787e-02] [-2.20087858e-03 -1.79953878e-03 9.99995959e-01 -1.60441947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42463044 meters 0.26952431046028213 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.16 [[ 9.99993839e-01 6.04834272e-04 3.45789312e-03 2.03871661e+00] [-6.04896840e-04 9.99999817e-01 1.70486020e-05 -6.63279424e-02] [-3.45788218e-03 -1.91401656e-05 9.99994021e-01 -1.56821645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48463044 meters 0.2702929679572534 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.16 [[ 9.99993846e-01 5.97464106e-04 3.45706124e-03 2.03871958e+00] [-5.97496783e-04 9.99999821e-01 8.41947769e-06 -6.62178533e-02] [-3.45705559e-03 -1.04850088e-05 9.99994024e-01 -1.56814389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54463044 meters 0.2701702138075047 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.16 [[ 9.99993645e-01 6.33168412e-04 3.50843795e-03 2.03857598e+00] [-6.33491292e-04 9.99999795e-01 9.09191231e-05 -6.65836740e-02] [-3.50837966e-03 -9.31411102e-05 9.99993841e-01 -1.56767816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60463044 meters 0.2680103840364421 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:-0.15 [[ 9.99987458e-01 -1.06903435e-03 4.89297382e-03 2.03385571e+00] [ 1.07558632e-03 9.99998528e-01 -1.33662056e-03 -6.79325977e-02] [-4.89153772e-03 1.34186661e-03 9.99987136e-01 -1.54459229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66463044 meters 0.27022803829754505 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.07, Z:-0.16 [[ 0.99998139 0.00478311 0.00378747 2.0587603 ] [-0.00476511 0.99997738 -0.00474758 -0.0706967 ] [-0.00381009 0.00472944 0.99998156 -0.15585737] [ 0. 0. 0. 1. ]] SLAMing on 177.72463044 meters 0.2689711321057459 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.16 [[ 9.99993744e-01 -3.02903366e-03 1.82679529e-03 2.04067765e+00] [ 3.03379925e-03 9.99991988e-01 -2.61160826e-03 -7.19860006e-02] [-1.81887000e-03 2.61713405e-03 9.99994921e-01 -1.57772792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78463044 meters 0.2693642437297021 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.16 [[ 9.99994364e-01 -2.89189476e-03 1.70559423e-03 2.04129810e+00] [ 2.89577995e-03 9.99993208e-01 -2.27985703e-03 -7.35916292e-02] [-1.69898954e-03 2.28478321e-03 9.99995947e-01 -1.58330232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84463044 meters 0.270076071920721 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.08, Z:-0.16 [[ 9.99995055e-01 -2.73222915e-03 1.55731834e-03 2.04181384e+00] [ 2.73518953e-03 9.99994451e-01 -1.90199835e-03 -7.53353723e-02] [-1.55211300e-03 1.90624850e-03 9.99996979e-01 -1.58634424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90463044 meters 0.27027590285145114 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.08, Z:-0.16 [[ 9.99996414e-01 -2.31274365e-03 1.35023929e-03 2.04245932e+00] [ 2.31364855e-03 9.99997100e-01 -6.68999592e-04 -8.08751113e-02] [-1.34868815e-03 6.72121172e-04 9.99998865e-01 -1.58790221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96463043999998 meters 0.269536745716156 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.08, Z:-0.16 [[ 9.99997249e-01 -1.98587043e-03 1.24847221e-03 2.04218563e+00] [ 1.98563218e-03 9.99998010e-01 1.92043426e-04 -8.46069159e-02] [-1.24885110e-03 -1.89563891e-04 9.99999202e-01 -1.57780710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02463043999998 meters 0.26846028309247516 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.09, Z:-0.16 [[ 9.99997997e-01 -1.64736766e-03 1.13662196e-03 2.04193984e+00] [ 1.64623206e-03 9.99998146e-01 9.99313127e-04 -8.81618787e-02] [-1.13826608e-03 -9.97439982e-04 9.99998855e-01 -1.56759563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08463043999998 meters 0.2709756707877614 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:-0.16 [[ 9.99967929e-01 7.99312529e-03 5.00351450e-04 2.06441326e+00] [-7.99353937e-03 9.99967706e-01 8.31129694e-04 -8.99608036e-02] [-4.93691968e-04 -8.35102618e-04 9.99999529e-01 -1.56237220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14463044 meters 0.2707111260216206 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:-0.16 [[ 9.99968336e-01 7.94022951e-03 5.29005402e-04 2.06429870e+00] [-7.94060020e-03 9.99968226e-01 7.02352348e-04 -8.93412908e-02] [-5.23411754e-04 -7.06530729e-04 9.99999613e-01 -1.56163364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20463044 meters 0.2716204603045329 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:-0.16 [[ 9.99990149e-01 4.13381808e-03 1.61674105e-03 2.06153097e+00] [-4.12876213e-03 9.99986615e-01 -3.11818142e-03 -8.90315509e-02] [-1.62960941e-03 3.11147556e-03 9.99993832e-01 -1.55373008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26463044 meters 0.2726715775543408 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.16 [[ 9.99999132e-01 -8.94734386e-04 9.66965864e-04 2.08468439e+00] [ 8.94579209e-04 9.99999587e-01 1.60899086e-04 -8.45401209e-02] [-9.67109427e-04 -1.60033919e-04 9.99999520e-01 -1.55848272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32463044 meters 0.2736892092913223 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.16 [[ 9.99999067e-01 -1.01821628e-03 9.10765913e-04 2.08476443e+00] [ 1.01832337e-03 9.99999475e-01 -1.17120195e-04 -8.32764293e-02] [-9.10646180e-04 1.18047540e-04 9.99999578e-01 -1.55802871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38463044 meters 0.27256399070213766 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.16 [[ 9.99998662e-01 -1.37149086e-03 8.91359490e-04 2.08447760e+00] [ 1.37233755e-03 9.99998607e-01 -9.49965114e-04 -7.94853521e-02] [-8.90055380e-04 9.51187089e-04 9.99999152e-01 -1.55364468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44463044 meters 0.2726755377948862 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.16 [[ 9.99997335e-01 2.15111364e-03 8.38477150e-04 2.08510769e+00] [-2.15245526e-03 9.99996400e-01 1.60245669e-03 -7.06531996e-02] [-8.35027065e-04 -1.60425720e-03 9.99998365e-01 -1.56302869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50463044 meters 0.27441521915820066 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.16 [[ 9.99998617e-01 1.51059464e-03 6.95738717e-04 2.08534312e+00] [-1.51073267e-03 9.99998839e-01 1.97914996e-04 -6.35586582e-02] [-6.95438940e-04 -1.98965797e-04 9.99999738e-01 -1.56221777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56463044 meters 0.2708903440236538 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.16 [[ 9.99999525e-01 7.77409513e-04 5.88195057e-04 2.08505774e+00] [-7.76691706e-04 9.99998955e-01 -1.21960234e-03 -5.65579739e-02] [-5.89142573e-04 1.21914491e-03 9.99999083e-01 -1.55687734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62463044 meters 0.2710822206129861 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.05, Z:-0.15 [[ 9.99999856e-01 4.09797624e-04 3.47651087e-04 2.08479623e+00] [-4.09042520e-04 9.99997563e-01 -2.16931619e-03 -5.23589890e-02] [-3.48539221e-04 2.16917367e-03 9.99997587e-01 -1.54513383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68463044 meters 0.2711328035176914 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999936e-01 3.59027831e-04 -1.25628660e-06 2.08551720e+00] [-3.59029771e-04 9.99997291e-01 -2.29972029e-03 -5.17807786e-02] [ 4.30619605e-07 2.29972060e-03 9.99997356e-01 -1.54381081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74463043999998 meters 0.2712078194461268 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999822e-01 3.85204520e-04 -4.55542786e-04 2.08655986e+00] [-3.86209772e-04 9.99997486e-01 -2.20868752e-03 -5.21283783e-02] [ 4.54690844e-04 2.20886307e-03 9.99997457e-01 -1.54422141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80463043999998 meters 0.2695595778149291 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999658e-01 5.16848646e-04 -6.44891168e-04 2.08666123e+00] [-5.18043869e-04 9.99998146e-01 -1.85458336e-03 -5.36515082e-02] [ 6.43931434e-04 1.85491681e-03 9.99998072e-01 -1.53778353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86463043999998 meters 0.27132076482253187 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999713e-01 4.57230459e-04 -6.03585410e-04 2.08657941e+00] [-4.58439624e-04 9.99997886e-01 -2.00468822e-03 -5.30033142e-02] [ 6.02667529e-04 2.00496435e-03 9.99997808e-01 -1.53791466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92463044 meters 0.27220666131604776 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999748e-01 3.02426644e-04 -6.42776060e-04 2.08682059e+00] [-3.03988844e-04 9.99996997e-01 -2.43168857e-03 -5.11291614e-02] [ 6.42038722e-04 2.43188336e-03 9.99996837e-01 -1.54139733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98463044 meters 0.2712933722803993 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999748e-01 3.02771536e-04 -6.42163161e-04 2.08646827e+00] [-3.04329403e-04 9.99997008e-01 -2.42725751e-03 -5.10401756e-02] [ 6.41426336e-04 2.42745233e-03 9.99996848e-01 -1.53490952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04463044 meters 0.27232223109886267 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.15 [[ 9.99999680e-01 5.04690810e-04 -6.20216459e-04 2.08606683e+00] [-5.05810700e-04 9.99998240e-01 -1.80681439e-03 -5.39470929e-02] [ 6.19303485e-04 1.80712753e-03 9.99998175e-01 -1.52737957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10463044 meters 0.27187000415023277 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.15 [[ 9.99999086e-01 9.40566618e-04 -9.71174323e-04 2.08711466e+00] [-9.40886160e-04 9.99999503e-01 -3.28622628e-04 -6.00745025e-02] [ 9.70864749e-04 3.29536092e-04 9.99999474e-01 -1.53094331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16463044 meters 0.2713533049365591 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.15 [[ 9.99998065e-01 1.43007617e-03 -1.35112838e-03 2.08762294e+00] [-1.42836570e-03 9.99998178e-01 1.26607331e-03 -7.02992527e-02] [ 1.35293650e-03 -1.26414095e-03 9.99998286e-01 -1.52359819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22463044 meters 0.27187414375275953 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.15 [[ 9.99997084e-01 1.93791401e-03 -1.44104700e-03 2.08788925e+00] [-1.93425217e-03 9.99994908e-01 2.53816695e-03 -7.59145137e-02] [ 1.44595841e-03 -2.53537220e-03 9.99995741e-01 -1.52344438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28463044 meters 0.27120021371669334 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.15 [[ 9.99995826e-01 2.46777722e-03 -1.50251276e-03 2.08797159e+00] [-2.46174862e-03 9.99988966e-01 4.00105586e-03 -8.36583356e-02] [ 1.51236990e-03 -3.99734035e-03 9.99990867e-01 -1.52075113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34463044 meters 0.2701161532937774 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.09, Z:-0.15 [[ 9.99998090e-01 -9.82443140e-04 -1.68961142e-03 2.08753157e+00] [ 9.85467410e-04 9.99997912e-01 1.79002003e-03 -9.43797474e-02] [ 1.68784930e-03 -1.79168167e-03 9.99996971e-01 -1.50662099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40463044 meters 0.2720849450399259 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.10, Z:-0.15 [[ 9.99998279e-01 -6.27989309e-04 -1.74546594e-03 2.08777324e+00] [ 6.32711733e-04 9.99996138e-01 2.70630390e-03 -9.83341152e-02] [ 1.74375967e-03 -2.70740362e-03 9.99994815e-01 -1.50796905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46463043999998 meters 0.27014059291932313 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:-0.15 [[ 9.99991793e-01 4.03230279e-03 3.92243981e-04 2.06484930e+00] [-4.03217645e-03 9.99991819e-01 -3.22357415e-04 -1.07403884e-01] [-3.93540615e-04 3.20773172e-04 9.99999871e-01 -1.51698084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52463043999998 meters 0.272666596967808 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.15 [[ 9.99991595e-01 -3.98538459e-03 9.62861632e-04 2.08677921e+00] [ 3.98458562e-03 9.99991717e-01 8.30286078e-04 -1.09678116e-01] [-9.66162666e-04 -8.26442495e-04 9.99999192e-01 -1.51276625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58463043999998 meters 0.2710182942966712 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99992903e-01 3.40484846e-03 -1.61286517e-03 2.06932907e+00] [-3.40518194e-03 9.99994182e-01 -2.04066257e-04 -1.13630246e-01] [ 1.61216097e-03 2.09556908e-04 9.99998679e-01 -1.53124730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64463044 meters 0.27176096445057313 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99993416e-01 3.29479966e-03 -1.52032473e-03 2.06971826e+00] [-3.29548753e-03 9.99994469e-01 -4.50162230e-04 -1.12386051e-01] [ 1.51883312e-03 4.55169478e-04 9.99998743e-01 -1.54173210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70463044 meters 0.2727519434453847 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99993670e-01 3.16478567e-03 -1.62635519e-03 2.06995266e+00] [-3.16601178e-03 9.99994706e-01 -7.51884938e-04 -1.11015203e-01] [ 1.62396703e-03 7.57029238e-04 9.99998395e-01 -1.54144105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76463044 meters 0.2716187713083071 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99993420e-01 3.14725334e-03 -1.80398334e-03 2.07055724e+00] [-3.14868015e-03 9.99994732e-01 -7.88628027e-04 -1.10935835e-01] [ 1.80149182e-03 7.94303005e-04 9.99998062e-01 -1.54541915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82463044 meters 0.27035281288570573 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.11, Z:-0.16 [[ 9.99981162e-01 -5.63322988e-03 -2.43755305e-03 2.05014813e+00] [ 5.63394144e-03 9.99984089e-01 2.85144218e-04 -1.09120966e-01] [ 2.43590798e-03 -2.98871878e-04 9.99996989e-01 -1.55064175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88463044 meters 0.27134450234663976 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99995918e-01 2.84538840e-03 -2.59141927e-04 2.06891367e+00] [-2.84554656e-03 9.99995764e-01 -6.12022918e-04 -1.11632765e-01] [ 2.57399386e-04 6.12757820e-04 9.99999779e-01 -1.54453679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94463044 meters 0.27173372698821124 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.11, Z:-0.15 [[ 9.99977927e-01 -6.64378569e-03 7.39746978e-05 2.04583779e+00] [ 6.64379689e-03 9.99977918e-01 -1.52250398e-04 -1.12453860e-01] [-7.29615453e-05 1.52738510e-04 9.99999986e-01 -1.53670079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00463044 meters 0.2700914806553147 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.11, Z:-0.15 [[ 9.99979329e-01 -6.42965800e-03 4.43811407e-05 2.04569923e+00] [ 6.42963855e-03 9.99979239e-01 4.25256943e-04 -1.14979733e-01] [-4.71144760e-05 -4.24962797e-04 9.99999909e-01 -1.53277306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06463044 meters 0.2693584344391884 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:-0.15 [[ 9.99997599e-01 1.89469772e-03 1.10111450e-03 2.06395004e+00] [-1.89413316e-03 9.99998074e-01 -5.13534298e-04 -1.21684750e-01] [-1.10208537e-03 5.11447407e-04 9.99999262e-01 -1.51684120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12463044 meters 0.268933061660764 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:-0.15 [[ 9.99997419e-01 2.00770109e-03 1.06313114e-03 2.06359989e+00] [-2.00746726e-03 9.99997961e-01 -2.20965050e-04 -1.22888115e-01] [-1.06357261e-03 2.18830279e-04 9.99999410e-01 -1.50834396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18463044 meters 0.2699680405359769 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:-0.15 [[ 9.99997279e-01 2.07174360e-03 1.07246061e-03 2.06350802e+00] [-2.07167773e-03 9.99997852e-01 -6.25272654e-05 -1.23556312e-01] [-1.07258785e-03 6.03053025e-05 9.99999423e-01 -1.50687053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24463043999998 meters 0.2704601533413233 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:-0.15 [[ 9.99997444e-01 1.96516356e-03 1.11843691e-03 2.06346052e+00] [-1.96481687e-03 9.99998021e-01 -3.10989621e-04 -1.22424347e-01] [-1.11904585e-03 3.08791302e-04 9.99999326e-01 -1.50783485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30463043999998 meters 0.2695893128883411 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.12, Z:-0.15 [[ 9.99981142e-01 -5.99598248e-03 -1.32806562e-03 2.04573454e+00] [ 5.99716443e-03 9.99981623e-01 8.87786405e-04 -1.18038606e-01] [ 1.32271806e-03 -8.95734291e-04 9.99998724e-01 -1.52753792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36463043999998 meters 0.2694664398181094 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:-0.15 [[ 9.99986214e-01 4.07683594e-03 -3.30917333e-03 2.07010290e+00] [-4.07414387e-03 9.99991365e-01 8.19852120e-04 -1.17202946e-01] [ 3.31248716e-03 -8.06358770e-04 9.99994189e-01 -1.52904643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42463044 meters 0.2696788724868709 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:-0.15 [[ 9.99986459e-01 3.87006086e-03 -3.47918609e-03 2.07060057e+00] [-3.86891236e-03 9.99992459e-01 3.36774326e-04 -1.15029991e-01] [ 3.48046319e-03 -3.23309099e-04 9.99993891e-01 -1.53119788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48463044 meters 0.269247824545128 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99987054e-01 3.64964839e-03 -3.54559021e-03 2.07057497e+00] [-3.65036044e-03 9.99993319e-01 -1.94377546e-04 -1.12619134e-01] [ 3.54485711e-03 2.07317712e-04 9.99993695e-01 -1.52765875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54463044 meters 0.26934222438538424 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99987955e-01 3.36612415e-03 -3.57208847e-03 2.07043696e+00] [-3.36908620e-03 9.99993986e-01 -8.23526383e-04 -1.09470987e-01] [ 3.56929490e-03 8.35551137e-04 9.99993281e-01 -1.52426566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60463044 meters 0.2692979050642365 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99987758e-01 3.20824299e-03 -3.76696604e-03 2.07107642e+00] [-3.21283074e-03 9.99994104e-01 -1.21247104e-03 -1.07758022e-01] [ 3.76305393e-03 1.22455883e-03 9.99992170e-01 -1.52823982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66463044 meters 0.2712494846639607 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.10, Z:-0.15 [[ 9.99986453e-01 -4.33581590e-03 -2.88003752e-03 2.09060077e+00] [ 4.33581349e-03 9.99990600e-01 -7.08010415e-06 -1.03989419e-01] [ 2.88004114e-03 -5.40729729e-06 9.99995853e-01 -1.51028871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72463044 meters 0.26910830135761693 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99991079e-01 4.00720641e-03 -1.33599783e-03 2.06877589e+00] [-4.00828470e-03 9.99991642e-01 -8.05407064e-04 -1.06124180e-01] [ 1.33275923e-03 8.10754938e-04 9.99998783e-01 -1.51669749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78463044 meters 0.2689470742660547 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.15 [[ 9.99991108e-01 4.02349634e-03 -1.26291441e-03 2.06831430e+00] [-4.02446131e-03 9.99991611e-01 -7.62478070e-04 -1.06278561e-01] [ 1.25983598e-03 7.67553841e-04 9.99998912e-01 -1.51091248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84463044 meters 0.2678827858592713 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.10, Z:-0.15 [[ 9.99991687e-01 3.88609610e-03 -1.23458887e-03 2.06801168e+00] [-3.88744598e-03 9.99991847e-01 -1.09287160e-03 -1.04741084e-01] [ 1.23033180e-03 1.09766191e-03 9.99998641e-01 -1.50623893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90463044 meters 0.2684514179528175 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.10, Z:-0.15 [[ 9.99992167e-01 3.71298226e-03 -1.37108510e-03 2.06856059e+00] [-3.71505481e-03 9.99991956e-01 -1.51217646e-03 -1.02826881e-01] [ 1.36545939e-03 1.51725828e-03 9.99997917e-01 -1.51072481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96463043999998 meters 0.26882922000727744 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.10, Z:-0.15 [[ 9.99993100e-01 3.37503198e-03 -1.55227874e-03 2.06942798e+00] [-3.37867285e-03 9.99991534e-01 -2.34888868e-03 -9.87449917e-02] [ 1.54433803e-03 2.35411712e-03 9.99996037e-01 -1.51720959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02463043999998 meters 0.26888093390954554 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.09, Z:-0.15 [[ 9.99994238e-01 2.95078088e-03 -1.67821665e-03 2.06978270e+00] [-2.95641304e-03 9.99989973e-01 -3.36351737e-03 -9.42026755e-02] [ 1.66827482e-03 3.36845949e-03 9.99992935e-01 -1.51719699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08463043999998 meters 0.2695259413256167 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.09, Z:-0.15 [[ 9.99994885e-01 2.58337462e-03 -1.88559071e-03 2.07063882e+00] [-2.59144306e-03 9.99987444e-01 -4.28917623e-03 -8.99145647e-02] [ 1.87448649e-03 4.29404070e-03 9.99989024e-01 -1.52260198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14463044 meters 0.2680027012740306 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.08, Z:-0.15 [[ 9.99995337e-01 -3.05233115e-03 9.46893167e-05 2.04883870e+00] [ 3.05250210e-03 9.99993609e-01 -1.86107148e-03 -7.81396644e-02] [-8.90081051e-05 1.86135184e-03 9.99998264e-01 -1.53235808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20463044 meters 0.26853641094455977 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.07, Z:-0.15 [[ 9.99994311e-01 -3.37226909e-03 -7.66501052e-05 2.04930271e+00] [ 3.37203076e-03 9.99990047e-01 -2.92168449e-03 -7.34294023e-02] [ 8.65020486e-05 2.92140940e-03 9.99995729e-01 -1.53355636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26463044 meters 0.26841208275800005 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.15 [[ 0.99997897 0.0057935 0.0029132 2.06762213] [-0.00578149 0.99997482 -0.00411579 -0.06392107] [-0.00293698 0.00409886 0.99998729 -0.15205498] [ 0. 0. 0. 1. ]] SLAMing on 181.32463044 meters 0.2678413392771164 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.06, Z:-0.15 [[ 9.99990118e-01 -3.20823814e-04 4.43398662e-03 2.04458601e+00] [ 3.29060729e-04 9.99998221e-01 -1.85707235e-03 -5.54136959e-02] [-4.43338294e-03 1.85851305e-03 9.99988445e-01 -1.51317570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38463044 meters 0.26782281715679424 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.15 [[ 9.99988980e-01 -6.39416750e-04 4.65092670e-03 2.04415241e+00] [ 6.55835349e-04 9.99993556e-01 -3.52950999e-03 -4.62319970e-02] [-4.64863990e-03 3.53252134e-03 9.99982956e-01 -1.51237246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44463044 meters 0.26812348576497763 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.15 [[ 9.99985830e-01 2.83120224e-03 4.50815654e-03 2.04344577e+00] [-2.82595636e-03 9.99995323e-01 -1.16958753e-03 -3.71741962e-02] [-4.51144680e-03 1.15683111e-03 9.99989154e-01 -1.49729454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50463044 meters 0.2687775326418431 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.03, Z:-0.15 [[ 9.99990224e-01 -2.40604094e-03 3.70975653e-03 2.06611053e+00] [ 2.39985248e-03 9.99995723e-01 1.67170871e-03 -2.82244916e-02] [-3.71376287e-03 -1.66278950e-03 9.99991722e-01 -1.49957468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56463044 meters 0.26772698254033384 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.02, Z:-0.15 [[ 9.99988365e-01 -2.93505405e-03 3.82830801e-03 2.06572943e+00] [ 2.93435182e-03 9.99995677e-01 1.89033624e-04 -2.19255385e-02] [-3.82884629e-03 -1.77797822e-04 9.99992654e-01 -1.49762847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62463044 meters 0.26792163500773625 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.02, Z:-0.15 [[ 9.99987093e-01 -3.25905443e-03 3.89783676e-03 2.06575593e+00] [ 3.26153122e-03 9.99994483e-01 -6.29239030e-04 -1.83874749e-02] [-3.89576453e-03 6.41943825e-04 9.99992205e-01 -1.50085494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68463044 meters 0.26721330300074136 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.02, Z:-0.15 [[ 9.99985900e-01 -3.54646399e-03 3.95261063e-03 2.06578362e+00] [ 3.55168343e-03 9.99992829e-01 -1.31426684e-03 -1.53259395e-02] [-3.94792128e-03 1.32828673e-03 9.99991325e-01 -1.50361306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74463043999998 meters 0.26797676129780557 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.01, Z:-0.15 [[ 0.99998004 0.00482617 0.00407749 2.08728829] [-0.00481602 0.99998529 -0.00249607 -0.01465049] [-0.00408947 0.00247639 0.99998857 -0.14990417] [ 0. 0. 0. 1. ]] SLAMing on 181.80463043999998 meters 0.2670703728653592 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.01, Z:-0.15 [[ 9.99999380e-01 -2.76705802e-04 1.07886812e-03 2.06701435e+00] [ 2.76386086e-04 9.99999918e-01 2.96481946e-04 -9.88587958e-03] [-1.07895007e-03 -2.96183578e-04 9.99999374e-01 -1.49719051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86463043999998 meters 0.26956697214859615 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.00, Z:-0.15 [[ 9.99995828e-01 1.39967944e-03 2.52697458e-03 2.11015673e+00] [-1.40349384e-03 9.99997878e-01 1.50833115e-03 -4.15803993e-03] [-2.52485804e-03 -1.51187145e-03 9.99995670e-01 -1.49724682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92463044 meters 0.2685522674876832 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.00, Z:-0.15 [[ 9.99995986e-01 1.31210395e-03 2.51132757e-03 2.11021149e+00] [-1.31534626e-03 9.99998303e-01 1.28985715e-03 -3.24439006e-03] [-2.50963088e-03 -1.29315524e-03 9.99996015e-01 -1.49747977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98463044 meters 0.26910492571892125 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.01, Z:-0.15 [[ 9.99996262e-01 1.47341724e-03 2.30335474e-03 2.11059467e+00] [-1.47739447e-03 9.99997419e-01 1.72596529e-03 -5.21147691e-03] [-2.30080573e-03 -1.72936180e-03 9.99995858e-01 -1.49543458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04463044 meters 0.2680045217734827 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.01, Z:-0.15 [[ 9.99995788e-01 1.79716762e-03 2.27924331e-03 2.11032621e+00] [-1.80321011e-03 9.99994858e-01 2.65181443e-03 -9.33288109e-03] [-2.27446584e-03 -2.65591321e-03 9.99993886e-01 -1.48967920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10463044 meters 0.26810421388391587 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.02, Z:-0.15 [[ 0.99999421 0.00246036 0.00235132 2.11003805] [-0.00247016 0.99998824 0.00417414 -0.01862237] [-0.00234102 -0.00417992 0.99998852 -0.14882037] [ 0. 0. 0. 1. ]] SLAMing on 182.16463044 meters 0.2696638348029711 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.03, Z:-0.15 [[ 9.99998770e-01 -8.92231885e-05 1.56598263e-03 2.11203431e+00] [ 8.49427930e-05 9.99996261e-01 2.73321454e-03 -2.62337021e-02] [-1.56622064e-03 -2.73307816e-03 9.99995039e-01 -1.49100338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22463044 meters 0.26869740052998714 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.15 [[ 9.99965423e-01 8.11171718e-03 1.83111270e-03 2.09193690e+00] [-8.11612497e-03 9.99964153e-01 2.41270584e-03 -3.58078845e-02] [-1.81147587e-03 -2.42748395e-03 9.99995413e-01 -1.50471513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28463044 meters 0.2685452319599184 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.15 [[ 9.99986907e-01 4.69611565e-03 2.03292771e-03 2.09150532e+00] [-4.69613894e-03 9.99988973e-01 6.68634710e-06 -4.18711385e-02] [-2.03287389e-03 -1.62331705e-05 9.99997934e-01 -1.50401665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34463044 meters 0.2697268371388554 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.15 [[ 9.99987556e-01 -3.29619156e-03 3.74463642e-03 2.11211035e+00] [ 3.29011016e-03 9.99993261e-01 1.62903046e-03 -4.56284990e-02] [-3.74998078e-03 -1.61668993e-03 9.99991662e-01 -1.50603298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40463044 meters 0.26815487040160974 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.15 [[ 9.99996109e-01 1.39202314e-03 2.41757870e-03 2.09131972e+00] [-1.39005771e-03 9.99998702e-01 -8.14464683e-04 -5.99840573e-02] [-2.41870932e-03 8.11100940e-04 9.99996746e-01 -1.51050477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46463043999998 meters 0.26985748550701544 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.07, Z:-0.15 [[ 9.99972451e-01 -7.04440852e-03 2.33959557e-03 2.11409384e+00] [ 7.04312371e-03 9.99975042e-01 5.56944907e-04 -6.54738402e-02] [-2.34346053e-03 -5.40451502e-04 9.99997108e-01 -1.51097825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52463043999998 meters 0.26890941222092474 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.15 [[ 9.99993644e-01 8.50025420e-04 3.46265927e-03 2.09474937e+00] [-8.53021283e-04 9.99999263e-01 8.63806274e-04 -7.91942254e-02] [-3.46192246e-03 -8.66754506e-04 9.99993632e-01 -1.52392689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58463043999998 meters 0.2698304163533974 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.15 [[ 9.99992769e-01 1.21781592e-03 3.60257296e-03 2.09431597e+00] [-1.22405601e-03 9.99997754e-01 1.73042189e-03 -8.30032917e-02] [-3.60045753e-03 -1.73481913e-03 9.99992014e-01 -1.52107281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64463044 meters 0.27043441828184506 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.15 [[ 9.99969673e-01 7.17785709e-03 3.02170928e-03 2.11742178e+00] [-7.17313509e-03 9.99973039e-01 -1.57064107e-03 -8.62903768e-02] [-3.03290165e-03 1.54891831e-03 9.99994201e-01 -1.52313804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70463044 meters 0.26904520392280296 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.15 [[ 9.99993670e-01 -1.55890726e-03 3.19842940e-03 2.09792999e+00] [ 1.56002700e-03 9.99998723e-01 -3.47624416e-04 -8.48604353e-02] [-3.19788340e-03 3.52611851e-04 9.99994825e-01 -1.53982186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76463044 meters 0.27013440892319457 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.15 [[ 9.99992758e-01 -1.63829316e-03 3.43521315e-03 2.09744139e+00] [ 1.64024114e-03 9.99998496e-01 -5.64320612e-04 -8.38752934e-02] [-3.43428346e-03 5.69951102e-04 9.99993940e-01 -1.54026939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82463044 meters 0.2701979493096536 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.15 [[ 9.99993257e-01 -1.77666316e-03 3.21396899e-03 2.09809173e+00] [ 1.77975056e-03 9.99997957e-01 -9.58014191e-04 -8.22376528e-02] [-3.21226035e-03 9.63727794e-04 9.99994376e-01 -1.54411744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88463044 meters 0.27113246013114156 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.15 [[ 9.99993434e-01 -1.75077833e-03 3.17274226e-03 2.09819779e+00] [ 1.75364024e-03 9.99998058e-01 -8.99471431e-04 -8.25391481e-02] [-3.17116132e-03 9.05029373e-04 9.99994562e-01 -1.54426235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94463044 meters 0.26888041110880306 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.15 [[ 9.99993264e-01 -1.61150954e-03 3.29764237e-03 2.09775700e+00] [ 1.61328266e-03 9.99998555e-01 -5.35105622e-04 -8.40248883e-02] [-3.29677528e-03 5.40422047e-04 9.99994420e-01 -1.54080988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00463044 meters 0.2701312022396586 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.15 [[ 9.99966613e-01 6.87188825e-03 4.42159972e-03 2.11711363e+00] [-6.86604584e-03 9.99975537e-01 -1.33516009e-03 -8.79387513e-02] [-4.43066663e-03 1.30475661e-03 9.99989333e-01 -1.52942546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06463044 meters 0.2687260046580766 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.15 [[ 9.99998383e-01 -9.01183690e-04 1.55636636e-03 2.09919902e+00] [ 9.00419093e-04 9.99999474e-01 4.91901283e-04 -8.92906299e-02] [-1.55680884e-03 -4.90499105e-04 9.99998668e-01 -1.54243028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12463044 meters 0.26990745409648914 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.16 [[ 9.99999424e-01 1.01095313e-03 3.60291347e-04 2.10448121e+00] [-1.01186467e-03 9.99996265e-01 2.53888402e-03 -9.14985359e-02] [-3.57723308e-04 -2.53924713e-03 9.99996712e-01 -1.57821189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18463044 meters 0.2672198058836826 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.15 [[ 9.99998169e-01 -9.10910567e-04 1.68321393e-03 2.09902404e+00] [ 9.09965723e-04 9.99999428e-01 5.62013681e-04 -8.98488838e-02] [-1.68372491e-03 -5.60480985e-04 9.99998425e-01 -1.54277632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24463043999998 meters 0.26772858213133577 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.15 [[ 9.99998515e-01 -8.21981977e-04 1.51456370e-03 2.09924125e+00] [ 8.20753964e-04 9.99999334e-01 8.11246482e-04 -9.09166526e-02] [-1.51522952e-03 -8.10002193e-04 9.99998524e-01 -1.53937539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30463043999998 meters 0.2690154118871462 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.15 [[ 9.99999012e-01 -7.03968765e-04 1.21668373e-03 2.10014520e+00] [ 7.02201172e-04 9.99998698e-01 1.45261285e-03 -9.41197915e-02] [-1.21770474e-03 -1.45175706e-03 9.99998205e-01 -1.54310970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36463043999998 meters 0.267283966811006 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.10, Z:-0.15 [[ 9.99999318e-01 -4.12695817e-04 1.09277091e-03 2.10028593e+00] [ 4.10255757e-04 9.99997424e-01 2.23219486e-03 -9.74281195e-02] [-1.09368932e-03 -2.23174502e-03 9.99996912e-01 -1.54034749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42463044 meters 0.2681921689665818 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.10, Z:-0.16 [[ 9.99996606e-01 -2.56673864e-03 -4.46967638e-04 2.10554974e+00] [ 2.56706403e-03 9.99996439e-01 7.28958525e-04 -1.03809785e-01] [ 4.45095001e-04 -7.30103446e-04 9.99999634e-01 -1.56543315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48463044 meters 0.2672249804450619 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99997248e-01 -2.31151379e-03 -4.01880251e-04 2.10527984e+00] [ 2.31205749e-03 9.99996405e-01 1.35771783e-03 -1.06509326e-01] [ 3.98740423e-04 -1.35864326e-03 9.99998998e-01 -1.56182008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54463044 meters 0.26991798096700204 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99997464e-01 -2.21941839e-03 -3.81101750e-04 2.10529637e+00] [ 2.22001748e-03 9.99996289e-01 1.57884560e-03 -1.07528639e-01] [ 3.77596217e-04 -1.57968765e-03 9.99998681e-01 -1.56255521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60463044 meters 0.26961334775495405 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99997405e-01 -2.20551508e-03 -5.70661498e-04 2.10583554e+00] [ 2.20643968e-03 9.99996246e-01 1.62469296e-03 -1.07898123e-01] [ 5.67076071e-04 -1.62594788e-03 9.99998517e-01 -1.56501906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66463044 meters 0.26991823950348676 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99997444e-01 -2.21865346e-03 -4.35326500e-04 2.10541109e+00] [ 2.21933106e-03 9.99996317e-01 1.56227912e-03 -1.07459234e-01] [ 4.31858741e-04 -1.56324126e-03 9.99998685e-01 -1.56296263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72463044 meters 0.27084755382229403 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99990517e-01 4.32593099e-03 5.01633768e-04 2.12755801e+00] [-4.32510246e-03 9.99989300e-01 -1.64115655e-03 -1.06436665e-01] [-5.08727930e-04 1.63897137e-03 9.99998527e-01 -1.57058588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78463044 meters 0.2689808194036683 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99992954e-01 -3.72669150e-03 -4.51527117e-04 2.10898786e+00] [ 3.72687096e-03 9.99992976e-01 3.97258699e-04 -1.06039422e-01] [ 4.50043485e-04 -3.98938684e-04 9.99999819e-01 -1.59188946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84463044 meters 0.2681573153766355 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.16 [[ 9.99992776e-01 3.77062884e-03 -4.79624058e-04 2.09006351e+00] [-3.77102095e-03 9.99992554e-01 -8.19277173e-04 -1.10324220e-01] [ 4.76531296e-04 8.21079927e-04 9.99999549e-01 -1.61034225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90463044 meters 0.26932226825947675 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99988759e-01 -4.29702267e-03 -2.00438837e-03 2.11241254e+00] [ 4.29664436e-03 9.99990751e-01 -1.93007389e-04 -1.06960651e-01] [ 2.00519918e-03 1.84393075e-04 9.99997973e-01 -1.60694892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96463043999998 meters 0.26852154713354337 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99988929e-01 -4.26504207e-03 -1.98763658e-03 2.11234098e+00] [ 4.26482351e-03 9.99990899e-01 -1.14187074e-04 -1.07274468e-01] [ 1.98810550e-03 1.05708890e-04 9.99998018e-01 -1.60632461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02463043999998 meters 0.268355555955884 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99989233e-01 -4.21587413e-03 -1.93896286e-03 2.11208617e+00] [ 4.21588540e-03 9.99991113e-01 1.72737151e-06 -1.07827358e-01] [ 1.93893834e-03 -9.90179812e-06 9.99998120e-01 -1.60318429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08463043999998 meters 0.2702590608306282 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99988684e-01 4.55498263e-03 -1.37285816e-03 2.13288907e+00] [-4.55639225e-03 9.99989094e-01 -1.02539977e-03 -1.08356844e-01] [ 1.36817251e-03 1.03164344e-03 9.99998532e-01 -1.59914340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14463044 meters 0.2692632676653799 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99988429e-01 4.62836628e-03 -1.31145057e-03 2.13250791e+00] [-4.62947288e-03 9.99988929e-01 -8.42025075e-04 -1.09124068e-01] [ 1.30753886e-03 8.48086656e-04 9.99998786e-01 -1.59435469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20463044 meters 0.26808975352280145 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99988172e-01 4.68548142e-03 -1.30499328e-03 2.13246288e+00] [-4.68639310e-03 9.99988776e-01 -6.96426774e-04 -1.09734227e-01] [ 1.30171554e-03 7.02534248e-04 9.99998906e-01 -1.59328670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26463044 meters 0.2665709758459662 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99990583e-01 -3.47174600e-03 -2.60391247e-03 2.11396356e+00] [ 3.47461021e-03 9.99993363e-01 1.09624686e-03 -1.09266960e-01] [ 2.60008930e-03 -1.10528412e-03 9.99996009e-01 -1.61333455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32463044 meters 0.2682170043191126 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99994384e-01 3.10630528e-03 -1.25771496e-03 2.13462429e+00] [-3.10873472e-03 9.99993297e-01 -1.93430274e-03 -1.10310424e-01] [ 1.25169800e-03 1.93820178e-03 9.99997338e-01 -1.61349199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38463044 meters 0.26904747597716394 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.11, Z:-0.16 [[ 9.99991980e-01 -4.00470874e-03 -5.35416411e-05 2.15286049e+00] [ 4.00470371e-03 9.99991977e-01 -9.37289782e-05 -1.07365280e-01] [ 5.39165688e-05 9.35138081e-05 9.99999994e-01 -1.59893763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44463044 meters 0.26771924497646726 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99994389e-01 3.33758076e-03 -2.86183123e-04 2.13358186e+00] [-3.33796419e-03 9.99993518e-01 -1.34995392e-03 -1.12194607e-01] [ 2.81675688e-04 1.35090162e-03 9.99999048e-01 -1.61678505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50463044 meters 0.2680196653074295 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.16 [[ 9.99993853e-01 3.48853879e-03 -3.51928415e-04 2.13380244e+00] [-3.48888393e-03 9.99993429e-01 -9.84931738e-04 -1.13827158e-01] [ 3.48490129e-04 9.86153521e-04 9.99999453e-01 -1.61793439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56463044 meters 0.26819924293275377 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.16 [[ 9.99993405e-01 3.60769108e-03 -4.16731632e-04 2.13390059e+00] [-3.60797986e-03 9.99993250e-01 -6.94301536e-04 -1.15062520e-01] [ 4.14223993e-04 6.95800517e-04 9.99999672e-01 -1.61663718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62463044 meters 0.2680496090582428 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.16 [[ 9.99993025e-01 3.71501953e-03 -3.85439367e-04 2.13393767e+00] [-3.71518908e-03 9.99993002e-01 -4.40108005e-04 -1.16229464e-01] [ 3.83801659e-04 4.41536915e-04 9.99999829e-01 -1.61826219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68463044 meters 0.268910723217476 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.16 [[ 9.99993064e-01 3.71288201e-03 -2.94512493e-04 2.13393161e+00] [-3.71300990e-03 9.99993012e-01 -4.34901550e-04 -1.16167683e-01] [ 2.92895697e-04 4.35992062e-04 9.99999862e-01 -1.62191390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74463043999998 meters 0.2674322554480285 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99987519e-01 -4.88236777e-03 -1.06000867e-03 2.11477568e+00] [ 4.88321316e-03 9.99987760e-01 7.96411045e-04 -1.13984756e-01] [ 1.05610732e-03 -8.01577353e-04 9.99999121e-01 -1.63606457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80463043999998 meters 0.2684269940333772 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99986737e-01 -5.03807464e-03 -1.06903859e-03 2.11474985e+00] [ 5.03851462e-03 9.99987223e-01 4.09272825e-04 -1.12282209e-01] [ 1.06696299e-03 -4.14653764e-04 9.99999345e-01 -1.63545372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86463043999998 meters 0.2681443437688629 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99986092e-01 -5.17238324e-03 -1.03058706e-03 2.11492044e+00] [ 5.17245624e-03 9.99986620e-01 6.81799336e-05 -1.10857493e-01] [ 1.03022062e-03 -7.35096518e-05 9.99999467e-01 -1.64049245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92463044 meters 0.2678880940707213 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.16 [[ 9.99985257e-01 -5.32832164e-03 -1.04622809e-03 2.11494659e+00] [ 5.32798967e-03 9.99985755e-01 -3.19829137e-04 -1.09126926e-01] [ 1.04791734e-03 3.14250129e-04 9.99999402e-01 -1.64048139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98463044 meters 0.26830051314004905 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.11, Z:-0.16 [[ 9.99984743e-01 -5.40456411e-03 -1.14183263e-03 2.11520171e+00] [ 5.40399319e-03 9.99985272e-01 -5.02494260e-04 -1.08360199e-01] [ 1.14453157e-03 4.96316137e-04 9.99999222e-01 -1.64100772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04463044 meters 0.26838118432626434 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.11, Z:-0.16 [[ 9.99983992e-01 -5.53713492e-03 -1.16409351e-03 2.11524578e+00] [ 5.53617768e-03 9.99984336e-01 -8.23922101e-04 -1.06999732e-01] [ 1.16863744e-03 8.17464283e-04 9.99998983e-01 -1.64085226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10463044 meters 0.26839213564508946 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.11, Z:-0.16 [[ 9.99998365e-01 -1.25205586e-03 -1.30464460e-03 2.11541487e+00] [ 1.25642720e-03 9.99993582e-01 3.35518514e-03 -1.06662269e-01] [ 1.30043534e-03 -3.35681885e-03 9.99993520e-01 -1.63869677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16463044 meters 0.26765242202438866 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.11, Z:-0.16 [[ 9.99998163e-01 -1.34238476e-03 -1.36822192e-03 2.11571562e+00] [ 1.34667144e-03 9.99994173e-01 3.13693834e-03 -1.05768421e-01] [ 1.36400296e-03 -3.13877512e-03 9.99994144e-01 -1.64149734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22463044 meters 0.26784439343172606 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:-0.16 [[ 9.99998104e-01 -1.44382757e-03 -1.30635525e-03 2.11564837e+00] [ 1.44761070e-03 9.99994748e-01 2.89964051e-03 -1.04705820e-01] [ 1.30216181e-03 -2.90152610e-03 9.99994943e-01 -1.64299338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28463044 meters 0.26894777757637844 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:-0.16 [[ 9.99997922e-01 -1.57446541e-03 -1.29523091e-03 2.11574140e+00] [ 1.57783024e-03 9.99995373e-01 2.60095086e-03 -1.03320320e-01] [ 1.29112981e-03 -2.60298910e-03 9.99995779e-01 -1.64515941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34463044 meters 0.2681937793235202 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:-0.16 [[ 9.99997880e-01 -1.59722467e-03 -1.29988907e-03 2.11559197e+00] [ 1.60052615e-03 9.99995486e-01 2.54275136e-03 -1.03086987e-01] [ 1.29582186e-03 -2.54482647e-03 9.99995922e-01 -1.64218523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40463044 meters 0.26834841377413693 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:-0.16 [[ 9.99997863e-01 -1.57565639e-03 -1.33871562e-03 2.11579890e+00] [ 1.57913787e-03 9.99995364e-01 2.60354827e-03 -1.03300910e-01] [ 1.33460712e-03 -2.60565673e-03 9.99995715e-01 -1.64410530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46463043999998 meters 0.27052685303432705 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.16 [[ 9.99986039e-01 5.27881956e-03 2.36751341e-04 2.13640004e+00] [-5.27879185e-03 9.99986060e-01 -1.17506363e-04 -1.04135212e-01] [-2.37368336e-04 1.16254962e-04 9.99999965e-01 -1.64532045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52463043999998 meters 0.26931797694216963 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.16 [[ 9.99985734e-01 5.33634809e-03 2.35969587e-04 2.13636127e+00] [-5.33635638e-03 9.99985761e-01 3.45080061e-05 -1.04710171e-01] [-2.35782080e-04 -3.57667316e-05 9.99999972e-01 -1.64449815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58463043999998 meters 0.2697626563829734 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.16 [[ 9.99986064e-01 5.27649277e-03 1.75245762e-04 2.13671937e+00] [-5.27647312e-03 9.99986073e-01 -1.12394170e-04 -1.04105298e-01] [-1.75836369e-04 1.11467924e-04 9.99999978e-01 -1.64894513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64463044 meters 0.26886794346677756 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:-0.17 [[ 9.99995744e-01 -2.90379454e-03 -2.83632368e-04 2.11805128e+00] [ 2.90427641e-03 9.99994314e-01 1.71356875e-03 -1.01639620e-01] [ 2.78654904e-04 -1.71438520e-03 9.99998492e-01 -1.66818124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70463044 meters 0.26972460574014423 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.17 [[ 9.99991119e-01 3.91119136e-03 1.57005481e-03 2.13835255e+00] [-3.90946426e-03 9.99991751e-01 -1.10159398e-03 -1.01889483e-01] [-1.57435040e-03 1.09544612e-03 9.99998161e-01 -1.66990138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76463044 meters 0.2688222934409732 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.17 [[ 9.99990767e-01 3.99752820e-03 1.57662957e-03 2.13833056e+00] [-3.99612957e-03 9.99991620e-01 -8.89258178e-04 -1.02787958e-01] [-1.58017119e-03 8.82949551e-04 9.99998362e-01 -1.66968927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82463044 meters 0.2691385667728535 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.17 [[ 9.99989998e-01 4.24220211e-03 1.41677225e-03 2.13849481e+00] [-4.24203302e-03 9.99990995e-01 -1.22338358e-04 -1.05988850e-01] [-1.41727847e-03 1.16327139e-04 9.99998989e-01 -1.66554703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88463044 meters 0.26855275399959355 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.17 [[ 9.99989128e-01 4.48626142e-03 1.27203723e-03 2.13877740e+00] [-4.48703178e-03 9.99989751e-01 6.03401402e-04 -1.09183156e-01] [-1.26931717e-03 -6.09102513e-04 9.99999009e-01 -1.66469499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94463044 meters 0.2685158693639598 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.17 [[ 9.99988951e-01 4.54867278e-03 1.18634342e-03 2.13901128e+00] [-4.54957386e-03 9.99989363e-01 7.57956582e-04 -1.09830043e-01] [-1.18288311e-03 -7.63345564e-04 9.99999009e-01 -1.66537120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00463044 meters 0.268714848086769 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.17 [[ 9.99989364e-01 4.46095655e-03 1.17079940e-03 2.13891235e+00] [-4.46157560e-03 9.99989908e-01 5.26659703e-04 -1.08784964e-01] [-1.16843818e-03 -5.31877712e-04 9.99999176e-01 -1.66335123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06463044 meters 0.26902655782455637 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.17 [[ 9.99992786e-01 -3.22152867e-03 2.01237372e-03 2.15757325e+00] [ 3.21863987e-03 9.99993788e-01 1.43710727e-03 -1.03125051e-01] [-2.01699090e-03 -1.43061980e-03 9.99996943e-01 -1.65235183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12463044 meters 0.26865871697520954 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.17 [[ 9.99989128e-01 4.52985715e-03 1.10615367e-03 2.13725442e+00] [-4.53008278e-03 9.99989719e-01 2.01557979e-04 -1.03725899e-01] [-1.10522927e-03 -2.06566756e-04 9.99999368e-01 -1.66409401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18463044 meters 0.26898443389295534 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.17 [[ 9.99989798e-01 4.33128208e-03 1.28240957e-03 2.13703068e+00] [-4.33093184e-03 9.99990583e-01 -2.75760498e-04 -1.01577744e-01] [-1.28359189e-03 2.70203656e-04 9.99999140e-01 -1.66751048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24463043999998 meters 0.26930398316279863 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.17 [[ 9.99990103e-01 4.27380693e-03 1.23634535e-03 2.13702404e+00] [-4.27328850e-03 9.99990781e-01 -4.21665672e-04 -1.00924031e-01] [-1.23813607e-03 4.16378238e-04 9.99999147e-01 -1.66551063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30463043999998 meters 0.2691192817574286 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.17 [[ 9.99992657e-01 -3.82799006e-03 1.79681835e-04 2.15951334e+00] [ 3.82793757e-03 9.99992631e-01 2.91566215e-04 -9.85528773e-02] [-1.80796623e-04 -2.90876263e-04 9.99999941e-01 -1.65613897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36463043999998 meters 0.26892711582436785 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.17 [[ 9.99993206e-01 -3.68455284e-03 1.08794110e-04 2.15961557e+00] [ 3.68447918e-03 9.99992988e-01 6.69728594e-04 -1.00251345e-01] [-1.11260998e-04 -6.69323194e-04 9.99999770e-01 -1.65455380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42463044 meters 0.2664210489311347 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.16 [[ 9.99998791e-01 1.49625949e-03 -4.22233385e-04 2.13596656e+00] [-1.49724176e-03 9.99996151e-01 -2.33573682e-03 -1.03538885e-01] [ 4.18736891e-04 2.33636618e-03 9.99997183e-01 -1.64057782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48463044 meters 0.26851170730920376 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.16 [[ 9.99992188e-01 -3.19740221e-03 -2.32376339e-03 2.16081995e+00] [ 3.20060421e-03 9.99993932e-01 1.37552708e-03 -1.01125932e-01] [ 2.31935118e-03 -1.38295379e-03 9.99996354e-01 -1.64984368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54463044 meters 0.26898237024104155 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.17 [[ 9.99992526e-01 -3.16014094e-03 -2.22738753e-03 2.16062821e+00] [ 3.16340434e-03 9.99993926e-01 1.46312953e-03 -1.01613479e-01] [ 2.22275030e-03 -1.47016473e-03 9.99996449e-01 -1.65012911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60463044 meters 0.26906871271820254 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.16 [[ 9.99992856e-01 -3.06957478e-03 -2.20579869e-03 2.16027388e+00] [ 3.07326718e-03 9.99993879e-01 1.67251583e-03 -1.02519820e-01] [ 2.20065128e-03 -1.67928289e-03 9.99996169e-01 -1.64419366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66463044 meters 0.26907052707360324 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.16 [[ 0.99999307 -0.00286001 -0.00238267 2.16071928] [ 0.00286561 0.99999313 0.00235302 -0.10563097] [ 0.00237593 -0.00235983 0.99999439 -0.16438841] [ 0. 0. 0. 1. ]] SLAMing on 186.72463044 meters 0.2684967658985468 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.11, Z:-0.17 [[ 9.99988960e-01 4.46928131e-03 -1.45132586e-03 2.14273688e+00] [-4.46711326e-03 9.99988907e-01 1.49365942e-03 -1.14367180e-01] [ 1.45798535e-03 -1.48715969e-03 9.99997831e-01 -1.66895104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78463044 meters 0.26889517142143343 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.12, Z:-0.17 [[ 9.99986696e-01 4.73081191e-03 -2.05598113e-03 2.14419025e+00] [-4.72551353e-03 9.99985521e-01 2.57431832e-03 -1.19553071e-01] [ 2.06812998e-03 -2.56456851e-03 9.99994573e-01 -1.67078242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84463044 meters 0.2677743405628173 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.13, Z:-0.17 [[ 0.99997913 -0.00392877 -0.0051297 2.12690119] [ 0.00395213 0.99998184 0.00455052 -0.12805021] [ 0.00511173 -0.0045707 0.99997649 -0.16832159] [ 0. 0. 0. 1. ]] SLAMing on 186.90463044 meters 0.26941701429860543 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.17 [[ 9.99988510e-01 2.23004019e-03 -4.24351302e-03 2.14975953e+00] [-2.22244304e-03 9.99995921e-01 1.79417289e-03 -1.33268503e-01] [ 4.24749679e-03 -1.78472131e-03 9.99989387e-01 -1.69220377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96463043999998 meters 0.2694529141660926 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.17 [[ 0.99998684 0.00283033 -0.00427809 2.14981188] [-0.00281572 0.9999902 0.00341687 -0.14131214] [ 0.00428772 -0.00340478 0.99998501 -0.16902833] [ 0. 0. 0. 1. ]] SLAMing on 187.02463043999998 meters 0.2694361903567271 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.17 [[ 9.99990360e-01 -1.15346320e-03 -4.23661486e-03 2.14970204e+00] [ 1.15320248e-03 9.99999333e-01 -6.39830395e-05 -1.44814451e-01] [ 4.23668583e-03 5.90967479e-05 9.99991023e-01 -1.68964788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08463043999998 meters 0.2683853937682513 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.15, Z:-0.17 [[ 9.99990521e-01 -6.65539424e-04 -4.30299123e-03 2.14946080e+00] [ 6.70578624e-04 9.99999091e-01 1.16975575e-03 -1.50065178e-01] [ 4.30220880e-03 -1.17263016e-03 9.99990058e-01 -1.68287143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14463044 meters 0.26803468835303346 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.16, Z:-0.17 [[ 0.99998661 0.00371217 -0.00360589 2.12662125] [-0.00372086 0.99999018 -0.00240673 -0.15527956] [ 0.00359692 0.00242012 0.9999906 -0.16837315] [ 0. 0. 0. 1. ]] SLAMing on 187.20463044 meters 0.2683116524743103 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.16, Z:-0.17 [[ 9.99997941e-01 -1.88594291e-03 -7.48908078e-04 2.14622529e+00] [ 1.88643157e-03 9.99998008e-01 6.52327299e-04 -1.58414015e-01] [ 7.47676334e-04 -6.53738719e-04 9.99999507e-01 -1.67945524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26463044 meters 0.26881074142069067 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.16, Z:-0.17 [[ 9.99998154e-01 -1.78236053e-03 -7.17119872e-04 2.14618170e+00] [ 1.78300590e-03 9.99998005e-01 9.00310233e-04 -1.59540987e-01] [ 7.15513764e-04 -9.01587201e-04 9.99999338e-01 -1.67957730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32463044 meters 0.267860446096161 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.16, Z:-0.17 [[ 9.99998520e-01 -1.66125796e-03 -4.47981438e-04 2.14515680e+00] [ 1.66178210e-03 9.99997932e-01 1.17218916e-03 -1.60493958e-01] [ 4.46033204e-04 -1.17293188e-03 9.99999213e-01 -1.67118317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38463044 meters 0.26834938082146503 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.16, Z:-0.17 [[ 9.99998635e-01 -1.58133409e-03 -4.78731193e-04 2.14544243e+00] [ 1.58201446e-03 9.99997735e-01 1.42415703e-03 -1.61664491e-01] [ 4.76478041e-04 -1.42491245e-03 9.99998871e-01 -1.67455725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44463044 meters 0.26720553889729853 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.17 [[ 9.99981349e-01 6.07350474e-03 -6.43280630e-04 2.12710314e+00] [-6.07297145e-03 9.99981217e-01 8.27759125e-04 -1.68544213e-01] [ 6.48295947e-04 -8.23837062e-04 9.99999451e-01 -1.69473159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50463044 meters 0.26748892278323927 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999235 -0.00289943 -0.00262519 2.10914846] [ 0.00290514 0.99999342 0.00217433 -0.17011166] [ 0.00261886 -0.00218194 0.99999419 -0.17125811] [ 0. 0. 0. 1. ]] SLAMing on 187.56463044 meters 0.2677258601277766 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999264 -0.00281159 -0.00261234 2.10962072] [ 0.00281787 0.99999314 0.0024048 -0.17122496] [ 0.00260556 -0.00241215 0.9999937 -0.17216055] [ 0. 0. 0. 1. ]] SLAMing on 187.62463044 meters 0.26880939696406114 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999249 -0.00282318 -0.00265466 2.10990761] [ 0.0028295 0.99999316 0.00238182 -0.17114254] [ 0.00264791 -0.00238931 0.99999364 -0.17249419] [ 0. 0. 0. 1. ]] SLAMing on 187.68463044 meters 0.26767127870734214 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999294 -0.00278614 -0.00252031 2.1096742 ] [ 0.00279234 0.99999307 0.00246073 -0.17159528] [ 0.00251344 -0.00246775 0.9999938 -0.17260602] [ 0. 0. 0. 1. ]] SLAMing on 187.74463043999998 meters 0.26730113258539256 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.9999936 -0.00271856 -0.00232678 2.10930275] [ 0.0027247 0.9999928 0.00264046 -0.17232635] [ 0.00231959 -0.00264679 0.99999381 -0.17271501] [ 0. 0. 0. 1. ]] SLAMing on 187.80463043999998 meters 0.26729683949208727 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999327 -0.00262207 -0.00256503 2.10993549] [ 0.00262967 0.99999216 0.00296088 -0.17375325] [ 0.00255725 -0.00296761 0.99999233 -0.17292146] [ 0. 0. 0. 1. ]] SLAMing on 187.86463043999998 meters 0.26823704622788175 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999312 -0.00258461 -0.00266174 2.11014711] [ 0.00259272 0.99999199 0.00305082 -0.17416565] [ 0.00265383 -0.0030577 0.9999918 -0.17288922] [ 0. 0. 0. 1. ]] SLAMing on 187.92463044 meters 0.26734981370818145 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 0.99999324 -0.00275028 -0.00244002 2.10959537] [ 0.00275664 0.9999928 0.00260775 -0.17214737] [ 0.00243283 -0.00261446 0.99999362 -0.17271499] [ 0. 0. 0. 1. ]] SLAMing on 187.98463044 meters 0.2672382593106984 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.17, Z:-0.17 [[ 9.99993335e-01 -3.03390895e-03 -2.03129096e-03 2.10884911e+00] [ 3.03752017e-03 9.99993808e-01 1.77707767e-03 -1.68346506e-01] [ 2.02588689e-03 -1.78323591e-03 9.99996358e-01 -1.72935584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04463044 meters 0.2683075724595846 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.17, Z:-0.17 [[ 9.99988620e-01 4.70916736e-03 -7.63554423e-04 2.12899124e+00] [-4.70971420e-03 9.99988653e-01 -7.15969013e-04 -1.67204868e-01] [ 7.60174141e-04 7.19556988e-04 9.99999452e-01 -1.72929469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10463044 meters 0.2657033225023104 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.16, Z:-0.17 [[ 9.99988430e-01 4.12778553e-03 -2.46995304e-03 2.08613011e+00] [-4.12885142e-03 9.99991385e-01 -4.26598874e-04 -1.59907518e-01] [ 2.46817086e-03 4.36792008e-04 9.99996859e-01 -1.73343979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16463044 meters 0.2664968994598019 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.15, Z:-0.17 [[ 9.99993546e-01 -3.13974463e-03 -1.74618421e-03 2.10521061e+00] [ 3.13998936e-03 9.99995061e-01 1.37428615e-04 -1.50465823e-01] [ 1.74574410e-03 -1.42910728e-04 9.99998466e-01 -1.71974877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22463044 meters 0.26746712391351385 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.14, Z:-0.17 [[ 9.99991060e-01 -3.83101078e-03 -1.78981905e-03 2.10557628e+00] [ 3.82879008e-03 9.99991898e-01 -1.24252454e-03 -1.43190221e-01] [ 1.79456467e-03 1.23566059e-03 9.99997626e-01 -1.72360250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28463044 meters 0.2660330287942321 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.14, Z:-0.17 [[ 9.99989436e-01 -4.23294075e-03 -1.79141358e-03 2.10586728e+00] [ 4.22905727e-03 9.99988711e-01 -2.16609778e-03 -1.39107121e-01] [ 1.80056232e-03 2.15849891e-03 9.99996049e-01 -1.72781669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34463044 meters 0.26651428945668765 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.13, Z:-0.17 [[ 9.99998458e-01 -6.59912125e-04 -1.62738865e-03 2.10560713e+00] [ 6.60688034e-04 9.99999668e-01 4.76290182e-04 -1.32758067e-01] [ 1.62707380e-03 -4.77364644e-04 9.99998562e-01 -1.72867894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40463044 meters 0.26670079277479264 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.13, Z:-0.17 [[ 9.99997718e-01 -1.29168781e-03 -1.70141410e-03 2.10600467e+00] [ 1.29024709e-03 9.99998808e-01 -8.47602529e-04 -1.26418804e-01] [ 1.70250691e-03 8.45405351e-04 9.99998193e-01 -1.73177102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46463043999998 meters 0.2668035898851577 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.12, Z:-0.17 [[ 9.99996395e-01 -1.91799500e-03 -1.87892640e-03 2.10703804e+00] [ 1.91363188e-03 9.99995475e-01 -2.32118508e-03 -1.15667931e-01] [ 1.88336992e-03 2.31758114e-03 9.99995541e-01 -1.73955094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52463043999998 meters 0.2673935675686484 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:-0.18 [[ 9.99996764e-01 -2.65360623e-05 -2.54372379e-03 2.10992251e+00] [ 2.27371932e-05 9.99998885e-01 -1.49344560e-03 -1.07312194e-01] [ 2.54376058e-03 1.49338293e-03 9.99995650e-01 -1.75746738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58463043999998 meters 0.26674361790844875 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.10, Z:-0.18 [[ 9.99996925e-01 -4.40375236e-04 -2.44063118e-03 2.11020161e+00] [ 4.34483891e-04 9.99996992e-01 -2.41386595e-03 -1.03137360e-01] [ 2.44168684e-03 2.41279811e-03 9.99994108e-01 -1.76547756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64463044 meters 0.2671322417974096 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.10, Z:-0.18 [[ 9.99990696e-01 3.54258212e-03 -2.46115267e-03 2.11055699e+00] [-3.53991870e-03 9.99993145e-01 1.08569870e-03 -9.96117026e-02] [ 2.46498198e-03 -1.07697632e-03 9.99996382e-01 -1.76887973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70463044 meters 0.2669563584545115 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.18 [[ 9.99989806e-01 3.20323550e-03 -3.18228278e-03 2.11252288e+00] [-3.20466396e-03 9.99994767e-01 -4.43880200e-04 -9.30061996e-02] [ 3.18084428e-03 4.54073822e-04 9.99994838e-01 -1.77777671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76463044 meters 0.2657626001200338 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.18 [[ 9.99989411e-01 -4.57208329e-03 -5.23100892e-04 2.09272452e+00] [ 4.57199314e-03 9.99989533e-01 -1.73406186e-04 -8.04912697e-02] [ 5.23888245e-04 1.71012736e-04 9.99999848e-01 -1.79756527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82463044 meters 0.2658744333563052 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.18 [[ 9.99987905e-01 -4.88907908e-03 -5.36065441e-04 2.09276597e+00] [ 4.88846733e-03 9.99987405e-01 -1.13661175e-03 -7.61824030e-02] [ 5.41615674e-04 1.13397747e-03 9.99999210e-01 -1.79749477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88463044 meters 0.2649204277802435 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.07, Z:-0.18 [[ 9.99992216e-01 3.53144293e-03 -1.75957281e-03 2.07255820e+00] [-3.53570106e-03 9.99990814e-01 -2.42277377e-03 -7.23885087e-02] [ 1.75100076e-03 2.42897624e-03 9.99995517e-01 -1.80890125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94463044 meters 0.2650198582509898 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.07, Z:-0.18 [[ 9.99992564e-01 3.42556129e-03 -1.77141545e-03 2.07258850e+00] [-3.43028123e-03 9.99990556e-01 -2.66836672e-03 -7.12333097e-02] [ 1.76225806e-03 2.67442333e-03 9.99994871e-01 -1.80873924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00463044 meters 0.2652713885924901 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.07, Z:-0.18 [[ 9.99992554e-01 3.37447495e-03 -1.87224931e-03 2.07278170e+00] [-3.37968070e-03 9.99990413e-01 -2.78431786e-03 -7.07133876e-02] [ 1.86283575e-03 2.79062473e-03 9.99994371e-01 -1.80806937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06463044 meters 0.2645141877680793 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.07, Z:-0.18 [[ 9.99992539e-01 3.42636236e-03 -1.78390928e-03 2.07272902e+00] [-3.43110046e-03 9.99990577e-01 -2.65977186e-03 -7.13003581e-02] [ 1.77477913e-03 2.66587279e-03 9.99994872e-01 -1.81040139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12463044 meters 0.2644025869900312 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.07, Z:-0.18 [[ 9.99992216e-01 3.53471891e-03 -1.75335571e-03 2.07276096e+00] [-3.53893788e-03 9.99990836e-01 -2.40899347e-03 -7.24338544e-02] [ 1.74482453e-03 2.41517974e-03 9.99995561e-01 -1.81212932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18463044 meters 0.2647387383951612 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.18 [[ 9.99991087e-01 3.83418330e-03 -1.76782018e-03 2.07273664e+00] [-3.83721076e-03 9.99991172e-01 -1.71233933e-03 -7.57079248e-02] [ 1.76123915e-03 1.71910756e-03 9.99996971e-01 -1.81087976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24463043999998 meters 0.26503167876699385 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.18 [[ 9.99990064e-01 4.03497910e-03 -1.89497791e-03 2.07309223e+00] [-4.03735218e-03 9.99991068e-01 -1.25015114e-03 -7.78455697e-02] [ 1.88991665e-03 1.25778941e-03 9.99997423e-01 -1.81166728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30463043999998 meters 0.2654367417244169 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.18 [[ 9.99989528e-01 4.16241615e-03 -1.90207814e-03 2.07315773e+00] [-4.16420760e-03 9.99990889e-01 -9.38851694e-04 -7.94745816e-02] [ 1.89815292e-03 9.46762511e-04 9.99997750e-01 -1.81193248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36463043999998 meters 0.265115176757685 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.18 [[ 9.99989332e-01 4.22012417e-03 -1.87777081e-03 2.07299660e+00] [-4.22160274e-03 9.99990782e-01 -7.84138978e-04 -8.01415424e-02] [ 1.87444434e-03 7.92057816e-04 9.99997930e-01 -1.80979703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42463044 meters 0.26593625357698797 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.18 [[ 9.99989387e-01 4.12998208e-03 -2.04185658e-03 2.07379805e+00] [-4.13194714e-03 9.99991004e-01 -9.59108720e-04 -7.97784653e-02] [ 2.03787711e-03 9.67535384e-04 9.99997455e-01 -1.81701895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48463044 meters 0.2657357875259822 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.18 [[ 9.99988926e-01 4.00841299e-03 -2.46571810e-03 2.07514545e+00] [-4.01198891e-03 9.99990905e-01 -1.44702447e-03 -7.75459915e-02] [ 2.45989540e-03 1.45690088e-03 9.99995913e-01 -1.82560302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54463044 meters 0.26771211726750016 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.18 [[ 9.99997599e-01 -1.59883534e-03 -1.49829697e-03 2.09785593e+00] [ 1.60110365e-03 9.99997572e-01 1.51395186e-03 -7.62260081e-02] [ 1.49587277e-03 -1.51634716e-03 9.99997732e-01 -1.83585082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60463044 meters 0.2674974418151384 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.18 [[ 9.99997529e-01 -1.65158413e-03 -1.48796893e-03 2.09794533e+00] [ 1.65366417e-03 9.99997656e-01 1.39776500e-03 -7.56881419e-02] [ 1.48565691e-03 -1.40022215e-03 9.99997916e-01 -1.83786414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66463044 meters 0.26603246520708357 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.08, Z:-0.18 [[ 9.99987052e-01 -3.32251335e-03 -3.85431706e-03 2.05685551e+00] [ 3.32541600e-03 9.99994192e-01 7.46925816e-04 -8.00444610e-02] [ 3.85181300e-03 -7.59733353e-04 9.99992293e-01 -1.84944114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72463044 meters 0.26755509627814117 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.18 [[ 9.99989258e-01 3.76212134e-03 -2.70755744e-03 2.07756499e+00] [-3.76650403e-03 9.99991602e-01 -1.61541150e-03 -8.16984089e-02] [ 2.70145733e-03 1.62559217e-03 9.99995030e-01 -1.84948272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78463044 meters 0.2665353704456038 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 9.99989203e-01 3.72450003e-03 -2.77883395e-03 2.07777390e+00] [-3.72923917e-03 9.99991598e-01 -1.70221505e-03 -8.12857238e-02] [ 2.77247070e-03 1.71255961e-03 9.99994690e-01 -1.85019067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84463044 meters 0.2680679889179655 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 0.99998952 0.0035712 -0.00286628 2.07837301] [-0.00357717 0.99999144 -0.00207959 -0.07964148] [ 0.00285883 0.00208982 0.99999373 -0.18571264] [ 0. 0. 0. 1. ]] SLAMing on 189.90463044 meters 0.2675105815705046 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 0.99998939 0.00353544 -0.002953 2.07840117] [-0.00354182 0.9999914 -0.00215733 -0.07921574] [ 0.00294535 0.00216777 0.99999331 -0.18537612] [ 0. 0. 0. 1. ]] SLAMing on 189.96463043999998 meters 0.267225595596255 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 9.99988715e-01 3.61641545e-03 -3.08084599e-03 2.07874225e+00] [-3.62244353e-03 9.99991531e-01 -1.95330227e-03 -8.01562364e-02] [ 3.07375594e-03 1.96444042e-03 9.99993346e-01 -1.85430581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02463043999998 meters 0.26840376132130567 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.18 [[ 9.99988250e-01 -4.13678757e-03 -2.52710271e-03 2.09914784e+00] [ 4.13499559e-03 9.99991196e-01 -7.13919020e-04 -7.80801989e-02] [ 2.53003379e-03 7.03461073e-04 9.99996552e-01 -1.84386280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08463043999998 meters 0.2684331665706046 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 0.9999886 0.00307992 -0.00364765 2.08117604] [-0.00308862 0.9999924 -0.00238115 -0.08281963] [ 0.00364028 0.00239239 0.99999051 -0.18698847] [ 0. 0. 0. 1. ]] SLAMing on 190.14463044 meters 0.2677670011286056 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.08, Z:-0.19 [[ 9.99980269e-01 -5.26330611e-03 -3.42931339e-03 2.06101908e+00] [ 5.26080245e-03 9.99985889e-01 -7.38689298e-04 -8.16118942e-02] [ 3.43315294e-03 7.20633782e-04 9.99993847e-01 -1.88109655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20463044 meters 0.2704554461976362 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.08, Z:-0.19 [[ 9.99987101e-01 3.24557916e-03 -3.90695500e-03 2.08245758e+00] [-3.25238728e-03 9.99993202e-01 -1.73747343e-03 -8.49316482e-02] [ 3.90128933e-03 1.75015795e-03 9.99990858e-01 -1.87413124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26463044 meters 0.2686086823214851 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.09, Z:-0.19 [[ 9.99986693e-01 3.36687289e-03 -3.90882613e-03 2.08256294e+00] [-3.37255476e-03 9.99993265e-01 -1.44791921e-03 -8.62547376e-02] [ 3.90392484e-03 1.46108267e-03 9.99991312e-01 -1.87592040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32463044 meters 0.26830622610899824 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.09, Z:-0.19 [[ 9.99986430e-01 3.46069819e-03 -3.89402695e-03 2.08235826e+00] [-3.46545302e-03 9.99993257e-01 -1.21497364e-03 -8.72605774e-02] [ 3.88979603e-03 1.22845172e-03 9.99991680e-01 -1.87226744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38463044 meters 0.2690503942717191 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.19 [[ 9.99988871e-01 -4.27085609e-03 -2.00457754e-03 2.10063860e+00] [ 4.26998423e-03 9.99990787e-01 -4.39009294e-04 -8.17023713e-02] [ 2.00643402e-03 4.30444894e-04 9.99997894e-01 -1.86493534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44463044 meters 0.2710394168028909 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.19 [[ 9.99983033e-01 5.10476072e-03 -2.80628533e-03 2.12431017e+00] [-5.10808806e-03 9.99986258e-01 -1.17979060e-03 -7.95006882e-02] [ 2.80022422e-03 1.19410533e-03 9.99995366e-01 -1.87074722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50463044 meters 0.26830434876799003 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.19 [[ 9.99992879e-01 -1.10645302e-03 -3.60787468e-03 2.10217062e+00] [ 1.11345555e-03 9.99997499e-01 1.93947111e-03 -7.74215525e-02] [ 3.60571973e-03 -1.94347451e-03 9.99991611e-01 -1.86826351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56463044 meters 0.26981515960899893 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.19 [[ 9.99982680e-01 5.14037735e-03 -2.86631604e-03 2.12535008e+00] [-5.14460480e-03 9.99985687e-01 -1.46945662e-03 -7.51784304e-02] [ 2.85872145e-03 1.48417723e-03 9.99994812e-01 -1.87852968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62463044 meters 0.2702158988352297 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.19 [[ 9.99983042e-01 5.09701622e-03 -2.81703131e-03 2.12555259e+00] [-5.10146123e-03 9.99985750e-01 -1.57297797e-03 -7.46723977e-02] [ 2.80897368e-03 1.58732227e-03 9.99994795e-01 -1.88400961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68463044 meters 0.26851563859642197 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.19 [[ 9.99982997e-01 5.14445111e-03 -2.74594757e-03 2.12503461e+00] [-5.14847061e-03 9.99985683e-01 -1.45873750e-03 -7.50063975e-02] [ 2.73840386e-03 1.47285013e-03 9.99995166e-01 -1.87718750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74463043999998 meters 0.26942047351523407 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.19 [[ 9.99982163e-01 5.25235008e-03 -2.84372803e-03 2.12556170e+00] [-5.25574409e-03 9.99985484e-01 -1.18735138e-03 -7.62532318e-02] [ 2.83745036e-03 1.20227610e-03 9.99995252e-01 -1.88281576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80463043999998 meters 0.2686219367282749 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.19 [[ 9.99980449e-01 5.52098760e-03 -2.93597019e-03 2.12607310e+00] [-5.52233864e-03 9.99984649e-01 -4.52263022e-04 -7.95538401e-02] [ 2.93342818e-03 4.68467601e-04 9.99995588e-01 -1.88745706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86463043999998 meters 0.26789539849608385 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.19 [[ 9.99994788e-01 1.39919761e-03 -2.90974508e-03 2.12578452e+00] [-1.41150862e-03 9.99990044e-01 -4.23321883e-03 -8.16646728e-02] [ 2.90379300e-03 4.23730390e-03 9.99986807e-01 -1.88372697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92463044 meters 0.2691629602253373 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.08, Z:-0.19 [[ 0.99997296 -0.00673632 -0.00295008 2.148218 ] [ 0.00672731 0.99997272 -0.00305041 -0.08369619] [ 0.00297055 0.00303048 0.999991 -0.18858264] [ 0. 0. 0. 1. ]] SLAMing on 190.98463044 meters 0.26793707246231824 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.19 [[ 9.99996060e-01 9.13538917e-04 -2.65422873e-03 2.12878731e+00] [-9.23728972e-04 9.99992199e-01 -3.84049137e-03 -9.06004229e-02] [ 2.65069958e-03 3.84292802e-03 9.99989103e-01 -1.90677048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04463044 meters 0.2693989505864177 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.09, Z:-0.19 [[ 9.99995921e-01 9.80144331e-04 -2.68292065e-03 2.12901196e+00] [-9.89930835e-04 9.99992853e-01 -3.64881089e-03 -9.13414969e-02] [ 2.67932511e-03 3.65145191e-03 9.99989744e-01 -1.90948069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10463044 meters 0.27059657251784647 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.09, Z:-0.19 [[ 9.99983659e-01 -4.81389961e-03 -3.08340893e-03 2.15376719e+00] [ 4.81138594e-03 9.99988087e-01 -8.22124061e-04 -9.08444055e-02] [ 3.08732982e-03 8.07275157e-04 9.99994908e-01 -1.92794125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16463044 meters 0.27029484216449534 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.20 [[ 0.99999085 0.00248024 -0.00348489 2.13587814] [-0.00248801 0.99999443 -0.00222593 -0.09718874] [ 0.00347935 0.00223458 0.99999145 -0.19517481] [ 0. 0. 0. 1. ]] SLAMing on 191.22463044 meters 0.27029034615802033 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.10, Z:-0.20 [[ 9.99988523e-01 2.62870530e-03 -4.00543573e-03 2.13716406e+00] [-2.63534384e-03 9.99995161e-01 -1.65300829e-03 -9.98187911e-02] [ 4.00107108e-03 1.66354502e-03 9.99990612e-01 -1.95519476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28463044 meters 0.2702196584760698 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.19 [[ 9.99978211e-01 -5.64296243e-03 -3.42562524e-03 2.15866242e+00] [ 5.64052479e-03 9.99983832e-01 -7.20835139e-04 -1.01166635e-01] [ 3.42963750e-03 7.01497108e-04 9.99993873e-01 -1.94829034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34463044 meters 0.26957235084316133 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99980044e-01 -5.30155390e-03 -3.43572392e-03 2.15842102e+00] [ 5.30265865e-03 9.99985892e-01 3.12517519e-04 -1.05603954e-01] [ 3.43401862e-03 -3.30729754e-04 9.99994049e-01 -1.94314582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40463044 meters 0.2705625586846338 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99981015e-01 -5.16373176e-03 -3.36236015e-03 2.15810553e+00] [ 5.16600985e-03 9.99986432e-01 6.69195340e-04 -1.06967609e-01] [ 3.35885898e-03 -6.86552621e-04 9.99994123e-01 -1.93976254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46463043999998 meters 0.2703124180143387 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99980904e-01 -5.21264260e-03 -3.31968751e-03 2.15799675e+00] [ 5.21448742e-03 9.99986255e-01 5.47307935e-04 -1.06446626e-01] [ 3.31678896e-03 -5.64607952e-04 9.99994340e-01 -1.93975725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52463043999998 meters 0.27066271626656124 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99980778e-01 -5.27569395e-03 -3.25732516e-03 2.15772662e+00] [ 5.27683750e-03 9.99986019e-01 3.42578191e-04 -1.05447873e-01] [ 3.25547228e-03 -3.59759982e-04 9.99994636e-01 -1.93727294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58463043999998 meters 0.27000571467526446 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.19 [[ 9.99980641e-01 -5.36439532e-03 -3.15300158e-03 2.15777746e+00] [ 5.36474559e-03 9.99985604e-01 1.02645347e-04 -1.04406647e-01] [ 3.15240557e-03 -1.19558411e-04 9.99995024e-01 -1.94275453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64463044 meters 0.27157400792660674 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.19 [[ 9.99993533e-01 2.85341134e-03 -2.18900612e-03 2.17736281e+00] [-2.85679542e-03 9.99994727e-01 -1.54437701e-03 -1.05937475e-01] [ 2.18458783e-03 1.55062056e-03 9.99996412e-01 -1.93233548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70463044 meters 0.27000750691677683 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99983944e-01 -3.97136834e-03 -4.04236657e-03 2.15648379e+00] [ 3.97722956e-03 9.99991050e-01 1.44294320e-03 -1.07775660e-01] [ 4.03659993e-03 -1.45899745e-03 9.99990789e-01 -1.92710237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76463044 meters 0.26967222599085 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.19 [[ 9.99984053e-01 -4.00419105e-03 -3.98257053e-03 2.15683702e+00] [ 4.00966517e-03 9.99991026e-01 1.36748383e-03 -1.07427526e-01] [ 3.97705912e-03 -1.38343080e-03 9.99991135e-01 -1.93673909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82463044 meters 0.27161080471767257 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.19 [[ 9.99992632e-01 3.18955137e-03 -2.13621294e-03 2.17775588e+00] [-3.19226502e-03 9.99994101e-01 -1.26810547e-03 -1.05371531e-01] [ 2.13215565e-03 1.27491549e-03 9.99996914e-01 -1.94431680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88463044 meters 0.2716840526175617 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.10, Z:-0.19 [[ 9.99993089e-01 3.05863795e-03 -2.11337113e-03 2.17750142e+00] [-3.06198068e-03 9.99994063e-01 -1.58028546e-03 -1.03934881e-01] [ 2.10852506e-03 1.58674564e-03 9.99996518e-01 -1.94039222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94463044 meters 0.2705869372591368 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.20 [[ 9.99983513e-01 -5.37133610e-03 -2.03045817e-03 2.15709264e+00] [ 5.37136970e-03 9.99985574e-01 1.10949955e-05 -1.02870576e-01] [ 2.03036928e-03 -2.20011541e-05 9.99997939e-01 -1.95395592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00463044 meters 0.2690449997415975 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.10, Z:-0.20 [[ 9.99982906e-01 -5.39532498e-03 -2.25346381e-03 2.15793956e+00] [ 5.39600956e-03 9.99985397e-01 2.97820100e-04 -1.04591537e-01] [ 2.25182407e-03 -3.09974722e-04 9.99997417e-01 -1.95951204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06463044 meters 0.2687002571012418 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.20 [[ 9.99984135e-01 -5.13719327e-03 -2.31078257e-03 2.15778123e+00] [ 5.13952500e-03 9.99986288e-01 1.00425870e-03 -1.07530083e-01] [ 2.30559182e-03 -1.01611909e-03 9.99996826e-01 -1.95359094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12463044 meters 0.2701956394894525 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.20 [[ 9.99984906e-01 -4.93636505e-03 -2.41267560e-03 2.15851447e+00] [ 4.93999434e-03 9.99986672e-01 1.50062061e-03 -1.09878086e-01] [ 2.40523583e-03 -1.51251656e-03 9.99995964e-01 -1.96205083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18463044 meters 0.27055025745750444 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.20 [[ 9.99985023e-01 -4.83109545e-03 -2.57184221e-03 2.15930951e+00] [ 4.83569920e-03 9.99986711e-01 1.78685867e-03 -1.11144035e-01] [ 2.56317554e-03 -1.79926857e-03 9.99995096e-01 -1.97053607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24463043999998 meters 0.27130006016034114 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.11, Z:-0.20 [[ 9.99985352e-01 -4.76312268e-03 -2.57072856e-03 2.15957992e+00] [ 4.76822504e-03 9.99986667e-01 1.98232505e-03 -1.12007966e-01] [ 2.56125223e-03 -1.99455382e-03 9.99994731e-01 -1.97531771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30463043999998 meters 0.272117508891403 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.20 [[ 9.99988276e-01 4.35329312e-03 -2.12053259e-03 2.18049827e+00] [-4.35096289e-03 9.99989927e-01 1.10226586e-03 -1.12430389e-01] [ 2.12530972e-03 -1.09302658e-03 9.99997144e-01 -1.96960894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36463043999998 meters 0.27243734030809996 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.20 [[ 9.99988823e-01 4.21479515e-03 -2.14218998e-03 2.18111072e+00] [-4.21318455e-03 9.99990839e-01 7.55803797e-04 -1.10943314e-01] [ 2.14535591e-03 -7.46769908e-04 9.99997420e-01 -1.98097268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42463044 meters 0.2728794455371794 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.20 [[ 9.99988920e-01 4.22521857e-03 -2.07556443e-03 2.18074509e+00] [-4.22360457e-03 9.99990775e-01 7.81389429e-04 -1.10906936e-01] [ 2.07884683e-03 -7.72614408e-04 9.99997541e-01 -1.97722103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48463044 meters 0.27222671546464283 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.20 [[ 9.99988453e-01 4.30743616e-03 -2.13073016e-03 2.18076004e+00] [-4.30529644e-03 9.99990224e-01 1.00778986e-03 -1.11814947e-01] [ 2.13505032e-03 -9.98604798e-04 9.99997222e-01 -1.97450056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54463044 meters 0.27145617068901046 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.11, Z:-0.20 [[ 9.99987742e-01 4.48632505e-03 -2.09484668e-03 2.18041086e+00] [-4.48285411e-03 9.99988576e-01 1.65866190e-03 -1.14414500e-01] [ 2.10226405e-03 -1.64925068e-03 9.99996430e-01 -1.96867167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60463044 meters 0.2703570387396033 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.12, Z:-0.20 [[ 0.99998516 -0.00400649 -0.00369097 2.16152373] [ 0.0040203 0.99998492 0.00374065 -0.11869807] [ 0.00367593 -0.00375543 0.99998619 -0.19831022] [ 0. 0. 0. 1. ]] SLAMing on 192.66463044 meters 0.2709042903245344 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.13, Z:-0.20 [[ 9.99987536e-01 1.63804555e-03 -4.71638930e-03 2.18384899e+00] [-1.63586028e-03 9.99998553e-01 4.67156067e-04 -1.27246719e-01] [ 4.71714770e-03 -4.59434891e-04 9.99988769e-01 -1.98050280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72463044 meters 0.27203262392071953 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.13, Z:-0.20 [[ 9.99983577e-01 1.58015839e-04 -5.72891459e-03 2.18890326e+00] [-1.61945036e-04 9.99999752e-01 -6.85396291e-04 -1.30193153e-01] [ 5.72880487e-03 6.86312804e-04 9.99983355e-01 -2.01757335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78463044 meters 0.27051785464322714 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.20 [[ 9.99968303e-01 -7.91214403e-04 -7.92257599e-03 2.14643706e+00] [ 7.89958025e-04 9.99999675e-01 -1.61710016e-04 -1.35764963e-01] [ 7.92270136e-03 1.55446387e-04 9.99968603e-01 -2.01679955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84463044 meters 0.271406057571082 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.20 [[ 9.99968544e-01 -7.10610795e-04 -7.89974875e-03 2.14630121e+00] [ 7.10977924e-04 9.99999746e-01 4.36651927e-05 -1.36668188e-01] [ 7.89971571e-03 -4.92803661e-05 9.99968796e-01 -2.01497501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90463044 meters 0.2714392662077509 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.20 [[ 9.99970322e-01 -7.24623637e-04 -7.67002745e-03 2.14574794e+00] [ 7.24700213e-04 9.99999737e-01 7.20463183e-06 -1.36488762e-01] [ 7.67002022e-03 -1.27628885e-05 9.99970585e-01 -2.01391772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96463043999998 meters 0.2741032671110357 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.14, Z:-0.20 [[ 9.99960506e-01 9.52918427e-04 -8.83620080e-03 2.15061809e+00] [-9.40515843e-04 9.99998567e-01 1.40765967e-03 -1.36031620e-01] [ 8.83752952e-03 -1.39929349e-03 9.99959969e-01 -2.04679445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02463043999998 meters 0.27154337153251473 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.21 [[ 9.99959547e-01 7.19780625e-04 -8.96586026e-03 2.15119997e+00] [-7.12748819e-04 9.99999436e-01 7.87457416e-04 -1.33378702e-01] [ 8.96642200e-03 -7.81035155e-04 9.99959496e-01 -2.05301604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08463043999998 meters 0.27269249148965985 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.21 [[ 9.99959321e-01 2.69044869e-04 -9.01575417e-03 2.15188768e+00] [-2.72123725e-04 9.99999905e-01 -3.40272428e-04 -1.28455752e-01] [ 9.01566176e-03 3.42711987e-04 9.99959299e-01 -2.06401216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14463044 meters 0.2731295494775026 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.13, Z:-0.21 [[ 9.99960044e-01 -7.01354849e-06 -8.93920943e-03 2.15190146e+00] [-1.48072940e-06 9.99999549e-01 -9.50219997e-04 -1.25791661e-01] [ 8.93921206e-03 9.50195267e-04 9.99959593e-01 -2.06800941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20463044 meters 0.2714815474266965 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.12, Z:-0.21 [[ 9.99906283e-01 -8.29748940e-03 -1.08892872e-02 2.13330218e+00] [ 8.29691145e-03 9.99965575e-01 -9.82505646e-05 -1.19954581e-01] [ 1.08897275e-02 7.89390559e-06 9.99940705e-01 -2.08496739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26463044 meters 0.27330104459886084 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:-0.21 [[ 9.99949623e-01 9.41415031e-04 -9.99324305e-03 2.15449824e+00] [-9.51596092e-04 9.99999033e-01 -1.01408847e-03 -1.18300725e-01] [ 9.99227871e-03 1.02354691e-03 9.99949552e-01 -2.08814613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32463044 meters 0.27254890221022915 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:-0.21 [[ 9.99950781e-01 8.07131470e-04 -9.88861817e-03 2.15414299e+00] [-8.20575812e-04 9.99998745e-01 -1.35559556e-03 -1.16829457e-01] [ 9.88751162e-03 1.36364320e-03 9.99950188e-01 -2.08616251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38463044 meters 0.2730131852294004 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:-0.21 [[ 9.99949792e-01 7.09006266e-04 -9.99557010e-03 2.15450213e+00] [-7.24861338e-04 9.99998485e-01 -1.58267636e-03 -1.15888973e-01] [ 9.99443283e-03 1.58984229e-03 9.99948791e-01 -2.08830071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44463044 meters 0.27172712797794 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.11, Z:-0.21 [[ 9.99935437e-01 -5.08516123e-03 -1.01618739e-02 2.13289840e+00] [ 5.10341475e-03 9.99985409e-01 1.77115142e-03 -1.09793866e-01] [ 1.01527190e-02 -1.82289732e-03 9.99946798e-01 -2.09366002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50463044 meters 0.2729553069611958 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.10, Z:-0.21 [[ 9.99969638e-01 3.80220492e-03 -6.80186614e-03 2.14954488e+00] [-3.80022284e-03 9.99992733e-01 3.04303333e-04 -1.03649765e-01] [ 6.80297373e-03 -2.78445487e-04 9.99976821e-01 -2.07569657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56463044 meters 0.2728474851203326 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.10, Z:-0.21 [[ 9.99971959e-01 3.55370414e-03 -6.59186160e-03 2.14902280e+00] [-3.55643224e-03 9.99993595e-01 -4.02183497e-04 -1.00699347e-01] [ 6.59039014e-03 4.25615728e-04 9.99978193e-01 -2.07520120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62463044 meters 0.27335573950567427 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.21 [[ 9.99969880e-01 -1.51887267e-03 -7.61136504e-03 2.17267980e+00] [ 1.53700962e-03 9.99995992e-01 2.37759489e-03 -9.30821213e-02] [ 7.60772328e-03 -2.38922201e-03 9.99968207e-01 -2.08422142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68463044 meters 0.2739635190630027 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.21 [[ 9.99970396e-01 -1.87946670e-03 -7.46152266e-03 2.17248992e+00] [ 1.89062231e-03 9.99997105e-01 1.48831296e-03 -8.92965201e-02] [ 7.45870383e-03 -1.50237582e-03 9.99971055e-01 -2.08788239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74463043999998 meters 0.2740629250186624 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.21 [[ 9.99970852e-01 -2.00909362e-03 -7.36610761e-03 2.17221345e+00] [ 2.01792679e-03 9.99997254e-01 1.19192801e-03 -8.79847768e-02] [ 7.36369268e-03 -1.20675754e-03 9.99972159e-01 -2.08728788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80463043999998 meters 0.27282317279646306 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99959817e-01 -2.34439211e-03 -8.65259424e-03 2.17567004e+00] [ 2.35353037e-03 9.99996683e-01 1.04609818e-03 -8.88203937e-02] [ 8.65011308e-03 -1.06642028e-03 9.99962018e-01 -2.10105470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86463043999998 meters 0.2717562192379316 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99956326e-01 -2.16339304e-03 -9.09209829e-03 2.17681377e+00] [ 2.17839158e-03 9.99996282e-01 1.64004394e-03 -9.14017302e-02] [ 9.08851643e-03 -1.65977846e-03 9.99957321e-01 -2.10415974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92463044 meters 0.2720169654322712 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99956356e-01 -1.94239060e-03 -9.13855342e-03 2.17640562e+00] [ 1.96238479e-03 9.99995700e-01 2.17943720e-03 -9.36530433e-02] [ 9.13428080e-03 -2.19727543e-03 9.99955867e-01 -2.09381972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98463044 meters 0.27258755350619857 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99955840e-01 -2.09274166e-03 -9.16181908e-03 2.17711939e+00] [ 2.10895896e-03 9.99996226e-01 1.76079240e-03 -9.19489409e-02] [ 9.15809962e-03 -1.78003655e-03 9.99956479e-01 -2.10691251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04463044 meters 0.27348224888299877 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99944284e-01 -6.02782484e-04 -1.05387849e-02 2.18199654e+00] [ 6.33980041e-04 9.99995427e-01 2.95717116e-03 -9.13700381e-02] [ 1.05369541e-02 -2.96368777e-03 9.99940093e-01 -2.13297289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10463044 meters 0.2733661127854416 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99946353e-01 -8.57778972e-04 -1.03225993e-02 2.18120975e+00] [ 8.81716325e-04 9.99996933e-01 2.31459941e-03 -8.84779297e-02] [ 1.03205822e-02 -2.32357684e-03 9.99944042e-01 -2.12794718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16463044 meters 0.2727803146654235 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.21 [[ 9.99946981e-01 -9.59351468e-04 -1.02525076e-02 2.18112706e+00] [ 9.80769455e-04 9.99997347e-01 2.08422503e-03 -8.74583886e-02] [ 1.02504809e-02 -2.09416987e-03 9.99945270e-01 -2.12965207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22463044 meters 0.272688125696691 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.21 [[ 9.99946359e-01 -1.22568939e-03 -1.02847596e-02 2.18126225e+00] [ 1.24104097e-03 9.99998125e-01 1.48640412e-03 -8.48542288e-02] [ 1.02829184e-02 -1.49908820e-03 9.99946006e-01 -2.13113631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28463044 meters 0.2722842831714593 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.21 [[ 9.99946730e-01 -1.51651811e-03 -1.02097063e-02 2.18136522e+00] [ 1.52457152e-03 9.99998533e-01 7.81062678e-04 -8.18329164e-02] [ 1.02085068e-02 -7.96586498e-04 9.99947575e-01 -2.13680658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34463044 meters 0.2728186306748646 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.21 [[ 9.99948545e-01 -1.88132390e-03 -9.96833123e-03 2.18126534e+00] [ 1.88032579e-03 9.99998226e-01 -1.09499311e-04 -7.81597350e-02] [ 9.96851955e-03 9.07499660e-05 9.99950309e-01 -2.14508274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40463044 meters 0.2739899820508713 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.22 [[ 9.99948455e-01 -2.10080298e-03 -9.93350410e-03 2.18174617e+00] [ 2.09479939e-03 9.99997617e-01 -6.14744642e-04 -7.59390889e-02] [ 9.93477188e-03 5.93904257e-04 9.99950473e-01 -2.15542932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46463043999998 meters 0.2719435229989753 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.22 [[ 9.99963198e-01 -2.89883608e-03 -8.07457425e-03 2.14357956e+00] [ 2.89733538e-03 9.99995783e-01 -1.97546200e-04 -7.88732381e-02] [ 8.07511286e-03 1.74144180e-04 9.99967381e-01 -2.19529758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52463043999998 meters 0.27211386797022047 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.22 [[ 9.99971137e-01 5.38103033e-03 -5.36379830e-03 2.16225291e+00] [-5.38755182e-03 9.99984764e-01 -1.20212793e-03 -7.94984424e-02] [ 5.35724789e-03 1.23099098e-03 9.99984892e-01 -2.18614610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58463043999998 meters 0.2719852373894081 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.22 [[ 9.99971719e-01 5.40509686e-03 -5.22930616e-03 2.16174253e+00] [-5.41119313e-03 9.99984695e-01 -1.15234269e-03 -7.97178193e-02] [ 5.22299760e-03 1.18060688e-03 9.99985663e-01 -2.18193414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64463044 meters 0.272571481351407 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.22 [[ 9.99986651e-01 -2.22997827e-03 -4.66111711e-03 2.18114650e+00] [ 2.23035343e-03 9.99997510e-01 7.52921191e-05 -7.52884075e-02] [ 4.66093761e-03 -8.56870525e-05 9.99989134e-01 -2.17172457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70463044 meters 0.272001272431334 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.22 [[ 9.99985802e-01 -2.31050971e-03 -4.80171822e-03 2.18167304e+00] [ 2.30988141e-03 9.99997323e-01 -1.36390433e-04 -7.43930014e-02] [ 4.80202050e-03 1.25297097e-04 9.99988462e-01 -2.17612977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76463044 meters 0.2721770105795962 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.22 [[ 9.99984708e-01 -2.41261035e-03 -4.97624593e-03 2.18227094e+00] [ 2.41065749e-03 9.99997015e-01 -3.98395495e-04 -7.33272751e-02] [ 4.97719225e-03 3.86393378e-04 9.99987539e-01 -2.18076311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82463044 meters 0.2729140426520782 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.07, Z:-0.22 [[ 9.99980684e-01 -9.15872267e-04 -6.14757617e-03 2.18717918e+00] [ 9.20806066e-04 9.99999256e-01 7.99777729e-04 -7.24635220e-02] [ 6.14683911e-03 -8.05423006e-04 9.99980784e-01 -2.21361825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88463044 meters 0.2718232335091367 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.07, Z:-0.22 [[ 9.99979686e-01 -8.64616317e-04 -6.31506899e-03 2.18638047e+00] [ 8.69768017e-04 9.99999291e-01 8.13078080e-04 -7.18557176e-02] [ 6.31436151e-03 -8.18554208e-04 9.99979729e-01 -2.19401056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94463044 meters 0.27250157494402655 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.07, Z:-0.22 [[ 9.99979877e-01 -9.17313436e-04 -6.27733077e-03 2.18649312e+00] [ 9.21701521e-04 9.99999333e-01 6.96179477e-04 -7.13307847e-02] [ 6.27668796e-03 -7.01951293e-04 9.99980055e-01 -2.19776927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00463044 meters 0.2739436201411229 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.07, Z:-0.22 [[ 9.99980350e-01 -1.02160181e-03 -6.18517455e-03 2.18640065e+00] [ 1.02436827e-03 9.99999377e-01 4.44121811e-04 -7.03342860e-02] [ 6.18471698e-03 -4.50448981e-04 9.99980773e-01 -2.19993671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06463044 meters 0.27108877040254786 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.07, Z:-0.22 [[ 9.99968025e-01 -1.31088928e-03 -7.88867287e-03 2.14169623e+00] [ 1.31788298e-03 9.99998743e-01 8.81416381e-04 -7.29769062e-02] [ 7.88750752e-03 -8.91784545e-04 9.99968495e-01 -2.18368189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12463044 meters 0.2704314830412566 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.07, Z:-0.22 [[ 9.99967571e-01 -1.36009015e-03 -7.93773452e-03 2.14180697e+00] [ 1.36615526e-03 9.99998779e-01 7.58713585e-04 -7.24986772e-02] [ 7.93669291e-03 -7.69533158e-04 9.99968208e-01 -2.18359626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18463044 meters 0.27270144087919457 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.07, Z:-0.22 [[ 9.99973818e-01 5.47753111e-03 -4.72866795e-03 2.16229398e+00] [-5.48548497e-03 9.99983559e-01 -1.67072458e-03 -6.87883212e-02] [ 4.71943876e-03 1.69661988e-03 9.99987424e-01 -2.19288632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24463043999998 meters 0.27181097666696236 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.07, Z:-0.22 [[ 9.99975380e-01 -2.76473888e-03 -6.44944210e-03 2.14442597e+00] [ 2.76208065e-03 9.99996097e-01 -4.21034835e-04 -6.53323958e-02] [ 6.45058098e-03 4.03210590e-04 9.99979113e-01 -2.21374605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30463043999998 meters 0.27149912552298633 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.22 [[ 9.99975093e-01 -2.84615441e-03 -6.45858022e-03 2.14448005e+00] [ 2.84223758e-03 9.99995771e-01 -6.15550904e-04 -6.45055061e-02] [ 6.46030486e-03 5.97178753e-04 9.99978954e-01 -2.21468595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36463043999998 meters 0.27188314936618835 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.22 [[ 9.99976890e-01 -3.05467113e-03 -6.07354264e-03 2.14327491e+00] [ 3.04680113e-03 9.99994507e-01 -1.30461378e-03 -6.13645785e-02] [ 6.07749444e-03 1.28607875e-03 9.99980705e-01 -2.20933036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42463044 meters 0.2720719863031364 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.22 [[ 0.99997438 -0.00338294 -0.00630879 2.14400451] [ 0.00336876 0.99999178 -0.00225667 -0.05706605] [ 0.00631637 0.00223536 0.99997755 -0.22137515] [ 0. 0. 0. 1. ]] SLAMing on 195.48463044 meters 0.2727734221437833 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.22 [[ 0.99997349 -0.00351158 -0.00637801 2.14420584] [ 0.00349534 0.99999063 -0.00255483 -0.05579417] [ 0.00638692 0.00253247 0.9999764 -0.22146807] [ 0. 0. 0. 1. ]] SLAMing on 195.54463044 meters 0.27130434165599926 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.22 [[ 0.99997395 -0.00354771 -0.00628654 2.14380241] [ 0.00353113 0.99999027 -0.00264511 -0.0553358 ] [ 0.00629586 0.00262284 0.99997674 -0.22112077] [ 0. 0. 0. 1. ]] SLAMing on 195.60463044 meters 0.27223457625809305 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.22 [[ 0.99997289 -0.00366049 -0.0063895 2.14398886] [ 0.003642 0.99998915 -0.00290317 -0.0542241 ] [ 0.00640006 0.00287982 0.99997537 -0.22103012] [ 0. 0. 0. 1. ]] SLAMing on 195.66463044 meters 0.27251291119781923 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.22 [[ 0.99996979 -0.00410848 -0.00659822 2.14483985] [ 0.00408099 0.99998296 -0.00417474 -0.04862393] [ 0.00661526 0.00414769 0.99996952 -0.22188806] [ 0. 0. 0. 1. ]] SLAMing on 195.72463044 meters 0.2723218395765672 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.22 [[ 0.99996897 -0.00440555 -0.00653126 2.14465491] [ 0.00437285 0.99997788 -0.00501246 -0.04512802] [ 0.0065532 0.00498375 0.99996611 -0.2219189 ] [ 0. 0. 0. 1. ]] SLAMing on 195.78463044 meters 0.27270410512664855 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.04, Z:-0.22 [[ 9.99977715e-01 -2.80285371e-04 -6.67011842e-03 2.14422829e+00] [ 2.71928893e-04 9.99999177e-01 -1.25369702e-03 -4.30860910e-02] [ 6.67046432e-03 1.25185529e-03 9.99976969e-01 -2.20780543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84463044 meters 0.27258377681054546 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.22 [[ 9.99972483e-01 -6.28398991e-03 -3.94271768e-03 2.16429990e+00] [ 6.28986042e-03 9.99979126e-01 1.47832231e-03 -4.18517594e-02] [ 3.93334562e-03 -1.50308077e-03 9.99991135e-01 -2.20676384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90463044 meters 0.2724202287517561 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.04, Z:-0.22 [[ 9.99970979e-01 -6.37971470e-03 -4.16424714e-03 2.16444461e+00] [ 6.38499204e-03 9.99978828e-01 1.25523672e-03 -4.08663470e-02] [ 4.15615092e-03 -1.28178898e-03 9.99990542e-01 -2.20050606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96463043999998 meters 0.2721723396186664 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.04, Z:-0.22 [[ 9.99976943e-01 2.48390536e-03 -6.32008447e-03 2.14480325e+00] [-2.48174189e-03 9.99996859e-01 3.50134981e-04 -3.70106500e-02] [ 6.32093432e-03 -3.34442090e-04 9.99979967e-01 -2.20453595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02463043999998 meters 0.2714633691212797 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.03, Z:-0.22 [[ 9.99977649e-01 2.24991610e-03 -6.29605838e-03 2.14440244e+00] [-2.25187433e-03 9.99997418e-01 -3.03952430e-04 -3.41104291e-02] [ 6.29535825e-03 3.18123569e-04 9.99980133e-01 -2.19880659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08463043999998 meters 0.2721801177288041 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.03, Z:-0.22 [[ 9.99977822e-01 2.06191339e-03 -6.33285088e-03 2.14418539e+00] [-2.06679015e-03 9.99997573e-01 -7.63625931e-04 -3.20994920e-02] [ 6.33126098e-03 7.76697669e-04 9.99979656e-01 -2.19349620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14463044 meters 0.27119701175404604 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.03, Z:-0.22 [[ 9.99978273e-01 2.04503788e-03 -6.26664937e-03 2.14367212e+00] [-2.05013045e-03 9.99997573e-01 -8.06331058e-04 -3.18333239e-02] [ 6.26498519e-03 8.19160988e-04 9.99980039e-01 -2.18663770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20463044 meters 0.26947775976832844 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.03, Z:-0.22 [[ 9.99977681e-01 2.12942428e-03 -6.33263883e-03 2.14308097e+00] [-2.13327492e-03 9.99997544e-01 -6.01371007e-04 -3.27822524e-02] [ 6.33134270e-03 6.14866845e-04 9.99979768e-01 -2.17253437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26463044 meters 0.27249103345977466 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.22 [[ 9.99986171e-01 2.09376388e-03 -4.82430736e-03 2.18688680e+00] [-2.09865030e-03 9.99997290e-01 -1.00803450e-03 -3.06030210e-02] [ 4.82218370e-03 1.01814509e-03 9.99987855e-01 -2.17745776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32463044 meters 0.2727670168950051 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.03, Z:-0.22 [[ 0.99996323 -0.00295678 -0.00804905 2.16771924] [ 0.00298025 0.99999134 0.00290455 -0.03123762] [ 0.0080404 -0.00292843 0.99996339 -0.21833772] [ 0. 0. 0. 1. ]] SLAMing on 196.38463044 meters 0.2710339453936519 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.03, Z:-0.22 [[ 0.99996282 -0.00308274 -0.00805301 2.16768213] [ 0.00310373 0.99999182 0.00259549 -0.02996101] [ 0.00804494 -0.00262039 0.99996421 -0.21829416] [ 0. 0. 0. 1. ]] SLAMing on 196.44463044 meters 0.27474218802690165 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.22 [[ 9.99958028e-01 5.99843114e-03 -6.92543718e-03 2.18972667e+00] [-5.98485245e-03 9.99980131e-01 1.97975987e-03 -2.64245317e-02] [ 6.93717503e-03 -1.93822905e-03 9.99974059e-01 -2.18409568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50463044 meters 0.2717884347341786 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.22 [[ 9.99958311e-01 5.88225480e-03 -6.98394607e-03 2.18968596e+00] [-5.87052605e-03 9.99981325e-01 1.69870148e-03 -2.52392358e-02] [ 6.99380784e-03 -1.65763122e-03 9.99974169e-01 -2.18124440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56463044 meters 0.2724621527488063 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.22 [[ 9.99955865e-01 5.89422592e-03 -7.31612290e-03 2.19054964e+00] [-5.88162511e-03 9.99981185e-01 1.74265696e-03 -2.53570650e-02] [ 7.32625686e-03 -1.69954936e-03 9.99971718e-01 -2.18346870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62463044 meters 0.2719536372242581 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.22 [[ 9.99955233e-01 5.96190146e-03 -7.34764962e-03 2.19044787e+00] [-5.94804296e-03 9.99980493e-01 1.90652581e-03 -2.60537090e-02] [ 7.35887280e-03 -1.86273633e-03 9.99971188e-01 -2.17999053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68463044 meters 0.2701407500736274 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.03, Z:-0.21 [[ 9.99971256e-01 4.11594355e-03 -6.36761854e-03 2.18546826e+00] [-4.11570012e-03 9.99991529e-01 5.13323314e-05 -2.50859570e-02] [ 6.36777588e-03 -2.51236476e-05 9.99979725e-01 -2.14217190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74463043999998 meters 0.2715596856719818 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.02, Z:-0.21 [[ 9.99970429e-01 4.10273649e-03 -6.50450787e-03 2.18574619e+00] [-4.10262820e-03 9.99991584e-01 2.99911163e-05 -2.49377032e-02] [ 6.50457617e-03 -3.30465205e-06 9.99978845e-01 -2.14146892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80463043999998 meters 0.2716142702422453 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99984488e-01 -3.74436283e-03 -4.12364757e-03 2.20493865e+00] [ 3.74980884e-03 9.99992106e-01 1.31373959e-03 -2.61680296e-02] [ 4.11869590e-03 -1.32918210e-03 9.99990635e-01 -2.12604899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86463043999998 meters 0.2711542348240609 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.21 [[ 9.99984772e-01 -3.56776969e-03 -4.21031703e-03 2.20506591e+00] [ 3.57511027e-03 9.99992100e-01 1.73723817e-03 -2.79943636e-02] [ 4.20408570e-03 -1.75226406e-03 9.99989628e-01 -2.12434291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92463044 meters 0.27204361136362776 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.21 [[ 9.99984710e-01 -3.46152226e-03 -4.31240858e-03 2.20536082e+00] [ 3.47012044e-03 9.99992003e-01 1.98794009e-03 -2.91306255e-02] [ 4.30549280e-03 -2.00287427e-03 9.99988726e-01 -2.12504247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98463044 meters 0.27127361604443617 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.21 [[ 9.99983936e-01 -3.51419177e-03 -4.44732098e-03 2.20568028e+00] [ 3.52250834e-03 9.99992059e-01 1.86356871e-03 -2.86160015e-02] [ 4.44073673e-03 -1.87920449e-03 9.99988374e-01 -2.12545278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04463044 meters 0.27246376969804836 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.03, Z:-0.21 [[ 9.99983469e-01 -3.68398493e-03 -4.41471957e-03 2.20568725e+00] [ 3.69035532e-03 9.99992160e-01 1.43571182e-03 -2.68164025e-02] [ 4.40939582e-03 -1.45197997e-03 9.99989224e-01 -2.12743617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10463044 meters 0.27124342759964787 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.03, Z:-0.21 [[ 9.99981035e-01 5.11161835e-03 -3.43517472e-03 2.18236628e+00] [-5.10868361e-03 9.99986579e-01 8.62550743e-04 -2.67371937e-02] [ 3.43953765e-03 -8.44985164e-04 9.99993728e-01 -2.12422459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16463044 meters 0.27188441467643876 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 9.99992199e-01 -2.77823812e-03 -2.80784949e-03 2.20162825e+00] [ 2.78351079e-03 9.99994367e-01 1.87567370e-03 -2.18139974e-02] [ 2.80262261e-03 -1.88347474e-03 9.99994299e-01 -2.11114742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22463044 meters 0.27311164859815773 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 9.99992061e-01 -2.72021822e-03 -2.91191099e-03 2.20153823e+00] [ 2.72609057e-03 9.99994255e-01 2.01460009e-03 -2.24430054e-02] [ 2.90641411e-03 -2.02252223e-03 9.99993731e-01 -2.10491448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28463044 meters 0.2721475154953395 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 0.99999217 -0.00255885 -0.00301774 2.20180315] [ 0.00256629 0.99999367 0.00246444 -0.0243236 ] [ 0.00301142 -0.00247217 0.99999241 -0.21048663] [ 0. 0. 0. 1. ]] SLAMing on 197.34463044 meters 0.27061043971820237 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.03, Z:-0.21 [[ 9.99993328e-01 2.92638154e-03 -2.18650622e-03 2.17962482e+00] [-2.92682371e-03 9.99995697e-01 -1.99055938e-04 -3.31790423e-02] [ 2.18591430e-03 2.05454128e-04 9.99997590e-01 -2.10781183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40463044 meters 0.2717480502387277 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99981634e-01 -5.61369197e-03 -2.28445850e-03 2.20195636e+00] [ 5.61518402e-03 9.99984025e-01 6.47243724e-04 -3.31415634e-02] [ 2.28078858e-03 -6.60059492e-04 9.99997181e-01 -2.11217861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46463043999998 meters 0.2719907477230826 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99981552e-01 -5.61340951e-03 -2.32053405e-03 2.20195031e+00] [ 5.61493827e-03 9.99984023e-01 6.52807572e-04 -3.31904452e-02] [ 2.31683250e-03 -6.65825185e-04 9.99997094e-01 -2.11084727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52463043999998 meters 0.2749676217667793 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99980715e-01 -5.65475342e-03 -2.56782943e-03 2.20291654e+00] [ 5.65574119e-03 9.99983935e-01 3.77573197e-04 -3.19226350e-02] [ 2.56565309e-03 -3.92088894e-04 9.99996632e-01 -2.12002438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58463043999998 meters 0.27563174628373366 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99980221e-01 -5.80414113e-03 -2.42262540e-03 2.20285119e+00] [ 5.80408971e-03 9.99983156e-01 -2.82546690e-05 -3.02065265e-02] [ 2.42274858e-03 1.41929751e-05 9.99997065e-01 -2.12563328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64463044 meters 0.2744761407548955 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99995741e-01 -1.63199765e-03 -2.41962785e-03 2.20262564e+00] [ 1.64136460e-03 9.99991148e-01 3.87431726e-03 -2.89800424e-02] [ 2.41328355e-03 -3.87827225e-03 9.99989567e-01 -2.12144956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70463044 meters 0.2747976988905357 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99995379e-01 -1.66749286e-03 -2.54196212e-03 2.20298030e+00] [ 1.67707849e-03 9.99991474e-01 3.77350353e-03 -2.86599221e-02] [ 2.53564815e-03 -3.77774916e-03 9.99989649e-01 -2.12279006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76463044 meters 0.2750396855192134 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99995340e-01 -1.62177136e-03 -2.58632326e-03 2.20320338e+00] [ 1.63183784e-03 9.99991084e-01 3.89484559e-03 -2.91227036e-02] [ 2.57998365e-03 -3.89904790e-03 9.99989070e-01 -2.12464686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82463044 meters 0.27342752147108984 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99995182e-01 -1.56542126e-03 -2.68062694e-03 2.20338130e+00] [ 1.57624476e-03 9.99990596e-01 4.04033416e-03 -2.97940519e-02] [ 2.67427691e-03 -4.04454001e-03 9.99988245e-01 -2.12361182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88463044 meters 0.27431415278608795 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.03, Z:-0.21 [[ 9.99994765e-01 -1.70678568e-03 -2.74910296e-03 2.20380090e+00] [ 1.71697242e-03 9.99991654e-01 3.70738930e-03 -2.83003142e-02] [ 2.74275229e-03 -3.71209003e-03 9.99989349e-01 -2.12867957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94463044 meters 0.2726704836808123 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.03, Z:-0.21 [[ 9.99983612e-01 4.08500352e-03 -4.01104498e-03 2.18238225e+00] [-4.08395177e-03 9.99991624e-01 2.70368386e-04 -2.80444485e-02] [ 4.01211584e-03 -2.53983041e-04 9.99991919e-01 -2.12282726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00463044 meters 0.27382644218760804 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 9.99987234e-01 -3.77158212e-03 -3.36271032e-03 2.20152789e+00] [ 3.77456319e-03 9.99992489e-01 8.80604068e-04 -1.95070777e-02] [ 3.35936379e-03 -8.93285588e-04 9.99993958e-01 -2.11401443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06463044 meters 0.27325557724065314 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 9.99986219e-01 -4.02166027e-03 -3.37456046e-03 2.20163276e+00] [ 4.02245257e-03 9.99991884e-01 2.28031655e-04 -1.66976698e-02] [ 3.37361600e-03 -2.41602522e-04 9.99994280e-01 -2.11631480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12463044 meters 0.2744254482695403 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99984937e-01 -4.30384148e-03 -3.40617919e-03 2.20162500e+00] [ 4.30235982e-03 9.99990647e-01 -4.42199973e-04 -1.38413923e-02] [ 3.40805049e-03 4.27538704e-04 9.99994101e-01 -2.11538052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18463044 meters 0.27529064417457977 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99984174e-01 -4.40181156e-03 -3.50354354e-03 2.20236573e+00] [ 4.39941062e-03 9.99990083e-01 -6.92701402e-04 -1.25857042e-02] [ 3.50655793e-03 6.77276913e-04 9.99993623e-01 -2.12576645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24463043999998 meters 0.274323346068275 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99984328e-01 -4.29969899e-03 -3.58561091e-03 2.20253388e+00] [ 4.29828857e-03 9.99990682e-01 -4.00966766e-04 -1.38035043e-02] [ 3.58730153e-03 3.85548492e-04 9.99993491e-01 -2.12472126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30463043999998 meters 0.2731983907016469 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.02, Z:-0.21 [[ 9.99987041e-01 3.91130477e-03 -3.25869766e-03 2.18311478e+00] [-3.91519095e-03 9.99991631e-01 -1.18703293e-03 -2.04017461e-02] [ 3.25402754e-03 1.19977597e-03 9.99993986e-01 -2.13356943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36463043999998 meters 0.27400048317490394 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.02, Z:-0.21 [[ 9.99987085e-01 3.82703208e-03 -3.34434640e-03 2.18352644e+00] [-3.83174499e-03 9.99991673e-01 -1.40394848e-03 -1.95397342e-02] [ 3.33894560e-03 1.41674503e-03 9.99993422e-01 -2.13799305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42463044 meters 0.27509058026594746 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.02, Z:-0.21 [[ 9.99989081e-01 3.75583645e-03 -2.78067882e-03 2.18209975e+00] [-3.76116043e-03 9.99991099e-01 -1.91188728e-03 -1.71187347e-02] [ 2.77347334e-03 1.92232499e-03 9.99994306e-01 -2.13443245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48463044 meters 0.2754253990105861 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.01, Z:-0.21 [[ 0.99999057 0.00350307 -0.00256768 2.18152603] [-0.00351014 0.99999004 -0.00275647 -0.01368459] [ 0.00255799 0.00276546 0.9999929 -0.21331494] [ 0. 0. 0. 1. ]] SLAMing on 198.54463044 meters 0.2759446554057063 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.01, Z:-0.21 [[ 9.99992633e-01 3.18412092e-03 -2.14374427e-03 2.18070151e+00] [-3.19190556e-03 9.99988289e-01 -3.63775122e-03 -9.94215115e-03] [ 2.13213613e-03 3.64456705e-03 9.99991086e-01 -2.13601727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60463044 meters 0.27380378431891333 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99985691e-01 -5.30432688e-03 6.93987359e-04 2.19782244e+00] [ 5.30630393e-03 9.99981778e-01 -2.87869856e-03 -7.30138921e-03] [-6.78705155e-04 2.88233987e-03 9.99995616e-01 -2.11234545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66463044 meters 0.2724813255340979 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.01, Z:-0.21 [[ 9.99994212e-01 3.30480625e-03 -8.09252303e-04 2.17856390e+00] [-3.30755244e-03 9.99988695e-01 -3.41599503e-03 -1.10837487e-02] [ 7.97953953e-04 3.41865190e-03 9.99993838e-01 -2.11402712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72463044 meters 0.27456787260962573 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99995219e-01 -2.87761821e-03 1.13229061e-03 2.20071230e+00] [ 2.87828745e-03 9.99995684e-01 -5.89871010e-04 -1.17073900e-02] [-1.13058830e-03 5.93127248e-04 9.99999185e-01 -2.12782553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78463044 meters 0.27326567143603914 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.01, Z:-0.21 [[ 9.99995657e-01 -2.73626253e-03 1.09530820e-03 2.20062062e+00] [ 2.73654435e-03 9.99996223e-01 -2.55881285e-04 -1.31416604e-02] [-1.09460391e-03 2.58877533e-04 9.99999367e-01 -2.12423881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84463044 meters 0.2724273176642394 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.02, Z:-0.21 [[ 9.99996657e-01 -2.43011132e-03 8.83625697e-04 2.20157685e+00] [ 2.42965017e-03 9.99996912e-01 5.22575005e-04 -1.69077201e-02] [-8.84892884e-04 -5.20426357e-04 9.99999473e-01 -2.13125991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90463044 meters 0.27426852337404933 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.21 [[ 9.99993320e-01 3.57597233e-03 7.56288567e-04 2.22550177e+00] [-3.57427466e-03 9.99991116e-01 -2.23430567e-03 -1.98717453e-02] [-7.64271664e-04 2.23158756e-03 9.99997218e-01 -2.14034672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96463043999998 meters 0.2746461017108656 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.22 [[ 9.99991684e-01 4.03264708e-03 6.07724834e-04 2.22654429e+00] [-4.03203295e-03 9.99991363e-01 -1.00840004e-03 -2.53805034e-02] [-6.11786107e-04 1.00594129e-03 9.99999307e-01 -2.15147613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02463043999998 meters 0.27496658536819923 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.22 [[ 9.99990916e-01 4.23756379e-03 4.58806990e-04 2.22723458e+00] [-4.23733000e-03 9.99990893e-01 -5.09326215e-04 -2.75231103e-02] [-4.60961114e-04 5.07377471e-04 9.99999765e-01 -2.15797119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08463043999998 meters 0.2740450038994837 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.22 [[ 9.99990645e-01 4.31032715e-03 3.62621804e-04 2.22745919e+00] [-4.31020770e-03 9.99990657e-01 -3.29568079e-04 -2.83004337e-02] [-3.64038962e-04 3.28002021e-04 9.99999880e-01 -2.15794024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14463044 meters 0.27388393145697465 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.22 [[ 9.99990512e-01 4.33868616e-03 3.90460539e-04 2.22724749e+00] [-4.33858483e-03 9.99990554e-01 -2.59991963e-04 -2.86116945e-02] [-3.91584874e-04 2.58295450e-04 9.99999890e-01 -2.15489422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20463044 meters 0.27542776589410084 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.22 [[ 9.99999210e-01 -1.22249917e-03 -2.92372841e-04 2.25083026e+00] [ 1.22335142e-03 9.99994951e-01 2.93273893e-03 -2.49699887e-02] [ 2.88786094e-04 -2.93309429e-03 9.99995657e-01 -2.16647783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26463044 meters 0.2764404877341497 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.22 [[ 9.99998845e-01 -1.44946308e-03 -4.57139542e-04 2.25102013e+00] [ 1.45054211e-03 9.99996142e-01 2.36894753e-03 -2.25220805e-02] [ 4.53704076e-04 -2.36960789e-03 9.99997090e-01 -2.16364681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32463044 meters 0.2764229473549505 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.21 [[ 9.99998285e-01 -1.81008596e-03 -3.91782135e-04 2.24980766e+00] [ 1.81063391e-03 9.99997377e-01 1.40280868e-03 -1.77032405e-02] [ 3.89241903e-04 -1.40351565e-03 9.99998939e-01 -2.14781128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38463044 meters 0.27531858597103076 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.01, Z:-0.21 [[ 9.99997539e-01 -2.18411355e-03 -3.89993797e-04 2.24967943e+00] [ 2.18432794e-03 9.99997463e-01 5.50153986e-04 -1.39731920e-02] [ 3.88791209e-04 -5.51004506e-04 9.99999773e-01 -2.14703434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44463044 meters 0.2761515954747751 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.01, Z:-0.21 [[ 9.99997145e-01 -2.31074505e-03 -6.08073276e-04 2.24999543e+00] [ 2.31089858e-03 9.99997298e-01 2.51902432e-04 -1.27235550e-02] [ 6.07489551e-04 -2.53306908e-04 9.99999783e-01 -2.14379125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50463044 meters 0.2739313434470508 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.01, Z:-0.21 [[ 9.99997322e-01 -2.27957822e-03 -3.98977559e-04 2.24852746e+00] [ 2.27970128e-03 9.99997354e-01 3.08243218e-04 -1.27907083e-02] [ 3.98273839e-04 -3.09151943e-04 9.99999873e-01 -2.12444392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56463044 meters 0.2738612962264677 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.01, Z:-0.21 [[ 9.99997455e-01 -2.14094320e-03 -7.11867434e-04 2.24938808e+00] [ 2.14144532e-03 9.99997458e-01 7.05346517e-04 -1.46570199e-02] [ 7.10355518e-04 -7.06869147e-04 9.99999498e-01 -2.12711023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62463044 meters 0.27397616374639944 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.21 [[ 9.99997715e-01 -1.99893181e-03 -7.58097224e-04 2.24930758e+00] [ 1.99972508e-03 9.99997452e-01 1.04707629e-03 -1.61629718e-02] [ 7.56002259e-04 -1.04858988e-03 9.99999164e-01 -2.12298826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68463044 meters 0.2730631453465067 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.21 [[ 9.99997997e-01 -1.84815908e-03 -7.68688114e-04 2.24928426e+00] [ 1.84922952e-03 9.99997318e-01 1.39418137e-03 -1.77078791e-02] [ 7.66109383e-04 -1.39560006e-03 9.99998733e-01 -2.12157579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74463043999998 meters 0.27456546368950613 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.21 [[ 9.99998331e-01 -1.69271292e-03 -6.88097405e-04 2.24928993e+00] [ 1.69392186e-03 9.99997016e-01 1.76016027e-03 -1.92891858e-02] [ 6.85115906e-04 -1.76132291e-03 9.99998214e-01 -2.12478199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80463043999998 meters 0.2736772834923637 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.21 [[ 9.99989257e-01 4.41775203e-03 1.40352660e-03 2.27068520e+00] [-4.41630556e-03 9.99989716e-01 -1.03202979e-03 -2.01030403e-02] [-1.40807141e-03 1.02582030e-03 9.99998483e-01 -2.13316460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86463043999998 meters 0.2732738424237391 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.21 [[ 9.99988493e-01 4.64599098e-03 1.19532918e-03 2.27158996e+00] [-4.64548079e-03 9.99989118e-01 -4.29240806e-04 -2.28193379e-02] [-1.19731042e-03 4.23682988e-04 9.99999193e-01 -2.14097796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92463044 meters 0.2745578309088335 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.21 [[ 9.99988100e-01 4.72981315e-03 1.19550486e-03 2.27165389e+00] [-4.72954412e-03 9.99988790e-01 -2.27757070e-04 -2.36962881e-02] [-1.19656870e-03 2.22100167e-04 9.99999259e-01 -2.14190917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98463044 meters 0.27350588579977403 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.21 [[ 9.99987630e-01 4.81840439e-03 1.23372763e-03 2.27144202e+00] [-4.81839948e-03 9.99988391e-01 -6.95574288e-06 -2.46494179e-02] [-1.23374683e-03 1.01106425e-06 9.99999239e-01 -2.13930118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04463044 meters 0.27400469991270476 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.22 [[ 9.99988461e-01 4.64256047e-03 1.23453029e-03 2.27204118e+00] [-4.64200422e-03 9.99989123e-01 -4.53058732e-04 -2.26698659e-02] [-1.23662021e-03 4.47322809e-04 9.99999135e-01 -2.15068041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10463044 meters 0.2724042817305345 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.22 [[ 9.99992056e-01 -3.92986963e-03 6.66727916e-04 2.25192204e+00] [ 3.92989095e-03 9.99992277e-01 -3.06638554e-05 -1.65515739e-02] [-6.66602262e-04 3.32837798e-05 9.99999777e-01 -2.15561607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16463044 meters 0.27502787835126663 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.22 [[ 9.99982770e-01 5.55050812e-03 1.91073546e-03 2.27424493e+00] [-5.54992826e-03 9.99984551e-01 -3.08642165e-04 -1.21239878e-02] [-1.91241907e-03 2.98032403e-04 9.99998127e-01 -2.16446548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22463044 meters 0.2764554258575817 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.01, Z:-0.22 [[ 9.99985369e-01 5.10123356e-03 1.79967036e-03 2.27507444e+00] [-5.09828135e-03 9.99985657e-01 -1.64120899e-03 -6.84356383e-03] [-1.80801674e-03 1.63200975e-03 9.99997034e-01 -2.17564724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28463044 meters 0.27400341835594705 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.00, Z:-0.22 [[ 9.99998448e-01 -1.43258975e-03 1.02524489e-03 2.25298342e+00] [ 1.43182996e-03 9.99998700e-01 7.41428508e-04 -3.41407168e-03] [-1.02630573e-03 -7.39959381e-04 9.99999200e-01 -2.16867643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34463044 meters 0.27314612438245034 Centerline is valid? [False, False] Translation: X:2.25, Y:0.00, Z:-0.22 [[ 9.99997738e-01 -1.72288889e-03 1.24734984e-03 2.25190815e+00] [ 1.72287484e-03 9.99998516e-01 1.23368139e-05 1.00349131e-04] [-1.24736924e-03 -1.01877584e-05 9.99999222e-01 -2.15822995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40463044 meters 0.2731437339919081 Centerline is valid? [False, False] Translation: X:2.25, Y:0.00, Z:-0.22 [[ 9.99997517e-01 -1.85638344e-03 1.23308000e-03 2.25185007e+00] [ 1.85676521e-03 9.99998229e-01 -3.08532209e-04 1.47190333e-03] [-1.23250506e-03 3.10820983e-04 9.99999192e-01 -2.15651677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46463043999998 meters 0.27121294244320765 Centerline is valid? [False, False] Translation: X:2.23, Y:0.00, Z:-0.22 [[ 9.99973697e-01 6.88462272e-03 2.28187985e-03 2.22927283e+00] [-6.88202600e-03 9.99975664e-01 -1.14388065e-03 1.00191634e-03] [-2.28969951e-03 1.12814660e-03 9.99996742e-01 -2.15367521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52463043999998 meters 0.27181675393168236 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.21 [[ 9.99994444e-01 -8.93741113e-04 3.21152442e-03 2.24781622e+00] [ 8.93656077e-04 9.99999600e-01 2.79134446e-05 6.87499742e-03] [-3.21154808e-03 -2.50432912e-05 9.99994843e-01 -2.13594260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58463043999998 meters 0.27393856692964147 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.22 [[ 9.99998053e-01 1.08737341e-03 1.64697431e-03 2.25388007e+00] [-1.09033164e-03 9.99997792e-01 1.79632531e-03 7.99328996e-03] [-1.64501739e-03 -1.79811756e-03 9.99997030e-01 -2.17148374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64463044 meters 0.2727872071706199 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.22 [[ 9.99998300e-01 1.10973278e-03 1.47268612e-03 2.25388654e+00] [-1.11246161e-03 9.99997664e-01 1.85343937e-03 7.78973825e-03] [-1.47062586e-03 -1.85507453e-03 9.99997198e-01 -2.16408336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70463044 meters 0.27150068530585975 Centerline is valid? [False, False] Translation: X:2.23, Y:0.01, Z:-0.22 [[ 9.99980546e-01 6.17691888e-03 8.67714004e-04 2.23173319e+00] [-6.17509951e-03 9.99978762e-01 -2.08400538e-03 5.73029947e-03] [-8.80568308e-04 2.07860662e-03 9.99997452e-01 -2.15842420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76463044 meters 0.2713736769845063 Centerline is valid? [False, False] Translation: X:2.23, Y:0.01, Z:-0.22 [[ 9.99980321e-01 6.20437792e-03 9.29455256e-04 2.23171019e+00] [-6.20249193e-03 9.99978727e-01 -2.01846346e-03 5.42620513e-03] [-9.41958794e-04 2.01265880e-03 9.99997531e-01 -2.16051829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82463044 meters 0.2741866480063038 Centerline is valid? [False, False] Translation: X:2.26, Y:0.01, Z:-0.22 [[ 9.99999894e-01 1.08655333e-04 4.48079466e-04 2.25600205e+00] [-1.08907947e-04 9.99999835e-01 5.63784844e-04 8.68634729e-03] [-4.48018134e-04 -5.63833584e-04 9.99999741e-01 -2.17320478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88463044 meters 0.2731350957376547 Centerline is valid? [False, False] Translation: X:2.26, Y:0.01, Z:-0.22 [[ 9.99999906e-01 -1.19457058e-04 4.16261426e-04 2.25637810e+00] [ 1.19615895e-04 9.99999920e-01 -3.81575813e-04 1.25748521e-02] [-4.16215811e-04 3.81625569e-04 9.99999841e-01 -2.18168836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94463044 meters 0.27292313089115905 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.22 [[ 9.99999832e-01 -4.00856091e-04 4.19801751e-04 2.25668612e+00] [ 4.01426198e-04 9.99998996e-01 -1.35883660e-03 1.65947136e-02] [-4.19256632e-04 1.35900489e-03 9.99998989e-01 -2.18871138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00463044 meters 0.27431876545676925 Centerline is valid? [False, False] Translation: X:2.26, Y:0.02, Z:-0.22 [[ 9.99999548e-01 -8.25535660e-04 4.72175623e-04 2.25654118e+00] [ 8.26718277e-04 9.99996508e-01 -2.50992545e-03 2.15651313e-02] [-4.70101942e-04 2.51031467e-03 9.99996739e-01 -2.18888000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06463044 meters 0.2756179844848237 Centerline is valid? [False, False] Translation: X:2.28, Y:0.03, Z:-0.22 [[ 9.99982969e-01 -5.79371970e-03 7.02713560e-04 2.27800581e+00] [ 5.79305247e-03 9.99982771e-01 9.47855996e-04 3.00402691e-02] [-7.08193065e-04 -9.43768997e-04 9.99999304e-01 -2.18262618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12463044 meters 0.27276002236035063 Centerline is valid? [False, False] Translation: X:2.26, Y:0.03, Z:-0.22 [[ 9.99993009e-01 3.01406168e-03 2.21316070e-03 2.25624962e+00] [-3.01302261e-03 9.99995349e-01 -4.72678730e-04 3.14443076e-02] [-2.21457509e-03 4.66007122e-04 9.99997439e-01 -2.18241782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18463043999998 meters 0.2719579237435305 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.22 [[ 9.99993490e-01 2.63632610e-03 2.46374856e-03 2.25556772e+00] [-2.63314794e-03 9.99995698e-01 -1.29232427e-03 3.52645683e-02] [-2.46714495e-03 1.28582844e-03 9.99996130e-01 -2.18139361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24463043999998 meters 0.27219462267301253 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.22 [[ 9.99994821e-01 2.25185244e-03 2.29947526e-03 2.25592612e+00] [-2.24684221e-03 9.99995102e-01 -2.17912258e-03 3.90896255e-02] [-2.30437106e-03 2.17394474e-03 9.99994982e-01 -2.18208594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30463043999998 meters 0.2708633168178945 Centerline is valid? [False, False] Translation: X:2.26, Y:0.04, Z:-0.22 [[ 9.99995719e-01 1.96865686e-03 2.16463080e-03 2.25642737e+00] [-1.96236996e-03 9.99993862e-01 -2.90267321e-03 4.22435676e-02] [-2.17033188e-03 2.89841297e-03 9.99993444e-01 -2.18613010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36463043999998 meters 0.27073347065900955 Centerline is valid? [False, False] Translation: X:2.26, Y:0.05, Z:-0.22 [[ 9.99996019e-01 1.59785396e-03 2.32552401e-03 2.25567400e+00] [-1.58881422e-03 9.99991196e-01 -3.88385587e-03 4.64179427e-02] [-2.33170937e-03 3.88014558e-03 9.99989754e-01 -2.18012015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42463044 meters 0.2706873823425936 Centerline is valid? [False, False] Translation: X:2.25, Y:0.05, Z:-0.22 [[ 9.99995564e-01 1.54288237e-03 2.54783878e-03 2.25481455e+00] [-1.53259256e-03 9.99990682e-01 -4.03566908e-03 4.73669203e-02] [-2.55404161e-03 4.03174638e-03 9.99988611e-01 -2.17217255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48463044 meters 0.26970087033572554 Centerline is valid? [False, False] Translation: X:2.25, Y:0.05, Z:-0.22 [[ 9.99993720e-01 1.58480013e-03 3.17006465e-03 2.25320208e+00] [-1.57324798e-03 9.99992126e-01 -3.64331599e-03 4.52355408e-02] [-3.17581362e-03 3.63830581e-03 9.99988338e-01 -2.16427145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54463044 meters 0.2702874136155925 Centerline is valid? [False, False] Translation: X:2.24, Y:0.05, Z:-0.22 [[ 9.99985499e-01 -5.33286600e-03 -7.50317408e-04 2.23685745e+00] [ 5.33140436e-03 9.99983912e-01 -1.93672319e-03 4.50173063e-02] [ 7.60633623e-04 1.93269486e-03 9.99997843e-01 -2.18898451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60463044 meters 0.27056671641066965 Centerline is valid? [False, False] Translation: X:2.24, Y:0.05, Z:-0.22 [[ 9.99991005e-01 -3.74686468e-03 -1.98765766e-03 2.24198786e+00] [ 3.74522309e-03 9.99992643e-01 -8.28970973e-04 4.68794909e-02] [ 1.99074908e-03 8.21519295e-04 9.99997681e-01 -2.22731877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66463044 meters 0.2722668078794194 Centerline is valid? [False, False] Translation: X:2.24, Y:0.05, Z:-0.22 [[ 9.99991545e-01 -3.86490363e-03 -1.40434725e-03 2.24061085e+00] [ 3.86311786e-03 9.99991729e-01 -1.27209765e-03 4.88669329e-02] [ 1.40925216e-03 1.26666173e-03 9.99998205e-01 -2.22572114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72463044 meters 0.2712947196170939 Centerline is valid? [False, False] Translation: X:2.24, Y:0.05, Z:-0.22 [[ 9.99990628e-01 -4.03448089e-03 -1.57071711e-03 2.24150291e+00] [ 4.03158672e-03 9.99990178e-01 -1.84140395e-03 5.14184685e-02] [ 1.57813079e-03 1.83505421e-03 9.99997071e-01 -2.23698648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78463044 meters 0.26903619288684577 Centerline is valid? [False, False] Translation: X:2.21, Y:0.05, Z:-0.23 [[ 9.99993684e-01 -3.52175022e-03 -4.77960095e-04 2.20509701e+00] [ 3.52117553e-03 9.99993083e-01 -1.19794812e-03 4.70130839e-02] [ 4.82175663e-04 1.19625758e-03 9.99999168e-01 -2.28171877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84463044 meters 0.27091771516796254 Centerline is valid? [False, False] Translation: X:2.23, Y:0.04, Z:-0.23 [[ 9.99987312e-01 5.03271211e-03 -2.19996948e-04 2.22647473e+00] [-5.03302764e-03 9.99986271e-01 -1.45804254e-03 4.31881346e-02] [ 2.12656019e-04 1.45913129e-03 9.99998913e-01 -2.27765373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90463044 meters 0.2720174614717547 Centerline is valid? [False, False] Translation: X:2.25, Y:0.04, Z:-0.23 [[ 9.99990952e-01 -4.10752804e-03 1.10621973e-03 2.24669791e+00] [ 4.10820569e-03 9.99991375e-01 -6.11004796e-04 4.16099795e-02] [-1.10370047e-03 6.15543846e-04 9.99999201e-01 -2.27407092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96463043999998 meters 0.2693006648490582 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.23 [[ 9.99988169e-01 4.32825663e-03 2.21971071e-03 2.22680306e+00] [-4.32590397e-03 9.99990078e-01 -1.06360163e-03 3.29479871e-02] [-2.22429223e-03 1.05398679e-03 9.99996971e-01 -2.28680962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02463043999998 meters 0.2694411604202701 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.23 [[ 9.99997237e-01 3.42748159e-04 2.32564867e-03 2.22649719e+00] [-3.32222148e-04 9.99989707e-01 -4.52493139e-03 2.94640397e-02] [-2.32717565e-03 4.52414625e-03 9.99987058e-01 -2.28502042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08463043999998 meters 0.26942254506519653 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.23 [[ 9.99996950e-01 6.50101510e-04 2.38271846e-03 2.22630528e+00] [-6.41099727e-04 9.99992662e-01 -3.77676530e-03 2.62340361e-02] [-2.38515625e-03 3.77522622e-03 9.99990029e-01 -2.28302382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14463044 meters 0.27015359382820736 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.23 [[ 9.99996813e-01 7.69845763e-04 2.40454631e-03 2.22631152e+00] [-7.61440600e-04 9.99993604e-01 -3.49449122e-03 2.49356667e-02] [-2.40722115e-03 3.49264917e-03 9.99991003e-01 -2.28372962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20463044 meters 0.27040515924873143 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.23 [[ 9.99996529e-01 8.41917281e-04 2.49672126e-03 2.22633859e+00] [-8.33710560e-04 9.99994253e-01 -3.28622034e-03 2.41215593e-02] [-2.49947363e-03 3.28412739e-03 9.99991484e-01 -2.28829421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26463044 meters 0.271261289910414 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.23 [[ 9.99996615e-01 7.73876951e-04 2.48416929e-03 2.22664936e+00] [-7.65228137e-04 9.99993650e-01 -3.48063642e-03 2.48431975e-02] [-2.48684710e-03 3.47872368e-03 9.99990857e-01 -2.29418033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32463044 meters 0.26959462837748543 Centerline is valid? [False, False] Translation: X:2.21, Y:0.02, Z:-0.23 [[ 9.99985452e-01 -5.38996363e-03 2.09715041e-04 2.20624487e+00] [ 5.39007863e-03 9.99985321e-01 -5.51754606e-04 2.35014009e-02] [-2.06738025e-04 5.52876960e-04 9.99999826e-01 -2.29022186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38463044 meters 0.26930178090022555 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.23 [[ 9.99992492e-01 3.44182601e-03 1.78057306e-03 2.22599888e+00] [-3.44080046e-03 9.99993913e-01 -5.78708898e-04 2.12171614e-02] [-1.78255403e-03 5.72577957e-04 9.99998247e-01 -2.27931496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44463044 meters 0.26851609592410736 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.23 [[ 9.99992680e-01 3.59188302e-03 1.31846442e-03 2.22719397e+00] [-3.59188191e-03 9.99993549e-01 -3.20855805e-06 1.88405356e-02] [-1.31846744e-03 -1.52723394e-06 9.99999131e-01 -2.28262384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50463044 meters 0.2691456430077806 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.23 [[ 9.99975309e-01 -6.27338686e-03 3.16642238e-03 2.24725007e+00] [ 6.27273784e-03 9.99980303e-01 2.14856633e-04 1.42268978e-02] [-3.16770789e-03 -1.94989191e-04 9.99994964e-01 -2.27689780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56463044 meters 0.26751798427208173 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.23 [[ 9.99978417e-01 -5.93847912e-03 2.81069558e-03 2.24792999e+00] [ 5.93490795e-03 9.99981573e-01 1.27720619e-03 1.02091053e-02] [-2.81822845e-03 -1.26049741e-03 9.99995234e-01 -2.27446568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62463044 meters 0.26662357604813586 Centerline is valid? [False, False] Translation: X:2.25, Y:0.01, Z:-0.23 [[ 9.99980927e-01 -5.72534771e-03 2.31633826e-03 2.24896050e+00] [ 5.72032977e-03 9.99981290e-01 2.16717877e-03 6.72675243e-03] [-2.32870278e-03 -2.15388722e-03 9.99994969e-01 -2.27353718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68463043999998 meters 0.2671808338243746 Centerline is valid? [False, False] Translation: X:2.27, Y:0.00, Z:-0.23 [[ 9.99992766e-01 3.02993037e-03 2.29942600e-03 2.26934643e+00] [-3.03469854e-03 9.99993247e-01 2.07298690e-03 1.17632332e-03] [-2.29312946e-03 -2.07994997e-03 9.99995208e-01 -2.26506758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74463043999998 meters 0.2672029033134181 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.23 [[ 9.99992846e-01 3.17968723e-03 2.04902228e-03 2.26998052e+00] [-3.18506584e-03 9.99991477e-01 2.62706643e-03 -1.24574618e-03] [-2.04065157e-03 -2.63357390e-03 9.99994450e-01 -2.26694340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80463043999998 meters 0.26577693727336754 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.23 [[ 9.99992394e-01 3.37470481e-03 1.95515823e-03 2.26984352e+00] [-3.38100877e-03 9.99989068e-01 3.22998980e-03 -3.67460029e-03] [-1.94423659e-03 -3.23657564e-03 9.99992872e-01 -2.26048632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86463043999998 meters 0.26635993675398356 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.23 [[ 9.99992157e-01 3.58372402e-03 1.68595954e-03 2.27074195e+00] [-3.59026790e-03 9.99985971e-01 3.89451131e-03 -6.52615001e-03] [-1.67197903e-03 -3.90053381e-03 9.99990995e-01 -2.26619275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92463044 meters 0.2673009338919447 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:-0.23 [[ 9.99985469e-01 -5.27155406e-03 1.12830803e-03 2.29297374e+00] [ 5.26627958e-03 9.99975425e-01 4.62769484e-03 -6.24003708e-03] [-1.15267545e-03 -4.62168560e-03 9.99988656e-01 -2.26503064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98463044 meters 0.26628667536825446 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.23 [[ 9.99998871e-01 3.19293347e-04 1.46807412e-03 2.27134067e+00] [-3.21576120e-04 9.99998739e-01 1.55497097e-03 -1.33200162e-02] [-1.46757577e-03 -1.55544132e-03 9.99997713e-01 -2.26566169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04463044 meters 0.266279978090112 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.23 [[ 9.99998775e-01 4.01570213e-04 1.51265518e-03 2.27109910e+00] [-4.04240040e-04 9.99998361e-01 1.76510159e-03 -1.41965022e-02] [-1.51194389e-03 -1.76571090e-03 9.99997298e-01 -2.26293603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10463044 meters 0.2671626530921784 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.23 [[ 9.99998863e-01 4.03906017e-04 1.45302868e-03 2.27109281e+00] [-4.06488766e-04 9.99998337e-01 1.77763758e-03 -1.42027083e-02] [-1.45230826e-03 -1.77822620e-03 9.99997364e-01 -2.26000524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16463044 meters 0.26566915405149477 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99998754e-01 4.83679825e-04 1.50250619e-03 2.27101279e+00] [-4.86662222e-04 9.99997911e-01 1.98521724e-03 -1.51396769e-02] [-1.50154284e-03 -1.98594598e-03 9.99996901e-01 -2.26059490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22463044 meters 0.26699172524393466 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99998535e-01 5.90761349e-04 1.60639810e-03 2.27093025e+00] [-5.94451642e-04 9.99997184e-01 2.29774050e-03 -1.64456816e-02] [-1.60503616e-03 -2.29869206e-03 9.99996070e-01 -2.26285605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28463044 meters 0.26622781131081624 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99998196e-01 7.06852873e-04 1.76303520e-03 2.27025811e+00] [-7.11523737e-04 9.99996235e-01 2.65011201e-03 -1.78413133e-02] [-1.76115533e-03 -2.65136167e-03 9.99994934e-01 -2.25605423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34463044 meters 0.2664732960662806 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99997986e-01 7.92013249e-04 1.84430396e-03 2.27017606e+00] [-7.97319416e-04 9.99995540e-01 2.87810070e-03 -1.87503738e-02] [-1.84201624e-03 -2.87956540e-03 9.99994158e-01 -2.25814266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40463044 meters 0.2669671340500412 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99997604e-01 1.02477435e-03 1.93422437e-03 2.27025326e+00] [-1.03172532e-03 9.99993002e-01 3.59610467e-03 -2.16461283e-02] [-1.93052564e-03 -3.59809165e-03 9.99991663e-01 -2.26322760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46463043999998 meters 0.26571403790767467 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.23 [[ 9.99982431e-01 5.92573073e-03 -1.54144728e-04 2.24884668e+00] [-5.92576492e-03 9.99982418e-01 -2.22337645e-04 -2.26652894e-02] [ 1.52824505e-04 2.23247164e-04 9.99999963e-01 -2.25550470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52463043999998 meters 0.2669648774576301 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99996155e-01 -2.77299068e-03 -3.55905258e-05 2.27091851e+00] [ 2.77300785e-03 9.99996034e-01 4.91888950e-04 -2.23043648e-02] [ 3.42263812e-05 -4.91985752e-04 9.99999878e-01 -2.25568102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58463043999998 meters 0.2670496392063964 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99996086e-01 -2.79612723e-03 -9.87817019e-05 2.27110704e+00] [ 2.79616968e-03 9.99995997e-01 4.32282259e-04 -2.20549830e-02] [ 9.75725903e-05 -4.32556778e-04 9.99999902e-01 -2.25668353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64463044 meters 0.26603516747017647 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99996140e-01 -2.77830461e-03 -1.33215552e-05 2.27095420e+00] [ 2.77831052e-03 9.99996032e-01 4.66582060e-04 -2.22621518e-02] [ 1.20251952e-05 -4.66617270e-04 9.99999891e-01 -2.25754821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70463044 meters 0.2664818480871185 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99996233e-01 -2.74064437e-03 -1.48371387e-04 2.27114405e+00] [ 2.74072673e-03 9.99996089e-01 5.57789631e-04 -2.26434714e-02] [ 1.46842103e-04 -5.58194176e-04 9.99999833e-01 -2.25560294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76463044 meters 0.2658804970441768 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.02, Z:-0.23 [[ 9.99996020e-01 -2.80756317e-03 -2.80115343e-04 2.27179243e+00] [ 2.80766820e-03 9.99995988e-01 3.75283645e-04 -2.18182972e-02] [ 2.79060587e-04 -3.76068622e-04 9.99999890e-01 -2.26320944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82463044 meters 0.2680209275457536 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.23 [[ 9.99996250e-01 -2.27138013e-03 1.53019886e-03 2.31472211e+00] [ 2.27031499e-03 9.99997180e-01 6.97460803e-04 -1.97514691e-02] [-1.53177874e-03 -6.93984154e-04 9.99998586e-01 -2.26060188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88463044 meters 0.26721384849639246 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.23 [[ 9.99996241e-01 -2.28634622e-03 1.51350606e-03 2.31479237e+00] [ 2.28535263e-03 9.99997172e-01 6.57889263e-04 -1.95968039e-02] [-1.51500595e-03 -6.54427895e-04 9.99998638e-01 -2.26127377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94463044 meters 0.26664891687982156 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.23 [[ 9.99996262e-01 -2.26510439e-03 1.53148841e-03 2.31458075e+00] [ 2.26402261e-03 9.99997187e-01 7.07725804e-04 -1.98535184e-02] [-1.53308717e-03 -7.04255834e-04 9.99998577e-01 -2.25790305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00463044 meters 0.2670979517627401 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.02, Z:-0.22 [[ 9.99995949e-01 -2.39751955e-03 1.53397639e-03 2.31387891e+00] [ 2.39699182e-03 9.99997067e-01 3.45770229e-04 -1.78813696e-02] [-1.53480088e-03 -3.42091900e-04 9.99998764e-01 -2.24476299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06463044 meters 0.2669364465756964 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:-0.23 [[ 9.99981344e-01 6.02220846e-03 1.02199958e-03 2.29300422e+00] [-6.02142056e-03 9.99981573e-01 -7.72271943e-04 -1.80349893e-02] [-1.02663153e-03 7.66103646e-04 9.99999180e-01 -2.25379190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12463044 meters 0.26613663477771016 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.02, Z:-0.23 [[ 9.99982271e-01 5.89022201e-03 8.73217071e-04 2.29345926e+00] [-5.88923453e-03 9.99982021e-01 -1.12915228e-03 -1.65296757e-02] [-8.79852329e-04 1.12398968e-03 9.99998981e-01 -2.25571790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18463043999998 meters 0.2662933836612574 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.01, Z:-0.23 [[ 9.99984223e-01 5.59008069e-03 5.52582135e-04 2.29421738e+00] [-5.58896533e-03 9.99982382e-01 -1.99979655e-03 -1.28008686e-02] [-5.63751424e-04 1.99667664e-03 9.99997848e-01 -2.25607752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24463043999998 meters 0.26746915271892435 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.23 [[ 9.99993332e-01 -3.16379875e-03 -1.82405126e-03 2.31751873e+00] [ 3.16060627e-03 9.99993473e-01 -1.75044813e-03 -7.29686935e-03] [ 1.82957742e-03 1.74467135e-03 9.99996804e-01 -2.25388031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30463043999998 meters 0.26699943205370696 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.22 [[ 9.99993046e-01 -3.29922488e-03 -1.73868304e-03 2.31710816e+00] [ 3.29557917e-03 9.99992374e-01 -2.09553145e-03 -5.85245210e-03] [ 1.74558341e-03 2.08978691e-03 9.99996293e-01 -2.24958173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36463043999998 meters 0.2663485538987297 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.00, Z:-0.22 [[ 9.99992290e-01 -3.56449264e-03 -1.64762191e-03 2.31685232e+00] [ 3.55976072e-03 9.99989557e-01 -2.86603243e-03 -2.63657477e-03] [ 1.65782065e-03 2.86014519e-03 9.99994536e-01 -2.24848008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42463044 meters 0.26799231742069207 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.00, Z:-0.23 [[ 9.99998460e-01 5.62197229e-04 -1.66247706e-03 2.31723898e+00] [-5.60636715e-04 9.99999402e-01 9.38985511e-04 -6.47946571e-04] [ 1.66300396e-03 -9.38052019e-04 9.99998177e-01 -2.25479932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48463044 meters 0.26616185438421136 Centerline is valid? [False, False] Translation: X:2.32, Y:0.00, Z:-0.22 [[ 9.99998751e-01 2.82860973e-04 -1.55477321e-03 2.31662583e+00] [-2.82925971e-04 9.99999959e-01 -4.15852178e-05 3.24750933e-03] [ 1.55476138e-03 4.20250516e-05 9.99998790e-01 -2.24776445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54463044 meters 0.266661413593223 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.22 [[ 9.99998905e-01 2.62161351e-05 -1.47995266e-03 2.31621770e+00] [-2.73351782e-05 9.99999714e-01 -7.56119222e-04 6.25501017e-03] [ 1.47993241e-03 7.56158849e-04 9.99998619e-01 -2.24313965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60463044 meters 0.2681517861853717 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.22 [[ 9.99999029e-01 -2.61150328e-04 -1.36881144e-03 2.31583997e+00] [ 2.59126477e-04 9.99998873e-01 -1.47851470e-03 9.31530423e-03] [ 1.36919601e-03 1.47815857e-03 9.99997970e-01 -2.24079893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66463044 meters 0.2679363261853787 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.22 [[ 9.99984048e-01 -5.56390818e-03 -9.73018998e-04 2.33827990e+00] [ 5.56612925e-03 9.99981875e-01 2.29503786e-03 1.16673797e-02] [ 9.60231983e-04 -2.30041720e-03 9.99996893e-01 -2.24267482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72463044 meters 0.26791865456614083 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.22 [[ 9.99983482e-01 -5.62838342e-03 -1.16527113e-03 2.33835925e+00] [ 5.63087229e-03 9.99981849e-01 2.14371925e-03 1.23159780e-02] [ 1.15318430e-03 -2.15024533e-03 9.99997023e-01 -2.23605423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78463044 meters 0.2669238879388337 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.22 [[ 9.99983659e-01 -5.59456977e-03 -1.17619433e-03 2.33831551e+00] [ 5.59717412e-03 9.99981865e-01 2.22271354e-03 1.19670490e-02] [ 1.16373788e-03 -2.22926058e-03 9.99996838e-01 -2.23461015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84463044 meters 0.2662200638027388 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.22 [[ 9.99995696e-01 2.91505906e-03 -3.32771062e-04 2.31698757e+00] [-2.91455816e-03 9.99994634e-01 1.49593127e-03 7.36725395e-03] [ 3.37130004e-04 -1.49495496e-03 9.99998826e-01 -2.24387106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90463044 meters 0.2670399919596783 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.22 [[ 9.99995660e-01 2.91178718e-03 -4.49584883e-04 2.31730134e+00] [-2.91111558e-03 9.99994657e-01 1.48732984e-03 7.38050342e-03] [ 4.53913268e-04 -1.48601459e-03 9.99998793e-01 -2.24458032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96463043999998 meters 0.2660596230669338 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.22 [[ 9.99995376e-01 2.99907028e-03 -5.03608210e-04 2.31727608e+00] [-2.99819100e-03 9.99993996e-01 1.73773710e-03 6.40963145e-03] [ 5.08816782e-04 -1.73621915e-03 9.99998363e-01 -2.24203296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02463043999998 meters 0.26525503595035255 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.22 [[ 9.99999272e-01 9.62264082e-04 7.28660200e-04 2.31279782e+00] [-9.62585836e-04 9.99999439e-01 4.41348222e-04 1.22056826e-03] [-7.28235098e-04 -4.42049298e-04 9.99999637e-01 -2.21804984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08463043999998 meters 0.26736071300211717 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:-0.22 [[ 9.99998713e-01 6.98087748e-04 1.44452428e-03 2.35821866e+00] [-6.98935136e-04 9.99999584e-01 5.86199007e-04 -2.08795069e-03] [-1.44411446e-03 -5.87207881e-04 9.99998785e-01 -2.23611069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14463044 meters 0.26787772906787527 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:-0.22 [[ 9.99998266e-01 9.13795879e-04 1.62273260e-03 2.35799531e+00] [-9.15559479e-04 9.99998991e-01 1.08639866e-03 -4.45776232e-03] [-1.62173822e-03 -1.08788248e-03 9.99998093e-01 -2.23894904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20463044 meters 0.2681895586292916 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99998155e-01 1.01326071e-03 1.63211441e-03 2.35796874e+00] [-1.01543761e-03 9.99998595e-01 1.33351256e-03 -5.49646447e-03] [-1.63076092e-03 -1.33516741e-03 9.99997779e-01 -2.23877296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26463044 meters 0.2685139137507873 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99998188e-01 1.01887114e-03 1.60833063e-03 2.35824251e+00] [-1.02104228e-03 9.99998568e-01 1.34969347e-03 -5.57086843e-03] [-1.60695316e-03 -1.35133319e-03 9.99997796e-01 -2.24293246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32463044 meters 0.26913840387394755 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99998295e-01 1.02536063e-03 1.53570861e-03 2.35868194e+00] [-1.02746345e-03 9.99998535e-01 1.36912526e-03 -5.61599583e-03] [-1.53430251e-03 -1.37070081e-03 9.99997884e-01 -2.24808860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38463044 meters 0.268622808936067 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99998393e-01 1.10355592e-03 1.41285306e-03 2.35903299e+00] [-1.10577479e-03 9.99998155e-01 1.57067030e-03 -6.44783949e-03] [-1.41111713e-03 -1.57223008e-03 9.99997768e-01 -2.24931510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44463044 meters 0.267053408944738 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99994390e-01 -3.06395449e-03 1.35378941e-03 2.35890158e+00] [ 3.06714876e-03 9.99992503e-01 -2.36375643e-03 -8.03326607e-03] [-1.34653682e-03 2.36789544e-03 9.99996290e-01 -2.24412874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50463044 meters 0.26736242227132434 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99995031e-01 -2.83457292e-03 1.37976152e-03 2.35860461e+00] [ 2.83666179e-03 9.99994830e-01 -1.51434078e-03 -1.13336345e-02] [-1.37546187e-03 1.51824717e-03 9.99997902e-01 -2.23925938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56463044 meters 0.26766760636618436 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.22 [[ 9.99995841e-01 -2.59356308e-03 1.26180399e-03 2.35915927e+00] [ 2.59458889e-03 9.99996304e-01 -8.12012577e-04 -1.43043872e-02] [-1.25969332e-03 8.15283062e-04 9.99998874e-01 -2.24503809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62463044 meters 0.26818466415390796 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.22 [[ 9.99996732e-01 -2.26849433e-03 1.17854607e-03 2.35926262e+00] [ 2.26844613e-03 9.99997426e-01 4.22393993e-05 -1.80337285e-02] [-1.17863885e-03 -3.95657931e-05 9.99999305e-01 -2.24344335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68463043999998 meters 0.26786971935674087 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.22 [[ 9.99997245e-01 -2.05636287e-03 1.13233368e-03 2.35927385e+00] [ 2.05576058e-03 9.99997745e-01 5.32808595e-04 -2.02103830e-02] [-1.13342678e-03 -5.30479320e-04 9.99999217e-01 -2.24117417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74463043999998 meters 0.267383743400044 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.22 [[ 9.99997484e-01 -1.89757598e-03 1.19613471e-03 2.35894493e+00] [ 1.89649604e-03 9.99997794e-01 9.03346980e-04 -2.18966067e-02] [-1.19784624e-03 -9.01076243e-04 9.99998877e-01 -2.23744011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80463043999998 meters 0.26697844891339484 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.22 [[ 9.99997655e-01 -1.75636107e-03 1.26684954e-03 2.35868427e+00] [ 1.75474553e-03 9.99997647e-01 1.27523073e-03 -2.34410663e-02] [-1.26908632e-03 -1.27300474e-03 9.99998384e-01 -2.23536697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86463043999998 meters 0.26590925656312914 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:-0.22 [[ 9.99997896e-01 -1.58827602e-03 1.29805993e-03 2.35833396e+00] [ 1.58609519e-03 9.99997332e-01 1.67937382e-03 -2.52349317e-02] [-1.30072378e-03 -1.67731145e-03 9.99997747e-01 -2.22940444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92463044 meters 0.2674411211703483 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:-0.22 [[ 9.99998315e-01 -1.12099881e-03 1.45360364e-03 2.35831053e+00] [ 1.11705515e-03 9.99995701e-01 2.71100745e-03 -2.98239468e-02] [-1.45663643e-03 -2.70937913e-03 9.99995269e-01 -2.23404871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98463044 meters 0.26686301253463446 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:-0.22 [[ 9.99998704e-01 -7.82526048e-04 1.40682333e-03 2.35876745e+00] [ 7.77645746e-04 9.99993690e-01 3.46622955e-03 -3.31479656e-02] [-1.40952687e-03 -3.46513105e-03 9.99993003e-01 -2.23956517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04463044 meters 0.26721380938917794 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.22 [[ 9.99999108e-01 -4.30333187e-04 1.26455209e-03 2.35907307e+00] [ 4.24877055e-04 9.99990614e-01 4.31178118e-03 -3.67044428e-02] [-1.26639572e-03 -4.31124005e-03 9.99989905e-01 -2.23892897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10463044 meters 0.26765926657345773 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.22 [[ 9.99999065e-01 -2.17863539e-04 1.35015313e-03 2.35916525e+00] [ 2.11377926e-04 9.99988448e-01 4.80189507e-03 -3.88170196e-02] [-1.35118369e-03 -4.80160518e-03 9.99987559e-01 -2.24358142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16463044 meters 0.26779307061056745 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.04, Z:-0.23 [[ 9.99999294e-01 1.42920169e-04 1.17986838e-03 2.35996886e+00] [-1.49608067e-04 9.99983913e-01 5.67020151e-03 -4.25243404e-02] [-1.17903902e-03 -5.67037402e-03 9.99983228e-01 -2.25076387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22463044 meters 0.26891969227367146 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.23 [[ 9.99983101e-01 5.78007121e-03 -6.23838328e-04 2.38500527e+00] [-5.77856787e-03 9.99980459e-01 2.38530997e-03 -4.66214424e-02] [ 6.37613399e-04 -2.38166477e-03 9.99996961e-01 -2.26113739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28463044 meters 0.2688904895424787 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.23 [[ 9.99981799e-01 5.99307206e-03 -6.96738126e-04 2.38515378e+00] [-5.99104199e-03 9.99977906e-01 2.88013525e-03 -4.87497097e-02] [ 7.13983590e-04 -2.87590864e-03 9.99995610e-01 -2.26033958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34463044 meters 0.26834530668552564 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.22 [[ 9.99992043e-01 3.89097192e-03 8.80486511e-04 2.37878875e+00] [-3.89209974e-03 9.99991603e-01 1.28283212e-03 -5.15518887e-02] [-8.75487654e-04 -1.28624885e-03 9.99998790e-01 -2.21422931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40463044 meters 0.2678725070550789 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:-0.22 [[ 9.99996108e-01 1.70288226e-03 2.21019164e-03 2.37426040e+00] [-1.70135161e-03 9.99998312e-01 -6.94236615e-04 -5.31275782e-02] [-2.21137011e-03 6.90473599e-04 9.99997317e-01 -2.19332794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46463043999998 meters 0.2685422859400101 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:-0.22 [[ 9.99995821e-01 1.78233071e-03 2.27640660e-03 2.37460537e+00] [-1.78119309e-03 9.99998288e-01 -5.01671920e-04 -5.39795864e-02] [-2.27729685e-03 4.97615103e-04 9.99997283e-01 -2.20214284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52463043999998 meters 0.26786009173862735 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:-0.22 [[ 9.99995789e-01 1.85683263e-03 2.23015026e-03 2.37481812e+00] [-1.85612780e-03 9.99998227e-01 -3.18074610e-04 -5.47486606e-02] [-2.23073692e-03 3.13933827e-04 9.99997463e-01 -2.20422790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58463043999998 meters 0.2691777809441446 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.22 [[ 9.99975400e-01 -6.97826469e-03 7.09029386e-04 2.39766236e+00] [ 6.97832585e-03 9.99975648e-01 -8.38244369e-05 -5.22908213e-02] [-7.08427171e-04 8.87702130e-05 9.99999745e-01 -2.20534347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64463044 meters 0.2687483926240727 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.22 [[ 9.99976024e-01 -6.87876327e-03 7.96332893e-04 2.39736968e+00] [ 6.87864079e-03 9.99976330e-01 1.56451189e-04 -5.33026638e-02] [-7.97390234e-04 -1.50969750e-04 9.99999671e-01 -2.20333910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70463044 meters 0.26913685428348655 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.22 [[ 9.99976449e-01 -6.81350914e-03 8.22617682e-04 2.39736438e+00] [ 6.81325785e-03 9.99976742e-01 3.07890824e-04 -5.39759647e-02] [-8.24696366e-04 -3.02278867e-04 9.99999614e-01 -2.20422663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76463044 meters 0.26885252012478383 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.22 [[ 9.99999827e-01 5.66935234e-04 -1.53653061e-04 2.38060340e+00] [-5.67049286e-04 9.99999563e-01 -7.43246995e-04 -6.35899703e-02] [ 1.53231621e-04 7.43333995e-04 9.99999712e-01 -2.22882633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82463044 meters 0.26765454027023344 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99999626e-01 8.46287751e-04 -1.80932534e-04 2.38061377e+00] [-8.46280642e-04 9.99999641e-01 3.93605410e-05 -6.68626678e-02] [ 1.80965779e-04 -3.92074065e-05 9.99999983e-01 -2.22718475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88463044 meters 0.26853522012264786 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99999390e-01 1.08319886e-03 -2.14188514e-04 2.38069294e+00] [-1.08306150e-03 9.99999208e-01 6.40382872e-04 -6.94384084e-02] [ 2.14882006e-04 -6.40150502e-04 9.99999772e-01 -2.22663864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94463044 meters 0.2702683357224326 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99999128e-01 1.29416561e-03 -2.64658107e-04 2.38133158e+00] [-1.29386253e-03 9.99998511e-01 1.14215433e-03 -7.16082221e-02] [ 2.66135849e-04 -1.14181090e-03 9.99999313e-01 -2.23519683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00463044 meters 0.269277833289845 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99998884e-01 1.39466869e-03 -5.35210444e-04 2.38140859e+00] [-1.39394248e-03 9.99998111e-01 1.35484917e-03 -7.25987540e-02] [ 5.37098999e-04 -1.35410160e-03 9.99998939e-01 -2.22558222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06463044 meters 0.27027577718817347 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99998891e-01 1.38763879e-03 -5.40383920e-04 2.38169435e+00] [-1.38690817e-03 9.99998127e-01 1.35007361e-03 -7.24939959e-02] [ 5.42256322e-04 -1.34932265e-03 9.99998943e-01 -2.23063579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12463044 meters 0.27115740389810417 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99999028e-01 1.32455401e-03 -4.34934597e-04 2.38143790e+00] [-1.32402980e-03 9.99998399e-01 1.20335009e-03 -7.18425291e-02] [ 4.36527803e-04 -1.20277305e-03 9.99999181e-01 -2.23046899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18463043999998 meters 0.26795092932445247 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 9.99996559e-01 6.55606558e-04 -2.54020936e-03 2.33775126e+00] [-6.53451554e-04 9.99999426e-01 8.49093741e-04 -7.05753728e-02] [ 2.54076457e-03 -8.47430916e-04 9.99996413e-01 -2.22507583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24463043999998 meters 0.26920108326368714 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 0.99998501 0.00488395 -0.00247622 2.33758675] [-0.00487183 0.99997625 0.00487515 -0.06943515] [ 0.00249997 -0.00486301 0.99998505 -0.22238521] [ 0. 0. 0. 1. ]] SLAMing on 207.30463043999998 meters 0.2699638591093768 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 0.9999857 0.00475598 -0.00244623 2.33744443] [-0.00474474 0.99997826 0.00457884 -0.06813274] [ 0.00246795 -0.00456717 0.99998653 -0.22227917] [ 0. 0. 0. 1. ]] SLAMing on 207.36463043999998 meters 0.2691872340061249 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 0.99998488 0.00477536 -0.00272837 2.33791836] [-0.00476269 0.99997793 0.00463248 -0.06841494] [ 0.00275043 -0.00461941 0.99998555 -0.22198079] [ 0. 0. 0. 1. ]] SLAMing on 207.42463044 meters 0.26879297862505347 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 9.99996406e-01 4.04071594e-04 -2.65041743e-03 2.33763583e+00] [-4.03402373e-04 9.99999887e-01 2.53026190e-04 -6.75900033e-02] [ 2.65051937e-03 -2.51956096e-04 9.99996456e-01 -2.21894893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48463044 meters 0.2714558896237985 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99999536e-01 8.83846066e-04 3.84084085e-04 2.37956435e+00] [-8.83894134e-04 9.99999602e-01 1.24996591e-04 -6.56112935e-02] [-3.83973455e-04 -1.25336022e-04 9.99999918e-01 -2.21915106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54463044 meters 0.2691785922689259 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.22 [[ 9.99997510e-01 -1.21868155e-04 -2.22805370e-03 2.33803940e+00] [ 1.20941899e-04 9.99999906e-01 -4.15854334e-04 -6.68156113e-02] [ 2.22810417e-03 4.15583833e-04 9.99997431e-01 -2.22381100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60463044 meters 0.27138607884868504 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.23 [[ 9.99993002e-01 1.55333671e-03 -3.40345792e-03 2.34272537e+00] [-1.54987871e-03 9.99998280e-01 1.01842714e-03 -6.64090590e-02] [ 3.40503403e-03 -1.01314506e-03 9.99993690e-01 -2.25166851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66463044 meters 0.2703381417222031 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99994082e-01 1.28984999e-03 -3.18952665e-03 2.34218000e+00] [-1.28893008e-03 9.99999127e-01 2.90453206e-04 -6.32881761e-02] [ 3.18989850e-03 -2.86340410e-04 9.99994871e-01 -2.25102329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72463044 meters 0.2699883361786332 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99993872e-01 1.24655067e-03 -3.27147004e-03 2.34253469e+00] [-1.24593900e-03 9.99999206e-01 1.89001526e-04 -6.28819802e-02] [ 3.27170304e-03 -1.84924316e-04 9.99994631e-01 -2.25406498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78463044 meters 0.2694250889440247 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99993404e-01 1.19235125e-03 -3.43071207e-03 2.34283876e+00] [-1.19210428e-03 9.99999287e-01 7.40324614e-05 -6.22492289e-02] [ 3.43079789e-03 -6.99422065e-05 9.99994112e-01 -2.25304071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84463044 meters 0.26915898462038623 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99993452e-01 1.04000352e-03 -3.46623977e-03 2.34299403e+00] [-1.04097669e-03 9.99999419e-01 -2.78963048e-04 -6.06929035e-02] [ 3.46594764e-03 2.82569496e-04 9.99993954e-01 -2.25469682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90463044 meters 0.2702260497380218 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99993618e-01 8.02973027e-04 -3.48127793e-03 2.34317421e+00] [-8.05908912e-04 9.99999321e-01 -8.42014784e-04 -5.82208274e-02] [ 3.48059945e-03 8.44815003e-04 9.99993586e-01 -2.25778800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96463043999998 meters 0.26891801924856035 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.23 [[ 9.99993327e-01 4.43743705e-04 -3.62621146e-03 2.34347565e+00] [-4.49951264e-04 9.99998435e-01 -1.71122137e-03 -5.44030274e-02] [ 3.62544644e-03 1.71284157e-03 9.99991961e-01 -2.25793219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02463043999998 meters 0.2708882888728767 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.23 [[ 9.99985216e-01 -5.09529576e-03 -1.89910457e-03 2.36469074e+00] [ 5.09825473e-03 9.99985792e-01 1.55651566e-03 -5.27414701e-02] [ 1.89114668e-03 -1.56617476e-03 9.99996985e-01 -2.26053739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08463043999998 meters 0.2682222918441353 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.23 [[ 9.99995631e-01 2.81407061e-03 -9.05036265e-04 2.34353984e+00] [-2.81348225e-03 9.99995830e-01 6.50712400e-04 -5.85212998e-02] [ 9.06863642e-04 -6.48163254e-04 9.99999379e-01 -2.26096046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14463044 meters 0.2684884337213924 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.22 [[ 9.99995236e-01 3.05096972e-03 -4.68353532e-04 2.34209610e+00] [-3.05020755e-03 9.99994037e-01 1.61950821e-03 -6.26164859e-02] [ 4.73291810e-04 -1.61807192e-03 9.99998579e-01 -2.24955736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20463044 meters 0.2681422067385233 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:-0.23 [[ 9.99998209e-01 8.31041292e-04 -1.70026250e-03 2.34732105e+00] [-8.31015569e-04 9.99999655e-01 1.58351869e-05 -6.75719991e-02] [ 1.70027508e-03 -1.44222140e-05 9.99998554e-01 -2.28360829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26463044 meters 0.2660977425304402 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:-0.23 [[ 9.99996967e-01 1.13686434e-03 -2.18503876e-03 2.34830256e+00] [-1.13521432e-03 9.99999070e-01 7.56235995e-04 -7.09523184e-02] [ 2.18589647e-03 -7.53753214e-04 9.99997327e-01 -2.28240205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32463044 meters 0.2680823889837655 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:-0.23 [[ 9.99996489e-01 1.19545000e-03 -2.36499052e-03 2.34843785e+00] [-1.19336497e-03 9.99998898e-01 8.82839493e-04 -7.16337176e-02] [ 2.36604330e-03 -8.80014096e-04 9.99996814e-01 -2.27753708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38463044 meters 0.2682512396197237 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:-0.23 [[ 9.99996307e-01 1.23565392e-03 -2.42074001e-03 2.34828282e+00] [-1.23328716e-03 9.99998760e-01 9.78951293e-04 -7.20069591e-02] [ 2.42194666e-03 -9.75962210e-04 9.99996591e-01 -2.27239667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44463044 meters 0.26777029423042775 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.07, Z:-0.23 [[ 9.99996133e-01 1.48824464e-03 -2.34929940e-03 2.34738853e+00] [-1.48447487e-03 9.99997609e-01 1.60556239e-03 -7.49886419e-02] [ 2.35168325e-03 -1.60206871e-03 9.99995951e-01 -2.25914171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50463044 meters 0.26761757145343223 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:-0.23 [[ 9.99995036e-01 1.68704501e-03 -2.66122993e-03 2.34777827e+00] [-1.68116935e-03 9.99996148e-01 2.20856535e-03 -7.78466371e-02] [ 2.66494563e-03 -2.20408041e-03 9.99994020e-01 -2.25360517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56463044 meters 0.2668821153642177 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:-0.22 [[ 9.99993884e-01 1.96492061e-03 -2.89323196e-03 2.34805324e+00] [-1.95621417e-03 9.99993560e-01 3.00900225e-03 -8.11786772e-02] [ 2.89912578e-03 -3.00332406e-03 9.99991288e-01 -2.24909680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62463044 meters 0.26731378440830966 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.08, Z:-0.22 [[ 9.99993469e-01 2.14602121e-03 -2.90814891e-03 2.34805067e+00] [-2.13594070e-03 9.99991716e-01 3.46498110e-03 -8.31566679e-02] [ 2.91556074e-03 -3.45874683e-03 9.99989768e-01 -2.24798895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68463043999998 meters 0.26730021608152643 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.09, Z:-0.22 [[ 9.99993419e-01 -1.70637101e-03 -3.20145770e-03 2.34857510e+00] [ 1.70761645e-03 9.99998467e-01 3.86330334e-04 -8.85938678e-02] [ 3.20079357e-03 -3.91794653e-04 9.99994801e-01 -2.24552444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74463043999998 meters 0.26633343856129643 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.09, Z:-0.22 [[ 9.99993293e-01 -1.46722664e-03 -3.35575581e-03 2.34891901e+00] [ 1.47043240e-03 9.99998465e-01 9.53033718e-04 -9.11792346e-02] [ 3.35435234e-03 -9.57961738e-04 9.99993915e-01 -2.24494932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80463043999998 meters 0.26681101378450794 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.09, Z:-0.22 [[ 9.99993626e-01 -1.29817013e-03 -3.32615204e-03 2.34855468e+00] [ 1.30265766e-03 9.99998244e-01 1.34735439e-03 -9.29800495e-02] [ 3.32439710e-03 -1.35167864e-03 9.99993561e-01 -2.23914135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86463043999998 meters 0.26684715868948405 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99993333e-01 -1.05271703e-03 -3.49658222e-03 2.34878842e+00] [ 1.05961571e-03 9.99997495e-01 1.97171183e-03 -9.60959978e-02] [ 3.49449781e-03 -1.97540371e-03 9.99991943e-01 -2.23588342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92463044 meters 0.26771338027559244 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99992497e-01 -9.70665191e-04 -3.75008296e-03 2.34969983e+00] [ 9.78945108e-04 9.99997086e-01 2.20672495e-03 -9.71789426e-02] [ 3.74793004e-03 -2.21037952e-03 9.99990534e-01 -2.24227283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98463044 meters 0.2693669156910791 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99991396e-01 -9.78106615e-04 -4.03123736e-03 2.35049413e+00] [ 9.86944133e-04 9.99997113e-01 2.19085337e-03 -9.72043935e-02] [ 4.02908283e-03 -2.19481312e-03 9.99989475e-01 -2.24479291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04463044 meters 0.2673388744871451 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99991690e-01 -1.02642368e-03 -3.94532257e-03 2.34950430e+00] [ 1.03431759e-03 9.99997466e-01 1.99930953e-03 -9.59240800e-02] [ 3.94326044e-03 -2.00337364e-03 9.99990219e-01 -2.23132035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10463044 meters 0.2667971861287973 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99991660e-01 -1.05933112e-03 -3.94423929e-03 2.34970854e+00] [ 1.06688193e-03 9.99997602e-01 1.91277835e-03 -9.54088707e-02] [ 3.94220357e-03 -1.91697043e-03 9.99990392e-01 -2.23475650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16463044 meters 0.2667367484163403 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.22 [[ 9.99990665e-01 -1.04436766e-03 -4.19274883e-03 2.35045053e+00] [ 1.05261936e-03 9.99997513e-01 1.96636457e-03 -9.55689475e-02] [ 4.19068480e-03 -1.97075959e-03 9.99989277e-01 -2.23879335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22463044 meters 0.2674074200389863 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.22 [[ 9.99983837e-01 4.94133439e-03 -2.81240980e-03 2.37140139e+00] [-4.94471422e-03 9.99987060e-01 -1.19607098e-03 -9.74243851e-02] [ 2.80646322e-03 1.20995821e-03 9.99995330e-01 -2.23301957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28463044 meters 0.26720027823286935 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.22 [[ 9.99983310e-01 4.99310551e-03 -2.90675454e-03 2.37148552e+00] [-4.99619956e-03 9.99986959e-01 -1.05814755e-03 -9.79214534e-02] [ 2.90143319e-03 1.07265262e-03 9.99995216e-01 -2.23122769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34463044 meters 0.2668214637451281 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.22 [[ 9.99983827e-01 4.95539850e-03 -2.79097360e-03 2.37085690e+00] [-4.95866462e-03 9.99987028e-01 -1.16454183e-03 -9.74070324e-02] [ 2.78516663e-03 1.17836249e-03 9.99995427e-01 -2.22335877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40463044 meters 0.2665825207421089 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.09, Z:-0.22 [[ 9.99985497e-01 4.63176722e-03 -2.74831105e-03 2.37062119e+00] [-4.63711309e-03 9.99987363e-01 -1.94197338e-03 -9.36581842e-02] [ 2.73928155e-03 1.95468945e-03 9.99994338e-01 -2.22000116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46463043999998 meters 0.26798161249212166 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.09, Z:-0.22 [[ 0.99998633 0.00438991 -0.00284091 2.37129214] [-0.00439711 0.99998713 -0.00253183 -0.09097908] [ 0.00282976 0.00254429 0.99999276 -0.22280273] [ 0. 0. 0. 1. ]] SLAMing on 209.52463043999998 meters 0.26744453676443725 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.09, Z:-0.22 [[ 0.99998735 0.00407902 -0.00294368 2.3716472 ] [-0.00408865 0.99998629 -0.0032729 -0.08757175] [ 0.00293029 0.00328489 0.99999031 -0.22296178] [ 0. 0. 0. 1. ]] SLAMing on 209.58463043999998 meters 0.26765032984395265 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.08, Z:-0.22 [[ 9.99987409e-01 -3.05539745e-03 -3.98082231e-03 2.39089810e+00] [ 3.04586916e-03 9.99992488e-01 -2.39741589e-03 -7.61517107e-02] [ 3.98811747e-03 2.38526064e-03 9.99989203e-01 -2.20394349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64463044 meters 0.2675749068442868 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:-0.22 [[ 0.99998595 -0.00333375 -0.00412145 2.39137808] [ 0.00332106 0.99998974 -0.00308078 -0.07308734] [ 0.00413168 0.00306705 0.99998676 -0.22069954] [ 0. 0. 0. 1. ]] SLAMing on 209.70463044 meters 0.26705117037529214 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:-0.22 [[ 9.99994480e-01 -1.53583210e-03 -2.94642053e-03 2.38643031e+00] [ 1.53148006e-03 9.99997734e-01 -1.47874830e-03 -7.12741203e-02] [ 2.94868496e-03 1.47422775e-03 9.99994566e-01 -2.17556684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76463044 meters 0.26792199853197174 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:-0.22 [[ 9.99994900e-01 -1.58590590e-03 -2.77221241e-03 2.38565727e+00] [ 1.58140987e-03 9.99997432e-01 -1.62326073e-03 -7.06756926e-02] [ 2.77477963e-03 1.61886845e-03 9.99994840e-01 -2.16753791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82463044 meters 0.2680514572931683 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.22 [[ 9.99995574e-01 -1.57190255e-03 -2.52625004e-03 2.38475186e+00] [ 1.56785894e-03 9.99997488e-01 -1.60182265e-03 -7.07588008e-02] [ 2.52876160e-03 1.59785475e-03 9.99995526e-01 -2.16038644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88463044 meters 0.2684464069520021 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.07, Z:-0.22 [[ 9.99995503e-01 -1.49675290e-03 -2.59864256e-03 2.38502561e+00] [ 1.49308064e-03 9.99997885e-01 -1.41451288e-03 -7.15492158e-02] [ 2.60075424e-03 1.41062653e-03 9.99995623e-01 -2.16258455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94463044 meters 0.2691236493427071 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:-0.22 [[ 9.99999167e-01 -7.23082054e-04 1.06904430e-03 2.42538880e+00] [ 7.24296143e-04 9.99999093e-01 -1.13572581e-03 -7.15168735e-02] [-1.06822210e-03 1.13649917e-03 9.99998784e-01 -2.15106185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00463044 meters 0.26719456556891313 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.21 [[ 9.99999432e-01 3.78734879e-04 -9.96613541e-04 2.38249958e+00] [-3.78969675e-04 9.99999900e-01 -2.35415709e-04 -6.50992855e-02] [ 9.96524282e-04 2.35793261e-04 9.99999476e-01 -2.14768309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06463044 meters 0.2682472512838236 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.22 [[ 9.99999095e-01 8.66197368e-05 -1.34247911e-03 2.38381632e+00] [-8.85071856e-05 9.99999008e-01 -1.40594715e-03 -5.95825477e-02] [ 1.34235600e-03 1.40606469e-03 9.99998111e-01 -2.15736811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12463044 meters 0.26768599626339845 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.22 [[ 9.99999140e-01 -2.54570237e-04 -1.28667828e-03 2.38346454e+00] [ 2.51675241e-04 9.99997438e-01 -2.24963808e-03 -5.56933509e-02] [ 1.28724768e-03 2.24931232e-03 9.99996642e-01 -2.15312783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18463043999998 meters 0.27100533984992653 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.22 [[ 9.99998973e-01 -6.26310132e-04 -1.28924268e-03 2.38441758e+00] [ 6.22231881e-04 9.99994810e-01 -3.16126647e-03 -5.14705262e-02] [ 1.29121593e-03 3.16046102e-03 9.99994172e-01 -2.16987885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24463043999998 meters 0.2695013717046737 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.22 [[ 9.99998700e-01 -8.06361697e-04 -1.39618163e-03 2.38487612e+00] [ 8.01330582e-04 9.99993198e-01 -3.60029897e-03 -4.94834247e-02] [ 1.39907528e-03 3.59917549e-03 9.99992544e-01 -2.17388779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30463043999998 meters 0.2708807952879762 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.22 [[ 9.99998550e-01 -9.12291851e-04 -1.43827270e-03 2.38487541e+00] [ 9.06722725e-04 9.99992108e-01 -3.86800195e-03 -4.83524726e-02] [ 1.44179010e-03 3.86669223e-03 9.99991485e-01 -2.17168419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36463043999998 meters 0.2704965447028715 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.22 [[ 9.99998341e-01 -1.04880458e-03 -1.48944426e-03 2.38503956e+00] [ 1.04254004e-03 9.99990634e-01 -4.20052383e-03 -4.69318223e-02] [ 1.49383584e-03 4.19896406e-03 9.99990069e-01 -2.17239701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42463044 meters 0.27080609416934537 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.04, Z:-0.22 [[ 9.99997905e-01 -1.23921659e-03 -1.62934114e-03 2.38541208e+00] [ 1.23162208e-03 9.99988412e-01 -4.65386184e-03 -4.48408825e-02] [ 1.63508940e-03 4.65184535e-03 9.99987843e-01 -2.17295001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48463044 meters 0.2694942361821868 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.22 [[ 9.99997310e-01 -7.91353783e-04 -2.18013560e-03 2.34134229e+00] [ 7.79911087e-04 9.99985944e-01 -5.24447659e-03 -3.51157842e-02] [ 2.18425519e-03 5.24276217e-03 9.99983871e-01 -2.16640092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54463044 meters 0.2691536003824534 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:-0.22 [[ 9.99997176e-01 -9.51469970e-04 -2.17764196e-03 2.34139678e+00] [ 9.39158368e-04 9.99983611e-01 -5.64769620e-03 -3.33818001e-02] [ 2.18297988e-03 5.64563510e-03 9.99981681e-01 -2.16724143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60463044 meters 0.2688459311032321 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:-0.22 [[ 9.99993490e-01 2.82696817e-03 -2.24228572e-03 2.34148889e+00] [-2.83306657e-03 9.99992284e-01 -2.72122563e-03 -2.73405749e-02] [ 2.23457560e-03 2.72756046e-03 9.99993784e-01 -2.16535755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66463044 meters 0.26847816071668645 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.02, Z:-0.22 [[ 9.99994461e-01 2.46263609e-03 -2.23921369e-03 2.34142000e+00] [-2.47078397e-03 9.99990311e-01 -3.64326852e-03 -2.30445318e-02] [ 2.23021995e-03 3.64878095e-03 9.99990856e-01 -2.16330745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72463044 meters 0.2691515945602954 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.22 [[ 9.99994071e-01 -3.42203609e-03 -3.85517873e-04 2.36172567e+00] [ 3.42176885e-03 9.99993906e-01 -6.91731193e-04 -1.95272287e-02] [ 3.87882653e-04 6.90407938e-04 9.99999686e-01 -2.16346816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78463044 meters 0.26774947767420965 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.22 [[ 9.99990653e-01 -3.38662950e-03 -2.68769362e-03 2.32100075e+00] [ 3.38435038e-03 9.99993910e-01 -8.52079578e-04 -1.56793936e-02] [ 2.69056293e-03 8.42975517e-04 9.99996025e-01 -2.16581261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84463044 meters 0.2698699437842781 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.02, Z:-0.22 [[ 9.99993978e-01 2.89636252e-03 -1.91191391e-03 2.34393641e+00] [-2.90315557e-03 9.99989450e-01 -3.55985142e-03 -1.53752249e-02] [ 1.90158312e-03 3.56538056e-03 9.99991836e-01 -2.17497844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90463044 meters 0.2698174114368552 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:-0.22 [[ 9.99994267e-01 2.82040339e-03 -1.87391480e-03 2.34360813e+00] [-2.82740194e-03 9.99988999e-01 -3.74262660e-03 -1.45610552e-02] [ 1.86333847e-03 3.74790346e-03 9.99991241e-01 -2.16992180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96463043999998 meters 0.2678475531379006 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.22 [[ 9.99996910e-01 -2.26215308e-03 -1.03120829e-03 2.32088222e+00] [ 2.26203593e-03 9.99997435e-01 -1.14755443e-04 -1.03598652e-02] [ 1.03146524e-03 1.12422459e-04 9.99999462e-01 -2.17076452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02463043999998 meters 0.2693560365175907 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.01, Z:-0.22 [[ 9.99975670e-01 6.94423945e-03 6.60665556e-04 2.34180488e+00] [-6.94378315e-03 9.99975653e-01 -6.90468994e-04 -5.30679012e-03] [-6.65444253e-04 6.85864677e-04 9.99999543e-01 -2.17141449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08463043999998 meters 0.26782858850905483 Centerline is valid? [False, False] Translation: X:2.32, Y:0.00, Z:-0.22 [[ 9.99999222e-01 -1.17942328e-03 4.06267404e-04 2.32321450e+00] [ 1.17955208e-03 9.99999254e-01 -3.16928623e-04 2.99822960e-03] [-4.05893308e-04 3.17407590e-04 9.99999867e-01 -2.18869382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14463044 meters 0.2687122878029375 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.22 [[ 9.99977146e-01 6.44468565e-03 2.04306616e-03 2.34367604e+00] [-6.43982515e-03 9.99976440e-01 -2.37674067e-03 8.68649011e-03] [-2.05833537e-03 2.36352936e-03 9.99995088e-01 -2.18252906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20463044 meters 0.2687418365854411 Centerline is valid? [False, False] Translation: X:2.34, Y:0.01, Z:-0.22 [[ 9.99979283e-01 6.13341313e-03 1.95296580e-03 2.34417240e+00] [-6.12732159e-03 9.99976392e-01 -3.10998086e-03 1.20030040e-02] [-1.97199449e-03 3.09794998e-03 9.99993257e-01 -2.18730761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26463044 meters 0.26934627249173626 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.22 [[ 9.99998039e-01 -1.86395825e-03 6.68355257e-04 2.36445984e+00] [ 1.86578229e-03 9.99994508e-01 -2.73898126e-03 2.34412347e-02] [-6.63246240e-04 2.74022290e-03 9.99996026e-01 -2.16996412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32463044 meters 0.2690556173584368 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.22 [[ 9.99997675e-01 -2.06521886e-03 6.20495498e-04 2.36443094e+00] [ 2.06719985e-03 9.99992714e-01 -3.20909673e-03 2.55702514e-02] [-6.13863491e-04 3.21037196e-03 9.99994658e-01 -2.16735028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38463044 meters 0.2689159663199057 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.22 [[ 9.99997212e-01 -2.22555446e-03 7.89638131e-04 2.36395240e+00] [ 2.22841980e-03 9.99990868e-01 -3.64654471e-03 2.76002165e-02] [-7.81515337e-04 3.64829419e-03 9.99993040e-01 -2.16467996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44463044 meters 0.26782570211449847 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.21 [[ 9.99998021e-01 -2.25384293e-04 1.97649865e-03 2.35953992e+00] [ 2.28948042e-04 9.99998348e-01 -1.80302082e-03 2.87341222e-02] [-1.97608902e-03 1.80346977e-03 9.99996421e-01 -2.14003747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50463044 meters 0.27013531508315486 Centerline is valid? [False, False] Translation: X:2.38, Y:0.03, Z:-0.21 [[ 9.99974311e-01 -6.69689787e-03 2.55518963e-03 2.38154834e+00] [ 6.69456741e-03 9.99977168e-01 9.19516952e-04 3.20454855e-02] [-2.56128920e-03 -9.02387442e-04 9.99996313e-01 -2.14223540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56463044 meters 0.2695562516753314 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.22 [[ 9.99994964e-01 2.19179255e-03 2.29538302e-03 2.36085876e+00] [-2.19107324e-03 9.99997550e-01 -3.15837560e-04 3.38328336e-02] [-2.29606965e-03 3.10806617e-04 9.99997316e-01 -2.15050283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62463044 meters 0.2687050833369841 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.21 [[ 9.99995455e-01 1.89247290e-03 2.34718993e-03 2.36045953e+00] [-1.89000683e-03 9.99997660e-01 -1.05242281e-03 3.71872259e-02] [-2.34917612e-03 1.04798182e-03 9.99996692e-01 -2.14408722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68463043999998 meters 0.2693190992229362 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.21 [[ 9.99995546e-01 1.72922385e-03 2.43244253e-03 2.36059525e+00] [-1.72573441e-03 9.99997480e-01 -1.43591084e-03 3.89167016e-02] [-2.43491941e-03 1.43170669e-03 9.99996011e-01 -2.14968385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74463043999998 meters 0.269561671851371 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99995971e-01 1.52085067e-03 2.39700722e-03 2.36097897e+00] [-1.51618087e-03 9.99996952e-01 -1.94879099e-03 4.12305714e-02] [-2.39996373e-03 1.94514884e-03 9.99995228e-01 -2.15510133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80463043999998 meters 0.2694920982334569 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996264e-01 1.46733149e-03 2.30628047e-03 2.36130299e+00] [-1.46253604e-03 9.99996768e-01 -2.07961126e-03 4.18186073e-02] [-2.30932450e-03 2.07623047e-03 9.99995178e-01 -2.15717255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86463043999998 meters 0.27025316506053343 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996108e-01 1.49404180e-03 2.35618168e-03 2.36131938e+00] [-1.48928601e-03 9.99996853e-01 -2.01889706e-03 4.15537778e-02] [-2.35919058e-03 2.01538017e-03 9.99995186e-01 -2.15938576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92463044 meters 0.2689239905594977 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996020e-01 1.54315651e-03 2.36206129e-03 2.36126464e+00] [-1.53865807e-03 9.99997002e-01 -1.90509040e-03 4.10151540e-02] [-2.36499406e-03 1.90144841e-03 9.99995396e-01 -2.15881890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98463044 meters 0.2692595042727522 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996185e-01 1.58945133e-03 2.25923167e-03 2.36152544e+00] [-1.58538196e-03 9.99997120e-01 -1.80187315e-03 4.05060992e-02] [-2.26208915e-03 1.79828454e-03 9.99995825e-01 -2.15948027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04463044 meters 0.2697258131610301 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996838e-01 1.61603029e-03 1.92676304e-03 2.36240793e+00] [-1.61261389e-03 9.99997127e-01 -1.77336838e-03 4.05467143e-02] [-1.92962333e-03 1.77025565e-03 9.99996571e-01 -2.16257479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10463044 meters 0.2687050220910892 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996979e-01 1.59575040e-03 1.86966145e-03 2.36248987e+00] [-1.59233275e-03 9.99997061e-01 -1.82801367e-03 4.07305462e-02] [-1.87257301e-03 1.82503102e-03 9.99996581e-01 -2.16180809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16463044 meters 0.26820678210233634 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996600e-01 1.68502537e-03 1.99030424e-03 2.36181004e+00] [-1.68184698e-03 9.99997310e-01 -1.59753652e-03 3.97443567e-02] [-1.99299078e-03 1.59418370e-03 9.99996743e-01 -2.15354471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22463044 meters 0.2681147600733461 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996288e-01 1.75605274e-03 2.08314299e-03 2.36155829e+00] [-1.75306430e-03 9.99997433e-01 -1.43554111e-03 3.89304815e-02] [-2.08565853e-03 1.43188390e-03 9.99996800e-01 -2.15274989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28463044 meters 0.26772559275567137 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99996769e-01 1.71839110e-03 1.87332395e-03 2.36195744e+00] [-1.71552292e-03 9.99997356e-01 -1.53159898e-03 3.93643564e-02] [-1.87595088e-03 1.52838030e-03 9.99997072e-01 -2.15157556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34463044 meters 0.26739804473842776 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.21 [[ 9.99997153e-01 1.53657494e-03 1.82569501e-03 2.36183458e+00] [-1.53288255e-03 9.99996781e-01 -2.02213728e-03 4.15277967e-02] [-1.82879630e-03 2.01933295e-03 9.99996289e-01 -2.14709007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40463044 meters 0.2664931455828124 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.22 [[ 9.99978656e-01 -5.97491632e-03 2.64334914e-03 2.34232621e+00] [ 5.97734253e-03 9.99981721e-01 -9.10906222e-04 4.81198681e-02] [-2.63785823e-03 9.26686984e-04 9.99996091e-01 -2.16649090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46463043999998 meters 0.26793042203748213 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.22 [[ 9.99991531e-01 2.27806153e-03 3.42756796e-03 2.36328640e+00] [-2.27326883e-03 9.99996434e-01 -1.40152617e-03 4.48697259e-02] [-3.43074850e-03 1.39372252e-03 9.99993144e-01 -2.16762720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52463043999998 meters 0.268581531894416 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.22 [[ 9.99992527e-01 2.22770344e-03 3.15958301e-03 2.36417631e+00] [-2.22285048e-03 9.99996346e-01 -1.53862918e-03 4.52759645e-02] [-3.16299907e-03 1.53159440e-03 9.99993825e-01 -2.17412637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58463043999998 meters 0.26946662141270683 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.22 [[ 9.99992987e-01 2.09264562e-03 3.10580927e-03 2.36450001e+00] [-2.08691957e-03 9.99996119e-01 -1.84575308e-03 4.67399695e-02] [-3.10965972e-03 1.83925857e-03 9.99993474e-01 -2.17716616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64463044 meters 0.2687577494748777 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.22 [[ 9.99994268e-01 1.67309321e-03 2.94370615e-03 2.36455514e+00] [-1.66398481e-03 9.99993829e-01 -3.09392973e-03 5.21388397e-02] [-2.94886442e-03 3.08901371e-03 9.99990881e-01 -2.17106772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70463044 meters 0.26643939570406977 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.22 [[ 9.99983293e-01 -3.41081218e-03 4.66687122e-03 2.34074675e+00] [ 3.41340079e-03 9.99994025e-01 -5.46825695e-04 6.17765851e-02] [-4.66497821e-03 5.62746461e-04 9.99988961e-01 -2.15941912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76463044 meters 0.2670489737137802 Centerline is valid? [False, False] Translation: X:2.36, Y:0.07, Z:-0.22 [[ 9.99972126e-01 4.94791496e-03 5.59149387e-03 2.36283299e+00] [-4.93793149e-03 9.99986192e-01 -1.79787202e-03 6.80589398e-02] [-5.60031239e-03 1.77021149e-03 9.99982751e-01 -2.16240117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82463044 meters 0.26767136080714526 Centerline is valid? [False, False] Translation: X:2.36, Y:0.07, Z:-0.22 [[ 9.99974517e-01 4.75744431e-03 5.32282003e-03 2.36375337e+00] [-4.74535594e-03 9.99986138e-01 -2.28137563e-03 7.02132919e-02] [-5.33359977e-03 2.25605882e-03 9.99983231e-01 -2.16851318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88463044 meters 0.2669150043388627 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.22 [[ 9.99984996e-01 -3.67119759e-03 4.06575111e-03 2.34401232e+00] [ 3.67889339e-03 9.99991452e-01 -1.88697798e-03 7.51166365e-02] [-4.05878889e-03 1.90190713e-03 9.99989954e-01 -2.17047262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94463044 meters 0.2692091036890081 Centerline is valid? [False, False] Translation: X:2.39, Y:0.07, Z:-0.22 [[ 9.99975792e-01 -4.10640303e-03 5.61723590e-03 2.38761581e+00] [ 4.11230849e-03 9.99991003e-01 -1.04016475e-03 7.22665519e-02] [-5.61291403e-03 1.06323938e-03 9.99983682e-01 -2.17862539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00463044 meters 0.2668111601174636 Centerline is valid? [False, False] Translation: X:2.37, Y:0.07, Z:-0.22 [[ 9.99972471e-01 5.12489602e-03 5.36589174e-03 2.36601260e+00] [-5.11428938e-03 9.99984945e-01 -1.98853843e-03 7.40468546e-02] [-5.37600201e-03 1.96104096e-03 9.99983626e-01 -2.17889158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06463044 meters 0.2679304919159541 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.22 [[ 9.99968371e-01 -4.00677260e-03 6.87043084e-03 2.38512111e+00] [ 4.01819649e-03 9.99990566e-01 -1.64976504e-03 7.76067623e-02] [-6.86375579e-03 1.67731960e-03 9.99975037e-01 -2.17206997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12463044 meters 0.2663240565075502 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.22 [[ 0.99996196 -0.0041023 0.00769739 2.38302742] [ 0.0041213 0.9999885 -0.0024544 0.08126365] [-0.00768724 0.00248603 0.99996736 -0.21627861] [ 0. 0. 0. 1. ]] SLAMing on 213.18463043999998 meters 0.26660073756523195 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.22 [[ 0.9999642 -0.00425693 0.00731292 2.38389511] [ 0.00428049 0.99998569 -0.00321001 0.08467202] [-0.00729915 0.0032412 0.99996811 -0.21638242] [ 0. 0. 0. 1. ]] SLAMing on 213.24463043999998 meters 0.2667516803384205 Centerline is valid? [False, False] Translation: X:2.38, Y:0.09, Z:-0.22 [[ 0.99996662 -0.00438673 0.00689349 2.38490045] [ 0.00441392 0.99998252 -0.00393457 0.08813193] [-0.00687611 0.00396487 0.9999685 -0.21658626] [ 0. 0. 0. 1. ]] SLAMing on 213.30463043999998 meters 0.2654864963030307 Centerline is valid? [False, False] Translation: X:2.38, Y:0.09, Z:-0.22 [[ 9.99975909e-01 -6.71784508e-04 6.90864392e-03 2.38483715e+00] [ 6.79724133e-04 9.99999111e-01 -1.14694677e-03 9.42672411e-02] [-6.90786728e-03 1.15161511e-03 9.99975477e-01 -2.16532304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36463043999998 meters 0.2660889440208433 Centerline is valid? [False, False] Translation: X:2.39, Y:0.10, Z:-0.22 [[ 9.99976044e-01 -1.08559007e-03 6.83613599e-03 2.38511312e+00] [ 1.10205374e-03 9.99996501e-01 -2.40502338e-03 9.98609434e-02] [-6.83350120e-03 2.41249955e-03 9.99973741e-01 -2.16636542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42463044 meters 0.26657997101556985 Centerline is valid? [False, False] Translation: X:2.39, Y:0.10, Z:-0.22 [[ 9.99976442e-01 -1.26048301e-03 6.74726944e-03 2.38527032e+00] [ 1.27939203e-03 9.99995265e-01 -2.79888814e-03 1.01781340e-01] [-6.74370953e-03 2.80745461e-03 9.99973320e-01 -2.16519922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48463044 meters 0.2659328434399494 Centerline is valid? [False, False] Translation: X:2.39, Y:0.11, Z:-0.22 [[ 9.99977592e-01 -1.52863251e-03 6.51755757e-03 2.38595783e+00] [ 1.55181200e-03 9.99992484e-01 -3.55289508e-03 1.05308277e-01] [-6.51207752e-03 3.56292949e-03 9.99972449e-01 -2.16817514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54463044 meters 0.26638139635025343 Centerline is valid? [False, False] Translation: X:2.39, Y:0.11, Z:-0.22 [[ 9.99977449e-01 -1.70666837e-03 6.49527841e-03 2.38607251e+00] [ 1.73286316e-03 9.99990380e-01 -4.02940904e-03 1.07727761e-01] [-6.48833906e-03 4.04057361e-03 9.99970787e-01 -2.16931496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60463044 meters 0.2667345720811275 Centerline is valid? [False, False] Translation: X:2.39, Y:0.11, Z:-0.22 [[ 9.99977716e-01 -1.85665522e-03 6.41256136e-03 2.38585760e+00] [ 1.88507934e-03 9.99988413e-01 -4.42937293e-03 1.09383037e-01] [-6.40426324e-03 4.44136242e-03 9.99969629e-01 -2.16236218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66463044 meters 0.2655451399491537 Centerline is valid? [False, False] Translation: X:2.36, Y:0.11, Z:-0.21 [[ 9.99970613e-01 -6.31586661e-03 4.34544397e-03 2.36274299e+00] [ 6.31995434e-03 9.99979599e-01 -9.27606110e-04 1.08604854e-01] [-4.33949668e-03 9.55041858e-04 9.99990128e-01 -2.14319798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72463044 meters 0.26610192737558175 Centerline is valid? [False, False] Translation: X:2.39, Y:0.11, Z:-0.21 [[ 9.99988272e-01 1.97125086e-03 4.42372892e-03 2.38547915e+00] [-1.96577259e-03 9.99997296e-01 -1.24238871e-03 1.06817270e-01] [-4.42616602e-03 1.23367809e-03 9.99989443e-01 -2.14598858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78463044 meters 0.26630066860145 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.21 [[ 9.99985287e-01 1.84046038e-03 5.10273248e-03 2.38355793e+00] [-1.83232766e-03 9.99997044e-01 -1.59801436e-03 1.07985298e-01] [-5.10565848e-03 1.58864097e-03 9.99985704e-01 -2.13628658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84463044 meters 0.2665206124070623 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.21 [[ 9.99984590e-01 1.79192957e-03 5.25439703e-03 2.38303045e+00] [-1.78288246e-03 9.99996921e-01 -1.72599515e-03 1.08593156e-01] [-5.25747371e-03 1.71660058e-03 9.99984706e-01 -2.13244058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90463044 meters 0.2666867942548644 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.21 [[ 9.99984352e-01 1.89957543e-03 5.26181796e-03 2.38312857e+00] [-1.89178699e-03 9.99997108e-01 -1.48476273e-03 1.07370753e-01] [-5.26462316e-03 1.47478526e-03 9.99985054e-01 -2.13439869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96463043999998 meters 0.26602168898367545 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.21 [[ 9.99978960e-01 -5.59201440e-03 3.28761246e-03 2.36352755e+00] [ 5.59127552e-03 9.99984341e-01 2.33894567e-04 1.02791986e-01] [-3.28886893e-03 -2.15507698e-04 9.99994568e-01 -2.14412659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02463043999998 meters 0.26692060016827823 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.21 [[ 9.99993534e-01 2.28648857e-03 2.77562772e-03 2.38426342e+00] [-2.28577245e-03 9.99997354e-01 -2.61149457e-04 9.67485423e-02] [-2.77621749e-03 2.54803315e-04 9.99996114e-01 -2.13656524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08463043999998 meters 0.2662916357327572 Centerline is valid? [False, False] Translation: X:2.37, Y:0.10, Z:-0.22 [[ 9.99988754e-01 -4.73562140e-03 -2.56501912e-04 2.36709410e+00] [ 4.73601759e-03 9.99987558e-01 1.56666175e-03 9.59126048e-02] [ 2.49079603e-04 -1.56785893e-03 9.99998740e-01 -2.15642964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14463044 meters 0.2668383546693659 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.22 [[ 9.99989116e-01 -4.64704119e-03 -4.15049647e-04 2.36783111e+00] [ 4.64777207e-03 9.99987619e-01 1.77769536e-03 9.48985890e-02] [ 4.06783485e-04 -1.77960507e-03 9.99998334e-01 -2.16404736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20463044 meters 0.26711305000623015 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.22 [[ 9.99994368e-01 3.12956057e-03 -1.21262961e-03 2.38902240e+00] [-3.12839262e-03 9.99994642e-01 9.63855431e-04 9.05363626e-02] [ 1.21563955e-03 -9.60056420e-04 9.99998800e-01 -2.15059843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26463044 meters 0.2673602762126155 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.22 [[ 9.99994115e-01 3.21909052e-03 -1.18623660e-03 2.38902106e+00] [-3.21768971e-03 9.99994126e-01 1.18091147e-03 8.95880725e-02] [ 1.19003109e-03 -1.17708758e-03 9.99998599e-01 -2.15155305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32463044 meters 0.2673082468589116 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.22 [[ 9.99994026e-01 3.27042998e-03 -1.11908019e-03 2.38912980e+00] [-3.26897336e-03 9.99993811e-01 1.30098944e-03 8.90320519e-02] [ 1.12332806e-03 -1.29732342e-03 9.99998528e-01 -2.15621809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38463044 meters 0.26701168374012973 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.22 [[ 9.99993933e-01 3.29170253e-03 -1.13957689e-03 2.38900559e+00] [-3.29014548e-03 9.99993655e-01 1.36553114e-03 8.88551548e-02] [ 1.14406458e-03 -1.36177348e-03 9.99998418e-01 -2.15291460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44463044 meters 0.2666929222843716 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.22 [[ 9.99986727e-01 -5.03447574e-03 -1.09575482e-03 2.36744939e+00] [ 5.03685781e-03 9.99984934e-01 2.18210662e-03 8.87813700e-02] [ 1.08475255e-03 -2.18759682e-03 9.99997019e-01 -2.15195350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50463044 meters 0.2676276448385305 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.21 [[ 9.99996411e-01 2.61174524e-03 5.97414694e-04 2.38722029e+00] [-2.61263721e-03 9.99995466e-01 1.49717959e-03 8.50611897e-02] [-5.93501734e-04 -1.49873504e-03 9.99998701e-01 -2.14088276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56463044 meters 0.2660742789301633 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:-0.21 [[ 9.99976325e-01 -6.49556565e-03 2.27076806e-03 2.36218256e+00] [ 6.49172329e-03 9.99977491e-01 1.69539135e-03 8.26920880e-02] [-2.28172948e-03 -1.68061002e-03 9.99995985e-01 -2.12687186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62463044 meters 0.2664584694659004 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.21 [[ 9.99993334e-01 1.24533734e-03 3.43233679e-03 2.38206249e+00] [-1.24845015e-03 9.99998811e-01 9.04914772e-04 7.94382467e-02] [-3.43120578e-03 -9.09193841e-04 9.99993700e-01 -2.11465775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68463043999998 meters 0.2672578910010168 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.21 [[ 9.99992800e-01 1.30638477e-03 3.56282744e-03 2.38150050e+00] [-1.31018521e-03 9.99998575e-01 1.06456678e-03 7.87168675e-02] [-3.56143163e-03 -1.06922708e-03 9.99993086e-01 -2.10906679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74463043999998 meters 0.2666626248436976 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.21 [[ 9.99992659e-01 1.35589123e-03 3.58366117e-03 2.38157812e+00] [-1.36011894e-03 9.99998382e-01 1.17754321e-03 7.81872312e-02] [-3.58205875e-03 -1.18240877e-03 9.99992885e-01 -2.11119770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80463043999998 meters 0.26777531999118326 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.21 [[ 9.99981874e-01 -5.98633256e-03 6.44208154e-04 2.40894180e+00] [ 5.98398669e-03 9.99975674e-01 3.58379551e-03 7.75420778e-02] [-6.65646274e-04 -3.57987562e-03 9.99993371e-01 -2.13734462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86463043999998 meters 0.2663509569003942 Centerline is valid? [False, False] Translation: X:2.39, Y:0.07, Z:-0.21 [[ 9.99999485e-01 -6.07646663e-04 -8.13406856e-04 2.38832235e+00] [ 6.07638438e-04 9.99999815e-01 -1.03586704e-05 7.29218794e-02] [ 8.13413000e-04 9.86440782e-06 9.99999669e-01 -2.13954699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92463044 meters 0.2678986005979057 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:-0.21 [[ 0.99998837 0.00401694 -0.00266741 2.41186248] [-0.00402477 0.99998759 -0.00293553 0.06251057] [ 0.00265559 0.00294623 0.99999213 -0.21458965] [ 0. 0. 0. 1. ]] SLAMing on 214.98463044 meters 0.2683636041983472 Centerline is valid? [False, False] Translation: X:2.41, Y:0.06, Z:-0.21 [[ 9.99986478e-01 4.44799283e-03 -2.69430253e-03 2.41199695e+00] [-4.45301916e-03 9.99988351e-01 -1.86242174e-03 5.77959946e-02] [ 2.68598711e-03 1.87439433e-03 9.99994636e-01 -2.14682459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04463044 meters 0.2689424427696394 Centerline is valid? [False, False] Translation: X:2.42, Y:0.05, Z:-0.22 [[ 0.99998728 0.00250164 -0.00437895 2.4178743 ] [-0.00251452 0.99999252 -0.00293883 0.05057352] [ 0.00437156 0.0029498 0.99998609 -0.2178269 ] [ 0. 0. 0. 1. ]] SLAMing on 215.10463044 meters 0.26991274652386366 Centerline is valid? [False, False] Translation: X:2.42, Y:0.05, Z:-0.22 [[ 9.99986207e-01 2.95316221e-03 -4.34343265e-03 2.41780293e+00] [-2.96158487e-03 9.99993744e-01 -1.93401785e-03 4.59311677e-02] [ 4.33769401e-03 1.94685461e-03 9.99988697e-01 -2.17721434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16463044 meters 0.26943506223593316 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.22 [[ 9.99995481e-01 6.99396943e-04 -2.92383278e-03 2.41307949e+00] [-7.09637385e-04 9.99993613e-01 -3.50283445e-03 4.06848795e-02] [ 2.92136423e-03 3.50489349e-03 9.99989591e-01 -2.15545843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22463044 meters 0.2706417091855667 Centerline is valid? [False, False] Translation: X:2.43, Y:0.04, Z:-0.22 [[ 0.99996245 -0.00826074 -0.00262046 2.43468434] [ 0.00825424 0.99996285 -0.00248287 0.03929842] [ 0.00264088 0.00246114 0.99999348 -0.21610004] [ 0. 0. 0. 1. ]] SLAMing on 215.28463044 meters 0.26895105342900333 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.22 [[ 9.99999673e-01 3.96410840e-04 -7.05210125e-04 2.41375115e+00] [-3.98196277e-04 9.99996712e-01 -2.53344408e-03 3.12452110e-02] [ 7.04203521e-04 2.53372406e-03 9.99996542e-01 -2.17296780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34463044 meters 0.26955796997537285 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.22 [[ 9.99999536e-01 6.95243935e-04 -6.66843523e-04 2.41353033e+00] [-6.96449333e-04 9.99998121e-01 -1.80909194e-03 2.79203963e-02] [ 6.65584509e-04 1.80955553e-03 9.99998141e-01 -2.17030329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40463044 meters 0.2677394803494802 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.22 [[ 9.99999362e-01 9.37408801e-04 -6.29772495e-04 2.41348867e+00] [-9.38168478e-04 9.99998831e-01 -1.20706261e-03 2.51777827e-02] [ 6.28640248e-04 1.20765267e-03 9.99999073e-01 -2.17023548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46463043999998 meters 0.2673546728124868 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.22 [[ 9.99999124e-01 1.22871285e-03 -4.92694384e-04 2.41306533e+00] [-1.22890389e-03 9.99999170e-01 -3.87626590e-04 2.15787379e-02] [ 4.92217693e-04 3.88231724e-04 9.99999803e-01 -2.16708085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52463043999998 meters 0.26843013695869644 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.22 [[ 9.99998983e-01 1.32857845e-03 -5.18365053e-04 2.41342564e+00] [-1.32866020e-03 9.99999105e-01 -1.57399310e-04 2.04709400e-02] [ 5.18155471e-04 1.58087881e-04 9.99999853e-01 -2.17196391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58463043999998 meters 0.2695491763397677 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.22 [[ 9.99998820e-01 1.31707283e-03 -7.90638399e-04 2.41459993e+00] [-1.31742248e-03 9.99999035e-01 -4.41883241e-04 2.22879798e-02] [ 7.90055643e-04 4.42924325e-04 9.99999590e-01 -2.18434161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64463044 meters 0.27135998033038455 Centerline is valid? [False, False] Translation: X:2.44, Y:0.03, Z:-0.22 [[ 9.99989555e-01 -4.41253181e-03 -1.19159152e-03 2.43721350e+00] [ 4.41541225e-03 9.99987310e-01 2.42558899e-03 2.82405278e-02] [ 1.18087341e-03 -2.43082502e-03 9.99996348e-01 -2.19106194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70463044 meters 0.2705962315308535 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.22 [[ 9.99984472e-01 4.61483186e-03 -3.12393591e-03 2.41719428e+00] [-4.61096181e-03 9.99988595e-01 1.24490804e-03 3.43623747e-02] [ 3.12964533e-03 -1.23048436e-03 9.99994346e-01 -2.19745733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76463044 meters 0.2719209965747339 Centerline is valid? [False, False] Translation: X:2.44, Y:0.04, Z:-0.22 [[ 9.99990152e-01 -7.18155954e-04 -4.37957800e-03 2.44014731e+00] [ 7.36090956e-04 9.99991345e-01 4.09490786e-03 4.45678027e-02] [ 4.37659931e-03 -4.09809130e-03 9.99982025e-01 -2.20249395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82463044 meters 0.27235159610753407 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99989400e-01 -8.50190471e-04 -4.52505879e-03 2.44030602e+00] [ 8.67302140e-04 9.99992476e-01 3.78091720e-03 4.59950171e-02] [ 4.52181024e-03 -3.78480171e-03 9.99982614e-01 -2.19987888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88463044 meters 0.26959687220185174 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99990960e-01 -1.00246184e-03 -4.13220716e-03 2.43905893e+00] [ 1.01720800e-03 9.99993117e-01 3.56803740e-03 4.64649702e-02] [ 4.12860189e-03 -3.57220846e-03 9.99985097e-01 -2.19064220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94463044 meters 0.27034421709457584 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99991493e-01 -9.44784937e-04 -4.01503336e-03 2.43870747e+00] [ 9.59741106e-04 9.99992603e-01 3.72474980e-03 4.58442090e-02] [ 4.01148457e-03 -3.72857150e-03 9.99985003e-01 -2.18814100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00463044 meters 0.26930190731053255 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99990496e-01 -9.19472811e-04 -4.26163529e-03 2.43929877e+00] [ 9.35638644e-04 9.99992369e-01 3.79290044e-03 4.55820801e-02] [ 4.25811530e-03 -3.79685174e-03 9.99983726e-01 -2.18876438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06463044 meters 0.26994948904713806 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99990460e-01 -9.94167300e-04 -4.25348852e-03 2.43957031e+00] [ 1.00956263e-03 9.99992942e-01 3.61884391e-03 4.63614605e-02] [ 4.24986077e-03 -3.62310355e-03 9.99984406e-01 -2.19420418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12463044 meters 0.27051223214476133 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99990450e-01 -1.12661576e-03 -4.22255627e-03 2.43976456e+00] [ 1.14034764e-03 9.99994065e-01 3.25103481e-03 4.78469643e-02] [ 4.21886854e-03 -3.25581894e-03 9.99985800e-01 -2.19995972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18463043999998 meters 0.2713872654981588 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99991054e-01 -1.34013957e-03 -4.01198705e-03 2.43952523e+00] [ 1.34995108e-03 9.99996103e-01 2.44384011e-03 5.19739468e-02] [ 4.00869633e-03 -2.44923424e-03 9.99988966e-01 -2.20509362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24463043999998 meters 0.27103594458740315 Centerline is valid? [False, False] Translation: X:2.44, Y:0.05, Z:-0.22 [[ 9.99991128e-01 -1.46063198e-03 -3.95110846e-03 2.43924212e+00] [ 1.46916756e-03 9.99996592e-01 2.15826218e-03 5.32780982e-02] [ 3.94794256e-03 -2.16404787e-03 9.99989865e-01 -2.20277311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30463043999998 meters 0.270796383827309 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.22 [[ 9.99971754e-01 4.04691543e-03 -6.33358193e-03 2.42002786e+00] [-4.05958070e-03 9.99989784e-01 -1.98812444e-03 5.53247126e-02] [ 6.32547145e-03 2.01377997e-03 9.99977966e-01 -2.20498443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36463043999998 meters 0.27208000011791406 Centerline is valid? [False, False] Translation: X:2.44, Y:0.06, Z:-0.22 [[ 9.99977818e-01 -2.28505024e-03 -6.25630947e-03 2.44370000e+00] [ 2.28869529e-03 9.99997215e-01 5.75522880e-04 5.97716746e-02] [ 6.25497695e-03 -5.89828900e-04 9.99980263e-01 -2.22057953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42463044 meters 0.271294240880149 Centerline is valid? [False, False] Translation: X:2.44, Y:0.06, Z:-0.22 [[ 9.99978480e-01 -2.38954181e-03 -6.10981743e-03 2.44256661e+00] [ 2.39179907e-03 9.99997074e-01 3.62167314e-04 6.07334223e-02] [ 6.10893414e-03 -3.76772976e-04 9.99981269e-01 -2.20580870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48463044 meters 0.2693590311578631 Centerline is valid? [False, False] Translation: X:2.44, Y:0.06, Z:-0.22 [[ 9.99979028e-01 -2.35548526e-03 -6.03291966e-03 2.44223920e+00] [ 2.35822458e-03 9.99997119e-01 4.46987600e-04 6.05312732e-02] [ 6.03184941e-03 -4.61205205e-04 9.99981702e-01 -2.20221792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54463044 meters 0.26837721950327015 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.22 [[ 0.99996345 0.00319289 -0.00793112 2.42261817] [-0.0032183 0.99998972 -0.00319414 0.05836575] [ 0.00792084 0.00321955 0.99996345 -0.22095939] [ 0. 0. 0. 1. ]] SLAMing on 216.60463044 meters 0.26977846576873465 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.22 [[ 0.9999624 0.00317654 -0.0080686 2.4232459 ] [-0.00320267 0.99998966 -0.00322782 0.05859076] [ 0.00805826 0.00325354 0.99996224 -0.22157644] [ 0. 0. 0. 1. ]] SLAMing on 216.66463044 meters 0.2708156667001499 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.22 [[ 0.99996388 0.00308601 -0.00791956 2.42280895] [-0.00311359 0.99998912 -0.00347271 0.05971066] [ 0.00790876 0.00349724 0.99996261 -0.2214604 ] [ 0. 0. 0. 1. ]] SLAMing on 216.72463044 meters 0.2709515680484023 Centerline is valid? [False, False] Translation: X:2.45, Y:0.07, Z:-0.22 [[ 9.99956930e-01 -2.80112064e-03 -8.84829136e-03 2.44560119e+00] [ 2.79550636e-03 9.99995883e-01 -6.46808125e-04 6.67447866e-02] [ 8.85006672e-03 6.22044812e-04 9.99960644e-01 -2.22352170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78463044 meters 0.27176782292202617 Centerline is valid? [False, False] Translation: X:2.45, Y:0.07, Z:-0.22 [[ 9.99956170e-01 -2.93613651e-03 -8.89034107e-03 2.44558137e+00] [ 2.92780181e-03 9.99995262e-01 -9.50371100e-04 6.81333125e-02] [ 8.89308937e-03 9.24300288e-04 9.99960029e-01 -2.22170155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84463044 meters 0.2714443780793682 Centerline is valid? [False, False] Translation: X:2.45, Y:0.07, Z:-0.22 [[ 9.99953789e-01 -2.95470473e-03 -9.14816207e-03 2.44608013e+00] [ 2.94576661e-03 9.99995171e-01 -9.90360174e-04 6.82716495e-02] [ 9.15104411e-03 9.63366058e-04 9.99957664e-01 -2.22038847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90463044 meters 0.2714147749880519 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:-0.22 [[ 9.99962114e-01 4.67953727e-03 -7.33980027e-03 2.46512490e+00] [-4.69539501e-03 9.99986677e-01 -2.14477188e-03 6.64374719e-02] [ 7.32966594e-03 2.17915389e-03 9.99970763e-01 -2.20423751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96463043999998 meters 0.27010418170790024 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997783 0.0028478 -0.0060193 2.45974373] [-0.00286949 0.99998941 -0.0035988 0.06446167] [ 0.00600899 0.003616 0.99997541 -0.21705109] [ 0. 0. 0. 1. ]] SLAMing on 217.02463043999998 meters 0.2696109158706587 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997712 0.00297877 -0.00607417 2.45982191] [-0.00299882 0.99999008 -0.00329397 0.06308478] [ 0.0060643 0.00331211 0.99997613 -0.21692677] [ 0. 0. 0. 1. ]] SLAMing on 217.08463043999998 meters 0.26977070416459725 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.9999767 0.00306033 -0.00610191 2.46009365] [-0.00307932 0.99999044 -0.00310453 0.06204106] [ 0.00609235 0.00312324 0.99997656 -0.21729611] [ 0. 0. 0. 1. ]] SLAMing on 217.14463044 meters 0.2697177120894385 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997615 0.00306969 -0.00618636 2.46071262] [-0.00308879 0.99999048 -0.00308049 0.06190471] [ 0.00617685 0.00309952 0.99997612 -0.21813455] [ 0. 0. 0. 1. ]] SLAMing on 217.20463044 meters 0.27049058940373605 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997745 0.00307265 -0.00597177 2.46020251] [-0.00309102 0.99999051 -0.00306896 0.06211713] [ 0.00596229 0.00308735 0.99997746 -0.21803896] [ 0. 0. 0. 1. ]] SLAMing on 217.26463044 meters 0.2718359963369561 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997858 0.00302774 -0.00580252 2.45981295] [-0.0030462 0.99999032 -0.00317487 0.0625997 ] [ 0.00579285 0.00319248 0.99997813 -0.21800189] [ 0. 0. 0. 1. ]] SLAMing on 217.32463044 meters 0.27152881409056295 Centerline is valid? [False, False] Translation: X:2.46, Y:0.06, Z:-0.22 [[ 0.99997898 0.00298829 -0.00575393 2.4600794 ] [-0.00300711 0.99999015 -0.00326597 0.06305472] [ 0.00574411 0.0032832 0.99997811 -0.21869131] [ 0. 0. 0. 1. ]] SLAMing on 217.38463044 meters 0.2702700234528808 Centerline is valid? [False, False] Translation: X:2.44, Y:0.06, Z:-0.22 [[ 9.99955450e-01 -4.60877970e-03 -8.23751844e-03 2.44146175e+00] [ 4.59132099e-03 9.99987176e-01 -2.13707034e-03 6.39557220e-02] [ 8.24726209e-03 2.09915404e-03 9.99963787e-01 -2.20411798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44463044 meters 0.27134226748802115 Centerline is valid? [False, False] Translation: X:2.45, Y:0.06, Z:-0.22 [[ 9.99951959e-01 -2.50661374e-03 -9.47606535e-03 2.44727625e+00] [ 2.50406271e-03 9.99996825e-01 -2.81062194e-04 6.48669932e-02] [ 9.47673978e-03 2.57320030e-04 9.99955062e-01 -2.24327926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50463044 meters 0.27353108959096795 Centerline is valid? [False, False] Translation: X:2.45, Y:0.07, Z:-0.22 [[ 9.99953075e-01 -2.79868174e-03 -9.27447470e-03 2.44700122e+00] [ 2.78855755e-03 9.99995502e-01 -1.10437134e-03 6.85390912e-02] [ 9.27752377e-03 1.07845711e-03 9.99956381e-01 -2.24784491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56463044 meters 0.2718181323375306 Centerline is valid? [False, False] Translation: X:2.43, Y:0.07, Z:-0.23 [[ 9.99941727e-01 6.30186362e-03 -8.76518922e-03 2.42505302e+00] [-6.32109442e-03 9.99977671e-01 -2.16802743e-03 7.03182646e-02] [ 8.75133089e-03 2.22330668e-03 9.99959235e-01 -2.25180028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62463044 meters 0.2730244703777863 Centerline is valid? [False, False] Translation: X:2.45, Y:0.08, Z:-0.22 [[ 9.99947824e-01 -2.59476468e-03 -9.88006537e-03 2.44703257e+00] [ 2.57264734e-03 9.99994158e-01 -2.25063364e-03 7.81694834e-02] [ 9.88584752e-03 2.22509829e-03 9.99948658e-01 -2.24612906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68463043999998 meters 0.27081733798877433 Centerline is valid? [False, False] Translation: X:2.44, Y:0.08, Z:-0.22 [[ 9.99957384e-01 -2.44888888e-06 -9.23197388e-03 2.44387989e+00] [ 9.56412693e-07 9.99999987e-01 -1.61668234e-04 8.12646738e-02] [ 9.23197416e-03 1.61652515e-04 9.99957371e-01 -2.22150595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74463043999998 meters 0.2683386657063418 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.22 [[ 0.9999467 0.00592149 -0.00845783 2.42208862] [-0.00595053 0.99997647 -0.00341221 0.07521659] [ 0.00843743 0.00346236 0.99995841 -0.22161465] [ 0. 0. 0. 1. ]] SLAMing on 217.80463043999998 meters 0.26958464047113445 Centerline is valid? [False, False] Translation: X:2.44, Y:0.08, Z:-0.22 [[ 9.99979979e-01 -1.22867632e-04 -6.32663298e-03 2.44198900e+00] [ 1.23331627e-04 9.99999990e-01 7.29498480e-05 7.54463694e-02] [ 6.32662395e-03 -7.37286614e-05 9.99979984e-01 -2.21707015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86463043999998 meters 0.27014732913795625 Centerline is valid? [False, False] Translation: X:2.44, Y:0.08, Z:-0.22 [[ 9.99979872e-01 -8.54216520e-05 -6.34415565e-03 2.44231555e+00] [ 8.64527120e-05 9.99999983e-01 1.62247172e-04 7.50310615e-02] [ 6.34414168e-03 -1.62792376e-04 9.99979862e-01 -2.22218363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92463044 meters 0.2712328056335182 Centerline is valid? [False, False] Translation: X:2.44, Y:0.07, Z:-0.22 [[ 9.99979337e-01 -5.47964306e-05 -6.42832229e-03 2.44287641e+00] [ 5.62637528e-05 9.99999972e-01 2.28078335e-04 7.46724623e-02] [ 6.42830962e-03 -2.28435304e-04 9.99979312e-01 -2.22874430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98463044 meters 0.2699134567004349 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.22 [[ 9.99967455e-01 3.77746701e-04 -8.05897434e-03 2.40085637e+00] [-3.75176788e-04 9.99999878e-01 3.20397865e-04 6.77940732e-02] [ 8.05909439e-03 -3.17363898e-04 9.99967475e-01 -2.23734639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04463044 meters 0.26956827107671416 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.22 [[ 9.99968533e-01 5.83491583e-04 -7.91159627e-03 2.40047249e+00] [-5.76920907e-04 9.99999487e-01 8.32768835e-04 6.55386291e-02] [ 7.91207812e-03 -8.28178265e-04 9.99968356e-01 -2.23550022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10463044 meters 0.26961631344098747 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.22 [[ 9.99968041e-01 8.62302961e-04 -7.94814635e-03 2.40071796e+00] [-8.50532388e-04 9.99998537e-01 1.48418171e-03 6.25978894e-02] [ 7.94941453e-03 -1.47737412e-03 9.99967312e-01 -2.23752204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16463044 meters 0.27019068541310143 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.22 [[ 9.99967614e-01 9.51199101e-04 -7.99164014e-03 2.40109963e+00] [-9.37761014e-04 9.99998141e-01 1.68509691e-03 6.16705998e-02] [ 7.99322814e-03 -1.67754809e-03 9.99966647e-01 -2.24266368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22463044 meters 0.2739737183821573 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.23 [[ 9.99952118e-01 7.46786524e-03 -6.32399187e-03 2.42320012e+00] [-7.47140108e-03 9.99971945e-01 -5.35675795e-04 6.07311664e-02] [ 6.31981410e-03 5.82899225e-04 9.99979860e-01 -2.25412906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28463044 meters 0.2718075254082601 Centerline is valid? [False, False] Translation: X:2.42, Y:0.06, Z:-0.22 [[ 9.99972552e-01 5.30373603e-03 -5.17361557e-03 2.41898915e+00] [-5.31600625e-03 9.99983083e-01 -2.36082959e-03 5.82494240e-02] [ 5.16100684e-03 2.38826776e-03 9.99983830e-01 -2.23270701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34463044 meters 0.2702460064540083 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.22 [[ 9.99981131e-01 -2.85330212e-03 -5.44021669e-03 2.39848596e+00] [ 2.84704500e-03 9.99995277e-01 -1.15755796e-03 5.81916250e-02] [ 5.44349386e-03 1.14204757e-03 9.99984532e-01 -2.24536847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40463044 meters 0.27024041556023276 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.22 [[ 9.99981373e-01 -2.74121978e-03 -5.45339848e-03 2.39869326e+00] [ 2.73633606e-03 9.99995849e-01 -9.02798246e-04 5.69872383e-02] [ 5.45585061e-03 8.87859099e-04 9.99984723e-01 -2.24806445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46463043999998 meters 0.27079775054095523 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99981192e-01 -2.69694663e-03 -5.50838726e-03 2.39907728e+00] [ 2.69255550e-03 9.99996052e-01 -8.04430767e-04 5.64632863e-02] [ 5.51053502e-03 7.89583999e-04 9.99984505e-01 -2.25269429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52463043999998 meters 0.270518332762282 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99981461e-01 -2.67731051e-03 -5.46893587e-03 2.39934840e+00] [ 2.67324122e-03 9.99996145e-01 -7.51249183e-04 5.63034409e-02] [ 5.47092611e-03 7.36615471e-04 9.99984763e-01 -2.25868466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58463043999998 meters 0.2698705898287847 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99981570e-01 -2.62421112e-03 -5.47469636e-03 2.39931666e+00] [ 2.62081616e-03 9.99996369e-01 -6.27200954e-04 5.57598176e-02] [ 5.47632239e-03 6.12841223e-04 9.99984817e-01 -2.25756100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64463044 meters 0.2698763953894318 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99982058e-01 -2.61025241e-03 -5.39176811e-03 2.39922184e+00] [ 2.60708395e-03 9.99996425e-01 -5.94593404e-04 5.56449636e-02] [ 5.39330087e-03 5.80525943e-04 9.99985288e-01 -2.25904357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70463044 meters 0.27101035934492185 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99981918e-01 -2.58629700e-03 -5.42900011e-03 2.40002057e+00] [ 2.58341640e-03 9.99996518e-01 -5.37540520e-04 5.52838035e-02] [ 5.43037145e-03 5.23505432e-04 9.99985118e-01 -2.27191690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76463044 meters 0.27182212105308945 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.23 [[ 9.99982297e-01 -2.51098903e-03 -5.39452298e-03 2.39999910e+00] [ 2.50907529e-03 9.99996787e-01 -3.61495214e-04 5.44885020e-02] [ 5.39541336e-03 3.47953550e-04 9.99985384e-01 -2.27241057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82463044 meters 0.2704720553251993 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.23 [[ 9.99982047e-01 -2.48492997e-03 -5.45254957e-03 2.40015371e+00] [ 2.48332259e-03 9.99996871e-01 -3.01544797e-04 5.42201624e-02] [ 5.45328183e-03 2.87998944e-04 9.99985089e-01 -2.27266065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88463044 meters 0.2714527497515236 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.23 [[ 9.99981863e-01 -2.50556713e-03 -5.47677170e-03 2.40053972e+00] [ 2.50366300e-03 9.99996803e-01 -3.54502260e-04 5.44063259e-02] [ 5.47764242e-03 3.40783840e-04 9.99984940e-01 -2.27842665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94463044 meters 0.2696767972221561 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.23 [[ 9.99981815e-01 -2.55516750e-03 -5.46270710e-03 2.40064084e+00] [ 2.55262321e-03 9.99996630e-01 -4.72677455e-04 5.49172690e-02] [ 5.46389646e-03 4.58724626e-04 9.99984968e-01 -2.28078789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00463044 meters 0.2699938930351571 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99982002e-01 -2.65402070e-03 -5.38073247e-03 2.40016217e+00] [ 2.65019219e-03 9.99996230e-01 -7.18527452e-04 5.60552199e-02] [ 5.38261917e-03 7.04254545e-04 9.99985266e-01 -2.27559246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06463044 meters 0.26963370752819643 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:-0.23 [[ 9.99964643e-01 5.86220206e-03 -6.02890672e-03 2.38048089e+00] [-5.87292337e-03 9.99981202e-01 -1.76215369e-03 5.37885901e-02] [ 6.01846329e-03 1.79749869e-03 9.99980273e-01 -2.28827728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12463044 meters 0.27020728291525276 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99991179e-01 -2.03662211e-03 -3.67346542e-03 2.39811944e+00] [ 2.03414724e-03 9.99997702e-01 -6.77326067e-04 5.89682742e-02] [ 3.67483644e-03 6.69847723e-04 9.99993023e-01 -2.27210150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18463043999998 meters 0.270351791014989 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99991302e-01 -2.09397378e-03 -3.60723907e-03 2.39807044e+00] [ 2.09105375e-03 9.99997483e-01 -8.13072307e-04 5.95618865e-02] [ 3.60893255e-03 8.05522304e-04 9.99993163e-01 -2.27407783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24463043999998 meters 0.2702763699246681 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99991512e-01 -2.04406526e-03 -3.57740919e-03 2.39816472e+00] [ 2.04157119e-03 9.99997671e-01 -7.00686296e-04 5.90189276e-02] [ 3.57883310e-03 6.93376813e-04 9.99993356e-01 -2.27692140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30463043999998 meters 0.27149102889013327 Centerline is valid? [False, False] Translation: X:2.40, Y:0.06, Z:-0.23 [[ 9.99991905e-01 -1.86731778e-03 -3.56416782e-03 2.39823276e+00] [ 1.86627560e-03 9.99998215e-01 -2.95709384e-04 5.71558324e-02] [ 3.56471364e-03 2.89055271e-04 9.99993605e-01 -2.27784512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36463043999998 meters 0.2699405922596682 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.23 [[ 9.99969952e-01 -2.11910847e-03 -7.45690569e-03 2.35935129e+00] [ 2.11343255e-03 9.99997471e-01 -7.68959998e-04 4.73548051e-02] [ 7.45851635e-03 7.53177225e-04 9.99971901e-01 -2.29254212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42463044 meters 0.27163886424894035 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:-0.23 [[ 9.99945094e-01 6.43343871e-03 -8.27159381e-03 2.38239745e+00] [-6.44206611e-03 9.99978733e-01 -1.01679415e-03 4.37128970e-02] [ 8.26487641e-03 1.07002448e-03 9.99965273e-01 -2.29430227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48463044 meters 0.27160187836803285 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:-0.23 [[ 9.99944717e-01 6.52224722e-03 -8.24762256e-03 2.38251930e+00] [-6.52902437e-03 9.99978370e-01 -7.95051608e-04 4.27382486e-02] [ 8.24225864e-03 8.48856584e-04 9.99965672e-01 -2.29729019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54463044 meters 0.2720685433252222 Centerline is valid? [False, False] Translation: X:2.38, Y:0.04, Z:-0.23 [[ 9.99943432e-01 6.60659645e-03 -8.33574780e-03 2.38289980e+00] [-6.61185267e-03 9.99977960e-01 -6.03163033e-04 4.18181840e-02] [ 8.33157922e-03 6.58243650e-04 9.99965075e-01 -2.30031154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60463044 meters 0.2713788686324861 Centerline is valid? [False, False] Translation: X:2.36, Y:0.04, Z:-0.23 [[ 9.99948387e-01 -1.39141002e-03 -1.00641418e-02 2.36384053e+00] [ 1.40227039e-03 9.99998442e-01 1.07213997e-03 3.78311507e-02] [ 1.00626343e-02 -1.08619728e-03 9.99948780e-01 -2.31870954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66463044 meters 0.27103557353662866 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.23 [[ 9.99955947e-01 -1.33140896e-03 -9.29152118e-03 2.36167328e+00] [ 1.34851454e-03 9.99997407e-01 1.83496555e-03 3.37116195e-02] [ 9.28905400e-03 -1.84741446e-03 9.99955149e-01 -2.30488881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72463044 meters 0.26945037546666206 Centerline is valid? [False, False] Translation: X:2.36, Y:0.03, Z:-0.23 [[ 9.99957436e-01 -1.07680152e-03 -9.16337508e-03 2.36115231e+00] [ 1.10082216e-03 9.99995970e-01 2.61673449e-03 3.01979626e-02] [ 9.16052045e-03 -2.62671036e-03 9.99954592e-01 -2.29916144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78463044 meters 0.26951530280362446 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.23 [[ 9.99953137e-01 -7.21215010e-04 -9.65419319e-03 2.36250468e+00] [ 7.59223621e-04 9.99991974e-01 3.93391962e-03 2.44772046e-02] [ 9.65127850e-03 -3.94106496e-03 9.99945659e-01 -2.30274384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84463044 meters 0.2695036367580787 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.23 [[ 9.99943349e-01 -4.51855221e-03 -9.63751323e-03 2.36309207e+00] [ 4.52748058e-03 9.99989342e-01 9.04801825e-04 1.88197209e-02] [ 9.63332212e-03 -9.48384221e-04 9.99953149e-01 -2.31041391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90463044 meters 0.26956649392528365 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.23 [[ 9.99945186e-01 -4.21792296e-03 -9.58301184e-03 2.36303969e+00] [ 4.23312649e-03 9.99989813e-01 1.56677850e-03 1.57409456e-02] [ 9.57630567e-03 -1.60725872e-03 9.99952854e-01 -2.31054514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96463043999998 meters 0.2704482988894564 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 9.99944576e-01 -4.09061826e-03 -9.70109934e-03 2.36340056e+00] [ 4.10907495e-03 9.99989784e-01 1.88336784e-03 1.43359072e-02] [ 9.69329609e-03 -1.92312600e-03 9.99951170e-01 -2.31174626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02463043999998 meters 0.2706460024765827 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 9.99943350e-01 -4.11342578e-03 -9.81714266e-03 2.36407882e+00] [ 4.13135792e-03 9.99989833e-01 1.80703420e-03 1.47129060e-02] [ 9.80960975e-03 -1.84748996e-03 9.99950178e-01 -2.32039726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08463043999998 meters 0.2701463813379133 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 9.99944821e-01 -4.13440806e-03 -9.65722551e-03 2.36378428e+00] [ 4.15161338e-03 9.99989829e-01 1.76223414e-03 1.49666354e-02] [ 9.64984149e-03 -1.80222997e-03 9.99951815e-01 -2.32175971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14463044 meters 0.2709999750326578 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 9.99946043e-01 -3.93371171e-03 -9.61437374e-03 2.36331739e+00] [ 3.95583548e-03 9.99989569e-01 2.28318091e-03 1.24871594e-02] [ 9.60529208e-03 -2.32109059e-03 9.99951174e-01 -2.31401996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20463044 meters 0.271575228179527 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 0.99994484 -0.00376331 -0.00980598 2.36386934] [ 0.00379115 0.99998883 0.00282219 0.01025685] [ 0.00979525 -0.00285921 0.99994794 -0.23156017] [ 0. 0. 0. 1. ]] SLAMing on 220.26463044 meters 0.2713148331561207 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.23 [[ 0.99994118 -0.00345134 -0.01028231 2.36502446] [ 0.00349189 0.99998619 0.00392817 0.00566789] [ 0.01026861 -0.00396384 0.99993942 -0.23160986] [ 0. 0. 0. 1. ]] SLAMing on 220.32463044 meters 0.26977319290970775 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.23 [[ 0.9999412 -0.00314875 -0.01037744 2.36512892] [ 0.00319692 0.99998418 0.00462907 0.0024115 ] [ 0.0103627 -0.00466197 0.99993544 -0.23134883] [ 0. 0. 0. 1. ]] SLAMing on 220.38463044 meters 0.2705114498280289 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.23 [[ 9.99941794e-01 -3.05599081e-03 -1.03474143e-02 2.36522825e+00] [ 3.10630062e-03 9.99983417e-01 4.84949050e-03 1.43211326e-03] [ 1.03324227e-02 -4.88135041e-03 9.99934705e-01 -2.31619974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44463044 meters 0.26956298976577947 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.00, Z:-0.23 [[ 9.99938038e-01 2.65124479e-03 -1.08116121e-02 2.34341265e+00] [-2.63454194e-03 9.99995315e-01 1.55884842e-03 -2.74678246e-03] [ 1.08156943e-02 -1.53026819e-03 9.99940338e-01 -2.31351350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50463044 meters 0.27039511481435663 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:-0.23 [[ 9.99942011e-01 -4.76195438e-03 -9.65913802e-03 2.36173998e+00] [ 4.79493155e-03 9.99982745e-01 3.39381027e-03 9.10589430e-04] [ 9.64281019e-03 -3.43992837e-03 9.99947590e-01 -2.29573418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56463044 meters 0.27019354343397173 Centerline is valid? [False, False] Translation: X:2.36, Y:0.00, Z:-0.23 [[ 9.99943391e-01 -4.87050929e-03 -9.46008721e-03 2.36126906e+00] [ 4.90015308e-03 9.99983149e-01 3.11291816e-03 2.08727808e-03] [ 9.44476630e-03 -3.15909781e-03 9.99950407e-01 -2.29553198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62463044 meters 0.2708475311209535 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99974642e-01 3.49715803e-03 -6.20365980e-03 2.37914066e+00] [-3.48458987e-03 9.99991857e-01 2.03557928e-03 5.19337342e-03] [ 6.21072803e-03 -2.01391045e-03 9.99978685e-01 -2.28433516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68463043999998 meters 0.2722706354717261 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99974599e-01 3.31633227e-03 -6.30905530e-03 2.37968387e+00] [-3.30633666e-03 9.99993263e-01 1.59409908e-03 7.23377221e-03] [ 6.31429936e-03 -1.57319873e-03 9.99978827e-01 -2.29035189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74463043999998 meters 0.2736526318352813 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99974750e-01 3.06647167e-03 -6.41057935e-03 2.38005942e+00] [-3.06009527e-03 9.99994814e-01 1.00424068e-03 1.01609359e-02] [ 6.41362558e-03 -9.84598335e-04 9.99978948e-01 -2.29347868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80463043999998 meters 0.2700418312334641 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.23 [[ 9.99974887e-01 -5.79666740e-03 -4.07730876e-03 2.35587685e+00] [ 5.80229230e-03 9.99982229e-01 1.36908624e-03 1.23854778e-02] [ 4.06930016e-03 -1.39270960e-03 9.99990751e-01 -2.29237680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86463043999998 meters 0.27016448413110733 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.23 [[ 9.99993504e-01 2.45235672e-03 -2.64145670e-03 2.37436422e+00] [-2.45185025e-03 9.99996975e-01 1.94960751e-04 1.06180679e-02] [ 2.64192683e-03 -1.88483028e-04 9.99996492e-01 -2.27845713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92463044 meters 0.2700360498212223 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99992973e-01 2.48824301e-03 -2.80385922e-03 2.37500118e+00] [-2.48744254e-03 9.99996865e-01 2.88941521e-04 1.01898502e-02] [ 2.80456938e-03 -2.81965052e-04 9.99996027e-01 -2.28338219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98463044 meters 0.270834114463616 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99992439e-01 2.51886037e-03 -2.96254674e-03 2.37530111e+00] [-2.51777001e-03 9.99996761e-01 3.71721132e-04 9.88643063e-03] [ 2.96347346e-03 -3.64259310e-04 9.99995543e-01 -2.28207861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04463044 meters 0.2706759567193711 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99992181e-01 2.50146867e-03 -3.06287429e-03 2.37568764e+00] [-2.50044227e-03 9.99996816e-01 3.38892322e-04 1.00455135e-02] [ 3.06371227e-03 -3.31231132e-04 9.99995252e-01 -2.28527286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10463044 meters 0.2706566962977667 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99992272e-01 2.39024714e-03 -3.12122335e-03 2.37630156e+00] [-2.39005290e-03 9.99997142e-01 6.59593953e-05 1.10832976e-02] [ 3.12137209e-03 -5.84989967e-05 9.99995127e-01 -2.29455900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16463044 meters 0.2711828449540373 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.23 [[ 9.99993823e-01 2.23488943e-03 -2.71291447e-03 2.37522783e+00] [-2.23599477e-03 9.99997418e-01 -4.04472063e-04 1.33964635e-02] [ 2.71200352e-03 4.10535627e-04 9.99996238e-01 -2.29171273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22463044 meters 0.26925187259533095 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.23 [[ 9.99994774e-01 2.00066854e-03 -2.53955180e-03 2.37488999e+00] [-2.00325899e-03 9.99997475e-01 -1.01790807e-03 1.61535901e-02] [ 2.53750889e-03 1.02299013e-03 9.99996257e-01 -2.29295129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28463044 meters 0.27170034166585205 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.23 [[ 9.99990684e-01 -3.58599643e-03 -2.40265528e-03 2.39751188e+00] [ 3.59170164e-03 9.99990731e-01 2.37444989e-03 1.93754925e-02] [ 2.39411824e-03 -2.38305739e-03 9.99994295e-01 -2.30057410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34463044 meters 0.2713571664728983 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.23 [[ 0.99999067 -0.00355481 -0.00245491 2.39748616] [ 0.00356081 0.99999067 0.0024461 0.01884799] [ 0.0024462 -0.00245482 0.99999399 -0.2297804 ] [ 0. 0. 0. 1. ]] SLAMing on 221.40463044 meters 0.2696735082903654 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:-0.23 [[ 9.99984012e-01 5.21286778e-03 -2.19148402e-03 2.37628836e+00] [-5.20851818e-03 9.99984464e-01 1.98581719e-03 1.55674748e-02] [ 2.20180177e-03 -1.97437106e-03 9.99995627e-01 -2.30170434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46463043999998 meters 0.27143550172590125 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.23 [[ 9.99990574e-01 -3.29998547e-03 -2.82160725e-03 2.39651153e+00] [ 3.30624214e-03 9.99992080e-01 2.21563110e-03 2.34427570e-02] [ 2.81427335e-03 -2.22493913e-03 9.99993565e-01 -2.29474067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52463043999998 meters 0.2701945098581192 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.23 [[ 9.99990135e-01 -3.42493768e-03 -2.82843091e-03 2.39663962e+00] [ 3.43040865e-03 9.99992250e-01 1.93169800e-03 2.47983494e-02] [ 2.82179305e-03 -1.94138162e-03 9.99994134e-01 -2.29711828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58463043999998 meters 0.26951964887493257 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.23 [[ 9.99990230e-01 -3.35419516e-03 -2.87916149e-03 2.39647553e+00] [ 3.36028915e-03 9.99992119e-01 2.11436411e-03 2.39620422e-02] [ 2.87204681e-03 -2.12401827e-03 9.99993620e-01 -2.29128205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64463044 meters 0.27098641416299785 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.23 [[ 9.99981197e-01 4.91192058e-03 -3.67119745e-03 2.41697561e+00] [-4.90777263e-03 9.99987309e-01 1.13801686e-03 1.94637694e-02] [ 3.67674071e-03 -1.11997806e-03 9.99992614e-01 -2.27692924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70463044 meters 0.26846991474510146 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.23 [[ 9.99992555e-01 9.92596121e-04 -3.72879898e-03 2.41735404e+00] [-1.00098291e-03 9.99996972e-01 -2.24800005e-03 1.58325947e-02] [ 3.72655634e-03 2.25171577e-03 9.99990521e-01 -2.28033401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76463044 meters 0.26933099509737296 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.23 [[ 9.99991746e-01 1.19469457e-03 -3.88340217e-03 2.41779977e+00] [-1.20166491e-03 9.99997670e-01 -1.79306935e-03 1.37300293e-02] [ 3.88125095e-03 1.79772110e-03 9.99990852e-01 -2.28140725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82463044 meters 0.2695104781094047 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.23 [[ 9.99992058e-01 1.28878900e-03 -3.77122937e-03 2.41743506e+00] [-1.29457097e-03 9.99997990e-01 -1.53113776e-03 1.25879562e-02] [ 3.76924848e-03 1.53600773e-03 9.99991717e-01 -2.27907208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88463044 meters 0.27063268169671273 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:-0.23 [[ 9.99986892e-01 -4.34876691e-03 -2.70266923e-03 2.44027335e+00] [ 4.35369096e-03 9.99988869e-01 1.81871510e-03 1.29486683e-02] [ 2.69472998e-03 -1.83045785e-03 9.99994694e-01 -2.29140302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94463044 meters 0.27038951194763694 Centerline is valid? [False, False] Translation: X:2.44, Y:0.01, Z:-0.23 [[ 9.99987021e-01 -4.28156447e-03 -2.76141812e-03 2.44061206e+00] [ 4.28701802e-03 9.99988866e-01 1.97201998e-03 1.22433955e-02] [ 2.75294405e-03 -1.98383264e-03 9.99994243e-01 -2.29496428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00463044 meters 0.27023929117111045 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.23 [[ 9.99993346e-01 1.78579183e-03 -3.18114628e-03 2.42032908e+00] [-1.78831109e-03 9.99998089e-01 -7.89268872e-04 6.31854867e-03] [ 3.17973074e-03 7.94952499e-04 9.99994629e-01 -2.29977680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06463044 meters 0.2704276092072235 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.23 [[ 9.99992478e-01 1.92858928e-03 -3.36525567e-03 2.42030815e+00] [-1.93004856e-03 9.99998045e-01 -4.30439177e-04 4.68797703e-03] [ 3.36441895e-03 4.36931046e-04 9.99994245e-01 -2.29122982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12463044 meters 0.2693572616444052 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.23 [[ 9.99965832e-01 -6.23999526e-03 -5.42185855e-03 2.40169393e+00] [ 6.24680012e-03 9.99979721e-01 1.23905169e-03 1.65883333e-03] [ 5.41401692e-03 -1.27287862e-03 9.99984534e-01 -2.30309684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18463043999998 meters 0.269220572382186 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.00, Z:-0.23 [[ 9.99965943e-01 -6.06337508e-03 -5.59895091e-03 2.40190660e+00] [ 6.07288806e-03 9.99980143e-01 1.68362969e-03 -3.54413983e-04] [ 5.58863125e-03 -1.71757415e-03 9.99982908e-01 -2.29874065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24463043999998 meters 0.2687287721431007 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:-0.23 [[ 9.99995358e-01 1.90697153e-03 -2.37631839e-03 2.41951628e+00] [-1.90327330e-03 9.99996976e-01 1.55757795e-03 -6.15559303e-03] [ 2.37928146e-03 -1.55304794e-03 9.99995964e-01 -2.27593177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30463043999998 meters 0.26843569108666915 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:-0.23 [[ 9.99994545e-01 2.14715364e-03 -2.50973025e-03 2.41966263e+00] [-2.14174023e-03 9.99995379e-01 2.15766839e-03 -8.81108703e-03] [ 2.51435150e-03 -2.15228144e-03 9.99994523e-01 -2.27258071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36463043999998 meters 0.26911265933282597 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:-0.23 [[ 9.99993487e-01 2.41797354e-03 -2.67932869e-03 2.42032806e+00] [-2.41052410e-03 9.99993230e-01 2.78009015e-03 -1.17481242e-02] [ 2.68603273e-03 -2.77361345e-03 9.99992546e-01 -2.27608741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42463044 meters 0.2688371756594692 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.01, Z:-0.23 [[ 0.99999286 0.00264655 -0.00269851 2.42043712] [-0.00263762 0.99999105 0.00330855 -0.01412469] [ 0.00270725 -0.00330141 0.99999089 -0.22765589] [ 0. 0. 0. 1. ]] SLAMing on 222.48463044 meters 0.26957522164396214 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.02, Z:-0.23 [[ 9.99995393e-01 -1.33399743e-03 -2.72654906e-03 2.42054245e+00] [ 1.33352899e-03 9.99999096e-01 -1.73616993e-04 -1.76355840e-02] [ 2.72677819e-03 1.69980261e-04 9.99996268e-01 -2.27624563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54463044 meters 0.2700443648887506 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.02, Z:-0.23 [[ 0.99998475 0.00340379 -0.00434815 2.39937381] [-0.00341943 0.9999877 -0.00359314 -0.02297006] [ 0.00433587 0.00360795 0.99998409 -0.22792432] [ 0. 0. 0. 1. ]] SLAMing on 222.60463044 meters 0.2679601207420316 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.03, Z:-0.23 [[ 9.99981470e-01 3.85262644e-03 -4.71355311e-03 2.40027372e+00] [-3.86277137e-03 9.99990239e-01 -2.14508062e-03 -2.94248491e-02] [ 4.70524290e-03 2.16324824e-03 9.99986590e-01 -2.27977731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66463044 meters 0.26950370121637274 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.03, Z:-0.23 [[ 9.99976232e-01 -4.97533517e-03 -4.77296918e-03 2.42320809e+00] [ 4.96951083e-03 9.99986894e-01 -1.23136059e-03 -3.40337502e-02] [ 4.77903305e-03 1.20761200e-03 9.99987851e-01 -2.28097348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72463044 meters 0.2699407627937917 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.04, Z:-0.23 [[ 9.99978690e-01 -4.31255640e-03 -4.90125791e-03 2.42411780e+00] [ 4.31466972e-03 9.99990603e-01 4.20686312e-04 -4.19876716e-02] [ 4.89939762e-03 -4.41824656e-04 9.99987900e-01 -2.28888543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78463044 meters 0.26967213603801427 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 9.99980671e-01 -3.79026394e-03 -4.92865439e-03 2.42374225e+00] [ 3.79803265e-03 9.99991558e-01 1.56782865e-03 -4.82767527e-02] [ 4.92267030e-03 -1.58651754e-03 9.99986625e-01 -2.28033140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84463044 meters 0.2696977769479093 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 9.99980748e-01 -3.59360495e-03 -5.05852679e-03 2.42420718e+00] [ 3.60381101e-03 9.99991486e-01 2.00992752e-03 -5.03072307e-02] [ 5.05126084e-03 -2.02811880e-03 9.99985186e-01 -2.28262168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90463044 meters 0.2708786503118551 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 9.99980693e-01 -3.44244449e-03 -5.17335213e-03 2.42441561e+00] [ 3.45460852e-03 9.99991285e-01 2.34419361e-03 -5.19126078e-02] [ 5.16523729e-03 -2.36202025e-03 9.99983870e-01 -2.28127224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96463043999998 meters 0.26998563743671883 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 0.99998972 -0.00242661 -0.00383118 2.42034526] [ 0.00244075 0.99999021 0.00369054 -0.05482406] [ 0.00382218 -0.00369986 0.99998585 -0.22605057] [ 0. 0. 0. 1. ]] SLAMing on 223.02463043999998 meters 0.2701653212605361 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.23 [[ 9.99989658e-01 -2.40613512e-03 -3.85941619e-03 2.42069809e+00] [ 2.42059698e-03 9.99990051e-01 3.74687798e-03 -5.53354396e-02] [ 3.85036230e-03 -3.75618132e-03 9.99985533e-01 -2.26540554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08463043999998 meters 0.27080179194002624 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.23 [[ 9.99990111e-01 -2.40879080e-03 -3.73832136e-03 2.42052674e+00] [ 2.42280040e-03 9.99990043e-01 3.74757024e-03 -5.52755561e-02] [ 3.72925703e-03 -3.75659038e-03 9.99985990e-01 -2.26725102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14463044 meters 0.2706928939492174 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 0.99999016 -0.0024859 -0.00367486 2.42041962] [ 0.002499 0.99999053 0.00356363 -0.05446499] [ 0.00366597 -0.00357278 0.9999869 -0.2268112 ] [ 0. 0. 0. 1. ]] SLAMing on 223.20463044 meters 0.2697125846395683 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 0.99998978 -0.00265916 -0.00365587 2.4209342 ] [ 0.00267016 0.99999191 0.00300696 -0.05174531] [ 0.00364785 -0.00301669 0.9999888 -0.22789062] [ 0. 0. 0. 1. ]] SLAMing on 223.26463044 meters 0.2723275621834027 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.23 [[ 9.99987978e-01 -3.15316041e-04 -4.89328245e-03 2.42643302e+00] [ 3.38817113e-04 9.99988410e-01 4.80263566e-03 -4.80200940e-02] [ 4.89171139e-03 -4.80423585e-03 9.99976495e-01 -2.31538685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32463044 meters 0.27357176426834356 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.23 [[ 9.99988115e-01 -6.67241206e-04 -4.82946582e-03 2.42684694e+00] [ 6.86234127e-04 9.99992034e-01 3.93212865e-03 -4.42054047e-02] [ 4.82680367e-03 -3.93539606e-03 9.99980607e-01 -2.32600310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38463044 meters 0.27108673121755694 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.23 [[ 9.99988527e-01 -8.88325823e-04 -4.70704410e-03 2.42643036e+00] [ 9.04491415e-04 9.99993697e-01 3.43332541e-03 -4.18362985e-02] [ 4.70396452e-03 -3.43754350e-03 9.99983028e-01 -2.32428308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44463044 meters 0.27105951884780394 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.23 [[ 9.99987428e-01 -1.15637976e-03 -4.87921396e-03 2.42665481e+00] [ 1.17018387e-03 9.99995319e-01 2.82725973e-03 -3.89376670e-02] [ 4.87592174e-03 -2.83293377e-03 9.99984100e-01 -2.32229337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50463044 meters 0.27205479926783416 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.23 [[ 9.99985379e-01 -1.32591966e-03 -5.24246168e-03 2.42728684e+00] [ 1.33848045e-03 9.99996241e-01 2.39318864e-03 -3.69996087e-02] [ 5.23926880e-03 -2.40017059e-03 9.99983394e-01 -2.31965502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56463044 meters 0.2708895760342554 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.23 [[ 9.99985460e-01 -1.37561355e-03 -5.21417887e-03 2.42689224e+00] [ 1.38748630e-03 9.99996452e-01 2.27407875e-03 -3.64186035e-02] [ 5.21103211e-03 -2.28128029e-03 9.99983820e-01 -2.31370572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62463044 meters 0.26841086047863527 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.23 [[ 9.99986252e-01 4.15617378e-03 -3.19712295e-03 2.40236793e+00] [-4.15926714e-03 9.99990888e-01 -9.61505463e-04 -3.91836702e-02] [ 3.19309763e-03 9.74789933e-04 9.99994427e-01 -2.30206190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68463043999998 meters 0.2669868574871215 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.04, Z:-0.23 [[ 9.99995802e-01 2.13275854e-03 -1.96165910e-03 2.39657994e+00] [-2.13835868e-03 9.99993632e-01 -2.85714389e-03 -3.81668058e-02] [ 1.95555301e-03 2.86132663e-03 9.99993994e-01 -2.25710266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74463043999998 meters 0.2675700784201626 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.04, Z:-0.23 [[ 9.99993718e-01 -3.45561196e-03 7.89326170e-04 2.41612516e+00] [ 3.45498377e-03 9.99993715e-01 7.95836923e-04 -4.10055308e-02] [-7.92071312e-04 -7.93104814e-04 9.99999372e-01 -2.25287672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80463043999998 meters 0.2662509871826927 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.05, Z:-0.23 [[ 9.99993979e-01 -3.33015016e-03 9.76209387e-04 2.41567503e+00] [ 3.32851565e-03 9.99993064e-01 1.67121719e-03 -4.51525441e-02] [-9.81768021e-04 -1.66795779e-03 9.99998127e-01 -2.25072462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86463043999998 meters 0.26721211905033987 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.22 [[ 9.99985963e-01 5.24508554e-03 7.50324503e-04 2.43563455e+00] [-5.24584824e-03 9.99985722e-01 1.01815669e-03 -5.11301744e-02] [-7.44973471e-04 -1.02207849e-03 9.99999200e-01 -2.23999931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92463044 meters 0.26779119325160367 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.23 [[ 9.99995128e-01 3.11480020e-03 -2.06065431e-04 2.44001270e+00] [-3.11473779e-03 9.99995103e-01 3.02485522e-04 -6.05781251e-02] [ 2.07006604e-04 -3.01842209e-04 9.99999933e-01 -2.27464606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98463044 meters 0.2668624318019061 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.23 [[ 9.99983333e-01 -4.86574217e-03 -3.10770820e-03 2.42204653e+00] [ 4.87298010e-03 9.99985422e-01 2.32571459e-03 -6.66063763e-02] [ 3.09634657e-03 -2.34081963e-03 9.99992467e-01 -2.28877065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04463044 meters 0.2672804190157602 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.08, Z:-0.23 [[ 9.99985643e-01 2.95544777e-03 -4.46972372e-03 2.44202924e+00] [-2.94789379e-03 9.99994217e-01 1.69567927e-03 -7.89911273e-02] [ 4.47470936e-03 -1.68247866e-03 9.99988573e-01 -2.26816494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10463044 meters 0.26513827115265914 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.23 [[ 9.99976500e-01 1.28470570e-03 -6.73416410e-03 2.40075464e+00] [-1.27678668e-03 9.99998489e-01 1.18011428e-03 -8.60806551e-02] [ 6.73567002e-03 -1.17148845e-03 9.99976629e-01 -2.27991667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16463044 meters 0.2674094111157786 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99966194e-01 -4.61816703e-04 -8.20955600e-03 2.40626593e+00] [ 4.60516648e-04 9.99999881e-01 -1.60248332e-04 -8.96785120e-02] [ 8.20962903e-03 1.56462278e-04 9.99966288e-01 -2.30953808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22463044 meters 0.26674936145408984 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965483e-01 -3.01387389e-04 -8.30312616e-03 2.40632259e+00] [ 3.03085260e-04 9.99999933e-01 2.03228271e-04 -9.14068758e-02] [ 8.30306436e-03 -2.05737811e-04 9.99965508e-01 -2.30628501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28463044 meters 0.26642769974565134 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965609e-01 -2.24100531e-04 -8.29041074e-03 2.40592530e+00] [ 2.27288350e-04 9.99999901e-01 3.83578733e-04 -9.21851012e-02] [ 8.29032395e-03 -3.85449855e-04 9.99965560e-01 -2.29936429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34463044 meters 0.2661883952451813 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965677e-01 -3.43282908e-04 -8.27811119e-03 2.40549240e+00] [ 3.44147637e-04 9.99999935e-01 1.03035537e-04 -9.07257198e-02] [ 8.27807529e-03 -1.05880893e-04 9.99965731e-01 -2.29224601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40463044 meters 0.26578077728337124 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965672e-01 -4.35615566e-04 -8.27433482e-03 2.40544578e+00] [ 4.34704164e-04 9.99999899e-01 -1.11946225e-04 -8.97406512e-02] [ 8.27438275e-03 1.08345494e-04 9.99965761e-01 -2.29176393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46463043999998 meters 0.2662269037932839 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965621e-01 -5.21010648e-04 -8.27563009e-03 2.40540054e+00] [ 5.18447788e-04 9.99999817e-01 -3.11829948e-04 -8.88332297e-02] [ 8.27579105e-03 3.07528745e-04 9.99965708e-01 -2.29041213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52463043999998 meters 0.264704257020035 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.23 [[ 9.99968602e-01 -4.48166604e-04 -7.91159751e-03 2.40386734e+00] [ 4.45765636e-04 9.99999854e-01 -3.05235228e-04 -8.82526934e-02] [ 7.91173315e-03 3.01698926e-04 9.99968656e-01 -2.27709856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58463043999998 meters 0.2642137743373294 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.23 [[ 9.99968588e-01 -4.50327907e-04 -7.91331455e-03 2.40424342e+00] [ 4.48195356e-04 9.99999863e-01 -2.71260303e-04 -8.85207098e-02] [ 7.91343562e-03 2.67705071e-04 9.99968652e-01 -2.28374376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64463044 meters 0.2651680182262685 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965362e-01 -2.62575118e-04 -8.31896146e-03 2.40565973e+00] [ 2.64929926e-04 9.99999925e-01 2.81964352e-04 -9.02165696e-02] [ 8.31888680e-03 -2.84158527e-04 9.99965357e-01 -2.29468232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70463044 meters 0.26539622492004816 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965123e-01 -1.91760205e-04 -8.34957867e-03 2.40609095e+00] [ 1.96138412e-04 9.99999844e-01 5.23546979e-04 -9.14499060e-02] [ 8.34947697e-03 -5.25166392e-04 9.99965005e-01 -2.30123497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76463044 meters 0.2665440723505037 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99966114e-01 -4.42047963e-05 -8.23216496e-03 2.40627556e+00] [ 5.16181997e-05 9.99999593e-01 9.00330861e-04 -9.30259392e-02] [ 8.23212182e-03 -9.00725282e-04 9.99965710e-01 -2.30912572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82463044 meters 0.265922866038433 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965734e-01 -5.76151414e-05 -8.27814423e-03 2.40669500e+00] [ 6.47939453e-05 9.99999622e-01 8.66934093e-04 -9.29313023e-02] [ 8.27809115e-03 -8.67440760e-04 9.99965360e-01 -2.31457203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88463044 meters 0.26603204430476773 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965931e-01 -1.06834445e-04 -8.25375338e-03 2.40702686e+00] [ 1.13043915e-04 9.99999711e-01 7.51857826e-04 -9.24385020e-02] [ 8.25367067e-03 -7.52765248e-04 9.99965655e-01 -2.32150519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94463044 meters 0.26671673294425213 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965445e-01 -1.37941304e-04 -8.31206172e-03 2.40744689e+00] [ 1.43587350e-04 9.99999759e-01 6.78666394e-04 -9.21776053e-02] [ 8.31196611e-03 -6.79836449e-04 9.99965224e-01 -2.32632829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00463044 meters 0.26756089603546246 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.09, Z:-0.23 [[ 9.99965769e-01 -2.03422304e-04 -8.27160285e-03 2.40719207e+00] [ 2.07698583e-04 9.99999845e-01 5.16127462e-04 -9.14421128e-02] [ 8.27149658e-03 -5.17827795e-04 9.99965657e-01 -2.32287062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06463044 meters 0.26545074200457686 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:-0.23 [[ 0.99996449 -0.00606304 -0.00585374 2.38209471] [ 0.00608498 0.9999745 0.0037371 -0.08734125] [ 0.00583093 -0.00377258 0.99997588 -0.23180618] [ 0. 0. 0. 1. ]] SLAMing on 225.12463044 meters 0.2668241670589542 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.23 [[ 9.99992519e-01 4.40055125e-04 -3.84305152e-03 2.40353914e+00] [-4.36057119e-04 9.99999363e-01 1.04109657e-03 -8.68636935e-02] [ 3.84350721e-03 -1.03941299e-03 9.99992074e-01 -2.32679824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18463043999998 meters 0.264954850106118 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.23 [[ 9.99985690e-01 -1.17285492e-03 -5.21957119e-03 2.36035855e+00] [ 1.17299117e-03 9.99999312e-01 2.30435418e-05 -8.56595569e-02] [ 5.21954057e-03 -2.91657230e-05 9.99986378e-01 -2.33467649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24463043999998 meters 0.26674141537484575 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.09, Z:-0.23 [[ 9.99996439e-01 -1.25503680e-03 -2.35524396e-03 2.40212442e+00] [ 1.25399541e-03 9.99999115e-01 -4.43580579e-04 -8.57415456e-02] [ 2.35579858e-03 4.40625534e-04 9.99997128e-01 -2.32981759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30463043999998 meters 0.26589651410268544 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.08, Z:-0.23 [[ 9.99996543e-01 -1.43677161e-03 -2.20221974e-03 2.40226561e+00] [ 1.43491290e-03 9.99998613e-01 -8.45366101e-04 -8.38308648e-02] [ 2.20343128e-03 8.42203185e-04 9.99997218e-01 -2.33774751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36463043999998 meters 0.26573407028362006 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.08, Z:-0.23 [[ 9.99996377e-01 -1.67117489e-03 -2.11032199e-03 2.40208389e+00] [ 1.66828375e-03 9.99997669e-01 -1.37101810e-03 -8.14029528e-02] [ 2.11260828e-03 1.36749252e-03 9.99996833e-01 -2.33821834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42463044 meters 0.26501048354248863 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:-0.24 [[ 9.99986741e-01 -1.80825024e-03 -4.82172231e-03 2.36221130e+00] [ 1.80049069e-03 9.99997078e-01 -1.61314582e-03 -7.44111367e-02] [ 4.82462519e-03 1.60444297e-03 9.99987074e-01 -2.36439670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48463044 meters 0.26545361590369415 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:-0.24 [[ 9.99986834e-01 -1.91740856e-03 -4.75977876e-03 2.36275579e+00] [ 1.90851709e-03 9.99996427e-01 -1.87188172e-03 -7.33167153e-02] [ 4.76335092e-03 1.86277296e-03 9.99986920e-01 -2.37656072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54463044 meters 0.26549934182497503 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:-0.24 [[ 9.99985833e-01 -2.19463041e-03 -4.84952445e-03 2.36384395e+00] [ 2.18227257e-03 9.99994362e-01 -2.55208275e-03 -6.94888599e-02] [ 4.85509799e-03 2.54146361e-03 9.99984984e-01 -2.39084055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60463044 meters 0.26646250671085525 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:-0.24 [[ 0.9999852 -0.00243223 -0.00486756 2.36408526] [ 0.00241717 0.99999228 -0.00309769 -0.06704529] [ 0.00487506 0.00308588 0.99998336 -0.23940528] [ 0. 0. 0. 1. ]] SLAMing on 225.66463044 meters 0.26535148156398797 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 9.99993826e-01 -3.99942321e-04 -3.49118348e-03 2.35875196e+00] [ 3.94104962e-04 9.99998524e-01 -1.67255657e-03 -6.17327519e-02] [ 3.49184725e-03 1.67117035e-03 9.99992507e-01 -2.36406614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72463044 meters 0.2646121944067608 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 9.99993709e-01 -7.47498647e-04 -3.46756552e-03 2.35843854e+00] [ 7.38901719e-04 9.99996652e-01 -2.47985912e-03 -5.79296865e-02] [ 3.46940760e-03 2.47728133e-03 9.99990913e-01 -2.35931003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78463044 meters 0.2664361869575863 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99981061e-01 -5.78132052e-03 -2.11025394e-03 2.38053628e+00] [ 5.78407645e-03 9.99982424e-01 1.30221400e-03 -5.75564920e-02] [ 2.10268834e-03 -1.31439521e-03 9.99996926e-01 -2.36554157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84463044 meters 0.26520773538890513 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 9.99992358e-01 2.17670871e-03 -3.24742594e-03 2.36160293e+00] [-2.17741538e-03 9.99997607e-01 -2.14088891e-04 -5.80129418e-02] [ 3.24695216e-03 2.21158250e-04 9.99994704e-01 -2.38121703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90463044 meters 0.2658382209222273 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 9.99993027e-01 2.10738281e-03 -3.08313542e-03 2.36120238e+00] [-2.10857920e-03 9.99997703e-01 -3.84844285e-04 -5.72497333e-02] [ 3.08231732e-03 3.91342637e-04 9.99995173e-01 -2.37998704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96463043999998 meters 0.2651085715244608 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 9.99993236e-01 2.01193579e-03 -3.07895750e-03 2.36100149e+00] [-2.01378997e-03 9.99997793e-01 -5.99227841e-04 -5.62193888e-02] [ 3.07774509e-03 6.05424162e-04 9.99995080e-01 -2.37640384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02463043999998 meters 0.26503049642691473 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99992905e-01 1.82281115e-03 -3.29640868e-03 2.36185942e+00] [-1.82644765e-03 9.99997726e-01 -1.10049410e-03 -5.40054334e-02] [ 3.29439519e-03 1.10650701e-03 9.99993961e-01 -2.38297707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08463043999998 meters 0.26472693763664257 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99992266e-01 1.68374758e-03 -3.55432992e-03 2.36273632e+00] [-1.68904351e-03 9.99997467e-01 -1.48751865e-03 -5.22490320e-02] [ 3.55181631e-03 1.49351057e-03 9.99992577e-01 -2.38846603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14463044 meters 0.26469321862184714 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99993065e-01 1.48380571e-03 -3.41596752e-03 2.36238618e+00] [-1.49070539e-03 9.99996852e-01 -2.01817526e-03 -4.99658360e-02] [ 3.41296219e-03 2.02325346e-03 9.99992129e-01 -2.38735464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20463044 meters 0.2644387346126371 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99992884e-01 1.49618194e-03 -3.46301099e-03 2.36266299e+00] [-1.50308433e-03 9.99996887e-01 -1.99143505e-03 -5.00832715e-02] [ 3.46002066e-03 1.99662608e-03 9.99992021e-01 -2.39035758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26463044 meters 0.2659409553553651 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99992603e-01 1.48260065e-03 -3.54908899e-03 2.36319266e+00] [-1.48975248e-03 9.99996864e-01 -2.01332303e-03 -4.99151921e-02] [ 3.54609290e-03 2.01859540e-03 9.99991675e-01 -2.39597984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32463044 meters 0.2648008720636484 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.24 [[ 9.99993303e-01 1.31936803e-03 -3.41361867e-03 2.36260937e+00] [-1.32767735e-03 9.99996159e-01 -2.43304709e-03 -4.80698378e-02] [ 3.41039548e-03 2.43756298e-03 9.99991214e-01 -2.39062078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38463044 meters 0.2662107610715649 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99991520e-01 -3.49991348e-03 -2.17036907e-03 2.38459127e+00] [ 3.50314115e-03 9.99992761e-01 1.48514038e-03 -4.65537184e-02] [ 2.16515550e-03 -1.49273089e-03 9.99996542e-01 -2.39214493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44463044 meters 0.26351091710746083 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.24 [[ 9.99983805e-01 -3.07012044e-03 -4.79203245e-03 2.34230928e+00] [ 3.08010884e-03 9.99993097e-01 2.07838948e-03 -4.75198484e-02] [ 4.78561846e-03 -2.09311580e-03 9.99986358e-01 -2.39588439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50463044 meters 0.2636012966390791 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.24 [[ 0.99998488 -0.0028065 -0.00472867 2.34251843] [ 0.00281938 0.99999233 0.00271988 -0.05059196] [ 0.004721 -0.00273317 0.99998512 -0.24013813] [ 0. 0. 0. 1. ]] SLAMing on 226.56463044 meters 0.26544308550989865 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.05, Z:-0.24 [[ 9.99980918e-01 3.56743170e-03 -5.04350875e-03 2.36547650e+00] [-3.56655461e-03 9.99993623e-01 1.82889576e-04 -5.47760468e-02] [ 5.04412904e-03 -1.64898137e-04 9.99987265e-01 -2.40499017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62463044 meters 0.2623578549044887 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.24 [[ 9.99965967e-01 3.42226352e-03 -7.50687371e-03 2.32453890e+00] [-3.41846985e-03 9.99994023e-01 5.18133455e-04 -5.79334095e-02] [ 7.50860203e-03 -4.92453800e-04 9.99971689e-01 -2.42032154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68463043999998 meters 0.2622008719546977 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.24 [[ 9.99966841e-01 3.51410672e-03 -7.34628996e-03 2.32418264e+00] [-3.50869099e-03 9.99993563e-01 7.49965291e-04 -5.89209938e-02] [ 7.34887813e-03 -7.24164562e-04 9.99972734e-01 -2.42021741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74463043999998 meters 0.261165881501042 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.24 [[ 9.99963429e-01 -5.05061139e-03 -6.90155755e-03 2.30373369e+00] [ 5.06484829e-03 9.99985079e-01 2.04693431e-03 -5.73953596e-02] [ 6.89111630e-03 -2.08181480e-03 9.99974089e-01 -2.43202336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80463043999998 meters 0.2637732881892261 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.25 [[ 0.99997502 -0.00412553 -0.0057394 2.35025126] [ 0.00413967 0.99998842 0.00245372 -0.05966194] [ 0.00572921 -0.00247742 0.99998052 -0.24526882] [ 0. 0. 0. 1. ]] SLAMing on 226.86463043999998 meters 0.26439405398903276 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.25 [[ 0.99997579 -0.00404876 -0.00566006 2.35015919] [ 0.00406392 0.99998818 0.0026699 -0.06051835] [ 0.00564918 -0.00269284 0.99998042 -0.24542204] [ 0. 0. 0. 1. ]] SLAMing on 226.92463044 meters 0.2646625041450729 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99961046e-01 5.02359561e-03 -7.25737701e-03 2.33061836e+00] [-5.00807438e-03 9.99985137e-01 2.15527600e-03 -6.10771137e-02] [ 7.26809638e-03 -2.11884656e-03 9.99971342e-01 -2.46490279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98463044 meters 0.2640916492243722 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99957907e-01 4.98124689e-03 -7.70531916e-03 2.33217860e+00] [-4.96737967e-03 9.99986010e-01 1.81778763e-03 -5.89983026e-02] [ 7.71426621e-03 -1.77943587e-03 9.99968661e-01 -2.47577754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04463044 meters 0.26552831923267994 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99957710e-01 4.78496686e-03 -7.85381806e-03 2.33274289e+00] [-4.77476797e-03 9.99987734e-01 1.31682793e-03 -5.66092666e-02] [ 7.86002270e-03 -1.27927208e-03 9.99968291e-01 -2.47936726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10463044 meters 0.26462420646875623 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99957023e-01 4.79113245e-03 -7.93710440e-03 2.33276637e+00] [-4.78066170e-03 9.99987678e-01 1.33766318e-03 -5.65983505e-02] [ 7.94341552e-03 -1.29966108e-03 9.99967606e-01 -2.47636015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16463044 meters 0.2652667524440436 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99955420e-01 4.84583398e-03 -8.10408887e-03 2.33317016e+00] [-4.83403968e-03 9.99987229e-01 1.47430751e-03 -5.72412956e-02] [ 8.11112962e-03 -1.43506630e-03 9.99966075e-01 -2.47596975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22463044 meters 0.265048638064308 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99953591e-01 4.89365063e-03 -8.29867001e-03 2.33356795e+00] [-4.88068401e-03 9.99986838e-01 1.58202659e-03 -5.77121007e-02] [ 8.30630267e-03 -1.54144999e-03 9.99964314e-01 -2.47490203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28463044 meters 0.2648134032807448 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99952551e-01 4.94680734e-03 -8.39199210e-03 2.33363899e+00] [-4.93271673e-03 9.99986391e-01 1.69892132e-03 -5.82485329e-02] [ 8.40028213e-03 -1.65744538e-03 9.99963343e-01 -2.47235523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34463044 meters 0.2649234489266734 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99951085e-01 4.87573539e-03 -8.60550451e-03 2.33414703e+00] [-4.86286360e-03 9.99987027e-01 1.51605265e-03 -5.74121624e-02] [ 8.61278474e-03 -1.47413110e-03 9.99961823e-01 -2.47290715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40463044 meters 0.26525002560838074 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.25 [[ 9.99948970e-01 4.82794083e-03 -8.87398167e-03 2.33487773e+00] [-4.81571804e-03 9.99987427e-01 1.39822610e-03 -5.69247651e-02] [ 8.88062065e-03 -1.35542015e-03 9.99959648e-01 -2.47503843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46463043999998 meters 0.26653563359736365 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:-0.25 [[ 0.99995872 -0.00320707 -0.00850134 2.35481833] [ 0.00322808 0.99999177 0.00245892 -0.05301604] [ 0.00849339 -0.00248626 0.99996084 -0.24633323] [ 0. 0. 0. 1. ]] SLAMing on 227.52463043999998 meters 0.266227830759198 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:-0.25 [[ 0.99995797 -0.00317545 -0.00860041 2.35479776] [ 0.00319733 0.99999168 0.00253139 -0.05334999] [ 0.0085923 -0.00255878 0.99995981 -0.24585959] [ 0. 0. 0. 1. ]] SLAMing on 227.58463043999998 meters 0.26573332784676024 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.25 [[ 0.99995666 -0.00308761 -0.00878325 2.35514101] [ 0.00311174 0.99999142 0.00273461 -0.05432656] [ 0.00877473 -0.00276182 0.99995769 -0.24572271] [ 0. 0. 0. 1. ]] SLAMing on 227.64463044 meters 0.26612220513946033 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.25 [[ 0.99995688 -0.00306296 -0.0087671 2.3550912 ] [ 0.00308755 0.99999133 0.00279311 -0.05456902] [ 0.00875846 -0.00282006 0.99995767 -0.24569529] [ 0. 0. 0. 1. ]] SLAMing on 227.70463044 meters 0.2669230103608581 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.25 [[ 0.99995732 -0.00283242 -0.00879356 2.35482251] [ 0.00286198 0.99999029 0.00334995 -0.05708264] [ 0.00878399 -0.00337497 0.99995572 -0.24503436] [ 0. 0. 0. 1. ]] SLAMing on 227.76463044 meters 0.2668814804988813 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.06, Z:-0.24 [[ 0.9999563 -0.00270937 -0.00894742 2.35509915] [ 0.0027419 0.99998967 0.00362607 -0.05836675] [ 0.0089375 -0.00365044 0.9999534 -0.24485564] [ 0. 0. 0. 1. ]] SLAMing on 227.82463044 meters 0.26829049735669136 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 0.99993998 0.00685241 -0.00854931 2.37748902] [-0.00682312 0.99997077 0.00345091 -0.05722677] [ 0.00857271 -0.00339237 0.9999575 -0.24496204] [ 0. 0. 0. 1. ]] SLAMing on 227.88463044 meters 0.2671836878210897 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 0.99994159 0.00666473 -0.00850854 2.37760474] [-0.0066408 0.99997392 0.0028379 -0.05448772] [ 0.00852723 -0.00278123 0.99995977 -0.24539247] [ 0. 0. 0. 1. ]] SLAMing on 227.94463044 meters 0.2672792179727475 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99943445e-01 6.37241176e-03 -8.51466141e-03 2.37733748e+00] [-6.35514528e-03 9.99977698e-01 2.05337324e-03 -5.12092326e-02] [ 8.52755645e-03 -1.99914520e-03 9.99961641e-01 -2.44935178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00463044 meters 0.26720548138944344 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 9.99942004e-01 6.34069113e-03 -8.70539597e-03 2.37788707e+00] [-6.32370728e-03 9.99978051e-01 1.97709808e-03 -5.09579062e-02] [ 8.71774106e-03 -1.92193304e-03 9.99960153e-01 -2.45134602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06463044 meters 0.26746123488258183 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.24 [[ 9.99963553e-01 -1.62843114e-03 -8.38095683e-03 2.39832590e+00] [ 1.65441507e-03 9.99993844e-01 3.09435535e-03 -4.69555420e-02] [ 8.37586629e-03 -3.10810815e-03 9.99960091e-01 -2.43966933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12463044 meters 0.2669931287492589 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99936100e-01 3.20604908e-03 -1.08405274e-02 2.37912860e+00] [-3.21900131e-03 9.99994126e-01 -1.17755977e-03 -4.65545645e-02] [ 1.08366884e-02 1.21238020e-03 9.99940546e-01 -2.44722744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18463043999998 meters 0.26778091517556546 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 9.99934924e-01 3.12079480e-03 -1.09730861e-02 2.37962044e+00] [-3.13611111e-03 9.99994132e-01 -1.37887746e-03 -4.55987669e-02] [ 1.09687185e-02 1.41320054e-03 9.99938843e-01 -2.45060129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24463043999998 meters 0.2670584161092736 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99933191e-01 3.18970924e-03 -1.11103203e-02 2.37961215e+00] [-3.20342598e-03 9.99994128e-01 -1.21701739e-03 -4.63806320e-02] [ 1.11063732e-02 1.25252717e-03 9.99937538e-01 -2.44492008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30463043999998 meters 0.2676989774766146 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99931503e-01 3.34344359e-03 -1.12165518e-02 2.37971280e+00] [-3.35327073e-03 9.99994010e-01 -8.57436057e-04 -4.79693241e-02] [ 1.12136178e-02 8.94989460e-04 9.99936725e-01 -2.44173908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36463043999998 meters 0.2668456340417224 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.24 [[ 9.99932575e-01 3.57319839e-03 -1.10488420e-02 2.37926173e+00] [-3.57700994e-03 9.99993550e-01 -3.25230649e-04 -5.03771743e-02] [ 1.10476086e-02 3.64730538e-04 9.99938907e-01 -2.43941974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42463044 meters 0.2684844936325309 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.24 [[ 9.99932679e-01 -4.65452024e-03 -1.06288770e-02 2.39974748e+00] [ 4.66033185e-03 9.99989004e-01 5.22073370e-04 -4.76114679e-02] [ 1.06263302e-02 -5.71572318e-04 9.99943376e-01 -2.43295163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48463044 meters 0.2690593563442467 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.05, Z:-0.24 [[ 9.99931220e-01 -4.64295219e-03 -1.07702885e-02 2.40051716e+00] [ 4.64892403e-03 9.99989054e-01 5.29503742e-04 -4.73484055e-02] [ 1.07677122e-02 -5.79537576e-04 9.99941859e-01 -2.44130311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54463044 meters 0.26802090138918067 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99971663e-01 1.91823892e-03 -7.27961811e-03 2.37728105e+00] [-1.92436542e-03 9.99997800e-01 -8.34685360e-04 -5.51423417e-02] [ 7.27800096e-03 8.48670353e-04 9.99973155e-01 -2.44876935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60463044 meters 0.26837239671977275 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99969715e-01 2.11000792e-03 -7.49111099e-03 2.37773736e+00] [-2.11208059e-03 9.99997733e-01 -2.68782745e-04 -5.75286532e-02] [ 7.49052687e-03 2.84596435e-04 9.99971905e-01 -2.44776020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66463044 meters 0.26837483382005045 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99966786e-01 2.21989531e-03 -7.84215489e-03 2.37910365e+00] [-2.21829074e-03 9.99997517e-01 2.13300985e-04 -6.01870500e-02] [ 7.84260892e-03 -1.95897721e-04 9.99969227e-01 -2.45795828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72463044 meters 0.2688860700798556 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99965545e-01 2.34459312e-03 -7.96317952e-03 2.37935103e+00] [-2.34071370e-03 9.99997137e-01 4.96454619e-04 -6.15391831e-02] [ 7.96432071e-03 -4.77797990e-04 9.99968170e-01 -2.45700869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78463044 meters 0.27000673970952893 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99963147e-01 2.40799046e-03 -8.24050655e-03 2.38012786e+00] [-2.40269921e-03 9.99996901e-01 6.51942136e-04 -6.22195814e-02] [ 8.24205088e-03 -6.32118652e-04 9.99965834e-01 -2.45973438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84463044 meters 0.2699398156591652 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99963394e-01 2.48860427e-03 -8.18636201e-03 2.37987260e+00] [-2.48178364e-03 9.99996565e-01 8.43222872e-04 -6.31931946e-02] [ 8.18843233e-03 -8.22875226e-04 9.99966136e-01 -2.45712248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90463044 meters 0.26925691244485916 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99962665e-01 2.51039195e-03 -8.26841988e-03 2.37981637e+00] [-2.50310880e-03 9.99996470e-01 8.91070575e-04 -6.34269174e-02] [ 8.27062763e-03 -8.70340552e-04 9.99965419e-01 -2.45277617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96463043999998 meters 0.269000120293225 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.25 [[ 9.99962570e-01 2.50990355e-03 -8.28004286e-03 2.37983099e+00] [-2.50260651e-03 9.99996471e-01 8.91523347e-04 -6.34137126e-02] [ 8.28225127e-03 -8.70768288e-04 9.99965322e-01 -2.45256825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02463043999998 meters 0.2700703943961699 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99960877e-01 2.61766038e-03 -8.44938651e-03 2.37971492e+00] [-2.60809179e-03 9.99995945e-01 1.14327964e-03 -6.45046103e-02] [ 8.45234497e-03 -1.12119814e-03 9.99963650e-01 -2.44338522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08463043999998 meters 0.27014762346183707 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.24 [[ 9.99960025e-01 2.76709850e-03 -8.50239001e-03 2.37968021e+00] [-2.75443490e-03 9.99995080e-01 1.50076536e-03 -6.61152973e-02] [ 8.50650095e-03 -1.47728608e-03 9.99962728e-01 -2.44014231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14463044 meters 0.27225408456583416 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.24 [[ 9.99958452e-01 2.83421976e-03 -8.66378088e-03 2.37997098e+00] [-2.81997845e-03 9.99994653e-01 1.65554943e-03 -6.68269666e-02] [ 8.66842675e-03 -1.63104897e-03 9.99961098e-01 -2.43869747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20463044 meters 0.27008573543069875 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.07, Z:-0.24 [[ 9.99958377e-01 2.76012849e-03 -8.69632086e-03 2.38019953e+00] [-2.74729935e-03 9.99995121e-01 1.48683850e-03 -6.60584789e-02] [ 8.70038230e-03 -1.46288522e-03 9.99961081e-01 -2.44147595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26463044 meters 0.2708334058334851 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99960281e-01 2.49644566e-03 -8.55592529e-03 2.38026179e+00] [-2.49092302e-03 9.99996682e-01 6.56071371e-04 -6.24718966e-02] [ 8.55753475e-03 -6.34733161e-04 9.99963182e-01 -2.44855903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32463044 meters 0.27128170834534904 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.06, Z:-0.24 [[ 9.99959852e-01 2.11416406e-03 -8.70774372e-03 2.38060201e+00] [-2.11729748e-03 9.99997697e-01 -3.50640555e-04 -5.77082498e-02] [ 8.70698235e-03 3.69063361e-04 9.99962025e-01 -2.44890871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38463044 meters 0.2701956909441852 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.25 [[ 9.99945324e-01 -6.13978401e-03 -8.46479612e-03 2.36085322e+00] [ 6.14711912e-03 9.99980753e-01 8.40798493e-04 -5.37189821e-02] [ 8.45947087e-03 -8.92786632e-04 9.99963819e-01 -2.47006347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44463044 meters 0.27138463473480456 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 9.99973511e-01 1.78934766e-03 -7.05512908e-03 2.37991193e+00] [-1.79759262e-03 9.99997709e-01 -1.16247918e-03 -5.23009478e-02] [ 7.05303284e-03 1.17513064e-03 9.99974437e-01 -2.45532807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50463044 meters 0.2704324835224219 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.25 [[ 9.99953861e-01 -6.35663550e-03 -7.20200682e-03 2.36015961e+00] [ 6.35888605e-03 9.99979740e-01 2.89633610e-04 -4.99893171e-02] [ 7.20001981e-03 -3.35416987e-04 9.99974023e-01 -2.47408902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56463044 meters 0.27174349954306465 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 9.99978587e-01 2.01991318e-03 -6.22455768e-03 2.37976436e+00] [-2.02539736e-03 9.99997566e-01 -8.74878628e-04 -5.20440459e-02] [ 6.22277535e-03 8.87467097e-04 9.99980245e-01 -2.46366966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62463044 meters 0.2724680939273682 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.05, Z:-0.25 [[ 9.99978120e-01 2.06856198e-03 -6.28341580e-03 2.37980279e+00] [-2.07335693e-03 9.99997564e-01 -7.56694147e-04 -5.25603813e-02] [ 6.28183523e-03 7.69705354e-04 9.99979973e-01 -2.46144038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68463043999998 meters 0.26974648298006515 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.05, Z:-0.25 [[ 9.99965563e-01 -6.51996089e-03 -5.13456320e-03 2.35865561e+00] [ 6.52067337e-03 9.99978733e-01 1.22032150e-04 -4.78482440e-02] [ 5.13365836e-03 -1.55508757e-04 9.99986811e-01 -2.47024254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74463043999998 meters 0.2725625949426779 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.04, Z:-0.25 [[ 9.99988459e-01 3.40016301e-03 -3.39414492e-03 2.37996813e+00] [-3.39984294e-03 9.99994216e-01 1.00064702e-04 -4.28154258e-02] [ 3.39446552e-03 -8.85239875e-05 9.99994235e-01 -2.47717902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80463043999998 meters 0.26989128264105056 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.03, Z:-0.25 [[ 9.99987772e-01 -2.32821909e-03 -4.36301169e-03 2.35853679e+00] [ 2.33976138e-03 9.99993772e-01 2.64225250e-03 -3.46036523e-02] [ 4.35683278e-03 -2.65242860e-03 9.99986991e-01 -2.48041331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86463043999998 meters 0.27104236803437914 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.03, Z:-0.25 [[ 9.99982181e-01 5.51812419e-03 -2.27777876e-03 2.37780438e+00] [-5.51694024e-03 9.99984643e-01 5.25736160e-04 -2.92012689e-02] [ 2.28064486e-03 -5.13160422e-04 9.99997268e-01 -2.47078334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92463044 meters 0.2703322351500977 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99985019e-01 5.05519689e-03 -2.09904219e-03 2.37721121e+00] [-5.05625477e-03 9.99987093e-01 -4.98981802e-04 -2.42131240e-02] [ 2.09649265e-03 5.09587619e-04 9.99997673e-01 -2.46882123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98463044 meters 0.2728425929444119 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99994048e-01 -2.65230995e-03 -2.20685390e-03 2.39632676e+00] [ 2.65204132e-03 9.99996476e-01 -1.24643385e-04 -1.30113951e-02] [ 2.20717671e-03 1.18789975e-04 9.99997557e-01 -2.45421370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04463044 meters 0.27274538476401416 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99992957e-01 -2.86971254e-03 -2.41872942e-03 2.39695438e+00] [ 2.86813673e-03 9.99995673e-01 -6.54720045e-04 -1.05735394e-02] [ 2.42059781e-03 6.47778187e-04 9.99996861e-01 -2.45756485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10463044 meters 0.2716415598683718 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99992464e-01 -2.96212581e-03 -2.50936891e-03 2.39750680e+00] [ 2.95992314e-03 9.99995231e-01 -8.81036371e-04 -9.64855630e-03] [ 2.51196669e-03 8.73602193e-04 9.99996463e-01 -2.46426640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16463044 meters 0.27193851729346064 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99993181e-01 -2.81508773e-03 -2.39003742e-03 2.39670371e+00] [ 2.81391719e-03 9.99995919e-01 -4.92976490e-04 -1.13740033e-02] [ 2.39141544e-03 4.86247761e-04 9.99997022e-01 -2.45424574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22463044 meters 0.26988905914932865 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99994006e-01 -2.64251604e-03 -2.23731860e-03 2.39646336e+00] [ 2.64235716e-03 9.99996506e-01 -7.39669089e-05 -1.32927140e-02] [ 2.23750625e-03 6.80546707e-05 9.99997494e-01 -2.45526605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28463044 meters 0.2706711212203219 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99993768e-01 -2.67011891e-03 -2.30966542e-03 2.39677516e+00] [ 2.66981410e-03 9.99996427e-01 -1.35041749e-04 -1.29896055e-02] [ 2.31001774e-03 1.28874530e-04 9.99997324e-01 -2.45797536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34463044 meters 0.2713546783251289 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99993858e-01 -2.74286945e-03 -2.18173998e-03 2.39658599e+00] [ 2.74213124e-03 9.99996182e-01 -3.41276467e-04 -1.20941674e-02] [ 2.18266772e-03 3.35291754e-04 9.99997562e-01 -2.46002243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40463043999998 meters 0.27298159344388423 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99993542e-01 -2.91288219e-03 -2.10485335e-03 2.39656380e+00] [ 2.91116956e-03 9.99995429e-01 -8.16263344e-04 -1.00507534e-02] [ 2.10722141e-03 8.10130488e-04 9.99997452e-01 -2.46316432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46463043999998 meters 0.27220352328930847 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99994153e-01 -1.07012199e-03 -3.24786631e-03 2.40172149e+00] [ 1.07284121e-03 9.99999075e-01 8.35605685e-04 -9.51798196e-03] [ 3.24696910e-03 -8.39085244e-04 9.99994377e-01 -2.49820688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52463043999998 meters 0.2713543695144131 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99994489e-01 -1.00106567e-03 -3.16527415e-03 2.40134605e+00] [ 1.00423689e-03 9.99998995e-01 1.00044701e-03 -1.00435923e-02] [ 3.16426945e-03 -1.00362018e-03 9.99994490e-01 -2.49419133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58463043999998 meters 0.27150372024313335 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99994158e-01 -8.78966654e-04 -3.30330605e-03 2.40153978e+00] [ 8.84278191e-04 9.99998318e-01 1.60682949e-03 -1.30521123e-02] [ 3.30188815e-03 -1.60974114e-03 9.99993253e-01 -2.49133585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64463044 meters 0.270596905412925 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99986016e-01 4.08777503e-03 -3.35525228e-03 2.37961857e+00] [-4.09370499e-03 9.99990068e-01 -1.76240599e-03 -1.85081982e-02] [ 3.34801464e-03 1.77611676e-03 9.99992818e-01 -2.49596138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70463044 meters 0.27134951465254115 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99984428e-01 4.31610940e-03 -3.53771931e-03 2.38024969e+00] [-4.32046326e-03 9.99989918e-01 -1.22398126e-03 -2.09490364e-02] [ 3.53240080e-03 1.23924679e-03 9.99992993e-01 -2.49912641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76463044 meters 0.2717177132334814 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99984161e-01 4.32731277e-03 -3.59901583e-03 2.38019422e+00] [-4.33162879e-03 9.99989908e-01 -1.19229154e-03 -2.12055384e-02] [ 3.59382009e-03 1.20786226e-03 9.99992813e-01 -2.49568836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82463044 meters 0.27267519069512725 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99984899e-01 4.26006830e-03 -3.47170500e-03 2.38022057e+00] [-4.26485702e-03 9.99989963e-01 -1.37312234e-03 -2.03621611e-02] [ 3.46582055e-03 1.38790793e-03 9.99993031e-01 -2.50103489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88463044 meters 0.2731456685353269 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99988587e-01 -3.62705839e-03 -3.10977241e-03 2.39982801e+00] [ 3.62574438e-03 9.99993335e-01 -4.28077055e-04 -1.49080675e-02] [ 3.11130435e-03 4.16796929e-04 9.99995073e-01 -2.49168697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94463044 meters 0.2733567038354173 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.01, Z:-0.25 [[ 9.99988448e-01 -3.68669123e-03 -3.08409969e-03 2.39963726e+00] [ 3.68495388e-03 9.99993049e-01 -5.68818936e-04 -1.42836589e-02] [ 3.08617531e-03 5.57447600e-04 9.99995082e-01 -2.48953865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00463044 meters 0.27396100408175816 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99987202e-01 3.82728956e-03 -3.30863957e-03 2.38081060e+00] [-3.83483607e-03 9.99990053e-01 -2.27752343e-03 -1.73711356e-02] [ 3.29988992e-03 2.29018237e-03 9.99991933e-01 -2.51304530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06463044 meters 0.27219756313851406 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 0.99998759 0.00373919 -0.00329357 2.38062463] [-0.00374737 0.99998989 -0.00248363 -0.01635722] [ 0.00328425 0.00249594 0.99999149 -0.25102139] [ 0. 0. 0. 1. ]] SLAMing on 231.12463044 meters 0.27257714194388516 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 0.99998819 0.00375664 -0.00308483 2.38001594] [-0.00376419 0.99998992 -0.00244761 -0.01648654] [ 0.0030756 0.0024592 0.99999225 -0.25068159] [ 0. 0. 0. 1. ]] SLAMing on 231.18463043999998 meters 0.27174636053529944 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 0.99998769 0.00377073 -0.00322578 2.38064073] [-0.00377849 0.99998997 -0.00240317 -0.01674636] [ 0.00321669 0.00241533 0.99999191 -0.25124031] [ 0. 0. 0. 1. ]] SLAMing on 231.24463043999998 meters 0.27214406648152367 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.25 [[ 9.99987497e-01 3.85503980e-03 -3.18495543e-03 2.38059505e+00] [-3.86201849e-03 9.99990149e-01 -2.18790516e-03 -1.75679062e-02] [ 3.17648959e-03 2.20017816e-03 9.99992535e-01 -2.51257556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30463043999998 meters 0.27026029912534727 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.25 [[ 9.99983743e-01 -5.13243682e-03 -2.48450719e-03 2.35802362e+00] [ 5.12860951e-03 9.99985656e-01 -1.54439845e-03 -1.74652482e-02] [ 2.49239808e-03 1.53163128e-03 9.99995721e-01 -2.51743146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36463043999998 meters 0.27133244827393477 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.26 [[ 9.99987782e-01 -3.06909462e-03 -3.87501471e-03 2.36397486e+00] [ 3.07139774e-03 9.99995110e-01 5.88540290e-04 -1.91457238e-02] [ 3.87318948e-03 -6.00434811e-04 9.99992319e-01 -2.55695443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42463044 meters 0.2720946814725498 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.26 [[ 9.99985936e-01 -3.31908548e-03 -4.13653786e-03 2.36461473e+00] [ 3.31857300e-03 9.99994485e-01 -1.30748653e-04 -1.63926794e-02] [ 4.13694901e-03 1.17019411e-04 9.99991436e-01 -2.55993726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48463044 meters 0.27390359582841417 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:-0.26 [[ 9.99983339e-01 4.96692009e-03 -2.94149792e-03 2.38527637e+00] [-4.97146539e-03 9.99986456e-01 -1.53994381e-03 -1.33653812e-02] [ 2.93380930e-03 1.55454170e-03 9.99994488e-01 -2.55421681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54463044 meters 0.27320332836246497 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:-0.26 [[ 9.99995158e-01 -3.10439970e-03 -2.14896375e-04 2.36443329e+00] [ 3.10415424e-03 9.99994540e-01 -1.13329103e-03 -3.64941308e-03] [ 2.18413390e-04 1.13261847e-03 9.99999335e-01 -2.57946087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60463044 meters 0.27402069753789 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.00, Z:-0.26 [[ 9.99994275e-01 -3.38367522e-03 -2.53126302e-05 2.36398264e+00] [ 3.38362153e-03 9.99992501e-01 -1.88407495e-03 -3.82870815e-04] [ 3.16875381e-05 1.88397852e-03 9.99998225e-01 -2.57985444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66463044 meters 0.27481573773762913 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99998638e-01 -1.14120915e-03 -1.19270417e-03 2.36814639e+00] [ 1.14037747e-03 9.99999106e-01 -6.97756899e-04 7.40251531e-03] [ 1.19349939e-03 6.96395815e-04 9.99999045e-01 -2.60299544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72463044 meters 0.2738694452881809 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99998347e-01 -1.41049028e-03 -1.14771042e-03 2.36791642e+00] [ 1.40896536e-03 9.99998125e-01 -1.32839060e-03 1.01913670e-02] [ 1.14958195e-03 1.32677132e-03 9.99998459e-01 -2.60139298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78463044 meters 0.27374118557164423 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99998081e-01 -1.64454944e-03 -1.06479832e-03 2.36784120e+00] [ 1.64257494e-03 9.99996935e-01 -1.85257526e-03 1.28564083e-02] [ 1.06784171e-03 1.85082269e-03 9.99997717e-01 -2.60380785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84463044 meters 0.27330925092002867 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99997766e-01 -1.76102171e-03 -1.16912290e-03 2.36839413e+00] [ 1.75849384e-03 9.99996122e-01 -2.15971152e-03 1.42239896e-02] [ 1.17292166e-03 2.15765080e-03 9.99996984e-01 -2.61002552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90463043999998 meters 0.2721482843649328 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99997835e-01 -1.70940624e-03 -1.18624098e-03 2.36825460e+00] [ 1.70699874e-03 9.99996488e-01 -2.02757325e-03 1.36061430e-02] [ 1.18970276e-03 2.02554395e-03 9.99997241e-01 -2.60632812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96463043999998 meters 0.27337120050325314 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99997942e-01 -1.63921686e-03 -1.19504003e-03 2.36849125e+00] [ 1.63700408e-03 9.99996948e-01 -1.85027521e-03 1.28164701e-02] [ 1.19806938e-03 1.84831512e-03 9.99997574e-01 -2.60966191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02463043999998 meters 0.27329225878815094 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99997848e-01 -1.72356544e-03 -1.15439883e-03 2.36882496e+00] [ 1.72118444e-03 9.99996396e-01 -2.06036991e-03 1.37390266e-02] [ 1.15794585e-03 2.05837855e-03 9.99997211e-01 -2.61785090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08463043999998 meters 0.27509189764996445 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.27 [[ 9.99997201e-01 -1.88998223e-04 -2.35835640e-03 2.37376990e+00] [ 1.87077262e-04 9.99999651e-01 -8.14727754e-04 1.44444382e-02] [ 2.35850956e-03 8.14284279e-04 9.99996887e-01 -2.65074841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14463044 meters 0.2743420688973323 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.27 [[ 9.99996953e-01 -2.65628331e-04 -2.45444888e-03 2.37412866e+00] [ 2.63192484e-04 9.99999473e-01 -9.92690945e-04 1.52681534e-02] [ 2.45471127e-03 9.92041928e-04 9.99996495e-01 -2.65365756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20463044 meters 0.27437842563856135 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.27 [[ 9.99996773e-01 -4.26972922e-04 -2.50445765e-03 2.37435858e+00] [ 4.23523333e-04 9.99998961e-01 -1.37774836e-03 1.69763151e-02] [ 2.50504331e-03 1.37668322e-03 9.99995915e-01 -2.65604288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26463044 meters 0.2753401596698821 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.27 [[ 9.99996416e-01 -5.45439114e-04 -2.62118629e-03 2.37465410e+00] [ 5.41064323e-04 9.99998460e-01 -1.66943148e-03 1.82127312e-02] [ 2.62209283e-03 1.66800727e-03 9.99995171e-01 -2.65650242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32463044 meters 0.2749588277725925 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.27 [[ 9.99996415e-01 -7.54214618e-04 -2.56939648e-03 2.37429922e+00] [ 7.48690876e-04 9.99997408e-01 -2.15010496e-03 2.05532896e-02] [ 2.57101146e-03 2.14817357e-03 9.99994388e-01 -2.65260528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38463044 meters 0.27267070370868557 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.26 [[ 9.99965943e-01 -7.14699028e-03 -4.12724200e-03 2.35206320e+00] [ 7.14867187e-03 9.99974371e-01 3.92826374e-04 2.13027038e-02] [ 4.12432870e-03 -4.22317294e-04 9.99991406e-01 -2.63802309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44463044 meters 0.27437085863997673 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.26 [[ 9.99992674e-01 1.25719720e-03 -3.61546019e-03 2.37339239e+00] [-1.25908510e-03 9.99999072e-01 -5.19943552e-04 2.07707882e-02] [ 3.61480316e-03 5.24491914e-04 9.99993329e-01 -2.63359088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50463044 meters 0.2724889176494814 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.26 [[ 9.99985168e-01 -5.32363868e-03 -1.14970474e-03 2.34585964e+00] [ 5.32581494e-03 9.99984016e-01 1.89819186e-03 2.11416763e-02] [ 1.13958107e-03 -1.90428682e-03 9.99997538e-01 -2.61103760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56463044 meters 0.2718299711785384 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.26 [[ 9.99984908e-01 -5.39992122e-03 -1.01268437e-03 2.34549115e+00] [ 5.40163443e-03 9.99983972e-01 1.69672424e-03 2.20601214e-02] [ 1.00350596e-03 -1.70216879e-03 9.99998048e-01 -2.60997645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62463044 meters 0.27214941973992574 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.26 [[ 9.99984604e-01 -5.45823285e-03 -9.99903318e-04 2.34571193e+00] [ 5.45975208e-03 9.99983936e-01 1.52300760e-03 2.29728723e-02] [ 9.91574325e-04 -1.52844337e-03 9.99998340e-01 -2.61442063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68463043999998 meters 0.27331047605827635 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.26 [[ 9.99996531e-01 2.58638591e-03 -4.99188873e-04 2.36542200e+00] [-2.58594478e-03 9.99996267e-01 8.82338402e-04 1.64153503e-02] [ 5.01469078e-04 -8.81044466e-04 9.99999486e-01 -2.59801478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74463043999998 meters 0.2721436020210311 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99995512e-01 2.92217012e-03 -6.60608969e-04 2.36575336e+00] [-2.92087559e-03 9.99993829e-01 1.95214454e-03 1.17819625e-02] [ 6.66309391e-04 -1.95020622e-03 9.99997876e-01 -2.59703255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80463043999998 meters 0.2707062556209519 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.26 [[ 9.99994681e-01 3.05246420e-03 -1.14911519e-03 2.36750744e+00] [-3.04897269e-03 9.99990767e-01 3.02802014e-03 5.72218160e-03] [ 1.15834751e-03 -3.02450042e-03 9.99994755e-01 -2.60859306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86463043999998 meters 0.27183395643259417 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.26 [[ 9.99998729e-01 -9.53048440e-04 -1.27791251e-03 2.36832774e+00] [ 9.52409014e-04 9.99999421e-01 -5.00883033e-04 3.02272478e-03] [ 1.27838914e-03 4.99665301e-04 9.99999058e-01 -2.61766294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92463044 meters 0.2732588221244718 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.26 [[ 9.99998822e-01 -7.59513778e-04 -1.33357487e-03 2.36910452e+00] [ 7.59453877e-04 9.99999711e-01 -4.54234449e-05 7.06445110e-04] [ 1.33360898e-03 4.44106028e-05 9.99999110e-01 -2.62848129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98463044 meters 0.2726840980281847 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.00, Z:-0.26 [[ 9.99998765e-01 -3.39341213e-04 -1.53467859e-03 2.36965349e+00] [ 3.41036839e-04 9.99999332e-01 1.10474663e-03 -4.40427390e-03] [ 1.53430267e-03 -1.10526865e-03 9.99998212e-01 -2.62898539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04463044 meters 0.27194794928471533 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.26 [[ 9.99999006e-01 5.76061658e-05 -1.40899686e-03 2.36916081e+00] [-5.43837705e-05 9.99997383e-01 2.28694523e-03 -9.89262765e-03] [ 1.40912491e-03 -2.28686633e-03 9.99996392e-01 -2.62466880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10463044 meters 0.27240045756070563 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.26 [[ 9.99999101e-01 2.61895469e-04 -1.31483035e-03 2.36907751e+00] [-2.58252170e-04 9.99996129e-01 2.77033228e-03 -1.20610809e-02] [ 1.31555080e-03 -2.76999023e-03 9.99995298e-01 -2.62618242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16463044 meters 0.2732054831755122 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.26 [[ 9.99998906e-01 3.99435094e-04 -1.42391626e-03 2.36955993e+00] [-3.94982134e-04 9.99995036e-01 3.12617317e-03 -1.36456550e-02] [ 1.42515790e-03 -3.12560733e-03 9.99994100e-01 -2.62975890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22463044 meters 0.27277045371284053 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.26 [[ 9.99998720e-01 4.47699946e-04 -1.53580606e-03 2.36984387e+00] [-4.42711815e-04 9.99994631e-01 3.24669527e-03 -1.41567126e-02] [ 1.53725136e-03 -3.24601120e-03 9.99993550e-01 -2.63032743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28463044 meters 0.2726636983040562 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.26 [[ 9.99998993e-01 5.06979695e-04 -1.32587890e-03 2.36921623e+00] [-5.02465502e-04 9.99994084e-01 3.40279942e-03 -1.47717664e-02] [ 1.32759621e-03 -3.40212978e-03 9.99993331e-01 -2.62672143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34463044 meters 0.2729941804234273 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.26 [[ 9.99999143e-01 5.59109091e-04 -1.18353897e-03 2.36886139e+00] [-5.54923994e-04 9.99993603e-01 3.53346720e-03 -1.52883301e-02] [ 1.18550699e-03 -3.53280740e-03 9.99993057e-01 -2.62578785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40463043999998 meters 0.2722841895128503 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.26 [[ 9.99999022e-01 7.53809165e-04 -1.17814955e-03 2.36885262e+00] [-7.49071097e-04 9.99991652e-01 4.01689875e-03 -1.74417215e-02] [ 1.18116769e-03 -4.01601230e-03 9.99991238e-01 -2.62518290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46463043999998 meters 0.2722160141822279 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.26 [[ 9.99998539e-01 1.03069311e-03 -1.36342661e-03 2.36966194e+00] [-1.02414328e-03 9.99987975e-01 4.79595758e-03 -2.10252996e-02] [ 1.36835338e-03 -4.79455423e-03 9.99987570e-01 -2.63166964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52463043999998 meters 0.272474297051184 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.26 [[ 9.99998025e-01 1.38146416e-03 -1.42868094e-03 2.37001159e+00] [-1.37342339e-03 9.99983299e-01 5.61385575e-03 -2.49313198e-02] [ 1.43641242e-03 -5.61188248e-03 9.99983222e-01 -2.63379430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58463043999998 meters 0.2723171751576875 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.26 [[ 9.99998309e-01 1.37670447e-03 -1.21938617e-03 2.36968252e+00] [-1.36984357e-03 9.99983328e-01 5.60959668e-03 -2.48098121e-02] [ 1.22708859e-03 -5.60791683e-03 9.99983523e-01 -2.63628109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64463044 meters 0.273205514687186 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.03, Z:-0.26 [[ 9.99998382e-01 1.37884251e-03 -1.15541329e-03 2.37014336e+00] [-1.37228790e-03 9.99983071e-01 5.65467445e-03 -2.51259724e-02] [ 1.16319063e-03 -5.65307974e-03 9.99983345e-01 -2.64570332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70463044 meters 0.272876613477493 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.03, Z:-0.26 [[ 9.99997907e-01 1.56675010e-03 -1.31604476e-03 2.37065777e+00] [-1.55867698e-03 9.99980100e-01 6.11317102e-03 -2.72522755e-02] [ 1.32559638e-03 -6.11110694e-03 9.99980448e-01 -2.64800687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76463044 meters 0.27255628658178976 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.03, Z:-0.27 [[ 9.99996938e-01 -2.19558861e-03 -1.14192151e-03 2.37077609e+00] [ 2.19912518e-03 9.99992761e-01 3.10505048e-03 -3.26541694e-02] [ 1.13509583e-03 -3.10755220e-03 9.99994527e-01 -2.65327136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82463044 meters 0.2709840776684361 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.27 [[ 9.99997710e-01 -1.81492605e-03 -1.13403697e-03 2.37076840e+00] [ 1.81966855e-03 9.99989545e-01 4.19501442e-03 -3.76136363e-02] [ 1.12641147e-03 -4.19706838e-03 9.99990558e-01 -2.65302739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88463044 meters 0.2714693368823632 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.27 [[ 9.99997910e-01 -1.76648440e-03 -1.02944906e-03 2.37042932e+00] [ 1.77091683e-03 9.99989097e-01 4.32074968e-03 -3.81093008e-02] [ 1.02180530e-03 -4.32256371e-03 9.99990136e-01 -2.65075490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94463044 meters 0.27205604612006334 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.04, Z:-0.27 [[ 9.99997687e-01 -1.87899394e-03 -1.04655351e-03 2.37090864e+00] [ 1.88317262e-03 9.99990202e-01 4.00622444e-03 -3.67562359e-02] [ 1.03901559e-03 -4.00818601e-03 9.99991427e-01 -2.65877765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00463044 meters 0.2737303929752088 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.03, Z:-0.27 [[ 9.99997161e-01 -2.10883449e-03 -1.10961292e-03 2.37186690e+00] [ 2.11233797e-03 9.99992758e-01 3.16575187e-03 -3.28607934e-02] [ 1.10292884e-03 -3.16808676e-03 9.99994373e-01 -2.67478359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06463044 meters 0.2721454677776454 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.03, Z:-0.27 [[ 9.99996659e-01 -2.41431345e-03 -9.24084602e-04 2.37138163e+00] [ 2.41651222e-03 9.99994234e-01 2.38573344e-03 -2.93701624e-02] [ 9.18319366e-04 -2.38795853e-03 9.99996727e-01 -2.67477172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12463044 meters 0.2730016886762611 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.02, Z:-0.27 [[ 9.99995058e-01 -2.99154523e-03 -9.67053810e-04 2.37135484e+00] [ 2.99269499e-03 9.99994814e-01 1.18967566e-03 -2.32449918e-02] [ 9.63489827e-04 -1.19256388e-03 9.99998825e-01 -2.67433525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18463043999998 meters 0.2723727784123064 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.27 [[ 9.99997654e-01 -4.54136234e-04 -2.11785698e-03 2.37514687e+00] [ 4.60091064e-04 9.99995940e-01 2.81208508e-03 -1.66401088e-02] [ 2.11657132e-03 -2.81305289e-03 9.99993803e-01 -2.69299890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24463043999998 meters 0.27293524835281785 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.27 [[ 9.99997351e-01 -6.34622466e-04 -2.21237614e-03 2.37555374e+00] [ 6.39835628e-04 9.99997019e-01 2.35645220e-03 -1.46967757e-02] [ 2.21087409e-03 -2.35786152e-03 9.99994776e-01 -2.69675675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30463043999998 meters 0.271058884889098 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.27 [[ 9.99968245e-01 7.54719771e-03 -2.55896996e-03 2.35572073e+00] [-7.54476271e-03 9.99971077e-01 9.59877133e-04 -1.65556557e-02] [ 2.56614033e-03 -9.40539831e-04 9.99996265e-01 -2.69769127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36463043999998 meters 0.2711677198731254 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.27 [[ 0.99999154 0.00319124 -0.00259415 2.35574164] [-0.00319999 0.99998918 -0.0033754 -0.01583793] [ 0.00258335 0.00338368 0.99999094 -0.26972713] [ 0. 0. 0. 1. ]] SLAMing on 234.42463044 meters 0.2715421571284433 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.27 [[ 9.99983841e-01 -5.54075630e-03 -1.27161281e-03 2.37617042e+00] [ 5.53774960e-03 9.99981891e-01 -2.35594398e-03 -1.87027799e-02] [ 1.28464350e-03 2.34886404e-03 9.99996416e-01 -2.68749300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48463044 meters 0.2714513697673098 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.02, Z:-0.27 [[ 9.99985815e-01 -5.13664734e-03 -1.40905801e-03 2.37630866e+00] [ 5.13476129e-03 9.99985921e-01 -1.33888500e-03 -2.33170927e-02] [ 1.41591555e-03 1.33163083e-03 9.99998111e-01 -2.68402798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54463044 meters 0.2708521275013125 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:-0.27 [[ 9.99996973e-01 -5.13404833e-04 2.40650598e-03 2.35333583e+00] [ 5.20837856e-04 9.99995093e-01 -3.08911168e-03 -4.12629345e-02] [-2.40490820e-03 3.09035573e-03 9.99992333e-01 -2.68943835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60463044 meters 0.27111500308376674 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.05, Z:-0.27 [[ 9.99997548e-01 1.37438282e-04 2.21037480e-03 2.35383834e+00] [-1.34182352e-04 9.99998906e-01 -1.47310243e-03 -4.83149789e-02] [-2.21057485e-03 1.47280223e-03 9.99996472e-01 -2.68961156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66463044 meters 0.270960465416303 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.27 [[ 9.99997246e-01 1.11935477e-03 2.06280077e-03 2.35438336e+00] [-1.12129565e-03 9.99998930e-01 9.39979908e-04 -6.21790214e-02] [-2.06174640e-03 -9.42290329e-04 9.99997431e-01 -2.69109752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72463044 meters 0.27187916656804834 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.07, Z:-0.27 [[ 9.99996604e-01 -2.10424840e-03 1.53735869e-03 2.35607364e+00] [ 2.10621974e-03 9.99996960e-01 -1.28179860e-03 -6.96909955e-02] [-1.53465679e-03 1.28503226e-03 9.99997997e-01 -2.69745913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78463044 meters 0.2732472681881965 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:-0.27 [[ 9.99998013e-01 -1.46869361e-03 1.34779164e-03 2.35669645e+00] [ 1.46871074e-03 9.99998921e-01 -1.17158751e-05 -7.63371618e-02] [-1.34777298e-03 1.36953679e-05 9.99999092e-01 -2.69900484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84463044 meters 0.2737109422689754 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.27 [[ 9.99994851e-01 -3.10783309e-03 -8.00083601e-04 2.36255021e+00] [ 3.10744508e-03 9.99995054e-01 -4.85757876e-04 -8.81166710e-02] [ 8.01589298e-04 4.83269158e-04 9.99999562e-01 -2.71278398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90463043999998 meters 0.27330314162805486 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.27 [[ 9.99990397e-01 4.28348212e-03 -9.26422748e-04 2.34503605e+00] [-4.28436459e-03 9.99990368e-01 -9.52685445e-04 -1.01032453e-01] [ 9.22333014e-04 9.56645428e-04 9.99999117e-01 -2.73980597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96463043999998 meters 0.2749111373694187 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.11, Z:-0.27 [[ 9.99993843e-01 -3.29200537e-03 1.21546716e-03 2.36500618e+00] [ 3.29096788e-03 9.99994220e-01 8.54589506e-04 -1.05502892e-01] [-1.21827345e-03 -8.50584181e-04 9.99998896e-01 -2.73647691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02463043999998 meters 0.27489628113291986 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:-0.27 [[ 9.99996432e-01 2.61971331e-03 -5.22726967e-04 2.34280561e+00] [-2.62043461e-03 9.99995609e-01 -1.38399631e-03 -1.10892321e-01] [ 5.19098998e-04 1.38536114e-03 9.99998906e-01 -2.72184499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08463043999998 meters 0.2748591285158586 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:-0.27 [[ 9.99995919e-01 2.78867358e-03 -6.21468703e-04 2.34289984e+00] [-2.78928666e-03 9.99995622e-01 -9.87831939e-04 -1.12660348e-01] [ 6.18711242e-04 9.89561361e-04 9.99999319e-01 -2.71909062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14463044 meters 0.2746727642846525 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.12, Z:-0.27 [[ 9.99995785e-01 2.89767653e-03 1.83239473e-04 2.34015311e+00] [-2.89762870e-03 9.99995768e-01 -2.60767792e-04 -1.16020869e-01] [-1.83994318e-04 2.60235732e-04 9.99999949e-01 -2.69547730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20463044 meters 0.27291983423042654 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.12, Z:-0.27 [[ 9.99995057e-01 3.12170083e-03 3.74766486e-04 2.33939792e+00] [-3.12185509e-03 9.99995042e-01 4.11730269e-04 -1.18597159e-01] [-3.73479329e-04 -4.12898201e-04 9.99999845e-01 -2.68834393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26463044 meters 0.27304601608057877 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.12, Z:-0.27 [[ 9.99994706e-01 3.24191585e-03 2.78236763e-04 2.33957375e+00] [-3.24212158e-03 9.99994469e-01 7.42179008e-04 -1.20015539e-01] [-2.75829142e-04 -7.43077157e-04 9.99999686e-01 -2.68713518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32463044 meters 0.2717105990725405 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.12, Z:-0.27 [[ 9.99972709e-01 -7.07711023e-03 -2.12052541e-03 2.32043927e+00] [ 7.07885662e-03 9.99974611e-01 8.17192489e-04 -1.24058683e-01] [ 2.11468821e-03 -8.32181082e-04 9.99997418e-01 -2.69201753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38463044 meters 0.27241483490007495 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:-0.27 [[ 0.9999808 -0.00521755 -0.00334423 2.32567095] [ 0.00522662 0.99998267 0.00271063 -0.12554067] [ 0.00333003 -0.00272806 0.99999073 -0.27275003] [ 0. 0. 0. 1. ]] SLAMing on 235.44463044 meters 0.27280058985100747 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.12, Z:-0.27 [[ 0.99998019 -0.0053295 -0.00335021 2.32576847] [ 0.00533773 0.99998275 0.00245145 -0.1243387 ] [ 0.00333709 -0.00246928 0.99999138 -0.27291191] [ 0. 0. 0. 1. ]] SLAMing on 235.50463044 meters 0.27214927809920925 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:-0.27 [[ 0.99998119 -0.00516654 -0.00330583 2.32513288] [ 0.00517617 0.99998236 0.00291201 -0.12605361] [ 0.00329073 -0.00292907 0.9999903 -0.27190234] [ 0. 0. 0. 1. ]] SLAMing on 235.56463044 meters 0.2718959435672789 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:-0.27 [[ 0.99998183 -0.00493523 -0.00346275 2.32542967] [ 0.00494819 0.99998074 0.00374514 -0.12940592] [ 0.0034442 -0.00376221 0.99998699 -0.2717581 ] [ 0. 0. 0. 1. ]] SLAMing on 235.62463044 meters 0.27173220592998193 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.13, Z:-0.27 [[ 0.99997702 -0.00500326 -0.00457404 2.32820538] [ 0.00502402 0.99997709 0.00453734 -0.13426671] [ 0.00455123 -0.00456021 0.99997925 -0.27263275] [ 0. 0. 0. 1. ]] SLAMing on 235.68463043999998 meters 0.27154596081129856 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.14, Z:-0.27 [[ 0.99997602 -0.00489866 -0.00489458 2.32913851] [ 0.00492222 0.9999763 0.00481462 -0.13540069] [ 0.00487088 -0.00483859 0.99997643 -0.2730703 ] [ 0. 0. 0. 1. ]] SLAMing on 235.74463043999998 meters 0.27338074941923574 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:-0.27 [[ 0.9999801 0.00459303 -0.00432363 2.34940053] [-0.00457599 0.99998176 0.00394135 -0.13532222] [ 0.00434166 -0.00392149 0.99998289 -0.27187627] [ 0. 0. 0. 1. ]] SLAMing on 235.80463043999998 meters 0.2729068938319521 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 0.99998135 0.00450994 -0.00411916 2.34890309] [-0.00449474 0.99998309 0.00369037 -0.13417465] [ 0.00413574 -0.00367178 0.99998471 -0.27171312] [ 0. 0. 0. 1. ]] SLAMing on 235.86463043999998 meters 0.2736808303423401 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 0.99998251 0.00430026 -0.00406149 2.34907827] [-0.00428743 0.99998581 0.00316143 -0.13185736] [ 0.00407503 -0.00314396 0.99998675 -0.27219935] [ 0. 0. 0. 1. ]] SLAMing on 235.92463044 meters 0.27362164534315825 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 0.99998248 0.00421337 -0.00415822 2.34935639] [-0.00420106 0.99998678 0.00296476 -0.13092484] [ 0.00417066 -0.00294724 0.99998696 -0.27229802] [ 0. 0. 0. 1. ]] SLAMing on 235.98463044 meters 0.27441115676254746 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 0.99998246 0.00420906 -0.00416754 2.34874168] [-0.00419692 0.99998694 0.00291624 -0.13043509] [ 0.00417976 -0.0028987 0.99998706 -0.27116927] [ 0. 0. 0. 1. ]] SLAMing on 236.04463044 meters 0.2738170099186362 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 9.99991483e-01 -1.75296580e-04 -4.12358881e-03 2.34852417e+00] [ 1.69086324e-04 9.99998851e-01 -1.50633228e-03 -1.29493352e-01] [ 4.12384813e-03 1.50562220e-03 9.99990363e-01 -2.71029548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10463044 meters 0.2743283343760185 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 9.99992204e-01 1.26680257e-05 -3.94853952e-03 2.34827724e+00] [-1.67225787e-05 9.99999473e-01 -1.02681746e-03 -1.31476321e-01] [ 3.94852443e-03 1.02687548e-03 9.99991677e-01 -2.71230027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16463044 meters 0.2738022360212262 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.27 [[ 9.99991981e-01 2.06376767e-04 -3.99942945e-03 2.34861134e+00] [-2.08541145e-04 9.99999832e-01 -5.40762139e-04 -1.33683868e-01] [ 3.99931718e-03 5.41591848e-04 9.99991856e-01 -2.71567659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22463044 meters 0.2739564254218138 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:-0.27 [[ 9.99991267e-01 3.30515917e-04 -4.16608267e-03 2.34916060e+00] [-3.31459781e-04 9.99999920e-01 -2.25870629e-04 -1.35084550e-01] [ 4.16600768e-03 2.27249546e-04 9.99991296e-01 -2.71845673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28463044 meters 0.27359399618756625 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:-0.27 [[ 9.99991459e-01 3.37682735e-04 -4.11912847e-03 2.34893623e+00] [-3.38552618e-04 9.99999921e-01 -2.10485832e-04 -1.35172524e-01] [ 4.11905707e-03 2.11878576e-04 9.99991494e-01 -2.71624703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34463044 meters 0.27375658613228243 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:-0.27 [[ 9.99968640e-01 1.20665965e-03 -7.82703511e-03 2.30887503e+00] [-1.19172154e-03 9.99997460e-01 1.91291091e-03 -1.37240888e-01] [ 7.82932346e-03 -1.90352328e-03 9.99967539e-01 -2.72341240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40463043999998 meters 0.27471089293750545 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:-0.27 [[ 9.99968013e-01 1.30598933e-03 -7.89098255e-03 2.30896514e+00] [-1.28918872e-03 9.99996892e-01 2.13380110e-03 -1.38334590e-01] [ 7.89374475e-03 -2.12355988e-03 9.99966589e-01 -2.72199476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46463043999998 meters 0.27413928203087723 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.14, Z:-0.27 [[ 9.99969089e-01 1.70339726e-03 -7.67595239e-03 2.30797028e+00] [-1.67747811e-03 9.99992875e-01 3.38184234e-03 -1.43416935e-01] [ 7.68165831e-03 -3.36886156e-03 9.99964821e-01 -2.71128536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52463043999998 meters 0.2744316428990555 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99959150e-01 -4.88911673e-04 -9.02552497e-03 2.31242338e+00] [ 5.10962178e-04 9.99996890e-01 2.44098296e-03 -1.52404546e-01] [ 9.02430348e-03 -2.44549494e-03 9.99956290e-01 -2.73282233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58463043999998 meters 0.27504673733463236 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99958803e-01 -2.79338661e-04 -9.07273304e-03 2.31271295e+00] [ 3.05846009e-04 9.99995689e-01 2.92039371e-03 -1.54473481e-01] [ 9.07187815e-03 -2.92304826e-03 9.99954577e-01 -2.73548467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64463044 meters 0.27494426053903376 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.16, Z:-0.27 [[ 9.99961344e-01 -1.70080664e-04 -8.79098007e-03 2.31222273e+00] [ 1.98033103e-04 9.99994928e-01 3.17889993e-03 -1.55292977e-01] [ 8.79039481e-03 -3.18051796e-03 9.99956306e-01 -2.73708816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70463044 meters 0.27593839312715146 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99960019e-01 -2.43954434e-04 -8.93875284e-03 2.31273385e+00] [ 2.70827124e-04 9.99995448e-01 3.00522605e-03 -1.54531680e-01] [ 8.93797901e-03 -3.00752675e-03 9.99955533e-01 -2.74035530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76463044 meters 0.2751584463997479 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99961305e-01 -3.95045451e-04 -8.78814598e-03 2.31253539e+00] [ 4.18319595e-04 9.99996410e-01 2.64667609e-03 -1.52966792e-01] [ 8.78706887e-03 -2.65024993e-03 9.99957881e-01 -2.74304476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82463044 meters 0.2750375516552522 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99961779e-01 -4.13834489e-04 -8.73326464e-03 2.31240128e+00] [ 4.36617570e-04 9.99996506e-01 2.60702494e-03 -1.52704063e-01] [ 8.73215525e-03 -2.61073839e-03 9.99958466e-01 -2.74312295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88463044 meters 0.27564089727679214 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:-0.27 [[ 9.99960382e-01 -3.56125611e-04 -8.89423344e-03 2.31276863e+00] [ 3.80577549e-04 9.99996153e-01 2.74764888e-03 -1.53311473e-01] [ 8.89322072e-03 -2.75092497e-03 9.99956671e-01 -2.74290791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94463044 meters 0.27608585118941875 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 9.99947004e-01 6.70462801e-03 -7.81262817e-03 2.33536603e+00] [-6.70367498e-03 9.99977519e-01 1.48167216e-04 -1.53857141e-01] [ 7.81344594e-03 -9.57860436e-05 9.99969470e-01 -2.75512869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00463044 meters 0.2761876804295758 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 0.99996783 0.00236001 -0.00766659 2.33516403] [-0.00239203 0.99998845 -0.00416913 -0.15315815] [ 0.00765667 0.00418734 0.99996192 -0.27579113] [ 0. 0. 0. 1. ]] SLAMing on 237.06463044 meters 0.2758323558268856 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.9999658 0.00257066 -0.00786101 2.33574632] [-0.00259955 0.9999899 -0.00366723 -0.15550011] [ 0.0078515 0.00368754 0.99996238 -0.27604897] [ 0. 0. 0. 1. ]] SLAMing on 237.12463044 meters 0.2760842793945568 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996589 0.00283432 -0.00775806 2.33557029] [-0.00285816 0.99999122 -0.00306389 -0.1582415 ] [ 0.00774931 0.00308596 0.99996521 -0.27612836] [ 0. 0. 0. 1. ]] SLAMing on 237.18463043999998 meters 0.2763965048874387 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996416 0.00311705 -0.00787202 2.33587379] [-0.00313565 0.99999232 -0.00235269 -0.16154215] [ 0.00786462 0.00237729 0.99996625 -0.27609181] [ 0. 0. 0. 1. ]] SLAMing on 237.24463043999998 meters 0.27636928431521385 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 9.99963022e-01 3.34421907e-03 -7.92281385e-03 2.33605479e+00] [-3.35880291e-03 9.99992688e-01 -1.82815027e-03 -1.63859299e-01] [ 7.91664218e-03 1.85469384e-03 9.99966943e-01 -2.76190972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30463043999998 meters 0.27510492070166404 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.28 [[ 9.99962909e-01 3.52863967e-03 -7.85676421e-03 2.33557837e+00] [-3.53997691e-03 9.99992712e-01 -1.42955306e-03 -1.65646790e-01] [ 7.85166258e-03 1.45731280e-03 9.99968113e-01 -2.75632707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36463043999998 meters 0.27514493800226075 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.28 [[ 9.99963821e-01 3.55169246e-03 -7.72934638e-03 2.33519931e+00] [-3.56241334e-03 9.99992711e-01 -1.37371065e-03 -1.65879312e-01] [ 7.72441104e-03 1.40119608e-03 9.99969185e-01 -2.75411889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42463044 meters 0.276702829144934 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 9.99962873e-01 3.33526721e-03 -7.94529801e-03 2.33612952e+00] [-3.35083185e-03 9.99992492e-01 -1.94647009e-03 -1.63749287e-01] [ 7.93874636e-03 1.97302118e-03 9.99966541e-01 -2.76276060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48463044 meters 0.27679047311069266 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996329 0.00313593 -0.00797383 2.33644966] [-0.00315557 0.99999201 -0.00245207 -0.16161422] [ 0.00796607 0.00247714 0.9999652 -0.2767484 ] [ 0. 0. 0. 1. ]] SLAMing on 237.54463044 meters 0.2762022421150272 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996485 0.00295212 -0.00784775 2.33616467] [-0.002975 0.99999135 -0.00290598 -0.15954621] [ 0.0078391 0.00292922 0.99996498 -0.27676908] [ 0. 0. 0. 1. ]] SLAMing on 237.60463044 meters 0.27613519866361497 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996485 0.00267906 -0.00794549 2.33694549] [-0.00270724 0.99999007 -0.00353874 -0.15682462] [ 0.00793593 0.00356013 0.99996217 -0.2777748 ] [ 0. 0. 0. 1. ]] SLAMing on 237.66463044 meters 0.27695662261653853 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.28 [[ 0.99996507 0.00251246 -0.00797169 2.33703483] [-0.00254359 0.99998917 -0.00389738 -0.15507777] [ 0.00796181 0.00391752 0.99996063 -0.27781118] [ 0. 0. 0. 1. ]] SLAMing on 237.72463044 meters 0.2759293246677478 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 0.99996729 0.00245556 -0.00770684 2.33592052] [-0.00248743 0.99998838 -0.00412832 -0.15365012] [ 0.00769662 0.00414736 0.99996178 -0.27684039] [ 0. 0. 0. 1. ]] SLAMing on 237.78463044 meters 0.275105133406511 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 0.99996761 0.00240121 -0.00768142 2.33574608] [-0.00243387 0.99998803 -0.00424526 -0.15300088] [ 0.00767114 0.00426382 0.99996149 -0.27662985] [ 0. 0. 0. 1. ]] SLAMing on 237.84463044 meters 0.27488650322690417 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.15, Z:-0.28 [[ 9.99966579e-01 2.26511458e-03 -7.85557474e-03 2.33653791e+00] [-2.30092600e-03 9.99986989e-01 -4.55268868e-03 -1.51737859e-01] [ 7.84516017e-03 4.57061163e-03 9.99958781e-01 -2.77357669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90463043999998 meters 0.2762818240454696 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.15, Z:-0.28 [[ 9.99967949e-01 -1.92112069e-03 -7.77234814e-03 2.35902194e+00] [ 1.91368424e-03 9.99997704e-01 -9.64107860e-04 -1.46155690e-01] [ 7.77418247e-03 9.49203140e-04 9.99969330e-01 -2.77510064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96463043999998 meters 0.2758567305515551 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.14, Z:-0.28 [[ 9.99978688e-01 -1.66022959e-03 -6.31404462e-03 2.35523182e+00] [ 1.65126412e-03 9.99997622e-01 -1.42487367e-03 -1.41905494e-01] [ 6.31639522e-03 1.41441715e-03 9.99979051e-01 -2.76265850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02463043999998 meters 0.2758499150817093 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.14, Z:-0.28 [[ 9.99978126e-01 -2.11266867e-03 -6.26773880e-03 2.35559438e+00] [ 2.09422045e-03 9.99993460e-01 -2.94846475e-03 -1.35168268e-01] [ 6.27392694e-03 2.93527422e-03 9.99976011e-01 -2.77271606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08463043999998 meters 0.2763198941704402 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.13, Z:-0.28 [[ 9.99973402e-01 6.11214744e-04 -7.26791791e-03 2.35959620e+00] [-6.18453492e-04 9.99999315e-01 -9.93780765e-04 -1.29550242e-01] [ 7.26730552e-03 9.98249202e-04 9.99973095e-01 -2.79654337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14463044 meters 0.2754105524002025 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.13, Z:-0.28 [[ 9.99972694e-01 2.65808980e-04 -7.38520687e-03 2.35955235e+00] [-2.78909145e-04 9.99998390e-01 -1.77286531e-03 -1.26021750e-01] [ 7.38472373e-03 1.77487670e-03 9.99971157e-01 -2.79269846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20463044 meters 0.2749011033147085 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.12, Z:-0.28 [[ 9.99972582e-01 9.16544970e-06 -7.40501885e-03 2.35969101e+00] [-2.64496869e-05 9.99997276e-01 -2.33403011e-03 -1.23490740e-01] [ 7.40497729e-03 2.33416197e-03 9.99969859e-01 -2.79457518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26463044 meters 0.2756921187385994 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.12, Z:-0.28 [[ 9.99963132e-01 4.08083416e-03 -7.55518657e-03 2.36028441e+00] [-4.07121400e-03 9.99990883e-01 1.28825994e-03 -1.20791190e-01] [ 7.56037487e-03 -1.25745366e-03 9.99970629e-01 -2.79883895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32463044 meters 0.27484013833459203 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:-0.28 [[ 9.99949451e-01 -4.28017745e-03 -9.09805259e-03 2.34231748e+00] [ 4.30042200e-03 9.99988318e-01 2.20675511e-03 -1.13326455e-01] [ 9.08850100e-03 -2.24576902e-03 9.99956177e-01 -2.82122598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38463044 meters 0.2747372074879696 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.11, Z:-0.28 [[ 9.99948139e-01 -4.52107037e-03 -9.12575638e-03 2.34243455e+00] [ 4.53643568e-03 9.99988326e-01 1.66373305e-03 -1.10832745e-01] [ 9.11812799e-03 -1.70504517e-03 9.99956975e-01 -2.82270475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44463044 meters 0.2753399006890916 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.10, Z:-0.28 [[ 9.99979135e-01 3.41003777e-03 -5.48651839e-03 2.36007045e+00] [-3.41339331e-03 9.99993993e-01 -6.02350597e-04 -1.02152229e-01] [ 5.48443140e-03 6.21065674e-04 9.99984768e-01 -2.81475484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50463044 meters 0.27560057752100364 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.09, Z:-0.28 [[ 9.99982099e-01 -4.14144635e-03 -4.31850130e-03 2.33980781e+00] [ 4.14470334e-03 9.99991133e-01 7.45516822e-04 -9.17682654e-02] [ 4.31537549e-03 -7.63402384e-04 9.99990397e-01 -2.83771676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56463044 meters 0.275449927385405 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.08, Z:-0.28 [[ 9.99990870e-01 -6.55988017e-04 -4.22261641e-03 2.33990877e+00] [ 6.68431235e-04 9.99995437e-01 2.94606631e-03 -8.20390310e-02] [ 4.22066455e-03 -2.94886194e-03 9.99986745e-01 -2.84423063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62463044 meters 0.2740556381622227 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.08, Z:-0.28 [[ 9.99990982e-01 -1.12341889e-03 -4.09563781e-03 2.33904323e+00] [ 1.13046279e-03 9.99997885e-01 1.71794612e-03 -7.65308504e-02] [ 4.09369918e-03 -1.72256060e-03 9.99990137e-01 -2.83575719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68463043999998 meters 0.2742987432570836 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.28 [[ 9.99991191e-01 -1.43763754e-03 -3.94352028e-03 2.33865543e+00] [ 1.44153919e-03 9.99998474e-01 9.86719787e-04 -7.30947303e-02] [ 3.94209572e-03 -9.92395834e-04 9.99991737e-01 -2.83595849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74463043999998 meters 0.2738761793148221 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.28 [[ 0.99998907 0.00252482 -0.00393609 2.33855875] [-0.00250753 0.99998721 0.00439238 -0.0695048 ] [ 0.00394712 -0.00438246 0.99998261 -0.28345651] [ 0. 0. 0. 1. ]] SLAMing on 238.80463043999998 meters 0.276068011321479 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.07, Z:-0.28 [[ 9.99989326e-01 2.22948825e-03 -4.04679681e-03 2.33896569e+00] [-2.21460406e-03 9.99990781e-01 3.67877827e-03 -6.63053970e-02] [ 4.05496130e-03 -3.66977695e-03 9.99985045e-01 -2.83757910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86463043999998 meters 0.2763922698855327 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.29 [[ 0.99997512 0.00433671 -0.00556337 2.34450186] [-0.00431243 0.99998116 0.00436846 -0.05731858] [ 0.00558221 -0.00434436 0.99997498 -0.28785871] [ 0. 0. 0. 1. ]] SLAMing on 238.92463044 meters 0.2780617449807641 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.29 [[ 0.99997835 0.00390653 -0.0052954 2.34371157] [-0.00389017 0.99998764 0.00309638 -0.05148958] [ 0.00530743 -0.00307571 0.99998119 -0.28771095] [ 0. 0. 0. 1. ]] SLAMing on 238.98463044 meters 0.27712327425759314 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.28 [[ 0.99997646 0.00579958 -0.00366786 2.3381789 ] [-0.00578528 0.99997567 0.00389711 -0.04208368] [ 0.00369037 -0.0038758 0.99998568 -0.28494571] [ 0. 0. 0. 1. ]] SLAMing on 239.04463044 meters 0.2752029207598876 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.04, Z:-0.29 [[ 0.99998229 -0.00279804 -0.00525287 2.31915169] [ 0.00282078 0.99998666 0.00432793 -0.03643385] [ 0.00524069 -0.00434267 0.99997684 -0.28686185] [ 0. 0. 0. 1. ]] SLAMing on 239.10463044 meters 0.2756501710425358 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:-0.29 [[ 0.99998131 -0.00294971 -0.0053557 2.31957667] [ 0.00297105 0.99998766 0.0039806 -0.03489099] [ 0.00534389 -0.00399644 0.99997774 -0.28723625] [ 0. 0. 0. 1. ]] SLAMing on 239.16463044 meters 0.27527896190038514 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.03, Z:-0.29 [[ 0.99998103 -0.00332352 -0.00518657 2.31912015] [ 0.00334011 0.99998932 0.0031939 -0.03083905] [ 0.0051759 -0.00321116 0.99998145 -0.28724699] [ 0. 0. 0. 1. ]] SLAMing on 239.22463044 meters 0.27467673290246897 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.03, Z:-0.29 [[ 9.99980776e-01 4.70480791e-03 -4.03880184e-03 2.33929113e+00] [-4.70031367e-03 9.99988325e-01 1.12153745e-03 -2.71908334e-02] [ 4.04403130e-03 -1.10253226e-03 9.99991215e-01 -2.86600295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28463044 meters 0.2750839344576443 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.29 [[ 9.99982694e-01 -3.08436722e-03 -5.00976767e-03 2.32128816e+00] [ 3.09470091e-03 9.99993097e-01 2.05626808e-03 -1.72199403e-02] [ 5.00339080e-03 -2.07173623e-03 9.99985337e-01 -2.88836908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34463044 meters 0.27353154987868816 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.29 [[ 9.99982864e-01 -3.21897460e-03 -4.88968550e-03 2.32082715e+00] [ 3.22748104e-03 9.99993290e-01 1.73277656e-03 -1.57441117e-02] [ 4.88407493e-03 -1.74852824e-03 9.99986544e-01 -2.88503432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40463043999998 meters 0.2744078987959254 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.29 [[ 9.99983018e-01 -3.24311744e-03 -4.84211130e-03 2.32066807e+00] [ 3.25124118e-03 9.99993319e-01 1.67080005e-03 -1.53811939e-02] [ 4.83666035e-03 -1.68651455e-03 9.99986881e-01 -2.88366169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46463043999998 meters 0.2734698750167538 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.29 [[ 9.99983078e-01 -3.29177827e-03 -4.79667589e-03 2.32041053e+00] [ 3.29926183e-03 9.99993351e-01 1.55307780e-03 -1.47791516e-02] [ 4.79153161e-03 -1.56887701e-03 9.99987290e-01 -2.88063804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52463043999998 meters 0.27308444437097273 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.29 [[ 9.99984417e-01 -3.46357890e-03 -4.37837693e-03 2.31970937e+00] [ 3.46822054e-03 9.99993431e-01 1.05297957e-03 -1.23827486e-02] [ 4.37470110e-03 -1.06814834e-03 9.99989860e-01 -2.88530118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58463043999998 meters 0.2737730752625754 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.01, Z:-0.29 [[ 9.99982191e-01 -3.85737109e-03 -4.55397190e-03 2.32057157e+00] [ 3.85540542e-03 9.99992471e-01 -4.40338552e-04 -6.22179695e-03] [ 4.55563616e-03 4.22773302e-04 9.99989534e-01 -2.89729577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64463044 meters 0.2753309115188881 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.29 [[ 9.99978204e-01 5.63661993e-03 -3.43801455e-03 2.34299894e+00] [-5.64013147e-03 9.99983582e-01 -1.01254983e-03 2.57378619e-04] [ 3.43225074e-03 1.03191861e-03 9.99993577e-01 -2.90406119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70463044 meters 0.2750123330540929 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.29 [[ 9.99980597e-01 5.32120122e-03 -3.23878566e-03 2.34250103e+00] [-5.32693108e-03 9.99984258e-01 -1.76309094e-03 3.64683175e-03] [ 3.22935291e-03 1.78030952e-03 9.99993201e-01 -2.90325351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76463044 meters 0.2745287759400968 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.29 [[ 9.99980841e-01 5.22316852e-03 -3.32196372e-03 2.34302465e+00] [-5.22984795e-03 9.99984314e-01 -2.00518983e-03 4.68979983e-03] [ 3.31143816e-03 2.02252478e-03 9.99992472e-01 -2.90909807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82463044 meters 0.273792039308653 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.29 [[ 9.99989061e-01 -3.20741366e-03 -3.40459833e-03 2.36454241e+00] [ 3.20253711e-03 9.99993840e-01 -1.43682963e-03 8.94095506e-03] [ 3.40918587e-03 1.42591056e-03 9.99993172e-01 -2.90580685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88463044 meters 0.2739567035129419 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.29 [[ 0.99998006 0.00452217 -0.00440698 2.34566007] [-0.00453559 0.99998509 -0.0030416 0.00646977] [ 0.00439315 0.00306153 0.99998566 -0.29251727] [ 0. 0. 0. 1. ]] SLAMing on 239.94463044 meters 0.2733978983505534 Centerline is valid? [False, False] Translation: X:2.35, Y:0.01, Z:-0.29 [[ 0.99997935 0.00431211 -0.00476432 2.3466146 ] [-0.00433016 0.99998346 -0.00378479 0.00973456] [ 0.00474792 0.00380534 0.99998149 -0.29297615] [ 0. 0. 0. 1. ]] SLAMing on 240.00463044 meters 0.27492487230480395 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.29 [[ 9.99991496e-01 -2.83859686e-03 -2.99154588e-03 2.36327633e+00] [ 2.83226512e-03 9.99993745e-01 -2.11865810e-03 1.69075939e-02] [ 2.99754118e-03 2.11016723e-03 9.99993281e-01 -2.90505388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06463044 meters 0.2742748488442018 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.29 [[ 0.99999133 -0.00298712 -0.00290217 2.36280719] [ 0.00297993 0.99999249 -0.00247751 0.01855331] [ 0.00290955 0.00246884 0.99999272 -0.28999735] [ 0. 0. 0. 1. ]] SLAMing on 240.12463044 meters 0.2740213145332134 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.29 [[ 0.99999106 -0.00299773 -0.00298377 2.36278443] [ 0.00299024 0.99999238 -0.00251135 0.01865185] [ 0.00299128 0.00250241 0.9999924 -0.28961782] [ 0. 0. 0. 1. ]] SLAMing on 240.18463043999998 meters 0.2739387368685336 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.29 [[ 0.99999045 -0.00300528 -0.00317445 2.36297458] [ 0.00299727 0.99999232 -0.00252387 0.01885195] [ 0.00318201 0.00251433 0.99999178 -0.28914219] [ 0. 0. 0. 1. ]] SLAMing on 240.24463043999998 meters 0.2738486399618521 Centerline is valid? [False, False] Translation: X:2.36, Y:0.02, Z:-0.29 [[ 9.99989814e-01 -2.93006478e-03 -3.43324754e-03 2.36405058e+00] [ 2.92208392e-03 9.99993023e-01 -2.32729571e-03 1.77702832e-02] [ 3.44004271e-03 2.31723977e-03 9.99991398e-01 -2.90007449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30463043999998 meters 0.27291520921710777 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.29 [[ 9.99990020e-01 -2.66196406e-03 -3.58796323e-03 2.36423910e+00] [ 2.65631279e-03 9.99995226e-01 -1.57891127e-03 1.42773987e-02] [ 3.59214910e-03 1.56936476e-03 9.99992317e-01 -2.89673555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36463043999998 meters 0.2715047998686659 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.29 [[ 9.99990137e-01 -2.39659139e-03 -3.73935319e-03 2.36438226e+00] [ 2.39373410e-03 9.99996840e-01 -7.68400124e-04 1.08954639e-02] [ 3.74118291e-03 7.59441528e-04 9.99992713e-01 -2.89279124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42463044 meters 0.27031849610897857 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.29 [[ 9.99989310e-01 -2.02874623e-03 -4.15511094e-03 2.36534675e+00] [ 2.03130111e-03 9.99997750e-01 6.10748415e-04 5.16777268e-03] [ 4.15386254e-03 -6.19182167e-04 9.99991181e-01 -2.89295609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48463044 meters 0.2708847084336336 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99989393e-01 -1.65010158e-03 -4.30018111e-03 2.36582678e+00] [ 1.65692531e-03 9.99997373e-01 1.58376777e-03 7.23587727e-04] [ 4.29755644e-03 -1.59087605e-03 9.99989500e-01 -2.89458837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54463044 meters 0.2724059710220458 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99989157e-01 -1.58615255e-03 -4.37833699e-03 2.36629493e+00] [ 1.59377257e-03 9.99997221e-01 1.73744979e-03 1.48691770e-05] [ 4.37556896e-03 -1.74440902e-03 9.99988906e-01 -2.89938099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60463044 meters 0.2726371920782798 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99988521e-01 -1.65659410e-03 -4.49605530e-03 2.36682044e+00] [ 1.66362659e-03 9.99997398e-01 1.56085795e-03 8.70303394e-04] [ 4.49345789e-03 -1.56831979e-03 9.99988675e-01 -2.90383496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66463044 meters 0.27241853138835387 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99988028e-01 -1.70945515e-03 -4.58500556e-03 2.36702713e+00] [ 1.71607757e-03 9.99997490e-01 1.44081985e-03 1.45467979e-03] [ 4.58253104e-03 -1.44867083e-03 9.99988451e-01 -2.90398368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72463044 meters 0.2723289575634305 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99987777e-01 -1.72834702e-03 -4.63227085e-03 2.36655785e+00] [ 1.73481782e-03 9.99997525e-01 1.39324031e-03 1.61932457e-03] [ 4.62985138e-03 -1.40125943e-03 9.99988300e-01 -2.89405253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78463044 meters 0.27171804875138095 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99987147e-01 -1.75921078e-03 -4.75519105e-03 2.36645145e+00] [ 1.76551924e-03 9.99997567e-01 1.32277548e-03 1.96054461e-03] [ 4.75285244e-03 -1.33115386e-03 9.99987819e-01 -2.88672605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84463044 meters 0.27155905701859956 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99987047e-01 -1.79802718e-03 -4.76160714e-03 2.36587287e+00] [ 1.80388476e-03 9.99997621e-01 1.22616085e-03 2.48076803e-03] [ 4.75939114e-03 -1.23473436e-03 9.99987912e-01 -2.87633628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90463043999998 meters 0.27210872556733967 Centerline is valid? [False, False] Translation: X:2.37, Y:0.00, Z:-0.29 [[ 9.99986334e-01 -1.86050128e-03 -4.88566893e-03 2.36558831e+00] [ 1.86576029e-03 9.99997685e-01 1.07207844e-03 3.32027444e-03] [ 4.88366301e-03 -1.08117928e-03 9.99987490e-01 -2.86617382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96463043999998 meters 0.26991005549174923 Centerline is valid? [False, False] Translation: X:2.34, Y:0.00, Z:-0.29 [[ 9.99971329e-01 3.86618440e-03 -6.51097813e-03 2.34400824e+00] [-3.88131301e-03 9.99989794e-01 -2.31252314e-03 3.74592452e-03] [ 6.50197104e-03 2.33772798e-03 9.99976129e-01 -2.85671275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02463043999998 meters 0.27270298981769286 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.29 [[ 9.99981548e-01 -1.34527857e-03 -5.92406743e-03 2.36727086e+00] [ 1.35184195e-03 9.99998477e-01 1.10405172e-03 5.73367906e-03] [ 5.92257315e-03 -1.11203975e-03 9.99981843e-01 -2.86497021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08463043999998 meters 0.2721884600094386 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.29 [[ 9.99979488e-01 -1.60684385e-03 -6.20009895e-03 2.36807268e+00] [ 1.60815041e-03 9.99998686e-01 2.05751411e-04 9.74920900e-03] [ 6.19976019e-03 -2.15717882e-04 9.99980758e-01 -2.87082065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14463044 meters 0.27262562619416364 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.29 [[ 9.99978364e-01 -1.85277442e-03 -6.31172804e-03 2.36854353e+00] [ 1.84870956e-03 9.99998080e-01 -6.49790304e-04 1.35373108e-02] [ 6.31291984e-03 6.38107693e-04 9.99979870e-01 -2.87624443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20463044 meters 0.2730149349918075 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.29 [[ 9.99976939e-01 -2.18228252e-03 -6.43117974e-03 2.36886128e+00] [ 2.16946431e-03 9.99995648e-01 -1.99943822e-03 1.97780354e-02] [ 6.43551509e-03 1.98543989e-03 9.99977321e-01 -2.87991634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26463044 meters 0.27500469453145654 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.29 [[ 9.99986759e-01 -1.18516895e-03 -5.00780453e-03 2.41247612e+00] [ 1.17498633e-03 9.99997237e-01 -2.03580484e-03 3.26596630e-02] [ 5.01020346e-03 2.02989378e-03 9.99985389e-01 -2.88593683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32463044 meters 0.2746053870079486 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.29 [[ 9.99986447e-01 -1.41421949e-03 -5.01048583e-03 2.41236265e+00] [ 1.40147186e-03 9.99995775e-01 -2.54678769e-03 3.50444080e-02] [ 5.01406637e-03 2.53973112e-03 9.99984204e-01 -2.88407545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38463044 meters 0.2748144301454282 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99978545e-01 1.11736209e-03 -6.45453179e-03 2.41651689e+00] [-1.12290907e-03 9.99999003e-01 -8.55833135e-04 4.12506995e-02] [ 6.45356908e-03 8.63062626e-04 9.99978803e-01 -2.89754013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44463044 meters 0.2728347557142428 Centerline is valid? [False, False] Translation: X:2.37, Y:0.04, Z:-0.29 [[ 9.99966144e-01 4.70686982e-04 -8.21519353e-03 2.37323629e+00] [-4.84263888e-04 9.99998520e-01 -1.65074712e-03 4.29313229e-02] [ 8.21440438e-03 1.65466956e-03 9.99964892e-01 -2.89047992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50463044 meters 0.27289887471101504 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:-0.29 [[ 9.99964801e-01 -5.43212953e-03 -6.39441817e-03 2.39366327e+00] [ 5.44086009e-03 9.99984289e-01 1.34873808e-03 4.71034501e-02] [ 6.38699119e-03 -1.38348174e-03 9.99978646e-01 -2.88922780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56463044 meters 0.2728451515326379 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:-0.29 [[ 9.99963996e-01 -5.55686640e-03 -6.41308857e-03 2.39366561e+00] [ 5.56375443e-03 9.99983964e-01 1.05671773e-03 4.83638157e-02] [ 6.40711369e-03 -1.09236053e-03 9.99978878e-01 -2.88857992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62463044 meters 0.2738534438267655 Centerline is valid? [False, False] Translation: X:2.39, Y:0.05, Z:-0.29 [[ 9.99962239e-01 -5.87568733e-03 -6.40287353e-03 2.39320213e+00] [ 5.87632770e-03 9.99982731e-01 8.12032187e-05 5.28414683e-02] [ 6.40228584e-03 -1.18825535e-04 9.99979498e-01 -2.88261617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68463043999998 meters 0.27154453653320015 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:-0.29 [[ 9.99970545e-01 2.72022614e-03 -7.17701148e-03 2.37268189e+00] [-2.72920078e-03 9.99995506e-01 -1.24097265e-03 5.47340689e-02] [ 7.17360350e-03 1.26052360e-03 9.99973475e-01 -2.89125987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74463043999998 meters 0.2726799894736256 Centerline is valid? [False, False] Translation: X:2.37, Y:0.06, Z:-0.29 [[ 9.99970860e-01 2.62708215e-03 -7.16780729e-03 2.37273285e+00] [-2.63761303e-03 9.99995455e-01 -1.46013404e-03 5.56969797e-02] [ 7.16393883e-03 1.47899739e-03 9.99973245e-01 -2.89262188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80463043999998 meters 0.27051631123993036 Centerline is valid? [False, False] Translation: X:2.35, Y:0.05, Z:-0.29 [[ 9.99950245e-01 -5.45985799e-03 -8.34855861e-03 2.35303774e+00] [ 5.46020451e-03 9.99985093e-01 1.87152133e-05 5.49274596e-02] [ 8.34833197e-03 -6.42991195e-05 9.99965150e-01 -2.90570671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86463043999998 meters 0.27104810919049904 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:-0.29 [[ 9.99980112e-01 2.52012459e-03 -5.78136268e-03 2.37170451e+00] [-2.52294807e-03 9.99996702e-01 -4.81135036e-04 5.07170397e-02] [ 5.78013109e-03 4.95711545e-04 9.99983172e-01 -2.89430903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92463044 meters 0.2722831878468488 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 9.99973868e-01 -4.53891029e-03 -5.62690841e-03 2.39550740e+00] [ 4.54990393e-03 9.99987762e-01 1.94250150e-03 4.92001154e-02] [ 5.61802271e-03 -1.96805263e-03 9.99982282e-01 -2.90888822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98463044 meters 0.2749064347922519 Centerline is valid? [False, False] Translation: X:2.42, Y:0.05, Z:-0.29 [[ 9.99969846e-01 4.11978437e-03 -6.58294833e-03 2.41898056e+00] [-4.11006228e-03 9.99990444e-01 1.48970637e-03 4.72053521e-02] [ 6.58902269e-03 -1.46260512e-03 9.99977223e-01 -2.91110529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04463044 meters 0.27096866336184783 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:-0.29 [[ 9.99959200e-01 3.69375918e-03 -8.24343112e-03 2.37467328e+00] [-3.68780550e-03 9.99992928e-01 7.37315985e-04 4.76389715e-02] [ 8.24609629e-03 -7.06885732e-04 9.99965751e-01 -2.90206223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10463044 meters 0.27373133939200833 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 0.9999692 -0.00264421 -0.00738906 2.39723397] [ 0.00266864 0.999991 0.00329836 0.04983595] [ 0.00738027 -0.00331798 0.99996726 -0.29086271] [ 0. 0. 0. 1. ]] SLAMing on 242.16463044 meters 0.27288850473119175 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 0.99996873 -0.00265883 -0.00744763 2.39735774] [ 0.0026832 0.99999107 0.00326377 0.05002255] [ 0.00743889 -0.00328365 0.99996694 -0.29085738] [ 0. 0. 0. 1. ]] SLAMing on 242.22463044 meters 0.27079487586669587 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 0.9999737 -0.00263744 -0.00675609 2.39563847] [ 0.00266315 0.99998924 0.003799 0.04726129] [ 0.00674599 -0.00381689 0.99996996 -0.29009357] [ 0. 0. 0. 1. ]] SLAMing on 242.28463044 meters 0.2709442379705148 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99973591e-01 2.71893146e-03 -6.73985210e-03 2.41825832e+00] [-2.71568796e-03 9.99996192e-01 4.90345907e-04 4.38522172e-02] [ 6.74115965e-03 -4.72029622e-04 9.99977167e-01 -2.89861340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34463044 meters 0.2721007671258116 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99971763e-01 2.93660476e-03 -6.91731301e-03 2.41878007e+00] [-2.92971030e-03 9.99995202e-01 1.00661732e-03 4.15427960e-02] [ 6.92023586e-03 -9.86323176e-04 9.99975568e-01 -2.90019691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40463043999998 meters 0.2704057759974755 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.29 [[ 9.99984500e-01 9.45219414e-04 -5.48687706e-03 2.41367725e+00] [-9.47736957e-04 9.99999447e-01 -4.56247826e-04 3.79472508e-02] [ 5.48644277e-03 4.61440870e-04 9.99984843e-01 -2.87236915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46463043999998 meters 0.270792334487401 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.29 [[ 9.99984843e-01 1.10873009e-03 -5.39308370e-03 2.41349728e+00] [-1.10912048e-03 9.99999383e-01 -6.93960983e-05 3.61418042e-02] [ 5.39300343e-03 7.53766260e-05 9.99985455e-01 -2.87220316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52463043999998 meters 0.272172422352741 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99976866e-01 -7.38402287e-04 -6.76178605e-03 2.41897377e+00] [ 7.29424863e-04 9.99998849e-01 -1.33004054e-03 3.09785486e-02] [ 6.76276037e-03 1.32507755e-03 9.99976254e-01 -2.90461909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58463043999998 meters 0.2723923496496957 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99975237e-01 -4.19379422e-04 -7.02499111e-03 2.42007949e+00] [ 4.16199640e-04 9.99999810e-01 -4.54094471e-04 2.67937883e-02] [ 7.02518021e-03 4.51159427e-04 9.99975221e-01 -2.91280459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64463044 meters 0.27259554267444697 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99973709e-01 -9.61022853e-05 -7.25064156e-03 2.42093256e+00] [ 9.81549313e-05 9.99999955e-01 2.82743216e-04 2.33934005e-02] [ 7.25061407e-03 -2.83447468e-04 9.99973674e-01 -2.91813326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70463044 meters 0.2728476808712172 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99973421e-01 -7.66699110e-05 -7.29056001e-03 2.42126787e+00] [ 7.89380319e-05 9.99999949e-01 3.10816543e-04 2.33650006e-02] [ 7.29053581e-03 -3.11383784e-04 9.99973375e-01 -2.92316098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76463044 meters 0.2732851722778299 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99973371e-01 -2.14041452e-04 -7.29455783e-03 2.42114328e+00] [ 2.13451453e-04 9.99999974e-01 -8.16604961e-05 2.50346945e-02] [ 7.29457512e-03 8.01012876e-05 9.99973391e-01 -2.92123266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82463044 meters 0.27421456610375833 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99973543e-01 -5.33225437e-04 -7.25452076e-03 2.42088873e+00] [ 5.25677148e-04 9.99999319e-01 -1.04236149e-03 2.93303791e-02] [ 7.25507163e-03 1.03852038e-03 9.99973142e-01 -2.91930465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88463044 meters 0.2747427072131295 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99973345e-01 -6.92324925e-04 -7.26846323e-03 2.42082003e+00] [ 6.82130892e-04 9.99998780e-01 -1.40488715e-03 3.09830576e-02] [ 7.26942700e-03 1.39989166e-03 9.99972597e-01 -2.91771058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94463044 meters 0.27545303663467957 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99972925e-01 -9.79199474e-04 -7.29312007e-03 2.42061450e+00] [ 9.64166547e-04 9.99997404e-01 -2.06447843e-03 3.39330485e-02] [ 7.29512267e-03 2.05739075e-03 9.99971274e-01 -2.91371613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00463044 meters 0.27564369919575327 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99972456e-01 -1.35865299e-03 -7.29669473e-03 2.42039484e+00] [ 1.33747668e-03 9.99994882e-01 -2.90627460e-03 3.79365262e-02] [ 7.30060601e-03 2.89643539e-03 9.99969155e-01 -2.91063769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06463044 meters 0.2754686681634923 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99971670e-01 -1.58033431e-03 -7.35943636e-03 2.42054740e+00] [ 1.55532875e-03 9.99993003e-01 -3.40223972e-03 4.01500912e-02] [ 7.36476155e-03 3.39069699e-03 9.99967131e-01 -2.91106395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12463044 meters 0.27307340705445365 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:-0.29 [[ 9.99960399e-01 -1.46572370e-03 -8.77795529e-03 2.37598994e+00] [ 1.43044030e-03 9.99990879e-01 -4.02447702e-03 4.56490336e-02] [ 8.78377400e-03 4.01176130e-03 9.99953374e-01 -2.90124921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18463043999998 meters 0.2723119815090594 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:-0.29 [[ 9.99958708e-01 2.54607752e-03 -8.72356895e-03 2.37508778e+00] [-2.55076596e-03 9.99996608e-01 -5.26360783e-04 4.89600667e-02] [ 8.72219921e-03 5.48590831e-04 9.99961810e-01 -2.88806912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24463043999998 meters 0.27164742073541326 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:-0.29 [[ 9.99959056e-01 2.45743261e-03 -8.70907095e-03 2.37499369e+00] [-2.46392041e-03 9.99996695e-01 -7.34295808e-04 4.98775497e-02] [ 8.70723769e-03 7.55724201e-04 9.99961806e-01 -2.88719961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30463043999998 meters 0.2717960472080139 Centerline is valid? [False, False] Translation: X:2.38, Y:0.05, Z:-0.29 [[ 9.99958736e-01 2.32151731e-03 -8.78277288e-03 2.37501613e+00] [-2.33086912e-03 9.99996727e-01 -1.05470412e-03 5.12026437e-02] [ 8.78029562e-03 1.07513209e-03 9.99960874e-01 -2.88518238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36463043999998 meters 0.2738668960897663 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 0.99996927 -0.00295265 -0.00726289 2.39604394] [ 0.00297257 0.99999185 0.00273254 0.05272547] [ 0.00725477 -0.00275404 0.99996989 -0.28846743] [ 0. 0. 0. 1. ]] SLAMing on 243.42463044 meters 0.27274062059772014 Centerline is valid? [False, False] Translation: X:2.40, Y:0.05, Z:-0.29 [[ 0.99996543 -0.00283114 -0.00781813 2.39734287] [ 0.00285566 0.99999103 0.00312669 0.05078167] [ 0.00780921 -0.0031489 0.99996455 -0.28858959] [ 0. 0. 0. 1. ]] SLAMing on 243.48463044 meters 0.27252086870856884 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 0.99995464 0.00547466 -0.00779351 2.41775245] [-0.00545324 0.9999813 0.00276702 0.04401606] [ 0.00780852 -0.0027244 0.9999658 -0.286924 ] [ 0. 0. 0. 1. ]] SLAMing on 243.54463044 meters 0.27097914558574765 Centerline is valid? [False, False] Translation: X:2.40, Y:0.03, Z:-0.29 [[ 9.99950657e-01 -5.56201389e-03 -8.23085751e-03 2.39515575e+00] [ 5.58134183e-03 9.99981716e-01 2.32712455e-03 3.33038018e-02] [ 8.21776352e-03 -2.37294895e-03 9.99963418e-01 -2.86382346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60463044 meters 0.2699599406866981 Centerline is valid? [False, False] Translation: X:2.40, Y:0.03, Z:-0.29 [[ 0.99995164 -0.00520382 -0.008345 2.39581422] [ 0.00523064 0.99998121 0.00319554 0.0294634 ] [ 0.00832822 -0.00323904 0.99996007 -0.28697098] [ 0. 0. 0. 1. ]] SLAMing on 243.66463044 meters 0.27187285883488654 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 0.9999318 0.0030914 -0.01126262 2.41982343] [-0.00305841 0.99999099 0.00294517 0.02237325] [ 0.01127162 -0.00291053 0.99993224 -0.28625415] [ 0. 0. 0. 1. ]] SLAMing on 243.72463044 meters 0.272738182248994 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 0.99993049 0.00311901 -0.01137019 2.42016112] [-0.00308488 0.99999069 0.00301824 0.02215409] [ 0.0113795 -0.00298296 0.9999308 -0.28641489] [ 0. 0. 0. 1. ]] SLAMing on 243.78463044 meters 0.27278985997551397 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 0.99993233 0.00322364 -0.01117748 2.41954599] [-0.00318745 0.99998963 0.00325391 0.02095735] [ 0.01118785 -0.00321806 0.99993224 -0.28606593] [ 0. 0. 0. 1. ]] SLAMing on 243.84463044 meters 0.2723598462451145 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 0.99993144 0.00339808 -0.01120589 2.41954786] [-0.00335715 0.99998763 0.00366935 0.01896927] [ 0.01121822 -0.00363148 0.99993048 -0.28588955] [ 0. 0. 0. 1. ]] SLAMing on 243.90463043999998 meters 0.26941386088361374 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99925781e-01 2.30784170e-03 -1.19627170e-02 2.37567899e+00] [-2.26709199e-03 9.99991586e-01 3.41883489e-03 1.15546252e-02] [ 1.19705065e-02 -3.39146057e-03 9.99922599e-01 -2.85776280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96463043999998 meters 0.27037414346491934 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99925880e-01 2.37512474e-03 -1.19412190e-02 2.37575274e+00] [-2.33256369e-03 9.99990883e-01 3.57687772e-03 1.08410469e-02] [ 1.19496056e-02 -3.54875895e-03 9.99922304e-01 -2.85917214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02463043999998 meters 0.27167391698559806 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99927011e-01 2.28061547e-03 -1.18646888e-02 2.37570785e+00] [-2.24089556e-03 9.99991844e-01 3.35995934e-03 1.19089234e-02] [ 1.18722548e-02 -3.33312657e-03 9.99923967e-01 -2.86138023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08463043999998 meters 0.27107233415286497 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99926715e-01 2.12471884e-03 -1.19184888e-02 2.37590603e+00] [-2.08904962e-03 9.99993305e-01 3.00441565e-03 1.35523410e-02] [ 1.19247926e-02 -2.97929715e-03 9.99924459e-01 -2.86285499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14463044 meters 0.27244301960283007 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.29 [[ 9.99899614e-01 1.00019216e-02 -1.00361294e-02 2.39545082e+00] [-9.98688932e-03 9.99948933e-01 1.54681868e-03 1.46155973e-02] [ 1.00510881e-02 -1.44643369e-03 9.99948440e-01 -2.85284633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20463044 meters 0.27142306241699193 Centerline is valid? [False, False] Translation: X:2.37, Y:0.02, Z:-0.29 [[ 9.99955933e-01 9.77839870e-04 -9.33680047e-03 2.37439126e+00] [-9.65763617e-04 9.99998691e-01 1.29782479e-03 2.20685622e-02] [ 9.33805732e-03 -1.28875046e-03 9.99955569e-01 -2.86593865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26463044 meters 0.2704746244800952 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.29 [[ 9.99956126e-01 6.84241034e-04 -9.34227603e-03 2.37450311e+00] [-6.79179525e-04 9.99999621e-01 5.44947354e-04 2.54973821e-02] [ 9.34264536e-03 -5.38578362e-04 9.99956211e-01 -2.86826465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32463044 meters 0.2705206743654611 Centerline is valid? [False, False] Translation: X:2.37, Y:0.03, Z:-0.29 [[ 9.99957245e-01 2.46711923e-04 -9.24381923e-03 2.37438567e+00] [-2.51323628e-04 9.99999845e-01 -4.97737774e-04 3.02144439e-02] [ 9.24369499e-03 5.00039683e-04 9.99957151e-01 -2.87102770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38463044 meters 0.2711680674076645 Centerline is valid? [False, False] Translation: X:2.39, Y:0.04, Z:-0.29 [[ 0.99996337 0.00627181 -0.00582368 2.39425675] [-0.0062932 0.9999735 -0.00366102 0.03690626] [ 0.00580056 0.00369754 0.99997634 -0.28737886] [ 0. 0. 0. 1. ]] SLAMing on 244.44463044 meters 0.2715419828102482 Centerline is valid? [False, False] Translation: X:2.39, Y:0.04, Z:-0.29 [[ 0.9999673 0.00582749 -0.00560696 2.39384292] [-0.00585372 0.99997195 -0.00467208 0.0416992 ] [ 0.00557957 0.00470475 0.99997337 -0.28758548] [ 0. 0. 0. 1. ]] SLAMing on 244.50463044 meters 0.27142222997974785 Centerline is valid? [False, False] Translation: X:2.39, Y:0.04, Z:-0.29 [[ 0.99996801 0.00562733 -0.00568366 2.39432476] [-0.00565657 0.99997078 -0.00514193 0.04380385] [ 0.00565456 0.00517391 0.99997063 -0.28816471] [ 0. 0. 0. 1. ]] SLAMing on 244.56463044 meters 0.2715456480903766 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99983756e-01 -2.00974754e-03 -5.33369824e-03 2.41293831e+00] [ 1.98971203e-03 9.99990955e-01 -3.75905273e-03 5.04306706e-02] [ 5.34120475e-03 3.74837914e-03 9.99978710e-01 -2.86188074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62463044 meters 0.27188204280232336 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99985425e-01 -1.80174497e-03 -5.08961306e-03 2.41224933e+00] [ 1.78534812e-03 9.99993208e-01 -3.22433854e-03 4.79819161e-02] [ 5.09538793e-03 3.21520481e-03 9.99981850e-01 -2.85799374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68463043999998 meters 0.2708405311724358 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99985004e-01 -1.57465589e-03 -5.24514674e-03 2.41277965e+00] [ 1.56069693e-03 9.99995233e-01 -2.66434000e-03 4.54225235e-02] [ 5.24931716e-03 2.65611396e-03 9.99982695e-01 -2.86039820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74463043999998 meters 0.2712974615475681 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.29 [[ 9.99984654e-01 -1.40508983e-03 -5.35890015e-03 2.41337091e+00] [ 1.39291866e-03 9.99996444e-01 -2.27426318e-03 4.35420306e-02] [ 5.36207664e-03 2.26676377e-03 9.99983055e-01 -2.86571603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80463043999998 meters 0.2722607708161432 Centerline is valid? [False, False] Translation: X:2.41, Y:0.04, Z:-0.29 [[ 9.99984598e-01 -1.42297647e-03 -5.36465068e-03 2.41358843e+00] [ 1.41055451e-03 9.99996317e-01 -2.31859234e-03 4.37080692e-02] [ 5.36793023e-03 2.31098950e-03 9.99982922e-01 -2.86941262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86463043999998 meters 0.27293427262843295 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99983902e-01 -1.54178033e-03 -5.46056099e-03 2.41414777e+00] [ 1.52741089e-03 9.99995363e-01 -2.63468851e-03 4.51770423e-02] [ 5.46459778e-03 2.62630557e-03 9.99981620e-01 -2.87580848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92463044 meters 0.27288616990928544 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99983492e-01 -1.74016799e-03 -5.47613817e-03 2.41392799e+00] [ 1.72295325e-03 9.99993565e-01 -3.14673908e-03 4.74850324e-02] [ 5.48157879e-03 3.13725200e-03 9.99980055e-01 -2.87197914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98463044 meters 0.2724882481772129 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99983583e-01 -1.78691819e-03 -5.44429854e-03 2.41400279e+00] [ 1.76922503e-03 9.99993144e-01 -3.25293566e-03 4.79405629e-02] [ 5.45007394e-03 3.24325007e-03 9.99979889e-01 -2.87437423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04463044 meters 0.27148480312739925 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:-0.29 [[ 9.99983523e-01 -1.65619160e-03 -5.49638170e-03 2.41424545e+00] [ 1.64012395e-03 9.99994373e-01 -2.92653553e-03 4.64800916e-02] [ 5.50119767e-03 2.91747257e-03 9.99980612e-01 -2.87575170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10463044 meters 0.27197821725673493 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99981686e-01 -1.49312162e-03 -5.86499186e-03 2.41512347e+00] [ 1.47873029e-03 9.99995887e-01 -2.45733826e-03 4.43207562e-02] [ 5.86863684e-03 2.44862051e-03 9.99979781e-01 -2.87577130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16463044 meters 0.27105034660754646 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99980246e-01 -1.08292090e-03 -6.19155839e-03 2.41568303e+00] [ 1.07556384e-03 9.99998712e-01 -1.19144691e-03 3.92934765e-02] [ 6.19284066e-03 1.18476395e-03 9.99980122e-01 -2.87266104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22463044 meters 0.26963237896172226 Centerline is valid? [False, False] Translation: X:2.42, Y:0.04, Z:-0.29 [[ 9.99980788e-01 -7.86795816e-04 -6.14851285e-03 2.41534371e+00] [ 7.83802296e-04 9.99999573e-01 -4.89263460e-04 3.59817686e-02] [ 6.14889518e-03 4.84434842e-04 9.99980978e-01 -2.86793354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28463044 meters 0.26896692652071413 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.29 [[ 9.99981513e-01 -4.70635167e-04 -6.06240757e-03 2.41470662e+00] [ 4.72155169e-04 9.99999857e-01 2.49297071e-04 3.24208798e-02] [ 6.06228938e-03 -2.52154859e-04 9.99981592e-01 -2.85940568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34463044 meters 0.26881037003795605 Centerline is valid? [False, False] Translation: X:2.41, Y:0.03, Z:-0.29 [[ 9.99982229e-01 -1.80391417e-04 -5.95892017e-03 2.41459223e+00] [ 1.85596155e-04 9.99999602e-01 8.72894989e-04 2.94272673e-02] [ 5.95876033e-03 -8.73985430e-04 9.99981864e-01 -2.86071725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40463043999998 meters 0.2706974530913797 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99982063e-01 1.25776988e-04 -5.98808016e-03 2.41547994e+00] [-1.16542345e-04 9.99998804e-01 1.54249483e-03 2.61341382e-02] [ 5.98826701e-03 -1.54176930e-03 9.99980882e-01 -2.87252683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46463043999998 meters 0.2703861536957861 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99982360e-01 2.28216005e-04 -5.93533169e-03 2.41573706e+00] [-2.17709361e-04 9.99998408e-01 1.77077242e-03 2.50384084e-02] [ 5.93572636e-03 -1.76944900e-03 9.99980818e-01 -2.87913368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52463043999998 meters 0.2682647405120421 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99982553e-01 3.00670127e-04 -5.89945328e-03 2.41571712e+00] [-2.89297533e-04 9.99998099e-01 1.92849554e-03 2.42503555e-02] [ 5.90002190e-03 -1.92675519e-03 9.99980738e-01 -2.88039323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58463043999998 meters 0.26891716571086066 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99981285e-01 3.24572633e-04 -6.10940723e-03 2.41633019e+00] [-3.12487194e-04 9.99997993e-01 1.97901956e-03 2.38063621e-02] [ 6.11003730e-03 -1.97707341e-03 9.99979379e-01 -2.88286450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64463044 meters 0.27021147817750374 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99980793e-01 1.69802870e-04 -6.19548609e-03 2.41673220e+00] [-1.59628084e-04 9.99998638e-01 1.64274761e-03 2.55593770e-02] [ 6.19575659e-03 -1.64172709e-03 9.99979458e-01 -2.88656013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70463044 meters 0.2682743160471997 Centerline is valid? [False, False] Translation: X:2.40, Y:0.03, Z:-0.29 [[ 9.99953018e-01 6.44553349e-03 -7.23992592e-03 2.39557921e+00] [-6.45586035e-03 9.99978175e-01 -1.40391202e-03 2.52862024e-02] [ 7.23071895e-03 1.45058601e-03 9.99972806e-01 -2.88543512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76463044 meters 0.26884646236336135 Centerline is valid? [False, False] Translation: X:2.40, Y:0.03, Z:-0.29 [[ 9.99952680e-01 6.28216230e-03 -7.42782669e-03 2.39554036e+00] [-6.29548558e-03 9.99978614e-01 -1.77167959e-03 2.69647223e-02] [ 7.41653786e-03 1.81835753e-03 9.99970844e-01 -2.87856474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82463044 meters 0.2707706174474767 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99976240e-01 8.76508486e-05 -6.89294805e-03 2.41931550e+00] [-8.19827265e-05 9.99999658e-01 8.22585652e-04 3.01018530e-02] [ 6.89301779e-03 -8.22001004e-04 9.99975905e-01 -2.89434246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88463044 meters 0.2692995902215118 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99976284e-01 4.03771939e-05 -6.88691263e-03 2.41874898e+00] [-3.54751793e-05 9.99999746e-01 7.11907630e-04 3.07565720e-02] [ 6.88693963e-03 -7.11646432e-04 9.99976032e-01 -2.88469340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94463044 meters 0.26912778848003915 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99976342e-01 5.11741391e-05 -6.87849993e-03 2.41837661e+00] [-4.60784596e-05 9.99999724e-01 7.40969051e-04 3.06799340e-02] [ 6.87853595e-03 -7.40634570e-04 9.99976068e-01 -2.87797942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00463044 meters 0.26850232865847184 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99975669e-01 1.07114315e-04 -6.97494663e-03 2.41874835e+00] [-1.01020997e-04 9.99999613e-01 8.73947013e-04 3.00987508e-02] [ 6.97503754e-03 -8.73221133e-04 9.99975293e-01 -2.88000607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06463044 meters 0.26841833760439704 Centerline is valid? [False, False] Translation: X:2.42, Y:0.03, Z:-0.29 [[ 9.99973494e-01 3.60335497e-04 -7.27195537e-03 2.41942866e+00] [-3.48758137e-04 9.99998670e-01 1.59326130e-03 2.66150104e-02] [ 7.27251981e-03 -1.59068292e-03 9.99972290e-01 -2.87877346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12463044 meters 0.2681599797031941 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99972343e-01 5.58931204e-04 -7.41629834e-03 2.41953678e+00] [-5.43704651e-04 9.99997741e-01 2.05497775e-03 2.44615781e-02] [ 7.41743017e-03 -2.05088864e-03 9.99970387e-01 -2.87444807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18463043999998 meters 0.26870992850359887 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99970046e-01 7.03767640e-04 -7.70791054e-03 2.42046897e+00] [-6.85066150e-04 9.99996816e-01 2.42864382e-03 2.26068473e-02] [ 7.70959520e-03 -2.42329065e-03 9.99967344e-01 -2.87914949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24463043999998 meters 0.26949107319658927 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99968299e-01 8.53528823e-04 -7.91658086e-03 2.42090442e+00] [-8.31588842e-04 9.99995806e-01 2.77427388e-03 2.09953842e-02] [ 7.91891558e-03 -2.76760260e-03 9.99964815e-01 -2.87790003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30463043999998 meters 0.2693439143630735 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99966027e-01 1.16971658e-03 -8.15939563e-03 2.42092410e+00] [-1.14117452e-03 9.99993217e-01 3.50183956e-03 1.67070183e-02] [ 8.16343645e-03 -3.49240930e-03 9.99960580e-01 -2.86905511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36463043999998 meters 0.2697228254569511 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99965347e-01 1.29658851e-03 -8.22336872e-03 2.42127221e+00] [-1.26532926e-03 9.99991959e-01 3.80533509e-03 1.53190112e-02] [ 8.22823655e-03 -3.79479795e-03 9.99958947e-01 -2.87241861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42463044 meters 0.2699828902069778 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.29 [[ 9.99963653e-01 1.43002369e-03 -8.40524613e-03 2.42164094e+00] [-1.39532619e-03 9.99990488e-01 4.13249158e-03 1.37796425e-02] [ 8.41107574e-03 -4.12061332e-03 9.99956136e-01 -2.87124020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48463044 meters 0.2701688064399856 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.29 [[ 9.99963477e-01 1.48275028e-03 -8.41703995e-03 2.42167931e+00] [-1.44690749e-03 9.99989867e-01 4.26285455e-03 1.32349058e-02] [ 8.42327541e-03 -4.25052018e-03 9.99955490e-01 -2.87112230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54463044 meters 0.2697896888426335 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.29 [[ 9.99967786e-01 1.43638767e-03 -7.89712329e-03 2.42050965e+00] [-1.40377766e-03 9.99990472e-01 4.13334642e-03 1.39871107e-02] [ 7.90298513e-03 -4.12212746e-03 9.99960275e-01 -2.87033346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60463044 meters 0.2693517942157849 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99969399e-01 1.25186240e-03 -7.72231594e-03 2.42023621e+00] [-1.22366709e-03 9.99992573e-01 3.65479164e-03 1.62743444e-02] [ 7.72683388e-03 -3.64523026e-03 9.99963504e-01 -2.87289908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66463044 meters 0.2702337548669631 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99969583e-01 1.04829031e-03 -7.72882652e-03 2.42055763e+00] [-1.02442793e-03 9.99994699e-01 3.09076492e-03 1.90105027e-02] [ 7.73202557e-03 -3.08275328e-03 9.99965356e-01 -2.87855729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72463044 meters 0.27181677002434607 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99969411e-01 8.92910767e-04 -7.77039069e-03 2.42076665e+00] [-8.71649340e-04 9.99995869e-01 2.73916733e-03 2.06270404e-02] [ 7.77280442e-03 -2.73231049e-03 9.99966058e-01 -2.88087370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78463044 meters 0.27084001921483036 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99969005e-01 6.70325327e-04 -7.84477783e-03 2.42050386e+00] [-6.52900412e-04 9.99997315e-01 2.22356220e-03 2.32557037e-02] [ 7.84624727e-03 -2.21837143e-03 9.99966757e-01 -2.87418461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84463044 meters 0.2714776667762946 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.29 [[ 9.99965992e-01 5.99500400e-04 -8.22527915e-03 2.42140638e+00] [-5.80770685e-04 9.99997234e-01 2.27929137e-03 2.22021136e-02] [ 8.22662283e-03 -2.27443686e-03 9.99963574e-01 -2.87389626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90463043999998 meters 0.27065774214238525 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.29 [[ 9.99934512e-01 5.93372280e-03 -9.78581185e-03 2.40122712e+00] [-5.93969065e-03 9.99982191e-01 -5.80895816e-04 1.49148584e-02] [ 9.78219070e-03 6.38982469e-04 9.99951949e-01 -2.87508765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96463043999998 meters 0.27129848390300787 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.29 [[ 9.99958558e-01 -2.94813344e-03 -8.61336662e-03 2.42188041e+00] [ 2.95086170e-03 9.99995600e-01 3.04056396e-04 1.18381639e-02] [ 8.61243232e-03 -3.29460649e-04 9.99962858e-01 -2.86795297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02463043999998 meters 0.27056830453153463 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.29 [[ 9.99957373e-01 -2.46485055e-03 -8.89817538e-03 2.42275274e+00] [ 2.47995712e-03 9.99995502e-01 1.68708057e-03 4.76553784e-03] [ 8.89397695e-03 -1.70907575e-03 9.99958987e-01 -2.87023770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08463043999998 meters 0.27233140742581996 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.29 [[ 9.99956821e-01 -2.23269048e-03 -9.02063755e-03 2.42345991e+00] [ 2.25288986e-03 9.99994976e-01 2.22969951e-03 2.36412009e-03] [ 9.01561401e-03 -2.24992573e-03 9.99956827e-01 -2.87689518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14463044 meters 0.2714193663740315 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.00, Z:-0.29 [[ 9.99940540e-01 6.51103142e-03 -8.74777099e-03 2.40234312e+00] [-6.49621968e-03 9.99977419e-01 1.72055047e-03 -1.37020103e-03] [ 8.75877602e-03 -1.66362073e-03 9.99960257e-01 -2.88351404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20463044 meters 0.27161681067284615 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.29 [[ 9.99943414e-01 6.33561182e-03 -8.54574726e-03 2.40173611e+00] [-6.32560195e-03 9.99979276e-01 1.19784841e-03 1.08231135e-03] [ 8.55315925e-03 -1.14372364e-03 9.99962767e-01 -2.88059719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26463044 meters 0.27134137989058194 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.29 [[ 9.99945985e-01 6.10394871e-03 -8.41243858e-03 2.40126300e+00] [-6.09949735e-03 9.99981244e-01 5.54695254e-04 4.27518062e-03] [ 8.41566662e-03 -5.03353646e-04 9.99964461e-01 -2.87781394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32463044 meters 0.2713756729782829 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.29 [[ 9.99945761e-01 6.01510477e-03 -8.50253572e-03 2.40152681e+00] [-6.01234339e-03 9.99981864e-01 3.50295112e-04 5.25873895e-03] [ 8.50448858e-03 -2.99155948e-04 9.99963791e-01 -2.87893484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38463044 meters 0.2732985652366792 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.29 [[ 9.99963249e-01 -2.19502652e-03 -8.28746169e-03 2.42239861e+00] [ 2.20242775e-03 9.99997184e-01 8.84042469e-04 1.02031280e-02] [ 8.28549785e-03 -9.02262515e-04 9.99965268e-01 -2.86959194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44463044 meters 0.2720118694430714 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99949091e-01 -8.04116299e-04 -1.00583074e-02 2.38063523e+00] [ 8.28217325e-04 9.99996796e-01 2.39219556e-03 9.91528197e-03] [ 1.00563515e-02 -2.40040424e-03 9.99946552e-01 -2.88001354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50463044 meters 0.27309071179608785 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99950840e-01 -9.41523033e-04 -9.87075568e-03 2.38035434e+00] [ 9.61672381e-04 9.99997463e-01 2.03677010e-03 1.16964356e-02] [ 9.86881298e-03 -2.04616241e-03 9.99949209e-01 -2.88235458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56463044 meters 0.2718589232013145 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.29 [[ 9.99953136e-01 -1.20737106e-03 -9.60564446e-03 2.37993549e+00] [ 1.22025090e-03 9.99998364e-01 1.33511370e-03 1.48880387e-02] [ 9.60401677e-03 -1.34677242e-03 9.99952973e-01 -2.88602053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62463044 meters 0.27294184391279974 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:-0.29 [[ 9.99954169e-01 -1.52862074e-03 -9.45113073e-03 2.37982251e+00] [ 1.53381509e-03 9.99998677e-01 5.42377128e-04 1.86218848e-02] [ 9.45028914e-03 -5.56848557e-04 9.99955190e-01 -2.89030041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68463043999998 meters 0.27329268746294294 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:-0.29 [[ 9.99953725e-01 -1.61514213e-03 -9.48358468e-03 2.37942359e+00] [ 1.61838305e-03 9.99998635e-01 3.34076321e-04 1.98236907e-02] [ 9.48303215e-03 -3.49408934e-04 9.99954974e-01 -2.88212904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74463043999998 meters 0.2717556825843392 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:-0.29 [[ 9.99953305e-01 -1.64199275e-03 -9.52322372e-03 2.37964938e+00] [ 1.64452622e-03 9.99998614e-01 2.58206370e-04 2.00701824e-02] [ 9.52278655e-03 -2.73855504e-04 9.99954620e-01 -2.88423268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80463043999998 meters 0.27294438435221297 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.29 [[ 0.99995363 0.00408171 -0.0087223 2.40345947] [-0.00410767 0.99998718 -0.00295977 0.02104645] [ 0.0087101 0.00299546 0.99995758 -0.28980478] [ 0. 0. 0. 1. ]] SLAMing on 247.86463043999998 meters 0.2725787902773892 Centerline is valid? [False, False] Translation: X:2.40, Y:0.02, Z:-0.29 [[ 0.99995423 0.00417315 -0.00860956 2.40307543] [-0.0041969 0.99998744 -0.00274141 0.02006551] [ 0.00859801 0.00277742 0.99995918 -0.28952744] [ 0. 0. 0. 1. ]] SLAMing on 247.92463044 meters 0.2713286524688516 Centerline is valid? [False, False] Translation: X:2.38, Y:0.02, Z:-0.29 [[ 9.99943248e-01 -3.68367530e-03 -9.99652349e-03 2.38481378e+00] [ 3.67147100e-03 9.99992493e-01 -1.23893120e-03 2.17263187e-02] [ 1.00010123e-02 1.20215895e-03 9.99949266e-01 -2.92205878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98463044 meters 0.2722258256706258 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.29 [[ 9.99933202e-01 5.31954756e-03 -1.02612693e-02 2.40774819e+00] [-5.33628226e-03 9.99984475e-01 -1.60417085e-03 2.14690078e-02] [ 1.02525765e-02 1.65882072e-03 9.99946065e-01 -2.92488974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04463044 meters 0.2719458176068353 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.29 [[ 9.99934215e-01 5.22604513e-03 -1.02104881e-02 2.40748115e+00] [-5.24492531e-03 9.99984583e-01 -1.82319536e-03 2.25037739e-02] [ 1.02008026e-02 1.87662867e-03 9.99946209e-01 -2.92254468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10463044 meters 0.2713957773570459 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.29 [[ 9.99934387e-01 5.16236811e-03 -1.02260051e-02 2.40736151e+00] [-5.18271716e-03 9.99984640e-01 -1.96443178e-03 2.32299714e-02] [ 1.02157069e-02 2.01730138e-03 9.99945783e-01 -2.91998078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16463044 meters 0.2712518143671174 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.29 [[ 9.99934643e-01 5.17635847e-03 -1.01938683e-02 2.40728376e+00] [-5.19631254e-03 9.99984633e-01 -1.93194574e-03 2.30544174e-02] [ 1.01837112e-02 1.98479000e-03 9.99946175e-01 -2.91992186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22463044 meters 0.2720029313110601 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.29 [[ 9.99934547e-01 5.33311211e-03 -1.01221999e-02 2.40718094e+00] [-5.34916034e-03 9.99984478e-01 -1.55903808e-03 2.13128686e-02] [ 1.01137283e-02 1.61308131e-03 9.99947554e-01 -2.92022063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28463044 meters 0.27242969575533477 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.29 [[ 9.99949385e-01 -2.97902018e-03 -9.61008433e-03 2.42807657e+00] [ 2.97357455e-03 9.99995410e-01 -5.80895855e-04 2.17826050e-02] [ 9.61177072e-03 5.52290151e-04 9.99953653e-01 -2.90791311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34463044 meters 0.27026701127725294 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.29 [[ 9.99949183e-01 -2.72455112e-03 -9.70611937e-03 2.42834624e+00] [ 2.72509681e-03 9.99996286e-01 4.29963832e-05 1.88829691e-02] [ 9.70596617e-03 -6.94443132e-05 9.99952894e-01 -2.90796534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40463043999998 meters 0.2718838772293527 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.29 [[ 9.99949205e-01 -2.36630520e-03 -9.79731402e-03 2.42860071e+00] [ 2.37550467e-03 9.99996748e-01 9.27448389e-04 1.46548718e-02] [ 9.79508754e-03 -9.50674845e-04 9.99951575e-01 -2.90771683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46463043999998 meters 0.2696452593413544 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.29 [[ 9.99948406e-01 -2.27575319e-03 -9.89977063e-03 2.42877463e+00] [ 2.28716658e-03 9.99996733e-01 1.14172613e-03 1.37030930e-02] [ 9.89714000e-03 -1.16430965e-03 9.99950344e-01 -2.90654877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52463043999998 meters 0.27013715461633314 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.29 [[ 9.99948771e-01 -2.25360296e-03 -9.86792074e-03 2.42924086e+00] [ 2.26565629e-03 9.99996701e-01 1.21045675e-03 1.33353150e-02] [ 9.86516029e-03 -1.23275205e-03 9.99950578e-01 -2.91637144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58463043999998 meters 0.27146794301927896 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.29 [[ 9.99949082e-01 -2.18581840e-03 -9.85168466e-03 2.42944685e+00] [ 2.19943308e-03 9.99996641e-01 1.37134245e-03 1.26174000e-02] [ 9.84865406e-03 -1.39294074e-03 9.99950531e-01 -2.92033509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64463044 meters 0.2721419382736215 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:-0.29 [[ 9.99946687e-01 5.90584177e-03 -8.47019141e-03 2.44915884e+00] [-5.90438243e-03 9.99982550e-01 1.97287799e-04 1.11337888e-02] [ 8.47120875e-03 -1.47266032e-04 9.99964108e-01 -2.90948394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70463044 meters 0.2714501493531648 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:-0.29 [[ 9.99947510e-01 5.87017150e-03 -8.39746879e-03 2.44890561e+00] [-5.86936294e-03 9.99982768e-01 1.20927129e-04 1.15825495e-02] [ 8.39803394e-03 -7.16329892e-05 9.99964733e-01 -2.90801714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76463044 meters 0.2722803663302685 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:-0.29 [[ 9.99948371e-01 5.85283272e-03 -8.30655021e-03 2.44867409e+00] [-5.85227667e-03 9.99982871e-01 9.12456293e-05 1.19090070e-02] [ 8.30694197e-03 -4.26286884e-05 9.99965496e-01 -2.90750606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82463044 meters 0.2707379904877184 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:-0.29 [[ 9.99948095e-01 5.96639137e-03 -8.25891048e-03 2.44856397e+00] [-5.96322973e-03 9.99982137e-01 4.07388677e-04 1.05451417e-02] [ 8.26119359e-03 -3.58117751e-04 9.99965812e-01 -2.90675232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88463044 meters 0.2702112059814684 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.29 [[ 9.99940062e-01 -2.08224116e-03 -1.07488135e-02 2.43039180e+00] [ 2.10084390e-03 9.99996315e-01 1.71967724e-03 9.90967094e-03] [ 1.07451931e-02 -1.74215574e-03 9.99940751e-01 -2.92776332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94463044 meters 0.27013787902734204 Centerline is valid? [False, False] Translation: X:2.45, Y:0.01, Z:-0.29 [[ 9.99938344e-01 5.97421505e-03 -9.36036742e-03 2.45051588e+00] [-5.97070397e-03 9.99982094e-01 4.03000408e-04 1.04918450e-02] [ 9.36260743e-03 -3.47087578e-04 9.99956110e-01 -2.91861852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00463044 meters 0.27127022287116814 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:-0.29 [[ 9.99956781e-01 -1.99726414e-03 -9.08007385e-03 2.46960639e+00] [ 2.00815991e-03 9.99997274e-01 1.19100663e-03 1.76025725e-02] [ 9.07767035e-03 -1.20918939e-03 9.99958066e-01 -2.90574849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06463044 meters 0.2698030050969733 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:-0.29 [[ 9.99942148e-01 6.38011842e-03 -8.65999661e-03 2.44738429e+00] [-6.37912650e-03 9.99979643e-01 1.42157220e-04 1.82436141e-02] [ 8.66072730e-03 -8.69057821e-05 9.99962491e-01 -2.91435738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12463044 meters 0.26916037888771077 Centerline is valid? [False, False] Translation: X:2.45, Y:0.02, Z:-0.29 [[ 9.99942761e-01 6.31288994e-03 -8.63835431e-03 2.44733985e+00] [-6.31330009e-03 9.99980071e-01 -2.02121946e-05 1.89698821e-02] [ 8.63805456e-03 7.47475608e-05 9.99962689e-01 -2.91429166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18463043999998 meters 0.27085844743256604 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:-0.29 [[ 9.99948612e-01 -2.09029687e-03 -9.91984845e-03 2.46990686e+00] [ 2.09521280e-03 9.99997687e-01 4.85198664e-04 2.31073004e-02] [ 9.91881130e-03 -5.05957924e-04 9.99950679e-01 -2.90970504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24463043999998 meters 0.26967761474764707 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:-0.29 [[ 9.99950951e-01 -1.90167896e-03 -9.72002030e-03 2.46932212e+00] [ 1.91084350e-03 9.99997738e-01 9.33652744e-04 2.10895616e-02] [ 9.71822281e-03 -9.52180387e-04 9.99952324e-01 -2.90655780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30463043999998 meters 0.2700525725642719 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:-0.29 [[ 9.99953717e-01 -1.65330151e-03 -9.47794136e-03 2.46883160e+00] [ 1.66767844e-03 9.99997471e-01 1.50918083e-03 1.83200074e-02] [ 9.47542225e-03 -1.52491714e-03 9.99953944e-01 -2.90638681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36463043999998 meters 0.2701428904287745 Centerline is valid? [False, False] Translation: X:2.47, Y:0.02, Z:-0.29 [[ 9.99954290e-01 -1.51213651e-03 -9.44092542e-03 2.46924038e+00] [ 1.52951682e-03 9.99997148e-01 1.83400523e-03 1.68082636e-02] [ 9.43812523e-03 -1.84836145e-03 9.99953752e-01 -2.91465714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42463044 meters 0.2698353289189704 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.29 [[ 9.99955350e-01 -1.32600947e-03 -9.35623901e-03 2.46926942e+00] [ 1.34719746e-03 9.99996542e-01 2.25864466e-03 1.48896640e-02] [ 9.35321167e-03 -2.27114851e-03 9.99953679e-01 -2.91814470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48463044 meters 0.2695086707176998 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.29 [[ 9.99954183e-01 -1.11017782e-03 -9.50781006e-03 2.46986923e+00] [ 1.13633377e-03 9.99995584e-01 2.74603572e-03 1.25458157e-02] [ 9.50471948e-03 -2.75671395e-03 9.99951029e-01 -2.92211182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54463044 meters 0.2704777055596327 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.29 [[ 9.99954240e-01 -1.13028348e-03 -9.49947633e-03 2.47005508e+00] [ 1.15601466e-03 9.99995677e-01 2.70363940e-03 1.27397226e-02] [ 9.49637939e-03 -2.71449722e-03 9.99951224e-01 -2.92563864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60463044 meters 0.2698578829679622 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.29 [[ 9.99958247e-01 -1.22709567e-03 -9.05526916e-03 2.46992291e+00] [ 1.24941923e-03 9.99996194e-01 2.46001138e-03 1.37245214e-02] [ 9.05221602e-03 -2.47122250e-03 9.99955974e-01 -2.93991110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66463044 meters 0.26933405257358245 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.29 [[ 9.99959925e-01 -1.20516728e-03 -8.87103254e-03 2.46948704e+00] [ 1.22748775e-03 9.99996094e-01 2.51109287e-03 1.34847536e-02] [ 8.86797160e-03 -2.52188132e-03 9.99957499e-01 -2.93969100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72463044 meters 0.27163051981252606 Centerline is valid? [False, False] Translation: X:2.49, Y:0.01, Z:-0.29 [[ 9.99964484e-01 4.44961657e-03 -7.15766277e-03 2.49154513e+00] [-4.45657878e-03 9.99989611e-01 -9.57036825e-04 1.44751491e-02] [ 7.15332996e-03 9.88901522e-04 9.99973926e-01 -2.94457234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78463044 meters 0.2701699307277766 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.30 [[ 9.99947300e-01 -3.18603895e-03 -9.75938847e-03 2.47364819e+00] [ 3.19542503e-03 9.99994447e-01 9.46306921e-04 1.31130442e-02] [ 9.75631930e-03 -9.77442445e-04 9.99951928e-01 -2.96282561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84463044 meters 0.26978633326405654 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.30 [[ 9.99948610e-01 -3.12466263e-03 -9.64439509e-03 2.47369944e+00] [ 3.13528793e-03 9.99994494e-01 1.08678425e-03 1.24231889e-02] [ 9.64094616e-03 -1.11696636e-03 9.99952901e-01 -2.96806964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90463043999998 meters 0.2716817359833513 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.30 [[ 9.99952852e-01 3.01530337e-03 -9.23044143e-03 2.49661450e+00] [-3.03576693e-03 9.99992964e-01 -2.20375591e-03 1.27717932e-02] [ 9.22373149e-03 2.23167348e-03 9.99954970e-01 -2.97420396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96463043999998 meters 0.2709223001943866 Centerline is valid? [False, False] Translation: X:2.48, Y:0.02, Z:-0.30 [[ 9.99929187e-01 -3.98104645e-03 -1.12147968e-02 2.47897605e+00] [ 3.98434769e-03 9.99992025e-01 2.72037673e-04 1.56293327e-02] [ 1.12136244e-02 -3.16702059e-04 9.99937075e-01 -2.99205578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02463043999998 meters 0.27149371155673063 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.30 [[ 9.99961527e-01 2.43011460e-03 -8.42848732e-03 2.49817674e+00] [-2.45258183e-03 9.99993464e-01 -2.65631972e-03 1.82611046e-02] [ 8.42197707e-03 2.67688907e-03 9.99960952e-01 -2.98173917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08463043999998 meters 0.2705751895908662 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.30 [[ 9.99960134e-01 2.34123579e-03 -8.61679224e-03 2.49843148e+00] [-2.36573490e-03 9.99993186e-01 -2.83408847e-03 1.92888614e-02] [ 8.61009826e-03 2.85436054e-03 9.99958859e-01 -2.97896058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14463044 meters 0.27114269081124204 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.30 [[ 9.99959125e-01 2.13943901e-03 -8.78467239e-03 2.49869121e+00] [-2.16872300e-03 9.99992119e-01 -3.32536095e-03 2.14782552e-02] [ 8.77748876e-03 3.34427655e-03 9.99955885e-01 -2.97715133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20463044 meters 0.2722672982611156 Centerline is valid? [False, False] Translation: X:2.50, Y:0.03, Z:-0.30 [[ 9.99960259e-01 1.78436262e-03 -8.73474966e-03 2.49830389e+00] [-1.82436329e-03 9.99987877e-01 -4.57366394e-03 2.71981137e-02] [ 8.72648269e-03 4.58941753e-03 9.99951392e-01 -2.97346341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26463044 meters 0.2743809895270669 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.30 [[ 9.99964876e-01 -2.86116780e-03 -7.87784859e-03 2.51892611e+00] [ 2.85119707e-03 9.99995120e-01 -1.27660637e-03 3.65489001e-02] [ 7.88146273e-03 1.25410024e-03 9.99968154e-01 -2.97009158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32463044 meters 0.2727012518948453 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.30 [[ 9.99964634e-01 -3.24100999e-03 -7.76058429e-03 2.51849665e+00] [ 3.22316539e-03 9.99992136e-01 -2.31079292e-03 4.11046421e-02] [ 7.76801256e-03 2.28569755e-03 9.99967216e-01 -2.96812865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38463044 meters 0.2729112918585049 Centerline is valid? [False, False] Translation: X:2.52, Y:0.05, Z:-0.30 [[ 9.99967468e-01 6.32434253e-04 -8.04129381e-03 2.51887427e+00] [-6.25379804e-04 9.99999417e-01 8.79762082e-04 4.56518116e-02] [ 8.04184551e-03 -8.74704599e-04 9.99967281e-01 -2.96616941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44463044 meters 0.2715511493731616 Centerline is valid? [False, False] Translation: X:2.48, Y:0.05, Z:-0.30 [[ 9.99956938e-01 -4.77722426e-05 -9.28009513e-03 2.47593715e+00] [ 4.76594382e-05 9.99999999e-01 -1.23766670e-05 4.79827685e-02] [ 9.28009571e-03 1.19338499e-05 9.99956939e-01 -2.97278410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50463044 meters 0.2714848037630218 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.30 [[ 9.99938613e-01 7.92177165e-03 -7.74692817e-03 2.49560252e+00] [-7.93354879e-03 9.99967418e-01 -1.49068460e-03 4.92460970e-02] [ 7.73486690e-03 1.55205372e-03 9.99968881e-01 -2.95975008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56463044 meters 0.27109431928003985 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.30 [[ 9.99937966e-01 7.67768879e-03 -8.06956698e-03 2.49604279e+00] [-7.69477022e-03 9.99968215e-01 -2.08785977e-03 5.19858983e-02] [ 8.05328055e-03 2.14982371e-03 9.99965261e-01 -2.95567001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62463044 meters 0.2687309482327893 Centerline is valid? [False, False] Translation: X:2.48, Y:0.05, Z:-0.30 [[ 9.99951139e-01 -1.04650770e-03 -9.82977035e-03 2.47726146e+00] [ 1.03269727e-03 9.99998473e-01 -1.40992974e-03 5.32955662e-02] [ 9.83123084e-03 1.39970967e-03 9.99950693e-01 -2.96939119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68463043999998 meters 0.26897182709552475 Centerline is valid? [False, False] Translation: X:2.48, Y:0.05, Z:-0.30 [[ 9.99954980e-01 -1.00654975e-03 -9.43531682e-03 2.47572473e+00] [ 9.95632862e-04 9.99998830e-01 -1.16164991e-03 5.23942066e-02] [ 9.43647504e-03 1.15220350e-03 9.99954812e-01 -2.95457702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74463043999998 meters 0.2688373782702276 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.29 [[ 9.99917262e-01 -1.02360769e-02 -7.79046930e-03 2.49574414e+00] [ 1.02338769e-02 9.99947581e-01 -3.22209260e-04 4.78090545e-02] [ 7.79335908e-03 2.42455897e-04 9.99969602e-01 -2.94180254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80463043999998 meters 0.2685994268374826 Centerline is valid? [False, False] Translation: X:2.50, Y:0.03, Z:-0.30 [[ 9.99966230e-01 4.09461107e-03 -7.12545789e-03 2.49887084e+00] [-4.11068115e-03 9.99989038e-01 -2.24212344e-03 3.38336805e-02] [ 7.11619915e-03 2.27133821e-03 9.99972100e-01 -2.95634067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86463043999998 meters 0.2672712924164801 Centerline is valid? [False, False] Translation: X:2.46, Y:0.03, Z:-0.30 [[ 0.99995163 0.00298933 -0.00937021 2.45881393] [-0.00301319 0.99999225 -0.00253314 0.02502908] [ 0.00936257 0.00256125 0.99995289 -0.29790518] [ 0. 0. 0. 1. ]] SLAMing on 250.92463044 meters 0.2689048345364773 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.30 [[ 9.99966669e-01 2.53461333e-03 -7.76119999e-03 2.50277904e+00] [-2.55233250e-03 9.99994157e-01 -2.27399112e-03 1.80178760e-02] [ 7.75539096e-03 2.29372449e-03 9.99967296e-01 -2.98153804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98463044 meters 0.26795948131257236 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.30 [[ 9.99965064e-01 3.10979294e-03 -7.75883839e-03 2.50261956e+00] [-3.11633733e-03 9.99994798e-01 -8.31528688e-04 1.07743121e-02] [ 7.75621215e-03 8.55678796e-04 9.99969554e-01 -2.97969252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04463044 meters 0.2678858307466776 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.30 [[ 9.99963463e-01 3.43084925e-03 -7.82956016e-03 2.50298779e+00] [-3.43138781e-03 9.99994111e-01 -5.53543303e-05 7.11196348e-03] [ 7.82932414e-03 8.22185651e-05 9.99969347e-01 -2.98314782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10463044 meters 0.26918777469051053 Centerline is valid? [False, False] Translation: X:2.53, Y:0.00, Z:-0.30 [[ 9.99947333e-01 -5.37690158e-03 -8.74188051e-03 2.52709291e+00] [ 5.38214516e-03 9.99985350e-01 5.76407774e-04 4.87415700e-03] [ 8.73865316e-03 -6.23427487e-04 9.99961623e-01 -2.98659264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16463044 meters 0.26790953732639267 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.00, Z:-0.30 [[ 9.99968388e-01 3.13772784e-03 -7.30602446e-03 2.50622537e+00] [-3.13385389e-03 9.99994943e-01 5.41627880e-04 -2.60460973e-03] [ 7.30768699e-03 -5.18714745e-04 9.99973164e-01 -2.99733208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22463044 meters 0.2680113524503385 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.30 [[ 9.99967526e-01 3.42069324e-03 -7.29696342e-03 2.50582559e+00] [-3.41166051e-03 9.99993399e-01 1.24996405e-03 -5.95801747e-03] [ 7.30119099e-03 -1.22502870e-03 9.99972596e-01 -2.99052569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28463044 meters 0.2679757531166142 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.01, Z:-0.30 [[ 9.99964394e-01 3.79396190e-03 -7.53766283e-03 2.50652535e+00] [-3.77605708e-03 9.99990019e-01 2.38819446e-03 -1.13421414e-02] [ 7.54664831e-03 -2.35964678e-03 9.99968740e-01 -2.99331632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34463044 meters 0.2694163477080955 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.30 [[ 9.99959425e-01 1.81837053e-03 -8.82276260e-03 2.51187527e+00] [-1.80989418e-03 9.99997893e-01 9.68625562e-04 -1.55400112e-02] [ 8.82450533e-03 -9.52617993e-04 9.99960610e-01 -3.02630199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40463043999998 meters 0.2677468608700263 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.30 [[ 9.99956583e-01 2.14022840e-03 -9.06925461e-03 2.51216441e+00] [-2.12492462e-03 9.99996303e-01 1.69673596e-03 -1.88936508e-02] [ 9.07285248e-03 -1.67739082e-03 9.99957434e-01 -3.02171797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46463043999998 meters 0.26787939952388606 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.02, Z:-0.30 [[ 9.99956793e-01 2.15258475e-03 -9.04316570e-03 2.51226012e+00] [-2.13694922e-03 9.99996206e-01 1.73829531e-03 -1.90585552e-02] [ 9.04687321e-03 -1.71889542e-03 9.99957599e-01 -3.02450278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52463043999998 meters 0.2690677578994297 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.02, Z:-0.30 [[ 9.99943372e-01 -6.68261863e-03 -8.28225341e-03 2.53269595e+00] [ 6.69866591e-03 9.99975737e-01 1.91132610e-03 -1.60937359e-02] [ 8.26927979e-03 -1.96669791e-03 9.99963875e-01 -3.01993236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58463043999998 meters 0.2698629525072956 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.02, Z:-0.30 [[ 9.99942596e-01 -6.73802975e-03 -8.33089471e-03 2.53289165e+00] [ 6.75255637e-03 9.99975727e-01 1.71680840e-03 -1.50205472e-02] [ 8.31912459e-03 -1.77296468e-03 9.99963824e-01 -3.02212698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64463044 meters 0.27161288488464314 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.30 [[ 9.99948213e-01 2.66680777e-03 -9.82134932e-03 2.55724951e+00] [-2.65653095e-03 9.99995910e-01 1.05927215e-03 -1.27396666e-02] [ 9.82413403e-03 -1.03312658e-03 9.99951208e-01 -3.02393761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70463044 meters 0.27066810216135173 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.30 [[ 0.99991411 0.00425828 -0.01239491 2.51540863] [-0.00422533 0.99998747 0.00268277 -0.01135182] [ 0.01240618 -0.00263017 0.99991958 -0.30319714] [ 0. 0. 0. 1. ]] SLAMing on 251.76463044 meters 0.2709599067600026 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.00, Z:-0.30 [[ 0.99993746 -0.00362649 -0.01057931 2.53412548] [ 0.00365991 0.99998837 0.00314071 -0.00433843] [ 0.0105678 -0.00317923 0.99993911 -0.30210895] [ 0. 0. 0. 1. ]] SLAMing on 251.82463044 meters 0.27161166401332915 Centerline is valid? [False, False] Translation: X:2.53, Y:0.00, Z:-0.30 [[ 9.99936795e-01 -4.11898474e-03 -1.04613191e-02 2.53387617e+00] [ 4.14025554e-03 9.99989404e-01 2.01243798e-03 1.34689895e-03] [ 1.04529190e-02 -2.05562331e-03 9.99943254e-01 -3.02280486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88463044 meters 0.27113788259771104 Centerline is valid? [False, False] Translation: X:2.53, Y:0.01, Z:-0.30 [[ 9.99935875e-01 -4.58629171e-03 -1.03542704e-02 2.53387351e+00] [ 4.59668544e-03 9.99988955e-01 9.80235459e-04 6.24857097e-03] [ 1.03496604e-02 -1.02776793e-03 9.99945913e-01 -3.02782940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94463044 meters 0.270560198513985 Centerline is valid? [False, False] Translation: X:2.53, Y:0.01, Z:-0.30 [[ 9.99930812e-01 -5.19411010e-03 -1.05542818e-02 2.53372553e+00] [ 5.19186051e-03 9.99986493e-01 -2.40532246e-04 1.24724042e-02] [ 1.05553886e-02 1.85719245e-04 9.99944273e-01 -3.01999257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00463044 meters 0.2702740614297922 Centerline is valid? [False, False] Translation: X:2.53, Y:0.02, Z:-0.30 [[ 9.99927945e-01 -5.49282498e-03 -1.06739792e-02 2.53400100e+00] [ 5.48357580e-03 9.99984564e-01 -8.95590383e-04 1.55430238e-02] [ 1.06787338e-02 8.36994277e-04 9.99942630e-01 -3.02087259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06463044 meters 0.26969368138433264 Centerline is valid? [False, False] Translation: X:2.53, Y:0.02, Z:-0.30 [[ 9.99928207e-01 -5.88915075e-03 -1.04354378e-02 2.53348586e+00] [ 5.87104569e-03 9.99981208e-01 -1.76474535e-03 1.97438173e-02] [ 1.04456346e-02 1.70335172e-03 9.99943992e-01 -3.02192745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12463044 meters 0.26954777386614154 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.30 [[ 9.99944492e-01 2.89860702e-03 -1.01296692e-02 2.51254248e+00] [-2.92303923e-03 9.99992853e-01 -2.39797267e-03 1.84111576e-02] [ 1.01226461e-02 2.42744899e-03 9.99945818e-01 -3.03304746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18463043999998 meters 0.26967727456652707 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.30 [[ 0.99994371 0.00280771 -0.01023153 2.5127686 ] [-0.00283458 0.99999257 -0.00261178 0.01925394] [ 0.01022412 0.00264063 0.99994425 -0.30329355] [ 0. 0. 0. 1. ]] SLAMing on 252.24463043999998 meters 0.2697337435123526 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.30 [[ 0.99994337 0.00270637 -0.01029223 2.51268484] [-0.00273613 0.99999211 -0.00287881 0.02055604] [ 0.01028436 0.0029068 0.99994289 -0.30295071] [ 0. 0. 0. 1. ]] SLAMing on 252.30463043999998 meters 0.26933336642240985 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.30 [[ 0.99994442 0.0027212 -0.01018593 2.51268275] [-0.00275033 0.99999217 -0.00284679 0.02023589] [ 0.0101781 0.00287464 0.99994407 -0.30334077] [ 0. 0. 0. 1. ]] SLAMing on 252.36463043999998 meters 0.2689369013466216 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.30 [[ 9.99942795e-01 2.86799864e-03 -1.03043959e-02 2.51299583e+00] [-2.89398623e-03 9.99992667e-01 -2.50796607e-03 1.87224656e-02] [ 1.02971275e-02 2.53764338e-03 9.99943763e-01 -3.03374005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42463044 meters 0.27079913492168833 Centerline is valid? [False, False] Translation: X:2.53, Y:0.02, Z:-0.30 [[ 9.99962120e-01 -3.18259790e-03 -8.10126227e-03 2.53277800e+00] [ 3.18746509e-03 9.99994747e-01 5.87953290e-04 1.84020849e-02] [ 8.09934850e-03 -6.13753509e-04 9.99967011e-01 -3.03298557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48463044 meters 0.27020033404454036 Centerline is valid? [False, False] Translation: X:2.53, Y:0.01, Z:-0.30 [[ 9.99962797e-01 -2.88950257e-03 -8.12749865e-03 2.53277230e+00] [ 2.90086770e-03 9.99994831e-01 1.38691516e-03 1.45791961e-02] [ 8.12344914e-03 -1.41044036e-03 9.99966010e-01 -3.03100802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54463044 meters 0.26854146132423046 Centerline is valid? [False, False] Translation: X:2.53, Y:0.01, Z:-0.30 [[ 9.99962914e-01 -2.46765823e-03 -8.25113046e-03 2.53289566e+00] [ 2.48877270e-03 9.99993653e-01 2.54969140e-03 9.34968411e-03] [ 8.24478631e-03 -2.57013203e-03 9.99962708e-01 -3.02816744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60463044 meters 0.2678506486117444 Centerline is valid? [False, False] Translation: X:2.53, Y:0.01, Z:-0.30 [[ 9.99962969e-01 -2.10957538e-03 -8.34326020e-03 2.53289493e+00] [ 2.13783565e-03 9.99992004e-01 3.37973123e-03 5.47460910e-03] [ 8.33606368e-03 -3.39744260e-03 9.99959483e-01 -3.02404140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66463044 meters 0.26947511681800934 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.30 [[ 9.99949389e-01 3.33270458e-03 -9.49280530e-03 2.55638905e+00] [-3.32892271e-03 9.99994373e-01 4.14167094e-04 -2.50373049e-03] [ 9.49413218e-03 -3.82545317e-04 9.99954857e-01 -3.02561743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72463044 meters 0.2688673734515396 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.30 [[ 9.99948179e-01 3.52807543e-03 -9.54949526e-03 2.55684509e+00] [-3.51998844e-03 9.99993432e-01 8.63525400e-04 -4.56732533e-03] [ 9.55247913e-03 -8.29866538e-04 9.99954030e-01 -3.03092091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78463044 meters 0.269821006520105 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.30 [[ 9.99947719e-01 3.60998941e-03 -9.56703204e-03 2.55658285e+00] [-3.59998532e-03 9.99992955e-01 1.06269869e-03 -5.48764600e-03] [ 9.57080097e-03 -1.02820196e-03 9.99953670e-01 -3.02501134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84463044 meters 0.26870197396839 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.30 [[ 9.99951161e-01 3.72524655e-03 -9.15411265e-03 2.55507704e+00] [-3.71321126e-03 9.99992220e-01 1.33138546e-03 -6.47430640e-03] [ 9.15900116e-03 -1.29732928e-03 9.99957214e-01 -3.01366215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90463043999998 meters 0.26977992572657267 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.30 [[ 9.99949868e-01 3.69732824e-03 -9.30542800e-03 2.55569487e+00] [-3.68569663e-03 9.99992405e-01 1.26681998e-03 -6.22011005e-03] [ 9.31004117e-03 -1.23245949e-03 9.99955901e-01 -3.01929816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96463043999998 meters 0.26953312146357705 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.30 [[ 9.99950342e-01 3.64177821e-03 -9.27640487e-03 2.55577785e+00] [-3.63123400e-03 9.99992742e-01 1.15325931e-03 -5.58781515e-03] [ 9.28053746e-03 -1.11951725e-03 9.99956308e-01 -3.02190342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02463043999998 meters 0.27068445443892025 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.31 [[ 9.99943612e-01 2.01164306e-03 -1.04271958e-02 2.56077044e+00] [-2.01847790e-03 9.99997755e-01 -6.44999763e-04 -3.76658284e-03] [ 1.04258749e-02 6.66010457e-04 9.99945427e-01 -3.05370825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08463043999998 meters 0.26867120279986295 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.31 [[ 9.99921890e-01 -6.34043887e-03 -1.07709202e-02 2.54054766e+00] [ 6.34927786e-03 9.99979534e-01 7.86637659e-04 -3.73015018e-03] [ 1.07657122e-02 -8.54963780e-04 9.99941683e-01 -3.06655679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14463044 meters 0.27012441258389425 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.31 [[ 9.99961137e-01 6.47566335e-04 -8.79238009e-03 2.56159597e+00] [-6.59171178e-04 9.99998915e-01 -1.31704127e-03 -4.49725638e-03] [ 8.79151768e-03 1.32278577e-03 9.99960479e-01 -3.07219976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20463044 meters 0.26860143618164645 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99961034e-01 9.16699024e-04 -8.78012340e-03 2.56168446e+00] [-9.22073535e-04 9.99999390e-01 -6.08094039e-04 -7.78813854e-03] [ 8.77956061e-03 6.16166263e-04 9.99961269e-01 -3.07393385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26463044 meters 0.26973480125029914 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99959712e-01 1.11445590e-03 -8.90685166e-03 2.56228065e+00] [-1.11561761e-03 9.99999370e-01 -1.25461420e-04 -9.99200695e-03] [ 8.90670623e-03 1.35393006e-04 9.99960325e-01 -3.07876024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32463044 meters 0.2687529133487924 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99958429e-01 1.41047130e-03 -9.00833577e-03 2.56237504e+00] [-1.40546064e-03 9.99998854e-01 5.62530733e-04 -1.32352484e-02] [ 9.00911888e-03 -5.49846487e-04 9.99959266e-01 -3.07648480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38463044 meters 0.2684733573885988 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.31 [[ 9.99959724e-01 1.59652616e-03 -8.83184546e-03 2.56190779e+00] [-1.58774847e-03 9.99998239e-01 1.00079114e-03 -1.51863178e-02] [ 8.83342770e-03 -9.86728078e-04 9.99960498e-01 -3.07459489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44463044 meters 0.26803555273876817 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.30 [[ 9.99972182e-01 -6.08230968e-04 -7.43406308e-03 2.55628927e+00] [ 6.03736836e-04 9.99999634e-01 -6.06761566e-04 -1.95926090e-02] [ 7.43442941e-03 6.02256470e-04 9.99972183e-01 -3.04064649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50463044 meters 0.2680695139697783 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.30 [[ 9.99971920e-01 -4.35504913e-04 -7.48122278e-03 2.55643739e+00] [ 4.34008230e-04 9.99999885e-01 -2.01680965e-04 -2.14239071e-02] [ 7.48130976e-03 1.98428390e-04 9.99971995e-01 -3.04097248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56463044 meters 0.2680957968091787 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.30 [[ 9.99970841e-01 -1.89080691e-04 -7.63425987e-03 2.55709358e+00] [ 1.92321130e-04 9.99999892e-01 4.23728205e-04 -2.43524415e-02] [ 7.63417892e-03 -4.25184079e-04 9.99970769e-01 -3.04539486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62463044 meters 0.26796861677763656 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99969628e-01 3.81577153e-05 -7.79371278e-03 2.55747916e+00] [-3.06555155e-05 9.99999536e-01 9.62713592e-04 -2.68990636e-02] [ 7.79374590e-03 -9.62445432e-04 9.99969165e-01 -3.04550644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68463043999998 meters 0.2671366684589467 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99969567e-01 3.18185248e-04 -7.79516519e-03 2.55729415e+00] [-3.05445894e-04 9.99998616e-01 1.63539952e-03 -3.01626539e-02] [ 7.79567476e-03 -1.63296875e-03 9.99968280e-01 -3.04187090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74463043999998 meters 0.2681617628565116 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99968583e-01 4.23311651e-04 -7.91542553e-03 2.55770692e+00] [-4.08426130e-04 9.99998145e-01 1.88209310e-03 -3.12756704e-02] [ 7.91620756e-03 -1.87880110e-03 9.99966901e-01 -3.04387594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80463043999998 meters 0.26866153080885924 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99967566e-01 3.63666801e-04 -8.04582734e-03 2.55804822e+00] [-3.49677555e-04 9.99998425e-01 1.74003412e-03 -3.05861876e-02] [ 8.04644746e-03 -1.73716423e-03 9.99966118e-01 -3.04494490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86463043999998 meters 0.2699942546590216 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99967139e-01 1.36424570e-04 -8.10571654e-03 2.55831128e+00] [-1.27351710e-04 9.99999365e-01 1.11982185e-03 -2.78047634e-02] [ 8.10586416e-03 -1.11875277e-03 9.99966521e-01 -3.04727835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92463044 meters 0.26891920321187707 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.03, Z:-0.30 [[ 9.99967053e-01 -9.59729279e-05 -8.11683734e-03 2.55837106e+00] [ 1.00445919e-04 9.99999843e-01 5.50669763e-04 -2.51546357e-02] [ 8.11678322e-03 -5.51466924e-04 9.99966906e-01 -3.04842171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98463044 meters 0.26887403826112855 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.30 [[ 9.99966337e-01 -3.61441167e-04 -8.19723734e-03 2.55841041e+00] [ 3.60411358e-04 9.99999927e-01 -1.27105719e-04 -2.19966719e-02] [ 8.19728268e-03 1.24147062e-04 9.99966394e-01 -3.04662405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04463044 meters 0.26932879570735746 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.01, Z:-0.31 [[ 0.99996828 0.00645472 -0.00466643 2.57841836] [-0.00646763 0.99997528 -0.00275684 -0.01291165] [ 0.00464852 0.00278693 0.99998531 -0.3050731 ] [ 0. 0. 0. 1. ]] SLAMing on 254.10463044 meters 0.26759203798688536 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99991749e-01 -1.78997208e-03 -3.64652341e-03 2.55851698e+00] [ 1.78338093e-03 9.99996772e-01 -1.80996746e-03 -6.33274915e-03] [ 3.64975143e-03 1.80344939e-03 9.99991713e-01 -3.06842622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16463044 meters 0.2682555274227619 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.31 [[ 9.99991361e-01 -1.94509481e-03 -3.67355868e-03 2.55840517e+00] [ 1.93710171e-03 9.99995752e-01 -2.17815318e-03 -4.59397510e-03] [ 3.67777979e-03 2.17101831e-03 9.99990880e-01 -3.06558806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22463044 meters 0.2687004007016385 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.00, Z:-0.31 [[ 9.99991138e-01 -1.96431957e-03 -3.72372151e-03 2.55823576e+00] [ 1.95604466e-03 9.99995613e-01 -2.22455558e-03 -4.36195580e-03] [ 3.72807491e-03 2.21725210e-03 9.99990593e-01 -3.06056784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28463044 meters 0.267951291078779 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99990562e-01 -1.80558783e-03 -3.95169525e-03 2.55837572e+00] [ 1.79857799e-03 9.99996804e-01 -1.77671812e-03 -6.32892159e-03] [ 3.95489065e-03 1.76959392e-03 9.99990614e-01 -3.05440590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34463044 meters 0.267658388536961 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99990445e-01 -1.65564947e-03 -4.04578583e-03 2.55864138e+00] [ 1.64996121e-03 9.99997646e-01 -1.40890490e-03 -7.97608142e-03] [ 4.04810896e-03 1.40221604e-03 9.99990823e-01 -3.05506212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40463043999998 meters 0.2670028759441545 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99990157e-01 -1.45718008e-03 -4.19085678e-03 2.55880922e+00] [ 1.45368620e-03 9.99998593e-01 -8.36617136e-04 -1.05697659e-02] [ 4.19206999e-03 8.30516710e-04 9.99990868e-01 -3.05212633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46463043999998 meters 0.26651542359535274 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99989250e-01 -1.34961715e-03 -4.43606148e-03 2.55945027e+00] [ 1.34704340e-03 9.99998923e-01 -5.83123727e-04 -1.18044089e-02] [ 4.43684370e-03 5.77141891e-04 9.99989991e-01 -3.05367694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52463043999998 meters 0.26892784239138195 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.31 [[ 9.99982572e-01 8.01192634e-04 -5.84926596e-03 2.56531375e+00] [-7.93146389e-04 9.99998736e-01 1.37778918e-03 -1.17732945e-02] [ 5.85036245e-03 -1.37312585e-03 9.99981944e-01 -3.09014541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58463043999998 meters 0.2686230653659732 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.31 [[ 9.99982656e-01 7.36308232e-04 -5.84341659e-03 2.56484282e+00] [-7.29323175e-04 9.99999017e-01 1.19741300e-03 -1.09125303e-02] [ 5.84429251e-03 -1.19313050e-03 9.99982210e-01 -3.08286041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64463044 meters 0.26865753115305907 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.31 [[ 9.99982508e-01 8.30487891e-04 -5.85612528e-03 2.56501901e+00] [-8.22207174e-04 9.99998659e-01 1.41629239e-03 -1.19338502e-02] [ 5.85729364e-03 -1.41145267e-03 9.99981850e-01 -3.08514843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70463044 meters 0.26880022391402775 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.31 [[ 9.99981944e-01 1.04751657e-03 -5.91734293e-03 2.56518155e+00] [-1.03602056e-03 9.99997571e-01 1.94549675e-03 -1.43345817e-02] [ 5.91936650e-03 -1.93933113e-03 9.99980600e-01 -3.08512515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76463044 meters 0.2682524164681878 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.31 [[ 9.99981901e-01 1.11626937e-03 -5.91204809e-03 2.56509420e+00] [-1.10378208e-03 9.99997154e-01 2.11501959e-03 -1.49913507e-02] [ 5.91439220e-03 -2.10845570e-03 9.99980287e-01 -3.08350359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82463044 meters 0.269834629008761 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:-0.31 [[ 9.99981080e-01 1.22691512e-03 -6.02783995e-03 2.56515727e+00] [-1.21267320e-03 9.99996466e-01 2.36577768e-03 -1.62412211e-02] [ 6.03072126e-03 -2.35842311e-03 9.99979034e-01 -3.07977108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88463044 meters 0.2674857702172604 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.02, Z:-0.31 [[ 9.99940440e-01 6.85251076e-03 -8.49463286e-03 2.54465891e+00] [-6.85873058e-03 9.99976231e-01 -7.03289664e-04 -1.73011163e-02] [ 8.48961165e-03 7.61510175e-04 9.99963673e-01 -3.07664341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94463044 meters 0.2677482666815458 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.02, Z:-0.31 [[ 9.99942273e-01 6.72872410e-03 -8.37700281e-03 2.54436425e+00] [-6.73749191e-03 9.99976784e-01 -1.01887162e-03 -1.56555496e-02] [ 8.36995262e-03 1.07525279e-03 9.99964393e-01 -3.07615002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00463044 meters 0.2680877303125295 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.31 [[ 9.99943159e-01 6.55550209e-03 -8.40856470e-03 2.54438912e+00] [-6.56778587e-03 9.99977404e-01 -1.43408508e-03 -1.36716868e-02] [ 8.39897355e-03 1.48922922e-03 9.99963619e-01 -3.07545743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06463044 meters 0.26892781049671616 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.31 [[ 9.99944255e-01 6.29018807e-03 -8.48057073e-03 2.54491131e+00] [-6.30797486e-03 9.99977957e-01 -2.07224320e-03 -1.07347628e-02] [ 8.46734900e-03 2.12562291e-03 9.99961892e-01 -3.08198236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12463044 meters 0.26780235294486004 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.31 [[ 0.9999491 0.00593501 -0.0081595 2.54408928] [-0.00596152 0.99997702 -0.00322808 -0.00541379] [ 0.00814015 0.00327656 0.9999615 -0.3081248 ] [ 0. 0. 0. 1. ]] SLAMing on 255.18463043999998 meters 0.2677642996781196 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.31 [[ 9.99953628e-01 5.61450729e-03 -7.82429994e-03 2.54343365e+00] [-5.64703464e-03 9.99975480e-01 -4.14134869e-03 -1.20913688e-03] [ 7.80085646e-03 4.18534074e-03 9.99960814e-01 -3.08341519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24463043999998 meters 0.2694664638278337 Centerline is valid? [False, False] Translation: X:2.56, Y:0.01, Z:-0.31 [[ 9.99937730e-01 -1.74578268e-03 -1.10221733e-02 2.56493808e+00] [ 1.69926381e-03 9.99989616e-01 -4.22843583e-03 1.21787020e-02] [ 1.10294408e-02 4.20944295e-03 9.99930314e-01 -3.07125894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30463043999998 meters 0.26857604166735033 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.31 [[ 9.99938801e-01 -2.11980258e-03 -1.08582021e-02 2.56448221e+00] [ 2.06440513e-03 9.99984810e-01 -5.11056905e-03 1.63098007e-02] [ 1.08688706e-02 5.08784056e-03 9.99927988e-01 -3.07090581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36463043999998 meters 0.2699646356624021 Centerline is valid? [False, False] Translation: X:2.56, Y:0.02, Z:-0.31 [[ 9.99940794e-01 1.82581997e-03 -1.07272710e-02 2.56380597e+00] [-1.84499032e-03 9.99996718e-01 -1.77744239e-03 2.01536441e-02] [ 1.07239905e-02 1.79712887e-03 9.99940881e-01 -3.06532782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42463044 meters 0.26744163738148596 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.31 [[ 9.99929248e-01 -6.35412304e-03 -1.00560002e-02 2.54355705e+00] [ 6.34456298e-03 9.99979391e-01 -9.82299021e-04 2.73258495e-02] [ 1.00620346e-02 9.18428595e-04 9.99948955e-01 -3.08353801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48463044 meters 0.2679249101725369 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.31 [[ 9.99942255e-01 -2.33276649e-03 -1.04902702e-02 2.54454238e+00] [ 2.35960052e-03 9.99993974e-01 2.54634346e-03 2.98210843e-02] [ 1.04842669e-02 -2.57094926e-03 9.99941733e-01 -3.08565039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54463044 meters 0.2668566082719003 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.31 [[ 9.99942795e-01 -2.52396055e-03 -1.03940696e-02 2.54439630e+00] [ 2.54582850e-03 9.99994573e-01 2.09119373e-03 3.20354729e-02] [ 1.03887351e-02 -2.11753562e-03 9.99943794e-01 -3.08682500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60463044 meters 0.2674423152884826 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.31 [[ 9.99943196e-01 -2.62207661e-03 -1.03309628e-02 2.54429656e+00] [ 2.64153447e-03 9.99994762e-01 1.87025552e-03 3.30704428e-02] [ 1.03260047e-02 -1.89743887e-03 9.99944885e-01 -3.08738298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66463044 meters 0.26781364671586577 Centerline is valid? [False, False] Translation: X:2.54, Y:0.04, Z:-0.31 [[ 9.99943967e-01 -2.84292651e-03 -1.01970717e-02 2.54476637e+00] [ 2.85646705e-03 9.99995058e-01 1.31356673e-03 3.58565402e-02] [ 1.01932869e-02 -1.34262073e-03 9.99947146e-01 -3.10090727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72463044 meters 0.26789087721437743 Centerline is valid? [False, False] Translation: X:2.54, Y:0.04, Z:-0.31 [[ 9.99944987e-01 -2.88552087e-03 -1.00845028e-02 2.54477864e+00] [ 2.89783741e-03 9.99995073e-01 1.20693489e-03 3.62921811e-02] [ 1.00809705e-02 -1.23609174e-03 9.99948422e-01 -3.10516405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78463044 meters 0.2679425910452586 Centerline is valid? [False, False] Translation: X:2.55, Y:0.04, Z:-0.31 [[ 9.99945135e-01 -2.81730782e-03 -1.00890744e-02 2.54500224e+00] [ 2.83112932e-03 9.99995073e-01 1.35592766e-03 3.54834639e-02] [ 1.00852046e-02 -1.38441674e-03 9.99948185e-01 -3.10860397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84463044 meters 0.26890403667934293 Centerline is valid? [False, False] Translation: X:2.57, Y:0.04, Z:-0.31 [[ 9.99946731e-01 5.23845657e-03 -8.89347346e-03 2.56578022e+00] [-5.23807439e-03 9.99986279e-01 6.62661792e-05 3.53848510e-02] [ 8.89369856e-03 -1.96779738e-05 9.99960450e-01 -3.10409436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90463043999998 meters 0.2686646011821911 Centerline is valid? [False, False] Translation: X:2.55, Y:0.04, Z:-0.31 [[ 9.99959433e-01 -3.20386634e-03 -8.41829307e-03 2.54636232e+00] [ 3.21244354e-03 9.99994335e-01 1.00555252e-03 4.02534548e-02] [ 8.41502372e-03 -1.03255502e-03 9.99964060e-01 -3.12605558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96463043999998 meters 0.2686262024204239 Centerline is valid? [False, False] Translation: X:2.55, Y:0.04, Z:-0.31 [[ 9.99959689e-01 -3.38730670e-03 -8.31544328e-03 2.54630841e+00] [ 3.39121517e-03 9.99994146e-01 4.55969793e-04 4.28002533e-02] [ 8.31385009e-03 -4.84150870e-04 9.99965322e-01 -3.12973306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02463044 meters 0.2706952935983293 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.31 [[ 9.99960903e-01 -3.66489431e-03 -8.04747250e-03 2.54570534e+00] [ 3.66265111e-03 9.99993249e-01 -2.93465886e-04 4.61335807e-02] [ 8.04849370e-03 2.63979328e-04 9.99967576e-01 -3.12934137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08463044 meters 0.26981932196624736 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.31 [[ 9.99960840e-01 -3.77980717e-03 -8.00197062e-03 2.54545228e+00] [ 3.77543325e-03 9.99992715e-01 -5.61640907e-04 4.74336211e-02] [ 8.00403523e-03 5.31408007e-04 9.99967826e-01 -3.12678716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14463044 meters 0.26980322566631143 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.31 [[ 9.99960710e-01 -4.04251771e-03 -7.88895247e-03 2.54545671e+00] [ 4.03225286e-03 9.99991004e-01 -1.31664002e-03 5.05960883e-02] [ 7.89420403e-03 1.28477804e-03 9.99968015e-01 -3.13250728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20463044 meters 0.2690138305680695 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.31 [[ 9.99969042e-01 -2.09820143e-05 -7.86859120e-03 2.54587894e+00] [ 3.83766511e-05 9.99997556e-01 2.21049735e-03 5.39661929e-02] [ 7.86852559e-03 -2.21073089e-03 9.99966599e-01 -3.14156341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26463044 meters 0.271724160489497 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.31 [[ 9.99968734e-01 -2.43207730e-04 -7.90391023e-03 2.54618268e+00] [ 2.56470400e-04 9.99998561e-01 1.67701825e-03 5.64516811e-02] [ 7.90349100e-03 -1.67899293e-03 9.99967357e-01 -3.14604705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32463044 meters 0.27255911951793516 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.31 [[ 9.99968684e-01 -7.54814856e-04 -7.87795042e-03 2.54610375e+00] [ 7.58892039e-04 9.99999580e-01 5.14567150e-04 6.21714744e-02] [ 7.87755871e-03 -5.20529550e-04 9.99968836e-01 -3.14653394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38463044 meters 0.2722333963644004 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.31 [[ 9.99968066e-01 -1.01143991e-03 -7.92737720e-03 2.54611134e+00] [ 1.01106136e-03 9.99999488e-01 -5.17601486e-05 6.48669635e-02] [ 7.92742549e-03 4.37434309e-05 9.99968577e-01 -3.14555141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44463044 meters 0.27117541829692465 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.31 [[ 9.99965195e-01 -1.18933867e-03 -8.25801375e-03 2.54668765e+00] [ 1.18505277e-03 9.99999161e-01 -5.23872737e-04 6.74703520e-02] [ 8.25862988e-03 5.14068321e-04 9.99965765e-01 -3.14373011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50463044 meters 0.27018659739787687 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.31 [[ 9.99964421e-01 -1.26099401e-03 -8.34066383e-03 2.54658676e+00] [ 1.25517643e-03 9.99998965e-01 -7.02693407e-04 6.83685996e-02] [ 8.34154129e-03 6.92199401e-04 9.99964969e-01 -3.13839923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56463044000003 meters 0.26866700794336756 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.31 [[ 9.99963648e-01 -1.32787288e-03 -8.42251328e-03 2.54668822e+00] [ 1.32044309e-03 9.99998734e-01 -8.87634196e-04 6.92557221e-02] [ 8.42368129e-03 8.76480480e-04 9.99964136e-01 -3.13706354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62463044000003 meters 0.2696730272980023 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.31 [[ 9.99963092e-01 -1.45328502e-03 -8.46777089e-03 2.54692394e+00] [ 1.44312441e-03 9.99998232e-01 -1.20590285e-03 7.07869739e-02] [ 8.46950844e-03 1.19363830e-03 9.99963421e-01 -3.13898663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68463044000003 meters 0.2691915518623667 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.31 [[ 9.99962426e-01 -1.61118016e-03 -8.51766912e-03 2.54674593e+00] [ 1.59784055e-03 9.99997487e-01 -1.57268397e-03 7.24531098e-02] [ 8.52018159e-03 1.55901500e-03 9.99962487e-01 -3.13421976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74463044000004 meters 0.2688961058560097 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.31 [[ 9.99962055e-01 -1.93071759e-03 -8.49478875e-03 2.54660818e+00] [ 1.90957385e-03 9.99995061e-01 -2.49643223e-03 7.65746596e-02] [ 8.49956670e-03 2.48011607e-03 9.99960802e-01 -3.13365937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80463044000004 meters 0.2697238992760729 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.32 [[ 9.99955947e-01 1.20880148e-04 -9.38562669e-03 2.55039515e+00] [-1.35887148e-04 9.99998713e-01 -1.59831300e-03 8.37345405e-02] [ 9.38542141e-03 1.59951798e-03 9.99954677e-01 -3.16155792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86463044000004 meters 0.26949042106192916 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.32 [[ 9.99957008e-01 -1.54558042e-04 -9.27132347e-03 2.54986555e+00] [ 1.33646320e-04 9.99997446e-01 -2.25610436e-03 8.68920545e-02] [ 9.27164849e-03 2.25476829e-03 9.99954475e-01 -3.15772474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92463044000004 meters 0.2690822067635975 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.32 [[ 9.99954139e-01 -3.42443431e-04 -9.57090640e-03 2.55011024e+00] [ 3.16635517e-04 9.99996311e-01 -2.69788148e-03 8.88547320e-02] [ 9.57179496e-03 2.69472726e-03 9.99950558e-01 -3.15113464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98463044000005 meters 0.2689126715852646 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.31 [[ 9.99953148e-01 -2.91518473e-04 -9.67557795e-03 2.55008263e+00] [ 2.66687676e-04 9.99996668e-01 -2.56752840e-03 8.84553638e-02] [ 9.67629419e-03 2.56482775e-03 9.99949894e-01 -3.14595308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04463044 meters 0.26606174485689443 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.31 [[ 9.99958835e-01 -3.43999888e-04 -9.06699778e-03 2.54832359e+00] [ 3.23747863e-04 9.99997450e-01 -2.23497084e-03 8.63184240e-02] [ 9.06774349e-03 2.23194342e-03 9.99956396e-01 -3.13485712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10463044 meters 0.2669658483093061 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.31 [[ 9.99954162e-01 -6.44912828e-03 -7.07696505e-03 2.56976101e+00] [ 6.45769518e-03 9.99978443e-01 1.18835075e-03 8.17888298e-02] [ 7.06914867e-03 -1.23399716e-03 9.99974252e-01 -3.13799988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16463044 meters 0.2689907308099352 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.31 [[ 9.99955878e-01 -6.02409765e-03 -7.20772579e-03 2.57057783e+00] [ 6.03984014e-03 9.99979418e-01 2.16434328e-03 7.72090618e-02] [ 7.19453923e-03 -2.20778130e-03 9.99971682e-01 -3.14488477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22463044 meters 0.2676811022440909 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.31 [[ 0.99995743 -0.00572982 -0.00723199 2.57076994] [ 0.00575031 0.9999795 0.00281548 0.07410999] [ 0.00721571 -0.00285695 0.99996989 -0.31465429] [ 0. 0. 0. 1. ]] SLAMing on 257.28463044 meters 0.266106636046693 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.32 [[ 9.99976760e-01 1.96434038e-03 -6.52848010e-03 2.55186993e+00] [-1.95094445e-03 9.99995980e-01 2.05765683e-03 6.28660808e-02] [ 6.53249579e-03 -2.04487231e-03 9.99976572e-01 -3.17039332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34463044 meters 0.2685193371458826 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.32 [[ 0.99994844 -0.00669751 -0.00763327 2.57410978] [ 0.00671995 0.99997316 0.0029179 0.06488346] [ 0.00761353 -0.00296904 0.99996661 -0.31720226] [ 0. 0. 0. 1. ]] SLAMing on 257.40463044 meters 0.2683417026476583 Centerline is valid? [False, False] Translation: X:2.56, Y:0.06, Z:-0.32 [[ 9.99957025e-01 2.47063665e-03 -8.93555850e-03 2.55506307e+00] [-2.44942235e-03 9.99994158e-01 2.38430930e-03 6.30316111e-02] [ 8.94139705e-03 -2.36231988e-03 9.99957235e-01 -3.19034481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46463044 meters 0.26883671939370174 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.32 [[ 9.99958644e-01 2.30530460e-03 -8.79747077e-03 2.55465411e+00] [-2.28881880e-03 9.99995607e-01 1.88353348e-03 6.51533343e-02] [ 8.80177424e-03 -1.86331977e-03 9.99959528e-01 -3.18964069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52463044 meters 0.2704045966687809 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.32 [[ 9.99959525e-01 1.96748078e-03 -8.77939961e-03 2.55470792e+00] [-1.95982872e-03 9.99997692e-01 8.80110843e-04 6.96791511e-02] [ 8.78111095e-03 -8.62869101e-04 9.99961073e-01 -3.19246377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58463044 meters 0.2716153458571289 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.32 [[ 9.99960902e-01 1.61482480e-03 -8.69403076e-03 2.55445332e+00] [-1.61467762e-03 9.99998696e-01 2.39482935e-05 7.37103179e-02] [ 8.69405810e-03 -9.90930024e-06 9.99962206e-01 -3.19211283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64463044 meters 0.2687054201223399 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.32 [[ 9.99962634e-01 1.28305490e-03 -8.54891056e-03 2.55396268e+00] [-1.28954966e-03 9.99998884e-01 -7.54248665e-04 7.72904458e-02] [ 8.54793327e-03 7.65244726e-04 9.99963173e-01 -3.19052820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70463044 meters 0.2680275444126211 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.32 [[ 9.99963177e-01 9.72394170e-04 -8.52632516e-03 2.55371040e+00] [-9.84973933e-04 9.99998433e-01 -1.47132764e-03 8.05002966e-02] [ 8.52488109e-03 1.47967167e-03 9.99962568e-01 -3.18824953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76463044 meters 0.2684783657034954 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.32 [[ 9.99960355e-01 -4.76030366e-03 -7.52516375e-03 2.57466381e+00] [ 4.77486970e-03 9.99986759e-01 1.91886501e-03 8.41143707e-02] [ 7.51592973e-03 -1.95472061e-03 9.99969844e-01 -3.18576616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82463044 meters 0.2672734397648319 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.32 [[ 9.99960040e-01 -4.75543361e-03 -7.56992342e-03 2.57460070e+00] [ 4.77002514e-03 9.99986798e-01 1.91067981e-03 8.44672053e-02] [ 7.56073737e-03 -1.94671219e-03 9.99969522e-01 -3.18294081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88463044 meters 0.2670201406574301 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.32 [[ 9.99956851e-01 -4.65583859e-03 -8.03859405e-03 2.57566303e+00] [ 4.67403392e-03 9.99986554e-01 2.24619498e-03 8.30656320e-02] [ 8.02802804e-03 -2.28367072e-03 9.99965167e-01 -3.18371063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94463044 meters 0.2677372146005473 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.32 [[ 9.99958348e-01 3.67046959e-03 -8.35637560e-03 2.59666487e+00] [-3.65621642e-03 9.99991836e-01 1.72030222e-03 7.80857242e-02] [ 8.36262170e-03 -1.68967785e-03 9.99963605e-01 -3.17544386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00463044 meters 0.2643935101095113 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.32 [[ 9.99938476e-01 -5.87621661e-03 -9.40816855e-03 2.57474475e+00] [ 5.89652580e-03 9.99980342e-01 2.13239490e-03 7.14644240e-02] [ 9.39545319e-03 -2.18773922e-03 9.99953469e-01 -3.17213838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06463044000003 meters 0.2656389499864825 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.32 [[ 0.99993883 -0.00561663 -0.00952889 2.57499719] [ 0.00564307 0.99998029 0.00275068 0.06868362] [ 0.00951325 -0.00280428 0.99995082 -0.31710057] [ 0. 0. 0. 1. ]] SLAMing on 258.12463044000003 meters 0.2657469599450187 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99946350e-01 2.14219765e-03 -1.01345148e-02 2.59615830e+00] [-2.12461180e-03 9.99996219e-01 1.74569159e-03 6.26752477e-02] [ 1.01382161e-02 -1.72406602e-03 9.99947121e-01 -3.16026373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18463044000003 meters 0.26724122227036917 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99946665e-01 2.12150092e-03 -1.01077536e-02 2.59622632e+00] [-2.10439001e-03 9.99996335e-01 1.70318465e-03 6.28986499e-02] [ 1.01113298e-02 -1.68182315e-03 9.99947465e-01 -3.16258667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24463044000004 meters 0.2667759889112823 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99946550e-01 2.06402665e-03 -1.01309752e-02 2.59643580e+00] [-2.04830818e-03 9.99996683e-01 1.56165685e-03 6.34275181e-02] [ 1.01341649e-02 -1.54082202e-03 9.99947461e-01 -3.16590048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30463044000004 meters 0.2657020084521256 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99945779e-01 2.08678683e-03 -1.02021573e-02 2.59654854e+00] [-2.07045628e-03 9.99996559e-01 1.61099584e-03 6.32041855e-02] [ 1.02054840e-02 -1.58978537e-03 9.99946659e-01 -3.16494142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36463044000004 meters 0.26586208417445534 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99945040e-01 2.28194663e-03 -1.02327636e-02 2.59648547e+00] [-2.26053515e-03 9.99995233e-01 2.10352104e-03 6.08492108e-02] [ 1.02375149e-02 -2.08027391e-03 9.99945431e-01 -3.16212492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42463044000004 meters 0.2660232623198921 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 9.99944376e-01 2.46058972e-03 -1.02561952e-02 2.59653589e+00] [-2.43481680e-03 9.99993849e-01 2.52464097e-03 5.89462757e-02] [ 1.02623442e-02 -2.49952858e-03 9.99944217e-01 -3.16166105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48463044000005 meters 0.2660199221185628 Centerline is valid? [False, False] Translation: X:2.60, Y:0.06, Z:-0.32 [[ 0.99994254 0.00275236 -0.01036066 2.59686609] [-0.002719 0.99999108 0.00323231 0.05586104] [ 0.01036946 -0.00320396 0.9999411 -0.31619613] [ 0. 0. 0. 1. ]] SLAMing on 258.54463044 meters 0.2666179024147577 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.9999402 0.00292482 -0.01053803 2.59728686] [-0.00288658 0.9999892 0.00364191 0.05399865] [ 0.01054857 -0.00361127 0.99993784 -0.3161688 ] [ 0. 0. 0. 1. ]] SLAMing on 258.60463044 meters 0.2665695600073147 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.99993905 0.00306542 -0.01060702 2.59786861] [-0.00302336 0.99998751 0.00397956 0.05240962] [ 0.01061908 -0.00394725 0.99993583 -0.31685387] [ 0. 0. 0. 1. ]] SLAMing on 258.66463044 meters 0.26700388731015734 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.99993961 0.00302529 -0.01056516 2.59782981] [-0.00298432 0.99998798 0.00389136 0.05294254] [ 0.0105768 -0.0038596 0.99993662 -0.31693262] [ 0. 0. 0. 1. ]] SLAMing on 258.72463044 meters 0.2682619032946204 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.99993921 0.00293974 -0.01062732 2.59835677] [-0.0029007 0.999989 0.00368702 0.0538724 ] [ 0.01063804 -0.00365597 0.99993673 -0.31757889] [ 0. 0. 0. 1. ]] SLAMing on 258.78463044 meters 0.26762869162358155 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.99993868 0.00299942 -0.01066032 2.59835287] [-0.00295883 0.99998832 0.00382168 0.05325702] [ 0.01067166 -0.0037899 0.99993587 -0.31743006] [ 0. 0. 0. 1. ]] SLAMing on 258.84463044 meters 0.26665811201821543 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.32 [[ 0.99993731 0.00331356 -0.01069551 2.59797769] [-0.00326337 0.9999836 0.00470617 0.04914747] [ 0.01071093 -0.00467097 0.99993173 -0.31661674] [ 0. 0. 0. 1. ]] SLAMing on 258.90463044 meters 0.264468732799284 Centerline is valid? [False, False] Translation: X:2.56, Y:0.04, Z:-0.32 [[ 9.99905051e-01 1.94186273e-03 -1.36425390e-02 2.55751195e+00] [-1.89117292e-03 9.99991265e-01 3.72748925e-03 4.28339308e-02] [ 1.36496581e-02 -3.70133493e-03 9.99899988e-01 -3.17964646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96463044 meters 0.2656555613509015 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.32 [[ 9.99891204e-01 7.85976374e-03 -1.24821541e-02 2.58013401e+00] [-7.84785984e-03 9.99968703e-01 1.00236976e-03 3.97640060e-02] [ 1.24896419e-02 -9.04302514e-04 9.99921592e-01 -3.18719744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02463044 meters 0.2662396168244555 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.32 [[ 0.99991476 0.0036186 -0.01254544 2.57999935] [-0.00365656 0.9999888 -0.00300408 0.03924286] [ 0.01253443 0.0030497 0.99991679 -0.31836362] [ 0. 0. 0. 1. ]] SLAMing on 259.08463044 meters 0.26660947637772797 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.32 [[ 0.99991123 0.00373392 -0.01279043 2.58031772] [-0.00376931 0.99998913 -0.00274383 0.03807337] [ 0.01278005 0.0027918 0.99991443 -0.31792045] [ 0. 0. 0. 1. ]] SLAMing on 259.14463044 meters 0.265886805288249 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.32 [[ 9.99911184e-01 3.87337930e-03 -1.27523261e-02 2.57981708e+00] [-3.90446963e-03 9.99989464e-01 -2.41401914e-03 3.67863771e-02] [ 1.27428413e-02 2.46359581e-03 9.99915772e-01 -3.17164425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20463044 meters 0.2673015430851046 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.32 [[ 9.99928515e-01 -3.79880330e-03 -1.13372940e-02 2.59876037e+00] [ 3.78866486e-03 9.99992404e-01 -9.15598716e-04 3.93765887e-02] [ 1.13406860e-02 8.72580057e-04 9.99935312e-01 -3.15677453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26463044 meters 0.2662076227509202 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.31 [[ 9.99927562e-01 -3.80664563e-03 -1.14184578e-02 2.59853416e+00] [ 3.79628708e-03 9.99992363e-01 -9.28714179e-04 3.95013373e-02] [ 1.14219059e-02 8.85299160e-04 9.99934376e-01 -3.14982309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32463044 meters 0.2647313945527451 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.32 [[ 9.99926908e-01 -3.85790292e-03 -1.14584497e-02 2.59881068e+00] [ 3.84622107e-03 9.99992061e-01 -1.04135907e-03 4.00237656e-02] [ 1.14623762e-02 9.97211225e-04 9.99933808e-01 -3.15284321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38463044 meters 0.2649946555913263 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.32 [[ 9.99926477e-01 -3.85314870e-03 -1.14975439e-02 2.59912842e+00] [ 3.84155806e-03 9.99992091e-01 -1.03001177e-03 3.99555883e-02] [ 1.15014217e-02 9.85767554e-04 9.99933371e-01 -3.15681284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44463044 meters 0.2647539192939666 Centerline is valid? [False, False] Translation: X:2.60, Y:0.04, Z:-0.32 [[ 9.99924848e-01 -3.64036586e-03 -1.17067066e-02 2.59950514e+00] [ 3.63525297e-03 9.99993288e-01 -4.57998361e-04 3.74043317e-02] [ 1.17082953e-02 4.15407102e-04 9.99931369e-01 -3.15401811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50463044 meters 0.2638306350707597 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.32 [[ 9.99922996e-01 -3.38497862e-03 -1.19391868e-02 2.60009285e+00] [ 3.38742742e-03 9.99994246e-01 1.84889679e-04 3.43830432e-02] [ 1.19384922e-02 -2.25318570e-04 9.99928708e-01 -3.15442621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56463044000003 meters 0.2658227768471307 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.31 [[ 9.99932423e-01 4.49369438e-03 -1.07217407e-02 2.61977490e+00] [-4.50282038e-03 9.99989520e-01 -8.27179932e-04 3.01781221e-02] [ 1.07179112e-02 8.75402106e-04 9.99942178e-01 -3.13956083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62463044000003 meters 0.2646409464924755 Centerline is valid? [False, False] Translation: X:2.58, Y:0.03, Z:-0.31 [[ 9.99914658e-01 3.92805383e-03 -1.24597891e-02 2.57780452e+00] [-3.94369374e-03 9.99991466e-01 -1.23090873e-03 2.68903776e-02] [ 1.24548477e-02 1.27994127e-03 9.99921616e-01 -3.14226282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68463044000003 meters 0.2656257891362781 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.31 [[ 9.99923182e-01 -3.75026956e-03 -1.18137921e-02 2.59706932e+00] [ 3.75359824e-03 9.99992922e-01 2.59601628e-04 3.07428160e-02] [ 1.18127349e-02 -3.03925916e-04 9.99930181e-01 -3.12957359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74463044000004 meters 0.2658350654380411 Centerline is valid? [False, False] Translation: X:2.60, Y:0.03, Z:-0.31 [[ 9.99921845e-01 -3.44770792e-03 -1.20173793e-02 2.59715414e+00] [ 3.46085005e-03 9.99993436e-01 1.07296935e-03 2.69002425e-02] [ 1.20136011e-02 -1.11447584e-03 9.99927213e-01 -3.12201028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80463044000004 meters 0.26529778310763513 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.31 [[ 9.99921832e-01 4.95993214e-03 -1.14772879e-02 2.61673540e+00] [-4.95335278e-03 9.99987551e-01 6.01606002e-04 2.06423633e-02] [ 1.14801290e-02 -5.44707920e-04 9.99933953e-01 -3.10668057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86463044000004 meters 0.2655546483543265 Centerline is valid? [False, False] Translation: X:2.60, Y:0.02, Z:-0.31 [[ 9.99926873e-01 -3.23386782e-03 -1.16529496e-02 2.59721977e+00] [ 3.25966032e-03 9.99992278e-01 2.19507483e-03 2.04438988e-02] [ 1.16457610e-02 -2.23289897e-03 9.99929693e-01 -3.12742728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92463044000004 meters 0.2645408712215215 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.32 [[ 9.99972040e-01 1.49048763e-03 -7.32785320e-03 2.58278888e+00] [-1.48591805e-03 9.99998698e-01 6.28995390e-04 1.53245601e-02] [ 7.32878117e-03 -6.18089214e-04 9.99972953e-01 -3.17675829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98463044000005 meters 0.26591911689235864 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.32 [[ 0.99997015 -0.00481872 -0.00603905 2.60526123] [ 0.00484023 0.99998197 0.00355285 0.0126819 ] [ 0.00602182 -0.00358197 0.99997545 -0.31898568] [ 0. 0. 0. 1. ]] SLAMing on 260.04463044 meters 0.2658123278031158 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.32 [[ 0.99997041 -0.00467868 -0.00610612 2.60553001] [ 0.00470247 0.99998138 0.00388802 0.01117683] [ 0.00608781 -0.00391662 0.9999738 -0.31913968] [ 0. 0. 0. 1. ]] SLAMing on 260.10463044 meters 0.266641158288199 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.32 [[ 0.99996994 -0.00443211 -0.00636251 2.60638948] [ 0.00446125 0.9999796 0.00457226 0.00812016] [ 0.00634212 -0.0046005 0.99996931 -0.31955695] [ 0. 0. 0. 1. ]] SLAMing on 260.16463044 meters 0.2665928411039275 Centerline is valid? [False, False] Translation: X:2.61, Y:0.00, Z:-0.32 [[ 0.99997016 -0.00408544 -0.00655687 2.60691756] [ 0.00412113 0.99997672 0.00543785 0.00415498] [ 0.0065345 -0.00546471 0.99996372 -0.31959852] [ 0. 0. 0. 1. ]] SLAMing on 260.22463044 meters 0.2683458996669562 Centerline is valid? [False, False] Translation: X:2.61, Y:0.00, Z:-0.32 [[ 9.99969969e-01 -3.89095383e-03 -6.70240534e-03 2.60732020e+00] [ 3.93043547e-03 9.99974944e-01 5.88760355e-03 2.14376785e-03] [ 6.67932901e-03 -5.91377011e-03 9.99960206e-01 -3.19657106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28463044 meters 0.26605579676742547 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.32 [[ 9.99970138e-01 -3.52208182e-03 -6.87874261e-03 2.60793935e+00] [ 3.56860147e-03 9.99970768e-01 6.76228858e-03 -1.99930111e-03] [ 6.85472419e-03 -6.78663414e-03 9.99953476e-01 -3.19932736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34463044 meters 0.2664061786734815 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99989317e-01 1.18872159e-03 -4.46683172e-03 2.62700537e+00] [-1.17607617e-03 9.99995297e-01 2.83252139e-03 -7.53382956e-03] [ 4.47017779e-03 -2.82723779e-03 9.99986012e-01 -3.18539918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40463044 meters 0.26572649108323215 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99988802e-01 1.30018977e-03 -4.55028847e-03 2.62687667e+00] [-1.28609937e-03 9.99994374e-01 3.09815264e-03 -8.71850046e-03] [ 4.55429105e-03 -3.09226583e-03 9.99984848e-01 -3.17950168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46463044 meters 0.26753226916276984 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99988689e-01 1.35334223e-03 -4.55969414e-03 2.62705762e+00] [-1.33858359e-03 9.99993861e-01 3.23825882e-03 -9.22763405e-03] [ 4.56404862e-03 -3.23211866e-03 9.99984361e-01 -3.18196078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52463044 meters 0.26740785516053706 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99988757e-01 1.39036001e-03 -4.53360769e-03 2.62670060e+00] [-1.37525673e-03 9.99993500e-01 3.33282167e-03 -9.81746286e-03] [ 4.53821204e-03 -3.32654932e-03 9.99984169e-01 -3.17660846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58463044 meters 0.2670700571875792 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99988565e-01 1.37905258e-03 -4.57919398e-03 2.62648351e+00] [-1.36390538e-03 9.99993594e-01 3.30930878e-03 -9.67268439e-03] [ 4.58372836e-03 -3.30302535e-03 9.99984040e-01 -3.17105447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64463044 meters 0.26613309778606103 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99988609e-01 1.32203377e-03 -4.58633739e-03 2.62624571e+00] [-1.30746056e-03 9.99994092e-01 3.17907027e-03 -9.01682630e-03] [ 4.59051314e-03 -3.17303760e-03 9.99984429e-01 -3.16677415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70463044 meters 0.2664785593638561 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.01, Z:-0.32 [[ 9.99989230e-01 1.06985806e-03 -4.51621570e-03 2.62639847e+00] [-1.05845040e-03 9.99996246e-01 2.52756754e-03 -5.94187020e-03] [ 4.51890288e-03 -2.52276013e-03 9.99986608e-01 -3.17275297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76463044 meters 0.26790324874608995 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.32 [[ 9.99969448e-01 7.66879947e-03 -1.51395695e-03 2.64638138e+00] [-7.66966917e-03 9.99970425e-01 -5.69485264e-04 8.87186391e-04] [ 1.50954491e-03 5.81079414e-04 9.99998692e-01 -3.17683755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82463044 meters 0.26762611790259966 Centerline is valid? [False, False] Translation: X:2.65, Y:0.00, Z:-0.32 [[ 9.99971487e-01 7.39849766e-03 -1.51214091e-03 2.64641932e+00] [-7.40027910e-03 9.99971926e-01 -1.17591565e-03 3.73375257e-03] [ 1.50339845e-03 1.18707239e-03 9.99998165e-01 -3.17802688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88463044 meters 0.26782504869698154 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.32 [[ 9.99975786e-01 6.83592674e-03 -1.30251356e-03 2.64664519e+00] [-6.83905661e-03 9.99973700e-01 -2.41383155e-03 1.01097348e-02] [ 1.28597853e-03 2.42268106e-03 9.99996238e-01 -3.18902568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94463044 meters 0.2684529373044333 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.32 [[ 9.99997407e-01 -5.04998894e-04 -2.22049598e-03 2.66508385e+00] [ 5.01674344e-04 9.99998753e-01 -1.49751267e-03 2.03058205e-02] [ 2.22124945e-03 1.49639482e-03 9.99996413e-01 -3.16207787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00463044 meters 0.266521153251716 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.32 [[ 9.99997089e-01 -6.29973579e-04 -2.32909794e-03 2.66512567e+00] [ 6.25817502e-04 9.99998212e-01 -1.78471320e-03 2.16998824e-02] [ 2.33021810e-03 1.78325042e-03 9.99995695e-01 -3.15908807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06463044000003 meters 0.2681035239252997 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.32 [[ 9.99949182e-01 -9.83736682e-03 -2.20441827e-03 2.68710756e+00] [ 9.83292669e-03 9.99949623e-01 -2.01605966e-03 2.51478727e-02] [ 2.22413994e-03 1.99428132e-03 9.99995538e-01 -3.15684851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12463044000003 meters 0.26582999109174194 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.32 [[ 9.99998534e-01 -1.14326566e-03 -1.27434752e-03 2.66694829e+00] [ 1.14013388e-03 9.99996335e-01 -2.45558096e-03 2.12443402e-02] [ 1.27715023e-03 2.45412443e-03 9.99996173e-01 -3.17047466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18463044000003 meters 0.2662562274131149 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.32 [[ 9.99998303e-01 -1.26331578e-03 -1.34112442e-03 2.66712521e+00] [ 1.25963063e-03 9.99995439e-01 -2.74510294e-03 2.25130695e-02] [ 1.34458623e-03 2.74340896e-03 9.99995333e-01 -3.17092397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24463044000004 meters 0.2667861419856241 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.32 [[ 9.99997916e-01 -1.49452650e-03 -1.39091707e-03 2.66742299e+00] [ 1.48985776e-03 9.99993274e-01 -3.35159364e-03 2.53688137e-02] [ 1.39591676e-03 3.34951438e-03 9.99993416e-01 -3.17426389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30463044000004 meters 0.2662291750707379 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.32 [[ 9.99997986e-01 -1.56519464e-03 -1.25597897e-03 2.66711197e+00] [ 1.56076730e-03 9.99992593e-01 -3.51828079e-03 2.61222218e-02] [ 1.26147646e-03 3.51631341e-03 9.99993022e-01 -3.17361588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36463044000004 meters 0.2666419448525391 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.32 [[ 9.99998005e-01 -1.61165096e-03 -1.18031044e-03 2.66677376e+00] [ 1.60736035e-03 9.99992130e-01 -3.62712750e-03 2.65577673e-02] [ 1.18614682e-03 3.62522308e-03 9.99992725e-01 -3.17062824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42463044000004 meters 0.26721530362837753 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.32 [[ 9.99997531e-01 -1.84190300e-03 -1.24286587e-03 2.66728707e+00] [ 1.83666864e-03 9.99989495e-01 -4.19960867e-03 2.92710689e-02] [ 1.25058809e-03 4.19731557e-03 9.99990409e-01 -3.17712236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48463044000005 meters 0.26735192869928953 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.32 [[ 9.99997209e-01 -2.01714210e-03 -1.23035174e-03 2.66747858e+00] [ 2.01141523e-03 9.99987220e-01 -4.63827469e-03 3.12603900e-02] [ 1.23969207e-03 4.63578700e-03 9.99988486e-01 -3.18105619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54463044 meters 0.2664573748140842 Centerline is valid? [False, False] Translation: X:2.62, Y:0.03, Z:-0.32 [[ 9.99997758e-01 -1.29859702e-03 -1.67254870e-03 2.62314163e+00] [ 1.29215880e-03 9.99991774e-01 -3.84469411e-03 3.08350079e-02] [ 1.67752765e-03 3.84252429e-03 9.99991210e-01 -3.17775704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60463044 meters 0.2658954492927038 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.32 [[ 9.99968181e-01 -7.96579140e-03 4.28793050e-04 2.64465696e+00] [ 7.96640827e-03 9.99967207e-01 -1.45666036e-03 2.89550852e-02] [-4.17175536e-04 1.46002995e-03 9.99998847e-01 -3.18546776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66463044 meters 0.2657579293473841 Centerline is valid? [False, False] Translation: X:2.65, Y:0.02, Z:-0.32 [[ 9.99969761e-01 -7.76897318e-03 -3.46249097e-04 2.64675285e+00] [ 7.76884753e-03 9.99969756e-01 -3.62774251e-04 2.41675266e-02] [ 3.49057009e-04 3.60073325e-04 9.99999874e-01 -3.19337377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72463044 meters 0.2661940261118611 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.32 [[ 9.99997580e-01 7.16012937e-04 -2.08012414e-03 2.66808266e+00] [-7.17617188e-04 9.99999446e-01 -7.70584523e-04 1.70044354e-02] [ 2.07957124e-03 7.72075391e-04 9.99997540e-01 -3.18334954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78463044 meters 0.2653767317370681 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.32 [[ 9.99997135e-01 8.92272701e-04 -2.22108172e-03 2.66817510e+00] [-8.92963547e-04 9.99999553e-01 -3.10067805e-04 1.48457456e-02] [ 2.22080406e-03 3.12050262e-04 9.99997485e-01 -3.17916821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84463044 meters 0.2668689771858293 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.32 [[ 9.99997386e-01 9.54322788e-04 -2.07793782e-03 2.66787406e+00] [-9.54604998e-04 9.99999535e-01 -1.34825070e-04 1.39752430e-02] [ 2.07780819e-03 1.36808328e-04 9.99997832e-01 -3.17869552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90463044 meters 0.2659386387399045 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.31 [[ 9.99999209e-01 -1.16784926e-03 -4.67605362e-04 2.66217722e+00] [ 1.16704817e-03 9.99997857e-01 -1.70980741e-03 9.66641870e-03] [ 4.69601158e-04 1.70926034e-03 9.99998429e-01 -3.14655922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96463044 meters 0.2656049049224043 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.31 [[ 9.99999387e-01 -1.00201362e-03 -4.70365243e-04 2.66211601e+00] [ 1.00139343e-03 9.99998631e-01 -1.31693287e-03 7.92320467e-03] [ 4.71684184e-04 1.31646104e-03 9.99999022e-01 -3.14499695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02463044 meters 0.26571592518659104 Centerline is valid? [False, False] Translation: X:2.66, Y:0.00, Z:-0.31 [[ 9.99999829e-01 -5.36086104e-04 -2.32403448e-04 2.66169183e+00] [ 5.36132821e-04 9.99999836e-01 2.01000722e-04 8.88277018e-04] [ 2.32295656e-04 -2.01125286e-04 9.99999953e-01 -3.14499384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08463044 meters 0.2646462965462282 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.00, Z:-0.31 [[ 9.99999945e-01 -1.31158480e-04 -3.03663998e-04 2.66211623e+00] [ 1.31526376e-04 9.99999257e-01 1.21181997e-03 -3.74746323e-03] [ 3.03504832e-04 -1.21185984e-03 9.99999220e-01 -3.14892686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14463044 meters 0.2680715974552633 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.32 [[ 9.99978449e-01 6.10008370e-03 -2.42685309e-03 2.68760996e+00] [-6.10264995e-03 9.99980826e-01 -1.05144362e-03 -1.08958123e-02] [ 2.42039267e-03 1.06623119e-03 9.99996502e-01 -3.16468376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20463044 meters 0.2660371526146947 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.32 [[ 9.99992130e-01 -2.25074957e-03 -3.26712937e-03 2.66894310e+00] [ 2.25320753e-03 9.99997181e-01 7.48846070e-04 -1.28162120e-02] [ 3.26543469e-03 -7.56201697e-04 9.99994383e-01 -3.18334419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26463044 meters 0.2679436377798945 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.32 [[ 9.99992353e-01 -2.11707434e-03 -3.28801605e-03 2.66907948e+00] [ 2.12057260e-03 9.99997189e-01 1.06081944e-03 -1.42406767e-02] [ 3.28576097e-03 -1.06778381e-03 9.99994032e-01 -3.18442047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32463044 meters 0.26986234196298264 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.02, Z:-0.32 [[ 9.99993058e-01 -1.89443855e-03 -3.20873771e-03 2.66938241e+00] [ 1.89943695e-03 9.99996986e-01 1.55541559e-03 -1.69033560e-02] [ 3.20578140e-03 -1.56149959e-03 9.99993642e-01 -3.19103532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38463044 meters 0.26834183426586006 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99984524e-01 3.29955343e-03 -4.47944857e-03 2.64852956e+00] [-3.30773243e-03 9.99992874e-01 -1.81971614e-03 -1.97451888e-02] [ 4.47341240e-03 1.83450480e-03 9.99988312e-01 -3.19472256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44463044 meters 0.26821779940550516 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983629e-01 3.40550403e-03 -4.59838200e-03 2.64913471e+00] [-3.41260730e-03 9.99992995e-01 -1.53777038e-03 -2.10832582e-02] [ 4.59311291e-03 1.55343768e-03 9.99988245e-01 -3.20095594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50463044 meters 0.2691951885075149 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983352e-01 3.43889870e-03 -4.63347999e-03 2.64950301e+00] [-3.44563474e-03 9.99993017e-01 -1.44657938e-03 -2.14094870e-02] [ 4.62847299e-03 1.46252057e-03 9.99988219e-01 -3.20583270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56463044000003 meters 0.2701708590196167 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983186e-01 3.51526964e-03 -4.61191690e-03 2.64903711e+00] [-3.52110584e-03 9.99993010e-01 -1.25795103e-03 -2.21755760e-02] [ 4.60746263e-03 1.27416893e-03 9.99988574e-01 -3.19764099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62463044000003 meters 0.26813810622617446 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983327e-01 3.53050920e-03 -4.56956941e-03 2.64875659e+00] [-3.53610856e-03 9.99993006e-01 -1.21785927e-03 -2.22273843e-02] [ 4.56523779e-03 1.23399746e-03 9.99988818e-01 -3.19411318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68463044000003 meters 0.26729820720359976 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983398e-01 3.52999205e-03 -4.55434774e-03 2.64895115e+00] [-3.53553574e-03 9.99993018e-01 -1.20975450e-03 -2.21615673e-02] [ 4.55004551e-03 1.22583647e-03 9.99988897e-01 -3.19756537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74463044000004 meters 0.2668143574457346 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99983306e-01 3.59722890e-03 -4.52187358e-03 2.64847934e+00] [-3.60195100e-03 9.99992976e-01 -1.03656966e-03 -2.28806526e-02] [ 4.51811304e-03 1.05283993e-03 9.99989239e-01 -3.18975751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80463044000004 meters 0.26838396523985286 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.32 [[ 9.99982304e-01 3.68643850e-03 -4.66917676e-03 2.64901984e+00] [-3.69017859e-03 9.99992877e-01 -7.92656438e-04 -2.40184561e-02] [ 4.66622142e-03 8.09872507e-04 9.99988785e-01 -3.19305489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86463044000004 meters 0.26800823270247437 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.32 [[ 9.99980808e-01 3.81101238e-03 -4.88468194e-03 2.64984260e+00] [-3.81329379e-03 9.99992625e-01 -4.57824309e-04 -2.56243462e-02] [ 4.88290114e-03 4.76442249e-04 9.99987965e-01 -3.19870521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92463044000004 meters 0.26861258101499225 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.32 [[ 9.99979390e-01 4.04003304e-03 -4.98986048e-03 2.65083079e+00] [-4.03919905e-03 9.99991827e-01 1.77204356e-04 -2.90692810e-02] [ 4.99053561e-03 -1.57045664e-04 9.99987535e-01 -3.21047636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98463044000005 meters 0.26884533948321326 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.32 [[ 9.99985433e-01 -3.82961519e-03 -3.80374276e-03 2.67085210e+00] [ 3.83399332e-03 9.99991995e-01 1.14438167e-03 -2.73191051e-02] [ 3.79932977e-03 -1.15894852e-03 9.99992111e-01 -3.20186599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04463044 meters 0.2677696355597657 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.32 [[ 9.99981415e-01 4.18509758e-03 -4.43340004e-03 2.65078827e+00] [-4.18261460e-03 9.99991091e-01 5.69184758e-04 -3.24341204e-02] [ 4.43574263e-03 -5.50630976e-04 9.99990010e-01 -3.21827059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10463044 meters 0.26850772257162164 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.03, Z:-0.32 [[ 9.99981958e-01 4.08210007e-03 -4.40690959e-03 2.65099025e+00] [-4.08079235e-03 9.99991627e-01 3.05693345e-04 -3.14111644e-02] [ 4.40812056e-03 -2.87704147e-04 9.99990243e-01 -3.22306480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16463044 meters 0.2696564982850396 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.32 [[ 9.99989531e-01 -3.26559500e-03 -3.20514640e-03 2.66896987e+00] [ 3.27129861e-03 9.99993072e-01 1.77588983e-03 -2.67998497e-02] [ 3.19932486e-03 -1.78635623e-03 9.99993287e-01 -3.20411103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22463044 meters 0.2685539229989577 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.32 [[ 9.99990606e-01 -3.12571399e-03 -3.00294406e-03 2.66841247e+00] [ 3.13208188e-03 9.99992852e-01 2.11819227e-03 -2.82492644e-02] [ 2.99630173e-03 -2.12757784e-03 9.99993248e-01 -3.20162397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28463044 meters 0.268632894211479 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.32 [[ 0.99999166 -0.00290389 -0.00287184 2.66796442] [ 0.00291186 0.99999191 0.00277556 -0.03104007] [ 0.00286375 -0.0027839 0.99999202 -0.3197669 ] [ 0. 0. 0. 1. ]] SLAMing on 263.34463044 meters 0.2664240483003245 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.32 [[ 9.99986059e-01 4.76540371e-03 -2.27424378e-03 2.64994426e+00] [-4.76063172e-03 9.99986465e-01 2.09909485e-03 -3.99424777e-02] [ 2.28421603e-03 -2.08823875e-03 9.99995211e-01 -3.22134420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40463044 meters 0.2667285095047058 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.32 [[ 9.99997197e-01 7.24255812e-04 -2.25421209e-03 2.64980227e+00] [-7.27684626e-04 9.99998579e-01 -1.52062122e-03 -4.28831444e-02] [ 2.25310757e-03 1.52225731e-03 9.99996303e-01 -3.21967844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46463044 meters 0.26750171763018726 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.32 [[ 9.99997031e-01 9.02062654e-04 -2.26379812e-03 2.64995730e+00] [-9.04525090e-04 9.99999000e-01 -1.08695740e-03 -4.48490908e-02] [ 2.26281535e-03 1.08900183e-03 9.99996847e-01 -3.22137974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52463044 meters 0.26886413776780677 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:-0.32 [[ 9.99989820e-01 -4.19360022e-03 -1.66562444e-03 2.67342035e+00] [ 4.19795683e-03 9.99987754e-01 2.62077768e-03 -4.62950299e-02] [ 1.65461355e-03 -2.62774322e-03 9.99995179e-01 -3.23402860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58463044 meters 0.2674254347465031 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.32 [[ 9.99996035e-01 7.38092369e-04 -2.71740401e-03 2.65151901e+00] [-7.40634870e-04 9.99999289e-01 -9.34748786e-04 -4.80445454e-02] [ 2.71671215e-03 9.36757684e-04 9.99995871e-01 -3.23145057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64463044 meters 0.2668000737203344 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.32 [[ 9.99996321e-01 1.00954517e-03 -2.51782683e-03 2.65071046e+00] [-1.00975302e-03 9.99999487e-01 -8.12821806e-05 -5.17968386e-02] [ 2.51774348e-03 8.38242648e-05 9.99996827e-01 -3.22376906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70463044 meters 0.26652871583006305 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.32 [[ 9.99995697e-01 1.23994744e-03 -2.65866548e-03 2.65107733e+00] [-1.23818336e-03 9.99999012e-01 6.65065041e-04 -5.51799200e-02] [ 2.65948750e-03 -6.61770263e-04 9.99996245e-01 -3.22432978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76463044 meters 0.26570434978205876 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.32 [[ 9.99994262e-01 1.61348435e-03 -2.97881594e-03 2.65190695e+00] [-1.60805350e-03 9.99997042e-01 1.82465387e-03 -6.05810128e-02] [ 2.98175118e-03 -1.81985330e-03 9.99993899e-01 -3.22658602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82463044 meters 0.2645603723538638 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.32 [[ 9.99993969e-01 1.95953600e-03 -2.86730305e-03 2.65148137e+00] [-1.95175705e-03 9.99994414e-01 2.71327144e-03 -6.46839612e-02] [ 2.87260379e-03 -2.70765879e-03 9.99992208e-01 -3.22324485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88463044 meters 0.2664784119324438 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.32 [[ 9.99993798e-01 2.05542215e-03 -2.85999225e-03 2.65163359e+00] [-2.04702036e-03 9.99993590e-01 2.93752831e-03 -6.57017621e-02] [ 2.86601178e-03 -2.93165563e-03 9.99991596e-01 -3.22612277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94463044 meters 0.2642768643294434 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.07, Z:-0.32 [[ 9.99985016e-01 3.70510049e-04 -5.46166701e-03 2.61100162e+00] [-3.55379622e-04 9.99996098e-01 2.77100497e-03 -7.17461839e-02] [ 5.46267238e-03 -2.76902248e-03 9.99981246e-01 -3.24351793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00463044 meters 0.26474552579879185 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.32 [[ 9.99981830e-01 5.77234902e-03 -1.73751429e-03 2.62998499e+00] [-5.77262780e-03 9.99983326e-01 -1.55475962e-04 -7.64078529e-02] [ 1.73658785e-03 1.65503160e-04 9.99998478e-01 -3.24453318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06463044000003 meters 0.26393956501965704 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.32 [[ 9.99997063e-01 1.74427780e-03 -1.68251153e-03 2.62970143e+00] [-1.75065147e-03 9.99991270e-01 -3.79418351e-03 -7.89266798e-02] [ 1.67587873e-03 3.79711786e-03 9.99991387e-01 -3.24371688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12463044000003 meters 0.262498071005689 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.33 [[ 9.99969095e-01 -6.76484705e-03 -4.00563692e-03 2.61209686e+00] [ 6.75815757e-03 9.99975750e-01 -1.68120223e-03 -8.42209954e-02] [ 4.01691286e-03 1.65407955e-03 9.99990564e-01 -3.26651213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18463044000003 meters 0.2631576083488328 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.09, Z:-0.33 [[ 9.99970119e-01 -6.55441512e-03 -4.09882704e-03 2.61238128e+00] [ 6.54978386e-03 9.99977897e-01 -1.14230316e-03 -8.67676076e-02] [ 4.10622358e-03 1.11542260e-03 9.99990947e-01 -3.26742598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24463044000004 meters 0.26332068553985744 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.33 [[ 9.99988663e-01 2.12461907e-03 -4.26140533e-03 2.63321000e+00] [-2.13357944e-03 9.99995521e-01 -2.09923615e-03 -9.05905389e-02] [ 4.25692616e-03 2.10830440e-03 9.99988717e-01 -3.26087067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30463044000004 meters 0.2644850961126864 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.33 [[ 9.99987953e-01 2.04001160e-03 -4.46445865e-03 2.63405697e+00] [-2.05027066e-03 9.99995266e-01 -2.29457250e-03 -8.97654570e-02] [ 4.45975655e-03 2.30369821e-03 9.99987402e-01 -3.26737182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36463044000004 meters 0.2641421710317032 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.09, Z:-0.33 [[ 9.99986480e-01 1.88476811e-03 -4.84639913e-03 2.63496687e+00] [-1.89785518e-03 9.99994562e-01 -2.69718927e-03 -8.79947742e-02] [ 4.84128920e-03 2.70635057e-03 9.99984619e-01 -3.26849012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42463044000004 meters 0.2638869480285053 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.09, Z:-0.33 [[ 9.99986020e-01 1.78283227e-03 -4.97817456e-03 2.63534016e+00] [-1.79741973e-03 9.99994100e-01 -2.92734851e-03 -8.69201765e-02] [ 4.97292621e-03 2.93625545e-03 9.99983324e-01 -3.26973579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48463044000005 meters 0.2633951775319453 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.33 [[ 9.99977289e-01 -4.61138027e-03 -4.91487141e-03 2.61366486e+00] [ 4.61266077e-03 9.99989331e-01 2.49232164e-04 -8.31851116e-02] [ 4.91366966e-03 -2.71897138e-04 9.99987891e-01 -3.27287378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54463044 meters 0.26456278676203965 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.33 [[ 9.99987866e-01 3.76000209e-03 -3.18292963e-03 2.63296436e+00] [-3.76395851e-03 9.99992150e-01 -1.23793842e-03 -8.28059756e-02] [ 3.17825000e-03 1.24990381e-03 9.99994168e-01 -3.26288848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60463044 meters 0.265612772473333 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.33 [[ 9.99987907e-01 3.65420931e-03 -3.29128411e-03 2.63290823e+00] [-3.65911229e-03 9.99992203e-01 -1.48489922e-03 -8.15061888e-02] [ 3.28583232e-03 1.49692444e-03 9.99993481e-01 -3.25768349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66463044 meters 0.2647310556713142 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.33 [[ 9.99987756e-01 3.66449177e-03 -3.32553083e-03 2.63269762e+00] [-3.66937527e-03 9.99992197e-01 -1.46357556e-03 -8.15065244e-02] [ 3.32014162e-03 1.47576026e-03 9.99993399e-01 -3.25266948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72463044 meters 0.26335601853961643 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.08, Z:-0.32 [[ 9.99990500e-01 -2.65434606e-03 -3.45754307e-03 2.60998641e+00] [ 2.66107009e-03 9.99994574e-01 1.94159391e-03 -7.99792339e-02] [ 3.45237065e-03 -1.95077623e-03 9.99992138e-01 -3.24479436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78463044 meters 0.264147736281328 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.08, Z:-0.32 [[ 9.99979180e-01 6.35561469e-03 -1.11635864e-03 2.62840166e+00] [-6.35475840e-03 9.99979513e-01 7.68910742e-04 -7.71831166e-02] [ 1.12122267e-03 -7.61800543e-04 9.99999081e-01 -3.23118951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84463044 meters 0.2656698440136016 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.32 [[ 9.99994899e-01 -1.81656038e-03 -2.62701918e-03 2.64964978e+00] [ 1.81914991e-03 9.99997862e-01 9.83678438e-04 -7.10796933e-02] [ 2.62522665e-03 -9.88452362e-04 9.99996066e-01 -3.22685962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90463044 meters 0.26712817761530633 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.32 [[ 9.99994231e-01 -2.07653874e-03 -2.68799857e-03 2.65012956e+00] [ 2.07704039e-03 9.99997826e-01 1.83848279e-04 -6.74157627e-02] [ 2.68761096e-03 -1.89430300e-04 9.99996370e-01 -3.23296544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96463044 meters 0.2667597536682738 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.32 [[ 9.99993456e-01 -2.27922345e-03 -2.80948740e-03 2.65063955e+00] [ 2.27836682e-03 9.99997357e-01 -3.08068400e-04 -6.52156269e-02] [ 2.81018213e-03 3.01665341e-04 9.99996006e-01 -3.23678387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02463044 meters 0.2668749986653567 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.32 [[ 9.99993003e-01 -2.39976886e-03 -2.86972909e-03 2.65104240e+00] [ 2.39807736e-03 9.99996949e-01 -5.92722489e-04 -6.37386122e-02] [ 2.87114273e-03 5.85836510e-04 9.99995707e-01 -3.24126731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08463044 meters 0.2670661439641858 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.32 [[ 9.99992859e-01 -2.32547415e-03 -2.97878918e-03 2.65155113e+00] [ 2.32429084e-03 9.99997219e-01 -4.00645218e-04 -6.47390598e-02] [ 2.97971258e-03 3.93718785e-04 9.99995483e-01 -3.24593938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14463044 meters 0.2673116883185427 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.33 [[ 9.99993424e-01 -2.13204825e-03 -2.93379523e-03 2.65182597e+00] [ 2.13226714e-03 9.99997724e-01 7.14868029e-05 -6.68974575e-02] [ 2.93363614e-03 -7.77419679e-05 9.99995694e-01 -3.25155044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20463044 meters 0.2677150542070237 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.33 [[ 9.99993903e-01 -1.99584110e-03 -2.86543972e-03 2.65197935e+00] [ 1.99695207e-03 9.99997932e-01 3.84902280e-04 -6.85498303e-02] [ 2.86466559e-03 -3.90622079e-04 9.99995821e-01 -3.25618518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26463044 meters 0.2669578284613335 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.33 [[ 9.99994100e-01 -1.89346708e-03 -2.86626666e-03 2.65210582e+00] [ 1.89530101e-03 9.99998001e-01 6.37250683e-04 -6.97009001e-02] [ 2.86505432e-03 -6.42679361e-04 9.99995689e-01 -3.25815648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32463044 meters 0.26879586773128783 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:-0.33 [[ 9.99967363e-01 7.90432188e-03 -1.67149960e-03 2.67269972e+00] [-7.90317488e-03 9.99968530e-01 6.91707729e-04 -7.12886184e-02] [ 1.67691448e-03 -6.78475000e-04 9.99998364e-01 -3.25709905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38463044 meters 0.26759695638195374 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.07, Z:-0.33 [[ 9.99997582e-01 -1.38336077e-03 -1.70930674e-03 2.65254401e+00] [ 1.38577147e-03 9.99998046e-01 1.40996003e-03 -6.92586143e-02] [ 1.70735292e-03 -1.41232533e-03 9.99997545e-01 -3.26828707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44463044 meters 0.26936220497470537 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.07, Z:-0.33 [[ 9.99965202e-01 8.20277897e-03 -1.51932841e-03 2.67468559e+00] [-8.20132844e-03 9.99965909e-01 9.58499773e-04 -6.87941196e-02] [ 1.52713898e-03 -9.46005909e-04 9.99998386e-01 -3.27396126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50463044 meters 0.2692804817745882 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.06, Z:-0.33 [[ 9.99987969e-01 4.85189394e-03 -7.21735151e-04 2.67275123e+00] [-4.85385573e-03 9.99984461e-01 -2.74171511e-03 -6.45831452e-02] [ 7.08421426e-04 2.74518532e-03 9.99995981e-01 -3.26916765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56463044000003 meters 0.26803390011123657 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.33 [[ 9.99992344e-01 -3.80992484e-03 -8.92769833e-04 2.65396621e+00] [ 3.80853842e-03 9.99991547e-01 -1.54953382e-03 -6.10376424e-02] [ 8.98665894e-04 1.54612181e-03 9.99998401e-01 -3.28937341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62463044000003 meters 0.26957368430202583 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.33 [[ 9.99999543e-01 3.70128748e-04 -8.81217399e-04 2.65422068e+00] [-3.68001390e-04 9.99997021e-01 2.41305197e-03 -5.97616815e-02] [ 8.82107914e-04 -2.41272658e-03 9.99996700e-01 -3.29343379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68463044000003 meters 0.26896981574077156 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.06, Z:-0.33 [[ 9.99999602e-01 7.76936583e-05 -8.88313488e-04 2.65440811e+00] [-7.62641691e-05 9.99998702e-01 1.60913763e-03 -5.59447015e-02] [ 8.88437355e-04 -1.60906925e-03 9.99998311e-01 -3.29636958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74463044000004 meters 0.2693517547309512 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.33 [[ 9.99999615e-01 -1.15470495e-04 -8.70299339e-04 2.65457898e+00] [ 1.16474217e-04 9.99999328e-01 1.15334452e-03 -5.38322747e-02] [ 8.70165577e-04 -1.15344545e-03 9.99998956e-01 -3.29997882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80463044000004 meters 0.26978117505120264 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.33 [[ 9.99999655e-01 -3.03126302e-04 -7.73836047e-04 2.65447812e+00] [ 3.03679838e-04 9.99999698e-01 7.15296150e-04 -5.17760802e-02] [ 7.73618988e-04 -7.15530902e-04 9.99999445e-01 -3.30232974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86463044000004 meters 0.26967407879142297 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.33 [[ 9.99999586e-01 -4.44385303e-04 -7.93761556e-04 2.65470038e+00] [ 4.44683179e-04 9.99999831e-01 3.75134651e-04 -5.02275781e-02] [ 7.93594717e-04 -3.75487468e-04 9.99999615e-01 -3.30566209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92463044000004 meters 0.269408748051097 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.33 [[ 9.99999490e-01 -5.30546979e-04 -8.59609419e-04 2.65505891e+00] [ 5.30692168e-04 9.99999845e-01 1.68682505e-04 -4.92814711e-02] [ 8.59519792e-04 -1.69138607e-04 9.99999616e-01 -3.30972292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98463044000005 meters 0.2697148668030758 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.33 [[ 9.99999487e-01 -5.69430648e-04 -8.38254617e-04 2.65517856e+00] [ 5.69499626e-04 9.99999834e-01 8.20518907e-05 -4.88106185e-02] [ 8.38207755e-04 -8.25292342e-05 9.99999645e-01 -3.31195446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04463044 meters 0.26958834854556296 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.33 [[ 9.99999551e-01 -5.53192427e-04 -7.68976338e-04 2.65504833e+00] [ 5.53283316e-04 9.99999840e-01 1.17987351e-04 -4.89939445e-02] [ 7.68910945e-04 -1.18412760e-04 9.99999697e-01 -3.31200674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10463044 meters 0.2709564892049014 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.33 [[ 9.99999529e-01 -6.33473312e-04 -7.35240341e-04 2.65527489e+00] [ 6.33421674e-04 9.99999797e-01 -7.04632484e-05 -4.81210673e-02] [ 7.35284828e-04 6.99974980e-05 9.99999727e-01 -3.31696079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16463044 meters 0.2701988376717811 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.33 [[ 9.99999390e-01 -8.08250921e-04 -7.52931317e-04 2.65553437e+00] [ 8.07866101e-04 9.99999543e-01 -5.11260285e-04 -4.61615390e-02] [ 7.53344199e-04 5.10651705e-04 9.99999586e-01 -3.32099026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22463044 meters 0.26939046821235596 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.33 [[ 9.99966750e-01 7.58470577e-03 -2.99529055e-03 2.63615558e+00] [-7.58876468e-03 9.99970299e-01 -1.34606379e-03 -4.33094688e-02] [ 2.98499208e-03 1.36874959e-03 9.99994608e-01 -3.32851205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28463044 meters 0.2705397580478631 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996575e-01 -1.85307582e-04 -2.61074512e-03 2.65613995e+00] [ 1.83616657e-04 9.99999773e-01 -6.47903820e-04 -3.84710020e-02] [ 2.61086459e-03 6.47422225e-04 9.99996382e-01 -3.31436918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34463044 meters 0.27028416620381096 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996604e-01 -1.46489211e-04 -2.60187101e-03 2.65611739e+00] [ 1.45066190e-04 9.99999840e-01 -5.47102695e-04 -3.89890034e-02] [ 2.60195074e-03 5.46723394e-04 9.99996465e-01 -3.31340586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40463044 meters 0.2686604158088336 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996802e-01 -5.58169185e-07 -2.52917000e-03 2.65608292e+00] [ 1.98888608e-07 9.99999990e-01 -1.42054986e-04 -4.06485984e-02] [ 2.52917005e-03 1.42054028e-04 9.99996792e-01 -3.31494403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46463044 meters 0.2690079854976727 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996425e-01 4.18237039e-05 -2.67374269e-03 2.65665866e+00] [-4.19136191e-05 9.99999999e-01 -3.35729686e-05 -4.11902180e-02] [ 2.67374129e-03 3.36849148e-05 9.99996425e-01 -3.31957575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52463044 meters 0.26928207785103636 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99995982e-01 2.04136240e-05 -2.83456535e-03 2.65732111e+00] [-2.06458432e-05 9.99999996e-01 -8.18948561e-05 -4.10184779e-02] [ 2.83456367e-03 8.19530491e-05 9.99995979e-01 -3.32518085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58463044 meters 0.2710625892503576 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996346e-01 -1.22445416e-04 -2.70065089e-03 2.65719203e+00] [ 1.21190338e-04 9.99999885e-01 -4.64890444e-04 -3.93181231e-02] [ 2.70070750e-03 4.64561452e-04 9.99996245e-01 -3.32779290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64463044 meters 0.26984107387299594 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996530e-01 -2.29713367e-04 -2.62421191e-03 2.65670449e+00] [ 2.27773442e-04 9.99999701e-01 -7.39515882e-04 -3.79177923e-02] [ 2.62438100e-03 7.38915591e-04 9.99996283e-01 -3.32283177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70463044 meters 0.2688028993301225 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996503e-01 -2.92575930e-04 -2.62852035e-03 2.65640772e+00] [ 2.90221180e-04 9.99999556e-01 -8.96183139e-04 -3.71525173e-02] [ 2.62878139e-03 8.95417153e-04 9.99996144e-01 -3.31754447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76463044 meters 0.2701434477430516 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.04, Z:-0.33 [[ 9.99996355e-01 -3.75708427e-04 -2.67373485e-03 2.65649848e+00] [ 3.72758985e-04 9.99999322e-01 -1.10352989e-03 -3.63156792e-02] [ 2.67414764e-03 1.10252921e-03 9.99995817e-01 -3.31741467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82463044 meters 0.2699291109358646 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:-0.33 [[ 9.99996660e-01 -6.23547855e-04 -2.50803796e-03 2.65683721e+00] [ 6.19259072e-04 9.99998345e-01 -1.71042826e-03 -3.32929792e-02] [ 2.50910034e-03 1.70886943e-03 9.99995392e-01 -3.32937759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88463044 meters 0.2700735952337512 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:-0.33 [[ 9.99996589e-01 -7.84739475e-04 -2.49104325e-03 2.65696310e+00] [ 7.79515610e-04 9.99997497e-01 -2.09733787e-03 -3.15244218e-02] [ 2.49268288e-03 2.09538891e-03 9.99994698e-01 -3.33268755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94463044 meters 0.2699615086909876 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:-0.33 [[ 9.99996479e-01 -1.00516913e-03 -2.45591908e-03 2.65692424e+00] [ 9.98670049e-04 9.99996000e-01 -2.64608930e-03 -2.91400383e-02] [ 2.45856902e-03 2.64362733e-03 9.99993483e-01 -3.33372275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00463044 meters 0.27004149482752665 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.33 [[ 9.99999286e-01 7.85501405e-04 -9.00912084e-04 2.65201916e+00] [-7.86885990e-04 9.99998508e-01 -1.53754644e-03 -2.28620852e-02] [ 8.99702996e-04 1.53825426e-03 9.99998412e-01 -3.31301156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06463044000003 meters 0.2713121295440747 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:-0.33 [[ 9.99990352e-01 -4.14362899e-03 -1.45791024e-03 2.67541339e+00] [ 4.14610105e-03 9.99989965e-01 1.69670401e-03 -1.71742385e-02] [ 1.45086510e-03 -1.70273229e-03 9.99997498e-01 -3.32244165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12463044000003 meters 0.27021740269978634 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.02, Z:-0.33 [[ 9.99991801e-01 3.45987537e-03 -2.10416389e-03 2.65699664e+00] [-3.45974351e-03 9.99994013e-01 6.63011272e-05 -1.87248922e-02] [ 2.10438069e-03 -5.90207162e-05 9.99997784e-01 -3.34453120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18463044000003 meters 0.27159266268217275 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.02, Z:-0.34 [[ 9.99993751e-01 -2.65367591e-03 -2.33568563e-03 2.68210674e+00] [ 2.65916571e-03 9.99993702e-01 2.35044128e-03 -1.52005731e-02] [ 2.32943361e-03 -2.35663757e-03 9.99994510e-01 -3.36587992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24463044000004 meters 0.2709257477225927 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.34 [[ 9.99993307e-01 -2.76512991e-03 -2.39563546e-03 2.68229724e+00] [ 2.77015889e-03 9.99993961e-01 2.09845894e-03 -1.40438552e-02] [ 2.38981849e-03 -2.10508119e-03 9.99994929e-01 -3.36697023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30463044000004 meters 0.27030807133877843 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.34 [[ 9.99993453e-01 -2.92953521e-03 -2.12427670e-03 2.68169531e+00] [ 2.93288153e-03 9.99994461e-01 1.57387128e-03 -1.14902113e-02] [ 2.11965422e-03 -1.58009123e-03 9.99996505e-01 -3.36753872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36463044000004 meters 0.2713339035768143 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.34 [[ 9.99992973e-01 -3.12037404e-03 -2.07785985e-03 2.68174082e+00] [ 3.12257617e-03 9.99994566e-01 1.05740745e-03 -9.22839790e-03] [ 2.07454906e-03 -1.06388830e-03 9.99997282e-01 -3.37074440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42463044000004 meters 0.2725447183829376 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.34 [[ 9.99992506e-01 -3.34076503e-03 -1.95650042e-03 2.68152176e+00] [ 3.34162156e-03 9.99994322e-01 4.34680375e-04 -6.39174564e-03] [ 1.95503715e-03 -4.41215002e-04 9.99997992e-01 -3.37250113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48463044000005 meters 0.2731748101071477 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.34 [[ 9.99992187e-01 -3.45052552e-03 -1.92851999e-03 2.68149583e+00] [ 3.45086636e-03 9.99994031e-01 1.73436356e-04 -5.18306410e-03] [ 1.92791003e-03 -1.80090066e-04 9.99998125e-01 -3.37321409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54463044 meters 0.2729645490694663 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.34 [[ 9.99991978e-01 -3.55374435e-03 -1.84806409e-03 2.68131848e+00] [ 3.55363385e-03 9.99993684e-01 -6.30726993e-05 -4.02490315e-03] [ 1.84827656e-03 5.65048502e-05 9.99998290e-01 -3.37354524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60463044 meters 0.2703320537622082 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.34 [[ 9.99989888e-01 4.31744634e-03 -1.25853866e-03 2.66095749e+00] [-4.31901998e-03 9.99989891e-01 -1.25034107e-03 -7.06343713e-03] [ 1.25312766e-03 1.25576408e-03 9.99998426e-01 -3.38253762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66463044 meters 0.2698824886692823 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.34 [[ 9.99989859e-01 4.31386728e-03 -1.29322516e-03 2.66104924e+00] [-4.31549479e-03 9.99989896e-01 -1.25834885e-03 -7.00911841e-03] [ 1.28778374e-03 1.26391700e-03 9.99998372e-01 -3.38280328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72463044 meters 0.2703871133943065 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.34 [[ 9.99992214e-01 -3.73976454e-03 -1.25942614e-03 2.68211561e+00] [ 3.73919938e-03 9.99992908e-01 -4.50800903e-04 -3.76764701e-03] [ 1.26110309e-03 4.46088148e-04 9.99999105e-01 -3.37007242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78463044 meters 0.27030912334969337 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.34 [[ 9.99992026e-01 -3.80339749e-03 -1.21723569e-03 2.68211011e+00] [ 3.80267304e-03 9.99992592e-01 -5.96923851e-04 -3.05318764e-03] [ 1.21949701e-03 5.92290342e-04 9.99999081e-01 -3.37184811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84463044 meters 0.27010006237837764 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.34 [[ 9.99999341e-01 2.44236440e-04 -1.12151927e-03 2.68234979e+00] [-2.40787994e-04 9.99995247e-01 3.07390446e-03 -4.66354229e-04] [ 1.12226470e-03 -3.07363239e-03 9.99994647e-01 -3.37923866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90463044 meters 0.2713204814523499 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.34 [[ 9.99999221e-01 6.61506982e-06 -1.24812687e-03 2.68292593e+00] [-3.60559329e-06 9.99997093e-01 2.41118124e-03 2.55386683e-03] [ 1.24813920e-03 -2.41117486e-03 9.99996314e-01 -3.38547611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96463044 meters 0.2723581323822577 Centerline is valid? [False, False] Translation: X:2.70, Y:0.01, Z:-0.34 [[ 9.99979625e-01 6.35452479e-03 6.08316408e-04 2.70485609e+00] [-6.35390215e-03 9.99979293e-01 -1.02006255e-03 8.06795418e-03] [-6.14785825e-04 1.01617659e-03 9.99999295e-01 -3.39868873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02463044 meters 0.26993940013711193 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.34 [[ 9.99996115e-01 -2.16799152e-03 1.75209384e-03 2.68442131e+00] [ 2.16894582e-03 9.99997500e-01 -5.42950807e-04 1.57460833e-02] [-1.75091235e-03 5.46748894e-04 9.99998318e-01 -3.41556120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08463044 meters 0.2710854192422253 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.34 [[ 9.99996775e-01 1.88865056e-03 1.69801047e-03 2.68448385e+00] [-1.89395709e-03 9.99993311e-01 3.12899123e-03 1.83502125e-02] [-1.69208954e-03 -3.13219710e-03 9.99993663e-01 -3.41445236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14463044 meters 0.26975159013309313 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.34 [[ 9.99997154e-01 1.55530600e-03 1.80900951e-03 2.68421332e+00] [-1.55950568e-03 9.99996087e-01 2.32245007e-03 2.21944267e-02] [-1.80539031e-03 -2.32526462e-03 9.99995667e-01 -3.41474992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20463044 meters 0.26815134481046987 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.34 [[ 9.99997555e-01 1.28306883e-03 1.80111959e-03 2.68406341e+00] [-1.28607585e-03 9.99997780e-01 1.66936273e-03 2.53457574e-02] [-1.79897368e-03 -1.67167502e-03 9.99996985e-01 -3.41264733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26463044 meters 0.26943292569105903 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.34 [[ 9.99997586e-01 1.28435665e-03 1.78256926e-03 2.68398113e+00] [-1.28734169e-03 9.99997770e-01 1.67443473e-03 2.53311661e-02] [-1.78041472e-03 -1.67672546e-03 9.99997009e-01 -3.40992581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32463044 meters 0.2680025013344018 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.34 [[ 9.99996909e-01 1.26815121e-03 2.13866292e-03 2.68304711e+00] [-1.27171170e-03 9.99997806e-01 1.66428244e-03 2.53236228e-02] [-2.13654766e-03 -1.66699705e-03 9.99996328e-01 -3.40619184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38463044 meters 0.26671685617668806 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.34 [[ 9.99996817e-01 1.30938074e-03 2.15664620e-03 2.68354903e+00] [-1.31321389e-03 9.99997559e-01 1.77691372e-03 2.49008312e-02] [-2.15431428e-03 -1.77974020e-03 9.99996096e-01 -3.41571298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44463044 meters 0.2667898934486771 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.34 [[ 9.99997391e-01 1.40976468e-03 1.79762569e-03 2.68476633e+00] [-1.41418566e-03 9.99995973e-01 2.46045128e-03 2.12133606e-02] [-1.79414979e-03 -2.46298704e-03 9.99995357e-01 -3.42340930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50463044 meters 0.26697806534442453 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.34 [[ 9.99995305e-01 -2.44147930e-03 1.85202316e-03 2.68503133e+00] [ 2.44279684e-03 9.99996765e-01 -7.09473789e-04 1.64388854e-02] [-1.85028500e-03 7.13994574e-04 9.99998033e-01 -3.42851752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56463044000003 meters 0.26540244293093473 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.34 [[ 9.99983822e-01 5.19108016e-03 2.32544159e-03 2.66587188e+00] [-5.18832914e-03 9.99985835e-01 -1.18748439e-03 5.92781992e-03] [-2.33157298e-03 1.17540002e-03 9.99996591e-01 -3.44752739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62463044000003 meters 0.26726740728187254 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.34 [[ 9.99988322e-01 -2.89101419e-03 3.87274407e-03 2.68676049e+00] [ 2.88928936e-03 9.99995724e-01 4.50896307e-04 -4.13914571e-04] [-3.87403106e-03 -4.39701563e-04 9.99992399e-01 -3.44540311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68463044000003 meters 0.26566413027413555 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.35 [[ 9.99985665e-01 4.67325838e-03 2.61370278e-03 2.66802524e+00] [-4.67133398e-03 9.99988814e-01 -7.41893723e-04 -5.28534179e-03] [-2.61714061e-03 7.29673609e-04 9.99996309e-01 -3.46879885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74463044000004 meters 0.2658425451922648 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.35 [[ 9.99985824e-01 4.68845478e-03 2.52401207e-03 2.66842439e+00] [-4.68674188e-03 9.99988783e-01 -6.84130676e-04 -5.47696256e-03] [-2.52719127e-03 6.72291585e-04 9.99996581e-01 -3.47212526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80463044000004 meters 0.2664501879788901 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.35 [[ 9.99990818e-01 -7.59259296e-04 4.21760935e-03 2.69009961e+00] [ 7.48291725e-04 9.99996336e-01 2.60139320e-03 -4.40112409e-03] [-4.21956903e-03 -2.59821331e-03 9.99987722e-01 -3.48035277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86463044000004 meters 0.2655561138182402 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.35 [[ 9.99989957e-01 -9.09572296e-04 4.38839037e-03 2.68983005e+00] [ 8.99768897e-04 9.99997097e-01 2.23539676e-03 -2.66985281e-03] [-4.39041088e-03 -2.23142578e-03 9.99987872e-01 -3.48229212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92463044000004 meters 0.26542269129355595 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.35 [[ 9.99989595e-01 -1.03106789e-03 4.44367507e-03 2.68974285e+00] [ 1.02238134e-03 9.99997563e-01 1.95663909e-03 -1.27938139e-03] [-4.44568167e-03 -1.95207560e-03 9.99988213e-01 -3.48318633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98463044000005 meters 0.2656034803847045 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.35 [[ 9.99989341e-01 -1.14092040e-03 4.47397055e-03 2.68988983e+00] [ 1.13337153e-03 9.99997931e-01 1.68946088e-03 -1.20743232e-04] [-4.47588883e-03 -1.68437220e-03 9.99988565e-01 -3.48699382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04463044 meters 0.26484451123894637 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.35 [[ 9.99989661e-01 -1.30670380e-03 4.35550653e-03 2.69027525e+00] [ 1.30113460e-03 9.99998333e-01 1.28124697e-03 1.79795781e-03] [-4.35717348e-03 -1.27556662e-03 9.99989694e-01 -3.48925351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10463044 meters 0.26481675921539105 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.35 [[ 9.99989058e-01 -1.54044514e-03 4.41707576e-03 2.69045501e+00] [ 1.53717056e-03 9.99998541e-01 7.44644574e-04 4.38543872e-03] [-4.41821640e-03 -7.37846627e-04 9.99989967e-01 -3.49469395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16463044 meters 0.26431509787613294 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.35 [[ 9.99988679e-01 -1.71576017e-03 4.43817203e-03 2.69053249e+00] [ 1.71429536e-03 9.99998475e-01 3.33830392e-04 6.25755752e-03] [-4.43873804e-03 -3.26218275e-04 9.99990096e-01 -3.49714615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22463044 meters 0.2641136263269804 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.35 [[ 9.99989014e-01 -1.84146364e-03 4.31057066e-03 2.69095917e+00] [ 1.84139746e-03 9.99998304e-01 1.93223054e-05 7.62026834e-03] [-4.31059893e-03 -1.13846193e-05 9.99990709e-01 -3.50018903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28463044 meters 0.2651894516903157 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99981044e-01 -2.58704248e-03 5.58733993e-03 2.73404336e+00] [ 2.59213069e-03 9.99996232e-01 -9.03619048e-04 9.95865849e-03] [-5.58498118e-03 9.18085035e-04 9.99983982e-01 -3.50159724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34463044 meters 0.2644136903259465 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99979428e-01 -2.47570440e-03 5.91730012e-03 2.73325924e+00] [ 2.47941204e-03 9.99996734e-01 -6.19322965e-04 9.00357417e-03] [-5.91574754e-03 6.33981649e-04 9.99982301e-01 -3.50056996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40463044 meters 0.264644451181612 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99979515e-01 -2.39477179e-03 5.93583852e-03 2.73343399e+00] [ 2.39717567e-03 9.99997048e-01 -3.97896245e-04 7.81683337e-03] [-5.93486813e-03 4.12117342e-04 9.99982304e-01 -3.50474853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46463044 meters 0.2649087425689031 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99980470e-01 -2.44018852e-03 5.75377859e-03 2.73409824e+00] [ 2.44319958e-03 9.99996882e-01 -5.16348306e-04 8.35291585e-03] [-5.75250066e-03 5.30395851e-04 9.99983314e-01 -3.50940137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52463044 meters 0.2637210601180298 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99974478e-01 -5.73020757e-04 7.12140320e-03 2.72868905e+00] [ 5.63444164e-04 9.99998934e-01 1.34669561e-03 7.98219418e-03] [-7.12216730e-03 -1.34264873e-03 9.99973736e-01 -3.47809718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58463044 meters 0.26365206411937436 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99974456e-01 -7.07156202e-04 7.11250717e-03 2.72885148e+00] [ 7.00025372e-04 9.99999250e-01 1.00501570e-03 9.48837411e-03] [-7.11321253e-03 -1.00001109e-03 9.99974201e-01 -3.48062313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64463044 meters 0.26377929387860577 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99974931e-01 -8.38900083e-04 7.03092142e-03 2.72933307e+00] [ 8.34146814e-04 9.99999422e-01 6.78957261e-04 1.09289148e-02] [-7.03148693e-03 -6.73075419e-04 9.99975052e-01 -3.48613674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70463044 meters 0.2638676842660417 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99974494e-01 -1.04317442e-03 7.06558171e-03 2.72907481e+00] [ 1.04194317e-03 9.99999441e-01 1.77938589e-04 1.32429278e-02] [-7.06576339e-03 -1.70572116e-04 9.99975023e-01 -3.48299564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76463044 meters 0.26360534511321343 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99974639e-01 -1.10198379e-03 7.03609771e-03 2.72934330e+00] [ 1.10176656e-03 9.99999392e-01 3.47500716e-05 1.39090067e-02] [-7.03613173e-03 -2.69970531e-05 9.99975246e-01 -3.48649524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82463044 meters 0.2634908231120287 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99976390e-01 -1.07305771e-03 6.78739482e-03 2.73015117e+00] [ 1.07228064e-03 9.99999418e-01 1.18125164e-04 1.34856830e-02] [-6.78751762e-03 -1.10844383e-04 9.99976958e-01 -3.49177947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88463044 meters 0.2649971334731518 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99977863e-01 -1.04684508e-03 6.57099556e-03 2.73070296e+00] [ 1.04569402e-03 9.99999437e-01 1.78605749e-04 1.30728516e-02] [-6.57117884e-03 -1.71730544e-04 9.99978395e-01 -3.49291535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94463044 meters 0.2650179835514499 Centerline is valid? [False, False] Translation: X:2.73, Y:0.01, Z:-0.35 [[ 9.99978604e-01 -1.07718814e-03 6.45226524e-03 2.73105495e+00] [ 1.07653383e-03 9.99999415e-01 1.04879642e-04 1.34100521e-02] [-6.45237444e-03 -9.79313160e-05 9.99979178e-01 -3.49424345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00463044 meters 0.26439539822521685 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.35 [[ 9.99974701e-01 6.40281958e-03 3.09851110e-03 2.71341318e+00] [-6.39826413e-03 9.99978439e-01 -1.47789128e-03 1.47815056e-02] [-3.10790697e-03 1.45802879e-03 9.99994108e-01 -3.51057891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06463044000003 meters 0.2644071433856453 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.35 [[ 9.99976194e-01 6.24813133e-03 2.92785320e-03 2.71351447e+00] [-6.24272811e-03 9.99978801e-01 -1.85097376e-03 1.64877965e-02] [-2.93935626e-03 1.83265190e-03 9.99994001e-01 -3.50519236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12463044000003 meters 0.26545256656336896 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:-0.35 [[ 9.99995339e-01 -1.76525618e-03 2.49102253e-03 2.73399111e+00] [ 1.76752928e-03 9.99998023e-01 -9.10612391e-04 2.17030565e-02] [-2.48941014e-03 9.15011102e-04 9.99996483e-01 -3.48962293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18463044000003 meters 0.2653088727549887 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:-0.35 [[ 9.99995357e-01 -1.86405348e-03 2.41056452e-03 2.73423682e+00] [ 1.86683258e-03 9.99997595e-01 -1.15114564e-03 2.28455914e-02] [-2.40841292e-03 1.15564041e-03 9.99996432e-01 -3.49080652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24463044000004 meters 0.26421389979610177 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:-0.35 [[ 9.99995318e-01 -1.90475945e-03 2.39497590e-03 2.73384708e+00] [ 1.90780778e-03 9.99997372e-01 -1.27116221e-03 2.33637305e-02] [-2.39254834e-03 1.27572541e-03 9.99996324e-01 -3.48316296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30463044000004 meters 0.2638868318493994 Centerline is valid? [False, False] Translation: X:2.73, Y:0.02, Z:-0.35 [[ 9.99995314e-01 -2.02793901e-03 2.29330249e-03 2.73373429e+00] [ 2.03155721e-03 9.99996694e-01 -1.57649747e-03 2.46502289e-02] [-2.29009787e-03 1.58114906e-03 9.99996128e-01 -3.47626954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36463044000004 meters 0.2642143168090877 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.35 [[ 9.99994910e-01 -2.42182546e-03 2.07726189e-03 2.73424931e+00] [ 2.42709843e-03 9.99993830e-01 -2.53966837e-03 2.93905012e-02] [-2.07109843e-03 2.54469716e-03 9.99994618e-01 -3.47627923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42463044000004 meters 0.26452748115153535 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.35 [[ 9.99994278e-01 -2.71182094e-03 2.02252953e-03 2.73457179e+00] [ 2.71837723e-03 9.99991037e-01 -3.24595826e-03 3.25871623e-02] [-2.01370895e-03 3.25143769e-03 9.99992687e-01 -3.47938383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48463044000005 meters 0.2647061187780417 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.35 [[ 9.99993065e-01 -3.08793394e-03 2.08202946e-03 2.73439822e+00] [ 3.09646460e-03 9.99986774e-01 -4.10658583e-03 3.65020298e-02] [-2.06932106e-03 4.11300428e-03 9.99989400e-01 -3.47839883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54463044 meters 0.2648527472819335 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.35 [[ 9.99999248e-01 -7.36100097e-04 9.80416408e-04 2.73850326e+00] [ 7.38350130e-04 9.99997090e-01 -2.29659559e-03 4.10087478e-02] [-9.78723031e-04 2.29731775e-03 9.99996882e-01 -3.50086103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60463044 meters 0.26498610433566244 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.35 [[ 9.99999187e-01 -9.83103743e-04 8.11989945e-04 2.73925277e+00] [ 9.85449443e-04 9.99995328e-01 -2.89349951e-03 4.38939847e-02] [-8.09141541e-04 2.89429734e-03 9.99995484e-01 -3.50735019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66463044 meters 0.26620656231604134 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:-0.35 [[ 9.99979235e-01 -6.35638466e-03 1.06137013e-03 2.76229406e+00] [ 6.35617268e-03 9.99979779e-01 2.02976089e-04 5.09503115e-02] [-1.06263886e-03 -1.96225623e-04 9.99999416e-01 -3.51521757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72463044 meters 0.2657964761195376 Centerline is valid? [False, False] Translation: X:2.76, Y:0.05, Z:-0.35 [[ 9.99986224e-01 -4.74986618e-03 2.23407567e-03 2.75764528e+00] [ 4.74650413e-03 9.99987599e-01 1.50780051e-03 5.29552964e-02] [-2.24120981e-03 -1.49717569e-03 9.99996368e-01 -3.48732320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78463044 meters 0.2673387269370011 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:-0.35 [[ 9.99984821e-01 -5.12731682e-03 2.01716016e-03 2.75845963e+00] [ 5.12625097e-03 9.99986719e-01 5.33206238e-04 5.75836514e-02] [-2.01986729e-03 -5.22857675e-04 9.99997823e-01 -3.49240086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84463044 meters 0.2664377782571128 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:-0.35 [[ 9.99990466e-01 -3.00102548e-03 3.17194123e-03 2.75317409e+00] [ 2.99430253e-03 9.99993265e-01 2.12213360e-03 6.16690134e-02] [-3.17828845e-03 -2.11261562e-03 9.99992718e-01 -3.45489497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90463044 meters 0.2666075924421313 Centerline is valid? [False, False] Translation: X:2.75, Y:0.07, Z:-0.35 [[ 9.99989651e-01 -3.33794872e-03 3.09117352e-03 2.75316925e+00] [ 3.33429337e-03 9.99993737e-01 1.18691011e-03 6.59665782e-02] [-3.09511600e-03 -1.17659094e-03 9.99994518e-01 -3.45154535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96463044 meters 0.26610166791825424 Centerline is valid? [False, False] Translation: X:2.75, Y:0.07, Z:-0.34 [[ 9.99995558e-01 5.43166161e-04 2.93084893e-03 2.75328428e+00] [-5.56324026e-04 9.99989763e-01 4.49049229e-03 7.05544490e-02] [-2.92837985e-03 -4.49210285e-03 9.99985623e-01 -3.44763588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02463044 meters 0.26586178295069607 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:-0.35 [[ 9.99995842e-01 -1.12187086e-05 2.88380013e-03 2.75370419e+00] [ 2.61169217e-06 9.99995546e-01 2.98459565e-03 7.81490832e-02] [-2.88382077e-03 -2.98457571e-03 9.99991388e-01 -3.45086952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08463044 meters 0.26648220224427843 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:-0.34 [[ 9.99995410e-01 -1.82326518e-04 3.02445480e-03 2.75327806e+00] [ 1.74643801e-04 9.99996758e-01 2.54026858e-03 8.01242943e-02] [-3.02490816e-03 -2.53972872e-03 9.99992200e-01 -3.44813035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14463044 meters 0.2670859441065526 Centerline is valid? [False, False] Translation: X:2.75, Y:0.08, Z:-0.35 [[ 9.99995509e-01 -1.69430699e-04 2.99232151e-03 2.75353687e+00] [ 1.61816491e-04 9.99996749e-01 2.54464086e-03 8.02660775e-02] [-2.99274292e-03 -2.54414522e-03 9.99992285e-01 -3.45104421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20463044 meters 0.26834903952400546 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:-0.35 [[ 9.99997346e-01 -4.96935248e-04 2.24975890e-03 2.75631051e+00] [ 4.91160322e-04 9.99996585e-01 2.56673415e-03 7.85730355e-02] [-2.25102672e-03 -2.56562234e-03 9.99994175e-01 -3.47422136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26463044 meters 0.26926311941406755 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99997432e-01 -1.89762651e-04 2.25816935e-03 2.75643031e+00] [ 1.82018809e-04 9.99994105e-01 3.42896822e-03 7.46746826e-02] [-2.25880673e-03 -3.42854839e-03 9.99991571e-01 -3.47703567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32463044 meters 0.2685905029175946 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99997620e-01 -7.34765000e-05 2.18056303e-03 2.75681130e+00] [ 6.54139505e-05 9.99993163e-01 3.69730324e-03 7.33958300e-02] [-2.18081979e-03 -3.69715180e-03 9.99990788e-01 -3.48053855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38463044 meters 0.26807973684332315 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99997931e-01 1.55793808e-05 2.03433488e-03 2.75737969e+00] [-2.36022109e-05 9.99992223e-01 3.94374720e-03 7.23191989e-02] [-2.03425761e-03 -3.94378705e-03 9.99990154e-01 -3.48518202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44463044 meters 0.2678673947292764 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99998191e-01 3.36779446e-05 1.90187164e-03 2.75747038e+00] [-4.12662047e-05 9.99992039e-01 3.98999250e-03 7.21188594e-02] [-1.90172212e-03 -3.99006377e-03 9.99990231e-01 -3.48127285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50463044 meters 0.26805064631362696 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99998178e-01 9.34472189e-05 1.90648793e-03 2.75747559e+00] [-1.01316139e-04 9.99991476e-01 4.12776395e-03 7.14761901e-02] [-1.90608595e-03 -4.12794959e-03 9.99989663e-01 -3.48162710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56463044000003 meters 0.26857375691466834 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99997996e-01 2.45113728e-04 1.98710281e-03 2.75736515e+00] [-2.54068602e-04 9.99989809e-01 4.50749818e-03 6.97602364e-02] [-1.98597771e-03 -4.50799400e-03 9.99987867e-01 -3.48288081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62463044000003 meters 0.26758389558296947 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:-0.35 [[ 9.99980469e-01 5.82330028e-03 2.26956913e-03 2.73554756e+00] [-5.82495818e-03 9.99982772e-01 7.24565771e-04 6.77944288e-02] [-2.26531067e-03 -7.37771765e-04 9.99997162e-01 -3.48684958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68463044000003 meters 0.2693229155588516 Centerline is valid? [False, False] Translation: X:2.76, Y:0.07, Z:-0.35 [[ 9.99993709e-01 -3.00735205e-03 1.88104010e-03 2.75762023e+00] [ 3.00364037e-03 9.99993543e-01 1.97293149e-03 6.54714970e-02] [-1.88696126e-03 -1.96726911e-03 9.99996285e-01 -3.48184209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74463044000004 meters 0.2698271785618696 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:-0.35 [[ 9.99994378e-01 -2.80412239e-03 1.83847382e-03 2.75760636e+00] [ 2.79952074e-03 9.99992954e-01 2.50078801e-03 6.30928605e-02] [-1.84547338e-03 -2.49562711e-03 9.99995183e-01 -3.48018047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80463044000004 meters 0.2709487340720423 Centerline is valid? [False, False] Translation: X:2.76, Y:0.06, Z:-0.35 [[ 9.99995276e-01 -2.47432624e-03 1.82346782e-03 2.75796875e+00] [ 2.46811109e-03 9.99991165e-01 3.40282525e-03 5.90961048e-02] [-1.83187140e-03 -3.39830866e-03 9.99992548e-01 -3.48624825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86463044000004 meters 0.2682470719401827 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.35 [[ 9.99991749e-01 3.30549009e-03 2.36139372e-03 2.73479889e+00] [-3.30570231e-03 9.99994532e-01 8.59726193e-05 5.51362303e-02] [-2.36109662e-03 -9.37779746e-05 9.99997208e-01 -3.47454137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92463044000004 meters 0.2691290346942668 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:-0.35 [[ 9.99980803e-01 -4.66835547e-03 4.07442939e-03 2.75242561e+00] [ 4.66220579e-03 9.99987980e-01 1.51753159e-03 5.78027575e-02] [-4.08146479e-03 -1.49850663e-03 9.99990548e-01 -3.45267829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98463044000005 meters 0.2692364504831127 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:-0.34 [[ 9.99979513e-01 -4.87051401e-03 4.15360223e-03 2.75187000e+00] [ 4.86718312e-03 9.99987826e-01 8.11657254e-04 6.08711972e-02] [-4.15750485e-03 -7.91424282e-04 9.99991044e-01 -3.44488174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04463044 meters 0.2685343905705794 Centerline is valid? [False, False] Translation: X:2.75, Y:0.07, Z:-0.34 [[ 9.99977985e-01 -5.26250451e-03 4.04177277e-03 2.75172173e+00] [ 5.26509118e-03 9.99985941e-01 -6.29611423e-04 6.75612527e-02] [-4.03840262e-03 6.50877864e-04 9.99991634e-01 -3.43763575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10463044 meters 0.2693873975208307 Centerline is valid? [False, False] Translation: X:2.75, Y:0.07, Z:-0.34 [[ 9.99976811e-01 -5.63416664e-03 3.82530813e-03 2.75221358e+00] [ 5.63992640e-03 9.99982976e-01 -1.49658199e-03 7.16121145e-02] [-3.81681101e-03 1.51812174e-03 9.99991564e-01 -3.43697894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16463044 meters 0.26854634547789497 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.34 [[ 9.99995792e-01 2.65920480e-03 1.15945131e-03 2.73342001e+00] [-2.65524635e-03 9.99990687e-01 -3.40234516e-03 7.78630960e-02] [-1.16848804e-03 3.39925222e-03 9.99993540e-01 -3.43753086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22463044 meters 0.269550953687319 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.34 [[ 9.99996196e-01 2.52813615e-03 1.10265470e-03 2.73401026e+00] [-2.52399941e-03 9.99989832e-01 -3.73700723e-03 7.94956678e-02] [-1.11209116e-03 3.73420992e-03 9.99992409e-01 -3.44502580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28463044 meters 0.2723033292050483 Centerline is valid? [False, False] Translation: X:2.76, Y:0.08, Z:-0.35 [[ 9.99985990e-01 -5.29294712e-03 6.87798381e-05 2.75881092e+00] [ 5.29307407e-03 9.99983993e-01 -1.99944433e-03 8.09140864e-02] [-5.81957840e-05 1.99978037e-03 9.99997999e-01 -3.45839239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34463044 meters 0.27152465610518817 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99984443e-01 -4.86668528e-03 -2.72571433e-03 2.71701123e+00] [ 4.86001643e-03 9.99985194e-01 -2.44794720e-03 8.57616051e-02] [ 2.73758736e-03 2.43466210e-03 9.99993289e-01 -3.45853271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40463044 meters 0.2713052764876625 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:-0.34 [[ 9.99994460e-01 2.88567830e-03 -1.65908845e-03 2.73737256e+00] [-2.89194319e-03 9.99988651e-01 -3.78618603e-03 8.52003970e-02] [ 1.64814390e-03 3.79096305e-03 9.99991456e-01 -3.44796965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46463044 meters 0.2711137738441549 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.35 [[ 9.99997349e-01 -2.18912004e-03 7.14256428e-04 2.71416586e+00] [ 2.18977840e-03 9.99997177e-01 -9.22262829e-04 9.34876237e-02] [-7.12235468e-04 9.23824447e-04 9.99999320e-01 -3.45169822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52463044 meters 0.27003301717074124 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.34 [[ 9.99996686e-01 -2.52216662e-03 5.17232172e-04 2.71430530e+00] [ 2.52307068e-03 9.99995277e-01 -1.75474612e-03 9.72164872e-02] [-5.12803967e-04 1.75604532e-03 9.99998327e-01 -3.44596905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58463044 meters 0.2724724915479928 Centerline is valid? [False, False] Translation: X:2.74, Y:0.10, Z:-0.34 [[ 9.99984016e-01 5.65314684e-03 9.40420239e-05 2.73676227e+00] [-5.65287167e-03 9.99980361e-01 -2.70616500e-03 9.63782535e-02] [-1.09338525e-04 2.70559014e-03 9.99996334e-01 -3.44803333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64463044 meters 0.271285013764401 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99998279e-01 -1.84617651e-03 -1.85072137e-04 2.71767262e+00] [ 1.84585820e-03 9.99996842e-01 -1.70561679e-03 1.03445712e-01] [ 1.88220423e-04 1.70527223e-03 9.99998528e-01 -3.46938118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70463044 meters 0.27198424236655216 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99998159e-01 -1.91405055e-03 -1.32169675e-04 2.71730170e+00] [ 1.91379812e-03 9.99996393e-01 -1.88431930e-03 1.04230345e-01] [ 1.35775881e-04 1.88406288e-03 9.99998216e-01 -3.46491897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76463044 meters 0.27403533155957716 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99998397e-01 -1.74962308e-03 -3.80230836e-04 2.71823361e+00] [ 1.74909382e-03 9.99997507e-01 -1.38785372e-03 1.02281134e-01] [ 3.82658109e-04 1.38718643e-03 9.99998965e-01 -3.47266950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82463044 meters 0.2731060087420843 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99998700e-01 -1.54453116e-03 -4.63225569e-04 2.71859305e+00] [ 1.54418397e-03 9.99998527e-01 -7.48930077e-04 9.92126136e-02] [ 4.64381632e-04 7.48213798e-04 9.99999612e-01 -3.47707427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88463044 meters 0.2744644129338934 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:-0.35 [[ 9.99993743e-01 3.53633220e-03 9.43632744e-05 2.74196396e+00] [-3.53597372e-03 9.99987406e-01 -3.56148684e-03 9.33108095e-02] [-1.06956687e-04 3.56113089e-03 9.99993653e-01 -3.48704792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94463044 meters 0.27467993222523673 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:-0.35 [[ 9.99993451e-01 3.61827070e-03 8.16724854e-05 2.74158285e+00] [-3.61797608e-03 9.99987818e-01 -3.35775724e-03 9.22221031e-02] [-9.38207651e-05 3.35743976e-03 9.99994359e-01 -3.47962920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00463044 meters 0.27541835701816997 Centerline is valid? [False, False] Translation: X:2.76, Y:0.09, Z:-0.35 [[ 9.99983987e-01 -5.52287623e-03 -1.23404735e-03 2.76420471e+00] [ 5.51978702e-03 9.99981659e-01 -2.49285932e-03 9.24416219e-02] [ 1.24779247e-03 2.48600772e-03 9.99996131e-01 -3.47434086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06463044000003 meters 0.27217838721514676 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99989417e-01 -3.22769346e-03 -3.27844007e-03 2.72201032e+00] [ 3.22308396e-03 9.99993811e-01 -1.41031586e-03 9.41786511e-02] [ 3.28297185e-03 1.39973425e-03 9.99993631e-01 -3.47632021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12463044000003 meters 0.27283550260161354 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:-0.35 [[ 9.99986850e-01 4.69251790e-03 -2.06892595e-03 2.74238114e+00] [-4.69727692e-03 9.99986319e-01 -2.30140918e-03 9.21573476e-02] [ 2.05809825e-03 2.31109723e-03 9.99995212e-01 -3.46567363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18463044000003 meters 0.2736474795347592 Centerline is valid? [False, False] Translation: X:2.74, Y:0.09, Z:-0.35 [[ 9.99987576e-01 4.52225509e-03 -2.09696792e-03 2.74230701e+00] [-4.52792961e-03 9.99986079e-01 -2.70925371e-03 9.41204741e-02] [ 2.08468679e-03 2.71871498e-03 9.99994131e-01 -3.46265666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24463044000004 meters 0.27317158397970775 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99992648e-01 -3.28244945e-03 -1.98212669e-03 2.72185092e+00] [ 3.27924837e-03 9.99993317e-01 -1.61607037e-03 9.79797065e-02] [ 1.98741812e-03 1.60955861e-03 9.99996730e-01 -3.47667729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30463044000004 meters 0.27278591150180026 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99993116e-01 -3.19656315e-03 -1.88426934e-03 2.72163132e+00] [ 3.19393298e-03 9.99993923e-01 -1.39721378e-03 9.69383340e-02] [ 1.88872417e-03 1.39118593e-03 9.99997249e-01 -3.47703138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36463044000004 meters 0.2739217723935504 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99993158e-01 -3.08547315e-03 -2.04057047e-03 2.72198009e+00] [ 3.08317339e-03 9.99994609e-01 -1.12920614e-03 9.57091175e-02] [ 2.04404361e-03 1.12290698e-03 9.99997280e-01 -3.47703604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42463044000004 meters 0.27352733663538925 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99993211e-01 -3.00212854e-03 -2.13643145e-03 2.72227981e+00] [ 3.00011201e-03 9.99995052e-01 -9.46456290e-04 9.48865630e-02] [ 2.13926226e-03 9.40040331e-04 9.99997270e-01 -3.47856095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48463044000005 meters 0.27412676985533446 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99993773e-01 -2.78549623e-03 -2.16691212e-03 2.72226296e+00] [ 2.78452059e-03 9.99996021e-01 -4.53131288e-04 9.24942297e-02] [ 2.16816569e-03 4.47094655e-04 9.99997550e-01 -3.47700563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54463044 meters 0.27285902550863356 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99994606e-01 -2.58960715e-03 -2.02039665e-03 2.72184681e+00] [ 2.58961692e-03 9.99996647e-01 2.22013976e-06 9.04164971e-02] [ 2.02038413e-03 -7.45218114e-06 9.99997959e-01 -3.47574536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60463044 meters 0.2722925773157827 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99995121e-01 -2.44707689e-03 -1.94150243e-03 2.72191140e+00] [ 2.44769974e-03 9.99996954e-01 3.18497834e-04 8.88890869e-02] [ 1.94071712e-03 -3.23248495e-04 9.99998065e-01 -3.48026944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66463044 meters 0.2729216486187627 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99994487e-01 -2.45232607e-03 -2.23869415e-03 2.72266083e+00] [ 2.45293576e-03 9.99996955e-01 2.69637640e-04 8.92174308e-02] [ 2.23802609e-03 -2.75127527e-04 9.99997458e-01 -3.48169083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72463044 meters 0.27218356685903644 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99993954e-01 -2.59369732e-03 -2.31633699e-03 2.72264400e+00] [ 2.59339594e-03 9.99996628e-01 -1.33104013e-04 9.09598661e-02] [ 2.31667441e-03 1.27096030e-04 9.99997308e-01 -3.47779383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78463044 meters 0.26993962251623 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.35 [[ 9.99996850e-01 -1.00475639e-03 2.30022211e-03 2.68058481e+00] [ 1.00601467e-03 9.99999345e-01 -5.45933691e-04 9.65223655e-02] [-2.29967207e-03 5.48246028e-04 9.99997205e-01 -3.50864422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84463044 meters 0.27242884536794426 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.35 [[ 9.99990962e-01 -2.48910469e-03 3.44680893e-03 2.72586149e+00] [ 2.49247126e-03 9.99996421e-01 -9.72770349e-04 9.24620195e-02] [-3.44437527e-03 9.81352630e-04 9.99993587e-01 -3.52554130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90463044 meters 0.27170160372574353 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.35 [[ 9.99984125e-01 5.62760827e-03 2.83491221e-04 2.70875291e+00] [-5.62701122e-03 9.99982037e-01 -2.06459109e-03 8.99104405e-02] [-2.95104839e-04 2.06296311e-03 9.99997829e-01 -3.53671751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96463044 meters 0.273101642591533 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.35 [[ 9.99995668e-01 -2.55177366e-03 1.46699386e-03 2.72832621e+00] [ 2.55280294e-03 9.99996496e-01 -7.00181017e-04 9.09580241e-02] [-1.46520202e-03 7.03922930e-04 9.99998679e-01 -3.51772462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02463044 meters 0.27098548279029333 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.35 [[ 9.99995384e-01 -4.09430942e-04 3.01071203e-03 2.72215478e+00] [ 4.06421254e-04 9.99999417e-01 1.00020383e-03 9.38431138e-02] [-3.01111979e-03 -9.98975600e-04 9.99994968e-01 -3.47529691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08463044 meters 0.2701497601280213 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99995147e-01 -5.23921344e-04 3.07111077e-03 2.72186852e+00] [ 5.21757785e-04 9.99999615e-01 7.05246354e-04 9.51993369e-02] [-3.07147908e-03 -7.03640556e-04 9.99995035e-01 -3.47167733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14463044 meters 0.26947274762286594 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99995552e-01 -6.28189285e-04 2.91565493e-03 2.72231683e+00] [ 6.26940531e-04 9.99999711e-01 4.29187102e-04 9.64725159e-02] [-2.91592370e-03 -4.27357251e-04 9.99995657e-01 -3.47356584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20463044 meters 0.27104606803447 Centerline is valid? [False, False] Translation: X:2.74, Y:0.10, Z:-0.35 [[ 9.99955480e-01 8.23616638e-03 4.60479878e-03 2.74261859e+00] [-8.23641111e-03 9.99966080e-01 3.41863335e-05 9.63764807e-02] [-4.60436102e-03 -7.21118274e-05 9.99989397e-01 -3.47113581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26463044 meters 0.2682606906575599 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99983411e-01 -5.74128079e-04 5.73140851e-03 2.72191537e+00] [ 5.73218468e-04 9.99999823e-01 1.60347924e-04 1.00378464e-01] [-5.73149955e-03 -1.57059914e-04 9.99983562e-01 -3.47740720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32463044 meters 0.2698736514285715 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99984140e-01 -5.39922706e-04 5.60608934e-03 2.72274718e+00] [ 5.38638914e-04 9.99999828e-01 2.30506884e-04 1.00182703e-01] [-5.60621283e-03 -2.27483570e-04 9.99984259e-01 -3.48786894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38463044 meters 0.26976285748778867 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99984330e-01 -4.96204770e-04 5.57612741e-03 2.72317515e+00] [ 4.94321008e-04 9.99999820e-01 3.39199220e-04 9.97333426e-02] [-5.57629472e-03 -3.36437508e-04 9.99984396e-01 -3.49441419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44463044 meters 0.26892910525539976 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99984842e-01 -5.08313203e-04 5.48240364e-03 2.72330320e+00] [ 5.06539946e-04 9.99999819e-01 3.24828879e-04 9.96782785e-02] [-5.48256776e-03 -3.22046899e-04 9.99984919e-01 -3.49353415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50463044 meters 0.2680923828945636 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99985678e-01 -5.43003405e-04 5.32441891e-03 2.72392749e+00] [ 5.41849968e-04 9.99999829e-01 2.18071686e-04 1.00253730e-01] [-5.32453642e-03 -2.15183526e-04 9.99985801e-01 -3.49900400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56463044000003 meters 0.2676643885518566 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99985627e-01 -5.60836563e-04 5.33201456e-03 2.72420745e+00] [ 5.59953454e-04 9.99999829e-01 1.67115405e-04 1.00379919e-01] [-5.33210737e-03 -1.64127323e-04 9.99985771e-01 -3.50433851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62463044000003 meters 0.268470780663403 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99986114e-01 -6.13631378e-04 5.23405845e-03 2.72433476e+00] [ 6.13418158e-04 9.99999811e-01 4.23423395e-05 1.00970216e-01] [-5.23408344e-03 -3.91310851e-05 9.99986301e-01 -3.50242843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68463044000003 meters 0.2678451208779615 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99983907e-01 -6.90074492e-04 5.63111335e-03 2.72295443e+00] [ 6.91401838e-04 9.99999734e-01 -2.33773225e-04 1.02326254e-01] [-5.63095052e-03 2.37662825e-04 9.99984118e-01 -3.49212593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74463044000004 meters 0.2680152605946408 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.35 [[ 9.99982991e-01 -7.90318717e-04 5.77866005e-03 2.72244640e+00] [ 7.93279846e-04 9.99999555e-01 -5.10150724e-04 1.03438733e-01] [-5.77825430e-03 5.14726142e-04 9.99983173e-01 -3.48841118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80463044000004 meters 0.267062231313465 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.35 [[ 9.99981909e-01 -9.11871745e-04 5.94567324e-03 2.72176359e+00] [ 9.17353052e-04 9.99999157e-01 -9.19236502e-04 1.05458794e-01] [-5.94483000e-03 9.24674153e-04 9.99981902e-01 -3.48281850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86463044000004 meters 0.26609721269559816 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.35 [[ 0.99997311 0.00592837 0.00431606 2.70113154] [-0.00591254 0.99997578 -0.00367055 0.10666951] [-0.00433771 0.00364494 0.99998395 -0.34784307] [ 0. 0. 0. 1. ]] SLAMing on 274.92463044000004 meters 0.26787645537159155 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.35 [[ 9.99993565e-01 -4.30586264e-04 3.56167390e-03 2.72522480e+00] [ 4.32889912e-04 9.99999698e-01 -6.46042151e-04 1.08242733e-01] [-3.56139464e-03 6.47579806e-04 9.99993449e-01 -3.49117510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98463044000005 meters 0.26809733692055915 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.35 [[ 9.99993621e-01 -3.46031889e-04 3.55499545e-03 2.72538554e+00] [ 3.47598791e-04 9.99999843e-01 -4.40152202e-04 1.07339689e-01] [-3.55484258e-03 4.41385106e-04 9.99993584e-01 -3.49357454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04463044 meters 0.26790886335183467 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.35 [[ 9.99994234e-01 -2.02744706e-04 3.38973376e-03 2.72600002e+00] [ 2.02940159e-04 9.99999978e-01 -5.73165002e-05 1.05608743e-01] [-3.38972207e-03 5.80040829e-05 9.99994253e-01 -3.49821473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10463044 meters 0.26648076054858255 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.35 [[ 9.99970414e-01 -7.59200651e-03 1.23790300e-03 2.70742925e+00] [ 7.59001710e-03 9.99969909e-01 1.60393472e-03 1.05818194e-01] [-1.25004284e-03 -1.59449156e-03 9.99997947e-01 -3.51272262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16463044 meters 0.26631892152072817 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.35 [[ 9.99973265e-01 -7.19780692e-03 1.28843693e-03 2.70771301e+00] [ 7.19452855e-03 9.99970915e-01 2.53125782e-03 1.01447628e-01] [-1.30661896e-03 -2.52192045e-03 9.99995966e-01 -3.51885488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22463044 meters 0.26705170322543836 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.35 [[ 9.99999878e-01 4.64584542e-04 1.66689427e-04 2.72774103e+00] [-4.64896098e-04 9.99998136e-01 1.87393703e-03 9.12607547e-02] [-1.65818514e-04 -1.87401430e-03 9.99998230e-01 -3.50464262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28463044 meters 0.2668061275570395 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.35 [[ 9.99999625e-01 8.43963895e-04 1.93782352e-04 2.72768607e+00] [-8.44490321e-04 9.99995909e-01 2.73276621e-03 8.73353954e-02] [-1.91475204e-04 -2.73292883e-03 9.99996247e-01 -3.50487596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34463044 meters 0.2667906698580598 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.35 [[ 9.99999261e-01 1.19709001e-03 2.14008987e-04 2.72749075e+00] [-1.19784230e-03 9.99992980e-01 3.55036767e-03 8.37027053e-02] [-2.09757375e-04 -3.55062140e-03 9.99993675e-01 -3.50169824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40463044 meters 0.26691220570384033 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.35 [[ 9.99998352e-01 -1.81293753e-03 -9.60349003e-05 2.72798678e+00] [ 1.81307055e-03 9.99997371e-01 1.40368309e-03 7.83251241e-02] [ 9.34898581e-05 -1.40385489e-03 9.99999010e-01 -3.49948048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46463044 meters 0.266167559721885 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.35 [[ 9.99975179e-01 7.02268727e-03 -5.68815596e-04 2.70810741e+00] [-7.02211280e-03 9.99974839e-01 1.00571738e-03 7.36883357e-02] [ 5.75864122e-04 -1.00169813e-03 9.99999332e-01 -3.51507272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52463044 meters 0.26690843167997585 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.35 [[ 9.99994155e-01 3.39450861e-03 -4.08568493e-04 2.70785995e+00] [-3.39536685e-03 9.99991992e-01 -2.11856420e-03 7.11147131e-02] [ 4.01373736e-04 2.11993905e-03 9.99997672e-01 -3.51655936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58463044 meters 0.26755836761328583 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:-0.35 [[ 9.99997282e-01 -2.06223924e-03 1.08767751e-03 2.72996959e+00] [ 2.06049258e-03 9.99996590e-01 1.60453951e-03 6.97024767e-02] [-1.09098275e-03 -1.60229400e-03 9.99998121e-01 -3.52268059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64463044 meters 0.26736433363745776 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.35 [[ 9.99993850e-01 3.47953042e-03 -4.38915582e-04 2.70909016e+00] [-3.48028557e-03 9.99992445e-01 -1.73163133e-03 6.67104699e-02] [ 4.32887002e-04 1.73314823e-03 9.99998404e-01 -3.52528868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70463044 meters 0.2659855333520631 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.35 [[ 9.99993392e-01 3.61538290e-03 -3.80888090e-04 2.70902918e+00] [-3.61591918e-03 9.99992459e-01 -1.41681143e-03 6.52007687e-02] [ 3.75762902e-04 1.41817933e-03 9.99998924e-01 -3.52654988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76463044 meters 0.26529860796685817 Centerline is valid? [False, False] Translation: X:2.69, Y:0.06, Z:-0.35 [[ 9.99989915e-01 -4.47350494e-03 -3.97533910e-04 2.68881368e+00] [ 4.47359972e-03 9.99989965e-01 2.37853544e-04 6.48967701e-02] [ 3.96465882e-04 -2.39629553e-04 9.99999893e-01 -3.53806604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82463044 meters 0.26696365985320447 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:-0.36 [[ 9.99998559e-01 1.65837066e-03 -3.62124300e-04 2.71335990e+00] [-1.65916122e-03 9.99996217e-01 -2.19383696e-03 6.05578857e-02] [ 3.58484735e-04 2.19443462e-03 9.99997528e-01 -3.55579329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88463044 meters 0.2670456320723398 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:-0.36 [[ 9.99998032e-01 1.93610087e-03 -4.33770390e-04 2.71408588e+00] [-1.93676351e-03 9.99996950e-01 -1.53243947e-03 5.73500229e-02] [ 4.30802110e-04 1.53327657e-03 9.99998732e-01 -3.56543196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94463044 meters 0.2679024653789789 Centerline is valid? [False, False] Translation: X:2.71, Y:0.06, Z:-0.36 [[ 9.99997782e-01 2.06496836e-03 -4.14842774e-04 2.71432186e+00] [-2.06547387e-03 9.99997120e-01 -1.22183622e-03 5.58766441e-02] [ 4.12318526e-04 1.22269036e-03 9.99999168e-01 -3.57039862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00463044 meters 0.2678587948365688 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:-0.36 [[ 9.99997601e-01 2.16329547e-03 -3.42950379e-04 2.71438890e+00] [-2.16362267e-03 9.99997202e-01 -9.56595605e-04 5.47212005e-02] [ 3.40880021e-04 9.57335326e-04 9.99999484e-01 -3.57417672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06463044000003 meters 0.26826202414887806 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:-0.36 [[ 9.99997523e-01 2.19028964e-03 -3.95797889e-04 2.71458541e+00] [-2.19063969e-03 9.99997208e-01 -8.86157514e-04 5.43607419e-02] [ 3.93855843e-04 8.87022369e-04 9.99999529e-01 -3.57554203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12463044000003 meters 0.2679702821308174 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.36 [[ 9.99997523e-01 2.17608817e-03 -4.67759889e-04 2.71519056e+00] [-2.17651843e-03 9.99997207e-01 -9.21311676e-04 5.43994745e-02] [ 4.65753728e-04 9.22327482e-04 9.99999466e-01 -3.58405640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18463044000003 meters 0.2684947036453999 Centerline is valid? [False, False] Translation: X:2.71, Y:0.05, Z:-0.36 [[ 9.99997612e-01 2.15402293e-03 -3.70239618e-04 2.71484852e+00] [-2.15438523e-03 9.99997198e-01 -9.80960423e-04 5.46006508e-02] [ 3.68125569e-04 9.81755719e-04 9.99999450e-01 -3.58160819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24463044000004 meters 0.27019866470108655 Centerline is valid? [False, False] Translation: X:2.74, Y:0.06, Z:-0.36 [[ 9.99995341e-01 -3.00185598e-03 5.53782773e-04 2.73757311e+00] [ 3.00042961e-03 9.99992225e-01 2.55877323e-03 5.63784448e-02] [-5.61459536e-04 -2.55709973e-03 9.99996573e-01 -3.59052736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30463044000004 meters 0.26879585229904823 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.36 [[ 9.99985486e-01 5.29015817e-03 1.02031789e-03 2.71663796e+00] [-5.29171508e-03 9.99984829e-01 1.52929394e-03 5.41954732e-02] [-1.01221220e-03 -1.53467097e-03 9.99998310e-01 -3.60551231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36463044000004 meters 0.26872435466621053 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.36 [[ 9.99995250e-01 -2.87952882e-03 1.09884346e-03 2.69677863e+00] [ 2.87634541e-03 9.99991694e-01 2.88772304e-03 5.64984029e-02] [-1.10714961e-03 -2.88454867e-03 9.99995227e-01 -3.62582327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42463044000004 meters 0.2689782038351121 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.36 [[ 9.99982980e-01 4.76831892e-03 3.36184793e-03 2.71526695e+00] [-4.77127458e-03 9.99988237e-01 8.71705578e-04 5.80031366e-02] [-3.35765182e-03 -8.87731042e-04 9.99993969e-01 -3.61235983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48463044000005 meters 0.2708876883036942 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:-0.36 [[ 9.99995428e-01 -2.77296319e-03 1.20581737e-03 2.73599257e+00] [ 2.77101077e-03 9.99994852e-01 1.61783313e-03 6.78532144e-02] [-1.21029735e-03 -1.61448440e-03 9.99997964e-01 -3.59866237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54463044 meters 0.2696718705238168 Centerline is valid? [False, False] Translation: X:2.72, Y:0.07, Z:-0.36 [[ 9.99984647e-01 5.51043818e-03 5.83086791e-04 2.71514588e+00] [-5.51062171e-03 9.99984767e-01 3.13628707e-04 6.86546935e-02] [-5.81349678e-04 -3.16837063e-04 9.99999781e-01 -3.60197717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60463044 meters 0.26814684112773907 Centerline is valid? [False, False] Translation: X:2.72, Y:0.07, Z:-0.36 [[ 9.99985702e-01 5.31451031e-03 5.92546577e-04 2.71501681e+00] [-5.31442782e-03 9.99985868e-01 -1.40705935e-04 7.08487449e-02] [-5.93285987e-04 1.37554877e-04 9.99999815e-01 -3.60016672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66463044 meters 0.2681362840776402 Centerline is valid? [False, False] Translation: X:2.72, Y:0.07, Z:-0.36 [[ 9.99986030e-01 5.27506434e-03 3.35733453e-04 2.71554902e+00] [-5.27498470e-03 9.99986059e-01 -2.37680280e-04 7.12161364e-02] [-3.36982551e-04 2.35905970e-04 9.99999915e-01 -3.59929743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72463044 meters 0.2685756536683674 Centerline is valid? [False, False] Translation: X:2.74, Y:0.07, Z:-0.36 [[ 9.99993155e-01 -3.69981132e-03 -4.71114119e-05 2.73788836e+00] [ 3.69983442e-03 9.99993031e-01 5.00169760e-04 6.98394013e-02] [ 4.52605498e-05 -5.00340641e-04 9.99999874e-01 -3.59370791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78463044 meters 0.2682200530581992 Centerline is valid? [False, False] Translation: X:2.74, Y:0.06, Z:-0.36 [[ 9.99993555e-01 -3.54928929e-03 -5.41264905e-04 2.73887190e+00] [ 3.55017074e-03 9.99992359e-01 1.63632024e-03 6.42542634e-02] [ 5.35452996e-04 -1.63823128e-03 9.99998515e-01 -3.59107835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84463044 meters 0.26662382982185323 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.36 [[ 9.99997861e-01 2.06523074e-03 1.16048628e-04 2.71598368e+00] [-2.06512353e-03 9.99997448e-01 -9.16540677e-04 5.63016180e-02] [-1.17941200e-04 9.16299062e-04 9.99999573e-01 -3.58872440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90463044 meters 0.2662381831505395 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.36 [[ 9.99996691e-01 2.57143495e-03 7.09577123e-05 2.71573722e+00] [-2.57145182e-03 9.99996665e-01 2.38591606e-04 5.10065862e-02] [-7.03439528e-05 -2.38773281e-04 9.99999969e-01 -3.58243863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96463044 meters 0.2675686050467948 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99981863e-01 -6.01913249e-03 2.08945341e-04 2.73745660e+00] [ 6.01888652e-03 9.99981215e-01 1.15849382e-03 5.04880115e-02] [-2.15914544e-04 -1.15721519e-03 9.99999307e-01 -3.58079576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02463044 meters 0.26886822442028335 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99983972e-01 -5.65636053e-03 2.49277630e-04 2.73786965e+00] [ 5.65584544e-03 9.99981964e-01 2.02070739e-03 4.67674749e-02] [-2.60702984e-04 -2.01926512e-03 9.99997927e-01 -3.58754797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08463044 meters 0.26838734378543666 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.36 [[ 9.99984958e-01 -5.48281510e-03 1.47945913e-04 2.73818962e+00] [ 5.48244371e-03 9.99982082e-01 2.40367924e-03 4.47735230e-02] [-1.61122191e-04 -2.40283198e-03 9.99997100e-01 -3.58818023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14463044 meters 0.2684815571405817 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.36 [[ 9.99985376e-01 -5.40296677e-03 2.36892719e-04 2.73818513e+00] [ 5.40232800e-03 9.99981978e-01 2.61890068e-03 4.40090050e-02] [-2.51038284e-04 -2.61758261e-03 9.99996543e-01 -3.59141444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20463044 meters 0.26996724052079135 Centerline is valid? [False, False] Translation: X:2.74, Y:0.04, Z:-0.36 [[ 9.99985242e-01 -5.42972338e-03 1.83482862e-04 2.73863046e+00] [ 5.42923960e-03 9.99982032e-01 2.54158182e-03 4.42970363e-02] [-1.97279651e-04 -2.54054814e-03 9.99996753e-01 -3.59739797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26463044 meters 0.27022987291400213 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99984672e-01 -5.53581629e-03 1.06786074e-04 2.73896749e+00] [ 5.53556093e-03 9.99982126e-01 2.25932336e-03 4.55073798e-02] [-1.19291365e-04 -2.25869760e-03 9.99997442e-01 -3.60090388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32463044 meters 0.2715678767353835 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99983637e-01 -5.71820988e-03 1.64469777e-04 2.73862309e+00] [ 5.71790178e-03 9.99982003e-01 1.81639709e-03 4.79307965e-02] [-1.74853356e-04 -1.81542695e-03 9.99998337e-01 -3.59813560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38463044 meters 0.27144072497999006 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99983547e-01 -5.73631069e-03 -1.87711670e-05 2.73868289e+00] [ 5.73633495e-03 9.99981976e-01 1.77239774e-03 4.81973740e-02] [ 8.60380463e-06 -1.77247625e-03 9.99998429e-01 -3.59149438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44463044 meters 0.26874012760790444 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99984306e-01 -5.60217571e-03 4.93426789e-05 2.73766064e+00] [ 5.60206054e-03 9.99982130e-01 2.08704488e-03 4.72381170e-02] [-6.10337893e-05 -2.08673571e-03 9.99997821e-01 -3.57503874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50463044 meters 0.2689945589950064 Centerline is valid? [False, False] Translation: X:2.74, Y:0.05, Z:-0.36 [[ 9.99984690e-01 -5.53341560e-03 2.97727300e-05 2.73759441e+00] [ 5.53333448e-03 9.99982153e-01 2.25308944e-03 4.64758092e-02] [-4.22394789e-05 -2.25289020e-03 9.99997461e-01 -3.57259651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56463044000003 meters 0.2685038264377345 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99994816e-01 1.74441720e-03 -2.70643375e-03 2.72109553e+00] [-1.74317558e-03 9.99998374e-01 4.61056764e-04 4.40692957e-02] [ 2.70723363e-03 -4.56336585e-04 9.99996231e-01 -3.59891051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62463044000003 meters 0.27059017142292957 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99994952e-01 1.72757533e-03 -2.66673861e-03 2.72110386e+00] [-1.72644675e-03 9.99998419e-01 4.25452227e-04 4.42701729e-02] [ 2.66746940e-03 -4.20846097e-04 9.99996354e-01 -3.60058513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68463044000003 meters 0.2698435438114748 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99995093e-01 1.82836095e-03 -2.54368000e-03 2.72073306e+00] [-1.82667373e-03 9.99998110e-01 6.65460884e-04 4.31159130e-02] [ 2.54489190e-03 -6.60811145e-04 9.99996543e-01 -3.59861029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74463044000004 meters 0.2697149114484485 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99994853e-01 1.93483061e-03 -2.55933754e-03 2.72083509e+00] [-1.93250351e-03 9.99997717e-01 9.11419619e-04 4.19745501e-02] [ 2.56109514e-03 -9.06468999e-04 9.99996310e-01 -3.59955542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80463044000004 meters 0.2684748343062502 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99994348e-01 2.12119358e-03 -2.60852529e-03 2.72057494e+00] [-2.11761673e-03 9.99996815e-01 1.37321413e-03 3.99665194e-02] [ 2.61142983e-03 -1.36768251e-03 9.99995655e-01 -3.59267921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86463044000004 meters 0.2701486766497035 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99994049e-01 2.30826556e-03 -2.56414586e-03 2.72107386e+00] [-2.30357084e-03 9.99995668e-01 1.83235555e-03 3.77219049e-02] [ 2.56836432e-03 -1.82643796e-03 9.99995034e-01 -3.60250391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92463044000004 meters 0.2686687916911464 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99993677e-01 2.39511772e-03 -2.62847668e-03 2.72127415e+00] [-2.38978287e-03 9.99995082e-01 2.03090310e-03 3.67777662e-02] [ 2.63332800e-03 -2.02460877e-03 9.99994483e-01 -3.60308739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98463044 meters 0.27124339783348195 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.36 [[ 9.99993396e-01 2.46837060e-03 -2.66742416e-03 2.72128099e+00] [-2.46246187e-03 9.99994512e-01 2.21616374e-03 3.60767616e-02] [ 2.67287984e-03 -2.20958068e-03 9.99993987e-01 -3.60119960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04463044 meters 0.27023573514602284 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.36 [[ 9.99985204e-01 2.02586785e-03 -5.04851055e-03 2.67983037e+00] [-2.01320667e-03 9.99994819e-01 2.51172575e-03 2.99694399e-02] [ 5.05357282e-03 -2.50152489e-03 9.99984102e-01 -3.60650262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10463044 meters 0.2706510068633715 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.36 [[ 9.99984235e-01 2.15220124e-03 -5.18626943e-03 2.68017008e+00] [-2.13764621e-03 9.99993766e-01 2.81036482e-03 2.86121704e-02] [ 5.19228557e-03 -2.79923411e-03 9.99982602e-01 -3.60642600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16463044 meters 0.2698384886986472 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.36 [[ 9.99984977e-01 -1.89912416e-03 -5.14181563e-03 2.67969165e+00] [ 1.89494481e-03 9.99997870e-01 -8.17565093e-04 2.58096333e-02] [ 5.14335734e-03 8.07809354e-04 9.99986447e-01 -3.59942554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22463044 meters 0.2681166311692234 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.36 [[ 9.99985333e-01 -1.67656743e-03 -5.14997443e-03 2.67963897e+00] [ 1.67547787e-03 9.99998573e-01 -2.15874053e-04 2.32228495e-02] [ 5.15032900e-03 2.07242219e-04 9.99986715e-01 -3.59751418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28463044 meters 0.2678326321432687 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.36 [[ 9.99984203e-01 -1.39408337e-03 -5.44516303e-03 2.68071076e+00] [ 1.39706209e-03 9.99998877e-01 5.43275002e-04 1.98410309e-02] [ 5.44439955e-03 -5.50873651e-04 9.99985027e-01 -3.60454793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34463044 meters 0.26881822574244363 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.36 [[ 9.99983836e-01 -1.29291854e-03 -5.53681469e-03 2.68089627e+00] [ 1.29724369e-03 9.99998856e-01 7.77641515e-04 1.87525431e-02] [ 5.53580293e-03 -7.84811543e-04 9.99984369e-01 -3.60385093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40463044 meters 0.2696079111329392 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.36 [[ 9.99976924e-01 6.48706699e-03 -2.01745167e-03 2.69880129e+00] [-6.48769670e-03 9.99978908e-01 -3.05741722e-04 1.69867985e-02] [ 2.01542575e-03 3.18823281e-04 9.99997918e-01 -3.59207259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46463044 meters 0.268758459507832 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.36 [[ 9.99992675e-01 -2.41960129e-03 -2.96555187e-03 2.67868866e+00] [ 2.42134727e-03 9.99996897e-01 5.85305300e-04 1.65721503e-02] [ 2.96412646e-03 -5.92481644e-04 9.99995431e-01 -3.60218377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52463044 meters 0.26942575987573986 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.36 [[ 9.99992459e-01 -2.27446311e-03 -3.14797022e-03 2.67938460e+00] [ 2.27745446e-03 9.99996958e-01 9.46988476e-04 1.48152948e-02] [ 3.14580675e-03 -9.54150693e-04 9.99994597e-01 -3.60700758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58463044 meters 0.2691854951164227 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.36 [[ 9.99992848e-01 -2.09347341e-03 -3.14967122e-03 2.67945085e+00] [ 2.09788092e-03 9.99996824e-01 1.39670416e-03 1.28642543e-02] [ 3.14673726e-03 -1.40330180e-03 9.99994064e-01 -3.60743697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64463044 meters 0.26896278507637206 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.36 [[ 9.99993592e-01 -1.80295835e-03 -3.09289133e-03 2.67915835e+00] [ 1.80984103e-03 9.99995889e-01 2.22396821e-03 9.14897210e-03] [ 3.08886890e-03 -2.22955160e-03 9.99992744e-01 -3.60409598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70463044 meters 0.26825744106281313 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.36 [[ 9.99993682e-01 -1.59090821e-03 -3.17879916e-03 2.67934446e+00] [ 1.59959380e-03 9.99994990e-01 2.73167870e-03 6.93674562e-03] [ 3.17443739e-03 -2.73674623e-03 9.99991217e-01 -3.60361655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76463044 meters 0.26746507891489546 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.36 [[ 9.99994007e-01 -1.30668638e-03 -3.20602829e-03 2.67956667e+00] [ 1.31753891e-03 9.99993402e-01 3.38526463e-03 3.82942426e-03] [ 3.20158365e-03 -3.38946841e-03 9.99989131e-01 -3.60579450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82463044 meters 0.2674788075989545 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.36 [[ 9.99994169e-01 -1.17010266e-03 -3.20810833e-03 2.67956392e+00] [ 1.18199146e-03 9.99992432e-01 3.70647209e-03 2.42971932e-03] [ 3.20374710e-03 -3.71024244e-03 9.99987985e-01 -3.60504472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88463044 meters 0.26865791197462174 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.00, Z:-0.36 [[ 9.99979488e-01 4.50895424e-03 -4.54891602e-03 2.70349772e+00] [-4.50753029e-03 9.99989789e-01 3.23233599e-04 -3.09397871e-03] [ 4.55032701e-03 -3.02722592e-04 9.99989601e-01 -3.61173636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94463044 meters 0.2685147530949744 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.36 [[ 9.99978120e-01 4.75902604e-03 -4.59463552e-03 2.70379586e+00] [-4.75488445e-03 9.99988280e-01 9.11899692e-04 -5.77284025e-03] [ 4.59892142e-03 -8.90032779e-04 9.99989029e-01 -3.61513599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00463044 meters 0.26795733259256627 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.01, Z:-0.36 [[ 9.99977284e-01 4.90286070e-03 -4.62525727e-03 2.70381887e+00] [-4.89715027e-03 9.99987234e-01 1.24513836e-03 -7.28355760e-03] [ 4.63130296e-03 -1.22245949e-03 9.99988528e-01 -3.61395017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06463044000003 meters 0.26654058102974376 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.36 [[ 0.99997939 -0.00352014 -0.00536999 2.68414716] [ 0.00353649 0.99998913 0.0030392 -0.00852213] [ 0.00535924 -0.00305813 0.99998096 -0.36239609] [ 0. 0. 0. 1. ]] SLAMing on 279.12463044000003 meters 0.2668667430569071 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.36 [[ 0.99997994 -0.00345144 -0.00531056 2.68423632] [ 0.00346842 0.99998889 0.00319151 -0.00924393] [ 0.00529948 -0.00320987 0.99998081 -0.36279343] [ 0. 0. 0. 1. ]] SLAMing on 279.18463044000003 meters 0.26840916992950775 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.36 [[ 0.99997997 -0.00336015 -0.00536388 2.68435915] [ 0.00337843 0.99998851 0.00340169 -0.01021601] [ 0.00535239 -0.00341974 0.99997983 -0.36275458] [ 0. 0. 0. 1. ]] SLAMing on 279.24463044000004 meters 0.2678228753587559 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.36 [[ 0.99998025 -0.00326361 -0.00537057 2.68457128] [ 0.00328315 0.99998801 0.00363429 -0.01123878] [ 0.00535865 -0.00365185 0.99997897 -0.36305515] [ 0. 0. 0. 1. ]] SLAMing on 279.30463044000004 meters 0.2673249549008425 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.02, Z:-0.37 [[ 9.99975250e-01 4.11359583e-03 -5.70765210e-03 2.66587428e+00] [-4.10087844e-03 9.99989087e-01 2.23804730e-03 -1.59883054e-02] [ 5.71679623e-03 -2.21458552e-03 9.99981207e-01 -3.65058658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36463044000004 meters 0.26830220970885327 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.36 [[ 0.99999056 -0.00298081 -0.00316143 2.68312778] [ 0.00299239 0.99998881 0.00366537 -0.01166973] [ 0.00315047 -0.0036748 0.99998829 -0.36302364] [ 0. 0. 0. 1. ]] SLAMing on 279.42463044000004 meters 0.2674640920204587 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.36 [[ 9.99985314e-01 1.86787295e-03 -5.08749158e-03 2.66292345e+00] [-1.86980396e-03 9.99998182e-01 -3.74828991e-04 -1.10856264e-02] [ 5.08678219e-03 3.84336098e-04 9.99986988e-01 -3.63636867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48463044 meters 0.2685600533275783 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.36 [[ 9.99985426e-01 1.67899242e-03 -5.13125397e-03 2.66340720e+00] [-1.68313335e-03 9.99998261e-01 -8.02789500e-04 -8.99666251e-03] [ 5.12989717e-03 8.11414384e-04 9.99986513e-01 -3.64315324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54463044 meters 0.2680465563775364 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.36 [[ 9.99985395e-01 1.59778299e-03 -5.16297631e-03 2.66327821e+00] [-1.60290572e-03 9.99998227e-01 -9.88219912e-04 -8.12729628e-03] [ 5.16138819e-03 9.96481243e-04 9.99986183e-01 -3.63973153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60463044 meters 0.26766398047953505 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.01, Z:-0.36 [[ 9.99985708e-01 1.53086080e-03 -5.12245668e-03 2.66302505e+00] [-1.53676737e-03 9.99998159e-01 -1.14933585e-03 -7.23824509e-03] [ 5.12068777e-03 1.15719144e-03 9.99986220e-01 -3.63712861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66463044 meters 0.26890514490734124 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.01, Z:-0.36 [[ 9.99986964e-01 -4.01330209e-03 -3.15675085e-03 2.68514818e+00] [ 4.01901157e-03 9.99990296e-01 1.80439768e-03 -6.51112440e-03] [ 3.14947862e-03 -1.81706118e-03 9.99993390e-01 -3.64899836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72463044 meters 0.2682902890624604 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989128e-01 3.64115653e-03 -2.91290637e-03 2.66600922e+00] [-3.63967059e-03 9.99993244e-01 5.15261600e-04 -1.11759097e-02] [ 2.91476284e-03 -5.04653979e-04 9.99995625e-01 -3.66179321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78463044 meters 0.26727205579727425 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989371e-01 3.60600726e-03 -2.87313460e-03 2.66615508e+00] [-3.60473636e-03 9.99993403e-01 4.47395386e-04 -1.05771513e-02] [ 2.87472896e-03 -4.37033738e-04 9.99995772e-01 -3.66568080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84463044 meters 0.26692985368741223 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989345e-01 3.62189845e-03 -2.86197700e-03 2.66594027e+00] [-3.62052885e-03 9.99993329e-01 4.83584558e-04 -1.06763858e-02] [ 2.86370940e-03 -4.73217535e-04 9.99995788e-01 -3.66186001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90463044 meters 0.2671200813939643 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989340e-01 3.64488313e-03 -2.83458980e-03 2.66572478e+00] [-3.64338826e-03 9.99993221e-01 5.32351413e-04 -1.08753946e-02] [ 2.83651094e-03 -5.22018227e-04 9.99995841e-01 -3.65896309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96463044 meters 0.26809988208616947 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989393e-01 3.45725451e-03 -3.04311888e-03 2.66664714e+00] [-3.45699171e-03 9.99994020e-01 9.16136147e-05 -8.94215649e-03] [ 3.04341741e-03 -8.10926062e-05 9.99995366e-01 -3.66718438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02463044 meters 0.2694303040018412 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.01, Z:-0.37 [[ 9.99989728e-01 3.22200013e-03 -3.18780242e-03 2.66734501e+00] [-3.22411829e-03 9.99994585e-01 -6.59540850e-04 -5.50600711e-03] [ 3.18566012e-03 6.69811928e-04 9.99994701e-01 -3.67471588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08463044 meters 0.26890617632917335 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.00, Z:-0.37 [[ 9.99992574e-01 2.85176256e-03 -2.59234907e-03 2.66591659e+00] [-2.85675908e-03 9.99994065e-01 -1.92575259e-03 -2.19441835e-04] [ 2.58684189e-03 1.93314401e-03 9.99994786e-01 -3.67226333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14463044 meters 0.2684887845505088 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.37 [[ 9.99987779e-01 -3.19729364e-03 -3.77079862e-03 2.64457762e+00] [ 3.20057054e-03 9.99994506e-01 8.63305798e-04 5.21337187e-03] [ 3.76801766e-03 -8.75363955e-04 9.99992518e-01 -3.67361925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20463044 meters 0.269905635821177 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.37 [[ 9.99986945e-01 -3.43511625e-03 -3.78291241e-03 2.64473430e+00] [ 3.43637843e-03 9.99994042e-01 3.27204096e-04 7.62499497e-03] [ 3.78176589e-03 -3.40199343e-04 9.99992791e-01 -3.67606583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26463044 meters 0.2698666048663554 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.37 [[ 9.99985878e-01 -3.73550453e-03 -3.78021987e-03 2.64460779e+00] [ 3.73411390e-03 9.99992958e-01 -3.74860244e-04 1.08365005e-02] [ 3.78159354e-03 3.60739179e-04 9.99992785e-01 -3.67493047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32463044 meters 0.26838099234881707 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.37 [[ 9.99984477e-01 -4.13558634e-03 -3.73400847e-03 2.64479674e+00] [ 4.12882885e-03 9.99989828e-01 -1.81561397e-03 1.78486387e-02] [ 3.74147912e-03 1.80016870e-03 9.99991380e-01 -3.68223208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38463044 meters 0.2699416931464085 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99990052e-01 4.37142816e-03 -8.86751098e-04 2.66335172e+00] [-4.37443721e-03 9.99984583e-01 -3.42027554e-03 2.50367863e-02] [ 8.71785938e-04 3.42412055e-03 9.99993758e-01 -3.67353505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44463044 meters 0.2703083944539417 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99992391e-01 3.84060214e-03 -6.83389660e-04 2.66247590e+00] [-3.84390950e-03 9.99980578e-01 -4.90599575e-03 3.21794863e-02] [ 6.64534410e-04 4.90858531e-03 9.99987732e-01 -3.66846964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50463044 meters 0.26842351056378005 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.37 [[ 9.99993498e-01 3.56192451e-03 -5.62792690e-04 2.66180054e+00] [-3.56500269e-03 9.99978152e-01 -5.56656580e-03 3.52252546e-02] [ 5.42952707e-04 5.56853596e-03 9.99984348e-01 -3.66227272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56463044000003 meters 0.2680379573763746 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.37 [[ 9.99994626e-01 -3.11600384e-03 -1.01951205e-03 2.64020395e+00] [ 3.11308878e-03 9.99991097e-01 -2.84847575e-03 3.70118819e-02] [ 1.02837884e-03 2.84528661e-03 9.99995423e-01 -3.66145499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62463044000003 meters 0.26849560347947726 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.37 [[ 9.99993866e-01 -3.17873941e-03 -1.47104654e-03 2.64161516e+00] [ 3.17437631e-03 9.99990584e-01 -2.95887180e-03 3.72207123e-02] [ 1.48043817e-03 2.95418400e-03 9.99994541e-01 -3.67038381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68463044000003 meters 0.2682099275654877 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.37 [[ 9.99994024e-01 -3.12464475e-03 -1.47909689e-03 2.64174191e+00] [ 3.12044948e-03 9.99991126e-01 -2.83023257e-03 3.65749542e-02] [ 1.48792723e-03 2.82560021e-03 9.99994901e-01 -3.67215878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74463044000004 meters 0.26754987095354826 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.37 [[ 9.99993927e-01 -3.11278271e-03 -1.56709067e-03 2.64197847e+00] [ 3.10836870e-03 9.99991217e-01 -2.81128820e-03 3.63989045e-02] [ 1.57582784e-03 2.80640004e-03 9.99994820e-01 -3.67265964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80463044000004 meters 0.269112790747874 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.37 [[ 9.99995199e-01 -1.04257532e-03 -2.91804247e-03 2.64781244e+00] [ 1.03995987e-03 9.99999056e-01 -8.97675510e-04 3.64670571e-02] [ 2.91897561e-03 8.94636554e-04 9.99995340e-01 -3.71049175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86463044000004 meters 0.26864333478135183 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.37 [[ 9.99995508e-01 -1.05644749e-03 -2.80486967e-03 2.64752734e+00] [ 1.05382580e-03 9.99999007e-01 -9.36006605e-04 3.65858205e-02] [ 2.80585572e-03 9.33046557e-04 9.99995628e-01 -3.70972738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92463044000004 meters 0.26788743178916286 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.37 [[ 9.99995738e-01 -9.90663129e-04 -2.74647984e-03 2.64724820e+00] [ 9.88530454e-04 9.99999209e-01 -7.77760654e-04 3.58293355e-02] [ 2.74724817e-03 7.75042360e-04 9.99995926e-01 -3.70682265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98463044 meters 0.26826167039653276 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.37 [[ 9.99994980e-01 -8.98799268e-04 -3.03854028e-03 2.64803784e+00] [ 8.97225919e-04 9.99999463e-01 -5.19121064e-04 3.45900622e-02] [ 3.03900523e-03 5.16392200e-04 9.99995249e-01 -3.70870677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04463044 meters 0.26704387213028613 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:-0.37 [[ 9.99971242e-01 6.45565652e-03 -3.97985156e-03 2.63083999e+00] [-6.46405527e-03 9.99976900e-01 -2.10107863e-03 2.78615642e-02] [ 3.96619579e-03 2.12674419e-03 9.99989873e-01 -3.72894799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10463044 meters 0.2665962067449994 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:-0.37 [[ 9.99970035e-01 6.63650378e-03 -3.98583774e-03 2.63023411e+00] [-6.64313446e-03 9.99976569e-01 -1.65263118e-03 2.60962767e-02] [ 3.97477665e-03 1.67906011e-03 9.99990691e-01 -3.71801728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16463044 meters 0.26679849020446533 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.37 [[ 9.99991655e-01 -1.22499915e-03 -3.89732465e-03 2.65036556e+00] [ 1.22351903e-03 9.99999178e-01 -3.82140722e-04 2.90294675e-02] [ 3.89778957e-03 3.77369082e-04 9.99992332e-01 -3.70005035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22463044 meters 0.266875182913095 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.37 [[ 9.99991556e-01 -1.12781606e-03 -3.95176277e-03 2.65059252e+00] [ 1.12730490e-03 9.99999356e-01 -1.31574988e-04 2.79340391e-02] [ 3.95190862e-03 1.27119035e-04 9.99992183e-01 -3.70131590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28463044 meters 0.2661639270699764 Centerline is valid? [False, False] Translation: X:2.65, Y:0.02, Z:-0.37 [[ 9.99993593e-01 -9.56128073e-04 -3.44948094e-03 2.64894429e+00] [ 9.58199127e-04 9.99999362e-01 5.98793240e-04 2.45005298e-02] [ 3.44890621e-03 -6.02094693e-04 9.99993871e-01 -3.68981804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34463044 meters 0.2666997494693809 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.37 [[ 9.99987792e-01 4.58031267e-03 -1.85399592e-03 2.67097562e+00] [-4.58509457e-03 9.99986152e-01 -2.58325933e-03 2.16356588e-02] [ 1.84213811e-03 2.59172854e-03 9.99994945e-01 -3.69657552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40463044 meters 0.26666510956627065 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.37 [[ 9.99986660e-01 4.80039686e-03 -1.90706592e-03 2.67149612e+00] [-4.80428098e-03 9.99986384e-01 -2.03736352e-03 1.90936458e-02] [ 1.89725980e-03 2.04649842e-03 9.99996106e-01 -3.70340010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46463044 meters 0.2663912234002696 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.37 [[ 9.99987777e-01 -3.73333839e-03 -3.24152688e-03 2.65156447e+00] [ 3.73213092e-03 9.99992964e-01 -3.78471907e-04 1.40682031e-02] [ 3.24291704e-03 3.66369479e-04 9.99994675e-01 -3.71355489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52463044 meters 0.266562694560139 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.37 [[ 9.99988892e-01 -3.39787828e-03 -3.26661799e-03 2.65205357e+00] [ 3.39918201e-03 9.99994145e-01 3.93636553e-04 1.03158715e-02] [ 3.26526134e-03 -4.04736010e-04 9.99994587e-01 -3.71980224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58463044 meters 0.2659802313831026 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.37 [[ 9.99977049e-01 2.38100749e-03 -6.34281744e-03 2.63286676e+00] [-2.39612722e-03 9.99994304e-01 -2.37722485e-03 8.00540979e-03] [ 6.33712112e-03 2.39236849e-03 9.99977058e-01 -3.72069481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64463044 meters 0.2667635341166081 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.37 [[ 9.99975521e-01 2.47507647e-03 -6.54459467e-03 2.63331711e+00] [-2.48929207e-03 9.99994558e-01 -2.16486034e-03 6.97377748e-03] [ 6.53920086e-03 2.18109876e-03 9.99976241e-01 -3.72026940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70463044 meters 0.26675318940968873 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.37 [[ 9.99975572e-01 2.62556141e-03 -6.47777597e-03 2.63347588e+00] [-2.63741051e-03 9.99994863e-01 -1.82132917e-03 5.29903562e-03] [ 6.47296068e-03 1.83836924e-03 9.99977360e-01 -3.72528357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76463044 meters 0.26730881568287124 Centerline is valid? [False, False] Translation: X:2.63, Y:0.00, Z:-0.37 [[ 9.99974999e-01 2.70962388e-03 -6.53143506e-03 2.63350290e+00] [-2.72034119e-03 9.99994967e-01 -1.63255607e-03 4.42621726e-03] [ 6.52697857e-03 1.65028299e-03 9.99977337e-01 -3.72338386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82463044 meters 0.2669781901047649 Centerline is valid? [False, False] Translation: X:2.63, Y:0.00, Z:-0.37 [[ 9.99975480e-01 2.76535262e-03 -6.43368964e-03 2.63293817e+00] [-2.77509726e-03 9.99995015e-01 -1.50619315e-03 3.76590613e-03] [ 6.42949241e-03 1.52401034e-03 9.99978169e-01 -3.71723586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88463044 meters 0.26708516571170815 Centerline is valid? [False, False] Translation: X:2.63, Y:0.00, Z:-0.37 [[ 9.99975014e-01 2.73028916e-03 -6.52054228e-03 2.63334685e+00] [-2.74069924e-03 9.99994983e-01 -1.58810365e-03 4.11021155e-03] [ 6.51617359e-03 1.60593482e-03 9.99977480e-01 -3.72140144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94463044 meters 0.26641033357258403 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.37 [[ 9.99975915e-01 2.65601434e-03 -6.41204769e-03 2.63299881e+00] [-2.66753050e-03 9.99994843e-01 -1.78813537e-03 5.02274580e-03] [ 6.40726531e-03 1.80519664e-03 9.99977844e-01 -3.71943958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00463044 meters 0.2656367010614878 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.37 [[ 9.99979097e-01 2.67317812e-03 -5.88721045e-03 2.63124209e+00] [-2.68466124e-03 9.99994508e-01 -1.94348070e-03 6.36064039e-03] [ 5.88198284e-03 1.95924524e-03 9.99980782e-01 -3.70826364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06463044000003 meters 0.2671605176284349 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.37 [[ 9.99982843e-01 -2.78063375e-03 -5.15566187e-03 2.65508296e+00] [ 2.78629046e-03 9.99995524e-01 1.09032646e-03 7.89972779e-03] [ 5.15260699e-03 -1.10467293e-03 9.99986115e-01 -3.72533112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12463044000003 meters 0.2674061881336453 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.37 [[ 9.99982397e-01 -2.82425506e-03 -5.21808231e-03 2.65551044e+00] [ 2.82949689e-03 9.99995500e-01 9.97443189e-04 8.33873340e-03] [ 5.21524179e-03 -1.01219018e-03 9.99985888e-01 -3.73037978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18463044000003 meters 0.2657000433796489 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.37 [[ 9.99975248e-01 4.92487237e-03 -5.02489724e-03 2.63569981e+00] [-4.92724216e-03 9.99987756e-01 -4.59339279e-04 5.47564417e-03] [ 5.02257352e-03 4.84086795e-04 9.99987270e-01 -3.74665423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24463044000004 meters 0.2670889332981894 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.37 [[ 9.99983415e-01 -2.82804679e-03 -5.01715288e-03 2.65575620e+00] [ 2.83024709e-03 9.99995902e-01 4.31509161e-04 1.14573144e-02] [ 5.01591199e-03 -4.45701787e-04 9.99987321e-01 -3.73317614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30463044000004 meters 0.26658347940454397 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.37 [[ 9.99982616e-01 -3.15437991e-03 -4.98170468e-03 2.65571243e+00] [ 3.15290875e-03 9.99994984e-01 -3.03138531e-04 1.49002648e-02] [ 4.98263591e-03 2.87426401e-04 9.99987545e-01 -3.73461718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36463044000004 meters 0.2655705990483075 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.37 [[ 9.99982076e-01 -3.40083029e-03 -4.92760243e-03 2.65556353e+00] [ 3.39643944e-03 9.99993828e-01 -8.99166344e-04 1.75563111e-02] [ 4.93062993e-03 8.82413924e-04 9.99987455e-01 -3.73531454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42463044000004 meters 0.2657452872991284 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.37 [[ 9.99981003e-01 -3.72796750e-03 -4.90874568e-03 2.65584284e+00] [ 3.71971742e-03 9.99991656e-01 -1.68874828e-03 2.10633085e-02] [ 4.91500032e-03 1.67045705e-03 9.99986526e-01 -3.74135489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48463044 meters 0.26499786051064106 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.37 [[ 9.99987010e-01 2.26816476e-04 -5.09194734e-03 2.65595422e+00] [-2.18065412e-04 9.99998499e-01 1.71909795e-03 2.49597454e-02] [ 5.09232961e-03 -1.71796524e-03 9.99985558e-01 -3.73797273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54463044 meters 0.2653458006483698 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99986588e-01 3.88821264e-05 -5.17892967e-03 2.65600637e+00] [-3.21974494e-05 9.99999166e-01 1.29082202e-03 2.68920475e-02] [ 5.17897554e-03 -1.29063796e-03 9.99985756e-01 -3.73561383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60463044 meters 0.26505716406434565 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99986087e-01 -2.34067524e-05 -5.27494825e-03 2.65618557e+00] [ 2.94922196e-05 9.99999334e-01 1.15357955e-03 2.75951127e-02] [ 5.27491774e-03 -1.15371907e-03 9.99985422e-01 -3.73483699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66463044 meters 0.26388250445821765 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99985558e-01 3.44392472e-05 -5.37433103e-03 2.65663760e+00] [-2.73441475e-05 9.99999128e-01 1.32025076e-03 2.67176128e-02] [ 5.37437181e-03 -1.32008473e-03 9.99984687e-01 -3.73861583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72463044 meters 0.264691745449956 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99984551e-01 1.58711612e-04 -5.55629384e-03 2.65709622e+00] [-1.49630393e-04 9.99998653e-01 1.63477966e-03 2.51414199e-02] [ 5.55654581e-03 -1.63392302e-03 9.99983227e-01 -3.73881831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78463044 meters 0.2646926289747729 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.37 [[ 9.99982744e-01 4.43880452e-04 -5.85790463e-03 2.65731331e+00] [-4.30371755e-04 9.99997246e-01 2.30712201e-03 2.21463332e-02] [ 5.85891258e-03 -2.30456112e-03 9.99980181e-01 -3.73073049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84463044 meters 0.26388566252838447 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.37 [[ 9.99981931e-01 5.47707634e-04 -5.98638559e-03 2.65707231e+00] [-5.32421921e-04 9.99996595e-01 2.55470821e-03 2.10217781e-02] [ 5.98776443e-03 -2.55147476e-03 9.99978818e-01 -3.72128684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90463044 meters 0.26559765700810467 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.37 [[ 9.99968089e-01 7.21625681e-03 -3.42744793e-03 2.67766722e+00] [-7.21684407e-03 9.99973946e-01 -1.59003295e-04 2.34636957e-02] [ 3.42621122e-03 1.83733578e-04 9.99994114e-01 -3.72224812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96463044 meters 0.2655836913596186 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99989884e-01 -1.55198609e-03 -4.22180765e-03 2.65918054e+00] [ 1.55492864e-03 9.99998550e-01 6.93796009e-04 2.65825761e-02] [ 4.22072477e-03 -7.00353600e-04 9.99990847e-01 -3.73757744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02463044 meters 0.26639926571592026 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.37 [[ 9.99989288e-01 -1.63479191e-03 -4.33034110e-03 2.65977905e+00] [ 1.63692272e-03 9.99998541e-01 4.88567743e-04 2.74772663e-02] [ 4.32953607e-03 -4.95650943e-04 9.99990505e-01 -3.74352360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08463044 meters 0.26588029075744496 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.37 [[ 9.99972162e-01 -2.75858757e-03 -6.93293588e-03 2.61747546e+00] [ 2.75898196e-03 9.99996193e-01 4.73228667e-05 2.29139451e-02] [ 6.93277894e-03 -6.64493943e-05 9.99975966e-01 -3.74152660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14463044 meters 0.2662257983129646 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.38 [[ 0.99996271 0.0036481 -0.00782719 2.6427861 ] [-0.00367142 0.99998886 -0.00296766 0.02394594] [ 0.00781628 0.00299628 0.99996496 -0.37555124] [ 0. 0. 0. 1. ]] SLAMing on 283.20463044 meters 0.2653149856626221 Centerline is valid? [False, False] Translation: X:2.62, Y:0.02, Z:-0.37 [[ 9.99960509e-01 -2.15469097e-03 -8.62188450e-03 2.61959734e+00] [ 2.15825596e-03 9.99997589e-01 4.04198821e-04 2.42038709e-02] [ 8.62099279e-03 -4.22791093e-04 9.99962749e-01 -3.74976313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26463044 meters 0.267130814171146 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.38 [[ 9.99972736e-01 4.52645807e-03 -5.83419507e-03 2.64054041e+00] [-4.54111753e-03 9.99986559e-01 -2.50188474e-03 3.07383251e-02] [ 5.82279198e-03 2.52831030e-03 9.99979851e-01 -3.75879516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32463044 meters 0.266500265587075 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.38 [[ 0.99997328 0.00432389 -0.00589487 2.64056014] [-0.00434158 0.9999861 -0.002991 0.03301423] [ 0.00588186 0.00301651 0.99997815 -0.37567968] [ 0. 0. 0. 1. ]] SLAMing on 283.38463044 meters 0.2654221338640629 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.37 [[ 0.99997161 0.00430889 -0.00618195 2.64074044] [-0.00432768 0.99998605 -0.00302988 0.03326825] [ 0.00616881 0.00305655 0.9999763 -0.37486419] [ 0. 0. 0. 1. ]] SLAMing on 283.44463044 meters 0.2669548703245715 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.38 [[ 9.99987720e-01 -2.25737452e-03 -4.41191777e-03 2.66422282e+00] [ 2.25439393e-03 9.99997227e-01 -6.80433673e-04 3.11200772e-02] [ 4.41344153e-03 6.70479116e-04 9.99990036e-01 -3.76730848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50463044 meters 0.26693153247086604 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.38 [[ 9.99987292e-01 -2.02455553e-03 -4.61706626e-03 2.66453915e+00] [ 2.02423544e-03 9.99997948e-01 -7.39997576e-05 2.83454346e-02] [ 4.61720660e-03 6.46527881e-05 9.99989339e-01 -3.76437174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56463044000003 meters 0.2666895581560185 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.38 [[ 9.99987467e-01 -1.62474097e-03 -4.73558053e-03 2.66449146e+00] [ 1.62881463e-03 9.99998307e-01 8.56495431e-04 2.39705340e-02] [ 4.73418093e-03 -8.64198080e-04 9.99988420e-01 -3.75810225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62463044000003 meters 0.264741108604145 Centerline is valid? [False, False] Translation: X:2.62, Y:0.01, Z:-0.38 [[ 9.99969095e-01 -2.40707711e-03 -7.48427691e-03 2.62428965e+00] [ 2.41416308e-03 9.99996646e-01 9.37890855e-04 1.49201259e-02] [ 7.48199423e-03 -9.55930135e-04 9.99971553e-01 -3.77111095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68463044000003 meters 0.26720191290891426 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.38 [[ 9.99975799e-01 4.48030974e-03 -5.32251673e-03 2.64526094e+00] [-4.48760000e-03 9.99989008e-01 -1.35854964e-03 1.43746722e-02] [ 5.31637150e-03 1.38240209e-03 9.99984912e-01 -3.77406595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74463044000004 meters 0.26685091702161673 Centerline is valid? [False, False] Translation: X:2.63, Y:0.02, Z:-0.38 [[ 9.99979916e-01 -3.90622730e-03 -4.99088762e-03 2.62592838e+00] [ 3.90788475e-03 9.99992312e-01 3.22386119e-04 1.52683195e-02] [ 4.98958994e-03 -3.41883458e-04 9.99987493e-01 -3.78790727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80463044000004 meters 0.26661789845253053 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.38 [[ 9.99980261e-01 -3.86342588e-03 -4.95499232e-03 2.62579631e+00] [ 3.86559853e-03 9.99992437e-01 4.28976257e-04 1.46972595e-02] [ 4.95329752e-03 -4.48121801e-04 9.99987632e-01 -3.78653424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86463044000004 meters 0.2667479214112949 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.38 [[ 9.99979798e-01 -3.87528519e-03 -5.03837061e-03 2.62575508e+00] [ 3.87735646e-03 9.99992402e-01 4.01396336e-04 1.48504877e-02] [ 5.03677681e-03 -4.20923786e-04 9.99987227e-01 -3.78244994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92463044000004 meters 0.26635650776097597 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.38 [[ 9.99979729e-01 -3.88735071e-03 -5.04281741e-03 2.62543700e+00] [ 3.88924689e-03 9.99992370e-01 3.66262586e-04 1.49299829e-02] [ 5.04135514e-03 -3.85867923e-04 9.99987218e-01 -3.77666602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98463044 meters 0.2672007610817685 Centerline is valid? [False, False] Translation: X:2.65, Y:0.01, Z:-0.38 [[ 9.99981701e-01 4.25050280e-03 -4.30474579e-03 2.64538785e+00] [-4.25559100e-03 9.99990256e-01 -1.17353089e-03 1.40309552e-02] [ 4.29971575e-03 1.19182865e-03 9.99990046e-01 -3.76325707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04463044 meters 0.2663473161346906 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.38 [[ 9.99978530e-01 -3.97585332e-03 -5.20884283e-03 2.62659306e+00] [ 3.97881078e-03 9.99991929e-01 5.57536427e-04 1.47135822e-02] [ 5.20658411e-03 -5.78249456e-04 9.99986278e-01 -3.77740565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10463044 meters 0.2663303681224792 Centerline is valid? [False, False] Translation: X:2.63, Y:0.01, Z:-0.38 [[ 9.99978279e-01 -3.97569476e-03 -5.25698672e-03 2.62672944e+00] [ 3.97867707e-03 9.99991930e-01 5.56967490e-04 1.46233143e-02] [ 5.25472996e-03 -5.77871245e-04 9.99986027e-01 -3.77786576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16463044 meters 0.2683599935429438 Centerline is valid? [False, False] Translation: X:2.63, Y:0.02, Z:-0.38 [[ 9.99977888e-01 -4.03473213e-03 -5.28632317e-03 2.62698684e+00] [ 4.03655212e-03 9.99991797e-01 3.33658371e-04 1.59582216e-02] [ 5.28493359e-03 -3.54989512e-04 9.99985972e-01 -3.78217768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22463044 meters 0.26884784536669115 Centerline is valid? [False, False] Translation: X:2.63, Y:0.02, Z:-0.38 [[ 9.99977361e-01 -4.18406349e-03 -5.26973707e-03 2.62710943e+00] [ 4.18383853e-03 9.99991246e-01 -5.37139191e-05 1.76794435e-02] [ 5.26991568e-03 3.16649741e-05 9.99986113e-01 -3.78531122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28463044 meters 0.2686158763199643 Centerline is valid? [False, False] Translation: X:2.61, Y:0.02, Z:-0.38 [[ 9.99974818e-01 4.03435680e-03 -5.83845868e-03 2.60632717e+00] [-4.04079986e-03 9.99991240e-01 -1.09217959e-03 1.80518822e-02] [ 5.83400129e-03 1.11574413e-03 9.99982360e-01 -3.79348797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34463044 meters 0.2674420342099505 Centerline is valid? [False, False] Translation: X:2.61, Y:0.02, Z:-0.38 [[ 9.99975880e-01 3.78724112e-03 -5.82209809e-03 2.60612588e+00] [-3.79716381e-03 9.99991356e-01 -1.69420636e-03 2.08812107e-02] [ 5.81563140e-03 1.71627296e-03 9.99981616e-01 -3.79098629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40463044 meters 0.268450584416918 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.38 [[ 9.99960805e-01 -2.43020357e-03 -8.51363793e-03 2.62588168e+00] [ 2.42318557e-03 9.99996716e-01 -8.34542801e-04 3.65705081e-02] [ 8.51563808e-03 8.13879966e-04 9.99963410e-01 -3.76536464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46463044 meters 0.2664781845970205 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:-0.38 [[ 9.99949687e-01 -2.17697655e-03 -9.79201580e-03 2.58266699e+00] [ 2.17104817e-03 9.99997454e-01 -6.16019437e-04 4.02792434e-02] [ 9.79333192e-03 5.94729505e-04 9.99951867e-01 -3.77200845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52463044 meters 0.2669287104901116 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.38 [[ 0.99996142 0.00406943 -0.00778444 2.60384859] [-0.00410199 0.99998289 -0.00417135 0.04818844] [ 0.00776734 0.00420312 0.999961 -0.37708786] [ 0. 0. 0. 1. ]] SLAMing on 284.58463044 meters 0.2669651949104445 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.38 [[ 0.99996055 0.00396372 -0.00794945 2.60432525] [-0.00399912 0.99998214 -0.00444252 0.04942598] [ 0.0079317 0.00447414 0.99995853 -0.37729963] [ 0. 0. 0. 1. ]] SLAMing on 284.64463044 meters 0.2671183145041121 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.38 [[ 0.99996059 0.00393693 -0.00795721 2.60411989] [-0.00397293 0.99998192 -0.00451395 0.04976262] [ 0.00793929 0.00454538 0.99995815 -0.3768762 ] [ 0. 0. 0. 1. ]] SLAMing on 284.70463044 meters 0.26450525930188407 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.38 [[ 0.99995796 -0.00513791 -0.00759477 2.58197715] [ 0.00510737 0.99997881 -0.00403545 0.05083372] [ 0.00761535 0.00399649 0.99996302 -0.37708133] [ 0. 0. 0. 1. ]] SLAMing on 284.76463044 meters 0.2650405683067936 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.38 [[ 0.99995443 -0.00505056 -0.00810144 2.58330677] [ 0.00502049 0.99998045 -0.00372771 0.04932343] [ 0.00812011 0.00368686 0.99996023 -0.3775685 ] [ 0. 0. 0. 1. ]] SLAMing on 284.82463044 meters 0.2645638652367664 Centerline is valid? [False, False] Translation: X:2.56, Y:0.04, Z:-0.38 [[ 0.99996514 0.00306283 -0.00776831 2.56364518] [-0.00309838 0.99998476 -0.00456847 0.04409717] [ 0.0077542 0.00459238 0.99995939 -0.37890887] [ 0. 0. 0. 1. ]] SLAMing on 284.88463044 meters 0.2661769784685519 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99976744e-01 -2.47606123e-03 -6.35464469e-03 2.58528601e+00] [ 2.46815425e-03 9.99996171e-01 -1.25182471e-03 4.44841159e-02] [ 6.35771995e-03 1.23611136e-03 9.99979025e-01 -3.79320558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94463044 meters 0.2650020496312168 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99976800e-01 -2.42466934e-03 -6.36560275e-03 2.58521570e+00] [ 2.41752795e-03 9.99996440e-01 -1.12932751e-03 4.39096289e-02] [ 6.36831834e-03 1.11391229e-03 9.99979102e-01 -3.79145164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00463044 meters 0.2649833001298188 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99976750e-01 -2.25886997e-03 -6.43401908e-03 2.58512815e+00] [ 2.25411594e-03 9.99997181e-01 -7.46045552e-04 4.21428083e-02] [ 6.43568617e-03 7.31525181e-04 9.99979023e-01 -3.78656087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06463044000003 meters 0.26538993873181294 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99975373e-01 -2.05632400e-03 -6.71005206e-03 2.58574780e+00] [ 2.05456370e-03 9.99997853e-01 -2.69221345e-04 3.98713841e-02] [ 6.71059126e-03 2.55428485e-04 9.99977451e-01 -3.78584040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12463044000003 meters 0.2654536240492997 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99975251e-01 -1.91613860e-03 -6.76948706e-03 2.58593110e+00] [ 1.91655093e-03 9.99998162e-01 5.44236738e-05 3.83389859e-02] [ 6.76937034e-03 -6.73963936e-05 9.99977085e-01 -3.78626323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18463044000003 meters 0.26565045125374087 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99975165e-01 -1.77511019e-03 -6.82045845e-03 2.58558021e+00] [ 1.77778816e-03 9.99998345e-01 3.86594538e-04 3.67551293e-02] [ 6.81976091e-03 -3.98710267e-04 9.99976666e-01 -3.77762208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24463044000004 meters 0.2662297336841315 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.38 [[ 9.99975248e-01 -1.63078137e-03 -6.84424868e-03 2.58547216e+00] [ 1.63588700e-03 9.99998388e-01 7.40442139e-04 3.51461747e-02] [ 6.84303015e-03 -7.51620229e-04 9.99976304e-01 -3.77438615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30463044000004 meters 0.26628897406184254 Centerline is valid? [False, False] Translation: X:2.59, Y:0.03, Z:-0.38 [[ 9.99975073e-01 -1.39338945e-03 -6.92188058e-03 2.58525426e+00] [ 1.40240470e-03 9.99998175e-01 1.29774450e-03 3.24948634e-02] [ 6.92005968e-03 -1.30741943e-03 9.99975201e-01 -3.76709917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36463044000004 meters 0.26531475874333366 Centerline is valid? [False, False] Translation: X:2.58, Y:0.03, Z:-0.37 [[ 9.99977857e-01 -1.08312518e-03 -6.56597108e-03 2.58368721e+00] [ 1.10057279e-03 9.99995872e-01 2.65424741e-03 2.62981607e-02] [ 6.56306909e-03 -2.66141497e-03 9.99974921e-01 -3.74930984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42463044000004 meters 0.26430008272798533 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.38 [[ 9.99976679e-01 -8.09394064e-04 -6.78133585e-03 2.58427496e+00] [ 8.34410945e-04 9.99992855e-01 3.68706181e-03 2.17251769e-02] [ 6.77830311e-03 -3.69263425e-03 9.99970209e-01 -3.75087240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48463044 meters 0.2621239867161999 Centerline is valid? [False, False] Translation: X:2.58, Y:0.02, Z:-0.37 [[ 9.99976363e-01 -3.29786376e-04 -6.86763356e-03 2.58424788e+00] [ 3.65691037e-04 9.99986270e-01 5.22749870e-03 1.50002450e-02] [ 6.86581530e-03 -5.22988657e-03 9.99962754e-01 -3.74683886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54463044 meters 0.2643265952561226 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.38 [[ 9.99969379e-01 5.49356885e-03 -5.57322725e-03 2.60600806e+00] [-5.48247514e-03 9.99982963e-01 2.00386609e-03 1.21000771e-02] [ 5.58414068e-03 -1.97324965e-03 9.99982462e-01 -3.75207085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60463044 meters 0.2652584105794228 Centerline is valid? [False, False] Translation: X:2.61, Y:0.01, Z:-0.38 [[ 9.99971132e-01 3.58492808e-03 -6.69953845e-03 2.61133415e+00] [-3.58247533e-03 9.99993511e-01 3.78071532e-04 9.31756293e-03] [ 6.70085033e-03 -3.54059686e-04 9.99977486e-01 -3.79067872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66463044 meters 0.2645976126612266 Centerline is valid? [False, False] Translation: X:2.59, Y:0.01, Z:-0.38 [[ 9.99950946e-01 -4.81186645e-03 -8.65745225e-03 2.59261606e+00] [ 4.82930756e-03 9.99986349e-01 1.99480054e-03 6.46127214e-03] [ 8.64773536e-03 -2.03651219e-03 9.99960534e-01 -3.80277805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72463044 meters 0.2651457618776885 Centerline is valid? [False, False] Translation: X:2.61, Y:0.00, Z:-0.38 [[ 9.99963620e-01 1.15645237e-03 -8.45107113e-03 2.61459233e+00] [-1.16373452e-03 9.99998956e-01 -8.56817241e-04 5.55221132e-04] [ 8.45007144e-03 8.66620874e-04 9.99963922e-01 -3.80001335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78463044 meters 0.263933774424711 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.00, Z:-0.38 [[ 9.99933499e-01 -7.09427095e-03 -9.09227566e-03 2.59508541e+00] [ 7.10489583e-03 9.99974114e-01 1.13679288e-03 -1.68430795e-03] [ 9.08397558e-03 -1.20131695e-03 9.99958018e-01 -3.81681126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84463044 meters 0.26272615525249166 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.00, Z:-0.38 [[ 9.99934078e-01 -6.93803251e-03 -9.14896253e-03 2.59508123e+00] [ 6.95235320e-03 9.99974655e-01 1.53440581e-03 -3.47989648e-03] [ 9.13808489e-03 -1.59791148e-03 9.99956970e-01 -3.81413985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90463044 meters 0.26350352806842464 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:-0.38 [[ 9.99935792e-01 -6.69183680e-03 -9.14501331e-03 2.59482991e+00] [ 6.71267426e-03 9.99974939e-01 2.24976817e-03 -6.42873057e-03] [ 9.12972904e-03 -2.31101121e-03 9.99955653e-01 -3.80936234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96463044 meters 0.26264741740293474 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:-0.38 [[ 0.99994111 -0.0065301 -0.00866754 2.59303317] [ 0.00655554 0.99997428 0.0029106 -0.00950218] [ 0.00864831 -0.00296725 0.9999582 -0.37943997] [ 0. 0. 0. 1. ]] SLAMing on 286.02463044 meters 0.2625808940821851 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99969304e-01 1.93553402e-03 -7.59240162e-03 2.61224018e+00] [-1.92166795e-03 9.99996473e-01 1.83317925e-03 -1.20741926e-02] [ 7.59592303e-03 -1.81853291e-03 9.99969497e-01 -3.78191799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08463044 meters 0.2613338955754209 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.38 [[ 9.99965575e-01 1.78960883e-03 -8.10223468e-03 2.56884767e+00] [-1.76880536e-03 9.99995123e-01 2.57405930e-03 -1.23474260e-02] [ 8.10680172e-03 -2.55963941e-03 9.99963863e-01 -3.79067778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14463044 meters 0.2616051975576982 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.01, Z:-0.38 [[ 0.99995009 -0.00652964 -0.00756189 2.59018831] [ 0.00655237 0.99997408 0.00298571 -0.00994582] [ 0.0075422 -0.00303511 0.99996695 -0.37838529] [ 0. 0. 0. 1. ]] SLAMing on 286.20463044 meters 0.2629168421807563 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99961442e-01 2.02591617e-03 -8.54462833e-03 2.61057482e+00] [-2.01077101e-03 9.99996393e-01 1.78069511e-03 -1.27478175e-02] [ 8.54820505e-03 -1.76344516e-03 9.99961909e-01 -3.77064036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26463044 meters 0.26109881124205647 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99961305e-01 1.87701203e-03 -8.59451234e-03 2.61022153e+00] [-1.86485407e-03 9.99997250e-01 1.42241447e-03 -1.10609968e-02] [ 8.59715859e-03 -1.40633192e-03 9.99962055e-01 -3.76299350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32463044 meters 0.2616534866421669 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99962101e-01 1.64695295e-03 -8.54889091e-03 2.61024038e+00] [-1.63919990e-03 9.99998239e-01 9.13834997e-04 -8.61881936e-03] [ 8.55038090e-03 -8.99787022e-04 9.99963040e-01 -3.76478583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38463044 meters 0.26104109621096927 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99962855e-01 1.28603800e-03 -8.52255381e-03 2.61038372e+00] [-1.28532974e-03 9.99999170e-01 8.85811053e-05 -4.82622229e-03] [ 8.52266066e-03 -7.76235231e-05 9.99963678e-01 -3.76796175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44463044 meters 0.2602574414729218 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99963203e-01 1.13472181e-03 -8.50326968e-03 2.61023102e+00] [-1.13686756e-03 9.99999323e-01 -2.47515148e-04 -3.17797651e-03] [ 8.50298306e-03 2.57173132e-04 9.99963816e-01 -3.76606056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50463044 meters 0.26027473827675957 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99962150e-01 1.01074055e-03 -8.64159547e-03 2.61086295e+00] [-1.01577450e-03 9.99999317e-01 -5.78155450e-04 -1.86991695e-03] [ 8.64100521e-03 5.86911479e-04 9.99962494e-01 -3.77173332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56463044000003 meters 0.2605233334156161 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99961440e-01 1.05650020e-03 -8.71796158e-03 2.61106370e+00] [-1.06051226e-03 9.99999334e-01 -4.55596304e-04 -2.36897765e-03] [ 8.71747443e-03 4.64824241e-04 9.99961894e-01 -3.77230642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62463044000003 meters 0.261728413977248 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99962620e-01 1.15861687e-03 -8.56832332e-03 2.61087423e+00] [-1.16014137e-03 9.99999312e-01 -1.72954399e-04 -3.59852579e-03] [ 8.56811703e-03 1.82888400e-04 9.99963276e-01 -3.77437261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68463044000003 meters 0.26236806493951165 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99964190e-01 1.31105128e-03 -8.36059571e-03 2.61040949e+00] [-1.30885872e-03 9.99999108e-01 2.67715628e-04 -5.49881012e-03] [ 8.36093923e-03 -2.56763203e-04 9.99965014e-01 -3.77417279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74463044000004 meters 0.2619103851521411 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99964032e-01 1.31322218e-03 -8.37912417e-03 2.61055601e+00] [-1.31096429e-03 9.99999103e-01 2.74952230e-04 -5.51407324e-03] [ 8.37947773e-03 -2.63957608e-04 9.99964857e-01 -3.77592986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80463044000004 meters 0.26179558953830506 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99964203e-01 1.23587513e-03 -8.37053536e-03 2.61088444e+00] [-1.23508427e-03 9.99999232e-01 9.96497170e-05 -4.72114138e-03] [ 8.37065209e-03 -8.93078332e-05 9.99964961e-01 -3.78161783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86463044000004 meters 0.2609124896536057 Centerline is valid? [False, False] Translation: X:2.59, Y:0.00, Z:-0.38 [[ 9.99947495e-01 -6.67291299e-03 -7.77679787e-03 2.59213376e+00] [ 6.68375837e-03 9.99976726e-01 1.36942842e-03 2.57637877e-03] [ 7.76747879e-03 -1.42133476e-03 9.99968823e-01 -3.80519530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92463044000004 meters 0.26163128920707 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99971579e-01 1.51863472e-03 -7.38480081e-03 2.61173836e+00] [-1.51832589e-03 9.99998846e-01 4.74258387e-05 -1.53327260e-03] [ 7.38486431e-03 -3.62119565e-05 9.99972731e-01 -3.79458647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98463044 meters 0.26192350750356197 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.00, Z:-0.38 [[ 9.99971912e-01 1.63929093e-03 -7.31349456e-03 2.61170907e+00] [-1.63651923e-03 9.99998587e-01 3.84952481e-04 -3.08054351e-03] [ 7.31411527e-03 -3.72972994e-04 9.99973182e-01 -3.79698099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04463044 meters 0.2632902177011671 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99972087e-01 1.81034022e-03 -7.24899824e-03 2.61195490e+00] [-1.80442250e-03 9.99998034e-01 8.22807460e-04 -5.10956387e-03] [ 7.25047355e-03 -8.09704237e-04 9.99973387e-01 -3.80383601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10463044 meters 0.2617361748335501 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.00, Z:-0.38 [[ 9.99951322e-01 -6.30164419e-03 -7.59231727e-03 2.59292411e+00] [ 6.31961653e-03 9.99977280e-01 2.34551271e-03 -2.36085063e-03] [ 7.57736418e-03 -2.39337907e-03 9.99968427e-01 -3.82069660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16463044 meters 0.26290412466420926 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99966603e-01 2.05571161e-03 -7.90992893e-03 2.61296826e+00] [-2.04348209e-03 9.99996705e-01 1.55386886e-03 -8.76932426e-03] [ 7.91309718e-03 -1.53765317e-03 9.99967509e-01 -3.81135395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22463044 meters 0.2620004527730715 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.01, Z:-0.38 [[ 9.99966907e-01 1.99010799e-03 -7.88829213e-03 2.61278360e+00] [-1.97907155e-03 9.99997052e-01 1.40665098e-03 -8.09984005e-03] [ 7.89106826e-03 -1.39099293e-03 9.99967898e-01 -3.80886659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28463044 meters 0.26170923392301293 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.00, Z:-0.38 [[ 9.99948604e-01 -5.85672999e-03 -8.27578186e-03 2.59457618e+00] [ 5.88046503e-03 9.99978658e-01 2.84659440e-03 -2.18760110e-03] [ 8.25893351e-03 -2.89511354e-03 9.99961703e-01 -3.83388057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34463044 meters 0.26381248081617603 Centerline is valid? [False, False] Translation: X:2.62, Y:0.00, Z:-0.38 [[ 9.99974360e-01 1.17709279e-03 -7.06360863e-03 2.61644297e+00] [-1.17555435e-03 9.99999284e-01 2.21946519e-04 7.95551409e-04] [ 7.06386482e-03 -2.13637172e-04 9.99975028e-01 -3.84347918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40463044 meters 0.26270045371857964 Centerline is valid? [False, False] Translation: X:2.62, Y:0.00, Z:-0.38 [[ 9.99975178e-01 9.24182315e-04 -6.98488858e-03 2.61613176e+00] [-9.26641580e-04 9.99999510e-01 -3.48855479e-04 3.40260689e-03] [ 6.98456275e-03 3.55319308e-04 9.99975545e-01 -3.84086364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46463044 meters 0.2625292518226577 Centerline is valid? [False, False] Translation: X:2.62, Y:0.00, Z:-0.38 [[ 9.99975444e-01 7.76544428e-04 -6.96481689e-03 2.61615802e+00] [-7.81335604e-04 9.99999460e-01 -6.85216622e-04 4.94045755e-03] [ 6.96428103e-03 6.90641655e-04 9.99975511e-01 -3.84163994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52463044 meters 0.26280437140350993 Centerline is valid? [False, False] Translation: X:2.60, Y:0.01, Z:-0.39 [[ 9.99945430e-01 -7.42252865e-03 -7.35134170e-03 2.59644867e+00] [ 7.42418527e-03 9.99972421e-01 1.98085456e-04 1.09564466e-02] [ 7.34966866e-03 -2.52652369e-04 9.99972959e-01 -3.86260508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58463044 meters 0.26287872638098836 Centerline is valid? [False, False] Translation: X:2.62, Y:0.01, Z:-0.39 [[ 9.99976867e-01 1.04349920e-03 -6.72141250e-03 2.61642555e+00] [-1.04919968e-03 9.99999093e-01 -8.44637214e-04 8.70908095e-03] [ 6.72052502e-03 8.51669778e-04 9.99977054e-01 -3.85726294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64463044 meters 0.26433027045318486 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.39 [[ 9.99945664e-01 -7.31240610e-03 -7.42950855e-03 2.63866274e+00] [ 7.31070257e-03 9.99973244e-01 -2.56425219e-04 1.17062235e-02] [ 7.43118485e-03 2.02096359e-04 9.99972368e-01 -3.85003901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70463044 meters 0.26479786557079465 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.39 [[ 9.99945872e-01 -7.32665970e-03 -7.38735813e-03 2.63890982e+00] [ 7.32474729e-03 9.99973133e-01 -2.85899246e-04 1.18867546e-02] [ 7.38925434e-03 2.31773239e-04 9.99972672e-01 -3.85611785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76463044 meters 0.2633640283853105 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.39 [[ 9.99946616e-01 -7.35313765e-03 -7.25918979e-03 2.63861593e+00] [ 7.35078633e-03 9.99972921e-01 -3.50537313e-04 1.21291565e-02] [ 7.26157077e-03 2.97157847e-04 9.99973590e-01 -3.85619736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82463044 meters 0.2625885852589408 Centerline is valid? [False, False] Translation: X:2.64, Y:0.01, Z:-0.39 [[ 9.99946418e-01 -7.43247067e-03 -7.20548189e-03 2.63855237e+00] [ 7.42879956e-03 9.99972262e-01 -5.36119941e-04 1.29699285e-02] [ 7.20926673e-03 4.82563134e-04 9.99973896e-01 -3.85735753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88463044 meters 0.262209863069103 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.39 [[ 9.99944141e-01 -7.63555776e-03 -7.30846905e-03 2.63898347e+00] [ 7.62799824e-03 9.99970343e-01 -1.06166785e-03 1.54070991e-02] [ 7.31635873e-03 1.00585956e-03 9.99972729e-01 -3.86140898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94463044 meters 0.2618035241527133 Centerline is valid? [False, False] Translation: X:2.64, Y:0.02, Z:-0.39 [[ 9.99942614e-01 -7.81480695e-03 -7.32790438e-03 2.63904439e+00] [ 7.80395050e-03 9.99968410e-01 -1.50894742e-03 1.73812113e-02] [ 7.33946503e-03 1.45167423e-03 9.99972012e-01 -3.86161178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00463044 meters 0.26257187511797103 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.39 [[ 9.99978259e-01 9.11499121e-04 -6.53071582e-03 2.65915742e+00] [-9.28022874e-04 9.99996375e-01 -2.52757599e-03 1.75497767e-02] [ 6.52838827e-03 2.53358169e-03 9.99975480e-01 -3.85321266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06463044000003 meters 0.2622274966906739 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.39 [[ 9.99978238e-01 8.87540399e-04 -6.53728879e-03 2.65930545e+00] [-9.04480096e-04 9.99996240e-01 -2.58874146e-03 1.78229266e-02] [ 6.53496660e-03 2.59459798e-03 9.99975281e-01 -3.85573195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12463044000003 meters 0.2626895674921758 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.39 [[ 9.99978394e-01 7.94708533e-04 -6.52529569e-03 2.65930925e+00] [-8.13075380e-04 9.99995714e-01 -2.81254468e-03 1.88884852e-02] [ 6.52303257e-03 2.81778947e-03 9.99974755e-01 -3.85591273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18463044000003 meters 0.263386198239005 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.39 [[ 9.99978911e-01 5.98824439e-04 -6.46670055e-03 2.65923604e+00] [-6.20034930e-04 9.99994434e-01 -3.27844898e-03 2.10525422e-02] [ 6.46470134e-03 3.28238942e-03 9.99973716e-01 -3.85655053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24463044000004 meters 0.26154694100868453 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99969333e-01 4.28439042e-03 -6.55571253e-03 2.65938985e+00] [-4.28899042e-03 9.99990566e-01 -6.87780773e-04 2.84722382e-02] [ 6.55270396e-03 7.15877069e-04 9.99978275e-01 -3.85512144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30463044000004 meters 0.2613443324846705 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.39 [[ 9.99967547e-01 3.90810681e-03 -7.04503693e-03 2.66051100e+00] [-3.92260159e-03 9.99990216e-01 -2.04480353e-03 3.41752112e-02] [ 7.03697669e-03 2.07237204e-03 9.99973093e-01 -3.85607841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36463044000004 meters 0.2608060107508405 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.39 [[ 0.99996836 0.0032645 -0.00725382 2.66073784] [-0.0032935 0.99998662 -0.00398825 0.04401345] [ 0.0072407 0.00401201 0.99996574 -0.38503881] [ 0. 0. 0. 1. ]] SLAMing on 288.42463044000004 meters 0.26125714563011015 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 0.99996597 -0.0044606 -0.00693972 2.67957911] [ 0.00443831 0.99998495 -0.00322408 0.05316489] [ 0.006954 0.00319317 0.99997072 -0.38240095] [ 0. 0. 0. 1. ]] SLAMing on 288.48463044 meters 0.2612279294976834 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99973823e-01 -5.87497785e-04 -7.21168195e-03 2.68017414e+00] [ 5.86970060e-04 9.99999825e-01 -7.52927453e-05 5.70925119e-02] [ 7.21172492e-03 7.10577330e-05 9.99973993e-01 -3.82434003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54463044 meters 0.2619690346385126 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99970964e-01 -1.29289802e-03 -7.50997762e-03 2.68077513e+00] [ 1.28132713e-03 9.99997985e-01 -1.54534247e-03 6.45299563e-02] [ 7.51196046e-03 1.53567486e-03 9.99970606e-01 -3.82207369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60463044 meters 0.2613286363663357 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.38 [[ 9.99970452e-01 -1.51833092e-03 -7.53593312e-03 2.68079563e+00] [ 1.50288645e-03 9.99996760e-01 -2.05468395e-03 6.67497604e-02] [ 7.53902839e-03 2.04329758e-03 9.99969494e-01 -3.82102954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66463044 meters 0.2610792768788947 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.38 [[ 9.99968936e-01 -1.87557076e-03 -7.65570084e-03 2.68085896e+00] [ 1.85381142e-03 9.99994225e-01 -2.84834749e-03 7.03518270e-02] [ 7.66099891e-03 2.83406678e-03 9.99966638e-01 -3.81744086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72463044 meters 0.26172086667782574 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.38 [[ 9.99960326e-01 -3.09176083e-04 -8.90229112e-03 2.68568660e+00] [ 2.92530743e-04 9.99998207e-01 -1.87102309e-03 7.55874879e-02] [ 8.90285363e-03 1.86834467e-03 9.99958623e-01 -3.84406615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78463044 meters 0.262466571123042 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.38 [[ 9.99958693e-01 -5.88670945e-04 -9.07002860e-03 2.68605813e+00] [ 5.65977868e-04 9.99996704e-01 -2.50434880e-03 7.83851630e-02] [ 9.07147295e-03 2.49911192e-03 9.99955730e-01 -3.84361046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84463044 meters 0.26137495045573206 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.38 [[ 9.99966872e-01 1.84931506e-03 -7.92689848e-03 2.68172112e+00] [-1.85618014e-03 9.99997909e-01 -8.58779790e-04 8.44185730e-02] [ 7.92529375e-03 8.73465091e-04 9.99968213e-01 -3.81861404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90463044 meters 0.26212365944063265 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.38 [[ 9.99966611e-01 1.27357020e-03 -8.07183819e-03 2.68182599e+00] [-1.29179418e-03 9.99996628e-01 -2.25291111e-03 9.16979308e-02] [ 8.06894173e-03 2.26326305e-03 9.99964884e-01 -3.81457504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96463044 meters 0.26268154762196183 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.38 [[ 9.99966281e-01 9.42442227e-04 -8.15770634e-03 2.68205333e+00] [-9.67252090e-04 9.99994918e-01 -3.03786842e-03 9.51549403e-02] [ 8.15480187e-03 3.04565655e-03 9.99962111e-01 -3.81421669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02463044 meters 0.2618483836030099 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.38 [[ 9.99973343e-01 2.38867041e-03 -6.89981303e-03 2.67874307e+00] [-2.40791059e-03 9.99993232e-01 -2.78154735e-03 1.04068691e-01] [ 6.89312213e-03 2.79808734e-03 9.99972327e-01 -3.80144118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08463044 meters 0.26184356833870104 Centerline is valid? [False, False] Translation: X:2.68, Y:0.11, Z:-0.38 [[ 9.99973150e-01 2.03085380e-03 -7.04097748e-03 2.67899259e+00] [-2.05679624e-03 9.99991116e-01 -3.67921281e-03 1.08041348e-01] [ 7.03344299e-03 3.69359588e-03 9.99968444e-01 -3.79964264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14463044 meters 0.26226631578556064 Centerline is valid? [False, False] Translation: X:2.68, Y:0.11, Z:-0.38 [[ 9.99974103e-01 1.46918767e-03 -7.04516556e-03 2.67903462e+00] [-1.50441160e-03 9.99986383e-01 -4.99704035e-03 1.14011097e-01] [ 7.03772804e-03 5.00750977e-03 9.99962697e-01 -3.79882427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20463044 meters 0.26195239486173805 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:-0.38 [[ 9.99973160e-01 1.29512637e-03 -7.21120873e-03 2.67950403e+00] [-1.33405401e-03 9.99984552e-01 -5.39602242e-03 1.15865173e-01] [ 7.20410880e-03 5.40549774e-03 9.99959440e-01 -3.80001647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26463044 meters 0.2632837588565985 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:-0.38 [[ 9.99970571e-01 1.20955335e-03 -7.57594242e-03 2.68079334e+00] [-1.25264310e-03 9.99983053e-01 -5.68554699e-03 1.17415888e-01] [ 7.56893705e-03 5.69486962e-03 9.99955139e-01 -3.80801143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32463044 meters 0.26294489887563466 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:-0.38 [[ 9.99970000e-01 1.16270865e-03 -7.65812688e-03 2.68094070e+00] [-1.20714625e-03 9.99982448e-01 -5.80060928e-03 1.17973122e-01] [ 7.65124804e-03 5.80967974e-03 9.99953852e-01 -3.80721588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38463044 meters 0.2642634356499186 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:-0.38 [[ 9.99969251e-01 1.11230016e-03 -7.76273177e-03 2.68095907e+00] [-1.15828376e-03 9.99981796e-01 -5.92165652e-03 1.18485764e-01] [ 7.75600380e-03 5.93046588e-03 9.99952336e-01 -3.80277845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44463044 meters 0.26470910492265165 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99978360e-01 -4.17695908e-03 -5.08254540e-03 2.70024384e+00] [ 4.16704404e-03 9.99989397e-01 -1.95982925e-03 1.18706734e-01] [ 5.09067764e-03 1.93860765e-03 9.99985163e-01 -3.79799724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50463044 meters 0.2637949956519539 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99977816e-01 -4.27485704e-03 -5.10817172e-03 2.70014494e+00] [ 4.26370894e-03 9.99988509e-01 -2.19130611e-03 1.19754420e-01] [ 5.11748054e-03 2.16947774e-03 9.99984552e-01 -3.79502242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56463044000003 meters 0.2637598723948709 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99976556e-01 -4.36337485e-03 -5.27721390e-03 2.70031730e+00] [ 4.35071176e-03 9.99987635e-01 -2.40868244e-03 1.20672316e-01] [ 5.28765863e-03 2.38566633e-03 9.99983174e-01 -3.79147521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62463044000003 meters 0.26275496867446185 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99987827e-01 -2.78018342e-03 -4.07637187e-03 2.69552866e+00] [ 2.77619253e-03 9.99995662e-01 -9.84360726e-04 1.20715255e-01] [ 4.07909089e-03 9.73031950e-04 9.99991207e-01 -3.76128722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68463044000003 meters 0.2646714458417114 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99986373e-01 -3.03250715e-03 -4.24944222e-03 2.69594562e+00] [ 3.02552868e-03 9.99994066e-01 -1.64767583e-03 1.23657908e-01] [ 4.25441360e-03 1.63479657e-03 9.99989614e-01 -3.76125744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74463044000004 meters 0.2628471519352048 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99984481e-01 -3.32074946e-03 -4.47337074e-03 2.69658460e+00] [ 3.30952187e-03 9.99991361e-01 -2.51494176e-03 1.27548839e-01] [ 4.48168358e-03 2.50009801e-03 9.99986832e-01 -3.76312336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80463044000004 meters 0.2637175651032202 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99989679e-01 4.81885946e-04 -4.51763861e-03 2.69679021e+00] [-4.79393631e-04 9.99999732e-01 5.52751880e-04 1.32791894e-01] [ 4.51790377e-03 -5.50580448e-04 9.99989643e-01 -3.76527122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86463044000004 meters 0.2632778802200302 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.38 [[ 9.99988920e-01 1.77204590e-04 -4.70398891e-03 2.69706635e+00] [-1.77897187e-04 9.99999973e-01 -1.46817972e-04 1.35903791e-01] [ 4.70396277e-03 1.47653172e-04 9.99988925e-01 -3.76247784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92463044000004 meters 0.2642940341361299 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.38 [[ 9.99988125e-01 -1.26200106e-04 -4.87184394e-03 2.69736936e+00] [ 1.22101724e-04 9.99999638e-01 -8.41526643e-04 1.39163701e-01] [ 4.87194838e-03 8.40921789e-04 9.99987778e-01 -3.76094643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98463044 meters 0.2620126442185543 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.38 [[ 9.99980714e-01 3.73523825e-03 -4.96181862e-03 2.69701329e+00] [-3.72346359e-03 9.99990235e-01 2.38017490e-03 1.43771650e-01] [ 4.97066069e-03 -2.36165385e-03 9.99984857e-01 -3.75151202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04463044 meters 0.26327177474250985 Centerline is valid? [False, False] Translation: X:2.70, Y:0.15, Z:-0.37 [[ 9.99981100e-01 3.41043787e-03 -5.11544948e-03 2.69691619e+00] [-3.40297822e-03 9.99993135e-01 1.46625521e-03 1.47741723e-01] [ 5.12041493e-03 -1.44881973e-03 9.99985841e-01 -3.74382567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10463044 meters 0.26242117352046135 Centerline is valid? [False, False] Translation: X:2.70, Y:0.15, Z:-0.37 [[ 9.99981828e-01 3.06325982e-03 -5.19232709e-03 2.69645314e+00] [-3.06159721e-03 9.99995259e-01 3.28121938e-04 1.52454091e-01] [ 5.19330759e-03 -3.12219161e-04 9.99986466e-01 -3.73243040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16463044 meters 0.2623352615324694 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.37 [[ 9.99983327e-01 2.80150182e-03 -5.04946566e-03 2.69604423e+00] [-2.80335491e-03 9.99996006e-01 -3.59947923e-04 1.55414734e-01] [ 5.04843710e-03 3.74097366e-04 9.99987187e-01 -3.73032036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22463044 meters 0.26231237686263825 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.37 [[ 9.99983725e-01 2.57177007e-03 -5.09272581e-03 2.69615191e+00] [-2.57666320e-03 9.99996225e-01 -9.54478983e-04 1.57935498e-01] [ 5.09025188e-03 9.67585688e-04 9.99986576e-01 -3.73026775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28463044 meters 0.26251896171641104 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.37 [[ 9.99981995e-01 2.49460954e-03 -5.45762325e-03 2.69718486e+00] [-2.50204308e-03 9.99995951e-01 -1.35564288e-03 1.60047851e-01] [ 5.45421935e-03 1.36927368e-03 9.99984188e-01 -3.73476162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34463044 meters 0.26192136411808115 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.37 [[ 9.99981622e-01 2.37195304e-03 -5.57939190e-03 2.69736608e+00] [-2.38136761e-03 9.99995751e-01 -1.68134501e-03 1.61372742e-01] [ 5.57538012e-03 1.69460069e-03 9.99983022e-01 -3.73327451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40463044 meters 0.26299366063954344 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.37 [[ 9.99970015e-01 -4.12134794e-03 -6.55615677e-03 2.72132100e+00] [ 4.13268129e-03 9.99989988e-01 1.71604947e-03 1.61180787e-01] [ 6.54901869e-03 -1.74309252e-03 9.99977036e-01 -3.73952548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46463044 meters 0.261845028566354 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.38 [[ 9.99966855e-01 4.23109249e-03 -6.95612870e-03 2.70248071e+00] [-4.22731895e-03 9.99990910e-01 5.57089697e-04 1.55537769e-01] [ 6.95842257e-03 -5.27665458e-04 9.99975651e-01 -3.75615998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52463044 meters 0.262985710614918 Centerline is valid? [False, False] Translation: X:2.70, Y:0.16, Z:-0.38 [[ 9.99966418e-01 4.28671350e-03 -6.98480685e-03 2.70261586e+00] [-4.28205163e-03 9.99990599e-01 6.82248737e-04 1.55012836e-01] [ 6.98766579e-03 -6.52316522e-04 9.99975373e-01 -3.75741640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58463044 meters 0.26154381063567855 Centerline is valid? [False, False] Translation: X:2.68, Y:0.16, Z:-0.38 [[ 9.99970412e-01 -3.97202691e-03 -6.58777175e-03 2.68115324e+00] [ 3.98228138e-03 9.99990878e-01 1.54420474e-03 1.55504877e-01] [ 6.58157804e-03 -1.57039341e-03 9.99977108e-01 -3.75305757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64463044 meters 0.2617080458187262 Centerline is valid? [False, False] Translation: X:2.70, Y:0.15, Z:-0.37 [[ 9.99971585e-01 3.55342566e-03 -6.64854634e-03 2.70122355e+00] [-3.54933937e-03 9.99993505e-01 6.26312229e-04 1.50131902e-01] [ 6.65072871e-03 -6.02696485e-04 9.99977702e-01 -3.73483380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70463044 meters 0.26033182763991736 Centerline is valid? [False, False] Translation: X:2.68, Y:0.15, Z:-0.37 [[ 9.99976524e-01 -4.57416981e-03 -5.10180456e-03 2.67876357e+00] [ 4.58278317e-03 9.99988091e-01 1.67788539e-03 1.49922435e-01] [ 5.09406887e-03 -1.70122646e-03 9.99985578e-01 -3.73808968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76463044 meters 0.2611507575985763 Centerline is valid? [False, False] Translation: X:2.70, Y:0.15, Z:-0.37 [[ 9.99995935e-01 6.77878849e-04 -2.76949411e-03 2.69916936e+00] [-6.81039672e-04 9.99999118e-01 -1.14051610e-03 1.46082106e-01] [ 2.76871854e-03 1.14239760e-03 9.99995515e-01 -3.73798428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82463044 meters 0.26107663995131025 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.37 [[ 9.99995385e-01 1.01362800e-03 -2.86385906e-03 2.69965852e+00] [-1.01458420e-03 9.99999430e-01 -3.32448907e-04 1.42329709e-01] [ 2.86352045e-03 3.35352999e-04 9.99995844e-01 -3.74249695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88463044 meters 0.26145729958636926 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.37 [[ 9.99994237e-01 1.49475808e-03 -3.04823411e-03 2.70001959e+00] [-1.49247737e-03 9.99998605e-01 7.50344281e-04 1.37192529e-01] [ 3.04935144e-03 -7.45790537e-04 9.99995073e-01 -3.74212774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94463044 meters 0.26061091148284105 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99993481e-01 1.85368517e-03 -3.09873757e-03 2.69998183e+00] [-1.84879294e-03 9.99997041e-01 1.58089967e-03 1.33371311e-01] [ 3.10165889e-03 -1.57516044e-03 9.99993949e-01 -3.73920005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00463044 meters 0.26134373651190695 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99993056e-01 2.04147442e-03 -3.11775777e-03 2.70023202e+00] [-2.03518162e-03 9.99995888e-01 2.02021543e-03 1.31443189e-01] [ 3.12186917e-03 -2.01385620e-03 9.99993099e-01 -3.74242927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06463044000003 meters 0.2616030588889833 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99992450e-01 2.26169812e-03 -3.15990116e-03 2.70063152e+00] [-2.25361963e-03 9.99994189e-01 2.55779100e-03 1.29055154e-01] [ 3.16566775e-03 -2.55065047e-03 9.99991736e-01 -3.74834218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12463044000003 meters 0.26213434987354306 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99991393e-01 2.55985842e-03 -3.26524080e-03 2.70082182e+00] [-2.54931419e-03 9.99991536e-01 3.22931947e-03 1.25880661e-01] [ 3.27347977e-03 -3.22096755e-03 9.99989455e-01 -3.74720187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18463044000003 meters 0.2612464745810928 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.37 [[ 9.99991313e-01 2.66252448e-03 -3.20706861e-03 2.70065368e+00] [-2.65133461e-03 9.99990401e-01 3.48834175e-03 1.24828456e-01] [ 3.21632562e-03 -3.47980843e-03 9.99988773e-01 -3.74629976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24463044000004 meters 0.2619850689499731 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99993833e-01 -1.04635406e-03 -3.35233523e-03 2.70140443e+00] [ 1.04656957e-03 9.99999450e-01 6.25329732e-05 1.23716060e-01] [ 3.35226795e-03 -6.60410397e-05 9.99994379e-01 -3.75377380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30463044000004 meters 0.26179249989782627 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.38 [[ 9.99993270e-01 -1.12605795e-03 -3.49163706e-03 2.70205757e+00] [ 1.12544041e-03 9.99999351e-01 -1.78822956e-04 1.24614280e-01] [ 3.49183616e-03 1.74892123e-04 9.99993888e-01 -3.76141908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36463044000004 meters 0.2623305945087445 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99992675e-01 -1.23558009e-03 -3.62265868e-03 2.70260134e+00] [ 1.23388540e-03 9.99999128e-01 -4.70000940e-04 1.26041292e-01] [ 3.62323625e-03 4.65527552e-04 9.99993328e-01 -3.76651355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42463044000004 meters 0.26256097418758745 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99992594e-01 -1.40563296e-03 -3.58278708e-03 2.70238192e+00] [ 1.40247195e-03 9.99998625e-01 -8.84636749e-04 1.27867767e-01] [ 3.58402563e-03 8.79605439e-04 9.99993191e-01 -3.76434868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48463044 meters 0.26284387962624933 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99992590e-01 -1.52353201e-03 -3.53523865e-03 2.70223694e+00] [ 1.51945073e-03 9.99998176e-01 -1.15685544e-03 1.29165769e-01] [ 3.53699471e-03 1.15147525e-03 9.99993082e-01 -3.76385714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54463044 meters 0.2629444789306704 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99992232e-01 -1.63674669e-03 -3.58564486e-03 2.70216229e+00] [ 1.63163581e-03 9.99997650e-01 -1.42783463e-03 1.30302892e-01] [ 3.58797344e-03 1.42197307e-03 9.99992552e-01 -3.76065109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60463044 meters 0.2621021979076888 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99991548e-01 -1.86478014e-03 -3.66409632e-03 2.70196200e+00] [ 1.85738295e-03 9.99996232e-01 -2.02119577e-03 1.33034766e-01] [ 3.66785160e-03 2.01437306e-03 9.99991245e-01 -3.75481389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66463044 meters 0.26208224242458367 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.38 [[ 9.99991122e-01 -2.03191399e-03 -3.69145458e-03 2.70191345e+00] [ 2.02284363e-03 9.99994930e-01 -2.45919686e-03 1.34908396e-01] [ 3.69643274e-03 2.45170779e-03 9.99990163e-01 -3.75329900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72463044 meters 0.26301831908752227 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.38 [[ 9.99990970e-01 -2.20180538e-03 -3.63479148e-03 2.70175024e+00] [ 2.19120704e-03 9.99993344e-01 -2.91721612e-03 1.37062747e-01] [ 3.64119043e-03 2.90922520e-03 9.99989139e-01 -3.75319303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78463044 meters 0.26337826455421853 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.38 [[ 9.99990624e-01 -2.21395296e-03 -3.72154055e-03 2.70188094e+00] [ 2.20297431e-03 9.99993218e-01 -2.95154283e-03 1.37169009e-01] [ 3.72804989e-03 2.94331669e-03 9.99988719e-01 -3.75202554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84463044 meters 0.26292866803574017 Centerline is valid? [False, False] Translation: X:2.70, Y:0.14, Z:-0.37 [[ 9.99990423e-01 -2.06957112e-03 -3.85624501e-03 2.70145298e+00] [ 2.05958168e-03 9.99994518e-01 -2.59263162e-03 1.35609692e-01] [ 3.86158951e-03 2.58466454e-03 9.99989204e-01 -3.73900113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90463044 meters 0.26213550648569733 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99990797e-01 -1.85550003e-03 -3.86819219e-03 2.70155772e+00] [ 1.84737600e-03 9.99996083e-01 -2.10273058e-03 1.33290601e-01] [ 3.87207866e-03 2.09556522e-03 9.99990308e-01 -3.73968589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96463044 meters 0.26354975034273015 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.37 [[ 9.99990641e-01 -1.61692750e-03 -4.01280086e-03 2.70203206e+00] [ 1.61068501e-03 9.99997489e-01 -1.55838876e-03 1.30657443e-01] [ 4.01531059e-03 1.55191081e-03 9.99990734e-01 -3.74137395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02463044 meters 0.2628930222945564 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.37 [[ 9.99990585e-01 -1.08644980e-03 -4.20115128e-03 2.70229079e+00] [ 1.08571901e-03 9.99999395e-01 -1.76226551e-04 1.24495145e-01] [ 4.20134020e-03 1.71663622e-04 9.99991160e-01 -3.73788763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08463044 meters 0.2621758322949757 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.37 [[ 9.99990414e-01 -5.31287207e-04 -4.34627252e-03 2.70235241e+00] [ 5.36165263e-04 9.99999228e-01 1.12126574e-03 1.17658296e-01] [ 4.34567345e-03 -1.12358532e-03 9.99989926e-01 -3.73302690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14463044 meters 0.2634941634355981 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.37 [[ 9.99990518e-01 -1.55494668e-04 -4.35203196e-03 2.70271251e+00] [ 1.64045202e-04 9.99998057e-01 1.96443439e-03 1.13885263e-01] [ 4.35171804e-03 -1.96512969e-03 9.99988600e-01 -3.73789010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20463044 meters 0.2622432735979214 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.37 [[ 9.99993478e-01 -1.92029643e-03 -3.05876035e-03 2.69876466e+00] [ 1.92346797e-03 9.99997615e-01 1.03426649e-03 1.07181637e-01] [ 3.05676696e-03 -1.04014317e-03 9.99994787e-01 -3.72110324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26463044 meters 0.2627088553678431 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.37 [[ 9.99994146e-01 -1.20949113e-03 -3.20087003e-03 2.69976550e+00] [ 1.21804329e-03 9.99995690e-01 2.67122357e-03 9.70960835e-02] [ 3.19762541e-03 -2.67510673e-03 9.99991309e-01 -3.72764615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32463044 meters 0.2637635374236876 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.37 [[ 9.99994658e-01 -6.82844737e-04 -3.19657171e-03 2.69973841e+00] [ 6.95378097e-04 9.99992069e-01 3.92140748e-03 9.14096127e-02] [ 3.19386865e-03 -3.92360936e-03 9.99987202e-01 -3.72646474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38463044 meters 0.26352246755550335 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.37 [[ 9.99994542e-01 1.25479604e-04 -3.30143396e-03 2.70004098e+00] [-1.06748683e-04 9.99983902e-01 5.67313585e-03 8.24857322e-02] [ 3.30209268e-03 -5.67275247e-03 9.99978458e-01 -3.72527904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44463044 meters 0.26461594831241875 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.37 [[ 9.99994217e-01 3.56592320e-04 -3.38214722e-03 2.70040116e+00] [-3.35644350e-04 9.99980772e-01 6.19223619e-03 8.02017835e-02] [ 3.38429029e-03 -6.19106518e-03 9.99975108e-01 -3.72750506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50463044 meters 0.2640508528709849 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.37 [[ 0.99998849 -0.00331741 -0.00346517 2.70069638] [ 0.00332928 0.99998859 0.00342431 0.07412013] [ 0.00345377 -0.00343581 0.99998813 -0.37275866] [ 0. 0. 0. 1. ]] SLAMing on 292.56463044000003 meters 0.2643121854856564 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.37 [[ 0.99998951 -0.00301201 -0.00345214 2.70057175] [ 0.00302618 0.99998699 0.00410685 0.07099181] [ 0.00343973 -0.00411725 0.99998561 -0.37249864] [ 0. 0. 0. 1. ]] SLAMing on 292.62463044000003 meters 0.2640267595416372 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.37 [[ 9.99991170e-01 2.71842656e-03 -3.20457171e-03 2.67919703e+00] [-2.71486902e-03 9.99995694e-01 1.11397337e-03 6.50056775e-02] [ 3.20758617e-03 -1.10526354e-03 9.99994245e-01 -3.72555886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68463044000003 meters 0.2643771528962325 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.37 [[ 9.99989515e-01 3.13732677e-03 -3.33574778e-03 2.67964429e+00] [-3.13043966e-03 9.99992962e-01 2.06785654e-03 6.05032706e-02] [ 3.34221184e-03 -2.05739250e-03 9.99992298e-01 -3.72661835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74463044000004 meters 0.2652477143928052 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.37 [[ 0.99998047 -0.00558089 -0.00281142 2.70128341] [ 0.00558888 0.99998034 0.00284395 0.05913927] [ 0.00279549 -0.00285961 0.999992 -0.37250657] [ 0. 0. 0. 1. ]] SLAMing on 292.80463044000004 meters 0.2640680740136909 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999079e-01 5.14183623e-04 -1.25590326e-03 2.67874169e+00] [-5.13194222e-04 9.99999558e-01 7.87995949e-04 5.05185995e-02] [ 1.25630788e-03 -7.87350701e-04 9.99998901e-01 -3.72757208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86463044000004 meters 0.26380348252938407 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998852e-01 7.18517565e-04 -1.33434779e-03 2.67909794e+00] [-7.16801612e-04 9.99998916e-01 1.28602015e-03 4.81784172e-02] [ 1.33527037e-03 -1.28506221e-03 9.99998283e-01 -3.73043820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92463044000004 meters 0.2656715747129294 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998564e-01 8.80192424e-04 -1.44838954e-03 2.67952141e+00] [-8.77788916e-04 9.99998238e-01 1.65923475e-03 4.63977761e-02] [ 1.44984743e-03 -1.65796099e-03 9.99997575e-01 -3.73257536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98463044 meters 0.26565957256601713 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998445e-01 9.98939494e-04 -1.45353750e-03 2.67973096e+00] [-9.96130441e-04 9.99997638e-01 1.93200529e-03 4.51136108e-02] [ 1.45546403e-03 -1.93055437e-03 9.99997077e-01 -3.73557335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04463044 meters 0.2649262926118839 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998243e-01 9.97089654e-04 -1.58726599e-03 2.68026187e+00] [-9.94027288e-04 9.99997646e-01 1.92895474e-03 4.50954009e-02] [ 1.58918559e-03 -1.92737356e-03 9.99996880e-01 -3.73999079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10463044 meters 0.26568163734079553 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998128e-01 9.96910357e-04 -1.65824294e-03 2.68019854e+00] [-9.93702843e-04 9.99997636e-01 1.93398521e-03 4.51418894e-02] [ 1.66016703e-03 -1.93233379e-03 9.99996755e-01 -3.73570323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16463044 meters 0.26407196143880496 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998300e-01 9.98989919e-04 -1.55010470e-03 2.67953294e+00] [-9.95990215e-04 9.99997632e-01 1.93472915e-03 4.52429171e-02] [ 1.55203381e-03 -1.93318197e-03 9.99996927e-01 -3.72804514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22463044 meters 0.2649391303298238 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998398e-01 9.89748186e-04 -1.49131060e-03 2.67943428e+00] [-9.86887314e-04 9.99997674e-01 1.91787727e-03 4.53606747e-02] [ 1.49320534e-03 -1.91640244e-03 9.99997049e-01 -3.72847961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28463044 meters 0.26456103436021466 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998726e-01 9.29805757e-04 -1.29781247e-03 2.67885978e+00] [-9.27539606e-04 9.99998046e-01 1.74564222e-03 4.62871781e-02] [ 1.29943304e-03 -1.74443622e-03 9.99997634e-01 -3.72600561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34463044 meters 0.26434608316265956 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998801e-01 8.33310607e-04 -1.30535019e-03 2.67906232e+00] [-8.31364991e-04 9.99998544e-01 1.49032790e-03 4.74286718e-02] [ 1.30659019e-03 -1.48924089e-03 9.99998037e-01 -3.72968811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40463044 meters 0.26497930929004754 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999093e-01 7.26193285e-04 -1.13401581e-03 2.67884177e+00] [-7.24796058e-04 9.99998978e-01 1.23203117e-03 4.87217650e-02] [ 1.13490935e-03 -1.23120813e-03 9.99998598e-01 -3.73282101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46463044 meters 0.2657769292468065 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999196e-01 6.34699399e-04 -1.09781791e-03 2.67880964e+00] [-6.33577205e-04 9.99999277e-01 1.02224942e-03 4.97270049e-02] [ 1.09846594e-03 -1.02155305e-03 9.99998875e-01 -3.73363748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52463044 meters 0.26455817635997825 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999228e-01 5.36274769e-04 -1.12064901e-03 2.67903202e+00] [-5.35375345e-04 9.99999534e-01 8.02738067e-04 5.08342681e-02] [ 1.12107898e-03 -8.02137480e-04 9.99999050e-01 -3.73662114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58463044 meters 0.26724436334673923 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999133e-01 5.98688182e-04 -1.17317950e-03 2.67946367e+00] [-5.97552803e-04 9.99999353e-01 9.67891251e-04 5.00171213e-02] [ 1.17375821e-03 -9.67189375e-04 9.99998843e-01 -3.74128106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64463044 meters 0.2666355830071825 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998871e-01 7.04046783e-04 -1.32782205e-03 2.67970511e+00] [-7.02408957e-04 9.99998993e-01 1.23353115e-03 4.88349744e-02] [ 1.32868918e-03 -1.23259708e-03 9.99998358e-01 -3.73917363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70463044 meters 0.2657405158477369 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99998928e-01 6.72231189e-04 -1.30112314e-03 2.67990474e+00] [-6.70719717e-04 9.99999100e-01 1.16175528e-03 4.91553007e-02] [ 1.30190294e-03 -1.16088134e-03 9.99998479e-01 -3.74367181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76463044 meters 0.267510317089768 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999179e-01 5.69278340e-04 -1.14793787e-03 2.67947541e+00] [-5.68244512e-04 9.99999433e-01 9.00720924e-04 5.04622606e-02] [ 1.14844998e-03 -9.00067875e-04 9.99998935e-01 -3.74253900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82463044 meters 0.267228274689809 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.37 [[ 9.99999394e-01 4.49509558e-04 -1.00468281e-03 2.67914607e+00] [-4.48902153e-04 9.99999716e-01 6.04717233e-04 5.18286832e-02] [ 1.00495435e-03 -6.04265862e-04 9.99999312e-01 -3.74243492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88463044 meters 0.2645788799295596 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:-0.37 [[ 9.99998763e-01 -1.51809841e-03 4.10515572e-04 2.67355488e+00] [ 1.51862978e-03 9.99998006e-01 -1.29720084e-03 5.27258136e-02] [-4.08545474e-04 1.29782266e-03 9.99999074e-01 -3.70872332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94463044 meters 0.26518331369123443 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:-0.37 [[ 9.99998806e-01 -1.42209344e-03 6.03882462e-04 2.67304229e+00] [ 1.42271807e-03 9.99998452e-01 -1.03520271e-03 5.13815235e-02] [-6.02409372e-04 1.03606063e-03 9.99999282e-01 -3.70617735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00463044 meters 0.2622424167478015 Centerline is valid? [False, False] Translation: X:2.67, Y:0.05, Z:-0.37 [[ 9.99998747e-01 -1.44076107e-03 6.56159233e-04 2.67319880e+00] [ 1.44146831e-03 9.99998379e-01 -1.07866110e-03 5.15920541e-02] [-6.54604077e-04 1.07960559e-03 9.99999203e-01 -3.71099778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06463044000003 meters 0.26504769916021953 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99999626e-01 6.28470821e-04 -5.94469943e-04 2.67889406e+00] [-6.27979563e-04 9.99999462e-01 8.26205984e-04 5.16312654e-02] [ 5.94988870e-04 -8.25832360e-04 9.99999482e-01 -3.75009187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12463044000003 meters 0.265241799025108 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99999748e-01 4.94200737e-04 -5.09809919e-04 2.67887114e+00] [-4.93945485e-04 9.99999753e-01 5.00684423e-04 5.31695071e-02] [ 5.10057232e-04 -5.00432478e-04 9.99999745e-01 -3.75324331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18463044000003 meters 0.26466904933376695 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99999879e-01 3.06477253e-04 -3.84792395e-04 2.67870167e+00] [-3.06461516e-04 9.99999952e-01 4.09561184e-05 5.53573608e-02] [ 3.84804929e-04 -4.08381894e-05 9.99999925e-01 -3.75610104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24463044000004 meters 0.26572886661004996 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99999916e-01 1.98187571e-04 -3.57973449e-04 2.67892270e+00] [-1.98265296e-04 9.99999957e-01 -2.17100632e-04 5.64791449e-02] [ 3.57930407e-04 2.17171588e-04 9.99999912e-01 -3.76142313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30463044000004 meters 0.2649770730167509 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99999893e-01 7.39628998e-05 -4.56011025e-04 2.67933360e+00] [-7.41974519e-05 9.99999865e-01 -5.14360727e-04 5.78572006e-02] [ 4.55972920e-04 5.14394506e-04 9.99999764e-01 -3.76510068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36463044000004 meters 0.2638267386166413 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99999901e-01 1.88019484e-05 -4.44937473e-04 2.67933116e+00] [-1.90864320e-05 9.99999795e-01 -6.39383193e-04 5.84215447e-02] [ 4.44925360e-04 6.39391621e-04 9.99999697e-01 -3.76589726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42463044000004 meters 0.26235915108007424 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99999909e-01 -6.41382063e-05 -4.22535501e-04 2.67921980e+00] [ 6.37825717e-05 9.99999644e-01 -8.41627510e-04 5.93160156e-02] [ 4.22589331e-04 8.41600482e-04 9.99999557e-01 -3.76495974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48463044 meters 0.2632136465238923 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.38 [[ 9.99985949e-01 -5.05053533e-03 1.61041871e-03 2.69976453e+00] [ 5.04592121e-03 9.99983189e-01 2.85647326e-03 6.18747152e-02] [-1.62481836e-03 -2.84830708e-03 9.99994624e-01 -3.76551833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54463044 meters 0.2636420677980342 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.38 [[ 9.99985819e-01 -5.06282642e-03 1.65212624e-03 2.69985324e+00] [ 5.05814293e-03 9.99983212e-01 2.82679931e-03 6.20084554e-02] [-1.66641010e-03 -2.81840253e-03 9.99994640e-01 -3.76872693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60463044 meters 0.26082791742519185 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99994147e-01 2.53792078e-03 2.29469137e-03 2.68113814e+00] [-2.54128616e-03 9.99995698e-01 1.46486773e-03 5.56708673e-02] [-2.29096378e-03 -1.47069062e-03 9.99996294e-01 -3.78832833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66463044 meters 0.26049513795639195 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99993435e-01 2.68850443e-03 2.42922675e-03 2.68089402e+00] [-2.69298947e-03 9.99994672e-01 1.84490523e-03 5.39450795e-02] [-2.42425378e-03 -1.85143500e-03 9.99995348e-01 -3.78901233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72463044 meters 0.2602212621505385 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99992890e-01 2.85666818e-03 2.46176250e-03 2.68097802e+00] [-2.86230026e-03 9.99993288e-01 2.28734485e-03 5.18842761e-02] [-2.45521179e-03 -2.29437489e-03 9.99994354e-01 -3.79142554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78463044 meters 0.2609610327829487 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99992014e-01 3.23212789e-03 2.35074608e-03 2.68198135e+00] [-3.23994216e-03 9.99989214e-01 3.32798868e-03 4.63763590e-02] [-2.33996424e-03 -3.33557838e-03 9.99991699e-01 -3.80307063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84463044 meters 0.26103963451395906 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.38 [[ 9.99991872e-01 3.36136452e-03 2.22660345e-03 2.68268691e+00] [-3.36946138e-03 9.99987689e-01 3.64270365e-03 4.47487180e-02] [-2.21433158e-03 -3.65017649e-03 9.99990886e-01 -3.81007993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90463044 meters 0.2615176638921956 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.38 [[ 9.99991874e-01 3.35508212e-03 2.23523613e-03 2.68296523e+00] [-3.36318576e-03 9.99987750e-01 3.63156583e-03 4.47847852e-02] [-2.22302455e-03 -3.63905383e-03 9.99990908e-01 -3.81626134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96463044 meters 0.26184285677269586 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99992220e-01 3.26792403e-03 2.20916532e-03 2.68314409e+00] [-3.27543522e-03 9.99988839e-01 3.40498499e-03 4.57801560e-02] [-2.19801343e-03 -3.41219448e-03 9.99991763e-01 -3.81887557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02463044 meters 0.26268588220110867 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99992700e-01 3.14987235e-03 2.16300594e-03 2.68321724e+00] [-3.15651873e-03 9.99990287e-01 3.07624078e-03 4.72796850e-02] [-2.15329516e-03 -3.08304589e-03 9.99992929e-01 -3.81870239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08463044 meters 0.2632784043873621 Centerline is valid? [False, False] Translation: X:2.68, Y:0.05, Z:-0.38 [[ 9.99993188e-01 3.00596183e-03 2.14217462e-03 2.68325679e+00] [-3.01177512e-03 9.99991777e-01 2.71569014e-03 4.88676001e-02] [-2.13399375e-03 -2.72212339e-03 9.99994018e-01 -3.81922817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14463044 meters 0.2651205617450947 Centerline is valid? [False, False] Translation: X:2.70, Y:0.06, Z:-0.38 [[ 9.99988085e-01 -4.81072666e-03 8.28981562e-04 2.70261911e+00] [ 4.80801774e-03 9.99983195e-01 3.23934370e-03 5.87704800e-02] [-8.44551228e-04 -3.23531934e-03 9.99994410e-01 -3.80415074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20463044 meters 0.26333206409916865 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.38 [[ 9.99992764e-01 3.77996027e-03 -4.29627899e-04 2.68268516e+00] [-3.77903639e-03 9.99990588e-01 2.13126810e-03 6.07723916e-02] [ 4.37679964e-04 -2.12962910e-03 9.99997637e-01 -3.81015222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26463044 meters 0.26208922021008707 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.38 [[ 9.99994534e-01 3.30309128e-03 -1.47269966e-04 2.68178263e+00] [-3.30295558e-03 9.99994129e-01 9.12344696e-04 6.68267970e-02] [ 1.50282660e-04 -9.11853283e-04 9.99999573e-01 -3.80739916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32463044 meters 0.2627916403050365 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.38 [[ 9.99991061e-01 -4.21384618e-03 3.49812516e-04 2.69994621e+00] [ 4.21315996e-03 9.99989243e-01 1.93976037e-03 7.60255394e-02] [-3.57982605e-04 -1.93826922e-03 9.99998057e-01 -3.78449183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38463044 meters 0.261878670040298 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.38 [[ 9.99998437e-01 1.47654885e-03 -9.72925202e-04 2.67763495e+00] [-1.47806971e-03 9.99997684e-01 -1.56432536e-03 7.76676445e-02] [ 9.70613146e-04 1.56576096e-03 9.99998303e-01 -3.77090717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44463044 meters 0.26340185873645694 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998080e-01 1.95778955e-03 -8.30799321e-05 2.72138212e+00] [-1.95790208e-03 9.99997136e-01 -1.37676899e-03 8.66019421e-02] [ 8.03842702e-05 1.37692901e-03 9.99999049e-01 -3.77636167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50463044 meters 0.26228125550350984 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998267e-01 1.82083711e-03 -3.86765992e-04 2.72196403e+00] [-1.82150050e-03 9.99996859e-01 -1.72185898e-03 8.81147159e-02] [ 3.83629552e-04 1.72256049e-03 9.99998443e-01 -3.77518990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56463044000003 meters 0.2616597875516088 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998445e-01 1.70366615e-03 -4.55872906e-04 2.72202794e+00] [-1.70456339e-03 9.99996597e-01 -1.97508241e-03 8.93983814e-02] [ 4.52506474e-04 1.97585640e-03 9.99997946e-01 -3.77372456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62463044000003 meters 0.26257420021336525 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998672e-01 1.55763816e-03 -4.80068632e-04 2.72220012e+00] [-1.55874526e-03 9.99996107e-01 -2.31444226e-03 9.09289104e-02] [ 4.76461699e-04 2.31518749e-03 9.99997206e-01 -3.77582271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68463044000003 meters 0.2630813259728422 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998850e-01 1.43597160e-03 -4.86902234e-04 2.72214089e+00] [-1.43723282e-03 9.99995587e-01 -2.59991722e-03 9.22203494e-02] [ 4.83166679e-04 2.60061402e-03 9.99996502e-01 -3.77478310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74463044000004 meters 0.2630559876677693 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99998729e-01 1.47748661e-03 -5.99731452e-04 2.72245455e+00] [-1.47897949e-03 9.99995790e-01 -2.49647950e-03 9.16909221e-02] [ 5.96040412e-04 2.49736331e-03 9.99996704e-01 -3.77564793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80463044000004 meters 0.26028177933865787 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.38 [[ 9.99984160e-01 -4.60913556e-03 -3.23044255e-03 2.70174271e+00] [ 4.61151663e-03 9.99989100e-01 7.30011202e-04 8.75458898e-02] [ 3.22704262e-03 -7.44896878e-04 9.99994516e-01 -3.76689870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86463044000004 meters 0.26186583964604543 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99995303e-01 1.89545771e-03 -2.40837401e-03 2.72437686e+00] [-1.89891847e-03 9.99997167e-01 -1.43549356e-03 8.59079277e-02] [ 2.40564627e-03 1.44006012e-03 9.99996070e-01 -3.77122150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92463044000004 meters 0.2614735614765661 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.38 [[ 9.99994780e-01 2.09751269e-03 -2.45755416e-03 2.72434779e+00] [-2.09989836e-03 9.99997326e-01 -9.68573205e-04 8.37476208e-02] [ 2.45551599e-03 9.73728763e-04 9.99996511e-01 -3.76813725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98463044 meters 0.26099280936290314 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.38 [[ 9.99993987e-01 2.25231369e-03 -2.63676041e-03 2.72465436e+00] [-2.25390319e-03 9.99997280e-01 -6.00006812e-04 8.21147816e-02] [ 2.63540183e-03 6.05946208e-04 9.99996344e-01 -3.76598896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04463044 meters 0.260913368581198 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99993119e-01 2.45826170e-03 -2.77841722e-03 2.72512208e+00] [-2.45852213e-03 9.99996974e-01 -9.03198276e-05 7.97937154e-02] [ 2.77818678e-03 9.71500063e-05 9.99996136e-01 -3.76799622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10463044 meters 0.2606280377086552 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99991921e-01 2.76748285e-03 -2.91543796e-03 2.72544737e+00] [-2.76553787e-03 9.99995951e-01 6.70954124e-04 7.64140470e-02] [ 2.91728300e-03 -6.62885949e-04 9.99995525e-01 -3.76749885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16463044 meters 0.2620797312663609 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99991370e-01 2.87880567e-03 -2.99527954e-03 2.72576434e+00] [-2.87604191e-03 9.99995435e-01 9.26605041e-04 7.52587654e-02] [ 2.99793338e-03 -9.17982495e-04 9.99995085e-01 -3.76931851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22463044 meters 0.2612583430583317 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99991068e-01 2.82831599e-03 -3.14071579e-03 2.72631897e+00] [-2.82581575e-03 9.99995687e-01 8.00227346e-04 7.58185792e-02] [ 3.14296554e-03 -7.91345114e-04 9.99994748e-01 -3.77398784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28463044 meters 0.26335332039434617 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99991475e-01 2.63582990e-03 -3.17844435e-03 2.72660439e+00] [-2.63501656e-03 9.99996495e-01 2.60052358e-04 7.81963111e-02] [ 3.17911866e-03 -2.51674888e-04 9.99994915e-01 -3.77792235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34463044 meters 0.26168079636311364 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.38 [[ 9.99983726e-01 -5.61801689e-03 -9.93192707e-04 2.70506781e+00] [ 5.61923314e-03 9.99983460e-01 1.22606358e-03 8.28495288e-02] [ 9.86288234e-04 -1.23162461e-03 9.99998755e-01 -3.78869114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40463044 meters 0.2625482496377348 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99996325e-01 2.31430861e-03 1.41221820e-03 2.72354859e+00] [-2.31357814e-03 9.99997189e-01 -5.18668293e-04 8.76404622e-02] [-1.41341459e-03 5.15399110e-04 9.99998868e-01 -3.77277309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46463044 meters 0.26438918815156887 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99996914e-01 2.10153016e-03 1.32513921e-03 2.72399618e+00] [-2.10019125e-03 9.99997284e-01 -1.01098098e-03 8.99647558e-02] [-1.32726021e-03 1.00819482e-03 9.99998611e-01 -3.77738536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52463044 meters 0.2637641982026046 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99997363e-01 1.89324246e-03 1.30007197e-03 2.72385889e+00] [-1.89131612e-03 9.99997114e-01 -1.48135495e-03 9.22256644e-02] [-1.30287278e-03 1.47889220e-03 9.99998058e-01 -3.77471917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58463044 meters 0.261432067848131 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.38 [[ 9.99981244e-01 -6.11066127e-03 4.13710713e-04 2.70375256e+00] [ 6.11076232e-03 9.99981299e-01 -2.43422008e-04 9.38557274e-02] [-4.12215507e-04 2.45945530e-04 9.99999885e-01 -3.78304318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64463044 meters 0.26203400967222984 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99996871e-01 2.49862996e-03 1.17638507e-04 2.72381770e+00] [-2.49852002e-03 9.99996450e-01 -9.25616558e-04 9.03945132e-02] [-1.19950863e-04 9.25319740e-04 9.99999565e-01 -3.76846694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70463044 meters 0.2615866264108604 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99996516e-01 2.63945798e-03 2.72769746e-05 2.72391767e+00] [-2.63944236e-03 9.99996361e-01 -5.57441252e-04 8.88117504e-02] [-2.87482181e-05 5.57367314e-04 9.99999844e-01 -3.76632295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76463044 meters 0.2623436163556409 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.38 [[ 9.99996019e-01 2.81748962e-03 -1.54643617e-04 2.72455396e+00] [-2.81750587e-03 9.99996025e-01 -1.04912333e-04 8.67046915e-02] [ 1.54347413e-04 1.05347625e-04 9.99999983e-01 -3.76973140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82463044 meters 0.2610697466495358 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.38 [[ 9.99995294e-01 3.05654848e-03 -2.62606375e-04 2.72455711e+00] [-3.05642693e-03 9.99995222e-01 4.62029526e-04 8.41276040e-02] [ 2.64017336e-04 -4.61224714e-04 9.99999859e-01 -3.76533494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88463044 meters 0.26169158300341794 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.38 [[ 9.99995055e-01 3.13455812e-03 -2.54464229e-04 2.72453532e+00] [-3.13439427e-03 9.99994882e-01 6.41782471e-04 8.33091748e-02] [ 2.56474631e-04 -6.40981706e-04 9.99999762e-01 -3.76489661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94463044 meters 0.26105073263793604 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.38 [[ 9.99985117e-01 -4.66119238e-03 -2.83516777e-03 2.70691191e+00] [ 4.66729435e-03 9.99986798e-01 2.14944773e-03 8.25571402e-02] [ 2.82511135e-03 -2.16264831e-03 9.99993671e-01 -3.78181881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00463044 meters 0.26196117513146205 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99990229e-01 3.48177829e-03 -2.72388694e-03 2.72733187e+00] [-3.47895461e-03 9.99993407e-01 1.04068562e-03 8.03883878e-02] [ 2.72749242e-03 -1.03119917e-03 9.99995749e-01 -3.76542915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06463044000003 meters 0.26297497237738005 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99990773e-01 3.44160041e-03 -2.57076215e-03 2.72687357e+00] [-3.43917260e-03 9.99993636e-01 9.48219693e-04 8.09512588e-02] [ 2.57400919e-03 -9.39369649e-04 9.99996246e-01 -3.76340938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12463044000003 meters 0.2631986280259023 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99991185e-01 3.34532957e-03 -2.53745290e-03 2.72702984e+00] [-3.34349038e-03 9.99994145e-01 7.28713159e-04 8.20067565e-02] [ 2.53987582e-03 -7.20222786e-04 9.99996515e-01 -3.76792300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18463044000003 meters 0.26046004804828926 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.38 [[ 9.99984115e-01 3.27616987e-03 -4.58658929e-03 2.68508058e+00] [-3.27340110e-03 9.99994456e-01 6.11044684e-04 8.16860581e-02] [ 4.58856574e-03 -5.96021231e-04 9.99989295e-01 -3.77291900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24463044000004 meters 0.26421322418783183 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.38 [[ 9.99985360e-01 -2.20787639e-03 -4.94018121e-03 2.70810167e+00] [ 2.22520307e-03 9.99991383e-01 3.50455409e-03 8.78808508e-02] [ 4.93240102e-03 -3.51549569e-03 9.99981656e-01 -3.77651776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30463044000004 meters 0.2638135586900728 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.38 [[ 9.99985524e-01 -2.43988509e-03 -4.79571797e-03 2.70758939e+00] [ 2.45405514e-03 9.99992634e-01 2.95106988e-03 9.04044593e-02] [ 4.78848237e-03 -2.96279611e-03 9.99984146e-01 -3.77401117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36463044000004 meters 0.26450297346253926 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.38 [[ 9.99984637e-01 -2.76251083e-03 -4.80562566e-03 2.70726245e+00] [ 2.77319995e-03 9.99993693e-01 2.21905293e-03 9.39914331e-02] [ 4.79946519e-03 -2.23234580e-03 9.99985991e-01 -3.76909289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42463044000004 meters 0.26314171184085755 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.38 [[ 9.99969003e-01 5.11939476e-03 -5.98197160e-03 2.68840125e+00] [-5.11548397e-03 9.99986692e-01 6.68880486e-04 9.20564202e-02] [ 5.98531626e-03 -6.38259073e-04 9.99981884e-01 -3.77916700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48463044 meters 0.26373145080409943 Centerline is valid? [False, False] Translation: X:2.73, Y:0.10, Z:-0.38 [[ 9.99989249e-01 3.13269613e-03 -3.41879589e-03 2.72941399e+00] [-3.13634496e-03 9.99994517e-01 -1.06244543e-03 9.94393885e-02] [ 3.41544883e-03 1.07315653e-03 9.99993592e-01 -3.76742945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54463044 meters 0.26231360837595197 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.38 [[ 9.99977450e-01 -4.78650049e-03 -4.71048868e-03 2.71034725e+00] [ 4.78820215e-03 9.99988475e-01 3.50037706e-04 1.00343287e-01] [ 4.70875893e-03 -3.72584584e-04 9.99988844e-01 -3.78520698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60463044 meters 0.2629948876732131 Centerline is valid? [False, False] Translation: X:2.73, Y:0.10, Z:-0.38 [[ 9.99983554e-01 3.47712016e-03 -4.56078956e-03 2.73107016e+00] [-3.47987437e-03 9.99993768e-01 -5.96090771e-04 9.82544972e-02] [ 4.55868846e-03 6.11951942e-04 9.99989422e-01 -3.77511004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66463044 meters 0.26317421321254697 Centerline is valid? [False, False] Translation: X:2.73, Y:0.10, Z:-0.38 [[ 9.99982296e-01 3.70741521e-03 -4.65440073e-03 2.73090213e+00] [-3.70695155e-03 9.99993123e-01 1.08240245e-04 9.51777711e-02] [ 4.65477002e-03 -9.09846902e-05 9.99989162e-01 -3.76790151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72463044 meters 0.26226414624533545 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.38 [[ 9.99981544e-01 3.93074122e-03 -4.63266393e-03 2.73104456e+00] [-3.92768346e-03 9.99992063e-01 6.68957860e-04 9.26157947e-02] [ 4.63525666e-03 -6.50749876e-04 9.99989045e-01 -3.77084679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78463044 meters 0.262453611614374 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.37 [[ 9.99992219e-01 1.74641918e-03 -3.53713438e-03 2.72672476e+00] [-1.74888807e-03 9.99998229e-01 -6.95021149e-04 8.62936527e-02] [ 3.53591431e-03 7.01201794e-04 9.99993503e-01 -3.74441491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84463044 meters 0.2614959792439944 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99991534e-01 2.03755493e-03 -3.57507068e-03 2.72663773e+00] [-2.03763833e-03 9.99997924e-01 -1.96862750e-05 8.32090910e-02] [ 3.57502314e-03 2.69708094e-05 9.99993609e-01 -3.74067807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90463044 meters 0.26225329311083445 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99990444e-01 2.40670027e-03 -3.64971799e-03 2.72676363e+00] [-2.40385047e-03 9.99996803e-01 7.85013122e-04 7.93162469e-02] [ 3.65159561e-03 -7.76232244e-04 9.99993032e-01 -3.73931329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96463044 meters 0.26303747682318074 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99990138e-01 2.54554098e-03 -3.63919710e-03 2.72679577e+00] [-2.54157623e-03 9.99996172e-01 1.09366822e-03 7.78153539e-02] [ 3.64196715e-03 -1.08440813e-03 9.99992780e-01 -3.73970704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02463044 meters 0.26373564645868236 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99989941e-01 2.60337460e-03 -3.65235666e-03 2.72690634e+00] [-2.59888664e-03 9.99995863e-01 1.23299343e-03 7.72026087e-02] [ 3.65555150e-03 -1.22348896e-03 9.99992570e-01 -3.74066760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08463044 meters 0.2630348568745558 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99990016e-01 2.54470452e-03 -3.67322672e-03 2.72732162e+00] [-2.54073262e-03 9.99996183e-01 1.08557313e-03 7.77559384e-02] [ 3.67597516e-03 -1.07622961e-03 9.99992664e-01 -3.74738338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14463044 meters 0.2648453475962139 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99990281e-01 2.39809018e-03 -3.69961551e-03 2.72758383e+00] [-2.39545236e-03 9.99996874e-01 7.17263999e-04 7.95016447e-02] [ 3.70132400e-03 -7.08394776e-04 9.99992899e-01 -3.75125260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20463044 meters 0.2654998708331998 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.38 [[ 9.99990504e-01 2.29695703e-03 -3.70343612e-03 2.72752867e+00] [-2.29516297e-03 9.99997247e-01 4.88607921e-04 8.05795134e-02] [ 3.70454824e-03 -4.80103292e-04 9.99993023e-01 -3.75046055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26463044 meters 0.26537923432232335 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99990956e-01 2.16866104e-03 -3.65854255e-03 2.72723126e+00] [-2.16795240e-03 9.99997630e-01 1.97648904e-04 8.20389091e-02] [ 3.65896251e-03 -1.89715571e-04 9.99993288e-01 -3.74736910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32463044 meters 0.2643859000826214 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99990665e-01 2.16879825e-03 -3.73704194e-03 2.72729862e+00] [-2.16805824e-03 9.99997629e-01 2.02059385e-04 8.20971188e-02] [ 3.73747131e-03 -1.93955374e-04 9.99992997e-01 -3.74521718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38463044 meters 0.26477379787416816 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99989887e-01 2.20110024e-03 -3.92192392e-03 2.72773157e+00] [-2.19993128e-03 9.99997534e-01 3.02346647e-04 8.17061767e-02] [ 3.92257975e-03 -2.93715626e-04 9.99992264e-01 -3.74525886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44463044 meters 0.2646210398286919 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.37 [[ 9.99989364e-01 2.31677007e-03 -3.98795549e-03 2.72773325e+00] [-2.31439132e-03 9.99997141e-01 6.00996610e-04 8.04321557e-02] [ 3.98933646e-03 -5.91760529e-04 9.99991867e-01 -3.74236553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50463044 meters 0.26253933869724844 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.37 [[ 9.99967108e-01 -6.89410143e-03 -4.27239912e-03 2.70581257e+00] [ 6.89951255e-03 9.99975413e-01 1.25308745e-03 7.71871957e-02] [ 4.26365517e-03 -1.28252370e-03 9.99990088e-01 -3.74250653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56463044000003 meters 0.2625126224037843 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:-0.37 [[ 9.99994218e-01 1.76904459e-03 -2.90432367e-03 2.72578920e+00] [-1.76370190e-03 9.99996750e-01 1.84109530e-03 6.88873826e-02] [ 2.90757121e-03 -1.83596229e-03 9.99994088e-01 -3.73298443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62463044000003 meters 0.26161172054561505 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.37 [[ 9.99993457e-01 2.22215162e-03 -2.85454070e-03 2.72579423e+00] [-2.21312649e-03 9.99992555e-01 3.16095152e-03 6.22201965e-02] [ 2.86154356e-03 -3.15461337e-03 9.99990930e-01 -3.73426399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68463044000003 meters 0.26080649359013003 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.37 [[ 9.99994547e-01 -1.25637262e-03 -3.05421060e-03 2.72616255e+00] [ 1.25853475e-03 9.99998959e-01 7.06101077e-04 5.38555499e-02] [ 3.05332030e-03 -7.09941057e-04 9.99995087e-01 -3.73237165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74463044000004 meters 0.26172521786101244 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.37 [[ 9.99995011e-01 -8.27894272e-04 -3.04845648e-03 2.72634377e+00] [ 8.32971483e-04 9.99998268e-01 1.66460942e-03 4.94153813e-02] [ 3.04707308e-03 -1.66714039e-03 9.99993968e-01 -3.73451938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80463044000004 meters 0.2630559179463779 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.37 [[ 9.99995260e-01 -5.32962427e-04 -3.03257353e-03 2.72668813e+00] [ 5.40032586e-04 9.99997137e-01 2.33106491e-03 4.63360440e-02] [ 3.03132248e-03 -2.33269155e-03 9.99992685e-01 -3.73991809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86463044000004 meters 0.2624178825746257 Centerline is valid? [False, False] Translation: X:2.70, Y:0.04, Z:-0.37 [[ 9.99988220e-01 4.63787484e-03 -1.43200127e-03 2.70397756e+00] [-4.63824555e-03 9.99989211e-01 -2.55659019e-04 3.50574847e-02] [ 1.43080010e-03 2.62297980e-04 9.99998942e-01 -3.74571846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92463044000004 meters 0.26201640726451825 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.38 [[ 9.99992687e-01 2.65215932e-03 -2.75547329e-03 2.70866361e+00] [-2.65587628e-03 9.99995567e-01 -1.34615661e-03 2.69905050e-02] [ 2.75189085e-03 1.35346496e-03 9.99995298e-01 -3.76925357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98463044 meters 0.26446745623805573 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.38 [[ 9.99991882e-01 2.99755327e-03 -2.69264250e-03 2.70909509e+00] [-2.99894542e-03 9.99995371e-01 -5.13132499e-04 2.31582401e-02] [ 2.69109189e-03 5.21203421e-04 9.99996243e-01 -3.77800459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04463044 meters 0.2615755433383947 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.38 [[ 9.99991144e-01 3.28256792e-03 -2.63364468e-03 2.70932846e+00] [-3.28227916e-03 9.99994607e-01 1.13956124e-04 2.00410918e-02] [ 2.63400454e-03 -1.05310758e-04 9.99996525e-01 -3.78349211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10463044 meters 0.26392002153858984 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.38 [[ 9.99990286e-01 3.61879101e-03 -2.51636686e-03 2.70940250e+00] [-3.61656684e-03 9.99993066e-01 8.87872913e-04 1.63811744e-02] [ 2.51956244e-03 -8.78763679e-04 9.99996440e-01 -3.78814901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16463044 meters 0.2632223921393978 Centerline is valid? [False, False] Translation: X:2.71, Y:0.01, Z:-0.38 [[ 9.99991709e-01 1.54728812e-03 -3.76662925e-03 2.71423066e+00] [-1.54971043e-03 9.99998594e-01 -6.40264116e-04 1.12506824e-02] [ 3.76563328e-03 6.46095992e-04 9.99992701e-01 -3.81529846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22463044 meters 0.2627931228028345 Centerline is valid? [False, False] Translation: X:2.72, Y:0.00, Z:-0.38 [[ 9.99990462e-01 2.02329179e-03 -3.87065560e-03 2.71505083e+00] [-2.02068470e-03 9.99997729e-01 6.77345412e-04 4.98182024e-03] [ 3.87201728e-03 -6.69517577e-04 9.99992280e-01 -3.82349822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28463044 meters 0.2618659770635216 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.00, Z:-0.38 [[ 9.99989263e-01 2.42864317e-03 -3.94664280e-03 2.71548144e+00] [-2.42187807e-03 9.99995591e-01 1.71801831e-03 -2.39989104e-04] [ 3.95079785e-03 -1.70844158e-03 9.99990736e-01 -3.82678173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34463044 meters 0.26267108324150046 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.39 [[ 9.99985365e-01 6.10423277e-04 -5.37555382e-03 2.72075040e+00] [-6.07703782e-04 9.99999687e-01 5.07519395e-04 -5.69128679e-03] [ 5.37586194e-03 -5.04245224e-04 9.99985423e-01 -3.85448849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40463044 meters 0.2628467048758404 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.01, Z:-0.39 [[ 9.99984296e-01 1.21099289e-03 -5.47181798e-03 2.72080013e+00] [-1.20017541e-03 9.99997320e-01 1.97979635e-03 -1.26421112e-02] [ 5.47420084e-03 -1.97319812e-03 9.99983070e-01 -3.85053618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46463044 meters 0.26327598786727463 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.02, Z:-0.39 [[ 9.99977319e-01 -7.65683599e-04 -6.69140874e-03 2.72513808e+00] [ 7.71337788e-04 9.99999348e-01 8.42452488e-04 -1.96883207e-02] [ 6.69075932e-03 -8.47594717e-04 9.99977257e-01 -3.87250428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52463044 meters 0.2622891632124573 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.39 [[ 9.99975790e-01 -1.98059788e-04 -6.95551566e-03 2.72571594e+00] [ 2.13843880e-04 9.99997404e-01 2.26862099e-03 -2.72299548e-02] [ 6.95504828e-03 -2.27005346e-03 9.99973237e-01 -3.87115902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58463044 meters 0.2626394310684719 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.39 [[ 9.99974809e-01 1.47550358e-04 -7.09643285e-03 2.72610267e+00] [-1.25937450e-04 9.99995353e-01 3.04595217e-03 -3.08700615e-02] [ 7.09684931e-03 -3.04498173e-03 9.99970181e-01 -3.87151603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64463044 meters 0.26352016544234735 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.03, Z:-0.39 [[ 9.99974185e-01 4.36917835e-04 -7.17206481e-03 2.72617950e+00] [-4.10535384e-04 9.99993146e-01 3.67956165e-03 -3.40816650e-02] [ 7.17362332e-03 -3.67652228e-03 9.99967511e-01 -3.86898787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70463044 meters 0.26355159107456727 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.39 [[ 0.99995791 0.00767495 -0.00502771 2.70613202] [-0.00765724 0.99996444 0.00353284 -0.0456921 ] [ 0.00505464 -0.0034942 0.99998112 -0.38889156] [ 0. 0. 0. 1. ]] SLAMing on 299.76463044 meters 0.2633796937429814 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.39 [[ 9.99981492e-01 3.59399007e-03 -4.90914663e-03 2.70594625e+00] [-3.59478572e-03 9.99993527e-01 -1.53261099e-04 -4.80826809e-02] [ 4.90856403e-03 1.70905593e-04 9.99987938e-01 -3.89017775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82463044 meters 0.2632212493632869 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.39 [[ 9.99977625e-01 3.66800187e-03 -5.59423246e-03 2.70759264e+00] [-3.66241399e-03 9.99992785e-01 1.00878225e-03 -5.53571764e-02] [ 5.59789231e-03 -9.88271285e-04 9.99983843e-01 -3.89267453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88463044 meters 0.26455218258485513 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.39 [[ 9.99973304e-01 1.80157895e-03 -7.08134094e-03 2.71323921e+00] [-1.80276572e-03 9.99998362e-01 -1.61211121e-04 -6.13988308e-02] [ 7.08103891e-03 1.73972816e-04 9.99974914e-01 -3.92438905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94463044 meters 0.26520297628661843 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.06, Z:-0.39 [[ 9.99972563e-01 2.09925981e-03 -7.10393323e-03 2.71371122e+00] [-2.09549668e-03 9.99997660e-01 5.37126257e-04 -6.47239463e-02] [ 7.10504418e-03 -5.22225252e-04 9.99974622e-01 -3.93083320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00463044 meters 0.26423488804269113 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.39 [[ 9.99972310e-01 2.38916999e-03 -7.04770255e-03 2.71354956e+00] [-2.38076568e-03 9.99996445e-01 1.20063712e-03 -6.76545101e-02] [ 7.05054602e-03 -1.18382495e-03 9.99974444e-01 -3.92926437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06463044000003 meters 0.26432999555561615 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.07, Z:-0.39 [[ 9.99971685e-01 2.48281762e-03 -7.10390974e-03 2.71367081e+00] [-2.47282614e-03 9.99995942e-01 1.41491312e-03 -6.86070127e-02] [ 7.10739388e-03 -1.39730632e-03 9.99973766e-01 -3.92897640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12463044000003 meters 0.2648592667052742 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.39 [[ 9.99956278e-01 -5.37004697e-03 -7.65539958e-03 2.73646218e+00] [ 5.38767140e-03 9.99982879e-01 2.28346096e-03 -6.89763311e-02] [ 7.64300623e-03 -2.32460590e-03 9.99968090e-01 -3.92762575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18463044000003 meters 0.265713333161104 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.39 [[ 0.99995724 -0.00512572 -0.00769658 2.736548 ] [ 0.00514805 0.99998259 0.00288522 -0.07168476] [ 0.00768165 -0.00292472 0.99996622 -0.39267594] [ 0. 0. 0. 1. ]] SLAMing on 300.24463044000004 meters 0.2643430258493859 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.08, Z:-0.39 [[ 9.99988135e-01 1.89545084e-03 -4.48740622e-03 2.71639883e+00] [-1.88278218e-03 9.99994235e-01 2.82570072e-03 -8.27211541e-02] [ 4.49273633e-03 -2.81721838e-03 9.99985939e-01 -3.94113445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30463044000004 meters 0.26469429409868106 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.39 [[ 9.99986690e-01 2.21319296e-03 -4.66065558e-03 2.71669767e+00] [-2.19642161e-03 9.99991106e-01 3.60054529e-03 -8.62630405e-02] [ 4.66858283e-03 -3.59026060e-03 9.99982657e-01 -3.93895422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36463044000004 meters 0.2642532731228128 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.39 [[ 9.99985683e-01 2.56460471e-03 -4.69641994e-03 2.71653790e+00] [-2.54389515e-03 9.99987039e-01 4.41032466e-03 -8.99105489e-02] [ 4.70766981e-03 -4.39831431e-03 9.99979246e-01 -3.93447579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42463044000004 meters 0.26357339810932595 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.09, Z:-0.39 [[ 9.99991037e-01 -1.25408347e-03 -4.04383819e-03 2.71519499e+00] [ 1.25900589e-03 9.99998469e-01 1.21494734e-03 -9.36803919e-02] [ 4.04230836e-03 -1.22002767e-03 9.99991086e-01 -3.93302437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48463044 meters 0.26279148488300913 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.39 [[ 9.99991456e-01 -9.93189459e-04 -4.01263371e-03 2.71529405e+00] [ 1.00044046e-03 9.99997870e-01 1.80543899e-03 -9.64923586e-02] [ 4.01083202e-03 -1.80943796e-03 9.99990320e-01 -3.93506689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54463044 meters 0.2624669712191605 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.39 [[ 9.99990873e-01 -5.81027890e-04 -4.23271023e-03 2.71567753e+00] [ 5.92745940e-04 9.99995994e-01 2.76772261e-03 -1.00942443e-01] [ 4.23108515e-03 -2.77020627e-03 9.99987212e-01 -3.93224900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60463044 meters 0.26416219523619977 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.39 [[ 9.99990810e-01 -3.39349076e-04 -4.27383229e-03 2.71606066e+00] [ 3.53621782e-04 9.99994362e-01 3.33924410e-03 -1.03656253e-01] [ 4.27267502e-03 -3.34072473e-03 9.99985292e-01 -3.93615688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66463044 meters 0.2644241120477182 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99990884e-01 -8.63874821e-05 -4.26908770e-03 2.71596420e+00] [ 1.03134762e-04 9.99992300e-01 3.92285332e-03 -1.06306954e-01] [ 4.26871595e-03 -3.92325785e-03 9.99983193e-01 -3.93402542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72463044 meters 0.264040238312319 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99990219e-01 -1.09315907e-04 -4.42142924e-03 2.71639144e+00] [ 1.26458180e-04 9.99992476e-01 3.87699493e-03 -1.06157046e-01] [ 4.42097216e-03 -3.87751614e-03 9.99982710e-01 -3.93520134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78463044 meters 0.26326176439590326 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99990150e-01 -1.53510192e-04 -4.43571951e-03 2.71671037e+00] [ 1.70340802e-04 9.99992787e-01 3.79420720e-03 -1.05708626e-01] [ 4.43510506e-03 -3.79492541e-03 9.99982964e-01 -3.94008836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84463044 meters 0.26412187486967303 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99990310e-01 -2.32558644e-04 -4.39603835e-03 2.71702116e+00] [ 2.48525744e-04 9.99993374e-01 3.63195937e-03 -1.05071852e-01] [ 4.39516458e-03 -3.63301671e-03 9.99983742e-01 -3.94662964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90463044 meters 0.2648075567579002 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.40 [[ 9.99990492e-01 -3.04412089e-04 -4.35004366e-03 2.71716248e+00] [ 3.19560558e-04 9.99993886e-01 3.48210121e-03 -1.04336562e-01] [ 4.34895707e-03 -3.48345820e-03 9.99984476e-01 -3.95068585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96463044 meters 0.2648292792895277 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.40 [[ 9.99990823e-01 -3.57792352e-04 -4.26926866e-03 2.71701899e+00] [ 3.72145243e-04 9.99994281e-01 3.36158795e-03 -1.03745807e-01] [ 4.26804150e-03 -3.36314589e-03 9.99985236e-01 -3.95090048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02463044 meters 0.2643237798742056 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.39 [[ 9.99991101e-01 -4.26952229e-04 -4.19720632e-03 2.71673133e+00] [ 4.40405748e-04 9.99994767e-01 3.20494940e-03 -1.02885642e-01] [ 4.19581599e-03 -3.20676935e-03 9.99986056e-01 -3.94904485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08463044 meters 0.2623018884062493 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.40 [[ 9.99991187e-01 -4.28434645e-04 -4.17636350e-03 2.71682109e+00] [ 4.41840921e-04 9.99994751e-01 3.20964180e-03 -1.02910552e-01] [ 4.17496646e-03 -3.21145881e-03 9.99986128e-01 -3.95112333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14463044 meters 0.2612456874274932 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.10, Z:-0.39 [[ 9.99991537e-01 -2.95259629e-04 -4.10356289e-03 2.71647239e+00] [ 3.09818770e-04 9.99993659e-01 3.54774422e-03 -1.04394172e-01] [ 4.10248936e-03 -3.54898556e-03 9.99985287e-01 -3.94742608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20463044 meters 0.26175330857656115 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99991550e-01 -7.18186561e-05 -4.11041058e-03 2.71621225e+00] [ 8.91625339e-05 9.99991094e-01 4.21947240e-03 -1.07154797e-01] [ 4.11007093e-03 -4.21980324e-03 9.99982650e-01 -3.94200919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26463044 meters 0.2604168542049808 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.11, Z:-0.39 [[ 9.99990008e-01 6.35672536e-05 -4.46991398e-03 2.71706373e+00] [-4.05933193e-05 9.99986791e-01 5.13958442e-03 -1.12488580e-01] [ 4.47018164e-03 -5.13935161e-03 9.99976802e-01 -3.94336225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32463044 meters 0.261288731861873 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.40 [[ 9.99967171e-01 6.95010503e-03 -4.16561938e-03 2.73979794e+00] [-6.94047881e-03 9.99973221e-01 2.32089069e-03 -1.15480076e-01] [ 4.18163826e-03 -2.29190310e-03 9.99988630e-01 -3.95410958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38463044 meters 0.2619982227868029 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.40 [[ 9.99986509e-01 2.88620363e-03 -4.31864833e-03 2.74063378e+00] [-2.89182344e-03 9.99994979e-01 -1.29561145e-03 -1.17788770e-01] [ 4.31488725e-03 1.30808274e-03 9.99989835e-01 -3.96311397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44463044 meters 0.26149517898854596 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.40 [[ 9.99965660e-01 -5.81020461e-03 -5.90929030e-03 2.72243187e+00] [ 5.81582446e-03 9.99982652e-01 9.34281215e-04 -1.22467126e-01] [ 5.90375941e-03 -9.68616527e-04 9.99982104e-01 -3.97473854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50463044 meters 0.26350588730504876 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.40 [[ 9.99980610e-01 9.23141938e-04 -6.15858156e-03 2.74475096e+00] [-9.30828522e-04 9.99998791e-01 -1.24535990e-03 -1.32432697e-01] [ 6.15742447e-03 1.25106833e-03 9.99980260e-01 -3.97505307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56463044000003 meters 0.2617138810710139 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:-0.40 [[ 9.99967305e-01 5.70699396e-05 -8.08611286e-03 2.70490431e+00] [-5.11373747e-05 9.99999729e-01 7.33878137e-04 -1.42721973e-01] [ 8.08615255e-03 -7.33440640e-04 9.99967038e-01 -3.98106425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62463044000003 meters 0.2633485253817628 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99963695e-01 1.41153937e-04 -8.51991844e-03 2.70597471e+00] [-1.32361787e-04 9.99999458e-01 1.03250737e-03 -1.44415137e-01] [ 8.52005957e-03 -1.03134217e-03 9.99963172e-01 -3.98163433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68463044000003 meters 0.2652583461974781 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.14, Z:-0.40 [[ 0.99996221 -0.00393839 -0.00775055 2.72900544] [ 0.00397386 0.99998168 0.00456575 -0.14296023] [ 0.00773243 -0.00459638 0.99995954 -0.39835609] [ 0. 0. 0. 1. ]] SLAMing on 301.74463044000004 meters 0.26295129913156134 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99954737e-01 1.17477411e-03 -9.44162999e-03 2.70721809e+00] [-1.15991956e-03 9.99998081e-01 1.57862546e-03 -1.43179293e-01] [ 9.44346640e-03 -1.56760247e-03 9.99954181e-01 -3.97244358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80463044000004 meters 0.26391711586210564 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99953951e-01 1.06457458e-03 -9.53745353e-03 2.70748948e+00] [-1.05181612e-03 9.99998546e-01 1.34263774e-03 -1.42039077e-01] [ 9.53886900e-03 -1.33254426e-03 9.99953616e-01 -3.97302457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86463044000004 meters 0.26377996720766955 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99954006e-01 9.66033828e-04 -9.54211351e-03 2.70757275e+00] [-9.55269686e-04 9.99998902e-01 1.13256019e-03 -1.41015792e-01] [ 9.54319713e-03 -1.12339280e-03 9.99953832e-01 -3.97426065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92463044000004 meters 0.2647892248828465 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99951878e-01 8.20764747e-04 -9.77592924e-03 2.70791026e+00] [-8.13004977e-04 9.99999351e-01 7.97710488e-04 -1.39378045e-01] [ 9.77657763e-03 -7.89724221e-04 9.99951896e-01 -3.97131024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98463044 meters 0.2621695271171279 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.14, Z:-0.40 [[ 9.99909692e-01 -7.87935933e-03 -1.08868927e-02 2.68999672e+00] [ 7.90633322e-03 9.99965775e-01 2.43683353e-03 -1.37121035e-01] [ 1.08673194e-02 -2.52268887e-03 9.99937767e-01 -3.98809276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04463044 meters 0.26524734113945325 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:-0.40 [[ 9.99959436e-01 -6.89226579e-04 -8.98058456e-03 2.71072781e+00] [ 6.84076655e-04 9.99999600e-01 -5.76510094e-04 -1.34633799e-01] [ 8.98097831e-03 5.70343301e-04 9.99959508e-01 -3.99450788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10463044 meters 0.26467629314927305 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:-0.40 [[ 9.99959666e-01 -6.68073774e-04 -8.95653713e-03 2.71053382e+00] [ 6.63256743e-04 9.99999634e-01 -5.40782355e-04 -1.34809937e-01] [ 8.95689513e-03 5.34820059e-04 9.99959743e-01 -3.99208845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16463044 meters 0.26533387772411515 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99956824e-01 -6.04268994e-04 -9.27281565e-03 2.71113179e+00] [ 6.01127317e-04 9.99999761e-01 -3.41588440e-04 -1.35903418e-01] [ 9.27301984e-03 3.35999549e-04 9.99956948e-01 -3.98982927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22463044 meters 0.2655246650618536 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99956429e-01 -3.61321174e-04 -9.32785580e-03 2.71095332e+00] [ 3.64458359e-04 9.99999878e-01 3.34626679e-04 -1.39037118e-01] [ 9.32773375e-03 -3.38011714e-04 9.99956439e-01 -3.98386708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28463044 meters 0.2653083680779885 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99956347e-01 -1.63669272e-04 -9.34228095e-03 2.71087445e+00] [ 1.71143322e-04 9.99999666e-01 7.99230243e-04 -1.41200874e-01] [ 9.34214702e-03 -8.00794223e-04 9.99956041e-01 -3.98178601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34463044 meters 0.26448653817193324 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99955707e-01 9.61090352e-06 -9.41188975e-03 2.71126363e+00] [ 1.79964803e-06 9.99999265e-01 1.21234578e-03 -1.43210552e-01] [ 9.41189449e-03 -1.21230901e-03 9.99954972e-01 -3.98528469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40463044 meters 0.26578488212096446 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.14, Z:-0.40 [[ 9.99956130e-01 1.58154917e-04 -9.36556475e-03 2.71117492e+00] [-1.43634365e-04 9.99998787e-01 1.55107156e-03 -1.44860452e-01] [ 9.36579869e-03 -1.54965830e-03 9.99954939e-01 -3.98486963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46463044 meters 0.26507745162296215 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.40 [[ 9.99956191e-01 2.34841883e-04 -9.35743696e-03 2.71113709e+00] [-2.18784518e-04 9.99998502e-01 1.71698699e-03 -1.45708702e-01] [ 9.35782616e-03 -1.71486451e-03 9.99954744e-01 -3.98406669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52463044 meters 0.26571333572392414 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.40 [[ 9.99956257e-01 2.66328219e-04 -9.34949599e-03 2.71149976e+00] [-2.49460732e-04 9.99998339e-01 1.80522636e-03 -1.46229032e-01] [ 9.34996125e-03 -1.80281506e-03 9.99954663e-01 -3.99035307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58463044 meters 0.26659445726050984 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:-0.40 [[ 9.99945933e-01 7.30231827e-03 -7.40318454e-03 2.73176608e+00] [-7.31133445e-03 9.99972562e-01 -1.19154641e-03 -1.46318267e-01] [ 7.39428036e-03 1.24560915e-03 9.99971886e-01 -3.99374963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64463044 meters 0.2671499034273689 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:-0.40 [[ 9.99945939e-01 7.29123085e-03 -7.41333629e-03 2.73197379e+00] [-7.30035657e-03 9.99972626e-01 -1.20467251e-03 -1.46307096e-01] [ 7.40434982e-03 1.25872738e-03 9.99971795e-01 -3.99622739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70463044 meters 0.26762104752206095 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.15, Z:-0.40 [[ 9.99945305e-01 7.36957950e-03 -7.42128669e-03 2.73223268e+00] [-7.37724238e-03 9.99972282e-01 -1.00570772e-03 -1.47251578e-01] [ 7.41366934e-03 1.06040134e-03 9.99971956e-01 -4.00026986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76463044 meters 0.26606891425388646 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.15, Z:-0.40 [[ 9.99961938e-01 -1.51181137e-03 -8.59279232e-03 2.71357258e+00] [ 1.51816022e-03 9.99998579e-01 7.32382976e-04 -1.47815958e-01] [ 8.59167289e-03 -7.45400336e-04 9.99962813e-01 -4.01038803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82463044 meters 0.2683397109772934 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.40 [[ 9.99981145e-01 -9.37868313e-04 -6.06885008e-03 2.75540536e+00] [ 9.33614446e-04 9.99999317e-01 -7.03729607e-04 -1.49044380e-01] [ 6.06950593e-03 6.98050372e-04 9.99981337e-01 -4.00749341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88463044 meters 0.2668275039163844 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.15, Z:-0.40 [[ 9.99990090e-01 4.16019649e-03 -1.58545274e-03 2.73869035e+00] [-4.16166439e-03 9.99990914e-01 -9.23680191e-04 -1.54939689e-01] [ 1.58159564e-03 9.30269159e-04 9.99998317e-01 -4.03303424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94463044 meters 0.2644064294784574 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.15, Z:-0.40 [[ 9.99987058e-01 -4.46574209e-03 -2.43740099e-03 2.72009710e+00] [ 4.46840855e-03 9.99989423e-01 1.08962786e-03 -1.54615153e-01] [ 2.43250921e-03 -1.10050506e-03 9.99996436e-01 -4.04573457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00463044 meters 0.26683124741586184 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.16, Z:-0.40 [[ 9.99995432e-01 2.88821228e-03 -8.91616885e-04 2.74019450e+00] [-2.88977250e-03 9.99994287e-01 -1.75357948e-03 -1.55590216e-01] [ 8.86547081e-04 1.75614804e-03 9.99998065e-01 -4.04947943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06463044000003 meters 0.2658850256097834 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.16, Z:-0.40 [[ 9.99995328e-01 2.93477441e-03 -8.55175144e-04 2.74003061e+00] [-2.93617779e-03 9.99994337e-01 -1.64443392e-03 -1.55983303e-01] [ 8.50344259e-04 1.64693719e-03 9.99998282e-01 -4.04825388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12463044000003 meters 0.26672922659191667 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.40 [[ 9.99987763e-01 -4.69933097e-03 -1.54606384e-03 2.76259613e+00] [ 4.69768373e-03 9.99988396e-01 -1.06735308e-03 -1.54699285e-01] [ 1.55106175e-03 1.06007710e-03 9.99998235e-01 -4.04884047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18463044000003 meters 0.2649934092001605 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.16, Z:-0.41 [[ 9.99995680e-01 2.20435206e-03 -1.94446111e-03 2.74459981e+00] [-2.20834410e-03 9.99995454e-01 -2.05328266e-03 -1.60863288e-01] [ 1.93992612e-03 2.05756783e-03 9.99996002e-01 -4.07085656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24463044000004 meters 0.26720309904660794 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.16, Z:-0.41 [[ 9.99994968e-01 2.40748366e-03 -2.06609454e-03 2.74467661e+00] [-2.41068237e-03 9.99995898e-01 -1.54709990e-03 -1.63147589e-01] [ 2.06236144e-03 1.55207281e-03 9.99996669e-01 -4.06738392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30463044000004 meters 0.26684871029974067 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.17, Z:-0.41 [[ 9.99994275e-01 2.64891300e-03 -2.10537026e-03 2.74441011e+00] [-2.65054983e-03 9.99996187e-01 -7.75044795e-04 -1.66846815e-01] [ 2.10330920e-03 7.80620746e-04 9.99997483e-01 -4.06072004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36463044000004 meters 0.26485358862132447 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.17, Z:-0.41 [[ 9.99972995e-01 -6.27063639e-03 -3.83257672e-03 2.72688470e+00] [ 6.27538384e-03 9.99979556e-01 1.22794018e-03 -1.69116854e-01] [ 3.82479840e-03 -1.25195791e-03 9.99991902e-01 -4.07631199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42463044000004 meters 0.26514952502019323 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.17, Z:-0.41 [[ 9.99989484e-01 3.08680720e-03 -3.39170017e-03 2.74469796e+00] [-3.08563805e-03 9.99995178e-01 3.49888005e-04 -1.74514908e-01] [ 3.39276386e-03 -3.39418766e-04 9.99994187e-01 -4.05866130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48463044 meters 0.2643931180853551 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.18, Z:-0.40 [[ 9.99989832e-01 3.28055963e-03 -3.09424272e-03 2.74327409e+00] [-3.27748549e-03 9.99994131e-01 9.98051446e-04 -1.77366741e-01] [ 3.09749873e-03 -9.87899962e-04 9.99994715e-01 -4.04387404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54463044 meters 0.2651115143691079 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.18, Z:-0.40 [[ 9.99989684e-01 3.34670922e-03 -3.07119817e-03 2.74321218e+00] [-3.34316666e-03 9.99993741e-01 1.15788785e-03 -1.78104052e-01] [ 3.07505406e-03 -1.14760837e-03 9.99994614e-01 -4.04352539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60463044 meters 0.26574137670671405 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.18, Z:-0.41 [[ 9.99990589e-01 3.19670296e-03 -2.93320393e-03 2.74348291e+00] [-3.19421746e-03 9.99994536e-01 8.51660335e-04 -1.76765701e-01] [ 2.93591041e-03 -8.42283029e-04 9.99995335e-01 -4.05272158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66463044 meters 0.26548709049667857 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.17, Z:-0.41 [[ 0.99998213 -0.00445856 -0.00398218 2.72389079] [ 0.00447242 0.99998395 0.00347727 -0.17465454] [ 0.00396662 -0.00349502 0.99998603 -0.40582353] [ 0. 0. 0. 1. ]] SLAMing on 303.72463044 meters 0.2664350157504427 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99986007e-01 2.85720514e-03 -4.45230096e-03 2.74637533e+00] [-2.85511054e-03 9.99995811e-01 4.76738442e-04 -1.76334723e-01] [ 4.45364445e-03 -4.64019959e-04 9.99989975e-01 -4.06750555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78463044 meters 0.26583197487980703 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.18, Z:-0.41 [[ 9.99953776e-01 -6.52738185e-03 -7.05971034e-03 2.73071577e+00] [ 6.54136975e-03 9.99976684e-01 1.96009859e-03 -1.78403199e-01] [ 7.04675143e-03 -2.00618817e-03 9.99973159e-01 -4.09578646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84463044 meters 0.26556361355677016 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.18, Z:-0.41 [[ 9.99954683e-01 -6.45976878e-03 -6.99302571e-03 2.73072503e+00] [ 6.47477699e-03 9.99976779e-01 2.12566073e-03 -1.79105630e-01] [ 6.97913205e-03 -2.17084269e-03 9.99973289e-01 -4.09874500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90463044 meters 0.26635749246241086 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99974639e-01 2.66503886e-03 -6.60443891e-03 2.74936697e+00] [-2.65902270e-03 9.99996042e-01 9.19539800e-04 -1.83375695e-01] [ 6.60686338e-03 -9.01955126e-04 9.99977768e-01 -4.08950851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96463044 meters 0.26622998810632853 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99974714e-01 2.66893575e-03 -6.59148705e-03 2.74963454e+00] [-2.66269686e-03 9.99995999e-01 9.55100832e-04 -1.83620637e-01] [ 6.59400978e-03 -9.37525550e-04 9.99977820e-01 -4.09461483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02463044 meters 0.26619836934150404 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99974183e-01 2.68608527e-03 -6.66471859e-03 2.75009797e+00] [-2.67921765e-03 9.99995871e-01 1.03915728e-03 -1.84062111e-01] [ 6.66748234e-03 -1.02127422e-03 9.99977251e-01 -4.10036935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08463044 meters 0.2661757806799159 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.18, Z:-0.41 [[ 9.99945136e-01 -6.81246757e-03 -7.95713350e-03 2.73242298e+00] [ 6.83203581e-03 9.99973698e-01 2.43461847e-03 -1.84841060e-01] [ 7.94033845e-03 -2.48884832e-03 9.99965378e-01 -4.11862058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14463044 meters 0.26646899317445133 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.19, Z:-0.41 [[ 9.99982021e-01 1.72050114e-04 -5.99393657e-03 2.75180001e+00] [-1.74854490e-04 9.99999876e-01 -4.67347969e-04 -1.87694772e-01] [ 5.99385542e-03 4.68387633e-04 9.99981927e-01 -4.11692130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20463044 meters 0.26577141063847487 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.19, Z:-0.41 [[ 0.99996139 -0.00680705 -0.00555756 2.73011549] [ 0.00682299 0.99997265 0.00285495 -0.18547691] [ 0.00553797 -0.00289276 0.99998048 -0.41139578] [ 0. 0. 0. 1. ]] SLAMing on 304.26463044 meters 0.26607597767813806 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99988173e-01 2.24860083e-03 -4.31259571e-03 2.74840047e+00] [-2.24371493e-03 9.99996836e-01 1.13744179e-03 -1.84700810e-01] [ 4.31513972e-03 -1.12775210e-03 9.99990054e-01 -4.10026470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32463044 meters 0.2651764561464983 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99989799e-01 2.23328837e-03 -3.92601726e-03 2.74754991e+00] [-2.23120548e-03 9.99997368e-01 5.34833674e-04 -1.81178421e-01] [ 3.92720137e-03 -5.26068468e-04 9.99992150e-01 -4.09879505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38463044 meters 0.26563234493176174 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.18, Z:-0.41 [[ 9.99989871e-01 1.97712967e-03 -4.04332001e-03 2.74811945e+00] [-1.97783806e-03 9.99998029e-01 -1.71209475e-04 -1.78288875e-01] [ 4.04297353e-03 1.79204773e-04 9.99991811e-01 -4.10402604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44463044 meters 0.2658111181816487 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.17, Z:-0.41 [[ 9.99990047e-01 1.63305572e-03 -4.15210909e-03 2.74872039e+00] [-1.63741175e-03 9.99998112e-01 -1.04592920e-03 -1.74427625e-01] [ 4.15039319e-03 1.05271750e-03 9.99990833e-01 -4.10983097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50463044 meters 0.2654992269450449 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.17, Z:-0.41 [[ 9.99991228e-01 1.20994791e-03 -4.01010121e-03 2.74899858e+00] [-1.21895037e-03 9.99996741e-01 -2.24326342e-03 -1.68531644e-01] [ 4.00737391e-03 2.24813185e-03 9.99989443e-01 -4.11962133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56463044000003 meters 0.26510448340467774 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.17, Z:-0.41 [[ 9.99991281e-01 9.09473974e-04 -4.07558229e-03 2.74935845e+00] [-9.21621041e-04 9.99995136e-01 -2.97956321e-03 -1.65272229e-01] [ 4.07285264e-03 2.98329337e-03 9.99987256e-01 -4.12352306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62463044000003 meters 0.26548373933357017 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.16, Z:-0.41 [[ 9.99991323e-01 5.79788295e-04 -4.12529031e-03 2.74972050e+00] [-5.95429112e-04 9.99992636e-01 -3.79122892e-03 -1.61653919e-01] [ 4.12306182e-03 3.79365234e-03 9.99984304e-01 -4.12791299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68463044000003 meters 0.2654467804046618 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.16, Z:-0.41 [[ 9.99991591e-01 1.02450290e-04 -4.09958612e-03 2.75021820e+00] [-1.23677641e-04 9.99986586e-01 -5.17800700e-03 -1.55078039e-01] [ 4.09900064e-03 5.17847049e-03 9.99978191e-01 -4.13753695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74463044000004 meters 0.26488846095799573 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:-0.41 [[ 9.99983340e-01 4.11308867e-03 -4.04987426e-03 2.75052359e+00] [-4.11969488e-03 9.99990195e-01 -1.62422380e-03 -1.51857632e-01] [ 4.04315398e-03 1.64088099e-03 9.99990480e-01 -4.14344611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80463044000004 meters 0.26552412934427405 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.15, Z:-0.41 [[ 9.99984232e-01 3.73308679e-03 -4.19527783e-03 2.75116488e+00] [-3.74388841e-03 9.99989690e-01 -2.56981147e-03 -1.47628067e-01] [ 4.18564125e-03 2.58547760e-03 9.99987898e-01 -4.14855816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86463044000004 meters 0.2655246044625794 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.41 [[ 0.99998484 0.00323994 -0.00445136 2.7517276 ] [-0.00325761 0.99998682 -0.0039673 -0.14125515] [ 0.00443845 0.00398174 0.99998222 -0.41490936] [ 0. 0. 0. 1. ]] SLAMing on 304.92463044000004 meters 0.26538993712981146 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.41 [[ 0.99998587 0.00291542 -0.00444561 2.75171399] [-0.00293657 0.99998436 -0.00475893 -0.13759835] [ 0.00443166 0.00477191 0.99997879 -0.41489247] [ 0. 0. 0. 1. ]] SLAMing on 304.98463044 meters 0.2661851820598615 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.41 [[ 9.99987320e-01 2.54434636e-03 -4.34576262e-03 2.75151988e+00] [-2.56905937e-03 9.99980508e-01 -5.69060698e-03 -1.33339322e-01] [ 4.33119904e-03 5.70169935e-03 9.99974365e-01 -4.14871697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04463044 meters 0.2654962058132611 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.42 [[ 9.99987468e-01 2.34635675e-03 -4.42252700e-03 2.75184595e+00] [-2.37366198e-03 9.99978092e-01 -6.17901922e-03 -1.31148547e-01] [ 4.40793193e-03 6.18943937e-03 9.99971130e-01 -4.15130467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10463044 meters 0.2642715263793862 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.42 [[ 0.99998107 -0.00421875 -0.00447811 2.73108314] [ 0.00420456 0.99998613 -0.00317323 -0.12503429] [ 0.00449144 0.00315435 0.99998494 -0.4155632 ] [ 0. 0. 0. 1. ]] SLAMing on 305.16463044 meters 0.265097433950108 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.42 [[ 9.99981289e-01 -2.01699958e-03 -5.77516834e-03 2.73543666e+00] [ 2.01006532e-03 9.99997252e-01 -1.20625549e-03 -1.24493926e-01] [ 5.77758549e-03 1.19462445e-03 9.99982596e-01 -4.17696038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22463044 meters 0.2654042743230882 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.42 [[ 9.99982216e-01 -2.14385025e-03 -5.56529936e-03 2.73528527e+00] [ 2.13557174e-03 9.99996605e-01 -1.49304047e-03 -1.23190052e-01] [ 5.56848132e-03 1.48112882e-03 9.99983399e-01 -4.18259605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28463044 meters 0.26496499842772325 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.42 [[ 9.99982756e-01 -2.03317464e-03 -5.50952052e-03 2.73542487e+00] [ 2.02648159e-03 9.99997202e-01 -1.22012721e-03 -1.24582451e-01] [ 5.51198584e-03 1.20894123e-03 9.99984078e-01 -4.18688471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34463044 meters 0.26435916951827326 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99982552e-01 -1.91841725e-03 -5.58698638e-03 2.73568110e+00] [ 1.91316575e-03 9.99997723e-01 -9.45144562e-04 -1.25783543e-01] [ 5.58878684e-03 9.34439241e-04 9.99983946e-01 -4.18890742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40463044 meters 0.26605396433012485 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99976294e-01 3.30915511e-04 -6.87768812e-03 2.74143265e+00] [-3.21587212e-04 9.99999027e-01 1.35737478e-03 -1.27905695e-01] [ 6.87813060e-03 -1.35513083e-03 9.99975427e-01 -4.22930914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46463044 meters 0.2664332833966378 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99977280e-01 2.75547154e-04 -6.73522338e-03 2.74136842e+00] [-2.67208356e-04 9.99999197e-01 1.23895630e-03 -1.27366773e-01] [ 6.73555936e-03 -1.23712844e-03 9.99976551e-01 -4.23339796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52463044 meters 0.26605764055690745 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99976184e-01 3.05116433e-04 -6.89477316e-03 2.74190368e+00] [-2.95997890e-04 9.99999080e-01 1.32351156e-03 -1.27726766e-01] [ 6.89517065e-03 -1.32143921e-03 9.99975355e-01 -4.23664690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58463044 meters 0.267081936371025 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99975643e-01 4.15709106e-04 -6.96710891e-03 2.74242346e+00] [-4.04593806e-04 9.99998643e-01 1.59672988e-03 -1.29138212e-01] [ 6.96776323e-03 -1.59387214e-03 9.99974455e-01 -4.24261583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64463044 meters 0.2655199486045646 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99975272e-01 6.22988702e-04 -7.00476783e-03 2.74201880e+00] [-6.08504348e-04 9.99997673e-01 2.06972609e-03 -1.31279452e-01] [ 7.00604094e-03 -2.06541248e-03 9.99973324e-01 -4.23404255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70463044 meters 0.26552087451882755 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99974311e-01 6.40197559e-04 -7.13917338e-03 2.74230546e+00] [-6.25091584e-04 9.99997562e-01 2.11795846e-03 -1.31383148e-01] [ 7.14051188e-03 -2.11344142e-03 9.99972273e-01 -4.23337539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76463044 meters 0.2656172749110258 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99973284e-01 6.35558925e-04 -7.28194003e-03 2.74290101e+00] [-6.20139189e-04 9.99997561e-01 2.11959362e-03 -1.31527363e-01] [ 7.28326940e-03 -2.11502118e-03 9.99971240e-01 -4.23818905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82463044 meters 0.26562988624512474 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99973120e-01 5.91855948e-04 -7.30808230e-03 2.74303567e+00] [-5.77117813e-04 9.99997796e-01 2.01863400e-03 -1.31065435e-01] [ 7.30926094e-03 -2.01436212e-03 9.99971258e-01 -4.23963257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88463044 meters 0.26569728153016503 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.13, Z:-0.42 [[ 9.99974649e-01 6.65872443e-04 -7.08927519e-03 2.74230594e+00] [-6.50718253e-04 9.99997499e-01 2.13971393e-03 -1.31187431e-01] [ 7.09068224e-03 -2.13504657e-03 9.99972582e-01 -4.23430689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94463044 meters 0.2677049557591118 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.13, Z:-0.42 [[ 9.99956416e-01 7.51381664e-03 -5.54154639e-03 2.76344880e+00] [-7.51879850e-03 9.99971347e-01 -8.78715883e-04 -1.32291978e-01] [ 5.53478510e-03 9.20343355e-04 9.99984259e-01 -4.24136081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00463044 meters 0.2672198842103669 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.13, Z:-0.43 [[ 9.99975896e-01 -9.36612429e-04 -6.87968653e-03 2.74571383e+00] [ 9.46587508e-04 9.99998505e-01 1.44681917e-03 -1.34076543e-01] [ 6.87832114e-03 -1.45329652e-03 9.99975288e-01 -4.26365432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06463044000003 meters 0.26640292614450883 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.43 [[ 9.99975409e-01 -7.49221546e-04 -6.97283155e-03 2.74576722e+00] [ 7.62369352e-04 9.99997936e-01 1.88310937e-03 -1.36019074e-01] [ 6.97140629e-03 -1.88837894e-03 9.99973916e-01 -4.26052833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12463044000003 meters 0.26740026184252924 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.14, Z:-0.43 [[ 9.99955955e-01 6.45615581e-03 -6.81224357e-03 2.76835696e+00] [-6.46200204e-03 9.99978771e-01 -8.36531812e-04 -1.38342706e-01] [ 6.80669817e-03 8.80515699e-04 9.99976446e-01 -4.27280542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18463044000003 meters 0.26708715075423384 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.43 [[ 9.99956848e-01 -1.96691766e-03 -9.07931591e-03 2.75184040e+00] [ 1.97586306e-03 9.99997571e-01 9.76385248e-04 -1.36675904e-01] [ 9.07737339e-03 -9.94282599e-04 9.99958305e-01 -4.29729280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24463044000004 meters 0.2669150536219228 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:-0.43 [[ 9.99956498e-01 -1.87294832e-03 -9.13756685e-03 2.75197041e+00] [ 1.88393166e-03 9.99997513e-01 1.19353876e-03 -1.37634859e-01] [ 9.13530869e-03 -1.21070139e-03 9.99957539e-01 -4.29707403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30463044000004 meters 0.2685899944217941 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.43 [[ 9.99937952e-01 -3.77697046e-03 -1.04798296e-02 2.75602029e+00] [ 3.77684518e-03 9.99992867e-01 -3.17451308e-05 -1.43282382e-01] [ 1.04798748e-02 -7.83753295e-06 9.99945085e-01 -4.31263101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36463044000004 meters 0.26692409211806123 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.43 [[ 9.99939045e-01 -3.54389033e-03 -1.04569504e-02 2.75578116e+00] [ 3.54954307e-03 9.99993564e-01 5.22062518e-04 -1.45650777e-01] [ 1.04550330e-02 -5.59148091e-04 9.99945188e-01 -4.30965064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42463044000004 meters 0.26731489062544983 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.43 [[ 9.99940031e-01 -3.32095113e-03 -1.04357666e-02 2.75575342e+00] [ 3.33174346e-03 9.99993933e-01 1.01695186e-03 -1.47961608e-01] [ 1.04323261e-02 -1.05166018e-03 9.99945029e-01 -4.30975606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48463044 meters 0.2678700568901669 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.43 [[ 9.99939251e-01 -3.22924128e-03 -1.05388358e-02 2.75613018e+00] [ 3.24231564e-03 9.99993995e-01 1.22373923e-03 -1.48923914e-01] [ 1.05348207e-02 -1.25783512e-03 9.99943716e-01 -4.31205076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54463044 meters 0.2687065275926423 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.43 [[ 9.99938742e-01 -3.09943352e-03 -1.06256802e-02 2.75620121e+00] [ 3.11556218e-03 9.99994019e-01 1.50167770e-03 -1.50207213e-01] [ 1.06209623e-02 -1.53469068e-03 9.99942418e-01 -4.30989418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60463044 meters 0.2675848554812575 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.15, Z:-0.43 [[ 9.99939654e-01 -2.76850761e-03 -1.06312592e-02 2.75567996e+00] [ 2.79249636e-03 9.99993587e-01 2.24225414e-03 -1.53439573e-01] [ 1.06249833e-02 -2.27180658e-03 9.99940973e-01 -4.30099544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66463044 meters 0.26775656817195986 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.43 [[ 9.99939888e-01 -2.49670605e-03 -1.06764383e-02 2.75558971e+00] [ 2.52729504e-03 9.99992738e-01 2.85256191e-03 -1.56188432e-01] [ 1.06692387e-02 -2.87937295e-03 9.99938936e-01 -4.29774948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72463044 meters 0.26788505778411853 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.43 [[ 9.99938233e-01 -2.17477336e-03 -1.08995503e-02 2.75585150e+00] [ 2.21362884e-03 9.99991234e-01 3.55407417e-03 -1.59604288e-01] [ 1.08917254e-02 -3.57798220e-03 9.99934282e-01 -4.29351860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78463044 meters 0.268942077471647 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.16, Z:-0.43 [[ 9.99926194e-01 6.84393663e-03 -1.00382495e-02 2.77514537e+00] [-6.82071451e-03 9.99973987e-01 2.34577703e-03 -1.61715482e-01] [ 1.00540428e-02 -2.27713587e-03 9.99946864e-01 -4.27890268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84463044 meters 0.26799713969670846 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.43 [[ 9.99928677e-01 -2.23655859e-03 -1.17319388e-02 2.75897786e+00] [ 2.28091191e-03 9.99990298e-01 3.76854534e-03 -1.58514096e-01] [ 1.17233964e-02 -3.79503608e-03 9.99924077e-01 -4.29965004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90463044 meters 0.2689081619974892 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.16, Z:-0.43 [[ 9.99926167e-01 -2.45964945e-03 -1.19000463e-02 2.75993410e+00] [ 2.49500368e-03 9.99992516e-01 2.95699875e-03 -1.55183549e-01] [ 1.18926840e-02 -2.98647109e-03 9.99924820e-01 -4.31120588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96463044 meters 0.2704610668916211 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.15, Z:-0.43 [[ 9.99937124e-01 6.38457936e-03 -9.21873466e-03 2.77774331e+00] [-6.37501694e-03 9.99979111e-01 1.06629444e-03 -1.50325187e-01] [ 9.22534993e-03 -1.00745781e-03 9.99956938e-01 -4.30090405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02463044 meters 0.2708560904429984 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.14, Z:-0.43 [[ 9.99963847e-01 -5.57242667e-04 -8.48499182e-03 2.79660126e+00] [ 5.72378450e-04 9.99998249e-01 1.78150611e-03 -1.42745927e-01] [ 8.48398424e-03 -1.78629833e-03 9.99962415e-01 -4.28430532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08463044 meters 0.27039835374755133 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.14, Z:-0.43 [[ 9.99964518e-01 -6.77339955e-04 -8.39669188e-03 2.79627225e+00] [ 6.90126970e-04 9.99998607e-01 1.52005946e-03 -1.41376115e-01] [ 8.39565058e-03 -1.52580031e-03 9.99963592e-01 -4.28233790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14463044 meters 0.2682430002583346 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.14, Z:-0.43 [[ 9.99924573e-01 -2.90439629e-03 -1.19337171e-02 2.75746289e+00] [ 2.92034592e-03 9.99994865e-01 1.31930987e-03 -1.40883335e-01] [ 1.19298240e-02 -1.35406094e-03 9.99927920e-01 -4.29364199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20463044 meters 0.2689134131077396 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-0.43 [[ 9.99921073e-01 5.93496697e-03 -1.10736065e-02 2.77646838e+00] [-5.93982692e-03 9.99982277e-01 -4.06039633e-04 -1.41161860e-01] [ 1.10710004e-02 4.71782892e-04 9.99938603e-01 -4.28461514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26463044 meters 0.26906451557666905 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-0.43 [[ 9.99923641e-01 5.77126995e-03 -1.09271982e-02 2.77610644e+00] [-5.78005204e-03 9.99982997e-01 -7.72280144e-04 -1.39352962e-01] [ 1.09225554e-02 8.35380948e-04 9.99939998e-01 -4.28351503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32463044 meters 0.2706141591737705 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.14, Z:-0.43 [[ 9.99925740e-01 5.55146702e-03 -1.08487285e-02 2.77608335e+00] [-5.56547116e-03 9.99983717e-01 -1.26109173e-03 -1.37048018e-01] [ 1.08415509e-02 1.32137637e-03 9.99940356e-01 -4.28612489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38463044 meters 0.26958294542110567 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.43 [[ 9.99927942e-01 5.30260995e-03 -1.07700573e-02 2.77630958e+00] [-5.32242822e-03 9.99984194e-01 -1.81229889e-03 -1.34638067e-01] [ 1.07602772e-02 1.86949116e-03 9.99940359e-01 -4.29235815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44463044 meters 0.2696646321856613 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.43 [[ 9.99928553e-01 4.93101602e-03 -1.08891526e-02 2.77704541e+00] [-4.96132208e-03 9.99983890e-01 -2.75788481e-03 -1.30435060e-01] [ 1.08753780e-02 2.81171236e-03 9.99936908e-01 -4.30045657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50463044 meters 0.26856482022124983 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.43 [[ 0.99993056 0.00467134 -0.01081879 2.77708677] [-0.00470792 0.99998328 -0.00335788 -0.12767575] [ 0.01080293 0.00340858 0.99993584 -0.4303706 ] [ 0. 0. 0. 1. ]] SLAMing on 307.56463044000003 meters 0.2697931466759661 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.43 [[ 0.99993188 0.00452196 -0.0107608 2.77669505] [-0.00456223 0.99998267 -0.00372078 -0.12574829] [ 0.01074379 0.00376961 0.99993518 -0.4299403 ] [ 0. 0. 0. 1. ]] SLAMing on 307.62463044000003 meters 0.26891138134545695 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.13, Z:-0.43 [[ 0.99993278 0.00450109 -0.01068532 2.77650247] [-0.00454169 0.99998255 -0.00377849 -0.12543653] [ 0.01066813 0.00382676 0.99993577 -0.42992602] [ 0. 0. 0. 1. ]] SLAMing on 307.68463044000003 meters 0.2706732315483503 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.43 [[ 9.99968353e-01 -8.17615352e-04 -7.91353372e-03 2.79605860e+00] [ 8.09344023e-04 9.99999123e-01 -1.04835918e-03 -1.24520625e-01] [ 7.91438393e-03 1.04192124e-03 9.99968138e-01 -4.30090251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74463044000004 meters 0.2707452051993004 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.43 [[ 9.99968177e-01 -9.47670154e-04 -7.92125390e-03 2.79625284e+00] [ 9.37117441e-04 9.99998669e-01 -1.33580782e-03 -1.23094792e-01] [ 7.92250926e-03 1.32834216e-03 9.99967734e-01 -4.30412596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80463044000004 meters 0.27092603277932664 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.43 [[ 9.99966470e-01 -1.17845078e-03 -8.10366363e-03 2.79722391e+00] [ 1.16291496e-03 9.99997478e-01 -1.92157917e-03 -1.20565273e-01] [ 8.10590767e-03 1.91209087e-03 9.99965318e-01 -4.31411244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86463044000004 meters 0.27190241105800406 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.12, Z:-0.43 [[ 9.99968851e-01 -1.34415210e-03 -7.77757252e-03 2.79620086e+00] [ 1.32374660e-03 9.99995670e-01 -2.62818678e-03 -1.16946402e-01] [ 7.78107153e-03 2.61780938e-03 9.99966300e-01 -4.30916575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92463044000004 meters 0.2720104381013329 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.43 [[ 9.99968193e-01 -1.54080683e-03 -7.82548620e-03 2.79634410e+00] [ 1.51679643e-03 9.99994127e-01 -3.07323975e-03 -1.14918342e-01] [ 7.83017551e-03 3.06127233e-03 9.99964658e-01 -4.30979534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98463044 meters 0.27289545196715354 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.43 [[ 9.99968565e-01 -1.67657142e-03 -7.74969823e-03 2.79620272e+00] [ 1.65039781e-03 9.99992917e-01 -3.38253337e-03 -1.13559329e-01] [ 7.75531440e-03 3.36963696e-03 9.99964250e-01 -4.31044439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04463044 meters 0.2710685347750183 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.43 [[ 9.99969863e-01 -1.90994809e-03 -7.52490916e-03 2.79569601e+00] [ 1.87992501e-03 9.99990253e-01 -3.99488013e-03 -1.10419118e-01] [ 7.53246583e-03 3.98061347e-03 9.99963708e-01 -4.31118392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10463044 meters 0.2732613300306506 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.11, Z:-0.43 [[ 9.99968999e-01 -2.28485604e-03 -7.53527801e-03 2.79627963e+00] [ 2.24740581e-03 9.99985101e-01 -4.97471406e-03 -1.06129637e-01] [ 7.54653225e-03 4.95762501e-03 9.99959235e-01 -4.32136126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16463044 meters 0.27377954115645 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.10, Z:-0.43 [[ 9.99969776e-01 1.87030272e-03 -7.54643578e-03 2.79616646e+00] [-1.87900264e-03 9.99997578e-01 -1.14592681e-03 -1.04353515e-01] [ 7.54427427e-03 1.16007194e-03 9.99970869e-01 -4.31921387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22463044 meters 0.27095219291831335 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.10, Z:-0.43 [[ 9.99957738e-01 -4.78107727e-03 -7.85263370e-03 2.77614670e+00] [ 4.79566076e-03 9.99986809e-01 1.83936814e-03 -9.87472401e-02] [ 7.84373595e-03 -1.87694897e-03 9.99967476e-01 -4.33802029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28463044 meters 0.2721500743728926 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.44 [[ 9.99955008e-01 -5.41178124e-03 -7.79070318e-03 2.77684834e+00] [ 5.41457493e-03 9.99985284e-01 3.37545366e-04 -9.08435509e-02] [ 7.78876181e-03 -3.79713525e-04 9.99969595e-01 -4.35261413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34463044 meters 0.27446781358292094 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.43 [[ 9.99967813e-01 -1.37897507e-03 -7.90391517e-03 2.77675397e+00] [ 1.40913940e-03 9.99991741e-01 3.81208089e-03 -8.76464763e-02] [ 7.89859313e-03 -3.82309591e-03 9.99961497e-01 -4.34824795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40463044 meters 0.269905448206815 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.09, Z:-0.43 [[ 9.99968395e-01 -1.53663775e-03 -7.80050867e-03 2.77610050e+00] [ 1.56322000e-03 9.99992989e-01 3.40280641e-03 -8.54405474e-02] [ 7.79522509e-03 -3.41489278e-03 9.99963786e-01 -4.34156293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46463044 meters 0.27144505754330833 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.43 [[ 9.99968266e-01 -1.85723839e-03 -7.74712363e-03 2.77638234e+00] [ 1.87788647e-03 9.99994702e-01 2.65883498e-03 -8.21365958e-02] [ 7.74214449e-03 -2.67329882e-03 9.99966456e-01 -4.34860781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52463044 meters 0.27143187676535235 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.44 [[ 9.99967467e-01 -2.21665737e-03 -7.75569934e-03 2.77685200e+00] [ 2.23093975e-03 9.99995831e-01 1.83336674e-03 -7.82278091e-02] [ 7.75160306e-03 -1.85060960e-03 9.99968243e-01 -4.35611687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58463044 meters 0.2715052347753054 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.44 [[ 9.99966337e-01 -2.41872303e-03 -7.84056555e-03 2.77713365e+00] [ 2.42957207e-03 9.99996104e-01 1.37447688e-03 -7.61936790e-02] [ 7.83721053e-03 -1.39347983e-03 9.99968318e-01 -4.35781570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64463044 meters 0.27205817384551423 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99965966e-01 -2.53339968e-03 -7.85172150e-03 2.77726655e+00] [ 2.54228945e-03 9.99996138e-01 1.12243311e-03 -7.49653504e-02] [ 7.84884761e-03 -1.14235626e-03 9.99968545e-01 -4.35993643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70463044 meters 0.2714517319268327 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99965486e-01 -2.59250215e-03 -7.89333835e-03 2.77705515e+00] [ 2.60020560e-03 9.99996153e-01 9.65838455e-04 -7.42734072e-02] [ 7.89080405e-03 -9.86329423e-04 9.99968381e-01 -4.35464110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76463044 meters 0.26923709992969613 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.44 [[ 9.99966728e-01 5.15347215e-03 -6.32334880e-03 2.75520622e+00] [-5.15314064e-03 9.99986720e-01 6.87174668e-05 -7.62041603e-02] [ 6.32361896e-03 -3.61300747e-05 9.99980005e-01 -4.36603240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82463044 meters 0.2720646587935138 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99979739e-01 2.78040037e-04 -6.35962025e-03 2.77807170e+00] [-2.59509016e-04 9.99995719e-01 2.91449614e-03 -7.01430737e-02] [ 6.36040338e-03 -2.91278671e-03 9.99975530e-01 -4.37818421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88463044 meters 0.2719257531165757 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99979718e-01 6.31669671e-05 -6.36867732e-03 2.77858448e+00] [-4.77654815e-05 9.99997074e-01 2.41844088e-03 -6.82012248e-02] [ 6.36881145e-03 -2.41808763e-03 9.99976795e-01 -4.38678687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94463044 meters 0.2721823902897085 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99980379e-01 -1.36620840e-04 -6.26274906e-03 2.77878032e+00] [ 1.48777892e-04 9.99998106e-01 1.94074374e-03 -6.58484657e-02] [ 6.26247205e-03 -1.94163742e-03 9.99978506e-01 -4.39466819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00463044 meters 0.2720083937726427 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99982265e-01 -1.97259038e-04 -5.95230482e-03 2.77796280e+00] [ 2.07843269e-04 9.99998398e-01 1.77760732e-03 -6.49201024e-02] [ 5.95194464e-03 -1.77881294e-03 9.99980705e-01 -4.39174438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06463044000003 meters 0.27132256277126393 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99982821e-01 -1.91458587e-04 -5.85842500e-03 2.77818403e+00] [ 2.02024371e-04 9.99998354e-01 1.80298089e-03 -6.49880552e-02] [ 5.85807016e-03 -1.80413346e-03 9.99981214e-01 -4.39935792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12463044000003 meters 0.2714465265381418 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99983718e-01 -1.66266986e-04 -5.70409157e-03 2.77815091e+00] [ 1.76956353e-04 9.99998229e-01 1.87352873e-03 -6.53105277e-02] [ 5.70376997e-03 -1.87450760e-03 9.99981976e-01 -4.40397367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18463044000003 meters 0.2716727032953351 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99983705e-01 -1.16003084e-04 -5.70765007e-03 2.77823180e+00] [ 1.27420275e-04 9.99997992e-01 2.00000830e-03 -6.58092829e-02] [ 5.70740661e-03 -2.00070298e-03 9.99981711e-01 -4.40494628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24463044000004 meters 0.27256825706457766 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.44 [[ 9.99983616e-01 -1.56251796e-04 -5.72224920e-03 2.77875700e+00] [ 1.67236252e-04 9.99998144e-01 1.91917637e-03 -6.55387571e-02] [ 5.72193871e-03 -1.92010189e-03 9.99981786e-01 -4.41333969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30463044000004 meters 0.27201251598987186 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99983518e-01 -2.73715815e-04 -5.73483936e-03 2.77889761e+00] [ 2.83136290e-04 9.99998612e-01 1.64192722e-03 -6.42348684e-02] [ 5.73438197e-03 -1.64352390e-03 9.99982208e-01 -4.41578307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36463044000004 meters 0.27292518144628536 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99983759e-01 -4.58398762e-04 -5.68077811e-03 2.77902636e+00] [ 4.65178615e-04 9.99999181e-01 1.19220870e-03 -6.20559368e-02] [ 5.68022696e-03 -1.19483192e-03 9.99983154e-01 -4.42007066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42463044000004 meters 0.2732680843848983 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99983662e-01 -5.09275340e-04 -5.69360326e-03 2.77918776e+00] [ 5.15425437e-04 9.99999285e-01 1.07876153e-03 -6.15726520e-02] [ 5.69304980e-03 -1.08167853e-03 9.99983209e-01 -4.42209346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48463044 meters 0.2742383320715789 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.44 [[ 9.99975228e-01 6.50166491e-03 -2.69654844e-03 2.79921874e+00] [-6.50544841e-03 9.99977864e-01 -1.39670110e-03 -6.04967573e-02] [ 2.68740786e-03 1.41420876e-03 9.99995389e-01 -4.43310789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54463044 meters 0.273439702413822 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.44 [[ 9.99994962e-01 -2.47488608e-03 -1.98755259e-03 2.77864508e+00] [ 2.47430346e-03 9.99996895e-01 -2.95538954e-04 -5.91343912e-02] [ 1.98827784e-03 2.90619657e-04 9.99997981e-01 -4.44601912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60463044 meters 0.27233381468996876 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.06, Z:-0.45 [[ 9.99983441e-01 4.98018726e-03 -2.88352054e-03 2.75940349e+00] [-4.98385707e-03 9.99986778e-01 -1.26689763e-03 -6.33948634e-02] [ 2.87717303e-03 1.28124770e-03 9.99995040e-01 -4.45680692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66463044 meters 0.27300219461682146 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99990951e-01 -2.70125099e-03 -3.28655142e-03 2.78101500e+00] [ 2.69979723e-03 9.99996256e-01 -4.46694337e-04 -6.02837385e-02] [ 3.28774575e-03 4.37817272e-04 9.99994500e-01 -4.45206561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72463044 meters 0.2724034414729722 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99990866e-01 -2.83811728e-03 -3.19585959e-03 2.78093771e+00] [ 2.83565685e-03 9.99995680e-01 -7.74148137e-04 -5.88217523e-02] [ 3.19804290e-03 7.65078705e-04 9.99994594e-01 -4.45441264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78463044 meters 0.27337121539788 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99991098e-01 -3.02688866e-03 -2.93972946e-03 2.78056932e+00] [ 3.02300657e-03 9.99994554e-01 -1.32410930e-03 -5.61790816e-02] [ 2.94372138e-03 1.31521069e-03 9.99994802e-01 -4.45783710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84463044 meters 0.2734146798030767 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99990440e-01 -3.30117596e-03 -2.86738997e-03 2.78071471e+00] [ 3.29501925e-03 9.99992262e-01 -2.14922376e-03 -5.24365806e-02] [ 2.87446275e-03 2.13975511e-03 9.99993579e-01 -4.46384577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90463044 meters 0.2737092775448073 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99990002e-01 -3.41510071e-03 -2.88672132e-03 2.78100443e+00] [ 3.40814876e-03 9.99991289e-01 -2.40974892e-03 -5.12040479e-02] [ 2.89492571e-03 2.39988645e-03 9.99992930e-01 -4.46859082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96463044 meters 0.27319549732580684 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99990044e-01 -3.43415783e-03 -2.84936457e-03 2.78059887e+00] [ 3.42713295e-03 9.99991085e-01 -2.46665040e-03 -5.07650654e-02] [ 2.85781004e-03 2.45686069e-03 9.99992898e-01 -4.46305263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02463044 meters 0.2753449246997603 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99989794e-01 -3.49817792e-03 -2.85919644e-03 2.78070681e+00] [ 3.49073457e-03 9.99990517e-01 -2.60416101e-03 -5.00604632e-02] [ 2.86827914e-03 2.59415373e-03 9.99992522e-01 -4.46441218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08463044 meters 0.2741400200752388 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99989724e-01 -3.67056097e-03 -2.66064427e-03 2.78054215e+00] [ 3.66254125e-03 9.99988754e-01 -3.01283250e-03 -4.78101714e-02] [ 2.67167314e-03 3.00305682e-03 9.99991922e-01 -4.46923243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14463044 meters 0.27316114001887865 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.05, Z:-0.45 [[ 0.99998745 0.00409287 -0.00288805 2.76019315] [-0.00410433 0.99998369 -0.00397091 -0.05007301] [ 0.00287175 0.00398271 0.99998795 -0.44778206] [ 0. 0. 0. 1. ]] SLAMing on 310.20463044 meters 0.2737315198591471 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.05, Z:-0.45 [[ 0.99998747 0.0039986 -0.00301229 2.76078665] [-0.0040112 0.99998319 -0.00418776 -0.04916278] [ 0.00299549 0.00419979 0.99998669 -0.44835644] [ 0. 0. 0. 1. ]] SLAMing on 310.26463044 meters 0.27458436549477644 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.04, Z:-0.45 [[ 0.99998393 -0.00414274 -0.00387061 2.78253975] [ 0.00412742 0.99998364 -0.00395974 -0.04437225] [ 0.00388695 0.00394371 0.99998467 -0.44812902] [ 0. 0. 0. 1. ]] SLAMing on 310.32463044 meters 0.274055711010428 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 0.99998423 -0.00400558 -0.00393662 2.78267536] [ 0.00399127 0.99998542 -0.00363682 -0.04589354] [ 0.00395113 0.00362105 0.99998564 -0.44807727] [ 0. 0. 0. 1. ]] SLAMing on 310.38463044 meters 0.2737271390658388 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 0.99998473 -0.00377327 -0.00403727 2.78254096] [ 0.00376143 0.99998861 -0.00293658 -0.04903163] [ 0.0040483 0.00292135 0.99998754 -0.44747496] [ 0. 0. 0. 1. ]] SLAMing on 310.44463044 meters 0.27319833420874007 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99985124e-01 -3.58353448e-03 -4.11213616e-03 2.78296981e+00] [ 3.57339077e-03 9.99990561e-01 -2.47147415e-03 -5.11798587e-02] [ 4.12095396e-03 2.45674311e-03 9.99988491e-01 -4.47906400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50463044 meters 0.2718252274101586 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.06, Z:-0.45 [[ 0.99998661 0.0038716 -0.00343352 2.76360245] [-0.0038824 0.99998752 -0.00314351 -0.05923373] [ 0.0034213 0.0031568 0.99998916 -0.44938984] [ 0. 0. 0. 1. ]] SLAMing on 310.56463044000003 meters 0.2719265773069851 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.06, Z:-0.45 [[ 0.99998595 0.00397384 -0.00350927 2.76365808] [-0.00398408 0.99998782 -0.00291433 -0.06031733] [ 0.00349764 0.00292827 0.9999896 -0.44917847] [ 0. 0. 0. 1. ]] SLAMing on 310.62463044000003 meters 0.2709058862447375 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.06, Z:-0.45 [[ 0.99998633 0.00387098 -0.00351618 2.76413796] [-0.0038822 0.99998738 -0.00318917 -0.05908586] [ 0.00350379 0.00320277 0.99998873 -0.45000851] [ 0. 0. 0. 1. ]] SLAMing on 310.68463044000003 meters 0.27359495586774785 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99994595e-01 -3.09048077e-03 -1.12192192e-03 2.78159116e+00] [ 3.08843192e-03 9.99993568e-01 -1.82335993e-03 -5.45250245e-02] [ 1.12754977e-03 1.81988510e-03 9.99997708e-01 -4.48436211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74463044000004 meters 0.27340748574222057 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.05, Z:-0.45 [[ 9.99994772e-01 -3.04736276e-03 -1.08148191e-03 2.78140720e+00] [ 3.04549220e-03 9.99993871e-01 -1.72707279e-03 -5.49865594e-02] [ 1.08673829e-03 1.72377011e-03 9.99997924e-01 -4.48254908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80463044000004 meters 0.2720748183871983 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99995293e-01 -2.85728310e-03 -1.11761583e-03 2.78162803e+00] [ 2.85584908e-03 9.99995100e-01 -1.28260270e-03 -5.71509765e-02] [ 1.12127511e-03 1.27940492e-03 9.99998553e-01 -4.48480176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86463044000004 meters 0.27213570363101164 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99995653e-01 -2.68662450e-03 -1.21507126e-03 2.78155572e+00] [ 2.68555477e-03 9.99996006e-01 -8.81155974e-04 -5.89215192e-02] [ 1.21743375e-03 8.77889003e-04 9.99998874e-01 -4.47925334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92463044000004 meters 0.2722268828186706 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99995935e-01 -2.50418596e-03 -1.36365475e-03 2.78191225e+00] [ 2.50355851e-03 9.99996760e-01 -4.61636045e-04 -6.10374698e-02] [ 1.36480636e-03 4.58220179e-04 9.99998964e-01 -4.47918284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98463044 meters 0.2727600958014559 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99996065e-01 -2.43880815e-03 -1.38638442e-03 2.78202203e+00] [ 2.43837951e-03 9.99996979e-01 -3.10782616e-04 -6.17713108e-02] [ 1.38713817e-03 3.07400862e-04 9.99998991e-01 -4.47999709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04463044 meters 0.27175594991792035 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99996135e-01 -2.43405669e-03 -1.34378772e-03 2.78182713e+00] [ 2.43365148e-03 9.99996993e-01 -3.03098888e-04 -6.18279549e-02] [ 1.34452144e-03 2.99827406e-04 9.99999051e-01 -4.47811495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10463044 meters 0.2715228273177225 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99995558e-01 -2.59022419e-03 -1.47470059e-03 2.78222652e+00] [ 2.58921635e-03 9.99996413e-01 -6.84920338e-04 -6.01968410e-02] [ 1.47646940e-03 6.81098977e-04 9.99998678e-01 -4.48055931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16463044 meters 0.2724390333624782 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.06, Z:-0.45 [[ 9.99995835e-01 -9.23894053e-04 -2.73447944e-03 2.78712892e+00] [ 9.26506096e-04 9.99999116e-01 9.54112446e-04 -6.15679372e-02] [ 2.73359552e-03 -9.56641984e-04 9.99995806e-01 -4.51084085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22463044 meters 0.2740991175401883 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.06, Z:-0.45 [[ 9.99995557e-01 -1.04195638e-03 -2.79273685e-03 2.78735027e+00] [ 1.04387981e-03 9.99999219e-01 6.87357746e-04 -6.03884759e-02] [ 2.79201847e-03 -6.90269974e-04 9.99995864e-01 -4.51242558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28463044 meters 0.2712518464780414 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.06, Z:-0.45 [[ 9.99995348e-01 -1.23084074e-03 -2.79073572e-03 2.78725865e+00] [ 1.23151821e-03 9.99999213e-01 2.41051247e-04 -5.83456243e-02] [ 2.79043682e-03 -2.44486967e-04 9.99996077e-01 -4.51111497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34463044 meters 0.2708935576536146 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.06, Z:-0.45 [[ 9.99995468e-01 -1.29508190e-03 -2.71792799e-03 2.78696557e+00] [ 1.29531334e-03 9.99999158e-01 8.33941733e-05 -5.72681573e-02] [ 2.71781769e-03 -8.69143637e-05 9.99996303e-01 -4.50869796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40463044 meters 0.2717774506415337 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.06, Z:-0.45 [[ 9.99995527e-01 -1.21816934e-03 -2.73184913e-03 2.78700291e+00] [ 1.21892917e-03 9.99999219e-01 2.76487518e-04 -5.81349642e-02] [ 2.73151019e-03 -2.79816212e-04 9.99996230e-01 -4.50837216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46463044 meters 0.26806443200027713 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.06, Z:-0.45 [[ 0.99998928 0.00364141 -0.00286061 2.76363966] [-0.00365029 0.99998852 -0.00310311 -0.05988229] [ 0.00284927 0.00311352 0.99999109 -0.44984974] [ 0. 0. 0. 1. ]] SLAMing on 311.52463044 meters 0.26983033396625355 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99991890e-01 -3.80018414e-03 -1.33364063e-03 2.78368111e+00] [ 3.79784600e-03 9.99991254e-01 -1.75137831e-03 -6.04960121e-02] [ 1.34028452e-03 1.74629915e-03 9.99997577e-01 -4.48803155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58463044 meters 0.2702506723414836 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99992538e-01 -3.59219618e-03 -1.42132506e-03 2.78453083e+00] [ 3.59045972e-03 9.99992807e-01 -1.22238754e-03 -6.33815748e-02] [ 1.42570589e-03 1.21727520e-03 9.99998243e-01 -4.49803526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64463044 meters 0.2701455142923575 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99992429e-01 -3.56287918e-03 -1.56427627e-03 2.78498576e+00] [ 3.56110740e-03 9.99993016e-01 -1.13398069e-03 -6.37604064e-02] [ 1.56830558e-03 1.12840155e-03 9.99998134e-01 -4.50108323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70463044 meters 0.27028625902839065 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.06, Z:-0.45 [[ 9.99992798e-01 -3.52590668e-03 -1.40405001e-03 2.78465790e+00] [ 3.52444111e-03 9.99993243e-01 -1.04492525e-03 -6.40185606e-02] [ 1.40772483e-03 1.03996923e-03 9.99998468e-01 -4.50199701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76463044 meters 0.27005106956656266 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.45 [[ 9.99993565e-01 -3.29629240e-03 -1.41551829e-03 2.78481157e+00] [ 3.29563546e-03 9.99994461e-01 -4.66184454e-04 -6.69412613e-02] [ 1.41704713e-03 4.61516422e-04 9.99998889e-01 -4.50378970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82463044 meters 0.269349785898945 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.45 [[ 9.99983858e-01 4.55422930e-03 -3.39738219e-03 2.80844035e+00] [-4.56103144e-03 9.99987604e-01 -1.99711523e-03 -7.31199911e-02] [ 3.38824476e-03 2.01257856e-03 9.99992235e-01 -4.50167408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88463044 meters 0.2704075916615385 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.45 [[ 9.99990975e-01 -3.81356565e-03 -1.87245362e-03 2.82885142e+00] [ 3.81114467e-03 9.99991899e-01 -1.29481763e-03 -7.55053291e-02] [ 1.87737633e-03 1.28766975e-03 9.99997409e-01 -4.49599318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94463044 meters 0.26997707530019904 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.08, Z:-0.45 [[ 9.99991207e-01 -3.58789186e-03 -2.17083815e-03 2.82954242e+00] [ 3.58658835e-03 9.99993386e-01 -6.04059306e-04 -7.86297629e-02] [ 2.17299109e-03 5.96268092e-04 9.99997461e-01 -4.49645098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00463044 meters 0.26725212959249006 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.09, Z:-0.45 [[ 9.99990406e-01 4.29815526e-03 -8.44346635e-04 2.80910266e+00] [-4.29836973e-03 9.99990730e-01 -2.52361304e-04 -8.89327623e-02] [ 8.43254120e-04 2.55988197e-04 9.99999612e-01 -4.50106353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06463044000003 meters 0.26878120389849336 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:-0.45 [[ 9.99993827e-01 2.91932177e-03 1.95536776e-03 2.85019610e+00] [-2.91469233e-03 9.99992953e-01 -2.36623579e-03 -9.47583790e-02] [-1.96226178e-03 2.36052189e-03 9.99995289e-01 -4.49434073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12463044000003 meters 0.2674467939035471 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.10, Z:-0.45 [[ 9.99970117e-01 -7.73063636e-03 -4.06065860e-05 2.83042199e+00] [ 7.73052958e-03 9.99967747e-01 -2.17824654e-03 -1.02002099e-01] [ 5.74445083e-05 2.17786754e-03 9.99997627e-01 -4.49715152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18463044000003 meters 0.26779495543764636 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.11, Z:-0.45 [[ 9.99997567e-01 1.48289102e-03 -1.63292149e-03 2.85137971e+00] [-1.48573227e-03 9.99997382e-01 -1.74014407e-03 -1.13871428e-01] [ 1.63033677e-03 1.74256592e-03 9.99997153e-01 -4.48591436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24463044000004 meters 0.26744480223593453 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.12, Z:-0.45 [[ 9.99996528e-01 1.88362641e-03 -1.84271792e-03 2.85159803e+00] [-1.88458962e-03 9.99998088e-01 -5.21117946e-04 -1.19119676e-01] [ 1.84173280e-03 5.24588904e-04 9.99998166e-01 -4.48189916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30463044000004 meters 0.2686426251623444 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99994742e-01 1.03426025e-04 -3.24117342e-03 2.85662056e+00] [-1.08156460e-04 9.99998929e-01 -1.45934071e-03 -1.25913093e-01] [ 3.24101902e-03 1.45968359e-03 9.99993683e-01 -4.50804240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36463044000004 meters 0.2673619802481964 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99994099e-01 4.52036862e-04 -3.40551978e-03 2.85662643e+00] [-4.54386028e-04 9.99999659e-01 -6.89069011e-04 -1.29431687e-01] [ 3.40520714e-03 6.90612366e-04 9.99993964e-01 -4.50212310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42463044000004 meters 0.2682071490279327 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99994069e-01 4.04686014e-04 -3.42012711e-03 2.85678345e+00] [-4.07396118e-04 9.99999604e-01 -7.91739163e-04 -1.29023398e-01] [ 3.41980535e-03 7.93127814e-04 9.99993838e-01 -4.50395245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48463044 meters 0.26864890918577294 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99993591e-01 2.04733481e-04 -3.57444463e-03 2.85762137e+00] [-2.09529684e-04 9.99999078e-01 -1.34148086e-03 -1.26836113e-01] [ 3.57416669e-03 1.34222121e-03 9.99992712e-01 -4.51285062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54463044 meters 0.2690723054486447 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99992991e-01 7.90167230e-05 -3.74312923e-03 2.85833573e+00] [-8.51172250e-05 9.99998668e-01 -1.62965537e-03 -1.25527157e-01] [ 3.74299548e-03 1.62996255e-03 9.99991667e-01 -4.51936967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60463044 meters 0.26913944169770126 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99993257e-01 1.24294505e-04 -3.67027392e-03 2.85839529e+00] [-1.29867429e-04 9.99998839e-01 -1.51819518e-03 -1.26085563e-01] [ 3.67008096e-03 1.51866159e-03 9.99992112e-01 -4.52294088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66463044 meters 0.26941448364950543 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.13, Z:-0.45 [[ 9.99992354e-01 1.14187859e-04 -3.90875442e-03 2.85916722e+00] [-1.18762624e-04 9.99999308e-01 -1.17017744e-03 -1.28586160e-01] [ 3.90861810e-03 1.17063271e-03 9.99991676e-01 -4.52676815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72463044 meters 0.26731324314935523 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.13, Z:-0.45 [[ 9.99982429e-01 -6.03111072e-04 -5.89732476e-03 2.81841199e+00] [ 6.05429635e-04 9.99999740e-01 3.91377678e-04 -1.34096679e-01] [ 5.89708719e-03 -3.94941216e-04 9.99982534e-01 -4.53283174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78463044 meters 0.2694159023827353 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.14, Z:-0.45 [[ 0.99998238 -0.00484022 -0.00343709 2.8407105 ] [ 0.00485408 0.99998008 0.00403403 -0.13600745] [ 0.0034175 -0.00405065 0.99998596 -0.45464443] [ 0. 0. 0. 1. ]] SLAMing on 312.84463044 meters 0.26898323214933206 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.14, Z:-0.45 [[ 0.99998334 -0.00475873 -0.00326708 2.84033644] [ 0.0047723 0.99997996 0.00415887 -0.1362934 ] [ 0.00324722 -0.00417439 0.99998601 -0.45453933] [ 0. 0. 0. 1. ]] SLAMing on 312.90463044 meters 0.26888487793182875 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.14, Z:-0.45 [[ 0.99998474 -0.00466599 -0.00295615 2.83928744] [ 0.00467828 0.99998039 0.00416329 -0.13570844] [ 0.00293667 -0.00417705 0.99998696 -0.45382628] [ 0. 0. 0. 1. ]] SLAMing on 312.96463044 meters 0.26845484434886097 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.14, Z:-0.45 [[ 0.99999125 0.00302707 -0.00288749 2.81792878] [-0.00301773 0.99999021 0.00323509 -0.13559838] [ 0.00289726 -0.00322634 0.9999906 -0.4549132 ] [ 0. 0. 0. 1. ]] SLAMing on 313.02463044 meters 0.26860517213799484 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.13, Z:-0.46 [[ 9.99992467e-01 2.74390858e-03 -2.74524258e-03 2.81813637e+00] [-2.73694196e-03 9.99993033e-01 2.53825412e-03 -1.32427129e-01] [ 2.75218819e-03 -2.53072143e-03 9.99993010e-01 -4.55776791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08463044 meters 0.2688439578340309 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.13, Z:-0.46 [[ 9.99993668e-01 2.29647458e-03 -2.71836576e-03 2.81836173e+00] [-2.29268103e-03 9.99996395e-01 1.39782207e-03 -1.27377193e-01] [ 2.72156602e-03 -1.39158087e-03 9.99995328e-01 -4.56222736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14463044 meters 0.26901822209881704 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.12, Z:-0.46 [[ 9.99994521e-01 1.93372007e-03 -2.68682031e-03 2.81859704e+00] [-1.93227266e-03 9.99997987e-01 5.41199175e-04 -1.23548693e-01] [ 2.68786143e-03 -5.36004541e-04 9.99996244e-01 -4.56738558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20463044 meters 0.26892647868592195 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.12, Z:-0.46 [[ 9.99995296e-01 1.60990511e-03 -2.61069017e-03 2.81870761e+00] [-1.61040013e-03 9.99998686e-01 -1.87519376e-04 -1.20192190e-01] [ 2.61038485e-03 1.91722750e-04 9.99996575e-01 -4.57242032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26463044 meters 0.27000656210255547 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.12, Z:-0.46 [[ 9.99991120e-01 -3.66958053e-03 -2.07225210e-03 2.84265199e+00] [ 3.67423585e-03 9.99990725e-01 2.24718579e-03 -1.15233974e-01] [ 2.06398665e-03 -2.25477978e-03 9.99995328e-01 -4.59336985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32463044 meters 0.26972360305600623 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99990703e-01 -3.81070141e-03 -2.01806884e-03 2.84274917e+00] [ 3.81462089e-03 9.99990839e-01 1.94192021e-03 -1.13740347e-01] [ 2.01065027e-03 -1.94960032e-03 9.99996078e-01 -4.59732595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38463044 meters 0.2697686759907352 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99989962e-01 -4.04458696e-03 -1.92780643e-03 2.84280951e+00] [ 4.04730103e-03 9.99990821e-01 1.40604191e-03 -1.11312180e-01] [ 1.92210187e-03 -1.41383021e-03 9.99997153e-01 -4.60168902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44463044 meters 0.2695909083728021 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99989755e-01 -4.09674087e-03 -1.92531060e-03 2.84290579e+00] [ 4.09923344e-03 9.99990763e-01 1.29247489e-03 -1.10795542e-01] [ 1.91999788e-03 -1.30035395e-03 9.99997311e-01 -4.60353568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50463044 meters 0.2693053195028583 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99989601e-01 -4.12401810e-03 -1.94684502e-03 2.84276797e+00] [ 4.12642565e-03 9.99990725e-01 1.23424885e-03 -1.10416201e-01] [ 1.94173690e-03 -1.24226952e-03 9.99997343e-01 -4.60022173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56463044000003 meters 0.2688856789540299 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99989365e-01 -4.16155314e-03 -1.98783035e-03 2.84287516e+00] [ 4.16383381e-03 9.99990676e-01 1.14455775e-03 -1.10024357e-01] [ 1.98304868e-03 -1.15282257e-03 9.99997369e-01 -4.60074170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62463044000003 meters 0.26797693144082674 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.11, Z:-0.46 [[ 9.99992538e-01 3.32828649e-03 -1.96145222e-03 2.82308980e+00] [-3.32793803e-03 9.99994446e-01 1.80890178e-04 -1.13464822e-01] [ 1.96204339e-03 -1.74361236e-04 9.99998060e-01 -4.61798106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68463044000003 meters 0.26824494708595503 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.11, Z:-0.46 [[ 9.99992531e-01 3.33252814e-03 -1.95758967e-03 2.82311757e+00] [-3.33216149e-03 9.99994430e-01 1.90527613e-04 -1.13517638e-01] [ 1.95821371e-03 -1.84003185e-04 9.99998066e-01 -4.61851832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74463044000004 meters 0.2686472442128447 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.12, Z:-0.46 [[ 9.99991484e-01 3.36141842e-03 -2.39452178e-03 2.82437167e+00] [-3.36039852e-03 9.99994261e-01 4.29826806e-04 -1.15243286e-01] [ 2.39595287e-03 -4.21776598e-04 9.99997041e-01 -4.62371679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80463044000004 meters 0.26845221076832426 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.12, Z:-0.46 [[ 9.99991415e-01 3.37221251e-03 -2.40811787e-03 2.82447493e+00] [-3.37110551e-03 9.99994210e-01 4.63606971e-04 -1.15347972e-01] [ 2.40966731e-03 -4.55484971e-04 9.99996993e-01 -4.62484124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86463044000004 meters 0.26954075441122 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99992805e-01 -3.76013677e-03 -5.02183700e-04 2.84309037e+00] [ 3.76087725e-03 9.99991830e-01 1.48180817e-03 -1.10896333e-01] [ 4.96607796e-04 -1.48368616e-03 9.99998776e-01 -4.61593709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92463044000004 meters 0.26817967277415006 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.11, Z:-0.46 [[ 9.99989954e-01 4.39703565e-03 -8.70975316e-04 2.82172473e+00] [-4.39655211e-03 9.99990180e-01 5.56311744e-04 -1.08716034e-01] [ 8.73412886e-04 -5.52476866e-04 9.99999466e-01 -4.62426283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98463044 meters 0.2692424287742321 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.46 [[ 9.99994650e-01 -3.03275734e-03 -1.22552389e-03 2.84121644e+00] [ 3.03423356e-03 9.99994671e-01 1.20449914e-03 -1.01759677e-01] [ 1.22186441e-03 -1.20821122e-03 9.99998524e-01 -4.60659114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04463044 meters 0.2694378098043214 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.46 [[ 9.99994630e-01 -3.10349425e-03 -1.05257269e-03 2.84056401e+00] [ 3.10455215e-03 9.99994676e-01 1.00492071e-03 -1.00635809e-01] [ 1.04944832e-03 -1.00818308e-03 9.99998941e-01 -4.60162531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10463044 meters 0.268220229530577 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.46 [[ 9.99995261e-01 -3.03613651e-03 -5.10187152e-04 2.83911539e+00] [ 3.03668846e-03 9.99994801e-01 1.08459273e-03 -1.00506854e-01] [ 5.06891528e-04 -1.08613687e-03 9.99999282e-01 -4.59576416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16463044 meters 0.2684850507573035 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.46 [[ 9.99995334e-01 -2.97632126e-03 -6.88275672e-04 2.83953524e+00] [ 2.97717490e-03 9.99994796e-01 1.24258628e-03 -1.00970548e-01] [ 6.84573754e-04 -1.24462960e-03 9.99998991e-01 -4.59686363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22463044 meters 0.26710168597545403 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.10, Z:-0.46 [[ 9.99995488e-01 2.21601213e-03 -2.02833480e-03 2.81800114e+00] [-2.21967070e-03 9.99995911e-01 -1.80325959e-03 -1.01939591e-01] [ 2.02433046e-03 1.80775369e-03 9.99996317e-01 -4.59401195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28463044 meters 0.2671022310329465 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.10, Z:-0.46 [[ 9.99995502e-01 2.11398462e-03 -2.12773805e-03 2.81831422e+00] [-2.11831174e-03 9.99995689e-01 -2.03347332e-03 -1.00882052e-01] [ 2.12343015e-03 2.03797139e-03 9.99995669e-01 -4.59513569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34463044 meters 0.2685487874180771 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.10, Z:-0.46 [[ 9.99987897e-01 -2.52123403e-03 -4.22479442e-03 2.84297174e+00] [ 2.52603126e-03 9.99996171e-01 1.13054261e-03 -9.55484948e-02] [ 4.22192787e-03 -1.14120089e-03 9.99990436e-01 -4.60055676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40463044 meters 0.2692848826223586 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.46 [[ 9.99986184e-01 -2.95523601e-03 -4.34732520e-03 2.84343992e+00] [ 2.95428407e-03 9.99995611e-01 -2.25376981e-04 -8.93315391e-02] [ 4.34797216e-03 2.12530634e-04 9.99990525e-01 -4.60420265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46463044 meters 0.26861459873310584 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.09, Z:-0.46 [[ 9.99985226e-01 -3.34001185e-03 -4.28866869e-03 2.84324282e+00] [ 3.33521809e-03 9.99993806e-01 -1.12443871e-03 -8.51074146e-02] [ 4.29239776e-03 1.11011845e-03 9.99990171e-01 -4.60311123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52463044 meters 0.2680645037849021 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.46 [[ 9.99984564e-01 -3.66230563e-03 -4.17849138e-03 2.84294749e+00] [ 3.65473255e-03 9.99991668e-01 -1.81859586e-03 -8.18380660e-02] [ 4.18511682e-03 1.80329652e-03 9.99989616e-01 -4.60215334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58463044 meters 0.26691552898058035 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.08, Z:-0.46 [[ 9.99981229e-01 5.30965407e-03 -3.05750944e-03 2.81999789e+00] [-5.31646158e-03 9.99983397e-01 -2.22268094e-03 -8.01997865e-02] [ 3.04565701e-03 2.23889435e-03 9.99992856e-01 -4.59587388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64463044 meters 0.26691084437587376 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.46 [[ 9.99991885e-01 -3.64795263e-03 -1.70950116e-03 2.84033732e+00] [ 3.64399909e-03 9.99990692e-01 -2.31012264e-03 -7.89688357e-02] [ 1.71791247e-03 2.30387447e-03 9.99995870e-01 -4.58985061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70463044 meters 0.2671637912506876 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.08, Z:-0.46 [[ 9.99998436e-01 1.69226815e-04 -1.76074770e-03 2.84046779e+00] [-1.67193254e-04 9.99999319e-01 1.15502443e-03 -7.72688467e-02] [ 1.76094196e-03 -1.15472824e-03 9.99997783e-01 -4.59002977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76463044 meters 0.2668052303908742 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.07, Z:-0.46 [[ 9.99998730e-01 -1.87876874e-04 -1.58260994e-03 2.84014410e+00] [ 1.88389658e-04 9.99999930e-01 3.23868382e-04 -7.33738784e-02] [ 1.58254898e-03 -3.24166118e-04 9.99998695e-01 -4.59079367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82463044 meters 0.26739756227712214 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.07, Z:-0.46 [[ 9.99998273e-01 -5.23865552e-04 -1.78326427e-03 2.84099129e+00] [ 5.22890263e-04 9.99999714e-01 -5.47334166e-04 -6.95875783e-02] [ 1.78355049e-03 5.46400770e-04 9.99998260e-01 -4.59719666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88463044 meters 0.26722166834842315 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.07, Z:-0.46 [[ 9.99997515e-01 -7.94044111e-04 -2.08326707e-03 2.84212006e+00] [ 7.91258058e-04 9.99998792e-01 -1.33783126e-03 -6.58680314e-02] [ 2.08432685e-03 1.33617953e-03 9.99996935e-01 -4.60567503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94463044 meters 0.26716536950316505 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.46 [[ 9.99997124e-01 -1.20351015e-03 -2.07469256e-03 2.84234392e+00] [ 1.19848620e-03 9.99996351e-01 -2.42108711e-03 -6.10303879e-02] [ 2.07759879e-03 2.41859366e-03 9.99994917e-01 -4.60897307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00463044 meters 0.26847048326240464 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.46 [[ 9.99979083e-01 -6.09401696e-03 -2.16719623e-03 2.86705604e+00] [ 6.09535898e-03 9.99981235e-01 6.13175640e-04 -5.68878373e-02] [ 2.16341886e-03 -6.26372653e-04 9.99997464e-01 -4.62549242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06463044000003 meters 0.2677546418503824 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.46 [[ 9.99985553e-01 1.81253007e-03 -5.06040215e-03 2.84857689e+00] [-1.81498886e-03 9.99998237e-01 -4.81338729e-04 -5.42092083e-02] [ 5.05952079e-03 4.90516349e-04 9.99987080e-01 -4.64035412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12463044000003 meters 0.26818980643236007 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:-0.46 [[ 9.99993680e-01 -3.02068355e-03 -1.87492748e-03 2.86912987e+00] [ 3.02549680e-03 9.99992122e-01 2.56966473e-03 -5.28207931e-02] [ 1.86715056e-03 -2.57532107e-03 9.99994941e-01 -4.64506000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18463044000003 meters 0.2679112288170766 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.06, Z:-0.47 [[ 9.99988143e-01 4.46316148e-03 -1.94774454e-03 2.84884383e+00] [-4.46082634e-03 9.99989329e-01 1.20159548e-03 -5.57544519e-02] [ 1.95308667e-03 -1.19289268e-03 9.99997381e-01 -4.65786580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24463044000004 meters 0.268528722355569 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:-0.47 [[ 9.99986587e-01 -3.61592781e-03 -3.70808579e-03 2.87064423e+00] [ 3.62272628e-03 9.99991766e-01 1.82834382e-03 -5.14107300e-02] [ 3.70144410e-03 -1.84175268e-03 9.99991454e-01 -4.65034784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30463044000004 meters 0.26792911740144054 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:-0.46 [[ 9.99987007e-01 -3.63014021e-03 -3.57887381e-03 2.87012945e+00] [ 3.63646456e-03 9.99991835e-01 1.76221346e-03 -5.09381411e-02] [ 3.57244751e-03 -1.77520501e-03 9.99992043e-01 -4.64605532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36463044000004 meters 0.2672413912222385 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99984416e-01 4.65827527e-03 -3.07693064e-03 2.84840168e+00] [-4.65536413e-03 9.99988710e-01 9.52603421e-04 -5.15896404e-02] [ 3.08133339e-03 -9.38264344e-04 9.99994813e-01 -4.65347088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42463044000004 meters 0.26828092769445944 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99984061e-01 4.52335129e-03 -3.37887854e-03 2.84977672e+00] [-4.52147957e-03 9.99989620e-01 5.61383078e-04 -4.98884245e-02] [ 3.38138280e-03 -5.46096599e-04 9.99994134e-01 -4.66648179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48463044 meters 0.26853788647212523 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99984755e-01 4.40350087e-03 -3.33165767e-03 2.84963189e+00] [-4.40263360e-03 9.99990273e-01 2.67599824e-04 -4.85368938e-02] [ 3.33280363e-03 -2.52927676e-04 9.99994414e-01 -4.66555373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54463044 meters 0.2663775812419525 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.47 [[ 9.99989890e-01 -4.27140534e-03 -1.40564395e-03 2.82834807e+00] [ 4.27320911e-03 9.99990047e-01 1.28274332e-03 -4.45163888e-02] [ 1.40015084e-03 -1.28873696e-03 9.99998189e-01 -4.67786597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60463044 meters 0.2676163912956945 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99981475e-01 5.54477910e-03 -2.51112349e-03 2.85174532e+00] [-5.54162558e-03 9.99983850e-01 1.26103831e-03 -4.58785667e-02] [ 2.51807512e-03 -1.24709924e-03 9.99996052e-01 -4.68501079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66463044 meters 0.267930571154946 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99981341e-01 5.52522398e-03 -2.60563371e-03 2.85204345e+00] [-5.52205471e-03 9.99984007e-01 1.22194089e-03 -4.57180245e-02] [ 2.61234354e-03 -1.20752964e-03 9.99995859e-01 -4.68616077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72463044 meters 0.2666499007264107 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.47 [[ 9.99993729e-01 -3.07784287e-03 -1.75177756e-03 2.83157723e+00] [ 3.08265134e-03 9.99991470e-01 2.74886009e-03 -4.50454732e-02] [ 1.74330206e-03 -2.75424297e-03 9.99994688e-01 -4.70105615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78463044 meters 0.26644184221204553 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99983992e-01 5.51040827e-03 -1.28522567e-03 2.85057460e+00] [-5.50799126e-03 9.99983070e-01 1.87663295e-03 -5.17283074e-02] [ 1.29554493e-03 -1.86952390e-03 9.99997413e-01 -4.68934666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84463044 meters 0.2675821566520736 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99998334e-01 1.21449052e-03 -1.36264014e-03 2.85111119e+00] [-1.21775478e-03 9.99996385e-01 -2.39727480e-03 -5.10205971e-02] [ 1.35972374e-03 2.39893017e-03 9.99996198e-01 -4.69584485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90463044 meters 0.26777342813740307 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99998292e-01 1.11651212e-03 -1.47293553e-03 2.85172496e+00] [-1.12041717e-03 9.99995853e-01 -2.65304384e-03 -4.98480831e-02] [ 1.46996727e-03 2.65468961e-03 9.99995396e-01 -4.70252639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96463044 meters 0.26780555459695743 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.47 [[ 9.99998501e-01 1.01083234e-03 -1.40587673e-03 2.85162308e+00] [-1.01526472e-03 9.99994506e-01 -3.15561535e-03 -4.74810525e-02] [ 1.40267921e-03 3.15703796e-03 9.99994033e-01 -4.70383215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02463044 meters 0.2684064750464658 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.47 [[ 9.99998617e-01 7.48438316e-04 -1.48553964e-03 2.85209332e+00] [-7.54221079e-04 9.99992126e-01 -3.89596635e-03 -4.43759165e-02] [ 1.48261206e-03 3.89708138e-03 9.99991307e-01 -4.70943527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08463044 meters 0.2682740589610902 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.47 [[ 9.99998790e-01 4.93366817e-04 -1.47543822e-03 2.85249272e+00] [-5.00115848e-04 9.99989399e-01 -4.57738964e-03 -4.14694197e-02] [ 1.47316425e-03 4.57812199e-03 9.99988435e-01 -4.71757583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14463044 meters 0.2694815080247003 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.04, Z:-0.47 [[ 9.99990689e-01 -4.16433219e-03 -1.13144037e-03 2.87485181e+00] [ 4.16312323e-03 9.99990763e-01 -1.06877206e-03 -3.61993109e-02] [ 1.13588065e-03 1.06405178e-03 9.99998789e-01 -4.71518140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20463044 meters 0.26901080580391706 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.47 [[ 9.99992302e-01 3.91768529e-03 -2.19844711e-04 2.85503856e+00] [-3.91812614e-03 9.99990239e-01 -2.04198574e-03 -3.90471258e-02] [ 2.11842707e-04 2.04283140e-03 9.99997891e-01 -4.73075834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26463044 meters 0.26781831748880214 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.47 [[ 9.99992085e-01 3.96588959e-03 -3.18298684e-04 2.85517289e+00] [-3.96649458e-03 9.99990284e-01 -1.92312119e-03 -3.95422641e-02] [ 3.10668705e-04 1.92436850e-03 9.99998100e-01 -4.72925570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32463044 meters 0.2684900080645787 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.47 [[ 9.99992360e-01 3.88914743e-03 -3.92593638e-04 2.85550669e+00] [-3.88996082e-03 9.99990244e-01 -2.09277775e-03 -3.87317481e-02] [ 3.84450686e-04 2.09428894e-03 9.99997733e-01 -4.73205544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38463044 meters 0.2681446891167567 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.47 [[ 9.99992543e-01 3.85966413e-03 -1.30767382e-04 2.85471531e+00] [-3.85994348e-03 9.99990113e-01 -2.20798856e-03 -3.82203111e-02] [ 1.22243995e-04 2.20847685e-03 9.99997554e-01 -4.72804655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44463044 meters 0.2674820852658564 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.47 [[ 9.99989133e-01 -4.63611177e-03 -4.89665703e-04 2.83514755e+00] [ 4.63577706e-03 9.99989022e-01 -6.82468582e-04 -3.70682505e-02] [ 4.92824328e-04 6.80191185e-04 9.99999647e-01 -4.73977583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50463044 meters 0.2673097248115486 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.47 [[ 9.99989838e-01 -4.47765884e-03 -5.24396696e-04 2.83519068e+00] [ 4.47749547e-03 9.99989927e-01 -3.12294734e-04 -3.87507841e-02] [ 5.25789763e-04 3.09943577e-04 9.99999814e-01 -4.73905236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56463044000003 meters 0.2678692270313923 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.47 [[ 9.99996371e-01 2.57331241e-03 -7.97371363e-04 2.85764133e+00] [-2.57512920e-03 9.99994072e-01 -2.28588620e-03 -4.48034429e-02] [ 7.91484337e-04 2.28793124e-03 9.99997069e-01 -4.74265602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62463044000003 meters 0.26822038914265556 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.47 [[ 9.99995737e-01 2.80569455e-03 -8.08199959e-04 2.85790593e+00] [-2.80710386e-03 9.99994532e-01 -1.74794818e-03 -4.73379316e-02] [ 8.03291332e-04 1.75020943e-03 9.99998146e-01 -4.74619811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68463044000003 meters 0.2676766945742518 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.47 [[ 9.99995303e-01 2.96295324e-03 -7.83830641e-04 2.85792915e+00] [-2.96403999e-03 9.99994643e-01 -1.38895454e-03 -4.89586554e-02] [ 7.79711034e-04 1.39127132e-03 9.99998728e-01 -4.74729306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74463044000004 meters 0.2680795948832135 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99995240e-01 2.95564999e-03 -8.85343921e-04 2.85871804e+00] [-2.95683981e-03 9.99994723e-01 -1.34562504e-03 -4.93865609e-02] [ 8.81362053e-04 1.34823646e-03 9.99998703e-01 -4.75723408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80463044000004 meters 0.2697445598284687 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.05, Z:-0.48 [[ 9.99995004e-01 -2.46165194e-03 -1.98312677e-03 2.88280982e+00] [ 2.46461572e-03 9.99995848e-01 1.49344255e-03 -4.55352196e-02] [ 1.97944220e-03 -1.49832274e-03 9.99996918e-01 -4.76610356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86463044000004 meters 0.2698555855089739 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99985437e-01 3.16789286e-03 -4.36930442e-03 2.86245568e+00] [-3.17439562e-03 9.99993863e-01 -1.48215169e-03 -4.52768128e-02] [ 4.36458231e-03 1.49600001e-03 9.99989356e-01 -4.76530613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92463044000004 meters 0.26945861162746026 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99985089e-01 3.27835492e-03 -4.36734758e-03 2.86250396e+00] [-3.28334677e-03 9.99993964e-01 -1.13631363e-03 -4.71112357e-02] [ 4.36359598e-03 1.15063621e-03 9.99989817e-01 -4.76505990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98463044 meters 0.270443415387157 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99983106e-01 3.40480054e-03 -4.71125287e-03 2.86342507e+00] [-3.40808221e-03 9.99993955e-01 -6.88707223e-04 -4.92537006e-02] [ 4.70887948e-03 7.04751924e-04 9.99988665e-01 -4.76739818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04463044 meters 0.2692366447272815 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99980983e-01 3.60492475e-03 -5.00375603e-03 2.86401753e+00] [-3.60569894e-03 9.99993489e-01 -1.45709445e-04 -5.16806870e-02] [ 5.00319817e-03 1.63748712e-04 9.99987471e-01 -4.76648348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10463044 meters 0.26943428031833994 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.48 [[ 9.99980380e-01 3.77409602e-03 -4.99962946e-03 2.86401432e+00] [-3.77285129e-03 9.99992849e-01 2.58372643e-04 -5.35408050e-02] [ 5.00056883e-03 -2.39504715e-04 9.99987468e-01 -4.76615199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16463044 meters 0.2690757718387511 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.48 [[ 9.99967754e-01 -4.83268360e-03 -6.41381218e-03 2.84521268e+00] [ 4.84514814e-03 9.99986401e-01 1.92927634e-03 -5.46464211e-02] [ 6.40440137e-03 -1.96029000e-03 9.99977570e-01 -4.77333630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22463044 meters 0.2698594717625148 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.48 [[ 9.99978779e-01 3.54667660e-03 -5.46471047e-03 2.86441761e+00] [-3.54365249e-03 9.99993563e-01 5.62971597e-04 -5.74754417e-02] [ 5.46667197e-03 -5.43594615e-04 9.99984910e-01 -4.75971397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28463044 meters 0.2695354767795836 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.48 [[ 9.99978535e-01 3.64414975e-03 -5.44519736e-03 2.86424443e+00] [-3.63992052e-03 9.99993066e-01 7.86397990e-04 -5.85226531e-02] [ 5.44802536e-03 -7.66561024e-04 9.99984866e-01 -4.75700354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34463044 meters 0.2694043310185284 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.48 [[ 9.99978548e-01 3.62134164e-03 -5.45788407e-03 2.86435970e+00] [-3.61738530e-03 9.99993187e-01 7.34582715e-04 -5.83345274e-02] [ 5.46050707e-03 -7.14823688e-04 9.99984836e-01 -4.75845285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40463044 meters 0.26873431778152207 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.48 [[ 9.99971540e-01 -5.06144101e-03 -5.59468400e-03 2.84495257e+00] [ 5.07338234e-03 9.99984878e-01 2.12227914e-03 -5.57081048e-02] [ 5.58385760e-03 -2.15060271e-03 9.99982098e-01 -4.77045302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46463044 meters 0.26931876779244834 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.48 [[ 9.99971823e-01 -5.05462010e-03 -5.55018447e-03 2.84493129e+00] [ 5.06656746e-03 9.99984874e-01 2.14066061e-03 -5.57862511e-02] [ 5.53928029e-03 -2.16872068e-03 9.99982306e-01 -4.77182121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52463044 meters 0.2712197737016373 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.05, Z:-0.48 [[ 9.99987973e-01 2.54969256e-03 -4.18972487e-03 2.86597950e+00] [-2.55050823e-03 9.99996730e-01 -1.89350813e-04 -5.46434488e-02] [ 4.18922839e-03 2.00034464e-04 9.99991205e-01 -4.77922601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58463044 meters 0.2703264839258187 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.48 [[ 9.99988012e-01 2.59236425e-03 -4.15389160e-03 2.86584287e+00] [-2.59276506e-03 9.99996635e-01 -9.11071700e-05 -5.50441348e-02] [ 4.15364144e-03 1.01876143e-04 9.99991368e-01 -4.77820747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64463044 meters 0.2682621481850004 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.48 [[ 9.99970860e-01 -6.33898171e-03 -4.25409933e-03 2.84479324e+00] [ 6.34427904e-03 9.99979115e-01 1.23289265e-03 -5.63790644e-02] [ 4.24619520e-03 -1.25984592e-03 9.99990191e-01 -4.78445237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70463044 meters 0.2680963065309351 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.06, Z:-0.48 [[ 9.99971531e-01 -6.06895994e-03 -4.48389783e-03 2.84510199e+00] [ 6.07780029e-03 9.99979608e-01 1.96058813e-03 -5.95076391e-02] [ 4.47190766e-03 -1.98778455e-03 9.99988025e-01 -4.78048992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76463044 meters 0.268191540486125 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99968258e-01 6.93674386e-04 -7.93738134e-03 2.86977074e+00] [-6.93483682e-04 9.99999759e-01 2.67784073e-05 -6.94345641e-02] [ 7.93739800e-03 -2.12731129e-05 9.99968498e-01 -4.77886787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82463044 meters 0.26916693852704365 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99968060e-01 1.17812427e-03 -7.90513614e-03 2.86979523e+00] [-1.16863240e-03 9.99998591e-01 1.20523330e-03 -7.48373638e-02] [ 7.90654491e-03 -1.19595661e-03 9.99968028e-01 -4.77975268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88463044 meters 0.26861926984669987 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99965524e-01 1.74831633e-03 -8.11747302e-03 2.86996941e+00] [-1.72894149e-03 9.99995642e-01 2.39321035e-03 -8.05720387e-02] [ 8.12162173e-03 -2.37909320e-03 9.99964189e-01 -4.77416413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94463044 meters 0.2687720662819364 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99964115e-01 2.08856635e-03 -8.21016294e-03 2.87057324e+00] [-2.06255834e-03 9.99992833e-01 3.17497507e-03 -8.41554492e-02] [ 8.21673524e-03 -3.15792719e-03 9.99961256e-01 -4.78054521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00463044 meters 0.268679380572425 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 9.99962698e-01 2.44791636e-03 -8.28309843e-03 2.87049162e+00] [-2.41521345e-03 9.99989259e-01 3.95585144e-03 -8.76377434e-02] [ 8.29269305e-03 -3.93569843e-03 9.99957870e-01 -4.77582285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06463044000003 meters 0.26842923955378967 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 9.99961341e-01 2.81330202e-03 -8.33079426e-03 2.87023299e+00] [-2.77346436e-03 9.99984683e-01 4.78967451e-03 -9.13110514e-02] [ 8.34414146e-03 -4.76638419e-03 9.99953827e-01 -4.76851019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12463044000003 meters 0.2707444465034955 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 9.99961355e-01 2.88076331e-03 -8.30594757e-03 2.87049770e+00] [-2.83961762e-03 9.99983661e-01 4.96130642e-03 -9.20668623e-02] [ 8.32010421e-03 -4.93752898e-03 9.99953197e-01 -4.77387419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18463044000003 meters 0.2696762845126018 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 0.99996041 0.00298114 -0.00838443 2.87075767] [-0.00293759 0.99998216 0.00520142 -0.09321433] [ 0.00839979 -0.00517658 0.99995132 -0.47746621] [ 0. 0. 0. 1. ]] SLAMing on 318.24463044000004 meters 0.26923986010174666 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 0.99996052 0.00308404 -0.00833407 2.87038356] [-0.00303885 0.99998064 0.0054295 -0.09419022] [ 0.00835065 -0.00540396 0.99995053 -0.4770058 ] [ 0. 0. 0. 1. ]] SLAMing on 318.30463044000004 meters 0.26837152815108517 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 0.9999606 0.00319032 -0.00828406 2.87047421] [-0.00314327 0.99997889 0.00568626 -0.09541973] [ 0.00830203 -0.00566 0.99994952 -0.47731689] [ 0. 0. 0. 1. ]] SLAMing on 318.36463044000004 meters 0.26952206145242275 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 0.9999595 0.00333481 -0.00835969 2.87085821] [-0.00328421 0.99997625 0.00605973 -0.09712806] [ 0.0083797 -0.00603203 0.9999467 -0.47763021] [ 0. 0. 0. 1. ]] SLAMing on 318.42463044000004 meters 0.2693442856977971 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.47 [[ 9.99975027e-01 1.35433064e-03 -6.93622847e-03 2.86574635e+00] [-1.32518194e-03 9.99990280e-01 4.20525697e-03 -9.63591196e-02] [ 6.94185635e-03 -4.19596018e-03 9.99967102e-01 -4.74959211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48463044 meters 0.2685968526004399 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 9.99974549e-01 1.55706280e-03 -6.96260701e-03 2.86595638e+00] [-1.52449679e-03 9.99987886e-01 4.68013615e-03 -9.86019776e-02] [ 6.96980993e-03 -4.66940256e-03 9.99964809e-01 -4.75146500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54463044 meters 0.26896576096922026 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 9.99974953e-01 1.49452071e-03 -6.91807368e-03 2.86599975e+00] [-1.46306154e-03 9.99988577e-01 4.55021713e-03 -9.79572020e-02] [ 6.92479505e-03 -4.53998159e-03 9.99965717e-01 -4.75411535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60463044 meters 0.26979150995062834 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 9.99975974e-01 1.35966855e-03 -6.79725780e-03 2.86611897e+00] [-1.33081742e-03 9.99990095e-01 4.24724704e-03 -9.65654555e-02] [ 6.80296532e-03 -4.23809909e-03 9.99967879e-01 -4.76099497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66463044 meters 0.2701743213939448 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.10, Z:-0.48 [[ 9.99976164e-01 1.18218338e-03 -6.80249923e-03 2.86678821e+00] [-1.15582744e-03 9.99991816e-01 3.87707699e-03 -9.51429426e-02] [ 6.80702697e-03 -3.86912206e-03 9.99969347e-01 -4.77164574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72463044 meters 0.2684661400549918 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.09, Z:-0.48 [[ 9.99935050e-01 5.38082958e-03 -1.00469829e-02 2.84657723e+00] [-5.38042831e-03 9.99985523e-01 6.69684804e-05 -9.35538110e-02] [ 1.00471978e-02 -1.29070595e-05 9.99949526e-01 -4.77218617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78463044 meters 0.27015749872478023 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 9.99949469e-01 -1.96179668e-03 -9.85952974e-03 2.86665646e+00] [ 1.97245817e-03 9.99997480e-01 1.07173133e-03 -8.92730117e-02] [ 9.85740238e-03 -1.09112469e-03 9.99950819e-01 -4.75945889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84463044 meters 0.2692910443869538 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.09, Z:-0.48 [[ 9.99948774e-01 -2.08405638e-03 -9.90480172e-03 2.86629129e+00] [ 2.09166707e-03 9.99997525e-01 7.58087050e-04 -8.77168332e-02] [ 9.90319731e-03 -7.78765764e-04 9.99950659e-01 -4.75190490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90463044 meters 0.26915600509757737 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99949220e-01 -2.31101109e-03 -9.80901129e-03 2.86642237e+00] [ 2.31296511e-03 9.99997307e-01 1.87866835e-04 -8.49766176e-02] [ 9.80855072e-03 -2.10545196e-04 9.99951873e-01 -4.75862770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96463044 meters 0.26965926065943485 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99950154e-01 -2.64156904e-03 -9.62871580e-03 2.86622735e+00] [ 2.63602180e-03 9.99996352e-01 -5.88759085e-04 -8.14999895e-02] [ 9.63023592e-03 5.63348233e-04 9.99953470e-01 -4.76262591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02463044 meters 0.2682051242155347 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99948186e-01 -2.78249742e-03 -9.79202121e-03 2.86651171e+00] [ 2.77383164e-03 9.99995749e-01 -8.98453596e-04 -8.00669034e-02] [ 9.79447953e-03 8.71245625e-04 9.99951653e-01 -4.76158549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08463044 meters 0.2708573953107743 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.08, Z:-0.48 [[ 9.99970353e-01 -1.59457969e-03 -7.53325770e-03 2.90907421e+00] [ 1.58454858e-03 9.99997850e-01 -1.33735736e-03 -7.52432926e-02] [ 7.53537403e-03 1.32538090e-03 9.99970730e-01 -4.76476897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14463044 meters 0.2681436306087064 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99992895e-01 -2.67710568e-03 -2.65397631e-03 2.86816087e+00] [ 2.67746409e-03 9.99996407e-01 1.31504878e-04 -7.97022946e-02] [ 2.65361473e-03 -1.38609870e-04 9.99996470e-01 -4.80023136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20463044 meters 0.2680766855713003 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99993111e-01 -2.70671999e-03 -2.53990243e-03 2.86779978e+00] [ 2.70688261e-03 9.99996335e-01 6.05913742e-05 -7.93500967e-02] [ 2.53972911e-03 -6.74661745e-05 9.99996773e-01 -4.79811818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26463044 meters 0.26966835588601146 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.48 [[ 9.99992560e-01 -2.83922225e-03 -2.61125244e-03 2.86821735e+00] [ 2.83858690e-03 9.99995941e-01 -2.46984777e-04 -7.80721023e-02] [ 2.61194309e-03 2.39570672e-04 9.99996560e-01 -4.80261169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32463044 meters 0.26937848043888485 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99991657e-01 -3.15356497e-03 -2.59649084e-03 2.86877528e+00] [ 3.15097934e-03 9.99994536e-01 -9.99309727e-04 -7.46787692e-02] [ 2.59962804e-03 9.91119901e-04 9.99996130e-01 -4.81321102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38463044 meters 0.26922146690224275 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99991250e-01 -3.30171890e-03 -2.56874627e-03 2.86880354e+00] [ 3.29829823e-03 9.99993670e-01 -1.33474533e-03 -7.31852596e-02] [ 2.57313697e-03 1.32626116e-03 9.99995810e-01 -4.81504704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44463044 meters 0.2708127752077406 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99990591e-01 -3.42779247e-03 -2.65842538e-03 2.86921043e+00] [ 3.42350967e-03 9.99992837e-01 -1.61390991e-03 -7.20253275e-02] [ 2.66393849e-03 1.60479358e-03 9.99995164e-01 -4.81846040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50463044 meters 0.26819785472803453 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.07, Z:-0.48 [[ 9.99986266e-01 4.32214012e-03 -2.96417901e-03 2.84827312e+00] [-4.33009445e-03 9.99987028e-01 -2.68233672e-03 -7.28866382e-02] [ 2.95254712e-03 2.69513506e-03 9.99992009e-01 -4.82505195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56463044000003 meters 0.2691863567314527 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.07, Z:-0.48 [[ 9.99988317e-01 -2.98409894e-03 -3.80275362e-03 2.86800303e+00] [ 2.97705995e-03 9.99993847e-01 -1.85534210e-03 -6.55837939e-02] [ 3.80826675e-03 1.84399940e-03 9.99991048e-01 -4.80762634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62463044000003 meters 0.2676360922153044 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.06, Z:-0.48 [[ 9.99978245e-01 5.07300728e-03 -4.21596293e-03 2.84633318e+00] [-5.08454180e-03 9.99983348e-01 -2.72971613e-03 -6.44196484e-02] [ 4.20204486e-03 2.75109299e-03 9.99987387e-01 -4.81316659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68463044000003 meters 0.26930209069732497 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.48 [[ 9.99993571e-01 -2.16414849e-03 -2.85910899e-03 2.86380218e+00] [ 2.15856315e-03 9.99995759e-01 -1.95516901e-03 -5.53950349e-02] [ 2.86332814e-03 1.94898487e-03 9.99994001e-01 -4.79156976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74463044000004 meters 0.2705809958421788 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:-0.48 [[ 9.99997675e-01 9.33532418e-04 -1.94404996e-03 2.90693503e+00] [-9.36136194e-04 9.99998666e-01 -1.33887788e-03 -4.38158859e-02] [ 1.94279748e-03 1.34069466e-03 9.99997214e-01 -4.79788488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80463044000004 meters 0.26884236361259933 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:-0.48 [[ 9.99985337e-01 1.73287445e-03 -5.13063135e-03 2.86699725e+00] [-1.73379029e-03 9.99998482e-01 -1.74062946e-04 -3.34099498e-02] [ 5.13032193e-03 1.82955833e-04 9.99986823e-01 -4.81880262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86463044000004 meters 0.2685160590768995 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.03, Z:-0.48 [[ 9.99986203e-01 1.24776094e-03 -5.10268262e-03 2.86683874e+00] [-1.25444447e-03 9.99998359e-01 -1.30681726e-03 -2.82315721e-02] [ 5.10104366e-03 1.31320026e-03 9.99986127e-01 -4.81805600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92463044000004 meters 0.26829687974591443 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.02, Z:-0.48 [[ 9.99988127e-01 4.91883600e-04 -4.84803122e-03 2.86675882e+00] [-5.05944290e-04 9.99995668e-01 -2.89948898e-03 -2.05529229e-02] [ 4.84658401e-03 2.90190739e-03 9.99984045e-01 -4.82693033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98463044 meters 0.2695939634230793 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:-0.48 [[ 9.99986352e-01 -4.24289382e-03 -3.04870128e-03 2.88775781e+00] [ 4.24372394e-03 9.99990960e-01 2.65868683e-04 -1.38840498e-02] [ 3.04754566e-03 -2.78802901e-04 9.99995317e-01 -4.82814626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04463044 meters 0.26761985999468085 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.48 [[ 9.99988174e-01 3.97414704e-03 -2.80336775e-03 2.86643469e+00] [-3.97682751e-03 9.99991640e-01 -9.51237123e-04 -1.24287954e-02] [ 2.79956395e-03 9.62374383e-04 9.99995618e-01 -4.83285599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10463044 meters 0.2673397373483885 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.48 [[ 9.99988259e-01 3.76546805e-03 -3.04997803e-03 2.86715137e+00] [-3.76986938e-03 9.99991859e-01 -1.43860830e-03 -1.03089212e-02] [ 3.04453616e-03 1.45008943e-03 9.99994314e-01 -4.83591153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16463044 meters 0.2663894759155978 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.01, Z:-0.48 [[ 9.99988703e-01 3.54009621e-03 -3.17208749e-03 2.86753689e+00] [-3.54636351e-03 9.99991767e-01 -1.97232215e-03 -7.93033158e-03] [ 3.16507917e-03 1.98354924e-03 9.99993024e-01 -4.83821378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22463044 meters 0.26874590917249463 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.00, Z:-0.48 [[ 9.99993995e-01 -1.46487041e-03 -3.14068521e-03 2.88997633e+00] [ 1.46834126e-03 9.99998314e-01 1.10310695e-03 -1.06755627e-03] [ 3.13906401e-03 -1.10771193e-03 9.99994460e-01 -4.83937168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28463044 meters 0.26853746330190703 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.48 [[ 9.99993659e-01 -1.63361605e-03 -3.16447260e-03 2.89005122e+00] [ 1.63587842e-03 9.99998408e-01 7.12472136e-04 6.45266651e-04] [ 3.16330366e-03 -7.17644310e-04 9.99994739e-01 -4.83959094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34463044 meters 0.2683801819992879 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.48 [[ 9.99992858e-01 -1.80099727e-03 -3.32275772e-03 2.89037078e+00] [ 1.80213429e-03 9.99998319e-01 3.39229896e-04 2.49096266e-03] [ 3.32214118e-03 -3.45215529e-04 9.99994422e-01 -4.83890733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40463044 meters 0.267734505527945 Centerline is valid? [False, False] Translation: X:2.87, Y:0.00, Z:-0.48 [[ 9.99986581e-01 3.59860848e-03 -3.72652485e-03 2.86766912e+00] [-3.61003883e-03 9.99988786e-01 -3.06512469e-03 1.80113224e-03] [ 3.71545288e-03 3.07853646e-03 9.99988359e-01 -4.83000763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46463044 meters 0.2703759200442361 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.48 [[ 9.99995930e-01 -1.30502958e-03 -2.53718793e-03 2.89014667e+00] [ 1.30589530e-03 9.99999090e-01 3.39588715e-04 4.40370391e-03] [ 2.53674244e-03 -3.42900635e-04 9.99996724e-01 -4.83476846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52463044 meters 0.26869640494320707 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99995335e-01 -1.46973165e-03 -2.67759400e-03 2.89035049e+00] [ 1.46952796e-03 9.99998917e-01 -7.80379818e-05 6.30175298e-03] [ 2.67770580e-03 7.41028185e-05 9.99996412e-01 -4.83296708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58463044 meters 0.2691502185011472 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99994770e-01 -1.64309496e-03 -2.78554972e-03 2.89038451e+00] [ 1.64169879e-03 9.99998526e-01 -5.03432109e-04 8.14768033e-03] [ 2.78637280e-03 4.98856442e-04 9.99995994e-01 -4.82932295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64463044 meters 0.2694862735748145 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99994489e-01 -1.85255132e-03 -2.75501669e-03 2.88990758e+00] [ 1.84960395e-03 9.99997715e-01 -1.07198511e-03 1.10384765e-02] [ 2.75699630e-03 1.06688351e-03 9.99995630e-01 -4.82251718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70463044 meters 0.269567960603459 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99993817e-01 -1.99219507e-03 -2.89762271e-03 2.89037185e+00] [ 1.98811129e-03 9.99997027e-01 -1.41155260e-03 1.25250568e-02] [ 2.90042619e-03 1.40578308e-03 9.99994806e-01 -4.82523077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76463044 meters 0.2697944383354295 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99993254e-01 -2.16951567e-03 -2.96407244e-03 2.89070065e+00] [ 2.16403397e-03 9.99995945e-01 -1.85133985e-03 1.44556695e-02] [ 2.96807693e-03 1.84491301e-03 9.99993893e-01 -4.82899099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82463044 meters 0.26914731349046456 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99992778e-01 -2.37621128e-03 -2.96590536e-03 2.89025057e+00] [ 2.36913980e-03 9.99994348e-01 -2.38549689e-03 1.71087345e-02] [ 2.97155704e-03 2.37845302e-03 9.99992756e-01 -4.82143277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88463044 meters 0.270579965267658 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:-0.49 [[ 9.99990680e-01 -4.69798878e-04 -4.29166229e-03 2.89552793e+00] [ 4.66942531e-04 9.99999669e-01 -6.66535006e-04 1.75324430e-02] [ 4.29197400e-03 6.64524835e-04 9.99990569e-01 -4.85270543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94463044 meters 0.2710984230091671 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:-0.49 [[ 9.99990889e-01 -7.52648504e-04 -4.20187479e-03 2.89536873e+00] [ 7.47141782e-04 9.99998860e-01 -1.31195521e-03 2.05111068e-02] [ 4.20285744e-03 1.30880386e-03 9.99990311e-01 -4.85378119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00463044 meters 0.2709636052977888 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:-0.48 [[ 9.99990277e-01 -9.43246387e-04 -4.30764845e-03 2.89537058e+00] [ 9.35750168e-04 9.99998045e-01 -1.74189541e-03 2.25271457e-02] [ 4.30928307e-03 1.73784759e-03 9.99989205e-01 -4.84986209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06463044000003 meters 0.2710941722358319 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:-0.48 [[ 9.99989915e-01 -1.06801474e-03 -4.36226093e-03 2.89551333e+00] [ 1.05918965e-03 9.99997389e-01 -2.02486443e-03 2.37769485e-02] [ 4.36441212e-03 2.02022355e-03 9.99988435e-01 -4.84998867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12463044000003 meters 0.2694371702610146 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.48 [[ 9.99964204e-01 -7.09834452e-03 -4.60485436e-03 2.87259978e+00] [ 7.10415715e-03 9.99973987e-01 1.24715451e-03 2.61517976e-02] [ 4.59588185e-03 -1.27982347e-03 9.99988620e-01 -4.84081109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18463044000003 meters 0.26996226050951394 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.48 [[ 9.99962945e-01 -7.18284719e-03 -4.74511502e-03 2.87258314e+00] [ 7.18779107e-03 9.99973641e-01 1.02565763e-03 2.71329013e-02] [ 4.73762280e-03 -1.05972652e-03 9.99988216e-01 -4.83536387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24463044000004 meters 0.27003937688669993 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99990140e-01 1.65218310e-03 -4.12197839e-03 2.89222981e+00] [-1.65138139e-03 9.99998617e-01 1.97891328e-04 2.48932381e-02] [ 4.12229965e-03 -1.91082419e-04 9.99991485e-01 -4.82411897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30463044000004 meters 0.2692983307615063 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.48 [[ 9.99953510e-01 -7.46797071e-03 -6.09969660e-03 2.87183799e+00] [ 7.47202332e-03 9.99971878e-01 6.41876007e-04 2.40865264e-02] [ 6.09473155e-03 -6.87423242e-04 9.99981191e-01 -4.82295403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36463044000004 meters 0.26973278355823227 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99980015e-01 9.06991794e-04 -6.25678729e-03 2.89218761e+00] [-9.10787009e-04 9.99999403e-01 -6.03753004e-04 2.22238759e-02] [ 6.25623596e-03 6.09439539e-04 9.99980244e-01 -4.80230832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42463044000004 meters 0.2716331998721567 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99979229e-01 9.12843399e-04 -6.38022782e-03 2.89260821e+00] [-9.16607337e-04 9.99999408e-01 -5.87038716e-04 2.19556475e-02] [ 6.37968816e-03 5.92874686e-04 9.99979474e-01 -4.80454691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48463044 meters 0.2709674505826619 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99979452e-01 1.00804970e-03 -6.33082239e-03 2.89273350e+00] [-1.01041464e-03 9.99999421e-01 -3.70372274e-04 2.08693969e-02] [ 6.33044537e-03 3.76761419e-04 9.99979892e-01 -4.80891961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54463044 meters 0.27151496104091866 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99978536e-01 1.13104441e-03 -6.45349879e-03 2.89294048e+00] [-1.13159962e-03 9.99999356e-01 -8.23814835e-05 1.95943031e-02] [ 6.45340146e-03 8.96824921e-05 9.99979173e-01 -4.80740507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60463044 meters 0.26930593224973715 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99977671e-01 1.27058920e-03 -6.56070788e-03 2.89243411e+00] [-1.26905137e-03 9.99999166e-01 2.38557152e-04 1.81076631e-02] [ 6.56100552e-03 -2.30225949e-04 9.99978450e-01 -4.79421657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66463044 meters 0.2699850099406463 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99978177e-01 1.33315273e-03 -6.47062976e-03 2.89217689e+00] [-1.33071360e-03 9.99999042e-01 3.81245155e-04 1.74437557e-02] [ 6.47113182e-03 -3.72626280e-04 9.99978993e-01 -4.79258408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72463044 meters 0.27158980973674435 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99977522e-01 1.26556579e-03 -6.58430095e-03 2.89248750e+00] [-1.26422793e-03 9.99999179e-01 2.07346999e-04 1.83894136e-02] [ 6.58455796e-03 -1.99018281e-04 9.99978302e-01 -4.79365233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78463044 meters 0.27123031158577354 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99977402e-01 1.17801765e-03 -6.61869617e-03 2.89254530e+00] [-1.17799808e-03 9.99999306e-01 6.85430077e-06 1.93582383e-02] [ 6.61869966e-03 9.42665536e-07 9.99978096e-01 -4.79314553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84463044 meters 0.27041832534091625 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99977770e-01 1.07058241e-03 -6.58132357e-03 2.89249787e+00] [-1.07227516e-03 9.99999393e-01 -2.53681412e-04 2.04941083e-02] [ 6.58104799e-03 2.60732763e-04 9.99978311e-01 -4.79422691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90463044 meters 0.2698517816481643 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99977598e-01 1.00629079e-03 -6.61751089e-03 2.89231543e+00] [-1.00902228e-03 9.99999407e-01 -4.09440969e-04 2.12417190e-02] [ 6.61709495e-03 4.16109012e-04 9.99978020e-01 -4.78976462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96463044 meters 0.272319940838782 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99976044e-01 1.08520701e-03 -6.83627880e-03 2.89267765e+00] [-1.08651461e-03 9.99999392e-01 -1.87561620e-04 2.02939714e-02] [ 6.83607110e-03 1.94984843e-04 9.99976615e-01 -4.78699505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02463044 meters 0.2707553413831612 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99973520e-01 1.17282901e-03 -7.18216523e-03 2.89356892e+00] [-1.17212685e-03 9.99999308e-01 1.01973753e-04 1.89549458e-02] [ 7.18227986e-03 -9.35526441e-05 9.99974203e-01 -4.78926244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08463044 meters 0.2701743440037936 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99970548e-01 1.29233348e-03 -7.56528297e-03 2.89442933e+00] [-1.28827622e-03 9.99999024e-01 5.41147979e-04 1.69665499e-02] [ 7.56597493e-03 -5.31385867e-04 9.99971236e-01 -4.79010095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14463044 meters 0.2707911993061684 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99969287e-01 1.34973823e-03 -7.72029508e-03 2.89466525e+00] [-1.34448708e-03 9.99998861e-01 6.85324361e-04 1.63774388e-02] [ 7.72121129e-03 -6.74923476e-04 9.99969963e-01 -4.78765848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20463044 meters 0.2700527245602273 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968836e-01 1.35063849e-03 -7.77834019e-03 2.89439291e+00] [-1.34538456e-03 9.99998863e-01 6.80649736e-04 1.64186207e-02] [ 7.77925066e-03 -6.70163665e-04 9.99969517e-01 -4.78054678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26463044 meters 0.27113762762522975 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968514e-01 1.35710908e-03 -7.81858354e-03 2.89440801e+00] [-1.35166277e-03 9.99998840e-01 7.01828007e-04 1.63618489e-02] [ 7.81952693e-03 -6.91237821e-04 9.99969188e-01 -4.77890871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32463044 meters 0.27189655024031884 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968114e-01 1.34703206e-03 -7.87127561e-03 2.89445556e+00] [-1.34169227e-03 9.99998866e-01 6.83630545e-04 1.64738143e-02] [ 7.87218756e-03 -6.73047917e-04 9.99968787e-01 -4.77725308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38463044 meters 0.2707536850870069 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968191e-01 1.35614607e-03 -7.85987063e-03 2.89401995e+00] [-1.35067124e-03 9.99998842e-01 7.01821518e-04 1.64841516e-02] [ 7.86081329e-03 -6.91183092e-04 9.99968864e-01 -4.76995924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44463044 meters 0.2718752857930471 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968178e-01 1.32094102e-03 -7.86755425e-03 2.89407608e+00] [-1.31614191e-03 9.99998945e-01 6.15134750e-04 1.67419415e-02] [ 7.86835850e-03 -6.04760358e-04 9.99968861e-01 -4.77034757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50463044 meters 0.2716659020783348 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968493e-01 1.29255148e-03 -7.83219539e-03 2.89387981e+00] [-1.28828383e-03 9.99999019e-01 5.49905872e-04 1.70905957e-02] [ 7.83289848e-03 -5.39798455e-04 9.99969177e-01 -4.76849990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56463044000003 meters 0.2733883512043366 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.48 [[ 9.99968227e-01 1.19630448e-03 -7.88119167e-03 2.89382869e+00] [-1.19386049e-03 9.99999238e-01 3.14801767e-04 1.82607034e-02] [ 7.88156226e-03 -3.05382721e-04 9.99968893e-01 -4.76575340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62463044000003 meters 0.27123280089184537 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.48 [[ 0.999939 -0.00484991 -0.00992354 2.87147614] [ 0.00488408 0.99998222 0.00342195 0.01700915] [ 0.00990676 -0.00347021 0.99994491 -0.47500672] [ 0. 0. 0. 1. ]] SLAMing on 322.68463044000003 meters 0.27229319825808423 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.47 [[ 0.99993797 -0.00497088 -0.0099669 2.87152508] [ 0.00500238 0.99998256 0.00313843 0.01834075] [ 0.00995113 -0.00318809 0.9999454 -0.47495478] [ 0. 0. 0. 1. ]] SLAMing on 322.74463044000004 meters 0.2726532168281704 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.47 [[ 9.99966108e-01 3.18090403e-03 -7.59367379e-03 2.89024944e+00] [-3.16915097e-03 9.99993763e-01 1.55927490e-03 2.08660078e-02] [ 7.59858633e-03 -1.53515655e-03 9.99969952e-01 -4.73668259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80463044000004 meters 0.2723199659001407 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.47 [[ 9.99966272e-01 3.00686974e-03 -7.64293543e-03 2.89005710e+00] [-2.99811461e-03 9.99994837e-01 1.15671830e-03 2.28093926e-02] [ 7.64637407e-03 -1.13376489e-03 9.99970123e-01 -4.73190821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86463044000004 meters 0.2746919026104084 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.47 [[ 9.99966234e-01 3.01629258e-03 -7.64414482e-03 2.88990882e+00] [-3.00732216e-03 9.99994776e-01 1.18472541e-03 2.27502745e-02] [ 7.64767837e-03 -1.16169700e-03 9.99970081e-01 -4.72900228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92463044000004 meters 0.27251919812290903 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.47 [[ 9.99965301e-01 3.09062416e-03 -7.73589877e-03 2.89001209e+00] [-3.08017510e-03 9.99994328e-01 1.36227352e-03 2.19928333e-02] [ 7.74006517e-03 -1.33839833e-03 9.99969150e-01 -4.72682549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98463044 meters 0.2718834702926244 Centerline is valid? [False, False] Translation: X:2.87, Y:0.02, Z:-0.47 [[ 9.99927275e-01 -5.49978592e-03 -1.07330214e-02 2.87261644e+00] [ 5.53052590e-03 9.99980684e-01 2.83648097e-03 1.76290539e-02] [ 1.07172140e-02 -2.89563394e-03 9.99938376e-01 -4.73974441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04463044 meters 0.27141444154367683 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99975071e-01 -4.66439821e-04 -7.04561972e-03 2.85916600e+00] [ 4.75336287e-04 9.99999092e-01 1.26107279e-03 1.30520782e-02] [ 7.04502511e-03 -1.26439039e-03 9.99974384e-01 -4.79446457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10463044 meters 0.2730063924181347 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.48 [[ 9.99968933e-01 6.19742732e-03 -4.87087854e-03 2.87972172e+00] [-6.20383857e-03 9.99979908e-01 -1.30223645e-03 1.27365307e-02] [ 4.86271016e-03 1.33241413e-03 9.99987289e-01 -4.79446255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16463044 meters 0.27310559257330214 Centerline is valid? [False, False] Translation: X:2.90, Y:0.02, Z:-0.48 [[ 9.99983073e-01 -1.84225159e-03 -5.51898477e-03 2.89935357e+00] [ 1.84004703e-03 9.99998225e-01 -4.04500743e-04 1.76326374e-02] [ 5.51972017e-03 3.94338705e-04 9.99984688e-01 -4.78024745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22463044 meters 0.2720169709996703 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.48 [[ 9.99972277e-01 -1.93417376e-03 -7.19057416e-03 2.85633920e+00] [ 1.93465271e-03 9.99998127e-01 5.96531541e-05 1.53346796e-02] [ 7.19044532e-03 -7.35627641e-05 9.99974146e-01 -4.77924218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28463044 meters 0.27305149938191603 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.48 [[ 9.99959987e-01 6.35421585e-03 -6.29667676e-03 2.87648250e+00] [-6.36334934e-03 9.99978729e-01 -1.43155317e-03 1.62003025e-02] [ 6.28744642e-03 1.47156385e-03 9.99979151e-01 -4.76371625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34463044 meters 0.27376639800914715 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-0.48 [[ 9.99958599e-01 6.43848350e-03 -6.43015298e-03 2.87685332e+00] [-6.44644534e-03 9.99978479e-01 -1.21824563e-03 1.51859744e-02] [ 6.42217094e-03 1.25964682e-03 9.99978584e-01 -4.76475554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40463044 meters 0.27116012919066246 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.47 [[ 9.99974599e-01 -3.77384210e-03 -6.04637860e-03 2.85296862e+00] [ 3.76824470e-03 9.99992461e-01 -9.36869116e-04 9.91547843e-03] [ 6.04986861e-03 9.14061085e-04 9.99981282e-01 -4.74930416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46463044 meters 0.2708522276850024 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-0.47 [[ 9.99975437e-01 -3.46094368e-03 -6.09491425e-03 2.85255442e+00] [ 3.46106282e-03 9.99994010e-01 8.99955235e-06 5.79217577e-03] [ 6.09484660e-03 -3.00942124e-05 9.99981426e-01 -4.73884445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52463044 meters 0.2708677942874877 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.47 [[ 9.99975294e-01 -3.13408319e-03 -6.29198417e-03 2.85280261e+00] [ 3.13959108e-03 9.99994697e-01 8.65694696e-04 2.10728109e-03] [ 6.28923764e-03 -8.85427565e-04 9.99979831e-01 -4.73466201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58463044 meters 0.27073428497783975 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.48 [[ 9.99975196e-01 4.20427818e-03 -5.65086842e-03 2.83382004e+00] [-4.20431543e-03 9.99991162e-01 5.28855898e-06 -7.45372968e-03] [ 5.65084071e-03 1.84696055e-05 9.99984034e-01 -4.75586465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64463044 meters 0.27079990361612527 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.48 [[ 9.99975687e-01 4.21360170e-03 -5.55613561e-03 2.83363615e+00] [-4.21345190e-03 9.99991123e-01 3.86657733e-05 -7.63259135e-03] [ 5.55624921e-03 -1.52543230e-05 9.99984564e-01 -4.75577259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70463044 meters 0.2716273861781239 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.48 [[ 9.99976148e-01 4.18010785e-03 -5.49826425e-03 2.83330035e+00] [-4.18043340e-03 9.99991261e-01 -4.77181870e-05 -7.23074387e-03] [ 5.49801673e-03 7.07021763e-05 9.99984883e-01 -4.75215152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76463044 meters 0.27400584338299505 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.00, Z:-0.48 [[ 9.99971759e-01 -4.04975233e-03 -6.33088573e-03 2.85448878e+00] [ 4.05085107e-03 9.99991782e-01 1.60739737e-04 -8.04556413e-04] [ 6.33018275e-03 -1.86380673e-04 9.99979947e-01 -4.75297786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82463044 meters 0.27099504369404714 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.48 [[ 9.99972070e-01 -4.18305776e-03 -6.19369162e-03 2.85405686e+00] [ 4.18221203e-03 9.99991243e-01 -1.49493341e-04 6.62183459e-04] [ 6.19426273e-03 1.23585834e-04 9.99980808e-01 -4.75141873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88463044 meters 0.27162049404499083 Centerline is valid? [False, False] Translation: X:2.85, Y:0.00, Z:-0.47 [[ 9.99972408e-01 -4.26516343e-03 -6.08202720e-03 2.85338154e+00] [ 4.26293066e-03 9.99990841e-01 -3.80025739e-04 1.81545729e-03] [ 6.08359237e-03 3.54087994e-04 9.99981432e-01 -4.74381058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94463044 meters 0.2712493124735127 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-0.48 [[ 9.99972350e-01 3.27336199e-03 -6.67721877e-03 2.83498136e+00] [-3.28524924e-03 9.99993037e-01 -1.77007848e-03 -2.19644523e-03] [ 6.67137817e-03 1.79196586e-03 9.99976141e-01 -4.76123570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00463044 meters 0.2721155359984277 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99974464e-01 -2.58325240e-03 -6.66316048e-03 2.85777194e+00] [ 2.58931242e-03 9.99996242e-01 9.01014165e-04 7.99175733e-04] [ 6.66080790e-03 -9.18244161e-04 9.99977395e-01 -4.77054757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06463044000003 meters 0.2703689807643302 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.48 [[ 9.99954341e-01 4.99760103e-03 -8.14493164e-03 2.83898085e+00] [-5.00016238e-03 9.99987456e-01 -2.94138926e-04 -2.18215772e-03] [ 8.14335948e-03 3.34851477e-04 9.99966786e-01 -4.78472309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12463044000003 meters 0.27043836171092983 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.48 [[ 9.99953245e-01 5.09095900e-03 -8.22127510e-03 2.83895096e+00] [-5.09164807e-03 9.99987035e-01 -6.28872666e-05 -3.20997463e-03] [ 8.22084836e-03 1.04744166e-04 9.99966203e-01 -4.78081952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18463044000003 meters 0.2702927991769907 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-0.48 [[ 9.99951598e-01 5.23252547e-03 -8.33203759e-03 2.83885670e+00] [-5.22927779e-03 9.99986243e-01 4.11519393e-04 -5.42079640e-03] [ 8.33407624e-03 -3.67928935e-04 9.99965203e-01 -4.77466514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24463044000004 meters 0.2700508005707681 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-0.48 [[ 9.99951155e-01 5.43361769e-03 -8.25612108e-03 2.83835298e+00] [-5.42571316e-03 9.99984801e-01 9.79511316e-04 -7.85115841e-03] [ 8.26131788e-03 -9.34668127e-04 9.99965438e-01 -4.76793273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30463044000004 meters 0.26828412128370893 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-0.48 [[ 9.99943007e-01 -3.95348469e-03 -9.91732186e-03 2.81779199e+00] [ 3.97294675e-03 9.99990219e-01 1.94349829e-03 -1.34319318e-02] [ 9.90954127e-03 -1.98278851e-03 9.99948933e-01 -4.76485930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36463044000004 meters 0.26975052878352873 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.48 [[ 9.99949145e-01 2.61489209e-03 -9.74012946e-03 2.84135347e+00] [-2.62127830e-03 9.99996358e-01 -6.42951915e-04 -1.61121889e-02] [ 9.73841273e-03 6.68450808e-04 9.99952357e-01 -4.77755920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42463044000004 meters 0.2705409014455773 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.48 [[ 9.99947937e-01 2.76230670e-03 -9.82308095e-03 2.84136073e+00] [-2.76543315e-03 9.99996130e-01 -3.04707572e-04 -1.76966221e-02] [ 9.82220124e-03 3.31856781e-04 9.99951706e-01 -4.77402044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48463044 meters 0.269888024395599 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.48 [[ 9.99948985e-01 2.83001015e-03 -9.69635569e-03 2.84073388e+00] [-2.83196206e-03 9.99995972e-01 -1.87578876e-04 -1.79945164e-02] [ 9.69578578e-03 2.15029018e-04 9.99952972e-01 -4.76805799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54463044 meters 0.2708357298441132 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.48 [[ 9.99946404e-01 -4.91171891e-03 -9.11399755e-03 2.86052790e+00] [ 4.91706454e-03 9.99987752e-01 5.64214806e-04 -1.18370080e-02] [ 9.11111466e-03 -6.08998680e-04 9.99958307e-01 -4.76612399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60463044 meters 0.2722330315514712 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:-0.48 [[ 9.99960660e-01 5.27528067e-03 -7.13096470e-03 2.88079857e+00] [-5.27194968e-03 9.99985985e-01 4.85833208e-04 -6.41025817e-03] [ 7.13342767e-03 -4.48220008e-04 9.99974456e-01 -4.76384282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66463044 meters 0.2714248444905714 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.48 [[ 9.99965917e-01 -3.46014824e-03 -7.49615728e-03 2.86155300e+00] [ 3.46994117e-03 9.99993143e-01 1.29378127e-03 -2.01160342e-03] [ 7.49162920e-03 -1.31974840e-03 9.99971066e-01 -4.77843125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72463044 meters 0.27177960868216783 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.48 [[ 9.99965518e-01 -3.55862610e-03 -7.50329641e-03 2.86148192e+00] [ 3.56659987e-03 9.99993089e-01 1.04958984e-03 -9.23106019e-04] [ 7.49950946e-03 -1.07631491e-03 9.99971299e-01 -4.77713749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78463044 meters 0.2711294420679485 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99967917e-01 -3.60891701e-03 -7.15123355e-03 2.86037984e+00] [ 3.61501493e-03 9.99993113e-01 8.39966775e-04 5.07656628e-04] [ 7.14815293e-03 -8.65791643e-04 9.99974077e-01 -4.77119003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84463044 meters 0.2688301163223477 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99967609e-01 -3.66189013e-03 -7.16743087e-03 2.86035696e+00] [ 3.66710479e-03 9.99993021e-01 7.14542535e-04 1.05808239e-03] [ 7.16476428e-03 -7.40803110e-04 9.99974058e-01 -4.77005314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90463044 meters 0.2701983577353103 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99967200e-01 -3.82940649e-03 -7.13680276e-03 2.86043998e+00] [ 3.83191520e-03 9.99992601e-01 3.37876657e-04 2.80793916e-03] [ 7.13545609e-03 -3.65213198e-04 9.99974476e-01 -4.77296211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96463044 meters 0.268996247882976 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99966184e-01 -3.98873860e-03 -7.19165470e-03 2.86084656e+00] [ 3.98855446e-03 9.99992045e-01 -3.99468823e-05 4.56424370e-03] [ 7.19175682e-03 1.12612250e-05 9.99974139e-01 -4.77841031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02463044 meters 0.26971515947885866 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99964565e-01 -4.08422510e-03 -7.36121914e-03 2.86153125e+00] [ 4.08238093e-03 9.99991632e-01 -2.65533144e-04 5.41791579e-03] [ 7.36224204e-03 2.35472434e-04 9.99972871e-01 -4.78407420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08463044 meters 0.26876554780895956 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99965302e-01 -4.06253711e-03 -7.27264447e-03 2.86078872e+00] [ 4.06068585e-03 9.99991719e-01 -2.69299048e-04 6.06158586e-03] [ 7.27367828e-03 2.39757779e-04 9.99973518e-01 -4.77483186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14463044 meters 0.26697853239402825 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.48 [[ 9.99977019e-01 4.00653794e-03 -5.46889869e-03 2.83939561e+00] [-4.01192647e-03 9.99991477e-01 -9.74690798e-04 2.02838594e-03] [ 5.46494694e-03 9.96609218e-04 9.99984570e-01 -4.78254267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20463044 meters 0.26766905824903847 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.48 [[ 9.99977190e-01 3.93587752e-03 -5.48890955e-03 2.83979457e+00] [-3.94217664e-03 9.99991583e-01 -1.13726136e-03 2.74928502e-03] [ 5.48438723e-03 1.15887368e-03 9.99984289e-01 -4.78902887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26463044 meters 0.2696260493329221 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.48 [[ 9.99962488e-01 -2.03986539e-03 -8.41790883e-03 2.86664658e+00] [ 2.04865922e-03 9.99997365e-01 1.03616662e-03 6.86614099e-03] [ 8.41577301e-03 -1.05337318e-03 9.99964032e-01 -4.81277669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32463044 meters 0.2699352685004523 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.48 [[ 9.99962240e-01 -2.13452595e-03 -8.42390221e-03 2.86688005e+00] [ 2.14141687e-03 9.99997380e-01 8.09085509e-04 7.84952750e-03] [ 8.42215312e-03 -8.27094044e-04 9.99964191e-01 -4.81682034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38463044 meters 0.27030025890617665 Centerline is valid? [False, False] Translation: X:2.87, Y:0.01, Z:-0.48 [[ 9.99963380e-01 -2.28993636e-03 -8.24592173e-03 2.86604744e+00] [ 2.29330856e-03 9.99997291e-01 3.99521529e-04 9.98020301e-03] [ 8.24498451e-03 -4.18417341e-04 9.99965922e-01 -4.80975030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44463044 meters 0.2689265321520939 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.48 [[ 9.99958617e-01 5.93705807e-03 -6.89308678e-03 2.84411440e+00] [-5.93862562e-03 9.99982345e-01 -2.06963133e-04 6.54571340e-03] [ 6.89173633e-03 2.47890030e-04 9.99976221e-01 -4.81279274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50463044 meters 0.2706480949719788 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99981320e-01 -1.59139066e-03 -5.90152602e-03 2.86368348e+00] [ 1.59689996e-03 9.99998293e-01 9.28943088e-04 1.06876853e-02] [ 5.90003763e-03 -9.38349882e-04 9.99982154e-01 -4.79707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56463044000003 meters 0.2675152681524606 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.48 [[ 9.99973547e-01 3.17588818e-03 -6.54367136e-03 2.84062854e+00] [-3.19318742e-03 9.99991430e-01 -2.63490896e-03 8.10525918e-03] [ 6.53524711e-03 2.65573442e-03 9.99975119e-01 -4.79008216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62463044000003 meters 0.2672679213888652 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.48 [[ 9.99971149e-01 3.43554512e-03 -6.77480936e-03 2.84139898e+00] [-3.44859958e-03 9.99992218e-01 -1.91617124e-03 4.77038929e-03] [ 6.76817354e-03 1.93947956e-03 9.99975215e-01 -4.79418383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68463044000003 meters 0.26803948390866983 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99969227e-01 -4.51608695e-03 -6.41486573e-03 2.86269331e+00] [ 4.51049682e-03 9.99989435e-01 -8.85635036e-04 4.91156238e-03] [ 6.41879757e-03 8.56673551e-04 9.99979032e-01 -4.78325281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74463044000004 meters 0.2671731036123901 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99969680e-01 -4.48158243e-03 -6.36817477e-03 2.86244937e+00] [ 4.47657733e-03 9.99989660e-01 -7.99992015e-04 4.61111507e-03] [ 6.37169416e-03 7.71460132e-04 9.99979403e-01 -4.78069935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80463044000004 meters 0.26782116509868614 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99971891e-01 -4.57930519e-03 -5.93689361e-03 2.86147929e+00] [ 4.57221110e-03 9.99988818e-01 -1.20793849e-03 6.61505419e-03] [ 5.94235874e-03 1.18075981e-03 9.99981647e-01 -4.78023047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86463044000004 meters 0.2686538188057013 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99971463e-01 -4.71138026e-03 -5.90554542e-03 2.86122817e+00] [ 4.70223142e-03 9.99987724e-01 -1.56212295e-03 8.16513909e-03] [ 5.91283268e-03 1.53430913e-03 9.99981342e-01 -4.77760666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92463044000004 meters 0.26798357882560914 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99972331e-01 -4.54633997e-03 -5.88792684e-03 2.86134517e+00] [ 4.53948162e-03 9.99989003e-01 -1.17765610e-03 6.29572714e-03] [ 5.89321612e-03 1.15089538e-03 9.99981973e-01 -4.77998842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98463044 meters 0.2675758088974937 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99973549e-01 -4.35245163e-03 -5.82729176e-03 2.86132100e+00] [ 4.34852021e-03 9.99990309e-01 -6.87157194e-04 4.07614071e-03] [ 5.83022611e-03 6.61798922e-04 9.99982785e-01 -4.78136757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04463044 meters 0.26788955725437885 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99973649e-01 -4.26444333e-03 -5.87498955e-03 2.86168644e+00] [ 4.26168360e-03 9.99990803e-01 -4.82181735e-04 3.09052675e-03] [ 5.87699175e-03 4.57131683e-04 9.99982626e-01 -4.78584298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10463044 meters 0.2673250462320347 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99973544e-01 -4.33901065e-03 -5.83814350e-03 2.86193141e+00] [ 4.33525556e-03 9.99990388e-01 -6.55700775e-04 3.92694075e-03] [ 5.84093247e-03 6.30373584e-04 9.99982743e-01 -4.79197529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16463044 meters 0.26836391389587 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99974022e-01 -4.44477506e-03 -5.67438079e-03 2.86136889e+00] [ 4.43955720e-03 9.99989711e-01 -9.31812285e-04 5.26478773e-03] [ 5.67846410e-03 9.06596340e-04 9.99983466e-01 -4.78887452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22463044 meters 0.267826231079174 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99974767e-01 -4.54213185e-03 -5.46199788e-03 2.86091012e+00] [ 4.53583888e-03 9.99989036e-01 -1.16397473e-03 6.27383399e-03] [ 5.46722491e-03 1.13917062e-03 9.99984406e-01 -4.78968580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28463044 meters 0.26785122440142906 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99975368e-01 -4.52928386e-03 -5.36180222e-03 2.86078864e+00] [ 4.52324037e-03 9.99989122e-01 -1.13872812e-03 6.15556806e-03] [ 5.36690152e-03 1.11444735e-03 9.99984977e-01 -4.79120251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34463044 meters 0.2675042237991216 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99975912e-01 -4.38444474e-03 -5.38077953e-03 2.86076220e+00] [ 4.38022744e-03 9.99990090e-01 -7.95305576e-04 4.60784564e-03] [ 5.38421319e-03 7.71717380e-04 9.99985207e-01 -4.78962434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40463044 meters 0.266466924745303 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99975742e-01 -4.22464766e-03 -5.53787189e-03 2.86139859e+00] [ 4.22252309e-03 9.99991007e-01 -3.95279113e-04 2.65666369e-03] [ 5.53949200e-03 3.71885732e-04 9.99984588e-01 -4.79390830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46463044 meters 0.26477474202666346 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.48 [[ 9.99974479e-01 3.40412267e-03 -6.28111254e-03 2.84312657e+00] [-3.41337071e-03 9.99993105e-01 -1.46222484e-03 -3.13305327e-03] [ 6.27609164e-03 1.48362729e-03 9.99979205e-01 -4.81540667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52463044 meters 0.2662464487906275 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99975858e-01 -4.01708815e-03 -5.66981627e-03 2.86230633e+00] [ 4.01647767e-03 9.99991927e-01 -1.19054330e-04 1.97030911e-03] [ 5.67024875e-03 9.62787654e-05 9.99983919e-01 -4.80527300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58463044 meters 0.26901456809423263 Centerline is valid? [False, False] Translation: X:2.88, Y:0.00, Z:-0.48 [[ 9.99987527e-01 3.48822055e-03 -3.57473125e-03 2.88246672e+00] [-3.49598318e-03 9.99991540e-01 -2.16758397e-03 2.43303300e-03] [ 3.56714000e-03 2.18005413e-03 9.99991261e-01 -4.80919306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64463044 meters 0.2670677342675496 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99974624e-01 -4.84869647e-03 -5.21931917e-03 2.86331248e+00] [ 4.84419809e-03 9.99987885e-01 -8.74169039e-04 2.97203110e-03] [ 5.22349452e-03 8.48863441e-04 9.99985997e-01 -4.81903429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70463044 meters 0.26806793568381365 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.48 [[ 9.99970150e-01 4.53694809e-03 -6.25423145e-03 2.88737431e+00] [-4.54581526e-03 9.99988682e-01 -1.40430233e-03 3.98528102e-03] [ 6.24778941e-03 1.43269099e-03 9.99979456e-01 -4.82571262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76463044 meters 0.26825587589371763 Centerline is valid? [False, False] Translation: X:2.89, Y:0.00, Z:-0.48 [[ 9.99970735e-01 4.44753560e-03 -6.22476951e-03 2.88746366e+00] [-4.45758332e-03 9.99988783e-01 -1.60120868e-03 4.86800584e-03] [ 6.21757826e-03 1.62890925e-03 9.99979344e-01 -4.82872521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82463044 meters 0.268197143652282 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-0.48 [[ 9.99971760e-01 4.31153673e-03 -6.15546179e-03 2.88718802e+00] [-4.32337682e-03 9.99988827e-01 -1.91150025e-03 6.39327830e-03] [ 6.14715151e-03 1.93805865e-03 9.99979228e-01 -4.82727258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88463044 meters 0.26897183175431905 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:-0.48 [[ 9.99987015e-01 -2.76739311e-03 -4.27912918e-03 2.90492374e+00] [ 2.76577960e-03 9.99996102e-01 -3.82936672e-04 1.10097783e-02] [ 4.28017223e-03 3.71096571e-04 9.99990771e-01 -4.80403920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94463044 meters 0.2676008789182137 Centerline is valid? [False, False] Translation: X:2.90, Y:0.01, Z:-0.48 [[ 9.99987043e-01 -2.82171135e-03 -4.23701963e-03 2.90464367e+00] [ 2.81957078e-03 9.99995894e-01 -5.11093892e-04 1.15745352e-02] [ 4.23844439e-03 4.99140693e-04 9.99990893e-01 -4.80113831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00463044 meters 0.2647507329451248 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99968879e-01 -4.00963139e-03 -6.79441759e-03 2.86312833e+00] [ 4.00372703e-03 9.99991596e-01 -8.82380657e-04 9.11670054e-03] [ 6.79789851e-03 8.55150203e-04 9.99976528e-01 -4.80994185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06463044000003 meters 0.2663202435429529 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99967827e-01 -3.98223500e-03 -6.96320823e-03 2.86339720e+00] [ 3.97657279e-03 9.99991752e-01 -8.26817800e-04 8.80338336e-03] [ 6.96644338e-03 7.99101495e-04 9.99975415e-01 -4.80736865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12463044000003 meters 0.2660088530122812 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99966847e-01 -3.99474771e-03 -7.09554087e-03 2.86367419e+00] [ 3.98874376e-03 9.99991675e-01 -8.60107649e-04 8.92084235e-03] [ 7.09891771e-03 8.31776840e-04 9.99974456e-01 -4.80680299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18463044000003 meters 0.26669247316658146 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99967335e-01 -4.13726823e-03 -6.94343195e-03 2.86345300e+00] [ 4.12911888e-03 9.99990770e-01 -1.18760392e-03 1.04147020e-02] [ 6.94828130e-03 1.15889487e-03 9.99975189e-01 -4.80934772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24463044000004 meters 0.2672334566562292 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99967305e-01 -4.30223377e-03 -6.84691071e-03 2.86323773e+00] [ 4.29154772e-03 9.99989552e-01 -1.57463910e-03 1.22215408e-02] [ 6.85361364e-03 1.54520377e-03 9.99975320e-01 -4.80986697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30463044000004 meters 0.26684113021450806 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.48 [[ 9.99965539e-01 -4.58636070e-03 -6.92004905e-03 2.86365437e+00] [ 4.57030543e-03 9.99986832e-01 -2.33414106e-03 1.55773159e-02] [ 6.93066314e-03 2.30243388e-03 9.99973332e-01 -4.81522976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36463044000004 meters 0.26802067446435013 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.48 [[ 9.99964186e-01 -4.72324326e-03 -7.02270812e-03 2.86407976e+00] [ 4.70474522e-03 9.99985426e-01 -2.64822452e-03 1.69408255e-02] [ 7.03511398e-03 2.61508962e-03 9.99971834e-01 -4.81891802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42463044000004 meters 0.2679943268597556 Centerline is valid? [False, False] Translation: X:2.86, Y:0.02, Z:-0.48 [[ 9.99973119e-01 -3.86429643e-04 -7.32206473e-03 2.86474944e+00] [ 3.98533417e-04 9.99998557e-01 1.65166771e-03 1.64096015e-02] [ 7.32141590e-03 -1.65454140e-03 9.99971829e-01 -4.81895829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48463044 meters 0.26565818958241616 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99972780e-01 -2.58995269e-04 -7.37375373e-03 2.86445296e+00] [ 2.73663654e-04 9.99997986e-01 1.98833019e-03 1.46957106e-02] [ 7.37322391e-03 -1.99029399e-03 9.99970837e-01 -4.81164564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54463044 meters 0.26661813063181367 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99971101e-01 -4.22105581e-05 -7.60230484e-03 2.86477002e+00] [ 6.13794309e-05 9.99996820e-01 2.52123975e-03 1.23766807e-02] [ 7.60217424e-03 -2.52163351e-03 9.99967924e-01 -4.80750053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60463044 meters 0.26525061650833914 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-0.48 [[ 9.99970464e-01 4.74872578e-03 -6.04328679e-03 2.84158140e+00] [-4.75420841e-03 9.99988300e-01 -8.93183676e-04 6.48679297e-03] [ 6.03897460e-03 9.21888339e-04 9.99981340e-01 -4.80891745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66463044 meters 0.26487278110744894 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-0.48 [[ 9.99968724e-01 5.01611145e-03 -6.11471863e-03 2.84142667e+00] [-5.01772280e-03 9.99987380e-01 -2.48206914e-04 3.72281694e-03] [ 6.11339643e-03 2.78881114e-04 9.99981274e-01 -4.80289303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72463044 meters 0.26520221441322284 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.48 [[ 9.99980609e-01 1.18086466e-03 -6.11447681e-03 2.84138343e+00] [-1.20158914e-03 9.99993543e-01 -3.38684781e-03 -1.26828210e-03] [ 6.11043792e-03 3.39412923e-03 9.99975571e-01 -4.80116347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78463044 meters 0.26647584717178885 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.48 [[ 9.99985608e-01 -4.37694595e-03 -3.10245129e-03 2.86201345e+00] [ 4.37656620e-03 9.99990414e-01 -1.29181924e-04 -7.20742731e-03] [ 3.10298698e-03 1.15601981e-04 9.99995179e-01 -4.80424704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84463044 meters 0.26866791978344595 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.48 [[ 9.99987785e-01 -3.86228521e-03 -3.08437988e-03 2.86231080e+00] [ 3.86538447e-03 9.99992030e-01 9.99497503e-04 -1.21952825e-02] [ 3.08049495e-03 -1.01140761e-03 9.99994744e-01 -4.80842573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90463044 meters 0.2677541389771475 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.48 [[ 9.99988237e-01 -3.62218591e-03 -3.22587484e-03 2.86294596e+00] [ 3.62710147e-03 9.99992268e-01 1.51924643e-03 -1.47484413e-02] [ 3.22034690e-03 -1.53092913e-03 9.99993643e-01 -4.81269253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96463044 meters 0.26693504318342176 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.48 [[ 9.99988527e-01 -3.46242760e-03 -3.31031367e-03 2.86327704e+00] [ 3.46868367e-03 9.99992206e-01 1.88600354e-03 -1.64341062e-02] [ 3.30375772e-03 -1.89746433e-03 9.99992742e-01 -4.81434620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02463044 meters 0.26769781543211507 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.48 [[ 9.99989670e-01 -3.17904941e-03 -3.24865283e-03 2.86354527e+00] [ 3.18720989e-03 9.99991771e-01 2.50987407e-03 -1.94077170e-02] [ 3.24064709e-03 -2.52020228e-03 9.99991573e-01 -4.82022582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08463044 meters 0.26759271344187835 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.02, Z:-0.48 [[ 0.99999014 -0.00302723 -0.00324993 2.86378335] [ 0.00303656 0.99999128 0.0028685 -0.02100381] [ 0.00324121 -0.00287834 0.9999906 -0.482406 ] [ 0. 0. 0. 1. ]] SLAMing on 328.14463044 meters 0.26883133540866 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99992949e-01 2.91758704e-03 -2.36426530e-03 2.88593471e+00] [-2.91895237e-03 9.99995575e-01 -5.74240183e-04 -2.14162356e-02] [ 2.36257944e-03 5.81137312e-04 9.99997040e-01 -4.82568928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20463044 meters 0.2677227171473956 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99992544e-01 3.01268769e-03 -2.41589354e-03 2.88617029e+00] [-3.01350329e-03 9.99995404e-01 -3.34029645e-04 -2.24510777e-02] [ 2.41487610e-03 3.41307458e-04 9.99997026e-01 -4.82752479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26463044 meters 0.2677276234724012 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99991227e-01 3.16325857e-03 -2.74571161e-03 2.88690846e+00] [-3.16299068e-03 9.99994993e-01 1.01904579e-04 -2.43669030e-02] [ 2.74602021e-03 -9.32190248e-05 9.99996225e-01 -4.82790966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32463044 meters 0.2677015681751957 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99991099e-01 3.16186098e-03 -2.79378906e-03 2.88704919e+00] [-3.16157891e-03 9.99994997e-01 1.05372423e-04 -2.43295447e-02] [ 2.79410826e-03 -9.65387008e-05 9.99996092e-01 -4.82839034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38463044 meters 0.267826117082226 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99991612e-01 2.96836769e-03 -2.82208810e-03 2.88714846e+00] [-2.96938614e-03 9.99995528e-01 -3.56765818e-04 -2.22219687e-02] [ 2.82101646e-03 3.65142695e-04 9.99995954e-01 -4.82953240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44463044 meters 0.2678232097838637 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.02, Z:-0.48 [[ 9.99992689e-01 2.65298445e-03 -2.75399508e-03 2.88672615e+00] [-2.65638897e-03 9.99995711e-01 -1.23329163e-03 -1.83271857e-02] [ 2.75071136e-03 1.24059830e-03 9.99995447e-01 -4.82543264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50463044 meters 0.27027293244340667 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:-0.48 [[ 9.99988188e-01 -4.55418529e-03 -1.69781195e-03 2.90438458e+00] [ 4.55350897e-03 9.99989552e-01 -4.02001442e-04 -8.85734396e-03] [ 1.69962500e-03 3.94265691e-04 9.99998478e-01 -4.80400054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56463044000003 meters 0.2671967812354245 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:-0.48 [[ 9.99987791e-01 -4.68467197e-03 -1.57194044e-03 2.90400410e+00] [ 4.68356794e-03 9.99988783e-01 -7.05283465e-04 -7.48826129e-03] [ 1.57522683e-03 6.97912565e-04 9.99998516e-01 -4.80228447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62463044000003 meters 0.26684670602236626 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:-0.48 [[ 9.99987497e-01 -4.75649457e-03 -1.54317097e-03 2.90354928e+00] [ 4.75513143e-03 9.99988302e-01 -8.85807527e-04 -6.67652026e-03] [ 1.54736625e-03 8.78458471e-04 9.99998417e-01 -4.79548216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68463044000003 meters 0.26655720688326007 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.01, Z:-0.48 [[ 9.99986996e-01 -4.86516780e-03 -1.52928640e-03 2.90350044e+00] [ 4.86344536e-03 9.99987537e-01 -1.12800687e-03 -5.55420780e-03] [ 1.53475529e-03 1.12055460e-03 9.99998194e-01 -4.79508648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74463044000004 meters 0.26689392114843624 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.48 [[ 9.99986328e-01 -5.00161898e-03 -1.52540281e-03 2.90372004e+00] [ 4.99940684e-03 9.99986451e-01 -1.45057899e-03 -4.15330720e-03] [ 1.53263739e-03 1.44293305e-03 9.99997784e-01 -4.79946298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80463044000004 meters 0.26773999932456355 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.48 [[ 9.99998379e-01 -7.13797853e-04 -1.65273687e-03 2.90395705e+00] [ 7.18343914e-04 9.99995956e-01 2.75166805e-03 -4.42181456e-03] [ 1.65076605e-03 -2.75285082e-03 9.99994848e-01 -4.79875579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86463044000004 meters 0.26868644715794443 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.48 [[ 9.99998266e-01 -8.40156147e-04 -1.66176887e-03 2.90439981e+00] [ 8.44255520e-04 9.99996599e-01 2.46771200e-03 -3.10585922e-03] [ 1.65968996e-03 -2.46911068e-03 9.99995574e-01 -4.80605689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92463044000004 meters 0.2700687555414041 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.00, Z:-0.48 [[ 9.99998144e-01 -8.33567103e-04 -1.73722658e-03 2.90495979e+00] [ 8.37887077e-04 9.99996555e-01 2.48746446e-03 -3.33155781e-03] [ 1.73514712e-03 -2.48891544e-03 9.99995397e-01 -4.81298430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98463044 meters 0.2674166865270301 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:-0.48 [[ 9.99976585e-01 6.83770284e-03 2.74318139e-04 2.88424921e+00] [-6.83821408e-03 9.99974799e-01 1.90815441e-03 -1.12369844e-02] [-2.61263833e-04 -1.90998558e-03 9.99998142e-01 -4.82144278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04463044 meters 0.2669591286814276 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:-0.48 [[ 9.99996799e-01 2.49437280e-03 4.23509010e-04 2.88393645e+00] [-2.49332198e-03 9.99993856e-01 -2.46387303e-03 -1.04009046e-02] [-4.29652226e-04 2.46280920e-03 9.99996875e-01 -4.82254879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10463044 meters 0.2678362246845003 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:-0.48 [[ 9.99996718e-01 2.53180914e-03 3.91756560e-04 2.88460502e+00] [-2.53087581e-03 9.99994001e-01 -2.36487375e-03 -1.09204396e-02] [-3.97741619e-04 2.36387451e-03 9.99997127e-01 -4.83359873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16463044 meters 0.2690145907301986 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.01, Z:-0.48 [[ 9.99996557e-01 2.61172509e-03 2.54937164e-04 2.88524182e+00] [-2.61116634e-03 9.99994241e-01 -2.16800114e-03 -1.18274391e-02] [-2.60597919e-04 2.16732799e-03 9.99997617e-01 -4.83924726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22463044 meters 0.2664185824421991 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.01, Z:-0.48 [[ 9.99991252e-01 -3.58823814e-03 -2.14929782e-03 2.86372433e+00] [ 3.59037994e-03 9.99993061e-01 9.93486606e-04 -1.42319716e-02] [ 2.14571804e-03 -1.00119471e-03 9.99997197e-01 -4.82464995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28463044 meters 0.26902158860906245 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.01, Z:-0.48 [[ 9.99993150e-01 3.53392018e-03 1.10073446e-03 2.88385143e+00] [-3.53222662e-03 9.99992581e-01 -1.53673318e-03 -7.04682399e-03] [-1.10615698e-03 1.53283461e-03 9.99998213e-01 -4.83164649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34463044 meters 0.26920509753893745 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99993728e-01 3.32471000e-03 1.22109959e-03 2.88342191e+00] [-3.32215098e-03 9.99992294e-01 -2.09175677e-03 -4.50325044e-03] [-1.22804466e-03 2.08768697e-03 9.99997067e-01 -4.82929303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40463044 meters 0.2686450170334695 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99994468e-01 3.08810795e-03 1.23564832e-03 2.88326806e+00] [-3.08480883e-03 9.99991696e-01 -2.66300611e-03 -1.94590888e-03] [-1.24386171e-03 2.65917964e-03 9.99995691e-01 -4.82725428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46463044 meters 0.26921372820334705 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99994783e-01 3.02079101e-03 1.14382426e-03 2.88354499e+00] [-3.01755305e-03 9.99991465e-01 -2.82203558e-03 -1.24134288e-03] [-1.15233928e-03 2.81856930e-03 9.99995364e-01 -4.82844312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52463044 meters 0.26761694002110037 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99994394e-01 3.06884916e-03 1.33954460e-03 2.88283228e+00] [-3.06521584e-03 9.99991641e-01 -2.70603093e-03 -1.67091535e-03] [-1.34783781e-03 2.70190977e-03 9.99995441e-01 -4.82248045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58463044 meters 0.2670021345980879 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99993654e-01 3.22682525e-03 1.50974240e-03 2.88232964e+00] [-3.22343317e-03 9.99992287e-01 -2.24385732e-03 -3.51107435e-03] [-1.51697129e-03 2.23897653e-03 9.99996343e-01 -4.81966974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64463044 meters 0.2666093122205117 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.00, Z:-0.48 [[ 9.99993712e-01 3.30726444e-03 1.27978119e-03 2.88333847e+00] [-3.30469947e-03 9.99992537e-01 -2.00117525e-03 -4.82637055e-03] [-1.28639006e-03 1.99693338e-03 9.99997179e-01 -4.82922593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70463044 meters 0.26679106342503733 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.48 [[ 9.99986963e-01 -5.09600801e-03 3.24054017e-04 2.86451028e+00] [ 5.09620149e-03 9.99986835e-01 -5.99065197e-04 -3.00379315e-03] [-3.20996910e-04 6.00708831e-04 9.99999768e-01 -4.84341654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76463044 meters 0.2675411555533293 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.00, Z:-0.48 [[ 9.99986336e-01 -5.21746078e-03 3.26363768e-04 2.86452008e+00] [ 5.21774962e-03 9.99985991e-01 -8.90526848e-04 -1.72585600e-03] [-3.21712907e-04 8.92217564e-04 9.99999550e-01 -4.84374730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82463044 meters 0.2680533220079443 Centerline is valid? [False, False] Translation: X:2.86, Y:0.00, Z:-0.48 [[ 9.99999252e-01 -1.21160653e-03 1.68904338e-04 2.86493616e+00] [ 1.21115393e-03 9.99995743e-01 2.65446618e-03 1.55421857e-03] [-1.72119787e-04 -2.65425962e-03 9.99996463e-01 -4.84616767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88463044 meters 0.2690105164039681 Centerline is valid? [False, False] Translation: X:2.88, Y:0.01, Z:-0.48 [[ 9.99975053e-01 6.75412349e-03 2.06785262e-03 2.88381737e+00] [-6.75511088e-03 9.99977073e-01 4.70886062e-04 5.36945777e-03] [-2.06462478e-03 -4.84842888e-04 9.99997751e-01 -4.83580109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94463044 meters 0.2676384408041546 Centerline is valid? [False, False] Translation: X:2.86, Y:0.01, Z:-0.48 [[ 9.99996854e-01 -1.91070900e-03 1.62490014e-03 2.86392102e+00] [ 1.90925889e-03 9.99997778e-01 8.93514528e-04 1.19186830e-02] [-1.62660378e-03 -8.90409362e-04 9.99998281e-01 -4.84453779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00463044 meters 0.26989276452533145 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.49 [[ 9.99968453e-01 7.61680048e-03 2.25324281e-03 2.88686696e+00] [-7.61708914e-03 9.99970982e-01 1.19553002e-04 1.87940910e-02] [-2.25226682e-03 -1.36712382e-04 9.99997454e-01 -4.85500509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06463044000003 meters 0.2689790493461248 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-0.49 [[ 9.99970758e-01 7.31426975e-03 2.23279988e-03 2.88670157e+00] [-7.31290194e-03 9.99973068e-01 -6.20147795e-04 2.21559508e-02] [-2.23727568e-03 6.03801413e-04 9.99997315e-01 -4.85160077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12463044000003 meters 0.26664118731735176 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:-0.49 [[ 9.99998376e-01 -1.14479938e-03 1.39167875e-03 2.86697416e+00] [ 1.14484596e-03 9.99999344e-01 -3.26750018e-05 2.84864125e-02] [-1.39164044e-03 3.42682066e-05 9.99999031e-01 -4.85920460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18463044000003 meters 0.26848767368491544 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99991121e-01 1.41789518e-04 4.21159966e-03 2.90806643e+00] [-1.42660758e-04 9.99999968e-01 2.06567042e-04 3.84189661e-02] [-4.21157024e-03 -2.07166038e-04 9.99991110e-01 -4.85289344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24463044000004 meters 0.2669934095994277 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99990988e-01 6.69813579e-05 4.24492488e-03 2.90794701e+00] [-6.71225615e-05 9.99999997e-01 3.31216596e-05 3.92348365e-02] [-4.24492265e-03 -3.34062914e-05 9.99990990e-01 -4.85212021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30463044000004 meters 0.2681271230727297 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99991474e-01 -4.91990673e-05 4.12918922e-03 2.90847439e+00] [ 5.02387973e-05 9.99999967e-01 -2.51696675e-04 4.04936935e-02] [-4.12917670e-03 2.51901975e-04 9.99991443e-01 -4.85700993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36463044000004 meters 0.2670727807629053 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.48 [[ 9.99991537e-01 -1.79765195e-04 4.11007567e-03 2.90811994e+00] [ 1.82108862e-04 9.99999821e-01 -5.69857447e-04 4.20144537e-02] [-4.10997249e-03 5.70601106e-04 9.99991391e-01 -4.84983981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42463044000004 meters 0.2665781731890794 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.48 [[ 9.99991117e-01 -3.26307942e-04 4.20237880e-03 2.90767238e+00] [ 3.30166617e-04 9.99999525e-01 -9.17551186e-04 4.37064315e-02] [-4.20207740e-03 9.18930520e-04 9.99990749e-01 -4.84588919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48463044 meters 0.26705220885154063 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99991831e-01 -3.78781255e-04 4.02421135e-03 2.90837701e+00] [ 3.82999408e-04 9.99999378e-01 -1.04747495e-03 4.42768731e-02] [-4.02381208e-03 1.04900767e-03 9.99991354e-01 -4.85229032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54463044 meters 0.2664095558467775 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99992065e-01 -3.14563210e-04 3.97124820e-03 2.90852961e+00] [ 3.18129566e-04 9.99999547e-01 -8.97444196e-04 4.35913319e-02] [-3.97096410e-03 8.98700446e-04 9.99991712e-01 -4.85277999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60463044 meters 0.26709843009450845 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.48 [[ 9.99992302e-01 -1.41077919e-04 3.92110166e-03 2.90838160e+00] [ 1.42753834e-04 9.99999899e-01 -4.27132709e-04 4.15071502e-02] [-3.92104100e-03 4.27689174e-04 9.99992221e-01 -4.84740544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66463044 meters 0.26602793753704596 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.48 [[ 9.99992809e-01 -1.65286207e-05 3.79233892e-03 2.90857250e+00] [ 1.70560321e-05 9.99999990e-01 -1.39040552e-04 4.01548169e-02] [-3.79233658e-03 1.39104235e-04 9.99992799e-01 -4.84543703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72463044 meters 0.2677434898489192 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99993705e-01 -1.72501247e-06 3.54831681e-03 2.90958507e+00] [ 2.07056234e-06 9.99999995e-01 -9.73804957e-05 3.99625056e-02] [-3.54831663e-03 9.73872297e-05 9.99993700e-01 -4.85490656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78463044 meters 0.2685185526422901 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99994209e-01 -3.90905919e-05 3.40293921e-03 2.91008294e+00] [ 3.97598629e-05 9.99999980e-01 -1.96606956e-04 4.03930860e-02] [-3.40293146e-03 1.96741118e-04 9.99994191e-01 -4.85813118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84463044 meters 0.2677945064801341 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99994259e-01 -1.45551830e-04 3.38530384e-03 2.91013883e+00] [ 1.47167001e-04 9.99999875e-01 -4.76868517e-04 4.16542834e-02] [-3.38523401e-03 4.77363985e-04 9.99994156e-01 -4.85874390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90463044 meters 0.2677978278001427 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99993345e-01 -3.15153976e-04 3.63462314e-03 2.90933877e+00] [ 3.18760804e-04 9.99999457e-01 -9.91815983e-04 4.38528579e-02] [-3.63430859e-03 9.92967958e-04 9.99992903e-01 -4.85382312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96463044 meters 0.2687925145313583 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-0.49 [[ 9.99993004e-01 -4.09006056e-04 3.71827040e-03 2.90902401e+00] [ 4.13519118e-04 9.99999179e-01 -1.21306511e-03 4.48985415e-02] [-3.71777119e-03 1.21459420e-03 9.99992351e-01 -4.85158928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02463044 meters 0.26675641250376725 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99992905e-01 -4.39427748e-04 3.74121545e-03 2.90865415e+00] [ 4.44276157e-04 9.99999063e-01 -1.29521237e-03 4.52684081e-02] [-3.74064279e-03 1.29686531e-03 9.99992163e-01 -4.84580535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08463044 meters 0.26784478745681767 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99993452e-01 -5.72529231e-04 3.57315090e-03 2.90905409e+00] [ 5.78295084e-04 9.99998532e-01 -1.61283605e-03 4.66445362e-02] [-3.57222225e-03 1.61489183e-03 9.99992316e-01 -4.84604486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14463044 meters 0.2677131211548349 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99993032e-01 -7.11221835e-04 3.66472108e-03 2.90906380e+00] [ 7.18306527e-04 9.99997875e-01 -1.93226110e-03 4.81649647e-02] [-3.66333903e-03 1.93488003e-03 9.99991418e-01 -4.84988033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20463044 meters 0.2665630945874506 Centerline is valid? [False, False] Translation: X:2.89, Y:0.05, Z:-0.48 [[ 9.99938017e-01 -9.93661289e-03 5.02261801e-03 2.88562024e+00] [ 9.94648378e-03 9.99948643e-01 -1.94414304e-03 5.15337640e-02] [-5.00304186e-03 1.99397993e-03 9.99985497e-01 -4.84552266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26463044 meters 0.2670850899433929 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99994202e-01 -4.71068052e-04 3.37261816e-03 2.90883275e+00] [ 4.78670424e-04 9.99997346e-01 -2.25369336e-03 5.11878781e-02] [-3.37154756e-03 2.25529466e-03 9.99991773e-01 -4.84236360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32463044 meters 0.26805244066774486 Centerline is valid? [False, False] Translation: X:2.93, Y:0.06, Z:-0.48 [[ 9.99959578e-01 -8.61030125e-03 2.58928787e-03 2.92976086e+00] [ 8.61495422e-03 9.99961286e-01 -1.79125499e-03 5.74146113e-02] [-2.57376438e-03 1.81348918e-03 9.99995043e-01 -4.83338867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38463044 meters 0.26849187793390267 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.48 [[ 9.99995529e-01 8.52532888e-04 2.86605372e-03 2.95036603e+00] [-8.46730698e-04 9.99997591e-01 -2.02505686e-03 5.65146618e-02] [-2.86777324e-03 2.02262103e-03 9.99993842e-01 -4.82427972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44463044 meters 0.2667243064710786 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.48 [[ 9.99961881e-01 -8.70339424e-03 6.97524144e-04 2.92984857e+00] [ 8.70482722e-03 9.99959952e-01 -2.07837384e-03 5.42977690e-02] [-6.79407303e-04 2.08436645e-03 9.99997597e-01 -4.81906302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50463044 meters 0.266995673791588 Centerline is valid? [False, False] Translation: X:2.93, Y:0.05, Z:-0.48 [[ 9.99990521e-01 -4.33138616e-03 4.43784674e-04 2.93038103e+00] [ 4.33029592e-03 9.99987674e-01 2.42888555e-03 5.25725720e-02] [-4.54299645e-04 -2.42694081e-03 9.99996952e-01 -4.81909999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56463044000003 meters 0.2664504033028106 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99997127e-01 1.62573962e-03 -1.76142499e-03 2.90967370e+00] [-1.62654717e-03 9.99998573e-01 -4.57128962e-04 5.20629126e-02] [ 1.76067930e-03 4.59992689e-04 9.99998344e-01 -4.81232779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62463044000003 meters 0.26522560229293 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-0.48 [[ 9.99997095e-01 1.50737271e-03 -1.88084981e-03 2.90962862e+00] [-1.50880604e-03 9.99998572e-01 -7.60876642e-04 5.33070289e-02] [ 1.87970020e-03 7.63712270e-04 9.99997942e-01 -4.80714974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68463044000003 meters 0.2676392582675028 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.48 [[ 9.99995109e-01 2.88906856e-03 1.19771241e-03 2.95044831e+00] [-2.88916090e-03 9.99995824e-01 7.53737565e-05 5.81674010e-02] [-1.19748965e-03 -7.88337717e-05 9.99999280e-01 -4.79566818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74463044000004 meters 0.2678381288552322 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.48 [[ 9.99995423e-01 2.74285787e-03 1.27722514e-03 2.95000603e+00] [-2.74248406e-03 9.99996196e-01 -2.94325632e-04 5.97553633e-02] [-1.27802758e-03 2.90821515e-04 9.99999141e-01 -4.79103117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80463044000004 meters 0.2667379613220398 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.48 [[ 9.99995768e-01 2.61336147e-03 1.27844798e-03 2.95000753e+00] [-2.61260797e-03 9.99996413e-01 -5.90694865e-04 6.11207971e-02] [-1.27998710e-03 5.87352281e-04 9.99999008e-01 -4.79115709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86463044000004 meters 0.267012608206343 Centerline is valid? [False, False] Translation: X:2.95, Y:0.06, Z:-0.48 [[ 9.99996320e-01 2.38804003e-03 1.28734813e-03 2.95002898e+00] [-2.38659483e-03 9.99996522e-01 -1.12298320e-03 6.34925163e-02] [-1.29002538e-03 1.11990669e-03 9.99998541e-01 -4.79237850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92463044000004 meters 0.26626899378190755 Centerline is valid? [False, False] Translation: X:2.95, Y:0.07, Z:-0.48 [[ 9.99997232e-01 1.95991342e-03 1.30171391e-03 2.94986894e+00] [-1.95692834e-03 9.99995462e-01 -2.29051877e-03 6.88384171e-02] [-1.30619722e-03 2.28796506e-03 9.99996530e-01 -4.79123339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98463044 meters 0.2655906643665927 Centerline is valid? [False, False] Translation: X:2.95, Y:0.07, Z:-0.48 [[ 9.99997665e-01 1.63165431e-03 1.41702150e-03 2.94978619e+00] [-1.62722332e-03 9.99993801e-01 -3.12251950e-03 7.26166394e-02] [-1.42210759e-03 3.12020640e-03 9.99994121e-01 -4.79436677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04463044 meters 0.2661779070768084 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.48 [[ 9.99979231e-01 -6.00915603e-03 2.32966191e-03 2.96747746e+00] [ 6.01512288e-03 9.99978625e-01 -2.56276472e-03 8.38875598e-02] [-2.31421206e-03 2.57672470e-03 9.99994002e-01 -4.77198263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10463044 meters 0.26513506632792755 Centerline is valid? [False, False] Translation: X:2.97, Y:0.09, Z:-0.48 [[ 9.99995625e-01 -1.89361605e-03 2.27229321e-03 2.96731471e+00] [ 1.89080556e-03 9.99997446e-01 1.23836131e-03 8.53978434e-02] [-2.27463238e-03 -1.23405943e-03 9.99996652e-01 -4.76789739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16463044 meters 0.2644442825323122 Centerline is valid? [False, False] Translation: X:2.97, Y:0.09, Z:-0.48 [[ 9.99995180e-01 -2.11471993e-03 2.27336667e-03 2.96752746e+00] [ 2.11308314e-03 9.99997507e-01 7.22147229e-04 8.76430183e-02] [-2.27488815e-03 -7.17339935e-04 9.99997155e-01 -4.77234874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22463044 meters 0.26384446154318686 Centerline is valid? [False, False] Translation: X:2.97, Y:0.09, Z:-0.48 [[ 9.99994274e-01 -2.57408838e-03 2.19689827e-03 2.96796526e+00] [ 2.57508260e-03 9.99996583e-01 -4.49846201e-04 9.28481373e-02] [-2.19573282e-03 4.55500819e-04 9.99997486e-01 -4.77809168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28463044 meters 0.265254946718774 Centerline is valid? [False, False] Translation: X:2.99, Y:0.10, Z:-0.48 [[ 9.99975457e-01 4.96182944e-03 4.94621848e-03 2.98811526e+00] [-4.94844983e-03 9.99984074e-01 -2.71359422e-03 1.02061750e-01] [-4.95960410e-03 2.68905151e-03 9.99984086e-01 -4.78264450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34463044 meters 0.2642974426418272 Centerline is valid? [False, False] Translation: X:2.97, Y:0.11, Z:-0.48 [[ 9.99976025e-01 -3.07800279e-03 6.20280326e-03 2.96730679e+00] [ 3.09012048e-03 9.99993334e-01 -1.94494666e-03 1.08582325e-01] [-6.19677536e-03 1.96406744e-03 9.99978871e-01 -4.79520824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40463044 meters 0.2648672310323136 Centerline is valid? [False, False] Translation: X:2.97, Y:0.11, Z:-0.48 [[ 9.99987199e-01 -1.13439406e-03 4.93098452e-03 2.97237888e+00] [ 1.13479493e-03 9.99999353e-01 -7.84993121e-05 1.09037166e-01] [-4.93089228e-03 8.40939634e-05 9.99987840e-01 -4.82613567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46463044 meters 0.2641595565942995 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.48 [[ 9.99972720e-01 6.42458126e-03 3.64481707e-03 2.95442281e+00] [-6.41846954e-03 9.99977980e-01 -1.68605110e-03 1.05317028e-01] [-3.65556898e-03 1.66261096e-03 9.99991936e-01 -4.84438682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52463044 meters 0.2644844512743894 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.48 [[ 9.99993000e-01 -1.76294996e-03 3.30034852e-03 2.97519099e+00] [ 1.76613074e-03 9.99997979e-01 -9.61104650e-04 1.10753704e-01] [-3.29864747e-03 9.66926769e-04 9.99994092e-01 -4.83688325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58463044 meters 0.2645290009502967 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.48 [[ 9.99992613e-01 -1.89593832e-03 3.34362655e-03 2.97507182e+00] [ 1.90022051e-03 9.99997378e-01 -1.27799019e-03 1.12146141e-01] [-3.34119480e-03 1.28433437e-03 9.99993593e-01 -4.83689857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64463044 meters 0.26517787859598174 Centerline is valid? [False, False] Translation: X:2.97, Y:0.12, Z:-0.48 [[ 9.99991410e-01 -2.12236083e-03 3.56032091e-03 2.97489586e+00] [ 2.12918545e-03 9.99995901e-01 -1.91416347e-03 1.15028133e-01] [-3.55624377e-03 1.92172761e-03 9.99991830e-01 -4.84241846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70463044 meters 0.26396503720403314 Centerline is valid? [False, False] Translation: X:2.97, Y:0.12, Z:-0.48 [[ 9.99990923e-01 -2.18459579e-03 3.65798662e-03 2.97469182e+00] [ 2.19214527e-03 9.99995473e-01 -2.06109954e-03 1.15664704e-01] [-3.65346739e-03 2.06909967e-03 9.99991185e-01 -4.84299081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76463044 meters 0.26417939403838564 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.48 [[ 9.99991663e-01 -2.12440932e-03 3.48733336e-03 2.97527138e+00] [ 2.13108185e-03 9.99995904e-01 -1.91076314e-03 1.14828343e-01] [-3.48325983e-03 1.91817901e-03 9.99992094e-01 -4.84631371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82463044 meters 0.2655574830319777 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.48 [[ 9.99991653e-01 -2.02472836e-03 3.54884405e-03 2.97518029e+00] [ 2.03063821e-03 9.99996556e-01 -1.66247709e-03 1.13754039e-01] [-3.54546576e-03 1.66966963e-03 9.99992321e-01 -4.84663928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88463044 meters 0.2640570608914805 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.48 [[ 9.99991730e-01 -1.87112255e-03 3.61079484e-03 2.97504424e+00] [ 1.87570387e-03 9.99997440e-01 -1.26581431e-03 1.11969515e-01] [-3.60841710e-03 1.27257662e-03 9.99992680e-01 -4.84638606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94463044 meters 0.2638549591261296 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.49 [[ 9.99994334e-01 -1.59539041e-03 2.96421500e-03 2.97663021e+00] [ 1.59608595e-03 9.99998699e-01 -2.32294759e-04 1.07689747e-01] [-2.96384054e-03 2.37024585e-04 9.99995580e-01 -4.85003361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00463044 meters 0.2629357580321814 Centerline is valid? [False, False] Translation: X:2.98, Y:0.10, Z:-0.49 [[ 9.99995455e-01 -1.31364188e-03 2.71368881e-03 2.97725732e+00] [ 1.31158624e-03 9.99998852e-01 7.59146737e-04 1.03595891e-01] [-2.71468294e-03 -7.55584050e-04 9.99996030e-01 -4.85132787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06463044000003 meters 0.26239541071032374 Centerline is valid? [False, False] Translation: X:2.98, Y:0.10, Z:-0.48 [[ 9.99995103e-01 -9.31653386e-04 2.98779268e-03 2.97659968e+00] [ 9.25239749e-04 9.99997267e-01 2.14727811e-03 9.80333872e-02] [-2.98978503e-03 -2.14450317e-03 9.99993231e-01 -4.84991594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12463044000003 meters 0.26152598697289686 Centerline is valid? [False, False] Translation: X:2.98, Y:0.09, Z:-0.48 [[ 9.99995372e-01 -6.35835119e-04 2.97512675e-03 2.97659545e+00] [ 6.27073251e-04 9.99995467e-01 2.94504667e-03 9.45558344e-02] [-2.97698583e-03 -2.94316742e-03 9.99991238e-01 -4.84904587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18463044000003 meters 0.2611726991150204 Centerline is valid? [False, False] Translation: X:2.98, Y:0.09, Z:-0.48 [[ 9.99995525e-01 -2.76938805e-04 2.97868897e-03 2.97656775e+00] [ 2.64914009e-04 9.99991818e-01 4.03657993e-03 8.99715804e-02] [-2.97978249e-03 -4.03577277e-03 9.99987417e-01 -4.84833396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24463044000004 meters 0.26366363268217 Centerline is valid? [False, False] Translation: X:3.00, Y:0.08, Z:-0.48 [[ 9.99983342e-01 5.05417551e-03 2.78781257e-03 2.99891121e+00] [-5.05636303e-03 9.99986914e-01 7.78185587e-04 8.39935545e-02] [-2.78384300e-03 -7.92268816e-04 9.99995811e-01 -4.84895389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30463044000004 meters 0.2606929118867498 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.48 [[ 9.99989761e-01 -4.16482944e-03 1.77000999e-03 2.97759758e+00] [ 4.16194033e-03 9.99990006e-01 1.63281831e-03 7.87024216e-02] [-1.77679271e-03 -1.62543491e-03 9.99997100e-01 -4.84785370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36463044000004 meters 0.2611561435329855 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.48 [[ 9.99990748e-01 -3.85927032e-03 1.90017737e-03 2.97744353e+00] [ 3.85408816e-03 9.99988865e-01 2.72334656e-03 7.38841651e-02] [-1.91066634e-03 -2.71599791e-03 9.99994486e-01 -4.84999509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42463044000004 meters 0.26061020701079846 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.49 [[ 9.99991805e-01 -3.62083292e-03 1.81096535e-03 2.97766727e+00] [ 3.61477867e-03 9.99987905e-01 3.33528281e-03 7.12747856e-02] [-1.82301995e-03 -3.32870924e-03 9.99992798e-01 -4.85031386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48463044 meters 0.2620761937569903 Centerline is valid? [False, False] Translation: X:2.98, Y:0.07, Z:-0.49 [[ 9.99993519e-01 -3.34960172e-03 1.31999386e-03 2.97923279e+00] [ 3.34380269e-03 9.99984856e-01 4.37121326e-03 6.63515198e-02] [-1.33461569e-03 -4.36677113e-03 9.99989575e-01 -4.85870805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54463044 meters 0.2612574889946514 Centerline is valid? [False, False] Translation: X:2.98, Y:0.06, Z:-0.49 [[ 9.99994582e-01 -3.05237436e-03 1.23212008e-03 2.97933946e+00] [ 3.04596528e-03 9.99981994e-01 5.17045466e-03 6.29585811e-02] [-1.24788006e-03 -5.16667366e-03 9.99985874e-01 -4.85732918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60463044 meters 0.26127924464309693 Centerline is valid? [False, False] Translation: X:2.98, Y:0.06, Z:-0.49 [[ 9.99995678e-01 -2.68103025e-03 1.20664076e-03 2.97948169e+00] [ 2.67347351e-03 9.99977074e-01 6.22126128e-03 5.85213529e-02] [-1.22329248e-03 -6.21800847e-03 9.99979920e-01 -4.85792502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66463044 meters 0.2610268776617797 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.49 [[ 9.99996248e-01 -2.37692875e-03 1.36183139e-03 2.97894508e+00] [ 2.36723976e-03 9.99972187e-01 7.07265014e-03 5.47816780e-02] [-1.37860470e-03 -7.06939982e-03 9.99974061e-01 -4.85468048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72463044 meters 0.2609112674415503 Centerline is valid? [False, False] Translation: X:2.98, Y:0.05, Z:-0.49 [[ 9.99997553e-01 -1.89454646e-03 1.14186086e-03 2.97975675e+00] [ 1.88466110e-03 9.99961269e-01 8.59701503e-03 4.76589929e-02] [-1.15810408e-03 -8.59484198e-03 9.99962393e-01 -4.85994109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78463044 meters 0.26196822007700293 Centerline is valid? [False, False] Translation: X:3.00, Y:0.04, Z:-0.49 [[ 9.99994796e-01 3.21869380e-03 -2.20136147e-04 3.00238481e+00] [-3.21751941e-03 9.99981604e-01 5.14191717e-03 3.98685306e-02] [ 2.36682354e-04 -5.14118212e-03 9.99986756e-01 -4.85957009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84463044 meters 0.2614897715037148 Centerline is valid? [False, False] Translation: X:3.00, Y:0.04, Z:-0.49 [[ 9.99993860e-01 3.49988741e-03 -1.75144733e-04 3.00208207e+00] [-3.49880554e-03 9.99976844e-01 5.83694743e-03 3.68941562e-02] [ 1.95569336e-04 -5.83629879e-03 9.99982950e-01 -4.85605571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90463044 meters 0.2607356260436033 Centerline is valid? [False, False] Translation: X:3.00, Y:0.03, Z:-0.49 [[ 9.99993107e-01 3.70965776e-03 -1.57237697e-04 3.00190477e+00] [-3.70858751e-03 9.99973065e-01 6.33367768e-03 3.45703536e-02] [ 1.80729238e-04 -6.33305089e-03 9.99979930e-01 -4.85398572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96463044 meters 0.26156399083170506 Centerline is valid? [False, False] Translation: X:3.02, Y:0.03, Z:-0.49 [[ 9.99954212e-01 9.51556612e-03 1.01355683e-03 3.02423192e+00] [-9.51859481e-03 9.99950117e-01 3.02649055e-03 3.33403353e-02] [-9.84707497e-04 -3.03599961e-03 9.99994907e-01 -4.86308535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02463044 meters 0.2613358504232612 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998302e-01 -1.68721073e-03 7.41717070e-04 3.00699506e+00] [ 1.68623851e-03 9.99997721e-01 1.30945131e-03 4.01649931e-02] [-7.43924700e-04 -1.30819838e-03 9.99998868e-01 -4.89193746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08463044 meters 0.26146188284317673 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998204e-01 -1.70948194e-03 8.18040996e-04 3.00697199e+00] [ 1.70844998e-03 9.99997746e-01 1.26053365e-03 4.04672863e-02] [-8.20194012e-04 -1.25913380e-03 9.99998871e-01 -4.89470450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14463044 meters 0.26300770468265056 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998191e-01 -1.71734131e-03 8.18048962e-04 3.00685174e+00] [ 1.71633013e-03 9.99997764e-01 1.23519599e-03 4.04543989e-02] [-8.20168386e-04 -1.23378972e-03 9.99998903e-01 -4.89235314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20463044 meters 0.2631320169098762 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998432e-01 -1.68474808e-03 5.45343208e-04 3.00783022e+00] [ 1.68402124e-03 9.99997697e-01 1.33054008e-03 4.01200154e-02] [-5.47583576e-04 -1.32961962e-03 9.99998966e-01 -4.90059970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26463044 meters 0.26342420064586064 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998358e-01 -1.71077292e-03 5.98439078e-04 3.00783723e+00] [ 1.71000461e-03 9.99997716e-01 1.28201480e-03 4.04344402e-02] [-6.00630948e-04 -1.28098936e-03 9.99998999e-01 -4.90299432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32463044 meters 0.2625903776399871 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998248e-01 -1.82527169e-03 4.15108937e-04 3.00782136e+00] [ 1.82485721e-03 9.99997838e-01 9.96690258e-04 4.16160009e-02] [-4.16927270e-04 -9.95930998e-04 9.99999417e-01 -4.89526589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38463044 meters 0.26172532457920467 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998198e-01 -1.86578190e-03 3.50674328e-04 3.00815264e+00] [ 1.86546453e-03 9.99997852e-01 9.03187745e-04 4.20591937e-02] [-3.52358727e-04 -9.02531947e-04 9.99999531e-01 -4.89872380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44463044 meters 0.2626803613464645 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998034e-01 -1.94512449e-03 3.84263124e-04 3.00847475e+00] [ 1.94485076e-03 9.99997856e-01 7.11452222e-04 4.29188047e-02] [-3.85646163e-04 -7.10703489e-04 9.99999673e-01 -4.90562891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50463044 meters 0.2626604389936784 Centerline is valid? [False, False] Translation: X:3.01, Y:0.04, Z:-0.49 [[ 9.99998013e-01 -1.94976886e-03 4.14056217e-04 3.00804593e+00] [ 1.94947949e-03 9.99997856e-01 6.98108051e-04 4.29368699e-02] [-4.15416479e-04 -6.97299470e-04 9.99999671e-01 -4.89851469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56463044000003 meters 0.26283601111181903 Centerline is valid? [False, False] Translation: X:3.03, Y:0.04, Z:-0.49 [[ 9.99979110e-01 6.08376608e-03 2.18341300e-03 3.02683592e+00] [-6.08233637e-03 9.99981284e-01 -6.60851936e-04 4.13239018e-02] [-2.18739261e-03 6.47557879e-04 9.99997398e-01 -4.88568233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62463044000003 meters 0.2624858776913256 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:-0.49 [[ 9.99997031e-01 -2.33764456e-03 6.88179229e-04 3.00846696e+00] [ 2.33773704e-03 9.99997259e-01 -1.33611197e-04 4.76425435e-02] [-6.87865006e-04 1.35219583e-04 9.99999754e-01 -4.89810305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68463044000003 meters 0.2634846653066259 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:-0.49 [[ 9.99996827e-01 -2.44862792e-03 5.92540542e-04 3.00884192e+00] [ 2.44886144e-03 9.99996924e-01 -3.93689842e-04 4.88553196e-02] [-5.91574719e-04 3.95139643e-04 9.99999747e-01 -4.90069988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74463044000004 meters 0.26388812569963604 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:-0.49 [[ 9.99996730e-01 -2.47513393e-03 6.43486487e-04 3.00891139e+00] [ 2.47543360e-03 9.99996828e-01 -4.65314511e-04 4.90841516e-02] [-6.42332730e-04 4.66905898e-04 9.99999685e-01 -4.90384758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80463044000004 meters 0.2632032539566553 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:-0.49 [[ 9.99996617e-01 -2.52537383e-03 6.23866736e-04 3.00909336e+00] [ 2.52573875e-03 9.99996639e-01 -5.84828000e-04 4.95983646e-02] [-6.22387730e-04 5.86401746e-04 9.99999634e-01 -4.90605533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86463044000004 meters 0.2636643096688979 Centerline is valid? [False, False] Translation: X:3.01, Y:0.05, Z:-0.49 [[ 9.99996177e-01 -2.69457460e-03 6.20850167e-04 3.00935832e+00] [ 2.69519403e-03 9.99995869e-01 -9.99042389e-04 5.14668349e-02] [-6.18155608e-04 1.00071188e-03 9.99999308e-01 -4.91071313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92463044000004 meters 0.26362852626396716 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:-0.49 [[ 9.99995321e-01 -3.03593203e-03 3.74492426e-04 3.01027310e+00] [ 3.03668517e-03 9.99993335e-01 -2.02718678e-03 5.59137642e-02] [-3.68335528e-04 2.02831451e-03 9.99997875e-01 -4.91698747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98463044 meters 0.2637153887666408 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:-0.49 [[ 9.99993962e-01 -3.43454134e-03 5.29680761e-04 3.01018811e+00] [ 3.43612051e-03 9.99989567e-01 -3.00984293e-03 6.02954850e-02] [-5.19337805e-04 3.01164480e-03 9.99995330e-01 -4.92081439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04463044 meters 0.26439168849593514 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:-0.49 [[ 9.99993456e-01 -3.57698169e-03 5.42248208e-04 3.01012103e+00] [ 3.57877276e-03 9.99988022e-01 -3.33885926e-03 6.17430019e-02] [-5.30298674e-04 3.34077799e-03 9.99994279e-01 -4.91974887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10463044 meters 0.26395233593977996 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:-0.49 [[ 9.99993301e-01 -3.62551715e-03 5.02638544e-04 3.01012730e+00] [ 3.62723743e-03 9.99987419e-01 -3.46491288e-03 6.22395954e-02] [-4.90070119e-04 3.46671286e-03 9.99993871e-01 -4.91833044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16463044 meters 0.2647990005880366 Centerline is valid? [False, False] Translation: X:3.01, Y:0.06, Z:-0.49 [[ 9.99999833e-01 3.20950551e-04 4.79671874e-04 3.01009887e+00] [-3.20941022e-04 9.99999948e-01 -1.99444284e-05 6.46729234e-02] [-4.79678250e-04 1.97904787e-05 9.99999885e-01 -4.91627908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22463044 meters 0.26465926471238105 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999902e-01 1.00667461e-04 4.31612415e-04 3.01002463e+00] [-1.00435987e-04 9.99999851e-01 -5.36290334e-04 6.69585784e-02] [-4.31666338e-04 5.36246932e-04 9.99999763e-01 -4.91296477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28463044 meters 0.26468068217950186 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999812e-01 -1.54495563e-04 5.92802307e-04 3.00996467e+00] [ 1.55144642e-04 9.99999388e-01 -1.09504289e-03 6.95608900e-02] [-5.92632765e-04 1.09513465e-03 9.99999225e-01 -4.91773752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34463044 meters 0.26487408164667947 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999770e-01 -2.26802429e-04 6.39798794e-04 3.01024530e+00] [ 2.27611256e-04 9.99999175e-01 -1.26439903e-03 7.03653875e-02] [-6.39511497e-04 1.26454437e-03 9.99998996e-01 -4.92468890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40463044 meters 0.26545427300903884 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999868e-01 -2.15213347e-04 4.67198326e-04 3.01072321e+00] [ 2.15794033e-04 9.99999204e-01 -1.24321718e-03 7.03487279e-02] [-4.66930398e-04 1.24331784e-03 9.99999118e-01 -4.92738482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46463044 meters 0.26484811120540774 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999874e-01 -1.87709393e-04 4.66278774e-04 3.01079378e+00] [ 1.88257814e-04 9.99999290e-01 -1.17639992e-03 7.00685562e-02] [-4.66057622e-04 1.17648755e-03 9.99999199e-01 -4.92848987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52463044 meters 0.26586997023406 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999904e-01 -1.66562036e-04 4.06132775e-04 3.01110903e+00] [ 1.67024803e-04 9.99999337e-01 -1.13968068e-03 6.98319362e-02] [-4.05942678e-04 1.13974840e-03 9.99999268e-01 -4.93163933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58463044 meters 0.26578808907100027 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999940e-01 -2.18725394e-04 2.68452458e-04 3.01134680e+00] [ 2.19066552e-04 9.99999168e-01 -1.27146121e-03 7.03878784e-02] [-2.68174134e-04 1.27151994e-03 9.99999156e-01 -4.93008047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64463044 meters 0.2652799651121447 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999962e-01 -2.64181182e-04 8.15242194e-05 3.01162449e+00] [ 2.64294096e-04 9.99999002e-01 -1.38814789e-03 7.08812594e-02] [-8.11574154e-05 1.38816939e-03 9.99999033e-01 -4.92733179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70463044 meters 0.26526924367777915 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999964e-01 -2.68759330e-04 -1.14690413e-05 3.01176295e+00] [ 2.68742990e-04 9.99998982e-01 -1.40168074e-03 7.09310623e-02] [ 1.18457444e-05 1.40167761e-03 9.99999018e-01 -4.92649607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76463044 meters 0.26556856573909576 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999984e-01 -1.79516654e-04 -6.19270007e-06 3.01145674e+00] [ 1.79509202e-04 9.99999284e-01 -1.18305338e-03 6.99097313e-02] [ 6.40507342e-06 1.18305225e-03 9.99999300e-01 -4.92120740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82463044 meters 0.2649383645973534 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999986e-01 -1.48506629e-04 7.46003972e-05 3.01096286e+00] [ 1.48589557e-04 9.99999370e-01 -1.11285092e-03 6.94871635e-02] [-7.44350845e-05 1.11286199e-03 9.99999378e-01 -4.91525521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88463044 meters 0.2644807138714376 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999970e-01 -1.23850062e-04 2.12120986e-04 3.01034735e+00] [ 1.24072273e-04 9.99999443e-01 -1.04787430e-03 6.92353413e-02] [-2.11991088e-04 1.04790059e-03 9.99999428e-01 -4.90945487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94463044 meters 0.2651551742585494 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999977e-01 3.78749138e-05 2.12671283e-04 3.01080296e+00] [-3.77373747e-05 9.99999790e-01 -6.46688274e-04 6.74572095e-02] [-2.12695731e-04 6.46680233e-04 9.99999768e-01 -4.91809975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00463044 meters 0.26382942322190533 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999938e-01 1.18975492e-04 3.30201381e-04 3.01041107e+00] [-1.18830053e-04 9.99999896e-01 -4.40440439e-04 6.65292882e-02] [-3.30253748e-04 4.40401174e-04 9.99999848e-01 -4.91616971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06463044000003 meters 0.26432686304770914 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.49 [[ 9.99999950e-01 6.78028096e-05 3.09346987e-04 3.01039039e+00] [-6.76312426e-05 9.99999844e-01 -5.54586994e-04 6.71027117e-02] [-3.09384542e-04 5.54566045e-04 9.99999798e-01 -4.91494671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12463044000003 meters 0.265795403341089 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:-0.49 [[ 9.99983829e-01 -5.59328156e-03 1.02791951e-03 3.03402185e+00] [ 5.59066467e-03 9.99981168e-01 2.53128783e-03 6.74761441e-02] [-1.04205836e-03 -2.52550015e-03 9.99996268e-01 -4.92627281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18463044000003 meters 0.265851167852139 Centerline is valid? [False, False] Translation: X:3.03, Y:0.07, Z:-0.49 [[ 9.99982498e-01 -5.81891602e-03 1.06978013e-03 3.03413808e+00] [ 5.81730296e-03 9.99981947e-01 1.50481257e-03 7.22547357e-02] [-1.07851720e-03 -1.49856299e-03 9.99998296e-01 -4.92914358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24463044000004 meters 0.2654391157163629 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.49 [[ 9.99979880e-01 -6.24009372e-03 1.14053970e-03 3.03398771e+00] [ 6.23967603e-03 9.99980465e-01 3.69413004e-04 7.72776710e-02] [-1.14282259e-03 -3.62288973e-04 9.99999281e-01 -4.92846344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30463044000004 meters 0.2644019659036221 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.49 [[ 9.99978796e-01 -6.41132055e-03 1.14169484e-03 3.03399865e+00] [ 6.41136123e-03 9.99979447e-01 -3.19777282e-05 7.90078649e-02] [-1.14146635e-03 3.92968681e-05 9.99999348e-01 -4.92861424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36463044000004 meters 0.26620663227764685 Centerline is valid? [False, False] Translation: X:3.04, Y:0.08, Z:-0.50 [[ 9.99990084e-01 -4.43208488e-03 -4.34803280e-04 3.03982484e+00] [ 4.43267352e-03 9.99989248e-01 1.36230133e-03 8.44269305e-02] [ 4.28760770e-04 -1.36421516e-03 9.99998978e-01 -4.96147492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42463044000004 meters 0.26568971828737525 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99989380e-01 -4.58001450e-03 -5.13229397e-04 3.04021015e+00] [ 4.58051609e-03 9.99989029e-01 9.80454821e-04 8.60755388e-02] [ 5.08733269e-04 -9.82795264e-04 9.99999388e-01 -4.96512322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48463044 meters 0.26621012983033704 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99999487e-01 -8.99847539e-04 4.64208895e-04 3.03808705e+00] [ 8.97991875e-04 9.99991667e-01 3.98231400e-03 8.96642420e-02] [-4.67788502e-04 -3.98189510e-03 9.99991963e-01 -4.96300304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54463044 meters 0.26782631182667055 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99999476e-01 -8.64136200e-04 5.48520661e-04 3.03789813e+00] [ 8.61895458e-04 9.99991337e-01 4.07223854e-03 8.92578041e-02] [-5.52034878e-04 -4.07176364e-03 9.99991558e-01 -4.96299238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60463044 meters 0.2663394030288492 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99999512e-01 -7.78769677e-04 6.08147818e-04 3.03802983e+00] [ 7.76150162e-04 9.99990472e-01 4.29578709e-03 8.81916405e-02] [-6.11487452e-04 -4.29531298e-03 9.99990588e-01 -4.96828674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66463044 meters 0.2664110744514021 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99999558e-01 -8.29421021e-04 4.43423694e-04 3.03838183e+00] [ 8.27563121e-04 9.99990947e-01 4.17378910e-03 8.87825550e-02] [-4.46881508e-04 -4.17342029e-03 9.99991191e-01 -4.96765454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72463044 meters 0.26700625771400455 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:-0.50 [[ 9.99983762e-01 5.50789488e-03 1.46231603e-03 3.05996963e+00] [-5.50992381e-03 9.99983858e-01 1.38709099e-03 8.79305627e-02] [-1.45465247e-03 -1.39512572e-03 9.99997969e-01 -4.97027667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78463044 meters 0.2654101306738427 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:-0.50 [[ 9.99984232e-01 5.42027046e-03 1.46820279e-03 3.05969729e+00] [-5.42187772e-03 9.99984704e-01 1.09295265e-03 8.91608810e-02] [-1.46225624e-03 -1.10089584e-03 9.99998325e-01 -4.96507924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84463044 meters 0.264435014106029 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99990520e-01 -3.40783376e-03 2.71051864e-03 3.03988703e+00] [ 3.40461842e-03 9.99993496e-01 1.18997526e-03 9.52655688e-02] [-2.71455625e-03 -1.18073569e-03 9.99995619e-01 -4.98196789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90463044 meters 0.26582860873161024 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99990383e-01 -3.49618889e-03 2.64761402e-03 3.04015103e+00] [ 3.49366418e-03 9.99993439e-01 9.57602156e-04 9.62437766e-02] [-2.65094460e-03 -9.48343073e-04 9.99996037e-01 -4.98381371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96463044 meters 0.2658989222694517 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:-0.50 [[ 9.99988982e-01 2.64415109e-03 3.87863780e-03 3.06331412e+00] [-2.63587577e-03 9.99994242e-01 -2.13712597e-03 9.91246161e-02] [-3.88426635e-03 2.12687882e-03 9.99990194e-01 -5.00176612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02463044 meters 0.2657517023400504 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99993150e-01 -3.30337565e-03 1.66949469e-03 3.04373466e+00] [ 3.30225656e-03 9.99994321e-01 6.72627532e-04 1.02114950e-01] [-1.67170715e-03 -6.67109825e-04 9.99998380e-01 -5.00357340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08463044 meters 0.26585058383727506 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99993094e-01 -3.31418597e-03 1.68175906e-03 3.04384968e+00] [ 3.31310598e-03 9.99994304e-01 6.44558165e-04 1.02221774e-01] [-1.68388567e-03 -6.38981868e-04 9.99998378e-01 -5.00627032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14463044 meters 0.26676539561159757 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:-0.50 [[ 9.99986128e-01 4.85152313e-03 2.05105250e-03 3.06391295e+00] [-4.85103279e-03 9.99988204e-01 -2.43977669e-04 9.76455863e-02] [-2.05221197e-03 2.34024562e-04 9.99997867e-01 -5.00452260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20463044 meters 0.2657993185447174 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99995684e-01 -2.88863635e-03 5.37131895e-04 3.04468678e+00] [ 2.88808223e-03 9.99995299e-01 1.02956438e-03 1.00297528e-01] [-5.40103407e-04 -1.02800866e-03 9.99999326e-01 -5.01670638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26463044 meters 0.26645911764202646 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:-0.50 [[ 9.99995838e-01 -2.84210388e-03 4.96074521e-04 3.04504868e+00] [ 2.84154091e-03 9.99995322e-01 1.13190011e-03 9.98002389e-02] [-4.99289178e-04 -1.13048578e-03 9.99999236e-01 -5.02139654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32463044 meters 0.2672474419803763 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99995865e-01 -2.82462947e-03 5.40400934e-04 3.04488601e+00] [ 2.82399524e-03 9.99995327e-01 1.17082231e-03 9.96102690e-02] [-5.43705548e-04 -1.16929138e-03 9.99999169e-01 -5.02041952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38463044 meters 0.2654553920137267 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.50 [[ 9.99980790e-01 6.00241955e-03 1.54623488e-03 3.02276562e+00] [-6.00327241e-03 9.99981830e-01 5.47523479e-04 9.75313409e-02] [-1.54292031e-03 -5.56795430e-04 9.99998655e-01 -5.02510219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44463044 meters 0.2657530698071945 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99992414e-01 -2.57673870e-03 2.92109914e-03 3.04320055e+00] [ 2.57277457e-03 9.99995766e-01 1.36001356e-03 9.73334029e-02] [-2.92459117e-03 -1.35248791e-03 9.99994809e-01 -5.01655396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50463044 meters 0.26479701672152495 Centerline is valid? [False, False] Translation: X:3.04, Y:0.10, Z:-0.50 [[ 9.99992657e-01 -2.46917229e-03 2.93070009e-03 3.04310973e+00] [ 2.46447237e-03 9.99995673e-01 1.60621676e-03 9.62307067e-02] [-2.93465343e-03 -1.59898233e-03 9.99994416e-01 -5.01559372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56463044000003 meters 0.2644185888363681 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99993042e-01 -2.17933460e-03 3.02768722e-03 3.04268318e+00] [ 2.17233712e-03 9.99994967e-01 2.31253524e-03 9.30300009e-02] [-3.03271176e-03 -2.30594199e-03 9.99992743e-01 -5.01286818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62463044000003 meters 0.26465100266749536 Centerline is valid? [False, False] Translation: X:3.04, Y:0.09, Z:-0.50 [[ 9.99993555e-01 -1.97797142e-03 2.99617764e-03 3.04266920e+00] [ 1.96965492e-03 9.99994207e-01 2.77611483e-03 9.09107669e-02] [-3.00165135e-03 -2.77019550e-03 9.99991658e-01 -5.01165080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68463044000003 meters 0.26434894324287844 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.50 [[ 9.99992049e-01 3.76803178e-03 1.30498989e-03 3.02205405e+00] [-3.76732648e-03 9.99992756e-01 -5.42501319e-04 8.92784069e-02] [-1.30702460e-03 5.37580683e-04 9.99999001e-01 -5.00869947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74463044000004 meters 0.2643976960001027 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.50 [[ 9.99998207e-01 1.89354154e-03 -1.67090270e-05 3.02706410e+00] [-1.89357514e-03 9.99995529e-01 -2.31442557e-03 8.86387578e-02] [ 1.23264914e-05 2.31445306e-03 9.99997322e-01 -5.03658862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80463044000004 meters 0.26344633779729026 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.50 [[ 9.99997883e-01 2.05698350e-03 6.13679872e-05 3.02698456e+00] [-2.05686013e-03 9.99995989e-01 -1.94690602e-03 8.69879718e-02] [-6.53724946e-05 1.94677567e-03 9.99998103e-01 -5.03859561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86463044000004 meters 0.26546780911683243 Centerline is valid? [False, False] Translation: X:3.05, Y:0.09, Z:-0.50 [[ 9.99978127e-01 -6.60686999e-03 -3.08136858e-04 3.04947039e+00] [ 6.60658721e-03 9.99977762e-01 -9.09854076e-04 8.57091894e-02] [ 3.14141294e-04 9.07798442e-04 9.99999539e-01 -5.03833289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92463044 meters 0.26418961533638197 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.51 [[ 9.99996589e-01 2.02308119e-03 1.65196811e-03 3.02778467e+00] [-2.02065122e-03 9.99996876e-01 -1.47129955e-03 8.09581548e-02] [-1.65493950e-03 1.46795648e-03 9.99997553e-01 -5.05480651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98463044 meters 0.2635192749825302 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.51 [[ 9.99996131e-01 2.15297151e-03 1.76118103e-03 3.02748209e+00] [-2.15094018e-03 9.99997020e-01 -1.15447431e-03 7.95574319e-02] [-1.76366134e-03 1.15068164e-03 9.99997783e-01 -5.05420261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04463044 meters 0.2635284824961667 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.51 [[ 9.99996137e-01 2.20877584e-03 1.68731829e-03 3.02781765e+00] [-2.20705744e-03 9.99997045e-01 -1.01960491e-03 7.90244069e-02] [-1.68956538e-03 1.01587696e-03 9.99998057e-01 -5.05714733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10463044 meters 0.2635375721645906 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.51 [[ 9.99996169e-01 2.15432041e-03 1.73800475e-03 3.02806870e+00] [-2.15230653e-03 9.99997011e-01 -1.15976860e-03 7.94753671e-02] [-1.74049807e-03 1.15602344e-03 9.99997817e-01 -5.06309050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16463044 meters 0.2643129700578098 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:-0.51 [[ 9.99987985e-01 -3.39772000e-03 3.53336711e-03 3.04986694e+00] [ 3.38957350e-03 9.99991590e-01 2.30902863e-03 7.77109372e-02] [-3.54118282e-03 -2.29702428e-03 9.99991092e-01 -5.06944923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22463044 meters 0.2628985959843278 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.51 [[ 9.99983087e-01 5.35810449e-03 2.26192609e-03 3.02856522e+00] [-5.36116896e-03 9.99984716e-01 1.35092331e-03 8.13830323e-02] [-2.25465313e-03 -1.36302703e-03 9.99996529e-01 -5.07018430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28463044 meters 0.26369928355738753 Centerline is valid? [False, False] Translation: X:3.05, Y:0.08, Z:-0.51 [[ 9.99992367e-01 -3.69109870e-03 1.28110820e-03 3.05022476e+00] [ 3.68913442e-03 9.99992021e-01 1.53225768e-03 8.49862195e-02] [-1.28675369e-03 -1.52751980e-03 9.99998005e-01 -5.06452745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34463044 meters 0.2637092799526395 Centerline is valid? [False, False] Translation: X:3.03, Y:0.09, Z:-0.51 [[ 9.99986226e-01 5.20750115e-03 -6.56217010e-04 3.03016149e+00] [-5.20728291e-03 9.99986386e-01 3.33847853e-04 9.17848160e-02] [ 6.57946590e-04 -3.30426147e-04 9.99999729e-01 -5.06668317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40463044 meters 0.2622499634332265 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.51 [[ 9.99987666e-01 4.87861607e-03 -9.31343880e-04 3.03103388e+00] [-4.87919233e-03 9.99987906e-01 -6.17472842e-04 9.60084253e-02] [ 9.28320204e-04 6.22009432e-04 9.99999376e-01 -5.07111258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46463044 meters 0.2628030000101368 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.51 [[ 9.99989276e-01 4.53241992e-03 -9.51380864e-04 3.03133153e+00] [-4.53393580e-03 9.99988446e-01 -1.59727804e-03 1.00257737e-01] [ 9.44130337e-04 1.60157441e-03 9.99998272e-01 -5.07483786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52463044 meters 0.2622729705621898 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.51 [[ 9.99990959e-01 4.17802395e-03 -7.90748441e-04 3.03045403e+00] [-4.18019592e-03 9.99987439e-01 -2.76530866e-03 1.05384742e-01] [ 7.79184983e-04 2.76858914e-03 9.99995864e-01 -5.06600546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58463044 meters 0.2617625001161971 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.51 [[ 9.99992151e-01 3.85649009e-03 -9.08186895e-04 3.03066551e+00] [-3.85970517e-03 9.99986195e-01 -3.56537014e-03 1.08887597e-01] [ 8.94424543e-04 3.56884749e-03 9.99993232e-01 -5.06456326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64463044 meters 0.2611440497130834 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.51 [[ 9.99993005e-01 -3.68690647e-03 -6.29403040e-04 3.01216626e+00] [ 3.68520042e-03 9.99989590e-01 -2.69056298e-03 1.19414728e-01] [ 6.39316342e-04 2.68822468e-03 9.99996182e-01 -5.07995361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70463044 meters 0.26085501344190626 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.51 [[ 9.99992019e-01 -3.95176458e-03 -5.88202674e-04 3.01177235e+00] [ 3.94973339e-03 9.99986368e-01 -3.41520738e-03 1.22626514e-01] [ 6.01690751e-04 3.41285688e-03 9.99993995e-01 -5.07420614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76463044 meters 0.26105799171013333 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.51 [[ 9.99999743e-01 1.65754962e-04 -6.97435070e-04 3.01174735e+00] [-1.65470943e-04 9.99999903e-01 4.07271245e-04 1.24380958e-01] [ 6.97502510e-04 -4.07155735e-04 9.99999674e-01 -5.07009310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82463044 meters 0.2609477905309285 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99999445e-01 -1.30228496e-04 -1.04561390e-03 3.01244485e+00] [ 1.29721646e-04 9.99999874e-01 -4.84792031e-04 1.28342881e-01] [ 1.04567691e-03 4.84656124e-04 9.99999336e-01 -5.06886304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88463044 meters 0.2614721920379004 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99999282e-01 -3.32368318e-04 -1.15106408e-03 3.01261889e+00] [ 3.31253365e-04 9.99999476e-01 -9.68682757e-04 1.30431331e-01] [ 1.15138543e-03 9.68300768e-04 9.99998868e-01 -5.06758662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94463044 meters 0.26110645048619174 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99998971e-01 -4.11976429e-04 -1.37446479e-03 3.01328698e+00] [ 4.10377481e-04 9.99999239e-01 -1.16340296e-03 1.31351991e-01] [ 1.37494304e-03 1.16283771e-03 9.99998379e-01 -5.07070237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00463044 meters 0.2625855032209228 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99998716e-01 -4.10238440e-04 -1.54921193e-03 3.01380833e+00] [ 4.08438771e-04 9.99999242e-01 -1.16180486e-03 1.31327744e-01] [ 1.54968737e-03 1.16117061e-03 9.99998125e-01 -5.07256709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06463044000003 meters 0.2619244542530408 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99998579e-01 -2.80849630e-04 -1.66231449e-03 3.01382856e+00] [ 2.79432760e-04 9.99999598e-01 -8.52518664e-04 1.29933886e-01] [ 1.66255325e-03 8.52052947e-04 9.99998255e-01 -5.06857120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12463044000003 meters 0.2619093133497941 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99998381e-01 -1.63037345e-04 -1.79227008e-03 3.01382323e+00] [ 1.61972429e-04 9.99999810e-01 -5.94300651e-04 1.28614194e-01] [ 1.79236664e-03 5.94009390e-04 9.99998217e-01 -5.06347601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18463044000003 meters 0.26024125298200496 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.51 [[ 9.99997979e-01 -1.09701454e-04 -2.00722956e-03 3.01405261e+00] [ 1.08814853e-04 9.99999896e-01 -4.41807684e-04 1.27914745e-01] [ 2.00727782e-03 4.41588375e-04 9.99997888e-01 -5.05894306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24463044000004 meters 0.26175995316130823 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.51 [[ 9.99999774e-01 3.99041346e-04 -5.41614696e-04 3.05685648e+00] [-3.98887075e-04 9.99999880e-01 2.84913402e-04 1.26011220e-01] [ 5.41728323e-04 -2.84697295e-04 9.99999813e-01 -5.05496825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30463044000004 meters 0.2610285313017968 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.50 [[ 9.99999801e-01 4.31088635e-04 -4.60407489e-04 3.05611744e+00] [-4.30909706e-04 9.99999832e-01 3.88659892e-04 1.25566595e-01] [ 4.60574958e-04 -3.88461420e-04 9.99999818e-01 -5.04434414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36463044000004 meters 0.26133990974872173 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.50 [[ 9.99999818e-01 4.64631240e-04 -3.84202557e-04 3.05587764e+00] [-4.64449653e-04 9.99999780e-01 4.72589303e-04 1.25159073e-01] [ 3.84422052e-04 -4.72410774e-04 9.99999815e-01 -5.04289057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42463044 meters 0.26141537647459046 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99999718e-01 5.25286611e-04 -5.37636241e-04 3.05626833e+00] [-5.24961525e-04 9.99999679e-01 6.04620771e-04 1.24459012e-01] [ 5.37953668e-04 -6.04338361e-04 9.99999673e-01 -5.04356311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48463044 meters 0.2614511179401919 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99999565e-01 6.11208364e-04 -7.04064057e-04 3.05660227e+00] [-6.10622984e-04 9.99999468e-01 8.31344272e-04 1.23485548e-01] [ 7.04571807e-04 -8.30913993e-04 9.99999407e-01 -5.04282185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54463044 meters 0.26174687837122046 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99999565e-01 6.67187116e-04 -6.51404403e-04 3.05660346e+00] [-6.66555881e-04 9.99999309e-01 9.68773909e-04 1.22906686e-01] [ 6.52050306e-04 -9.68339290e-04 9.99999319e-01 -5.04503001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60463044 meters 0.2619274785142251 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99999560e-01 7.15921524e-04 -6.06692518e-04 3.05656423e+00] [-7.15264875e-04 9.99999159e-01 1.08186829e-03 1.22346495e-01] [ 6.07466541e-04 -1.08143387e-03 9.99999231e-01 -5.04580261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66463044 meters 0.26205693532135504 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99999554e-01 7.51484028e-04 -5.72563690e-04 3.05641992e+00] [-7.50813542e-04 9.99999033e-01 1.17033997e-03 1.22002222e-01] [ 5.73442628e-04 -1.16990956e-03 9.99999151e-01 -5.04459595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72463044 meters 0.26221658393240316 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99999433e-01 8.51237922e-04 -6.39754677e-04 3.05701295e+00] [-8.50336267e-04 9.99998647e-01 1.40832870e-03 1.20653268e-01] [ 6.40952634e-04 -1.40778390e-03 9.99998804e-01 -5.05193499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78463044 meters 0.26176346111755294 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99999160e-01 1.04949772e-03 -7.61152586e-04 3.05740619e+00] [-1.04803585e-03 9.99997611e-01 1.91846880e-03 1.18443612e-01] [ 7.63164196e-04 -1.91766947e-03 9.99997870e-01 -5.05402897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84463044 meters 0.2628401325952041 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99994989e-01 -3.06309399e-03 -8.00055298e-04 3.05761530e+00] [ 3.06161222e-03 9.99993608e-01 -1.84678656e-03 1.16126032e-01] [ 8.05707064e-04 1.84432785e-03 9.99997975e-01 -5.05500433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90463044 meters 0.26305915151295867 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99995011e-01 -3.02486695e-03 -9.10270670e-04 3.05796736e+00] [ 3.02326668e-03 9.99993891e-01 -1.75429156e-03 1.15652989e-01] [ 9.15571608e-04 1.75153081e-03 9.99998047e-01 -5.05713310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96463044 meters 0.2625269351933302 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99994864e-01 -3.05476717e-03 -9.70158270e-04 3.05813174e+00] [ 3.05296364e-03 9.99993619e-01 -1.85507671e-03 1.16212729e-01] [ 9.75818907e-04 1.85210533e-03 9.99997809e-01 -5.05796684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02463044 meters 0.26340515952266097 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99994646e-01 -3.16059412e-03 -8.47817044e-04 3.05753760e+00] [ 3.15869493e-03 9.99992520e-01 -2.23214692e-03 1.17890687e-01] [ 8.54865613e-04 2.22945697e-03 9.99997149e-01 -5.05185709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08463044 meters 0.2636183861371069 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.51 [[ 9.99994549e-01 -3.19737175e-03 -8.23765369e-04 3.05738127e+00] [ 3.19545036e-03 9.99992196e-01 -2.32329986e-03 1.18262427e-01] [ 8.31187393e-04 2.32065490e-03 9.99996962e-01 -5.05001887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14463044 meters 0.2642274905940255 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.50 [[ 9.99994502e-01 -3.20598406e-03 -8.46617464e-04 3.05710787e+00] [ 3.20399074e-03 9.99992117e-01 -2.34539946e-03 1.18366629e-01] [ 8.54130104e-04 2.34267402e-03 9.99996891e-01 -5.04405194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20463044 meters 0.2631572794879299 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.50 [[ 9.99996247e-01 2.65425504e-03 6.79549552e-04 3.03300442e+00] [-2.65066784e-03 9.99982829e-01 -5.22636776e-03 1.13730804e-01] [-6.93409996e-04 5.22454688e-03 9.99986112e-01 -5.03277849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26463044 meters 0.2629021395729769 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.50 [[ 9.99979456e-01 -5.98525466e-03 2.29438716e-03 3.05337229e+00] [ 5.99529778e-03 9.99972367e-01 -4.39566008e-03 1.11669518e-01] [-2.26801461e-03 4.40932531e-03 9.99987707e-01 -5.02467544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32463044 meters 0.26266253591441785 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.50 [[ 9.99996440e-01 -1.46988603e-03 2.22691192e-03 3.05342249e+00] [ 1.46874212e-03 9.99998789e-01 5.15222850e-04 1.08228257e-01] [-2.22766654e-03 -5.11950256e-04 9.99997388e-01 -5.02333704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38463044 meters 0.264200150144087 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.50 [[ 9.99981454e-01 4.74527515e-03 3.81752047e-03 3.07529823e+00] [-4.73583260e-03 9.99985714e-01 -2.47872741e-03 1.09524771e-01] [-3.82922818e-03 2.46060230e-03 9.99989641e-01 -5.03172822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44463044 meters 0.2637283275009694 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:-0.50 [[ 9.99993600e-01 -3.02664962e-03 1.90749511e-03 3.05681394e+00] [ 3.02836554e-03 9.99995012e-01 -8.97322745e-04 1.10145058e-01] [-1.90476971e-03 9.03093595e-04 9.99997778e-01 -5.04471647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50463044 meters 0.26286232115816077 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:-0.50 [[ 9.99994441e-01 -2.75159290e-03 1.88315437e-03 3.05679981e+00] [ 2.75202034e-03 9.99996188e-01 -2.24427145e-04 1.07066884e-01] [-1.88252966e-03 2.29608377e-04 9.99998202e-01 -5.04328724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56463044000003 meters 0.2629945520089075 Centerline is valid? [False, False] Translation: X:3.06, Y:0.10, Z:-0.50 [[ 9.99995352e-01 -2.52848568e-03 1.70363310e-03 3.05755308e+00] [ 2.52788271e-03 9.99996742e-01 3.55990462e-04 1.04372229e-01] [-1.70452767e-03 -3.51682223e-04 9.99998485e-01 -5.04978443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62463044000003 meters 0.2641983074592171 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.50 [[ 9.99983451e-01 5.49083607e-03 1.71716724e-03 3.07843974e+00] [-5.48938698e-03 9.99984574e-01 -8.47459463e-04 1.01729388e-01] [-1.72179401e-03 8.38019243e-04 9.99998167e-01 -5.03720199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68463044000003 meters 0.26584538770872534 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99986150e-01 -1.95373059e-03 4.88689985e-03 3.09529503e+00] [ 1.95130091e-03 9.99997970e-01 5.01902732e-04 1.05749460e-01] [-4.88787051e-03 -4.92359968e-04 9.99987933e-01 -5.02313523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74463044000004 meters 0.2660966529404689 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99986822e-01 -1.96369553e-03 4.74346852e-03 3.09568770e+00] [ 1.96147398e-03 9.99997964e-01 4.72944201e-04 1.05845881e-01] [-4.74438758e-03 -4.63633778e-04 9.99988638e-01 -5.02473085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80463044000004 meters 0.2643775810277074 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.50 [[ 9.99992145e-01 3.23706439e-03 2.28736768e-03 3.07546007e+00] [-3.23007271e-03 9.99990121e-01 -3.05376013e-03 1.04007687e-01] [-2.29723030e-03 3.04634778e-03 9.99992721e-01 -5.01850285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86463044000004 meters 0.2642542927811575 Centerline is valid? [False, False] Translation: X:3.08, Y:0.10, Z:-0.50 [[ 9.99991861e-01 3.40400668e-03 2.16568244e-03 3.07541128e+00] [-3.39831722e-03 9.99990779e-01 -2.62537608e-03 1.02147754e-01] [-2.17459927e-03 2.61799504e-03 9.99994209e-01 -5.01247736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92463044 meters 0.2648519740702619 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99988783e-01 -3.98421487e-03 2.56123110e-03 3.09421732e+00] [ 3.98624718e-03 9.99991744e-01 -7.88878109e-04 1.05919769e-01] [-2.55806689e-03 7.99078960e-04 9.99996409e-01 -4.99321133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98463044 meters 0.26517985314242404 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99988575e-01 -4.01378189e-03 2.59613839e-03 3.09382436e+00] [ 4.01602983e-03 9.99991565e-01 -8.61248812e-04 1.06273871e-01] [-2.59265962e-03 8.71665142e-04 9.99996259e-01 -4.98754361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04463044 meters 0.2643455906918441 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99988376e-01 -4.08583091e-03 2.56018806e-03 3.09402857e+00] [ 4.08849896e-03 9.99991104e-01 -1.03776355e-03 1.06985915e-01] [-2.55592516e-03 1.04821881e-03 9.99996184e-01 -4.98985256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10463044 meters 0.2650543049080215 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99987836e-01 -4.25305434e-03 2.49785491e-03 3.09441528e+00] [ 4.25664088e-03 9.99989915e-01 -1.43229071e-03 1.08801898e-01] [-2.49173811e-03 1.44290576e-03 9.99995855e-01 -4.99462348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16463044 meters 0.2653150288501714 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99987363e-01 -4.39546485e-03 2.43988196e-03 3.09462361e+00] [ 4.39980970e-03 9.99988740e-01 -1.77826037e-03 1.10327437e-01] [-2.43203820e-03 1.78897291e-03 9.99995442e-01 -4.99630221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22463044 meters 0.2646302118436445 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99987833e-01 -4.34342339e-03 2.33843620e-03 3.09468674e+00] [ 4.34727492e-03 9.99989198e-01 -1.64449818e-03 1.09655478e-01] [-2.33126819e-03 1.65464399e-03 9.99995914e-01 -4.99311364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28463044 meters 0.2633841569338474 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99988113e-01 -4.23401139e-03 2.41811278e-03 3.09442538e+00] [ 4.23723675e-03 9.99990138e-01 -1.33026902e-03 1.08303685e-01] [-2.41245656e-03 1.34049933e-03 9.99996192e-01 -4.99112928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34463044 meters 0.26390645422751086 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:-0.50 [[ 9.99987636e-01 3.88759467e-03 3.10080261e-03 3.11373770e+00] [-3.88007781e-03 9.99989528e-01 -2.42650835e-03 1.04648215e-01] [-3.11020342e-03 2.41444699e-03 9.99992249e-01 -4.97911329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40463044 meters 0.26365437931825686 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:-0.50 [[ 9.99987759e-01 3.91882453e-03 3.02080989e-03 3.11401280e+00] [-3.91171727e-03 9.99989576e-01 -2.35509534e-03 1.04285043e-01] [-3.03000761e-03 2.34324995e-03 9.99992664e-01 -4.98085203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46463044 meters 0.26392382539626125 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99992665e-01 -3.80871971e-03 4.03390506e-04 3.09725089e+00] [ 3.80911936e-03 9.99992251e-01 -9.94629016e-04 1.08002985e-01] [-3.99599117e-04 9.96158284e-04 9.99999424e-01 -4.99871906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52463044 meters 0.265689833416497 Centerline is valid? [False, False] Translation: X:3.12, Y:0.11, Z:-0.50 [[ 9.99986805e-01 4.82064734e-03 1.77520290e-03 3.11772110e+00] [-4.81718228e-03 9.99986494e-01 -1.95105530e-03 1.10141313e-01] [-1.78458427e-03 1.94247808e-03 9.99996521e-01 -4.99183688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58463044 meters 0.2665045640460119 Centerline is valid? [False, False] Translation: X:3.12, Y:0.11, Z:-0.50 [[ 9.99986795e-01 4.63819978e-03 2.21296485e-03 3.11648471e+00] [-4.63253818e-03 9.99986001e-01 -2.55668128e-03 1.12619422e-01] [-2.22479227e-03 2.54639588e-03 9.99994283e-01 -4.98609184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64463044 meters 0.2652147584253386 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:-0.50 [[ 9.99986299e-01 -3.73260069e-03 3.67003678e-03 3.09481946e+00] [ 3.73922128e-03 9.99991391e-01 -1.79875391e-03 1.16834720e-01] [-3.66329115e-03 1.81245235e-03 9.99991648e-01 -4.98877634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70463044 meters 0.26598094343429923 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 9.99974009e-01 4.55208343e-03 5.59101178e-03 3.11339765e+00] [-4.53647120e-03 9.99985785e-01 -2.80189458e-03 1.15651740e-01] [-5.60368676e-03 2.77645829e-03 9.99980445e-01 -4.97879245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76463044 meters 0.26502602594420993 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 9.99974351e-01 4.60134933e-03 5.48870441e-03 3.11343025e+00] [-4.58674927e-03 9.99985917e-01 -2.66964698e-03 1.15060331e-01] [-5.50091109e-03 2.64440319e-03 9.99981373e-01 -4.97494080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82463044 meters 0.2637940038707957 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99996442e-01 -1.15040711e-03 2.40683451e-03 3.09339748e+00] [ 1.14905880e-03 9.99999182e-01 5.61510887e-04 1.13473665e-01] [-2.40747851e-03 -5.58743294e-04 9.99996946e-01 -4.96911876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88463044 meters 0.26471459016326576 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99996484e-01 -1.14757126e-03 2.39065743e-03 3.09349526e+00] [ 1.14622205e-03 9.99999183e-01 5.65661797e-04 1.13418198e-01] [-2.39130462e-03 -5.62919583e-04 9.99996982e-01 -4.97024530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94463044 meters 0.26575540794552027 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.50 [[ 9.99977098e-01 4.93553042e-03 4.63067812e-03 3.11542138e+00] [-4.92414415e-03 9.99984833e-01 -2.46706648e-03 1.17209568e-01] [-4.64278416e-03 2.44420785e-03 9.99986235e-01 -4.98427998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00463044 meters 0.26523170398202417 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:-0.50 [[ 9.99985860e-01 -3.36149064e-03 4.12059997e-03 3.09472267e+00] [ 3.36796961e-03 9.99993102e-01 -1.56640836e-03 1.18912875e-01] [-4.11530608e-03 1.58026427e-03 9.99990283e-01 -4.98968607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06463044000003 meters 0.26492249646912697 Centerline is valid? [False, False] Translation: X:3.09, Y:0.12, Z:-0.50 [[ 9.99986098e-01 -3.33901766e-03 4.08093063e-03 3.09485457e+00] [ 3.34521948e-03 9.99993259e-01 -1.51382881e-03 1.18668825e-01] [-4.07584842e-03 1.52745937e-03 9.99990527e-01 -4.99034859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12463044000003 meters 0.2654222767193368 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.50 [[ 9.99986523e-01 -3.28341752e-03 4.02155999e-03 3.09531827e+00] [ 3.28901662e-03 9.99993630e-01 -1.38644753e-03 1.18009915e-01] [-4.01698209e-03 1.39965582e-03 9.99990952e-01 -4.99601634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18463044000003 meters 0.2659890303292707 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.50 [[ 9.99986935e-01 -3.24395129e-03 3.95050033e-03 3.09555057e+00] [ 3.24910675e-03 9.99993878e-01 -1.29929557e-03 1.17566889e-01] [-3.94626129e-03 1.31211420e-03 9.99991353e-01 -4.99720696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24463044000004 meters 0.2655768791140976 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.50 [[ 9.99986682e-01 -3.23879214e-03 4.01810354e-03 3.09549404e+00] [ 3.24395772e-03 9.99993920e-01 -1.27972549e-03 1.17583435e-01] [-4.01393434e-03 1.29274301e-03 9.99991109e-01 -4.99878206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30463044000004 meters 0.26599454382021565 Centerline is valid? [False, False] Translation: X:3.10, Y:0.12, Z:-0.50 [[ 9.99987382e-01 -3.12890687e-03 3.93010925e-03 3.09552704e+00] [ 3.13296133e-03 9.99994566e-01 -1.02590934e-03 1.16391729e-01] [-3.92687792e-03 1.03820927e-03 9.99991751e-01 -4.99521786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36463044000004 meters 0.2665713295851114 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99988885e-01 -2.89577369e-03 3.72074301e-03 3.09629991e+00] [ 2.89737091e-03 9.99995713e-01 -4.23954201e-04 1.13563741e-01] [-3.71949938e-03 4.34729862e-04 9.99992988e-01 -4.99986279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42463044 meters 0.26592289251760565 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99989485e-01 -2.64232016e-03 3.74798523e-03 3.09609075e+00] [ 2.64168761e-03 9.99996496e-01 1.73711299e-04 1.10792905e-01] [-3.74843109e-03 -1.63808466e-04 9.99992961e-01 -4.99717082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48463044 meters 0.26537084024853785 Centerline is valid? [False, False] Translation: X:3.10, Y:0.11, Z:-0.50 [[ 9.99989607e-01 -2.53457553e-03 3.78962309e-03 3.09568974e+00] [ 2.53295428e-03 9.99996699e-01 4.32553210e-04 1.09621684e-01] [-3.79070692e-03 -4.22949773e-04 9.99992726e-01 -4.99128070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54463044 meters 0.2648308554762804 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.50 [[ 9.99977162e-01 6.46718580e-03 1.96248386e-03 3.07687964e+00] [-6.46723711e-03 9.99979087e-01 1.97986803e-05 1.07788531e-01] [-1.96231478e-03 -3.24900766e-05 9.99998074e-01 -5.00357084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60463044 meters 0.2651699554661217 Centerline is valid? [False, False] Translation: X:3.08, Y:0.11, Z:-0.50 [[ 9.99993386e-01 3.01718967e-03 2.03105296e-03 3.07685661e+00] [-3.01051563e-03 9.99990086e-01 -3.28107356e-03 1.07171792e-01] [-2.04093244e-03 3.27493734e-03 9.99992555e-01 -5.00691817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66463044 meters 0.26602869976041804 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99982568e-01 -4.38752278e-03 3.95138469e-03 3.09387641e+00] [ 4.39397715e-03 9.99989024e-01 -1.62624775e-03 1.11855045e-01] [-3.94420612e-03 1.64358169e-03 9.99990871e-01 -4.98616105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72463044 meters 0.26454494174863863 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99982639e-01 -4.32810055e-03 3.99865318e-03 3.09358993e+00] [ 4.33406437e-03 9.99989507e-01 -1.48399679e-03 1.11214230e-01] [-3.99218834e-03 1.50130145e-03 9.99990904e-01 -4.98236563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78463044 meters 0.2643275737267287 Centerline is valid? [False, False] Translation: X:3.09, Y:0.11, Z:-0.50 [[ 9.99983519e-01 -4.31567691e-03 3.78649178e-03 3.09431715e+00] [ 4.32117475e-03 9.99989620e-01 -1.44498411e-03 1.11018754e-01] [-3.78021639e-03 1.46132239e-03 9.99991787e-01 -4.98758803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84463044 meters 0.2647600447565568 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 9.99983406e-01 3.91255066e-03 4.22835125e-03 3.11438921e+00] [-3.90071691e-03 9.99988463e-01 -2.80329932e-03 1.11148840e-01] [-4.23927052e-03 2.78675920e-03 9.99987131e-01 -4.97596618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90463044 meters 0.2644585790251641 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 0.99998379 0.00374238 0.00429055 3.11394427] [-0.0037286 0.99998788 -0.00321529 0.11302323] [-0.00430253 0.00319925 0.99998563 -0.49708611] [ 0. 0. 0. 1. ]] SLAMing on 342.96463044 meters 0.26450441215858045 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 0.99998436 0.00361489 0.00426824 3.11389112] [-0.00359989 0.99998734 -0.0035162 0.11436224] [-0.0042809 0.00350078 0.99998471 -0.4969023 ] [ 0. 0. 0. 1. ]] SLAMing on 343.02463044 meters 0.26433253717057337 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 0.99998504 0.00348289 0.00421838 3.11394259] [-0.00346683 0.99998674 -0.00380921 0.11580642] [-0.00423159 0.00379453 0.99998385 -0.49683389] [ 0. 0. 0. 1. ]] SLAMing on 343.08463044 meters 0.2646132620518793 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 0.99998562 0.0034713 0.00408827 3.11430541] [-0.00345561 0.99998666 -0.00383864 0.11588814] [-0.00410154 0.00382446 0.99998428 -0.49695633] [ 0. 0. 0. 1. ]] SLAMing on 343.14463044 meters 0.2644913527416201 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 0.999986 0.00345486 0.00400687 3.11461883] [-0.00343933 0.99998657 -0.00387706 0.116029 ] [-0.00402021 0.00386322 0.99998446 -0.49719712] [ 0. 0. 0. 1. ]] SLAMing on 343.20463044 meters 0.26390391373632405 Centerline is valid? [False, False] Translation: X:3.11, Y:0.12, Z:-0.50 [[ 0.99998578 0.00354443 0.00398367 3.11475306] [-0.00352982 0.99998705 -0.00366707 0.11512021] [-0.00399661 0.00365295 0.99998534 -0.49731918] [ 0. 0. 0. 1. ]] SLAMing on 343.26463044 meters 0.2641965396434358 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 0.99998572 0.00367611 0.00387822 3.11491238] [-0.00366308 0.99998764 -0.00336167 0.11366179] [-0.00389053 0.00334741 0.99998683 -0.49714547] [ 0. 0. 0. 1. ]] SLAMing on 343.32463044 meters 0.26455196857469243 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 9.99985344e-01 3.86475512e-03 3.79155513e-03 3.11493574e+00] [-3.85369746e-03 9.99988313e-01 -2.91937551e-03 1.11712337e-01] [-3.80279349e-03 2.90472122e-03 9.99988551e-01 -4.96827466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38463044 meters 0.26332197290712295 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 9.99984584e-01 4.04739054e-03 3.80129300e-03 3.11453214e+00] [-4.03800037e-03 9.99988785e-01 -2.47469128e-03 1.09750514e-01] [-3.81126641e-03 2.45930351e-03 9.99989713e-01 -4.96109153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44463044 meters 0.2633973083193389 Centerline is valid? [False, False] Translation: X:3.11, Y:0.11, Z:-0.50 [[ 9.99983315e-01 4.34928156e-03 3.80180122e-03 3.11466346e+00] [-4.34260268e-03 9.99989016e-01 -1.76326017e-03 1.06590307e-01] [-3.80942838e-03 1.74672104e-03 9.99991219e-01 -4.96318306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50463044 meters 0.26377683734975055 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:-0.50 [[ 9.99982256e-01 4.68270951e-03 3.68226274e-03 3.11511258e+00] [-4.67921029e-03 9.99988593e-01 -9.58333043e-04 1.02963372e-01] [-3.68670834e-03 9.41085957e-04 9.99992761e-01 -4.96574613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56463044000003 meters 0.26406391277976343 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:-0.50 [[ 9.99980225e-01 5.15093687e-03 3.60800381e-03 3.11508232e+00] [-5.15150673e-03 9.99986720e-01 1.48670136e-04 9.77878371e-02] [-3.60719011e-03 -1.67253852e-04 9.99993480e-01 -4.96231682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62463044000003 meters 0.2635620709818503 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:-0.50 [[ 9.99992054e-01 1.16751212e-03 3.81170431e-03 3.11467020e+00] [-1.15452810e-03 9.99993530e-01 -3.40678034e-03 9.57417437e-02] [-3.81565711e-03 3.40235255e-03 9.99986932e-01 -4.96316377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68463044000003 meters 0.2647370929627701 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:-0.50 [[ 9.99993263e-01 1.36604818e-03 3.40689476e-03 3.11592203e+00] [-1.35623540e-03 9.99994930e-01 -2.88091757e-03 9.31393600e-02] [-3.41081297e-03 2.87627762e-03 9.99990047e-01 -4.97031412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74463044000004 meters 0.26508470876535234 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:-0.50 [[ 9.99992909e-01 1.45044175e-03 3.47531195e-03 3.11569315e+00] [-1.44117591e-03 9.99995404e-01 -2.66721090e-03 9.21901718e-02] [-3.47916461e-03 2.66218345e-03 9.99990404e-01 -4.96859240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80463044000004 meters 0.26490550204743635 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:-0.50 [[ 9.99992478e-01 1.50906248e-03 3.57294802e-03 3.11535713e+00] [-1.50003409e-03 9.99995679e-01 -2.52820801e-03 9.15411919e-02] [-3.57674780e-03 2.52282945e-03 9.99990421e-01 -4.96632039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86463044000004 meters 0.2662696977518125 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99976961e-01 -4.32658542e-03 5.23049739e-03 3.13528596e+00] [ 4.32329759e-03 9.99990450e-01 6.39731068e-04 9.35019528e-02] [-5.23321528e-03 -6.17103332e-04 9.99986116e-01 -4.96587539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92463044 meters 0.2664512211501535 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99977057e-01 -4.32827693e-03 5.21074054e-03 3.13503304e+00] [ 4.32506180e-03 9.99990450e-01 6.28128810e-04 9.35025710e-02] [-5.21340949e-03 -6.05577624e-04 9.99986227e-01 -4.96065757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98463044 meters 0.26534336690321336 Centerline is valid? [False, False] Translation: X:3.13, Y:0.09, Z:-0.50 [[ 9.99977189e-01 -4.34410537e-03 5.17196890e-03 3.13486988e+00] [ 4.34108535e-03 9.99990400e-01 5.95002968e-04 9.37098750e-02] [-5.17450401e-03 -5.72537438e-04 9.99986448e-01 -4.95618919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04463044 meters 0.2634007862344923 Centerline is valid? [False, False] Translation: X:3.11, Y:0.09, Z:-0.50 [[ 9.99972726e-01 4.04553944e-03 6.17899575e-03 3.11342215e+00] [-4.04594073e-03 9.99991814e-01 5.24450365e-05 8.97542686e-02] [-6.17873300e-03 -7.74434567e-05 9.99980908e-01 -4.96118652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10463044 meters 0.2655952000311482 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99989818e-01 -2.82178736e-03 3.52164759e-03 3.13883216e+00] [ 2.81550989e-03 9.99994441e-01 1.78622469e-03 9.35926670e-02] [-3.52666836e-03 -1.77629127e-03 9.99992204e-01 -4.97161166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16463044 meters 0.26543280930846447 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99990549e-01 -2.76433968e-03 3.35567685e-03 3.13949242e+00] [ 2.75790266e-03 9.99994351e-01 1.92135999e-03 9.28315802e-02] [-3.36096918e-03 -1.91208720e-03 9.99992524e-01 -4.97677287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22463044 meters 0.2646501237400184 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99990367e-01 -2.80171467e-03 3.37881107e-03 3.13920706e+00] [ 2.79549666e-03 9.99994393e-01 1.84361506e-03 9.33302113e-02] [-3.38395741e-03 -1.83415185e-03 9.99992592e-01 -4.97273112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28463044 meters 0.2645164533432762 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99989816e-01 -2.93687038e-03 3.42671528e-03 3.13929687e+00] [ 2.93171091e-03 9.99994563e-01 1.50971359e-03 9.48015206e-02] [-3.43113048e-03 -1.49965208e-03 9.99992989e-01 -4.97703683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34463044 meters 0.2654935791608594 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.50 [[ 9.99989618e-01 -3.17141844e-03 3.27200480e-03 3.13958481e+00] [ 3.16902910e-03 9.99994708e-01 7.35161946e-04 9.80622513e-02] [-3.27431899e-03 -7.24785235e-04 9.99994377e-01 -4.97741942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40463044 meters 0.2653146771539109 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.50 [[ 9.99988175e-01 -3.43627458e-03 3.44115866e-03 3.13932705e+00] [ 3.43670349e-03 9.99994087e-01 -1.18736799e-04 1.01631283e-01] [-3.44073030e-03 1.30561637e-04 9.99994072e-01 -4.98082548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46463044 meters 0.2666190427376623 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.50 [[ 9.99985345e-01 -3.85821934e-03 3.79800658e-03 3.13829737e+00] [ 3.86428873e-03 9.99991266e-01 -1.59200893e-03 1.08206163e-01] [-3.79183109e-03 1.60666220e-03 9.99991520e-01 -4.97796568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52463044 meters 0.2667252042490284 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.50 [[ 9.99993544e-01 1.97850847e-04 3.58799539e-03 3.13864891e+00] [-2.05328016e-04 9.99997808e-01 2.08369216e-03 1.10642421e-01] [-3.58757526e-03 -2.08441542e-03 9.99991392e-01 -4.97752980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58463044 meters 0.26666340275470524 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.50 [[ 9.99993678e-01 -2.05163989e-04 3.54989636e-03 3.13854342e+00] [ 2.00989972e-04 9.99999288e-01 1.17613063e-03 1.14614130e-01] [-3.55013514e-03 -1.17540970e-03 9.99993007e-01 -4.97549842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64463044 meters 0.2657490596914431 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:-0.50 [[ 9.99994070e-01 -4.83350883e-04 3.40979434e-03 3.13893808e+00] [ 4.81479791e-04 9.99999733e-01 5.49539958e-04 1.17483410e-01] [-3.41005905e-03 -5.47894952e-04 9.99994036e-01 -4.97734078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70463044 meters 0.2668614034286015 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:-0.50 [[ 9.99993536e-01 -9.94114010e-04 3.45528400e-03 3.13864027e+00] [ 9.96293857e-04 9.99999306e-01 -6.29209403e-04 1.23125016e-01] [-3.45465609e-03 6.32647814e-04 9.99993833e-01 -4.97555495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76463044 meters 0.26666627235532664 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99993067e-01 -1.35332729e-03 3.46915171e-03 3.13839556e+00] [ 1.35838063e-03 9.99998019e-01 -1.45470695e-03 1.26921711e-01] [-3.46717614e-03 1.45940929e-03 9.99992924e-01 -4.97277863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82463044 meters 0.2662613480420622 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99992519e-01 -1.77695165e-03 3.43575190e-03 3.13835927e+00] [ 1.78521848e-03 9.99995516e-01 -2.40455086e-03 1.31102522e-01] [-3.43146373e-03 2.41066644e-03 9.99991207e-01 -4.97199453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88463044 meters 0.26639511181646613 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99992039e-01 -1.91810133e-03 3.49909361e-03 3.13794774e+00] [ 1.92776294e-03 9.99994333e-01 -2.75989259e-03 1.32689298e-01] [-3.49378003e-03 2.76661604e-03 9.99990070e-01 -4.96723566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94463044 meters 0.26497573393565066 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99992154e-01 -1.95408609e-03 3.44570030e-03 3.13770710e+00] [ 1.96387697e-03 9.99994038e-01 -2.84038593e-03 1.33256824e-01] [-3.44012939e-03 2.84713058e-03 9.99990030e-01 -4.96130103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00463044 meters 0.26575262367568325 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99992475e-01 -1.94686423e-03 3.35552799e-03 3.13823938e+00] [ 1.95635642e-03 9.99994088e-01 -2.82786307e-03 1.33047010e-01] [-3.35000269e-03 2.83440640e-03 9.99990372e-01 -4.96708532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06463044000003 meters 0.2651834884674231 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99992758e-01 -1.83005285e-03 3.33677257e-03 3.13830274e+00] [ 1.83857247e-03 9.99995054e-01 -2.55197504e-03 1.31806241e-01] [-3.33208581e-03 2.55809146e-03 9.99991177e-01 -4.96698356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12463044000003 meters 0.2652051965041026 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99993515e-01 -1.63942468e-03 3.20664681e-03 3.13859040e+00] [ 1.64621091e-03 9.99996409e-01 -2.11480803e-03 1.29725143e-01] [-3.20316822e-03 2.12007313e-03 9.99992622e-01 -4.96646405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18463044000003 meters 0.2657229393376778 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99993451e-01 -1.55838195e-03 3.26626265e-03 3.13874387e+00] [ 1.56462193e-03 9.99996954e-01 -1.90875062e-03 1.28759004e-01] [-3.26327814e-03 1.91384859e-03 9.99992844e-01 -4.97157885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24463044000004 meters 0.26552598139266553 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99993275e-01 -1.53217231e-03 3.33209234e-03 3.13840251e+00] [ 1.53833259e-03 9.99997111e-01 -1.84699387e-03 1.28482350e-01] [-3.32925280e-03 1.85210732e-03 9.99992743e-01 -4.96806102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30463044000004 meters 0.2656923614396311 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99993805e-01 -1.41799218e-03 3.22161590e-03 3.13877775e+00] [ 1.42308734e-03 9.99997740e-01 -1.57981226e-03 1.27161563e-01] [-3.21936846e-03 1.58438711e-03 9.99993563e-01 -4.97021377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36463044000004 meters 0.26650306967235987 Centerline is valid? [False, False] Translation: X:3.14, Y:0.13, Z:-0.50 [[ 9.99994479e-01 -1.25747104e-03 3.07584361e-03 3.13896512e+00] [ 1.26120048e-03 9.99998472e-01 -1.21085303e-03 1.25472009e-01] [-3.07431629e-03 1.21472560e-03 9.99994536e-01 -4.96686290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42463044 meters 0.2661598536485335 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:-0.50 [[ 9.99994858e-01 -1.07015243e-03 3.02295467e-03 3.13889190e+00] [ 1.07249044e-03 9.99999127e-01 -7.71902954e-04 1.23527084e-01] [-3.02212598e-03 7.75141075e-04 9.99995133e-01 -4.96309621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48463044 meters 0.2652457425210697 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:-0.50 [[ 9.99995189e-01 -7.74156606e-04 3.00363695e-03 3.13879853e+00] [ 7.74254593e-04 9.99999700e-01 -3.14601132e-05 1.20117913e-01] [-3.00361169e-03 3.37855415e-05 9.99995489e-01 -4.96027504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54463044 meters 0.2670107891975859 Centerline is valid? [False, False] Translation: X:3.14, Y:0.12, Z:-0.50 [[ 9.99995835e-01 -6.00120198e-04 2.82316740e-03 3.13920056e+00] [ 5.99003891e-04 9.99999742e-01 3.96238174e-04 1.18227486e-01] [-2.82340446e-03 -3.94545436e-04 9.99995936e-01 -4.95970622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60463044 meters 0.26594195401983906 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.50 [[ 9.99996053e-01 -2.73821641e-04 2.79641772e-03 3.13890120e+00] [ 2.70475789e-04 9.99999247e-01 1.19678611e-03 1.14645577e-01] [-2.79674332e-03 -1.19602503e-03 9.99995374e-01 -4.95257263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66463044 meters 0.2648355264939204 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.49 [[ 9.99996156e-01 -9.41641258e-05 2.77123823e-03 3.13878402e+00] [ 8.96363395e-05 9.99998661e-01 1.63392836e-03 1.12670987e-01] [-2.77138837e-03 -1.63367367e-03 9.99994825e-01 -4.94943309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72463044 meters 0.26406462262659247 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.49 [[ 9.99996205e-01 1.45327928e-04 2.75125020e-03 3.13892610e+00] [-1.51785765e-04 9.99997234e-01 2.34717419e-03 1.09720052e-01] [-2.75090148e-03 -2.34758288e-03 9.99993461e-01 -4.94998777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78463044 meters 0.2641333791947569 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.49 [[ 9.99996209e-01 2.84768901e-04 2.73866523e-03 3.13895136e+00] [-2.92180226e-04 9.99996296e-01 2.70616191e-03 1.08141852e-01] [-2.73788446e-03 -2.70695183e-03 9.99992588e-01 -4.94943133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84463044 meters 0.26332750838968344 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.49 [[ 9.99996275e-01 4.81398048e-04 2.68677162e-03 3.13878800e+00] [-4.90612501e-04 9.99993997e-01 3.42995872e-03 1.04867739e-01] [-2.68510431e-03 -3.43126410e-03 9.99990508e-01 -4.94448391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90463044 meters 0.2634969559202101 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.50 [[ 9.99998496e-01 6.74734214e-04 1.59780417e-03 3.14147132e+00] [-6.82246986e-04 9.99988694e-01 4.70606781e-03 9.85270739e-02] [-1.59461075e-03 -4.70715083e-03 9.99987650e-01 -4.95280297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96463044 meters 0.2637256653340577 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99998501e-01 9.83347930e-04 1.42481905e-03 3.14202641e+00] [-9.91328857e-04 9.99983764e-01 5.61152429e-03 9.42895760e-02] [-1.41927783e-03 -5.61292835e-03 9.99983240e-01 -4.95503297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02463044 meters 0.2626345552819711 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99998018e-01 1.42798566e-03 1.38713506e-03 3.14198915e+00] [-1.43732885e-03 9.99976131e-01 6.75812008e-03 8.91507340e-02] [-1.37745145e-03 -6.76010046e-03 9.99976202e-01 -4.95266112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08463044 meters 0.26258666285427373 Centerline is valid? [False, False] Translation: X:3.14, Y:0.09, Z:-0.50 [[ 9.99995341e-01 -2.71498454e-03 1.39543358e-03 3.14217667e+00] [ 2.71093602e-03 9.99992135e-01 2.89501356e-03 8.76324575e-02] [-1.40328253e-03 -2.89121714e-03 9.99994836e-01 -4.95552190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14463044 meters 0.2629349713030657 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.50 [[ 9.99996703e-01 -2.24223991e-03 1.25121112e-03 3.14226777e+00] [ 2.23718382e-03 9.99989386e-01 4.02782976e-03 8.25997527e-02] [-1.26022920e-03 -4.02501730e-03 9.99991105e-01 -4.95067893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20463044 meters 0.2631582506139126 Centerline is valid? [False, False] Translation: X:3.14, Y:0.08, Z:-0.50 [[ 9.99997598e-01 -1.89700655e-03 1.09833626e-03 3.14265330e+00] [ 1.89170125e-03 9.99986636e-01 4.81136192e-03 7.90284511e-02] [-1.10744877e-03 -4.80927264e-03 9.99987822e-01 -4.95064509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26463044 meters 0.2632137678479479 Centerline is valid? [False, False] Translation: X:3.14, Y:0.07, Z:-0.49 [[ 9.99998516e-01 -1.31248680e-03 1.11609845e-03 3.14240131e+00] [ 1.30571846e-03 9.99980885e-01 6.04354228e-03 7.30681157e-02] [-1.12400919e-03 -6.04207600e-03 9.99981115e-01 -4.94621724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32463044 meters 0.26409471307284627 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.50 [[ 9.99990231e-01 4.30229609e-03 1.01384980e-03 3.16516443e+00] [-4.30511962e-03 9.99986814e-01 2.79943063e-03 6.74165999e-02] [-1.00179245e-03 -2.80376803e-03 9.99995568e-01 -4.95205237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38463044 meters 0.2647672798268943 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999539e-01 7.17921830e-04 6.36876853e-04 3.16671393e+00] [-7.17862382e-04 9.99999738e-01 -9.35666774e-05 6.35211475e-02] [-6.36943860e-04 9.31094444e-05 9.99999793e-01 -4.96461311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44463044 meters 0.2641947369307013 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999470e-01 7.48854297e-04 7.06845802e-04 3.16663991e+00] [-7.48848337e-04 9.99999720e-01 -8.69626713e-06 6.32545796e-02] [-7.06852116e-04 8.16694221e-06 9.99999750e-01 -4.96609100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50463044 meters 0.26571671853391204 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999394e-01 8.10161257e-04 7.45533401e-04 3.16633944e+00] [-8.10261769e-04 9.99999663e-01 1.34526052e-04 6.26292962e-02] [-7.45424161e-04 -1.35130048e-04 9.99999713e-01 -4.96188035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56463044000003 meters 0.2635642024102724 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999288e-01 9.01474787e-04 7.82262900e-04 3.16596102e+00] [-9.01746505e-04 9.99999533e-01 3.47066323e-04 6.17896739e-02] [-7.81949664e-04 -3.47771479e-04 9.99999634e-01 -4.95685738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62463044000003 meters 0.2646640991637735 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999274e-01 8.98107392e-04 8.03158935e-04 3.16590802e+00] [-8.98380462e-04 9.99999539e-01 3.39698272e-04 6.18071838e-02] [-8.02853479e-04 -3.40419568e-04 9.99999620e-01 -4.95653805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68463044000003 meters 0.2657501877480151 Centerline is valid? [False, False] Translation: X:3.16, Y:0.06, Z:-0.49 [[ 9.99999145e-01 8.46278329e-04 9.97099130e-04 3.16487873e+00] [-8.46428981e-04 9.99999630e-01 1.50678309e-04 6.32266239e-02] [-9.96971246e-04 -1.51522154e-04 9.99999492e-01 -4.94616522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74463044000004 meters 0.26540771443786276 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.49 [[ 9.99999344e-01 7.75649336e-04 8.43018717e-04 3.16534919e+00] [-7.75643099e-04 9.99999699e-01 -7.72535693e-06 6.39170037e-02] [-8.43024455e-04 7.07147021e-06 9.99999645e-01 -4.94863475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80463044000004 meters 0.2642942296671473 Centerline is valid? [False, False] Translation: X:3.17, Y:0.06, Z:-0.50 [[ 9.99999494e-01 6.77070765e-04 7.43481977e-04 3.16571792e+00] [-6.76898755e-04 9.99999744e-01 -2.31583659e-04 6.48589201e-02] [-7.43638585e-04 2.31080280e-04 9.99999697e-01 -4.95115995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86463044000004 meters 0.26523526694276667 Centerline is valid? [False, False] Translation: X:3.17, Y:0.07, Z:-0.50 [[ 9.99999333e-01 5.92480012e-04 9.91907334e-04 3.16516768e+00] [-5.92061944e-04 9.99999736e-01 -4.21719898e-04 6.58368462e-02] [-9.92156933e-04 4.21132346e-04 9.99999419e-01 -4.95120389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92463044 meters 0.2634278214837919 Centerline is valid? [False, False] Translation: X:3.16, Y:0.06, Z:-0.49 [[ 9.99999108e-01 6.78633200e-04 1.15054967e-03 3.16448398e+00] [-6.78394135e-04 9.99999748e-01 -2.08160408e-04 6.49505551e-02] [-1.15069065e-03 2.07379696e-04 9.99999316e-01 -4.94477821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98463044 meters 0.2634227785935851 Centerline is valid? [False, False] Translation: X:3.16, Y:0.06, Z:-0.49 [[ 9.99999129e-01 1.06274039e-03 7.82727596e-04 3.16465068e+00] [-1.06341236e-03 9.99999066e-01 8.58591212e-04 6.15030692e-02] [-7.81814405e-04 -8.59422827e-04 9.99999325e-01 -4.93319046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04463044 meters 0.2628286322346812 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:-0.49 [[ 9.99925991e-01 -1.17883363e-02 3.00783748e-03 3.18394603e+00] [ 1.17935640e-02 9.99928963e-01 -1.72621943e-03 5.23935767e-02] [-2.98727455e-03 1.76156480e-03 9.99993987e-01 -4.92117123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10463044 meters 0.26205930689683793 Centerline is valid? [False, False] Translation: X:3.16, Y:0.04, Z:-0.49 [[ 9.99972961e-01 -3.27010413e-03 6.58664441e-03 3.16135860e+00] [ 3.27578169e-03 9.99994272e-01 -8.51375891e-04 4.22044814e-02] [-6.58382259e-03 8.72929279e-04 9.99977945e-01 -4.91923061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16463044 meters 0.26203842252371373 Centerline is valid? [False, False] Translation: X:3.16, Y:0.04, Z:-0.49 [[ 9.99977384e-01 -2.90688087e-03 6.06473027e-03 3.16228107e+00] [ 2.90417020e-03 9.99995679e-01 4.55715067e-04 3.67550154e-02] [-6.06602877e-03 -4.38091752e-04 9.99981506e-01 -4.91572609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22463044 meters 0.2613024366357609 Centerline is valid? [False, False] Translation: X:3.14, Y:0.02, Z:-0.49 [[ 9.99978309e-01 4.51860831e-03 4.79196553e-03 3.14448593e+00] [-4.52161940e-03 9.99989587e-01 6.17715440e-04 2.28372082e-02] [-4.78912442e-03 -6.39369486e-04 9.99988328e-01 -4.92703929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28463044 meters 0.2617569323709476 Centerline is valid? [False, False] Translation: X:3.14, Y:0.01, Z:-0.49 [[ 9.99980542e-01 4.32621127e-03 4.49448171e-03 3.14481004e+00] [-4.33329780e-03 9.99989382e-01 1.56817661e-03 1.36741412e-02] [-4.48764973e-03 -1.58762202e-03 9.99988670e-01 -4.92423545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34463044 meters 0.2616864573647314 Centerline is valid? [False, False] Translation: X:3.15, Y:0.01, Z:-0.49 [[ 9.99989662e-01 6.51807482e-04 4.50008611e-03 3.14523996e+00] [-6.46704601e-04 9.99999146e-01 -1.13531384e-03 6.72398972e-03] [-4.50082227e-03 1.13239187e-03 9.99989230e-01 -4.93211356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40463044 meters 0.2625354902439427 Centerline is valid? [False, False] Translation: X:3.15, Y:0.00, Z:-0.49 [[ 9.99990314e-01 9.17949563e-04 4.30463491e-03 3.14583854e+00] [-9.16112447e-04 9.99999488e-01 -4.28728541e-04 3.57726942e-03] [-4.30502626e-03 4.24780858e-04 9.99990643e-01 -4.93525261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46463044 meters 0.26252872321506915 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.00, Z:-0.49 [[ 9.99990915e-01 1.23187996e-03 4.08064120e-03 3.14660164e+00] [-1.23374603e-03 9.99999136e-01 4.54812993e-04 -3.53873649e-04] [-4.08007740e-03 -4.59843336e-04 9.99991571e-01 -4.94019681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52463044 meters 0.2643081333800503 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.00, Z:-0.49 [[ 9.99976256e-01 1.26129703e-03 6.77463971e-03 3.18860591e+00] [-1.25983729e-03 9.99999182e-01 -2.19734221e-04 -2.99001839e-03] [-6.77491132e-03 2.11194060e-04 9.99977028e-01 -4.94208700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58463044 meters 0.2631600181541896 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.00, Z:-0.49 [[ 9.99975708e-01 1.27602566e-03 6.85237815e-03 3.18825207e+00] [-1.27477693e-03 9.99999170e-01 -1.86597020e-04 -3.15506353e-03] [-6.85261057e-03 1.77857233e-04 9.99976505e-01 -4.93908572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64463044 meters 0.26326676608879696 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.00, Z:-0.50 [[ 9.99978256e-01 1.14887891e-03 6.49370749e-03 3.18971649e+00] [-1.14521726e-03 9.99999183e-01 -5.67566571e-04 -1.33518627e-03] [-6.49435425e-03 5.60117524e-04 9.99978755e-01 -4.95272475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70463044 meters 0.2648184663198594 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.49 [[ 9.99965227e-01 -6.78356759e-03 4.85066626e-03 3.21077230e+00] [ 6.78318716e-03 9.99976989e-01 9.48762874e-05 3.95456163e-03] [-4.85119824e-03 -6.19700111e-05 9.99988231e-01 -4.94534451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76463044 meters 0.26272530706099523 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.49 [[ 9.99992130e-01 1.46813941e-03 3.68573928e-03 3.18988721e+00] [-1.46547226e-03 9.99998662e-01 -7.26234901e-04 5.34510906e-03] [-3.68680057e-03 7.20827837e-04 9.99992944e-01 -4.94703234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82463044 meters 0.2641181146116995 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.50 [[ 9.99978896e-01 -3.70447542e-03 5.33713588e-03 3.21151824e+00] [ 3.69158124e-03 9.99990249e-01 2.42376410e-03 6.55965984e-03] [-5.34606261e-03 -2.40401048e-03 9.99982820e-01 -4.95068620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88463044 meters 0.26376120524084856 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99977605e-01 -3.79547021e-03 5.51207656e-03 3.21076952e+00] [ 3.78353859e-03 9.99990480e-01 2.17344987e-03 8.00548692e-03] [-5.52027335e-03 -2.15254604e-03 9.99982446e-01 -4.94404995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94463044 meters 0.26432467132191345 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99976801e-01 -3.89337475e-03 5.58918580e-03 3.21044456e+00] [ 3.88259799e-03 9.99990585e-01 1.93770270e-03 9.20760494e-03] [-5.59667738e-03 -1.91595719e-03 9.99982503e-01 -4.94101241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00463044 meters 0.26387445663663994 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99976638e-01 -3.98374292e-03 5.55462648e-03 3.21038829e+00] [ 3.97431961e-03 9.99990646e-01 1.70648578e-03 1.02282965e-02] [-5.56137272e-03 -1.68437005e-03 9.99983117e-01 -4.93887330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06463044000003 meters 0.2643285433499067 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99976900e-01 -4.09313236e-03 5.42647969e-03 3.21068195e+00] [ 4.08564326e-03 9.99990687e-01 1.39046964e-03 1.16649719e-02] [-5.43212053e-03 -1.36826686e-03 9.99984310e-01 -4.93942444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12463044000003 meters 0.2644519681519967 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99977237e-01 -4.06108852e-03 5.38827950e-03 3.21093309e+00] [ 4.05328569e-03 9.99990722e-01 1.45824130e-03 1.12772286e-02] [-5.39415156e-03 -1.43636787e-03 9.99984420e-01 -4.94209739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18463044000003 meters 0.26490647373542964 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.49 [[ 9.99977856e-01 -3.93007246e-03 5.37054619e-03 3.21119565e+00] [ 3.92066238e-03 9.99990763e-01 1.76157123e-03 9.83423275e-03] [-5.37741968e-03 -1.74047612e-03 9.99984027e-01 -4.94562954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24463044000004 meters 0.2643445867017488 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99988590e-01 3.06813186e-03 3.66151071e-03 3.19341124e+00] [-3.06900711e-03 9.99995263e-01 2.33446027e-04 5.22009102e-03] [-3.66077712e-03 -2.44680566e-04 9.99993269e-01 -4.96542353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30463044000004 meters 0.26471823242494086 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99988481e-01 3.14241375e-03 3.62808767e-03 3.19364950e+00] [-3.14391675e-03 9.99994974e-01 4.08639045e-04 4.38243799e-03] [-3.62678532e-03 -4.20040743e-04 9.99993335e-01 -4.96810597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36463044000004 meters 0.26584662576681073 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987696e-01 3.23317151e-03 3.76220314e-03 3.19332892e+00] [-3.23555738e-03 9.99994568e-01 6.28254682e-04 3.40601598e-03] [-3.76015145e-03 -6.40419776e-04 9.99992726e-01 -4.96716772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42463044 meters 0.26570419137275886 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987439e-01 3.32094959e-03 3.75421171e-03 3.19371984e+00] [-3.32412568e-03 9.99994122e-01 8.40084085e-04 2.39783261e-03] [-3.75139977e-03 -8.52553004e-04 9.99992600e-01 -4.97380194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48463044 meters 0.2647548208653605 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987594e-01 3.35394951e-03 3.68281399e-03 3.19377481e+00] [-3.35737108e-03 9.99993938e-01 9.23274619e-04 2.09958932e-03] [-3.67969505e-03 -9.35627738e-04 9.99992792e-01 -4.97195097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54463044 meters 0.26496521580785654 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987703e-01 3.33987082e-03 3.66587274e-03 3.19372367e+00] [-3.34319341e-03 9.99994006e-01 9.00603406e-04 2.31067303e-03] [-3.66284286e-03 -9.12848053e-04 9.99992875e-01 -4.96994749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60463044 meters 0.26487314149487523 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987547e-01 3.27792990e-03 3.76303029e-03 3.19322877e+00] [-3.28074381e-03 9.99994343e-01 7.41846830e-04 3.12792529e-03] [-3.76057728e-03 -7.54183130e-04 9.99992645e-01 -4.96473482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66463044 meters 0.26474730669453717 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987702e-01 3.26116441e-03 3.73646418e-03 3.19309663e+00] [-3.26384236e-03 9.99994421e-01 7.10833162e-04 3.36104687e-03] [-3.73412519e-03 -7.23019650e-04 9.99992767e-01 -4.96145383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72463044 meters 0.2641432016705954 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987813e-01 3.28400505e-03 3.68641898e-03 3.19329950e+00] [-3.28687312e-03 9.99994300e-01 7.72221697e-04 3.10955835e-03] [-3.68386199e-03 -7.84329077e-04 9.99992907e-01 -4.96262176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78463044 meters 0.26480713389855526 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987930e-01 3.25515227e-03 3.68021613e-03 3.19325969e+00] [-3.25779109e-03 9.99994440e-01 7.11262657e-04 3.44271436e-03] [-3.67788040e-03 -7.23243447e-04 9.99992975e-01 -4.96159169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84463044 meters 0.26431246772787553 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99987987e-01 3.20428993e-03 3.70917826e-03 3.19320443e+00] [-3.20647195e-03 9.99994690e-01 5.82480260e-04 3.94178224e-03] [-3.70729212e-03 -5.94366639e-04 9.99992951e-01 -4.96154940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90463044 meters 0.2660583878382704 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99988853e-01 3.10951007e-03 3.55305144e-03 3.19411742e+00] [-3.11081752e-03 9.99995096e-01 3.62512445e-04 4.94370732e-03] [-3.55190678e-03 -3.73561299e-04 9.99993622e-01 -4.97141572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96463044 meters 0.2668807121985618 Centerline is valid? [False, False] Translation: X:3.19, Y:0.00, Z:-0.50 [[ 9.99989114e-01 3.10193883e-03 3.48577744e-03 3.19453407e+00] [-3.10315585e-03 9.99995126e-01 3.43783959e-04 4.87539464e-03] [-3.48469406e-03 -3.54597127e-04 9.99993866e-01 -4.97594039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02463044 meters 0.26467477361062053 Centerline is valid? [False, False] Translation: X:3.17, Y:0.00, Z:-0.50 [[ 0.99998614 -0.00346945 0.00395908 3.17083276] [ 0.00345498 0.99998734 0.00365769 0.00329231] [-0.00397172 -0.00364396 0.99998547 -0.49682663] [ 0. 0. 0. 1. ]] SLAMing on 349.08463044 meters 0.2658936148746718 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99975302e-01 3.11876929e-03 6.29832510e-03 3.19142544e+00] [-3.12231458e-03 9.99994973e-01 5.53139139e-04 5.09009781e-03] [-6.29656833e-03 -5.72790830e-04 9.99980012e-01 -4.97977138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14463044 meters 0.26552480228465636 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99974893e-01 3.00269316e-03 6.41843002e-03 3.19136846e+00] [-3.00438216e-03 9.99995455e-01 2.53523854e-04 6.60748141e-03] [-6.41763959e-03 -2.72800906e-04 9.99979370e-01 -4.98418857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20463044 meters 0.2673643437284091 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99975302e-01 2.88868030e-03 6.40714642e-03 3.19166322e+00] [-2.88859139e-03 9.99995828e-01 -2.31300722e-05 7.73723503e-03] [-6.40718651e-03 4.62187297e-06 9.99979474e-01 -4.98908261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26463044 meters 0.2673586640447007 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99975120e-01 2.81252073e-03 6.46912640e-03 3.19186938e+00] [-2.81133946e-03 9.99996030e-01 -1.91686926e-04 8.49176118e-03] [-6.46963984e-03 1.73495246e-04 9.99979057e-01 -4.99507143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32463044 meters 0.26645759534318036 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99976009e-01 2.74477833e-03 6.35978360e-03 3.19224589e+00] [-2.74262050e-03 9.99996178e-01 -3.47990113e-04 9.16526982e-03] [-6.36071445e-03 3.30539292e-04 9.99979716e-01 -4.99774754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38463044 meters 0.26657189491113253 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99976665e-01 2.64582496e-03 6.29838815e-03 3.19252239e+00] [-2.64225990e-03 9.99996344e-01 -5.74281204e-04 1.02183206e-02] [-6.29988457e-03 5.57625824e-04 9.99980000e-01 -5.00060328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44463044 meters 0.2674946236904581 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99977277e-01 2.48265717e-03 6.26758488e-03 3.19274676e+00] [-2.47667032e-03 9.99996470e-01 -9.62788826e-04 1.20041105e-02] [-6.26995302e-03 9.47244207e-04 9.99979895e-01 -5.00375368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50463044 meters 0.2670048336662129 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99977790e-01 2.38972924e-03 6.22170214e-03 3.19287253e+00] [-2.38245144e-03 9.99996469e-01 -1.17689311e-03 1.29849165e-02] [-6.22449263e-03 1.16204406e-03 9.99979952e-01 -5.00422972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56463044000003 meters 0.26674459442228493 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99978469e-01 2.17606402e-03 6.19084746e-03 3.19312952e+00] [-2.16568309e-03 9.99996239e-01 -1.68302897e-03 1.52088822e-02] [-6.19448655e-03 1.66958532e-03 9.99979420e-01 -5.00803853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62463044000003 meters 0.266872753048155 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99978931e-01 2.08650995e-03 6.14680990e-03 3.19331115e+00] [-2.07495556e-03 9.99996070e-01 -1.88551501e-03 1.61307071e-02] [-6.15071989e-03 1.87272092e-03 9.99979331e-01 -5.00952542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68463044000003 meters 0.267991372686784 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99979087e-01 1.95992988e-03 6.16319696e-03 3.19339598e+00] [-1.94654112e-03 9.99995734e-01 -2.17762221e-03 1.74879022e-02] [-6.16743865e-03 2.16557975e-03 9.99978636e-01 -5.01183868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74463044000004 meters 0.26529991181672036 Centerline is valid? [False, False] Translation: X:3.17, Y:0.02, Z:-0.50 [[ 9.99972969e-01 -4.96495546e-03 5.42315025e-03 3.17095423e+00] [ 4.96121067e-03 9.99987445e-01 7.03753434e-04 1.57590703e-02] [-5.42657627e-03 -6.76829020e-04 9.99985047e-01 -5.00050802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80463044000004 meters 0.2664475949411986 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99978221e-01 1.18313641e-03 6.49295886e-03 3.19389562e+00] [-1.16715834e-03 9.99996283e-01 -2.46406793e-03 1.58261057e-02] [-6.49585005e-03 2.45643596e-03 9.99975885e-01 -5.01228601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86463044000004 meters 0.267364772599176 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99977652e-01 1.31908464e-03 6.55406931e-03 3.19390078e+00] [-1.30506184e-03 9.99996851e-01 -2.14337185e-03 1.44184389e-02] [-6.55687596e-03 2.13477049e-03 9.99976225e-01 -5.01445034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92463044 meters 0.267162960467204 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99977804e-01 1.36961737e-03 6.52041972e-03 3.19394216e+00] [-1.35640982e-03 9.99997021e-01 -2.02955869e-03 1.38433892e-02] [-6.52318002e-03 2.02066928e-03 9.99976682e-01 -5.01378463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98463044 meters 0.2669166624157746 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99978069e-01 1.39827699e-03 6.47344442e-03 3.19415048e+00] [-1.38566207e-03 9.99997133e-01 -1.95279479e-03 1.34803341e-02] [-6.47615641e-03 1.94378196e-03 9.99977140e-01 -5.01585359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04463044 meters 0.268314405773111 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99978134e-01 1.42298745e-03 6.45805433e-03 3.19415846e+00] [-1.41083155e-03 9.99997225e-01 -1.88644950e-03 1.31552897e-02] [-6.46072080e-03 1.87729703e-03 9.99977367e-01 -5.01533315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10463044 meters 0.267718858863003 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99977748e-01 1.32618497e-03 6.53801682e-03 3.19410615e+00] [-1.31216922e-03 9.99996833e-01 -2.14755492e-03 1.42642853e-02] [-6.54084417e-03 2.13892814e-03 9.99976321e-01 -5.01794875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16463044 meters 0.2687121327146244 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99976844e-01 1.11583638e-03 6.71321789e-03 3.19387910e+00] [-1.09635899e-03 9.99995181e-01 -2.90432992e-03 1.76389931e-02] [-6.71642630e-03 2.89690257e-03 9.99973248e-01 -5.02124806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22463044 meters 0.26851458506703324 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99977513e-01 9.37889318e-04 6.64036109e-03 3.19403118e+00] [-9.15807366e-04 9.99994044e-01 -3.32767437e-03 1.95172567e-02] [-6.64344253e-03 3.32151825e-03 9.99972416e-01 -5.02149114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28463044 meters 0.26897152878539643 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99977762e-01 8.48140901e-04 6.61488307e-03 3.19444803e+00] [-8.24746928e-04 9.99993399e-01 -3.53849274e-03 2.04563192e-02] [-6.61784054e-03 3.53295845e-03 9.99971861e-01 -5.02792948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34463044 meters 0.26766554178036206 Centerline is valid? [False, False] Translation: X:3.17, Y:0.02, Z:-0.50 [[ 9.99952891e-01 -7.60858210e-03 6.02697861e-03 3.17394779e+00] [ 7.62211892e-03 9.99968473e-01 -2.22626067e-03 2.11993371e-02] [-6.00984991e-03 2.27209414e-03 9.99979359e-01 -5.03823459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40463044 meters 0.2684570445194742 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99981880e-01 1.57504589e-03 5.81017638e-03 3.19457048e+00] [-1.55759024e-03 9.99994264e-01 -3.00762455e-03 1.95142752e-02] [-5.81488020e-03 2.99852018e-03 9.99978598e-01 -5.02888687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46463044 meters 0.2672548288218875 Centerline is valid? [False, False] Translation: X:3.20, Y:0.02, Z:-0.50 [[ 9.99982278e-01 1.59252406e-03 5.73642349e-03 3.19508434e+00] [-1.57559920e-03 9.99994396e-01 -2.95373173e-03 1.93385287e-02] [-5.74109524e-03 2.94464108e-03 9.99979184e-01 -5.03522917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52463044 meters 0.266648450345065 Centerline is valid? [False, False] Translation: X:3.19, Y:0.02, Z:-0.50 [[ 9.99981717e-01 1.74059000e-03 5.79104651e-03 3.19466557e+00] [-1.72580191e-03 9.99995240e-01 -2.55763119e-03 1.75966027e-02] [-5.79547073e-03 2.54759023e-03 9.99979961e-01 -5.02940945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58463044 meters 0.26724373770823456 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.50 [[ 9.99947843e-01 -6.64258866e-03 7.75800784e-03 3.21387914e+00] [ 6.65438011e-03 9.99976742e-01 -1.49508323e-03 1.44309420e-02] [-7.74789618e-03 1.54662999e-03 9.99968789e-01 -5.01711999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64463044 meters 0.26490378152811717 Centerline is valid? [False, False] Translation: X:3.19, Y:0.01, Z:-0.50 [[ 9.99961695e-01 1.67749536e-03 8.59040065e-03 3.19308094e+00] [-1.66470823e-03 9.99997496e-01 -1.49547149e-03 7.55799285e-03] [-8.59288779e-03 1.48111370e-03 9.99961984e-01 -5.02240238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70463044 meters 0.2658980760388692 Centerline is valid? [False, False] Translation: X:3.21, Y:0.01, Z:-0.50 [[ 9.99935254e-01 -6.52837047e-03 9.32032381e-03 3.21429035e+00] [ 6.53404817e-03 9.99978485e-01 -5.78853625e-04 5.97411349e-03] [-9.31634431e-03 6.39715591e-04 9.99956397e-01 -5.01862093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76463044 meters 0.2659575226304549 Centerline is valid? [False, False] Translation: X:3.21, Y:0.00, Z:-0.50 [[ 9.99939593e-01 -6.19170794e-03 9.08147608e-03 3.21483587e+00] [ 6.18785791e-03 9.99980753e-01 4.51980929e-04 1.55193295e-03] [-9.08409982e-03 -3.95758743e-04 9.99958660e-01 -5.01868530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82463044 meters 0.26652554554699276 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.50 [[ 9.99958493e-01 2.33052045e-03 8.80798755e-03 3.23429313e+00] [-2.32789030e-03 9.99997243e-01 -3.08850799e-04 -5.94333462e-03] [-8.80868304e-03 2.88333951e-04 9.99961161e-01 -5.00606287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88463044 meters 0.2660080895328294 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.50 [[ 9.99957469e-01 2.44289130e-03 8.89334602e-03 3.23406242e+00] [-2.44269410e-03 9.99997016e-01 -3.30356353e-05 -7.20673030e-03] [-8.89340019e-03 1.13105065e-05 9.99960453e-01 -5.00555594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94463044 meters 0.265165040758214 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.50 [[ 9.99957802e-01 -1.60863308e-03 9.04467676e-03 3.23415186e+00] [ 1.64294960e-03 9.99991476e-01 -3.78796340e-03 -9.18747250e-03] [-9.03850622e-03 3.80266350e-03 9.99951921e-01 -5.01266974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00463044 meters 0.2654147193329065 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.01, Z:-0.50 [[ 9.99958643e-01 -1.32227092e-03 8.99801182e-03 3.23442925e+00] [ 1.34905192e-03 9.99994677e-01 -2.97090605e-03 -1.30318432e-02] [-8.99403558e-03 2.98292197e-03 9.99955104e-01 -5.01523405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06463044000003 meters 0.26541268102138865 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.02, Z:-0.50 [[ 9.99959838e-01 -1.00842479e-03 8.90538184e-03 3.23483069e+00] [ 1.02675919e-03 9.99997362e-01 -2.05446846e-03 -1.70964908e-02] [-8.90328658e-03 2.06352963e-03 9.99958236e-01 -5.01853749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12463044000003 meters 0.2657730880443662 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.50 [[ 9.99960697e-01 -4.99294841e-04 8.85182635e-03 3.23526108e+00] [ 5.03344476e-04 9.99999770e-01 -4.55269595e-04 -2.43040045e-02] [-8.85159700e-03 4.59707220e-04 9.99960718e-01 -5.02343263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18463044000003 meters 0.26591559133648957 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99960843e-01 -5.11641359e-05 8.84925336e-03 3.23512497e+00] [ 4.59844427e-05 9.99999828e-01 5.85527918e-04 -2.89147112e-02] [-8.84928179e-03 -5.85098063e-04 9.99960673e-01 -5.02110024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24463044000004 meters 0.2669590425122231 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:-0.50 [[ 9.99935580e-01 7.19360993e-03 8.77999639e-03 3.25704577e+00] [-7.17983224e-03 9.99972945e-01 -1.59972642e-03 -3.45727595e-02] [-8.79126666e-03 1.53658446e-03 9.99960175e-01 -5.02397079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30463044000004 meters 0.2661889890146789 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99969291e-01 -1.35666320e-03 7.71859308e-03 3.23816365e+00] [ 1.35739917e-03 9.99999075e-01 -9.01127248e-05 -3.28413500e-02] [-7.71846368e-03 1.00587169e-04 9.99970207e-01 -5.03351716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36463044000004 meters 0.2667667870393117 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99967347e-01 -1.45200265e-03 7.94961131e-03 3.23792090e+00] [ 1.45460802e-03 9.99998890e-01 -3.21963148e-04 -3.18093724e-02] [-7.94913500e-03 3.33516204e-04 9.99968350e-01 -5.03795072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42463044 meters 0.2659367620408231 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99967132e-01 -1.46148496e-03 7.97492944e-03 3.23782288e+00] [ 1.46433765e-03 9.99998866e-01 -3.51878765e-04 -3.16976639e-02] [-7.97440613e-03 3.63545188e-04 9.99968138e-01 -5.03738705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48463044 meters 0.2672739847383721 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99967196e-01 -1.49819884e-03 7.96000112e-03 3.23796488e+00] [ 1.50173338e-03 9.99998776e-01 -4.38079276e-04 -3.13518315e-02] [-7.95933506e-03 4.50018705e-04 9.99968223e-01 -5.03922024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54463044 meters 0.2663874681908566 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99967226e-01 -1.57229639e-03 7.94191059e-03 3.23817030e+00] [ 1.57719898e-03 9.99998570e-01 -6.11080969e-04 -3.04942673e-02] [-7.94093843e-03 6.23586915e-04 9.99968276e-01 -5.04220876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60463044 meters 0.2671353408032548 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99966730e-01 -1.57307321e-03 8.00405403e-03 3.23804460e+00] [ 1.57814366e-03 9.99998558e-01 -6.27207935e-04 -3.05505857e-02] [-8.00305585e-03 6.39818615e-04 9.99967770e-01 -5.04231721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66463044 meters 0.26626398961143466 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99965196e-01 -1.66168172e-03 8.17588677e-03 3.23766909e+00] [ 1.66857382e-03 9.99998258e-01 -8.36229345e-04 -2.95302488e-02] [-8.17448298e-03 8.49842312e-04 9.99966227e-01 -5.04279474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72463044 meters 0.2664480812653085 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.50 [[ 9.99964436e-01 -1.80465525e-03 8.23832354e-03 3.23760851e+00] [ 1.81456494e-03 9.99997639e-01 -1.19556020e-03 -2.79388849e-02] [-8.23614651e-03 1.21046665e-03 9.99965350e-01 -5.04423632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78463044 meters 0.26687916471421 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99964701e-01 -1.99387324e-03 8.16216013e-03 3.23858831e+00] [ 2.00863607e-03 9.99996361e-01 -1.80089421e-03 -2.52956529e-02] [-8.15853967e-03 1.81722545e-03 9.99965067e-01 -5.05879574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84463044 meters 0.26782302426902804 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.51 [[ 9.99962951e-01 -2.11664766e-03 8.34362957e-03 3.23828290e+00] [ 2.13449503e-03 9.99995452e-01 -2.13071751e-03 -2.38002854e-02] [-8.33908165e-03 2.14844801e-03 9.99962921e-01 -5.06035158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90463044 meters 0.26750349702442894 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99961460e-01 -1.94449645e-03 8.56136979e-03 3.23773061e+00] [ 1.95937790e-03 9.99996584e-01 -1.73016461e-03 -2.55768302e-02] [-8.55797624e-03 1.74687289e-03 9.99961854e-01 -5.05935727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96463044 meters 0.26832622170553516 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99960876e-01 -1.71647832e-03 8.67762309e-03 3.23792265e+00] [ 1.72634002e-03 9.99997872e-01 -1.12908911e-03 -2.83662487e-02] [-8.67566657e-03 1.14402546e-03 9.99961711e-01 -5.06661289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02463044 meters 0.2666452444052104 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.51 [[ 9.99953300e-01 5.41208511e-03 8.00673112e-03 3.21937103e+00] [-5.39454942e-03 9.99983007e-01 -2.21009665e-03 -3.58880722e-02] [-8.01855630e-03 2.16680073e-03 9.99965503e-01 -5.09061009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08463044 meters 0.2691029091266181 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99969913e-01 -2.61007264e-03 7.30488884e-03 3.24140346e+00] [ 2.62164228e-03 9.99995324e-01 -1.57469382e-03 -3.33227764e-02] [-7.30074461e-03 1.59379725e-03 9.99972079e-01 -5.09401116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14463044 meters 0.26850866308383753 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.51 [[ 9.99976096e-01 4.63905460e-03 5.12712757e-03 3.22348740e+00] [-4.62440360e-03 9.99985201e-01 -2.86571460e-03 -3.67106655e-02] [-5.14034590e-03 2.84193619e-03 9.99982750e-01 -5.11751085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20463044 meters 0.26908204064539437 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.04, Z:-0.51 [[ 9.99976029e-01 4.57342050e-03 5.19853740e-03 3.22373464e+00] [-4.55780653e-03 9.99985079e-01 -3.01141953e-03 -3.62165329e-02] [-5.21223232e-03 2.98765342e-03 9.99981953e-01 -5.12418503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26463044 meters 0.26954605020425393 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.51 [[ 0.99997455 0.00441441 0.00560398 3.22335118] [-0.00439513 0.9999844 -0.00344768 -0.03440371] [-0.00561911 0.00342296 0.99997835 -0.51322346] [ 0. 0. 0. 1. ]] SLAMing on 352.32463044 meters 0.2710202501486184 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99978664e-01 -3.06607857e-03 5.76812275e-03 3.24232848e+00] [ 3.08112464e-03 9.99991870e-01 -2.60141145e-03 -2.73192146e-02] [-5.76009972e-03 2.61912825e-03 9.99979981e-01 -5.12270242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38463044 meters 0.27189969796820285 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99977378e-01 -3.16806007e-03 5.93349654e-03 3.24244902e+00] [ 3.18485016e-03 9.99990945e-01 -2.82240398e-03 -2.63088878e-02] [-5.92450127e-03 2.84123743e-03 9.99978414e-01 -5.13094373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44463044 meters 0.27110858891746786 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.51 [[ 9.99976753e-01 -3.16711868e-03 6.03851912e-03 3.24242133e+00] [ 3.18423940e-03 9.99990932e-01 -2.82774801e-03 -2.64017987e-02] [-6.02950855e-03 2.84691037e-03 9.99977770e-01 -5.13422872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50463044 meters 0.269603535042665 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.52 [[ 0.9999743 0.0043619 0.00568893 3.22104516] [-0.00434001 0.99998316 -0.00385384 -0.02692116] [-0.00570564 0.00382906 0.99997639 -0.51531976] [ 0. 0. 0. 1. ]] SLAMing on 352.56463044000003 meters 0.27079022476845477 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.52 [[ 9.99973027e-01 -2.92464967e-03 6.73732005e-03 3.24051226e+00] [ 2.94343684e-03 9.99991803e-01 -2.78029773e-03 -2.11356637e-02] [-6.72913343e-03 2.80005361e-03 9.99973439e-01 -5.15232781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62463044000003 meters 0.2708174130943495 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.52 [[ 9.99971207e-01 -3.00719058e-03 6.96725401e-03 3.24061196e+00] [ 3.02782125e-03 9.99991058e-01 -2.95243636e-03 -2.03692360e-02] [-6.95831316e-03 2.97344694e-03 9.99971370e-01 -5.16257120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68463044000003 meters 0.2708938243415873 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.52 [[ 9.99969858e-01 -2.95834145e-03 7.17846472e-03 3.24081878e+00] [ 2.97874518e-03 9.99991550e-01 -2.83332921e-03 -2.10890998e-02] [-7.17002211e-03 2.85462662e-03 9.99970221e-01 -5.17399274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74463044000004 meters 0.27098971604905103 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.52 [[ 9.99969158e-01 -2.82035966e-03 7.32992949e-03 3.24111137e+00] [ 2.83869168e-03 9.99992866e-01 -2.49178199e-03 -2.27851819e-02] [-7.32284948e-03 2.51251255e-03 9.99970031e-01 -5.18411605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80463044000004 meters 0.27070196640660654 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.52 [[ 9.99969099e-01 -2.57292688e-03 7.42844083e-03 3.24160971e+00] [ 2.58678036e-03 9.99994932e-01 -1.85591941e-03 -2.60732846e-02] [-7.42362804e-03 1.87507780e-03 9.99970686e-01 -5.19564496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86463044000004 meters 0.2702668954599353 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:-0.52 [[ 9.99966984e-01 4.62004263e-03 6.68474490e-03 3.22255352e+00] [-4.59996288e-03 9.99984872e-01 -3.01607925e-03 -3.15339635e-02] [-6.69857819e-03 2.98523010e-03 9.99973108e-01 -5.21952834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92463044 meters 0.26909258656379625 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.52 [[ 9.99963258e-01 -2.96315894e-03 8.04377598e-03 3.24249426e+00] [ 2.97913472e-03 9.99993612e-01 -1.97484969e-03 -2.88308400e-02] [-8.03787281e-03 1.99874062e-03 9.99965698e-01 -5.22067354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98463044 meters 0.27066305646918115 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.03, Z:-0.52 [[ 9.99961235e-01 -3.04959299e-03 8.26006985e-03 3.24249408e+00] [ 3.06753083e-03 9.99992963e-01 -2.15983420e-03 -2.80176783e-02] [-8.25342510e-03 2.18508849e-03 9.99963553e-01 -5.22907646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04463044 meters 0.27123637068066453 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.52 [[ 9.99959376e-01 -3.36044925e-03 8.36386524e-03 3.24331498e+00] [ 3.38551459e-03 9.99989815e-01 -2.98450786e-03 -2.46187729e-02] [-8.35375077e-03 3.01270261e-03 9.99960568e-01 -5.24857193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10463044 meters 0.2697636280488786 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.02, Z:-0.53 [[ 0.99996992 0.00471586 0.00615871 3.22358056] [-0.00469216 0.99998155 -0.00385688 -0.02158107] [-0.00617678 0.00382787 0.9999736 -0.52620985] [ 0. 0. 0. 1. ]] SLAMing on 353.16463044 meters 0.2701843078992932 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.53 [[ 9.99975547e-01 -2.60467517e-03 6.49001412e-03 3.24230257e+00] [ 2.62496742e-03 9.99991687e-01 -3.12013421e-03 -1.20829874e-02] [-6.48183324e-03 3.13709399e-03 9.99974072e-01 -5.25155575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22463044 meters 0.26964277833453426 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.53 [[ 9.99977033e-01 1.22342228e-03 6.66607450e-03 3.24237562e+00] [-1.22445000e-03 9.99999239e-01 1.50092631e-04 -7.80864864e-03] [-6.66588580e-03 -1.58251459e-04 9.99977770e-01 -5.26023546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28463044 meters 0.2697567043094328 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.00, Z:-0.53 [[ 9.99975294e-01 6.12864731e-04 7.00258879e-03 3.24219338e+00] [-6.03590329e-04 9.99998938e-01 -1.32646132e-03 -4.74303644e-04] [-7.00339430e-03 1.32220185e-03 9.99974602e-01 -5.27170345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34463044 meters 0.2694396759704121 Centerline is valid? [False, False] Translation: X:3.24, Y:0.00, Z:-0.53 [[ 9.99975437e-01 1.91798402e-04 7.00630604e-03 3.24254239e+00] [-1.76062315e-04 9.99997461e-01 -2.24653676e-03 3.78245671e-03] [-7.00671913e-03 2.24524803e-03 9.99972932e-01 -5.27816793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40463044 meters 0.26938262542306735 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.53 [[ 9.99975573e-01 -2.35745309e-05 6.98944732e-03 3.24291207e+00] [ 4.25731488e-05 9.99996305e-01 -2.71804969e-03 5.94288298e-03] [-6.98935742e-03 2.71828086e-03 9.99971880e-01 -5.28455612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46463044 meters 0.26896854441686313 Centerline is valid? [False, False] Translation: X:3.25, Y:0.01, Z:-0.53 [[ 9.99980288e-01 2.30705751e-03 5.83961909e-03 3.24738361e+00] [-2.29985168e-03 9.99996586e-01 -1.24037051e-03 1.23162699e-02] [-5.84246076e-03 1.22691580e-03 9.99982180e-01 -5.31313524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52463044 meters 0.26898098157775807 Centerline is valid? [False, False] Translation: X:3.25, Y:0.02, Z:-0.53 [[ 9.99981638e-01 1.97623504e-03 5.72875580e-03 3.24793797e+00] [-1.96500318e-03 9.99996138e-01 -1.96557695e-03 1.56460478e-02] [-5.73261812e-03 1.95428383e-03 9.99981659e-01 -5.31885979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58463044 meters 0.26834153045805165 Centerline is valid? [False, False] Translation: X:3.25, Y:0.02, Z:-0.53 [[ 9.99983256e-01 1.49761883e-03 5.58965593e-03 3.24844352e+00] [-1.48089787e-03 9.99994420e-01 -2.99435155e-03 2.06992225e-02] [-5.59410914e-03 2.98602371e-03 9.99979895e-01 -5.32294282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64463044 meters 0.26695941138430124 Centerline is valid? [False, False] Translation: X:3.25, Y:0.02, Z:-0.53 [[ 9.99983853e-01 1.21392860e-03 5.55152134e-03 3.24849812e+00] [-1.19373837e-03 9.99992667e-01 -3.63875093e-03 2.38484872e-02] [-5.55589782e-03 3.63206511e-03 9.99977970e-01 -5.32320274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70463044 meters 0.26697654582536484 Centerline is valid? [False, False] Translation: X:3.25, Y:0.03, Z:-0.53 [[ 9.99984828e-01 1.00600479e-03 5.41588412e-03 3.24921433e+00] [-9.83752981e-04 9.99991071e-01 -4.10971699e-03 2.57894436e-02] [-5.41997015e-03 4.10432675e-03 9.99976889e-01 -5.33045522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76463044 meters 0.26856515750484533 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.53 [[ 0.99996051 -0.00764516 0.00453062 3.27323541] [ 0.00766349 0.99996246 -0.00404246 0.02827306] [-0.00449955 0.00407702 0.99998157 -0.53354983] [ 0. 0. 0. 1. ]] SLAMing on 353.82463044 meters 0.2674190045393701 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:-0.53 [[ 9.99999242e-01 6.85667060e-05 1.22934921e-03 3.25661418e+00] [-6.26342681e-05 9.99988357e-01 -4.82506276e-03 2.38841868e-02] [-1.22966573e-03 4.82498210e-03 9.99987604e-01 -5.34871351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88463044 meters 0.2664118506897456 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:-0.53 [[ 9.99999572e-01 1.68673023e-04 9.09343628e-04 3.25701193e+00] [-1.64487504e-04 9.99989402e-01 -4.60090296e-03 2.25697029e-02] [-9.10110039e-04 4.60075142e-03 9.99989002e-01 -5.34335360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94463044 meters 0.2681098477957677 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:-0.53 [[ 9.99999680e-01 4.79629905e-05 7.99118867e-04 3.25722599e+00] [-4.40023755e-05 9.99987720e-01 -4.95550833e-03 2.42948666e-02] [-7.99346735e-04 4.95547158e-03 9.99987402e-01 -5.34359023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00463044 meters 0.2683155913836093 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.53 [[ 9.99999980e-01 -1.66704976e-04 -1.14867349e-04 3.25932828e+00] [ 1.66037037e-04 9.99983221e-01 -5.79054990e-03 2.80409378e-02] [ 1.15830735e-04 5.79053071e-03 9.99983228e-01 -5.34773583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06463044000003 meters 0.27046207740616846 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.53 [[ 9.99999905e-01 -3.07232002e-04 -3.07969634e-04 3.25968271e+00] [ 3.05345344e-04 9.99981302e-01 -6.10755696e-03 2.96154458e-02] [ 3.09840313e-04 6.10746235e-03 9.99981301e-01 -5.34617944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12463044000003 meters 0.26792088120676766 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.53 [[ 9.99999786e-01 -2.02686377e-04 -6.22441141e-04 3.25987530e+00] [ 1.99031340e-04 9.99982772e-01 -5.86655946e-03 2.85911933e-02] [ 6.23619489e-04 5.86643432e-03 9.99982598e-01 -5.33751388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18463044000003 meters 0.2674397070916659 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.53 [[ 9.99998464e-01 -4.78542130e-05 -1.75219927e-03 3.26192606e+00] [ 3.85353066e-05 9.99985858e-01 -5.31805320e-03 2.63527152e-02] [ 1.75242898e-03 5.31797751e-03 9.99984324e-01 -5.33115963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24463044000004 meters 0.2671760631657455 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:-0.53 [[ 9.99997314e-01 1.42934312e-04 -2.31353103e-03 3.26274379e+00] [-1.54028910e-04 9.99988487e-01 -4.79605857e-03 2.41462856e-02] [ 2.31281888e-03 4.79640203e-03 9.99985823e-01 -5.32387313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30463044000004 meters 0.26735369536889153 Centerline is valid? [False, False] Translation: X:3.26, Y:0.02, Z:-0.53 [[ 9.99996288e-01 1.49082622e-04 -2.72076265e-03 3.26338177e+00] [-1.62098737e-04 9.99988542e-01 -4.78440184e-03 2.40602224e-02] [ 2.72001820e-03 4.78482511e-03 9.99984853e-01 -5.31872492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36463044000004 meters 0.2672080936092529 Centerline is valid? [False, False] Translation: X:3.26, Y:0.03, Z:-0.53 [[ 9.99994938e-01 4.69744648e-05 -3.18160483e-03 3.26426781e+00] [-6.29169290e-05 9.99987443e-01 -5.01091003e-03 2.52524352e-02] [ 3.18132949e-03 5.01108484e-03 9.99982384e-01 -5.31533331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42463044 meters 0.2691680768981769 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.53 [[ 9.99993043e-01 -7.28108148e-05 -3.72947096e-03 3.26516004e+00] [ 5.30838955e-05 9.99986010e-01 -5.28929446e-03 2.64967573e-02] [ 3.72980391e-03 5.28905968e-03 9.99979057e-01 -5.30940834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48463044 meters 0.2693419367984785 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.53 [[ 9.99991557e-01 -1.06616762e-04 -4.10778903e-03 3.26558324e+00] [ 8.45884891e-05 9.99985619e-01 -5.36236257e-03 2.68515023e-02] [ 4.10830167e-03 5.36196982e-03 9.99977185e-01 -5.30150374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54463044 meters 0.2688154028888313 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.53 [[ 9.99989111e-01 -8.82237590e-05 -4.66587455e-03 3.26572936e+00] [ 6.32526895e-05 9.99985677e-01 -5.35172868e-03 2.70410723e-02] [ 4.66627987e-03 5.35137528e-03 9.99974794e-01 -5.28265931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60463044 meters 0.2701879744095287 Centerline is valid? [False, False] Translation: X:3.29, Y:0.03, Z:-0.53 [[ 9.99972034e-01 -4.98364227e-03 -5.57621833e-03 3.29024074e+00] [ 4.97401757e-03 9.99986118e-01 -1.73856470e-03 2.85080839e-02] [ 5.58480530e-03 1.71077987e-03 9.99982941e-01 -5.28607199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66463044 meters 0.27120931225076 Centerline is valid? [False, False] Translation: X:3.29, Y:0.03, Z:-0.53 [[ 9.99968932e-01 -5.01405247e-03 -6.08222763e-03 3.29136465e+00] [ 5.00313950e-03 9.99985850e-01 -1.80812950e-03 2.88596325e-02] [ 6.09120762e-03 1.77764310e-03 9.99979868e-01 -5.28532369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72463044 meters 0.27179797635093567 Centerline is valid? [False, False] Translation: X:3.29, Y:0.03, Z:-0.53 [[ 9.99967318e-01 -4.94617074e-03 -6.39512627e-03 3.29105723e+00] [ 4.93542248e-03 9.99986384e-01 -1.69538543e-03 2.85667406e-02] [ 6.40342485e-03 1.66376737e-03 9.99978114e-01 -5.26832651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78463044 meters 0.2707584586508006 Centerline is valid? [False, False] Translation: X:3.27, Y:0.02, Z:-0.53 [[ 9.99975938e-01 3.05959375e-03 -6.22598705e-03 3.27022581e+00] [-3.07339518e-03 9.99992839e-01 -2.20838673e-03 2.25144233e-02] [ 6.21918570e-03 2.22746851e-03 9.99978180e-01 -5.26324749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84463044 meters 0.2722623835627481 Centerline is valid? [False, False] Translation: X:3.27, Y:0.02, Z:-0.53 [[ 9.99973958e-01 3.01603063e-03 -6.55644613e-03 3.27099425e+00] [-3.03116308e-03 9.99992763e-01 -2.29931582e-03 2.29394832e-02] [ 6.54946387e-03 2.31912960e-03 9.99975863e-01 -5.26343480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90463044 meters 0.2725680480168755 Centerline is valid? [False, False] Translation: X:3.27, Y:0.02, Z:-0.53 [[ 9.99972847e-01 2.96916914e-03 -6.74458233e-03 3.27067509e+00] [-2.98558514e-03 9.99992602e-01 -2.42518977e-03 2.37707578e-02] [ 6.73733163e-03 2.44526045e-03 9.99974314e-01 -5.25060064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96463044 meters 0.2751430768793081 Centerline is valid? [False, False] Translation: X:3.29, Y:0.03, Z:-0.52 [[ 9.99975767e-01 -1.94554858e-03 -6.68426807e-03 3.29244704e+00] [ 1.95200234e-03 9.99997635e-01 9.59126988e-04 2.76007717e-02] [ 6.68238623e-03 -9.72151453e-04 9.99977200e-01 -5.23810988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02463044 meters 0.2737219220576043 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.52 [[ 9.99947142e-01 4.32257800e-03 -9.32893909e-03 3.27211157e+00] [-4.33970477e-03 9.99988934e-01 -1.81641380e-03 2.87794225e-02] [ 9.32098426e-03 1.85680262e-03 9.99954835e-01 -5.22867531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08463044 meters 0.27394846638102605 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.52 [[ 9.99947416e-01 4.04686514e-03 -9.42275653e-03 3.27161090e+00] [-4.07182605e-03 9.99988248e-01 -2.63132683e-03 3.33654178e-02] [ 9.41199717e-03 2.66955629e-03 9.99952143e-01 -5.21773681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14463044 meters 0.27271653082726366 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.52 [[ 9.99946742e-01 3.87279883e-03 -9.56633949e-03 3.27135791e+00] [-3.90203638e-03 9.99987768e-01 -3.03952271e-03 3.54705801e-02] [ 9.55445101e-03 3.07668904e-03 9.99949622e-01 -5.20793577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20463044 meters 0.2726059921858629 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.52 [[ 0.99994537 0.00369238 -0.00977835 3.27153799] [-0.00372632 0.99998709 -0.00345498 0.03761794] [ 0.00976546 0.00349122 0.99994622 -0.5202481 ] [ 0. 0. 0. 1. ]] SLAMing on 355.26463044 meters 0.2719716363588484 Centerline is valid? [False, False] Translation: X:3.25, Y:0.04, Z:-0.52 [[ 9.99940434e-01 -5.17928089e-03 -9.60750730e-03 3.25030613e+00] [ 5.14971671e-03 9.99981937e-01 -3.09938703e-03 4.39986870e-02] [ 9.62338635e-03 3.04972647e-03 9.99949044e-01 -5.20156648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32463044 meters 0.27206849772626907 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.52 [[ 0.99995951 0.00335776 -0.00834845 3.27044637] [-0.00339374 0.999985 -0.00429884 0.04425944] [ 0.00833389 0.004327 0.99995591 -0.51961019] [ 0. 0. 0. 1. ]] SLAMing on 355.38463044 meters 0.2717575987404555 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.52 [[ 9.99958206e-01 3.23840083e-03 -8.54975183e-03 3.27068352e+00] [-3.27766604e-03 9.99984128e-01 -4.58254400e-03 4.56833368e-02] [ 8.53477602e-03 4.61037571e-03 9.99952950e-01 -5.19240761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44463044 meters 0.27161215409664075 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.52 [[ 9.99955454e-01 3.12652718e-03 -8.90584341e-03 3.27070686e+00] [-3.16998631e-03 9.99983117e-01 -4.86991607e-03 4.69176842e-02] [ 8.89046713e-03 4.89793054e-03 9.99948484e-01 -5.17985284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50463044 meters 0.2715462478068516 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.52 [[ 9.99954164e-01 3.13920959e-03 -9.04522240e-03 3.27050235e+00] [-3.18327644e-03 9.99983116e-01 -4.86156572e-03 4.70523827e-02] [ 9.02980820e-03 4.89013633e-03 9.99947273e-01 -5.17106977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56463044000003 meters 0.27086315281463613 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:-0.51 [[ 9.99970531e-01 -3.73490769e-03 -6.70731571e-03 3.28707312e+00] [ 3.71601525e-03 9.99989100e-01 -2.82694819e-03 4.91080762e-02] [ 6.71780099e-03 2.80194040e-03 9.99973510e-01 -5.13462909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62463044000003 meters 0.27136313384606653 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:-0.51 [[ 9.99969585e-01 -3.81126221e-03 -6.80462596e-03 3.28753545e+00] [ 3.79083510e-03 9.99988278e-01 -3.01232389e-03 5.00227647e-02] [ 6.81602695e-03 2.98643706e-03 9.99972311e-01 -5.13838110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68463044000003 meters 0.27124000017423633 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:-0.51 [[ 0.99997006 -0.00396349 -0.00664613 3.28689772] [ 0.00394009 0.99998601 -0.00353009 0.05270109] [ 0.00666003 0.0035038 0.99997168 -0.51339916] [ 0. 0. 0. 1. ]] SLAMing on 355.74463044000004 meters 0.2704420344510583 Centerline is valid? [False, False] Translation: X:3.29, Y:0.05, Z:-0.51 [[ 0.99996945 -0.00413751 -0.00663109 3.28669261] [ 0.00411122 0.99998365 -0.00397403 0.05476045] [ 0.00664742 0.00394665 0.99997012 -0.51314603] [ 0. 0. 0. 1. ]] SLAMing on 355.80463044000004 meters 0.270784066653138 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977564e-01 -6.79595852e-05 -6.69825427e-03 3.28682716e+00] [ 6.58560916e-05 9.99999948e-01 -3.14256155e-04 5.71383948e-02] [ 6.69827528e-03 3.13807983e-04 9.99977517e-01 -5.13108053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86463044000004 meters 0.2714464995826706 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977994e-01 -2.00102936e-04 -6.63106121e-03 3.28662677e+00] [ 1.95913837e-04 9.99999781e-01 -6.32382426e-04 5.87418191e-02] [ 6.63118630e-03 6.31069393e-04 9.99977814e-01 -5.13019999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92463044 meters 0.2711573145118576 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977100e-01 -2.49871824e-04 -6.76289303e-03 3.28688336e+00] [ 2.44776713e-04 9.99999686e-01 -7.54209379e-04 5.92992834e-02] [ 6.76307936e-03 7.52536709e-04 9.99976847e-01 -5.12971913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98463044 meters 0.2703948458620893 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977303e-01 -3.22186127e-04 -6.72972773e-03 3.28715999e+00] [ 3.15935303e-04 9.99999518e-01 -9.29879958e-04 6.01939641e-02] [ 6.73002408e-03 9.27732695e-04 9.99976923e-01 -5.13581193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04463044 meters 0.27050278892329815 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977424e-01 -3.49166974e-04 -6.71044884e-03 3.28692889e+00] [ 3.42469339e-04 9.99999442e-01 -9.99213556e-04 6.05534865e-02] [ 6.71079399e-03 9.96892874e-04 9.99976985e-01 -5.13243829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10463044 meters 0.27055963526780413 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977465e-01 -4.60088193e-04 -6.69765445e-03 3.28665957e+00] [ 4.51473856e-04 9.99999069e-01 -1.28762725e-03 6.20775470e-02] [ 6.69824064e-03 1.28457442e-03 9.99976741e-01 -5.12849824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16463044 meters 0.2705399683985131 Centerline is valid? [False, False] Translation: X:3.29, Y:0.06, Z:-0.51 [[ 9.99977683e-01 -5.64972741e-04 -6.65682457e-03 3.28630775e+00] [ 5.54638529e-04 9.99998638e-01 -1.55416737e-03 6.33674984e-02] [ 6.65769357e-03 1.55044055e-03 9.99976635e-01 -5.12429541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22463044 meters 0.27046006992586596 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:-0.51 [[ 9.99979236e-01 -6.84783232e-04 -6.40765765e-03 3.28555438e+00] [ 6.72701299e-04 9.99997992e-01 -1.88751131e-03 6.51302791e-02] [ 6.40893732e-03 1.88316168e-03 9.99977689e-01 -5.12111000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28463044 meters 0.2709501890860543 Centerline is valid? [False, False] Translation: X:3.29, Y:0.07, Z:-0.51 [[ 9.99980111e-01 -8.94046057e-04 -6.24318467e-03 3.28522974e+00] [ 8.78850609e-04 9.99996646e-01 -2.43624530e-03 6.75582257e-02] [ 6.24534185e-03 2.43071002e-03 9.99977543e-01 -5.12225242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34463044 meters 0.2701652349122234 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.51 [[ 9.99980630e-01 -1.01597015e-03 -6.14071450e-03 3.28495001e+00] [ 9.99228134e-04 9.99995777e-01 -2.72884960e-03 6.89970778e-02] [ 6.14346100e-03 2.72266077e-03 9.99977422e-01 -5.12194378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40463044 meters 0.2686918500023564 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.51 [[ 9.99980991e-01 -1.11403309e-03 -6.06441198e-03 3.28437662e+00] [ 1.09599030e-03 9.99994966e-01 -2.97770316e-03 7.03615229e-02] [ 6.06769871e-03 2.97100002e-03 9.99977178e-01 -5.11513357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46463044 meters 0.26890828389005683 Centerline is valid? [False, False] Translation: X:3.28, Y:0.07, Z:-0.51 [[ 9.99981224e-01 -1.27393221e-03 -5.99414193e-03 3.28440923e+00] [ 1.25380664e-03 9.99993569e-01 -3.36010143e-03 7.21414592e-02] [ 5.99838392e-03 3.35252284e-03 9.99976390e-01 -5.11871500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52463044 meters 0.26948516555188207 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.51 [[ 9.99982484e-01 -1.63596113e-03 -5.68824833e-03 3.28387876e+00] [ 1.61107441e-03 9.99989123e-01 -4.37694519e-03 7.72745830e-02] [ 5.69534697e-03 4.36770433e-03 9.99974243e-01 -5.12172353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58463044 meters 0.269157450656359 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.51 [[ 9.99981915e-01 -1.88610224e-03 -5.71067704e-03 3.28399800e+00] [ 1.85750964e-03 9.99985735e-01 -5.00803812e-03 8.00980427e-02] [ 5.72004124e-03 4.99733991e-03 9.99971153e-01 -5.12337762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64463044 meters 0.2682655333368831 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.51 [[ 9.99981363e-01 -2.11524720e-03 -5.72706025e-03 3.28395923e+00] [ 2.08340817e-03 9.99982375e-01 -5.55967203e-03 8.26632701e-02] [ 5.73871939e-03 5.54763661e-03 9.99968145e-01 -5.12276279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70463044 meters 0.26853984579581475 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.51 [[ 9.99980993e-01 -2.21807808e-03 -5.75269095e-03 3.28402757e+00] [ 2.18463018e-03 9.99980712e-01 -5.81408643e-03 8.37751083e-02] [ 5.76547609e-03 5.80140842e-03 9.99966551e-01 -5.12286832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76463044 meters 0.2686356101771186 Centerline is valid? [False, False] Translation: X:3.28, Y:0.08, Z:-0.51 [[ 9.99980119e-01 2.02154213e-03 -5.97287231e-03 3.28446213e+00] [-2.03198483e-03 9.99996417e-01 -1.74280362e-03 8.41798301e-02] [ 5.96932776e-03 1.75490576e-03 9.99980644e-01 -5.12200159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82463044 meters 0.27056901522861715 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.51 [[ 9.99961522e-01 -5.83633529e-03 -6.54915335e-03 3.30425456e+00] [ 5.82962437e-03 9.99982463e-01 -1.04332343e-03 9.21673847e-02] [ 6.55512768e-03 1.00510418e-03 9.99978010e-01 -5.10654747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88463044 meters 0.26885049994271903 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99976961e-01 2.59795027e-03 -6.27122409e-03 3.28253515e+00] [-2.60766703e-03 9.99995412e-01 -1.54174077e-03 8.90338804e-02] [ 6.26718995e-03 1.55805851e-03 9.99979147e-01 -5.10585533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94463044 meters 0.26878592306277854 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99977889e-01 2.46432867e-03 -6.17648671e-03 3.28183550e+00] [-2.47612359e-03 9.99995124e-01 -1.90273030e-03 9.09310137e-02] [ 6.17176764e-03 1.91798197e-03 9.99979115e-01 -5.09695670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00463044 meters 0.26875595003318914 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99978034e-01 2.38669312e-03 -6.18339514e-03 3.28187182e+00] [-2.39962208e-03 9.99994949e-01 -2.08434130e-03 9.17549520e-02] [ 6.17838922e-03 2.09913333e-03 9.99978710e-01 -5.09723591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06463044000003 meters 0.2666578640848662 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99977959e-01 2.34646517e-03 -6.21096691e-03 3.28161966e+00] [-2.36006845e-03 9.99994831e-01 -2.18377964e-03 9.23145507e-02] [ 6.20581064e-03 2.19838981e-03 9.99978327e-01 -5.09202935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12463044000003 meters 0.26695198386605123 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99977501e-01 2.36070005e-03 -6.27897767e-03 3.28156325e+00] [-2.37424590e-03 9.99994869e-01 -2.15075549e-03 9.22512510e-02] [ 6.27386816e-03 2.16561494e-03 9.99977974e-01 -5.08827486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18463044000003 meters 0.2654181116192128 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99978505e-01 2.24189819e-03 -6.16145667e-03 3.28076454e+00] [-2.25710260e-03 9.99994422e-01 -2.46181908e-03 9.35429980e-02] [ 6.15590316e-03 2.47567320e-03 9.99977988e-01 -5.07875200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24463044000004 meters 0.2689494903082001 Centerline is valid? [False, False] Translation: X:3.28, Y:0.09, Z:-0.51 [[ 9.99979109e-01 2.13215324e-03 -6.10204572e-03 3.28072255e+00] [-2.14875850e-03 9.99994003e-01 -2.71600050e-03 9.47669841e-02] [ 6.09621820e-03 2.72905558e-03 9.99977694e-01 -5.08057873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30463044000004 meters 0.27013771881205717 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99980868e-01 1.97089177e-03 -5.86342479e-03 3.28042680e+00] [-1.98941210e-03 9.99993046e-01 -3.15446614e-03 9.68170474e-02] [ 5.85716691e-03 3.16607055e-03 9.99977835e-01 -5.08441539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36463044000004 meters 0.26791094807031546 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99981233e-01 1.81995687e-03 -5.84988888e-03 3.28031941e+00] [-1.84053702e-03 9.99992130e-01 -3.51458649e-03 9.84703015e-02] [ 5.84344644e-03 3.52528747e-03 9.99976713e-01 -5.08368601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42463044 meters 0.26675447571717686 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99980796e-01 1.77309870e-03 -5.93831892e-03 3.28072007e+00] [-1.79462343e-03 9.99991833e-01 -3.62135305e-03 9.90324771e-02] [ 5.93184940e-03 3.63194055e-03 9.99975811e-01 -5.08783769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48463044 meters 0.2668420330090402 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99980672e-01 1.71321119e-03 -5.97669931e-03 3.28088839e+00] [-1.73572159e-03 9.99991413e-01 -3.76320799e-03 9.96074168e-02] [ 5.97020082e-03 3.77350914e-03 9.99975058e-01 -5.08940244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54463044 meters 0.2660976129050421 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99980820e-01 1.60412199e-03 -5.98221354e-03 3.28069956e+00] [-1.62815735e-03 9.99990614e-01 -4.01510025e-03 1.00884436e-01] [ 5.97571668e-03 4.02476323e-03 9.99974046e-01 -5.08623458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60463044 meters 0.26421889352765765 Centerline is valid? [False, False] Translation: X:3.28, Y:0.10, Z:-0.51 [[ 9.99980789e-01 1.52385715e-03 -6.00823253e-03 3.28059375e+00] [-1.54909704e-03 9.99989987e-01 -4.19847157e-03 1.01783955e-01] [ 6.00177450e-03 4.20769825e-03 9.99973137e-01 -5.08387381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66463044 meters 0.26579205528140265 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:-0.51 [[ 9.99977843e-01 -4.47169696e-03 -4.93118337e-03 3.30326506e+00] [ 4.46364911e-03 9.99988690e-01 -1.64183150e-03 1.04533309e-01] [ 4.93846937e-03 1.61978405e-03 9.99986494e-01 -5.09592549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72463044 meters 0.26515987603721536 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99977015e-01 -4.69335169e-03 -4.89295721e-03 3.30312837e+00] [ 4.68278340e-03 9.99986683e-01 -2.16912153e-03 1.07039570e-01] [ 4.90307250e-03 2.14615901e-03 9.99985677e-01 -5.09575611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78463044 meters 0.2662796751320933 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99987513e-01 -7.47995046e-04 -4.94113517e-03 3.30303584e+00] [ 7.54078931e-04 9.99998960e-01 1.22952449e-03 1.10778785e-01] [ 4.94021035e-03 -1.23323514e-03 9.99987037e-01 -5.09349566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84463044 meters 0.26553226416946796 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99987458e-01 -9.57600053e-04 -4.91589285e-03 3.30275656e+00] [ 9.61332161e-04 9.99999251e-01 7.56885699e-04 1.12994177e-01] [ 4.91516437e-03 -7.61602013e-04 9.99987630e-01 -5.09020469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90463044 meters 0.2648734883972254 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99987363e-01 -1.03710071e-03 -4.91913554e-03 3.30280865e+00] [ 1.03972439e-03 9.99999319e-01 5.30834574e-04 1.13989246e-01] [ 4.91858166e-03 -5.35942411e-04 9.99987760e-01 -5.09080605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96463044 meters 0.26368566308871694 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99987190e-01 -9.67309830e-04 -4.96840998e-03 3.30272145e+00] [ 9.70890462e-04 9.99999271e-01 7.18318261e-04 1.13231818e-01] [ 4.96771152e-03 -7.23132841e-04 9.99987399e-01 -5.08690962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02463044 meters 0.2638403859810387 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99986546e-01 -8.71959173e-04 -5.11353259e-03 3.30286171e+00] [ 8.76871749e-04 9.99999156e-01 9.58537643e-04 1.12150219e-01] [ 5.11269247e-03 -9.63008659e-04 9.99986466e-01 -5.08298838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08463044 meters 0.2631131357589956 Centerline is valid? [False, False] Translation: X:3.30, Y:0.11, Z:-0.51 [[ 9.99985771e-01 -8.93094608e-04 -5.25922030e-03 3.30399181e+00] [ 8.97862972e-04 9.99999188e-01 9.04376305e-04 1.12454749e-01] [ 5.25840833e-03 -9.09085497e-04 9.99985761e-01 -5.09845550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14463044 meters 0.2642682701510621 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99977931e-01 9.91699895e-04 -6.56918074e-03 3.30948382e+00] [-9.73818193e-04 9.99995814e-01 2.72469918e-03 1.11259401e-01] [ 6.57185533e-03 -2.71824186e-03 9.99974711e-01 -5.13382432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20463044 meters 0.2646114369204041 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99977840e-01 8.45566237e-04 -6.60344270e-03 3.30921912e+00] [-8.30082686e-04 9.99996901e-01 2.34715833e-03 1.12866038e-01] [ 6.60540691e-03 -2.34162491e-03 9.99975442e-01 -5.12853119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26463044 meters 0.2652070446562654 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99978643e-01 6.79879811e-04 -6.50012558e-03 3.30896986e+00] [-6.67170598e-04 9.99997862e-01 1.95719427e-03 1.14692673e-01] [ 6.50144234e-03 -1.95281578e-03 9.99976959e-01 -5.12847769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32463044 meters 0.2638819166445019 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99979342e-01 5.16236407e-04 -6.40691586e-03 3.30815060e+00] [-5.06217937e-04 9.99998647e-01 1.56521946e-03 1.16855062e-01] [ 6.40771522e-03 -1.56194383e-03 9.99978251e-01 -5.11865458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38463044 meters 0.26509115192032134 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99979100e-01 1.26139459e-04 -6.46409142e-03 3.30808504e+00] [-1.22004485e-04 9.99999788e-01 6.40073932e-04 1.20919579e-01] [ 6.46417079e-03 -6.39271906e-04 9.99978903e-01 -5.11674893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44463044 meters 0.26439789925857526 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99978608e-01 -2.11457529e-04 -6.53745290e-03 3.30854500e+00] [ 2.10724026e-04 9.99999971e-01 -1.12888749e-04 1.24611246e-01] [ 6.53747659e-03 1.11508736e-04 9.99978624e-01 -5.12176690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50463044 meters 0.2641077063932982 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.51 [[ 9.99980200e-01 -4.45290554e-04 -6.27707894e-03 3.30719483e+00] [ 4.40829604e-04 9.99999649e-01 -7.12038682e-04 1.27408356e-01] [ 6.27739381e-03 7.09257461e-04 9.99980045e-01 -5.10829899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56463044000003 meters 0.2631135914810802 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.51 [[ 9.99980974e-01 -4.44963917e-04 -6.15260651e-03 3.30649292e+00] [ 4.40591150e-04 9.99999649e-01 -7.12054994e-04 1.27482950e-01] [ 6.15292119e-03 7.09330662e-04 9.99980819e-01 -5.09995937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62463044000003 meters 0.2621909045199675 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.51 [[ 9.99978620e-01 -3.35117017e-04 -6.53050222e-03 3.30740537e+00] [ 3.32618077e-04 9.99999871e-01 -3.83738974e-04 1.26215033e-01] [ 6.53062998e-03 3.81558607e-04 9.99978602e-01 -5.10148735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68463044000003 meters 0.261865898326374 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99978122e-01 -9.50256591e-05 -6.61406151e-03 3.30741271e+00] [ 9.65546955e-05 9.99999969e-01 2.30860723e-04 1.23315608e-01] [ 6.61403937e-03 -2.31494291e-04 9.99978100e-01 -5.09739792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74463044000004 meters 0.26142689649419326 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99977882e-01 3.11199308e-04 -6.64363719e-03 3.30769595e+00] [-3.03375108e-04 9.99999259e-01 1.17867357e-03 1.19061173e-01] [ 6.64399908e-03 -1.17663199e-03 9.99977236e-01 -5.10017368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80463044000004 meters 0.26254110073015635 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99976588e-01 4.85493351e-04 -6.82555895e-03 3.30869290e+00] [-4.74495057e-04 9.99998587e-01 1.61286677e-03 1.16868423e-01] [ 6.82633234e-03 -1.60959031e-03 9.99975405e-01 -5.11026243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86463044000004 meters 0.26390235949289287 Centerline is valid? [False, False] Translation: X:3.31, Y:0.12, Z:-0.51 [[ 9.99975903e-01 5.47674191e-04 -6.92056395e-03 3.30905895e+00] [-5.35351181e-04 9.99998268e-01 1.78236372e-03 1.16020448e-01] [ 6.92152812e-03 -1.77861584e-03 9.99974464e-01 -5.11305522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92463044 meters 0.262838638648807 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99976732e-01 6.72431512e-04 -6.78840620e-03 3.30861510e+00] [-6.58323336e-04 9.99997619e-01 2.08029576e-03 1.14599517e-01] [ 6.78978890e-03 -2.07577839e-03 9.99974795e-01 -5.10984331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98463044 meters 0.2635443742400855 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99976381e-01 8.95159771e-04 -6.81445654e-03 3.30869957e+00] [-8.77369859e-04 9.99996201e-01 2.61315535e-03 1.12326665e-01] [ 6.81676984e-03 -2.60711483e-03 9.99973367e-01 -5.10964411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04463044 meters 0.26271374715709606 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99975972e-01 1.23216271e-03 -6.82175713e-03 3.30834186e+00] [-1.20632426e-03 9.99992089e-01 3.79047388e-03 1.06614027e-01] [ 6.82637364e-03 -3.78215355e-03 9.99969548e-01 -5.10286056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10463044 meters 0.2615191647559189 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:-0.51 [[ 9.99975688e-01 1.38381259e-03 -6.83436423e-03 3.30820733e+00] [-1.35548045e-03 9.99990477e-01 4.14843543e-03 1.05043583e-01] [ 6.84003980e-03 -4.13907073e-03 9.99968040e-01 -5.09964128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16463044 meters 0.2625360868059515 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.51 [[ 9.99974785e-01 1.70715052e-03 -6.89307177e-03 3.30856141e+00] [-1.67316665e-03 9.99986433e-01 4.93290912e-03 1.01518839e-01] [ 6.90139947e-03 -4.92125148e-03 9.99964075e-01 -5.10280645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22463044 meters 0.2624340710863678 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.51 [[ 9.99974461e-01 1.78646543e-03 -6.91991767e-03 3.30898877e+00] [-1.75105585e-03 9.99985361e-01 5.11973557e-03 1.00672186e-01] [ 6.92896260e-03 -5.10748766e-03 9.99962951e-01 -5.10903873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28463044 meters 0.2626717974615631 Centerline is valid? [False, False] Translation: X:3.31, Y:0.10, Z:-0.51 [[ 9.99973728e-01 1.85654336e-03 -7.00684885e-03 3.30898323e+00] [-1.81950076e-03 9.99984356e-01 5.28930415e-03 9.99919550e-02] [ 7.01655906e-03 -5.27641622e-03 9.99961463e-01 -5.10539663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34463044 meters 0.2611152544330878 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:-0.51 [[ 9.99985000e-01 4.97135654e-05 -5.47702406e-03 3.30343810e+00] [-2.91359530e-05 9.99992942e-01 3.75709480e-03 9.88182683e-02] [ 5.47717218e-03 -3.75687886e-03 9.99977943e-01 -5.07558580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40463044 meters 0.2614497878602674 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:-0.51 [[ 9.99985356e-01 1.92397135e-04 -5.40835067e-03 3.30350073e+00] [-1.70258742e-04 9.99991607e-01 4.09353473e-03 9.72845455e-02] [ 5.40909286e-03 -4.09255397e-03 9.99976996e-01 -5.07877269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46463044 meters 0.2627717204460758 Centerline is valid? [False, False] Translation: X:3.30, Y:0.10, Z:-0.51 [[ 9.99984787e-01 3.84903123e-04 -5.50245447e-03 3.30403046e+00] [-3.59782647e-04 9.99989513e-01 4.56558317e-03 9.50171982e-02] [ 5.50415407e-03 -4.56353402e-03 9.99974439e-01 -5.08391471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52463044 meters 0.26264004383793804 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.51 [[ 9.99984780e-01 6.69934603e-04 -5.47640356e-03 3.30394385e+00] [-6.41372144e-04 9.99986193e-01 5.21564375e-03 9.20949992e-02] [ 5.47982209e-03 -5.21205196e-03 9.99971403e-01 -5.08324491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58463044 meters 0.2618809949189627 Centerline is valid? [False, False] Translation: X:3.30, Y:0.09, Z:-0.51 [[ 9.99988862e-01 -1.85944635e-03 -4.33811014e-03 3.30008214e+00] [ 1.87324744e-03 9.99993191e-01 3.17946862e-03 8.85505073e-02] [ 4.33216855e-03 -3.18755956e-03 9.99985536e-01 -5.06498889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64463044 meters 0.2639602638124822 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.51 [[ 9.99981321e-01 3.98166067e-03 -4.63717604e-03 3.32398977e+00] [-3.98170715e-03 9.99992073e-01 -7.91664973e-07 8.64232200e-02] [ 4.63713613e-03 1.92555272e-05 9.99989248e-01 -5.07748709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70463044 meters 0.26396948929848263 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.51 [[ 9.99980260e-01 4.16768519e-03 -4.70209073e-03 3.32427515e+00] [-4.16568278e-03 9.99991229e-01 4.35567602e-04 8.45201130e-02] [ 4.70386479e-03 -4.15971586e-04 9.99988850e-01 -5.08000634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76463044 meters 0.2649285414928552 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.51 [[ 9.99979921e-01 4.21719845e-03 -4.73007503e-03 3.32434707e+00] [-4.21460168e-03 9.99990962e-01 5.58826009e-04 8.39421914e-02] [ 4.73238896e-03 -5.38879406e-04 9.99988657e-01 -5.07954016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82463044 meters 0.26401336821809285 Centerline is valid? [False, False] Translation: X:3.32, Y:0.08, Z:-0.51 [[ 9.99980625e-01 4.14193386e-03 -4.64701799e-03 3.32435268e+00] [-4.14031850e-03 9.99991365e-01 3.57179213e-04 8.48117096e-02] [ 4.64845727e-03 -3.37932158e-04 9.99989139e-01 -5.08361667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88463044 meters 0.26375105140391863 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.51 [[ 9.99981479e-01 4.08283254e-03 -4.51355873e-03 3.32383010e+00] [-4.08194380e-03 9.99991648e-01 2.06100296e-04 8.56567968e-02] [ 4.51436250e-03 -1.87672385e-04 9.99989793e-01 -5.07973030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94463044 meters 0.26434410065609387 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.50 [[ 9.99992197e-01 2.06875002e-03 -3.36554989e-03 3.31877435e+00] [-2.07581296e-03 9.99995648e-01 -2.09646217e-03 8.83730980e-02] [ 3.36119819e-03 2.10343207e-03 9.99992139e-01 -5.04503145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00463044 meters 0.26330925454813653 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:-0.50 [[ 9.99992736e-01 1.88276555e-03 -3.31399147e-03 3.31858425e+00] [-1.89116090e-03 9.99995006e-01 -2.53199674e-03 9.04967155e-02] [ 3.30920777e-03 2.53824564e-03 9.99991303e-01 -5.04421422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06463044000003 meters 0.265807596016628 Centerline is valid? [False, False] Translation: X:3.34, Y:0.10, Z:-0.51 [[ 9.99990744e-01 -3.14023144e-03 -2.94115850e-03 3.34119359e+00] [ 3.14229754e-03 9.99994819e-01 6.98120818e-04 9.54902562e-02] [ 2.93895100e-03 -7.07356352e-04 9.99995431e-01 -5.05160642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12463044000003 meters 0.26442374850237754 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:-0.51 [[ 9.99970396e-01 5.47175907e-03 -5.40993978e-03 3.32175809e+00] [-5.47347871e-03 9.99984974e-01 -3.03112773e-04 1.00910047e-01] [ 5.40819993e-03 3.32714990e-04 9.99985320e-01 -5.05620988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18463044000003 meters 0.26404728610836564 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:-0.51 [[ 9.99971649e-01 5.14972933e-03 -5.49374737e-03 3.32201463e+00] [-5.15571743e-03 9.99986130e-01 -1.07637963e-03 1.04485878e-01] [ 5.48812811e-03 1.10467333e-03 9.99984330e-01 -5.05770664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24463044000004 meters 0.2639192528436893 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99990380e-01 -1.85153479e-03 -3.97639859e-03 3.33818321e+00] [ 1.85372199e-03 9.99998133e-01 5.46430425e-04 1.12375269e-01] [ 3.97537943e-03 -5.53796306e-04 9.99991945e-01 -5.01609126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30463044000004 meters 0.263467012649338 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99989697e-01 -1.98586023e-03 -4.08201668e-03 3.33846049e+00] [ 1.98687561e-03 9.99997996e-01 2.44703958e-04 1.13855848e-01] [ 4.08152255e-03 -2.52811896e-04 9.99991639e-01 -5.01734858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36463044000004 meters 0.26259132629572846 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99989299e-01 -1.98694250e-03 -4.17786917e-03 3.33852977e+00] [ 1.98796141e-03 9.99997995e-01 2.39745022e-04 1.13836693e-01] [ 4.17738443e-03 -2.48047899e-04 9.99991244e-01 -5.01482687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42463044 meters 0.2613333590448851 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99989564e-01 -1.89158241e-03 -4.15847494e-03 3.33833122e+00] [ 1.89353632e-03 9.99998099e-01 4.65976200e-04 1.12894231e-01] [ 4.15758560e-03 -4.73845561e-04 9.99991245e-01 -5.01162498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48463044 meters 0.2616167412494358 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99990010e-01 -1.80335512e-03 -4.09001767e-03 3.33845745e+00] [ 1.80616064e-03 9.99998136e-01 6.82352627e-04 1.11969664e-01] [ 4.08877952e-03 -6.89733039e-04 9.99991403e-01 -5.01586557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54463044 meters 0.2625599058380116 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99990495e-01 -1.68491127e-03 -4.02132074e-03 3.33835298e+00] [ 1.68873858e-03 9.99998124e-01 9.48547643e-04 1.10659630e-01] [ 4.01971498e-03 -9.55329586e-04 9.99991465e-01 -5.01597315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60463044 meters 0.2634838793580465 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99990843e-01 -1.61346146e-03 -3.96372114e-03 3.33891043e+00] [ 1.61793821e-03 9.99998057e-01 1.12648363e-03 1.09772287e-01] [ 3.96189590e-03 -1.13288637e-03 9.99991510e-01 -5.02745455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66463044 meters 0.26483662687810056 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99991251e-01 -1.69590737e-03 -3.82379532e-03 3.33904315e+00] [ 1.69949607e-03 9.99998118e-01 9.35462939e-04 1.10651480e-01] [ 3.82220166e-03 -9.41953279e-04 9.99992252e-01 -5.03547339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72463044 meters 0.2637621542386498 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99991547e-01 -1.80163271e-03 -3.69594421e-03 3.33859616e+00] [ 1.80410901e-03 9.99998150e-01 6.66780852e-04 1.11763150e-01] [ 3.69473608e-03 -6.73443102e-04 9.99992948e-01 -5.03304633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78463044 meters 0.263665951961751 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99991331e-01 -1.98040195e-03 -3.66288576e-03 3.33904635e+00] [ 1.98131589e-03 9.99998007e-01 2.45901197e-04 1.13690183e-01] [ 3.66239148e-03 -2.53156399e-04 9.99993261e-01 -5.04243072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84463044 meters 0.2628867654516903 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99990848e-01 -1.89297346e-03 -3.83673510e-03 3.33937192e+00] [ 1.89494348e-03 9.99998075e-01 5.09891413e-04 1.12545570e-01] [ 3.83576250e-03 -5.17157142e-04 9.99992510e-01 -5.04078776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90463044 meters 0.26266564997037295 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99988920e-01 -1.80821646e-03 -4.34622329e-03 3.34031286e+00] [ 1.81308086e-03 9.99997734e-01 1.11554487e-03 1.09696213e-01] [ 4.34419630e-03 -1.12341256e-03 9.99989933e-01 -5.03806671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96463044 meters 0.2626118598920131 Centerline is valid? [False, False] Translation: X:3.34, Y:0.11, Z:-0.50 [[ 9.99989683e-01 -1.54865175e-03 -4.27041104e-03 3.34008059e+00] [ 1.55655267e-03 9.99997082e-01 1.84745241e-03 1.06527702e-01] [ 4.26753752e-03 -1.85408047e-03 9.99989175e-01 -5.03653429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02463044 meters 0.2600136010827376 Centerline is valid? [False, False] Translation: X:3.32, Y:0.10, Z:-0.50 [[ 9.99987099e-01 3.39694366e-03 -3.77669289e-03 3.31683294e+00] [-3.40375365e-03 9.99992590e-01 -1.79819931e-03 1.03668473e-01] [ 3.77055653e-03 1.81103105e-03 9.99991251e-01 -5.03333982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08463044 meters 0.26169453734881065 Centerline is valid? [False, False] Translation: X:3.34, Y:0.10, Z:-0.50 [[ 9.99988522e-01 -4.06882232e-03 -2.53010604e-03 3.33643544e+00] [ 4.06989120e-03 9.99991631e-01 4.17461043e-04 1.00471405e-01] [ 2.52838629e-03 -4.27753508e-04 9.99996712e-01 -5.01766935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14463044 meters 0.2609443084622624 Centerline is valid? [False, False] Translation: X:3.34, Y:0.10, Z:-0.50 [[ 9.99989227e-01 -3.82347251e-03 -2.63181590e-03 3.33680766e+00] [ 3.82603425e-03 9.99992211e-01 9.69026997e-04 9.79303569e-02] [ 2.62809035e-03 -9.79085976e-04 9.99996067e-01 -5.01971469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20463044 meters 0.26044838086089755 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.50 [[ 9.99990729e-01 -3.54490410e-03 -2.44459444e-03 3.33613277e+00] [ 3.54888678e-03 9.99992379e-01 1.62676761e-03 9.48056569e-02] [ 2.43880908e-03 -1.63542812e-03 9.99995689e-01 -5.01412895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26463044 meters 0.2598055902506832 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.50 [[ 9.99991673e-01 -3.38484740e-03 -2.27966871e-03 3.33575384e+00] [ 3.38942598e-03 9.99992241e-01 2.00758145e-03 9.31712671e-02] [ 2.27285566e-03 -2.01529150e-03 9.99995386e-01 -5.01362212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32463044 meters 0.2609698666344117 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.50 [[ 9.99992122e-01 -3.21163852e-03 -2.33254153e-03 3.33626702e+00] [ 3.21723951e-03 9.99991941e-01 2.40147176e-03 9.11611640e-02] [ 2.32481007e-03 -2.40895719e-03 9.99994396e-01 -5.01940275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38463044 meters 0.26126315498104014 Centerline is valid? [False, False] Translation: X:3.34, Y:0.09, Z:-0.50 [[ 9.99992498e-01 -2.84753221e-03 -2.62578777e-03 3.33696181e+00] [ 2.85630949e-03 9.99990326e-01 3.34505517e-03 8.69783881e-02] [ 2.61623722e-03 -3.35253014e-03 9.99990958e-01 -5.01900901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44463044 meters 0.26081268153490467 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:-0.50 [[ 9.99992338e-01 -2.58406512e-03 -2.94055194e-03 3.33781758e+00] [ 2.59627054e-03 9.99988000e-01 4.15450536e-03 8.33436593e-02] [ 2.92978114e-03 -4.16210799e-03 9.99987047e-01 -5.02091482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50463044 meters 0.26027719306469305 Centerline is valid? [False, False] Translation: X:3.34, Y:0.08, Z:-0.50 [[ 9.99993749e-01 -2.11975137e-03 -2.83011884e-03 3.33751191e+00] [ 2.13667473e-03 9.99979776e-01 5.99016103e-03 7.51701655e-02] [ 2.81736395e-03 -5.99617062e-03 9.99978054e-01 -5.01850429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56463044000003 meters 0.26022965013821575 Centerline is valid? [False, False] Translation: X:3.34, Y:0.07, Z:-0.50 [[ 9.99977711e-01 -6.01623426e-03 -2.89540504e-03 3.33790498e+00] [ 6.02402076e-03 9.99978242e-01 2.68809449e-03 7.06343744e-02] [ 2.87916984e-03 -2.70547656e-03 9.99992195e-01 -5.02101560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62463044000003 meters 0.26119500551397157 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.50 [[ 9.99982757e-01 2.60260221e-03 -5.26431735e-03 3.36010765e+00] [-2.58758247e-03 9.99992568e-01 2.85792381e-03 6.03373243e-02] [ 5.27171627e-03 -2.84425267e-03 9.99982059e-01 -5.01081382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68463044000003 meters 0.26069663814355754 Centerline is valid? [False, False] Translation: X:3.36, Y:0.06, Z:-0.50 [[ 9.99986097e-01 -1.41284876e-03 -5.08036744e-03 3.35974845e+00] [ 1.40956191e-03 9.99998795e-01 -6.50494437e-04 5.78448219e-02] [ 5.08128037e-03 6.43324301e-04 9.99986883e-01 -5.01097758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74463044000004 meters 0.2615128535930546 Centerline is valid? [False, False] Translation: X:3.36, Y:0.05, Z:-0.50 [[ 9.99986727e-01 -1.03641784e-03 -5.04692580e-03 3.36011381e+00] [ 1.03736218e-03 9.99999445e-01 1.84495848e-04 5.41821121e-02] [ 5.04673178e-03 -1.89728890e-04 9.99987247e-01 -5.01717730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80463044000004 meters 0.2593336884817395 Centerline is valid? [False, False] Translation: X:3.34, Y:0.04, Z:-0.50 [[ 9.99990781e-01 3.97561274e-03 -1.62217347e-03 3.33752658e+00] [-3.97925536e-03 9.99989555e-01 -2.24850562e-03 4.44620342e-02] [ 1.61321734e-03 2.25493994e-03 9.99996156e-01 -5.03006587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86463044000004 meters 0.26105866277325823 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:-0.50 [[ 9.99986989e-01 -4.58886010e-03 2.22818379e-03 3.35486793e+00] [ 4.59184615e-03 9.99988564e-01 -1.33686411e-03 3.50789081e-02] [-2.22202362e-03 1.34707819e-03 9.99996624e-01 -5.01337394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92463044 meters 0.25989911474620286 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99988481e-01 -4.30722474e-03 2.11778954e-03 3.35546582e+00] [ 4.30862788e-03 9.99990501e-01 -6.58436130e-04 3.17847480e-02] [-2.11493339e-03 6.67553313e-04 9.99997541e-01 -5.01868984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98463044 meters 0.259450692025718 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.50 [[ 9.99988709e-01 -4.13062511e-03 2.34954642e-03 3.35495875e+00] [ 4.13109659e-03 9.99991448e-01 -1.95851628e-04 3.00378533e-02] [-2.34871734e-03 2.05555620e-04 9.99997221e-01 -5.01796894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04463044 meters 0.25974432099058153 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:-0.50 [[ 9.99988064e-01 -4.14806009e-03 2.58190981e-03 3.35452832e+00] [ 4.14873765e-03 9.99991361e-01 -2.57127454e-04 3.03193648e-02] [-2.58082092e-03 2.67836051e-04 9.99996634e-01 -5.01901023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10463044 meters 0.2627225227118451 Centerline is valid? [False, False] Translation: X:3.38, Y:0.03, Z:-0.50 [[ 9.99986603e-01 4.47520154e-03 2.60113799e-03 3.37561614e+00] [-4.47059050e-03 9.99988430e-01 -1.77582096e-03 3.13915339e-02] [-2.60905505e-03 1.76416855e-03 9.99995040e-01 -5.01548230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16463044 meters 0.2602035022974669 Centerline is valid? [False, False] Translation: X:3.36, Y:0.04, Z:-0.50 [[ 9.99990922e-01 -3.86078044e-03 1.80307743e-03 3.35695715e+00] [ 3.86168453e-03 9.99992420e-01 -4.98201033e-04 3.52171807e-02] [-1.80114031e-03 5.05159426e-04 9.99998250e-01 -5.03292362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22463044 meters 0.2608450026706918 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99991018e-01 -3.82490735e-03 1.82610984e-03 3.35719402e+00] [ 3.82566326e-03 9.99992598e-01 -4.10633323e-04 3.48199283e-02] [-1.82452569e-03 4.17615716e-04 9.99998248e-01 -5.03782585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28463044 meters 0.262619869145646 Centerline is valid? [False, False] Translation: X:3.38, Y:0.03, Z:-0.50 [[ 9.99995560e-01 2.97416860e-03 1.83392902e-04 3.38152479e+00] [-2.97352958e-03 9.99989828e-01 -3.39146993e-03 3.37155512e-02] [-1.93477840e-04 3.39090955e-03 9.99994232e-01 -5.04492170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34463044 meters 0.2607608021892986 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99989782e-01 -3.40494453e-03 -2.97354981e-03 3.36234009e+00] [ 3.40480829e-03 9.99994202e-01 -5.08764413e-05 3.02902391e-02] [ 2.97370580e-03 4.07515544e-05 9.99995578e-01 -5.04412724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40463044 meters 0.26073654310530786 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99990094e-01 -3.36754620e-03 -2.91052651e-03 3.36215730e+00] [ 3.36764642e-03 9.99994329e-01 2.95328089e-05 2.98999633e-02] [ 2.91041055e-03 -3.93341405e-05 9.99995764e-01 -5.04305573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46463044 meters 0.2612981395391484 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99990124e-01 -3.37116534e-03 -2.89589930e-03 3.36242990e+00] [ 3.37123476e-03 9.99994317e-01 1.90935732e-05 2.98600612e-02] [ 2.89581848e-03 -2.88561411e-05 9.99995807e-01 -5.04817341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52463044 meters 0.26035693429286827 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99990566e-01 -3.26620777e-03 -2.86343519e-03 3.36215722e+00] [ 3.26694101e-03 9.99994632e-01 2.51427351e-04 2.89019073e-02] [ 2.86259860e-03 -2.60779653e-04 9.99995869e-01 -5.04496442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58463044 meters 0.26010339745428823 Centerline is valid? [False, False] Translation: X:3.36, Y:0.03, Z:-0.50 [[ 9.99991186e-01 -3.12582160e-03 -2.80322254e-03 3.36181760e+00] [ 3.12743883e-03 9.99994946e-01 5.72718285e-04 2.73628983e-02] [ 2.80141815e-03 -5.81480144e-04 9.99995907e-01 -5.04128614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64463044 meters 0.25995257329638344 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99987497e-01 4.92844344e-03 -8.46788773e-04 3.38036641e+00] [-4.92910712e-03 9.99987545e-01 -7.83459465e-04 2.45812332e-02] [ 8.42916990e-04 7.87623582e-04 9.99999335e-01 -5.02724406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70463044 meters 0.25719352119116173 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.50 [[ 9.99996906e-01 -1.50611791e-03 -1.97969913e-03 3.35770515e+00] [ 1.51118386e-03 9.99995581e-01 2.55994670e-03 2.17358695e-02] [ 1.97583480e-03 -2.56293047e-03 9.99994764e-01 -5.01459016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76463044 meters 0.25773219132163555 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:-0.50 [[ 9.99997102e-01 -1.34599643e-03 -1.99611820e-03 3.35787140e+00] [ 1.35191609e-03 9.99994684e-01 2.96720585e-03 1.98785703e-02] [ 1.99211374e-03 -2.96989584e-03 9.99993606e-01 -5.01625778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82463044 meters 0.25916313203448416 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99985585e-01 4.90881234e-03 -2.17548061e-03 3.38150138e+00] [-4.90924807e-03 9.99987931e-01 -1.94998646e-04 1.90131730e-02] [ 2.17449715e-03 2.05675809e-04 9.99997615e-01 -5.02417461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88463044 meters 0.2591125072315892 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99984778e-01 5.00230380e-03 -2.32830571e-03 3.38201040e+00] [-5.00220193e-03 9.99987488e-01 4.95723186e-05 1.78435920e-02] [ 2.32852455e-03 -3.79249087e-05 9.99997288e-01 -5.02710712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94463044 meters 0.2599093326676215 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.50 [[ 9.99994205e-01 -2.46456979e-03 -2.34852911e-03 3.40208689e+00] [ 2.46724437e-03 9.99996310e-01 1.13661841e-03 2.22088265e-02] [ 2.34571917e-03 -1.14240622e-03 9.99996596e-01 -5.01504250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00463044 meters 0.25853286796684766 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99993839e-01 2.51321856e-03 -2.45070969e-03 3.37824062e+00] [-2.51882828e-03 9.99994209e-01 -2.28862617e-03 2.19629246e-02] [ 2.44494368e-03 2.29478499e-03 9.99994378e-01 -5.00642114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06463044000003 meters 0.258862056636831 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.50 [[ 9.99979801e-01 -5.65568464e-03 -2.90028139e-03 3.40023030e+00] [ 5.65078734e-03 9.99982599e-01 -1.69398087e-03 2.39689040e-02] [ 2.90981154e-03 1.67755778e-03 9.99994359e-01 -5.00014412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12463044000003 meters 0.25809164273897817 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99991862e-01 2.44469037e-03 -3.20913502e-03 3.38139974e+00] [-2.45212173e-03 9.99994317e-01 -2.31380006e-03 1.95381651e-02] [ 3.20346026e-03 2.32165042e-03 9.99992174e-01 -5.01810127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18463044000003 meters 0.25687410874845595 Centerline is valid? [False, False] Translation: X:3.38, Y:0.02, Z:-0.50 [[ 9.99991454e-01 2.63988804e-03 -3.18162394e-03 3.38104518e+00] [-2.64530069e-03 9.99995059e-01 -1.69821676e-03 1.73061805e-02] [ 3.17712512e-03 1.70661860e-03 9.99993497e-01 -5.01299546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24463044000004 meters 0.2573481948783626 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.50 [[ 9.99989494e-01 2.63437651e-03 -3.75120794e-03 3.38256692e+00] [-2.63859605e-03 9.99995891e-01 -1.12034504e-03 1.42784647e-02] [ 3.74824112e-03 1.13023120e-03 9.99992337e-01 -5.01887675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30463044000004 meters 0.2567422975581435 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.50 [[ 9.99989008e-01 2.84201169e-03 -3.72917333e-03 3.38210666e+00] [-2.84416607e-03 9.99995791e-01 -5.72533151e-04 1.20021632e-02] [ 3.72753049e-03 5.83133246e-04 9.99992883e-01 -5.01196727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36463044000004 meters 0.2572307530233027 Centerline is valid? [False, False] Translation: X:3.38, Y:0.01, Z:-0.50 [[ 9.99988747e-01 2.90102525e-03 -3.75364528e-03 3.38199844e+00] [-2.90268538e-03 9.99995692e-01 -4.36899095e-04 1.13831976e-02] [ 3.75236165e-03 4.47789830e-04 9.99992860e-01 -5.00910004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42463044 meters 0.25724294055669455 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.50 [[ 9.99975379e-01 -4.80276484e-03 -5.11610482e-03 3.40306269e+00] [ 4.80503994e-03 9.99988362e-01 4.32493833e-04 1.69069256e-02] [ 5.11396811e-03 -4.57066272e-04 9.99986819e-01 -5.00142788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48463044 meters 0.25854285562262574 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.50 [[ 9.99974600e-01 -4.95364450e-03 -5.12447108e-03 3.40318769e+00] [ 4.95391699e-03 9.99987728e-01 4.04816060e-05 1.86019355e-02] [ 5.12420766e-03 -6.58667821e-05 9.99986869e-01 -5.00359495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54463044 meters 0.25809999001792666 Centerline is valid? [False, False] Translation: X:3.40, Y:0.02, Z:-0.50 [[ 9.99972803e-01 -5.26556891e-03 -5.16410336e-03 3.40324750e+00] [ 5.26130462e-03 9.99985807e-01 -8.38993870e-04 2.26106626e-02] [ 5.16844784e-03 8.11801131e-04 9.99986314e-01 -5.00399943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60463044 meters 0.25854566305940097 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.50 [[ 9.99975957e-01 -2.79860739e-03 -6.34455209e-03 3.40816146e+00] [ 2.80539334e-03 9.99995502e-01 1.06092318e-03 2.70874364e-02] [ 6.34155445e-03 -1.07869664e-03 9.99979310e-01 -5.03422271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66463044 meters 0.25758356746630834 Centerline is valid? [False, False] Translation: X:3.39, Y:0.03, Z:-0.51 [[ 9.99959146e-01 4.36184498e-03 -7.91714464e-03 3.38953265e+00] [-4.37045377e-03 9.99989877e-01 -1.07038514e-03 2.86973569e-02] [ 7.91239564e-03 1.10494292e-03 9.99968086e-01 -5.05072593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72463044 meters 0.25922274285984587 Centerline is valid? [False, False] Translation: X:3.41, Y:0.03, Z:-0.51 [[ 9.99978495e-01 -1.01083062e-03 -6.47973949e-03 3.41160301e+00] [ 1.02184067e-03 9.99998040e-01 1.69606458e-03 3.21913423e-02] [ 6.47801236e-03 -1.70264937e-03 9.99977568e-01 -5.05641244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78463044 meters 0.2592412812361846 Centerline is valid? [False, False] Translation: X:3.41, Y:0.04, Z:-0.51 [[ 9.99976607e-01 -1.33764052e-03 -6.70791812e-03 3.41225350e+00] [ 1.34379490e-03 9.99998680e-01 9.13055639e-04 3.59243041e-02] [ 6.70668792e-03 -9.22048346e-04 9.99977085e-01 -5.05864223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84463044 meters 0.2586785398609878 Centerline is valid? [False, False] Translation: X:3.41, Y:0.04, Z:-0.51 [[ 9.99975386e-01 -1.58180939e-03 -6.83561545e-03 3.41247692e+00] [ 1.58410339e-03 9.99998691e-01 3.30194737e-04 3.86086079e-02] [ 6.83508420e-03 -3.41014931e-04 9.99976582e-01 -5.05802278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90463044 meters 0.259726935562459 Centerline is valid? [False, False] Translation: X:3.43, Y:0.04, Z:-0.51 [[ 9.99979757e-01 5.08889692e-03 -3.81960587e-03 3.43168999e+00] [-5.09879607e-03 9.99983656e-01 -2.58641944e-03 4.27573408e-02] [ 3.80638142e-03 2.60584247e-03 9.99989360e-01 -5.05293850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96463044 meters 0.2586461641747305 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:-0.51 [[ 9.99980907e-01 4.86541291e-03 -3.80956907e-03 3.43154991e+00] [-4.87755277e-03 9.99983036e-01 -3.18389623e-03 4.53547341e-02] [ 3.79401348e-03 3.20241682e-03 9.99987675e-01 -5.05098849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02463044 meters 0.2597888182892059 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:-0.51 [[ 0.99998158 0.00457971 -0.00398201 3.43202096] [-0.00459622 0.99998084 -0.0041466 0.04974206] [ 0.00396294 0.00416482 0.99998347 -0.50524465] [ 0. 0. 0. 1. ]] SLAMing on 364.08463044 meters 0.25956283672560637 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:-0.51 [[ 0.9999827 0.004369 -0.00393789 3.43184111] [-0.00438738 0.99997947 -0.00466951 0.05211021] [ 0.0039174 0.00468671 0.99998134 -0.5051033 ] [ 0. 0. 0. 1. ]] SLAMing on 364.14463044 meters 0.2593046130170177 Centerline is valid? [False, False] Translation: X:3.43, Y:0.05, Z:-0.50 [[ 0.99998357 0.00413723 -0.00396651 3.43165409] [-0.00415796 0.99997766 -0.00523274 0.05466946] [ 0.00394477 0.00524914 0.99997844 -0.5046677 ] [ 0. 0. 0. 1. ]] SLAMing on 364.20463044 meters 0.2591424234575705 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:-0.50 [[ 0.9999842 0.00405283 -0.0038963 3.43153202] [-0.00407396 0.99997697 -0.0054286 0.05554998] [ 0.00387421 0.00544438 0.99997767 -0.50472575] [ 0. 0. 0. 1. ]] SLAMing on 364.26463044 meters 0.2596062899348705 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99989576e-01 -3.45454062e-03 -2.98572649e-03 3.45056858e+00] [ 3.44146782e-03 9.99984518e-01 -4.37253474e-03 6.08218288e-02] [ 3.00078536e-03 4.36221388e-03 9.99985983e-01 -5.03204339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32463044 meters 0.2582697318259254 Centerline is valid? [False, False] Translation: X:3.43, Y:0.06, Z:-0.50 [[ 9.99989452e-01 2.86823343e-03 -3.58740423e-03 3.42709305e+00] [-2.89279880e-03 9.99972277e-01 -6.86133393e-03 6.16717023e-02] [ 3.56762487e-03 6.87163920e-03 9.99970026e-01 -5.01648611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38463044 meters 0.26009495317480535 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99993009e-01 -1.93120304e-03 -3.20206557e-03 3.45077298e+00] [ 1.91990374e-03 9.99991933e-01 -3.52807783e-03 6.39176528e-02] [ 3.20885317e-03 3.52190551e-03 9.99988650e-01 -5.02466014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44463044 meters 0.25972242863224043 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99992406e-01 -1.97260638e-03 -3.36114100e-03 3.45116289e+00] [ 1.96038639e-03 9.99991471e-01 -3.63508977e-03 6.43955082e-02] [ 3.36828294e-03 3.62847303e-03 9.99987744e-01 -5.02577714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50463044 meters 0.2609760435268233 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99992319e-01 -1.86535628e-03 -3.44714180e-03 3.45123689e+00] [ 1.85363374e-03 9.99992500e-01 -3.40072810e-03 6.32281916e-02] [ 3.45345952e-03 3.39431224e-03 9.99988276e-01 -5.02327494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56463044000003 meters 0.26052291668941796 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99992518e-01 -1.79491156e-03 -3.42678554e-03 3.45135305e+00] [ 1.78381936e-03 9.99993169e-01 -3.23722863e-03 6.24822418e-02] [ 3.43257267e-03 3.23109164e-03 9.99988889e-01 -5.02610279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62463044000003 meters 0.2614391200993882 Centerline is valid? [False, False] Translation: X:3.45, Y:0.06, Z:-0.50 [[ 9.99991540e-01 -1.95436711e-03 -3.61933199e-03 3.45219088e+00] [ 1.94115936e-03 9.99991458e-01 -3.64914906e-03 6.44168449e-02] [ 3.62643285e-03 3.64209249e-03 9.99986792e-01 -5.03405283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68463044000003 meters 0.2620583730367722 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:-0.50 [[ 9.99990287e-01 -2.21561966e-03 -3.81000178e-03 3.45295807e+00] [ 2.19849015e-03 9.99987484e-01 -4.49425929e-03 6.81865997e-02] [ 3.81991166e-03 4.48583939e-03 9.99982643e-01 -5.04172459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74463044000004 meters 0.26238114137167484 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:-0.50 [[ 9.99991282e-01 -2.60106947e-03 -3.26647863e-03 3.45195606e+00] [ 2.58186012e-03 9.99979431e-01 -5.87126578e-03 7.43573903e-02] [ 3.28168301e-03 5.86278100e-03 9.99977429e-01 -5.04447010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80463044000004 meters 0.26256876844984844 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:-0.50 [[ 9.99977563e-01 -6.67483248e-03 -5.65995183e-04 3.47110228e+00] [ 6.67380348e-03 9.99976108e-01 -1.80084812e-03 7.85500331e-02] [ 5.78002020e-04 1.79703037e-03 9.99998218e-01 -5.03052287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86463044000004 meters 0.2614542794737917 Centerline is valid? [False, False] Translation: X:3.45, Y:0.08, Z:-0.50 [[ 9.99998059e-01 1.62292175e-03 1.11751816e-03 3.44955998e+00] [-1.62029199e-03 9.99995926e-01 -2.35010938e-03 7.52132263e-02] [-1.12132765e-03 2.34829411e-03 9.99996614e-01 -5.03767986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92463044 meters 0.26170200034136337 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:-0.50 [[ 9.99985669e-01 -3.97818256e-03 3.58271245e-03 3.46857731e+00] [ 3.97521693e-03 9.99991751e-01 8.34503840e-04 7.72036047e-02] [-3.58600270e-03 -8.20249822e-04 9.99993234e-01 -5.03194258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98463044 meters 0.26126291567429444 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:-0.50 [[ 9.99989061e-01 4.19217490e-03 2.07453376e-03 3.45025352e+00] [-4.19202810e-03 9.99991211e-01 -7.51027058e-05 7.43989232e-02] [-2.07483037e-03 6.64053804e-05 9.99997845e-01 -5.03630735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04463044 meters 0.26130448726443284 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:-0.50 [[ 9.99988569e-01 4.34091876e-03 2.00445238e-03 3.45060402e+00] [-4.34149650e-03 9.99990535e-01 2.83970628e-04 7.26568709e-02] [-2.00320072e-03 -2.92669705e-04 9.99997951e-01 -5.03943526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10463044 meters 0.26330289182702954 Centerline is valid? [False, False] Translation: X:3.47, Y:0.08, Z:-0.50 [[ 9.99991631e-01 -4.08020084e-03 2.99803942e-04 3.47360010e+00] [ 4.07998375e-03 9.99991417e-01 7.21179338e-04 7.54172919e-02] [-3.02743925e-04 -7.19950107e-04 9.99999695e-01 -5.04301496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16463044 meters 0.26204483863108635 Centerline is valid? [False, False] Translation: X:3.45, Y:0.07, Z:-0.51 [[ 9.99990100e-01 4.05686714e-03 -1.82777762e-03 3.45395478e+00] [-4.05663408e-03 9.99991763e-01 1.31200350e-04 7.43733018e-02] [ 1.82829483e-03 -1.23784426e-04 9.99998321e-01 -5.05146506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22463044 meters 0.263927530431274 Centerline is valid? [False, False] Translation: X:3.45, Y:0.08, Z:-0.50 [[ 9.99991134e-01 3.95083783e-03 -1.45705630e-03 3.45283914e+00] [-3.95115575e-03 9.99992171e-01 -2.15382317e-04 7.58517194e-02] [ 1.45619395e-03 2.21137464e-04 9.99998915e-01 -5.04553738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28463044 meters 0.2634889450624644 Centerline is valid? [False, False] Translation: X:3.45, Y:0.08, Z:-0.50 [[ 9.99991643e-01 3.83245465e-03 -1.42359729e-03 3.45274628e+00] [-3.83320267e-03 9.99992516e-01 -5.23085778e-04 7.72058734e-02] [ 1.42158193e-03 5.28538343e-04 9.99998850e-01 -5.04575561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34463044 meters 0.26218219653993974 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99987045e-01 -4.44512158e-03 -2.47989043e-03 3.43412926e+00] [ 4.44677056e-03 9.99989895e-01 6.59826158e-04 8.10662426e-02] [ 2.47693237e-03 -6.70845114e-04 9.99996707e-01 -5.05778638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40463044 meters 0.2610309920456177 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99987425e-01 -4.40993678e-03 -2.38807665e-03 3.43357678e+00] [ 4.41170685e-03 9.99989997e-01 7.36453820e-04 8.06928201e-02] [ 2.38480505e-03 -7.46980053e-04 9.99996877e-01 -5.05122354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46463044 meters 0.2609375583431559 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.50 [[ 9.99987516e-01 -4.34314261e-03 -2.47086577e-03 3.43370810e+00] [ 4.34535457e-03 9.99990162e-01 8.90556174e-04 7.98998879e-02] [ 2.46697365e-03 -9.01281844e-04 9.99996551e-01 -5.04987692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52463044 meters 0.2622247582891511 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.50 [[ 9.99987126e-01 -4.35266695e-03 -2.60821807e-03 3.43396914e+00] [ 4.35493893e-03 9.99990142e-01 8.66040128e-04 7.99714510e-02] [ 2.60442277e-03 -8.77387608e-04 9.99996224e-01 -5.04887857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58463044 meters 0.26198264604265264 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.50 [[ 9.99987391e-01 -4.40247452e-03 -2.41567673e-03 3.43326098e+00] [ 4.40428825e-03 9.99990023e-01 7.46011996e-04 8.06776857e-02] [ 2.41236833e-03 -7.56641926e-04 9.99996804e-01 -5.04419185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64463044 meters 0.2623694684300214 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.50 [[ 9.99986955e-01 -4.49682909e-03 -2.42238298e-03 3.43342090e+00] [ 4.49813085e-03 9.99989742e-01 5.32208259e-04 8.16450422e-02] [ 2.41996488e-03 -5.43097512e-04 9.99996924e-01 -5.04661240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70463044 meters 0.26221735107299726 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.50 [[ 9.99986498e-01 -4.54984214e-03 -2.51055648e-03 3.43360466e+00] [ 4.55087516e-03 9.99989562e-01 4.05912493e-04 8.21678360e-02] [ 2.50868344e-03 -4.17332242e-04 9.99996766e-01 -5.04647108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76463044 meters 0.2617357129166091 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99986354e-01 -4.58175669e-03 -2.50972956e-03 3.43399548e+00] [ 4.58258991e-03 9.99989447e-01 3.26344800e-04 8.24122877e-02] [ 2.50820785e-03 -3.37841408e-04 9.99996797e-01 -5.05335060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82463044 meters 0.2628450987506475 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99986393e-01 -4.58316318e-03 -2.49163660e-03 3.43423345e+00] [ 4.58397518e-03 9.99989442e-01 3.20273598e-04 8.23282530e-02] [ 2.49014243e-03 -3.31690840e-04 9.99996845e-01 -5.05797147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88463044 meters 0.26302058089095814 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99986824e-01 -4.51837548e-03 -2.43630004e-03 3.43426976e+00] [ 4.51953162e-03 9.99989677e-01 4.69249837e-04 8.16399787e-02] [ 2.43415465e-03 -4.80254590e-04 9.99996922e-01 -5.06076885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94463044 meters 0.2630217194434437 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99987374e-01 -4.39676047e-03 -2.43312010e-03 3.43444107e+00] [ 4.39858215e-03 9.99990050e-01 7.43857328e-04 8.03787164e-02] [ 2.42982533e-03 -7.54550215e-04 9.99996763e-01 -5.06348070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00463044 meters 0.26353739840911133 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99988141e-01 -4.21391360e-03 -2.44144810e-03 3.43461192e+00] [ 4.21672486e-03 9.99990451e-01 1.14747308e-03 7.83489085e-02] [ 2.43658944e-03 -1.15775439e-03 9.99996361e-01 -5.06537941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06463044000003 meters 0.2636632816836941 Centerline is valid? [False, False] Translation: X:3.43, Y:0.08, Z:-0.51 [[ 9.99988715e-01 -4.17499082e-03 -2.26692140e-03 3.43420537e+00] [ 4.17780129e-03 9.99990509e-01 1.23645751e-03 7.79779734e-02] [ 2.26173769e-03 -1.24591430e-03 9.99996666e-01 -5.06482235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12463044000003 meters 0.2627357449727952 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:-0.51 [[ 9.99989450e-01 4.34732837e-03 -1.48355748e-03 3.41193559e+00] [-4.34633835e-03 9.99990330e-01 6.69895374e-04 7.69108453e-02] [ 1.48645539e-03 -6.63440264e-04 9.99998675e-01 -5.06699751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18463044000003 meters 0.2633740606954615 Centerline is valid? [False, False] Translation: X:3.41, Y:0.08, Z:-0.51 [[ 9.99990567e-01 4.10271164e-03 -1.42634120e-03 3.41199771e+00] [-4.10283646e-03 9.99991580e-01 -8.45913955e-05 8.00603085e-02] [ 1.42598213e-03 9.04426422e-05 9.99998979e-01 -5.07138967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24463044000004 meters 0.2640705783419017 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:-0.51 [[ 9.99991829e-01 3.74465992e-03 -1.52326295e-03 3.41242543e+00] [-3.74664370e-03 9.99992134e-01 -1.30156472e-03 8.59038087e-02] [ 1.51837705e-03 1.30726120e-03 9.99997993e-01 -5.07507670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30463044000004 meters 0.26347762753585136 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:-0.51 [[ 9.99992928e-01 3.45529415e-03 -1.48473183e-03 3.41188745e+00] [-3.45822724e-03 9.99992065e-01 -1.97749935e-03 8.89437629e-02] [ 1.47788721e-03 1.98261991e-03 9.99996943e-01 -5.06816386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36463044000004 meters 0.263696958120957 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:-0.51 [[ 9.99993669e-01 3.24622887e-03 -1.45747270e-03 3.41171354e+00] [-3.24979067e-03 9.99991723e-01 -2.44814209e-03 9.12562220e-02] [ 1.44951340e-03 2.45286307e-03 9.99995941e-01 -5.06658980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42463044 meters 0.26429081480818445 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:-0.51 [[ 9.99994306e-01 3.01847147e-03 -1.50900601e-03 3.41231957e+00] [-3.02297637e-03 9.99990955e-01 -2.99202665e-03 9.38535006e-02] [ 1.49996102e-03 2.99657131e-03 9.99994385e-01 -5.07553024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48463044 meters 0.2633559992267369 Centerline is valid? [False, False] Translation: X:3.41, Y:0.09, Z:-0.51 [[ 9.99994430e-01 3.01699439e-03 -1.42767485e-03 3.41233917e+00] [-3.02126107e-03 9.99990948e-01 -2.99589539e-03 9.38619795e-02] [ 1.41862333e-03 3.00019208e-03 9.99994493e-01 -5.07888840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54463044 meters 0.26392673393394195 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.51 [[ 9.99989093e-01 -4.64789271e-03 -4.59973197e-04 3.43158336e+00] [ 4.64706294e-03 9.99987602e-01 -1.78886299e-03 9.77454396e-02] [ 4.68281937e-04 1.78670595e-03 9.99998294e-01 -5.06307913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60463044 meters 0.26338379106209625 Centerline is valid? [False, False] Translation: X:3.43, Y:0.10, Z:-0.51 [[ 9.99989021e-01 -4.67611299e-03 -3.02511152e-04 3.43090673e+00] [ 4.67553835e-03 9.99987315e-01 -1.87319297e-03 9.82341492e-02] [ 3.11266576e-04 1.87175800e-03 9.99998200e-01 -5.05702057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66463044 meters 0.26393129622289474 Centerline is valid? [False, False] Translation: X:3.44, Y:0.10, Z:-0.51 [[ 9.99995023e-01 -2.70424314e-03 -1.62515772e-03 3.43608231e+00] [ 2.70411166e-03 9.99996340e-01 -8.30925487e-05 9.89546733e-02] [ 1.62537648e-03 7.86975272e-05 9.99998676e-01 -5.08699006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72463044 meters 0.2627291741286881 Centerline is valid? [False, False] Translation: X:3.44, Y:0.10, Z:-0.51 [[ 9.99994795e-01 -2.80098651e-03 -1.60143533e-03 3.43626044e+00] [ 2.80049694e-03 9.99996031e-01 -3.07869193e-04 9.99208889e-02] [ 1.60229131e-03 3.03382775e-04 9.99998670e-01 -5.09145417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78463044 meters 0.26411268413336614 Centerline is valid? [False, False] Translation: X:3.44, Y:0.10, Z:-0.51 [[ 9.99993763e-01 -3.07533234e-03 -1.73667690e-03 3.43706532e+00] [ 3.07355541e-03 9.99994751e-01 -1.02492037e-03 1.03242558e-01] [ 1.73981975e-03 1.01957620e-03 9.99997967e-01 -5.10126067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84463044 meters 0.2645400080019193 Centerline is valid? [False, False] Translation: X:3.44, Y:0.11, Z:-0.51 [[ 9.99993010e-01 -3.31169286e-03 -1.73586354e-03 3.43694616e+00] [ 3.30894034e-03 9.99993267e-01 -1.58615611e-03 1.05787266e-01] [ 1.74110471e-03 1.58040115e-03 9.99997235e-01 -5.09958371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90463044 meters 0.2627660956199828 Centerline is valid? [False, False] Translation: X:3.42, Y:0.10, Z:-0.51 [[ 9.99986316e-01 5.10382255e-03 -1.14811060e-03 3.41517911e+00] [-5.10650581e-03 9.99984209e-01 -2.34644743e-03 1.04212866e-01] [ 1.13611662e-03 2.35227816e-03 9.99996588e-01 -5.10195657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96463044 meters 0.2646827834196062 Centerline is valid? [False, False] Translation: X:3.44, Y:0.11, Z:-0.51 [[ 9.99998247e-01 -1.47368800e-04 -1.86670310e-03 3.43810868e+00] [ 1.48368209e-04 9.99999846e-01 5.35260220e-04 1.11894729e-01] [ 1.86662394e-03 -5.35536241e-04 9.99998114e-01 -5.11013998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02463044 meters 0.26396601305171385 Centerline is valid? [False, False] Translation: X:3.44, Y:0.11, Z:-0.51 [[ 9.99997982e-01 -3.53983408e-04 -1.97746958e-03 3.43848944e+00] [ 3.54092736e-04 9.99999936e-01 5.49367429e-05 1.14040090e-01] [ 1.97745000e-03 -5.56368397e-05 9.99998043e-01 -5.11306283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08463044 meters 0.2645412555793713 Centerline is valid? [False, False] Translation: X:3.44, Y:0.12, Z:-0.51 [[ 9.99997786e-01 -5.89524212e-04 -2.01987739e-03 3.43860602e+00] [ 5.88558944e-04 9.99999712e-01 -4.78445543e-04 1.16530201e-01] [ 2.02015887e-03 4.77255667e-04 9.99997846e-01 -5.11367340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14463044 meters 0.2641854180496079 Centerline is valid? [False, False] Translation: X:3.44, Y:0.12, Z:-0.51 [[ 9.99997593e-01 -7.05932365e-04 -2.07725558e-03 3.43854894e+00] [ 7.04375640e-04 9.99999471e-01 -7.50050779e-04 1.17689111e-01] [ 2.07778397e-03 7.48585805e-04 9.99997561e-01 -5.11057736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20463044 meters 0.264856053329546 Centerline is valid? [False, False] Translation: X:3.44, Y:0.12, Z:-0.51 [[ 9.99997723e-01 -8.71974071e-04 -1.94752609e-03 3.43836600e+00] [ 8.69770430e-04 9.99998981e-01 -1.13206856e-03 1.19514372e-01] [ 1.94851124e-03 1.13037208e-03 9.99997463e-01 -5.11250956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26463044 meters 0.2637183337258811 Centerline is valid? [False, False] Translation: X:3.44, Y:0.12, Z:-0.51 [[ 9.99997948e-01 -1.07458944e-03 -1.71736145e-03 3.43768940e+00] [ 1.07174224e-03 9.99998051e-01 -1.65795716e-03 1.21859004e-01] [ 1.71913972e-03 1.65611319e-03 9.99997151e-01 -5.10986874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32463044 meters 0.26418730237258575 Centerline is valid? [False, False] Translation: X:3.44, Y:0.12, Z:-0.51 [[ 9.99997894e-01 -1.17138050e-03 -1.68533570e-03 3.43774741e+00] [ 1.16820815e-03 9.99997547e-01 -1.88208178e-03 1.22897569e-01] [ 1.68753620e-03 1.88010899e-03 9.99996809e-01 -5.11244626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38463044 meters 0.2642278954975464 Centerline is valid? [False, False] Translation: X:3.44, Y:0.13, Z:-0.51 [[ 9.99997407e-01 -1.44182178e-03 -1.76270038e-03 3.43859509e+00] [ 1.43714641e-03 9.99995454e-01 -2.65078343e-03 1.26091665e-01] [ 1.76651433e-03 2.64824330e-03 9.99994933e-01 -5.12527567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44463044 meters 0.2633460378282663 Centerline is valid? [False, False] Translation: X:3.44, Y:0.13, Z:-0.51 [[ 9.99997322e-01 -1.66133420e-03 -1.61128769e-03 3.43837882e+00] [ 1.65604102e-03 9.99993247e-01 -3.28085525e-03 1.28808491e-01] [ 1.61672741e-03 3.27817810e-03 9.99993320e-01 -5.12859395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50463044 meters 0.2653345209889087 Centerline is valid? [False, False] Translation: X:3.44, Y:0.13, Z:-0.52 [[ 9.99996561e-01 7.99007015e-04 -2.49808699e-03 3.44234384e+00] [-8.03069975e-04 9.99998356e-01 -1.62584887e-03 1.34460750e-01] [ 2.49678382e-03 1.62784941e-03 9.99995558e-01 -5.15750994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56463044000003 meters 0.2640789643420168 Centerline is valid? [False, False] Translation: X:3.44, Y:0.14, Z:-0.52 [[ 9.99996696e-01 6.15514034e-04 -2.49576633e-03 3.44239108e+00] [-6.20640947e-04 9.99997698e-01 -2.05398982e-03 1.36349505e-01] [ 2.49449632e-03 2.05553201e-03 9.99994776e-01 -5.15902751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62463044000003 meters 0.2645408909074082 Centerline is valid? [False, False] Translation: X:3.44, Y:0.14, Z:-0.52 [[ 9.99996933e-01 5.24998943e-04 -2.42050395e-03 3.44223680e+00] [-5.30476623e-04 9.99997299e-01 -2.26294649e-03 1.37341473e-01] [ 2.41930936e-03 2.26422357e-03 9.99994510e-01 -5.15922229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68463044000003 meters 0.26642232281122724 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.52 [[ 9.99992592e-01 2.08518389e-03 -3.23552037e-03 3.44633066e+00] [-2.08849287e-03 9.99997299e-01 -1.01966192e-03 1.40121202e-01] [ 3.23338545e-03 1.02641172e-03 9.99994246e-01 -5.18952845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74463044000004 meters 0.26575251806482497 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.52 [[ 9.99993410e-01 1.87232005e-03 -3.11022060e-03 3.44648251e+00] [-1.87701773e-03 9.99997101e-01 -1.50816886e-03 1.42302460e-01] [ 3.10738781e-03 1.51399686e-03 9.99994026e-01 -5.19729529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80463044000004 meters 0.26498385502452393 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.52 [[ 9.99993989e-01 1.71314940e-03 -3.01455527e-03 3.44584353e+00] [-1.71890902e-03 9.99996700e-01 -1.90905009e-03 1.44169782e-01] [ 3.01127483e-03 1.91422037e-03 9.99993634e-01 -5.19015928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86463044000004 meters 0.2632603283048328 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.52 [[ 9.99994155e-01 1.80383274e-03 -2.90467362e-03 3.44551712e+00] [-1.80864950e-03 9.99996992e-01 -1.65650651e-03 1.43147981e-01] [ 2.90167682e-03 1.66175036e-03 9.99994409e-01 -5.18770810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92463044 meters 0.2617424799987864 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.52 [[ 9.99993834e-01 1.92348875e-03 -2.93806973e-03 3.44559021e+00] [-1.92707958e-03 9.99997399e-01 -1.21983063e-03 1.41217679e-01] [ 2.93571576e-03 1.22548500e-03 9.99994940e-01 -5.18698021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98463044 meters 0.26308427889567976 Centerline is valid? [False, False] Translation: X:3.47, Y:0.14, Z:-0.52 [[ 9.99981134e-01 -5.82247794e-03 -1.95736751e-03 3.46865678e+00] [ 5.82378932e-03 9.99982821e-01 6.64937849e-04 1.36690791e-01] [ 1.95346229e-03 -6.76324600e-04 9.99997863e-01 -5.20181048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04463044 meters 0.26325592204768516 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.52 [[ 9.99982650e-01 -5.54012032e-03 -2.00174239e-03 3.46902365e+00] [ 5.54276970e-03 9.99983767e-01 1.32042441e-03 1.33618517e-01] [ 1.99439459e-03 -1.33149670e-03 9.99997125e-01 -5.20548741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10463044 meters 0.26329625627375824 Centerline is valid? [False, False] Translation: X:3.47, Y:0.13, Z:-0.52 [[ 9.99984909e-01 -5.14060498e-03 -1.93798845e-03 3.46938037e+00] [ 5.14494989e-03 9.99984248e-01 2.24369254e-03 1.29406134e-01] [ 1.92642398e-03 -2.25362953e-03 9.99995605e-01 -5.21270399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16463044 meters 0.26387906132194283 Centerline is valid? [False, False] Translation: X:3.49, Y:0.12, Z:-0.52 [[ 9.99994962e-01 3.03399559e-03 -9.33624452e-04 3.48850255e+00] [-3.03232725e-03 9.99993813e-01 1.78320376e-03 1.22081027e-01] [ 9.39028907e-04 -1.78036372e-03 9.99997974e-01 -5.20005453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22463044 meters 0.2630571909844076 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:-0.52 [[ 9.99999144e-01 1.25153465e-03 3.82113981e-04 3.48342772e+00] [-1.25163387e-03 9.99999183e-01 2.59537255e-04 1.20411375e-01] [-3.81788849e-04 -2.60015299e-04 9.99999893e-01 -5.17145136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28463044 meters 0.26248601729525445 Centerline is valid? [False, False] Translation: X:3.48, Y:0.12, Z:-0.52 [[ 9.99998683e-01 1.60954191e-03 2.09176130e-04 3.48386226e+00] [-1.60976213e-03 9.99998146e-01 1.05692954e-03 1.16618521e-01] [-2.07474569e-04 -1.05726487e-03 9.99999420e-01 -5.17189907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34463044 meters 0.264081589345997 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.52 [[ 9.99998242e-01 1.86272420e-03 2.13254792e-04 3.48410227e+00] [-1.86307205e-03 9.99996915e-01 1.64274567e-03 1.14029926e-01] [-2.10194152e-04 -1.64314009e-03 9.99998628e-01 -5.17574891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40463044 meters 0.26503148579433566 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.52 [[ 9.99997933e-01 -2.01606537e-03 2.63894528e-04 3.48439620e+00] [ 2.01648965e-03 9.99996659e-01 -1.61747271e-03 1.09610426e-01] [-2.60632715e-04 1.61800150e-03 9.99998657e-01 -5.18130593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46463044 meters 0.2641824478883129 Centerline is valid? [False, False] Translation: X:3.48, Y:0.11, Z:-0.52 [[ 9.99998476e-01 -1.73206948e-03 2.20575596e-04 3.48468630e+00] [ 1.73228149e-03 9.99998034e-01 -9.64628002e-04 1.06624278e-01] [-2.18904360e-04 9.65008630e-04 9.99999510e-01 -5.18415088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52463044 meters 0.2637197587647467 Centerline is valid? [False, False] Translation: X:3.47, Y:0.10, Z:-0.52 [[ 9.99982823e-01 5.86101996e-03 3.86929330e-05 3.46628107e+00] [-5.86093376e-03 9.99980938e-01 -1.94226007e-03 9.82683568e-02] [-5.00758205e-05 1.94199993e-03 9.99998113e-01 -5.20895192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58463044 meters 0.2633781994367314 Centerline is valid? [False, False] Translation: X:3.47, Y:0.10, Z:-0.52 [[ 9.99981298e-01 6.11575055e-03 2.94902676e-05 3.46593370e+00] [-6.11570618e-03 9.99980423e-01 -1.32321536e-03 9.56238255e-02] [-3.75821453e-05 1.32301026e-03 9.99999124e-01 -5.20218227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64463044 meters 0.26403451471306344 Centerline is valid? [False, False] Translation: X:3.49, Y:0.10, Z:-0.52 [[ 9.99998383e-01 -1.71513667e-03 5.41172485e-04 3.48602122e+00] [ 1.71516890e-03 9.99998527e-01 -5.90860977e-05 9.78920111e-02] [-5.41070347e-04 6.00142043e-05 9.99999852e-01 -5.18957355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70463044 meters 0.2628795684528512 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:-0.52 [[ 9.99993671e-01 3.52219958e-03 5.01279750e-04 3.46335025e+00] [-3.52049955e-03 9.99988182e-01 -3.35279316e-03 9.43170780e-02] [-5.13083033e-04 3.35100718e-03 9.99994254e-01 -5.18522243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76463044 meters 0.26261131389679393 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:-0.52 [[ 9.99993137e-01 3.67011181e-03 5.06561820e-04 3.46353693e+00] [-3.66858131e-03 9.99988801e-01 -2.98991034e-03 9.27489998e-02] [-5.17529452e-04 2.98803146e-03 9.99995402e-01 -5.18848987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82463044 meters 0.26227993063274685 Centerline is valid? [False, False] Translation: X:3.46, Y:0.09, Z:-0.52 [[ 9.99992762e-01 3.77415008e-03 4.81466094e-04 3.46347298e+00] [-3.77281981e-03 9.99989144e-01 -2.73459285e-03 9.16212833e-02] [-4.91781631e-04 2.73275657e-03 9.99996145e-01 -5.18602302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88463044 meters 0.2636234799403573 Centerline is valid? [False, False] Translation: X:3.48, Y:0.09, Z:-0.52 [[ 9.99984613e-01 -4.96370447e-03 2.47690983e-03 3.48312081e+00] [ 4.96851438e-03 9.99985776e-01 -1.93953959e-03 8.86932548e-02] [-2.46724729e-03 1.95181631e-03 9.99995052e-01 -5.17833896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94463044 meters 0.26209026314124706 Centerline is valid? [False, False] Translation: X:3.48, Y:0.09, Z:-0.52 [[ 9.99985564e-01 -4.74141568e-03 2.52816678e-03 3.48273383e+00] [ 4.74473363e-03 9.99987888e-01 -1.30801487e-03 8.60512132e-02] [-2.52193432e-03 1.31999147e-03 9.99995949e-01 -5.17285641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00463044 meters 0.2615992511539657 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:-0.52 [[ 9.99987115e-01 -4.49834446e-03 2.35277378e-03 3.48349290e+00] [ 4.49949766e-03 9.99989760e-01 -4.85082614e-04 8.25527706e-02] [-2.35056762e-03 4.95662664e-04 9.99997115e-01 -5.17937705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06463044000003 meters 0.2612655658866815 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:-0.52 [[ 9.99988229e-01 -4.27837954e-03 2.28868940e-03 3.48378293e+00] [ 4.27828206e-03 9.99990847e-01 4.74867002e-05 8.01199606e-02] [-2.28887162e-03 -3.76944824e-05 9.99997380e-01 -5.18174043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12463044000003 meters 0.26173905074833786 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:-0.52 [[ 9.99989289e-01 -4.03336121e-03 2.27029887e-03 3.48413758e+00] [ 4.03190100e-03 9.99991662e-01 6.47388108e-04 7.72512090e-02] [-2.27289109e-03 -6.38227554e-04 9.99997213e-01 -5.18661099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18463044000003 meters 0.26117383578530357 Centerline is valid? [False, False] Translation: X:3.48, Y:0.08, Z:-0.52 [[ 9.99990295e-01 -3.84616047e-03 2.14873265e-03 3.48469184e+00] [ 3.84376659e-03 9.99991989e-01 1.11710951e-03 7.51347945e-02] [-2.15301202e-03 -1.10883944e-03 9.99997068e-01 -5.19184667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24463044000004 meters 0.2606543975113796 Centerline is valid? [False, False] Translation: X:3.48, Y:0.07, Z:-0.52 [[ 9.99990793e-01 -3.75371910e-03 2.07920166e-03 3.48457936e+00] [ 3.75095027e-03 9.99992075e-01 1.33398319e-03 7.41792684e-02] [-2.08419258e-03 -1.32617193e-03 9.99996949e-01 -5.18707012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30463044000004 meters 0.2612154553243287 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.52 [[ 9.99987694e-01 4.56089694e-03 1.95215529e-03 3.50409071e+00] [-4.56117050e-03 9.99989589e-01 1.35704143e-04 6.95741067e-02] [-1.95151603e-03 -1.44606586e-04 9.99998085e-01 -5.17360408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36463044000004 meters 0.26162355033198886 Centerline is valid? [False, False] Translation: X:3.50, Y:0.07, Z:-0.52 [[ 9.99986915e-01 4.72016159e-03 1.97218595e-03 3.50400563e+00] [-4.72124208e-03 9.99988707e-01 5.43567715e-04 6.78748642e-02] [-1.96959795e-03 -5.52871770e-04 9.99997908e-01 -5.17295209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42463044 meters 0.26031507402917975 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.52 [[ 9.99986118e-01 4.89240039e-03 1.95653754e-03 3.50353940e+00] [-4.89516182e-03 9.99987026e-01 1.40909720e-03 6.40657505e-02] [-1.94961829e-03 -1.41865521e-03 9.99997093e-01 -5.16388360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48463044 meters 0.2598379969652127 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.52 [[ 9.99997788e-01 8.75092189e-04 1.91255243e-03 3.50334708e+00] [-8.70906328e-04 9.99997226e-01 -2.18836362e-03 6.12157171e-02] [-1.91446214e-03 2.18669312e-03 9.99995777e-01 -5.15995149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54463044 meters 0.25863505512848384 Centerline is valid? [False, False] Translation: X:3.48, Y:0.06, Z:-0.52 [[ 9.99982559e-01 -5.85342138e-03 7.87077214e-04 3.48156590e+00] [ 5.85249372e-03 9.99982183e-01 1.17579285e-03 5.58718387e-02] [-7.93945601e-04 -1.17116598e-03 9.99998999e-01 -5.15269473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60463044 meters 0.2583343675073328 Centerline is valid? [False, False] Translation: X:3.48, Y:0.05, Z:-0.51 [[ 9.99983694e-01 -5.65923686e-03 7.64376339e-04 3.48131693e+00] [ 5.65794365e-03 9.99982577e-01 1.68355354e-03 5.35979296e-02] [-7.73890650e-04 -1.67920129e-03 9.99998291e-01 -5.14745031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66463044 meters 0.25971950609605093 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.51 [[ 9.99997090e-01 1.85064117e-03 -1.54771259e-03 3.50328668e+00] [-1.85043897e-03 9.99998279e-01 1.32067871e-04 4.71102541e-02] [ 1.54795434e-03 -1.29203539e-04 9.99998794e-01 -5.13270053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72463044 meters 0.26057027681725603 Centerline is valid? [False, False] Translation: X:3.50, Y:0.05, Z:-0.51 [[ 9.99996554e-01 1.98986545e-03 -1.71245520e-03 3.50390193e+00] [-1.98895752e-03 9.99997881e-01 5.31730995e-04 4.52607628e-02] [ 1.71350964e-03 -5.28323162e-04 9.99998392e-01 -5.13739486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78463044 meters 0.2598687722750795 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.51 [[ 9.99995858e-01 2.15641087e-03 -1.90631708e-03 3.50431350e+00] [-2.15448500e-03 9.99997167e-01 1.01173534e-03 4.32288249e-02] [ 1.90849339e-03 -1.00762402e-03 9.99997671e-01 -5.13795389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84463044 meters 0.2596524024491785 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.51 [[ 9.99995765e-01 2.20565041e-03 -1.89877611e-03 3.50441729e+00] [-2.20350905e-03 9.99996935e-01 1.12911225e-03 4.27206129e-02] [ 1.90126072e-03 -1.12492350e-03 9.99997560e-01 -5.14028845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90463044 meters 0.2594797085748939 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:-0.51 [[ 9.99996073e-01 2.06595751e-03 -1.89352161e-03 3.50463374e+00] [-2.06445296e-03 9.99997552e-01 7.96187731e-04 4.42604458e-02] [ 1.89516186e-03 -7.92275518e-04 9.99997890e-01 -5.14387090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96463044 meters 0.26077710307509777 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:-0.52 [[ 9.99996302e-01 1.88927483e-03 -1.95629196e-03 3.50531934e+00] [-1.88857474e-03 9.99998152e-01 3.59653161e-04 4.63205942e-02] [ 1.95696783e-03 -3.55957227e-04 9.99998022e-01 -5.15298443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02463044 meters 0.260048783015732 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:-0.52 [[ 9.99996680e-01 1.73225099e-03 -1.90750936e-03 3.50518298e+00] [-1.73225969e-03 9.99998500e-01 -2.90962471e-06 4.79482987e-02] [ 1.90750145e-03 6.21391662e-06 9.99998181e-01 -5.15214510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08463044 meters 0.2603022747463147 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:-0.52 [[ 9.99997087e-01 1.48903782e-03 -1.89983923e-03 3.50512666e+00] [-1.49011732e-03 9.99998729e-01 -5.66913915e-04 5.05568359e-02] [ 1.89899266e-03 5.69743247e-04 9.99998035e-01 -5.15128418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14463044 meters 0.2611697241232314 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:-0.52 [[ 9.99997580e-01 1.19723969e-03 -1.84592889e-03 3.50545171e+00] [-1.19949143e-03 9.99998537e-01 -1.21921909e-03 5.35373028e-02] [ 1.84446649e-03 1.22143031e-03 9.99997553e-01 -5.15824653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20463044 meters 0.2612672312822351 Centerline is valid? [False, False] Translation: X:3.51, Y:0.05, Z:-0.52 [[ 9.99997616e-01 1.15430484e-03 -1.85359687e-03 3.50552448e+00] [-1.15675744e-03 9.99998456e-01 -1.32262927e-03 5.40285972e-02] [ 1.85206729e-03 1.32477027e-03 9.99997407e-01 -5.15912944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26463044 meters 0.26092203699398453 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.52 [[ 9.99998099e-01 1.00984005e-03 -1.66770547e-03 3.50488919e+00] [-1.01273377e-03 9.99997982e-01 -1.73522132e-03 5.57272287e-02] [ 1.66594981e-03 1.73690697e-03 9.99997104e-01 -5.15474917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32463044 meters 0.2609335216704057 Centerline is valid? [False, False] Translation: X:3.51, Y:0.06, Z:-0.52 [[ 9.99998146e-01 8.15182805e-04 -1.74445169e-03 3.50508119e+00] [-8.18940782e-04 9.99997343e-01 -2.15461654e-03 5.77201217e-02] [ 1.74269065e-03 2.15604115e-03 9.99996157e-01 -5.15433504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38463044 meters 0.26041192554745307 Centerline is valid? [False, False] Translation: X:3.50, Y:0.06, Z:-0.51 [[ 9.99997754e-01 2.10484663e-03 -2.47124784e-04 3.50080669e+00] [-2.10526443e-03 9.99996334e-01 -1.70276710e-03 6.47518518e-02] [ 2.43539815e-04 1.70328354e-03 9.99998520e-01 -5.13751195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44463044 meters 0.2613873418622377 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:-0.51 [[ 9.99994954e-01 -2.81182760e-03 -1.47863700e-03 3.52371946e+00] [ 2.81343276e-03 9.99995454e-01 1.08461287e-03 7.55440591e-02] [ 1.47558054e-03 -1.08876744e-03 9.99998319e-01 -5.13605477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50463044 meters 0.26160318175197117 Centerline is valid? [False, False] Translation: X:3.52, Y:0.08, Z:-0.51 [[ 9.99993743e-01 -3.22487722e-03 -1.45422792e-03 3.52424854e+00] [ 3.22508815e-03 9.99994789e-01 1.42720854e-04 7.98752037e-02] [ 1.45376008e-03 -1.47409974e-04 9.99998932e-01 -5.14496676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56463044000003 meters 0.2611364863113991 Centerline is valid? [False, False] Translation: X:3.50, Y:0.08, Z:-0.52 [[ 9.99985093e-01 4.91898589e-03 -2.36993166e-03 3.50448264e+00] [-4.92184155e-03 9.99987167e-01 -1.20063266e-03 8.05487409e-02] [ 2.36399535e-03 1.21227919e-03 9.99996471e-01 -5.15593920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62463044000003 meters 0.26270839102202226 Centerline is valid? [False, False] Translation: X:3.53, Y:0.09, Z:-0.52 [[ 9.99995628e-01 -1.45281282e-03 -2.57552019e-03 3.52753393e+00] [ 1.45512207e-03 9.99998541e-01 8.94968147e-04 8.68412957e-02] [ 2.57421621e-03 -8.98711931e-04 9.99996283e-01 -5.16121143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68463044000003 meters 0.2631955840344966 Centerline is valid? [False, False] Translation: X:3.53, Y:0.09, Z:-0.52 [[ 9.99994917e-01 -1.80143161e-03 -2.63069931e-03 3.52826511e+00] [ 1.80170936e-03 9.99998372e-01 1.03214167e-04 9.05626986e-02] [ 2.63050910e-03 -1.07953398e-04 9.99996534e-01 -5.17074888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74463044000004 meters 0.26361240264872665 Centerline is valid? [False, False] Translation: X:3.53, Y:0.09, Z:-0.52 [[ 9.99994437e-01 -2.05547426e-03 -2.62714170e-03 3.52827677e+00] [ 2.05422032e-03 9.99997775e-01 -4.79910305e-04 9.31557803e-02] [ 2.62812230e-03 4.74510908e-04 9.99996434e-01 -5.17063548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80463044000004 meters 0.2631077694686066 Centerline is valid? [False, False] Translation: X:3.53, Y:0.10, Z:-0.52 [[ 9.99992933e-01 -2.44889611e-03 -2.85246389e-03 3.52886300e+00] [ 2.44474847e-03 9.99995951e-01 -1.45663676e-03 9.78711396e-02] [ 2.85601950e-03 1.44965291e-03 9.99994871e-01 -5.17115756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86463044000004 meters 0.2633719242780187 Centerline is valid? [False, False] Translation: X:3.53, Y:0.10, Z:-0.52 [[ 9.99992231e-01 -2.61607706e-03 -2.94855352e-03 3.52919607e+00] [ 2.61059543e-03 9.99994860e-01 -1.86141032e-03 9.96505092e-02] [ 2.95340795e-03 1.85369838e-03 9.99993921e-01 -5.17296412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92463044 meters 0.26260832702014847 Centerline is valid? [False, False] Translation: X:3.53, Y:0.10, Z:-0.52 [[ 9.99992111e-01 -2.81660535e-03 -2.80082374e-03 3.52841140e+00] [ 2.81002792e-03 9.99993292e-01 -2.34955958e-03 1.01891104e-01] [ 2.80742273e-03 2.34167065e-03 9.99993317e-01 -5.16393389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98463044 meters 0.26401152200035777 Centerline is valid? [False, False] Translation: X:3.53, Y:0.10, Z:-0.52 [[ 9.99991220e-01 -3.05105381e-03 -2.87262701e-03 3.52864584e+00] [ 3.04274483e-03 9.99991188e-01 -2.89241004e-03 1.04434470e-01] [ 2.88142659e-03 2.88364397e-03 9.99991691e-01 -5.16454621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04463044 meters 0.2635000651224414 Centerline is valid? [False, False] Translation: X:3.53, Y:0.11, Z:-0.52 [[ 9.99989854e-01 -3.43314940e-03 -2.91644015e-03 3.52887000e+00] [ 3.42201720e-03 9.99986873e-01 -3.81350314e-03 1.08615968e-01] [ 2.92949420e-03 3.80348434e-03 9.99988476e-01 -5.16583795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10463044 meters 0.26292391661436837 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.51 [[ 9.99997741e-01 -1.41334318e-03 -1.58769882e-03 3.52423527e+00] [ 1.40972750e-03 9.99996416e-01 -2.27612683e-03 1.12461911e-01] [ 1.59091008e-03 2.27388347e-03 9.99996149e-01 -5.14298297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16463044 meters 0.26271022220772694 Centerline is valid? [False, False] Translation: X:3.52, Y:0.11, Z:-0.51 [[ 9.99997580e-01 -1.44833505e-03 -1.65576996e-03 3.52454035e+00] [ 1.44441255e-03 9.99996154e-01 -2.36773354e-03 1.12797146e-01] [ 1.65919286e-03 2.36533620e-03 9.99995826e-01 -5.14532818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22463044 meters 0.26300079252279635 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.51 [[ 9.99997085e-01 -1.71574105e-03 -1.69879389e-03 3.52464340e+00] [ 1.71065082e-03 9.99994057e-01 -2.99330699e-03 1.15625840e-01] [ 1.70391953e-03 2.99039222e-03 9.99994077e-01 -5.14483574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28463044 meters 0.2627216930144999 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.51 [[ 9.99996550e-01 -1.95554639e-03 -1.75354784e-03 3.52455054e+00] [ 1.94924914e-03 9.99991672e-01 -3.58569423e-03 1.18181581e-01] [ 1.76054523e-03 3.58226376e-03 9.99992034e-01 -5.14040940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34463044 meters 0.26262988388602126 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.51 [[ 9.99996138e-01 2.09822019e-03 -1.82245458e-03 3.52469965e+00] [-2.09812814e-03 9.99997798e-01 5.24200804e-05 1.21095965e-01] [ 1.82256056e-03 -4.85961347e-05 9.99998338e-01 -5.13969873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40463044 meters 0.26334613413746294 Centerline is valid? [False, False] Translation: X:3.52, Y:0.12, Z:-0.51 [[ 9.99996375e-01 1.94249399e-03 -1.86485534e-03 3.52493524e+00] [-1.94309041e-03 9.99998062e-01 -3.18061934e-04 1.22689220e-01] [ 1.86423389e-03 3.21684364e-04 9.99998211e-01 -5.14167802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46463044 meters 0.2615906614513866 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.51 [[ 9.99988705e-01 -3.53186382e-03 -3.18046427e-03 3.50269287e+00] [ 3.54084897e-03 9.99989744e-01 2.82392043e-03 1.25236810e-01] [ 3.17045795e-03 -2.83515008e-03 9.99990955e-01 -5.13214963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52463044 meters 0.2634521604930296 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99988340e-01 2.25810207e-03 -4.26856600e-03 3.52723733e+00] [-2.25874268e-03 9.99997438e-01 -1.45259417e-04 1.23033894e-01] [ 4.26822706e-03 1.54899316e-04 9.99990879e-01 -5.14537297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58463044 meters 0.26431122443081356 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99988162e-01 2.40056258e-03 -4.23243189e-03 3.52705296e+00] [-2.39964431e-03 9.99997096e-01 2.22025013e-04 1.21486874e-01] [ 4.23295259e-03 -2.11866054e-04 9.99991019e-01 -5.14372521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64463044 meters 0.26348744432364457 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99987850e-01 2.50891433e-03 -4.24320672e-03 3.52698953e+00] [-2.50686379e-03 9.99996738e-01 4.88502811e-04 1.20306648e-01] [ 4.24441849e-03 -4.77859735e-04 9.99990878e-01 -5.14233658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70463044 meters 0.263174436450241 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99987284e-01 2.53474829e-03 -4.35979953e-03 3.52701040e+00] [-2.53239764e-03 9.99996645e-01 5.44601792e-04 1.20035751e-01] [ 4.36116534e-03 -5.33554120e-04 9.99990348e-01 -5.13836957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76463044 meters 0.2637397364276105 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99987947e-01 2.32706443e-03 -4.32320725e-03 3.52665691e+00] [-2.32716369e-03 9.99997292e-01 -1.79291652e-05 1.22501160e-01] [ 4.32315382e-03 2.79897600e-05 9.99990655e-01 -5.13287123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82463044 meters 0.26361719850668375 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99988817e-01 2.06666371e-03 -4.25381619e-03 3.52610556e+00] [-2.06997687e-03 9.99997558e-01 -7.74612871e-04 1.25698961e-01] [ 4.25220493e-03 7.83409510e-04 9.99990652e-01 -5.12497082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88463044 meters 0.2628037366359504 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99989038e-01 1.59449304e-03 -4.40242172e-03 3.52635562e+00] [-1.60389257e-03 9.99996440e-01 -2.13237666e-03 1.31503944e-01] [ 4.39900599e-03 2.13941430e-03 9.99988036e-01 -5.12226699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94463044 meters 0.2633824214129805 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99989324e-01 1.42572579e-03 -4.39531274e-03 3.52640780e+00] [-1.43682640e-03 9.99995784e-01 -2.52343404e-03 1.33232085e-01] [ 4.39169649e-03 2.52972240e-03 9.99987157e-01 -5.12301185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00463044 meters 0.2632391862226237 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99990018e-01 1.18896138e-03 -4.30698601e-03 3.52601180e+00] [-1.20245403e-03 9.99994374e-01 -3.13150173e-03 1.35658932e-01] [ 4.30323854e-03 3.13664942e-03 9.99985822e-01 -5.11888616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06463044000003 meters 0.26479758736224057 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99989401e-01 1.01605988e-03 -4.49057412e-03 3.52715309e+00] [-1.03213294e-03 9.99993065e-01 -3.57842261e-03 1.38006471e-01] [ 4.48690708e-03 3.58301955e-03 9.99983515e-01 -5.13063979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12463044000003 meters 0.26489762946878653 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99989248e-01 8.42904192e-04 -4.55998614e-03 3.52731940e+00] [-8.61009681e-04 9.99991749e-01 -3.97000918e-03 1.39755524e-01] [ 4.55660217e-03 3.97389269e-03 9.99981723e-01 -5.13019865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18463044000003 meters 0.26583761252904703 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99988701e-01 6.79848707e-04 -4.70492569e-03 3.52791451e+00] [-7.00255909e-04 9.99990349e-01 -4.33712486e-03 1.41607420e-01] [ 4.70193169e-03 4.34037050e-03 9.99979526e-01 -5.13427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24463044000004 meters 0.2662463213293422 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99989040e-01 7.10937695e-04 -4.62762692e-03 3.52800786e+00] [-7.30694715e-04 9.99990621e-01 -4.26907354e-03 1.41256129e-01] [ 4.62454847e-03 4.27240813e-03 9.99980180e-01 -5.13907026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30463044000004 meters 0.2644326901276458 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99989092e-01 8.21685687e-04 -4.59789672e-03 3.52800863e+00] [-8.40113433e-04 9.99991618e-01 -4.00736913e-03 1.40062370e-01] [ 4.59456538e-03 4.01118817e-03 9.99981400e-01 -5.14035656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36463044000004 meters 0.26501376473875654 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99988637e-01 9.22344440e-04 -4.67704380e-03 3.52829236e+00] [-9.40024523e-04 9.99992416e-01 -3.77939525e-03 1.39030384e-01] [ 4.67352242e-03 3.78374884e-03 9.99981921e-01 -5.14247496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42463044 meters 0.2647016513073462 Centerline is valid? [False, False] Translation: X:3.53, Y:0.14, Z:-0.51 [[ 9.99988637e-01 1.05721173e-03 -4.64855947e-03 3.52783036e+00] [-1.07332127e-03 9.99993423e-01 -3.46436276e-03 1.37455983e-01] [ 4.64486633e-03 3.46931279e-03 9.99983194e-01 -5.13565730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48463044 meters 0.26579872202492105 Centerline is valid? [False, False] Translation: X:3.55, Y:0.14, Z:-0.51 [[ 9.99972736e-01 -7.09896189e-03 -2.03287685e-03 3.54708144e+00] [ 7.09450520e-03 9.99972433e-01 -2.19118933e-03 1.35444733e-01] [ 2.04837597e-03 2.17670733e-03 9.99995533e-01 -5.12975646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54463044 meters 0.26384057877765993 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99998164e-01 1.82891298e-03 -5.71133075e-04 3.52541865e+00] [-1.83044439e-03 9.99994700e-01 -2.69244869e-03 1.31850142e-01] [ 5.66205794e-04 2.69348917e-03 9.99996212e-01 -5.14041659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60463044 meters 0.26351804574688686 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99998160e-01 1.79474476e-03 -6.77089578e-04 3.52570040e+00] [-1.79661925e-03 9.99994527e-01 -2.77808550e-03 1.32202343e-01] [ 6.72099918e-04 2.77929686e-03 9.99995912e-01 -5.14093341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66463044 meters 0.2640720360075839 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99998369e-01 1.64896572e-03 -7.36698227e-04 3.52608609e+00] [-1.65131962e-03 9.99993497e-01 -3.20610162e-03 1.34215948e-01] [ 7.31406684e-04 3.20731292e-03 9.99994589e-01 -5.14457509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72463044 meters 0.26361246603228605 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99998534e-01 1.58282244e-03 -6.53647430e-04 3.52608685e+00] [-1.58501567e-03 9.99993070e-01 -3.36859563e-03 1.34841981e-01] [ 6.48311012e-04 3.36962673e-03 9.99994113e-01 -5.14790412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78463044 meters 0.26437652037457887 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.51 [[ 9.99998282e-01 1.70568836e-03 -7.26119099e-04 3.52630940e+00] [-1.70790758e-03 9.99993839e-01 -3.06670853e-03 1.33627640e-01] [ 7.20883776e-04 3.06794341e-03 9.99995034e-01 -5.14950837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84463044 meters 0.26467477532904277 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.52 [[ 9.99998038e-01 1.84529185e-03 -7.20962938e-04 3.52654994e+00] [-1.84723655e-03 9.99994632e-01 -2.70607197e-03 1.32037133e-01] [ 7.15965575e-04 2.70739845e-03 9.99996079e-01 -5.15448267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90463044 meters 0.2650173409577037 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.52 [[ 9.99997345e-01 2.12563097e-03 -8.90212650e-04 3.52720928e+00] [-2.12741571e-03 9.99995720e-01 -2.00872591e-03 1.29033815e-01] [ 8.85939029e-04 2.01061443e-03 9.99997586e-01 -5.16011293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96463044 meters 0.266477729725717 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.52 [[ 9.99996949e-01 2.27698589e-03 -9.57697344e-04 3.52743629e+00] [-2.27858170e-03 9.99996012e-01 -1.66851877e-03 1.27544403e-01] [ 9.53894331e-04 1.67069588e-03 9.99998149e-01 -5.16134438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02463044 meters 0.265211304851674 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.52 [[ 9.99996802e-01 2.36809327e-03 -8.87849262e-04 3.52687640e+00] [-2.36935438e-03 9.99996182e-01 -1.42206509e-03 1.26359120e-01] [ 8.84478289e-04 1.42416417e-03 9.99998595e-01 -5.15443162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08463044 meters 0.2649525229844551 Centerline is valid? [False, False] Translation: X:3.53, Y:0.13, Z:-0.52 [[ 9.99996668e-01 2.45048529e-03 -8.11847887e-04 3.52655695e+00] [-2.45147838e-03 9.99996245e-01 -1.22452175e-03 1.25360233e-01] [ 8.08844166e-04 1.22650789e-03 9.99998921e-01 -5.15181687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14463044 meters 0.26464569264966814 Centerline is valid? [False, False] Translation: X:3.53, Y:0.12, Z:-0.51 [[ 9.99996405e-01 2.54505722e-03 -8.43727150e-04 3.52599858e+00] [-2.54589037e-03 9.99996271e-01 -9.87857100e-04 1.24322303e-01] [ 8.41209851e-04 9.90001586e-04 9.99999156e-01 -5.14062253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20463044 meters 0.26262799655269675 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.51 [[ 9.99995402e-01 -2.90682847e-03 -8.64256648e-04 3.50164485e+00] [ 2.90858221e-03 9.99993700e-01 2.03490127e-03 1.26265395e-01] [ 8.58336094e-04 -2.03740568e-03 9.99997556e-01 -5.12344244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26463044 meters 0.2625822127118774 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.51 [[ 9.99994459e-01 -3.21164918e-03 -8.76453351e-04 3.50145354e+00] [ 3.21256392e-03 9.99994294e-01 1.04427833e-03 1.30357650e-01] [ 8.73094495e-04 -1.04708820e-03 9.99999071e-01 -5.11946362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32463044 meters 0.26136995962137777 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:-0.51 [[ 9.99982088e-01 5.78944598e-03 -1.51827128e-03 3.48038330e+00] [-5.78994426e-03 9.99983186e-01 -3.24002592e-04 1.36618668e-01] [ 1.51636996e-03 3.32787494e-04 9.99998795e-01 -5.12307472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38463044 meters 0.26167281175545376 Centerline is valid? [False, False] Translation: X:3.50, Y:0.15, Z:-0.51 [[ 9.99997602e-01 -2.04465117e-03 7.84944919e-04 3.49740515e+00] [ 2.04508436e-03 9.99997757e-01 -5.51475256e-04 1.49818646e-01] [-7.83815583e-04 5.53079212e-04 9.99999540e-01 -5.09716750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44463044 meters 0.26148186746055097 Centerline is valid? [False, False] Translation: X:3.50, Y:0.16, Z:-0.51 [[ 9.99996979e-01 -2.42748865e-03 3.86944448e-04 3.49869945e+00] [ 2.42825027e-03 9.99995091e-01 -1.98012471e-03 1.56346530e-01] [-3.82135818e-04 1.98105833e-03 9.99997965e-01 -5.10365015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50463044 meters 0.26174141008767765 Centerline is valid? [False, False] Translation: X:3.50, Y:0.17, Z:-0.51 [[ 9.99999392e-01 9.51382499e-04 5.57128197e-04 3.49890911e+00] [-9.51483452e-04 9.99999531e-01 1.80964367e-04 1.66769469e-01] [-5.56955770e-04 -1.81494355e-04 9.99999828e-01 -5.11014519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56463044000003 meters 0.26245817469754884 Centerline is valid? [False, False] Translation: X:3.50, Y:0.17, Z:-0.51 [[ 9.99999773e-01 4.85053675e-04 4.68208219e-04 3.49893767e+00] [-4.84613791e-04 9.99999442e-01 -9.39161725e-04 1.71759566e-01] [-4.68663502e-04 9.38934612e-04 9.99999449e-01 -5.10674212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62463044000003 meters 0.263019610119726 Centerline is valid? [False, False] Translation: X:3.50, Y:0.18, Z:-0.51 [[ 9.99999995e-01 9.34751018e-05 -4.60016873e-05 3.50026459e+00] [-9.35898216e-05 9.99996870e-01 -2.50016672e-03 1.80525830e-01] [ 4.57678400e-05 2.50017101e-03 9.99996874e-01 -5.11019998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68463044000003 meters 0.26236436629411947 Centerline is valid? [False, False] Translation: X:3.50, Y:0.19, Z:-0.51 [[ 9.99999955e-01 -2.90671511e-04 7.80950272e-05 3.49989614e+00] [ 2.90957616e-04 9.99993154e-01 -3.68885695e-03 1.85530061e-01] [-7.70222469e-05 3.68887951e-03 9.99993193e-01 -5.10776353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74463044000004 meters 0.2621963800305666 Centerline is valid? [False, False] Translation: X:3.50, Y:0.19, Z:-0.51 [[ 9.99999740e-01 -7.07457465e-04 -1.36440534e-04 3.50017503e+00] [ 7.06725665e-04 9.99985753e-01 -5.29098381e-03 1.92719989e-01] [ 1.40181736e-04 5.29088601e-03 9.99985993e-01 -5.10405072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80463044000004 meters 0.2616377315711547 Centerline is valid? [False, False] Translation: X:3.50, Y:0.20, Z:-0.51 [[ 9.99999437e-01 -1.02671384e-03 -2.67963074e-04 3.50066944e+00] [ 1.02504881e-03 9.99980615e-01 -6.14154990e-03 1.96511068e-01] [ 2.74263494e-04 6.14127177e-03 9.99981105e-01 -5.10727033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86463044000004 meters 0.26300314688699533 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99976027e-01 -6.74525314e-03 1.56440409e-03 3.52134229e+00] [ 6.74970051e-03 9.99973144e-01 -2.85521341e-03 2.01163252e-01] [-1.54510294e-03 2.86570422e-03 9.99994700e-01 -5.11103374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92463044 meters 0.2626049406898477 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99975007e-01 -6.88115449e-03 1.62345599e-03 3.52111237e+00] [ 6.88627350e-03 9.99971268e-01 -3.16892419e-03 2.02548356e-01] [-1.60160349e-03 3.18002455e-03 9.99993661e-01 -5.10930292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98463044 meters 0.2622554261483648 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995252e-01 -2.65262652e-03 1.56801454e-03 3.52167406e+00] [ 2.65086918e-03 9.99995857e-01 1.12175581e-03 2.01331810e-01] [-1.57098365e-03 -1.11759388e-03 9.99998141e-01 -5.11657114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04463044 meters 0.26176507088555667 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995249e-01 -2.58210136e-03 1.68375161e-03 3.52170113e+00] [ 2.57995908e-03 9.99995861e-01 1.27326218e-03 2.00557991e-01] [-1.68703233e-03 -1.26891212e-03 9.99997772e-01 -5.12158147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10463044 meters 0.2617754262554576 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995377e-01 -2.58448068e-03 1.60195814e-03 3.52193319e+00] [ 2.58245627e-03 9.99995866e-01 1.26449542e-03 2.00601827e-01] [-1.60521958e-03 -1.26035259e-03 9.99997917e-01 -5.12270443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16463044 meters 0.26185048524758664 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995804e-01 -2.59509778e-03 1.28750064e-03 3.52289869e+00] [ 2.59355362e-03 9.99995917e-01 1.19956531e-03 2.00924675e-01] [-1.29060837e-03 -1.19622107e-03 9.99998452e-01 -5.12852311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22463044 meters 0.2618850718181223 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995604e-01 -2.61229103e-03 1.40281054e-03 3.52231441e+00] [ 2.61059056e-03 9.99995857e-01 1.21265645e-03 2.00631436e-01] [-1.40597254e-03 -1.20898895e-03 9.99998281e-01 -5.12279277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28463044 meters 0.2616087292172271 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.51 [[ 9.99995589e-01 -2.56292307e-03 1.50145466e-03 3.52192398e+00] [ 2.56091319e-03 9.99995824e-01 1.33901323e-03 1.99997519e-01] [-1.50488018e-03 -1.33516223e-03 9.99997976e-01 -5.11940277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34463044 meters 0.26272366250433304 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.51 [[ 9.99988045e-01 4.82383331e-03 7.99691604e-04 3.54146599e+00] [-4.82395468e-03 9.99988353e-01 1.49903252e-04 1.93566660e-01] [-7.98959182e-04 -1.53759136e-04 9.99999669e-01 -5.09752762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40463044 meters 0.26203534035504844 Centerline is valid? [False, False] Translation: X:3.54, Y:0.19, Z:-0.51 [[ 9.99986859e-01 5.07778782e-03 7.05549463e-04 3.54149145e+00] [-5.07830486e-03 9.99986837e-01 7.32976642e-04 1.90947461e-01] [-7.01818276e-04 -7.36550005e-04 9.99999482e-01 -5.09439683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46463044 meters 0.262819828783962 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99991400e-01 -3.87583912e-03 1.47571290e-03 3.56184107e+00] [ 3.87304608e-03 9.99990712e-01 1.89084691e-03 1.88520296e-01] [-1.48302781e-03 -1.88511515e-03 9.99997123e-01 -5.08500514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52463044 meters 0.26274012056548884 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99991790e-01 -3.79411116e-03 1.42301563e-03 3.56192348e+00] [ 3.79113657e-03 9.99990635e-01 2.08724714e-03 1.87589870e-01] [-1.43092155e-03 -2.08183515e-03 9.99996809e-01 -5.08429689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58463044 meters 0.26195662604923314 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99991621e-01 -3.78928587e-03 1.54864318e-03 3.56135926e+00] [ 3.78600577e-03 9.99990595e-01 2.11551480e-03 1.87439440e-01] [-1.55664491e-03 -2.10963390e-03 9.99996563e-01 -5.07913832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64463044 meters 0.26323927455613955 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.51 [[ 9.99987171e-01 3.89231888e-03 3.24149057e-03 3.58068410e+00] [-3.89484415e-03 9.99992116e-01 7.73100463e-04 1.85814259e-01] [-3.23845586e-03 -7.85715646e-04 9.99994448e-01 -5.06981338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70463044 meters 0.26234926084899307 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99987526e-01 -4.42683091e-03 2.31323841e-03 3.55977114e+00] [ 4.42377454e-03 9.99989338e-01 1.32470168e-03 1.86663981e-01] [-2.31907798e-03 -1.31445191e-03 9.99996447e-01 -5.07017307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76463044 meters 0.2626161009974018 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99987665e-01 -4.47485966e-03 2.15510814e-03 3.56057319e+00] [ 4.47235040e-03 9.99989317e-01 1.16774351e-03 1.87590161e-01] [-2.16031061e-03 -1.15809071e-03 9.99996996e-01 -5.07893342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82463044 meters 0.263410697664066 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.51 [[ 9.99992347e-01 3.58974715e-03 1.55558464e-03 3.58279821e+00] [-3.58997619e-03 9.99993546e-01 1.44471165e-04 1.87563766e-01] [-1.55505598e-03 -1.50054571e-04 9.99998780e-01 -5.07353633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88463044 meters 0.26198796136338104 Centerline is valid? [False, False] Translation: X:3.56, Y:0.19, Z:-0.51 [[ 9.99992328e-01 -3.91678622e-03 -5.59980692e-05 3.56399922e+00] [ 3.91685073e-03 9.99991606e-01 1.20240226e-03 1.92210045e-01] [ 5.12880465e-05 -1.20261237e-03 9.99999276e-01 -5.08611446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94463044 meters 0.26320554695245807 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.51 [[ 9.99991938e-01 4.01377821e-03 -1.19628316e-04 3.58493181e+00] [-4.01379109e-03 9.99991939e-01 -1.07626164e-04 1.92517350e-01] [ 1.19195364e-04 1.08105460e-04 9.99999987e-01 -5.07586022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00463044 meters 0.26400262667399205 Centerline is valid? [False, False] Translation: X:3.59, Y:0.20, Z:-0.51 [[ 9.99992902e-01 3.76239143e-03 -2.01673318e-04 3.58506442e+00] [-3.76252337e-03 9.99992705e-01 -6.57880691e-04 1.95131538e-01] [ 1.99196642e-04 6.58634822e-04 9.99999763e-01 -5.07508828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06463044000003 meters 0.262945219598047 Centerline is valid? [False, False] Translation: X:3.59, Y:0.20, Z:-0.51 [[ 9.99993094e-01 3.70114035e-03 -3.36975830e-04 3.58514480e+00] [-3.70141013e-03 9.99992827e-01 -8.03524532e-04 1.95728550e-01] [ 3.33999456e-04 8.04766269e-04 9.99999620e-01 -5.07130251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12463044000003 meters 0.2629590420330498 Centerline is valid? [False, False] Translation: X:3.59, Y:0.19, Z:-0.51 [[ 9.99992648e-01 3.80008631e-03 -5.13469126e-04 3.58543540e+00] [-3.80037450e-03 9.99992621e-01 -5.61466162e-04 1.94702359e-01] [ 5.11331717e-04 5.63413409e-04 9.99999711e-01 -5.06893456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18463044000003 meters 0.26249742829970435 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.50 [[ 9.99997017e-01 2.35709286e-03 6.40649106e-04 3.58118931e+00] [-2.35600542e-03 9.99995792e-01 -1.69288966e-03 1.93201565e-01] [-6.44636708e-04 1.69137524e-03 9.99998362e-01 -5.04530435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24463044000004 meters 0.2614594376548363 Centerline is valid? [False, False] Translation: X:3.58, Y:0.19, Z:-0.50 [[ 9.99996174e-01 2.70124677e-03 5.95192004e-04 3.58115721e+00] [-2.70098804e-03 9.99996258e-01 -4.35074895e-04 1.87794257e-01] [-5.96365021e-04 4.33465624e-04 9.99999728e-01 -5.04345178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30463044000004 meters 0.26270131248793704 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:-0.50 [[ 9.99981320e-01 -6.10995214e-03 1.66189087e-04 3.60307522e+00] [ 6.10980494e-03 9.99980955e-01 8.72277663e-04 1.85983691e-01] [-1.71515497e-04 -8.71245986e-04 9.99999606e-01 -5.03891157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36463044000004 meters 0.26122525789163586 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:-0.50 [[ 9.99998311e-01 2.91354008e-04 1.81474691e-03 3.57955032e+00] [-2.89267640e-04 9.99999297e-01 -1.14983059e-03 1.75950841e-01] [-1.81508064e-03 1.14930370e-03 9.99997692e-01 -5.02666948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42463044 meters 0.2617718882852117 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.50 [[ 9.99998269e-01 5.53086146e-04 1.77661069e-03 3.57968154e+00] [-5.52086789e-04 9.99999689e-01 -5.62948410e-04 1.73339220e-01] [-1.77692150e-03 5.61966592e-04 9.99998263e-01 -5.02696009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48463044 meters 0.2615921995387285 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.50 [[ 9.99998307e-01 9.04679471e-04 1.60264240e-03 3.57955309e+00] [-9.05012841e-04 9.99999569e-01 2.07299218e-04 1.69483833e-01] [-1.60245417e-03 -2.08749279e-04 9.99998694e-01 -5.01872553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54463044 meters 0.26123876946002206 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.50 [[ 9.99998126e-01 1.11017865e-03 1.58633051e-03 3.57922595e+00] [-1.11128049e-03 9.99999142e-01 6.93870337e-04 1.67273557e-01] [-1.58555883e-03 -6.95631895e-04 9.99998501e-01 -5.01173310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60463044 meters 0.26130517930940733 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:-0.50 [[ 9.99998001e-01 1.34351322e-03 1.48109710e-03 3.57937737e+00] [-1.34531652e-03 9.99998354e-01 1.21721955e-03 1.64833694e-01] [-1.47945932e-03 -1.21920966e-03 9.99998162e-01 -5.01025089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66463044 meters 0.26101595253173443 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:-0.50 [[ 9.99997905e-01 1.50697783e-03 1.38517680e-03 3.57956740e+00] [-1.50917758e-03 9.99997600e-01 1.58839467e-03 1.63148349e-01] [-1.38277980e-03 -1.59048182e-03 9.99997779e-01 -5.00958329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72463044 meters 0.26101323442117164 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:-0.50 [[ 9.99997767e-01 1.70268576e-03 1.25196283e-03 3.57943479e+00] [-1.70525219e-03 9.99996441e-01 2.05172486e-03 1.60945155e-01] [-1.24846493e-03 -2.05385519e-03 9.99997112e-01 -5.00234822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78463044 meters 0.26003920367763406 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:-0.50 [[ 9.99997279e-01 2.01992776e-03 1.16701505e-03 3.57937636e+00] [-2.02327447e-03 9.99993824e-01 2.87372531e-03 1.57160741e-01] [-1.16120312e-03 -2.87607868e-03 9.99995190e-01 -4.99864005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84463044 meters 0.2594611018421512 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.50 [[ 9.99996849e-01 2.25514439e-03 1.10252747e-03 3.57917660e+00] [-2.25893295e-03 9.99991507e-01 3.44716146e-03 1.54542441e-01] [-1.09474426e-03 -3.44964114e-03 9.99993451e-01 -4.99286250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90463044 meters 0.25940152355500856 Centerline is valid? [False, False] Translation: X:3.58, Y:0.15, Z:-0.50 [[ 9.99996081e-01 2.58628383e-03 1.07194894e-03 3.57924834e+00] [-2.59080079e-03 9.99987680e-01 4.23403883e-03 1.51075400e-01] [-1.06098531e-03 -4.23679944e-03 9.99990462e-01 -4.99274450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96463044 meters 0.25952115744614596 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.50 [[ 9.99998867e-01 -1.08364150e-03 1.04444642e-03 3.57960874e+00] [ 1.08222314e-03 9.99998493e-01 1.35761250e-03 1.44885045e-01] [-1.04591601e-03 -1.35648063e-03 9.99998533e-01 -4.99723929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02463044 meters 0.25969605341370827 Centerline is valid? [False, False] Translation: X:3.58, Y:0.14, Z:-0.50 [[ 9.99999409e-01 -5.77371666e-04 9.20779134e-04 3.57965319e+00] [ 5.74989497e-04 9.99996493e-01 2.58529318e-03 1.39382752e-01] [-9.22268579e-04 -2.58476221e-03 9.99996234e-01 -4.99315812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08463044 meters 0.2590828661615938 Centerline is valid? [False, False] Translation: X:3.58, Y:0.13, Z:-0.50 [[ 9.99994236e-01 -2.11917610e-03 2.65274324e-03 3.57537204e+00] [ 2.11277155e-03 9.99994852e-01 2.41479227e-03 1.27603430e-01] [-2.65784695e-03 -2.40917372e-03 9.99993566e-01 -4.98257428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14463044 meters 0.259624680090181 Centerline is valid? [False, False] Translation: X:3.58, Y:0.12, Z:-0.50 [[ 9.99995503e-01 -1.49194257e-03 2.60161990e-03 3.57599314e+00] [ 1.48212806e-03 9.99991794e-01 3.77031903e-03 1.21108805e-01] [-2.60722365e-03 -3.76644614e-03 9.99989508e-01 -4.98866870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20463044 meters 0.25954870567712407 Centerline is valid? [False, False] Translation: X:3.56, Y:0.11, Z:-0.50 [[ 9.99977891e-01 6.08632331e-03 2.67863842e-03 3.55828746e+00] [-6.09497301e-03 9.99976200e-01 3.23291132e-03 1.07184583e-01] [-2.65889812e-03 -3.24916607e-03 9.99991187e-01 -5.01319143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26463044 meters 0.26080916240248914 Centerline is valid? [False, False] Translation: X:3.58, Y:0.10, Z:-0.50 [[ 9.99988449e-01 -2.46879627e-03 4.12392530e-03 3.57968275e+00] [ 2.45037548e-03 9.99987026e-01 4.46590536e-03 1.00332434e-01] [-4.13489721e-03 -4.45574861e-03 9.99981524e-01 -5.01484708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32463044 meters 0.26084736748913656 Centerline is valid? [False, False] Translation: X:3.58, Y:0.09, Z:-0.50 [[ 9.99990007e-01 -1.83543286e-03 4.07644542e-03 3.57996168e+00] [ 1.81183528e-03 9.99981626e-01 5.78493227e-03 9.37353052e-02] [-4.08698838e-03 -5.77748861e-03 9.99974958e-01 -5.01603237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38463044 meters 0.26169239123098986 Centerline is valid? [False, False] Translation: X:3.57, Y:0.08, Z:-0.51 [[ 9.99984613e-01 5.10001168e-03 2.18263739e-03 3.56606787e+00] [-5.11061883e-03 9.99975023e-01 4.88212069e-03 7.59190753e-02] [-2.15768400e-03 -4.89320019e-03 9.99985700e-01 -5.05647764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44463044 meters 0.2621436484092324 Centerline is valid? [False, False] Translation: X:3.57, Y:0.07, Z:-0.51 [[ 9.99997095e-01 1.30193008e-03 2.02874432e-03 3.56620818e+00] [-1.30542960e-03 9.99997661e-01 1.72460222e-03 7.08605072e-02] [-2.02649427e-03 -1.72724559e-03 9.99996455e-01 -5.05297548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50463044 meters 0.2609437441971745 Centerline is valid? [False, False] Translation: X:3.57, Y:0.06, Z:-0.50 [[ 9.99995932e-01 1.83348783e-03 2.18518832e-03 3.56529332e+00] [-1.84043027e-03 9.99993252e-01 3.17928189e-03 6.40142064e-02] [-2.17934440e-03 -3.18329064e-03 9.99992559e-01 -5.04318228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56463044000003 meters 0.2594597319744406 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.51 [[ 9.99966725e-01 5.77391543e-03 5.76286141e-03 3.54508911e+00] [-5.78210662e-03 9.99982295e-01 1.40572769e-03 4.32449448e-02] [-5.75464283e-03 -1.43900240e-03 9.99982407e-01 -5.05740456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62463044000003 meters 0.2599103754870608 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.51 [[ 9.99980944e-01 2.11034987e-03 5.80150218e-03 3.54518956e+00] [-2.10179839e-03 9.99996696e-01 -1.47971331e-03 3.71055893e-02] [-5.80460572e-03 1.46749152e-03 9.99982076e-01 -5.06035546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68463044000003 meters 0.2596211454385338 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99982060e-01 2.15248539e-03 5.58989859e-03 3.54589470e+00] [-2.15087754e-03 9.99997644e-01 -2.93631368e-04 2.45139436e-02] [-5.59051746e-03 2.81602913e-04 9.99984333e-01 -5.06368292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74463044000004 meters 0.2608547362636177 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99984189e-01 2.49189633e-03 5.04098054e-03 3.54764780e+00] [-2.49512018e-03 9.99996687e-01 6.33340317e-04 2.04540029e-02] [-5.03938562e-03 -6.45908155e-04 9.99987094e-01 -5.07307212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80463044000004 meters 0.26207180656491114 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99981777e-01 2.53728392e-03 5.47787321e-03 3.54676788e+00] [-2.54160762e-03 9.99996464e-01 7.82486367e-04 1.96372092e-02] [-5.47586845e-03 -7.96394712e-04 9.99984690e-01 -5.07296600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86463044000004 meters 0.26080671948085665 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99981020e-01 2.54175321e-03 5.61235820e-03 3.54657682e+00] [-2.54627664e-03 9.99996439e-01 7.98978790e-04 1.95097730e-02] [-5.61030741e-03 -8.13254243e-04 9.99983931e-01 -5.07467024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92463044 meters 0.26213193412760205 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99988681e-01 9.01344535e-04 4.67172305e-03 3.55155650e+00] [-8.96728227e-04 9.99999108e-01 -9.90138795e-04 2.00339807e-02] [-4.67261134e-03 9.85938321e-04 9.99988597e-01 -5.11673923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98463044 meters 0.2622364438965713 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99988809e-01 8.07962375e-04 4.66153942e-03 3.55153918e+00] [-8.02378250e-04 9.99998959e-01 -1.19966020e-03 2.10931924e-02] [-4.66250384e-03 1.19590646e-03 9.99988415e-01 -5.11604584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04463044 meters 0.2605757658302549 Centerline is valid? [False, False] Translation: X:3.55, Y:0.02, Z:-0.51 [[ 9.99988332e-01 6.23841384e-04 4.79024832e-03 3.55130716e+00] [-6.16067015e-04 9.99998491e-01 -1.62426154e-03 2.32201273e-02] [-4.79125437e-03 1.62129148e-03 9.99987208e-01 -5.11752327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10463044 meters 0.26221604182511116 Centerline is valid? [False, False] Translation: X:3.57, Y:0.03, Z:-0.51 [[ 9.99982479e-01 -4.32891805e-03 4.03756059e-03 3.57458150e+00] [ 4.32122895e-03 9.99988837e-01 1.91117381e-03 2.68515770e-02] [-4.04578883e-03 -1.89369310e-03 9.99990023e-01 -5.12598490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16463044 meters 0.2623110614818426 Centerline is valid? [False, False] Translation: X:3.58, Y:0.03, Z:-0.51 [[ 9.99983411e-01 -4.35544915e-03 3.76923718e-03 3.57510597e+00] [ 4.34854154e-03 9.99988854e-01 1.83888468e-03 2.74617032e-02] [-3.77720434e-03 -1.82246349e-03 9.99991206e-01 -5.12498763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22463044 meters 0.2607429588704472 Centerline is valid? [False, False] Translation: X:3.57, Y:0.03, Z:-0.51 [[ 9.99983830e-01 -4.27035069e-03 3.75544925e-03 3.57492006e+00] [ 4.26256014e-03 9.99988752e-01 2.08002947e-03 2.63276403e-02] [-3.76428947e-03 -2.06398801e-03 9.99990785e-01 -5.12089401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28463044 meters 0.2607979342838723 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-0.51 [[ 9.99976612e-01 4.07726588e-03 5.49094698e-03 3.59263750e+00] [-4.08307056e-03 9.99991117e-01 1.04634096e-03 2.20550293e-02] [-5.48663199e-03 -1.06873642e-03 9.99984377e-01 -5.10641440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34463044 meters 0.2614648726592825 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-0.51 [[ 9.99976740e-01 4.03845018e-03 5.49646025e-03 3.59263506e+00] [-4.04383323e-03 9.99991355e-01 9.68605941e-04 2.24968038e-02] [-5.49250106e-03 -9.90810180e-04 9.99984425e-01 -5.10656178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40463044 meters 0.2611008515944752 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-0.51 [[ 9.99978234e-01 3.83590735e-03 5.36817326e-03 3.59333107e+00] [-3.83810729e-03 9.99992555e-01 3.99569536e-04 2.48654155e-02] [-5.36660058e-03 -4.20164464e-04 9.99985511e-01 -5.11460967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46463044 meters 0.26166595807482285 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:-0.51 [[ 9.99978589e-01 3.64121479e-03 5.43719240e-03 3.59361277e+00] [-3.64057681e-03 9.99993365e-01 -1.27228894e-04 2.70862407e-02] [-5.43761959e-03 1.07431653e-04 9.99985210e-01 -5.12247162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52463044 meters 0.261008717368905 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:-0.51 [[ 9.99977728e-01 3.46180101e-03 5.70613151e-03 3.59274094e+00] [-3.45843509e-03 9.99993840e-01 -5.99639602e-04 2.94033184e-02] [-5.70817219e-03 5.79891961e-04 9.99983540e-01 -5.11711865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58463044 meters 0.2611965438737829 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:-0.51 [[ 9.99978006e-01 3.37654939e-03 5.70846272e-03 3.59313632e+00] [-3.37204777e-03 9.99993996e-01 -7.98028541e-04 3.03184787e-02] [-5.71112303e-03 7.78761780e-04 9.99983388e-01 -5.12386780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64463044 meters 0.2618374600908921 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:-0.51 [[ 9.99980772e-01 3.36847349e-03 5.20666373e-03 3.59424590e+00] [-3.36474704e-03 9.99994077e-01 -7.24302131e-04 2.97604498e-02] [-5.20907269e-03 7.06769097e-04 9.99986183e-01 -5.12481020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70463044 meters 0.2612463518097231 Centerline is valid? [False, False] Translation: X:3.59, Y:0.03, Z:-0.51 [[ 9.99980723e-01 3.55476058e-03 5.09088103e-03 3.59455158e+00] [-3.55401783e-03 9.99993672e-01 -1.54936986e-04 2.72051100e-02] [-5.09139958e-03 1.36840917e-04 9.99987029e-01 -5.12526016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76463044 meters 0.2611988999723102 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-0.51 [[ 9.99979729e-01 3.94927712e-03 4.99457006e-03 3.59464620e+00] [-3.95406287e-03 9.99991733e-01 9.48677978e-04 2.21169078e-02] [-4.99078218e-03 -9.68407591e-04 9.99987077e-01 -5.12369181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82463044 meters 0.26190645599125545 Centerline is valid? [False, False] Translation: X:3.59, Y:0.02, Z:-0.51 [[ 9.99978904e-01 4.22768654e-03 4.93143755e-03 3.59497240e+00] [-4.23556737e-03 9.99989768e-01 1.58873107e-03 1.91504292e-02] [-4.92467043e-03 -1.60958499e-03 9.99986578e-01 -5.12644188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88463044 meters 0.26153772970499284 Centerline is valid? [False, False] Translation: X:3.60, Y:0.02, Z:-0.51 [[ 9.99977766e-01 4.49721716e-03 4.92376906e-03 3.59500998e+00] [-4.50809345e-03 9.99987418e-01 2.20007137e-03 1.63236332e-02] [-4.91381291e-03 -2.22221927e-03 9.99985458e-01 -5.12643536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94463044 meters 0.2620814733247408 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99982952e-01 1.18125324e-03 5.71841609e-03 3.59291015e+00] [-1.17837836e-03 9.99999178e-01 -5.06083495e-04 1.26486513e-02] [-5.71900920e-03 4.99336409e-04 9.99983522e-01 -5.11855933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00463044 meters 0.2630944692802665 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99981715e-01 1.34726043e-03 5.89524503e-03 3.59283084e+00] [-1.34683604e-03 9.99999090e-01 -7.59575961e-05 1.04435894e-02] [-5.89534200e-03 6.80162787e-05 9.99982620e-01 -5.12258618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06463044000003 meters 0.26378986261981285 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99981024e-01 1.46253829e-03 5.98437225e-03 3.59290340e+00] [-1.46370076e-03 9.99998911e-01 1.89876587e-04 9.18284207e-03] [-5.98408803e-03 -1.98632314e-04 9.99982075e-01 -5.12705345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12463044000003 meters 0.26312876727102436 Centerline is valid? [False, False] Translation: X:3.57, Y:0.00, Z:-0.51 [[ 9.99974686e-01 -6.36161440e-03 3.18691942e-03 3.57429047e+00] [ 6.35475936e-03 9.99977483e-01 2.15652114e-03 4.62732802e-03] [-3.20056661e-03 -2.13621445e-03 9.99992596e-01 -5.13447377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18463044000003 meters 0.2642487658477511 Centerline is valid? [False, False] Translation: X:3.57, Y:0.00, Z:-0.51 [[ 9.99975533e-01 -6.23630566e-03 3.16882703e-03 3.57448225e+00] [ 6.22857306e-03 9.99977615e-01 2.44424804e-03 3.26257160e-03] [-3.18399917e-03 -2.42445096e-03 9.99991992e-01 -5.13672938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24463044000004 meters 0.2633964999115283 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:-0.51 [[ 9.99992241e-01 2.34687595e-03 3.16400948e-03 3.59466068e+00] [-2.35205402e-03 9.99995899e-01 1.63382757e-03 -2.11076286e-03] [-3.16016212e-03 -1.64125681e-03 9.99993660e-01 -5.12848802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30463044000004 meters 0.2624811196370046 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990316e-01 -1.74832631e-04 4.39746043e-03 3.59037513e+00] [ 1.75996636e-04 9.99999950e-01 -2.64313835e-04 -7.00042078e-03] [-4.39741400e-03 2.65085213e-04 9.99990296e-01 -5.10583525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36463044000004 meters 0.2636264075557255 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990615e-01 -4.31695760e-06 4.33250013e-03 3.59074427e+00] [ 3.70470420e-06 9.99999990e-01 1.41324436e-04 -8.87648358e-03] [-4.33250069e-03 -1.41307059e-04 9.99990605e-01 -5.10928874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42463044 meters 0.26472129403577205 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990947e-01 -1.16211124e-05 4.25501145e-03 3.59150213e+00] [ 1.08370202e-05 9.99999983e-01 1.84298011e-04 -9.54286203e-03] [-4.25501352e-03 -1.84250231e-04 9.99990930e-01 -5.11821900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48463044 meters 0.26416075876290207 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99991057e-01 -2.64951478e-05 4.22919045e-03 3.59143868e+00] [ 2.58671619e-05 9.99999989e-01 1.48543068e-04 -9.33457749e-03] [-4.22919434e-03 -1.48432342e-04 9.99991046e-01 -5.11660525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54463044 meters 0.26602204207649266 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990458e-01 -1.18696936e-04 4.36693384e-03 3.59154561e+00] [ 1.18998615e-04 9.99999991e-01 -6.88226555e-05 -8.34492817e-03] [-4.36692563e-03 6.93416579e-05 9.99990463e-01 -5.12320944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60463044 meters 0.2646074746200296 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990769e-01 -2.08306025e-04 4.29162685e-03 3.59179736e+00] [ 2.09482064e-04 9.99999941e-01 -2.73583257e-04 -7.42704416e-03] [-4.29156960e-03 2.74479751e-04 9.99990754e-01 -5.12479579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66463044 meters 0.26429839402492833 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990497e-01 -3.00059200e-04 4.34931619e-03 3.59136460e+00] [ 3.02275392e-04 9.99999825e-01 -5.08901225e-04 -6.18754710e-03] [-4.34916273e-03 5.10211080e-04 9.99990412e-01 -5.11986687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72463044 meters 0.2625608133614758 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.51 [[ 9.99990100e-01 -2.90789801e-04 4.44029120e-03 3.59093187e+00] [ 2.92982456e-04 9.99999835e-01 -4.93166404e-04 -6.17601181e-03] [-4.44014706e-03 4.94462448e-04 9.99990020e-01 -5.11581385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78463044 meters 0.26369704083645334 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:-0.51 [[ 9.99989790e-01 -4.69780155e-04 4.49433419e-03 3.59108589e+00] [ 4.73919467e-04 9.99999465e-01 -9.19986075e-04 -4.19357176e-03] [-4.49389960e-03 9.22106635e-04 9.99989477e-01 -5.12079736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84463044 meters 0.2640687779061316 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.00, Z:-0.51 [[ 9.99989428e-01 -6.82360548e-04 4.54735603e-03 3.59108060e+00] [ 6.88922998e-04 9.99998723e-01 -1.44172520e-03 -1.75026600e-03] [-4.54636645e-03 1.44484273e-03 9.99988621e-01 -5.12293142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90463044 meters 0.262783532917216 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.00, Z:-0.51 [[ 9.99976567e-01 6.20840894e-03 2.88449160e-03 3.57230629e+00] [-6.19799087e-03 9.99974288e-01 -3.60676123e-03 -3.17107591e-04] [-2.90680968e-03 3.58879866e-03 9.99989335e-01 -5.14527302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96463044 meters 0.2637065509706065 Centerline is valid? [False, False] Translation: X:3.57, Y:0.00, Z:-0.52 [[ 9.99978029e-01 5.96471138e-03 2.89200830e-03 3.57295063e+00] [-5.95258722e-03 9.99973535e-01 -4.18293614e-03 2.22504782e-03] [-2.91688177e-03 4.16562931e-03 9.99987070e-01 -5.15657201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02463044 meters 0.26314781103866314 Centerline is valid? [False, False] Translation: X:3.57, Y:0.00, Z:-0.52 [[ 9.99978652e-01 5.88538062e-03 2.83856197e-03 3.57314987e+00] [-5.87294558e-03 9.99973208e-01 -4.36937246e-03 3.05390356e-03] [-2.86420134e-03 4.35260847e-03 9.99986425e-01 -5.15784440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08463044 meters 0.26358729916587315 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99993598e-01 -1.73212252e-03 3.13120101e-03 3.59325637e+00] [ 1.74235036e-03 9.99993147e-01 -3.26665793e-03 6.66275274e-03] [-3.12552130e-03 3.27209267e-03 9.99989762e-01 -5.14131008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14463044 meters 0.2642116061350736 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99994172e-01 -1.65125601e-03 2.98825485e-03 3.59386488e+00] [ 1.66041397e-03 9.99993925e-01 -3.06476999e-03 5.66827656e-03] [-2.98317598e-03 3.06971387e-03 9.99990839e-01 -5.14608836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20463044 meters 0.26418101621308915 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99994813e-01 -1.65063489e-03 2.76574137e-03 3.59406212e+00] [ 1.65912861e-03 9.99993906e-01 -3.07157186e-03 5.59924650e-03] [-2.76065448e-03 3.07614464e-03 9.99991458e-01 -5.14106482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26463044 meters 0.2639396919198358 Centerline is valid? [False, False] Translation: X:3.59, Y:0.01, Z:-0.51 [[ 9.99994234e-01 -1.80723618e-03 2.87488780e-03 3.59397383e+00] [ 1.81733486e-03 9.99992175e-01 -3.51399438e-03 7.63724345e-03] [-2.86851468e-03 3.51919876e-03 9.99989693e-01 -5.14389487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32463044 meters 0.2662474214509544 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99991244e-01 1.49237652e-04 4.18197087e-03 3.63719127e+00] [-1.34653722e-04 9.99993910e-01 -3.48739874e-03 1.71459354e-02] [-4.18246586e-03 3.48680509e-03 9.99985174e-01 -5.14635520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38463044 meters 0.26537133550580133 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99991075e-01 6.29943305e-05 4.22443162e-03 3.63691980e+00] [-4.74318530e-05 9.99993213e-01 -3.68392125e-03 1.81644482e-02] [-4.22463501e-03 3.68368799e-03 9.99984291e-01 -5.14365971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44463044 meters 0.26421350327152654 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99992612e-01 4.68170214e-05 3.84359779e-03 3.63764306e+00] [-3.27618686e-05 9.99993314e-01 -3.65675146e-03 1.76551079e-02] [-3.84374329e-03 3.65659852e-03 9.99985927e-01 -5.14177388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50463044 meters 0.2652317274392885 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993144e-01 9.26253796e-05 3.70167676e-03 3.63821665e+00] [-7.94970264e-05 9.99993708e-01 -3.54658610e-03 1.70696800e-02] [-3.70198197e-03 3.54626751e-03 9.99986860e-01 -5.14599067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56463044000003 meters 0.26519678467280033 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993543e-01 -3.13365028e-05 3.59343745e-03 3.63830714e+00] [ 4.53479964e-05 9.99992397e-01 -3.89917432e-03 1.87604109e-02] [-3.59328794e-03 3.89931209e-03 9.99985942e-01 -5.14380327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62463044000003 meters 0.26635493151905687 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993427e-01 -1.50397592e-04 3.62267508e-03 3.63835825e+00] [ 1.65768609e-04 9.99990984e-01 -4.24307537e-03 2.04140678e-02] [-3.62200427e-03 4.24364800e-03 9.99984436e-01 -5.14586954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68463044000003 meters 0.26699016952539784 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993424e-01 -3.55782880e-04 3.60904326e-03 3.63815929e+00] [ 3.73251361e-04 9.99988214e-01 -4.84067901e-03 2.29195230e-02] [-3.60727849e-03 4.84199426e-03 9.99981771e-01 -5.14222915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74463044000004 meters 0.26507048977681547 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993152e-01 -4.29976520e-04 3.67587435e-03 3.63803504e+00] [ 4.48409490e-04 9.99987323e-01 -5.01522852e-03 2.37138374e-02] [-3.67367132e-03 5.01684247e-03 9.99980668e-01 -5.14301858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80463044000004 meters 0.2648651978122419 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993331e-01 -3.59025998e-04 3.63442267e-03 3.63800937e+00] [ 3.76600517e-04 9.99988235e-01 -4.83604477e-03 2.28683802e-02] [-3.63264365e-03 4.83738124e-03 9.99981702e-01 -5.14028676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86463044000004 meters 0.264945304570396 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993638e-01 -2.36138048e-04 3.55915408e-03 3.63819344e+00] [ 2.52254495e-04 9.99989715e-01 -4.52839945e-03 2.14964976e-02] [-3.55804814e-03 4.52926845e-03 9.99983413e-01 -5.14043930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92463044 meters 0.2642545633456071 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993872e-01 -4.36097591e-06 3.50086628e-03 3.63791909e+00] [ 1.79734846e-05 9.99992440e-01 -3.88830377e-03 1.87169844e-02] [-3.50082286e-03 3.88834287e-03 9.99986312e-01 -5.13333069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98463044 meters 0.2643996065791863 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99993997e-01 2.82319318e-04 3.45351468e-03 3.63779917e+00] [-2.71193362e-04 9.99994774e-01 -3.22167686e-03 1.56559826e-02] [-3.45440618e-03 3.22072095e-03 9.99988847e-01 -5.12921920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04463044 meters 0.26434437146275935 Centerline is valid? [False, False] Translation: X:3.64, Y:0.01, Z:-0.51 [[ 9.99994025e-01 3.76971088e-04 3.43626956e-03 3.63801508e+00] [-3.66641754e-04 9.99995414e-01 -3.00610766e-03 1.46211977e-02] [-3.43738702e-03 3.00482982e-03 9.99989578e-01 -5.13213797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10463044 meters 0.26647168394189436 Centerline is valid? [False, False] Translation: X:3.66, Y:0.01, Z:-0.52 [[ 9.99976230e-01 -5.19136801e-03 4.53746859e-03 3.66168090e+00] [ 5.18938858e-03 9.99986435e-01 4.47905243e-04 1.01709154e-02] [-4.53973228e-03 -4.24347909e-04 9.99989605e-01 -5.15281009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16463044 meters 0.26543088321802427 Centerline is valid? [False, False] Translation: X:3.66, Y:0.01, Z:-0.52 [[ 9.99979271e-01 -4.85440162e-03 4.22995101e-03 3.66245639e+00] [ 4.84890815e-03 9.99987389e-01 1.30799683e-03 5.99068357e-03] [-4.23624721e-03 -1.28745907e-03 9.99990198e-01 -5.15334884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22463044 meters 0.265660981866418 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.00, Z:-0.52 [[ 9.99982114e-01 -4.31563333e-03 4.14083214e-03 3.66256396e+00] [ 4.30463956e-03 9.99987197e-01 2.66021463e-03 -8.33755763e-05] [-4.15225963e-03 -2.64234226e-03 9.99987888e-01 -5.15086244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28463044 meters 0.2666449949190993 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.00, Z:-0.52 [[ 9.99983401e-01 -3.97529171e-03 4.17068311e-03 3.66262492e+00] [ 3.96091595e-03 9.99986206e-01 3.44947488e-03 -3.67384769e-03] [-4.18433825e-03 -3.43289790e-03 9.99985353e-01 -5.15238889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34463044 meters 0.26665601339041783 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.01, Z:-0.52 [[ 9.99991567e-01 2.90899847e-03 2.89883287e-03 3.64592695e+00] [-2.91403675e-03 9.99994248e-01 1.73533142e-03 -1.17497038e-02] [-2.89376812e-03 -1.74376409e-03 9.99994293e-01 -5.17986081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40463044 meters 0.268654116004096 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.01, Z:-0.52 [[ 9.99994468e-01 -1.86118079e-03 2.75683411e-03 3.66899276e+00] [ 1.84634600e-03 9.99983856e-01 5.37390334e-03 -9.32279591e-03] [-2.76679141e-03 -5.36878354e-03 9.99981760e-01 -5.18882703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46463044 meters 0.2680043018598024 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.01, Z:-0.52 [[ 9.99988617e-01 4.07819788e-03 2.47673588e-03 3.64561464e+00] [-4.08430507e-03 9.99988619e-01 2.46579249e-03 -8.99179309e-03] [-2.46665170e-03 -2.47588017e-03 9.99993893e-01 -5.17822291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52463044 meters 0.2681697033917752 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.01, Z:-0.52 [[ 9.99989553e-01 3.90114930e-03 2.38233850e-03 3.64617102e+00] [-3.90600641e-03 9.99990296e-01 2.03755860e-03 -7.11675336e-03] [-2.37436656e-03 -2.04684274e-03 9.99995086e-01 -5.18462702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58463044 meters 0.2696056378070985 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.00, Z:-0.52 [[ 9.99990585e-01 3.62202621e-03 2.38983442e-03 3.64607380e+00] [-3.62529715e-03 9.99992496e-01 1.36577983e-03 -4.00573868e-03] [-2.38486960e-03 -1.37443083e-03 9.99996212e-01 -5.18398043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64463044 meters 0.2703306387636927 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.00, Z:-0.52 [[ 9.99991145e-01 3.45442096e-03 2.40345806e-03 3.64597664e+00] [-3.45682067e-03 9.99993530e-01 9.95001760e-04 -2.18766814e-03] [-2.40000536e-03 -1.00330127e-03 9.99996617e-01 -5.18320847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70463044 meters 0.2680998514236527 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99992583e-01 3.12060057e-03 2.25737732e-03 3.64626965e+00] [-3.12113272e-03 9.99995102e-01 2.32252259e-04 1.37031886e-03] [-2.25664150e-03 -2.39296111e-04 9.99997425e-01 -5.18327941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76463044 meters 0.26839144540720755 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99993688e-01 2.71737354e-03 2.28897066e-03 3.64597114e+00] [-2.71570197e-03 9.99996044e-01 -7.33063969e-04 6.12166536e-03] [-2.29095361e-03 7.26843180e-04 9.99997112e-01 -5.18050991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82463044 meters 0.2678972011138249 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99994275e-01 2.43858294e-03 2.34592868e-03 3.64559468e+00] [-2.43534332e-03 9.99996078e-01 -1.38282151e-03 9.30305749e-03] [-2.34929161e-03 1.37710045e-03 9.99996292e-01 -5.17691966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88463044 meters 0.26799787102547856 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99995242e-01 2.24921242e-03 2.11104811e-03 3.64619226e+00] [-2.24533862e-03 9.99995795e-01 -1.83559396e-03 1.12313310e-02] [-2.11516787e-03 1.83084521e-03 9.99996087e-01 -5.17881525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94463044 meters 0.2687983174902467 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99995854e-01 2.16499888e-03 1.89848344e-03 3.64716064e+00] [-2.16115065e-03 9.99995611e-01 -2.02671630e-03 1.19989095e-02] [-1.90286295e-03 2.02260499e-03 9.99996144e-01 -5.18842209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00463044 meters 0.2687683070603656 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99996134e-01 2.08032620e-03 1.84480051e-03 3.64719033e+00] [-2.07616600e-03 9.99995304e-01 -2.25414963e-03 1.30510514e-02] [-1.84948121e-03 2.25031081e-03 9.99995758e-01 -5.18648132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06463044000003 meters 0.26837888665083237 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99996422e-01 1.90436693e-03 1.87874363e-03 3.64712695e+00] [-1.89935884e-03 9.99994648e-01 -2.66385336e-03 1.48639383e-02] [-1.88380653e-03 2.66027542e-03 9.99994687e-01 -5.18676120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12463044000003 meters 0.2690881789901409 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99997649e-01 1.48495131e-03 1.58035044e-03 3.64827982e+00] [-1.47874344e-03 9.99991215e-01 -3.92210148e-03 2.08921962e-02] [-1.58616068e-03 3.91975532e-03 9.99991060e-01 -5.19600091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18463044000003 meters 0.2698457867417106 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-0.52 [[ 9.99998079e-01 1.11870856e-03 1.60928324e-03 3.64833853e+00] [-1.11089805e-03 9.99987640e-01 -4.84614103e-03 2.51133198e-02] [-1.61468477e-03 4.84434397e-03 9.99986962e-01 -5.19819976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24463044000004 meters 0.2675855447316875 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-0.52 [[ 9.99998368e-01 8.57159981e-04 1.59023777e-03 3.64753944e+00] [-8.48393548e-04 9.99984487e-01 -5.50516444e-03 2.82878140e-02] [-1.59493190e-03 5.50380631e-03 9.99983582e-01 -5.18409771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30463044000004 meters 0.2678379121236065 Centerline is valid? [False, False] Translation: X:3.65, Y:0.03, Z:-0.52 [[ 9.99998480e-01 8.01350784e-04 1.54827949e-03 3.64739109e+00] [-7.92557912e-04 9.99983603e-01 -5.67141593e-03 2.91623332e-02] [-1.55279890e-03 5.67018021e-03 9.99982719e-01 -5.17991474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36463044000004 meters 0.266176383202819 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:-0.52 [[ 9.99981247e-01 -6.06431205e-03 8.54075198e-04 3.62651064e+00] [ 6.06674019e-03 9.99977479e-01 -2.86969690e-03 2.97372076e-02] [-8.36653227e-04 2.87482454e-03 9.99995518e-01 -5.18192769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42463044 meters 0.26672465040378823 Centerline is valid? [False, False] Translation: X:3.63, Y:0.03, Z:-0.52 [[ 9.99982448e-01 -5.86913546e-03 8.10445939e-04 3.62619767e+00] [ 5.87106856e-03 9.99979876e-01 -2.40382285e-03 2.74995790e-02] [-7.96321267e-04 2.40853884e-03 9.99996782e-01 -5.17469695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48463044 meters 0.2672700597511694 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99996037e-01 2.73614659e-03 6.63462571e-04 3.64658256e+00] [-2.73403987e-03 9.99991283e-01 -3.15571971e-03 2.29523612e-02] [-6.72091299e-04 3.15389327e-03 9.99994801e-01 -5.16386037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54463044 meters 0.2673963169446122 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99995062e-01 3.03867009e-03 8.02019497e-04 3.64597255e+00] [-3.03669558e-03 9.99992384e-01 -2.45177047e-03 1.97298693e-02] [-8.09463510e-04 2.44932287e-03 9.99996673e-01 -5.15884027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60463044 meters 0.26689357704191263 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99994637e-01 3.18647562e-03 7.57052718e-04 3.64598288e+00] [-3.18487891e-03 9.99992721e-01 -2.10103090e-03 1.81786085e-02] [-7.63742091e-04 2.09860851e-03 9.99997506e-01 -5.15735956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66463044 meters 0.26743457152447647 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99994494e-01 3.25821822e-03 6.30008467e-04 3.64697128e+00] [-3.25703982e-03 9.99992961e-01 -1.86250882e-03 1.67197142e-02] [-6.36072492e-04 1.86044660e-03 9.99998067e-01 -5.16947140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72463044 meters 0.26788166529154844 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99994477e-01 3.26368313e-03 6.27302198e-04 3.64722026e+00] [-3.26251698e-03 9.99992965e-01 -1.85110579e-03 1.65903945e-02] [-6.33339208e-04 1.84904898e-03 9.99998090e-01 -5.17386686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78463044 meters 0.26767742590545995 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:-0.52 [[ 9.99994708e-01 3.16784287e-03 7.41152994e-04 3.64701238e+00] [-3.16628063e-03 9.99992783e-01 -2.09961138e-03 1.76814943e-02] [-7.47798884e-04 2.09725357e-03 9.99997521e-01 -5.17515468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84463044 meters 0.2688152562839045 Centerline is valid? [False, False] Translation: X:3.67, Y:0.03, Z:-0.52 [[ 9.99991196e-01 -3.96328463e-03 -1.37877735e-03 3.66756991e+00] [ 3.96186978e-03 9.99991624e-01 -1.02738443e-03 2.61972132e-02] [ 1.38283762e-03 1.02191285e-03 9.99998522e-01 -5.16051886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90463044 meters 0.26896774620310476 Centerline is valid? [False, False] Translation: X:3.67, Y:0.03, Z:-0.52 [[ 9.99990572e-01 -4.08149443e-03 -1.48210450e-03 3.66780793e+00] [ 4.07957009e-03 9.99990835e-01 -1.29909380e-03 2.73717931e-02] [ 1.48739316e-03 1.29303521e-03 9.99998058e-01 -5.16070774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96463044 meters 0.2659440860980362 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.51 [[ 9.99987421e-01 -4.16860235e-03 -2.78938645e-03 3.62299626e+00] [ 4.16696072e-03 9.99991142e-01 -5.94079647e-04 2.51465301e-02] [ 2.79183822e-03 5.82448910e-04 9.99995933e-01 -5.14959657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02463044 meters 0.2671880087767253 Centerline is valid? [False, False] Translation: X:3.64, Y:0.03, Z:-0.51 [[ 9.99993485e-01 3.59977150e-03 2.68009636e-04 3.64133292e+00] [-3.59904499e-03 9.99989976e-01 -2.66359713e-03 3.13172603e-02] [-2.77595290e-04 2.66261520e-03 9.99996417e-01 -5.13957395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08463044 meters 0.26846187304426694 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.51 [[ 9.99992849e-01 -3.78121924e-03 7.25476462e-05 3.65982994e+00] [ 3.78134560e-03 9.99991179e-01 -1.82873482e-03 4.09966775e-02] [-6.56321589e-05 1.82899607e-03 9.99998325e-01 -5.12572769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14463044 meters 0.2679888263484323 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.51 [[ 9.99991392e-01 -4.14734161e-03 1.27662734e-04 3.65984377e+00] [ 4.14769072e-03 9.99987286e-01 -2.86797956e-03 4.55741224e-02] [-1.15766620e-04 2.86848437e-03 9.99995879e-01 -5.12870580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20463044 meters 0.2669420487983238 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.51 [[ 9.99990872e-01 -4.27230953e-03 5.96836848e-05 3.65984453e+00] [ 4.27247631e-03 9.99985914e-01 -3.14932929e-03 4.68663732e-02] [-4.62279345e-05 3.14955554e-03 9.99995039e-01 -5.12631548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26463044 meters 0.2677142502109229 Centerline is valid? [False, False] Translation: X:3.68, Y:0.05, Z:-0.51 [[ 9.99986827e-01 4.88892133e-03 1.56333904e-03 3.68004565e+00] [-4.88326877e-03 9.99981599e-01 -3.59930363e-03 4.77262252e-02] [-1.58090698e-03 3.59162201e-03 9.99992300e-01 -5.12085171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32463044 meters 0.2661567073471254 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.51 [[ 9.99997366e-01 -2.03370065e-03 -1.06399201e-03 3.66038550e+00] [ 2.03260684e-03 9.99997406e-01 -1.02809296e-03 4.60356643e-02] [ 1.06608009e-03 1.02592757e-03 9.99998905e-01 -5.12218982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38463044 meters 0.26546918177820733 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.51 [[ 9.99997345e-01 -1.94634835e-03 -1.23392819e-03 3.66040668e+00] [ 1.94535415e-03 9.99997783e-01 -8.06407724e-04 4.53154733e-02] [ 1.23549501e-03 8.04005155e-04 9.99998914e-01 -5.11586549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44463044 meters 0.2656778457844632 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.51 [[ 9.99997375e-01 -1.81286744e-03 -1.40129371e-03 3.66062785e+00] [ 1.81225687e-03 9.99998262e-01 -4.36863388e-04 4.37754547e-02] [ 1.40208326e-03 4.34322737e-04 9.99998923e-01 -5.11289150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50463044 meters 0.2652179510007109 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:-0.51 [[ 9.99997414e-01 -1.47416142e-03 -1.73172640e-03 3.66147899e+00] [ 1.47564560e-03 9.99998545e-01 8.56083682e-04 3.81688628e-02] [ 1.73046187e-03 -8.58636883e-04 9.99998134e-01 -5.11426788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56463044000003 meters 0.2643329317996886 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99992437e-01 3.52882357e-03 1.63486037e-03 3.63930830e+00] [-3.52718037e-03 9.99993273e-01 -1.00689763e-03 2.38009137e-02] [-1.63840254e-03 1.00112356e-03 9.99998157e-01 -5.12442184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62463044000003 meters 0.2649230319364832 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99990780e-01 3.98604136e-03 1.59720708e-03 3.63933667e+00] [-3.98620321e-03 9.99992050e-01 9.81649946e-05 1.88155663e-02] [-1.59680309e-03 -1.04530882e-04 9.99998720e-01 -5.12353884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68463044000003 meters 0.26609529417118316 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99997295e-01 2.32581979e-03 2.46787586e-05 3.64510986e+00] [-2.32580447e-03 9.99997113e-01 -6.03714737e-04 1.07364298e-02] [-2.60828191e-05 6.03655706e-04 9.99999817e-01 -5.15701742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74463044000004 meters 0.26595310705107783 Centerline is valid? [False, False] Translation: X:3.64, Y:0.01, Z:-0.52 [[ 9.99996328e-01 2.71000321e-03 1.75694935e-05 3.64481243e+00] [-2.71000755e-03 9.99996296e-01 2.51756558e-04 6.86606595e-03] [-1.68871674e-05 -2.51803247e-04 9.99999968e-01 -5.15196477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80463044000004 meters 0.26604872101058896 Centerline is valid? [False, False] Translation: X:3.64, Y:0.00, Z:-0.52 [[ 9.99995235e-01 3.08661007e-03 5.43138183e-05 3.64470180e+00] [-3.08666745e-03 9.99994642e-01 1.09013338e-03 2.84238950e-03] [-5.09487106e-05 -1.09029583e-03 9.99999404e-01 -5.15099954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86463044000004 meters 0.26683627031588536 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99995014e-01 3.15768709e-03 -1.37087981e-05 3.64504945e+00] [-3.15766694e-03 9.99994194e-01 1.28092533e-03 2.01494986e-03] [ 1.77534799e-05 -1.28087566e-03 9.99999180e-01 -5.15426842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92463044 meters 0.2678009459317547 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99995024e-01 3.15458016e-03 1.72117536e-05 3.64518656e+00] [-3.15460009e-03 9.99994157e-01 1.31661844e-03 1.75780012e-03] [-1.30582746e-05 -1.31666618e-03 9.99999133e-01 -5.15768536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98463044 meters 0.2682030289911188 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99995259e-01 3.07772569e-03 9.70360450e-05 3.64530123e+00] [-3.07783349e-03 9.99994624e-01 1.13107563e-03 2.61871197e-03] [-9.35543828e-05 -1.13136893e-03 9.99999356e-01 -5.16263331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04463044 meters 0.2684757993563085 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99995341e-01 3.05040315e-03 1.18260478e-04 3.64564511e+00] [-3.05052890e-03 9.99994766e-01 1.07818782e-03 2.85872878e-03] [-1.14970952e-04 -1.07854355e-03 9.99999412e-01 -5.16965522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10463044 meters 0.2690569828785334 Centerline is valid? [False, False] Translation: X:3.65, Y:0.00, Z:-0.52 [[ 9.99995649e-01 2.94849885e-03 9.27195973e-05 3.64577920e+00] [-2.94857653e-03 9.99995292e-01 8.49126404e-04 3.97804348e-03] [-9.02155125e-05 -8.49396100e-04 9.99999635e-01 -5.17104490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16463044 meters 0.2707692136303381 Centerline is valid? [False, False] Translation: X:3.65, Y:0.01, Z:-0.52 [[ 9.99996365e-01 2.69551699e-03 6.98393241e-05 3.64600153e+00] [-2.69553477e-03 9.99996334e-01 2.55748902e-04 6.69954546e-03] [-6.91496926e-05 -2.55936227e-04 9.99999965e-01 -5.17413964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22463044 meters 0.2694239288007604 Centerline is valid? [False, False] Translation: X:3.63, Y:0.01, Z:-0.52 [[ 9.99993673e-01 -3.52064439e-03 -5.08882342e-04 3.62511850e+00] [ 3.52202449e-03 9.99990052e-01 2.73705099e-03 1.46630743e-02] [ 4.99241096e-04 -2.73882597e-03 9.99996125e-01 -5.18328001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28463044 meters 0.26971626821149125 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.52 [[ 9.99992613e-01 -3.82350421e-03 -3.93059562e-04 3.62477385e+00] [ 3.82428944e-03 9.99990654e-01 2.01678403e-03 1.78067695e-02] [ 3.85344706e-04 -2.01827231e-03 9.99997889e-01 -5.18239643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34463044 meters 0.26773071867337633 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.52 [[ 9.99998398e-01 -1.57066017e-03 8.57973628e-04 3.62020289e+00] [ 1.56733962e-03 9.99991332e-01 3.85727935e-03 2.20510063e-02] [-8.64024667e-04 -3.85592844e-03 9.99992193e-01 -5.15729638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40463044 meters 0.2677441800248044 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.52 [[ 9.99998359e-01 -1.67253858e-03 6.95977787e-04 3.62060750e+00] [ 1.67001179e-03 9.99992070e-01 3.61543855e-03 2.31421017e-02] [-7.02019228e-04 -3.61427033e-03 9.99993222e-01 -5.15826317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46463044 meters 0.2679689284133219 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.52 [[ 9.99998021e-01 -1.89558169e-03 6.04358523e-04 3.62090006e+00] [ 1.89369717e-03 9.99993390e-01 3.10369070e-03 2.54033699e-02] [-6.10237827e-04 -3.10254008e-03 9.99995001e-01 -5.16001848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52463044 meters 0.269147322379158 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.52 [[ 9.99997418e-01 -2.09962955e-03 8.69620185e-04 3.62011676e+00] [ 2.09746282e-03 9.99994713e-01 2.48504143e-03 2.83812953e-02] [-8.74833253e-04 -2.48321102e-03 9.99996534e-01 -5.15757050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58463044 meters 0.26778537568489374 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.52 [[ 9.99996990e-01 -2.29316481e-03 8.72566394e-04 3.62029235e+00] [ 2.29142781e-03 9.99995402e-01 1.98649252e-03 3.06842662e-02] [-8.77117736e-04 -1.98448712e-03 9.99997646e-01 -5.16138316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64463044 meters 0.26787420477798907 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.52 [[ 9.99996815e-01 -2.39872573e-03 7.85475753e-04 3.62017661e+00] [ 2.39735897e-03 9.99995619e-01 1.73638202e-03 3.18754689e-02] [-7.89637416e-04 -1.73449342e-03 9.99998184e-01 -5.15642780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70463044 meters 0.2658377926332644 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.51 [[ 9.99997008e-01 -2.31032639e-03 8.03875534e-04 3.61952714e+00] [ 2.30882143e-03 9.99995590e-01 1.86805247e-03 3.17336470e-02] [-8.08187800e-04 -1.86619087e-03 9.99997932e-01 -5.14568622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76463044 meters 0.26586081069835016 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.51 [[ 9.99997508e-01 -2.16029897e-03 5.62633394e-04 3.61981554e+00] [ 2.15899464e-03 9.99995004e-01 2.30864687e-03 3.01242717e-02] [-5.67617951e-04 -2.30742640e-03 9.99997177e-01 -5.14110753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82463044 meters 0.26413370421830923 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.51 [[ 9.99997494e-01 -2.17008043e-03 5.49569664e-04 3.61867286e+00] [ 2.16859066e-03 9.99994012e-01 2.69703517e-03 2.80680793e-02] [-5.55419156e-04 -2.69583662e-03 9.99996212e-01 -5.11975186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88463044 meters 0.2635430359344865 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.51 [[ 9.99997782e-01 -2.03068149e-03 5.59568625e-04 3.61839111e+00] [ 2.02895054e-03 9.99993208e-01 3.07676450e-03 2.64056646e-02] [-5.65812754e-04 -3.07562234e-03 9.99995110e-01 -5.11459008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94463044 meters 0.2630561803233856 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.51 [[ 9.99997804e-01 -1.76673679e-03 1.12681109e-03 3.61711884e+00] [ 1.76221249e-03 9.99990433e-01 4.00356539e-03 2.27186951e-02] [-1.13387355e-03 -4.00157092e-03 9.99991351e-01 -5.11195966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00463044 meters 0.2639028639809936 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99991084e-01 3.94879597e-03 1.49652876e-03 3.63899662e+00] [-3.95006327e-03 9.99991842e-01 8.44819729e-04 1.75938923e-02] [-1.49318053e-03 -8.50723579e-04 9.99998523e-01 -5.11275854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06463044000003 meters 0.2636010395098407 Centerline is valid? [False, False] Translation: X:3.64, Y:0.02, Z:-0.51 [[ 9.99990646e-01 4.07586172e-03 1.44774468e-03 3.63925085e+00] [-4.07752455e-03 9.99991029e-01 1.14747402e-03 1.62450076e-02] [-1.44305475e-03 -1.15336650e-03 9.99998294e-01 -5.11525171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12463044000003 meters 0.26389441033409955 Centerline is valid? [False, False] Translation: X:3.64, Y:0.01, Z:-0.51 [[ 9.99989290e-01 4.35770503e-03 1.55897161e-03 3.63894292e+00] [-4.36061916e-03 9.99988743e-01 1.87076994e-03 1.31410349e-02] [-1.55080180e-03 -1.87754799e-03 9.99997035e-01 -5.11443373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18463044000003 meters 0.26370070204629836 Centerline is valid? [False, False] Translation: X:3.64, Y:0.01, Z:-0.51 [[ 9.99998763e-01 2.90820858e-04 1.54606152e-03 3.63909093e+00] [-2.87966705e-04 9.99998255e-01 -1.84598233e-03 1.06729611e-02] [-1.54659567e-03 1.84553483e-03 9.99997101e-01 -5.11671693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24463044000004 meters 0.26348607693370396 Centerline is valid? [False, False] Translation: X:3.64, Y:0.00, Z:-0.51 [[ 9.99999124e-01 7.10393475e-04 1.11707114e-03 3.64018920e+00] [-7.09911751e-04 9.99999655e-01 -4.31576431e-04 4.57075635e-03] [-1.11737734e-03 4.30783031e-04 9.99999283e-01 -5.12018430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30463044000004 meters 0.2641823711145585 Centerline is valid? [False, False] Translation: X:3.64, Y:0.00, Z:-0.51 [[ 9.99999011e-01 1.05387727e-03 9.31371955e-04 3.64065512e+00] [-1.05430332e-03 9.99999340e-01 4.57067184e-04 5.29148903e-04] [-9.30889647e-04 -4.58048681e-04 9.99999462e-01 -5.12089266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36463044000004 meters 0.26419167440778485 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.00, Z:-0.51 [[ 9.99998549e-01 1.52268502e-03 7.63347209e-04 3.64068316e+00] [-1.52393253e-03 9.99997500e-01 1.63635576e-03 -4.51071295e-03] [-7.60853646e-04 -1.63751668e-03 9.99998370e-01 -5.11570011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42463044 meters 0.26376825148538846 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.01, Z:-0.51 [[ 9.99997792e-01 1.92097797e-03 8.51712873e-04 3.64032496e+00] [-1.92331608e-03 9.99994361e-01 2.75291846e-03 -9.37705238e-03] [-8.46419774e-04 -2.75455050e-03 9.99995848e-01 -5.11307117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48463044 meters 0.2643051658524155 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:-0.51 [[ 9.99992948e-01 1.22490180e-03 3.55017336e-03 3.68207055e+00] [-1.23062959e-03 9.99997944e-01 1.61164728e-03 -1.39704152e-02] [-3.54819195e-03 -1.61600486e-03 9.99992399e-01 -5.11156934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54463044 meters 0.2641759911517046 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:-0.51 [[ 9.99993424e-01 1.48767409e-03 3.30742685e-03 3.68277389e+00] [-1.49568068e-03 9.99995954e-01 2.41963908e-03 -1.73260118e-02] [-3.30381384e-03 -2.42457003e-03 9.99991603e-01 -5.11513827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60463044 meters 0.263175289261923 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:-0.51 [[ 9.99993326e-01 1.61262351e-03 3.27818194e-03 3.68254828e+00] [-1.62154629e-03 9.99994983e-01 2.72103524e-03 -1.85978647e-02] [-3.27377749e-03 -2.72633280e-03 9.99990925e-01 -5.11016745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66463044 meters 0.263035572107146 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:-0.51 [[ 9.99992972e-01 1.55558164e-03 3.41131091e-03 3.68195917e+00] [-1.56437112e-03 9.99995460e-01 2.57541658e-03 -1.79284746e-02] [-3.40728915e-03 -2.58073504e-03 9.99990865e-01 -5.10465084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72463044 meters 0.262700262353321 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:-0.51 [[ 9.99993084e-01 1.38330035e-03 3.45241001e-03 3.68223089e+00] [-1.39087886e-03 9.99996627e-01 2.19370368e-03 -1.60507306e-02] [-3.44936381e-03 -2.19849039e-03 9.99991634e-01 -5.11057797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78463044 meters 0.2633802510449062 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.01, Z:-0.51 [[ 9.99993339e-01 1.08235893e-03 3.48579564e-03 3.68277821e+00] [-1.08764142e-03 9.99998263e-01 1.51389372e-03 -1.30115534e-02] [-3.48415100e-03 -1.51767493e-03 9.99992779e-01 -5.12039429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84463044 meters 0.2619958998775101 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.01, Z:-0.51 [[ 9.99983235e-01 5.48230089e-03 1.86387268e-03 3.65979651e+00] [-5.47697056e-03 9.99980931e-01 -2.85298695e-03 -5.62125507e-03] [-1.87947807e-03 2.84273074e-03 9.99994193e-01 -5.11100619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90463044 meters 0.26374468082206964 Centerline is valid? [False, False] Translation: X:3.68, Y:0.00, Z:-0.51 [[ 9.99999524e-01 -1.10528686e-04 9.69162732e-04 3.68327574e+00] [ 1.10979542e-04 9.99999886e-01 -4.65160103e-04 2.19171479e-03] [-9.69111207e-04 4.65267439e-04 9.99999422e-01 -5.11891608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96463044 meters 0.2630183954005093 Centerline is valid? [False, False] Translation: X:3.68, Y:0.01, Z:-0.51 [[ 9.99999425e-01 -4.14008750e-04 9.89018358e-04 3.68298830e+00] [ 4.15168255e-04 9.99999226e-01 -1.17246315e-03 5.45222012e-03] [-9.88532183e-04 1.17287308e-03 9.99998824e-01 -5.11397479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02463044 meters 0.26348702749952424 Centerline is valid? [False, False] Translation: X:3.68, Y:0.01, Z:-0.51 [[ 9.99999064e-01 -8.41310640e-04 1.07867254e-03 3.68315625e+00] [ 8.43549605e-04 9.99997487e-01 -2.07689528e-03 9.85362325e-03] [-1.07692252e-03 2.07780325e-03 9.99997261e-01 -5.11930472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08463044 meters 0.2639584965162998 Centerline is valid? [False, False] Translation: X:3.71, Y:0.02, Z:-0.51 [[ 9.99981790e-01 -6.02801996e-03 -2.86776801e-04 3.70732242e+00] [ 6.02822635e-03 9.99981568e-01 7.24338477e-04 1.61093852e-02] [ 2.82405188e-04 -7.26054042e-04 9.99999697e-01 -5.12459243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14463044 meters 0.26351947999025865 Centerline is valid? [False, False] Translation: X:3.71, Y:0.02, Z:-0.51 [[ 9.99997129e-01 -2.36998988e-03 -3.55070105e-04 3.70751879e+00] [ 2.37124459e-03 9.99990795e-01 3.57595720e-03 2.23136307e-02] [ 3.46591855e-04 -3.57678889e-03 9.99993543e-01 -5.12534102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20463044 meters 0.2630651148324749 Centerline is valid? [False, False] Translation: X:3.71, Y:0.03, Z:-0.51 [[ 9.99996023e-01 -2.81258433e-03 -2.09823518e-04 3.70713358e+00] [ 2.81310970e-03 9.99992799e-01 2.54704938e-03 2.71618345e-02] [ 2.02658216e-04 -2.54762951e-03 9.99996734e-01 -5.12426962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26463044 meters 0.2644668291845861 Centerline is valid? [False, False] Translation: X:3.73, Y:0.03, Z:-0.51 [[ 9.99982731e-01 5.87564701e-03 -1.18694742e-04 3.72821063e+00] [-5.87553672e-03 9.99982326e-01 9.09121113e-04 3.01077877e-02] [ 1.24034319e-04 -9.08408018e-04 9.99999580e-01 -5.12276915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32463044 meters 0.2635467903954015 Centerline is valid? [False, False] Translation: X:3.71, Y:0.04, Z:-0.51 [[ 9.99992364e-01 -3.32942152e-03 -2.04640876e-03 3.71053183e+00] [ 3.33191744e-03 9.99993708e-01 1.21746012e-03 3.51651100e-02] [ 2.04234245e-03 -1.22426929e-03 9.99997165e-01 -5.13966236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38463044 meters 0.26503154444263705 Centerline is valid? [False, False] Translation: X:3.73, Y:0.03, Z:-0.51 [[ 9.99985221e-01 5.32767296e-03 -1.08380639e-03 3.72971945e+00] [-5.32728359e-03 9.99985744e-01 3.61825317e-04 3.20202370e-02] [ 1.08571862e-03 -3.56046226e-04 9.99999347e-01 -5.13199601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44463044 meters 0.2657729447102942 Centerline is valid? [False, False] Translation: X:3.73, Y:0.03, Z:-0.51 [[ 9.99985984e-01 5.16595767e-03 -1.15973139e-03 3.73009496e+00] [-5.16597365e-03 9.99986656e-01 -1.07824643e-05 3.36626271e-02] [ 1.15966021e-03 1.67734550e-05 9.99999327e-01 -5.13484159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50463044 meters 0.26433745596491215 Centerline is valid? [False, False] Translation: X:3.73, Y:0.04, Z:-0.51 [[ 9.99987539e-01 4.83464069e-03 -1.24407157e-03 3.73004606e+00] [-4.83578569e-03 9.99987885e-01 -9.19014142e-04 3.80604152e-02] [ 1.23961339e-03 9.25018754e-04 9.99998804e-01 -5.13076004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56463044000003 meters 0.2659090618655996 Centerline is valid? [False, False] Translation: X:3.75, Y:0.05, Z:-0.51 [[ 9.99984489e-01 -3.67824011e-03 -4.18226625e-03 3.75324631e+00] [ 3.67330364e-03 9.99992548e-01 -1.18740185e-03 4.59426369e-02] [ 4.18660263e-03 1.17202069e-03 9.99990549e-01 -5.12788705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62463044000003 meters 0.26548834907167135 Centerline is valid? [False, False] Translation: X:3.75, Y:0.05, Z:-0.51 [[ 9.99983160e-01 -3.84304232e-03 -4.34865666e-03 3.75372549e+00] [ 3.83626842e-03 9.99991417e-01 -1.56496990e-03 4.77219871e-02] [ 4.35463358e-03 1.54826093e-03 9.99989320e-01 -5.12928353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68463044000003 meters 0.265033280308462 Centerline is valid? [False, False] Translation: X:3.75, Y:0.05, Z:-0.51 [[ 9.99991502e-01 -2.44261355e-03 -3.32100241e-03 3.74968133e+00] [ 2.44066676e-03 9.99996847e-01 -5.90130411e-04 5.11057674e-02] [ 3.32243340e-03 5.82019936e-04 9.99994311e-01 -5.10510330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74463044000004 meters 0.2659704802171793 Centerline is valid? [False, False] Translation: X:3.77, Y:0.05, Z:-0.51 [[ 9.99983429e-01 5.70855425e-03 -7.44812476e-04 3.76867569e+00] [-5.71011607e-03 9.99981467e-01 -2.11192809e-03 5.48804778e-02] [ 7.32742616e-04 2.11614606e-03 9.99997493e-01 -5.09701065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80463044000004 meters 0.2653251382301875 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.51 [[ 9.99995408e-01 -2.71784071e-03 1.34096950e-03 3.74743941e+00] [ 2.72082043e-03 9.99993823e-01 -2.22526744e-03 6.51945822e-02] [-1.33491329e-03 2.22890576e-03 9.99996625e-01 -5.10284988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86463044000004 meters 0.26318629552216116 Centerline is valid? [False, False] Translation: X:3.75, Y:0.07, Z:-0.51 [[ 9.99994912e-01 -3.00754606e-03 1.06292768e-03 3.74789914e+00] [ 3.01117496e-03 9.99989587e-01 -3.42911700e-03 7.14104834e-02] [-1.05260338e-03 3.43230021e-03 9.99993556e-01 -5.09989480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92463044 meters 0.2645453009255496 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.51 [[ 9.99993598e-01 -3.40478243e-03 1.10028213e-03 3.74752803e+00] [ 3.40975985e-03 9.99983817e-01 -4.55400735e-03 7.63568417e-02] [-1.08475892e-03 4.55772990e-03 9.99989025e-01 -5.09402389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98463044 meters 0.2632972236449222 Centerline is valid? [False, False] Translation: X:3.75, Y:0.08, Z:-0.51 [[ 9.99999240e-01 1.70311796e-04 1.22104502e-03 3.74698464e+00] [-1.67942087e-04 9.99998103e-01 -1.94056184e-03 8.36986493e-02] [-1.22137321e-03 1.94035530e-03 9.99997372e-01 -5.08852918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04463044 meters 0.26451524354906164 Centerline is valid? [False, False] Translation: X:3.77, Y:0.09, Z:-0.51 [[ 9.99986042e-01 -5.28134610e-03 -1.54464067e-04 3.77031735e+00] [ 5.28149578e-03 9.99985567e-01 9.85191734e-04 9.07572706e-02] [ 1.49258699e-04 -9.85993784e-04 9.99999503e-01 -5.08987169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10463044 meters 0.2643151732945522 Centerline is valid? [False, False] Translation: X:3.77, Y:0.09, Z:-0.51 [[ 9.99983764e-01 -5.68649983e-03 -3.67587173e-04 3.77110307e+00] [ 5.68652629e-03 9.99983829e-01 7.09695740e-05 9.49149876e-02] [ 3.67177660e-04 -7.30587159e-05 9.99999930e-01 -5.09466546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16463044 meters 0.2659009514342388 Centerline is valid? [False, False] Translation: X:3.77, Y:0.10, Z:-0.51 [[ 9.99995665e-01 -2.58943201e-03 -1.40153428e-03 3.77394241e+00] [ 2.59291008e-03 9.99993549e-01 2.48551365e-03 9.91319807e-02] [ 1.39508917e-03 -2.48913693e-03 9.99995929e-01 -5.10514678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22463044 meters 0.26570007587961547 Centerline is valid? [False, False] Translation: X:3.77, Y:0.10, Z:-0.51 [[ 9.99995247e-01 -2.73181519e-03 -1.42952481e-03 3.77392783e+00] [ 2.73487062e-03 9.99993971e-01 2.13980655e-03 1.00661594e-01] [ 1.42367063e-03 -2.14370594e-03 9.99996689e-01 -5.10333861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28463044 meters 0.26549430779643113 Centerline is valid? [False, False] Translation: X:3.77, Y:0.10, Z:-0.51 [[ 9.99994502e-01 -3.00920732e-03 -1.39340375e-03 3.77369873e+00] [ 3.01126145e-03 9.99994379e-01 1.47443504e-03 1.03833602e-01] [ 1.38895903e-03 -1.47862284e-03 9.99997942e-01 -5.10073709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34463044 meters 0.2662813858709198 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.51 [[ 9.99993886e-01 -3.19400046e-03 -1.42373942e-03 3.77380680e+00] [ 3.19547193e-03 9.99994361e-01 1.03245322e-03 1.05803085e-01] [ 1.42043374e-03 -1.03699643e-03 9.99998454e-01 -5.10093960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40463044 meters 0.26540109001846995 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.51 [[ 9.99992925e-01 -3.49425680e-03 -1.39307054e-03 3.77328669e+00] [ 3.49460617e-03 9.99993863e-01 2.48437643e-04 1.09274084e-01] [ 1.39219389e-03 -2.53304118e-04 9.99998999e-01 -5.09315091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46463044 meters 0.2653045722734756 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.51 [[ 9.99991914e-01 -3.73087248e-03 -1.50060675e-03 3.77317808e+00] [ 3.73040765e-03 9.99992993e-01 -3.12437684e-04 1.11776839e-01] [ 1.50176190e-03 3.06837283e-04 9.99998825e-01 -5.08676995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52463044 meters 0.2662038043592544 Centerline is valid? [False, False] Translation: X:3.77, Y:0.11, Z:-0.51 [[ 9.99991309e-01 -3.85279880e-03 -1.59299805e-03 3.77346430e+00] [ 3.85184179e-03 9.99992400e-01 -6.03391939e-04 1.13047287e-01] [ 1.59531069e-03 5.97250718e-04 9.99998549e-01 -5.08777476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58463044 meters 0.26560662229244897 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99998118e-01 -1.91704756e-03 -2.99402689e-04 3.76824553e+00] [ 1.91731735e-03 9.99997754e-01 9.03442458e-04 1.15822871e-01] [ 2.97670075e-04 -9.04014808e-04 9.99999547e-01 -5.05544949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64463044 meters 0.2663016165170731 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99997931e-01 -1.99863771e-03 -3.78145833e-04 3.76872129e+00] [ 1.99890544e-03 9.99997751e-01 7.08954938e-04 1.16720514e-01] [ 3.76728038e-04 -7.09709349e-04 9.99999677e-01 -5.06039549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70463044 meters 0.26723849626547014 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99997768e-01 -2.06109297e-03 -4.64541506e-04 3.76947081e+00] [ 2.06134568e-03 9.99997727e-01 5.44173058e-04 1.17454027e-01] [ 4.63418859e-04 -5.45129425e-04 9.99999744e-01 -5.07032313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76463044 meters 0.26637136801869743 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99997466e-01 -2.18682278e-03 -5.33755155e-04 3.76961119e+00] [ 2.18695431e-03 9.99997578e-01 2.45955191e-04 1.18948631e-01] [ 5.33216002e-04 -2.47121866e-04 9.99999827e-01 -5.07004007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82463044 meters 0.26663808420225876 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99997285e-01 -2.23972908e-03 -6.42715638e-04 3.77000194e+00] [ 2.23979951e-03 9.99997486e-01 1.08883551e-04 1.19494523e-01] [ 6.42470152e-04 -1.10322809e-04 9.99999788e-01 -5.07246228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88463044 meters 0.2665778425924394 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99996816e-01 -2.46071354e-03 -5.60071807e-04 3.76971358e+00] [ 2.46044027e-03 9.99996854e-01 -4.88076982e-04 1.22024517e-01] [ 5.61271062e-04 4.86697405e-04 9.99999724e-01 -5.07021663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94463044 meters 0.26669982630532835 Centerline is valid? [False, False] Translation: X:3.77, Y:0.12, Z:-0.51 [[ 9.99996422e-01 -2.62368777e-03 -5.21397643e-04 3.76927276e+00] [ 2.62321072e-03 9.99996142e-01 -9.13525308e-04 1.23934967e-01] [ 5.23792436e-04 9.12154303e-04 9.99999447e-01 -5.06298611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00463044 meters 0.26600463244323524 Centerline is valid? [False, False] Translation: X:3.77, Y:0.13, Z:-0.51 [[ 9.99995505e-01 -2.93463029e-03 -6.14424328e-04 3.76968545e+00] [ 2.93356839e-03 9.99994214e-01 -1.72211476e-03 1.27612714e-01] [ 6.19474543e-04 1.72030456e-03 9.99998328e-01 -5.06593892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06463044000003 meters 0.2660248292148968 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994170e-01 -3.33069329e-03 -7.52925459e-04 3.76983427e+00] [ 3.32843217e-03 9.99990007e-01 -2.98468587e-03 1.35349997e-01] [ 7.62859008e-04 2.98216241e-03 9.99995262e-01 -5.06276117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12463044000003 meters 0.26759193875346887 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99992710e-01 -3.75015236e-03 -7.17968666e-04 3.76961975e+00] [ 3.74725616e-03 9.99985004e-01 -3.99360528e-03 1.39998882e-01] [ 7.32934528e-04 3.99088576e-03 9.99991768e-01 -5.05997420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18463044000003 meters 0.2662373678875236 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99999671e-01 1.04016054e-04 -8.04860860e-04 3.77018395e+00] [-1.04700233e-04 9.99999633e-01 -8.50063716e-04 1.44323416e-01] [ 8.04772145e-04 8.50147705e-04 9.99999315e-01 -5.06630696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24463044000004 meters 0.2666167107833418 Centerline is valid? [False, False] Translation: X:3.77, Y:0.15, Z:-0.51 [[ 9.99999429e-01 -4.55680305e-05 -1.06806492e-03 3.77096049e+00] [ 4.42389630e-05 9.99999225e-01 -1.24436021e-03 1.45983862e-01] [ 1.06812079e-03 1.24431225e-03 9.99998655e-01 -5.06996902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30463044000004 meters 0.26702971642782125 Centerline is valid? [False, False] Translation: X:3.77, Y:0.15, Z:-0.51 [[ 9.99999467e-01 -6.03694121e-05 -1.03024376e-03 3.77097358e+00] [ 5.89611439e-05 9.99999064e-01 -1.36690279e-03 1.46815147e-01] [ 1.03032531e-03 1.36684132e-03 9.99998535e-01 -5.07138825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36463044000004 meters 0.2688463918618102 Centerline is valid? [False, False] Translation: X:3.77, Y:0.15, Z:-0.51 [[ 9.99999524e-01 -8.03522870e-06 -9.75189612e-04 3.77081958e+00] [ 6.83952734e-06 9.99999248e-01 -1.22611906e-03 1.46172044e-01] [ 9.75198731e-04 1.22611181e-03 9.99998773e-01 -5.07048392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42463044 meters 0.2671848701648991 Centerline is valid? [False, False] Translation: X:3.75, Y:0.15, Z:-0.51 [[ 9.99958969e-01 -8.85232402e-03 -1.92261673e-03 3.74989547e+00] [ 8.85058516e-03 9.99960418e-01 -9.11053264e-04 1.46275315e-01] [ 1.93060556e-03 8.93999600e-04 9.99997737e-01 -5.07252674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48463044 meters 0.26808334015660584 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99995122e-01 -9.32538759e-04 -2.98084914e-03 3.77006654e+00] [ 9.28197375e-04 9.99998507e-01 -1.45747688e-03 1.39352685e-01] [ 2.98220384e-03 1.45470295e-03 9.99994495e-01 -5.06107180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54463044 meters 0.2687796187833664 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99995287e-01 -7.15397362e-04 -2.98554057e-03 3.77008873e+00] [ 7.12526287e-04 9.99999283e-01 -9.62612904e-04 1.37056735e-01] [ 2.98622708e-03 9.60481091e-04 9.99995080e-01 -5.06177947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60463044 meters 0.267666287910758 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99995386e-01 -7.13670707e-04 -2.95260678e-03 3.76972135e+00] [ 7.11033973e-04 9.99999348e-01 -8.93972493e-04 1.36443913e-01] [ 2.95324286e-03 8.91868964e-04 9.99995241e-01 -5.05662276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66463044 meters 0.2683672989922605 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994926e-01 -7.16275121e-04 -3.10399365e-03 3.77018745e+00] [ 7.13438479e-04 9.99999327e-01 -9.14879502e-04 1.36495888e-01] [ 3.10464686e-03 9.12660352e-04 9.99994764e-01 -5.05842259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72463044 meters 0.2666402979972 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994155e-01 -7.55589133e-04 -3.33449514e-03 3.77038202e+00] [ 7.52183865e-04 9.99999194e-01 -1.02236037e-03 1.36919802e-01] [ 3.33526494e-03 1.01984624e-03 9.99993918e-01 -5.05305525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78463044 meters 0.26684531361889113 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994877e-01 -7.96535794e-04 -3.10027341e-03 3.76988615e+00] [ 7.92971742e-04 9.99999024e-01 -1.15065206e-03 1.37571134e-01] [ 3.10118692e-03 1.14818774e-03 9.99994532e-01 -5.05237299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84463044 meters 0.26616251367236315 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.50 [[ 9.99995292e-01 -7.57851661e-04 -2.97364437e-03 3.76943985e+00] [ 7.54695594e-04 9.99999151e-01 -1.06232514e-03 1.37069977e-01] [ 2.97444693e-03 1.06007594e-03 9.99995014e-01 -5.04977174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90463044 meters 0.26655455442646986 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994779e-01 -6.30876317e-04 -3.16936044e-03 3.77023619e+00] [ 6.28457674e-04 9.99999511e-01 -7.64070818e-04 1.35666067e-01] [ 3.16984092e-03 7.62075020e-04 9.99994686e-01 -5.05657013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96463044 meters 0.2671886657871621 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99995094e-01 -5.85168339e-04 -3.07719615e-03 3.77003985e+00] [ 5.83133288e-04 9.99999611e-01 -6.62188446e-04 1.35097369e-01] [ 3.07758245e-03 6.60390782e-04 9.99995046e-01 -5.05666949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02463044 meters 0.2663817949879811 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99995164e-01 -6.30642489e-04 -3.04532816e-03 3.76983894e+00] [ 6.28325066e-04 9.99999512e-01 -7.61873313e-04 1.35613052e-01] [ 3.04580714e-03 7.59956173e-04 9.99995073e-01 -5.05432725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08463044 meters 0.2679981278929511 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994844e-01 -8.09173847e-04 -3.10758056e-03 3.77038412e+00] [ 8.05458101e-04 9.99998959e-01 -1.19676948e-03 1.37663515e-01] [ 3.10854572e-03 1.19426028e-03 9.99994455e-01 -5.06048012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14463044 meters 0.26794988453938473 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99994169e-01 -1.03099490e-03 -3.25550729e-03 3.77082062e+00] [ 1.02536046e-03 9.99997975e-01 -1.73193561e-03 1.40104839e-01] [ 3.25728631e-03 1.72858744e-03 9.99993201e-01 -5.06183695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20463044 meters 0.2665035889443072 Centerline is valid? [False, False] Translation: X:3.77, Y:0.14, Z:-0.51 [[ 9.99990777e-01 2.82227971e-03 -3.23753432e-03 3.77023610e+00] [-2.81760193e-03 9.99994981e-01 1.44851303e-03 1.44938392e-01] [ 3.24160618e-03 -1.43937758e-03 9.99993710e-01 -5.05208926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26463044 meters 0.2656749211184775 Centerline is valid? [False, False] Translation: X:3.77, Y:0.15, Z:-0.50 [[ 9.99992211e-01 2.46463588e-03 -3.08284192e-03 3.76963110e+00] [-2.46319239e-03 9.99996855e-01 4.71942562e-04 1.49220827e-01] [ 3.08399539e-03 -4.64345253e-04 9.99995137e-01 -5.04682040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32463044 meters 0.2667024849673961 Centerline is valid? [False, False] Translation: X:3.77, Y:0.16, Z:-0.50 [[ 9.99992692e-01 1.99893962e-03 -3.25887425e-03 3.76983236e+00] [-2.00201572e-03 9.99997553e-01 -9.40925509e-04 1.55560636e-01] [ 3.25698542e-03 9.47442950e-04 9.99994247e-01 -5.04279525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38463044 meters 0.26570397686082997 Centerline is valid? [False, False] Translation: X:3.77, Y:0.16, Z:-0.50 [[ 9.99993315e-01 1.67247677e-03 -3.25166912e-03 3.76982323e+00] [-1.67842366e-03 9.99996922e-01 -1.82700604e-03 1.59372962e-01] [ 3.24860349e-03 1.83245150e-03 9.99993044e-01 -5.04233564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44463044 meters 0.2656406872141178 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.50 [[ 9.99994152e-01 1.28848583e-03 -3.16793092e-03 3.76942232e+00] [-1.29848296e-03 9.99994178e-01 -3.15569969e-03 1.65023525e-01] [ 3.16384640e-03 3.15979474e-03 9.99990003e-01 -5.03691265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50463044 meters 0.26526086295870394 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.50 [[ 9.99994261e-01 1.00514545e-03 -3.23551773e-03 3.76939916e+00] [-1.01813996e-03 9.99991413e-01 -4.01706767e-03 1.68713479e-01] [ 3.23145221e-03 4.02033882e-03 9.99986697e-01 -5.03333222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56463044000003 meters 0.26436460415277985 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.50 [[ 9.99995017e-01 6.96744076e-04 -3.07916107e-03 3.76879877e+00] [-7.12761337e-04 9.99986206e-01 -5.20379409e-03 1.73951817e-01] [ 3.07549288e-03 5.20596286e-03 9.99981719e-01 -5.02784050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62463044000003 meters 0.26477574867394327 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.50 [[ 9.99995056e-01 4.57300884e-04 -3.11115812e-03 3.76894077e+00] [-4.75640272e-04 9.99982502e-01 -5.89653055e-03 1.76965195e-01] [ 3.10840720e-03 5.89798119e-03 9.99977776e-01 -5.02866447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68463044000003 meters 0.26587043730618415 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.50 [[ 9.99994481e-01 3.12815128e-04 -3.30761136e-03 3.77005785e+00] [-3.34106795e-04 9.99979216e-01 -6.43858127e-03 1.80037951e-01] [ 3.30552853e-03 6.43965083e-03 9.99973802e-01 -5.04002789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74463044000004 meters 0.26432528335639743 Centerline is valid? [False, False] Translation: X:3.75, Y:0.18, Z:-0.50 [[ 9.99972902e-01 -4.55056496e-03 -5.78687365e-03 3.74850957e+00] [ 4.53288787e-03 9.99985032e-01 -3.06414253e-03 1.79936108e-01] [ 5.80073061e-03 3.03782825e-03 9.99978561e-01 -5.02877625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80463044000004 meters 0.26557935883509903 Centerline is valid? [False, False] Translation: X:3.79, Y:0.18, Z:-0.50 [[ 9.99983473e-01 -4.54310911e-03 -3.52337090e-03 3.79180659e+00] [ 4.53575506e-03 9.99987524e-01 -2.09240919e-03 1.79456668e-01] [ 3.53283299e-03 2.07639346e-03 9.99991604e-01 -5.03062014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86463044000004 meters 0.26536502746541213 Centerline is valid? [False, False] Translation: X:3.79, Y:0.18, Z:-0.50 [[ 9.99983830e-01 -4.47976952e-03 -3.50300729e-03 3.79183980e+00] [ 4.47297383e-03 9.99988104e-01 -1.94539107e-03 1.78787900e-01] [ 3.51168052e-03 1.92969075e-03 9.99991972e-01 -5.03215061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92463044 meters 0.2662699911828484 Centerline is valid? [False, False] Translation: X:3.81, Y:0.17, Z:-0.50 [[ 9.99987843e-01 3.17195314e-03 -3.77521307e-03 3.81292293e+00] [-3.18286480e-03 9.99990765e-01 -2.88785222e-03 1.74496294e-01] [ 3.76601807e-03 2.89983311e-03 9.99988704e-01 -5.02209196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98463044 meters 0.26550570625104936 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.50 [[ 9.99975869e-01 -4.47323948e-03 -5.31513074e-03 3.79320804e+00] [ 4.46532903e-03 9.99988907e-01 -1.49922430e-03 1.73070149e-01] [ 5.32177817e-03 1.47545432e-03 9.99984751e-01 -5.03065035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04463044 meters 0.26565446643826063 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.50 [[ 9.99977722e-01 -4.21353430e-03 -5.17698879e-03 3.79270798e+00] [ 4.20892017e-03 9.99990736e-01 -9.01847436e-04 1.70025217e-01] [ 5.18074079e-03 8.80037813e-04 9.99986193e-01 -5.02728998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10463044 meters 0.2658983174810479 Centerline is valid? [False, False] Translation: X:3.81, Y:0.16, Z:-0.50 [[ 9.99975836e-01 3.44610057e-03 -6.03747386e-03 3.81328239e+00] [-3.45256514e-03 9.99993477e-01 -1.06064550e-03 1.59084078e-01] [ 6.03377939e-03 1.08146464e-03 9.99981212e-01 -5.01484623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16463044 meters 0.2651084611207325 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.50 [[ 9.99988004e-01 1.63633944e-03 -4.61683624e-03 3.80904355e+00] [-1.64502680e-03 9.99996883e-01 -1.87850063e-03 1.50645207e-01] [ 4.61374799e-03 1.88607291e-03 9.99987578e-01 -5.00063408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22463044 meters 0.26460019995689477 Centerline is valid? [False, False] Translation: X:3.81, Y:0.15, Z:-0.50 [[ 9.99987455e-01 2.01944080e-03 -4.58394423e-03 3.80883234e+00] [-2.02422861e-03 9.99997410e-01 -1.04007382e-03 1.46767654e-01] [ 4.58183199e-03 1.04933972e-03 9.99988953e-01 -4.99832786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28463044 meters 0.2651954586897153 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:-0.50 [[ 9.99986471e-01 2.40653514e-03 -4.61157704e-03 3.80929646e+00] [-2.40736651e-03 9.99997087e-01 -1.74735715e-04 1.42666559e-01] [ 4.61114310e-03 1.85835107e-04 9.99989351e-01 -5.00457190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34463044 meters 0.26528508817229296 Centerline is valid? [False, False] Translation: X:3.81, Y:0.14, Z:-0.50 [[ 9.99986275e-01 2.87050517e-03 -4.38295832e-03 3.80907473e+00] [-2.86693883e-03 9.99995554e-01 8.19750540e-04 1.38069361e-01] [ 4.38529193e-03 -8.07173615e-04 9.99990059e-01 -5.00868697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40463044 meters 0.26463182150639514 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.50 [[ 9.99992312e-01 1.33347203e-03 -3.68745152e-03 3.80553457e+00] [-1.33418680e-03 9.99999092e-01 -1.91386951e-04 1.33579137e-01] [ 3.68719296e-03 1.96305229e-04 9.99993183e-01 -4.98271761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46463044 meters 0.2652951767906429 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.50 [[ 9.99992116e-01 1.46435708e-03 -3.69101587e-03 3.80573181e+00] [-1.46397320e-03 9.99998923e-01 1.06704679e-04 1.32219282e-01] [ 3.69116815e-03 -1.01300290e-04 9.99993182e-01 -4.98579127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52463044 meters 0.2647708062568945 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.50 [[ 9.99991925e-01 1.72870544e-03 -3.62797825e-03 3.80572960e+00] [-1.72618879e-03 9.99998267e-01 6.96696264e-04 1.29452140e-01] [ 3.62917635e-03 -6.90428063e-04 9.99993176e-01 -4.98781442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58463044 meters 0.2640021743920618 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.50 [[ 9.99991047e-01 1.99957680e-03 -3.72938827e-03 3.80606462e+00] [-1.99468750e-03 9.99997147e-01 1.31427992e-03 1.26603782e-01] [ 3.73200563e-03 -1.30682919e-03 9.99992182e-01 -4.98961529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64463044 meters 0.26435488748484637 Centerline is valid? [False, False] Translation: X:3.81, Y:0.13, Z:-0.50 [[ 9.99990448e-01 2.15077891e-03 -3.80491942e-03 3.80635479e+00] [-2.14446045e-03 9.99996316e-01 1.66390582e-03 1.25056970e-01] [ 3.80848409e-03 -1.65573043e-03 9.99991377e-01 -4.99138990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70463044 meters 0.26421782922044856 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99990019e-01 2.43275251e-03 -3.74736210e-03 3.80699543e+00] [-2.42402203e-03 9.99994342e-01 2.33254875e-03 1.21862008e-01] [ 3.75301541e-03 -2.32344178e-03 9.99990258e-01 -5.00447817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76463044 meters 0.26558337826536677 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99990098e-01 2.49274083e-03 -3.68637646e-03 3.80708301e+00] [-2.48360081e-03 9.99993836e-01 2.48190668e-03 1.21158501e-01] [ 3.69254049e-03 -2.47272662e-03 9.99990125e-01 -5.00821811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82463044 meters 0.2652610938379274 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99989740e-01 2.48117810e-03 -3.78985226e-03 3.80750157e+00] [-2.47185741e-03 9.99993914e-01 2.46208689e-03 1.21330765e-01] [ 3.79593807e-03 -2.45269365e-03 9.99989788e-01 -5.01175951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88463044 meters 0.26519845410760745 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99989239e-01 2.54449926e-03 -3.87908595e-03 3.80781766e+00] [-2.53435936e-03 9.99993365e-01 2.61666882e-03 1.20724216e-01] [ 3.88571832e-03 -2.60680966e-03 9.99989053e-01 -5.01369148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94463044 meters 0.2641815480968651 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99989050e-01 2.65041994e-03 -3.85692369e-03 3.80744517e+00] [-2.63922021e-03 9.99992295e-01 2.90599903e-03 1.19373163e-01] [ 3.86459609e-03 -2.89578794e-03 9.99988340e-01 -5.00747705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00463044 meters 0.26311968134166525 Centerline is valid? [False, False] Translation: X:3.81, Y:0.12, Z:-0.50 [[ 9.99988985e-01 2.81412292e-03 -3.75635780e-03 3.80699970e+00] [-2.80099764e-03 9.99989970e-01 3.49484942e-03 1.16698920e-01] [ 3.76615506e-03 -3.48428937e-03 9.99986838e-01 -5.00283345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06463044000003 meters 0.26329539904801313 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.50 [[ 9.99987641e-01 3.10505464e-03 -3.88296664e-03 3.80727551e+00] [-3.08769665e-03 9.99985250e-01 4.46832326e-03 1.12309170e-01] [ 3.89678375e-03 -4.45627861e-03 9.99982478e-01 -5.00246682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12463044000003 meters 0.2635073811041765 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.50 [[ 9.99986441e-01 3.33347456e-03 -4.00068800e-03 3.80735785e+00] [-3.31345465e-03 9.99982009e-01 5.00035428e-03 1.09973899e-01] [ 4.01728458e-03 -4.98703038e-03 9.99979495e-01 -4.99909926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18463044000003 meters 0.26352696233344103 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.50 [[ 9.99992626e-01 -6.88449083e-04 -3.77796319e-03 3.80643269e+00] [ 6.93961736e-04 9.99998696e-01 1.45804318e-03 1.07281971e-01] [ 3.77695447e-03 -1.46065419e-03 9.99991801e-01 -4.99115155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24463044000004 meters 0.26238520120470266 Centerline is valid? [False, False] Translation: X:3.81, Y:0.11, Z:-0.50 [[ 9.99992714e-01 -5.05007553e-04 -3.78381769e-03 3.80650118e+00] [ 5.12127793e-04 9.99998100e-01 1.88102838e-03 1.05315698e-01] [ 3.78286057e-03 -1.88295247e-03 9.99991072e-01 -4.99197618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30463044000004 meters 0.26295322896345363 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99992127e-01 -3.43906649e-04 -3.95330039e-03 3.80688726e+00] [ 3.52903510e-04 9.99997349e-01 2.27531247e-03 1.03516797e-01] [ 3.95250741e-03 -2.27668969e-03 9.99989597e-01 -4.99189114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36463044000004 meters 0.26353576674265844 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99992396e-01 -2.17995970e-04 -3.89361425e-03 3.80682346e+00] [ 2.28028962e-04 9.99996655e-01 2.57652309e-03 1.02155450e-01] [ 3.89303955e-03 -2.57739136e-03 9.99989101e-01 -4.99297242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42463044 meters 0.26381123265243006 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99992191e-01 -9.29084460e-05 -3.95087095e-03 3.80695908e+00] [ 1.04264640e-04 9.99995864e-01 2.87424331e-03 1.00686040e-01] [ 3.95058757e-03 -2.87463280e-03 9.99988065e-01 -4.99245478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48463044 meters 0.2647577570939284 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99992047e-01 -7.69149489e-05 -3.98747936e-03 3.80682081e+00] [ 8.85495235e-05 9.99995740e-01 2.91768232e-03 1.00503307e-01] [ 3.98723796e-03 -2.91801220e-03 9.99987793e-01 -4.98833097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54463044 meters 0.26395574428184004 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99991939e-01 -9.34203215e-05 -4.01417013e-03 3.80695536e+00] [ 1.04990195e-04 9.99995841e-01 2.88214373e-03 1.00709801e-01] [ 4.01388418e-03 -2.88254194e-03 9.99987790e-01 -4.98998655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60463044 meters 0.26394332890776273 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99991820e-01 -1.18398444e-04 -4.04301275e-03 3.80721328e+00] [ 1.29810249e-04 9.99996008e-01 2.82245361e-03 1.00922943e-01] [ 4.04266244e-03 -2.82295534e-03 9.99987844e-01 -4.99375595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66463044 meters 0.2640343573575601 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99991481e-01 -1.26465810e-04 -4.12584756e-03 3.80754435e+00] [ 1.38068181e-04 9.99996037e-01 2.81195457e-03 1.01016565e-01] [ 4.12547559e-03 -2.81250027e-03 9.99987535e-01 -4.99639898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72463044 meters 0.26270227824802495 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99991080e-01 -8.21626815e-05 -4.22299110e-03 3.80752496e+00] [ 9.44911615e-05 9.99995735e-01 2.91925492e-03 1.00622998e-01] [ 4.22273323e-03 -2.91962791e-03 9.99986822e-01 -4.99222219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78463044 meters 0.26305387457709484 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99990822e-01 1.35212517e-05 -4.28440802e-03 3.80740960e+00] [ 1.69725307e-09 9.99995019e-01 3.15630106e-03 9.96350041e-02] [ 4.28442936e-03 -3.15627210e-03 9.99985841e-01 -4.98741547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84463044 meters 0.26347183470936225 Centerline is valid? [False, False] Translation: X:3.81, Y:0.10, Z:-0.50 [[ 9.99990487e-01 1.73344432e-04 -4.35846574e-03 3.80758757e+00] [-1.57987164e-04 9.99993779e-01 3.52364658e-03 9.78968716e-02] [ 4.35904943e-03 -3.52292447e-03 9.99984294e-01 -4.98714447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90463044 meters 0.26230970395135467 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.50 [[ 9.99989015e-01 5.04643441e-04 -4.65985370e-03 3.80820993e+00] [-4.84434818e-04 9.99990478e-01 4.33686129e-03 9.38990508e-02] [ 4.66199790e-03 -4.33455626e-03 9.99979738e-01 -4.98578353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96463044 meters 0.2626700463570098 Centerline is valid? [False, False] Translation: X:3.81, Y:0.09, Z:-0.50 [[ 9.99989260e-01 8.39081016e-04 -4.55806492e-03 3.80789737e+00] [-8.15841023e-04 9.99986672e-01 5.09812216e-03 9.03230181e-02] [ 4.56228191e-03 -5.09434875e-03 9.99976616e-01 -4.98353316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02463044 meters 0.2620447281329389 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.50 [[ 9.99993635e-01 -9.17592524e-04 -3.44779019e-03 3.80323113e+00] [ 9.29667211e-04 9.99993435e-01 3.50218347e-03 8.93145254e-02] [ 3.44455398e-03 -3.50536647e-03 9.99987924e-01 -4.95374534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08463044 meters 0.2620694517152719 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.50 [[ 9.99993043e-01 -8.01678033e-04 -3.64299719e-03 3.80426076e+00] [ 8.15585503e-04 9.99992380e-01 3.81770940e-03 8.77201953e-02] [ 3.63990886e-03 -3.82065402e-03 9.99986077e-01 -4.96386942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14463044 meters 0.2616457724309524 Centerline is valid? [False, False] Translation: X:3.80, Y:0.09, Z:-0.50 [[ 9.99993199e-01 -7.89384674e-04 -3.60271010e-03 3.80403428e+00] [ 8.03260739e-04 9.99992259e-01 3.85174242e-03 8.75732534e-02] [ 3.59964171e-03 -3.85461014e-03 9.99986092e-01 -4.96146890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20463044 meters 0.2629356262644435 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.49 [[ 9.99975650e-01 6.93459030e-03 -7.81293998e-04 3.82210224e+00] [-6.93235338e-03 9.99971966e-01 2.83031370e-03 8.52944611e-02] [ 8.00899161e-04 -2.82482858e-03 9.99995689e-01 -4.93757433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26463044 meters 0.26291296615653686 Centerline is valid? [False, False] Translation: X:3.82, Y:0.09, Z:-0.49 [[ 9.99996198e-01 2.65252515e-03 -7.53780626e-04 3.82210830e+00] [-2.65355093e-03 9.99995550e-01 -1.36311699e-03 8.54118028e-02] [ 7.50161570e-04 1.36511200e-03 9.99998787e-01 -4.93919945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32463044 meters 0.2619216405729799 Centerline is valid? [False, False] Translation: X:3.80, Y:0.08, Z:-0.49 [[ 9.99981790e-01 -5.83460402e-03 -1.54186572e-03 3.80146937e+00] [ 5.83440362e-03 9.99982971e-01 -1.34441170e-04 8.34558987e-02] [ 1.54262387e-03 1.25442855e-04 9.99998802e-01 -4.94610652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38463044 meters 0.26185441447401714 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.49 [[ 9.99991147e-01 3.31479655e-03 -2.59186762e-03 3.82429315e+00] [-3.31546980e-03 9.99994471e-01 -2.55498803e-04 8.09798078e-02] [ 2.59100637e-03 2.64089800e-04 9.99996608e-01 -4.94540605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44463044 meters 0.26231471269463014 Centerline is valid? [False, False] Translation: X:3.82, Y:0.08, Z:-0.49 [[ 9.99990399e-01 3.41364829e-03 -2.74751694e-03 3.82485748e+00] [-3.41368757e-03 9.99994173e-01 -9.60714392e-06 7.97602450e-02] [ 2.74746813e-03 1.89862161e-05 9.99996226e-01 -4.94881096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50463044 meters 0.26075862477613715 Centerline is valid? [False, False] Translation: X:3.81, Y:0.08, Z:-0.50 [[ 9.99984058e-01 -4.72097914e-03 -3.09779417e-03 3.80531823e+00] [ 4.72544499e-03 9.99987804e-01 1.43588984e-03 8.08044575e-02] [ 3.09097758e-03 -1.45050540e-03 9.99994171e-01 -4.96310976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56463044000003 meters 0.2624544208503223 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:-0.50 [[ 9.99990605e-01 3.62621295e-03 -2.37501788e-03 3.82581037e+00] [-3.62488398e-03 9.99993271e-01 5.63629382e-04 7.80189468e-02] [ 2.37704574e-03 -5.55014923e-04 9.99997021e-01 -4.95776866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62463044000003 meters 0.26122023470323175 Centerline is valid? [False, False] Translation: X:3.83, Y:0.08, Z:-0.50 [[ 9.99989540e-01 3.84084045e-03 -2.48359512e-03 3.82604505e+00] [-3.83796300e-03 9.99991960e-01 1.16231317e-03 7.53428239e-02] [ 2.48803941e-03 -1.15276907e-03 9.99996240e-01 -4.95732233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68463044000003 meters 0.2610829792552592 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.50 [[ 9.99988285e-01 4.06382030e-03 -2.62979766e-03 3.82644371e+00] [-4.05923612e-03 9.99990237e-01 1.74616404e-03 7.27006160e-02] [ 2.63686808e-03 -1.73546862e-03 9.99995018e-01 -4.95820329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74463044000004 meters 0.2620017853615519 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.50 [[ 9.99987100e-01 4.19400291e-03 -2.86525598e-03 3.82708261e+00] [-4.18813573e-03 9.99989127e-01 2.05063778e-03 7.12950967e-02] [ 2.87382521e-03 -2.03861124e-03 9.99993793e-01 -4.95962901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80463044000004 meters 0.2617398667265344 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.50 [[ 9.99987352e-01 4.11900265e-03 -2.88616650e-03 3.82732313e+00] [-4.11360834e-03 9.99989786e-01 1.87247374e-03 7.21948400e-02] [ 2.89384975e-03 -1.86057750e-03 9.99994082e-01 -4.96282804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86463044000004 meters 0.2613803414350136 Centerline is valid? [False, False] Translation: X:3.83, Y:0.07, Z:-0.50 [[ 9.99988517e-01 3.97558328e-03 -2.67606301e-03 3.82656065e+00] [-3.97156660e-03 9.99990981e-01 1.50460995e-03 7.37933027e-02] [ 2.68202058e-03 -1.49396451e-03 9.99995287e-01 -4.95786642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92463044 meters 0.2630787162046065 Centerline is valid? [False, False] Translation: X:3.85, Y:0.08, Z:-0.50 [[ 9.99985993e-01 -4.05728292e-03 -3.39875497e-03 3.84758908e+00] [ 4.06501779e-03 9.99989157e-01 2.27198659e-03 7.89782874e-02] [ 3.38950002e-03 -2.28577076e-03 9.99991643e-01 -4.95172007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98463044 meters 0.26227439435002275 Centerline is valid? [False, False] Translation: X:3.85, Y:0.08, Z:-0.49 [[ 9.99986066e-01 -3.85695524e-03 -3.60441350e-03 3.84758380e+00] [ 3.86691736e-03 9.99988712e-01 2.76099653e-03 7.69084959e-02] [ 3.59372377e-03 -2.77489603e-03 9.99989692e-01 -4.94323714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04463044 meters 0.2613775234093337 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.49 [[ 9.99986035e-01 -3.62879473e-03 -3.84201470e-03 3.84790283e+00] [ 3.64174362e-03 9.99987695e-01 3.36872402e-03 7.41945809e-02] [ 3.82974302e-03 -3.38266860e-03 9.99986945e-01 -4.93883867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10463044 meters 0.26072519319289994 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.49 [[ 9.99987353e-01 -3.27906162e-03 -3.81334604e-03 3.84744209e+00] [ 3.29539946e-03 9.99985385e-01 4.28602280e-03 6.98248019e-02] [ 3.79923617e-03 -4.29853509e-03 9.99983544e-01 -4.93184122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16463044 meters 0.2607160530238273 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.49 [[ 9.99987368e-01 -3.08837663e-03 -3.96548326e-03 3.84745508e+00] [ 3.10706740e-03 9.99984053e-01 4.71588883e-03 6.78825736e-02] [ 3.95085558e-03 -4.72815029e-03 9.99981017e-01 -4.92566683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22463044 meters 0.2610254057249205 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.49 [[ 9.99987876e-01 -2.85440702e-03 -4.01252519e-03 3.84790176e+00] [ 2.87545795e-03 9.99982083e-01 5.25036400e-03 6.52383233e-02] [ 3.99746662e-03 -5.26183819e-03 9.99978166e-01 -4.93068520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28463044 meters 0.26317293557846766 Centerline is valid? [False, False] Translation: X:3.87, Y:0.06, Z:-0.49 [[ 9.99992214e-01 3.07913311e-03 -2.46801767e-03 3.86920709e+00] [-3.07428144e-03 9.99993339e-01 1.96720680e-03 6.47058033e-02] [ 2.47405853e-03 -1.95960411e-03 9.99995019e-01 -4.93381323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34463044 meters 0.26221616114913743 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.49 [[ 9.99992315e-01 2.99787081e-03 -2.52653785e-03 3.86928201e+00] [-2.99336406e-03 9.99993926e-01 1.78566130e-03 6.56684613e-02] [ 2.53187568e-03 -1.77808473e-03 9.99995214e-01 -4.93300760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40463044 meters 0.2620424109675223 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.49 [[ 9.99992743e-01 2.84769187e-03 -2.53079475e-03 3.86953026e+00] [-2.84407395e-03 9.99994930e-01 1.43201011e-03 6.73366866e-02] [ 2.53485984e-03 -1.42480195e-03 9.99995772e-01 -4.93697909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46463044 meters 0.2622949209377114 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.49 [[ 9.99993361e-01 2.61214070e-03 -2.54040918e-03 3.86951598e+00] [-2.60998546e-03 9.99996232e-01 8.51328846e-04 6.99749491e-02] [ 2.54262340e-03 -8.44692763e-04 9.99996411e-01 -4.93666505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52463044 meters 0.26246517181998513 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:-0.49 [[ 9.99995042e-01 2.22905133e-03 -2.22412236e-03 3.86891218e+00] [-2.22981585e-03 9.99997456e-01 -3.41321192e-04 7.50936752e-02] [ 2.22335587e-03 3.46278883e-04 9.99997468e-01 -4.93888234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58463044 meters 0.2633925994687265 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:-0.49 [[ 9.99995878e-01 1.87104743e-03 -2.17798281e-03 3.86889853e+00] [-1.87367494e-03 9.99997519e-01 -1.20498146e-03 7.91244153e-02] [ 2.17572283e-03 1.20905733e-03 9.99996902e-01 -4.94060330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64463044 meters 0.26203946093656144 Centerline is valid? [False, False] Translation: X:3.87, Y:0.08, Z:-0.49 [[ 9.99996408e-01 1.43137167e-03 -2.26593950e-03 3.86888022e+00] [-1.43629199e-03 9.99996611e-01 -2.17128858e-03 8.37615547e-02] [ 2.26282390e-03 2.17453533e-03 9.99995075e-01 -4.93758807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70463044 meters 0.26391912831492376 Centerline is valid? [False, False] Translation: X:3.87, Y:0.09, Z:-0.49 [[ 9.99996460e-01 1.16375095e-03 -2.39265820e-03 3.86901489e+00] [-1.17037294e-03 9.99995484e-01 -2.76809502e-03 8.66057308e-02] [ 2.38942602e-03 2.77088552e-03 9.99993306e-01 -4.93532324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76463044 meters 0.2641963725406127 Centerline is valid? [False, False] Translation: X:3.87, Y:0.09, Z:-0.49 [[ 9.99997043e-01 6.24324654e-04 -2.35055136e-03 3.86858940e+00] [-6.33701185e-04 9.99991837e-01 -3.99044811e-03 9.42454198e-02] [ 2.34804084e-03 3.99192586e-03 9.99989276e-01 -4.93139909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82463044 meters 0.26387724439457155 Centerline is valid? [False, False] Translation: X:3.86, Y:0.10, Z:-0.49 [[ 9.99995948e-01 2.63648917e-03 -1.07415668e-03 3.86362503e+00] [-2.63931520e-03 9.99993037e-01 -2.63806238e-03 9.99407078e-02] [ 1.06719397e-03 2.64088673e-03 9.99995943e-01 -4.90209477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88463044 meters 0.26115152548568554 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99995014e-01 -2.80667716e-03 1.44740141e-03 3.83968685e+00] [ 2.80682148e-03 9.99996056e-01 -9.76931462e-05 1.08937021e-01] [-1.44712151e-03 1.01755256e-04 9.99998948e-01 -4.90251698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94463044 meters 0.262469895339817 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99994379e-01 -3.01167572e-03 1.47354319e-03 3.83937119e+00] [ 3.01252385e-03 9.99995298e-01 -5.73687873e-04 1.11217426e-01] [-1.47180850e-03 5.78123732e-04 9.99998750e-01 -4.89864801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00463044 meters 0.26026917829957236 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99994022e-01 -3.04174963e-03 1.64427106e-03 3.83878378e+00] [ 3.04290230e-03 9.99995126e-01 -6.98972224e-04 1.11928800e-01] [-1.64213695e-03 7.03971402e-04 9.99998404e-01 -4.89444517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06463044000003 meters 0.2601662209271696 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99994534e-01 -2.94188018e-03 1.50878374e-03 3.83947478e+00] [ 2.94250904e-03 9.99995585e-01 -4.14746231e-04 1.10615547e-01] [-1.50755695e-03 4.19183574e-04 9.99998776e-01 -4.90075663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12463044000003 meters 0.2597829900496356 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99995472e-01 -2.77949668e-03 1.15381377e-03 3.84020979e+00] [ 2.77944956e-03 9.99996136e-01 4.24329628e-05 1.08401810e-01] [-1.15392726e-03 -3.92258034e-05 9.99999333e-01 -4.90014093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18463044000003 meters 0.26166301155512905 Centerline is valid? [False, False] Translation: X:3.86, Y:0.11, Z:-0.49 [[ 9.99985807e-01 5.24941480e-03 9.11012425e-04 3.86058053e+00] [-5.24836710e-03 9.99985568e-01 -1.14864838e-03 1.05423923e-01] [-9.17029009e-04 1.14385074e-03 9.99998925e-01 -4.88653651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24463044000004 meters 0.2594925158157288 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99994888e-01 -2.99124350e-03 1.13020017e-03 3.84045706e+00] [ 2.99099484e-03 9.99995502e-01 2.21635164e-04 1.05767686e-01] [-1.13085805e-03 -2.18253608e-04 9.99999337e-01 -4.90473918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30463044000004 meters 0.2597933211980631 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99994818e-01 -3.05455455e-03 1.01708700e-03 3.84065834e+00] [ 3.05449002e-03 9.99995333e-01 6.49991609e-05 1.06483866e-01] [-1.01728080e-03 -6.18921420e-05 9.99999481e-01 -4.90420728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36463044000004 meters 0.2607239104870582 Centerline is valid? [False, False] Translation: X:3.85, Y:0.11, Z:-0.49 [[ 9.99998976e-01 -1.34603566e-03 -4.86909787e-04 3.84615053e+00] [ 1.34685019e-03 9.99997688e-01 1.67641005e-03 1.05466625e-01] [ 4.84652153e-04 -1.67706413e-03 9.99998476e-01 -4.93527151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42463044 meters 0.2622403306908719 Centerline is valid? [False, False] Translation: X:3.87, Y:0.11, Z:-0.49 [[ 9.99976753e-01 6.68319349e-03 1.35219869e-03 3.86566566e+00] [-6.68345156e-03 9.99977648e-01 1.86424150e-04 1.07938269e-01] [-1.35092256e-03 -1.95457170e-04 9.99999068e-01 -4.92644532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48463044 meters 0.2613544812494787 Centerline is valid? [False, False] Translation: X:3.84, Y:0.11, Z:-0.49 [[ 9.99990723e-01 -1.95885842e-03 3.83622916e-03 3.84306441e+00] [ 1.95647317e-03 9.99997891e-01 6.25422281e-04 1.12177975e-01] [-3.83744618e-03 -6.17911000e-04 9.99992446e-01 -4.93382663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54463044 meters 0.2620247900697366 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.49 [[ 9.99988994e-01 -2.24666985e-03 4.11888511e-03 3.84252195e+00] [ 2.24723191e-03 9.99997466e-01 -1.31836070e-04 1.15666656e-01] [-4.11857849e-03 1.41090709e-04 9.99991509e-01 -4.93578968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60463044 meters 0.2613203086326188 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.49 [[ 9.99988359e-01 -2.45085899e-03 4.15640023e-03 3.84260397e+00] [ 2.45356479e-03 9.99996781e-01 -6.46022326e-04 1.17947618e-01] [-4.15480354e-03 6.56212802e-04 9.99991153e-01 -4.93904940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66463044 meters 0.261009885136843 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.49 [[ 9.99987374e-01 -2.58874745e-03 4.30699496e-03 3.84246936e+00] [ 2.59290797e-03 9.99996177e-01 -9.60687749e-04 1.19533521e-01] [-4.30449152e-03 9.71843261e-04 9.99990263e-01 -4.94247458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72463044 meters 0.26122898669806366 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.49 [[ 9.99987881e-01 -2.52629521e-03 4.22559761e-03 3.84296504e+00] [ 2.52973765e-03 9.99996473e-01 -8.09517108e-04 1.18773535e-01] [-4.22353763e-03 8.20196951e-04 9.99990744e-01 -4.94764777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78463044 meters 0.26220041739250755 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99988994e-01 -2.43947318e-03 4.00772099e-03 3.84387850e+00] [ 2.44183552e-03 9.99996848e-01 -5.84659308e-04 1.17642751e-01] [-4.00628210e-03 5.94439068e-04 9.99991798e-01 -4.95482507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84463044 meters 0.2629441071721485 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99988977e-01 -2.52713498e-03 3.95720521e-03 3.84420739e+00] [ 2.53028523e-03 9.99996486e-01 -7.91274632e-04 1.18617957e-01] [-3.95519165e-03 8.01278768e-04 9.99991857e-01 -4.95876767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90463044 meters 0.2623589936431717 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99987605e-01 -2.71107312e-03 4.17605456e-03 3.84357669e+00] [ 2.71748935e-03 9.99995135e-01 -1.53152790e-03 1.21978254e-01] [-4.17188216e-03 1.54285730e-03 9.99990107e-01 -4.95712260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96463044 meters 0.2640877258555163 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.50 [[ 9.99985949e-01 -2.95040158e-03 4.40409609e-03 3.84300039e+00] [ 2.96072478e-03 9.99992881e-01 -2.33932341e-03 1.25678005e-01] [-4.39716279e-03 2.35232986e-03 9.99987566e-01 -4.95612261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02463044 meters 0.26409450773643595 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.50 [[ 9.99983962e-01 -3.26803979e-03 4.62549672e-03 3.84221219e+00] [ 3.28300805e-03 9.99989387e-01 -3.23214740e-03 1.29639303e-01] [-4.61488484e-03 3.24728110e-03 9.99984079e-01 -4.95135109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08463044 meters 0.26399730797401905 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.49 [[ 9.99988331e-01 5.60263947e-04 4.79832369e-03 3.84168427e+00] [-5.60263849e-04 9.99999843e-01 -1.36459351e-06 1.34192384e-01] [-4.79832370e-03 -1.32374971e-06 9.99988488e-01 -4.94990956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14463044 meters 0.2639925253788185 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99988092e-01 2.48549386e-04 4.87378416e-03 3.84135220e+00] [-2.45138799e-04 9.99999725e-01 -7.00366945e-04 1.37454558e-01] [-4.87395689e-03 6.99163851e-04 9.99987878e-01 -4.94779641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20463044 meters 0.26184170433877774 Centerline is valid? [False, False] Translation: X:3.82, Y:0.14, Z:-0.49 [[ 9.99978901e-01 -4.85490928e-03 4.31585209e-03 3.81803808e+00] [ 4.84474403e-03 9.99985473e-01 2.36267050e-03 1.43900272e-01] [-4.32725994e-03 -2.34171145e-03 9.99987896e-01 -4.93671359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26463044 meters 0.2622716223529289 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.49 [[ 9.99983258e-01 3.22967495e-03 4.80126004e-03 3.83921620e+00] [-3.23291849e-03 9.99994551e-01 6.67951939e-04 1.48629539e-01] [-4.79907661e-03 -6.83462839e-04 9.99988251e-01 -4.93116802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32463044 meters 0.26244317258909206 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.49 [[ 9.99983330e-01 2.82672867e-03 5.03484476e-03 3.83821602e+00] [-2.82461227e-03 9.99995919e-01 -4.27411410e-04 1.53590680e-01] [-5.03603239e-03 4.13182801e-04 9.99987234e-01 -4.92410122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38463044 meters 0.2637859861813871 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.49 [[ 9.99984485e-01 2.73232248e-03 4.85432255e-03 3.83856569e+00] [-2.72917812e-03 9.99996062e-01 -6.54251114e-04 1.54648836e-01] [-4.85609105e-03 6.40992652e-04 9.99988004e-01 -4.92354970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44463044 meters 0.2594486406938054 Centerline is valid? [False, False] Translation: X:3.82, Y:0.15, Z:-0.49 [[ 9.99981873e-01 -5.13224708e-03 3.14871021e-03 3.81929205e+00] [ 5.12968020e-03 9.99986505e-01 8.22750349e-04 1.52930184e-01] [-3.15289028e-03 -8.06583558e-04 9.99994704e-01 -4.93814895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50463044 meters 0.2598969376474982 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.49 [[ 9.99990825e-01 3.23916415e-03 2.80329171e-03 3.83956960e+00] [-3.23969341e-03 9.99994735e-01 1.84279719e-04 1.49118205e-01] [-2.80268004e-03 -1.93359834e-04 9.99996054e-01 -4.92576655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56463044000003 meters 0.2614262222234642 Centerline is valid? [False, False] Translation: X:3.86, Y:0.15, Z:-0.49 [[ 9.99982078e-01 -5.44945134e-03 2.47951445e-03 3.86230746e+00] [ 5.44664313e-03 9.99984519e-01 1.13790991e-03 1.48017157e-01] [-2.48567705e-03 -1.12438449e-03 9.99996279e-01 -4.93075192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62463044000003 meters 0.2604620581592349 Centerline is valid? [False, False] Translation: X:3.84, Y:0.15, Z:-0.49 [[ 9.99999450e-01 2.53757520e-04 1.01719852e-03 3.84117485e+00] [-2.51572047e-04 9.99997661e-01 -2.14807484e-03 1.45369333e-01] [-1.01774123e-03 2.14781776e-03 9.99997176e-01 -4.92876671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68463044000003 meters 0.26122812978826804 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99999162e-01 4.01182590e-04 1.23095663e-03 3.84113716e+00] [-3.98973356e-04 9.99998310e-01 -1.79445031e-03 1.43776098e-01] [-1.23167445e-03 1.79395769e-03 9.99997632e-01 -4.93600931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74463044000004 meters 0.2615076192704256 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99998961e-01 4.73810458e-04 1.36133528e-03 3.84087872e+00] [-4.71593032e-04 9.99998562e-01 -1.62872037e-03 1.42854604e-01] [-1.36210503e-03 1.62807668e-03 9.99997747e-01 -4.93658408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80463044000004 meters 0.26094355111520817 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99998643e-01 5.17489351e-04 1.56399890e-03 3.84082866e+00] [-5.15108036e-04 9.99998708e-01 -1.52260052e-03 1.42343562e-01] [-1.56478481e-03 1.52179282e-03 9.99997618e-01 -4.94350772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86463044000004 meters 0.2621412699658805 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99998472e-01 5.25391677e-04 1.66714214e-03 3.84075215e+00] [-5.22879108e-04 9.99998727e-01 -1.50718967e-03 1.42245776e-01] [-1.66793188e-03 1.50631566e-03 9.99997475e-01 -4.94654481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92463044 meters 0.26151679967624825 Centerline is valid? [False, False] Translation: X:3.84, Y:0.14, Z:-0.49 [[ 9.99998446e-01 6.24962349e-04 1.64830267e-03 3.84064385e+00] [-6.22858960e-04 9.99998992e-01 -1.27629860e-03 1.41231242e-01] [-1.64909864e-03 1.27526996e-03 9.99997827e-01 -4.94396127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98463044 meters 0.2599006626495109 Centerline is valid? [False, False] Translation: X:3.82, Y:0.14, Z:-0.50 [[ 9.99974785e-01 -7.09371262e-03 3.29848737e-04 3.82082273e+00] [ 7.09358347e-03 9.99974764e-01 3.91101194e-04 1.39048793e-01] [-3.32614772e-04 -3.88751523e-04 9.99999869e-01 -4.95816362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04463044 meters 0.2609734801722221 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.49 [[ 9.99998369e-01 1.27711530e-03 -1.27728035e-03 3.84188677e+00] [-1.27714983e-03 9.99999184e-01 -2.62175419e-05 1.32800344e-01] [ 1.27724582e-03 2.78487775e-05 9.99999184e-01 -4.94108269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10463044 meters 0.25966262042229277 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.49 [[ 9.99997649e-01 1.48268610e-03 -1.58257603e-03 3.84286858e+00] [-1.48186017e-03 9.99998765e-01 5.22935950e-04 1.30053519e-01] [ 1.58334943e-03 -5.20589564e-04 9.99998611e-01 -4.94627654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16463044 meters 0.2604979692442168 Centerline is valid? [False, False] Translation: X:3.84, Y:0.13, Z:-0.49 [[ 9.99997244e-01 1.71070213e-03 -1.60820271e-03 3.84311911e+00] [-1.70895688e-03 9.99997950e-01 1.08596424e-03 1.27463732e-01] [ 1.61005717e-03 -1.08321290e-03 9.99998117e-01 -4.94910290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22463044 meters 0.26076238559101783 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.49 [[ 9.99996619e-01 2.04864131e-03 -1.60132381e-03 3.84312381e+00] [-2.04560567e-03 9.99996112e-01 1.89505443e-03 1.23744691e-01] [ 1.60519987e-03 -1.89177235e-03 9.99996922e-01 -4.94873068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28463044 meters 0.26121546571802223 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99996356e-01 2.15677557e-03 -1.62348392e-03 3.84335918e+00] [-2.15330358e-03 9.99995398e-01 2.13732622e-03 1.22649353e-01] [ 1.62808619e-03 -2.13382258e-03 9.99996398e-01 -4.95127208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34463044 meters 0.2618830679350178 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99995534e-01 2.47900348e-03 -1.66955589e-03 3.84387095e+00] [-2.47419022e-03 9.99992795e-01 2.87887708e-03 1.19202915e-01] [ 1.67668061e-03 -2.87473342e-03 9.99994462e-01 -4.95716676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40463044 meters 0.26182607906908967 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99995032e-01 2.62718359e-03 -1.74191617e-03 3.84410422e+00] [-2.62158192e-03 9.99991410e-01 3.21033341e-03 1.17620136e-01] [ 1.75033534e-03 -3.20575089e-03 9.99993330e-01 -4.95790709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46463044 meters 0.26129084403328456 Centerline is valid? [False, False] Translation: X:3.84, Y:0.12, Z:-0.50 [[ 9.99994461e-01 2.79468787e-03 -1.80781278e-03 3.84413409e+00] [-2.78816585e-03 9.99989632e-01 3.60020143e-03 1.15940724e-01] [ 1.81785548e-03 -3.59514100e-03 9.99991885e-01 -4.95558042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52463044 meters 0.26226232720918363 Centerline is valid? [False, False] Translation: X:3.89, Y:0.11, Z:-0.49 [[ 9.99998612e-01 1.45441338e-03 8.13336000e-04 3.88537609e+00] [-1.45675871e-03 9.99994762e-01 2.89046915e-03 1.12098492e-01] [-8.09127802e-04 -2.89164997e-03 9.99995492e-01 -4.94761294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58463044 meters 0.2598993658590672 Centerline is valid? [False, False] Translation: X:3.86, Y:0.11, Z:-0.49 [[ 9.99976909e-01 6.60313394e-03 1.60610728e-03 3.86199412e+00] [-6.60246862e-03 9.99978116e-01 -4.19196745e-04 1.06431922e-01] [-1.60884014e-03 4.08582793e-04 9.99998622e-01 -4.93865385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64463044 meters 0.26148753382270595 Centerline is valid? [False, False] Translation: X:3.88, Y:0.10, Z:-0.49 [[ 9.99997725e-01 -1.95685008e-03 8.49415515e-04 3.88490697e+00] [ 1.95622357e-03 9.99997814e-01 7.37789335e-04 1.04693579e-01] [-8.50857401e-04 -7.36126010e-04 9.99999367e-01 -4.94235881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70463044 meters 0.26056321869216775 Centerline is valid? [False, False] Translation: X:3.89, Y:0.10, Z:-0.49 [[ 9.99998403e-01 -1.63682534e-03 7.17853316e-04 3.88529905e+00] [ 1.63565613e-03 9.99997340e-01 1.62633081e-03 1.00357909e-01] [-7.20513426e-04 -1.62515405e-03 9.99998420e-01 -4.94311931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76463044 meters 0.25919570553994165 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:-0.49 [[ 9.99999190e-01 -1.21720862e-03 3.71160288e-04 3.88624639e+00] [ 1.21604306e-03 9.99994379e-01 3.12455494e-03 9.35835740e-02] [-3.74961437e-04 -3.12410106e-03 9.99995050e-01 -4.94520846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82463044 meters 0.2595954085125636 Centerline is valid? [False, False] Translation: X:3.89, Y:0.09, Z:-0.49 [[ 9.99999633e-01 -8.09025819e-04 2.83612046e-04 3.88661325e+00] [ 8.07838772e-04 9.99991017e-01 4.16088518e-03 8.89473582e-02] [-2.86975762e-04 -4.16065454e-03 9.99991303e-01 -4.94713816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88463044 meters 0.26007265000068697 Centerline is valid? [False, False] Translation: X:3.91, Y:0.08, Z:-0.49 [[ 9.99992133e-01 3.95279375e-03 3.29201712e-04 3.90774679e+00] [-3.95302191e-03 9.99991945e-01 6.95328388e-04 7.86965555e-02] [-3.26450570e-04 -6.96624260e-04 9.99999704e-01 -4.93890989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94463044 meters 0.25999848865988645 Centerline is valid? [False, False] Translation: X:3.91, Y:0.07, Z:-0.49 [[ 9.99999959e-01 4.49826322e-05 2.82420307e-04 3.90809186e+00] [-4.42599975e-05 9.99996727e-01 -2.55820600e-03 7.47723992e-02] [-2.82534457e-04 2.55819339e-03 9.99996688e-01 -4.94283812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00463044 meters 0.2602707381225146 Centerline is valid? [False, False] Translation: X:3.91, Y:0.07, Z:-0.49 [[ 9.99999717e-01 7.44583968e-04 1.08940077e-04 3.90890346e+00] [-7.44456337e-04 9.99999042e-01 -1.16695676e-03 6.72416434e-02] [-1.09808870e-04 1.16687533e-03 9.99999313e-01 -4.94694377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06463044000003 meters 0.2601075563672766 Centerline is valid? [False, False] Translation: X:3.91, Y:0.06, Z:-0.49 [[ 9.99999142e-01 1.29725810e-03 1.84268977e-04 3.90865598e+00] [-1.29727761e-03 9.99999153e-01 1.05839819e-04 6.15192244e-02] [-1.84131519e-04 -1.06078777e-04 9.99999977e-01 -4.94467623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12463044000003 meters 0.260067592474386 Centerline is valid? [False, False] Translation: X:3.91, Y:0.05, Z:-0.49 [[ 9.99997712e-01 2.13454527e-03 1.37815094e-04 3.90828096e+00] [-2.13481394e-03 9.99995762e-01 1.97971981e-03 5.03887519e-02] [-1.33588709e-04 -1.98000949e-03 9.99998031e-01 -4.93646429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18463044000003 meters 0.2620068480383903 Centerline is valid? [False, False] Translation: X:3.91, Y:0.04, Z:-0.50 [[ 9.99999553e-01 5.58597270e-04 -7.62436457e-04 3.91240990e+00] [-5.57769602e-04 9.99999255e-01 1.08533715e-03 4.41868763e-02] [ 7.63042155e-04 -1.08491140e-03 9.99999120e-01 -4.96338983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24463044000004 meters 0.2606637951985149 Centerline is valid? [False, False] Translation: X:3.89, Y:0.03, Z:-0.50 [[ 9.99985143e-01 5.29878494e-03 -1.27935009e-03 3.89126629e+00] [-5.30140847e-03 9.99983834e-01 -2.05607241e-03 3.44394950e-02] [ 1.26843473e-03 2.06282422e-03 9.99997068e-01 -4.97042894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30463044000004 meters 0.2608666186932885 Centerline is valid? [False, False] Translation: X:3.91, Y:0.03, Z:-0.50 [[ 9.99997297e-01 -2.28328162e-03 -4.38353899e-04 3.91131476e+00] [ 2.28315373e-03 9.99997351e-01 -2.92023793e-04 3.38030542e-02] [ 4.39019510e-04 2.91022174e-04 9.99999861e-01 -4.96359432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36463044000004 meters 0.26106190646956184 Centerline is valid? [False, False] Translation: X:3.91, Y:0.03, Z:-0.50 [[ 9.99998206e-01 -1.81880817e-03 -5.29246370e-04 3.91174739e+00] [ 1.81942056e-03 9.99997673e-01 1.15893020e-03 2.70387177e-02] [ 5.27137267e-04 -1.15989104e-03 9.99999188e-01 -4.96570007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42463044 meters 0.2621124242990059 Centerline is valid? [False, False] Translation: X:3.91, Y:0.02, Z:-0.50 [[ 9.99998356e-01 -1.52831813e-03 -9.75992837e-04 3.91316834e+00] [ 1.53043651e-03 9.99996467e-01 2.17343625e-03 2.22725974e-02] [ 9.72667687e-04 -2.17492637e-03 9.99997162e-01 -4.97256771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48463044 meters 0.26033322980489454 Centerline is valid? [False, False] Translation: X:3.89, Y:0.01, Z:-0.50 [[ 9.99995017e-01 2.11288256e-03 -2.34543949e-03 3.89403061e+00] [-2.11696559e-03 9.99996246e-01 -1.73972198e-03 1.25362624e-02] [ 2.34175486e-03 1.74467853e-03 9.99995736e-01 -4.99296918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54463044 meters 0.2622463365527047 Centerline is valid? [False, False] Translation: X:3.92, Y:0.01, Z:-0.50 [[ 9.99993912e-01 -3.35219106e-03 -9.69071283e-04 3.91598208e+00] [ 3.35405207e-03 9.99992522e-01 1.92519784e-03 8.80855738e-03] [ 9.62610405e-04 -1.92843643e-03 9.99997677e-01 -5.00337936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60463044 meters 0.2612593985054985 Centerline is valid? [False, False] Translation: X:3.92, Y:0.01, Z:-0.50 [[ 9.99994863e-01 -3.03888850e-03 -1.01926015e-03 3.91580854e+00] [ 3.04164835e-03 9.99991683e-01 2.71716730e-03 5.39657224e-03] [ 1.01099451e-03 -2.72025357e-03 9.99995789e-01 -4.99797430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66463044 meters 0.2613617311467604 Centerline is valid? [False, False] Translation: X:3.92, Y:0.00, Z:-0.50 [[ 9.99995641e-01 -2.73905616e-03 -1.10226218e-03 3.91614048e+00] [ 2.74329229e-03 9.99988787e-01 3.86014005e-03 2.32315808e-05] [ 1.09167668e-03 -3.86314705e-03 9.99991942e-01 -4.99914395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72463044 meters 0.2604694201233575 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.00, Z:-0.50 [[ 9.99996526e-01 -2.40464432e-03 -1.07962852e-03 3.91593306e+00] [ 2.40982918e-03 9.99985446e-01 4.82711353e-03 -4.08614543e-03] [ 1.06800531e-03 -4.82969848e-03 9.99987767e-01 -4.99535762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78463044 meters 0.2607163944048673 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.50 [[ 9.99997302e-01 -2.00731825e-03 -1.16885830e-03 3.91596300e+00] [ 2.01453146e-03 9.99978732e-01 6.20303224e-03 -1.02698752e-02] [ 1.15638198e-03 -6.20537020e-03 9.99980078e-01 -4.99114795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84463044 meters 0.26114829329076494 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.02, Z:-0.50 [[ 9.99990281e-01 3.98215944e-03 -1.89206155e-03 3.93945966e+00] [-3.97598689e-03 9.99986798e-01 3.25497893e-03 -1.63502511e-02] [ 1.90499841e-03 -3.24742448e-03 9.99992913e-01 -4.99824581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90463044 meters 0.26015217846240174 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.02, Z:-0.50 [[ 9.99981850e-01 -4.76251287e-03 -3.69019900e-03 3.91995264e+00] [ 4.78149880e-03 9.99975290e-01 5.15333590e-03 -2.34495321e-02] [ 3.66556499e-03 -5.17088705e-03 9.99979913e-01 -5.00067366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96463044 meters 0.26148635001033427 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994973e-01 1.18058905e-03 -2.94298264e-03 3.94160615e+00] [-1.17503870e-03 9.99997529e-01 1.88697605e-03 -2.75904507e-02] [ 2.94520312e-03 -1.88350844e-03 9.99993889e-01 -4.99995171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02463044 meters 0.2598218337579863 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.03, Z:-0.50 [[ 9.99978605e-01 5.62736698e-03 -3.33504482e-03 3.91876022e+00] [-5.63296898e-03 9.99982736e-01 -1.67273123e-03 -3.12200226e-02] [ 3.32557417e-03 1.69148165e-03 9.99993040e-01 -4.99775693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08463044 meters 0.2606990071237092 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994519e-01 -1.84954363e-03 -2.74607074e-03 3.93904662e+00] [ 1.84917398e-03 9.99998281e-01 -1.37144195e-04 -3.19721223e-02] [ 2.74631967e-03 1.32065481e-04 9.99996220e-01 -4.98214245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14463044 meters 0.2604575103222306 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994357e-01 -1.66566239e-03 -2.91730326e-03 3.93914339e+00] [ 1.66661128e-03 9.99998559e-01 3.22861546e-04 -3.39497612e-02] [ 2.91676128e-03 -3.27721735e-04 9.99995693e-01 -4.97750492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20463044 meters 0.26030477558725973 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994583e-01 -1.58304088e-03 -2.88569767e-03 3.93909113e+00] [ 1.58455087e-03 9.99998609e-01 5.21055330e-04 -3.48541218e-02] [ 2.88486880e-03 -5.25625042e-04 9.99995701e-01 -4.97772727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26463044 meters 0.2610825084405534 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994676e-01 -1.62247672e-03 -2.83121500e-03 3.93901455e+00] [ 1.62371883e-03 9.99998587e-01 4.36478650e-04 -3.44514972e-02] [ 2.83050282e-03 -4.41073424e-04 9.99995897e-01 -4.97850497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32463044 meters 0.2595649941140942 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:-0.50 [[ 9.99994412e-01 -1.80776209e-03 -2.81222332e-03 3.93862582e+00] [ 1.80774896e-03 9.99998366e-01 -7.20954263e-06 -3.22986951e-02] [ 2.81223176e-03 2.12570855e-06 9.99996046e-01 -4.97303073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38463044 meters 0.2612150890735155 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.03, Z:-0.50 [[ 9.99986006e-01 5.27062360e-03 -4.55851467e-04 3.95880720e+00] [-5.27191462e-03 9.99981959e-01 -2.87886074e-03 -2.82442468e-02] [ 4.40669852e-04 2.88122366e-03 9.99995752e-01 -4.97842562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44463044 meters 0.2596405590784574 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.02, Z:-0.50 [[ 9.99998781e-01 -8.25064344e-04 -1.32539467e-03 3.93789788e+00] [ 8.25550347e-04 9.99999592e-01 3.66179834e-04 -2.40812309e-02] [ 1.32509200e-03 -3.67273568e-04 9.99999055e-01 -4.98377152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50463044 meters 0.25844908609373246 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.02, Z:-0.50 [[ 9.99998568e-01 -1.08369301e-03 -1.29946595e-03 3.93781628e+00] [ 1.08340128e-03 9.99999388e-01 -2.25181913e-04 -2.13073806e-02] [ 1.29970918e-03 2.23773748e-04 9.99999130e-01 -4.98373255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56463044000003 meters 0.2594756530320825 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.02, Z:-0.50 [[ 9.99998148e-01 -1.38625323e-03 -1.33480332e-03 3.93809829e+00] [ 1.38504654e-03 9.99998632e-01 -9.04521046e-04 -1.83152441e-02] [ 1.33605539e-03 9.02670606e-04 9.99998700e-01 -4.98701876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62463044000003 meters 0.2592710026579588 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.02, Z:-0.50 [[ 9.99997611e-01 -1.67427532e-03 -1.40491897e-03 3.93841341e+00] [ 1.67208601e-03 9.99997388e-01 -1.55804641e-03 -1.53520131e-02] [ 1.40752390e-03 1.55569354e-03 9.99997799e-01 -4.98978351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68463044000003 meters 0.25927294659324407 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.50 [[ 9.99996843e-01 -2.08002931e-03 -1.40943042e-03 3.93860045e+00] [ 2.07644578e-03 9.99994620e-01 -2.53924904e-03 -1.08900368e-02] [ 1.41470455e-03 2.53631442e-03 9.99995783e-01 -4.99260677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74463044000004 meters 0.25811512352179644 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.50 [[ 9.99982296e-01 5.83991930e-03 -1.14126751e-03 3.91753301e+00] [-5.84415533e-03 9.99975913e-01 -3.74428695e-03 -1.12957866e-02] [ 1.11937368e-03 3.75089040e-03 9.99992339e-01 -4.99753285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80463044000004 meters 0.2589727619887584 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.50 [[ 9.99999785e-01 5.94300369e-04 2.78432181e-04 3.93889548e+00] [-5.94114401e-04 9.99999601e-01 -6.67516165e-04 -8.43093962e-03] [-2.78828775e-04 6.67350601e-04 9.99999738e-01 -5.00016076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86463044000004 meters 0.25805679782201335 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.50 [[ 9.99999873e-01 3.28638724e-04 3.82345664e-04 3.93867946e+00] [-3.28146827e-04 9.99999119e-01 -1.28587652e-03 -5.58439988e-03] [-3.82767917e-04 1.28575089e-03 9.99999100e-01 -5.00049209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92463044 meters 0.2583592758926805 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:-0.50 [[ 9.99999910e-01 2.00552660e-04 3.73716404e-04 3.93869838e+00] [-1.99954482e-04 9.99998700e-01 -1.59997223e-03 -4.19113313e-03] [-3.74036797e-04 1.59989736e-03 9.99998650e-01 -5.00062658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98463044 meters 0.258368006969139 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:-0.50 [[ 9.99999906e-01 3.74663235e-05 4.31393917e-04 3.93857356e+00] [-3.65714504e-05 9.99997848e-01 -2.07419671e-03 -2.18415600e-03] [-4.31470701e-04 2.07418073e-03 9.99997756e-01 -5.00113686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04463044 meters 0.2581597761171444 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:-0.50 [[ 9.99999860e-01 -1.01709852e-04 5.20038707e-04 3.93812954e+00] [ 1.02995604e-04 9.99996937e-01 -2.47298746e-03 -4.03609112e-04] [-5.19785586e-04 2.47304067e-03 9.99996807e-01 -4.99645098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10463044 meters 0.259336089530474 Centerline is valid? [False, False] Translation: X:3.94, Y:0.00, Z:-0.50 [[ 9.99999913e-01 -2.26616707e-04 3.49179178e-04 3.93919882e+00] [ 2.27629177e-04 9.99995763e-01 -2.90226682e-03 1.70812247e-03] [-3.48519996e-04 2.90234605e-03 9.99995727e-01 -5.00926306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16463044 meters 0.2597093142516426 Centerline is valid? [False, False] Translation: X:3.94, Y:0.00, Z:-0.50 [[ 9.99999883e-01 -2.96650285e-04 3.82921288e-04 3.93908500e+00] [ 2.97824394e-04 9.99995244e-01 -3.06978362e-03 2.45728923e-03] [-3.82008814e-04 3.06989730e-03 9.99995215e-01 -5.00869668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22463044 meters 0.2593045826283318 Centerline is valid? [False, False] Translation: X:3.94, Y:0.00, Z:-0.50 [[ 9.99999830e-01 -4.83415833e-04 3.24822400e-04 3.93942589e+00] [ 4.84565455e-04 9.99993587e-01 -3.54852309e-03 4.60236994e-03] [-3.23104905e-04 3.54867989e-03 9.99993651e-01 -5.01301705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28463044 meters 0.260738057985503 Centerline is valid? [False, False] Translation: X:3.95, Y:0.01, Z:-0.51 [[ 9.99997937e-01 1.79021720e-03 -9.59734721e-04 3.94516934e+00] [-1.79192314e-03 9.99996811e-01 -1.77960117e-03 7.99087104e-03] [ 9.56545788e-04 1.78131727e-03 9.99997956e-01 -5.05289758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34463044 meters 0.26121897396332505 Centerline is valid? [False, False] Translation: X:3.94, Y:0.01, Z:-0.51 [[ 9.99998604e-01 1.47543453e-03 -7.83685830e-04 3.94463788e+00] [-1.47760424e-03 9.99995057e-01 -2.77527371e-03 1.25285038e-02] [ 7.79587222e-04 2.77642782e-03 9.99995842e-01 -5.05099241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40463044 meters 0.2602660644992197 Centerline is valid? [False, False] Translation: X:3.92, Y:0.02, Z:-0.51 [[ 9.99976533e-01 -6.83225606e-03 -5.03710435e-04 3.92479985e+00] [ 6.83136748e-03 9.99975143e-01 -1.74517999e-03 1.85999528e-02] [ 5.15621431e-04 1.74169801e-03 9.99998350e-01 -5.06442940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46463044 meters 0.26072119847532704 Centerline is valid? [False, False] Translation: X:3.93, Y:0.02, Z:-0.51 [[ 9.99993901e-01 -3.19664714e-03 -1.40698356e-03 3.92689748e+00] [ 3.19900999e-03 9.99993471e-01 1.68034291e-03 1.94372091e-02] [ 1.40160291e-03 -1.68483362e-03 9.99997598e-01 -5.06833134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52463044 meters 0.26111942586534875 Centerline is valid? [False, False] Translation: X:3.93, Y:0.02, Z:-0.51 [[ 9.99994027e-01 -3.15478677e-03 -1.41210211e-03 3.92683416e+00] [ 3.15729163e-03 9.99993440e-01 1.77515244e-03 1.89700789e-02] [ 1.40649262e-03 -1.77960025e-03 9.99997427e-01 -5.06676625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58463044 meters 0.25975003460915475 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99989235e-01 4.50442676e-03 -1.11312697e-03 3.90741488e+00] [-4.50379560e-03 9.99989696e-01 5.68866411e-04 1.45941830e-02] [ 1.11567792e-03 -5.63846991e-04 9.99999219e-01 -5.08255830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64463044 meters 0.26029551701702236 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99988817e-01 4.57646392e-03 -1.19228887e-03 3.90732004e+00] [-4.57558484e-03 9.99989259e-01 7.38995815e-04 1.38763723e-02] [ 1.19565805e-03 -7.33532132e-04 9.99999016e-01 -5.07737002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70463044 meters 0.2606502902387109 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99988239e-01 4.67685720e-03 -1.28394107e-03 3.90727467e+00] [-4.67561611e-03 9.99988601e-01 9.67929731e-04 1.27847870e-02] [ 1.28845330e-03 -9.61915132e-04 9.99998707e-01 -5.07259272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76463044 meters 0.2602024577649014 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99987694e-01 4.82248363e-03 -1.16418209e-03 3.90744509e+00] [-4.82095945e-03 9.99987523e-01 1.30850424e-03 1.12039257e-02] [ 1.17047780e-03 -1.30287566e-03 9.99998466e-01 -5.07986357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82463044 meters 0.2605407753504051 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99999297e-01 7.28488348e-04 -9.35486847e-04 3.90672839e+00] [-7.30897075e-04 9.99996412e-01 -2.57708293e-03 1.06858733e-02] [ 9.33606116e-04 2.57776486e-03 9.99996242e-01 -5.07651597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88463044 meters 0.2602573430267416 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99998994e-01 1.05395642e-03 -9.49225772e-04 3.90676272e+00] [-1.05570299e-03 9.99997747e-01 -1.84138079e-03 7.27064870e-03] [ 9.47282898e-04 1.84238103e-03 9.99997854e-01 -5.07626737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94463044 meters 0.2609311195297356 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99998831e-01 1.15059961e-03 -1.00667222e-03 3.90732171e+00] [-1.15222122e-03 9.99998037e-01 -1.61176840e-03 6.24161094e-03] [ 1.00481574e-03 1.61292642e-03 9.99998194e-01 -5.08356798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00463044 meters 0.26249379648912596 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99998654e-01 1.05785480e-03 -1.25441196e-03 3.90828297e+00] [-1.06018088e-03 9.99997717e-01 -1.85511092e-03 7.26121156e-03] [ 1.25244666e-03 1.85643833e-03 9.99997493e-01 -5.09172439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06463044000003 meters 0.2621061758131218 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99998613e-01 9.24517280e-04 -1.38539322e-03 3.90865180e+00] [-9.27538835e-04 9.99997189e-01 -2.18195653e-03 8.78303192e-03] [ 1.38337207e-03 2.18323850e-03 9.99996660e-01 -5.09354664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12463044000003 meters 0.2633080681971076 Centerline is valid? [False, False] Translation: X:3.93, Y:0.01, Z:-0.51 [[ 9.99992459e-01 -3.76218467e-03 -9.63164038e-04 3.93103864e+00] [ 3.76372001e-03 9.99991642e-01 1.59723867e-03 1.03740024e-02] [ 9.57146881e-04 -1.60085171e-03 9.99998261e-01 -5.09503707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18463044000003 meters 0.2627335181072648 Centerline is valid? [False, False] Translation: X:3.93, Y:0.01, Z:-0.51 [[ 9.99991824e-01 -3.87888789e-03 -1.14310800e-03 3.93119639e+00] [ 3.88040257e-03 9.99991592e-01 1.32582472e-03 1.16360225e-02] [ 1.13795566e-03 -1.33024960e-03 9.99998468e-01 -5.09095826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24463044000004 meters 0.2617660996030268 Centerline is valid? [False, False] Translation: X:3.93, Y:0.01, Z:-0.51 [[ 9.99991730e-01 -3.88157211e-03 -1.21365754e-03 3.93087372e+00] [ 3.88315768e-03 9.99991607e-01 1.30682277e-03 1.17933044e-02] [ 1.20857482e-03 -1.31152479e-03 9.99998410e-01 -5.08282930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30463044000004 meters 0.2615736971962737 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99990655e-01 4.32278785e-03 5.95802886e-05 3.90839574e+00] [-4.32282155e-03 9.99990490e-01 5.77685534e-04 9.92037702e-03] [-5.70825100e-05 -5.77937690e-04 9.99999831e-01 -5.08307504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36463044000004 meters 0.2621768338592671 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99991862e-01 4.03420856e-03 1.57324542e-05 3.90857990e+00] [-4.03420471e-03 9.99991834e-01 -2.37266100e-04 1.34458977e-02] [-1.66895067e-05 2.37200702e-04 9.99999972e-01 -5.08486783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42463044 meters 0.2618267405862256 Centerline is valid? [False, False] Translation: X:3.89, Y:0.02, Z:-0.51 [[ 9.99997372e-01 -2.24464078e-03 4.67334376e-04 3.88567276e+00] [ 2.24343056e-03 9.99994170e-01 2.57425642e-03 1.79922162e-02] [-4.73109933e-04 -2.57320122e-03 9.99996577e-01 -5.07730782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48463044 meters 0.2616672165423356 Centerline is valid? [False, False] Translation: X:3.90, Y:0.02, Z:-0.51 [[ 9.99981887e-01 5.57404842e-03 2.27046772e-03 3.90486908e+00] [-5.57555638e-03 9.99984240e-01 6.58376831e-04 1.91262816e-02] [-2.26676211e-03 -6.71024027e-04 9.99997206e-01 -5.06426631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54463044 meters 0.26221087019036393 Centerline is valid? [False, False] Translation: X:3.91, Y:0.02, Z:-0.51 [[ 9.99983169e-01 5.37271038e-03 2.18991287e-03 3.90522975e+00] [-5.37316241e-03 9.99985544e-01 2.00584401e-04 2.12579206e-02] [-2.18880354e-03 -2.12347782e-04 9.99997582e-01 -5.06742720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60463044 meters 0.2616759442699952 Centerline is valid? [False, False] Translation: X:3.91, Y:0.02, Z:-0.51 [[ 9.99983850e-01 5.23400005e-03 2.21470515e-03 3.90512519e+00] [-5.23375233e-03 9.99986297e-01 -1.17634632e-04 2.27960014e-02] [-2.21529050e-03 1.06041514e-04 9.99997541e-01 -5.06701773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66463044 meters 0.2619311452828665 Centerline is valid? [False, False] Translation: X:3.90, Y:0.02, Z:-0.51 [[ 9.99984158e-01 5.19098444e-03 2.17656207e-03 3.90495075e+00] [-5.19053708e-03 9.99986507e-01 -2.11133742e-04 2.33446660e-02] [-2.17762869e-03 1.99832871e-04 9.99997609e-01 -5.06211334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72463044 meters 0.26271220360884856 Centerline is valid? [False, False] Translation: X:3.93, Y:0.02, Z:-0.51 [[ 9.99994295e-01 -3.20720842e-03 1.06025877e-03 3.92774546e+00] [ 3.20687495e-03 9.99994808e-01 3.16071321e-04 2.41780118e-02] [-1.06126697e-03 -3.12669400e-04 9.99999388e-01 -5.05727445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78463044 meters 0.2623229723345365 Centerline is valid? [False, False] Translation: X:3.91, Y:0.02, Z:-0.51 [[ 9.99992672e-01 3.64651427e-03 -1.16606248e-03 3.91181528e+00] [-3.64825904e-03 9.99992224e-01 -1.49768059e-03 1.88219840e-02] [ 1.16059210e-03 1.50192371e-03 9.99998199e-01 -5.08886432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84463044 meters 0.26360002089658396 Centerline is valid? [False, False] Translation: X:3.93, Y:0.02, Z:-0.51 [[ 9.99993455e-01 -3.60796053e-03 -2.69567746e-04 3.93039008e+00] [ 3.60801314e-03 9.99993472e-01 1.94924337e-04 2.15295345e-02] [ 2.68862707e-04 -1.95895666e-04 9.99999945e-01 -5.06353416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90463044 meters 0.26271144092731763 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99991667e-01 3.99259450e-03 8.51508345e-04 3.91052404e+00] [-3.99202793e-03 9.99991810e-01 -6.66045423e-04 1.47997520e-02] [-8.54160620e-04 6.62640628e-04 9.99999416e-01 -5.07910072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96463044 meters 0.2644625166484124 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99991406e-01 4.06614399e-03 8.08343117e-04 3.91074094e+00] [-4.06574098e-03 9.99991610e-01 -4.99585899e-04 1.39575356e-02] [-8.10367723e-04 4.96295092e-04 9.99999548e-01 -5.08089720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02463044 meters 0.2614493089853304 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99991356e-01 4.05343498e-03 9.25593451e-04 3.91028993e+00] [-4.05294819e-03 9.99991648e-01 -5.27195431e-04 1.42266565e-02] [-9.27722673e-04 5.23439491e-04 9.99999433e-01 -5.07738781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08463044 meters 0.26199974823214406 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99990963e-01 4.12273880e-03 1.03816404e-03 3.90995834e+00] [-4.12236423e-03 9.99991437e-01 -3.62676719e-04 1.35720599e-02] [-1.03965037e-03 3.58393751e-04 9.99999395e-01 -5.07576834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14463044 meters 0.2619454288375363 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99990573e-01 4.22225546e-03 1.01288029e-03 3.91025341e+00] [-4.22213590e-03 9.99991080e-01 -1.20152049e-04 1.25148335e-02] [-1.01337857e-03 1.15874398e-04 9.99999480e-01 -5.07956346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20463044 meters 0.2619874284125566 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99989412e-01 4.45950386e-03 1.13516697e-03 3.91022407e+00] [-4.46009550e-03 9.99989919e-01 5.19198393e-04 9.46601835e-03] [-1.13284016e-03 -5.24255849e-04 9.99999221e-01 -5.08286090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26463044 meters 0.26407923623005886 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99988606e-01 4.63662689e-03 1.13580785e-03 3.91056230e+00] [-4.63770123e-03 9.99988799e-01 9.45085705e-04 7.40599412e-03] [-1.13141312e-03 -9.50342474e-04 9.99998908e-01 -5.08835074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32463044 meters 0.2628338754255774 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:-0.51 [[ 9.99988331e-01 4.70500078e-03 1.09614273e-03 3.91095704e+00] [-4.70622263e-03 9.99988304e-01 1.11478131e-03 6.63428165e-03] [-1.09088486e-03 -1.11992700e-03 9.99998778e-01 -5.09385833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38463044 meters 0.2643763971581881 Centerline is valid? [False, False] Translation: X:3.92, Y:0.01, Z:-0.51 [[ 9.99995934e-01 2.85132533e-03 -4.64521395e-05 3.91640836e+00] [-2.85136133e-03 9.99995619e-01 -7.94350380e-04 6.47373487e-03] [ 4.41869846e-05 7.94479602e-04 9.99999683e-01 -5.13536970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44463044 meters 0.2634794595332081 Centerline is valid? [False, False] Translation: X:3.92, Y:0.00, Z:-0.51 [[ 9.99995389e-01 3.03597253e-03 -7.26438870e-05 3.91645435e+00] [-3.03599795e-03 9.99995329e-01 -3.52514504e-04 4.46156455e-03] [ 7.15733233e-05 3.52733425e-04 9.99999935e-01 -5.13479683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50463044 meters 0.2635263308557838 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.00, Z:-0.51 [[ 9.99994272e-01 3.37895305e-03 -1.94710388e-04 3.91646003e+00] [-3.37881710e-03 9.99994051e-01 6.94393216e-04 -2.07600851e-04] [ 1.97055552e-04 -6.93731348e-04 9.99999740e-01 -5.12949486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56463044000003 meters 0.2634072749233184 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.00, Z:-0.51 [[ 9.99985961e-01 -5.25356064e-03 -6.91480512e-04 3.89566987e+00] [ 5.25524603e-03 9.99983169e-01 2.45853992e-03 -3.88375390e-03] [ 6.78552785e-04 -2.46213931e-03 9.99996739e-01 -5.13308317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62463044000003 meters 0.26268770484236736 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.01, Z:-0.51 [[ 9.99986929e-01 -5.05420705e-03 -7.72837309e-04 3.89570816e+00] [ 5.05643448e-03 9.99982988e-01 2.90787719e-03 -5.96940283e-03] [ 7.58127148e-04 -2.91174698e-03 9.99995473e-01 -5.13025872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68463044000003 meters 0.26381561571246026 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.01, Z:-0.51 [[ 9.99987666e-01 -4.88672963e-03 -8.87544072e-04 3.89613209e+00] [ 4.88963126e-03 9.99982610e-01 3.29708029e-03 -7.79908800e-03] [ 8.71416698e-04 -3.30137939e-03 9.99994171e-01 -5.13283641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74463044000004 meters 0.262721922965651 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.01, Z:-0.51 [[ 9.99988917e-01 -4.59931306e-03 -1.00596573e-03 3.89630593e+00] [ 4.60325996e-03 9.99981576e-01 3.95701088e-03 -1.07775062e-02] [ 9.87747661e-04 -3.96159775e-03 9.99991665e-01 -5.13073553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80463044000004 meters 0.26438015426854505 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.01, Z:-0.51 [[ 9.99996522e-01 1.34215827e-03 2.27043481e-03 3.91457138e+00] [-1.34350258e-03 9.99998923e-01 5.90669570e-04 -1.24888330e-02] [-2.26963959e-03 -5.93717850e-04 9.99997248e-01 -5.12700265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86463044 meters 0.2625820801448322 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.01, Z:-0.51 [[ 9.99996545e-01 1.38698374e-03 2.23315787e-03 3.91460085e+00] [-1.38856899e-03 9.99998785e-01 7.08473615e-04 -1.29161168e-02] [-2.23217252e-03 -7.11572061e-04 9.99997256e-01 -5.12616082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92463044 meters 0.2631529220358315 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.51 [[ 9.99997036e-01 1.24050027e-03 2.09487788e-03 3.91502111e+00] [-1.24124549e-03 9.99999167e-01 3.54473871e-04 -1.13456827e-02] [-2.09443641e-03 -3.57073078e-04 9.99997743e-01 -5.12823620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98463044 meters 0.2636019796701186 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.01, Z:-0.51 [[ 9.99997240e-01 9.90112564e-04 2.13060769e-03 3.91487362e+00] [-9.89381413e-04 9.99999451e-01 -3.44192302e-04 -8.31010996e-03] [-2.13094731e-03 3.42083369e-04 9.99997671e-01 -5.12795908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04463044 meters 0.2630975651010429 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.01, Z:-0.51 [[ 9.99997290e-01 8.77808958e-04 2.15626785e-03 3.91496740e+00] [-8.76511326e-04 9.99999434e-01 -6.02666709e-04 -7.13230565e-03] [-2.15679565e-03 6.00775082e-04 9.99997494e-01 -5.13073518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10463044 meters 0.26386950565721057 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:-0.51 [[ 9.99986007e-01 -4.60704400e-03 2.60008780e-03 3.93601411e+00] [ 4.60175996e-03 9.99987342e-01 2.03458969e-03 -1.06012514e-03] [-2.60942833e-03 -2.02259624e-03 9.99994550e-01 -5.12468892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16463044 meters 0.2624079440862472 Centerline is valid? [False, False] Translation: X:3.91, Y:0.00, Z:-0.51 [[ 9.99999042e-01 1.26170511e-03 5.68952212e-04 3.91390295e+00] [-1.26106970e-03 9.99998582e-01 -1.11578114e-03 4.01473454e-03] [-5.70359192e-04 1.11506259e-03 9.99999216e-01 -5.11122896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22463044 meters 0.2635410401702873 Centerline is valid? [False, False] Translation: X:3.94, Y:0.01, Z:-0.51 [[ 9.99992863e-01 -3.56059034e-03 -1.26328546e-03 3.93765470e+00] [ 3.56275280e-03 9.99992185e-01 1.71367448e-03 1.18819622e-02] [ 1.25717389e-03 -1.71816302e-03 9.99997734e-01 -5.11679677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28463044 meters 0.26309873673004985 Centerline is valid? [False, False] Translation: X:3.94, Y:0.02, Z:-0.51 [[ 9.99991481e-01 -3.96076257e-03 -1.16159358e-03 3.93682922e+00] [ 3.96157810e-03 9.99991907e-01 7.00622655e-04 1.68583454e-02] [ 1.15880918e-03 -7.05218431e-04 9.99999080e-01 -5.10877304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34463044 meters 0.2637151811937386 Centerline is valid? [False, False] Translation: X:3.94, Y:0.02, Z:-0.51 [[ 9.99999249e-01 1.32122566e-04 -1.21824945e-03 3.93674321e+00] [-1.26733371e-04 9.99990212e-01 4.42273742e-03 1.89183697e-02] [ 1.21882187e-03 -4.42257971e-03 9.99989478e-01 -5.10537458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40463044 meters 0.26428383308019915 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99999312e-01 -5.43440701e-04 -1.03938916e-03 3.93711871e+00] [ 5.46590908e-04 9.99995251e-01 3.03294705e-03 2.60458387e-02] [ 1.03773600e-03 -3.03351309e-03 9.99994860e-01 -5.11781808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46463044 meters 0.26346647761573533 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99999088e-01 -9.71459078e-04 -9.37923749e-04 3.93664497e+00] [ 9.73423302e-04 9.99997330e-01 2.09604491e-03 3.06948520e-02] [ 9.35885023e-04 -2.09695600e-03 9.99997363e-01 -5.11508399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52463044 meters 0.26254569690699886 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99998933e-01 -1.16552914e-03 -8.80357540e-04 3.93584681e+00] [ 1.16693355e-03 9.99998045e-01 1.59644697e-03 3.32485312e-02] [ 8.78495114e-04 -1.59747258e-03 9.99998338e-01 -5.10399414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58463044 meters 0.26115397939867757 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99998881e-01 -1.20669377e-03 -8.84224024e-04 3.93595796e+00] [ 1.20794149e-03 9.99998274e-01 1.41191483e-03 3.43008189e-02] [ 8.82518748e-04 -1.41298134e-03 9.99998612e-01 -5.10585705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64463044 meters 0.26283233161144837 Centerline is valid? [False, False] Translation: X:3.96, Y:0.03, Z:-0.51 [[ 9.99987830e-01 4.84232186e-03 -9.44387556e-04 3.95969879e+00] [-4.84414559e-03 9.99986388e-01 -1.93848973e-03 3.44662607e-02] [ 9.34987910e-04 1.94304089e-03 9.99997675e-01 -5.11936134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70463044 meters 0.2618927437756319 Centerline is valid? [False, False] Translation: X:3.94, Y:0.04, Z:-0.51 [[ 9.99992502e-01 -3.19219783e-03 -2.19218966e-03 3.94093730e+00] [ 3.19186639e-03 9.99994894e-01 -1.54672078e-04 3.53256918e-02] [ 2.19267221e-03 1.47673742e-04 9.99997585e-01 -5.13732379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76463044 meters 0.26255170914555637 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99992880e-01 -3.06731573e-03 -2.19812709e-03 3.94148275e+00] [ 3.06764032e-03 9.99995284e-01 1.44306813e-04 3.37885412e-02] [ 2.19767409e-03 -1.51048849e-04 9.99997574e-01 -5.14608424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82463044 meters 0.2621075875482267 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.51 [[ 9.99993673e-01 -2.85765835e-03 -2.11861023e-03 3.94137506e+00] [ 2.85902541e-03 9.99995707e-01 6.42514393e-04 3.14106126e-02] [ 2.11676505e-03 -6.48567488e-04 9.99997549e-01 -5.14718288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88463044 meters 0.2628882182755848 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993888e-01 -2.76939603e-03 -2.13400829e-03 3.94169551e+00] [ 2.77119237e-03 9.99995808e-01 8.39274085e-04 3.04067510e-02] [ 2.13167506e-03 -8.45182703e-04 9.99997371e-01 -5.15171283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94463044 meters 0.2641991593696688 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993276e-01 -2.76808783e-03 -2.40527505e-03 3.94276802e+00] [ 2.77020724e-03 9.99995777e-01 8.78264575e-04 2.99145866e-02] [ 2.40283378e-03 -8.84921780e-04 9.99996722e-01 -5.15986596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00463044 meters 0.26454432077999135 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993543e-01 -2.82432367e-03 -2.22196954e-03 3.94243166e+00] [ 2.82596130e-03 9.99995737e-01 7.34222357e-04 3.06089179e-02] [ 2.21988638e-03 -7.40496816e-04 9.99997262e-01 -5.16113331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06463044000003 meters 0.2642248625457197 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993479e-01 -2.91509752e-03 -2.13173724e-03 3.94218001e+00] [ 2.91615517e-03 9.99995626e-01 4.93201384e-04 3.17428956e-02] [ 2.13029018e-03 -4.99414644e-04 9.99997606e-01 -5.16065528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12463044000003 meters 0.2650086532527059 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993341e-01 -2.93473714e-03 -2.16900603e-03 3.94244489e+00] [ 2.93571730e-03 9.99995590e-01 4.48848966e-04 3.19470896e-02] [ 2.16767921e-03 -4.55213565e-04 9.99997547e-01 -5.16333787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18463044000003 meters 0.26481942330655656 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99993145e-01 -2.90645242e-03 -2.29383664e-03 3.94243756e+00] [ 2.90760185e-03 9.99995649e-01 4.97918782e-04 3.16193215e-02] [ 2.29237948e-03 -5.04584932e-04 9.99997245e-01 -5.15864823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24463044000004 meters 0.26385020504793244 Centerline is valid? [False, False] Translation: X:3.94, Y:0.03, Z:-0.52 [[ 9.99992726e-01 -3.04470819e-03 -2.29741849e-03 3.94220570e+00] [ 3.04509508e-03 9.99995350e-01 1.64923117e-04 3.32595622e-02] [ 2.29690566e-03 -1.71917775e-04 9.99997347e-01 -5.15526149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30463044000004 meters 0.26412068655429055 Centerline is valid? [False, False] Translation: X:3.94, Y:0.04, Z:-0.52 [[ 9.99992617e-01 -3.25763487e-03 -2.03816924e-03 3.94150469e+00] [ 3.25673553e-03 9.99994598e-01 -4.44412406e-04 3.60866455e-02] [ 2.03960596e-03 4.37771347e-04 9.99997824e-01 -5.15327000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36463044 meters 0.26589684906229155 Centerline is valid? [False, False] Translation: X:3.94, Y:0.04, Z:-0.52 [[ 9.99997739e-01 4.39978210e-04 -2.08057896e-03 3.94193351e+00] [-4.35085456e-04 9.99997141e-01 2.35149902e-03 4.21345342e-02] [ 2.08160762e-03 -2.35058847e-03 9.99995071e-01 -5.16026941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42463044 meters 0.26634695296856953 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99998524e-01 -4.20061841e-05 -1.71737481e-03 3.94124323e+00] [ 4.37533875e-05 9.99999482e-01 1.01734380e-03 4.80789497e-02] [ 1.71733118e-03 -1.01741744e-03 9.99998008e-01 -5.16296430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48463044 meters 0.26533031928505424 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99998668e-01 -3.37299143e-04 -1.59686495e-03 3.94067199e+00] [ 3.37850612e-04 9.99999883e-01 3.45087622e-04 5.14984880e-02] [ 1.59674837e-03 -3.45626664e-04 9.99998665e-01 -5.15871595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54463044 meters 0.2648389299905136 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99998479e-01 -6.01608361e-04 -1.63734798e-03 3.94077274e+00] [ 6.01213792e-04 9.99999790e-01 -2.41462250e-04 5.44132373e-02] [ 1.63749291e-03 2.40477486e-04 9.99998630e-01 -5.15948364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60463044 meters 0.2641009123242731 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.52 [[ 9.99998377e-01 -7.73475847e-04 -1.62714586e-03 3.94095565e+00] [ 7.72355923e-04 9.99999465e-01 -6.88791412e-04 5.65192071e-02] [ 1.62767775e-03 6.87533558e-04 9.99998439e-01 -5.16337602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66463044 meters 0.26457847133948276 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.52 [[ 9.99998066e-01 -8.29754898e-04 -1.78339067e-03 3.94125888e+00] [ 8.28273291e-04 9.99999311e-01 -8.31359398e-04 5.71717629e-02] [ 1.78407927e-03 8.29880654e-04 9.99998064e-01 -5.16238914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72463044 meters 0.26344973820519746 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-0.52 [[ 9.99998007e-01 -7.38060695e-04 -1.85479698e-03 3.94147073e+00] [ 7.36974064e-04 9.99999556e-01 -5.86464058e-04 5.62256102e-02] [ 1.85522901e-03 5.85095952e-04 9.99998108e-01 -5.16285696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78463044 meters 0.263206905187482 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99998043e-01 -5.78797200e-04 -1.89198300e-03 3.94173534e+00] [ 5.78538649e-04 9.99999823e-01 -1.37200571e-04 5.41857428e-02] [ 1.89206208e-03 1.36105718e-04 9.99998201e-01 -5.16529305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84463044 meters 0.26509879503584977 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99997973e-01 -2.85949796e-04 -1.99321901e-03 3.94236880e+00] [ 2.87228279e-04 9.99999753e-01 6.41159529e-04 5.03706891e-02] [ 1.99303518e-03 -6.41730738e-04 9.99997808e-01 -5.17114225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90463044 meters 0.26425861279047225 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99997955e-01 -1.88893507e-04 -2.01377886e-03 3.94247828e+00] [ 1.90631006e-04 9.99999610e-01 8.62647936e-04 4.93979798e-02] [ 2.01361512e-03 -8.63030060e-04 9.99997600e-01 -5.17233451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96463044 meters 0.26438231027982373 Centerline is valid? [False, False] Translation: X:3.94, Y:0.05, Z:-0.52 [[ 9.99998086e-01 -5.13536528e-05 -1.95569688e-03 3.94250956e+00] [ 5.36565921e-05 9.99999305e-01 1.17752005e-03 4.78770575e-02] [ 1.95563505e-03 -1.17762273e-03 9.99997394e-01 -5.17483047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02463044 meters 0.26589271362915745 Centerline is valid? [False, False] Translation: X:3.97, Y:0.05, Z:-0.52 [[ 9.99979003e-01 6.21041686e-03 -1.85064817e-03 3.96616873e+00] [-6.21363630e-03 9.99979183e-01 -1.73898668e-03 4.55539248e-02] [ 1.83980982e-03 1.75044942e-03 9.99996776e-01 -5.19028332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08463044 meters 0.2662122546914799 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99994846e-01 -2.40760023e-03 -2.12383243e-03 3.94675261e+00] [ 2.40673671e-03 9.99997020e-01 -4.09047068e-04 4.64348806e-02] [ 2.12481092e-03 4.03933454e-04 9.99997661e-01 -5.20141305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14463044 meters 0.2664445316917631 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99995513e-01 -2.35508696e-03 -1.85133354e-03 3.94596536e+00] [ 2.35455079e-03 9.99997185e-01 -2.91742694e-04 4.60100491e-02] [ 1.85201541e-03 2.87382326e-04 9.99998244e-01 -5.19760747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20463044 meters 0.26642970830953516 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99995559e-01 -2.39726235e-03 -1.77076991e-03 3.94581793e+00] [ 2.39655135e-03 9.99997047e-01 -4.03533594e-04 4.64770535e-02] [ 1.77173206e-03 3.99288061e-04 9.99998351e-01 -5.19795309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26463044 meters 0.2674763311406932 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99995634e-01 -2.39465492e-03 -1.73148195e-03 3.94551285e+00] [ 2.39397650e-03 9.99997057e-01 -3.93779811e-04 4.63291119e-02] [ 1.73241982e-03 3.89632965e-04 9.99998423e-01 -5.19436741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32463044 meters 0.2666294067410757 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99995620e-01 -2.41282741e-03 -1.71393148e-03 3.94541949e+00] [ 2.41207837e-03 9.99996995e-01 -4.38965590e-04 4.65350202e-02] [ 1.71498548e-03 4.34829530e-04 9.99998435e-01 -5.19385197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38463044 meters 0.26670996287976034 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99994793e-01 -2.67080357e-03 -1.81103879e-03 3.94626010e+00] [ 2.66843943e-03 9.99995586e-01 -1.30656784e-03 5.07793614e-02] [ 1.81452039e-03 1.30172839e-03 9.99997507e-01 -5.20606515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44463044 meters 0.268315741770713 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-0.52 [[ 9.99997416e-01 1.35261769e-03 -1.82727118e-03 3.94632745e+00] [-1.34841043e-03 9.99996442e-01 2.30175558e-03 5.39912960e-02] [ 1.83037807e-03 -2.29928572e-03 9.99995681e-01 -5.20714911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50463044 meters 0.2666906950344269 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.52 [[ 9.99997857e-01 9.65694823e-04 -1.83137691e-03 3.94588864e+00] [-9.63043251e-04 9.99998488e-01 1.44818648e-03 5.79345590e-02] [ 1.83277264e-03 -1.44641969e-03 9.99997274e-01 -5.20120892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56463044000003 meters 0.26611283137760977 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-0.52 [[ 9.99997751e-01 8.53952037e-04 -1.94155078e-03 3.94630114e+00] [-8.51716183e-04 9.99998974e-01 1.15211662e-03 5.92507379e-02] [ 1.94253264e-03 -1.15046038e-03 9.99997452e-01 -5.20458259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62463044000003 meters 0.26694904785191154 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999965e-01 1.27010694e-04 -2.31707616e-04 3.98773809e+00] [-1.26985996e-04 9.99999986e-01 1.06603854e-04 6.33175903e-02] [ 2.31721153e-04 -1.06574427e-04 9.99999967e-01 -5.19533040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68463044000003 meters 0.2643995620184553 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999963e-01 -8.38120780e-05 2.57394873e-04 3.98596221e+00] [ 8.38087481e-05 9.99999996e-01 1.29476874e-05 6.27865271e-02] [-2.57395957e-04 -1.29261150e-05 9.99999967e-01 -5.18137413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74463044000004 meters 0.2648685781079568 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999993e-01 1.18140653e-05 1.18834293e-04 3.98628739e+00] [-1.18444269e-05 9.99999967e-01 2.55498386e-04 6.16971674e-02] [-1.18831270e-04 -2.55499792e-04 9.99999960e-01 -5.18128391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80463044000004 meters 0.26424381577113093 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999979e-01 1.68969291e-04 -1.17358573e-04 3.98680725e+00] [-1.68895618e-04 9.99999789e-01 6.27492317e-04 5.98823844e-02] [ 1.17464575e-04 -6.27472482e-04 9.99999796e-01 -5.18104370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86463044 meters 0.2651180156719359 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999969e-01 1.97920611e-04 -1.49503031e-04 3.98633393e+00] [-1.97813779e-04 9.99999725e-01 7.14261767e-04 5.92835436e-02] [ 1.49644357e-04 -7.14232172e-04 9.99999734e-01 -5.17147293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92463044 meters 0.2652886382886715 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999994e-01 9.66611546e-05 5.88182839e-05 3.98591074e+00] [-9.66865419e-05 9.99999902e-01 4.31772814e-04 6.05861785e-02] [-5.87765425e-05 -4.31778498e-04 9.99999905e-01 -5.17213980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98463044 meters 0.2645424355888855 Centerline is valid? [False, False] Translation: X:3.99, Y:0.06, Z:-0.52 [[ 9.99999992e-01 -5.50820359e-05 1.15897629e-04 3.98601937e+00] [ 5.50949785e-05 9.99999992e-01 -1.11672614e-04 6.30659797e-02] [-1.15891477e-04 1.11678999e-04 9.99999987e-01 -5.17728572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04463044 meters 0.26728068777835123 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:-0.52 [[ 9.99998397e-01 1.64071845e-03 7.17535917e-04 4.02904767e+00] [-1.64066426e-03 9.99998651e-01 -7.61055801e-05 7.39837252e-02] [-7.17659817e-04 7.49282225e-05 9.99999740e-01 -5.17605562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10463044 meters 0.26595660615216515 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998654e-01 1.44130983e-03 7.83833994e-04 4.02873471e+00] [-1.44088853e-03 9.99998817e-01 -5.37780895e-04 7.62478223e-02] [-7.84608176e-04 5.36650754e-04 9.99999548e-01 -5.17379483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16463044 meters 0.26444469962556744 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998569e-01 1.37758052e-03 9.81769124e-04 4.02790573e+00] [-1.37687044e-03 9.99998790e-01 -7.23578061e-04 7.71742634e-02] [-9.82764723e-04 7.22225257e-04 9.99999256e-01 -5.16666980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22463044 meters 0.2658553271255396 Centerline is valid? [False, False] Translation: X:4.05, Y:0.08, Z:-0.52 [[ 9.99990455e-01 -3.96155893e-03 1.84263962e-03 4.05053405e+00] [ 3.95677181e-03 9.99988806e-01 2.59440287e-03 8.01671226e-02] [-1.85289687e-03 -2.58708720e-03 9.99994937e-01 -5.17702172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28463044 meters 0.2649527259599095 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998282e-01 1.66922060e-03 -8.06536575e-04 4.03261317e+00] [-1.67002516e-03 9.99998108e-01 -9.97909762e-04 8.05070989e-02] [ 8.04869317e-04 9.99254984e-04 9.99999177e-01 -5.18806465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34463044 meters 0.26476312364303334 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998473e-01 1.57524746e-03 -7.56456729e-04 4.03278055e+00] [-1.57617165e-03 9.99998010e-01 -1.22270031e-03 8.15494589e-02] [ 7.54529168e-04 1.22389075e-03 9.99998966e-01 -5.19314131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40463044 meters 0.2642554539115718 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998458e-01 1.59795052e-03 -7.29017656e-04 4.03268943e+00] [-1.59880119e-03 9.99998040e-01 -1.16778465e-03 8.13211496e-02] [ 7.27150166e-04 1.16894841e-03 9.99999052e-01 -5.19246414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46463044 meters 0.2640870289947105 Centerline is valid? [False, False] Translation: X:4.03, Y:0.08, Z:-0.52 [[ 9.99998287e-01 1.71731554e-03 -6.90873131e-04 4.03262180e+00] [-1.71789992e-03 9.99998166e-01 -8.46153820e-04 7.97524137e-02] [ 6.89418751e-04 8.47339221e-04 9.99999403e-01 -5.19221863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52463044 meters 0.26521226329155395 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.52 [[ 9.99988960e-01 -4.69195238e-03 -2.56633352e-04 4.05619944e+00] [ 4.69247596e-03 9.99986829e-01 2.07910547e-03 7.70093729e-02] [ 2.46874908e-04 -2.08028676e-03 9.99997806e-01 -5.20739837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58463044 meters 0.2648283089070264 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.52 [[ 9.99989888e-01 -4.48266468e-03 -3.59470792e-04 4.05662045e+00] [ 4.48357522e-03 9.99986637e-01 2.57351520e-03 7.45946931e-02] [ 3.47929783e-04 -2.57510089e-03 9.99996624e-01 -5.20991956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64463044 meters 0.2647655021197339 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.52 [[ 9.99990486e-01 -4.34055262e-03 -4.32556487e-04 4.05686453e+00] [ 4.34178271e-03 9.99986414e-01 2.88459733e-03 7.30045565e-02] [ 4.20029863e-04 -2.88644795e-03 9.99995746e-01 -5.21075139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70463044 meters 0.26549739975831155 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-0.52 [[ 9.99990259e-01 -4.38708069e-03 -4.85715389e-04 4.05731386e+00] [ 4.38839641e-03 9.99986612e-01 2.74174663e-03 7.37511379e-02] [ 4.73680622e-04 -2.74385144e-03 9.99996123e-01 -5.21700688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76463044 meters 0.2636583171711557 Centerline is valid? [False, False] Translation: X:4.04, Y:0.07, Z:-0.52 [[ 9.99996361e-01 1.54837550e-03 -2.20914282e-03 4.03665035e+00] [-1.54954089e-03 9.99998661e-01 -5.25914547e-04 7.45561527e-02] [ 2.20832555e-03 5.29335791e-04 9.99997422e-01 -5.21679196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82463044 meters 0.265046700793479 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.52 [[ 9.99993649e-01 -3.33950136e-03 -1.24500749e-03 4.05811321e+00] [ 3.34329785e-03 9.99989730e-01 3.05986523e-03 7.78863465e-02] [ 1.23477628e-03 -3.06400823e-03 9.99994544e-01 -5.21306330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88463044 meters 0.26509642535964034 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.52 [[ 9.99993514e-01 -3.35856585e-03 -1.30063706e-03 4.05814339e+00] [ 3.36248559e-03 9.99989777e-01 3.02333954e-03 7.81376460e-02] [ 1.29046968e-03 -3.02769330e-03 9.99994584e-01 -5.21155667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94463044 meters 0.2656825264402616 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.52 [[ 9.99993566e-01 -3.33240400e-03 -1.32798718e-03 4.05806394e+00] [ 3.33648304e-03 9.99989687e-01 3.08130874e-03 7.78678617e-02] [ 1.31770531e-03 -3.08571972e-03 9.99994371e-01 -5.20909166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00463044 meters 0.26369582241361106 Centerline is valid? [False, False] Translation: X:4.06, Y:0.08, Z:-0.52 [[ 9.99994044e-01 -3.21015752e-03 -1.26738023e-03 4.05758814e+00] [ 3.21441717e-03 9.99989144e-01 3.37337413e-03 7.65278197e-02] [ 1.25653741e-03 -3.37742793e-03 9.99993507e-01 -5.20314473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06463044000003 meters 0.26485428525988786 Centerline is valid? [False, False] Translation: X:4.08, Y:0.08, Z:-0.52 [[ 9.99995961e-01 2.83884234e-03 1.39710317e-04 4.07943593e+00] [-2.83888337e-03 9.99995927e-01 2.94374528e-04 7.60656276e-02] [-1.38874065e-04 -2.94769960e-04 9.99999947e-01 -5.20944166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12463044000003 meters 0.26507839151711926 Centerline is valid? [False, False] Translation: X:4.08, Y:0.07, Z:-0.52 [[ 9.99995201e-01 3.09776183e-03 -3.01620883e-05 4.07971736e+00] [-3.09773264e-03 9.99994775e-01 9.24133932e-04 7.28562311e-02] [ 3.30246775e-05 -9.24036063e-04 9.99999573e-01 -5.20733662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18463044000003 meters 0.26587919869455184 Centerline is valid? [False, False] Translation: X:4.08, Y:0.07, Z:-0.52 [[ 9.99994578e-01 3.29284900e-03 -3.33592629e-05 4.08006165e+00] [-3.29279918e-03 9.99993603e-01 1.39724646e-03 7.07834748e-02] [ 3.79599711e-05 -1.39712904e-03 9.99999023e-01 -5.21259469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24463044000004 meters 0.26406685060329127 Centerline is valid? [False, False] Translation: X:4.08, Y:0.07, Z:-0.52 [[ 9.99999729e-01 -7.27121680e-04 -1.11316292e-04 4.08007005e+00] [ 7.26874324e-04 9.99997302e-01 -2.20624823e-03 6.76582560e-02] [ 1.12920203e-04 2.20616672e-03 9.99997560e-01 -5.20995423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30463044000004 meters 0.2637421388951917 Centerline is valid? [False, False] Translation: X:4.08, Y:0.07, Z:-0.52 [[ 9.99999825e-01 -5.66699482e-04 -1.67791431e-04 4.08028296e+00] [ 5.66391042e-04 9.99998160e-01 -1.83261356e-03 6.59191678e-02] [ 1.68829664e-04 1.83251821e-03 9.99998307e-01 -5.21142781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36463044 meters 0.2644967246177608 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.52 [[ 9.99999867e-01 -4.80739196e-04 -1.89178864e-04 4.08064392e+00] [ 4.80433137e-04 9.99998581e-01 -1.61456269e-03 6.48622913e-02] [ 1.89954779e-04 1.61447159e-03 9.99998679e-01 -5.21692371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42463044 meters 0.26434060259707326 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.52 [[ 9.99999890e-01 -4.07079004e-04 -2.32831459e-04 4.08068931e+00] [ 4.06740978e-04 9.99998866e-01 -1.45001754e-03 6.39617384e-02] [ 2.33421467e-04 1.44992267e-03 9.99998922e-01 -5.21557671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48463044 meters 0.26469058592960953 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.52 [[ 9.99999937e-01 -8.41235338e-05 -3.43750135e-04 4.08054775e+00] [ 8.38944932e-05 9.99999775e-01 -6.66259761e-04 6.02222333e-02] [ 3.43806106e-04 6.66230881e-04 9.99999719e-01 -5.20838409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54463044 meters 0.2629936651807882 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-0.52 [[ 9.99991688e-01 -4.05573327e-03 -4.17586993e-04 4.08022197e+00] [ 4.05395144e-03 9.99983034e-01 -4.18286497e-03 5.68791683e-02] [ 4.34544493e-04 4.18113733e-03 9.99991165e-01 -5.19988669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60463044 meters 0.26277890637623597 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-0.52 [[ 9.99993393e-01 -3.61192999e-03 -4.10123377e-04 4.08005521e+00] [ 3.61077717e-03 9.99989623e-01 -2.77768651e-03 4.96985126e-02] [ 4.20151931e-04 2.77618730e-03 9.99996058e-01 -5.19682366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66463044 meters 0.26347235764590266 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-0.52 [[ 9.99994330e-01 -3.33190534e-03 -4.89104715e-04 4.08064338e+00] [ 3.33088024e-03 9.99992285e-01 -2.08194110e-03 4.63989570e-02] [ 4.96037772e-04 2.08030014e-03 9.99997713e-01 -5.20322405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72463044 meters 0.26220944659526935 Centerline is valid? [False, False] Translation: X:4.08, Y:0.04, Z:-0.52 [[ 9.99995626e-01 -2.90330791e-03 -5.65154265e-04 4.08052064e+00] [ 2.90280432e-03 9.99995391e-01 -8.89862144e-04 4.10496725e-02] [ 5.67735204e-04 8.88217720e-04 9.99999444e-01 -5.19751520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78463044 meters 0.26263096413783515 Centerline is valid? [False, False] Translation: X:4.08, Y:0.04, Z:-0.52 [[ 9.99996513e-01 -2.60236466e-03 -4.48130539e-04 4.07998550e+00] [ 2.60238044e-03 9.99996613e-01 3.46198158e-05 3.67594232e-02] [ 4.48038928e-04 -3.57859012e-05 9.99999899e-01 -5.19173334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84463044 meters 0.2612878434609249 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.52 [[ 9.99997360e-01 -2.22030932e-03 -5.92548939e-04 4.08026824e+00] [ 2.22107355e-03 9.99996699e-01 1.29220834e-03 3.13634278e-02] [ 5.89677880e-04 -1.29352102e-03 9.99998990e-01 -5.19041693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90463044 meters 0.2623472645901165 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.52 [[ 9.99997961e-01 -1.91219239e-03 -6.48622610e-04 4.08021721e+00] [ 1.91353666e-03 9.99996010e-01 2.07824778e-03 2.76056960e-02] [ 6.44646012e-04 -2.07948470e-03 9.99997630e-01 -5.18698311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96463044 meters 0.2618563363450943 Centerline is valid? [False, False] Translation: X:4.08, Y:0.03, Z:-0.52 [[ 9.99998457e-01 -1.66329188e-03 -5.65086146e-04 4.08020439e+00] [ 1.66478602e-03 9.99995092e-01 2.65400284e-03 2.50007438e-02] [ 5.60668992e-04 -2.65493949e-03 9.99996318e-01 -5.18947430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02463044 meters 0.26236719065425196 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.52 [[ 9.99998563e-01 -1.49949190e-03 -7.90997973e-04 4.08095364e+00] [ 1.50189412e-03 9.99994236e-01 3.04515466e-03 2.28965798e-02] [ 7.86427229e-04 -3.04633827e-03 9.99995051e-01 -5.19313174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08463044 meters 0.26279555302413204 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.52 [[ 9.99998607e-01 -1.44579125e-03 -8.33849740e-04 4.08140642e+00] [ 1.44843528e-03 9.99993898e-01 3.17903155e-03 2.22275968e-02] [ 8.29248435e-04 -3.18023490e-03 9.99994599e-01 -5.19862312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14463044 meters 0.26270215633062083 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.52 [[ 9.99998838e-01 -1.32527879e-03 -7.53297190e-04 4.08086660e+00] [ 1.32787332e-03 9.99993153e-01 3.45422792e-03 2.10324221e-02] [ 7.48714217e-04 -3.45522419e-03 9.99993750e-01 -5.19224923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20463044 meters 0.2631210703314911 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.52 [[ 9.99999011e-01 -1.19111773e-03 -7.47879027e-04 4.08077782e+00] [ 1.19392449e-03 9.99992204e-01 3.76379283e-03 1.95916242e-02] [ 7.43390076e-04 -3.76468202e-03 9.99992637e-01 -5.19028113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26463044 meters 0.262145411686491 Centerline is valid? [False, False] Translation: X:4.08, Y:0.02, Z:-0.52 [[ 9.99999385e-01 -8.75565883e-04 -6.81288282e-04 4.08100695e+00] [ 8.78677678e-04 9.99989122e-01 4.58070077e-03 1.58510421e-02] [ 6.77270166e-04 -4.58129658e-03 9.99989276e-01 -5.19559269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32463044 meters 0.262167072916465 Centerline is valid? [False, False] Translation: X:4.08, Y:0.01, Z:-0.52 [[ 9.99999462e-01 -6.04611485e-04 -8.43003541e-04 4.08138986e+00] [ 6.09003114e-04 9.99986195e-01 5.21901394e-03 1.29664320e-02] [ 8.39836428e-04 -5.21952453e-03 9.99986026e-01 -5.19555283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38463044 meters 0.26318731253232674 Centerline is valid? [False, False] Translation: X:4.10, Y:0.01, Z:-0.52 [[ 9.99980128e-01 6.28452692e-03 -4.99127298e-04 4.10287228e+00] [-6.28318398e-03 9.99976754e-01 2.64805789e-03 8.68218172e-03] [ 5.15757486e-04 -2.64486915e-03 9.99996369e-01 -5.19464742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44463044 meters 0.26382329261891696 Centerline is valid? [False, False] Translation: X:4.10, Y:0.01, Z:-0.52 [[ 9.99996809e-01 2.49723449e-03 -3.81623359e-04 4.10270955e+00] [-2.49753764e-03 9.99996564e-01 -7.95973614e-04 7.22541667e-03] [ 3.79634315e-04 7.96924193e-04 9.99999610e-01 -5.19639943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50463044 meters 0.26408891014166835 Centerline is valid? [False, False] Translation: X:4.10, Y:0.01, Z:-0.52 [[ 9.99996398e-01 2.64908989e-03 -4.32767887e-04 4.10289361e+00] [-2.64927443e-03 9.99996400e-01 -4.26385616e-04 5.57185963e-03] [ 4.31636795e-04 4.27530600e-04 9.99999815e-01 -5.19723193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56463044000003 meters 0.26460880315371765 Centerline is valid? [False, False] Translation: X:4.10, Y:0.00, Z:-0.52 [[ 9.99995910e-01 2.83028922e-03 -4.11355710e-04 4.10316523e+00] [-2.83029238e-03 9.99995995e-01 -7.09383791e-06 3.66684345e-03] [ 4.11333985e-04 8.25806583e-06 9.99999915e-01 -5.20209164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62463044000003 meters 0.26439872619062604 Centerline is valid? [False, False] Translation: X:4.10, Y:0.00, Z:-0.52 [[ 9.99995293e-01 3.04552323e-03 -3.72930991e-04 4.10301381e+00] [-3.04534590e-03 9.99995250e-01 4.75146982e-04 1.38911084e-03] [ 3.74376291e-04 -4.74009041e-04 9.99999818e-01 -5.20056523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68463044000003 meters 0.2628601235077159 Centerline is valid? [False, False] Translation: X:4.10, Y:0.00, Z:-0.52 [[ 9.99995375e-01 3.03258103e-03 -2.32758281e-04 4.10295399e+00] [-3.03247400e-03 9.99995297e-01 4.58796882e-04 1.60080516e-03] [ 2.34148525e-04 -4.58088927e-04 9.99999868e-01 -5.20525314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74463044000004 meters 0.26594797191106684 Centerline is valid? [False, False] Translation: X:4.13, Y:0.00, Z:-0.52 [[ 9.99997683e-01 -2.15269647e-03 -1.99773347e-06 4.12677846e+00] [ 2.15268931e-03 9.99990950e-01 3.66957146e-03 2.30555183e-03] [-5.90175816e-06 -3.66956726e-03 9.99993267e-01 -5.22432136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80463044000004 meters 0.265576699966293 Centerline is valid? [False, False] Translation: X:4.13, Y:0.00, Z:-0.52 [[ 9.99997937e-01 -2.03099335e-03 3.39515156e-05 4.12694730e+00] [ 2.03084350e-03 9.99990145e-01 3.94780201e-03 9.46087103e-04] [-4.19691406e-05 -3.94772492e-03 9.99992207e-01 -5.22807152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86463044 meters 0.2655195381627965 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-0.52 [[ 9.99998404e-01 -1.78239347e-03 -1.19050312e-04 4.12765469e+00] [ 1.78292130e-03 9.99987870e-01 4.59135749e-03 -2.27279904e-03] [ 1.10865263e-04 -4.59156242e-03 9.99989453e-01 -5.23297701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92463044 meters 0.26592561516974456 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-0.52 [[ 9.99998650e-01 -1.64307199e-03 3.17570479e-06 4.12760158e+00] [ 1.64303656e-03 9.99986581e-01 4.91299805e-03 -3.74298291e-03] [-1.12480717e-05 -4.91298620e-03 9.99987931e-01 -5.23623364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98463044 meters 0.2653434259875755 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-0.52 [[ 9.99998689e-01 -1.61921292e-03 -2.96193340e-05 4.12779558e+00] [ 1.61934022e-03 9.99986317e-01 4.97430528e-03 -3.97954731e-03] [ 2.15644694e-05 -4.97434672e-03 9.99987628e-01 -5.23822037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04463044 meters 0.26568575540605616 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-0.52 [[ 9.99998392e-01 -1.78385380e-03 -1.83948593e-04 4.12849133e+00] [ 1.78467761e-03 9.99987919e-01 4.58003646e-03 -2.18616529e-03] [ 1.75776256e-04 -4.58035739e-03 9.99989495e-01 -5.24489844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10463044 meters 0.26665369105318637 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.00, Z:-0.52 [[ 9.99977624e-01 6.43674610e-03 1.82222148e-03 4.14701616e+00] [-6.44170268e-03 9.99975533e-01 2.72739750e-03 -1.19376011e-03] [-1.80462133e-03 -2.73907468e-03 9.99994620e-01 -5.23534796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16463044 meters 0.26577240280374065 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99978694e-01 6.29440765e-03 1.72957032e-03 4.14725120e+00] [-6.29855983e-03 9.99977270e-01 2.40583257e-03 2.83726804e-04] [-1.71438772e-03 -2.41667511e-03 9.99995610e-01 -5.23594991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22463044 meters 0.26420968989721383 Centerline is valid? [False, False] Translation: X:4.14, Y:0.01, Z:-0.52 [[ 9.99991220e-01 3.25725061e-03 2.63630535e-03 4.14443615e+00] [-3.25437438e-03 9.99994105e-01 -1.09456153e-03 6.88199951e-03] [-2.63985507e-03 1.08597239e-03 9.99995926e-01 -5.22514317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28463044 meters 0.26306930133178263 Centerline is valid? [False, False] Translation: X:4.12, Y:0.00, Z:-0.52 [[ 9.99991134e-01 -4.11539595e-03 8.92214609e-04 4.12381643e+00] [ 4.11400006e-03 9.99990319e-01 1.56075803e-03 4.12539793e-03] [-8.98629109e-04 -1.55707362e-03 9.99998384e-01 -5.22147296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34463044 meters 0.26410821036088544 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99995092e-01 3.13199239e-03 -8.11987618e-05 4.14808799e+00] [-3.13205661e-03 9.99994773e-01 -8.03119245e-04 2.70411997e-03] [ 7.86829740e-05 8.03369623e-04 9.99999674e-01 -5.23496071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40463044 meters 0.26378943614145034 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99994745e-01 3.23814499e-03 -1.53565834e-04 4.14824391e+00] [-3.23822801e-03 9.99994609e-01 -5.43473885e-04 1.53002736e-03] [ 1.51805159e-04 5.43968311e-04 9.99999841e-01 -5.23455292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46463044 meters 0.26425954110425076 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99994536e-01 3.29800236e-03 -2.27590150e-04 4.14834089e+00] [-3.29809446e-03 9.99994479e-01 -4.05470451e-04 8.10032697e-04] [ 2.26251651e-04 4.06218849e-04 9.99999892e-01 -5.23316475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52463044 meters 0.2652951336131026 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99994758e-01 3.22207708e-03 -3.18661285e-04 4.14846533e+00] [-3.22226410e-03 9.99994636e-01 -5.88141987e-04 1.58664696e-03] [ 3.16764536e-04 5.89165715e-04 9.99999776e-01 -5.23194821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58463044 meters 0.26421377320876505 Centerline is valid? [False, False] Translation: X:4.15, Y:0.00, Z:-0.52 [[ 9.99995122e-01 3.11093881e-03 -2.79731613e-04 4.14827121e+00] [-3.11118586e-03 9.99994767e-01 -8.87095539e-04 2.99929369e-03] [ 2.76970449e-04 8.87961509e-04 9.99999567e-01 -5.23006762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64463044 meters 0.2665083082576181 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.52 [[ 9.99989337e-01 -4.49846023e-03 1.04415182e-03 4.16734252e+00] [ 4.49890952e-03 9.99989788e-01 -4.28347564e-04 1.02546388e-02] [-1.04221426e-03 4.33040541e-04 9.99999363e-01 -5.22402676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70463044 meters 0.26446064330663066 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-0.52 [[ 9.99988299e-01 -4.71783892e-03 1.06987608e-03 4.16733958e+00] [ 4.71889957e-03 9.99988375e-01 -9.91031133e-04 1.28673805e-02] [-1.06518812e-03 9.96068174e-04 9.99998937e-01 -5.22563156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76463044 meters 0.26685043016969157 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.52 [[ 9.99999190e-01 -8.24477841e-04 9.69171807e-04 4.16760814e+00] [ 8.22238933e-04 9.99996998e-01 2.30825853e-03 1.72089823e-02] [-9.71072005e-04 -2.30745977e-03 9.99996866e-01 -5.22786319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82463044 meters 0.26436300427506915 Centerline is valid? [False, False] Translation: X:4.17, Y:0.02, Z:-0.52 [[ 9.99995163e-01 2.85455684e-03 1.23515473e-03 4.16693807e+00] [-2.86080290e-03 9.99982979e-01 5.08503504e-03 2.46730170e-02] [-1.22061818e-03 -5.08854398e-03 9.99986308e-01 -5.22777456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88463044 meters 0.2689220518950148 Centerline is valid? [False, False] Translation: X:4.17, Y:0.03, Z:-0.52 [[ 9.99996097e-01 2.39726109e-03 1.43528511e-03 4.16668294e+00] [-2.40288895e-03 9.99989382e-01 3.93227577e-03 3.00565855e-02] [-1.42584317e-03 -3.93570926e-03 9.99991239e-01 -5.23157717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94463044 meters 0.26487672515153293 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99996898e-01 1.94167621e-03 1.56040762e-03 4.16701705e+00] [-1.94624987e-03 9.99993799e-01 2.93491703e-03 3.53813737e-02] [-1.55469929e-03 -2.93794486e-03 9.99994476e-01 -5.24265431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00463044 meters 0.2643120318122334 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99996968e-01 1.89560229e-03 1.57177706e-03 4.16713337e+00] [-1.90003725e-03 9.99994205e-01 2.82494471e-03 3.58367778e-02] [-1.56641298e-03 -2.82792258e-03 9.99994775e-01 -5.24462916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06463044000003 meters 0.2641783897390944 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.53 [[ 9.99997991e-01 1.73010897e-03 1.01243138e-03 4.16877086e+00] [-1.73282907e-03 9.99994875e-01 2.69202718e-03 3.55126520e-02] [-1.00776869e-03 -2.69377614e-03 9.99995864e-01 -5.25289835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12463044000003 meters 0.26439646630061575 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.53 [[ 9.99998098e-01 1.65702268e-03 1.02872073e-03 4.16919505e+00] [-1.65962527e-03 9.99995412e-01 2.53425709e-03 3.63679527e-02] [-1.02451668e-03 -2.53595956e-03 9.99996260e-01 -5.26098413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18463044000003 meters 0.2657040717628856 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.53 [[ 9.99998301e-01 1.42099471e-03 1.17381012e-03 4.16908970e+00] [-1.42320550e-03 9.99997211e-01 1.88474712e-03 3.91755769e-02] [-1.17112863e-03 -1.88641449e-03 9.99997535e-01 -5.26489945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24463044000004 meters 0.26392803085965194 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-0.53 [[ 9.99975575e-01 6.93137545e-03 -8.97012383e-04 4.14698895e+00] [-6.93260730e-03 9.99975020e-01 -1.37753403e-03 4.21594565e-02] [ 8.87441771e-04 1.38371902e-03 9.99998649e-01 -5.25146846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30463044000004 meters 0.2647139958420685 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.52 [[ 9.99999138e-01 -9.15086604e-04 -9.41165007e-04 4.16718187e+00] [ 9.14457346e-04 9.99999358e-01 -6.68808362e-04 4.72378348e-02] [ 9.41776421e-04 6.67947131e-04 9.99999333e-01 -5.24307029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36463044 meters 0.26394281009866155 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.52 [[ 9.99999272e-01 -8.19520853e-04 -8.85106306e-04 4.16667034e+00] [ 8.19127777e-04 9.99999566e-01 -4.44371666e-04 4.63755200e-02] [ 8.85470093e-04 4.43646328e-04 9.99999510e-01 -5.23618802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42463044 meters 0.2650016112466802 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999391e-01 -5.94008998e-04 -9.29639107e-04 4.16670263e+00] [ 5.94162538e-04 9.99999810e-01 1.64892871e-04 4.35566506e-02] [ 9.29540982e-04 -1.65445127e-04 9.99999554e-01 -5.23432612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48463044 meters 0.26455677850977655 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999326e-01 -4.69526534e-04 -1.06199449e-03 4.16737880e+00] [ 4.70023097e-04 9.99999780e-01 4.67375067e-04 4.19835921e-02] [ 1.06177481e-03 -4.67873914e-04 9.99999327e-01 -5.24134676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54463044 meters 0.2645299928523647 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999180e-01 -3.78713184e-04 -1.22327320e-03 4.16757770e+00] [ 3.79536493e-04 9.99999702e-01 6.72875882e-04 4.09782151e-02] [ 1.22301800e-03 -6.73339607e-04 9.99999025e-01 -5.23846114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60463044 meters 0.26401365271555377 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999092e-01 -3.53894846e-04 -1.29991251e-03 4.16733840e+00] [ 3.54841742e-04 9.99999672e-01 7.28272051e-04 4.06903385e-02] [ 1.29965436e-03 -7.28732653e-04 9.99998890e-01 -5.23140291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66463044 meters 0.26493576285316556 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999021e-01 -4.07823736e-04 -1.33879928e-03 4.16746443e+00] [ 4.08642587e-04 9.99999730e-01 6.11414151e-04 4.12559801e-02] [ 1.33854957e-03 -6.11960642e-04 9.99998917e-01 -5.23188974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72463044 meters 0.2659291511399858 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999238e-01 -4.64255629e-04 -1.14431499e-03 4.16723406e+00] [ 4.64797639e-04 9.99999780e-01 4.73434706e-04 4.17816426e-02] [ 1.14409495e-03 -4.73966220e-04 9.99999233e-01 -5.23514686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78463044 meters 0.2647331087989941 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999244e-01 -4.71979521e-04 -1.13586407e-03 4.16729488e+00] [ 4.72502289e-04 9.99999783e-01 4.60014108e-04 4.18700788e-02] [ 1.13564671e-03 -4.60550458e-04 9.99999249e-01 -5.23673321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84463044 meters 0.2649903623870426 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999187e-01 -4.42777849e-04 -1.19621594e-03 4.16709919e+00] [ 4.43407975e-04 9.99999763e-01 5.26552082e-04 4.15571918e-02] [ 1.19598251e-03 -5.27082066e-04 9.99999146e-01 -5.23051343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90463044 meters 0.2641555816131315 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-0.52 [[ 9.99999222e-01 -6.02951684e-04 -1.09175136e-03 4.16685933e+00] [ 6.03076339e-04 9.99999812e-01 1.13853526e-04 4.34777495e-02] [ 1.09168250e-03 -1.14511847e-04 9.99999398e-01 -5.23109386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96463044 meters 0.2666318367767396 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.52 [[ 9.99999168e-01 -8.76147835e-04 -9.47187762e-04 4.16715145e+00] [ 8.75611323e-04 9.99999456e-01 -5.66692350e-04 4.65941370e-02] [ 9.47683753e-04 5.65862510e-04 9.99999391e-01 -5.24197542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02463044 meters 0.2659944722596594 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-0.52 [[ 9.99998975e-01 -1.16389142e-03 -8.33511216e-04 4.16691019e+00] [ 1.16286900e-03 9.99998572e-01 -1.22608195e-03 4.96628782e-02] [ 8.34937052e-04 1.22511143e-03 9.99998901e-01 -5.24297906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08463044 meters 0.26512556060174247 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-0.52 [[ 9.99989123e-01 3.65628403e-03 -2.89572533e-03 4.14584546e+00] [-3.67095765e-03 9.99980367e-01 -5.07833827e-03 5.10458509e-02] [ 2.87710063e-03 5.08891312e-03 9.99982912e-01 -5.24000979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14463044 meters 0.2656001320252269 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-0.52 [[ 9.99989888e-01 3.41098448e-03 -2.93078849e-03 4.14638685e+00] [-3.42752119e-03 9.99978130e-01 -5.65603374e-03 5.37765682e-02] [ 2.91143175e-03 5.66602189e-03 9.99979710e-01 -5.24837118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20463044 meters 0.2646851689029568 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-0.52 [[ 9.99990448e-01 3.31343932e-03 -2.85036215e-03 4.14596757e+00] [-3.33018434e-03 9.99977108e-01 -5.89015288e-03 5.49840704e-02] [ 2.83078023e-03 5.89958885e-03 9.99978591e-01 -5.24458979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26463044 meters 0.263890591823307 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-0.52 [[ 9.99982975e-01 -4.55693380e-03 -3.64486687e-03 4.16681143e+00] [ 4.53703631e-03 9.99974863e-01 -5.44880885e-03 6.33862245e-02] [ 3.66960511e-03 5.43217919e-03 9.99978512e-01 -5.23012839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32463044 meters 0.26194054450189763 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-0.52 [[ 9.99982178e-01 -4.61645938e-03 -3.78563969e-03 4.16695082e+00] [ 4.59518876e-03 9.99973715e-01 -5.60834457e-03 6.40272866e-02] [ 3.81143088e-03 5.59084889e-03 9.99977107e-01 -5.22740416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38463044 meters 0.263523451711621 Centerline is valid? [False, False] Translation: X:4.19, Y:0.07, Z:-0.52 [[ 9.99994526e-01 3.16306998e-03 -9.71433736e-04 4.18603872e+00] [-3.17024194e-03 9.99967057e-01 -7.47226102e-03 6.85382601e-02] [ 9.47766450e-04 7.47529979e-03 9.99971610e-01 -5.22483973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44463044 meters 0.2646488345669961 Centerline is valid? [False, False] Translation: X:4.19, Y:0.07, Z:-0.52 [[ 9.99995464e-01 2.89183943e-03 -8.42595531e-04 4.18578762e+00] [-2.89866673e-03 9.99962035e-01 -8.21739291e-03 7.17753185e-02] [ 8.18800162e-04 8.21979804e-03 9.99965882e-01 -5.22603946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50463044 meters 0.2631381100703824 Centerline is valid? [False, False] Translation: X:4.19, Y:0.08, Z:-0.52 [[ 9.99996367e-01 2.61931809e-03 -6.36424700e-04 4.18544177e+00] [-2.62526376e-03 9.99951158e-01 -9.52834186e-03 7.76563561e-02] [ 6.11435858e-04 9.52997803e-03 9.99954402e-01 -5.22910276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56463044000003 meters 0.26512511744275463 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-0.52 [[ 9.99991608e-01 -2.12505411e-03 -3.50249649e-03 4.20766525e+00] [ 2.10081341e-03 9.99973918e-01 -6.91018479e-03 8.93842653e-02] [ 3.51708966e-03 6.90276871e-03 9.99969990e-01 -5.21865994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62463044000003 meters 0.2648928476764278 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-0.52 [[ 9.99992511e-01 1.61038309e-03 -3.51912936e-03 4.20780099e+00] [-1.62425511e-03 9.99990909e-01 -3.94259557e-03 9.48786378e-02] [ 3.51274828e-03 3.94828201e-03 9.99986036e-01 -5.22170140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68463044000003 meters 0.2667195352725634 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-0.52 [[ 9.99993004e-01 1.26175810e-03 -3.52131172e-03 4.20767103e+00] [-1.27837646e-03 9.99988038e-01 -4.72111354e-03 9.85021930e-02] [ 3.51531270e-03 4.72558207e-03 9.99982656e-01 -5.21983007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74463044000004 meters 0.2638495672286085 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-0.52 [[ 9.99993612e-01 6.83484577e-04 -3.50837449e-03 4.20763772e+00] [-7.04751254e-04 9.99981365e-01 -6.06403665e-03 1.04694974e-01] [ 3.50416443e-03 6.06647045e-03 9.99975459e-01 -5.22096951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80463044000004 meters 0.2638685566866328 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99994567e-01 2.19541907e-04 -3.28894459e-03 4.20698017e+00] [-2.43607348e-04 9.99973190e-01 -7.31845809e-03 1.10974643e-01] [ 3.28724971e-03 7.31921955e-03 9.99967811e-01 -5.22002063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86463044 meters 0.2629849815670876 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99985663e-01 4.23919090e-03 -3.27147708e-03 4.20643434e+00] [-4.25085879e-03 9.99984600e-01 -3.56787574e-03 1.11897670e-01] [ 3.25630179e-03 3.58173117e-03 9.99988284e-01 -5.21159648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92463044 meters 0.2616514131238381 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99985937e-01 4.24875129e-03 -3.17395037e-03 4.20615675e+00] [-4.25986317e-03 9.99984793e-01 -3.50244294e-03 1.11352279e-01] [ 3.15902109e-03 3.51591427e-03 9.99988829e-01 -5.21031955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98463044 meters 0.2622235856579434 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99985068e-01 4.40852411e-03 -3.22929905e-03 4.20654821e+00] [-4.41841688e-03 9.99985548e-01 -3.06274192e-03 1.09519150e-01] [ 3.21575021e-03 3.07696458e-03 9.99990096e-01 -5.21472904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04463044 meters 0.2616925488730626 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99984129e-01 4.63963467e-03 -3.19621427e-03 4.20648229e+00] [-4.64769241e-03 9.99986029e-01 -2.51822826e-03 1.07025283e-01] [ 3.18448596e-03 2.53304331e-03 9.99991721e-01 -5.21471609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10463044 meters 0.26340951428202025 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99983754e-01 4.65916147e-03 -3.28385304e-03 4.20715193e+00] [-4.66726746e-03 9.99986070e-01 -2.46511153e-03 1.06722029e-01] [ 3.27232194e-03 2.48039810e-03 9.99991570e-01 -5.22303691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16463044 meters 0.26203364163485054 Centerline is valid? [False, False] Translation: X:4.19, Y:0.11, Z:-0.52 [[ 9.99982507e-01 -3.64863718e-03 -4.65554826e-03 4.18929857e+00] [ 3.64336025e-03 9.99992711e-01 -1.14145039e-03 1.08629805e-01] [ 4.65967907e-03 1.12446858e-03 9.99988511e-01 -5.24605855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22463044 meters 0.26365013842880125 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99990160e-01 4.19908493e-03 -1.43061957e-03 4.20681408e+00] [-4.20317098e-03 9.99987062e-01 -2.86520518e-03 1.09895578e-01] [ 1.41856982e-03 2.87119012e-03 9.99994872e-01 -5.23259450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28463044 meters 0.262097582097216 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99990676e-01 4.11963312e-03 -1.29474067e-03 4.20650373e+00] [-4.12355436e-03 9.99986875e-01 -3.04064951e-03 1.10755991e-01] [ 1.28219732e-03 3.04596009e-03 9.99994539e-01 -5.23271870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34463044 meters 0.26338355332143876 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99991205e-01 3.94914012e-03 -1.41204814e-03 4.20734436e+00] [-3.95398283e-03 9.99986254e-01 -3.44338061e-03 1.12632538e-01] [ 1.39843034e-03 3.44893354e-03 9.99993075e-01 -5.24339582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40463044 meters 0.26187256202206655 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:-0.52 [[ 9.99995588e-01 -1.53989746e-03 -2.54029503e-03 4.18616788e+00] [ 1.54038689e-03 9.99998795e-01 1.90721468e-04 1.15398672e-01] [ 2.53999828e-03 -1.94633664e-04 9.99996755e-01 -5.24442670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46463044 meters 0.26246521644603205 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:-0.52 [[ 9.99995661e-01 -1.73741144e-03 -2.37880309e-03 4.18557255e+00] [ 1.73667583e-03 9.99998444e-01 -3.11265040e-04 1.17864307e-01] [ 2.37934018e-03 3.07132479e-04 9.99997122e-01 -5.24070225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52463044 meters 0.2633455556886639 Centerline is valid? [False, False] Translation: X:4.19, Y:0.12, Z:-0.52 [[ 9.99995664e-01 -1.84740584e-03 -2.29320774e-03 4.18543882e+00] [ 1.84611280e-03 9.99998136e-01 -5.65844018e-04 1.18990782e-01] [ 2.29424881e-03 5.61608045e-04 9.99997211e-01 -5.24170974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58463044 meters 0.2630073098023448 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:-0.53 [[ 9.99994446e-01 -2.26723931e-03 -2.44266930e-03 4.18642168e+00] [ 2.26291014e-03 9.99995867e-01 -1.77362021e-03 1.25014020e-01] [ 2.44668043e-03 1.76808282e-03 9.99995444e-01 -5.25337121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64463044 meters 0.26334185230708396 Centerline is valid? [False, False] Translation: X:4.19, Y:0.13, Z:-0.53 [[ 9.99993673e-01 -2.53923292e-03 -2.49135531e-03 4.18676463e+00] [ 2.53324295e-03 9.99993900e-01 -2.40452189e-03 1.27932951e-01] [ 2.49744576e-03 2.39819546e-03 9.99994006e-01 -5.25784922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70463044 meters 0.26294177534087354 Centerline is valid? [False, False] Translation: X:4.18, Y:0.13, Z:-0.52 [[ 9.99999084e-01 -3.47684519e-04 -1.30846320e-03 4.18199751e+00] [ 3.46692416e-04 9.99999652e-01 -7.58369735e-04 1.33422424e-01] [ 1.30872641e-03 7.57915406e-04 9.99998856e-01 -5.22999116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76463044 meters 0.2652537062519038 Centerline is valid? [False, False] Translation: X:4.20, Y:0.14, Z:-0.52 [[ 9.99984617e-01 -5.52205117e-03 -5.22155997e-04 4.20447522e+00] [ 5.52335678e-03 9.99981538e-01 2.53293155e-03 1.37854098e-01] [ 5.08159380e-04 -2.53577664e-03 9.99996656e-01 -5.23689401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82463044 meters 0.2653612700495763 Centerline is valid? [False, False] Translation: X:4.20, Y:0.14, Z:-0.52 [[ 9.99983353e-01 -5.73343387e-03 -6.48633472e-04 4.20492512e+00] [ 5.73475325e-03 9.99981453e-01 2.05085372e-03 1.40165205e-01] [ 6.36863008e-04 -2.05453933e-03 9.99997687e-01 -5.24016483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88463044 meters 0.2651345847804588 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:-0.52 [[ 9.99983269e-01 -5.72388601e-03 -8.35586250e-04 4.20517355e+00] [ 5.72561071e-03 9.99981453e-01 2.07646863e-03 1.40119608e-01] [ 8.23685282e-04 -2.08121813e-03 9.99997495e-01 -5.23702307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94463044 meters 0.2658828001968928 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99993683e-01 2.74504419e-03 -2.25806955e-03 4.22653628e+00] [-2.74263249e-03 9.99995666e-01 1.07043844e-03 1.36886615e-01] [ 2.26099817e-03 -1.06423862e-03 9.99996878e-01 -5.22560096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00463044 meters 0.26422817792009523 Centerline is valid? [False, False] Translation: X:4.21, Y:0.14, Z:-0.52 [[ 9.99979924e-01 -5.65032266e-03 -2.86813272e-03 4.20614789e+00] [ 5.65737403e-03 9.99980980e-01 2.45639164e-03 1.35975865e-01] [ 2.85419876e-03 -2.47256842e-03 9.99992870e-01 -5.23164081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06463044000003 meters 0.26523245020469344 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996179e-01 2.29598334e-03 -1.53980916e-03 4.22555987e+00] [-2.29451239e-03 9.99996910e-01 9.56367115e-04 1.35797533e-01] [ 1.54200020e-03 -9.52830349e-04 9.99998357e-01 -5.21361675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12463044000003 meters 0.26364760136976717 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996306e-01 2.20772928e-03 -1.58554537e-03 4.22520443e+00] [-2.20659969e-03 9.99997311e-01 7.13826710e-04 1.36949514e-01] [ 1.58711704e-03 -7.10325409e-04 9.99998488e-01 -5.20620908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18463044000003 meters 0.26377822271840173 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996382e-01 2.03390106e-03 -1.76074748e-03 4.22541146e+00] [-2.03343767e-03 9.99997897e-01 2.64926149e-04 1.39110176e-01] [ 1.76128261e-03 -2.61344820e-04 9.99998415e-01 -5.20351637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24463044000004 meters 0.26465956129275314 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996430e-01 1.95030379e-03 -1.82664508e-03 4.22534516e+00] [-1.95017518e-03 9.99998096e-01 7.21819849e-05 1.39948869e-01] [ 1.82678238e-03 -6.86194493e-05 9.99998329e-01 -5.19984756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30463044000004 meters 0.264542381510568 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996317e-01 1.89562376e-03 -1.94232802e-03 4.22549018e+00] [-1.89569886e-03 9.99998202e-01 -3.68220718e-05 1.40587704e-01] [ 1.94225473e-03 4.05040052e-05 9.99998113e-01 -5.19769278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36463044 meters 0.26490882084599277 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99995870e-01 1.87523256e-03 -2.17808213e-03 4.22568286e+00] [-1.87540732e-03 9.99998238e-01 -7.81966171e-05 1.40917298e-01] [ 2.17793166e-03 8.22810854e-05 9.99997625e-01 -5.19179998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42463044 meters 0.26309044734776366 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99995979e-01 1.80418954e-03 -2.18783032e-03 4.22546394e+00] [-1.80470148e-03 9.99998345e-01 -2.32041166e-04 1.41738058e-01] [ 2.18740805e-03 2.35988613e-04 9.99997580e-01 -5.18771350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48463044 meters 0.26393704349653135 Centerline is valid? [False, False] Translation: X:4.23, Y:0.14, Z:-0.52 [[ 9.99996346e-01 1.56417298e-03 -2.20468583e-03 4.22570202e+00] [-1.56599962e-03 9.99998432e-01 -8.27044543e-04 1.44575002e-01] [ 2.20338874e-03 8.30494059e-04 9.99997228e-01 -5.19107596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54463044 meters 0.2643521255325457 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99996585e-01 1.33593741e-03 -2.24613254e-03 4.22580604e+00] [-1.33898033e-03 9.99998187e-01 -1.35378204e-03 1.47033144e-01] [ 2.24431990e-03 1.35678494e-03 9.99996561e-01 -5.19125162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60463044 meters 0.26446772652694284 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99996838e-01 1.10612361e-03 -2.25863260e-03 4.22573568e+00] [-1.11035467e-03 9.99997630e-01 -1.87288687e-03 1.49438794e-01] [ 2.25655561e-03 1.87538883e-03 9.99995695e-01 -5.18976153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66463044 meters 0.26529973807618984 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99996560e-01 9.76303480e-04 -2.43453828e-03 4.22617397e+00] [-9.81596261e-04 9.99997156e-01 -2.17379246e-03 1.50860328e-01] [ 2.43240907e-03 2.17617472e-03 9.99994674e-01 -5.19055171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72463044 meters 0.2637292079196404 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99996402e-01 7.73846625e-04 -2.56863710e-03 4.22639143e+00] [-7.80626669e-04 9.99996212e-01 -2.63959682e-03 1.53032695e-01] [ 2.56658473e-03 2.64159247e-03 9.99993217e-01 -5.18901663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78463044 meters 0.2655429372838388 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99996444e-01 5.91937478e-04 -2.60048146e-03 4.22656544e+00] [-5.99866767e-04 9.99995171e-01 -3.04944076e-03 1.54988677e-01] [ 2.59866382e-03 3.05098986e-03 9.99991969e-01 -5.19053812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84463044 meters 0.2638600184958619 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:-0.52 [[ 9.99996195e-01 2.88297556e-04 -2.74347793e-03 4.22658752e+00] [-2.98663957e-04 9.99992815e-01 -3.77890269e-03 1.58293095e-01] [ 2.74236877e-03 3.77970769e-03 9.99989097e-01 -5.18581229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90463044 meters 0.26425964179704575 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:-0.52 [[ 9.99996062e-01 1.51366415e-04 -2.80226408e-03 4.22649018e+00] [-1.62831512e-04 9.99991616e-01 -4.09159346e-03 1.59731156e-01] [ 2.80162126e-03 4.09203365e-03 9.99987703e-01 -5.18183139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96463044 meters 0.264692121580232 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:-0.52 [[ 9.99995981e-01 1.18210754e-04 -2.83260064e-03 4.22634055e+00] [-1.30006335e-04 9.99991320e-01 -4.16440100e-03 1.60137085e-01] [ 2.83208377e-03 4.16475252e-03 9.99987317e-01 -5.17790341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02463044 meters 0.2635857048481271 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:-0.52 [[ 9.99995694e-01 2.60183373e-04 -2.92319472e-03 4.22622431e+00] [-2.71294369e-04 9.99992739e-01 -3.80122366e-03 1.58625469e-01] [ 2.92218448e-03 3.80200033e-03 9.99988503e-01 -5.17150011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08463044 meters 0.2638453965678117 Centerline is valid? [False, False] Translation: X:4.23, Y:0.16, Z:-0.52 [[ 9.99995299e-01 5.14825716e-04 -3.02284023e-03 4.22646960e+00] [-5.24266339e-04 9.99994986e-01 -3.12313585e-03 1.55461641e-01] [ 3.02121721e-03 3.12470594e-03 9.99990554e-01 -5.17128856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14463044 meters 0.2636530852093529 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99994767e-01 7.72054650e-04 -3.14164002e-03 4.22668292e+00] [-7.79900273e-04 9.99996579e-01 -2.49684354e-03 1.52552102e-01] [ 3.13970157e-03 2.49928064e-03 9.99991948e-01 -5.17029652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20463044 meters 0.2645554773252001 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99993867e-01 1.15069560e-03 -3.30786009e-03 4.22727070e+00] [-1.15600121e-03 9.99998048e-01 -1.60247861e-03 1.48450648e-01] [ 3.30600967e-03 1.60629267e-03 9.99993245e-01 -5.17302893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26463044 meters 0.2653962511739993 Centerline is valid? [False, False] Translation: X:4.23, Y:0.15, Z:-0.52 [[ 9.99993725e-01 1.32128636e-03 -3.28697083e-03 4.22735609e+00] [-1.32529721e-03 9.99998380e-01 -1.21834654e-03 1.46700673e-01] [ 3.28535572e-03 1.22269511e-03 9.99993856e-01 -5.17471637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32463044 meters 0.26351995032024256 Centerline is valid? [False, False] Translation: X:4.20, Y:0.14, Z:-0.52 [[ 9.99967869e-01 -7.58474483e-03 -2.59490350e-03 4.20435432e+00] [ 7.58391133e-03 9.99971187e-01 -3.30895075e-04 1.44606252e-01] [ 2.59733849e-03 3.11204925e-04 9.99996578e-01 -5.17146320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38463044 meters 0.26454074282341583 Centerline is valid? [False, False] Translation: X:4.20, Y:0.14, Z:-0.52 [[ 9.99968916e-01 -7.39235614e-03 -2.74241482e-03 4.20453869e+00] [ 7.39268439e-03 9.99972668e-01 1.09575020e-04 1.42541875e-01] [ 2.74152985e-03 -1.29845421e-04 9.99996234e-01 -5.16838733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44463044 meters 0.26502411981319546 Centerline is valid? [False, False] Translation: X:4.22, Y:0.14, Z:-0.52 [[ 9.99997391e-01 6.64860416e-04 -2.18522386e-03 4.22427117e+00] [-6.66298059e-04 9.99999562e-01 -6.57230608e-04 1.36340470e-01] [ 2.18478594e-03 6.58684904e-04 9.99997396e-01 -5.15126298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50463044 meters 0.2643154048740479 Centerline is valid? [False, False] Translation: X:4.22, Y:0.14, Z:-0.51 [[ 9.99997344e-01 7.63941671e-04 -2.17455365e-03 4.22417967e+00] [-7.64907696e-04 9.99999609e-01 -4.43443217e-04 1.35333817e-01] [ 2.17421403e-03 4.45105372e-04 9.99997537e-01 -5.14998248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56463044000003 meters 0.2633330918817019 Centerline is valid? [False, False] Translation: X:4.22, Y:0.13, Z:-0.51 [[ 9.99997393e-01 9.40641170e-04 -2.08064141e-03 4.22394764e+00] [-9.40719469e-04 9.99999557e-01 -3.66538163e-05 1.33495204e-01] [ 2.08060601e-03 3.86110206e-05 9.99997835e-01 -5.14917868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62463044000003 meters 0.26420913032245463 Centerline is valid? [False, False] Translation: X:4.22, Y:0.13, Z:-0.51 [[ 9.99997019e-01 1.29757513e-03 -2.06834619e-03 4.22394184e+00] [-1.29599375e-03 9.99998867e-01 7.65721458e-04 1.29780254e-01] [ 2.06933743e-03 -7.63038612e-04 9.99997568e-01 -5.14896599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68463044000003 meters 0.2625729591156421 Centerline is valid? [False, False] Translation: X:4.18, Y:0.12, Z:-0.52 [[ 9.99989566e-01 7.95450474e-04 -4.49839237e-03 4.18286459e+00] [-7.91415457e-04 9.99999283e-01 8.98699862e-04 1.21400910e-01] [ 4.49910401e-03 -8.95130387e-04 9.99989478e-01 -5.16193641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74463044000004 meters 0.2642174245602162 Centerline is valid? [False, False] Translation: X:4.21, Y:0.11, Z:-0.52 [[ 9.99976483e-01 5.91774314e-03 -3.46598523e-03 4.20511195e+00] [-5.92576501e-03 9.99979777e-01 -2.30877862e-03 1.14514489e-01] [ 3.45225237e-03 2.32926294e-03 9.99991328e-01 -5.16700072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80463044000004 meters 0.2634783711560844 Centerline is valid? [False, False] Translation: X:4.23, Y:0.11, Z:-0.52 [[ 9.99994677e-01 -2.08050531e-03 -2.51348456e-03 4.22578392e+00] [ 2.07853306e-03 9.99997530e-01 -7.87022215e-04 1.12231593e-01] [ 2.51511575e-03 7.81793665e-04 9.99996531e-01 -5.15934810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86463044 meters 0.26325419390204974 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-0.52 [[ 9.99992210e-01 2.17501368e-03 -3.29380507e-03 4.20586457e+00] [-2.18854572e-03 9.99989158e-01 -4.11031404e-03 9.98922718e-02] [ 3.28482937e-03 4.11749066e-03 9.99986128e-01 -5.17008006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92463044 meters 0.26285875010938214 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-0.52 [[ 9.99991167e-01 2.58859211e-03 -3.31127254e-03 4.20618040e+00] [-2.59897025e-03 9.99991713e-01 -3.13373076e-03 9.54337166e-02] [ 3.30313314e-03 3.14230898e-03 9.99989608e-01 -5.17401131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98463044 meters 0.26310842844501264 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-0.52 [[ 9.99989349e-01 3.10074026e-03 -3.41853394e-03 4.20614929e+00] [-3.10771799e-03 9.99993095e-01 -2.03772795e-03 9.00522271e-02] [ 3.41219187e-03 2.04833009e-03 9.99992081e-01 -5.16922469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04463044 meters 0.26274457670668416 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-0.52 [[ 9.99988759e-01 3.29575964e-03 -3.40891207e-03 4.20628101e+00] [-3.30121213e-03 9.99993279e-01 -1.59509416e-03 8.80105676e-02] [ 3.40363212e-03 1.60632977e-03 9.99992917e-01 -5.17158329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10463044 meters 0.2647347406875241 Centerline is valid? [False, False] Translation: X:4.23, Y:0.09, Z:-0.52 [[ 9.99984261e-01 -2.99485818e-03 -4.74428969e-03 4.23176823e+00] [ 2.99884217e-03 9.99995157e-01 8.32852810e-04 8.82516849e-02] [ 4.74177243e-03 -8.47067077e-04 9.99988399e-01 -5.18991986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16463044 meters 0.2650509204088159 Centerline is valid? [False, False] Translation: X:4.23, Y:0.09, Z:-0.52 [[ 9.99984667e-01 -2.96551344e-03 -4.67662323e-03 4.23171848e+00] [ 2.96977052e-03 9.99995182e-01 9.03606501e-04 8.78883711e-02] [ 4.67392104e-03 -9.17481144e-04 9.99988656e-01 -5.19167824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22463044 meters 0.2646733169084714 Centerline is valid? [False, False] Translation: X:4.23, Y:0.09, Z:-0.52 [[ 9.99985949e-01 -2.78086896e-03 -4.51320547e-03 4.23147387e+00] [ 2.78685635e-03 9.99995244e-01 1.32089142e-03 8.59733697e-02] [ 4.50951078e-03 -1.33345052e-03 9.99988943e-01 -5.19360789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28463044 meters 0.2641005348507751 Centerline is valid? [False, False] Translation: X:4.23, Y:0.08, Z:-0.52 [[ 9.99986023e-01 -2.57464763e-03 -4.61785477e-03 4.23169006e+00] [ 2.58314880e-03 9.99994978e-01 1.83591604e-03 8.36319063e-02] [ 4.61310474e-03 -1.84781899e-03 9.99987652e-01 -5.19257081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34463044 meters 0.26434223121507516 Centerline is valid? [False, False] Translation: X:4.23, Y:0.08, Z:-0.52 [[ 9.99987222e-01 -2.27418765e-03 -4.51476599e-03 4.23122648e+00] [ 2.28625160e-03 9.99993825e-01 2.66874843e-03 7.98797106e-02] [ 4.50866888e-03 -2.67903622e-03 9.99986247e-01 -5.18739755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40463044 meters 0.26373065645695304 Centerline is valid? [False, False] Translation: X:4.23, Y:0.08, Z:-0.52 [[ 9.99987640e-01 -2.07698141e-03 -4.51721459e-03 4.23120359e+00] [ 2.09109160e-03 9.99992943e-01 3.12117184e-03 7.78080120e-02] [ 4.51070010e-03 -3.13057917e-03 9.99984926e-01 -5.18658902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46463044 meters 0.26380219579117975 Centerline is valid? [False, False] Translation: X:4.23, Y:0.08, Z:-0.52 [[ 9.99987454e-01 -1.88971839e-03 -4.63899207e-03 4.23165474e+00] [ 1.90612967e-03 9.99991932e-01 3.53581326e-03 7.58738329e-02] [ 4.63227296e-03 -3.54461142e-03 9.99982989e-01 -5.18888727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52463044 meters 0.26241322057655553 Centerline is valid? [False, False] Translation: X:4.21, Y:0.07, Z:-0.52 [[ 9.99987588e-01 3.11241433e-03 -3.89070547e-03 4.20805663e+00] [-3.11160358e-03 9.99995136e-01 2.14417477e-04 7.23089972e-02] [ 3.89135390e-03 -2.02308482e-04 9.99992408e-01 -5.18342901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58463044 meters 0.26128001693405833 Centerline is valid? [False, False] Translation: X:4.21, Y:0.07, Z:-0.52 [[ 9.99987404e-01 3.33812598e-03 -3.74824650e-03 4.20769625e+00] [-3.33507031e-03 9.99994101e-01 8.21179982e-04 6.95444740e-02] [ 3.75096559e-03 -8.08668973e-04 9.99992638e-01 -5.18245210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64463044 meters 0.2616650962434949 Centerline is valid? [False, False] Translation: X:4.21, Y:0.07, Z:-0.52 [[ 9.99986591e-01 3.51252848e-03 -3.80513857e-03 4.20809422e+00] [-3.50762458e-03 9.99993010e-01 1.29466503e-03 6.72943504e-02] [ 3.80965952e-03 -1.28130067e-03 9.99991922e-01 -5.18683148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70463044 meters 0.26138073808766865 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-0.52 [[ 9.99984760e-01 3.77896069e-03 -4.02486804e-03 4.20897561e+00] [-3.77071375e-03 9.99990780e-01 2.05461816e-03 6.36660988e-02] [ 4.03259526e-03 -2.03941022e-03 9.99989789e-01 -5.19304325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76463044 meters 0.2618789421899271 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-0.52 [[ 9.99984247e-01 2.45821099e-03 -5.04608008e-03 4.21358222e+00] [-2.45438621e-03 9.99996696e-01 7.64022071e-04 6.34099358e-02] [ 5.04794153e-03 -7.51625006e-04 9.99986977e-01 -5.22389397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82463044 meters 0.26210607932143154 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-0.52 [[ 9.99983208e-01 2.85325653e-03 -5.04415085e-03 4.21364232e+00] [-2.84450025e-03 9.99994437e-01 1.74225025e-03 5.89826429e-02] [ 5.04909387e-03 -1.72787290e-03 9.99985760e-01 -5.22431313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88463044 meters 0.26154146412841034 Centerline is valid? [False, False] Translation: X:4.21, Y:0.05, Z:-0.52 [[ 9.99981632e-01 3.19966259e-03 -5.14762668e-03 4.21384697e+00] [-3.18614397e-03 9.99991460e-01 2.63224586e-03 5.49132342e-02] [ 5.15600502e-03 -2.61579643e-03 9.99983286e-01 -5.22299174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94463044 meters 0.26266464832331043 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-0.53 [[ 9.99976930e-01 1.42158577e-03 -6.64222796e-03 4.21935178e+00] [-1.41106605e-03 9.99997743e-01 1.58818265e-03 4.83303230e-02] [ 6.64447071e-03 -1.57877339e-03 9.99976679e-01 -5.25225876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00463044 meters 0.26305068246928437 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-0.53 [[ 9.99976483e-01 1.64689567e-03 -6.65745093e-03 4.21945667e+00] [-1.63306342e-03 9.99996498e-01 2.08261310e-03 4.60361749e-02] [ 6.66085746e-03 -2.07169208e-03 9.99975670e-01 -5.25249930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06463044000003 meters 0.26285763635660564 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-0.52 [[ 9.99983538e-01 -5.44562911e-04 -5.71203806e-03 4.21572537e+00] [ 5.48909819e-04 9.99999561e-01 7.59468208e-04 4.02053575e-02] [ 5.71162198e-03 -7.62591099e-04 9.99983398e-01 -5.22808439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12463044000003 meters 0.2628807021151214 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-0.52 [[ 9.99983517e-01 -2.64725226e-04 -5.73550906e-03 4.21573507e+00] [ 2.72589426e-04 9.99999024e-01 1.37040425e-03 3.73652441e-02] [ 5.73514068e-03 -1.37194510e-03 9.99982613e-01 -5.22650961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18463044000003 meters 0.2633806966259696 Centerline is valid? [False, False] Translation: X:4.22, Y:0.03, Z:-0.52 [[ 9.99983450e-01 2.87796080e-04 -5.74600884e-03 4.21551683e+00] [-2.73127466e-04 9.99996703e-01 2.55345687e-03 3.11894914e-02] [ 5.74672477e-03 -2.55184521e-03 9.99980231e-01 -5.22146095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24463044000004 meters 0.2640397649521348 Centerline is valid? [False, False] Translation: X:4.22, Y:0.03, Z:-0.52 [[ 9.99982809e-01 6.98841797e-04 -5.82180061e-03 4.21567064e+00] [-6.78117583e-04 9.99993430e-01 3.56097391e-03 2.66781201e-02] [ 5.82425092e-03 -3.55696483e-03 9.99976713e-01 -5.22021542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30463044000004 meters 0.26335703000285104 Centerline is valid? [False, False] Translation: X:4.22, Y:0.02, Z:-0.52 [[ 9.99978713e-01 9.66846293e-04 -6.45285647e-03 4.21690360e+00] [-9.33988314e-04 9.99986594e-01 5.09307784e-03 1.69650754e-02] [ 6.45769418e-03 -5.08694253e-03 9.99966210e-01 -5.21612586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36463044 meters 0.26295928382573924 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-0.52 [[ 9.99977780e-01 1.21438778e-03 -6.55481518e-03 4.21705411e+00] [-1.17714102e-03 9.99983158e-01 5.68322097e-03 1.43508752e-02] [ 6.56160641e-03 -5.67537874e-03 9.99962367e-01 -5.21413333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42463044 meters 0.26335121308758597 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-0.52 [[ 9.99969381e-01 -4.11816300e-04 -7.81451171e-03 4.22224511e+00] [ 4.47532409e-04 9.99989461e-01 4.56928707e-03 9.54683439e-03] [ 7.81254764e-03 -4.57264441e-03 9.99959027e-01 -5.24433444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48463044 meters 0.26304469962230975 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-0.52 [[ 9.99942589e-01 4.46810116e-03 -9.73937864e-03 4.20280695e+00] [-4.45567229e-03 9.99989232e-01 1.29747184e-03 3.79808404e-03] [ 9.74507100e-03 -1.25400187e-03 9.99951729e-01 -5.24833140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54463044 meters 0.2642926065183294 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-0.52 [[ 9.99954955e-01 -3.08903373e-03 -8.97469422e-03 4.22285250e+00] [ 3.11143024e-03 9.99992078e-01 2.48262764e-03 4.49996316e-03] [ 8.96695420e-03 -2.51043994e-03 9.99956645e-01 -5.23173737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60463044 meters 0.26518261846560487 Centerline is valid? [False, False] Translation: X:4.24, Y:0.00, Z:-0.52 [[ 9.99970238e-01 3.59877230e-03 -6.82431135e-03 4.24267282e+00] [-3.60158414e-03 9.99993434e-01 -3.99788043e-04 2.22932142e-03] [ 6.82282780e-03 4.24354476e-04 9.99976634e-01 -5.23209820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66463044 meters 0.26344132196654735 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.00, Z:-0.52 [[ 9.99968006e-01 3.96342105e-03 -6.94831195e-03 4.24268979e+00] [-3.95987208e-03 9.99992022e-01 5.24450361e-04 -2.03026348e-03] [ 6.95033514e-03 -4.96919155e-04 9.99975723e-01 -5.22743566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72463044 meters 0.26545590394014246 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.00, Z:-0.52 [[ 9.99971212e-01 -3.41890375e-03 -6.77401374e-03 4.26399951e+00] [ 3.43205759e-03 9.99992246e-01 1.93113677e-03 -2.16289522e-03] [ 6.76735884e-03 -1.95432998e-03 9.99975191e-01 -5.21838665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78463044 meters 0.26533030225058857 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-0.52 [[ 9.99972770e-01 -3.05962804e-03 -6.71544101e-03 4.26380740e+00] [ 3.07857015e-03 9.99991307e-01 2.81215821e-03 -5.99491831e-03] [ 6.70677848e-03 -2.83275560e-03 9.99973497e-01 -5.21680041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84463044 meters 0.26464025722110807 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-0.52 [[ 9.99972684e-01 -2.91215065e-03 -6.79336621e-03 4.26410383e+00] [ 2.93355463e-03 9.99990758e-01 3.14288332e-03 -7.53791433e-03] [ 6.78415088e-03 -3.16272618e-03 9.99971986e-01 -5.21833282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90463044 meters 0.2644583599216887 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-0.52 [[ 9.99972077e-01 -2.90450566e-03 -6.88543820e-03 4.26445026e+00] [ 2.92636924e-03 9.99990702e-01 3.16738955e-03 -7.68537792e-03] [ 6.87617448e-03 -3.18745044e-03 9.99971279e-01 -5.22071940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96463044 meters 0.2657678410606718 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-0.52 [[ 9.99971968e-01 -3.01578727e-03 -6.85339713e-03 4.26446585e+00] [ 3.03568011e-03 9.99991204e-01 2.89407782e-03 -6.51096523e-03] [ 6.84460893e-03 -2.91480142e-03 9.99972327e-01 -5.22254877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02463044 meters 0.26567436427414587 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.00, Z:-0.52 [[ 9.99971693e-01 -3.26430943e-03 -6.77920498e-03 4.26464649e+00] [ 3.27870442e-03 9.99992392e-01 2.11337672e-03 -3.23463571e-03] [ 6.77225468e-03 -2.13554391e-03 9.99974788e-01 -5.22920044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08463044 meters 0.2685416150922603 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.00, Z:-0.52 [[ 9.99971451e-01 -3.56724816e-03 -6.66118263e-03 4.26464926e+00] [ 3.57647565e-03 9.99992661e-01 1.37386479e-03 -9.91955233e-06] [ 6.65623283e-03 -1.39764912e-03 9.99976870e-01 -5.23446223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14463044 meters 0.2679125241357063 Centerline is valid? [False, False] Translation: X:4.26, Y:0.00, Z:-0.52 [[ 9.99970253e-01 -3.90052212e-03 -6.65424180e-03 4.26480622e+00] [ 3.90471348e-03 9.99992186e-01 6.17001307e-04 3.59348010e-03] [ 6.65178317e-03 -6.42965861e-04 9.99977670e-01 -5.23823164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20463044 meters 0.26641652968322055 Centerline is valid? [False, False] Translation: X:4.27, Y:0.01, Z:-0.52 [[ 9.99969159e-01 -4.32807001e-03 -6.55353575e-03 4.26503582e+00] [ 4.32612323e-03 9.99990594e-01 -3.11203948e-04 7.94464931e-03] [ 6.55482102e-03 2.82842947e-04 9.99978477e-01 -5.24620622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26463044 meters 0.2687627024609057 Centerline is valid? [False, False] Translation: X:4.26, Y:0.01, Z:-0.52 [[ 9.99982939e-01 -2.56854856e-03 -5.24638608e-03 4.26015566e+00] [ 2.57257229e-03 9.99996402e-01 7.60348165e-04 1.44379399e-02] [ 5.24441421e-03 -7.73831900e-04 9.99985949e-01 -5.22085063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32463044 meters 0.26591501629578645 Centerline is valid? [False, False] Translation: X:4.26, Y:0.02, Z:-0.52 [[ 9.99982486e-01 -2.79898495e-03 -5.21467729e-03 4.25996303e+00] [ 2.80035368e-03 9.99996046e-01 2.55194382e-04 1.68379049e-02] [ 5.21394239e-03 -2.69792854e-04 9.99986371e-01 -5.21922139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38463044 meters 0.26602215784475614 Centerline is valid? [False, False] Translation: X:4.26, Y:0.02, Z:-0.52 [[ 9.99978822e-01 -3.61730603e-04 -6.49809061e-03 4.26441219e+00] [ 3.74976758e-04 9.99997854e-01 2.03736615e-03 2.13007565e-02] [ 6.49733968e-03 -2.03975964e-03 9.99976812e-01 -5.24189241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44463044 meters 0.265011490670514 Centerline is valid? [False, False] Translation: X:4.26, Y:0.02, Z:-0.52 [[ 9.99978498e-01 -4.90659851e-04 -6.53929467e-03 4.26405952e+00] [ 5.01954731e-04 9.99998385e-01 1.72570277e-03 2.27837660e-02] [ 6.53843738e-03 -1.72894809e-03 9.99977130e-01 -5.23445167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50463044 meters 0.2642351957501458 Centerline is valid? [False, False] Translation: X:4.26, Y:0.02, Z:-0.52 [[ 9.99978991e-01 -5.67434058e-04 -6.45728287e-03 4.26344981e+00] [ 5.77298112e-04 9.99998669e-01 1.52582455e-03 2.40053742e-02] [ 6.45640848e-03 -1.52952027e-03 9.99977987e-01 -5.22796662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56463044000003 meters 0.2640694563804477 Centerline is valid? [False, False] Translation: X:4.26, Y:0.02, Z:-0.52 [[ 9.99978353e-01 -5.33647797e-04 -6.55813526e-03 4.26372186e+00] [ 5.44232592e-04 9.99998552e-01 1.61231605e-03 2.35621546e-02] [ 6.55726535e-03 -1.61585030e-03 9.99977195e-01 -5.22857971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62463044000003 meters 0.26536111570268783 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.52 [[ 9.99959026e-01 5.99733107e-03 -6.78074242e-03 4.28731026e+00] [-6.00531554e-03 9.99981298e-01 -1.15777561e-03 2.05897599e-02] [ 6.77367204e-03 1.19844867e-03 9.99976340e-01 -5.23661645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68463044000003 meters 0.26372886633258397 Centerline is valid? [False, False] Translation: X:4.27, Y:0.02, Z:-0.52 [[ 9.99965653e-01 -2.48097453e-03 -7.90800770e-03 4.26776084e+00] [ 2.48604281e-03 9.99996711e-01 6.31138866e-04 1.85913704e-02] [ 7.90641585e-03 -6.50776834e-04 9.99968532e-01 -5.24827869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74463044000004 meters 0.26444347621662606 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99973894e-01 3.66373537e-03 -6.22799680e-03 4.28866876e+00] [-3.68064487e-03 9.99989566e-01 -2.70578849e-03 1.71281371e-02] [ 6.21801852e-03 2.72864090e-03 9.99976945e-01 -5.25113649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80463044000004 meters 0.26341812423302857 Centerline is valid? [False, False] Translation: X:4.27, Y:0.02, Z:-0.53 [[ 9.99967915e-01 -2.91795295e-03 -7.46023548e-03 4.26830731e+00] [ 2.92214847e-03 9.99995578e-01 5.51546454e-04 1.76076666e-02] [ 7.45859311e-03 -5.73328673e-04 9.99972020e-01 -5.25483920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86463044 meters 0.2627307316265199 Centerline is valid? [False, False] Translation: X:4.27, Y:0.02, Z:-0.53 [[ 9.99968654e-01 -2.95374959e-03 -7.34622682e-03 4.26800239e+00] [ 2.95723649e-03 9.99995520e-01 4.63835137e-04 1.80347760e-02] [ 7.34482385e-03 -4.85545128e-04 9.99972909e-01 -5.25395966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92463044 meters 0.26440376843543767 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99976350e-01 4.34124102e-03 -5.33415319e-03 4.28812276e+00] [-4.35223946e-03 9.99988424e-01 -2.05201511e-03 1.91550908e-02] [ 5.32518315e-03 2.07518209e-03 9.99983668e-01 -5.25598822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98463044 meters 0.26483410004942937 Centerline is valid? [False, False] Translation: X:4.31, Y:0.03, Z:-0.52 [[ 9.99972585e-01 -3.20646346e-03 -6.67436503e-03 4.30906867e+00] [ 3.19687712e-03 9.99993844e-01 -1.44646619e-03 2.58328944e-02] [ 6.67896198e-03 1.42508941e-03 9.99976680e-01 -5.24180015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04463044 meters 0.26301904136154197 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.52 [[ 9.99971316e-01 4.74183068e-03 -5.90605808e-03 4.28769689e+00] [-4.75490764e-03 9.99986271e-01 -2.20208918e-03 2.31157330e-02] [ 5.89553506e-03 2.23010877e-03 9.99980134e-01 -5.24921528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10463044 meters 0.26338788817528763 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.52 [[ 9.99971653e-01 4.66915054e-03 -5.90703232e-03 4.28768278e+00] [-4.68327404e-03 9.99986203e-01 -2.37939528e-03 2.39624502e-02] [ 5.89584106e-03 2.40699208e-03 9.99979723e-01 -5.24886076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16463044 meters 0.26390674998473423 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99972387e-01 4.66371512e-03 -5.78583552e-03 4.28765245e+00] [-4.67765125e-03 9.99986186e-01 -2.39747437e-03 2.39445253e-02] [ 5.77457445e-03 2.42447228e-03 9.99980388e-01 -5.25293978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22463044 meters 0.26361868742716044 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99972968e-01 4.62938070e-03 -5.71241109e-03 4.28757902e+00] [-4.64357675e-03 9.99986157e-01 -2.47436885e-03 2.43220994e-02] [ 5.70087722e-03 2.50082798e-03 9.99980623e-01 -5.25429047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28463044 meters 0.2636980669469427 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99973302e-01 4.59486781e-03 -5.68176949e-03 4.28758068e+00] [-4.60941855e-03 9.99986124e-01 -2.55051492e-03 2.46663104e-02] [ 5.66997137e-03 2.57663648e-03 9.99980606e-01 -5.25567499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34463044 meters 0.26214754537893126 Centerline is valid? [False, False] Translation: X:4.29, Y:0.03, Z:-0.53 [[ 9.99973479e-01 4.55480755e-03 -5.68292003e-03 4.28784697e+00] [-4.56987533e-03 9.99986070e-01 -2.64125287e-03 2.50955205e-02] [ 5.67081047e-03 2.66715306e-03 9.99980364e-01 -5.26022261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40463044 meters 0.26144739052100036 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.53 [[ 9.99972379e-01 4.74621946e-03 -5.71970477e-03 4.28766205e+00] [-4.75835941e-03 9.99986451e-01 -2.11074234e-03 2.27712163e-02] [ 5.70960923e-03 2.13790045e-03 9.99981415e-01 -5.25572596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46463044 meters 0.26155738464660283 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.53 [[ 9.99983360e-01 -4.42097598e-03 -3.70599175e-03 4.30771993e+00] [ 4.41441335e-03 9.99988677e-01 -1.77712990e-03 1.71912908e-02] [ 3.71380644e-03 1.76074055e-03 9.99991554e-01 -5.25053137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52463044 meters 0.26192064357745964 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.53 [[ 9.99983567e-01 -4.25730381e-03 -3.83946721e-03 4.30818703e+00] [ 4.25224591e-03 9.99990082e-01 -1.32454619e-03 1.51142118e-02] [ 3.84506813e-03 1.30819806e-03 9.99991752e-01 -5.25376306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58463044 meters 0.26222723855221725 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99984053e-01 -4.03467045e-03 -3.95159459e-03 4.30809665e+00] [ 4.03165675e-03 9.99991576e-01 -7.70322284e-04 1.26019029e-02] [ 3.95466930e-03 7.54378527e-04 9.99991896e-01 -5.24834948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64463044 meters 0.2615379961336698 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99985226e-01 -3.86701934e-03 -3.82030690e-03 4.30730345e+00] [ 3.86570931e-03 9.99992467e-01 -3.50238138e-04 1.07542503e-02] [ 3.82163250e-03 3.35464768e-04 9.99992641e-01 -5.23973098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70463044 meters 0.26125890872872737 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99986339e-01 -3.63796796e-03 -3.75320520e-03 4.30685469e+00] [ 3.63882825e-03 9.99993355e-01 2.22411716e-04 8.25050231e-03] [ 3.75237113e-03 -2.36065947e-04 9.99992932e-01 -5.23522126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76463044 meters 0.26086802948473115 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99986660e-01 -3.49422408e-03 -3.80387723e-03 4.30702078e+00] [ 3.49641609e-03 9.99993725e-01 5.69757691e-04 6.67790382e-03] [ 3.80186250e-03 -5.83050028e-04 9.99992603e-01 -5.23609686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82463044 meters 0.26121839181721807 Centerline is valid? [False, False] Translation: X:4.31, Y:0.00, Z:-0.52 [[ 9.99987068e-01 -3.30591050e-03 -3.86464322e-03 4.30720147e+00] [ 3.30977865e-03 9.99994028e-01 9.94939748e-04 4.61162205e-03] [ 3.86133096e-03 -1.00771799e-03 9.99992037e-01 -5.23710255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88463044 meters 0.2611163665116583 Centerline is valid? [False, False] Translation: X:4.31, Y:0.00, Z:-0.52 [[ 9.99986835e-01 -3.20765173e-03 -4.00500553e-03 4.30772204e+00] [ 3.21260409e-03 9.99994082e-01 1.23072195e-03 3.52361219e-03] [ 4.00103410e-03 -1.24357224e-03 9.99991223e-01 -5.24071252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94463044 meters 0.26197239790922794 Centerline is valid? [False, False] Translation: X:4.31, Y:0.00, Z:-0.52 [[ 9.99986744e-01 -2.98959468e-03 -4.19223878e-03 4.30789292e+00] [ 2.99684214e-03 9.99994024e-01 1.72356512e-03 1.22187940e-03] [ 4.18706097e-03 -1.73610575e-03 9.99989727e-01 -5.23710787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00463044 meters 0.2617529566821929 Centerline is valid? [False, False] Translation: X:4.31, Y:0.00, Z:-0.52 [[ 9.99986483e-01 -2.90024419e-03 -4.31533952e-03 4.30791932e+00] [ 2.90862998e-03 9.99993892e-01 1.93824588e-03 3.10710915e-04] [ 4.30969178e-03 -1.95077141e-03 9.99988810e-01 -5.23318310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06463044000003 meters 0.26123601524182155 Centerline is valid? [False, False] Translation: X:4.31, Y:0.00, Z:-0.52 [[ 9.99984980e-01 -2.95323158e-03 -4.61715599e-03 4.30865077e+00] [ 2.96153176e-03 9.99994009e-01 1.79188021e-03 8.99433901e-04] [ 4.61183650e-03 -1.80552715e-03 9.99987735e-01 -5.23501575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12463044000003 meters 0.26234410926317764 Centerline is valid? [False, False] Translation: X:4.33, Y:0.00, Z:-0.52 [[ 9.99977308e-01 6.11420566e-03 -2.82838159e-03 4.32773709e+00] [-6.11258253e-03 9.99981149e-01 5.82160910e-04 3.36027993e-03] [ 2.83188773e-03 -5.64858984e-04 9.99995831e-01 -5.22443645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18463044000003 meters 0.2619902438127481 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99993086e-01 -2.86132264e-03 -2.37506921e-03 4.30860939e+00] [ 2.86442358e-03 9.99995048e-01 1.30324574e-03 9.32163480e-03] [ 2.37132844e-03 -1.31003993e-03 9.99996330e-01 -5.23729003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24463044000004 meters 0.26190501009120876 Centerline is valid? [False, False] Translation: X:4.31, Y:0.01, Z:-0.52 [[ 9.99991655e-01 -3.17474083e-03 -2.57112707e-03 4.30917829e+00] [ 3.17598939e-03 9.99994841e-01 4.81671754e-04 1.30588491e-02] [ 2.56958463e-03 -4.89833606e-04 9.99996579e-01 -5.23968427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30463044000004 meters 0.26120494914800035 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99990931e-01 -3.38923010e-03 -2.57896287e-03 4.30909529e+00] [ 3.38920197e-03 9.99994257e-01 -1.52778796e-05 1.53198527e-02] [ 2.57899984e-03 6.53711502e-06 9.99996674e-01 -5.23802644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36463044 meters 0.26282793578108266 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99990169e-01 -3.57966438e-03 -2.61669573e-03 4.30917198e+00] [ 3.57852616e-03 9.99993500e-01 -4.39539132e-04 1.74223334e-02] [ 2.61825212e-03 4.30170897e-04 9.99996480e-01 -5.23780573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42463044 meters 0.2617005324157033 Centerline is valid? [False, False] Translation: X:4.29, Y:0.01, Z:-0.52 [[ 9.99989963e-01 3.98288566e-03 -2.05179632e-03 4.28943674e+00] [-3.98661255e-03 9.99990405e-01 -1.81552422e-03 1.45707611e-02] [ 2.04454561e-03 1.82368572e-03 9.99996247e-01 -5.24980510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48463044 meters 0.26228778468276853 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99994003e-01 -3.06132004e-03 -1.61939802e-03 4.30807018e+00] [ 3.06075778e-03 9.99995255e-01 -3.49568980e-04 1.95847825e-02] [ 1.62046048e-03 3.44610298e-04 9.99998628e-01 -5.22793443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54463044 meters 0.26339877544567475 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99992938e-01 -3.23551366e-03 -1.91210476e-03 4.30907443e+00] [ 3.23402466e-03 9.99994465e-01 -7.81298130e-04 2.13665397e-02] [ 1.91462208e-03 7.75108818e-04 9.99997867e-01 -5.23414881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60463044 meters 0.2642232505614246 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99992475e-01 -3.31049675e-03 -2.02269826e-03 4.30933947e+00] [ 3.30856906e-03 9.99994070e-01 -9.55633479e-04 2.21151888e-02] [ 2.02584988e-03 9.48934051e-04 9.99997498e-01 -5.23398979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66463044 meters 0.26211047853517905 Centerline is valid? [False, False] Translation: X:4.29, Y:0.02, Z:-0.52 [[ 9.99987248e-01 4.95262762e-03 -9.87194559e-04 4.28694622e+00] [-4.95365945e-03 9.99987184e-01 -1.04552510e-03 1.78415386e-02] [ 9.82003811e-04 1.05040199e-03 9.99998966e-01 -5.22691794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72463044 meters 0.26363625081935377 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99996198e-01 -2.71762058e-03 -4.66395177e-04 4.30757643e+00] [ 2.71757441e-03 9.99996302e-01 -9.96042830e-05 1.90563819e-02] [ 4.66664139e-04 9.83364408e-05 9.99999886e-01 -5.21319320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78463044 meters 0.2620391534126971 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99996200e-01 -2.71307430e-03 -4.90014424e-04 4.30722188e+00] [ 2.71302206e-03 9.99996314e-01 -1.07243674e-04 1.92846060e-02] [ 4.90303578e-04 1.05913847e-04 9.99999874e-01 -5.20640346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84463044 meters 0.2620977565592912 Centerline is valid? [False, False] Translation: X:4.31, Y:0.02, Z:-0.52 [[ 9.99996005e-01 -2.76778386e-03 -5.73235322e-04 4.30747789e+00] [ 2.76763479e-03 9.99996136e-01 -2.60693262e-04 1.98502847e-02] [ 5.73954650e-04 2.59105714e-04 9.99999802e-01 -5.20796353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90463044 meters 0.2639351896954849 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-0.52 [[ 9.99982348e-01 5.82453265e-03 1.17367694e-03 4.32611500e+00] [-5.82222595e-03 9.99981131e-01 -1.95928447e-03 2.20563169e-02] [-1.18506671e-03 1.95241648e-03 9.99997392e-01 -5.19369343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96463044 meters 0.26357745188255927 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-0.52 [[ 9.99983135e-01 5.69301602e-03 1.14841774e-03 4.32641461e+00] [-5.69040667e-03 9.99981249e-01 -2.26274175e-03 2.34335911e-02] [-1.16127803e-03 2.25616863e-03 9.99996781e-01 -5.19787629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02463044 meters 0.2643577438041737 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-0.52 [[ 9.99983719e-01 5.61296816e-03 1.02825765e-03 4.32686774e+00] [-5.61044040e-03 9.99981273e-01 -2.44490839e-03 2.41657663e-02] [-1.04196158e-03 2.43909961e-03 9.99996483e-01 -5.20080350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08463044 meters 0.26457772129671275 Centerline is valid? [False, False] Translation: X:4.33, Y:0.02, Z:-0.52 [[ 9.99983942e-01 5.55889289e-03 1.10175514e-03 4.32675448e+00] [-5.55605488e-03 9.99981282e-01 -2.56243877e-03 2.47574171e-02] [-1.11597884e-03 2.55627621e-03 9.99996110e-01 -5.20173973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14463044 meters 0.263899610812503 Centerline is valid? [False, False] Translation: X:4.31, Y:0.03, Z:-0.52 [[ 9.99994141e-01 -3.18995033e-03 1.24204363e-03 4.30762516e+00] [ 3.19205365e-03 9.99993469e-01 -1.69515058e-03 3.02047370e-02] [-1.23662807e-03 1.69910532e-03 9.99997792e-01 -5.21974343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20463044 meters 0.26569370509531276 Centerline is valid? [False, False] Translation: X:4.33, Y:0.03, Z:-0.52 [[ 9.99985198e-01 5.32760023e-03 1.10456024e-03 4.32806512e+00] [-5.32399308e-03 9.99980568e-01 -3.24330543e-03 3.03885763e-02] [-1.12181781e-03 3.23737675e-03 9.99994130e-01 -5.21149700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26463044 meters 0.2638569771995585 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998818e-01 -9.20562062e-04 1.23109730e-03 4.30587050e+00] [ 9.21020911e-04 9.99999507e-01 -3.72200452e-04 3.57356955e-02] [-1.23075406e-03 3.73333879e-04 9.99999173e-01 -5.20830494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32463044 meters 0.2641707274744011 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998557e-01 -1.17156272e-03 1.23023339e-03 4.30589854e+00] [ 1.17275836e-03 9.99998840e-01 -9.71607954e-04 3.84413886e-02] [-1.22909367e-03 9.73049318e-04 9.99998771e-01 -5.20886585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38463044 meters 0.2658718932430366 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998223e-01 -1.45136336e-03 1.20354833e-03 4.30608197e+00] [ 1.45329205e-03 9.99997659e-01 -1.60318342e-03 4.14566563e-02] [-1.20121871e-03 1.60492968e-03 9.99997991e-01 -5.21091057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44463044 meters 0.26457354214506845 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998084e-01 -1.51337996e-03 1.24170963e-03 4.30554274e+00] [ 1.51557070e-03 9.99997293e-01 -1.76525409e-03 4.21799159e-02] [-1.23903477e-03 1.76713261e-03 9.99997671e-01 -5.20311275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50463044 meters 0.2650952172232962 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998269e-01 -1.48544861e-03 1.12080967e-03 4.30589770e+00] [ 1.48734394e-03 9.99997462e-01 -1.69210366e-03 4.18406847e-02] [-1.11829329e-03 1.69376776e-03 9.99997940e-01 -5.20449235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56463044000003 meters 0.2642918677784371 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998535e-01 -1.38052145e-03 1.01211863e-03 4.30613326e+00] [ 1.38195496e-03 9.99998041e-01 -1.41701341e-03 4.04851549e-02] [-1.01016043e-03 1.41841003e-03 9.99998484e-01 -5.20394697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62463044000003 meters 0.2648507571607052 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998863e-01 -1.15350591e-03 9.71479090e-04 4.30588787e+00] [ 1.15431633e-03 9.99998986e-01 -8.34060458e-04 3.79671309e-02] [-9.70516011e-04 8.35180904e-04 9.99999180e-01 -5.19757842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68463044000003 meters 0.26451563067850803 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99999021e-01 -1.09457934e-03 8.71419342e-04 4.30594819e+00] [ 1.09518571e-03 9.99999158e-01 -6.95671048e-04 3.73847252e-02] [-8.70657142e-04 6.96624734e-04 9.99999378e-01 -5.19479193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74463044000004 meters 0.26447564603904666 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99999029e-01 -1.07555530e-03 8.86186488e-04 4.30623975e+00] [ 1.07613348e-03 9.99999208e-01 -6.52216885e-04 3.70501290e-02] [-8.85484291e-04 6.53169907e-04 9.99999395e-01 -5.20028098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80463044000004 meters 0.2642402891516611 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998814e-01 -1.16654932e-03 1.00591006e-03 4.30600924e+00] [ 1.16742438e-03 9.99998940e-01 -8.69769492e-04 3.80915578e-02] [-1.00489436e-03 8.70942784e-04 9.99999116e-01 -5.20120669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86463044 meters 0.26454554124288093 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998611e-01 -1.36505306e-03 9.56704831e-04 4.30614860e+00] [ 1.36637377e-03 9.99998113e-01 -1.38117907e-03 4.03185713e-02] [-9.54817643e-04 1.38248437e-03 9.99998589e-01 -5.20245715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92463044 meters 0.2658246703656841 Centerline is valid? [False, False] Translation: X:4.31, Y:0.04, Z:-0.52 [[ 9.99998121e-01 -1.67487580e-03 9.75904176e-04 4.30609977e+00] [ 1.67717119e-03 9.99995818e-01 -2.35601745e-03 4.46998568e-02] [-9.71954058e-04 2.35764978e-03 9.99996748e-01 -5.20278648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98463044 meters 0.26476699696618256 Centerline is valid? [False, False] Translation: X:4.31, Y:0.05, Z:-0.52 [[ 9.99997706e-01 -1.93772950e-03 9.12646650e-04 4.30619233e+00] [ 1.94048241e-03 9.99993541e-01 -3.02524382e-03 4.76720095e-02] [-9.06778651e-04 3.02700786e-03 9.99995007e-01 -5.20281340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04463044 meters 0.2645962716603076 Centerline is valid? [False, False] Translation: X:4.30, Y:0.05, Z:-0.52 [[ 9.99997909e-01 1.25251428e-05 2.04488642e-03 4.30131710e+00] [-8.48288544e-06 9.99998046e-01 -1.97676046e-03 5.46150195e-02] [-2.04490718e-03 1.97673898e-03 9.99995955e-01 -5.16820854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10463044 meters 0.26361344343464177 Centerline is valid? [False, False] Translation: X:4.30, Y:0.06, Z:-0.52 [[ 9.99997710e-01 -3.38145476e-04 2.11339235e-03 4.30109350e+00] [ 3.44459022e-04 9.99995477e-01 -2.98774964e-03 5.90924147e-02] [-2.11237249e-03 2.98847077e-03 9.99993303e-01 -5.16829493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16463044 meters 0.2652183051183233 Centerline is valid? [False, False] Translation: X:4.32, Y:0.07, Z:-0.51 [[ 9.99986726e-01 -4.84786802e-03 -1.74549064e-03 4.32187683e+00] [ 4.84629604e-03 9.99987848e-01 -9.03700916e-04 7.36263581e-02] [ 1.74985045e-03 8.95229755e-04 9.99998068e-01 -5.14367748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22463044 meters 0.2648084256466523 Centerline is valid? [False, False] Translation: X:4.32, Y:0.08, Z:-0.51 [[ 9.99995352e-01 -3.00248716e-03 -5.29576702e-04 4.31723527e+00] [ 3.00249398e-03 9.99995492e-01 1.20912264e-05 8.14243804e-02] [ 5.29538011e-04 -1.36812211e-05 9.99999860e-01 -5.11711841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28463044 meters 0.2657761480151961 Centerline is valid? [False, False] Translation: X:4.34, Y:0.09, Z:-0.51 [[ 9.99986963e-01 4.93860304e-03 1.29785124e-03 4.33661484e+00] [-4.93599140e-03 9.99985802e-01 -2.00783297e-03 8.54168144e-02] [-1.30774870e-03 2.00140061e-03 9.99997142e-01 -5.10603081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34463044 meters 0.26470167173980536 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99989080e-01 -3.55458634e-03 3.03402502e-03 4.31420248e+00] [ 3.55853147e-03 9.99992829e-01 -1.29589188e-03 9.10029525e-02] [-3.02939690e-03 1.30667440e-03 9.99994558e-01 -5.10658043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40463044 meters 0.2636519408575556 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99989053e-01 -3.58431720e-03 3.00767927e-03 4.31405453e+00] [ 3.58844978e-03 9.99992623e-01 -1.36973967e-03 9.13689720e-02] [-3.00274751e-03 1.38051759e-03 9.99994539e-01 -5.10302132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46463044 meters 0.26244004754257 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99990431e-01 -1.66343035e-03 4.04597854e-03 4.30976224e+00] [ 1.66188958e-03 9.99998545e-01 3.84147882e-04 9.34677285e-02] [-4.04661165e-03 -3.77420237e-04 9.99991741e-01 -5.07573578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52463044 meters 0.263763474303471 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99990493e-01 -1.79526770e-03 3.97365560e-03 4.30997014e+00] [ 1.79498876e-03 9.99998386e-01 7.37638164e-05 9.48407421e-02] [-3.97378162e-03 -6.66304480e-05 9.99992102e-01 -5.07676515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58463044 meters 0.26377888869831867 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99990211e-01 -2.01713226e-03 3.93819369e-03 4.31035740e+00] [ 2.01903950e-03 9.99997846e-01 -4.80377920e-04 9.73907328e-02] [-3.93721622e-03 4.88324587e-04 9.99992130e-01 -5.08309256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64463044 meters 0.262881564440421 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99990110e-01 -2.10156104e-03 3.91961810e-03 4.31033466e+00] [ 2.10422727e-03 9.99997557e-01 -6.76225140e-04 9.82776379e-02] [-3.91818740e-03 6.84466219e-04 9.99992090e-01 -5.08198029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70463044 meters 0.2636919159743435 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99990275e-01 -2.14345486e-03 3.85431959e-03 4.31071055e+00] [ 2.14647498e-03 9.99997392e-01 -7.79602158e-04 9.86697017e-02] [-3.85263849e-03 7.87867777e-04 9.99992268e-01 -5.08631455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76463044 meters 0.2628152381550083 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99989976e-01 -2.23454192e-03 3.88013554e-03 4.31073868e+00] [ 2.23845728e-03 9.99996990e-01 -1.00502806e-03 9.96869703e-02] [-3.87787808e-03 1.01370351e-03 9.99991967e-01 -5.08814399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82463044 meters 0.26290918243725214 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99989080e-01 -2.32422090e-03 4.05428702e-03 4.31020570e+00] [ 2.32930719e-03 9.99996506e-01 -1.25027589e-03 1.00929192e-01] [-4.05136694e-03 1.25970592e-03 9.99991000e-01 -5.08535337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88463044 meters 0.26515072577356014 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99988987e-01 -2.49103142e-03 3.97744600e-03 4.31067798e+00] [ 2.49781194e-03 9.99995434e-01 -1.70068496e-03 1.02813378e-01] [-3.97319138e-03 1.71060114e-03 9.99990644e-01 -5.09141965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94463044 meters 0.26553755025217807 Centerline is valid? [False, False] Translation: X:4.32, Y:0.10, Z:-0.51 [[ 9.99996385e-01 -6.76203315e-04 2.60258856e-03 4.31562217e+00] [ 6.76299650e-04 9.99999771e-01 -3.61348730e-05 1.02648037e-01] [-2.60256353e-03 3.78948721e-05 9.99996613e-01 -5.11822671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00463044 meters 0.2650100952542538 Centerline is valid? [False, False] Translation: X:4.31, Y:0.11, Z:-0.51 [[ 9.99995526e-01 -9.18739214e-04 2.84684604e-03 4.31489083e+00] [ 9.20866631e-04 9.99999298e-01 -7.46068160e-04 1.05819325e-01] [-2.84615859e-03 7.48686387e-04 9.99995669e-01 -5.11558766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06463044000003 meters 0.264447061571293 Centerline is valid? [False, False] Translation: X:4.31, Y:0.11, Z:-0.51 [[ 9.99994888e-01 -1.16505343e-03 2.97766930e-03 4.31471509e+00] [ 1.16927706e-03 9.99998312e-01 -1.41708519e-03 1.08772755e-01] [-2.97601330e-03 1.42055967e-03 9.99994563e-01 -5.11836864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12463044000003 meters 0.26530422958791877 Centerline is valid? [False, False] Translation: X:4.32, Y:0.11, Z:-0.51 [[ 9.99994877e-01 -1.44310304e-03 2.85712508e-03 4.31511156e+00] [ 1.44946986e-03 9.99996468e-01 -2.22758384e-03 1.12348268e-01] [-2.85390036e-03 2.23171375e-03 9.99993437e-01 -5.12198317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18463044000003 meters 0.2653327734381376 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-0.51 [[ 9.99994273e-01 -1.70181301e-03 2.92554211e-03 4.31481330e+00] [ 1.71036845e-03 9.99994261e-01 -2.92438512e-03 1.15449324e-01] [-2.92054856e-03 2.92937212e-03 9.99991445e-01 -5.12001994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24463044000004 meters 0.265503099418905 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-0.51 [[ 9.99993182e-01 2.20180883e-03 2.96457649e-03 4.31404898e+00] [-2.20310164e-03 9.99997479e-01 4.32889255e-04 1.19149598e-01] [-2.96361588e-03 -4.39417567e-04 9.99995512e-01 -5.10887434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30463044000004 meters 0.26607951723042506 Centerline is valid? [False, False] Translation: X:4.31, Y:0.12, Z:-0.51 [[ 9.99993656e-01 1.89924911e-03 3.01346006e-03 4.31432748e+00] [-1.89837833e-03 9.99998156e-01 -2.91799117e-04 1.22397268e-01] [-3.01400870e-03 2.86076578e-04 9.99995417e-01 -5.11624135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36463044 meters 0.2670298672453636 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:-0.51 [[ 9.99994044e-01 1.57340849e-03 3.07173075e-03 4.31439877e+00] [-1.57020271e-03 9.99998220e-01 -1.04577145e-03 1.26107987e-01] [-3.07337071e-03 1.04094198e-03 9.99994735e-01 -5.11991915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42463044 meters 0.2644613456989698 Centerline is valid? [False, False] Translation: X:4.31, Y:0.13, Z:-0.51 [[ 9.99994380e-01 1.39999988e-03 3.04627043e-03 4.31446296e+00] [-1.39560961e-03 9.99997985e-01 -1.44284273e-03 1.27968446e-01] [-3.04828428e-03 1.43858322e-03 9.99994319e-01 -5.12044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48463044 meters 0.2650233655438796 Centerline is valid? [False, False] Translation: X:4.33, Y:0.14, Z:-0.51 [[ 9.99976174e-01 -6.49390724e-03 2.34111736e-03 4.33442872e+00] [ 6.49621918e-03 9.99978418e-01 -9.81289601e-04 1.36385758e-01] [-2.33469443e-03 9.96474632e-04 9.99996778e-01 -5.10637140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54463044 meters 0.2634712846093028 Centerline is valid? [False, False] Translation: X:4.31, Y:0.14, Z:-0.51 [[ 9.99993866e-01 1.80710989e-03 3.00054793e-03 4.31283520e+00] [-1.80120997e-03 9.99996442e-01 -1.96782126e-03 1.35306652e-01] [-3.00409332e-03 1.96240457e-03 9.99993562e-01 -5.11368562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60463044 meters 0.2655907053353294 Centerline is valid? [False, False] Translation: X:4.33, Y:0.14, Z:-0.51 [[ 9.99982731e-01 -3.70734826e-03 4.56007310e-03 4.33395288e+00] [ 3.70127659e-03 9.99992254e-01 1.33920592e-03 1.37427580e-01] [-4.56500267e-03 -1.32230470e-03 9.99988706e-01 -5.11524542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66463044 meters 0.26441661919082 Centerline is valid? [False, False] Translation: X:4.33, Y:0.14, Z:-0.51 [[ 9.99983441e-01 -3.59115341e-03 4.49678910e-03 4.33390216e+00] [ 3.58362981e-03 9.99992167e-01 1.68004655e-03 1.36215194e-01] [-4.50278718e-03 -1.66390391e-03 9.99988478e-01 -5.11125014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72463044 meters 0.26397814838179867 Centerline is valid? [False, False] Translation: X:4.33, Y:0.13, Z:-0.51 [[ 9.99984198e-01 -3.43447965e-03 4.45053362e-03 4.33404057e+00] [ 3.42435999e-03 9.99991539e-01 2.27943615e-03 1.33547929e-01] [-4.45832465e-03 -2.26415991e-03 9.99987498e-01 -5.11155975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78463044 meters 0.2642244156945217 Centerline is valid? [False, False] Translation: X:4.34, Y:0.13, Z:-0.51 [[ 9.99987087e-01 -3.08010661e-03 4.04223869e-03 4.33526946e+00] [ 3.06655317e-03 9.99989670e-01 3.35488060e-03 1.28886720e-01] [-4.05253033e-03 -3.34244154e-03 9.99986202e-01 -5.11704404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84463044 meters 0.2652170730515017 Centerline is valid? [False, False] Translation: X:4.34, Y:0.13, Z:-0.51 [[ 9.99988845e-01 -2.91663098e-03 3.71513074e-03 4.33664598e+00] [ 2.90239470e-03 9.99988447e-01 3.83161902e-03 1.26401122e-01] [-3.72626324e-03 -3.82079350e-03 9.99985758e-01 -5.12863100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90463044 meters 0.2654047912057515 Centerline is valid? [False, False] Translation: X:4.34, Y:0.13, Z:-0.51 [[ 9.99988743e-01 -2.82208944e-03 3.81431964e-03 4.33653850e+00] [ 2.80648943e-03 9.99987702e-01 4.08903521e-03 1.25101688e-01] [-3.82581236e-03 -4.07828434e-03 9.99984365e-01 -5.13020492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96463044 meters 0.26494141089293005 Centerline is valid? [False, False] Translation: X:4.34, Y:0.12, Z:-0.51 [[ 9.99988840e-01 -2.68457408e-03 3.88763017e-03 4.33593674e+00] [ 2.66738049e-03 9.99986669e-01 4.42109142e-03 1.23375617e-01] [-3.89944709e-03 -4.41067229e-03 9.99982670e-01 -5.12259811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02463044 meters 0.26485024215512015 Centerline is valid? [False, False] Translation: X:4.34, Y:0.12, Z:-0.51 [[ 9.99990547e-01 -2.29026221e-03 3.69594902e-03 4.33640520e+00] [ 2.26979842e-03 9.99982125e-01 5.53154601e-03 1.18422468e-01] [-3.70855165e-03 -5.52310466e-03 9.99977871e-01 -5.12182711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08463044 meters 0.26457220542813714 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:-0.51 [[ 9.99991731e-01 -1.90713550e-03 3.59175129e-03 4.33650865e+00] [ 1.88303497e-03 9.99975772e-01 6.70143581e-03 1.13371676e-01] [-3.60444482e-03 -6.69461701e-03 9.99971095e-01 -5.11888035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14463044 meters 0.26363757120375 Centerline is valid? [False, False] Translation: X:4.31, Y:0.11, Z:-0.51 [[ 9.99988676e-01 2.94188702e-03 3.74077958e-03 4.31371931e+00] [-2.95310162e-03 9.99991152e-01 2.99594914e-03 1.10758395e-01] [-3.73193274e-03 -3.00696212e-03 9.99988515e-01 -5.11594063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20463044 meters 0.26444632433076526 Centerline is valid? [False, False] Translation: X:4.31, Y:0.11, Z:-0.51 [[ 9.99988331e-01 3.08512668e-03 3.71754021e-03 4.31388777e+00] [-3.09754520e-03 9.99989627e-01 3.33940776e-03 1.09138613e-01] [-3.70719915e-03 -3.35088404e-03 9.99987514e-01 -5.11744252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26463044 meters 0.2650191685754076 Centerline is valid? [False, False] Translation: X:4.34, Y:0.11, Z:-0.51 [[ 9.99979424e-01 -5.12708212e-03 3.85558134e-03 4.33523706e+00] [ 5.11092332e-03 9.99978164e-01 4.18925265e-03 1.10102915e-01] [-3.87697579e-03 -4.16946087e-03 9.99983792e-01 -5.11189704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32463044 meters 0.26385018986759734 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99987455e-01 3.03843774e-04 4.99979506e-03 4.31290007e+00] [-3.10505089e-04 9.99999065e-01 1.33159534e-03 1.04007389e-01] [-4.99938579e-03 -1.33313109e-03 9.99986614e-01 -5.11382300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38463044 meters 0.263099914585158 Centerline is valid? [False, False] Translation: X:4.31, Y:0.10, Z:-0.51 [[ 9.99987954e-01 4.35869772e-04 4.88905037e-03 4.31333456e+00] [-4.44336843e-04 9.99998403e-01 1.73089121e-03 1.02198942e-01] [-4.88828812e-03 -1.73304274e-03 9.99986551e-01 -5.11671714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44463044 meters 0.2622088008595228 Centerline is valid? [False, False] Translation: X:4.29, Y:0.10, Z:-0.51 [[ 9.99973129e-01 5.78671348e-03 4.50055494e-03 4.29091817e+00] [-5.78276937e-03 9.99982885e-01 -8.88879895e-04 9.62667948e-02] [-4.50562160e-03 8.62830339e-04 9.99989477e-01 -5.11400944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50463044 meters 0.2624425949549922 Centerline is valid? [False, False] Translation: X:4.29, Y:0.09, Z:-0.51 [[ 9.99973145e-01 5.95143379e-03 4.27668437e-03 4.29151723e+00] [-5.94972280e-03 9.99982215e-01 -4.12685211e-04 9.39690343e-02] [-4.27906437e-03 3.87229042e-04 9.99990770e-01 -5.11615177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56463044000003 meters 0.26256505902216215 Centerline is valid? [False, False] Translation: X:4.29, Y:0.09, Z:-0.51 [[ 9.99972240e-01 6.17752416e-03 4.16624479e-03 4.29136402e+00] [-6.17829218e-03 9.99980899e-01 1.71497162e-04 9.14721535e-02] [-4.16510579e-03 -1.97232679e-04 9.99991306e-01 -5.10948242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62463044000003 meters 0.2626510219306372 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99984023e-01 -1.25343194e-03 5.51198092e-03 4.31012820e+00] [ 1.24428695e-03 9.99997844e-01 1.66222766e-03 9.32087013e-02] [-5.51405252e-03 -1.65534261e-03 9.99983427e-01 -5.08675856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68463044000003 meters 0.2619293831634805 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99983735e-01 -1.22008477e-03 5.57151842e-03 4.30935388e+00] [ 1.21061023e-03 9.99997816e-01 1.70358714e-03 9.34335479e-02] [-5.57358477e-03 -1.69681450e-03 9.99983028e-01 -5.07554841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74463044000004 meters 0.26094176145532366 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99983273e-01 -1.19877609e-03 5.65839103e-03 4.30878902e+00] [ 1.18891563e-03 9.99997770e-01 1.74566773e-03 9.31943141e-02] [-5.66047107e-03 -1.73891118e-03 9.99982467e-01 -5.06872053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80463044000004 meters 0.2616168889258166 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99984636e-01 -1.11199188e-03 5.43055623e-03 4.30890912e+00] [ 1.10152093e-03 9.99997529e-01 1.93076388e-03 9.27399091e-02] [-5.43268980e-03 -1.92475234e-03 9.99983390e-01 -5.06335575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86463044 meters 0.26137582517509145 Centerline is valid? [False, False] Translation: X:4.31, Y:0.09, Z:-0.51 [[ 9.99984310e-01 -1.07027503e-03 5.49858752e-03 4.30888357e+00] [ 1.05905469e-03 9.99997352e-01 2.04309247e-03 9.23714813e-02] [-5.50075963e-03 -2.03723711e-03 9.99982796e-01 -5.06541524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92463044 meters 0.26253576057870937 Centerline is valid? [False, False] Translation: X:4.35, Y:0.09, Z:-0.51 [[ 9.99975649e-01 -1.32781960e-03 6.85121981e-03 4.35275896e+00] [ 1.31811535e-03 9.99998122e-01 1.42074864e-03 9.27019662e-02] [-6.85309344e-03 -1.41168335e-03 9.99975521e-01 -5.07570693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98463044 meters 0.26184168651104095 Centerline is valid? [False, False] Translation: X:4.33, Y:0.09, Z:-0.51 [[ 9.99960473e-01 6.60467530e-03 5.95241661e-03 4.33287672e+00] [-6.60651612e-03 9.99978135e-01 2.89647071e-04 9.19394036e-02] [-5.95037343e-03 -3.28960358e-04 9.99982242e-01 -5.08605953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04463044 meters 0.26148622696654916 Centerline is valid? [False, False] Translation: X:4.33, Y:0.09, Z:-0.51 [[ 9.99961669e-01 6.34743650e-03 6.03085576e-03 4.33324626e+00] [-6.34582141e-03 9.99979824e-01 -2.86902666e-04 9.46906666e-02] [-6.03255518e-03 2.48620935e-04 9.99981773e-01 -5.09435322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10463044 meters 0.2624407373793415 Centerline is valid? [False, False] Translation: X:4.33, Y:0.10, Z:-0.51 [[ 9.99962385e-01 6.20819773e-03 6.05697938e-03 4.33344660e+00] [-6.20463034e-03 9.99980567e-01 -6.07584202e-04 9.62326413e-02] [-6.06063367e-03 5.69980030e-04 9.99981472e-01 -5.09851874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16463044 meters 0.2625994291206269 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:-0.51 [[ 9.99990370e-01 -2.15835066e-03 3.82108741e-03 4.35645558e+00] [ 2.15931743e-03 9.99997638e-01 -2.48900698e-04 1.00630891e-01] [-3.82054117e-03 2.57149242e-04 9.99992669e-01 -5.09259903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22463044 meters 0.2637754901984123 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:-0.51 [[ 9.99990198e-01 -2.17378519e-03 3.85719184e-03 4.35663407e+00] [ 2.17492942e-03 9.99997592e-01 -2.92478948e-04 1.00819437e-01] [-3.85654677e-03 3.00865201e-04 9.99992518e-01 -5.09697322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28463044 meters 0.26357276250253964 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:-0.51 [[ 9.99990831e-01 -2.15253413e-03 3.70198308e-03 4.35711180e+00] [ 2.15345630e-03 9.99997651e-01 -2.45134560e-04 1.00838859e-01] [-3.70144673e-03 2.53104371e-04 9.99993118e-01 -5.09988014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34463044 meters 0.2625504251579873 Centerline is valid? [False, False] Translation: X:4.36, Y:0.10, Z:-0.51 [[ 9.99990709e-01 -2.28662277e-03 3.65423091e-03 4.35721489e+00] [ 2.28868494e-03 9.99997224e-01 -5.60242499e-04 1.02314723e-01] [-3.65293970e-03 5.68600677e-04 9.99993166e-01 -5.09951667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40463044 meters 0.26282960014250034 Centerline is valid? [False, False] Translation: X:4.38, Y:0.10, Z:-0.51 [[ 9.99973756e-01 5.53609003e-03 4.67323278e-03 4.37650607e+00] [-5.52478829e-03 9.99981791e-01 -2.42785235e-03 1.01969603e-01] [-4.68658850e-03 2.40197002e-03 9.99986133e-01 -5.08470440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46463044 meters 0.26220987963604286 Centerline is valid? [False, False] Translation: X:4.36, Y:0.11, Z:-0.51 [[ 9.99973826e-01 -2.07797269e-03 6.93034640e-03 4.35638767e+00] [ 2.08707159e-03 9.99996969e-01 -1.30593395e-03 1.11108113e-01] [-6.92761171e-03 1.32036390e-03 9.99975132e-01 -5.10612869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52463044 meters 0.2625832065176576 Centerline is valid? [False, False] Translation: X:4.36, Y:0.11, Z:-0.51 [[ 9.99973843e-01 -2.30874150e-03 6.85444852e-03 4.35668718e+00] [ 2.32151758e-03 9.99995582e-01 -1.85654010e-03 1.13621537e-01] [-6.85013197e-03 1.87240426e-03 9.99974785e-01 -5.10821027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58463044 meters 0.2619597150056734 Centerline is valid? [False, False] Translation: X:4.36, Y:0.12, Z:-0.51 [[ 9.99973605e-01 -2.47034872e-03 6.83272842e-03 4.35691954e+00] [ 2.48556040e-03 9.99994450e-01 -2.21870197e-03 1.15357376e-01] [-6.82720953e-03 2.23562657e-03 9.99974195e-01 -5.11131714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64463044 meters 0.2636671840431617 Centerline is valid? [False, False] Translation: X:4.36, Y:0.12, Z:-0.51 [[ 9.99984305e-01 -9.05533784e-04 5.52901150e-03 4.36168680e+00] [ 9.10275220e-04 9.99999220e-01 -8.55099620e-04 1.17632143e-01] [-5.52823287e-03 8.60119122e-04 9.99984349e-01 -5.13683595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70463044 meters 0.26312636921246674 Centerline is valid? [False, False] Translation: X:4.36, Y:0.12, Z:-0.51 [[ 9.99984864e-01 -1.09848038e-03 5.39121490e-03 4.36203850e+00] [ 1.10546792e-03 9.99998553e-01 -1.29328882e-03 1.19713293e-01] [-5.38978645e-03 1.29922906e-03 9.99984631e-01 -5.13754467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76463044 meters 0.26374676050798096 Centerline is valid? [False, False] Translation: X:4.36, Y:0.12, Z:-0.51 [[ 9.99984443e-01 -1.25055544e-03 5.43591552e-03 4.36217605e+00] [ 1.25968949e-03 9.99997800e-01 -1.67721591e-03 1.21677878e-01] [-5.43380611e-03 1.68403738e-03 9.99983819e-01 -5.14117581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82463044 meters 0.26345761791742045 Centerline is valid? [False, False] Translation: X:4.36, Y:0.12, Z:-0.51 [[ 9.99984619e-01 -1.29554383e-03 5.39295217e-03 4.36236515e+00] [ 1.30521992e-03 9.99997544e-01 -1.79107854e-03 1.22158914e-01] [-5.39061850e-03 1.79808998e-03 9.99983854e-01 -5.14274391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88463044 meters 0.2621716318776591 Centerline is valid? [False, False] Translation: X:4.34, Y:0.13, Z:-0.51 [[ 9.99989433e-01 3.81169698e-03 2.57013024e-03 4.34230948e+00] [-3.79672673e-03 9.99975945e-01 -5.80463949e-03 1.26184930e-01] [-2.59219394e-03 5.79482007e-03 9.99979850e-01 -5.13593402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94463044 meters 0.26250918139986357 Centerline is valid? [False, False] Translation: X:4.36, Y:0.13, Z:-0.51 [[ 9.99993125e-01 -1.76103217e-03 3.26336031e-03 4.36407742e+00] [ 1.76903604e-03 9.99995431e-01 -2.45138605e-03 1.27698073e-01] [-3.25902842e-03 2.45714220e-03 9.99991671e-01 -5.13587412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00463044 meters 0.26477845316510573 Centerline is valid? [False, False] Translation: X:4.41, Y:0.13, Z:-0.51 [[ 9.99989925e-01 -7.12955152e-04 4.43184792e-03 4.40777938e+00] [ 7.21301853e-04 9.99997969e-01 -1.88203273e-03 1.29720984e-01] [-4.43049711e-03 1.88521046e-03 9.99988408e-01 -5.13583446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06463044000003 meters 0.2637037594447806 Centerline is valid? [False, False] Translation: X:4.40, Y:0.13, Z:-0.51 [[ 9.99983386e-01 1.17544701e-03 5.64331784e-03 4.40282340e+00] [-1.17381309e-03 9.99999268e-01 -2.92835575e-04 1.31864833e-01] [-5.64365792e-03 2.86206509e-04 9.99984033e-01 -5.10511718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12463044000003 meters 0.26323012530994966 Centerline is valid? [False, False] Translation: X:4.40, Y:0.14, Z:-0.51 [[ 9.99984092e-01 8.30198365e-04 5.57914256e-03 4.40285877e+00] [-8.24149307e-04 9.99999070e-01 -1.08643870e-03 1.35645940e-01] [-5.58003933e-03 1.08182337e-03 9.99983846e-01 -5.10307340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18463044000003 meters 0.263790627674768 Centerline is valid? [False, False] Translation: X:4.40, Y:0.14, Z:-0.51 [[ 9.99984700e-01 6.38115903e-04 5.49475376e-03 4.40300376e+00] [-6.29799327e-04 9.99998654e-01 -1.51514567e-03 1.37715450e-01] [-5.49571320e-03 1.51166190e-03 9.99983756e-01 -5.10211797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24463044000004 meters 0.2637316177812124 Centerline is valid? [False, False] Translation: X:4.40, Y:0.14, Z:-0.51 [[ 9.99985194e-01 2.80493060e-04 5.43435237e-03 4.40310783e+00] [-2.68017093e-04 9.99997327e-01 -2.29635207e-03 1.41623763e-01] [-5.43498196e-03 2.29486157e-03 9.99982597e-01 -5.10105104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30463044000004 meters 0.2623630589912533 Centerline is valid? [False, False] Translation: X:4.38, Y:0.15, Z:-0.51 [[ 9.99973587e-01 -4.82495811e-03 5.43554869e-03 4.38066922e+00] [ 4.81865807e-03 9.99987704e-01 1.17154452e-03 1.47186744e-01] [-5.44113451e-03 -1.14532153e-03 9.99984541e-01 -5.09802685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36463044 meters 0.2625838462304731 Centerline is valid? [False, False] Translation: X:4.38, Y:0.15, Z:-0.51 [[ 9.99970584e-01 -5.32923635e-03 5.51628760e-03 4.38060924e+00] [ 5.32940700e-03 9.99985798e-01 -1.62369347e-05 1.54247053e-01] [-5.51612273e-03 4.56349988e-05 9.99984785e-01 -5.09953657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42463044 meters 0.26378791847115657 Centerline is valid? [False, False] Translation: X:4.38, Y:0.16, Z:-0.51 [[ 9.99969480e-01 -5.62188368e-03 5.42532686e-03 4.38099499e+00] [ 5.62584210e-03 9.99983919e-01 -7.14632830e-04 1.57529862e-01] [-5.42122204e-03 7.45133051e-04 9.99985027e-01 -5.10201679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48463044 meters 0.2632407069602621 Centerline is valid? [False, False] Translation: X:4.38, Y:0.16, Z:-0.51 [[ 9.99983994e-01 -1.70211632e-03 5.39583111e-03 4.38142162e+00] [ 1.68744156e-03 9.99994869e-01 2.72303593e-03 1.60343226e-01] [-5.40043835e-03 -2.71388720e-03 9.99981735e-01 -5.10851096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54463044 meters 0.26380090998414146 Centerline is valid? [False, False] Translation: X:4.38, Y:0.16, Z:-0.51 [[ 9.99984350e-01 -1.86806927e-03 5.27358786e-03 4.38187755e+00] [ 1.85569593e-03 9.99995516e-01 2.35020277e-03 1.62196291e-01] [-5.27795455e-03 -2.34037981e-03 9.99983333e-01 -5.11148372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60463044 meters 0.2655617202659573 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99984812e-01 -2.14541273e-03 5.07673860e-03 4.38230713e+00] [ 2.13679402e-03 9.99996268e-01 1.70250030e-03 1.65293982e-01] [-5.08037222e-03 -1.69162650e-03 9.99985664e-01 -5.11051837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66463044 meters 0.2647521252153227 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99985038e-01 -2.38076544e-03 4.92506989e-03 4.38252798e+00] [ 2.37512882e-03 9.99996518e-01 1.15000808e-03 1.67844345e-01] [-4.92779064e-03 -1.13829320e-03 9.99987211e-01 -5.10792178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72463044 meters 0.2642656561466408 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99983998e-01 -2.80350585e-03 4.91375141e-03 4.38217169e+00] [ 2.80274039e-03 9.99996059e-01 1.62658770e-04 1.72554617e-01] [-4.91418806e-03 -1.48884197e-04 9.99987914e-01 -5.10089281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78463044 meters 0.26359013883856913 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99983825e-01 -2.95104514e-03 4.86227379e-03 4.38238448e+00] [ 2.95196564e-03 9.99995626e-01 -1.82149819e-04 1.74156405e-01] [-4.86171500e-03 1.96500137e-04 9.99988162e-01 -5.10237323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84463044 meters 0.264691242653116 Centerline is valid? [False, False] Translation: X:4.38, Y:0.18, Z:-0.51 [[ 9.99984298e-01 -3.03295382e-03 4.71231366e-03 4.38293648e+00] [ 3.03508665e-03 9.99995295e-01 -4.45522220e-04 1.75504075e-01] [-4.71094024e-03 4.59817505e-04 9.99988798e-01 -5.10615619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90463044 meters 0.26536848847056504 Centerline is valid? [False, False] Translation: X:4.38, Y:0.18, Z:-0.51 [[ 9.99984459e-01 -2.99260947e-03 4.70393209e-03 4.38307600e+00] [ 2.99433028e-03 9.99995453e-01 -3.58822217e-04 1.75045665e-01] [-4.70283689e-03 3.72901766e-04 9.99988872e-01 -5.10855573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96463044 meters 0.26480959643731444 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99985044e-01 -2.92473598e-03 4.62148147e-03 4.38363243e+00] [ 2.92571942e-03 9.99995699e-01 -2.06051373e-04 1.74410162e-01] [-4.62085894e-03 2.19569449e-04 9.99989300e-01 -5.11465462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02463044 meters 0.26580616024561937 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99985696e-01 -2.88591648e-03 4.50319783e-03 4.38379518e+00] [ 2.88650817e-03 9.99995826e-01 -1.24899379e-04 1.73961632e-01] [-4.50281859e-03 1.37896109e-04 9.99989853e-01 -5.11291217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08463044 meters 0.26538609135918156 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99986278e-01 -2.83476464e-03 4.40536277e-03 4.38400196e+00] [ 2.83484418e-03 9.99995982e-01 -1.18111756e-05 1.73398864e-01] [-4.40531159e-03 2.42995306e-05 9.99990296e-01 -5.11244936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14463044 meters 0.2651698744458534 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99987904e-01 -2.74896862e-03 4.07855319e-03 4.38448652e+00] [ 2.74821636e-03 9.99996206e-01 1.90035515e-04 1.72303463e-01] [-4.07906011e-03 -1.78824469e-04 9.99991665e-01 -5.10862497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20463044 meters 0.2662785880713073 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99988568e-01 -2.76622903e-03 3.90035021e-03 4.38449169e+00] [ 2.76568576e-03 9.99996165e-01 1.44672685e-04 1.72454064e-01] [-3.90073545e-03 -1.33883888e-04 9.99992383e-01 -5.10179295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26463044 meters 0.2641063162444018 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99988437e-01 -2.85536657e-03 3.86937543e-03 4.38419896e+00] [ 2.85572156e-03 9.99995919e-01 -8.62236301e-05 1.73489785e-01] [-3.86911344e-03 9.72724920e-05 9.99992510e-01 -5.09557949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32463044 meters 0.26377789736778023 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99988706e-01 -2.86137200e-03 3.79483695e-03 4.38407210e+00] [ 2.86178286e-03 9.99995900e-01 -1.02841140e-04 1.73486103e-01] [-3.79452713e-03 1.13699978e-04 9.99992794e-01 -5.09105074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38463044 meters 0.263766906950611 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99988491e-01 -2.79260395e-03 3.90118773e-03 4.38373992e+00] [ 2.79231537e-03 9.99996098e-01 7.94165582e-05 1.72636206e-01] [-3.90139429e-03 -6.85222978e-05 9.99992387e-01 -5.08917292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44463044 meters 0.26327318289063284 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99988885e-01 -2.67934253e-03 3.87944168e-03 4.38367798e+00] [ 2.67791756e-03 9.99996345e-01 3.72462375e-04 1.71248126e-01] [-3.88042545e-03 -3.62069410e-04 9.99992406e-01 -5.08785044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50463044 meters 0.2635095453020658 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99989218e-01 -2.71497338e-03 3.76720359e-03 4.38385693e+00] [ 2.71392144e-03 9.99996277e-01 2.84320390e-04 1.71670595e-01] [-3.76796149e-03 -2.74093430e-04 9.99992864e-01 -5.08596342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56463044000003 meters 0.26217225888276957 Centerline is valid? [False, False] Translation: X:4.38, Y:0.17, Z:-0.51 [[ 9.99989577e-01 -2.88583598e-03 3.53802687e-03 4.38399261e+00] [ 2.88638029e-03 9.99995823e-01 -1.48747581e-04 1.73621878e-01] [-3.53758283e-03 1.58958121e-04 9.99993730e-01 -5.07961030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62463044000003 meters 0.26317580063476553 Centerline is valid? [False, False] Translation: X:4.38, Y:0.18, Z:-0.51 [[ 9.99989605e-01 -3.08080850e-03 3.36146482e-03 4.38445304e+00] [ 3.08311899e-03 9.99995014e-01 -6.82380926e-04 1.76149150e-01] [-3.35934578e-03 6.92737629e-04 9.99994117e-01 -5.07984916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68463044000003 meters 0.2636328587360491 Centerline is valid? [False, False] Translation: X:4.38, Y:0.18, Z:-0.51 [[ 9.99989159e-01 -3.40420784e-03 3.17691582e-03 4.38463188e+00] [ 3.41032328e-03 9.99992339e-01 -1.92153485e-03 1.81699008e-01] [-3.17035018e-03 1.93234832e-03 9.99993107e-01 -5.07547050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74463044000004 meters 0.26215219361085307 Centerline is valid? [False, False] Translation: X:4.39, Y:0.19, Z:-0.51 [[ 9.99989005e-01 -3.77291283e-03 2.78469165e-03 4.38523755e+00] [ 3.78171363e-03 9.99987850e-01 -3.16195165e-03 1.87755324e-01] [-2.77272805e-03 3.17244779e-03 9.99991124e-01 -5.07097772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80463044000004 meters 0.2620237372978034 Centerline is valid? [False, False] Translation: X:4.39, Y:0.19, Z:-0.51 [[ 9.99996318e-01 1.36136844e-04 2.71036950e-03 4.38543113e+00] [-1.36641986e-04 9.99999973e-01 1.86189497e-04 1.91734311e-01] [-2.71034408e-03 -1.86559161e-04 9.99996310e-01 -5.07121367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86463044 meters 0.26212116832451204 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99996418e-01 -3.63665522e-04 2.65168014e-03 4.38555619e+00] [ 3.66242674e-04 9.99999461e-01 -9.71473257e-04 1.96978261e-01] [-2.65132542e-03 9.72440935e-04 9.99996012e-01 -5.06981345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92463044 meters 0.26228727536812874 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99996254e-01 -6.48726663e-04 2.65930455e-03 4.38530962e+00] [ 6.53074182e-04 9.99998451e-01 -1.63429094e-03 2.00213623e-01] [-2.65824022e-03 1.63602154e-03 9.99995129e-01 -5.06493438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98463044 meters 0.2623898766009412 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99996235e-01 -7.26191548e-04 2.64610112e-03 4.38523534e+00] [ 7.31013919e-04 9.99998073e-01 -1.82193244e-03 2.01122619e-01] [-2.64477295e-03 1.82385992e-03 9.99994839e-01 -5.06301243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04463044 meters 0.2634332736795979 Centerline is valid? [False, False] Translation: X:4.41, Y:0.20, Z:-0.51 [[ 9.99958980e-01 -7.52955474e-03 5.03435136e-03 4.40512847e+00] [ 7.52529854e-03 9.99971311e-01 8.63841137e-04 2.00368036e-01] [-5.04071127e-03 -8.25920705e-04 9.99986954e-01 -5.06318794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10463044 meters 0.2627897025773985 Centerline is valid? [False, False] Translation: X:4.38, Y:0.20, Z:-0.51 [[ 9.99989178e-01 1.50620222e-03 4.40164724e-03 4.38496775e+00] [-1.50669814e-03 9.99998859e-01 1.09355116e-04 2.00052072e-01] [-4.40147750e-03 -1.15985886e-04 9.99990307e-01 -5.06905157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16463044 meters 0.262769587918141 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99990138e-01 1.53020438e-03 4.16917934e-03 4.38564096e+00] [-1.53087292e-03 9.99998816e-01 1.57166112e-04 1.99723237e-01] [-4.16893391e-03 -1.63547046e-04 9.99991297e-01 -5.07221020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22463044 meters 0.26342864212174594 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99991246e-01 1.46699760e-03 3.91859366e-03 4.38594677e+00] [-1.46703851e-03 9.99998924e-01 7.56682935e-06 2.00535425e-01] [-3.91857834e-03 -1.33154909e-05 9.99992322e-01 -5.06794879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28463044 meters 0.26228038760967753 Centerline is valid? [False, False] Translation: X:4.39, Y:0.20, Z:-0.51 [[ 9.99992020e-01 1.34668126e-03 3.76109471e-03 4.38564789e+00] [-1.34562430e-03 9.99999054e-01 -2.83541648e-04 2.01593315e-01] [-3.76147299e-03 2.78478365e-04 9.99992887e-01 -5.05656490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34463044 meters 0.26228232826161885 Centerline is valid? [False, False] Translation: X:4.38, Y:0.20, Z:-0.50 [[ 9.99989699e-01 1.29804698e-03 4.34941839e-03 4.38364188e+00] [-1.29539143e-03 9.99998973e-01 -6.13313577e-04 2.02992890e-01] [-4.35021004e-03 6.07673059e-04 9.99990353e-01 -5.04035563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40463044 meters 0.26168433210347597 Centerline is valid? [False, False] Translation: X:4.38, Y:0.20, Z:-0.50 [[ 9.99989872e-01 1.18070056e-03 4.34295150e-03 4.38331592e+00] [-1.17669379e-03 9.99998880e-01 -9.25029976e-04 2.04154970e-01] [-4.34403882e-03 9.19910283e-04 9.99990141e-01 -5.03395813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46463044 meters 0.26015349353357997 Centerline is valid? [False, False] Translation: X:4.38, Y:0.21, Z:-0.50 [[ 9.99991203e-01 1.05261518e-03 4.06022811e-03 4.38359567e+00] [-1.04723803e-03 9.99998572e-01 -1.32624590e-03 2.05748933e-01] [-4.06161834e-03 1.32198221e-03 9.99990878e-01 -5.02870315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52463044 meters 0.2592387744109838 Centerline is valid? [False, False] Translation: X:4.38, Y:0.21, Z:-0.50 [[ 9.99991651e-01 8.81687513e-04 3.99015508e-03 4.38353057e+00] [-8.74448397e-04 9.99997969e-01 -1.81562526e-03 2.07897046e-01] [-3.99174779e-03 1.81212092e-03 9.99990391e-01 -5.02504468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58463044 meters 0.2602414441450782 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:-0.50 [[ 9.99970976e-01 -6.99210239e-03 3.02625422e-03 4.40406911e+00] [ 6.99414589e-03 9.99975319e-01 -6.65202409e-04 2.15323251e-01] [-3.02152837e-03 6.86349165e-04 9.99995200e-01 -5.01213180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64463044 meters 0.25981950391174274 Centerline is valid? [False, False] Translation: X:4.40, Y:0.22, Z:-0.50 [[ 9.99990256e-01 -2.96962879e-03 3.26632990e-03 4.40366541e+00] [ 2.95992065e-03 9.99991200e-01 2.97301601e-03 2.17812297e-01] [-3.27512991e-03 -2.96331897e-03 9.99990246e-01 -5.01420545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70463044 meters 0.2612446403932434 Centerline is valid? [False, False] Translation: X:4.43, Y:0.22, Z:-0.50 [[ 9.99983333e-01 4.90689897e-03 3.04235308e-03 4.42522985e+00] [-4.91289604e-03 9.99985997e-01 1.96686227e-03 2.16369557e-01] [-3.03265928e-03 -1.98177626e-03 9.99993438e-01 -5.00976962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76463044 meters 0.2601751810740069 Centerline is valid? [False, False] Translation: X:4.41, Y:0.22, Z:-0.50 [[ 9.99997130e-01 -2.36875467e-03 3.59887040e-04 4.40751631e+00] [ 2.36757044e-03 9.99991896e-01 3.25610384e-03 2.18993721e-01] [-3.67597035e-04 -3.25524244e-03 9.99994634e-01 -5.02367941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82463044 meters 0.26011149750723495 Centerline is valid? [False, False] Translation: X:4.41, Y:0.22, Z:-0.50 [[ 9.99997134e-01 -2.36629387e-03 3.64372195e-04 4.40748225e+00] [ 2.36509445e-03 9.99991897e-01 3.25771850e-03 2.18904461e-01] [-3.72077962e-04 -3.25684739e-03 9.99994627e-01 -5.02337977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88463044 meters 0.25943790080190543 Centerline is valid? [False, False] Translation: X:4.43, Y:0.22, Z:-0.50 [[ 9.99989800e-01 3.67090909e-03 2.63136664e-03 4.42737350e+00] [-3.67246747e-03 9.99993084e-01 5.87647926e-04 2.18335552e-01] [-2.62919124e-03 -5.97305540e-04 9.99996365e-01 -5.02396914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94463044 meters 0.26107203959530917 Centerline is valid? [False, False] Translation: X:4.45, Y:0.22, Z:-0.50 [[ 9.99985948e-01 -3.43600688e-03 4.03695257e-03 4.44808687e+00] [ 3.42368120e-03 9.99989469e-01 3.05616619e-03 2.18234605e-01] [-4.04741106e-03 -3.04230201e-03 9.99987181e-01 -5.02772788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00463044 meters 0.2602396357854255 Centerline is valid? [False, False] Translation: X:4.43, Y:0.22, Z:-0.50 [[ 9.99994049e-01 1.80697727e-03 2.93884203e-03 4.42682634e+00] [-1.80414790e-03 9.99997907e-01 -9.65118668e-04 2.16979989e-01] [-2.94057983e-03 9.59810819e-04 9.99995216e-01 -5.02560568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06463044000003 meters 0.25970706827223294 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99993564e-01 2.09793314e-03 2.91054800e-03 4.42695770e+00] [-2.09732336e-03 9.99997778e-01 -2.12540561e-04 2.13479818e-01] [-2.91098743e-03 2.06434832e-04 9.99995742e-01 -5.02697524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12463044000003 meters 0.25887616040242345 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99993169e-01 2.28669715e-03 2.90389837e-03 4.42695253e+00] [-2.28738246e-03 9.99997357e-01 2.32695401e-04 2.11310344e-01] [-2.90335859e-03 -2.39336138e-04 9.99995757e-01 -5.02664148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18463044000003 meters 0.2596570098958123 Centerline is valid? [False, False] Translation: X:4.45, Y:0.21, Z:-0.50 [[ 9.99975708e-01 -6.57878595e-03 2.30278825e-03 4.44791716e+00] [ 6.57619244e-03 9.99977736e-01 1.13201154e-03 2.13176898e-01] [-2.31018424e-03 -1.11684047e-03 9.99996708e-01 -5.02159905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24463044000004 meters 0.25885107239747945 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995919e-01 2.35460773e-03 1.61771969e-03 4.42796599e+00] [-2.35546083e-03 9.99997088e-01 5.25642037e-04 2.11072184e-01] [-1.61647730e-03 -5.29450367e-04 9.99998553e-01 -5.03293637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30463044000004 meters 0.2596385727679833 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995669e-01 2.35751228e-03 1.76169680e-03 4.42780446e+00] [-2.35847131e-03 9.99997072e-01 5.42501089e-04 2.10893667e-01] [-1.76041269e-03 -5.46653650e-04 9.99998301e-01 -5.03509640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36463044 meters 0.2593642657371588 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995777e-01 2.36588785e-03 1.68785141e-03 4.42825110e+00] [-2.36683594e-03 9.99997042e-01 5.59938901e-04 2.10843660e-01] [-1.68652167e-03 -5.63931404e-04 9.99998419e-01 -5.04025525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42463044 meters 0.2594852202551942 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995989e-01 2.33805871e-03 1.59851893e-03 4.42849757e+00] [-2.33884572e-03 9.99997145e-01 4.90648970e-04 2.11134742e-01] [-1.59736720e-03 -4.94385691e-04 9.99998602e-01 -5.04183237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48463044 meters 0.25966471095860666 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995823e-01 2.39564964e-03 1.61711916e-03 4.42844798e+00] [-2.39667352e-03 9.99996929e-01 6.31510121e-04 2.10534165e-01] [-1.61560132e-03 -6.35383189e-04 9.99998493e-01 -5.04133663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54463044 meters 0.2610018946607102 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99995312e-01 2.59580398e-03 1.62431403e-03 4.42865839e+00] [-2.59768287e-03 9.99995958e-01 1.15569347e-03 2.07945208e-01] [-1.62130751e-03 -1.15990751e-03 9.99998013e-01 -5.04440198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60463044 meters 0.2604555635317225 Centerline is valid? [False, False] Translation: X:4.43, Y:0.21, Z:-0.50 [[ 9.99994877e-01 2.79024399e-03 1.56830628e-03 4.42874365e+00] [-2.79284715e-03 9.99994722e-01 1.66012376e-03 2.05671079e-01] [-1.56366585e-03 -1.66449529e-03 9.99997392e-01 -5.04364473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66463044 meters 0.2590184735284836 Centerline is valid? [False, False] Translation: X:4.43, Y:0.20, Z:-0.50 [[ 9.99993924e-01 3.08138340e-03 1.63030719e-03 4.42803584e+00] [-3.08548524e-03 9.99992066e-01 2.51948564e-03 2.01396691e-01] [-1.62253076e-03 -2.52450062e-03 9.99995497e-01 -5.03398517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72463044 meters 0.25907652997703506 Centerline is valid? [False, False] Translation: X:4.43, Y:0.20, Z:-0.50 [[ 9.99998097e-01 -1.05046425e-03 1.64389109e-03 4.42790217e+00] [ 1.05264225e-03 9.99998569e-01 -1.32460445e-03 1.99841616e-01] [-1.64249728e-03 1.32633236e-03 9.99997772e-01 -5.03221192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78463044 meters 0.2582656388344153 Centerline is valid? [False, False] Translation: X:4.43, Y:0.19, Z:-0.50 [[ 9.99998517e-01 -5.83773643e-04 1.62002354e-03 4.42797769e+00] [ 5.84270694e-04 9.99999782e-01 -3.06361201e-04 1.94957034e-01] [-1.61984434e-03 3.07307279e-04 9.99998641e-01 -5.03225600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84463044 meters 0.25857941990657224 Centerline is valid? [False, False] Translation: X:4.43, Y:0.19, Z:-0.50 [[ 9.99998774e-01 -1.52800315e-04 1.55827874e-03 4.42789121e+00] [ 1.51678569e-04 9.99999729e-01 7.19954518e-04 1.90070678e-01] [-1.55838833e-03 -7.19717278e-04 9.99998527e-01 -5.02855612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90463044 meters 0.2581779175967696 Centerline is valid? [False, False] Translation: X:4.43, Y:0.18, Z:-0.50 [[ 9.99997837e-01 4.71007244e-06 2.07997604e-03 4.42710299e+00] [-9.48285624e-06 9.99997367e-01 2.29463013e-03 1.77063278e-01] [-2.07995976e-03 -2.29464489e-03 9.99995204e-01 -5.03194246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96463044 meters 0.25875103451115994 Centerline is valid? [False, False] Translation: X:4.45, Y:0.17, Z:-0.50 [[ 9.99985708e-01 5.28141077e-03 8.30851779e-04 4.45050512e+00] [-5.28115261e-03 9.99986006e-01 -3.12604601e-04 1.67848797e-01] [-8.32491145e-04 3.08212278e-04 9.99999606e-01 -5.03620255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02463044 meters 0.2594709276152085 Centerline is valid? [False, False] Translation: X:4.43, Y:0.16, Z:-0.51 [[ 9.99995427e-01 -2.65519350e-03 -1.44771038e-03 4.43230064e+00] [ 2.65768613e-03 9.99994985e-01 1.72257218e-03 1.60667021e-01] [ 1.44312935e-03 -1.72641186e-03 9.99997468e-01 -5.05286423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08463044 meters 0.2604895096497828 Centerline is valid? [False, False] Translation: X:4.43, Y:0.16, Z:-0.51 [[ 9.99996131e-01 -2.24313485e-03 -1.64520725e-03 4.43378193e+00] [ 2.24744911e-03 9.99994029e-01 2.62518045e-03 1.56569076e-01] [ 1.63930879e-03 -2.62886782e-03 9.99995201e-01 -5.06858576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14463044 meters 0.25938426090705374 Centerline is valid? [False, False] Translation: X:4.41, Y:0.15, Z:-0.51 [[ 9.99983996e-01 5.45422327e-03 -1.50273319e-03 4.41457423e+00] [-5.45183492e-03 9.99983876e-01 1.58887246e-03 1.49317671e-01] [ 1.51137503e-03 -1.58065438e-03 9.99997609e-01 -5.09280086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20463044 meters 0.2590225574083275 Centerline is valid? [False, False] Translation: X:4.41, Y:0.15, Z:-0.51 [[ 9.99982709e-01 5.69672218e-03 -1.45935969e-03 4.41459826e+00] [-5.69357077e-03 9.99981470e-01 2.15457955e-03 1.46627684e-01] [ 1.47160668e-03 -2.14623333e-03 9.99996614e-01 -5.09465168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26463044 meters 0.2601157175308249 Centerline is valid? [False, False] Translation: X:4.44, Y:0.15, Z:-0.51 [[ 9.99992476e-01 -2.80637624e-03 -2.67808562e-03 4.43694908e+00] [ 2.81474193e-03 9.99991155e-01 3.12511699e-03 1.46980056e-01] [ 2.66929168e-03 -3.13263160e-03 9.99991531e-01 -5.09209490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32463044 meters 0.2605146255814052 Centerline is valid? [False, False] Translation: X:4.44, Y:0.14, Z:-0.51 [[ 9.99993755e-01 -2.43179513e-03 -2.56461345e-03 4.43684669e+00] [ 2.44278242e-03 9.99987815e-01 4.28979513e-03 1.41641284e-01] [ 2.55415030e-03 -4.29603314e-03 9.99987510e-01 -5.09304872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38463044 meters 0.25832566340048757 Centerline is valid? [False, False] Translation: X:4.41, Y:0.14, Z:-0.51 [[ 9.99993856e-01 2.53212542e-03 -2.42428641e-03 4.41436235e+00] [-2.52994611e-03 9.99996393e-01 9.01592908e-04 1.36111017e-01] [ 2.42656062e-03 -8.95454054e-04 9.99996655e-01 -5.09161431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44463044 meters 0.26025886596422626 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:-0.51 [[ 9.99993295e-01 -3.26801550e-03 -1.65197888e-03 4.43795808e+00] [ 3.27516149e-03 9.99985211e-01 4.34167685e-03 1.32524747e-01] [ 1.63776578e-03 -4.34705824e-03 9.99989210e-01 -5.10827306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50463044 meters 0.26029553932485455 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:-0.51 [[ 9.99993957e-01 -3.08103051e-03 -1.61017338e-03 4.43793915e+00] [ 3.08868667e-03 9.99983833e-01 4.77420874e-03 1.30419004e-01] [ 1.59543786e-03 -4.77915322e-03 9.99987307e-01 -5.10877961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56463044000003 meters 0.260554388441106 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:-0.51 [[ 9.99994574e-01 -2.94209667e-03 -1.48209751e-03 4.43763306e+00] [ 2.94960848e-03 9.99982686e-01 5.09193848e-03 1.28984035e-01] [ 1.46709087e-03 -5.09628245e-03 9.99985938e-01 -5.10813240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62463044000003 meters 0.2604240884500132 Centerline is valid? [False, False] Translation: X:4.44, Y:0.13, Z:-0.51 [[ 9.99995532e-01 -2.61337712e-03 -1.45158997e-03 4.43795760e+00] [ 2.62184392e-03 9.99979382e-01 5.86182216e-03 1.25178147e-01] [ 1.43624089e-03 -5.86560181e-03 9.99981766e-01 -5.11341413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68463044000003 meters 0.2598547852247692 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:-0.51 [[ 9.99996062e-01 -2.35979567e-03 -1.51925156e-03 4.43838313e+00] [ 2.36956603e-03 9.99976316e-01 6.46167767e-03 1.22250623e-01] [ 1.50396734e-03 -6.46525218e-03 9.99977969e-01 -5.11710648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74463044000004 meters 0.2593169838209649 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:-0.51 [[ 9.99996267e-01 -2.17165377e-03 -1.65808209e-03 4.43867946e+00] [ 2.18305833e-03 9.99973759e-01 6.90761436e-03 1.20194501e-01] [ 1.64303763e-03 -6.91120827e-03 9.99974767e-01 -5.11643855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80463044000004 meters 0.2597981595152398 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:-0.51 [[ 9.99996528e-01 -2.01894898e-03 -1.69355487e-03 4.43897294e+00] [ 2.03119695e-03 9.99971570e-01 7.26183859e-03 1.18577512e-01] [ 1.67884544e-03 -7.26525332e-03 9.99972198e-01 -5.11949379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86463044 meters 0.2590363736294013 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:-0.51 [[ 9.99996500e-01 -1.89454172e-03 -1.84698243e-03 4.43904830e+00] [ 1.90843502e-03 9.99969680e-01 7.54964333e-03 1.17210820e-01] [ 1.83262332e-03 -7.55314175e-03 9.99969795e-01 -5.11477937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92463044 meters 0.25933518047043047 Centerline is valid? [False, False] Translation: X:4.44, Y:0.12, Z:-0.51 [[ 9.99996534e-01 -1.90697117e-03 -1.81534107e-03 4.43893114e+00] [ 1.92058576e-03 9.99969821e-01 7.52777898e-03 1.17379204e-01] [ 1.80093103e-03 -7.53123941e-03 9.99970018e-01 -5.11398165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98463044 meters 0.2603351028664542 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99982014e-01 5.99617592e-03 1.30084825e-04 4.45773373e+00] [-5.99685127e-03 9.99963843e-01 6.02915077e-03 1.16876608e-01] [-9.39282727e-05 -6.02982243e-03 9.99981816e-01 -5.09887244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04463044 meters 0.26005953353210043 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99998399e-01 1.77732239e-03 2.07153833e-04 4.45714010e+00] [-1.77769887e-03 9.99996743e-01 1.83159558e-03 1.17632089e-01] [-2.03897822e-04 -1.83196090e-03 9.99998301e-01 -5.09329752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10463044 meters 0.26089167805351776 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99998284e-01 1.83967994e-03 2.16492700e-04 4.45703998e+00] [-1.84010420e-03 9.99996355e-01 1.97610067e-03 1.17013299e-01] [-2.12856518e-04 -1.97649565e-03 9.99998024e-01 -5.09174733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16463044 meters 0.2592314949555605 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99998274e-01 1.84725326e-03 1.99333241e-04 4.45721472e+00] [-1.84764799e-03 9.99996296e-01 1.99856762e-03 1.16973303e-01] [-1.95640643e-04 -1.99893246e-03 9.99997983e-01 -5.09377327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22463044 meters 0.25878148741062185 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99998305e-01 1.84055653e-03 4.86906777e-05 4.45766222e+00] [-1.84064977e-03 9.99996326e-01 1.98979555e-03 1.17041626e-01] [-4.50281677e-05 -1.98988180e-03 9.99998019e-01 -5.09581642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28463044 meters 0.25914683147307405 Centerline is valid? [False, False] Translation: X:4.46, Y:0.12, Z:-0.51 [[ 9.99998118e-01 1.94007311e-03 -2.35148071e-05 4.45790720e+00] [-1.94001571e-03 9.99995621e-01 2.23495315e-03 1.15882775e-01] [ 2.78506766e-05 -2.23490333e-03 9.99997502e-01 -5.09705196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34463044 meters 0.25955176370624683 Centerline is valid? [False, False] Translation: X:4.46, Y:0.11, Z:-0.51 [[ 9.99997837e-01 2.07857635e-03 -7.09535764e-05 4.45779242e+00] [-2.07838749e-03 9.99994549e-01 2.56552788e-03 1.14363018e-01] [ 7.62858352e-05 -2.56537486e-03 9.99996707e-01 -5.09262286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40463044 meters 0.2588596358507971 Centerline is valid? [False, False] Translation: X:4.46, Y:0.11, Z:-0.51 [[ 9.99997448e-01 2.25206668e-03 -1.81661495e-04 4.45791280e+00] [-2.25151676e-03 9.99993047e-01 2.97263364e-03 1.12381863e-01] [ 1.88354801e-04 -2.97221704e-03 9.99995565e-01 -5.09047654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46463044 meters 0.25830295388980123 Centerline is valid? [False, False] Translation: X:4.46, Y:0.11, Z:-0.51 [[ 9.99997252e-01 2.33005488e-03 -2.58399245e-04 4.45807862e+00] [-2.32922741e-03 9.99992302e-01 3.15764133e-03 1.11594306e-01] [ 2.65754733e-04 -3.15703078e-03 9.99994981e-01 -5.09052040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52463044 meters 0.2585431609306134 Centerline is valid? [False, False] Translation: X:4.46, Y:0.11, Z:-0.51 [[ 9.99997268e-01 2.33233823e-03 -1.55681943e-04 4.45805588e+00] [-2.33183193e-03 9.99992235e-01 3.17677499e-03 1.11450948e-01] [ 1.63090048e-04 -3.17640329e-03 9.99994942e-01 -5.09339028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58463044 meters 0.2599963511213637 Centerline is valid? [False, False] Translation: X:4.50, Y:0.11, Z:-0.51 [[ 9.99991693e-01 3.85308977e-03 1.32923495e-03 4.50079244e+00] [-3.85830135e-03 9.99984792e-01 3.94070801e-03 1.14069917e-01] [-1.31403083e-03 -3.94580386e-03 9.99991352e-01 -5.08851773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64463044 meters 0.26023641881932585 Centerline is valid? [False, False] Translation: X:4.50, Y:0.11, Z:-0.51 [[ 9.99991903e-01 3.81931263e-03 1.26776743e-03 4.50094673e+00] [-3.82418530e-03 9.99985224e-01 3.86359560e-03 1.14443780e-01] [-1.25299242e-03 -3.86841249e-03 9.99991733e-01 -5.08896268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70463044 meters 0.2603309171253681 Centerline is valid? [False, False] Translation: X:4.54, Y:0.12, Z:-0.51 [[ 9.99988322e-01 2.78709669e-03 3.94819035e-03 4.54215691e+00] [-2.79657812e-03 9.99993214e-01 2.39798050e-03 1.16171556e-01] [-3.94148016e-03 -2.40899392e-03 9.99989331e-01 -5.08080305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76463044 meters 0.2587363271780292 Centerline is valid? [False, False] Translation: X:4.50, Y:0.11, Z:-0.51 [[ 9.99996910e-01 1.49648507e-03 1.98493663e-03 4.49994841e+00] [-1.50016941e-03 9.99997152e-01 1.85596548e-03 1.12804319e-01] [-1.98215356e-03 -1.85893749e-03 9.99996308e-01 -5.08452979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82463044 meters 0.258303001155828 Centerline is valid? [False, False] Translation: X:4.50, Y:0.11, Z:-0.51 [[ 9.99996920e-01 1.49659409e-03 1.97984197e-03 4.50034117e+00] [-1.50028735e-03 9.99997135e-01 1.86526534e-03 1.12719645e-01] [-1.97704475e-03 -1.86822993e-03 9.99996300e-01 -5.09173112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88463044 meters 0.25973382163520137 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99991313e-01 1.83188626e-03 3.74395145e-03 4.54322608e+00] [-1.83745220e-03 9.99997211e-01 1.48374969e-03 1.14270017e-01] [-3.74122295e-03 -1.49061613e-03 9.99991891e-01 -5.09013495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94463044 meters 0.25949286376356556 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990943e-01 1.90994670e-03 3.80350509e-03 4.54308084e+00] [-1.91629386e-03 9.99996776e-01 1.66582173e-03 1.13438616e-01] [-3.80031120e-03 -1.67309527e-03 9.99991379e-01 -5.08980018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00463044 meters 0.2580934393811201 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990347e-01 2.02681441e-03 3.89832693e-03 4.54325478e+00] [-2.03444391e-03 9.99996021e-01 1.95415259e-03 1.12048017e-01] [-3.89435072e-03 -1.96206465e-03 9.99990492e-01 -5.09614541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06463044000003 meters 0.25963892254931664 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990007e-01 2.09795062e-03 3.94782127e-03 4.54321795e+00] [-2.10634326e-03 9.99995528e-01 2.12293553e-03 1.11283230e-01] [-3.94334981e-03 -2.13122978e-03 9.99989954e-01 -5.09683418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12463044000003 meters 0.26028072421976123 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990064e-01 2.17175887e-03 3.89294579e-03 4.54385580e+00] [-2.18078892e-03 9.99994938e-01 2.31685080e-03 1.10167818e-01] [-3.88789444e-03 -2.32531747e-03 9.99989739e-01 -5.10514832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18463044000003 meters 0.25960315416166685 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990086e-01 2.20116314e-03 3.87076117e-03 4.54404492e+00] [-2.21043760e-03 9.99994693e-01 2.39338709e-03 1.09894269e-01] [-3.86547239e-03 -2.40191944e-03 9.99989644e-01 -5.10731999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24463044000004 meters 0.2592159929188262 Centerline is valid? [False, False] Translation: X:4.54, Y:0.11, Z:-0.51 [[ 9.99990013e-01 2.19562410e-03 3.89261302e-03 4.54392898e+00] [-2.20489634e-03 9.99994739e-01 2.37932118e-03 1.09989142e-01] [-3.88736845e-03 -2.38788023e-03 9.99989593e-01 -5.10608382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30463044000004 meters 0.2605189425428972 Centerline is valid? [False, False] Translation: X:4.57, Y:0.12, Z:-0.51 [[ 9.99979933e-01 -6.04945065e-03 1.88100142e-03 4.56603557e+00] [ 6.04453971e-03 9.99978337e-01 2.60562688e-03 1.15759953e-01] [-1.89672328e-03 -2.59420481e-03 9.99994836e-01 -5.10445786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36463044 meters 0.2602547367091517 Centerline is valid? [False, False] Translation: X:4.55, Y:0.11, Z:-0.51 [[ 9.99996891e-01 1.58389618e-03 1.92582756e-03 4.54672540e+00] [-1.58654608e-03 9.99997796e-01 1.37522674e-03 1.11858772e-01] [-1.92364510e-03 -1.37827788e-03 9.99997200e-01 -5.12476724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42463044 meters 0.26005727534648715 Centerline is valid? [False, False] Translation: X:4.55, Y:0.11, Z:-0.51 [[ 9.99997011e-01 1.51507450e-03 1.91885286e-03 4.54657420e+00] [-1.51740181e-03 9.99998114e-01 1.21198993e-03 1.12586235e-01] [-1.91701299e-03 -1.21489798e-03 9.99997425e-01 -5.12171760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48463044 meters 0.26009787736142287 Centerline is valid? [False, False] Translation: X:4.55, Y:0.11, Z:-0.51 [[ 9.99997158e-01 1.35080090e-03 1.96438279e-03 4.54680632e+00] [-1.35241294e-03 9.99998750e-01 8.19536976e-04 1.14534333e-01] [-1.96327330e-03 -8.22191304e-04 9.99997735e-01 -5.12779892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54463044 meters 0.2615314829267227 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.51 [[ 9.99997140e-01 1.16467781e-03 2.08901172e-03 4.54674502e+00] [-1.16537766e-03 9.99999265e-01 3.33829468e-04 1.16790688e-01] [-2.08862138e-03 -3.36263001e-04 9.99997762e-01 -5.13162437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60463044 meters 0.2600299005661727 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.51 [[ 9.99997164e-01 1.08908780e-03 2.11795912e-03 4.54664000e+00] [-1.08942586e-03 9.99999394e-01 1.58467809e-04 1.17600991e-01] [-2.11778525e-03 -1.60774719e-04 9.99997745e-01 -5.13114847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66463044 meters 0.26085415955867136 Centerline is valid? [False, False] Translation: X:4.57, Y:0.12, Z:-0.51 [[ 9.99985943e-01 -3.99492281e-03 3.48628882e-03 4.56904258e+00] [ 3.98326191e-03 9.99986471e-01 3.34534686e-03 1.20552449e-01] [-3.49960605e-03 -3.33141303e-03 9.99988327e-01 -5.14076654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72463044 meters 0.2596707138943292 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99988154e-01 3.39249823e-03 3.49046820e-03 4.55032408e+00] [-3.39834054e-03 9.99992832e-01 1.66922178e-03 1.17252726e-01] [-3.48478035e-03 -1.68106380e-03 9.99992515e-01 -5.16193806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78463044 meters 0.2592796764670059 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99988782e-01 3.31698299e-03 3.38125698e-03 4.55074908e+00] [-3.32205247e-03 9.99993365e-01 1.49477618e-03 1.18070680e-01] [-3.37627640e-03 -1.50599213e-03 9.99993166e-01 -5.16543516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84463044 meters 0.2591766645972024 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989474e-01 3.24629136e-03 3.24233192e-03 4.55095545e+00] [-3.25058957e-03 9.99993844e-01 1.32126417e-03 1.18899350e-01] [-3.23802275e-03 -1.33178976e-03 9.99993871e-01 -5.16413698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90463044 meters 0.2597771552600591 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989678e-01 3.20942368e-03 3.21614500e-03 4.55083497e+00] [-3.21339369e-03 9.99994081e-01 1.22999429e-03 1.19439241e-01] [-3.21217839e-03 -1.24031633e-03 9.99994072e-01 -5.16083587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96463044 meters 0.2588078719121383 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989578e-01 3.12003340e-03 3.33310990e-03 4.55069773e+00] [-3.12341863e-03 9.99994611e-01 1.01091487e-03 1.20458620e-01] [-3.32993785e-03 -1.02131503e-03 9.99993934e-01 -5.16329499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02463044 meters 0.25840161496093367 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99990043e-01 3.02957712e-03 3.27661687e-03 4.55082959e+00] [-3.03222680e-03 9.99995080e-01 8.03999543e-04 1.21526182e-01] [-3.27416497e-03 -8.13926982e-04 9.99994309e-01 -5.16347979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08463044 meters 0.25866958181452143 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99990191e-01 2.98425704e-03 3.27293416e-03 4.55093683e+00] [-2.98655725e-03 9.99995297e-01 6.98135630e-04 1.22079531e-01] [-3.27083535e-03 -7.07903588e-04 9.99994400e-01 -5.16482044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14463044 meters 0.25762043690036396 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99990054e-01 3.00949561e-03 3.29169741e-03 4.55099758e+00] [-3.01200057e-03 9.99995178e-01 7.56299125e-04 1.21766052e-01] [-3.28940546e-03 -7.66206197e-04 9.99994296e-01 -5.16617145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20463044 meters 0.2581246305911467 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989818e-01 3.13941529e-03 3.24159227e-03 4.55112918e+00] [-3.14287780e-03 9.99994496e-01 1.06361248e-03 1.20338197e-01] [-3.23823530e-03 -1.07378958e-03 9.99994180e-01 -5.16628931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26463044 meters 0.25810129671446463 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989695e-01 3.31863664e-03 3.09793972e-03 4.55156105e+00] [-3.32333719e-03 9.99993332e-01 1.51340324e-03 1.18177205e-01] [-3.09289663e-03 -1.52368315e-03 9.99994056e-01 -5.16793797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32463044 meters 0.25791863281478794 Centerline is valid? [False, False] Translation: X:4.55, Y:0.12, Z:-0.52 [[ 9.99989166e-01 3.57028532e-03 2.98688038e-03 4.55217432e+00] [-3.57683526e-03 9.99991204e-01 2.19044505e-03 1.15069355e-01] [-2.97903360e-03 -2.20110490e-03 9.99993140e-01 -5.17369322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38463044 meters 0.25557509240705006 Centerline is valid? [False, False] Translation: X:4.53, Y:0.11, Z:-0.52 [[ 9.99982522e-01 -5.85112648e-03 8.48168117e-04 4.53185353e+00] [ 5.84858267e-03 9.99978483e-01 2.97126052e-03 1.07066701e-01] [-8.65535087e-04 -2.96624801e-03 9.99995226e-01 -5.17010248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44463044 meters 0.2567904267507232 Centerline is valid? [False, False] Translation: X:4.55, Y:0.10, Z:-0.51 [[ 9.99997854e-01 2.00142189e-03 -5.35763934e-04 4.55174148e+00] [-2.00024086e-03 9.99995588e-01 2.19591545e-03 9.64039841e-02] [ 5.40156524e-04 -2.19483908e-03 9.99997445e-01 -5.14987099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50463044 meters 0.2578433483043108 Centerline is valid? [False, False] Translation: X:4.55, Y:0.09, Z:-0.52 [[ 9.99997215e-01 2.26908202e-03 -6.49691610e-04 4.55211903e+00] [-2.26724486e-03 9.99993469e-01 2.81465158e-03 9.34538740e-02] [ 6.56074042e-04 -2.81317073e-03 9.99995828e-01 -5.15117978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56463044000003 meters 0.25619918696189536 Centerline is valid? [False, False] Translation: X:4.53, Y:0.09, Z:-0.51 [[ 9.99972820e-01 7.34005852e-03 -6.94129328e-04 4.52922144e+00] [-7.34025644e-03 9.99973020e-01 -2.83013170e-04 8.73954693e-02] [ 6.92033267e-04 2.88100565e-04 9.99999719e-01 -5.14056085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62463044000003 meters 0.2582628219138825 Centerline is valid? [False, False] Translation: X:4.55, Y:0.08, Z:-0.51 [[ 9.99999796e-01 -6.14014665e-04 -1.77954285e-04 4.55081515e+00] [ 6.14219733e-04 9.99999145e-01 1.15461072e-03 8.39261567e-02] [ 1.77245185e-04 -1.15471978e-03 9.99999318e-01 -5.13467462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68463044000003 meters 0.2565697917490529 Centerline is valid? [False, False] Translation: X:4.53, Y:0.08, Z:-0.51 [[ 9.99991145e-01 4.20809323e-03 -4.21585805e-05 4.52856649e+00] [-4.20817469e-03 9.99988799e-01 -2.16640191e-03 7.82839724e-02] [ 3.30416870e-05 2.16656014e-03 9.99997652e-01 -5.13521986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74463044000004 meters 0.2580164201530159 Centerline is valid? [False, False] Translation: X:4.55, Y:0.08, Z:-0.51 [[ 9.99994669e-01 -3.24076915e-03 3.98934904e-04 4.54783376e+00] [ 3.24091953e-03 9.99994677e-01 -3.76892444e-04 7.90824516e-02] [-3.97711359e-04 3.78183350e-04 9.99999849e-01 -5.11928296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80463044000004 meters 0.2566459399296942 Centerline is valid? [False, False] Translation: X:4.53, Y:0.07, Z:-0.51 [[ 9.99989843e-01 4.46047079e-03 6.46015108e-04 4.52758856e+00] [-4.45967447e-03 9.99989300e-01 -1.22890710e-03 7.37147153e-02] [-6.51489700e-04 1.22601360e-03 9.99999036e-01 -5.13063690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86463044 meters 0.25797551284352155 Centerline is valid? [False, False] Translation: X:4.55, Y:0.08, Z:-0.51 [[ 9.99993974e-01 -3.14354747e-03 1.47297962e-03 4.54669529e+00] [ 3.14346463e-03 9.99995058e-01 5.85553071e-05 7.62714890e-02] [-1.47315641e-03 -5.39246949e-05 9.99998913e-01 -5.11836264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92463044 meters 0.25750564572564993 Centerline is valid? [False, False] Translation: X:4.55, Y:0.08, Z:-0.51 [[ 9.99994209e-01 -3.08892660e-03 1.42849643e-03 4.54673903e+00] [ 3.08866349e-03 9.99995213e-01 1.86357851e-04 7.57083012e-02] [-1.42906524e-03 -1.81944627e-04 9.99998962e-01 -5.11722733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98463044 meters 0.25765812538383914 Centerline is valid? [False, False] Translation: X:4.55, Y:0.07, Z:-0.51 [[ 9.99994529e-01 -2.99072170e-03 1.41358665e-03 4.54701617e+00] [ 2.99014002e-03 9.99995444e-01 4.13425298e-04 7.45680277e-02] [-1.41481665e-03 -4.09196214e-04 9.99998915e-01 -5.12080926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04463044 meters 0.25769083346141575 Centerline is valid? [False, False] Translation: X:4.55, Y:0.07, Z:-0.51 [[ 9.99995405e-01 -2.76532497e-03 1.24187064e-03 4.54739157e+00] [ 2.76401223e-03 9.99995621e-01 1.05754758e-03 7.14288961e-02] [-1.24478966e-03 -1.05411018e-03 9.99998670e-01 -5.12029666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10463044 meters 0.2576405047052651 Centerline is valid? [False, False] Translation: X:4.55, Y:0.07, Z:-0.51 [[ 9.99995925e-01 -2.59608677e-03 1.18775847e-03 4.54756479e+00] [ 2.59430339e-03 9.99995509e-01 1.50055087e-03 6.95747875e-02] [-1.19164870e-03 -1.49746335e-03 9.99998169e-01 -5.12042460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16463044 meters 0.2578070560863049 Centerline is valid? [False, False] Translation: X:4.57, Y:0.07, Z:-0.51 [[ 9.99993058e-01 3.58589346e-03 1.01225139e-03 4.57010461e+00] [-3.58416409e-03 9.99992123e-01 -1.70511419e-03 6.75781257e-02] [-1.01835777e-03 1.70147428e-03 9.99998034e-01 -5.12021056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22463044 meters 0.2578954463380766 Centerline is valid? [False, False] Translation: X:4.57, Y:0.07, Z:-0.51 [[ 9.99993047e-01 3.58879341e-03 1.01286265e-03 4.57035068e+00] [-3.58708165e-03 9.99992144e-01 -1.68680820e-03 6.76005349e-02] [-1.01890830e-03 1.68316325e-03 9.99998064e-01 -5.12434219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28463044 meters 0.2571827862297974 Centerline is valid? [False, False] Translation: X:4.57, Y:0.07, Z:-0.51 [[ 9.99993494e-01 3.45050647e-03 1.05206483e-03 4.57052978e+00] [-3.44836011e-03 9.99991983e-01 -2.03517807e-03 6.90744285e-02] [-1.05907879e-03 2.03153693e-03 9.99997376e-01 -5.12921997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34463044 meters 0.25844207076195563 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99992052e-01 -3.84474770e-03 1.05526566e-03 4.58942717e+00] [ 3.84557940e-03 9.99992296e-01 -7.87245674e-04 7.52220173e-02] [-1.05223077e-03 7.91297525e-04 9.99999133e-01 -5.10970293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40463044 meters 0.2579215474457688 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99992194e-01 -3.75190955e-03 1.23910210e-03 4.58888405e+00] [ 3.75261715e-03 9.99992797e-01 -5.69232514e-04 7.42872076e-02] [-1.23695746e-03 5.73877946e-04 9.99999070e-01 -5.10706777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46463044 meters 0.2567898172444918 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99992654e-01 -3.62435890e-03 1.24741279e-03 4.58908862e+00] [ 3.62465813e-03 9.99993403e-01 -2.37698417e-04 7.26579260e-02] [-1.24654306e-03 2.42218116e-04 9.99999194e-01 -5.11027371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52463044 meters 0.2578452089255602 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99992874e-01 -3.55965108e-03 1.25734742e-03 4.58926217e+00] [ 3.55977503e-03 9.99993659e-01 -9.63550308e-05 7.19231550e-02] [-1.25699646e-03 1.00830218e-04 9.99999205e-01 -5.11321577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58463044 meters 0.25751662431239125 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99993045e-01 -3.49815581e-03 1.29309838e-03 4.58933051e+00] [ 3.49809975e-03 9.99993881e-01 4.56124280e-05 7.12424754e-02] [-1.29325003e-03 -4.10887237e-05 9.99999163e-01 -5.11565588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64463044 meters 0.2582157751110948 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99992751e-01 -3.60501162e-03 1.22533174e-03 4.58990510e+00] [ 3.60526755e-03 9.99993480e-01 -2.06723130e-04 7.23972586e-02] [-1.22457851e-03 2.11139280e-04 9.99999228e-01 -5.12285767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70463044 meters 0.25903962087116816 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99991677e-01 -3.86823449e-03 1.29754062e-03 4.59000552e+00] [ 3.86944068e-03 9.99992083e-01 -9.28377571e-04 7.57001731e-02] [-1.29393916e-03 9.33390600e-04 9.99998727e-01 -5.12818261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76463044 meters 0.257069342872442 Centerline is valid? [False, False] Translation: X:4.57, Y:0.07, Z:-0.51 [[ 9.99990006e-01 3.88655317e-03 2.20982935e-03 4.56867256e+00] [-3.88188697e-03 9.99990235e-01 -2.11194949e-03 7.41187026e-02] [-2.21801598e-03 2.10335008e-03 9.99995328e-01 -5.13997099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82463044 meters 0.25756760918122673 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99990632e-01 -3.43227690e-03 2.63721692e-03 4.58796965e+00] [ 3.43493600e-03 9.99993596e-01 -1.00442957e-03 8.00836380e-02] [-2.63375255e-03 1.01347883e-03 9.99996018e-01 -5.12016958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88463044 meters 0.25907168205974473 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99991119e-01 -3.39849126e-03 2.49257563e-03 4.58831788e+00] [ 3.40079718e-03 9.99993793e-01 -9.21460841e-04 7.96173358e-02] [-2.48942858e-03 9.29929402e-04 9.99996469e-01 -5.12043833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94463044 meters 0.25837697927141 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99991641e-01 -3.25469250e-03 2.47501559e-03 4.58807646e+00] [ 3.25614906e-03 9.99994528e-01 -5.84705686e-04 7.81219448e-02] [-2.47309901e-03 5.92759818e-04 9.99996766e-01 -5.11587246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00463044 meters 0.2564208194178828 Centerline is valid? [False, False] Translation: X:4.59, Y:0.08, Z:-0.51 [[ 9.99992195e-01 -3.11936558e-03 2.42466059e-03 4.58795845e+00] [ 3.12003712e-03 9.99995095e-01 -2.73228883e-04 7.66724360e-02] [-2.42379640e-03 2.80791781e-04 9.99997023e-01 -5.11191745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06463044000003 meters 0.2583878245351336 Centerline is valid? [False, False] Translation: X:4.61, Y:0.08, Z:-0.51 [[ 9.99991169e-01 3.23550612e-03 2.68217358e-03 4.61143187e+00] [-3.22689315e-03 9.99989644e-01 -3.20932467e-03 7.54935445e-02] [-2.69252959e-03 3.20064124e-03 9.99991253e-01 -5.12275596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12463044000003 meters 0.2571230830755369 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99985240e-01 -5.05177784e-03 1.99990579e-03 4.59144430e+00] [ 5.05492339e-03 9.99985990e-01 -1.57093182e-03 7.45645962e-02] [-1.99194178e-03 1.58101801e-03 9.99996766e-01 -5.13298457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18463044000003 meters 0.25728842458690004 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99986619e-01 -4.76147896e-03 2.02235030e-03 4.59145522e+00] [ 4.76322408e-03 9.99988287e-01 -8.58976656e-04 7.11463229e-02] [-2.01823662e-03 8.68598070e-04 9.99997586e-01 -5.13325362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24463044000004 meters 0.2572751249824963 Centerline is valid? [False, False] Translation: X:4.59, Y:0.07, Z:-0.51 [[ 9.99988098e-01 -4.51740544e-03 1.84327106e-03 4.59189366e+00] [ 4.51792408e-03 9.99989756e-01 -2.77298778e-04 6.83868275e-02] [-1.84199951e-03 2.85623236e-04 9.99998263e-01 -5.13356923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30463044000004 meters 0.25591726038297213 Centerline is valid? [False, False] Translation: X:4.57, Y:0.06, Z:-0.52 [[ 9.99993797e-01 2.82815793e-03 2.09944373e-03 4.57300648e+00] [-2.82587446e-03 9.99995413e-01 -1.08982677e-03 5.98034543e-02] [-2.10251630e-03 1.08388724e-03 9.99997202e-01 -5.15208035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36463044 meters 0.25780486899734767 Centerline is valid? [False, False] Translation: X:4.59, Y:0.06, Z:-0.52 [[ 9.99985498e-01 -5.13013319e-03 1.63901724e-03 4.59497513e+00] [ 5.13044167e-03 9.99986822e-01 -1.84059297e-04 6.11235577e-02] [-1.63805139e-03 1.92465510e-04 9.99998640e-01 -5.15222663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42463044 meters 0.2571688430130895 Centerline is valid? [False, False] Translation: X:4.60, Y:0.06, Z:-0.51 [[ 9.99987056e-01 -4.88542050e-03 1.42161256e-03 4.59525777e+00] [ 4.88490529e-03 9.99988002e-01 3.65659460e-04 5.84325187e-02] [-1.42338191e-03 -3.58710284e-04 9.99998923e-01 -5.14849152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48463044 meters 0.2582467267808526 Centerline is valid? [False, False] Translation: X:4.60, Y:0.06, Z:-0.51 [[ 9.99987700e-01 -4.75935688e-03 1.39613540e-03 4.59534076e+00] [ 4.75845742e-03 9.99988469e-01 6.46864737e-04 5.70104211e-02] [-1.39919796e-03 -6.40213330e-04 9.99998816e-01 -5.14845432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54463044 meters 0.2579292236715611 Centerline is valid? [False, False] Translation: X:4.60, Y:0.06, Z:-0.51 [[ 9.99988299e-01 -4.67087547e-03 1.25923588e-03 4.59564630e+00] [ 4.66980998e-03 9.99988737e-01 8.47755265e-04 5.59471642e-02] [-1.26318145e-03 -8.41864952e-04 9.99998848e-01 -5.14799271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60463044 meters 0.25804083580235265 Centerline is valid? [False, False] Translation: X:4.60, Y:0.06, Z:-0.51 [[ 9.99988153e-01 -4.72209310e-03 1.18158493e-03 4.59572608e+00] [ 4.72127528e-03 9.99988614e-01 6.93970212e-04 5.70004834e-02] [-1.18484847e-03 -6.88383403e-04 9.99999061e-01 -5.14701604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66463044 meters 0.2594906935225886 Centerline is valid? [False, False] Translation: X:4.62, Y:0.06, Z:-0.51 [[ 9.99991822e-01 3.57199908e-03 1.89663674e-03 4.61538865e+00] [-3.57004754e-03 9.99993096e-01 -1.03133985e-03 5.72305260e-02] [-1.90030759e-03 1.02456033e-03 9.99997670e-01 -5.13202118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72463044 meters 0.2587258807345183 Centerline is valid? [False, False] Translation: X:4.62, Y:0.06, Z:-0.51 [[ 9.99992170e-01 3.56063259e-03 1.72652523e-03 4.61564289e+00] [-3.55881404e-03 9.99993111e-01 -1.05523372e-03 5.74117723e-02] [-1.73027063e-03 1.04908107e-03 9.99997953e-01 -5.13027256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78463044 meters 0.2587002016904402 Centerline is valid? [False, False] Translation: X:4.62, Y:0.06, Z:-0.51 [[ 9.99992124e-01 3.63595795e-03 1.59108668e-03 4.61584019e+00] [-3.63459709e-03 9.99993027e-01 -8.57361073e-04 5.65439887e-02] [-1.59419292e-03 8.51571362e-04 9.99998367e-01 -5.12802079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84463044 meters 0.2591067034996599 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99991956e-01 3.75612039e-03 1.40688278e-03 4.61587658e+00] [-3.75582135e-03 9.99992924e-01 -2.15138985e-04 5.33501729e-02] [-1.40768091e-03 2.09853254e-04 9.99998987e-01 -5.12027771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90463044 meters 0.25819557071105353 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99991558e-01 3.94828970e-03 1.13810640e-03 4.61645695e+00] [-3.94874388e-03 9.99992125e-01 3.97098664e-04 5.05561908e-02] [-1.13652958e-03 -4.01589402e-04 9.99999274e-01 -5.11983868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96463044 meters 0.25918406263173865 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99991019e-01 4.18125783e-03 6.91963954e-04 4.61768859e+00] [-4.18207916e-03 9.99990547e-01 1.18979669e-03 4.64871400e-02] [-6.86982567e-04 -1.19267985e-03 9.99999053e-01 -5.12394758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02463044 meters 0.2591930431624036 Centerline is valid? [False, False] Translation: X:4.62, Y:0.04, Z:-0.51 [[ 9.99990480e-01 4.33358092e-03 5.09439519e-04 4.61802712e+00] [-4.33436058e-03 9.99989422e-01 1.53941378e-03 4.48432983e-02] [-5.02762956e-04 -1.54160722e-03 9.99998685e-01 -5.12223897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08463044 meters 0.2592196227500972 Centerline is valid? [False, False] Translation: X:4.62, Y:0.04, Z:-0.51 [[ 9.99990212e-01 4.40754437e-03 3.87528275e-04 4.61791412e+00] [-4.40820290e-03 9.99988813e-01 1.71521797e-03 4.40236252e-02] [-3.79964041e-04 -1.71690949e-03 9.99998454e-01 -5.11536337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14463044 meters 0.26020327402265936 Centerline is valid? [False, False] Translation: X:4.62, Y:0.04, Z:-0.51 [[ 9.99990366e-01 4.38044326e-03 2.83800722e-04 4.61798213e+00] [-4.38090666e-03 9.99989037e-01 1.65332773e-03 4.43720160e-02] [-2.76555303e-04 -1.65455510e-03 9.99998593e-01 -5.11262662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20463044 meters 0.26075482608457645 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99990807e-01 4.28242212e-03 2.16871754e-04 4.61803358e+00] [-4.28272150e-03 9.99989850e-01 1.39934993e-03 4.55961198e-02] [-2.10876946e-04 -1.40026586e-03 9.99998997e-01 -5.11146966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26463044 meters 0.2604761616553014 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99994537e-01 -3.28274402e-03 -3.86212409e-04 4.63797965e+00] [ 3.28360609e-03 9.99992071e-01 2.25306424e-03 5.07938420e-02] [ 3.78813114e-04 -2.25432010e-03 9.99997387e-01 -5.09737240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32463044 meters 0.2619952694387879 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99987850e-01 4.77738758e-03 1.21518152e-03 4.61531335e+00] [-4.77966447e-03 9.99986814e-01 1.87774891e-03 4.76068702e-02] [-1.20619476e-03 -1.88353425e-03 9.99997499e-01 -5.09587685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38463044 meters 0.2623776923825119 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99993723e-01 -3.37773904e-03 1.07000310e-03 4.63681226e+00] [ 3.37561136e-03 9.99992334e-01 1.98408413e-03 5.19434646e-02] [-1.07669662e-03 -1.98045976e-03 9.99997459e-01 -5.09465042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44463044 meters 0.2616293089194776 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99992334e-01 3.91402440e-03 1.09821188e-04 4.61738862e+00] [-3.91409967e-03 9.99992099e-01 6.93733891e-04 4.93233184e-02] [-1.07105029e-04 -6.94158424e-04 9.99999753e-01 -5.10643695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50463044 meters 0.2614293502031878 Centerline is valid? [False, False] Translation: X:4.62, Y:0.05, Z:-0.51 [[ 9.99993101e-01 3.71147024e-03 1.53920503e-04 4.61759134e+00] [-3.71150283e-03 9.99993090e-01 2.11975246e-04 5.18946253e-02] [-1.53132699e-04 -2.12545059e-04 9.99999966e-01 -5.11151937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56463044000003 meters 0.2627154789566545 Centerline is valid? [False, False] Translation: X:4.64, Y:0.06, Z:-0.51 [[ 9.99991709e-01 -3.95340960e-03 -9.76414424e-04 4.63893634e+00] [ 3.95415761e-03 9.99991889e-01 7.65343959e-04 5.73580844e-02] [ 9.73380787e-04 -7.69198510e-04 9.99999230e-01 -5.10060988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62463044000003 meters 0.26197678220228315 Centerline is valid? [False, False] Translation: X:4.64, Y:0.06, Z:-0.51 [[ 9.99991489e-01 -3.94903364e-03 -1.19439593e-03 4.63943545e+00] [ 3.94994409e-03 9.99991909e-01 7.60874945e-04 5.74826611e-02] [ 1.19138154e-03 -7.65586267e-04 9.99998997e-01 -5.10135948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68463044000003 meters 0.2620555631194597 Centerline is valid? [False, False] Translation: X:4.64, Y:0.06, Z:-0.51 [[ 9.99991781e-01 -3.87468446e-03 -1.19337431e-03 4.63951062e+00] [ 3.87581478e-03 9.99992041e-01 9.46311460e-04 5.65941261e-02] [ 1.18969815e-03 -9.50928981e-04 9.99998840e-01 -5.10193237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74463044000004 meters 0.26168750958456805 Centerline is valid? [False, False] Translation: X:4.64, Y:0.06, Z:-0.51 [[ 9.99992008e-01 -3.76695618e-03 -1.33946854e-03 4.63976105e+00] [ 3.76857534e-03 9.99992169e-01 1.20834709e-03 5.54403563e-02] [ 1.33490626e-03 -1.21338532e-03 9.99998373e-01 -5.10090010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80463044000004 meters 0.26178163600946475 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99992265e-01 -3.67720388e-03 -1.39609578e-03 4.63980759e+00] [ 3.67918263e-03 9.99992227e-01 1.41743669e-03 5.45106555e-02] [ 1.39087273e-03 -1.42256222e-03 9.99998021e-01 -5.09934192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86463044 meters 0.26114188266242055 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99992745e-01 -3.53269719e-03 -1.42485102e-03 4.63955429e+00] [ 3.53519816e-03 9.99992208e-01 1.75656663e-03 5.29613799e-02] [ 1.41863450e-03 -1.76159102e-03 9.99997442e-01 -5.09368099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92463044 meters 0.26212468890657376 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99993573e-01 -3.32043160e-03 -1.35231401e-03 4.63929905e+00] [ 3.32347307e-03 9.99991939e-01 2.25308549e-03 5.07326258e-02] [ 1.34482189e-03 -2.25756539e-03 9.99996547e-01 -5.09123550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98463044 meters 0.26261741305784025 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99993890e-01 -3.16695455e-03 -1.47987055e-03 4.63941421e+00] [ 3.17082261e-03 9.99991544e-01 2.61879290e-03 4.90317357e-02] [ 1.47156444e-03 -2.62346931e-03 9.99995476e-01 -5.08815968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04463044 meters 0.26174209604389265 Centerline is valid? [False, False] Translation: X:4.64, Y:0.05, Z:-0.51 [[ 9.99994102e-01 -3.10965351e-03 -1.45799555e-03 4.63948574e+00] [ 3.11369120e-03 9.99991301e-01 2.77529611e-03 4.83037208e-02] [ 1.44935265e-03 -2.77981949e-03 9.99995086e-01 -5.09006867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10463044 meters 0.26358585585953725 Centerline is valid? [False, False] Translation: X:4.66, Y:0.05, Z:-0.51 [[ 9.99987492e-01 4.98057844e-03 4.57778881e-04 4.65790086e+00] [-4.98105590e-03 9.99987045e-01 1.04783587e-03 4.68549412e-02] [-4.52554122e-04 -1.05010299e-03 9.99999346e-01 -5.07616741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16463044 meters 0.26408610333459676 Centerline is valid? [False, False] Translation: X:4.66, Y:0.05, Z:-0.51 [[ 9.99987305e-01 5.01460745e-03 4.92880778e-04 4.65792579e+00] [-5.01516283e-03 9.99986783e-01 1.13210318e-03 4.65283649e-02] [-4.87197211e-04 -1.13456069e-03 9.99999238e-01 -5.07765175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22463044 meters 0.2647922604060604 Centerline is valid? [False, False] Translation: X:4.66, Y:0.05, Z:-0.51 [[ 9.99999374e-01 8.73181085e-04 7.00342476e-04 4.65773545e+00] [-8.71256724e-04 9.99995857e-01 -2.74335650e-03 4.51440662e-02] [-7.02735021e-04 2.74274460e-03 9.99995992e-01 -5.08224256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28463044 meters 0.2634801396231728 Centerline is valid? [False, False] Translation: X:4.66, Y:0.04, Z:-0.51 [[ 9.99999082e-01 1.14691816e-03 7.20881668e-04 4.65752357e+00] [-1.14546455e-03 9.99997317e-01 -2.01362391e-03 4.20688552e-02] [-7.23189195e-04 2.01279632e-03 9.99997713e-01 -5.07878896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34463044 meters 0.2625236356058996 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.51 [[ 9.99999611e-01 -7.29286879e-04 -4.97085073e-04 4.66216690e+00] [ 7.27981016e-04 9.99996297e-01 -2.62217725e-03 3.35347172e-02] [ 4.98995551e-04 2.62181436e-03 9.99996439e-01 -5.11041051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40463044 meters 0.2646281650498692 Centerline is valid? [False, False] Translation: X:4.68, Y:0.03, Z:-0.51 [[ 9.99982140e-01 -5.76928567e-03 1.56061355e-03 4.68383091e+00] [ 5.76753025e-03 9.99982733e-01 1.12699636e-03 2.82822287e-02] [-1.56708857e-03 -1.11797534e-03 9.99998147e-01 -5.12132939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46463044 meters 0.2643287322331766 Centerline is valid? [False, False] Translation: X:4.68, Y:0.03, Z:-0.51 [[ 9.99983713e-01 -5.48691058e-03 1.57052811e-03 4.68368687e+00] [ 5.48412714e-03 9.99983394e-01 1.77114856e-03 2.53889045e-02] [-1.58022017e-03 -1.76250673e-03 9.99997198e-01 -5.11870259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52463044 meters 0.2631062251521695 Centerline is valid? [False, False] Translation: X:4.66, Y:0.02, Z:-0.51 [[ 9.99995796e-01 1.76942973e-03 2.29717343e-03 4.66457911e+00] [-1.77201271e-03 9.99997800e-01 1.12287029e-03 1.73418154e-02] [-2.29518153e-03 -1.12693619e-03 9.99996731e-01 -5.14144741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58463044 meters 0.2638647709292943 Centerline is valid? [False, False] Translation: X:4.66, Y:0.02, Z:-0.51 [[ 9.99995397e-01 1.94848438e-03 2.32584767e-03 4.66400976e+00] [-1.95208323e-03 9.99996900e-01 1.54606288e-03 1.54719513e-02] [-2.32282798e-03 -1.55059601e-03 9.99996100e-01 -5.13289906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64463044 meters 0.26356200069307384 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99995064e-01 2.03016523e-03 2.39794783e-03 4.66400879e+00] [-2.03435602e-03 9.99996406e-01 1.74651360e-03 1.46087312e-02] [-2.39439350e-03 -1.75138326e-03 9.99995600e-01 -5.13540235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70463044 meters 0.2646182427644923 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99994559e-01 2.13941107e-03 2.51099057e-03 4.66389958e+00] [-2.14444328e-03 9.99995694e-01 2.00309355e-03 1.33917632e-02] [-2.50669431e-03 -2.00846733e-03 9.99994841e-01 -5.13736684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76463044 meters 0.2652589694938273 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99994430e-01 2.18375761e-03 2.52395383e-03 4.66378106e+00] [-2.18909300e-03 9.99995371e-01 2.11307893e-03 1.29413506e-02] [-2.51932769e-03 -2.11859233e-03 9.99994582e-01 -5.13547105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82463044 meters 0.2632778760861656 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99993981e-01 2.18921325e-03 2.69172404e-03 4.66334432e+00] [-2.19494991e-03 9.99995322e-01 2.13012075e-03 1.30945015e-02] [-2.68704816e-03 -2.13601613e-03 9.99994109e-01 -5.13458698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88463044 meters 0.2637507921988134 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99993515e-01 2.18424069e-03 2.86334529e-03 4.66299844e+00] [-2.19033104e-03 9.99995342e-01 2.12559709e-03 1.31535336e-02] [-2.85868914e-03 -2.13185498e-03 9.99993642e-01 -5.13538224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94463044 meters 0.26440502985749004 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.51 [[ 9.99992751e-01 2.22757777e-03 3.08809706e-03 4.66302192e+00] [-2.23451579e-03 9.99994983e-01 2.24507132e-03 1.26431030e-02] [-3.08308050e-03 -2.25195544e-03 9.99992712e-01 -5.14402604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00463044 meters 0.2640571627120435 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.52 [[ 9.99992762e-01 2.20222463e-03 3.10269361e-03 4.66331519e+00] [-2.20903907e-03 9.99995152e-01 2.19458289e-03 1.28440306e-02] [-3.09784560e-03 -2.20142098e-03 9.99992779e-01 -5.15003284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06463044000003 meters 0.26367556360312466 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.52 [[ 9.99992104e-01 2.20771975e-03 3.30415350e-03 4.66301110e+00] [-2.21503151e-03 9.99995103e-01 2.21087900e-03 1.29915611e-02] [-3.29925631e-03 -2.21818035e-03 9.99992097e-01 -5.15270438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12463044000003 meters 0.2645620179951183 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.51 [[ 9.99981968e-01 -5.38383780e-03 2.66035870e-03 4.68395412e+00] [ 5.37591982e-03 9.99981126e-01 2.97452526e-03 1.67531578e-02] [-2.67632285e-03 -2.96016974e-03 9.99992037e-01 -5.14435624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18463044000003 meters 0.26345578073631354 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.52 [[ 9.99994408e-01 1.90550373e-03 2.74833199e-03 4.66409769e+00] [-1.90997040e-03 9.99996858e-01 1.62352176e-03 1.48308458e-02] [-2.74522973e-03 -1.62876191e-03 9.99994905e-01 -5.16313083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24463044000004 meters 0.2643339377183552 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.51 [[ 9.99979415e-01 -5.26082999e-03 3.67334682e-03 4.68221288e+00] [ 5.25127951e-03 9.99982819e-01 2.60476196e-03 2.16113424e-02] [-3.68698692e-03 -2.58541857e-03 9.99989861e-01 -5.14867584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30463044000004 meters 0.26360642208092905 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.52 [[ 9.99977947e-01 -5.43720203e-03 3.81353174e-03 4.68234755e+00] [ 5.42897201e-03 9.99982919e-01 2.16515302e-03 2.34973597e-02] [-3.82523897e-03 -2.14440172e-03 9.99990384e-01 -5.15699588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36463044 meters 0.2643964869588187 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.52 [[ 9.99977295e-01 -5.54970847e-03 3.82245156e-03 4.68254609e+00] [ 5.54243080e-03 9.99982813e-01 1.91189607e-03 2.46598869e-02] [-3.83299633e-03 -1.89066699e-03 9.99990867e-01 -5.16123271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42463044 meters 0.2643664763150253 Centerline is valid? [False, False] Translation: X:4.68, Y:0.03, Z:-0.52 [[ 9.99975804e-01 -5.66949669e-03 4.03084580e-03 4.68214254e+00] [ 5.66295807e-03 9.99982634e-01 1.63171264e-03 2.60986155e-02] [-4.04002679e-03 -1.60884665e-03 9.99990545e-01 -5.16254764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48463044 meters 0.2646704605095259 Centerline is valid? [False, False] Translation: X:4.68, Y:0.03, Z:-0.52 [[ 9.99975712e-01 -5.63196376e-03 4.10559309e-03 4.68219901e+00] [ 5.62492032e-03 9.99982692e-01 1.72510459e-03 2.56005827e-02] [-4.11523776e-03 -1.70196905e-03 9.99990084e-01 -5.16613601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54463044 meters 0.26313807420519797 Centerline is valid? [False, False] Translation: X:4.66, Y:0.02, Z:-0.52 [[ 9.99993555e-01 1.60235659e-03 3.21285127e-03 4.66261151e+00] [-1.60371379e-03 9.99998626e-01 4.19896183e-04 2.40786236e-02] [-3.21217404e-03 -4.25045971e-04 9.99994751e-01 -5.18598008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60463044 meters 0.26431453404796335 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993512e-01 1.45845642e-03 3.29378579e-03 4.66290734e+00] [-1.45876400e-03 9.99998932e-01 9.09814379e-05 2.56180274e-02] [-3.29364958e-03 -9.57857037e-05 9.99994571e-01 -5.19400911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66463044 meters 0.26393575789861223 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993427e-01 1.37067328e-03 3.35666454e-03 4.66309546e+00] [-1.37032518e-03 9.99999055e-01 -1.06001369e-04 2.65021788e-02] [-3.35680667e-03 1.01400951e-04 9.99994361e-01 -5.19970760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72463044 meters 0.2638838259176889 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993613e-01 1.40946895e-03 3.28441807e-03 4.66336352e+00] [-1.40945080e-03 9.99999007e-01 -7.84100383e-06 2.60375357e-02] [-3.28442586e-03 3.21172809e-06 9.99994606e-01 -5.20168821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78463044 meters 0.26419216848489746 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993508e-01 1.45705586e-03 3.29556360e-03 4.66347445e+00] [-1.45744632e-03 9.99998931e-01 1.16080922e-04 2.54335429e-02] [-3.29539094e-03 -1.20883276e-04 9.99994563e-01 -5.20384829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84463044 meters 0.26488755786667645 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993272e-01 1.42274180e-03 3.38108670e-03 4.66375759e+00] [-1.42294057e-03 9.99998986e-01 5.63825192e-05 2.57402404e-02] [-3.38100306e-03 -6.11932253e-05 9.99994283e-01 -5.21152810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90463044 meters 0.2646936024216661 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993321e-01 1.34364819e-03 3.39901041e-03 4.66375664e+00] [-1.34322260e-03 9.99999090e-01 -1.27489424e-04 2.66688052e-02] [-3.39917862e-03 1.22922945e-04 9.99994215e-01 -5.21245017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96463044 meters 0.2650908250606789 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993648e-01 1.24512020e-03 3.33985266e-03 4.66410529e+00] [-1.24393460e-03 9.99999163e-01 -3.57037436e-04 2.75872248e-02] [-3.34029441e-03 3.52880610e-04 9.99994359e-01 -5.21603357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02463044 meters 0.2642066004622947 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99994278e-01 1.11555137e-03 3.19355920e-03 4.66488144e+00] [-1.11340415e-03 9.99999153e-01 -6.74057552e-04 2.90591637e-02] [-3.19430844e-03 6.70497973e-04 9.99994673e-01 -5.22457757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08463044 meters 0.2638848313924592 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.52 [[ 9.99993967e-01 9.69417923e-04 3.33551024e-03 4.66487129e+00] [-9.65741451e-04 9.99998925e-01 -1.10365608e-03 3.12277809e-02] [-3.33657656e-03 1.10042818e-03 9.99993828e-01 -5.23003684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14463044 meters 0.264593196268194 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.52 [[ 9.99994038e-01 9.23928228e-04 3.32723421e-03 4.66500737e+00] [-9.19924355e-04 9.99998851e-01 -1.20469322e-03 3.17804612e-02] [-3.32834344e-03 1.20162524e-03 9.99993739e-01 -5.23186374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20463044 meters 0.26641252890893785 Centerline is valid? [False, False] Translation: X:4.69, Y:0.03, Z:-0.52 [[ 9.99983303e-01 -4.24366413e-03 3.92227691e-03 4.68833549e+00] [ 4.23619168e-03 9.99989200e-01 1.91147907e-03 3.21790788e-02] [-3.93034623e-03 -1.89483164e-03 9.99990481e-01 -5.24425217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26463044 meters 0.2646363266782111 Centerline is valid? [False, False] Translation: X:4.69, Y:0.03, Z:-0.52 [[ 9.99983767e-01 -4.06396656e-03 3.99384826e-03 4.68792213e+00] [ 4.05460300e-03 9.99989019e-01 2.34980109e-03 3.03428936e-02] [-4.00335392e-03 -2.33356947e-03 9.99989264e-01 -5.23962608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32463044 meters 0.26504369202126704 Centerline is valid? [False, False] Translation: X:4.69, Y:0.03, Z:-0.52 [[ 9.99984618e-01 -3.97000499e-03 3.87327607e-03 4.68809116e+00] [ 3.96002762e-03 9.99988830e-01 2.58022953e-03 2.92803533e-02] [-3.88347633e-03 -2.56485156e-03 9.99989170e-01 -5.23761852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38463044 meters 0.2643991866365168 Centerline is valid? [False, False] Translation: X:4.67, Y:0.02, Z:-0.53 [[ 9.99992211e-01 3.01455116e-03 2.54780447e-03 4.67078626e+00] [-3.01739172e-03 9.99994830e-01 1.11179758e-03 2.39318320e-02] [-2.54443972e-03 -1.11947664e-03 9.99996136e-01 -5.26006578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44463044 meters 0.26533476644880477 Centerline is valid? [False, False] Translation: X:4.67, Y:0.02, Z:-0.53 [[ 9.99992136e-01 2.99287963e-03 2.60217338e-03 4.67058942e+00] [-2.99564913e-03 9.99994950e-01 1.06105776e-03 2.41994530e-02] [-2.59898462e-03 -1.06884461e-03 9.99996051e-01 -5.25846295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50463044 meters 0.26514982245589575 Centerline is valid? [False, False] Translation: X:4.67, Y:0.02, Z:-0.53 [[ 9.99992276e-01 2.94633739e-03 2.60130040e-03 4.67055992e+00] [-2.94882592e-03 9.99995198e-01 9.53333142e-04 2.47604283e-02] [-2.59847907e-03 -9.60996561e-04 9.99996162e-01 -5.25792351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56463044000003 meters 0.2666936642214477 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99993207e-01 2.79542716e-03 2.40257890e-03 4.67135587e+00] [-2.79683671e-03 9.99995919e-01 5.83522681e-04 2.65124225e-02] [-2.40093790e-03 -5.90238338e-04 9.99996944e-01 -5.26414450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62463044000003 meters 0.26645751972193493 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99993657e-01 2.71037580e-03 2.31098718e-03 4.67148845e+00] [-2.71128269e-03 9.99996249e-01 3.89383740e-04 2.74739037e-02] [-2.30992314e-03 -3.95647009e-04 9.99997254e-01 -5.26315617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68463044000003 meters 0.266895629827249 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99993724e-01 2.66989801e-03 2.32869958e-03 4.67146833e+00] [-2.67060415e-03 9.99996389e-01 3.00176963e-04 2.79376525e-02] [-2.32788973e-03 -3.06394114e-04 9.99997244e-01 -5.26325349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74463044000004 meters 0.2671248884394779 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99993960e-01 2.63982588e-03 2.26087571e-03 4.67161018e+00] [-2.64035443e-03 9.99996488e-01 2.30824023e-04 2.83105071e-02] [-2.26025844e-03 -2.36792142e-04 9.99997418e-01 -5.26348039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80463044000004 meters 0.26716358650647204 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994071e-01 2.59025658e-03 2.26883582e-03 4.67172586e+00] [-2.59054079e-03 9.99996637e-01 1.22336664e-04 2.88246483e-02] [-2.26851130e-03 -1.28213450e-04 9.99997419e-01 -5.26551595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86463044 meters 0.26567597283606015 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994344e-01 2.55523973e-03 2.18699492e-03 4.67195951e+00] [-2.55534132e-03 9.99996734e-01 4.36586653e-05 2.91399074e-02] [-2.18687622e-03 -4.92469369e-05 9.99997608e-01 -5.26592385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92463044 meters 0.26438166078798164 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994773e-01 2.52304826e-03 2.02176813e-03 4.67224780e+00] [-2.52300643e-03 9.99996817e-01 -2.32372788e-05 2.95134212e-02] [-2.02182033e-03 1.81362233e-05 9.99997956e-01 -5.26454112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98463044 meters 0.26461247718170805 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994975e-01 2.51067800e-03 1.93548880e-03 4.67232426e+00] [-2.51057751e-03 9.99996847e-01 -5.43457332e-05 2.96326446e-02] [-1.93561914e-03 4.94862654e-05 9.99998125e-01 -5.26247774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04463044 meters 0.26488670748182197 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994950e-01 2.50613910e-03 1.95435230e-03 4.67224432e+00] [-2.50601657e-03 9.99996858e-01 -6.51448064e-05 2.96865241e-02] [-1.95450942e-03 6.02468382e-05 9.99998088e-01 -5.26142245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10463044 meters 0.2643270346097913 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.53 [[ 9.99994864e-01 2.58414798e-03 1.89605996e-03 4.67209437e+00] [-2.58436262e-03 9.99996654e-01 1.10762134e-04 2.88377018e-02] [-1.89576740e-03 -1.15661671e-04 9.99998196e-01 -5.25625436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16463044 meters 0.26381264379114383 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.52 [[ 9.99994536e-01 2.76225814e-03 1.81622724e-03 4.67190039e+00] [-2.76331962e-03 9.99996013e-01 5.82192281e-04 2.68894043e-02] [-1.81461184e-03 -5.87207916e-04 9.99998181e-01 -5.24989147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22463044 meters 0.2626190787825002 Centerline is valid? [False, False] Translation: X:4.67, Y:0.03, Z:-0.52 [[ 9.99994445e-01 2.84512389e-03 1.73642731e-03 4.67203428e+00] [-2.84649437e-03 9.99995639e-01 7.87287513e-04 2.60032468e-02] [-1.73417981e-03 -7.92225870e-04 9.99998182e-01 -5.24903009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28463044 meters 0.2630945133284105 Centerline is valid? [False, False] Translation: X:4.67, Y:0.02, Z:-0.52 [[ 9.99994136e-01 3.07981185e-03 1.49754649e-03 4.67240422e+00] [-3.08209999e-03 9.99994083e-01 1.52802922e-03 2.26567852e-02] [-1.49283159e-03 -1.53263585e-03 9.99997711e-01 -5.24586673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34463044 meters 0.2648512340741336 Centerline is valid? [False, False] Translation: X:4.69, Y:0.02, Z:-0.52 [[ 9.99989344e-01 -4.38632372e-03 1.43922932e-03 4.69324404e+00] [ 4.38234109e-03 9.99986592e-01 2.75878308e-03 2.39221482e-02] [-1.45131094e-03 -2.75244649e-03 9.99995159e-01 -5.23200009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40463044 meters 0.26375974673884106 Centerline is valid? [False, False] Translation: X:4.69, Y:0.02, Z:-0.52 [[ 9.99990660e-01 -4.09551007e-03 1.38119233e-03 4.69345029e+00] [ 4.09066341e-03 9.99985530e-01 3.49380355e-03 2.05603805e-02] [-1.39548125e-03 -3.48812092e-03 9.99992943e-01 -5.23305216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46463044 meters 0.2648908603565815 Centerline is valid? [False, False] Translation: X:4.69, Y:0.02, Z:-0.52 [[ 9.99992017e-01 -3.80687617e-03 1.21395115e-03 4.69381663e+00] [ 3.80180081e-03 9.99984136e-01 4.15611397e-03 1.72211841e-02] [-1.22975371e-03 -4.15146559e-03 9.99990626e-01 -5.23210098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52463044 meters 0.2645214475620935 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99992044e-01 3.44789179e-03 2.00620497e-03 4.67457244e+00] [-3.45468379e-03 9.99988280e-01 3.39193663e-03 9.97253615e-03] [-1.99448642e-03 -3.39884044e-03 9.99992235e-01 -5.25072469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58463044 meters 0.26529774741836504 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99991276e-01 3.58897262e-03 2.13687370e-03 4.67440128e+00] [-3.59691668e-03 9.99986592e-01 3.72544717e-03 8.37005087e-03] [-2.12347452e-03 -3.73310082e-03 9.99990777e-01 -5.25173435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64463044 meters 0.26418068983814696 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99991425e-01 3.55430395e-03 2.12540729e-03 4.67470513e+00] [-3.56205290e-03 9.99986983e-01 3.65326112e-03 8.67100748e-03] [-2.11239482e-03 -3.66080060e-03 9.99991068e-01 -5.25634298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70463044 meters 0.26452473688928435 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99991625e-01 3.52053026e-03 2.08729319e-03 4.67489263e+00] [-3.52800105e-03 9.99987346e-01 3.58636156e-03 9.02831533e-03] [-2.07464088e-03 -3.59369549e-03 9.99991391e-01 -5.25793585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76463044 meters 0.2643597342238994 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99991273e-01 3.54966385e-03 2.20314132e-03 4.67458539e+00] [-3.55769246e-03 9.99987006e-01 3.65100722e-03 8.75756122e-03] [-2.19015285e-03 -3.65881346e-03 9.99990908e-01 -5.25661671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82463044 meters 0.2646590177445263 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99991201e-01 3.54095735e-03 2.24926450e-03 4.67471301e+00] [-3.54913165e-03 9.99987074e-01 3.64067822e-03 8.86530164e-03] [-2.23634394e-03 -3.64862912e-03 9.99990843e-01 -5.26023836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88463044 meters 0.26476508509767693 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99990790e-01 3.60597877e-03 2.32719850e-03 4.67485359e+00] [-3.61479681e-03 9.99986261e-01 3.79610401e-03 8.04553838e-03] [-2.31347786e-03 -3.80448140e-03 9.99990087e-01 -5.26539014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94463044 meters 0.26453826014433135 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99990534e-01 3.66963066e-03 2.33785409e-03 4.67493529e+00] [-3.67885043e-03 9.99985425e-01 3.95167260e-03 7.39876421e-03] [-2.32331883e-03 -3.96023581e-03 9.99989459e-01 -5.26701888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00463044 meters 0.2651392645189182 Centerline is valid? [False, False] Translation: X:4.68, Y:0.01, Z:-0.53 [[ 9.99990292e-01 3.66259688e-03 2.44993892e-03 4.67509387e+00] [-3.67225841e-03 9.99985453e-01 3.95077347e-03 7.34302079e-03] [-2.43543319e-03 -3.95973192e-03 9.99989195e-01 -5.27363516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06463044000003 meters 0.2652717040823898 Centerline is valid? [False, False] Translation: X:4.68, Y:0.01, Z:-0.53 [[ 9.99990341e-01 3.63795413e-03 2.46657221e-03 4.67505407e+00] [-3.64755626e-03 9.99985744e-01 3.89964677e-03 7.66059666e-03] [-2.45235031e-03 -3.90860607e-03 9.99989354e-01 -5.27367221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12463044000003 meters 0.2645429071435526 Centerline is valid? [False, False] Translation: X:4.67, Y:0.01, Z:-0.53 [[ 9.99989901e-01 3.68718725e-03 2.56960784e-03 4.67487750e+00] [-3.69746939e-03 9.99985131e-01 4.00824902e-03 7.15921358e-03] [-2.55479047e-03 -4.01770959e-03 9.99988665e-01 -5.27435239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18463044000003 meters 0.26686108369449124 Centerline is valid? [False, False] Translation: X:4.72, Y:0.01, Z:-0.53 [[ 9.99987109e-01 3.85484117e-03 3.30479492e-03 4.71875635e+00] [-3.86325749e-03 9.99989301e-01 2.54410876e-03 9.81308084e-03] [-3.29495243e-03 -2.55684324e-03 9.99991303e-01 -5.27863732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24463044000004 meters 0.265904804137186 Centerline is valid? [False, False] Translation: X:4.70, Y:0.01, Z:-0.53 [[ 9.99989390e-01 -4.40029120e-03 1.36292894e-03 4.70044596e+00] [ 4.39402921e-03 9.99979931e-01 4.56392567e-03 8.70891475e-03] [-1.38298419e-03 -4.55788850e-03 9.99988656e-01 -5.29489366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30463044000004 meters 0.2645850686267309 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99998610e-01 -2.18177261e-04 1.65298279e-03 4.67787461e+00] [ 2.16365656e-04 9.99999376e-01 1.09606050e-03 2.85723737e-03] [-1.65322090e-03 -1.09570133e-03 9.99998033e-01 -5.29526140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36463044 meters 0.2643289078998104 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99998643e-01 -2.60109427e-05 1.64714592e-03 4.67789462e+00] [ 2.34480576e-05 9.99998789e-01 1.55595528e-03 7.19825507e-04] [-1.64718440e-03 -1.55591455e-03 9.99997433e-01 -5.29473296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42463044 meters 0.26432693368821675 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99998573e-01 -6.46805526e-06 1.68948342e-03 4.67784330e+00] [ 3.74887125e-06 9.99998705e-01 1.60947480e-03 3.65877535e-04] [-1.68949164e-03 -1.60946617e-03 9.99997278e-01 -5.29519334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48463044 meters 0.26434091576930263 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997996e-01 -6.11430303e-05 2.00124511e-03 4.67745220e+00] [ 5.81720286e-05 9.99998896e-01 1.48460115e-03 8.27087871e-04] [-2.00133367e-03 -1.48448176e-03 9.99996895e-01 -5.29967112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54463044 meters 0.2654250541242067 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997867e-01 -1.31637394e-04 2.06126684e-03 4.67742784e+00] [ 1.28906864e-04 9.99999114e-01 1.32476200e-03 1.53036118e-03] [-2.06143940e-03 -1.32449346e-03 9.99996998e-01 -5.30143411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60463044 meters 0.26527963067022886 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997931e-01 -1.93578402e-04 2.02500082e-03 4.67784498e+00] [ 1.91151471e-04 9.99999263e-01 1.19860880e-03 2.11964365e-03] [-2.02523135e-03 -1.19821923e-03 9.99997231e-01 -5.30736499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66463044 meters 0.2656137166995117 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997801e-01 -1.70137597e-04 2.09001651e-03 4.67785358e+00] [ 1.67497643e-04 9.99999188e-01 1.26323627e-03 1.84484683e-03] [-2.09022973e-03 -1.26288342e-03 9.99997018e-01 -5.30991927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72463044 meters 0.26447378900075863 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997733e-01 -1.14365395e-04 2.12613797e-03 4.67786487e+00] [ 1.11381514e-04 9.99999009e-01 1.40349310e-03 1.20869452e-03] [-2.12629638e-03 -1.40325311e-03 9.99996755e-01 -5.31152758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78463044 meters 0.2649639685661262 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997916e-01 -1.25169385e-04 2.03783211e-03 4.67863452e+00] [ 1.22150040e-04 9.99998895e-01 1.48170253e-03 3.96531539e-04] [-2.03801532e-03 -1.48145052e-03 9.99996826e-01 -5.32112630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84463044 meters 0.26657222176804835 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997680e-01 -1.08848025e-04 2.15108244e-03 4.67864592e+00] [ 1.05562728e-04 9.99998828e-01 1.52733076e-03 1.19435604e-04] [-2.15124617e-03 -1.52710014e-03 9.99996520e-01 -5.32521961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90463044 meters 0.26550793548406776 Centerline is valid? [False, False] Translation: X:4.68, Y:0.00, Z:-0.53 [[ 9.99997391e-01 -3.01201457e-04 2.26435589e-03 4.67898180e+00] [ 2.98843990e-04 9.99999413e-01 1.04138676e-03 2.44607584e-03] [-2.26466823e-03 -1.04070736e-03 9.99996894e-01 -5.33556027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96463044 meters 0.26676984373750584 Centerline is valid? [False, False] Translation: X:4.68, Y:0.01, Z:-0.53 [[ 9.99997218e-01 -5.69605465e-04 2.28891372e-03 4.67962703e+00] [ 5.68913259e-04 9.99999792e-01 3.03056523e-04 5.43955967e-03] [-2.28908587e-03 -3.01753487e-04 9.99997335e-01 -5.34809578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02463044 meters 0.2670582921994077 Centerline is valid? [False, False] Translation: X:4.68, Y:0.01, Z:-0.54 [[ 9.99996385e-01 -8.86771125e-04 2.53832393e-03 4.67933351e+00] [ 8.88377930e-04 9.99999406e-01 -6.31960854e-04 9.64479290e-03] [-2.53776202e-03 6.34213561e-04 9.99996579e-01 -5.35316212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08463044 meters 0.2681279405628611 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.54 [[ 9.99994133e-01 -1.34962362e-03 3.14833034e-03 4.67845550e+00] [ 1.35668421e-03 9.99996567e-01 -2.24159081e-03 1.96862876e-02] [-3.14529423e-03 2.24584895e-03 9.99992532e-01 -5.36140781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14463044 meters 0.26652415062027224 Centerline is valid? [False, False] Translation: X:4.68, Y:0.02, Z:-0.54 [[ 9.99993600e-01 -1.57863289e-03 3.21046859e-03 4.67836810e+00] [ 1.58749848e-03 9.99994929e-01 -2.76079232e-03 2.20531683e-02] [-3.20609403e-03 2.76587127e-03 9.99991035e-01 -5.36267509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20463044 meters 0.26716512496108985 Centerline is valid? [False, False] Translation: X:4.68, Y:0.03, Z:-0.54 [[ 9.99993121e-01 1.91241102e-03 3.17824913e-03 4.67865034e+00] [-1.91151872e-03 9.99998133e-01 -2.83767942e-04 2.89579110e-02] [-3.17878588e-03 2.77690707e-04 9.99994909e-01 -5.36759204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26463044 meters 0.2675998227916292 Centerline is valid? [False, False] Translation: X:4.68, Y:0.04, Z:-0.54 [[ 9.99993313e-01 1.31542151e-03 3.41231032e-03 4.67856554e+00] [-1.31032609e-03 9.99998024e-01 -1.49505128e-03 3.54659901e-02] [-3.41427020e-03 1.49057005e-03 9.99993060e-01 -5.37496058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32463044 meters 0.2675858918903802 Centerline is valid? [False, False] Translation: X:4.68, Y:0.04, Z:-0.54 [[ 9.99993599e-01 7.21758782e-04 3.50438497e-03 4.67891483e+00] [-7.11710449e-04 9.99995635e-01 -2.86776073e-03 4.18003300e-02] [-3.50643950e-03 2.86524827e-03 9.99989748e-01 -5.38414973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38463044 meters 0.26707004391312467 Centerline is valid? [False, False] Translation: X:4.68, Y:0.05, Z:-0.54 [[ 9.99984916e-01 4.03500312e-03 3.72640322e-03 4.67943280e+00] [-4.03293032e-03 9.99991709e-01 -5.63592888e-04 5.15235479e-02] [-3.72864642e-03 5.48556062e-04 9.99992898e-01 -5.40032390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44463044 meters 0.2654291352578818 Centerline is valid? [False, False] Translation: X:4.68, Y:0.06, Z:-0.54 [[ 9.99986868e-01 3.24980726e-03 3.96267382e-03 4.67953913e+00] [-3.24089228e-03 9.99992208e-01 -2.25408748e-03 6.20626759e-02] [-3.96996829e-03 2.24121528e-03 9.99989608e-01 -5.41040133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50463044 meters 0.26598288518853724 Centerline is valid? [False, False] Translation: X:4.68, Y:0.07, Z:-0.54 [[ 9.99987791e-01 2.68793678e-03 4.14641565e-03 4.67988515e+00] [-2.67351040e-03 9.99990368e-01 -3.48086949e-03 6.82009041e-02] [-4.15573206e-03 3.46974151e-03 9.99985345e-01 -5.42234093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56463044000003 meters 0.26609385753647763 Centerline is valid? [False, False] Translation: X:4.68, Y:0.07, Z:-0.54 [[ 9.99988159e-01 2.13472863e-03 4.37311490e-03 4.67958529e+00] [-2.11403772e-03 9.99986576e-01 -4.73056113e-03 7.41750826e-02] [-4.38315466e-03 4.72126019e-03 9.99979249e-01 -5.42620959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62463044000003 meters 0.26652941093114857 Centerline is valid? [False, False] Translation: X:4.68, Y:0.08, Z:-0.55 [[ 9.99986030e-01 4.21679007e-03 3.18729631e-03 4.68411271e+00] [-4.20442790e-03 9.99983652e-01 -3.87537578e-03 8.45651448e-02] [-3.20358585e-03 3.86192088e-03 9.99987411e-01 -5.45409334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68463044000003 meters 0.26549261765446897 Centerline is valid? [False, False] Translation: X:4.66, Y:0.09, Z:-0.55 [[ 9.99996151e-01 -1.53202233e-03 2.31308542e-03 4.66238587e+00] [ 1.53400314e-03 9.99998458e-01 -8.54819893e-04 9.11576290e-02] [-2.31177225e-03 8.58364884e-04 9.99996959e-01 -5.45554506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74463044000004 meters 0.2666086182692428 Centerline is valid? [False, False] Translation: X:4.66, Y:0.10, Z:-0.55 [[ 9.99995248e-01 1.91886304e-03 2.41284767e-03 4.66186750e+00] [-1.92241666e-03 9.99997070e-01 1.47133799e-03 1.01737227e-01] [-2.41001730e-03 -1.47596950e-03 9.99996007e-01 -5.45246677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80463044000004 meters 0.2675479059545408 Centerline is valid? [False, False] Translation: X:4.68, Y:0.12, Z:-0.55 [[ 9.99995159e-01 -3.08031744e-03 4.39944686e-04 4.68477047e+00] [ 3.07872566e-03 9.99988873e-01 3.57412135e-03 1.15390091e-01] [-4.50949219e-04 -3.57274958e-03 9.99993516e-01 -5.45514896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86463044 meters 0.26622127428534414 Centerline is valid? [False, False] Translation: X:4.66, Y:0.13, Z:-0.55 [[ 9.99984427e-01 5.19371973e-03 -2.04245341e-03 4.66440076e+00] [-5.18924692e-03 9.99984140e-01 2.18915549e-03 1.25781529e-01] [ 2.05379088e-03 -2.17852260e-03 9.99995518e-01 -5.45806415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92463044 meters 0.2672520947010994 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-0.55 [[ 9.99983960e-01 5.46041259e-03 -1.50428470e-03 4.66361802e+00] [-5.45939860e-03 9.99984868e-01 6.77353695e-04 1.40719253e-01] [ 1.50796057e-03 -6.69130340e-04 9.99998639e-01 -5.46293289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98463044 meters 0.26739055719253363 Centerline is valid? [False, False] Translation: X:4.68, Y:0.16, Z:-0.54 [[ 9.99989498e-01 -2.28611124e-03 -3.97203020e-03 4.68346064e+00] [ 2.28674249e-03 9.99997373e-01 1.54390931e-04 1.55904560e-01] [ 3.97166681e-03 -1.63472320e-04 9.99992100e-01 -5.44716251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04463044 meters 0.2675621353523007 Centerline is valid? [False, False] Translation: X:4.68, Y:0.17, Z:-0.55 [[ 9.99992838e-01 8.79924807e-04 -3.68109843e-03 4.68434123e+00] [-8.72253705e-04 9.99997446e-01 2.08500343e-03 1.67754346e-01] [ 3.68292367e-03 -2.08177764e-03 9.99991051e-01 -5.47061267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10463044 meters 0.2676688267550659 Centerline is valid? [False, False] Translation: X:4.68, Y:0.18, Z:-0.55 [[ 9.99994127e-01 1.90137871e-04 -3.42194938e-03 4.68425708e+00] [-1.88382517e-04 9.99999851e-01 5.13283958e-04 1.76238465e-01] [ 3.42204647e-03 -5.12636308e-04 9.99994013e-01 -5.47861854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16463044 meters 0.2675063390794988 Centerline is valid? [False, False] Translation: X:4.68, Y:0.19, Z:-0.55 [[ 9.99989854e-01 3.33728763e-03 -3.02562893e-03 4.68422083e+00] [-3.33009543e-03 9.99991625e-01 2.37901921e-03 1.88881632e-01] [ 3.03354307e-03 -2.36891943e-03 9.99992593e-01 -5.49120025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22463044 meters 0.26889942093799574 Centerline is valid? [False, False] Translation: X:4.68, Y:0.20, Z:-0.55 [[ 9.99972686e-01 6.85980908e-03 -2.75132809e-03 4.68416966e+00] [-6.84594685e-03 9.99963983e-01 5.01654383e-03 1.97224856e-01] [ 2.78564152e-03 -4.99757137e-03 9.99983632e-01 -5.49951620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28463044 meters 0.2686658214851452 Centerline is valid? [False, False] Translation: X:4.68, Y:0.21, Z:-0.55 [[ 9.99978203e-01 6.16458085e-03 -2.36471484e-03 4.68377634e+00] [-6.15723503e-03 9.99976235e-01 3.10123638e-03 2.08197667e-01] [ 2.38377647e-03 -3.08660868e-03 9.99992395e-01 -5.50739476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34463044 meters 0.2690587489829133 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-0.55 [[ 9.99956789e-01 9.07845968e-03 -2.00037868e-03 4.68427900e+00] [-9.07063335e-03 9.99951305e-01 3.88736228e-03 2.25995341e-01] [ 2.03557253e-03 -3.86904960e-03 9.99990443e-01 -5.52470267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40463044 meters 0.27033414451772675 Centerline is valid? [False, False] Translation: X:4.70, Y:0.26, Z:-0.55 [[ 9.99966636e-01 5.31961060e-03 -6.19905751e-03 4.70407999e+00] [-5.29433381e-03 9.99977634e-01 4.08682218e-03 2.55343104e-01] [ 6.22065916e-03 -4.05386595e-03 9.99972434e-01 -5.53106435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46463044 meters 0.2705222553549002 Centerline is valid? [False, False] Translation: X:4.71, Y:0.27, Z:-0.56 [[ 9.99949639e-01 6.98805753e-03 -7.20326240e-03 4.70856114e+00] [-6.95786473e-03 9.99966939e-01 4.20811749e-03 2.67945834e-01] [ 7.23243082e-03 -4.15778624e-03 9.99965202e-01 -5.56486310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52463044 meters 0.27053685586761606 Centerline is valid? [False, False] Translation: X:4.71, Y:0.28, Z:-0.56 [[ 9.99955714e-01 6.33237979e-03 -6.96204918e-03 4.70873830e+00] [-6.31656744e-03 9.99977426e-01 2.29086791e-03 2.80744824e-01] [ 6.97639867e-03 -2.24679021e-03 9.99973141e-01 -5.57600397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58463044 meters 0.27135219219992546 Centerline is valid? [False, False] Translation: X:4.71, Y:0.30, Z:-0.56 [[ 9.99940164e-01 7.53319209e-03 -7.93222849e-03 4.71288992e+00] [-7.51972658e-03 9.99970237e-01 1.72602723e-03 2.98101975e-01] [ 7.94499490e-03 -1.66627576e-03 9.99967050e-01 -5.60482235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64463044 meters 0.2711846831667861 Centerline is valid? [False, False] Translation: X:4.70, Y:0.32, Z:-0.57 [[ 9.99982769e-01 4.70356115e-04 -5.85160308e-03 4.69559170e+00] [-4.60600741e-04 9.99998502e-01 1.66836442e-03 3.16902407e-01] [ 5.85237904e-03 -1.66564042e-03 9.99981487e-01 -5.65338517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70463044 meters 0.27210084099983217 Centerline is valid? [False, False] Translation: X:4.70, Y:0.34, Z:-0.57 [[ 9.99975074e-01 1.65072252e-03 -6.86491096e-03 4.69955594e+00] [-1.64631938e-03 9.99998436e-01 6.46998343e-04 3.35364978e-01] [ 6.86596823e-03 -6.35680379e-04 9.99976227e-01 -5.68211492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76463044 meters 0.27234485704874595 Centerline is valid? [False, False] Translation: X:4.70, Y:0.35, Z:-0.57 [[ 9.99963700e-01 3.28708987e-03 -7.86095274e-03 4.70326064e+00] [-3.28205824e-03 9.99994401e-01 6.52893165e-04 3.48071199e-01] [ 7.86305484e-03 -6.27069360e-04 9.99968889e-01 -5.70550888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82463044 meters 0.2726840776249376 Centerline is valid? [False, False] Translation: X:4.71, Y:0.36, Z:-0.57 [[ 9.99947995e-01 4.73138081e-03 -9.03442080e-03 4.70756798e+00] [-4.72790014e-03 9.99988741e-01 4.06586102e-04 3.61159987e-01] [ 9.03624280e-03 -3.63851118e-04 9.99959106e-01 -5.73220713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88463044 meters 0.27345243013741055 Centerline is valid? [False, False] Translation: X:4.69, Y:0.39, Z:-0.58 [[ 9.99990357e-01 1.00040232e-03 -4.27614911e-03 4.68973393e+00] [-9.97136824e-04 9.99999210e-01 7.65716518e-04 3.89969985e-01] [ 4.27691176e-03 -7.61445229e-04 9.99990564e-01 -5.77831396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94463044 meters 0.2720752634894201 Centerline is valid? [False, False] Translation: X:4.69, Y:0.41, Z:-0.58 [[ 9.99986647e-01 3.81375262e-03 -3.48734233e-03 4.68792036e+00] [-3.80874623e-03 9.99991708e-01 1.44110406e-03 4.08833742e-01] [ 3.49280943e-03 -1.42780241e-03 9.99992881e-01 -5.77805775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00463044 meters 0.2724468417577695 Centerline is valid? [False, False] Translation: X:4.69, Y:0.42, Z:-0.58 [[ 9.99975375e-01 5.27279309e-03 -4.63106274e-03 4.69237441e+00] [-5.26765661e-03 9.99985498e-01 1.12063515e-03 4.22519793e-01] [ 4.63690446e-03 -1.09621270e-03 9.99988649e-01 -5.80828937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06463044000003 meters 0.2742174882818618 Centerline is valid? [False, False] Translation: X:4.71, Y:0.43, Z:-0.58 [[ 9.99967444e-01 -2.63426339e-03 -7.62700781e-03 4.71452009e+00] [ 2.64689102e-03 9.99995142e-01 1.64602740e-03 4.34965829e-01] [ 7.62263470e-03 -1.66616167e-03 9.99969559e-01 -5.80182212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12463044000003 meters 0.2755027429589177 Centerline is valid? [False, False] Translation: X:4.72, Y:0.46, Z:-0.58 [[ 9.99957312e-01 2.06254853e-03 -9.00670798e-03 4.71870110e+00] [-2.03190998e-03 9.99992123e-01 3.40957445e-03 4.56073123e-01] [ 9.01366945e-03 -3.39112809e-03 9.99953626e-01 -5.82743615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18463044000003 meters 0.2767745990605985 Centerline is valid? [False, False] Translation: X:4.72, Y:0.47, Z:-0.58 [[ 9.99950248e-01 4.85026306e-03 -8.71648769e-03 4.71869036e+00] [-4.81656403e-03 9.99980861e-01 3.88296706e-03 4.73187299e-01] [ 8.73515428e-03 -3.84079035e-03 9.99954472e-01 -5.83346347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24463044000004 meters 0.2769311312802026 Centerline is valid? [False, False] Translation: X:4.70, Y:0.51, Z:-0.58 [[ 9.99884188e-01 4.30860463e-03 -1.45961215e-02 4.70121504e+00] [-4.25708154e-03 9.99984605e-01 3.55915007e-03 5.08074353e-01] [ 1.46112318e-02 -3.49660100e-03 9.99887136e-01 -5.84795493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30463044000004 meters 0.2790862256245667 Centerline is valid? [False, False] Translation: X:4.73, Y:0.53, Z:-0.59 [[ 9.99818395e-01 1.31670377e-02 -1.37769868e-02 4.72752948e+00] [-1.31322078e-02 9.99910348e-01 2.61554067e-03 5.31332931e-01] [ 1.38101906e-02 -2.43414342e-03 9.99901672e-01 -5.87013800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36463044 meters 0.2806432893661396 Centerline is valid? [False, False] Translation: X:4.73, Y:0.56, Z:-0.59 [[ 9.99882401e-01 6.53899535e-04 -1.53217898e-02 4.73163085e+00] [-6.16149199e-04 9.99996764e-01 2.46842433e-03 5.63881875e-01] [ 1.53233543e-02 -2.45869353e-03 9.99879568e-01 -5.88045115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42463044 meters 0.28138075140182717 Centerline is valid? [False, False] Translation: X:4.73, Y:0.58, Z:-0.59 [[ 9.99866709e-01 1.57163779e-03 -1.62509571e-02 4.73326222e+00] [-1.55415334e-03 9.99998200e-01 1.08847565e-03 5.81226536e-01] [ 1.62526386e-02 -1.06307409e-03 9.99867352e-01 -5.87885629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48463044 meters 0.2802562727003518 Centerline is valid? [False, False] Translation: X:4.74, Y:0.60, Z:-0.59 [[ 9.99823686e-01 6.77893672e-03 -1.75112029e-02 4.73701450e+00] [-6.70542766e-03 9.99968474e-01 4.25314025e-03 5.97036400e-01] [ 1.75394826e-02 -4.13497026e-03 9.99837621e-01 -5.89388286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54463044 meters 0.28116801091967825 Centerline is valid? [False, False] Translation: X:4.74, Y:0.63, Z:-0.59 [[ 9.99754312e-01 1.13839685e-02 -1.90189567e-02 4.74019411e+00] [-1.13215401e-02 9.99930173e-01 3.38688841e-03 6.26937968e-01] [ 1.90561849e-02 -3.17073241e-03 9.99813387e-01 -5.88216577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60463044 meters 0.2829488998743716 Centerline is valid? [False, False] Translation: X:4.74, Y:0.66, Z:-0.59 [[ 9.99801806e-01 -6.68436952e-04 -1.98972961e-02 4.74238091e+00] [ 7.32045360e-04 9.99994645e-01 3.18972490e-03 6.61141931e-01] [ 1.98950574e-02 -3.20365843e-03 9.99796941e-01 -5.87118171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66463044 meters 0.28444889292992676 Centerline is valid? [False, False] Translation: X:4.76, Y:0.68, Z:-0.59 [[ 9.99912172e-01 2.05620955e-03 -1.30927344e-02 4.75888506e+00] [-2.06103927e-03 9.99997813e-01 -3.55403432e-04 6.83387856e-01] [ 1.30919750e-02 3.82356858e-04 9.99914223e-01 -5.89634606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72463044 meters 0.2828530006593011 Centerline is valid? [False, False] Translation: X:4.76, Y:0.70, Z:-0.59 [[ 9.99892838e-01 2.92604752e-03 -1.43439810e-02 4.76215465e+00] [-2.94434689e-03 9.99994878e-01 -1.25480074e-03 6.97133037e-01] [ 1.43402359e-02 1.29689993e-03 9.99896332e-01 -5.90434171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78463044 meters 0.2827939952470203 Centerline is valid? [False, False] Translation: X:4.76, Y:0.71, Z:-0.59 [[ 9.99862297e-01 6.81158193e-03 -1.51323839e-02 4.76194797e+00] [-6.80242472e-03 9.99976648e-01 6.56529522e-04 7.14437587e-01] [ 1.51365025e-02 -5.53502214e-04 9.99885283e-01 -5.87863550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84463044 meters 0.2840702546428347 Centerline is valid? [False, False] Translation: X:4.78, Y:0.73, Z:-0.59 [[ 9.99901342e-01 -1.20834291e-03 -1.39945348e-02 4.78049751e+00] [ 1.23894565e-03 9.99996860e-01 2.17830020e-03 7.28803429e-01] [ 1.39918588e-02 -2.19542376e-03 9.99899699e-01 -5.86534317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90463044 meters 0.2828917884156787 Centerline is valid? [False, False] Translation: X:4.78, Y:0.74, Z:-0.58 [[ 9.99895100e-01 -1.74230800e-03 -1.43789332e-02 4.77922355e+00] [ 1.75066532e-03 9.99998306e-01 5.68652909e-04 7.41256943e-01] [ 1.43779181e-02 -5.93765957e-04 9.99896456e-01 -5.83977031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96463044 meters 0.2821961277969766 Centerline is valid? [False, False] Translation: X:4.80, Y:0.75, Z:-0.58 [[ 9.99956198e-01 1.31365767e-03 -9.26698814e-03 4.79712173e+00] [-1.34365263e-03 9.99993877e-01 -3.23127029e-03 7.52319859e-01] [ 9.26268661e-03 3.24358037e-03 9.99951840e-01 -5.83423642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02463044 meters 0.2816214370091852 Centerline is valid? [False, False] Translation: X:4.80, Y:0.76, Z:-0.58 [[ 9.99953737e-01 8.22706928e-04 -9.58369717e-03 4.79684276e+00] [-8.63960639e-04 9.99990376e-01 -4.30122717e-03 7.56664943e-01] [ 9.58006629e-03 4.30930812e-03 9.99944825e-01 -5.81903674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08463044 meters 0.2825292346262855 Centerline is valid? [False, False] Translation: X:4.80, Y:0.77, Z:-0.58 [[ 9.99940872e-01 2.37027953e-03 -1.06128982e-02 4.79855442e+00] [-2.41753878e-03 9.99987210e-01 -4.44238974e-03 7.69003066e-01] [ 1.06022328e-02 4.46778416e-03 9.99933814e-01 -5.81278038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14463044 meters 0.28303289756429884 Centerline is valid? [False, False] Translation: X:4.80, Y:0.77, Z:-0.58 [[ 9.99939266e-01 1.95969050e-03 -1.08455017e-02 4.79820227e+00] [-2.02145894e-03 9.99981784e-01 -5.68727647e-03 7.74573664e-01] [ 1.08341588e-02 5.70885479e-03 9.99925012e-01 -5.79951926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20463044 meters 0.2818053108972441 Centerline is valid? [False, False] Translation: X:4.80, Y:0.78, Z:-0.58 [[ 9.99927526e-01 5.22274575e-03 -1.08473732e-02 4.79602526e+00] [-5.26216302e-03 9.99979644e-01 -3.60845120e-03 7.84000610e-01] [ 1.08283064e-02 3.66527032e-03 9.99934655e-01 -5.76737125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26463044 meters 0.2831022711320585 Centerline is valid? [False, False] Translation: X:4.82, Y:0.80, Z:-0.58 [[ 9.99924102e-01 -3.57595987e-03 -1.17899831e-02 4.81623323e+00] [ 3.54788671e-03 9.99990823e-01 -2.40115899e-03 7.95128805e-01] [ 1.17984614e-02 2.35914722e-03 9.99927613e-01 -5.76499391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32463044 meters 0.2831859771027097 Centerline is valid? [False, False] Translation: X:4.82, Y:0.80, Z:-0.57 [[ 9.99928556e-01 3.74105168e-06 -1.19533904e-02 4.81506378e+00] [-3.50994699e-07 9.99999960e-01 2.83608399e-04 8.01501464e-01] [ 1.19533910e-02 -2.83583941e-04 9.99928515e-01 -5.74422418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38463044 meters 0.28288976833005025 Centerline is valid? [False, False] Translation: X:4.82, Y:0.81, Z:-0.57 [[ 9.99925685e-01 -3.62281728e-04 -1.21858128e-02 4.81507735e+00] [ 3.53254879e-04 9.99999662e-01 -7.42911371e-04 8.05903018e-01] [ 1.21860778e-02 7.38551463e-04 9.99925474e-01 -5.73778145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44463044 meters 0.28571843158223104 Centerline is valid? [False, False] Translation: X:4.84, Y:0.82, Z:-0.58 [[ 9.99960421e-01 4.37975922e-03 -7.74427076e-03 4.83567285e+00] [-4.40311920e-03 9.99985800e-01 -3.00194760e-03 8.21182202e-01] [ 7.73101299e-03 3.03592774e-03 9.99965507e-01 -5.76116650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50463044 meters 0.28547134941929797 Centerline is valid? [False, False] Translation: X:4.84, Y:0.83, Z:-0.58 [[ 9.99957810e-01 4.16337064e-03 -8.18802752e-03 4.83615413e+00] [-4.19639961e-03 9.99983112e-01 -4.02077784e-03 8.28438473e-01] [ 8.17114925e-03 4.05496844e-03 9.99958394e-01 -5.75510031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56463044000003 meters 0.28798638746054894 Centerline is valid? [False, False] Translation: X:4.84, Y:0.84, Z:-0.58 [[ 9.99945757e-01 5.15995266e-03 -9.04749331e-03 4.83851545e+00] [-5.20267451e-03 9.99975398e-01 -4.70479300e-03 8.40455076e-01] [ 9.02299421e-03 4.75160897e-03 9.99948003e-01 -5.76263244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62463044000003 meters 0.2855026701875693 Centerline is valid? [False, False] Translation: X:4.82, Y:0.85, Z:-0.58 [[ 9.99965973e-01 -6.28817197e-04 -8.22537715e-03 4.82112315e+00] [ 5.93159716e-04 9.99990420e-01 -4.33677863e-03 8.51111821e-01] [ 8.22802539e-03 4.33175210e-03 9.99956767e-01 -5.78724982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68463044000003 meters 0.2872848673551968 Centerline is valid? [False, False] Translation: X:4.82, Y:0.86, Z:-0.58 [[ 9.99957310e-01 7.77453766e-04 -9.20725473e-03 4.82381663e+00] [-8.20102014e-04 9.99988949e-01 -4.62915723e-03 8.63723755e-01] [ 9.20355403e-03 4.63651050e-03 9.99946897e-01 -5.79645811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74463044000004 meters 0.28536530339992444 Centerline is valid? [False, False] Translation: X:4.82, Y:0.87, Z:-0.58 [[ 9.99957030e-01 2.45552449e-04 -9.26706363e-03 4.82294422e+00] [-3.00777774e-04 9.99982203e-01 -5.95838905e-03 8.69718232e-01] [ 9.26543561e-03 5.96092034e-03 9.99939308e-01 -5.78265212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80463044000004 meters 0.2863792345519695 Centerline is valid? [False, False] Translation: X:4.84, Y:0.88, Z:-0.58 [[ 9.99935656e-01 -6.27082627e-03 -9.45305258e-03 4.84374639e+00] [ 6.25105795e-03 9.99978216e-01 -2.11930816e-03 8.79606974e-01] [ 9.46613647e-03 2.06008022e-03 9.99953073e-01 -5.79861859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86463044 meters 0.28431891702488865 Centerline is valid? [False, False] Translation: X:4.83, Y:0.88, Z:-0.58 [[ 9.99938317e-01 5.17616050e-03 -9.82698271e-03 4.82586323e+00] [-5.20803170e-03 9.99981252e-01 -3.22041815e-03 8.81993194e-01] [ 9.81012908e-03 3.27139875e-03 9.99946528e-01 -5.79729187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92463044 meters 0.2853621884324895 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.58 [[ 9.99956740e-01 -2.98923234e-03 -8.80808823e-03 4.84313821e+00] [ 2.98859312e-03 9.99995530e-01 -8.57337122e-05 8.86214391e-01] [ 8.80830514e-03 5.94062116e-05 9.99961204e-01 -5.79662263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98463044 meters 0.2841401043563388 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.58 [[ 9.99952395e-01 -3.22613445e-03 -9.20872540e-03 4.84361875e+00] [ 3.22006883e-03 9.99994589e-01 -6.73431816e-04 8.89001243e-01] [ 9.21084815e-03 6.43747027e-04 9.99957372e-01 -5.78947085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04463044 meters 0.2840531024030383 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.58 [[ 9.99950421e-01 -3.38815368e-03 -9.36352232e-03 4.84355079e+00] [ 3.37845385e-03 9.99993740e-01 -1.05154066e-03 8.90647886e-01] [ 9.36702649e-03 1.01985430e-03 9.99955608e-01 -5.78230844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10463044 meters 0.28416650356195167 Centerline is valid? [False, False] Translation: X:4.84, Y:0.89, Z:-0.58 [[ 9.99962207e-01 2.08649903e-04 -8.69147748e-03 4.84086161e+00] [-1.90363922e-04 9.99997767e-01 2.10467199e-03 8.93659846e-01] [ 8.69189721e-03 -2.10293791e-03 9.99960013e-01 -5.76319258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16463044 meters 0.283905751346879 Centerline is valid? [False, False] Translation: X:4.84, Y:0.90, Z:-0.58 [[ 9.99959022e-01 1.96918381e-05 -9.05287966e-03 4.84146939e+00] [-8.38639634e-06 9.99999220e-01 1.24885898e-03 8.98059375e-01] [ 9.05289720e-03 -1.24873189e-03 9.99958242e-01 -5.76214911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22463044 meters 0.28532265110033683 Centerline is valid? [False, False] Translation: X:4.86, Y:0.91, Z:-0.58 [[ 9.99979893e-01 4.20203103e-03 -4.74929866e-03 4.86206786e+00] [-4.20809146e-03 9.99990344e-01 -1.26679826e-03 9.09511068e-01] [ 4.74392967e-03 1.28675828e-03 9.99987920e-01 -5.78714446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28463044 meters 0.28452306892764595 Centerline is valid? [False, False] Translation: X:4.86, Y:0.92, Z:-0.58 [[ 9.99972939e-01 4.96518497e-03 -5.42841670e-03 4.86278939e+00] [-4.97598968e-03 9.99985662e-01 -1.97870652e-03 9.20854011e-01] [ 5.41851422e-03 2.00566472e-03 9.99983308e-01 -5.77721500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34463044 meters 0.2845638772079638 Centerline is valid? [False, False] Translation: X:4.86, Y:0.92, Z:-0.58 [[ 9.99973432e-01 4.63716266e-03 -5.62424048e-03 4.86285112e+00] [-4.65302431e-03 9.99985225e-01 -2.81043078e-03 9.24751482e-01] [ 5.61112495e-03 2.83652584e-03 9.99980235e-01 -5.77174063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40463044 meters 0.28335141104352335 Centerline is valid? [False, False] Translation: X:4.84, Y:0.93, Z:-0.58 [[ 9.99986361e-01 -1.66335064e-03 -4.95092941e-03 4.84207136e+00] [ 1.64667416e-03 9.99992964e-01 -3.37052626e-03 9.33385992e-01] [ 4.95650094e-03 3.36232772e-03 9.99982064e-01 -5.75931300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46463044 meters 0.2827261486224665 Centerline is valid? [False, False] Translation: X:4.84, Y:0.94, Z:-0.58 [[ 9.99985142e-01 -1.75829477e-03 -5.15991137e-03 4.84244927e+00] [ 1.73924320e-03 9.99991663e-01 -3.69439502e-03 9.35138720e-01] [ 5.16636419e-03 3.68536578e-03 9.99979863e-01 -5.75727767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52463044 meters 0.28165493821017273 Centerline is valid? [False, False] Translation: X:4.84, Y:0.94, Z:-0.57 [[ 9.99984364e-01 -2.18453848e-03 -5.14768648e-03 4.84120775e+00] [ 2.16134581e-03 9.99987509e-01 -4.50671823e-03 9.38048870e-01] [ 5.15746728e-03 4.49552183e-03 9.99976595e-01 -5.73856105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58463044 meters 0.28216363939196665 Centerline is valid? [False, False] Translation: X:4.84, Y:0.94, Z:-0.57 [[ 9.99983654e-01 -2.38078567e-03 -5.19839941e-03 4.84075210e+00] [ 2.35480958e-03 9.99984741e-01 -4.99735602e-03 9.40195644e-01] [ 5.21021772e-03 4.98503309e-03 9.99974001e-01 -5.72975265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64463044 meters 0.28196183360550015 Centerline is valid? [False, False] Translation: X:4.84, Y:0.94, Z:-0.57 [[ 9.99983755e-01 -2.59367744e-03 -5.07564350e-03 4.83988525e+00] [ 2.56455531e-03 9.99980262e-01 -5.73574456e-03 9.43654425e-01] [ 5.09041999e-03 5.72263461e-03 9.99970669e-01 -5.72061810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70463044 meters 0.2817041687523399 Centerline is valid? [False, False] Translation: X:4.84, Y:0.94, Z:-0.57 [[ 9.99985844e-01 1.57673797e-03 -5.08180859e-03 4.84008085e+00] [-1.58596743e-03 9.99997099e-01 -1.81266011e-03 9.44743073e-01] [ 5.07893576e-03 1.82069404e-03 9.99985445e-01 -5.72328774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76463044 meters 0.281981666219572 Centerline is valid? [False, False] Translation: X:4.84, Y:0.95, Z:-0.57 [[ 9.99985513e-01 1.40945190e-03 -5.19499543e-03 4.83996642e+00] [-1.42288436e-03 9.99995652e-01 -2.58286583e-03 9.48753420e-01] [ 5.19133242e-03 2.59022029e-03 9.99983170e-01 -5.71848903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82463044 meters 0.2813051781937682 Centerline is valid? [False, False] Translation: X:4.84, Y:0.95, Z:-0.57 [[ 9.99985817e-01 1.23678699e-03 -5.18030288e-03 4.83969646e+00] [-1.25236980e-03 9.99994698e-01 -3.00592555e-03 9.50463837e-01] [ 5.17655773e-03 3.01237058e-03 9.99982064e-01 -5.71545171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88463044 meters 0.281494526360027 Centerline is valid? [False, False] Translation: X:4.84, Y:0.95, Z:-0.57 [[ 9.99983532e-01 1.25917591e-03 -5.59906472e-03 4.84095343e+00] [-1.27919593e-03 9.99992797e-01 -3.57345824e-03 9.54048682e-01] [ 5.59452478e-03 3.58056170e-03 9.99977940e-01 -5.72261756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94463044 meters 0.282063357601643 Centerline is valid? [False, False] Translation: X:4.84, Y:0.96, Z:-0.57 [[ 9.99982038e-01 1.29439909e-03 -5.85217117e-03 4.84137255e+00] [-1.31970168e-03 9.99989790e-01 -4.32183211e-03 9.58901669e-01] [ 5.84651725e-03 4.32947760e-03 9.99973537e-01 -5.72284764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00463044 meters 0.2824066315085513 Centerline is valid? [False, False] Translation: X:4.84, Y:0.96, Z:-0.57 [[ 9.99981675e-01 1.14522299e-03 -5.94452247e-03 4.84137990e+00] [-1.17481333e-03 9.99986926e-01 -4.97664589e-03 9.62162622e-01] [ 5.93874538e-03 4.98353840e-03 9.99969947e-01 -5.72063465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06463044000003 meters 0.28253152494807043 Centerline is valid? [False, False] Translation: X:4.84, Y:0.97, Z:-0.57 [[ 9.99981077e-01 1.07245995e-03 -6.05766358e-03 4.84205326e+00] [-1.10628314e-03 9.99983803e-01 -5.58294860e-03 9.65569515e-01] [ 6.05157798e-03 5.58954445e-03 9.99966067e-01 -5.72858458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12463044000003 meters 0.28269459923134976 Centerline is valid? [False, False] Translation: X:4.85, Y:0.97, Z:-0.58 [[ 9.99974612e-01 2.19744675e-03 -6.77833197e-03 4.84530449e+00] [-2.23514800e-03 9.99982048e-01 -5.55947236e-03 9.73814469e-01] [ 6.76599364e-03 5.57448179e-03 9.99961573e-01 -5.75258427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18463044000003 meters 0.2827012227387643 Centerline is valid? [False, False] Translation: X:4.85, Y:0.98, Z:-0.58 [[ 9.99973469e-01 2.01552967e-03 -6.99991333e-03 4.84578134e+00] [-2.05962655e-03 9.99978045e-01 -6.29814737e-03 9.77583185e-01] [ 6.98706554e-03 6.31239748e-03 9.99955666e-01 -5.75369471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24463044000004 meters 0.28333376486552325 Centerline is valid? [False, False] Translation: X:4.86, Y:0.99, Z:-0.58 [[ 9.99954959e-01 -5.17519658e-03 -7.95597632e-03 4.86380686e+00] [ 5.15498580e-03 9.99983439e-01 -2.55873882e-03 9.89375520e-01] [ 7.96908654e-03 2.51761063e-03 9.99965077e-01 -5.75168252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30463044000004 meters 0.2829375111580851 Centerline is valid? [False, False] Translation: X:4.86, Y:0.99, Z:-0.57 [[ 9.99954093e-01 -5.37802232e-03 -7.93026549e-03 4.86355159e+00] [ 5.35287003e-03 9.99980587e-01 -3.18950476e-03 9.92393128e-01] [ 7.94726477e-03 3.14690865e-03 9.99963468e-01 -5.74898131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36463044 meters 0.28306665500796213 Centerline is valid? [False, False] Translation: X:4.86, Y:1.00, Z:-0.58 [[ 9.99950998e-01 -5.50972935e-03 -8.22468320e-03 4.86427110e+00] [ 5.47815208e-03 9.99977557e-01 -3.85693269e-03 9.96141264e-01] [ 8.24574927e-03 3.81168763e-03 9.99958738e-01 -5.75122911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42463044 meters 0.283945441654188 Centerline is valid? [False, False] Translation: X:4.87, Y:1.00, Z:-0.58 [[ 9.99965099e-01 -1.24189786e-03 -8.26189834e-03 4.86539001e+00] [ 1.24348926e-03 9.99999209e-01 1.87484620e-04 9.96736209e-01] [ 8.26165897e-03 -1.97751658e-04 9.99965852e-01 -5.76637358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48463044 meters 0.2835465429434594 Centerline is valid? [False, False] Translation: X:4.87, Y:1.00, Z:-0.58 [[ 9.99964319e-01 -1.43651963e-03 -8.32450173e-03 4.86508826e+00] [ 1.43166680e-03 9.99998802e-01 -5.88887398e-04 1.00035492e+00] [ 8.32533770e-03 5.76948473e-04 9.99965177e-01 -5.76084927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54463044 meters 0.283276756512249 Centerline is valid? [False, False] Translation: X:4.86, Y:1.00, Z:-0.58 [[ 9.99964044e-01 -1.58305002e-03 -8.33092940e-03 4.86464528e+00] [ 1.57548780e-03 9.99998341e-01 -9.14212925e-04 1.00162537e+00] [ 8.33236283e-03 9.01054776e-04 9.99964879e-01 -5.75390585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60463044 meters 0.2835095888458669 Centerline is valid? [False, False] Translation: X:4.86, Y:1.00, Z:-0.57 [[ 9.99965840e-01 -1.70697417e-03 -8.08733885e-03 4.86386762e+00] [ 1.70052098e-03 9.99998230e-01 -8.04746715e-04 1.00042616e+00] [ 8.08869822e-03 7.90966535e-04 9.99966973e-01 -5.74734192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66463044 meters 0.28422126032780176 Centerline is valid? [False, False] Translation: X:4.87, Y:1.00, Z:-0.58 [[ 9.99962196e-01 -9.87952785e-04 -8.63885726e-03 4.86693051e+00] [ 9.90541095e-04 9.99999466e-01 2.95339011e-04 9.98293654e-01] [ 8.63856087e-03 -3.03884989e-04 9.99962641e-01 -5.77227855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72463044 meters 0.28355944473556344 Centerline is valid? [False, False] Translation: X:4.87, Y:1.00, Z:-0.58 [[ 9.99965312e-01 -1.17645901e-03 -8.24562369e-03 4.86551900e+00] [ 1.17669153e-03 9.99999307e-01 2.33477174e-05 9.98580024e-01] [ 8.24559051e-03 -3.30494631e-05 9.99966004e-01 -5.76513356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78463044 meters 0.2833013935905092 Centerline is valid? [False, False] Translation: X:4.86, Y:1.00, Z:-0.58 [[ 9.99966950e-01 -1.28432812e-03 -8.02805463e-03 4.86464981e+00] [ 1.28242490e-03 9.99999148e-01 -2.42214568e-04 9.99616338e-01] [ 8.02835887e-03 2.31911186e-04 9.99967745e-01 -5.75986470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84463044 meters 0.2844134309779216 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99939418e-01 4.65807768e-03 -9.97314123e-03 4.88513857e+00] [-4.66310618e-03 9.99989012e-01 -4.81010316e-04 9.97161433e-01] [ 9.97079106e-03 5.27486991e-04 9.99950151e-01 -5.76238185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90463044 meters 0.28352750284113565 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99949272e-01 4.30294670e-04 -1.00632228e-02 4.88560225e+00] [-4.75557656e-04 9.99989780e-01 -4.49590155e-03 9.96182047e-01] [ 1.00611854e-02 4.50045913e-03 9.99939257e-01 -5.76515904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96463044 meters 0.28319198484285574 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99949726e-01 4.06942809e-04 -1.00189438e-02 4.88559277e+00] [-4.52950591e-04 9.99989362e-01 -4.59023828e-03 9.96818423e-01] [ 1.00169692e-02 4.59454560e-03 9.99939273e-01 -5.76582956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02463044 meters 0.283584615604218 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99949220e-01 6.56318155e-04 -1.00561484e-02 4.88637607e+00] [-6.98022823e-04 9.99991169e-01 -4.14423264e-03 9.95396519e-01] [ 1.00533396e-02 4.15104162e-03 9.99940848e-01 -5.77572247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08463044 meters 0.4545176166700452 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99948513e-01 7.82098747e-04 -1.01172537e-02 4.88714032e+00] [-8.24025032e-04 9.99991088e-01 -4.14053362e-03 9.96230997e-01] [ 1.01139253e-02 4.14865731e-03 9.99940247e-01 -5.78553852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14463044 meters 0.28315810374512784 Centerline is valid? [False, False] Translation: X:4.89, Y:1.00, Z:-0.58 [[ 9.99953712e-01 6.03815504e-04 -9.60254252e-03 4.88588800e+00] [-6.43520614e-04 9.99991255e-01 -4.13230175e-03 9.95178646e-01] [ 9.59996340e-03 4.13828991e-03 9.99945356e-01 -5.78216324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20463044 meters 0.28349454733095586 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99954771e-01 6.92987298e-04 -9.48554920e-03 4.88592094e+00] [-7.29958817e-04 9.99992149e-01 -3.89476068e-03 9.94211900e-01] [ 9.48277570e-03 3.90150859e-03 9.99947426e-01 -5.78509867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26463044 meters 0.2837829426086922 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99955708e-01 8.64015554e-04 -9.37201524e-03 4.88686380e+00] [-8.99195813e-04 9.99992564e-01 -3.75019211e-03 9.94369609e-01] [ 9.36870532e-03 3.75845329e-03 9.99949049e-01 -5.80239242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32463044 meters 0.28327830136936816 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99955643e-01 8.87585568e-04 -9.37680891e-03 4.88720249e+00] [-9.22601702e-04 9.99992615e-01 -3.73066830e-03 9.94541023e-01] [ 9.37342837e-03 3.73915387e-03 9.99949077e-01 -5.80691383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38463044 meters 0.2831918618807873 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99957957e-01 8.40329838e-04 -9.13120627e-03 4.88707613e+00] [-8.73584162e-04 9.99992999e-01 -3.63845456e-03 9.93983066e-01] [ 9.12808485e-03 3.64627847e-03 9.99951690e-01 -5.81061156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44463044 meters 0.46066213412057616 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99954778e-01 1.37662627e-03 -9.40992437e-03 4.88983985e+00] [-1.40432256e-03 9.99994700e-01 -2.93733319e-03 9.92994285e-01] [ 9.40583089e-03 2.95041493e-03 9.99951412e-01 -5.84102505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50463044 meters 0.45978626218899304 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.58 [[ 9.99956083e-01 1.44883766e-03 -9.25918756e-03 4.88989057e+00] [-1.47325495e-03 9.99995454e-01 -2.63081144e-03 9.91706225e-01] [ 9.25533385e-03 2.64433704e-03 9.99953672e-01 -5.84508754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56463044000003 meters 0.283435962996235 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.59 [[ 9.99957437e-01 1.47626463e-03 -9.10738468e-03 4.89038949e+00] [-1.50024270e-03 9.99995425e-01 -2.62654649e-03 9.91877208e-01] [ 9.10346554e-03 2.64009798e-03 9.99955077e-01 -5.85685343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62463044000003 meters 0.2839023120618606 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.59 [[ 9.99957202e-01 1.61254372e-03 -9.11005804e-03 4.89121413e+00] [-1.63425394e-03 9.99995842e-01 -2.37616225e-03 9.91135592e-01] [ 9.10618849e-03 2.39094871e-03 9.99955679e-01 -5.86817320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68463044000003 meters 0.2843762128618584 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.59 [[ 9.99958640e-01 1.62513205e-03 -8.94856837e-03 4.89142054e+00] [-1.64537976e-03 9.99996102e-01 -2.25577891e-03 9.90615883e-01] [ 8.94486756e-03 2.27040940e-03 9.99957416e-01 -5.87559493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74463044000004 meters 0.4751577754674223 Centerline is valid? [False, False] Translation: X:4.89, Y:0.99, Z:-0.59 [[ 9.99954579e-01 2.16591240e-03 -9.28160496e-03 4.89419578e+00] [-2.17971666e-03 9.99996533e-01 -1.47741294e-03 9.89236267e-01] [ 9.27837284e-03 1.49757710e-03 9.99955834e-01 -5.90446808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80463044000004 meters 0.47299275841972394 Centerline is valid? [False, False] Translation: X:4.90, Y:0.99, Z:-0.59 [[ 9.99953920e-01 2.35409204e-03 -9.30674865e-03 4.89530926e+00] [-2.36405967e-03 9.99996644e-01 -1.06015570e-03 9.87717421e-01] [ 9.30422171e-03 1.08210856e-03 9.99956129e-01 -5.92120473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86463044 meters 0.4804576985796703 Centerline is valid? [False, False] Translation: X:4.90, Y:0.99, Z:-0.59 [[ 9.99949755e-01 2.77256028e-03 -9.63327976e-03 4.89759512e+00] [-2.77714619e-03 9.99996037e-01 -4.62704117e-04 9.86524789e-01] [ 9.63195871e-03 4.89433895e-04 9.99953492e-01 -5.94461289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92463044 meters 0.47201394905534483 Centerline is valid? [False, False] Translation: X:4.90, Y:0.99, Z:-0.60 [[ 9.99949158e-01 2.90895905e-03 -9.65502609e-03 4.89852506e+00] [-2.91070221e-03 9.99995750e-01 -1.66497235e-04 9.85068639e-01] [ 9.65450072e-03 1.94591676e-04 9.99953375e-01 -5.95929776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98463044 meters 0.4642152626549318 Centerline is valid? [False, False] Translation: X:4.90, Y:0.99, Z:-0.60 [[ 9.99950675e-01 2.96291142e-03 -9.47987870e-03 4.89864960e+00] [-2.96450514e-03 9.99995594e-01 -1.54067976e-04 9.85342652e-01] [ 9.47938044e-03 1.82163526e-04 9.99955053e-01 -5.96771594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04463044 meters 0.4760693675900384 Centerline is valid? [False, False] Translation: X:4.90, Y:0.98, Z:-0.60 [[ 9.99952101e-01 3.11653142e-03 -9.27810437e-03 4.89916044e+00] [-3.11311551e-03 9.99995081e-01 3.82587673e-04 9.82536292e-01] [ 9.27925108e-03 -3.53685537e-04 9.99956884e-01 -5.98329498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10463044 meters 0.47349027750071293 Centerline is valid? [False, False] Translation: X:4.90, Y:0.98, Z:-0.60 [[ 9.99952756e-01 3.32529377e-03 -9.13393845e-03 4.89912923e+00] [-3.32261096e-03 9.99994432e-01 3.08877834e-04 9.84190560e-01] [ 9.13491470e-03 -2.78514717e-04 9.99958237e-01 -5.98918648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16463044 meters 0.28569979861632694 Centerline is valid? [False, False] Translation: X:4.91, Y:0.99, Z:-0.60 [[ 9.99986586e-01 5.13945045e-03 -6.43242878e-04 4.91041904e+00] [-5.14109209e-03 9.99983464e-01 -2.57703736e-03 9.88124136e-01] [ 6.29987685e-04 2.58030977e-03 9.99996473e-01 -5.97737154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22463044 meters 0.28678381828747374 Centerline is valid? [False, False] Translation: X:4.91, Y:0.99, Z:-0.60 [[ 9.99985268e-01 5.35471918e-03 -8.89143010e-04 4.91220336e+00] [-5.35657057e-03 9.99983463e-01 -2.09304854e-03 9.86062470e-01] [ 8.77920620e-04 2.09778046e-03 9.99997414e-01 -5.99928933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28463044 meters 0.4711975009733705 Centerline is valid? [False, False] Translation: X:4.91, Y:0.98, Z:-0.60 [[ 9.99985771e-01 5.32629445e-03 -2.98063275e-04 4.91255554e+00] [-5.32666770e-03 9.99985012e-01 -1.26580644e-03 9.80418279e-01] [ 2.91316749e-04 1.26737611e-03 9.99999154e-01 -6.02599039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34463044 meters 0.28512173781958605 Centerline is valid? [False, False] Translation: X:4.89, Y:0.98, Z:-0.60 [[ 9.99995364e-01 -1.42896431e-03 2.68893190e-03 4.88736989e+00] [ 1.43001606e-03 9.99998902e-01 -3.89256491e-04 9.77489374e-01] [-2.68837271e-03 3.93099902e-04 9.99996309e-01 -6.03868385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40463044 meters 0.4776342435614751 Centerline is valid? [False, False] Translation: X:4.90, Y:0.97, Z:-0.61 [[ 9.99960709e-01 4.18857194e-03 7.81254840e-03 4.90403631e+00] [-4.18844324e-03 9.99991228e-01 -3.28347245e-05 9.73305192e-01] [-7.81261740e-03 1.11018912e-07 9.99969481e-01 -6.05007130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46463044 meters 0.48336077436915387 Centerline is valid? [False, False] Translation: X:4.90, Y:0.97, Z:-0.61 [[ 9.99959526e-01 4.24343261e-03 7.93343078e-03 4.90428889e+00] [-4.24369552e-03 9.99990995e-01 1.63064469e-05 9.73395014e-01] [-7.93329015e-03 -4.99728516e-05 9.99968530e-01 -6.05941267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52463044 meters 0.4831391369100655 Centerline is valid? [False, False] Translation: X:4.91, Y:0.98, Z:-0.61 [[ 9.99973979e-01 1.42276303e-03 7.07231890e-03 4.90942986e+00] [-1.40086070e-03 9.99994211e-01 -3.10089826e-03 9.76571271e-01] [-7.07668980e-03 3.09091024e-03 9.99970183e-01 -6.10735713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58463044 meters 0.471175304999846 Centerline is valid? [False, False] Translation: X:4.91, Y:0.98, Z:-0.61 [[ 9.99975034e-01 1.83710490e-03 6.82323183e-03 4.91152792e+00] [-1.81982783e-03 9.99995125e-01 -2.53744131e-03 9.75446231e-01] [-6.82786011e-03 2.52496085e-03 9.99973502e-01 -6.13147816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64463044 meters 0.47862688741491094 Centerline is valid? [False, False] Translation: X:4.91, Y:0.97, Z:-0.61 [[ 9.99975182e-01 2.10109879e-03 6.72466491e-03 4.91278066e+00] [-2.08732898e-03 9.99995712e-01 -2.05402100e-03 9.73756285e-01] [-6.72895177e-03 2.03993343e-03 9.99975280e-01 -6.14887745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70463044 meters 0.28703449396688174 Centerline is valid? [False, False] Translation: X:4.92, Y:0.97, Z:-0.62 [[ 9.99975261e-01 2.79714684e-03 6.45392059e-03 4.91568284e+00] [-2.79102503e-03 9.99995647e-01 -9.57353241e-04 9.71272216e-01] [-6.45657035e-03 9.39316503e-04 9.99978715e-01 -6.18370904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76463044 meters 0.28705700463589207 Centerline is valid? [False, False] Translation: X:4.92, Y:0.97, Z:-0.62 [[ 9.99975230e-01 2.98246703e-03 6.37535161e-03 4.91640982e+00] [-2.97871017e-03 9.99995384e-01 -5.98693188e-04 9.70039301e-01] [-6.37710776e-03 5.79688033e-04 9.99979498e-01 -6.19250293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82463044 meters 0.28560751819969704 Centerline is valid? [False, False] Translation: X:4.92, Y:0.97, Z:-0.62 [[ 9.99976460e-01 3.35616895e-03 5.98456027e-03 4.91862295e+00] [-3.35764496e-03 9.99994335e-01 2.36604689e-04 9.67042746e-01] [-5.98373228e-03 -2.56693148e-04 9.99982064e-01 -6.21610093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88463044 meters 0.7162406924681398 Centerline is valid? [False, False] Translation: X:4.92, Y:0.97, Z:-0.62 [[ 9.99977153e-01 3.70636255e-03 5.65303250e-03 4.92067452e+00] [-3.71089884e-03 9.99992801e-01 7.92175139e-04 9.65698548e-01] [-5.65005571e-03 -8.13134872e-04 9.99983708e-01 -6.23782226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94463044 meters 0.7168384810114142 Centerline is valid? [False, False] Translation: X:4.92, Y:0.96, Z:-0.63 [[ 9.99977649e-01 3.94225903e-03 5.40000614e-03 4.92236847e+00] [-3.94977589e-03 9.99991245e-01 1.38205390e-03 9.63375220e-01] [-5.39451044e-03 -1.40335182e-03 9.99984465e-01 -6.25780442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00463044 meters 0.7232702498426145 Centerline is valid? [False, False] Translation: X:4.92, Y:0.96, Z:-0.63 [[ 9.99986657e-01 -2.34060019e-04 5.16061384e-03 4.92300578e+00] [ 2.48186765e-04 9.99996224e-01 -2.73694539e-03 9.63363465e-01] [-5.15995374e-03 2.73818967e-03 9.99982938e-01 -6.25841063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06463044000003 meters 0.7221346031223047 Centerline is valid? [False, False] Translation: X:4.92, Y:0.96, Z:-0.63 [[ 9.99988898e-01 3.95470022e-05 4.71194607e-03 4.92472856e+00] [-2.90899830e-05 9.99997537e-01 -2.21930485e-03 9.61833472e-01] [-4.71202223e-03 2.21914314e-03 9.99986436e-01 -6.26906299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12463044000003 meters 0.2868003775760246 Centerline is valid? [False, False] Translation: X:4.92, Y:0.96, Z:-0.63 [[ 9.99988624e-01 -1.10254091e-05 4.76997255e-03 4.92444892e+00] [ 2.22068949e-05 9.99997252e-01 -2.34409387e-03 9.62321469e-01] [-4.76993360e-03 2.34417313e-03 9.99985876e-01 -6.26629912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18463044000003 meters 0.2870297334210172 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99990295e-01 5.45826566e-05 4.40526244e-03 4.92576208e+00] [-4.37370878e-05 9.99996968e-01 -2.46201626e-03 9.63770109e-01] [-4.40538347e-03 2.46179969e-03 9.99987266e-01 -6.27399481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24463044000004 meters 0.7138875940598927 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99991617e-01 9.40419877e-05 4.09345434e-03 4.92679837e+00] [-8.36643250e-05 9.99996783e-01 -2.53528209e-03 9.64709460e-01] [-4.09367960e-03 2.53491836e-03 9.99988408e-01 -6.27905720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30463044000004 meters 0.7125003153207233 Centerline is valid? [False, False] Translation: X:4.93, Y:0.97, Z:-0.63 [[ 9.99992253e-01 2.56542965e-05 3.93625831e-03 4.92682869e+00] [-1.50882975e-05 9.99996397e-01 -2.68428103e-03 9.65367591e-01] [-3.93631299e-03 2.68420084e-03 9.99988650e-01 -6.27367231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36463044 meters 0.7181895427591584 Centerline is valid? [False, False] Translation: X:4.93, Y:0.97, Z:-0.63 [[ 9.99993170e-01 9.59321672e-05 3.69461530e-03 4.92753242e+00] [-8.60493704e-05 9.99996419e-01 -2.67498512e-03 9.66006310e-01] [-3.69485869e-03 2.67464893e-03 9.99989597e-01 -6.27576729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42463044 meters 0.7155027707405802 Centerline is valid? [False, False] Translation: X:4.93, Y:0.97, Z:-0.63 [[ 9.99994075e-01 1.70570696e-04 3.43816634e-03 4.92821559e+00] [-1.61355872e-04 9.99996395e-01 -2.68025584e-03 9.66650543e-01] [-3.43861112e-03 2.67968519e-03 9.99990498e-01 -6.27702187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48463044 meters 0.2869756431062316 Centerline is valid? [False, False] Translation: X:4.93, Y:0.97, Z:-0.63 [[ 9.99994011e-01 2.34194320e-04 3.45290751e-03 4.92827008e+00] [-2.25294807e-04 9.99996653e-01 -2.57756069e-03 9.66346054e-01] [-3.45349961e-03 2.57676733e-03 9.99990717e-01 -6.27778885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54463044 meters 0.28711065715182815 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99994737e-01 4.98510727e-04 3.20592365e-03 4.92954953e+00] [-4.91798928e-04 9.99997687e-01 -2.09400920e-03 9.64907895e-01] [-3.20696012e-03 2.09242151e-03 9.99992669e-01 -6.28891080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60463044 meters 0.287459623126197 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99995301e-01 6.77965475e-04 2.98961299e-03 4.93066287e+00] [-6.72611485e-04 9.99998169e-01 -1.79150564e-03 9.64080320e-01] [-2.99082210e-03 1.78948638e-03 9.99993926e-01 -6.29859965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66463044 meters 0.2877351255789902 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99996499e-01 7.01353665e-04 2.55153802e-03 4.93153188e+00] [-6.96602409e-04 9.99998023e-01 -1.86252698e-03 9.64930801e-01] [-2.55283927e-03 1.86074305e-03 9.99995010e-01 -6.29655704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72463044 meters 0.7212448707262306 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99997125e-01 1.09848043e-03 2.13161698e-03 4.93372557e+00] [-1.09583813e-03 9.99998630e-01 -1.24034829e-03 9.63355008e-01] [-2.13297656e-03 1.23800882e-03 9.99996959e-01 -6.31521888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78463044 meters 0.7191502856213322 Centerline is valid? [False, False] Translation: X:4.93, Y:0.96, Z:-0.63 [[ 9.99996785e-01 1.03551793e-03 2.31455241e-03 4.93312641e+00] [-1.03296234e-03 9.99998856e-01 -1.10506664e-03 9.62149542e-01] [-2.31569407e-03 1.10267224e-03 9.99996711e-01 -6.31129004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84463044 meters 0.28891510673800147 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.63 [[ 9.99997384e-01 1.89735174e-03 1.27738344e-03 4.93777010e+00] [-1.89757437e-03 9.99998185e-01 1.73099394e-04 9.59552825e-01] [-1.27705269e-03 -1.75522872e-04 9.99999169e-01 -6.34942639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90463044 meters 0.7251624034300128 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.64 [[ 9.99997427e-01 2.18169248e-03 6.21300292e-04 4.94015452e+00] [-2.18209628e-03 9.99997408e-01 6.49987876e-04 9.58242811e-01] [-6.19880608e-04 -6.51341941e-04 9.99999596e-01 -6.36617899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96463044 meters 0.7290766606691214 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.64 [[ 9.99996894e-01 2.49125676e-03 -7.95593194e-05 4.94251901e+00] [-2.49116283e-03 9.99996225e-01 1.15968920e-03 9.57062546e-01] [ 8.24481026e-05 -1.15948740e-03 9.99999324e-01 -6.37813431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02463044 meters 0.7194882159569788 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.64 [[ 9.99996855e-01 2.42925050e-03 -6.23839362e-04 4.94350084e+00] [-2.42862465e-03 9.99996549e-01 1.00204069e-03 9.57967207e-01] [ 6.26271416e-04 -1.00052246e-03 9.99999303e-01 -6.37438545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08463044 meters 0.7287162134054525 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.64 [[ 9.99996556e-01 2.33390828e-03 -1.20013627e-03 4.94424888e+00] [-2.33317326e-03 9.99997090e-01 6.13482573e-04 9.60332166e-01] [ 1.20156459e-03 -6.10680335e-04 9.99999092e-01 -6.36538424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14463044 meters 0.7254896372670558 Centerline is valid? [False, False] Translation: X:4.94, Y:0.96, Z:-0.63 [[ 9.99996276e-01 1.86972346e-03 -1.98821739e-03 4.94362822e+00] [-1.87081677e-03 9.99998100e-01 -5.48174422e-04 9.64921347e-01] [ 1.98718868e-03 5.51891971e-04 9.99997873e-01 -6.32777597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20463044 meters 0.2909195786249052 Centerline is valid? [False, False] Translation: X:4.94, Y:0.97, Z:-0.63 [[ 9.99996656e-01 1.02681095e-03 -2.37367667e-03 4.94100505e+00] [-1.03277647e-03 9.99996308e-01 -2.51333787e-03 9.71340890e-01] [ 2.37108718e-03 2.51578095e-03 9.99994024e-01 -6.27135184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26463044 meters 0.28961468561647846 Centerline is valid? [False, False] Translation: X:4.94, Y:0.98, Z:-0.62 [[ 9.99995556e-01 8.03026324e-04 -2.87124757e-03 4.94055060e+00] [-8.13497587e-04 9.99993016e-01 -3.64763232e-03 9.76520101e-01] [ 2.86829838e-03 3.64995186e-03 9.99989225e-01 -6.24482029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32463044 meters 0.28857181745002813 Centerline is valid? [False, False] Translation: X:4.94, Y:0.98, Z:-0.62 [[ 9.99996546e-01 -1.46259546e-04 -2.62423430e-03 4.93661379e+00] [ 1.32639836e-04 9.99986526e-01 -5.18939850e-03 9.80244650e-01] [ 2.62495794e-03 5.18903249e-03 9.99983092e-01 -6.19168116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38463044 meters 0.5065222777253295 Centerline is valid? [False, False] Translation: X:4.95, Y:0.98, Z:-0.61 [[ 9.99980266e-01 3.81414300e-03 4.99204068e-03 4.94672721e+00] [-3.78193420e-03 9.99972075e-01 -6.44564392e-03 9.83845486e-01] [-5.01648589e-03 6.42663715e-03 9.99966766e-01 -6.14452436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44463044 meters 0.5016708959226011 Centerline is valid? [False, False] Translation: X:4.95, Y:0.98, Z:-0.61 [[ 9.99981043e-01 3.60178241e-03 4.99399047e-03 4.94572805e+00] [-3.56810241e-03 9.99970942e-01 -6.73669350e-03 9.84254700e-01] [-5.01810946e-03 6.71874672e-03 9.99964838e-01 -6.12845853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50463044 meters 0.5023833190938249 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.61 [[ 9.99959547e-01 -4.42310454e-03 7.83197814e-03 4.96011859e+00] [ 4.44445937e-03 9.99986448e-01 -2.71131810e-03 9.87441646e-01] [-7.81987956e-03 2.74601733e-03 9.99965654e-01 -6.12688628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56463044000003 meters 0.28695173566649096 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.61 [[ 9.99969557e-01 -5.61208313e-04 7.78270574e-03 4.95853043e+00] [ 5.53506862e-04 9.99999355e-01 9.91678161e-04 9.88527400e-01] [-7.78325726e-03 -9.87340190e-04 9.99969223e-01 -6.10193609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62463044000003 meters 0.28664425008431554 Centerline is valid? [False, False] Translation: X:4.95, Y:0.99, Z:-0.60 [[ 9.99985348e-01 -2.27666370e-04 -5.40855459e-03 4.95180976e+00] [ 2.32155562e-04 9.99999629e-01 8.29403760e-04 9.89543962e-01] [ 5.40836376e-03 -8.30647233e-04 9.99985030e-01 -6.02471390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68463044000003 meters 0.28674334064776896 Centerline is valid? [False, False] Translation: X:4.95, Y:0.99, Z:-0.60 [[ 9.99984785e-01 -1.81805363e-04 -5.51327189e-03 4.95218117e+00] [ 1.86656311e-04 9.99999596e-01 8.79365455e-04 9.89565751e-01] [ 5.51310979e-03 -8.80381162e-04 9.99984415e-01 -6.02639985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74463044000004 meters 0.2867381989455556 Centerline is valid? [False, False] Translation: X:4.95, Y:0.99, Z:-0.60 [[ 9.99982049e-01 5.05620005e-05 -5.99161644e-03 4.95354171e+00] [-4.45341464e-05 9.99999493e-01 1.00617721e-03 9.89829227e-01] [ 5.99166427e-03 -1.00589231e-03 9.99981544e-01 -6.03233226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80463044000004 meters 0.28756245038976724 Centerline is valid? [False, False] Translation: X:4.95, Y:0.99, Z:-0.60 [[ 9.99978359e-01 2.08702639e-04 -6.57549026e-03 4.95496751e+00] [-2.02539177e-04 9.99999540e-01 9.37990803e-04 9.90972060e-01] [ 6.57568300e-03 -9.36638710e-04 9.99977941e-01 -6.03749328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86463044 meters 0.2876062672010941 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.60 [[ 9.99977003e-01 1.98513010e-04 -6.77898399e-03 4.95517203e+00] [-1.92885190e-04 9.99999636e-01 8.30830000e-04 9.91409689e-01] [ 6.77914646e-03 -8.29503328e-04 9.99976677e-01 -6.03461017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92463044 meters 0.288137767729721 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.60 [[ 9.99973640e-01 4.49899012e-04 -7.24690801e-03 4.95661161e+00] [-4.42366718e-04 9.99999360e-01 1.04094966e-03 9.91222773e-01] [ 7.24737170e-03 -1.03771643e-03 9.99973199e-01 -6.04369033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98463044 meters 0.2881270875380813 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.60 [[ 9.99970780e-01 4.54469607e-04 -7.63097941e-03 4.95705139e+00] [-4.48559184e-04 9.99999598e-01 7.76223718e-04 9.92741077e-01] [ 7.63132911e-03 -7.72778091e-04 9.99970582e-01 -6.03861944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04463044 meters 0.2888818159566558 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99976543e-01 6.59918226e-03 -1.83413048e-03 4.97004171e+00] [-6.59824160e-03 9.99978097e-01 5.18439594e-04 9.94075894e-01] [ 1.83751159e-03 -5.06325397e-04 9.99998184e-01 -6.01562945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10463044 meters 0.287495556585615 Centerline is valid? [False, False] Translation: X:4.95, Y:1.00, Z:-0.60 [[ 9.99999923e-01 1.41098289e-04 3.66132352e-04 4.94728739e+00] [-1.41094318e-04 9.99999990e-01 -1.08725413e-05 9.97124447e-01] [-3.66133882e-04 1.08208813e-05 9.99999933e-01 -5.98643758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16463044 meters 0.2881729925475059 Centerline is valid? [False, False] Translation: X:4.95, Y:1.00, Z:-0.60 [[ 9.99999991e-01 1.31666840e-04 -1.74048168e-05 4.94743311e+00] [-1.31671897e-04 9.99999949e-01 -2.90840489e-04 9.98789838e-01] [ 1.73665219e-05 2.90842778e-04 9.99999958e-01 -5.97628399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22463044 meters 0.28655545382578157 Centerline is valid? [False, False] Translation: X:4.94, Y:1.00, Z:-0.59 [[ 9.99999666e-01 -7.38823261e-04 3.49805523e-04 4.94383968e+00] [ 7.39243285e-04 9.99999004e-01 -1.20213179e-03 9.99273185e-01] [-3.48917012e-04 1.20238998e-03 9.99999216e-01 -5.93471838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28463044 meters 0.2877277495914978 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99992749e-01 -3.72670306e-03 -7.82735795e-04 4.97481718e+00] [ 3.72834357e-03 9.99990834e-01 2.10496529e-03 1.00054804e+00] [ 7.74884040e-04 -2.10786834e-03 9.99997478e-01 -5.89977882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34463044 meters 0.2872032213073328 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.59 [[ 9.99993049e-01 -3.60370807e-03 -9.56209617e-04 4.97546518e+00] [ 3.60595080e-03 9.99990727e-01 2.35418111e-03 9.99761371e-01] [ 9.47716969e-04 -2.35761279e-03 9.99996772e-01 -5.90245403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40463044 meters 0.2880265373381219 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.59 [[ 9.99992469e-01 -3.72653385e-03 -1.08410971e-03 4.97507245e+00] [ 3.72867578e-03 9.99991087e-01 1.98047897e-03 1.00124860e+00] [ 1.07671972e-03 -1.98450634e-03 9.99997451e-01 -5.89351233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46463044 meters 0.2871877552807621 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99991776e-01 -3.98969370e-03 -7.28213761e-04 4.97325847e+00] [ 3.99087826e-03 9.99990704e-01 1.63252618e-03 1.00158965e+00] [ 7.21693712e-04 -1.63541897e-03 9.99998402e-01 -5.87625479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52463044 meters 0.28724338125344395 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99991755e-01 -3.97941002e-03 -8.09368567e-04 4.97348630e+00] [ 3.98061759e-03 9.99990958e-01 1.49588415e-03 1.00252365e+00] [ 8.03408512e-04 -1.49909360e-03 9.99998554e-01 -5.87734754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58463044 meters 0.2873593274294836 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.59 [[ 9.99997701e-01 1.97858758e-03 -8.27113468e-04 4.99374457e+00] [-1.97754452e-03 9.99997251e-01 1.26000437e-03 9.99584038e-01] [ 8.29604223e-04 -1.25836582e-03 9.99998864e-01 -5.88514429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64463044 meters 0.28628256624921117 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99989799e-01 -4.50460561e-03 3.32589298e-04 4.97126497e+00] [ 4.50416311e-03 9.99988986e-01 1.31943693e-03 9.98985641e-01] [-3.38529177e-04 -1.31792544e-03 9.99999074e-01 -5.87235849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70463044 meters 0.28670689018897905 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99990970e-01 -4.24962259e-03 7.11735979e-06 4.97271913e+00] [ 4.24960549e-03 9.99989659e-01 1.61974025e-03 9.98561336e-01] [-1.40005709e-05 -1.61969537e-03 9.99998688e-01 -5.88476837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76463044 meters 0.28829364011172703 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99991927e-01 -4.00863147e-03 -2.75592421e-04 4.97368303e+00] [ 4.00910396e-03 9.99990457e-01 1.73582977e-03 9.98959803e-01] [ 2.68631489e-04 -1.73692063e-03 9.99998455e-01 -5.89183689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82463044 meters 0.28816631148243865 Centerline is valid? [False, False] Translation: X:4.96, Y:1.00, Z:-0.59 [[ 9.99989254e-01 4.49807738e-03 -1.12242595e-03 4.95760624e+00] [-4.50076729e-03 9.99986978e-01 -2.40560622e-03 9.98580264e-01] [ 1.11159073e-03 2.41063215e-03 9.99996477e-01 -5.88702303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88463044 meters 0.28738508327096696 Centerline is valid? [False, False] Translation: X:4.96, Y:1.00, Z:-0.59 [[ 9.99990117e-01 4.31421290e-03 -1.07442624e-03 4.95656506e+00] [-4.31688418e-03 9.99987566e-01 -2.49645819e-03 9.98302636e-01] [ 1.06364263e-03 2.50107169e-03 9.99996307e-01 -5.87083881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94463044 meters 0.2873664448303889 Centerline is valid? [False, False] Translation: X:4.96, Y:1.00, Z:-0.59 [[ 9.99990186e-01 4.28304415e-03 -1.13291054e-03 4.95659572e+00] [-4.28603895e-03 9.99987292e-01 -2.65437188e-03 9.99056222e-01] [ 1.12152735e-03 2.65920153e-03 9.99995835e-01 -5.86959481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00463044 meters 0.2870463590162523 Centerline is valid? [False, False] Translation: X:4.96, Y:1.00, Z:-0.59 [[ 9.99989493e-01 4.38615839e-03 -1.33232146e-03 4.95723681e+00] [-4.38928851e-03 9.99987593e-01 -2.35560160e-03 9.97723446e-01] [ 1.32197289e-03 2.36142480e-03 9.99996338e-01 -5.87291263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06463044000003 meters 0.2885502981814828 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99993595e-01 -3.43490956e-03 -1.00548739e-03 4.97365229e+00] [ 3.43688556e-03 9.99992153e-01 1.97012964e-03 1.00180300e+00] [ 9.98712282e-04 -1.97357277e-03 9.99997554e-01 -5.87265422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12463044000003 meters 0.2870822953912381 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.59 [[ 9.99992556e-01 -3.76611180e-03 -8.39141909e-04 4.97213555e+00] [ 3.76759450e-03 9.99991332e-01 1.77240302e-03 1.00125729e+00] [ 8.32459567e-04 -1.77555137e-03 9.99998077e-01 -5.85126894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18463044000003 meters 0.2867216588028924 Centerline is valid? [False, False] Translation: X:4.96, Y:1.00, Z:-0.58 [[ 9.99984212e-01 4.79995053e-03 -2.92159682e-03 4.95684539e+00] [-4.80552304e-03 9.99986642e-01 -1.90332912e-03 9.99970543e-01] [ 2.91242191e-03 1.91733887e-03 9.99993921e-01 -5.83764743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24463044000004 meters 0.28667524716706067 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.58 [[ 9.99994633e-01 -3.27303252e-03 1.42945972e-04 4.97171862e+00] [ 3.27269797e-03 9.99992043e-01 2.28111001e-03 9.99820087e-01] [-1.50410982e-04 -2.28062995e-03 9.99997388e-01 -5.84720531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30463044000004 meters 0.286323028190436 Centerline is valid? [False, False] Translation: X:4.97, Y:1.00, Z:-0.58 [[ 9.99993993e-01 -3.45828433e-03 2.33391010e-04 4.97088998e+00] [ 3.45783021e-03 9.99992181e-01 1.91889780e-03 1.00097692e+00] [-2.40025279e-04 -1.91807925e-03 9.99998132e-01 -5.83767733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36463044 meters 0.2868821339574199 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99990892e-01 2.32136316e-03 3.58158137e-03 4.98787165e+00] [-2.32575703e-03 9.99996547e-01 1.22311978e-03 1.00060904e+00] [-3.57872970e-03 -1.23143853e-03 9.99992838e-01 -5.83185406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42463044 meters 0.2864165622078152 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99991124e-01 2.26833789e-03 3.55062799e-03 4.98755249e+00] [-2.27139901e-03 9.99997052e-01 8.58339108e-04 1.00232804e+00] [-3.54867052e-03 -8.66396382e-04 9.99993328e-01 -5.82722954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48463044 meters 0.2861632782042353 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99988610e-01 1.85368469e-03 4.39812390e-03 4.98469518e+00] [-1.85581583e-03 9.99998163e-01 4.80525780e-04 1.00203242e+00] [-4.39722508e-03 -4.88682415e-04 9.99990213e-01 -5.81053500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54463044 meters 0.2860237400726157 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99988655e-01 1.82479403e-03 4.40008756e-03 4.98465012e+00] [-1.82624570e-03 9.99998279e-01 3.25923209e-04 1.00290760e+00] [-4.39948525e-03 -3.33955152e-04 9.99990266e-01 -5.81041191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60463044 meters 0.286254516165515 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99987978e-01 1.90757497e-03 4.51708454e-03 4.98471263e+00] [-1.90972969e-03 9.99998065e-01 4.72750940e-04 1.00233372e+00] [-4.51617399e-03 -4.81371667e-04 9.99989686e-01 -5.81602810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66463044 meters 0.28600096361210464 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99986748e-01 1.92115557e-03 4.77637684e-03 4.98419694e+00] [-1.92252258e-03 9.99998112e-01 2.81627671e-04 1.00315462e+00] [-4.77582677e-03 -2.90806631e-04 9.99988553e-01 -5.81922237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72463044 meters 0.2858876711372335 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99985888e-01 1.90088796e-03 4.96086957e-03 4.98352629e+00] [-1.90311038e-03 9.99998091e-01 4.43309673e-04 1.00195616e+00] [-4.96001742e-03 -4.52744500e-04 9.99987597e-01 -5.81383495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78463044 meters 0.28641353370045963 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99986814e-01 2.18363661e-03 4.64797587e-03 4.98506009e+00] [-2.18614327e-03 9.99997468e-01 5.34288681e-04 1.00255877e+00] [-4.64679741e-03 -5.44442777e-04 9.99989055e-01 -5.83137006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84463044 meters 0.285493543548866 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.58 [[ 9.99951094e-01 -6.08372015e-03 7.79732598e-03 4.99846238e+00] [ 6.04694386e-03 9.99970523e-01 4.73145460e-03 1.00228042e+00] [-7.82588099e-03 -4.68407321e-03 9.99958407e-01 -5.82216638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90463044 meters 0.2853066251144286 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99994273e-01 1.98927318e-03 2.73784957e-03 4.98644355e+00] [-1.99198730e-03 9.99997527e-01 9.88962485e-04 1.00160148e+00] [-2.73587548e-03 -9.94410583e-04 9.99995763e-01 -5.81287844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96463044 meters 0.2852319113559176 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99995144e-01 2.15594027e-03 2.25049465e-03 4.98810631e+00] [-2.15943679e-03 9.99996463e-01 1.55239323e-03 9.99452172e-01] [-2.24713982e-03 -1.55724550e-03 9.99996263e-01 -5.82243233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02463044 meters 0.28490107765844697 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99995574e-01 2.05379724e-03 2.15272827e-03 4.98793137e+00] [-2.05660604e-03 9.99997036e-01 1.30335828e-03 1.00050550e+00] [-2.15004506e-03 -1.30777982e-03 9.99996834e-01 -5.81637373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08463044 meters 0.28611199501243145 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99995899e-01 2.03741229e-03 2.01268642e-03 4.98817008e+00] [-2.03994081e-03 9.99997132e-01 1.25503478e-03 1.00082446e+00] [-2.01012362e-03 -1.25913539e-03 9.99997187e-01 -5.81502493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14463044 meters 0.28429388831613156 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99995860e-01 1.96053630e-03 2.10607968e-03 4.98787733e+00] [-1.96342485e-03 9.99997134e-01 1.37033784e-03 9.99742192e-01] [-2.10338705e-03 -1.37446729e-03 9.99996843e-01 -5.81280435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20463044 meters 0.28500423290351773 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99996425e-01 2.00691305e-03 1.76674926e-03 4.98872724e+00] [-2.00945224e-03 9.99996949e-01 1.43660722e-03 9.99891890e-01] [-1.76386073e-03 -1.44015228e-03 9.99997407e-01 -5.81320287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26463044 meters 0.2836681492516775 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99996303e-01 1.64060669e-03 2.16841043e-03 4.98693394e+00] [-1.64325961e-03 9.99997903e-01 1.22222371e-03 9.99284498e-01] [-2.16640070e-03 -1.22578246e-03 9.99996902e-01 -5.79719415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32463044 meters 0.284693994184122 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99996331e-01 1.60705266e-03 2.18089569e-03 4.98674824e+00] [-1.60884647e-03 9.99998369e-01 8.21004204e-04 1.00136525e+00] [-2.17957273e-03 -8.24509918e-04 9.99997285e-01 -5.79686799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38463044 meters 0.2839410968957422 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995957e-01 1.26888849e-03 2.54487854e-03 4.98461062e+00] [-1.26989214e-03 9.99999117e-01 3.92799530e-04 1.00191332e+00] [-2.54437787e-03 -3.96029664e-04 9.99996685e-01 -5.77517494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44463044 meters 0.28355078653497134 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995856e-01 1.40676344e-03 2.51184808e-03 4.98490419e+00] [-1.40880414e-03 9.99998679e-01 8.10845897e-04 1.00019408e+00] [-2.51070410e-03 -8.14381239e-04 9.99996517e-01 -5.77652485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50463044 meters 0.28387654256214184 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995422e-01 1.51676507e-03 2.61822248e-03 4.98499514e+00] [-1.51878915e-03 9.99998549e-01 7.71259462e-04 1.00077515e+00] [-2.61704886e-03 -7.75232459e-04 9.99996275e-01 -5.78343441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56463044000003 meters 0.2844532351938121 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995664e-01 1.49561159e-03 2.53686876e-03 4.98394773e+00] [-1.49682828e-03 9.99998766e-01 4.77771887e-04 1.00238207e+00] [-2.53615106e-03 -4.81567072e-04 9.99996668e-01 -5.76497492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62463044000003 meters 0.283386926353159 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995350e-01 1.48204295e-03 2.66515987e-03 4.98365350e+00] [-1.48367670e-03 9.99998713e-01 6.11130355e-04 1.00136238e+00] [-2.66425072e-03 -6.15081749e-04 9.99996262e-01 -5.76401398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68463044000003 meters 0.284437984163182 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995398e-01 1.54963855e-03 2.60809281e-03 4.98443133e+00] [-1.55125639e-03 9.99998606e-01 6.18405871e-04 1.00171539e+00] [-2.60713087e-03 -6.22448846e-04 9.99996408e-01 -5.77567742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74463044000004 meters 0.28396812813992545 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99995792e-01 1.44714863e-03 2.51440514e-03 4.98430623e+00] [-1.44824069e-03 9.99998858e-01 4.32554917e-04 1.00240015e+00] [-2.51377630e-03 -4.36194561e-04 9.99996745e-01 -5.77032090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80463044000004 meters 0.2834660219494469 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997070e-01 1.52349764e-03 1.88130738e-03 4.98631139e+00] [-1.52521855e-03 9.99998419e-01 9.13644969e-04 1.00057795e+00] [-1.87991248e-03 -9.16511697e-04 9.99997813e-01 -5.78123519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86463044 meters 0.2839538843074569 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997449e-01 1.65814540e-03 1.53363009e-03 4.98765378e+00] [-1.65987191e-03 9.99997989e-01 1.12517565e-03 1.00034623e+00] [-1.53176130e-03 -1.12771841e-03 9.99998191e-01 -5.79003289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92463044 meters 0.28375764796173725 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997684e-01 1.61675275e-03 1.42063107e-03 4.98765158e+00] [-1.61827287e-03 9.99998119e-01 1.06953000e-03 1.00044028e+00] [-1.41889923e-03 -1.07182649e-03 9.99998419e-01 -5.78596806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98463044 meters 0.2831782968443931 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99998063e-01 1.34665625e-03 1.43549449e-03 4.98649150e+00] [-1.34763542e-03 9.99998860e-01 6.81362203e-04 1.00150294e+00] [-1.43457529e-03 -6.83295406e-04 9.99998738e-01 -5.76760546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04463044 meters 0.2825489130317973 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.58 [[ 9.99997754e-01 1.08167205e-03 1.82281260e-03 4.98497211e+00] [-1.08283401e-03 9.99999211e-01 6.36587091e-04 1.00043679e+00] [-1.82212258e-03 -6.38559465e-04 9.99998136e-01 -5.75363037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10463044 meters 0.28279389384557946 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99998033e-01 1.24179511e-03 1.54639670e-03 4.98613128e+00] [-1.24325855e-03 9.99998780e-01 9.45756678e-04 9.99693662e-01] [-1.54522038e-03 -9.47677389e-04 9.99998357e-01 -5.76128836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16463044 meters 0.2836064109565342 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99998045e-01 1.28252197e-03 1.50527559e-03 4.98632478e+00] [-1.28391524e-03 9.99998748e-01 9.24990730e-04 9.99918727e-01] [-1.50408739e-03 -9.26921567e-04 9.99998439e-01 -5.76425547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22463044 meters 0.2832269954611415 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99998047e-01 1.17752748e-03 1.58753641e-03 4.98546090e+00] [-1.17902924e-03 9.99998858e-01 9.45363309e-04 9.99160415e-01] [-1.58642141e-03 -9.47233214e-04 9.99998293e-01 -5.75286665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28463044 meters 0.2846858407095889 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.57 [[ 9.99997664e-01 1.06476997e-03 1.88085179e-03 4.98439995e+00] [-1.06559349e-03 9.99999337e-01 4.36898464e-04 1.00112079e+00] [-1.88038534e-03 -4.38901667e-04 9.99998136e-01 -5.74725883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34463044 meters 0.28313303646960786 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.57 [[ 9.99997193e-01 1.02310379e-03 2.13718338e-03 4.98357159e+00] [-1.02387855e-03 9.99999411e-01 3.61450289e-04 1.00134907e+00] [-2.13681232e-03 -3.63637491e-04 9.99997651e-01 -5.74328750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40463044 meters 0.28193517632069465 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.57 [[ 9.99996921e-01 9.94014352e-04 2.27385539e-03 4.98311464e+00] [-9.95288520e-04 9.99999348e-01 5.59292966e-04 1.00000012e+00] [-2.27329797e-03 -5.61554386e-04 9.99997258e-01 -5.73953900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46463044 meters 0.2834654729868204 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997331e-01 1.68832838e-03 1.57729492e-03 4.98666773e+00] [-1.69061134e-03 9.99997524e-01 1.44717744e-03 9.98763401e-01] [-1.57484770e-03 -1.44984017e-03 9.99997709e-01 -5.77068367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52463044 meters 0.2836863214995171 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997434e-01 1.72254575e-03 1.47157756e-03 4.98732874e+00] [-1.72455529e-03 9.99997581e-01 1.36539206e-03 9.99713714e-01] [-1.46922205e-03 -1.36792637e-03 9.99997985e-01 -5.77763104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58463044 meters 0.2837738012163756 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.58 [[ 9.99997649e-01 1.51628617e-03 1.55027541e-03 4.98657873e+00] [-1.51802583e-03 9.99998219e-01 1.12160127e-03 1.00019199e+00] [-1.54857198e-03 -1.12395199e-03 9.99998169e-01 -5.76725525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64463044 meters 0.2818258051956694 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99998021e-01 -5.69688967e-04 1.90633979e-03 4.98507684e+00] [ 5.69851158e-04 9.99999834e-01 -8.45380145e-05 9.94333750e-01] [-1.90629131e-03 8.56241772e-05 9.99998179e-01 -5.75392145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70463044 meters 0.2827958245339886 Centerline is valid? [False, False] Translation: X:5.00, Y:0.99, Z:-0.58 [[ 9.99980418e-01 5.69256241e-03 2.59971120e-03 5.00476818e+00] [-5.69147367e-03 9.99983713e-01 -4.25997538e-04 9.92997308e-01] [-2.60209388e-03 4.11193008e-04 9.99996530e-01 -5.75786033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76463044 meters 0.2823576468182449 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99999158e-01 6.04404881e-05 -1.29624138e-03 4.98869206e+00] [-6.00126743e-05 9.99999944e-01 3.30078102e-04 9.94252397e-01] [ 1.29626126e-03 -3.30000034e-04 9.99999105e-01 -5.76055086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82463044 meters 0.282129088476808 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99998945e-01 1.95939754e-04 -1.43939269e-03 4.98924131e+00] [-1.95030162e-04 9.99999781e-01 6.32041270e-04 9.93004964e-01] [ 1.43951621e-03 -6.31759878e-04 9.99998764e-01 -5.76376416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88463044 meters 0.28380914077119146 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99998885e-01 3.27171431e-04 -1.45698173e-03 4.98958476e+00] [-3.26080594e-04 9.99999666e-01 7.48871320e-04 9.93108708e-01] [ 1.45722625e-03 -7.48395391e-04 9.99998658e-01 -5.76857834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94463044 meters 0.28352539422957884 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99999109e-01 2.78362458e-04 -1.30594430e-03 4.98879032e+00] [-2.77391579e-04 9.99999685e-01 7.43552635e-04 9.92654864e-01] [ 1.30615087e-03 -7.43189714e-04 9.99998871e-01 -5.76148041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00463044 meters 0.28339823640344836 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99999155e-01 1.78287328e-04 -1.28759932e-03 4.98840297e+00] [-1.77564456e-04 9.99999827e-01 5.61502971e-04 9.93213651e-01] [ 1.28769921e-03 -5.61273865e-04 9.99999013e-01 -5.75698268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06463044000003 meters 0.283715323576416 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99999087e-01 2.31123162e-04 -1.33128292e-03 4.98842612e+00] [-2.30073184e-04 9.99999662e-01 7.88795090e-04 9.92018602e-01] [ 1.33146478e-03 -7.88488078e-04 9.99998803e-01 -5.75484410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12463044000003 meters 0.28331748588545674 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99999146e-01 1.37189986e-04 -1.29970748e-03 4.98805765e+00] [-1.36280538e-04 9.99999746e-01 6.99795856e-04 9.92015664e-01] [ 1.29980316e-03 -6.99618134e-04 9.99998911e-01 -5.75018083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18463044000003 meters 0.28287545017749316 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.57 [[ 9.99999378e-01 6.66838628e-06 -1.11529193e-03 4.98683314e+00] [-5.85548837e-06 9.99999734e-01 7.28867272e-04 9.91353420e-01] [ 1.11529649e-03 -7.28860288e-04 9.99999112e-01 -5.73496453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24463044000004 meters 0.2823031405639848 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.57 [[ 9.99999523e-01 -1.31226973e-04 -9.68124001e-04 4.98614549e+00] [ 1.31640927e-04 9.99999900e-01 4.27532491e-04 9.92318437e-01] [ 9.68067800e-04 -4.27659731e-04 9.99999440e-01 -5.73048639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30463044000004 meters 0.2825686562757344 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.57 [[ 9.99999522e-01 -1.75981848e-04 -9.61537481e-04 4.98581918e+00] [ 1.76367390e-04 9.99999904e-01 4.00894214e-04 9.92388871e-01] [ 9.61466839e-04 -4.01063606e-04 9.99999457e-01 -5.72501600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36463044 meters 0.28277904407596566 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.57 [[ 9.99999619e-01 -2.21115769e-04 -8.44367640e-04 4.98556108e+00] [ 2.21278418e-04 9.99999957e-01 1.92539000e-04 9.93270551e-01] [ 8.44325030e-04 -1.92725767e-04 9.99999625e-01 -5.72590600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42463044 meters 0.2822415140804379 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.57 [[ 9.99999737e-01 -3.49629889e-04 -6.34926902e-04 4.98481539e+00] [ 3.49588316e-04 9.99999937e-01 -6.55862082e-05 9.94133878e-01] [ 6.34949793e-04 6.53642279e-05 9.99999796e-01 -5.72161850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48463044 meters 0.28247471978095734 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.57 [[ 9.99999004e-01 2.93124506e-04 -1.38083178e-03 4.98801981e+00] [-2.91778681e-04 9.99999482e-01 9.74748827e-04 9.92115579e-01] [ 1.38111678e-03 -9.74344959e-04 9.99998572e-01 -5.74476314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54463044 meters 0.2827252053782919 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.58 [[ 9.99998431e-01 5.45944870e-04 -1.68526654e-03 4.98976758e+00] [-5.43268071e-04 9.99998591e-01 1.58840318e-03 9.90105423e-01] [ 1.68613134e-03 -1.58748513e-03 9.99997318e-01 -5.76177883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60463044 meters 0.28081499159581547 Centerline is valid? [False, False] Translation: X:4.96, Y:0.99, Z:-0.58 [[ 9.99993480e-01 3.51407341e-03 -8.31443453e-04 4.95925557e+00] [-3.51519161e-03 9.99992914e-01 -1.34726784e-03 9.88638783e-01] [ 8.26703163e-04 1.35018174e-03 9.99998747e-01 -5.78847118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66463044 meters 0.2829573895366483 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.58 [[ 9.99974834e-01 -6.98171432e-03 -1.26002947e-03 4.98025583e+00] [ 6.98242102e-03 9.99975467e-01 5.57335764e-04 9.88429426e-01] [ 1.25610740e-03 -5.66119794e-04 9.99999051e-01 -5.82407224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72463044 meters 0.28293996553149003 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.58 [[ 9.99976880e-01 -6.70339037e-03 -1.14194885e-03 4.98059983e+00] [ 6.70468626e-03 9.99976879e-01 1.13478224e-03 9.86028268e-01] [ 1.13431556e-03 -1.14241242e-03 9.99998704e-01 -5.83248498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78463044 meters 0.2830433722057661 Centerline is valid? [False, False] Translation: X:4.98, Y:0.98, Z:-0.58 [[ 9.99979208e-01 -6.37228586e-03 -9.89115376e-04 4.98096909e+00] [ 6.37412036e-03 9.99977950e-01 1.86274828e-03 9.82886334e-01] [ 9.77223602e-04 -1.86901428e-03 9.99997776e-01 -5.84220830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84463044 meters 0.28343129947520884 Centerline is valid? [False, False] Translation: X:4.98, Y:0.98, Z:-0.59 [[ 9.99981226e-01 -6.01306687e-03 -1.17923646e-03 4.98220983e+00] [ 6.01609222e-03 9.99978578e-01 2.57896581e-03 9.80242931e-01] [ 1.16370370e-03 -2.58601179e-03 9.99995979e-01 -5.85384353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90463044 meters 0.2829697178073672 Centerline is valid? [False, False] Translation: X:4.98, Y:0.98, Z:-0.59 [[ 9.99983631e-01 -5.58909403e-03 -1.22442324e-03 4.98309457e+00] [ 5.59336312e-03 9.99978192e-01 3.51138660e-03 9.76287527e-01] [ 1.20477107e-03 -3.51817777e-03 9.99993085e-01 -5.86419039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96463044 meters 0.2834204019192182 Centerline is valid? [False, False] Translation: X:4.98, Y:0.97, Z:-0.59 [[ 9.99985036e-01 -5.36297813e-03 -1.08013670e-03 4.98290631e+00] [ 5.36741382e-03 9.99976999e-01 4.14644161e-03 9.72862827e-01] [ 1.05787458e-03 -4.15217710e-03 9.99990820e-01 -5.86568603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02463044 meters 0.28388341782351934 Centerline is valid? [False, False] Translation: X:4.98, Y:0.97, Z:-0.59 [[ 9.99986000e-01 -5.16199480e-03 -1.16368319e-03 4.98338901e+00] [ 5.16720881e-03 9.99976421e-01 4.52303765e-03 9.71506207e-01] [ 1.14030785e-03 -4.52898732e-03 9.99989094e-01 -5.86992724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08463044 meters 0.2868717720482709 Centerline is valid? [False, False] Translation: X:4.98, Y:0.98, Z:-0.59 [[ 9.99994184e-01 -3.21633400e-03 -1.13476758e-03 4.98322119e+00] [ 3.22170918e-03 9.99983447e-01 4.76720922e-03 9.81315826e-01] [ 1.11941586e-03 -4.77083738e-03 9.99987993e-01 -5.87039673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14463044 meters 0.2848023376433721 Centerline is valid? [False, False] Translation: X:4.96, Y:0.98, Z:-0.58 [[ 9.99990588e-01 4.33781432e-03 8.32931635e-05 4.96361952e+00] [-4.33782815e-03 9.99990578e-01 1.66502498e-04 9.79875114e-01] [-8.25701218e-05 -1.66862242e-04 9.99999983e-01 -5.84840372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20463044 meters 0.28263802672936106 Centerline is valid? [False, False] Translation: X:4.96, Y:0.98, Z:-0.58 [[ 9.99991509e-01 4.10190562e-03 3.94989542e-04 4.96266440e+00] [-4.10194777e-03 9.99991581e-01 1.05965630e-04 9.79103748e-01] [-3.94551556e-04 -1.07584956e-04 9.99999916e-01 -5.84189490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26463044 meters 0.28222520495959325 Centerline is valid? [False, False] Translation: X:4.96, Y:0.98, Z:-0.58 [[ 9.99991136e-01 4.20794339e-03 1.47365808e-04 4.96371837e+00] [-4.20798114e-03 9.99991113e-01 2.56772983e-04 9.78909623e-01] [-1.46284012e-04 -2.57390820e-04 9.99999956e-01 -5.84966184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32463044 meters 0.2833324783220133 Centerline is valid? [False, False] Translation: X:4.96, Y:0.98, Z:-0.59 [[ 9.99991131e-01 4.21173512e-03 -1.80071615e-06 4.96437858e+00] [-4.21173519e-03 9.99991130e-01 -4.20060880e-05 9.80952248e-01] [ 1.62378166e-06 4.20132996e-05 9.99999999e-01 -5.85617906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38463044 meters 0.28299084519413026 Centerline is valid? [False, False] Translation: X:4.96, Y:0.98, Z:-0.59 [[ 9.99991113e-01 4.21414076e-03 -1.21661417e-04 4.96473761e+00] [-4.21414785e-03 9.99991119e-01 -5.81204165e-05 9.81143316e-01] [ 1.21415408e-04 5.86325992e-05 9.99999991e-01 -5.85757798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44463044 meters 0.4405094955975738 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:-0.59 [[ 9.99991240e-01 4.17733184e-03 -2.62612594e-04 4.96505935e+00] [-4.17736649e-03 9.99991266e-01 -1.31533860e-04 9.81588835e-01] [ 2.62060840e-04 1.32629737e-04 9.99999957e-01 -5.85737249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50463044 meters 0.42880920614265683 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:-0.59 [[ 9.99990841e-01 4.25271006e-03 -4.82533230e-04 4.96608759e+00] [-4.25272926e-03 9.99990956e-01 -3.87835324e-05 9.81437031e-01] [ 4.82363931e-04 4.08352604e-05 9.99999883e-01 -5.86544945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56463044000003 meters 0.2827353407566171 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:-0.59 [[ 9.99991585e-01 4.07702894e-03 -4.56262776e-04 4.96565833e+00] [-4.07728340e-03 9.99991532e-01 -5.58184129e-04 9.83433867e-01] [ 4.53983179e-04 5.60039745e-04 9.99999740e-01 -5.86201720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62463044000003 meters 0.28239944659969485 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:-0.59 [[ 9.99992015e-01 3.97256825e-03 -4.33995233e-04 4.96522449e+00] [-3.97285071e-03 9.99991896e-01 -6.51908987e-04 9.83448538e-01] [ 4.31401963e-04 6.53627980e-04 9.99999693e-01 -5.85586607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68463044000003 meters 0.2825329946268301 Centerline is valid? [False, False] Translation: X:4.97, Y:0.98, Z:-0.59 [[ 9.99991858e-01 3.97702313e-03 -6.83829291e-04 4.96586023e+00] [-3.97761904e-03 9.99991709e-01 -8.72291191e-04 9.84969698e-01] [ 6.80354499e-04 8.75004101e-04 9.99999386e-01 -5.85852441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74463044000004 meters 0.28187084043200866 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99992262e-01 3.84764112e-03 -8.19965441e-04 4.96563502e+00] [-3.84857394e-03 9.99991945e-01 -1.13911167e-03 9.85964090e-01] [ 8.15575943e-04 1.14225855e-03 9.99999015e-01 -5.85088541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80463044000004 meters 0.2822964192075937 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.58 [[ 9.99992239e-01 3.79706291e-03 -1.05051530e-03 4.96576814e+00] [-3.79865939e-03 9.99991627e-01 -1.52191184e-03 9.88113233e-01] [ 1.04472771e-03 1.52589058e-03 9.99998290e-01 -5.84601450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86463044 meters 0.28109039867688757 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.58 [[ 9.99973172e-01 -4.54656852e-03 5.74311454e-03 4.97497999e+00] [ 4.54194738e-03 9.99989351e-01 8.17425891e-04 9.92371231e-01] [-5.74676987e-03 -7.91319037e-04 9.99983174e-01 -5.83380282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92463044 meters 0.28025208521818246 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.58 [[ 9.99963688e-01 -5.52529469e-03 6.48803100e-03 4.97128865e+00] [ 5.52353099e-03 9.99984703e-01 2.89726003e-04 9.89509751e-01] [-6.48953257e-03 -2.53878642e-04 9.99978911e-01 -5.80062435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98463044 meters 0.281688246085961 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.58 [[ 9.99976526e-01 -4.26294501e-03 5.36412698e-03 4.97628955e+00] [ 4.25657462e-03 9.99990223e-01 1.19844864e-03 9.92119005e-01] [-5.36918345e-03 -1.17558770e-03 9.99984895e-01 -5.84013167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04463044 meters 0.28161309013174607 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.58 [[ 9.99973449e-01 -4.49792565e-03 5.73331761e-03 4.97450809e+00] [ 4.49372128e-03 9.99989625e-01 7.45992958e-04 9.93504259e-01] [-5.73661355e-03 -7.20209220e-04 9.99983286e-01 -5.82246345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10463044 meters 0.28054722152093514 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.58 [[ 9.99974618e-01 -4.40497571e-03 5.60001569e-03 4.97506877e+00] [ 4.39867603e-03 9.99989680e-01 1.13675901e-03 9.91936031e-01] [-5.60496529e-03 -1.11209750e-03 9.99983674e-01 -5.82441901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16463044 meters 0.2810667186482801 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.58 [[ 9.99975714e-01 -4.28733598e-03 5.49459058e-03 4.97614603e+00] [ 4.28235948e-03 9.99990410e-01 9.17153104e-04 9.93919753e-01] [-5.49847003e-03 -8.93601018e-04 9.99984484e-01 -5.83898929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22463044 meters 0.4316311583417397 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.58 [[ 9.99970693e-01 -4.55360839e-03 6.15448656e-03 4.97436587e+00] [ 4.54813823e-03 9.99989250e-01 9.02511445e-04 9.92509820e-01] [-6.15853009e-03 -8.74493540e-04 9.99980654e-01 -5.82966395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28463044 meters 0.42421179037750273 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99981579e-01 -3.41011877e-03 5.02130349e-03 4.97950431e+00] [ 3.40051833e-03 9.99992376e-01 1.91923942e-03 9.93823029e-01] [-5.02781005e-03 -1.90212903e-03 9.99985551e-01 -5.87350580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34463044 meters 0.4367665178369798 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99984599e-01 -3.01650086e-03 4.65856427e-03 4.98169626e+00] [ 3.00500974e-03 9.99992430e-01 2.47169930e-03 9.92561690e-01] [-4.66598489e-03 -2.45766220e-03 9.99986094e-01 -5.89537254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40463044 meters 0.29792386625133743 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99978081e-01 -3.82599062e-03 5.40358488e-03 4.97810865e+00] [ 3.81662897e-03 9.99991200e-01 1.74173800e-03 9.92361541e-01] [-5.41020120e-03 -1.72107634e-03 9.99983884e-01 -5.86327836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46463044 meters 0.2950224943755071 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99984878e-01 -2.76100919e-03 4.75618876e-03 4.98215235e+00] [ 2.74782106e-03 9.99992368e-01 2.77714241e-03 9.92081376e-01] [-4.76382018e-03 -2.76403126e-03 9.99984833e-01 -5.90419662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52463044 meters 0.2806997419979253 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99980668e-01 5.80261632e-03 2.23471944e-03 4.96811683e+00] [-5.80041449e-03 9.99982687e-01 -9.90507457e-04 9.90694271e-01] [-2.24042828e-03 9.77526009e-04 9.99997012e-01 -5.90638875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58463044 meters 0.2803026724064665 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99981252e-01 5.52988453e-03 2.62995410e-03 4.96652640e+00] [-5.52514286e-03 9.99983104e-01 -1.80680661e-03 9.93722648e-01] [-2.63990109e-03 1.79224186e-03 9.99994909e-01 -5.89503167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64463044 meters 0.2795894631612615 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99981765e-01 5.37891620e-03 2.74546015e-03 4.96578507e+00] [-5.37366890e-03 9.99983728e-01 -1.91507499e-03 9.93573433e-01] [-2.75571651e-03 1.90028687e-03 9.99994397e-01 -5.88608354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70463044 meters 0.2802464987145541 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99983144e-01 -3.07365362e-03 4.92585778e-03 4.98117861e+00] [ 3.06269714e-03 9.99992823e-01 2.23027935e-03 9.92542318e-01] [-4.93267754e-03 -2.21515535e-03 9.99985381e-01 -5.89038542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76463044 meters 0.2804164708560115 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99985972e-01 -2.89635213e-03 4.43475476e-03 4.98253538e+00] [ 2.88736907e-03 9.99993770e-01 2.03066797e-03 9.94842204e-01] [-4.44060866e-03 -2.01783471e-03 9.99988105e-01 -5.89657167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82463044 meters 0.27962682121008126 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99982679e-01 -3.13394834e-03 4.98189516e-03 4.98094249e+00] [ 3.12294434e-03 9.99992670e-01 2.21504410e-03 9.92541781e-01] [-4.98880047e-03 -2.19944755e-03 9.99985137e-01 -5.88622530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88463044 meters 0.2790657989762341 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99981357e-01 -3.23639502e-03 5.17799162e-03 4.98024773e+00] [ 3.22613117e-03 9.99992817e-01 1.98933278e-03 9.93390291e-01] [-5.18439269e-03 -1.97259081e-03 9.99984615e-01 -5.88183602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94463044 meters 0.2791838003281312 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99981400e-01 -3.13447751e-03 5.23215500e-03 4.98040347e+00] [ 3.12285497e-03 9.99992642e-01 2.22806000e-03 9.92515028e-01] [-5.23910030e-03 -2.21167929e-03 9.99983830e-01 -5.88468272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00463044 meters 0.27982913224023837 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99988527e-01 -2.16502270e-03 4.27302532e-03 4.98461455e+00] [ 2.15202659e-03 9.99993052e-01 3.04368907e-03 9.93028001e-01] [-4.27958529e-03 -3.03445849e-03 9.99986239e-01 -5.91988677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06463044000003 meters 0.2799857982824131 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99987447e-01 -2.10651442e-03 4.54616586e-03 4.98452685e+00] [ 2.09282256e-03 9.99993267e-01 3.01439666e-03 9.93054877e-01] [-4.55248512e-03 -3.00484451e-03 9.99985123e-01 -5.92976181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12463044000003 meters 0.42233995622437354 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99986301e-01 -2.25482488e-03 4.72381663e-03 4.98348698e+00] [ 2.24278740e-03 9.99994229e-01 2.55200091e-03 9.94899603e-01] [-4.72954369e-03 -2.54137143e-03 9.99985586e-01 -5.91975370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18463044000003 meters 0.2798439559509047 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99987747e-01 -2.17783460e-03 4.44552568e-03 4.98417738e+00] [ 2.16572373e-03 9.99993936e-01 2.72727968e-03 9.94419971e-01] [-4.45143829e-03 -2.71761849e-03 9.99986400e-01 -5.91991311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24463044000004 meters 0.279267225809216 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99988069e-01 -2.03506423e-03 4.44075085e-03 4.98495647e+00] [ 2.02238991e-03 9.99993875e-01 2.85672091e-03 9.94449274e-01] [-4.44653726e-03 -2.84770590e-03 9.99986059e-01 -5.93232039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30463044000004 meters 0.27905169441671285 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.59 [[ 9.99987848e-01 -1.99334307e-03 4.50892325e-03 4.98508415e+00] [ 1.98074354e-03 9.99994126e-01 2.79709603e-03 9.94911145e-01] [-4.51447234e-03 -2.78813102e-03 9.99985923e-01 -5.93797798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36463044 meters 0.27866208434576056 Centerline is valid? [False, False] Translation: X:4.98, Y:1.00, Z:-0.59 [[ 9.99987678e-01 -2.05674383e-03 4.51816826e-03 4.98484134e+00] [ 2.04474097e-03 9.99994373e-01 2.65959162e-03 9.95328858e-01] [-4.52361293e-03 -2.65032036e-03 9.99986256e-01 -5.93545331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42463044 meters 0.27845436570518617 Centerline is valid? [False, False] Translation: X:4.98, Y:0.99, Z:-0.59 [[ 9.99986402e-01 -2.14280499e-03 4.75442826e-03 4.98422299e+00] [ 2.12896265e-03 9.99993486e-01 2.91461550e-03 9.93702087e-01] [-4.76064275e-03 -2.90445387e-03 9.99984450e-01 -5.93042359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48463044 meters 0.27830452483599116 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99975365e-01 6.21188333e-03 3.26830513e-03 4.96973733e+00] [-6.20853372e-03 9.99980192e-01 -1.03402921e-03 9.91363402e-01] [-3.27466366e-03 1.01371236e-03 9.99994124e-01 -5.93576525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54463044 meters 0.27759482182284295 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.59 [[ 9.99974584e-01 6.26050893e-03 3.41132141e-03 4.97004505e+00] [-6.25658531e-03 9.99979755e-01 -1.15963610e-03 9.92183064e-01] [-3.41851226e-03 1.13826340e-03 9.99993509e-01 -5.94649215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60463044 meters 0.27743726762541465 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99974733e-01 6.38198609e-03 3.13122539e-03 4.97101287e+00] [-6.37968331e-03 9.99979372e-01 -7.44862977e-04 9.90665616e-01] [-3.13591451e-03 7.24867930e-04 9.99994820e-01 -5.95069996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66463044 meters 0.2787610300643861 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99973089e-01 6.86811626e-03 2.57866243e-03 4.97403601e+00] [-6.86768751e-03 9.99976402e-01 -1.75086290e-04 9.89764419e-01] [-2.57980409e-03 1.57372131e-04 9.99996660e-01 -5.97939133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72463044 meters 0.27801636852644324 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99973451e-01 6.81023411e-03 2.59208704e-03 4.97385295e+00] [-6.80921625e-03 9.99976736e-01 -4.01301614e-04 9.90903151e-01] [-2.59475970e-03 3.83640878e-04 9.99996560e-01 -5.97807378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78463044 meters 0.2780370861295952 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99973629e-01 6.55716325e-03 3.12155508e-03 4.97251485e+00] [-6.55582450e-03 9.99978414e-01 -4.38909158e-04 9.89242922e-01] [-3.12436569e-03 4.18433217e-04 9.99995032e-01 -5.97377588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84463044 meters 0.277142501951441 Centerline is valid? [False, False] Translation: X:4.97, Y:0.99, Z:-0.60 [[ 9.99975014e-01 6.37230891e-03 3.06022355e-03 4.97186360e+00] [-6.37001712e-03 9.99979424e-01 -7.58060048e-04 9.90541690e-01] [-3.06499117e-03 7.38547431e-04 9.99995030e-01 -5.96193990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90463044 meters 0.2775818793207795 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99985982e-01 -2.01856032e-03 4.89507744e-03 4.98756530e+00] [ 2.00341529e-03 9.99993198e-01 3.09686430e-03 9.91525698e-01] [-4.90129535e-03 -3.08701401e-03 9.99983224e-01 -5.97493911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96463044 meters 0.277156441645249 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99984239e-01 -2.08470565e-03 5.21301626e-03 4.98626894e+00] [ 2.06921824e-03 9.99993435e-01 2.97454211e-03 9.91779491e-01] [-5.21918309e-03 -2.96370836e-03 9.99981988e-01 -5.96567779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02463044 meters 0.27730930184948854 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99985157e-01 -2.00319075e-03 5.06679961e-03 4.98660203e+00] [ 1.99041108e-03 9.99994829e-01 2.52602344e-03 9.94610409e-01] [-5.07183352e-03 -2.51590094e-03 9.99983973e-01 -5.96853687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08463044 meters 0.27776805325463144 Centerline is valid? [False, False] Translation: X:4.99, Y:1.00, Z:-0.60 [[ 9.99984710e-01 -2.01846277e-03 5.14836225e-03 4.98656112e+00] [ 2.00681036e-03 9.99995416e-01 2.26748608e-03 9.95932395e-01] [-5.15291549e-03 -2.25711962e-03 9.99984176e-01 -5.97302883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14463044 meters 0.27722057783398835 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99985973e-01 -1.96346212e-03 4.91925277e-03 4.98718871e+00] [ 1.95117539e-03 9.99994968e-01 2.50123888e-03 9.94932773e-01] [-4.92413910e-03 -2.49160547e-03 9.99984772e-01 -5.97344739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20463044 meters 0.27769931208720067 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99983367e-01 -4.82018792e-03 3.16718061e-03 4.99417728e+00] [ 4.82013867e-03 9.99988383e-01 2.31841063e-05 9.93454103e-01] [-3.16725556e-03 -7.91747097e-06 9.99994984e-01 -6.02654813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26463044 meters 0.2779768506579647 Centerline is valid? [False, False] Translation: X:4.99, Y:0.99, Z:-0.60 [[ 9.99984798e-01 -4.66625086e-03 2.93765383e-03 4.99474132e+00] [ 4.66512703e-03 9.99989042e-01 3.89296462e-04 9.92306264e-01] [-2.93943820e-03 -3.75586015e-04 9.99995609e-01 -6.02544909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32463044 meters 0.27880049379317334 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99991747e-01 -3.36104637e-03 2.28248906e-03 4.99616739e+00] [ 3.35884933e-03 9.99993893e-01 9.65713723e-04 9.98148654e-01] [-2.28572093e-03 -9.58039216e-04 9.99996929e-01 -6.02748320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38463044 meters 0.2783857661320202 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99992271e-01 -3.30340993e-03 2.13184889e-03 4.99706335e+00] [ 3.30171760e-03 9.99994232e-01 7.96867265e-04 9.99131640e-01] [-2.13446897e-03 -7.89822343e-04 9.99997410e-01 -6.03856285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44463044 meters 0.27840259672612333 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99990164e-01 -3.68876208e-03 2.46261142e-03 4.99525895e+00] [ 3.68680246e-03 9.99992884e-01 7.99815946e-04 9.97561792e-01] [-2.46554422e-03 -7.90728918e-04 9.99996648e-01 -6.01626328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50463044 meters 0.277498746330244 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99990922e-01 -3.64436414e-03 2.20762525e-03 4.99595609e+00] [ 3.64190358e-03 9.99992744e-01 1.11756774e-03 9.96020096e-01] [-2.21168205e-03 -1.10951763e-03 9.99996939e-01 -6.01673643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56463044000003 meters 0.27787234385693016 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99992201e-01 -3.59920889e-03 1.62571914e-03 4.99707886e+00] [ 3.59819972e-03 9.99993332e-01 6.23252671e-04 9.99522718e-01] [-1.62795152e-03 -6.17398148e-04 9.99998484e-01 -6.01654117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62463044000003 meters 0.2765388205041233 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99990404e-01 -3.95349780e-03 1.88734872e-03 4.99548516e+00] [ 3.95272593e-03 9.99992103e-01 4.12526112e-04 9.99030614e-01] [-1.88896474e-03 -4.05061981e-04 9.99998134e-01 -5.99782471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68463044000003 meters 0.2767906813447124 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99993941e-01 -3.43668665e-03 5.55040441e-04 4.99962154e+00] [ 3.43601167e-03 9.99993362e-01 1.21249619e-03 9.97634074e-01] [-5.59203726e-04 -1.21058171e-03 9.99999111e-01 -6.01892465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74463044000004 meters 0.27688207730940523 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99994954e-01 -3.17613129e-03 6.75179456e-05 5.00133370e+00] [ 3.17600712e-03 9.99993397e-01 1.76590950e-03 9.96122582e-01] [-7.31262603e-05 -1.76568615e-03 9.99998439e-01 -6.02773944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80463044000004 meters 0.2763237330274966 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99994600e-01 -3.28489472e-03 9.38598915e-05 5.00103901e+00] [ 3.28471416e-03 9.99992870e-01 1.86316552e-03 9.95267167e-01] [-9.99795248e-05 -1.86284715e-03 9.99998260e-01 -6.02145341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86463044 meters 0.27547387498088327 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99994519e-01 -3.30813279e-03 -1.35151844e-04 5.00164754e+00] [ 3.30836945e-03 9.99992925e-01 1.79007101e-03 9.95770812e-01] [ 1.29229095e-04 -1.79050833e-03 9.99998389e-01 -6.02170577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92463044 meters 0.2750797619064306 Centerline is valid? [False, False] Translation: X:5.00, Y:0.99, Z:-0.60 [[ 9.99994446e-01 -3.33219163e-03 -6.05111693e-05 5.00158040e+00] [ 3.33230612e-03 9.99992443e-01 2.00234869e-03 9.94561605e-01] [ 5.38385025e-05 -2.00253921e-03 9.99997993e-01 -6.02073526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98463044 meters 0.27565549063843614 Centerline is valid? [False, False] Translation: X:5.00, Y:1.00, Z:-0.60 [[ 9.99994466e-01 -3.24672346e-03 -7.25158335e-04 5.00324665e+00] [ 3.24823954e-03 9.99992521e-01 2.09938724e-03 9.95027673e-01] [ 7.18336782e-04 -2.10173111e-03 9.99997533e-01 -6.02330105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04463044 meters 0.2758201494497045 Centerline is valid? [False, False] Translation: X:5.00, Y:0.99, Z:-0.60 [[ 9.99994299e-01 -3.25492183e-03 -8.99070758e-04 5.00371405e+00] [ 3.25684882e-03 9.99992385e-01 2.15022549e-03 9.94600469e-01] [ 8.92065095e-04 -2.15314137e-03 9.99997284e-01 -6.02405204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10463044 meters 0.27591443275692495 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99994417e-01 -2.95410007e-03 -1.56173536e-03 5.00585775e+00] [ 2.95867740e-03 9.99991311e-01 2.93678564e-03 9.92298988e-01] [ 1.55304623e-03 -2.94138992e-03 9.99994468e-01 -6.03371376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16463044 meters 0.27583711842730674 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99994388e-01 -2.85830064e-03 -1.74757853e-03 5.00669435e+00] [ 2.86370166e-03 9.99991107e-01 3.09592332e-03 9.91993084e-01] [ 1.73871391e-03 -3.10091049e-03 9.99993681e-01 -6.03986695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22463044 meters 0.2748601476702476 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99993455e-01 -3.15329807e-03 -1.77371849e-03 5.00593355e+00] [ 3.15805358e-03 9.99991409e-01 2.68471533e-03 9.92830143e-01] [ 1.76523755e-03 -2.69029926e-03 9.99994823e-01 -6.02710076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28463044 meters 0.2750988985785163 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99993196e-01 -3.10069910e-03 -1.99839079e-03 5.00631286e+00] [ 3.10650566e-03 9.99990943e-01 2.90909403e-03 9.91983604e-01] [ 1.98935246e-03 -2.91528225e-03 9.99993772e-01 -6.02384262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34463044 meters 0.2757297922198691 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.61 [[ 9.99992907e-01 -2.50029379e-03 -2.81666879e-03 5.00975628e+00] [ 2.51093409e-03 9.99989702e-01 3.78043850e-03 9.90203764e-01] [ 2.80718757e-03 -3.78748415e-03 9.99988887e-01 -6.05163896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40463044 meters 0.27597773552054866 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99992774e-01 -2.58543600e-03 -2.78688352e-03 5.00933684e+00] [ 2.59552117e-03 9.99990075e-01 3.62127382e-03 9.90561210e-01] [ 2.77749329e-03 -3.62848107e-03 9.99989560e-01 -6.04584021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46463044 meters 0.27531193925716724 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99992544e-01 -2.80409938e-03 -2.65514587e-03 5.00809561e+00] [ 2.81295169e-03 9.99990479e-01 3.33617382e-03 9.91232362e-01] [ 2.64576563e-03 -3.34361774e-03 9.99990910e-01 -6.02987510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52463044 meters 0.275057408577231 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99992410e-01 -2.81023663e-03 -2.69874031e-03 5.00813301e+00] [ 2.81939937e-03 9.99990254e-01 3.39741011e-03 9.90729236e-01] [ 2.68916649e-03 -3.40499315e-03 9.99990587e-01 -6.02817481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58463044 meters 0.2748815953894069 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99991627e-01 -2.95026453e-03 -2.83585331e-03 5.00767756e+00] [ 2.95948553e-03 9.99990330e-01 3.25290151e-03 9.91243282e-01] [ 2.82622897e-03 -3.26126694e-03 9.99990688e-01 -6.01466918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64463044 meters 0.27462103020847733 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99991199e-01 -2.93849921e-03 -2.99462071e-03 5.00819378e+00] [ 2.94801646e-03 9.99990603e-01 3.17867231e-03 9.91961082e-01] [ 2.98525205e-03 -3.18747252e-03 9.99990464e-01 -6.01677936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70463044 meters 0.2745895510662774 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99990425e-01 -2.95936666e-03 -3.22372634e-03 5.00877270e+00] [ 2.96939268e-03 9.99990756e-01 3.10973883e-03 9.92070470e-01] [ 3.21449368e-03 -3.11928156e-03 9.99989969e-01 -6.01793184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76463044 meters 0.27431672330477624 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99989232e-01 -2.90214117e-03 -3.62135899e-03 5.00968603e+00] [ 2.91507094e-03 9.99989378e-01 3.57026580e-03 9.89903745e-01] [ 3.61095911e-03 -3.58078387e-03 9.99987069e-01 -6.01756312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82463044 meters 0.2747957369115474 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99989379e-01 -2.74185003e-03 -3.70457041e-03 5.01032677e+00] [ 2.75629723e-03 9.99988595e-01 3.90037140e-03 9.88707039e-01] [ 3.69383392e-03 -3.91054087e-03 9.99985532e-01 -6.02386642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88463044 meters 0.27522785794490273 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99989612e-01 -2.63212829e-03 -3.72113131e-03 5.01027834e+00] [ 2.64894276e-03 9.99986272e-01 4.52095823e-03 9.85593327e-01] [ 3.70918048e-03 -4.53076833e-03 9.99982857e-01 -6.02101059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94463044 meters 0.27427308486462065 Centerline is valid? [False, False] Translation: X:5.01, Y:0.98, Z:-0.60 [[ 9.99989113e-01 -2.78521766e-03 -3.74391126e-03 5.00933886e+00] [ 2.80202586e-03 9.99985986e-01 4.49175310e-03 9.84944861e-01] [ 3.73134829e-03 -4.50219474e-03 9.99982903e-01 -6.00410129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00463044 meters 0.27464780151954693 Centerline is valid? [False, False] Translation: X:5.01, Y:0.98, Z:-0.60 [[ 9.99989099e-01 -2.84487147e-03 -3.70249078e-03 5.00879032e+00] [ 2.86130947e-03 9.99986041e-01 4.44201396e-03 9.84796715e-01] [ 3.68980213e-03 -4.45255951e-03 9.99983280e-01 -5.99667191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06463044000003 meters 0.2739066954312457 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99988378e-01 -3.07977273e-03 -3.70930195e-03 5.00804027e+00] [ 3.09440822e-03 9.99987425e-01 3.94636156e-03 9.86525920e-01] [ 3.69710141e-03 -3.95779379e-03 9.99985334e-01 -5.98470411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12463044000003 meters 0.27419322037280897 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99987296e-01 -3.22530234e-03 -3.87370888e-03 5.00780823e+00] [ 3.23922230e-03 9.99988300e-01 3.59256453e-03 9.88204472e-01] [ 3.86207645e-03 -3.60506669e-03 9.99986044e-01 -5.97586499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18463044000003 meters 0.2745624287370084 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99984889e-01 -3.43383793e-03 -4.29317898e-03 5.00805112e+00] [ 3.44621310e-03 9.99989919e-01 2.87845091e-03 9.91570868e-01] [ 4.28325157e-03 -2.89320262e-03 9.99986641e-01 -5.96604489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24463044000004 meters 0.2739226584299796 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99984615e-01 -3.36169772e-03 -4.41227636e-03 5.00867258e+00] [ 3.37453303e-03 9.99990087e-01 2.90478424e-03 9.91741854e-01] [ 4.40246761e-03 -2.91962892e-03 9.99986047e-01 -5.97167737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30463044000004 meters 0.27475397579327243 Centerline is valid? [False, False] Translation: X:5.01, Y:0.99, Z:-0.60 [[ 9.99984995e-01 -3.33660931e-03 -4.34483514e-03 5.00850472e+00] [ 3.34979170e-03 9.99989798e-01 3.03030115e-03 9.91206622e-01] [ 4.33467989e-03 -3.04480997e-03 9.99985970e-01 -5.97059252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36463044 meters 0.27510089656493614 Centerline is valid? [False, False] Translation: X:5.03, Y:0.97, Z:-0.60 [[ 9.99905024e-01 -8.35853035e-03 -1.09580524e-02 5.03284421e+00] [ 8.31431872e-03 9.99957136e-01 -4.07399163e-03 9.73864745e-01] [ 1.09916353e-02 3.98249595e-03 9.99931660e-01 -6.00146041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42463044 meters 0.2793252677823281 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99899136e-01 -4.27523665e-03 -1.35440239e-02 5.04677183e+00] [ 4.30851855e-03 9.99987768e-01 2.42908746e-03 9.31587457e-01] [ 1.35334733e-02 -2.48719713e-03 9.99905325e-01 -6.04050166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48463044 meters 0.2822565539910504 Centerline is valid? [False, False] Translation: X:5.04, Y:0.91, Z:-0.60 [[ 9.99881208e-01 -1.11607345e-02 -1.06305025e-02 5.03953409e+00] [ 1.11703287e-02 9.99937254e-01 8.43566916e-04 9.05881649e-01] [ 1.06204207e-02 -9.62212915e-04 9.99943139e-01 -6.03653066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54463044 meters 0.28538400263303215 Centerline is valid? [False, False] Translation: X:5.02, Y:0.86, Z:-0.60 [[ 0.99994764 -0.00858809 -0.00556396 5.02159394] [ 0.00862499 0.99994075 0.00664132 0.85893065] [ 0.0055066 -0.00668897 0.99996247 -0.60319403] [ 0. 0. 0. 1. ]] SLAMing on 459.60463044 meters 0.27690219558471607 Centerline is valid? [False, False] Translation: X:5.02, Y:0.84, Z:-0.60 [[ 9.99974070e-01 7.18799652e-03 -4.37886076e-04 5.01803154e+00] [-7.18551266e-03 9.99959430e-01 5.43194067e-03 8.44387464e-01] [ 4.76913082e-04 -5.42865339e-03 9.99985151e-01 -6.03375437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66463044 meters 0.274984436374588 Centerline is valid? [False, False] Translation: X:5.02, Y:0.85, Z:-0.60 [[ 9.99996125e-01 2.58699064e-03 -1.02811609e-03 5.01710300e+00] [-2.58671823e-03 9.99996619e-01 2.66201357e-04 8.45866316e-01] [ 1.02880128e-03 -2.63540879e-04 9.99999436e-01 -6.00014434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72463044 meters 0.27389055447095145 Centerline is valid? [False, False] Translation: X:5.02, Y:0.85, Z:-0.60 [[ 9.99980519e-01 6.18150515e-03 -8.65910393e-04 5.01524747e+00] [-6.17942783e-03 9.99978071e-01 2.38147709e-03 8.52882804e-01] [ 8.80612518e-04 -2.37607986e-03 9.99996789e-01 -5.97301321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78463044 meters 0.2742418798495307 Centerline is valid? [False, False] Translation: X:5.01, Y:0.87, Z:-0.59 [[ 9.99970791e-01 6.91028837e-03 3.26578206e-03 5.00721464e+00] [-6.90380842e-03 9.99974186e-01 -1.99132271e-03 8.72751613e-01] [-3.27945837e-03 1.96871821e-03 9.99992685e-01 -5.93010929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84463044 meters 0.2777045897306267 Centerline is valid? [False, False] Translation: X:5.02, Y:0.89, Z:-0.59 [[ 9.99986289e-01 5.84846203e-04 5.20386652e-03 5.02207937e+00] [-5.90198983e-04 9.99999298e-01 1.02713961e-03 8.89936269e-01] [-5.20326215e-03 -1.03019684e-03 9.99985932e-01 -5.90876309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90463044 meters 0.2805992543534668 Centerline is valid? [False, False] Translation: X:5.03, Y:0.91, Z:-0.59 [[ 9.99984260e-01 4.06660840e-03 3.86557351e-03 5.02624469e+00] [-4.06503019e-03 9.99991651e-01 -4.16042026e-04 9.14540884e-01] [-3.86723312e-03 4.00321805e-04 9.99992442e-01 -5.91899168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96463044 meters 0.28303258182385044 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99965248e-01 6.39637986e-03 5.34695632e-03 5.01917218e+00] [-6.41273213e-03 9.99974797e-01 3.04670980e-03 9.45016485e-01] [-5.32733365e-03 -3.08089252e-03 9.99981064e-01 -5.96033240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02463044 meters 0.28326798398605074 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99986355e-01 3.62495898e-03 3.76145038e-03 5.02280516e+00] [-3.61816042e-03 9.99991812e-01 -1.81266360e-03 9.61163699e-01] [-3.76799042e-03 1.79902934e-03 9.99991283e-01 -5.96806222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08463044 meters 0.28127823166642835 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99988732e-01 3.23323863e-03 3.47606521e-03 5.02282877e+00] [-3.22377349e-03 9.99991090e-01 -2.72510852e-03 9.64881606e-01] [-3.48484517e-03 2.71387177e-03 9.99990245e-01 -5.95938196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14463044 meters 0.2796047900664304 Centerline is valid? [False, False] Translation: X:5.03, Y:0.97, Z:-0.59 [[ 9.99959695e-01 -6.57319764e-03 6.11566865e-03 5.03111596e+00] [ 6.56121372e-03 9.99976520e-01 1.97754854e-03 9.67380625e-01] [-6.12852387e-03 -1.93734262e-03 9.99979344e-01 -5.93766545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20463044 meters 0.27850668844081805 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.60 [[ 9.99994218e-01 2.57073568e-03 2.22605170e-03 5.02171027e+00] [-2.56762336e-03 9.99995724e-01 -1.39986421e-03 9.65579741e-01] [-2.22964087e-03 1.39414045e-03 9.99996543e-01 -5.96723814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26463044 meters 0.27815140102862285 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994690e-01 2.33837090e-03 2.26958178e-03 5.02079867e+00] [-2.33525810e-03 9.99996330e-01 -1.37321343e-03 9.64449995e-01] [-2.27278453e-03 1.36790608e-03 9.99996482e-01 -5.95250356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32463044 meters 0.27900922276721735 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.60 [[ 9.99994052e-01 2.37551968e-03 2.50072819e-03 5.02010272e+00] [-2.37170650e-03 9.99996022e-01 -1.52669170e-03 9.65327582e-01] [-2.50434493e-03 1.52075162e-03 9.99995708e-01 -5.95148534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38463044 meters 0.27929969197401094 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993705e-01 2.52269937e-03 2.49528877e-03 5.02031501e+00] [-2.51960633e-03 9.99996055e-01 -1.24192106e-03 9.64265211e-01] [-2.49841192e-03 1.23562610e-03 9.99996116e-01 -5.95552869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44463044 meters 0.28033103192186004 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993640e-01 2.86486678e-03 2.12445924e-03 5.02171012e+00] [-2.86289777e-03 9.99995470e-01 -9.29292648e-04 9.64206180e-01] [-2.12711191e-03 9.23204628e-04 9.99997312e-01 -5.96809704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50463044 meters 0.2816367163982174 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990608e-01 2.41617124e-03 3.59803823e-03 5.01673062e+00] [-2.40882386e-03 9.99995008e-01 -2.04498773e-03 9.66497669e-01] [-3.60296131e-03 2.03630148e-03 9.99991436e-01 -5.93521834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56463044000003 meters 0.28238991800674396 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99988055e-01 2.28283357e-03 4.32198083e-03 5.01441457e+00] [-2.27160977e-03 9.99994040e-01 -2.60004157e-03 9.68469979e-01] [-4.32789054e-03 2.59019266e-03 9.99987280e-01 -5.92231465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62463044000003 meters 0.28307647320516627 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99989114e-01 2.51418224e-03 3.93063269e-03 5.01576173e+00] [-2.50357373e-03 9.99993217e-01 -2.70152601e-03 9.69727882e-01] [-3.93739815e-03 2.69165598e-03 9.99988626e-01 -5.93504631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68463044000003 meters 0.2823430705882709 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99986043e-01 1.71210539e-03 4.99829634e-03 5.01111179e+00] [-1.69309698e-03 9.99991329e-01 -3.80473586e-03 9.71183942e-01] [-5.00476710e-03 3.79622016e-03 9.99980270e-01 -5.89627375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74463044000004 meters 0.28287088575057634 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99987778e-01 1.91741410e-03 4.55703466e-03 5.01233481e+00] [-1.89900067e-03 9.99990030e-01 -4.04155925e-03 9.73444756e-01] [-4.56473857e-03 4.03285605e-03 9.99981449e-01 -5.90272185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80463044 meters 0.2820377693572462 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99985240e-01 1.53801969e-03 5.21093992e-03 5.01047224e+00] [-1.51634614e-03 9.99990195e-01 -4.16064047e-03 9.72101524e-01] [-5.21728797e-03 4.15267747e-03 9.99977767e-01 -5.89120985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86463044 meters 0.2826506768203694 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990189e-01 2.47435535e-03 3.67426396e-03 5.01581356e+00] [-2.46368327e-03 9.99992742e-01 -2.90624003e-03 9.70849289e-01] [-3.68142836e-03 2.89715929e-03 9.99989027e-01 -5.92647176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92463044 meters 0.2828445700934289 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990297e-01 2.53351820e-03 3.60377831e-03 5.01636083e+00] [-2.52242190e-03 9.99992075e-01 -3.08029325e-03 9.72068428e-01] [-3.61155373e-03 3.07117311e-03 9.99988762e-01 -5.93488877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98463044 meters 0.28277209352695454 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99988277e-01 2.27100101e-03 4.27660436e-03 5.01405873e+00] [-2.25509923e-03 9.99990540e-01 -3.71947842e-03 9.73936920e-01] [-4.28501085e-03 3.70979065e-03 9.99983938e-01 -5.91883897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04463044 meters 0.281857542295429 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99988140e-01 2.18018173e-03 4.35510060e-03 5.01345933e+00] [-2.16416954e-03 9.99990894e-01 -3.67798682e-03 9.73079489e-01] [-4.36307962e-03 3.66851802e-03 9.99983753e-01 -5.91107955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10463044 meters 0.2825275143042693 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99989410e-01 2.66599360e-03 3.75118382e-03 5.01612303e+00] [-2.65467832e-03 9.99991922e-01 -3.01820712e-03 9.72053538e-01] [-3.75920003e-03 3.00821697e-03 9.99988409e-01 -5.93116141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16463044 meters 0.2823956748584381 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99988212e-01 2.53721082e-03 4.13986244e-03 5.01470525e+00] [-2.52371537e-03 9.99991496e-01 -3.26185291e-03 9.72301409e-01] [-4.14810324e-03 3.25136662e-03 9.99986111e-01 -5.92233365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22463044 meters 0.2827510337809124 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99988634e-01 2.57869362e-03 4.01021730e-03 5.01476418e+00] [-2.56514533e-03 9.99990998e-01 -3.37992496e-03 9.72972747e-01] [-4.01889699e-03 3.36959975e-03 9.99986247e-01 -5.92057407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28463044 meters 0.2831921948792688 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99989168e-01 2.71557783e-03 3.78007730e-03 5.01525120e+00] [-2.70259820e-03 9.99990450e-01 -3.43457758e-03 9.73873002e-01] [-3.78936806e-03 3.42432435e-03 9.99986957e-01 -5.92241701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34463044 meters 0.28299157887458004 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99989013e-01 2.76016126e-03 3.78871882e-03 5.01512020e+00] [-2.74765804e-03 9.99990776e-01 -3.30136668e-03 9.73114731e-01] [-3.79779617e-03 3.29092031e-03 9.99987373e-01 -5.92018945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40463044 meters 0.2834484173040866 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990044e-01 2.78045451e-03 3.49019064e-03 5.01555888e+00] [-2.76827831e-03 9.99990083e-01 -3.48868612e-03 9.74132620e-01] [-3.49985616e-03 3.47898956e-03 9.99987824e-01 -5.91842884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46463044 meters 0.28386317280645745 Centerline is valid? [False, False] Translation: X:5.02, Y:0.98, Z:-0.59 [[ 9.99990029e-01 2.76692718e-03 3.50511661e-03 5.01530510e+00] [-2.75406013e-03 9.99989471e-01 -3.67045747e-03 9.75046284e-01] [-3.51523560e-03 3.66076757e-03 9.99987121e-01 -5.91548428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52463044 meters 0.2837986861986306 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99989963e-01 2.73195589e-03 3.55121328e-03 5.01471839e+00] [-2.71902699e-03 9.99989677e-01 -3.64044166e-03 9.74473610e-01] [-3.56112215e-03 3.63074927e-03 9.99987068e-01 -5.90740670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58463044 meters 0.28348638418034455 Centerline is valid? [False, False] Translation: X:5.01, Y:0.98, Z:-0.59 [[ 9.99989947e-01 2.71392943e-03 3.56931785e-03 5.01428285e+00] [-2.69920652e-03 9.99987857e-01 -4.12321918e-03 9.76986873e-01] [-3.58046464e-03 4.11354340e-03 9.99985129e-01 -5.90246345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64463044 meters 0.2868219144405946 Centerline is valid? [False, False] Translation: X:5.01, Y:0.98, Z:-0.59 [[ 9.99988889e-01 1.67082068e-03 4.40802767e-03 5.01003181e+00] [-1.64852940e-03 9.99985861e-01 -5.05576936e-03 9.75592754e-01] [-4.41641263e-03 5.04844642e-03 9.99977504e-01 -5.86608774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70463044 meters 0.28360410813872794 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.59 [[ 9.99991837e-01 2.36150301e-03 3.27845486e-03 5.01401295e+00] [-2.34855271e-03 9.99989447e-01 -3.94837100e-03 9.73475315e-01] [-3.28774435e-03 3.94063915e-03 9.99986831e-01 -5.89022582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76463044 meters 0.28448694155058213 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99992404e-01 2.98264685e-03 2.50905921e-03 5.01730104e+00] [-2.97435823e-03 9.99990129e-01 -3.30074626e-03 9.72977225e-01] [-2.51887941e-03 3.29325835e-03 9.99991405e-01 -5.91623016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82463044 meters 0.2843545374013271 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99992638e-01 2.96937300e-03 2.43038803e-03 5.01716370e+00] [-2.96095058e-03 9.99989624e-01 -3.46175457e-03 9.73710234e-01] [-2.44064205e-03 3.45453282e-03 9.99991055e-01 -5.91249823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88463044 meters 0.28939417639856385 Centerline is valid? [False, False] Translation: X:5.02, Y:0.98, Z:-0.59 [[ 9.99993164e-01 3.06331249e-03 2.07096017e-03 5.01815107e+00] [-3.05550961e-03 9.99988261e-01 -3.76048164e-03 9.75966997e-01] [-2.08245539e-03 3.75412810e-03 9.99990785e-01 -5.91809432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94463044 meters 0.28325806058052655 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99988152e-01 -3.85135522e-03 2.97712488e-03 4.99566382e+00] [ 3.86194262e-03 9.99986210e-01 -3.55871841e-03 9.72088534e-01] [-2.96337794e-03 3.57017373e-03 9.99989236e-01 -5.90350327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00463044 meters 0.2867060295611607 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990087e-01 2.58248725e-03 3.62716940e-03 5.01664805e+00] [-2.56958105e-03 9.99990368e-01 -3.55836556e-03 9.73572233e-01] [-3.63632390e-03 3.54900998e-03 9.99987091e-01 -5.91499028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06463044000003 meters 0.2885942075675985 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99989624e-01 2.57637169e-03 3.75690160e-03 5.01632770e+00] [-2.56300152e-03 9.99990381e-01 -3.55931109e-03 9.73303424e-01] [-3.76603558e-03 3.54964521e-03 9.99986608e-01 -5.91462769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12463044000003 meters 0.28945578784939724 Centerline is valid? [False, False] Translation: X:5.02, Y:0.97, Z:-0.59 [[ 9.99990228e-01 2.66020542e-03 3.53095349e-03 5.01689486e+00] [-2.64787453e-03 9.99990396e-01 -3.49232021e-03 9.73695426e-01] [-3.54020987e-03 3.48293656e-03 9.99987668e-01 -5.91542959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18463044000003 meters 0.2884996784913414 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99983770e-01 -3.94385374e-03 4.11168819e-03 4.99539215e+00] [ 3.95743395e-03 9.99986724e-01 -3.29994507e-03 9.72593981e-01] [-4.09861910e-03 3.31616325e-03 9.99986102e-01 -5.91294903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24463044000004 meters 0.2834382559031374 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99983744e-01 -3.97395120e-03 4.08896278e-03 4.99525356e+00] [ 3.98783116e-03 9.99986296e-01 -3.39195996e-03 9.72997859e-01] [-4.07542726e-03 3.40821091e-03 9.99985887e-01 -5.90997682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30463044 meters 0.28278993723427664 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99983454e-01 -4.01478408e-03 4.11985391e-03 4.99501564e+00] [ 4.02755996e-03 9.99987092e-01 -3.09745550e-03 9.71209519e-01] [-4.10736511e-03 3.11399721e-03 9.99986716e-01 -5.90438824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36463044 meters 0.2834662829593609 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99983782e-01 -4.15002317e-03 3.90046483e-03 4.99640607e+00] [ 4.16192079e-03 9.99986697e-01 -3.04715805e-03 9.70206746e-01] [-3.88776717e-03 3.06334206e-03 9.99987751e-01 -5.91733466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42463044 meters 0.2825899544516033 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99986359e-01 -3.95332090e-03 3.41369046e-03 4.99794950e+00] [ 3.96212618e-03 9.99988832e-01 -2.57650442e-03 9.68941896e-01] [-3.40346659e-03 2.58999474e-03 9.99990854e-01 -5.92311522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48463044 meters 0.28322357568340517 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99994018e-01 1.29707492e-04 3.45653878e-03 4.99852882e+00] [-1.34619277e-04 9.99998982e-01 1.42081774e-03 9.69010255e-01] [-3.45635097e-03 -1.42127456e-03 9.99993017e-01 -5.93127291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54463044 meters 0.28300865724379015 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99994061e-01 -7.36419889e-05 3.44577001e-03 4.99795211e+00] [ 7.07929753e-05 9.99999656e-01 8.26929469e-04 9.71460181e-01] [-3.44582972e-03 -8.26680621e-04 9.99993721e-01 -5.92317519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60463044 meters 0.2820544563186273 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99993193e-01 -3.66825050e-04 3.67129539e-03 4.99662232e+00] [ 3.64866094e-04 9.99999791e-01 5.34242731e-04 9.71957159e-01] [-3.67149060e-03 -5.32899564e-04 9.99993118e-01 -5.90783110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66463044 meters 0.2825055916961835 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99995414e-01 -1.49416047e-04 3.02473666e-03 4.99866285e+00] [ 1.44687450e-04 9.99998767e-01 1.56346692e-03 9.67818145e-01] [-3.02496653e-03 -1.56302211e-03 9.99994203e-01 -5.91758359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72463044 meters 0.28302729945953686 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.60 [[ 9.99996650e-01 5.66540259e-04 2.52560815e-03 5.00215878e+00] [-5.73116603e-04 9.99996446e-01 2.60390284e-03 9.65226262e-01] [-2.52412395e-03 -2.60534158e-03 9.99993420e-01 -5.95484625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78463044 meters 0.28190305967468815 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99995571e-01 8.91854113e-05 2.97489297e-03 4.99938506e+00] [-9.50878857e-05 9.99998027e-01 1.98401396e-03 9.66292731e-01] [-2.97471016e-03 -1.98428805e-03 9.99993607e-01 -5.92814623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84463044 meters 0.28268460859812355 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99996131e-01 3.58725648e-05 2.78142781e-03 4.99942425e+00] [-3.90204817e-05 9.99999359e-01 1.13171692e-03 9.70878962e-01] [-2.78138542e-03 -1.13182108e-03 9.99995491e-01 -5.92491963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90463044 meters 0.2815345181368971 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99994192e-01 -2.85146983e-04 3.39620200e-03 4.99741887e+00] [ 2.80435152e-04 9.99998998e-01 1.38777787e-03 9.67700717e-01] [-3.39659432e-03 -1.38681740e-03 9.99993270e-01 -5.90992591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96463044 meters 0.2828718290321986 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99995788e-01 -3.67568636e-05 2.90212874e-03 4.99888112e+00] [ 3.32774420e-05 9.99999281e-01 1.19895965e-03 9.70268055e-01] [-2.90217072e-03 -1.19885803e-03 9.99995070e-01 -5.91741854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02463044 meters 0.2821119274418972 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99994562e-01 -4.26336061e-04 3.27005193e-03 4.99690357e+00] [ 4.22828785e-04 9.99999335e-01 1.07316095e-03 9.68785900e-01] [-3.27050728e-03 -1.07177245e-03 9.99994078e-01 -5.89746908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08463044 meters 0.283106452578861 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99997058e-01 -1.49651359e-04 2.42124541e-03 4.99878590e+00] [ 1.47579076e-04 9.99999623e-01 8.56030691e-04 9.71844089e-01] [-2.42137260e-03 -8.55670847e-04 9.99996702e-01 -5.90072367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14463044 meters 0.2816592102310198 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99995869e-01 -3.04750233e-04 2.85813204e-03 4.99818117e+00] [ 3.01766666e-04 9.99999409e-01 1.04426015e-03 9.69370020e-01] [-2.85844859e-03 -1.04339335e-03 9.99995370e-01 -5.90343287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20463044 meters 0.28208802073375744 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99996892e-01 -2.63148531e-04 2.47932192e-03 4.99868287e+00] [ 2.60202803e-04 9.99999260e-01 1.18836616e-03 9.68936156e-01] [-2.47963280e-03 -1.18771734e-03 9.99996220e-01 -5.89785472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26463044 meters 0.2821937696275135 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99997829e-01 -1.21028620e-04 2.08043808e-03 4.99984415e+00] [ 1.17931448e-04 9.99998885e-01 1.48876942e-03 9.67886860e-01] [-2.08061594e-03 -1.48852084e-03 9.99996728e-01 -5.90250806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32463044 meters 0.2826291283956869 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99997154e-01 -2.69884327e-04 2.37061974e-03 4.99877543e+00] [ 2.67077889e-04 9.99999263e-01 1.18407845e-03 9.68646483e-01] [-2.37093756e-03 -1.18344194e-03 9.99996489e-01 -5.89739105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38463044 meters 0.2823603081057256 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99997429e-01 -3.07048133e-04 2.24664681e-03 4.99843211e+00] [ 3.03847492e-04 9.99998939e-01 1.42483264e-03 9.67052046e-01] [-2.24708191e-03 -1.42414634e-03 9.99996461e-01 -5.88660041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44463044 meters 0.2827540125414773 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.59 [[ 9.99998260e-01 -1.17754164e-04 1.86184380e-03 4.99971947e+00] [ 1.15256253e-04 9.99999093e-01 1.34168333e-03 9.68318561e-01] [-1.86200010e-03 -1.34146641e-03 9.99997367e-01 -5.89652504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50463044 meters 0.2824795882023028 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.59 [[ 9.99994669e-01 -7.20025839e-04 3.18497912e-03 4.99464914e+00] [ 7.18951311e-04 9.99999684e-01 3.38505637e-04 9.71005118e-01] [-3.18522184e-03 -3.36213987e-04 9.99994871e-01 -5.85771613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56463044000003 meters 0.28229139278321563 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99994886e-01 -7.88488259e-04 3.09938112e-03 4.99402398e+00] [ 7.87254825e-04 9.99999610e-01 3.99161283e-04 9.70509886e-01] [-3.09969465e-03 -3.96719239e-04 9.99995117e-01 -5.84362465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62463044000003 meters 0.2816951749907417 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99995503e-01 -7.82823242e-04 2.89488831e-03 4.99481054e+00] [ 7.81190966e-04 9.99999535e-01 5.64935567e-04 9.69692220e-01] [-2.89532921e-03 -5.62671566e-04 9.99995650e-01 -5.84790979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68463044000003 meters 0.2822078666990492 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99995725e-01 -8.17734376e-04 2.80731956e-03 4.99454866e+00] [ 8.16060142e-04 9.99999489e-01 5.97475550e-04 9.69489369e-01] [-2.80780670e-03 -5.95182054e-04 9.99995881e-01 -5.84008131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74463044000004 meters 0.2816337501533933 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99995486e-01 -8.12317581e-04 2.89270553e-03 4.99421569e+00] [ 8.10594564e-04 9.99999493e-01 5.96764513e-04 9.69373725e-01] [-2.89318883e-03 -5.94417008e-04 9.99995638e-01 -5.83772357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80463044 meters 0.2818374705844964 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99995402e-01 -8.16110013e-04 2.92060008e-03 4.99395177e+00] [ 8.14184090e-04 9.99999450e-01 6.60555520e-04 9.69015222e-01] [-2.92113756e-03 -6.58174577e-04 9.99995517e-01 -5.83472286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86463044 meters 0.28256396264508055 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99996066e-01 -7.81572513e-04 2.69404350e-03 4.99466714e+00] [ 7.79910891e-04 9.99999505e-01 6.17771827e-04 9.69777060e-01] [-2.69452500e-03 -6.15668282e-04 9.99996180e-01 -5.83790800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92463044 meters 0.28217875609075505 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.58 [[ 9.99996751e-01 -7.30204023e-04 2.44237402e-03 4.99569817e+00] [ 7.28026316e-04 9.99999337e-01 8.92405603e-04 9.68220556e-01] [-2.44302404e-03 -8.90624591e-04 9.99996619e-01 -5.84514354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98463044 meters 0.2830405474570283 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.58 [[ 9.99997689e-01 -5.80671463e-04 2.07008991e-03 4.99632810e+00] [ 5.79277274e-04 9.99999605e-01 6.74028173e-04 9.70438625e-01] [-2.07048048e-03 -6.72827460e-04 9.99997630e-01 -5.84438580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04463044 meters 0.28136401616828155 Centerline is valid? [False, False] Translation: X:4.99, Y:0.97, Z:-0.58 [[ 9.99993705e-01 -1.55147017e-03 3.19101919e-03 4.99164406e+00] [ 1.55338314e-03 9.99998615e-01 -5.97096387e-04 9.71941912e-01] [-3.19008839e-03 6.02049504e-04 9.99994730e-01 -5.81025298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10463044 meters 0.2835098361981098 Centerline is valid? [False, False] Translation: X:5.01, Y:0.97, Z:-0.58 [[ 9.99959284e-01 -8.26890150e-03 3.61338514e-03 5.01056558e+00] [ 8.25203765e-03 9.99955106e-01 4.65729786e-03 9.74160706e-01] [-3.65173365e-03 -4.62729044e-03 9.99982626e-01 -5.83349653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16463044 meters 0.28255576677092437 Centerline is valid? [False, False] Translation: X:5.00, Y:0.97, Z:-0.58 [[ 9.99996925e-01 -3.87747275e-04 2.44958206e-03 4.99561641e+00] [ 3.85652068e-04 9.99999559e-01 8.55746905e-04 9.67207918e-01] [-2.44991280e-03 -8.54799587e-04 9.99996634e-01 -5.83074609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22463044 meters 0.28375126232319803 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99997896e-01 3.61185469e-04 2.01933114e-03 4.99857531e+00] [-3.65328420e-04 9.99997829e-01 2.05165259e-03 9.64334097e-01] [-2.01858573e-03 -2.05238599e-03 9.99995857e-01 -5.85810709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28463044 meters 0.28230638291961957 Centerline is valid? [False, False] Translation: X:4.99, Y:0.96, Z:-0.58 [[ 9.99995565e-01 -8.25180181e-04 2.86158966e-03 4.99496816e+00] [ 8.20280862e-04 9.99998197e-01 1.71284803e-03 9.58080821e-01] [-2.86299791e-03 -1.71049312e-03 9.99994439e-01 -5.82880640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34463044 meters 0.28305782465739543 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.58 [[ 9.99995583e-01 -7.42076482e-04 2.87805043e-03 4.99539840e+00] [ 7.37247901e-04 9.99998320e-01 1.67842471e-03 9.58740704e-01] [-2.87929111e-03 -1.67629546e-03 9.99994450e-01 -5.83679466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40463044 meters 0.28237832127219264 Centerline is valid? [False, False] Translation: X:4.99, Y:0.96, Z:-0.58 [[ 9.99994825e-01 -8.67335267e-04 3.09814023e-03 4.99474358e+00] [ 8.64053096e-04 9.99999064e-01 1.06058199e-03 9.61235312e-01] [-3.09905721e-03 -1.05789955e-03 9.99994638e-01 -5.83668190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46463044 meters 0.2834688143145466 Centerline is valid? [False, False] Translation: X:4.99, Y:0.96, Z:-0.58 [[ 9.99995130e-01 -8.79789796e-04 2.99423574e-03 4.99450477e+00] [ 8.77916638e-04 9.99999418e-01 6.26844885e-04 9.63764525e-01] [-2.99478549e-03 -6.24213143e-04 9.99995321e-01 -5.83174536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52463044 meters 0.282780458743102 Centerline is valid? [False, False] Translation: X:4.99, Y:0.96, Z:-0.58 [[ 9.99994415e-01 -9.32825693e-04 3.20937851e-03 4.99390901e+00] [ 9.30739631e-04 9.99999355e-01 6.51421661e-04 9.63218961e-01] [-3.20998410e-03 -6.48430927e-04 9.99994638e-01 -5.82819738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58463044 meters 0.2834343190120868 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996675e-01 -2.88235057e-04 2.56248176e-03 4.99741602e+00] [ 2.83028593e-04 9.99997896e-01 2.03193585e-03 9.59168261e-01] [-2.56306204e-03 -2.03120384e-03 9.99994652e-01 -5.86039830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64463044 meters 0.2840499950094505 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99997229e-01 3.69158030e-06 2.35431240e-03 4.99909518e+00] [-9.41105385e-06 9.99997049e-01 2.42935405e-03 9.58207092e-01] [-2.35429649e-03 -2.42936947e-03 9.99994278e-01 -5.87956525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70463044 meters 0.28363383019178284 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996169e-01 -6.10351705e-05 2.76736769e-03 4.99775151e+00] [ 5.47816328e-05 9.99997445e-01 2.25976175e-03 9.58625210e-01] [-2.76749855e-03 -2.25960149e-03 9.99993618e-01 -5.87353822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76463044 meters 0.28382487383410593 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996307e-01 -7.07589368e-07 2.71775853e-03 4.99810880e+00] [-4.68214734e-06 9.99998034e-01 1.98314823e-03 9.60432348e-01] [-2.71775459e-03 -1.98315363e-03 9.99994340e-01 -5.87975485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82463044 meters 0.2837787054006878 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996073e-01 4.06383369e-05 2.80203383e-03 4.99823214e+00] [-4.59707048e-05 9.99998188e-01 1.90299665e-03 9.61043693e-01] [-2.80195142e-03 -1.90311799e-03 9.99994264e-01 -5.88556107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88463044 meters 0.28563666097466006 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996962e-01 2.54518227e-04 2.45183228e-03 4.99975214e+00] [-2.59940807e-04 9.99997521e-01 2.21157932e-03 9.60406038e-01] [-2.45126331e-03 -2.21220993e-03 9.99994549e-01 -5.89600036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94463044 meters 0.2847380634213578 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99997231e-01 3.82573224e-04 2.32207456e-03 5.00062458e+00] [-3.88754650e-04 9.99996381e-01 2.66216020e-03 9.58451512e-01] [-2.32104769e-03 -2.66305555e-03 9.99993760e-01 -5.90355078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00463044 meters 0.2851179647285461 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996690e-01 4.36980680e-04 2.53545151e-03 5.00044907e+00] [-4.44391999e-04 9.99995629e-01 2.92324966e-03 9.57369689e-01] [-2.53416302e-03 -2.92436672e-03 9.99992513e-01 -5.90577971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06463044000003 meters 0.2844933375578229 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996590e-01 4.51021713e-04 2.57231191e-03 5.00041799e+00] [-4.59088826e-04 9.99994976e-01 3.13640538e-03 9.55900227e-01] [-2.57088440e-03 -3.13757560e-03 9.99991773e-01 -5.90567429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12463044000003 meters 0.285069945750913 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996979e-01 4.15481809e-04 2.42267842e-03 5.00076640e+00] [-4.22964587e-04 9.99995140e-01 3.08894485e-03 9.55968690e-01] [-2.42138325e-03 -3.08996023e-03 9.99992294e-01 -5.90607081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18463044000003 meters 0.28464396312331003 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99996466e-01 2.35215878e-04 2.64830312e-03 4.99979328e+00] [-2.42508235e-04 9.99996179e-01 2.75361172e-03 9.56985146e-01] [-2.64764531e-03 -2.75424423e-03 9.99992702e-01 -5.89952062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24463044000004 meters 0.28421072937957365 Centerline is valid? [False, False] Translation: X:5.00, Y:0.96, Z:-0.59 [[ 9.99995977e-01 1.62364561e-04 2.83187917e-03 4.99958012e+00] [-1.71135434e-04 9.99995189e-01 3.09722441e-03 9.55073366e-01] [-2.83136267e-03 -3.09769658e-03 9.99991194e-01 -5.89898568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30463044 meters 0.28374523898276655 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99994163e-01 -1.54900801e-03 3.04537078e-03 4.99809772e+00] [ 1.54222539e-03 9.99996328e-01 2.22827663e-03 9.49457849e-01] [-3.04881121e-03 -2.22356697e-03 9.99992880e-01 -5.88232297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36463044 meters 0.2834207131250247 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99994463e-01 -1.54330227e-03 2.94826164e-03 4.99877072e+00] [ 1.53589267e-03 9.99995661e-01 2.51382395e-03 9.48118610e-01] [-2.95212844e-03 -2.50928181e-03 9.99992494e-01 -5.88699442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42463044 meters 0.283529839314707 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99995231e-01 -1.45130130e-03 2.72626417e-03 4.99991255e+00] [ 1.44426908e-03 9.99995630e-01 2.57963199e-03 9.48220889e-01] [-2.72999608e-03 -2.57568222e-03 9.99992956e-01 -5.89678854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48463044 meters 0.28379849341490443 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99996045e-01 -1.44006627e-03 2.41582839e-03 5.00088730e+00] [ 1.43531007e-03 9.99997031e-01 1.96934666e-03 9.51657183e-01] [-2.41865720e-03 -1.96587141e-03 9.99995143e-01 -5.90482514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54463044 meters 0.2843587590781326 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99995551e-01 -1.51901926e-03 2.56720972e-03 5.00032739e+00] [ 1.51470506e-03 9.99997439e-01 1.68160875e-03 9.53122013e-01] [-2.56975754e-03 -1.67771271e-03 9.99995291e-01 -5.90159830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60463044 meters 0.2844035002832796 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99995749e-01 -1.45022647e-03 2.52939937e-03 5.00065560e+00] [ 1.44492977e-03 9.99996762e-01 2.09462391e-03 9.51482129e-01] [-2.53242886e-03 -2.09096020e-03 9.99994607e-01 -5.90257689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66463044 meters 0.2855733186216639 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99996192e-01 -1.27437597e-03 2.44782662e-03 5.00174942e+00] [ 1.26964513e-03 9.99997325e-01 1.93325215e-03 9.53466559e-01] [-2.45028377e-03 -1.93013692e-03 9.99995135e-01 -5.91839406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72463044 meters 0.28445758339229316 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99991585e-01 -2.32080410e-03 3.38296106e-03 4.99797625e+00] [ 2.31554727e-03 9.99996107e-01 1.55700211e-03 9.48295882e-01] [-3.38656138e-03 -1.54915560e-03 9.99993066e-01 -5.89191873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78463044 meters 0.2847332874775189 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99992436e-01 -2.08779070e-03 3.28168141e-03 4.99878021e+00] [ 2.08129527e-03 9.99995871e-01 1.98147120e-03 9.47050685e-01] [-3.28580475e-03 -1.97462607e-03 9.99992652e-01 -5.89906782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84463044 meters 0.2851304587792246 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99992696e-01 -1.87186066e-03 3.33230116e-03 4.99945725e+00] [ 1.86387220e-03 9.99995386e-01 2.39877252e-03 9.45277482e-01] [-3.33677595e-03 -2.39254402e-03 9.99991571e-01 -5.91087541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90463044 meters 0.2857649818293024 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99991574e-01 -1.57594799e-03 3.79052544e-03 4.99848354e+00] [ 1.56656341e-03 9.99995704e-01 2.47749493e-03 9.45979385e-01] [-3.79441356e-03 -2.47153596e-03 9.99989747e-01 -5.91253109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96463044 meters 0.286004353184715 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.59 [[ 9.99991006e-01 -1.45950369e-03 3.98226613e-03 4.99881019e+00] [ 1.44966954e-03 9.99995896e-01 2.47125531e-03 9.45951879e-01] [-3.98585660e-03 -2.46546011e-03 9.99989017e-01 -5.92558963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02463044 meters 0.2873162665961092 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:-0.60 [[ 9.99993546e-01 -8.43474975e-04 3.49242538e-03 5.00187300e+00] [ 8.32243495e-04 9.99994482e-01 3.21615958e-03 9.44800671e-01] [-3.49511885e-03 -3.21323227e-03 9.99988730e-01 -5.95573478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08463044 meters 0.28664193205284855 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.60 [[ 9.99993627e-01 -7.97233298e-04 3.48004229e-03 5.00222292e+00] [ 7.86401939e-04 9.99994846e-01 3.11268132e-03 9.45719204e-01] [-3.48250589e-03 -3.10992477e-03 9.99989100e-01 -5.96165070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14463044 meters 0.2866092268826857 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:-0.60 [[ 9.99990531e-01 -1.04609142e-03 4.22422458e-03 5.00051935e+00] [ 1.03206967e-03 9.99993956e-01 3.32018333e-03 9.43217053e-01] [-4.22767226e-03 -3.31579220e-03 9.99985566e-01 -5.95640403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20463044 meters 0.28649933662878063 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:-0.60 [[ 9.99994380e-01 -5.82648783e-04 3.30165653e-03 5.00446200e+00] [ 5.66681046e-04 9.99988150e-01 4.83515405e-03 9.37588082e-01] [-3.30443460e-03 -4.83325589e-03 9.99982860e-01 -5.98834520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26463044 meters 0.28707683770039133 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99994664e-01 -3.95095597e-04 3.24296027e-03 5.00527925e+00] [ 3.77961161e-04 9.99985976e-01 5.28249236e-03 9.35699244e-01] [-3.24500188e-03 -5.28123846e-03 9.99980789e-01 -5.99824067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32463044 meters 0.2871563325732706 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:-0.60 [[ 9.99994584e-01 -4.43935460e-04 3.26122375e-03 5.00469125e+00] [ 4.27402050e-04 9.99987063e-01 5.06864380e-03 9.36928107e-01] [-3.26343171e-03 -5.06722249e-03 9.99981836e-01 -5.99139367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38463044 meters 0.2880100259636721 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.60 [[ 9.99964111e-01 8.33674396e-03 1.50865107e-03 4.98964318e+00] [-8.33843161e-03 9.99964612e-01 1.11583185e-03 9.38745603e-01] [-1.49929527e-03 -1.12837158e-03 9.99998239e-01 -6.00265830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44463044 meters 0.28784560069230025 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99996316e-01 1.82107290e-04 2.70818906e-03 5.00569087e+00] [-1.96698075e-04 9.99985463e-01 5.38836392e-03 9.39244591e-01] [-2.70716843e-03 -5.38887676e-03 9.99981815e-01 -6.01173347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50463044 meters 0.28858191153145724 Centerline is valid? [False, False] Translation: X:5.01, Y:0.93, Z:-0.60 [[ 9.99995079e-01 -7.98035471e-04 3.03387863e-03 5.00559049e+00] [ 7.80228090e-04 9.99982489e-01 5.86616927e-03 9.29220160e-01] [-3.03850691e-03 -5.86377329e-03 9.99978192e-01 -6.01694463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56463044000003 meters 0.32405621546489743 Centerline is valid? [False, False] Translation: X:5.00, Y:0.92, Z:-0.60 [[ 9.99993130e-01 -9.07690400e-04 3.59384333e-03 5.00473818e+00] [ 8.84687969e-04 9.99979148e-01 6.39693481e-03 9.24864960e-01] [-3.59957483e-03 -6.39371143e-03 9.99973081e-01 -6.01976212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62463044000003 meters 0.2893295758472577 Centerline is valid? [False, False] Translation: X:5.00, Y:0.92, Z:-0.60 [[ 9.99990153e-01 -8.96101487e-04 4.34645776e-03 5.00318587e+00] [ 8.65537685e-04 9.99974924e-01 7.02867880e-03 9.20747675e-01] [-4.35264718e-03 -7.02484756e-03 9.99965852e-01 -6.01826996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68463044000003 meters 0.3080111948876765 Centerline is valid? [False, False] Translation: X:5.00, Y:0.92, Z:-0.60 [[ 9.99980205e-01 -4.64760886e-03 4.24126884e-03 5.00478374e+00] [ 4.63260561e-03 9.99983002e-01 3.54043777e-03 9.18587151e-01] [-4.25765132e-03 -3.52071956e-03 9.99984738e-01 -6.03744330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74463044000004 meters 0.28805520684222213 Centerline is valid? [False, False] Translation: X:5.00, Y:0.91, Z:-0.60 [[ 9.99978333e-01 -4.59248065e-03 4.71627760e-03 5.00465755e+00] [ 4.57197363e-03 9.99980088e-01 4.34975160e-03 9.12828521e-01] [-4.73615984e-03 -4.32809466e-03 9.99979418e-01 -6.04741132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80463044 meters 0.2874298147247873 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99979610e-01 -4.32182534e-03 4.70114713e-03 5.00510864e+00] [ 4.29825397e-03 9.99978199e-01 5.01256119e-03 9.10099859e-01] [-4.72270805e-03 -4.99225227e-03 9.99976386e-01 -6.05213598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86463044 meters 0.2892222526049112 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99982296e-01 -3.66122555e-03 4.69076748e-03 5.00734121e+00] [ 3.63274654e-03 9.99975006e-01 6.06549229e-03 9.06330945e-01] [-4.71285738e-03 -6.04834454e-03 9.99970603e-01 -6.08314245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92463044 meters 0.2890960418794329 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99985035e-01 -3.29848905e-03 4.36460582e-03 5.00883176e+00] [ 3.27145893e-03 9.99975517e-01 6.18574036e-03 9.06968810e-01] [-4.38490256e-03 -6.17136916e-03 9.99971343e-01 -6.09874844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98463044 meters 0.2956071614074609 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99991600e-01 -1.55139241e-03 3.79392112e-03 5.01216728e+00] [ 1.52579864e-03 9.99976125e-01 6.73960783e-03 9.13897405e-01] [-3.80428632e-03 -6.73376245e-03 9.99970091e-01 -6.13343536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04463044 meters 0.2912773053322661 Centerline is valid? [False, False] Translation: X:5.01, Y:0.92, Z:-0.61 [[ 9.99992014e-01 -1.53959960e-03 3.68796132e-03 5.01213170e+00] [ 1.51697255e-03 9.99980059e-01 6.13034065e-03 9.17148348e-01] [-3.69732604e-03 -6.12469716e-03 9.99974409e-01 -6.13279189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10463044 meters 0.2940917104678471 Centerline is valid? [False, False] Translation: X:5.01, Y:0.92, Z:-0.61 [[ 9.99991412e-01 -1.67673141e-03 3.78992628e-03 5.00988566e+00] [ 1.65735567e-03 9.99985571e-01 5.10980334e-03 9.22706194e-01] [-3.79843937e-03 -5.10347821e-03 9.99979763e-01 -6.10708604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16463044 meters 0.29515551392591594 Centerline is valid? [False, False] Translation: X:5.01, Y:0.92, Z:-0.61 [[ 9.99991732e-01 -1.71455338e-03 3.68736999e-03 5.01004708e+00] [ 1.69680610e-03 9.99986989e-01 4.81074537e-03 9.24693420e-01] [-3.69557029e-03 -4.80444884e-03 9.99981630e-01 -6.10786326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22463044 meters 0.2942769766412869 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99983531e-01 5.73633428e-03 1.76670128e-04 4.99416741e+00] [-5.73635342e-03 9.99983541e-01 1.08004775e-04 9.27378820e-01] [-1.76047669e-04 -1.09016439e-04 9.99999979e-01 -6.08766733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28463044 meters 0.29449418290244206 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99984762e-01 5.52047448e-03 -5.83904572e-06 4.99387117e+00] [-5.52047646e-03 9.99984672e-01 -4.25011648e-04 9.29806725e-01] [ 3.49269026e-06 4.25037406e-04 9.99999910e-01 -6.07916979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34463044 meters 0.29490834814594064 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99984879e-01 5.49136427e-03 -2.94174531e-04 4.99447655e+00] [-5.49158338e-03 9.99984640e-01 -7.49291071e-04 9.31993153e-01] [ 2.90055383e-04 7.50895225e-04 9.99999676e-01 -6.07958198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40463044 meters 0.2944886858535552 Centerline is valid? [False, False] Translation: X:5.00, Y:0.93, Z:-0.61 [[ 9.99984958e-01 5.43734025e-03 -7.21162213e-04 4.99524481e+00] [-5.43820048e-03 9.99984497e-01 -1.19629703e-03 9.34793312e-01] [ 7.14646359e-04 1.20020086e-03 9.99999024e-01 -6.07869730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46463044 meters 0.2933582592275681 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99986611e-01 5.11829421e-03 -7.62155776e-04 4.99497237e+00] [-5.11932188e-03 9.99985981e-01 -1.35259005e-03 9.34177251e-01] [ 7.55222138e-04 1.35647366e-03 9.99998795e-01 -6.07161970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52463044 meters 0.2943326966579385 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99999537e-01 -6.10712213e-04 7.43963403e-04 4.97580854e+00] [ 6.11167208e-04 9.99999626e-01 -6.11507888e-04 9.37476763e-01] [-7.43589670e-04 6.11962291e-04 9.99999536e-01 -6.08507207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58463044 meters 0.2932227095962799 Centerline is valid? [False, False] Translation: X:4.97, Y:0.94, Z:-0.61 [[ 9.99998816e-01 -1.03532875e-03 1.13875491e-03 4.97392876e+00] [ 1.03622352e-03 9.99999155e-01 -7.85441484e-04 9.36156520e-01] [-1.13794075e-03 7.86620558e-04 9.99999043e-01 -6.06687725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64463044 meters 0.3034471750224833 Centerline is valid? [False, False] Translation: X:5.00, Y:0.94, Z:-0.61 [[ 9.99973828e-01 -7.23475063e-03 -3.93453237e-05 4.99507719e+00] [ 7.23485403e-03 9.99963960e-01 4.44256403e-03 9.41286605e-01] [ 7.20306279e-06 -4.44273242e-03 9.99990131e-01 -6.09863853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70463044 meters 0.2973884019307014 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99998742e-01 1.00148631e-03 -1.22993417e-03 4.98095408e+00] [-1.00085073e-03 9.99999365e-01 5.17268738e-04 9.37779845e-01] [ 1.23045143e-03 -5.16037107e-04 9.99999110e-01 -6.11111533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76463044 meters 0.2950414028105521 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99998311e-01 9.42381763e-04 -1.57821848e-03 4.98121130e+00] [-9.41453230e-04 9.99999383e-01 5.88982435e-04 9.37328034e-01] [ 1.57877255e-03 -5.87495621e-04 9.99998581e-01 -6.10237956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82463044 meters 0.29437856443803273 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99996930e-01 1.18125547e-03 -2.17815871e-03 4.98317477e+00] [-1.18053454e-03 9.99999248e-01 3.32235703e-04 9.40073112e-01] [ 2.17854953e-03 -3.29663292e-04 9.99997573e-01 -6.11446461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88463044 meters 0.2936889175599346 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99998725e-01 -4.03638670e-04 -1.54508404e-03 4.97926064e+00] [ 4.02778935e-04 9.99999764e-01 -5.56703332e-04 9.35259635e-01] [ 1.54530839e-03 5.56080295e-04 9.99998651e-01 -6.07755838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94463044 meters 0.29003243322135414 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99997485e-01 -1.66512020e-04 -2.23658000e-03 4.98108417e+00] [ 1.65254136e-04 9.99999828e-01 -5.62586955e-04 9.37429324e-01] [ 2.23667329e-03 5.62215936e-04 9.99997341e-01 -6.08338306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00463044 meters 0.28839522224154973 Centerline is valid? [False, False] Translation: X:4.98, Y:0.93, Z:-0.61 [[ 9.99998290e-01 -4.18873707e-04 -1.80121337e-03 4.98040000e+00] [ 4.18588441e-04 9.99999900e-01 -1.58748488e-04 9.33302896e-01] [ 1.80127968e-03 1.57994249e-04 9.99998365e-01 -6.08377336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06463044000003 meters 0.29108486547318047 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99996860e-01 -1.12256147e-04 -2.50331440e-03 4.98168463e+00] [ 1.11538380e-04 9.99999953e-01 -2.86864261e-04 9.36301841e-01] [ 2.50334649e-03 2.86584145e-04 9.99996826e-01 -6.08263780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12463044000003 meters 0.2892450305295953 Centerline is valid? [False, False] Translation: X:4.98, Y:0.93, Z:-0.61 [[ 9.99997689e-01 -3.83688955e-04 -2.11550935e-03 4.98043806e+00] [ 3.82862363e-04 9.99999850e-01 -3.91120744e-04 9.34823268e-01] [ 2.11565911e-03 3.90309891e-04 9.99997686e-01 -6.07519377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18463044000003 meters 0.2900256595496365 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99995463e-01 6.29812249e-04 -2.94588576e-03 4.98371956e+00] [-6.29203696e-04 9.99999781e-01 2.07499497e-04 9.38253798e-01] [ 2.94601580e-03 -2.05644994e-04 9.99995639e-01 -6.09449478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24463044000004 meters 0.290492246854232 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99995635e-01 4.65053599e-04 -2.91774505e-03 4.98365676e+00] [-4.64840449e-04 9.99999889e-01 7.37307176e-05 9.37678554e-01] [ 2.91777901e-03 -7.23741099e-05 9.99995741e-01 -6.09324744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30463044 meters 0.2905551117160232 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99993833e-01 6.25108898e-04 -3.45591446e-03 4.98520865e+00] [-6.24010344e-04 9.99999754e-01 3.18945669e-04 9.37253100e-01] [ 3.45611299e-03 -3.16787175e-04 9.99993977e-01 -6.09910158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36463044 meters 0.2912241683941688 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99993021e-01 7.15883558e-04 -3.66668483e-03 4.98607860e+00] [-7.14732996e-04 9.99999695e-01 3.15088917e-04 9.37564845e-01] [ 3.66690927e-03 -3.12466018e-04 9.99993228e-01 -6.10601782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42463044 meters 0.2916457294459394 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99991907e-01 5.89436696e-04 -3.97982692e-03 4.98524238e+00] [-5.89333265e-04 9.99999826e-01 2.71613849e-05 9.39184133e-01] [ 3.97984223e-03 -2.48157207e-05 9.99992080e-01 -6.08357703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48463044 meters 0.2906381200923444 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99991556e-01 4.42211975e-04 -4.08573101e-03 4.98509404e+00] [-4.44382692e-04 9.99999761e-01 -5.30399529e-04 9.41643551e-01] [ 4.08549549e-03 5.32210679e-04 9.99991513e-01 -6.07913479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54463044 meters 0.2913082687734475 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99990811e-01 3.50458213e-04 -4.27256784e-03 4.98516789e+00] [-3.53692406e-04 9.99999652e-01 -7.56235017e-04 9.42351343e-01] [ 4.27230132e-03 7.57739242e-04 9.99990587e-01 -6.07491343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60463044 meters 0.2918952787930492 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99988761e-01 3.99655141e-04 -4.72411351e-03 4.98582637e+00] [-4.03333319e-04 9.99999616e-01 -7.77669246e-04 9.43508691e-01] [ 4.72380090e-03 7.79565898e-04 9.99988539e-01 -6.06979551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66463044 meters 0.29185499192369413 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99989111e-01 1.66178741e-04 -4.66363825e-03 4.98527309e+00] [-1.70691880e-04 9.99999518e-01 -9.67347815e-04 9.43589026e-01] [ 4.66347525e-03 9.68133327e-04 9.99988657e-01 -6.06098004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72463044 meters 0.29179928518424275 Centerline is valid? [False, False] Translation: X:4.98, Y:0.94, Z:-0.61 [[ 9.99989184e-01 8.98635912e-05 -4.65009878e-03 4.98488713e+00] [-9.42515046e-05 9.99999551e-01 -9.43406700e-04 9.43537417e-01] [ 4.65001191e-03 9.43834775e-04 9.99988743e-01 -6.05317480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78463044 meters 0.2905654598809506 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99988931e-01 -4.77451451e-05 -4.70487869e-03 4.98570499e+00] [ 4.54357257e-05 9.99999878e-01 -4.90961989e-04 9.40448088e-01] [ 4.70490156e-03 4.90742784e-04 9.99988811e-01 -6.06041633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84463044 meters 0.29069967070225644 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99989018e-01 -8.61243096e-05 -4.68587276e-03 4.98598982e+00] [ 8.60654102e-05 9.99999996e-01 -1.27712273e-05 9.37760366e-01] [ 4.68587384e-03 1.23677955e-05 9.99989021e-01 -6.06240697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90463044 meters 0.29020302831945904 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99990970e-01 -6.94619051e-05 -4.24911113e-03 4.98557848e+00] [ 7.23011370e-05 9.99999774e-01 6.68044357e-04 9.33788731e-01] [ 4.24906376e-03 -6.68345540e-04 9.99990749e-01 -6.06648585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96463044 meters 0.289864288511121 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99991075e-01 1.10459836e-04 -4.22358283e-03 4.98621944e+00] [-1.05538380e-04 9.99999315e-01 1.16543761e-03 9.31236404e-01] [ 4.22370867e-03 -1.16498146e-03 9.99990402e-01 -6.07640631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02463044 meters 0.29066837773302734 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.61 [[ 9.99989587e-01 2.84295044e-04 -4.55462813e-03 4.98705138e+00] [-2.79781600e-04 9.99999469e-01 9.91564116e-04 9.33044473e-01] [ 4.55490761e-03 -9.90279490e-04 9.99989136e-01 -6.08221759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08463044 meters 0.29073026336184654 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99990930e-01 1.65904415e-04 -4.25584407e-03 4.98562848e+00] [-1.65342123e-04 9.99999978e-01 1.32473890e-04 9.36559339e-01] [ 4.25586595e-03 -1.31769018e-04 9.99990935e-01 -6.07225641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14463044 meters 0.2974416493531003 Centerline is valid? [False, False] Translation: X:4.99, Y:0.94, Z:-0.61 [[ 9.99987335e-01 2.05589555e-03 -4.59386897e-03 4.98630805e+00] [-2.05197881e-03 9.99997527e-01 8.57150642e-04 9.43935035e-01] [ 4.59561983e-03 -8.47713264e-04 9.99989081e-01 -6.07473730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20463044 meters 0.29832625351584235 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.61 [[ 9.99987256e-01 2.35970237e-03 -4.46320996e-03 4.98419215e+00] [-2.35926108e-03 9.99997212e-01 1.04134965e-04 9.50842176e-01] [ 4.46344324e-03 -9.36037606e-05 9.99990034e-01 -6.05130802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26463044 meters 0.2978323809235918 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99986900e-01 2.27611896e-03 -4.58458904e-03 4.98432620e+00] [-2.27750204e-03 9.99997363e-01 -2.96483444e-04 9.53188782e-01] [ 4.58390211e-03 3.06920971e-04 9.99989447e-01 -6.04947135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32463044 meters 0.2916264448836337 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99984149e-01 2.20046791e-03 -5.18258282e-03 4.98540060e+00] [-2.20300811e-03 9.99997456e-01 -4.84484212e-04 9.54372216e-01] [ 5.18150355e-03 4.95893804e-04 9.99986453e-01 -6.04544160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38463044 meters 0.29225248660368675 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99984329e-01 1.97656660e-03 -5.23787452e-03 4.98483263e+00] [-1.98005196e-03 9.99997822e-01 -6.60313879e-04 9.54630060e-01] [ 5.23655796e-03 6.70674794e-04 9.99986064e-01 -6.03288078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44463044 meters 0.29022493916347336 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99987065e-01 1.65665500e-03 -4.80897737e-03 4.98377215e+00] [-1.66022038e-03 9.99998350e-01 -7.37504216e-04 9.53660134e-01] [ 4.80774765e-03 7.45478639e-04 9.99988165e-01 -6.02661829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50463044 meters 0.2900353660313975 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99985827e-01 1.71387423e-03 -5.04059302e-03 4.98487962e+00] [-1.71627843e-03 9.99998415e-01 -4.72680825e-04 9.52550764e-01] [ 5.03977491e-03 4.81325187e-04 9.99987184e-01 -6.03489911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56463044000003 meters 0.289508405356377 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99984805e-01 1.61338777e-03 -5.27126531e-03 4.98546225e+00] [-1.61317150e-03 9.99998698e-01 4.52789176e-05 9.49463751e-01] [ 5.27133150e-03 -3.67747746e-05 9.99986106e-01 -6.03375627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62463044000003 meters 0.2896446101530492 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99983958e-01 1.65711788e-03 -5.41650905e-03 4.98608231e+00] [-1.65654904e-03 9.99998622e-01 1.09504766e-04 9.49436731e-01] [ 5.41668305e-03 -1.00530296e-04 9.99985325e-01 -6.03840764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68463044000003 meters 0.28902990595303196 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99988143e-01 1.42932487e-03 -4.65525717e-03 4.98467075e+00] [-1.42796816e-03 9.99998937e-01 2.94746663e-04 9.47308424e-01] [ 4.65567351e-03 -2.88095609e-04 9.99989121e-01 -6.03874717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74463044000004 meters 0.2888990958599077 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99988090e-01 1.49316748e-03 -4.64651853e-03 4.98486877e+00] [-1.49180627e-03 9.99998843e-01 2.96404110e-04 9.47787737e-01] [ 4.64695574e-03 -2.89468874e-04 9.99989161e-01 -6.04234381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80463044 meters 0.28902397861718737 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99987933e-01 1.63960653e-03 -4.63095034e-03 4.98587451e+00] [-1.63830365e-03 9.99998617e-01 2.85119976e-04 9.47816837e-01] [ 4.63141142e-03 -2.77529633e-04 9.99989236e-01 -6.06037539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86463044 meters 0.28834744340296736 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99987202e-01 1.76648187e-03 -4.74076204e-03 4.98634239e+00] [-1.76423908e-03 9.99998330e-01 4.77225697e-04 9.47458265e-01] [ 4.74159713e-03 -4.68855752e-04 9.99988649e-01 -6.06258133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92463044 meters 0.28741831506027327 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99988316e-01 1.58735742e-03 -4.56606152e-03 4.98552997e+00] [-1.58455820e-03 9.99998554e-01 6.16601132e-04 9.45898657e-01] [ 4.56703368e-03 -6.09358737e-04 9.99989385e-01 -6.05424617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98463044 meters 0.28699643769548894 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99988287e-01 1.58365336e-03 -4.57360757e-03 4.98562724e+00] [-1.58182510e-03 9.99998668e-01 4.03330738e-04 9.46984551e-01] [ 4.57424021e-03 -3.96091367e-04 9.99989460e-01 -6.05709055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04463044 meters 0.28838373668196127 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99988314e-01 1.66931621e-03 -4.53717126e-03 4.98506844e+00] [-1.67072336e-03 9.99998557e-01 -3.06366820e-04 9.51464631e-01] [ 4.53665329e-03 3.13943598e-04 9.99989660e-01 -6.05242834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10463044 meters 0.2869010760283038 Centerline is valid? [False, False] Translation: X:4.98, Y:0.95, Z:-0.60 [[ 9.99991605e-01 1.14979410e-03 -3.93301232e-03 4.98307116e+00] [-1.15188333e-03 9.99999197e-01 -5.28979987e-04 9.50267556e-01] [ 3.93240094e-03 5.33505917e-04 9.99992126e-01 -6.03767953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16463044 meters 0.2869157142880421 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99986798e-01 1.71026140e-03 -4.84548611e-03 4.98638013e+00] [-1.70772048e-03 9.99998402e-01 5.28478945e-04 9.47792514e-01] [ 4.84638220e-03 -5.20197232e-04 9.99988121e-01 -6.05764046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22463044 meters 0.28655484985244356 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99984696e-01 -2.37613866e-03 -4.99613092e-03 4.98670289e+00] [ 2.35664660e-03 9.99989604e-01 -3.90370669e-03 9.49642395e-01] [ 5.00535473e-03 3.89187283e-03 9.99979900e-01 -6.05917133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28463044 meters 0.28571477258677436 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99983684e-01 -2.39373318e-03 -5.18661230e-03 4.98684721e+00] [ 2.37253498e-03 9.99988824e-01 -4.08940293e-03 9.50767066e-01] [ 5.19634328e-03 4.07703079e-03 9.99978188e-01 -6.05527021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34463044 meters 0.28731486306904147 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99980155e-01 -1.59605956e-03 -6.09446177e-03 4.99126358e+00] [ 1.57700509e-03 9.99993858e-01 -3.13004845e-03 9.49533359e-01] [ 6.09942008e-03 3.12037533e-03 9.99976530e-01 -6.09223691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40463044 meters 0.28767055249660783 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99978545e-01 -1.44647731e-03 -6.38890460e-03 4.99245775e+00] [ 1.42656503e-03 9.99994115e-01 -3.12015507e-03 9.50250218e-01] [ 6.39338023e-03 3.11097394e-03 9.99974723e-01 -6.10137100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46463044 meters 0.2877096622673028 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99981280e-01 2.19761267e-03 -5.71058925e-03 4.98981595e+00] [-2.19503814e-03 9.99997486e-01 4.57062423e-04 9.50287204e-01] [ 5.71157934e-03 -4.44518905e-04 9.99983590e-01 -6.08422368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52463044 meters 0.2878773443168897 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99979221e-01 2.22208540e-03 -6.05141959e-03 4.99083735e+00] [-2.22060920e-03 9.99997503e-01 2.50650599e-04 9.51674083e-01] [ 6.05196144e-03 -2.37207552e-04 9.99981659e-01 -6.08930557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58463044 meters 0.2856466532851913 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99983773e-01 1.71121013e-03 -5.43379173e-03 4.98829912e+00] [-1.70924211e-03 9.99998472e-01 3.66804559e-04 9.48429654e-01] [ 5.43441111e-03 -3.57510942e-04 9.99985170e-01 -6.06478295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64463044 meters 0.285854361722456 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99981584e-01 1.82537689e-03 -5.78784318e-03 4.98945076e+00] [-1.82201506e-03 9.99998168e-01 5.86062661e-04 9.48004235e-01] [ 5.78890236e-03 -5.75506331e-04 9.99983079e-01 -6.06994323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70463044 meters 0.2850102374806486 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99986502e-01 1.31184942e-03 -5.02744768e-03 4.98644829e+00] [-1.31200899e-03 9.99999139e-01 -2.84417530e-05 9.48778198e-01] [ 5.02740604e-03 3.50374257e-05 9.99987362e-01 -6.04867743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76463044 meters 0.28655429608190525 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99986288e-01 1.36276055e-03 -5.05641618e-03 4.98606560e+00] [-1.36346368e-03 9.99999061e-01 -1.35613034e-04 9.49879895e-01] [ 5.05622663e-03 1.42505414e-04 9.99987207e-01 -6.04170528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82463044 meters 0.28579891543296704 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99984093e-01 1.44200936e-03 -5.45292621e-03 4.98716523e+00] [-1.44517334e-03 9.99998790e-01 -5.76340566e-04 9.52346960e-01] [ 5.45208852e-03 5.84211822e-04 9.99984967e-01 -6.05036008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88463044 meters 0.28730161193883286 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99984854e-01 1.36236430e-03 -5.33254714e-03 4.98636835e+00] [-1.36450145e-03 9.99998990e-01 -3.97157776e-04 9.50876747e-01] [ 5.33200068e-03 4.04428029e-04 9.99985703e-01 -6.03987977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94463044 meters 0.2846689462721851 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99985469e-01 1.53913543e-03 -5.16647077e-03 4.98670356e+00] [-1.53791398e-03 9.99998789e-01 2.40382021e-04 9.47767578e-01] [ 5.16683449e-03 -2.32432940e-04 9.99986625e-01 -6.04904662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00463044 meters 0.2850866864698434 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.61 [[ 9.99985048e-01 1.62472225e-03 -5.22152884e-03 4.98715643e+00] [-1.62293930e-03 9.99998623e-01 3.45678951e-04 9.47607694e-01] [ 5.22208329e-03 -3.37199558e-04 9.99986308e-01 -6.05509650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06463044000003 meters 0.28822171234497745 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99985966e-01 1.55819451e-03 -5.06358093e-03 4.98598525e+00] [-1.55676447e-03 9.99998747e-01 2.86344455e-04 9.47524198e-01] [ 5.06402077e-03 -2.78457633e-04 9.99987139e-01 -6.04259498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12463044000003 meters 0.2883134765324621 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99987007e-01 1.46031346e-03 -4.88391116e-03 4.98559622e+00] [-1.46020022e-03 9.99998934e-01 2.67538222e-05 9.48251926e-01] [ 4.88394502e-03 -1.96219865e-05 9.99988073e-01 -6.04478272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18463044000003 meters 0.2963364869506043 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99985650e-01 1.67798692e-03 -5.08773734e-03 4.98594239e+00] [-1.67800674e-03 9.99998592e-01 3.73490599e-07 9.49632176e-01] [ 5.08773080e-03 8.16377230e-06 9.99987057e-01 -6.04510606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24463044000004 meters 0.2969571966659294 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99986375e-01 1.59840224e-03 -4.96930224e-03 4.98518487e+00] [-1.59875049e-03 9.99998720e-01 -6.61070971e-05 9.49491713e-01] [ 4.96919021e-03 7.40508708e-05 9.99987651e-01 -6.03763874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30463044 meters 0.2894667824873942 Centerline is valid? [False, False] Translation: X:4.99, Y:0.95, Z:-0.60 [[ 9.99985791e-01 1.56128421e-03 -5.09700184e-03 4.98525474e+00] [-1.56168312e-03 9.99998778e-01 -7.42858407e-05 9.49427247e-01] [ 5.09687963e-03 8.22446869e-05 9.99987007e-01 -6.03413198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36463044 meters 0.29057965921806184 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.60 [[ 9.99974901e-01 -6.26336807e-03 -3.31170308e-03 5.00164520e+00] [ 6.27696648e-03 9.99971846e-01 4.11184232e-03 9.50590994e-01] [ 3.28585586e-03 -4.13252657e-03 9.99986063e-01 -6.04551407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42463044 meters 0.2912428741842946 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99999000e-01 -2.13159386e-04 -1.39778358e-03 5.01983362e+00] [ 2.18498412e-04 9.99992678e-01 3.82059789e-03 9.49053404e-01] [ 1.39695894e-03 -3.82089948e-03 9.99991725e-01 -6.03147826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48463044 meters 0.2893235041302854 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998805e-01 -1.66313676e-04 -1.53725658e-03 5.02032744e+00] [ 1.72320358e-04 9.99992349e-01 3.90809716e-03 9.48783959e-01] [ 1.53659485e-03 -3.90835739e-03 9.99991182e-01 -6.03367201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54463044 meters 0.2898808362186759 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998739e-01 -3.11773497e-04 -1.55686718e-03 5.02023059e+00] [ 3.17278524e-04 9.99993695e-01 3.53697060e-03 9.50441216e-01] [ 1.55575463e-03 -3.53746010e-03 9.99992533e-01 -6.03212350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60463044 meters 0.2892284699158684 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998607e-01 -5.74550743e-04 -1.56683204e-03 5.01955475e+00] [ 5.79041621e-04 9.99995722e-01 2.86726934e-03 9.53303588e-01] [ 1.56517794e-03 -2.86817261e-03 9.99994662e-01 -6.02287906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66463044 meters 0.2891229537322267 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998120e-01 -6.12222212e-04 -1.83968482e-03 5.02067590e+00] [ 6.17525715e-04 9.99995652e-01 2.88364854e-03 9.53220992e-01] [ 1.83791139e-03 -2.88477917e-03 9.99994150e-01 -6.02945989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72463044 meters 0.2853455998597185 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99992674e-01 -2.43726637e-03 -2.95167849e-03 5.02328795e+00] [ 2.44283258e-03 9.99995242e-01 1.88364518e-03 9.48127016e-01] [ 2.94707350e-03 -1.89084184e-03 9.99993870e-01 -6.03425336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78463044 meters 0.28722224315632083 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99992462e-01 -2.33261457e-03 -3.10398126e-03 5.02432530e+00] [ 2.33899442e-03 9.99995156e-01 2.05333329e-03 9.47840548e-01] [ 3.09917659e-03 -2.06057801e-03 9.99993075e-01 -6.04445494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84463044 meters 0.2877764902598171 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99992176e-01 -2.37761957e-03 -3.16150234e-03 5.02421196e+00] [ 2.38345602e-03 9.99995460e-01 1.84361683e-03 9.49005355e-01] [ 3.15710457e-03 -1.85113771e-03 9.99993303e-01 -6.04189232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90463044 meters 0.28868554463472257 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99992246e-01 -2.31974039e-03 -3.18213760e-03 5.02446567e+00] [ 2.32565497e-03 9.99995573e-01 1.85624316e-03 9.49476341e-01] [ 3.17781751e-03 -1.86362932e-03 9.99993214e-01 -6.04498068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96463044 meters 0.28865816517559834 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.61 [[ 9.99991871e-01 -2.12158947e-03 -3.42892693e-03 5.02577396e+00] [ 2.12906322e-03 9.99995363e-01 2.17743896e-03 9.48613572e-01] [ 3.42429140e-03 -2.18472166e-03 9.99991751e-01 -6.05569167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02463044 meters 0.2896771461962574 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.61 [[ 9.99991825e-01 -1.84383247e-03 -3.59863908e-03 5.02649526e+00] [ 1.85378721e-03 9.99994459e-01 2.76487733e-03 9.46469734e-01] [ 3.59352117e-03 -2.77152584e-03 9.99989703e-01 -6.05956508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08463044 meters 0.2901414066019871 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.61 [[ 9.99992405e-01 -1.79560602e-03 -3.45908296e-03 5.02582600e+00] [ 1.80659918e-03 9.99993320e-01 3.17755822e-03 9.44167348e-01] [ 3.45335421e-03 -3.18378327e-03 9.99988969e-01 -6.05220711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14463044 meters 0.28994517410390547 Centerline is valid? [False, False] Translation: X:5.02, Y:0.94, Z:-0.60 [[ 9.99991315e-01 -3.15643964e-03 -2.72146256e-03 5.02316114e+00] [ 3.16436701e-03 9.99990749e-01 2.91354096e-03 9.36696025e-01] [ 2.71224097e-03 -2.92212736e-03 9.99992052e-01 -6.03527795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20463044 meters 0.2892582768808789 Centerline is valid? [False, False] Translation: X:5.02, Y:0.93, Z:-0.60 [[ 9.99992544e-01 -3.08995699e-03 -2.31619082e-03 5.02258168e+00] [ 3.09885146e-03 9.99987801e-01 3.84642457e-03 9.31683102e-01] [ 2.30427728e-03 -3.85357342e-03 9.99989920e-01 -6.03707224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26463044 meters 0.2886578113789366 Centerline is valid? [False, False] Translation: X:5.02, Y:0.93, Z:-0.60 [[ 9.99993390e-01 -2.99450874e-03 -2.06209749e-03 5.02225489e+00] [ 3.00355613e-03 9.99985816e-01 4.39844125e-03 9.28832713e-01] [ 2.04889707e-03 -4.40460581e-03 9.99988201e-01 -6.03829249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32463044 meters 0.28766410046223656 Centerline is valid? [False, False] Translation: X:5.02, Y:0.92, Z:-0.60 [[ 9.99987806e-01 -4.65491031e-03 -1.64912425e-03 5.02136090e+00] [ 4.66116997e-03 9.99981869e-01 3.81245929e-03 9.21198568e-01] [ 1.63134770e-03 -3.82009965e-03 9.99991373e-01 -6.03439834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38463044 meters 0.28728886275981114 Centerline is valid? [False, False] Translation: X:5.02, Y:0.92, Z:-0.60 [[ 9.99988899e-01 -4.54751903e-03 -1.23352764e-03 5.02119385e+00] [ 4.55296215e-03 9.99979750e-01 4.44632527e-03 9.17916089e-01] [ 1.21328291e-03 -4.45189212e-03 9.99989354e-01 -6.04340671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44463044 meters 0.2869282588747533 Centerline is valid? [False, False] Translation: X:5.02, Y:0.92, Z:-0.61 [[ 9.99989708e-01 -4.32899093e-03 -1.35774066e-03 5.02213052e+00] [ 4.33578120e-03 9.99977906e-01 5.03872938e-03 9.15478069e-01] [ 1.33589805e-03 -5.04456439e-03 9.99986384e-01 -6.05240492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50463044 meters 0.28679285230367235 Centerline is valid? [False, False] Translation: X:5.02, Y:0.91, Z:-0.61 [[ 9.99990714e-01 -4.03304622e-03 -1.51838698e-03 5.02353622e+00] [ 4.04224799e-03 9.99973184e-01 6.10673690e-03 9.11189315e-01] [ 1.49371751e-03 -6.11281789e-03 9.99980201e-01 -6.06699983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56463044000003 meters 0.2860000991427477 Centerline is valid? [False, False] Translation: X:5.02, Y:0.91, Z:-0.61 [[ 9.99991452e-01 -3.94602260e-03 -1.23477790e-03 5.02310158e+00] [ 3.95426226e-03 9.99969446e-01 6.74325507e-03 9.07878388e-01] [ 1.20813114e-03 -6.74808007e-03 9.99976502e-01 -6.06707530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62463044000003 meters 0.2864398183237543 Centerline is valid? [False, False] Translation: X:5.01, Y:0.90, Z:-0.61 [[ 9.99991111e-01 4.09540101e-03 -1.00316680e-03 5.00593064e+00] [-4.09225516e-03 9.99986765e-01 3.11815232e-03 9.02388164e-01] [ 1.01592361e-03 -3.11401938e-03 9.99994635e-01 -6.06641132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68463044000003 meters 0.2865389818812748 Centerline is valid? [False, False] Translation: X:5.01, Y:0.90, Z:-0.61 [[ 9.99999054e-01 1.56488491e-04 -1.36665113e-03 5.00630064e+00] [-1.57988056e-04 9.99999386e-01 -1.09721645e-03 9.03929644e-01] [ 1.36647858e-03 1.09743133e-03 9.99998464e-01 -6.06357874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74463044000004 meters 0.2859493428035579 Centerline is valid? [False, False] Translation: X:5.01, Y:0.90, Z:-0.61 [[ 9.99998842e-01 3.01457952e-04 -1.49152902e-03 5.00709598e+00] [-3.02850233e-04 9.99999519e-01 -9.33320902e-04 9.03836116e-01] [ 1.49124695e-03 9.33771531e-04 9.99998452e-01 -6.07059629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80463044 meters 0.28590547065303695 Centerline is valid? [False, False] Translation: X:5.01, Y:0.90, Z:-0.61 [[ 9.99998480e-01 4.54479735e-04 -1.68301073e-03 5.00811135e+00] [-4.55555004e-04 9.99999692e-01 -6.38567826e-04 9.02945796e-01] [ 1.68271999e-03 6.39333559e-04 9.99998380e-01 -6.07900616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86463044 meters 0.2874457421924884 Centerline is valid? [False, False] Translation: X:5.01, Y:0.90, Z:-0.61 [[ 9.99998397e-01 5.56727331e-04 -1.70172505e-03 5.00871521e+00] [-5.57747190e-04 9.99999665e-01 -5.98893543e-04 9.03456937e-01] [ 1.70139106e-03 5.99841715e-04 9.99998373e-01 -6.08813406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92463044 meters 0.2883096978123907 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99998140e-01 6.50731523e-04 -1.81589702e-03 5.00772539e+00] [-6.52612661e-04 9.99999251e-01 -1.03552739e-03 9.06413829e-01] [ 1.81522181e-03 1.03671054e-03 9.99997815e-01 -6.07090507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98463044 meters 0.2886391169413712 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99997879e-01 6.49800893e-04 -1.95465339e-03 5.00815762e+00] [-6.52608217e-04 9.99998756e-01 -1.43593166e-03 9.08654567e-01] [ 1.95371789e-03 1.43720423e-03 9.99997059e-01 -6.07532076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04463044 meters 0.28916077038791205 Centerline is valid? [False, False] Translation: X:5.02, Y:0.91, Z:-0.61 [[ 9.99977555e-01 -6.69984680e-03 -4.35466344e-05 5.02468052e+00] [ 6.69994201e-03 9.99973686e-01 2.78180381e-03 9.13281486e-01] [ 2.49078292e-05 -2.78203313e-03 9.99996130e-01 -6.08380184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10463044 meters 0.286573716080477 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99991440e-01 4.13560819e-03 1.27039631e-04 5.00593863e+00] [-4.13578601e-03 9.99990421e-01 1.43295462e-03 9.11137387e-01] [-1.21112275e-04 -1.43346777e-03 9.99998965e-01 -6.06357981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16463044 meters 0.28743453121057644 Centerline is valid? [False, False] Translation: X:5.01, Y:0.91, Z:-0.61 [[ 9.99992245e-01 3.93824206e-03 -4.67903824e-06 5.00575862e+00] [-3.93823588e-03 9.99991798e-01 9.45378060e-04 9.13212316e-01] [ 8.40212751e-06 -9.45352302e-04 9.99999553e-01 -6.05762757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22463044 meters 0.28727989347133676 Centerline is valid? [False, False] Translation: X:5.01, Y:0.92, Z:-0.61 [[ 9.99992184e-01 3.93703298e-03 -3.63943481e-04 5.00623871e+00] [-3.93689410e-03 9.99992178e-01 3.81517052e-04 9.16223863e-01] [ 3.65442680e-04 -3.80081263e-04 9.99999861e-01 -6.05603435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28463044 meters 0.28851942976212835 Centerline is valid? [False, False] Translation: X:4.99, Y:0.92, Z:-0.61 [[ 9.99995260e-01 -1.93764432e-03 -2.39289745e-03 4.98908701e+00] [ 1.93872199e-03 9.99998020e-01 4.48123223e-04 9.22265756e-01] [ 2.39202441e-03 -4.52760262e-04 9.99997037e-01 -6.06219251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34463044 meters 0.2919969256408619 Centerline is valid? [False, False] Translation: X:4.99, Y:0.93, Z:-0.60 [[ 9.99995292e-01 -2.11852370e-03 -2.21995057e-03 4.98749302e+00] [ 2.11613942e-03 9.99997182e-01 -1.07582339e-03 9.28472563e-01] [ 2.22222347e-03 1.07112060e-03 9.99996957e-01 -6.04141189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40463044 meters 0.28978548507835183 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99990284e-01 4.20445530e-03 1.32458655e-03 5.00606342e+00] [-4.20249862e-03 9.99990079e-01 -1.47653214e-03 9.35763252e-01] [-1.33078142e-03 1.47095122e-03 9.99998033e-01 -6.04501824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46463044 meters 0.2908733083728739 Centerline is valid? [False, False] Translation: X:5.01, Y:0.95, Z:-0.60 [[ 9.99986089e-01 5.16495196e-03 1.07018163e-03 5.00592275e+00] [-5.16200632e-03 9.99982931e-01 -2.73718930e-03 9.48147605e-01] [-1.08430082e-03 2.73162694e-03 9.99995681e-01 -6.03062170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52463044 meters 0.2918475782513245 Centerline is valid? [False, False] Translation: X:5.00, Y:0.95, Z:-0.60 [[ 9.99988732e-01 4.45025301e-03 1.65267411e-03 5.00317392e+00] [-4.44478285e-03 9.99984680e-01 -3.29893787e-03 9.47932292e-01] [-1.66732990e-03 3.29155492e-03 9.99993193e-01 -6.00318529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58463044 meters 0.28899999255580633 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99982364e-01 -5.93393922e-03 -2.46259309e-04 5.02536453e+00] [ 5.93356003e-03 9.99981252e-01 -1.51300991e-03 9.52346037e-01] [ 2.55232801e-04 1.51152204e-03 9.99998825e-01 -6.02686376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64463044 meters 0.2880544878890387 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99982130e-01 -5.97763861e-03 -8.43988182e-05 5.02502725e+00] [ 5.97751474e-03 9.99981156e-01 -1.39867689e-03 9.51106089e-01] [ 9.27580128e-05 1.39814740e-03 9.99999018e-01 -6.02558429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70463044 meters 0.2881827691308949 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99996922e-01 -2.39594677e-03 6.44513244e-04 5.02211737e+00] [ 2.39478498e-03 9.99995517e-01 1.79735174e-03 9.53163120e-01] [-6.48816714e-04 -1.79580273e-03 9.99998177e-01 -6.00641001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76463044 meters 0.3008934773244995 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99997212e-01 -2.31645670e-03 4.57246021e-04 5.02293694e+00] [ 2.31564246e-03 9.99995747e-01 1.77331863e-03 9.53264285e-01] [-4.61351892e-04 -1.77225487e-03 9.99998323e-01 -6.01525719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82463044 meters 0.2896470114252369 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998428e-01 -1.77313098e-03 -2.58471164e-05 5.02538383e+00] [ 1.77319446e-03 9.99994763e-01 2.70736075e-03 9.50480518e-01] [ 2.10464758e-05 -2.70740233e-03 9.99996335e-01 -6.03572636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88463044 meters 0.29109696567502213 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998764e-01 -1.46787237e-03 -5.63698457e-04 5.02717255e+00] [ 1.46948837e-03 9.99994781e-01 2.87714878e-03 9.51113278e-01] [ 5.59472228e-04 -2.87797357e-03 9.99995702e-01 -6.04764541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94463044 meters 0.29321567583798386 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998536e-01 -1.66257925e-03 -4.05530444e-04 5.02613476e+00] [ 1.66348089e-03 9.99996123e-01 2.23323832e-03 9.53252638e-01] [ 4.01815936e-04 -2.23390964e-03 9.99997424e-01 -6.03838161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00463044 meters 0.2936136010523897 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998217e-01 -1.88068638e-03 -1.70557459e-04 5.02456844e+00] [ 1.88097434e-03 9.99996779e-01 1.70416927e-03 9.54915304e-01] [ 1.67351901e-04 -1.70448704e-03 9.99998533e-01 -6.02157360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06463044000003 meters 0.29363242204030576 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99998001e-01 -1.99932999e-03 3.83449380e-05 5.02436671e+00] [ 1.99926737e-03 9.99996771e-01 1.56894119e-03 9.54188729e-01] [-4.14816453e-05 -1.56886139e-03 9.99998768e-01 -6.02609717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12463044000003 meters 0.2952450013791356 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99997558e-01 2.20531115e-03 -1.41203318e-04 5.02452622e+00] [-2.20446737e-03 9.99981209e-01 5.72028156e-03 9.54649961e-01] [ 1.53815665e-04 -5.71995631e-03 9.99983629e-01 -6.02205722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18463044000003 meters 0.30088312244364424 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99999292e-01 9.00883821e-04 7.77920240e-04 5.01939643e+00] [-9.04532835e-04 9.99988531e-01 4.70318901e-03 9.52671212e-01] [-7.73674291e-04 -4.70388934e-03 9.99988637e-01 -5.97186022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24463044000004 meters 0.303186721177187 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99999312e-01 1.15349279e-03 2.11821629e-04 5.02136780e+00] [-1.15451475e-03 9.99987379e-01 4.88957502e-03 9.53320737e-01] [-2.06178866e-04 -4.88981621e-03 9.99988024e-01 -5.98407076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30463044 meters 0.29537483810627013 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99995392e-01 -3.03583645e-03 2.96810971e-06 5.02166731e+00] [ 3.03583440e-03 9.99995246e-01 5.39928215e-04 9.54332946e-01] [-4.60722936e-06 -5.39916717e-04 9.99999854e-01 -5.98190401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36463044 meters 0.2906300598690433 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99995156e-01 -3.10657035e-03 -1.91741411e-04 5.02125655e+00] [ 3.10664658e-03 9.99995095e-01 3.98541709e-04 9.54994488e-01] [ 1.90502372e-04 -3.99135452e-04 9.99999902e-01 -5.96938382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42463044 meters 0.28832444875691216 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99995289e-01 -3.04271125e-03 -4.04199295e-04 5.02216076e+00] [ 3.04279805e-03 9.99995348e-01 2.14306214e-04 9.56320446e-01] [ 4.03545343e-04 -2.15535102e-04 9.99999895e-01 -5.97804877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48463044 meters 0.2915960385837334 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99995123e-01 -3.11022764e-03 -2.84916030e-04 5.02121211e+00] [ 3.11019965e-03 9.99995158e-01 -9.86226664e-05 9.57932247e-01] [ 2.85221390e-04 9.77360397e-05 9.99999955e-01 -5.96696444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54463044 meters 0.28773283178077524 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994732e-01 -3.22981449e-03 -3.22620023e-04 5.02081740e+00] [ 3.22972598e-03 9.99994747e-01 -2.74490100e-04 9.58277546e-01] [ 3.23504880e-04 2.73446680e-04 9.99999910e-01 -5.95974340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60463044 meters 0.2890745263039577 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994831e-01 -3.12937411e-03 -7.38045284e-04 5.02195012e+00] [ 3.12911986e-03 9.99995045e-01 -3.45386544e-04 9.59375422e-01] [ 7.39122470e-04 3.43075326e-04 9.99999668e-01 -5.96420776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66463044 meters 0.2922999230586632 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994102e-01 -3.39439420e-03 -5.23665116e-04 5.02078141e+00] [ 3.39415045e-03 9.99994131e-01 -4.65656393e-04 9.58854101e-01] [ 5.25242664e-04 4.63876248e-04 9.99999754e-01 -5.95087697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72463044 meters 0.29300160319028123 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994369e-01 -3.19200391e-03 -1.03591750e-03 5.02261486e+00] [ 3.19167414e-03 9.99994855e-01 -3.19828092e-04 9.59153525e-01] [ 1.03693306e-03 3.16519980e-04 9.99999412e-01 -5.96290771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78463044 meters 0.29284837260011204 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993973e-01 -3.19579052e-03 -1.35658717e-03 5.02339619e+00] [ 3.19506757e-03 9.99994753e-01 -5.34754278e-04 9.60475038e-01] [ 1.35828901e-03 5.30416667e-04 9.99998937e-01 -5.96542775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84463044 meters 0.28828118427288457 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993410e-01 -3.32706016e-03 -1.45308495e-03 5.02337347e+00] [ 3.32612593e-03 9.99994260e-01 -6.44871294e-04 9.60689775e-01] [ 1.45522213e-03 6.40033900e-04 9.99998736e-01 -5.96036741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90463044 meters 0.28926648001542365 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993008e-01 -3.13605609e-03 -2.03715966e-03 5.02491122e+00] [ 3.13632365e-03 9.99995074e-01 1.28153871e-04 9.57897409e-01] [ 2.03674772e-03 -1.34542167e-04 9.99997917e-01 -5.96289426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96463044 meters 0.2930330507460966 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993554e-01 -3.06689358e-03 -1.86720577e-03 5.02487425e+00] [ 3.06732060e-03 9.99995270e-01 2.25873588e-04 9.57448754e-01] [ 1.86650420e-03 -2.31599451e-04 9.99998231e-01 -5.96773676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02463044 meters 0.29231319984440723 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99993681e-01 -3.18575559e-03 -1.57734988e-03 5.02357702e+00] [ 3.18602075e-03 9.99994911e-01 1.65621872e-04 9.56779167e-01] [ 1.57681422e-03 -1.70646295e-04 9.99998742e-01 -5.95726840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08463044 meters 0.28888816477163787 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99994215e-01 -3.01880481e-03 -1.56755928e-03 5.02329263e+00] [ 3.01889767e-03 9.99995442e-01 5.68745290e-05 9.58042008e-01] [ 1.56738044e-03 -6.16065010e-05 9.99998770e-01 -5.95528735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14463044 meters 0.28917728203005943 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.59 [[ 9.99994926e-01 -3.00322467e-03 -1.06262554e-03 5.02139067e+00] [ 3.00293159e-03 9.99995453e-01 -2.77288870e-04 9.59719527e-01] [ 1.06345347e-03 2.74096471e-04 9.99999397e-01 -5.94261028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20463044 meters 0.2916682790748022 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.59 [[ 9.99995109e-01 -2.89221705e-03 -1.19005282e-03 5.02204547e+00] [ 2.89188625e-03 9.99995779e-01 -2.79596054e-04 9.60229224e-01] [ 1.19085645e-03 2.76153190e-04 9.99999253e-01 -5.94961921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26463044 meters 0.29026654182407774 Centerline is valid? [False, False] Translation: X:5.01, Y:0.96, Z:-0.59 [[ 9.99982097e-01 5.39465530e-03 -2.58919246e-03 5.00662191e+00] [-5.40525640e-03 9.99976966e-01 -4.10498032e-03 9.57549741e-01] [ 2.56698787e-03 4.11890208e-03 9.99988223e-01 -5.94306779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32463044 meters 0.2909038751365234 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.59 [[ 9.99996250e-01 -2.47424292e-03 -1.17383750e-03 5.02219098e+00] [ 2.47425777e-03 9.99996939e-01 1.11961068e-05 9.60639591e-01] [ 1.17380621e-03 -1.41004414e-05 9.99999311e-01 -5.94686166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38463044 meters 0.2922657055314731 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996366e-01 -2.35542107e-03 -1.31178717e-03 5.02319505e+00] [ 2.35561583e-03 9.99997215e-01 1.46947005e-04 9.60458026e-01] [ 1.31143739e-03 -1.50036537e-04 9.99999129e-01 -5.95689557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44463044 meters 0.29219730947387973 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996145e-01 -2.36049727e-03 -1.46193701e-03 5.02348969e+00] [ 2.36088515e-03 9.99997178e-01 2.63652504e-04 9.59736775e-01] [ 1.46131053e-03 -2.67102953e-04 9.99998897e-01 -5.95515527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50463044 meters 0.2907275865990232 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996428e-01 -2.41345453e-03 -1.14815994e-03 5.02305775e+00] [ 2.41418196e-03 9.99996886e-01 6.32599012e-04 9.57417791e-01] [ 1.14662962e-03 -6.35368620e-04 9.99999141e-01 -5.95507926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56463044000003 meters 0.28924473462540723 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996503e-01 -2.16814892e-03 -1.51404968e-03 5.02486535e+00] [ 2.16919170e-03 9.99997411e-01 6.87439593e-04 9.58677548e-01] [ 1.51255529e-03 -6.90721453e-04 9.99998618e-01 -5.97057287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62463044000003 meters 0.2914117377422101 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996111e-01 -2.51480328e-03 -1.20570551e-03 5.02329591e+00] [ 2.51531502e-03 9.99996747e-01 4.23110043e-04 9.58554233e-01] [ 1.20463755e-03 -4.26141127e-04 9.99999184e-01 -5.95592401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68463044000003 meters 0.2923019935594182 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996305e-01 -2.21949128e-03 -1.56939752e-03 5.02496734e+00] [ 2.22101226e-03 9.99997065e-01 9.68074058e-04 9.57077218e-01] [ 1.56724428e-03 -9.71556133e-04 9.99998300e-01 -5.96757486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74463044000004 meters 0.28662824423896793 Centerline is valid? [False, False] Translation: X:5.03, Y:0.96, Z:-0.60 [[ 9.99996362e-01 -2.23185399e-03 -1.51480519e-03 5.02525900e+00] [ 2.23289052e-03 9.99997274e-01 6.82925353e-04 9.58587074e-01] [ 1.51327687e-03 -6.86305262e-04 9.99998619e-01 -5.97514985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80463044 meters 0.2870980051240166 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996242e-01 -2.37699738e-03 -1.36612003e-03 5.02420923e+00] [ 2.37740428e-03 9.99997130e-01 2.96308539e-04 9.59869292e-01] [ 1.36541178e-03 -2.99555245e-04 9.99999023e-01 -5.96569881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86463044 meters 0.2890768132577367 Centerline is valid? [False, False] Translation: X:5.03, Y:0.96, Z:-0.60 [[ 9.99996010e-01 -2.14883011e-03 -1.83355830e-03 5.02568730e+00] [ 2.14911500e-03 9.99997679e-01 1.53423013e-04 9.61676545e-01] [ 1.83322436e-03 -1.57362928e-04 9.99998307e-01 -5.97506477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92463044 meters 0.2876431165487849 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996048e-01 -2.49310657e-03 -1.29948722e-03 5.02365259e+00] [ 2.49356783e-03 9.99996829e-01 3.53455721e-04 9.59371876e-01] [ 1.29860190e-03 -3.56694683e-04 9.99999093e-01 -5.95570139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98463044 meters 0.29344386542596446 Centerline is valid? [False, False] Translation: X:5.02, Y:0.96, Z:-0.60 [[ 9.99996318e-01 -2.22221059e-03 -1.55753684e-03 5.02493408e+00] [ 2.22360939e-03 9.99997126e-01 8.96927731e-04 9.57684785e-01] [ 1.55553920e-03 -9.00387782e-04 9.99998385e-01 -5.96460431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04463044 meters 0.2928947584578507 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99996829e-01 -1.98320397e-03 -1.55186835e-03 5.02599208e+00] [ 1.98578060e-03 9.99996650e-01 1.66056430e-03 9.53923694e-01] [ 1.54856991e-03 -1.66364070e-03 9.99997417e-01 -5.97869256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10463044 meters 0.2880517503815507 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997174e-01 -1.82525444e-03 -1.52316148e-03 5.02593322e+00] [ 1.82842910e-03 9.99996154e-01 2.08547799e-03 9.52236036e-01] [ 1.51934909e-03 -2.08825709e-03 9.99996665e-01 -5.97654099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16463044 meters 0.28769983603081256 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997756e-01 -1.70840511e-03 -1.25283364e-03 5.02580508e+00] [ 1.71155642e-03 9.99995364e-01 2.51860205e-03 9.49655800e-01] [ 1.24852504e-03 -2.52074070e-03 9.99996044e-01 -5.98257781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22463044 meters 0.28673752882272313 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998103e-01 -1.53109107e-03 -1.20420768e-03 5.02609892e+00] [ 1.53458900e-03 9.99994591e-01 2.90922043e-03 9.48073438e-01] [ 1.19974688e-03 -2.91106288e-03 9.99995043e-01 -5.98754649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28463044 meters 0.2891195291575337 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998477e-01 -1.40079828e-03 -1.04133212e-03 5.02602067e+00] [ 1.40423103e-03 9.99993559e-01 3.30311030e-03 9.46249149e-01] [ 1.03669842e-03 -3.30456754e-03 9.99994003e-01 -5.99055875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34463044 meters 0.28667816361199033 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998662e-01 -1.31702649e-03 -9.70318843e-04 5.02647195e+00] [ 1.32071063e-03 9.99991885e-01 3.80602644e-03 9.43564745e-01] [ 9.65298331e-04 -3.80730286e-03 9.99992286e-01 -5.99771302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40463044 meters 0.2861125387357597 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99979408e-01 6.41722285e-03 5.12319403e-05 5.00902417e+00] [-6.41723343e-03 9.99979387e-01 2.09184427e-04 9.36521834e-01] [-4.98885012e-05 -2.09508887e-04 9.99999977e-01 -5.99083858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46463044 meters 0.28493178229534183 Centerline is valid? [False, False] Translation: X:5.02, Y:0.94, Z:-0.60 [[ 9.99996234e-01 -1.29000553e-03 2.42234644e-03 5.02485548e+00] [ 1.27936692e-03 9.99989553e-01 4.38828531e-03 9.37550550e-01] [-2.42798205e-03 -4.38516972e-03 9.99987438e-01 -6.00237429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52463044 meters 0.28918815800760944 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99996614e-01 -1.13044984e-03 2.34385178e-03 5.02582803e+00] [ 1.12013521e-03 9.99989704e-01 4.39736727e-03 9.38605681e-01] [-2.34879865e-03 -4.39472695e-03 9.99987585e-01 -6.01505048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58463044 meters 0.28862323409591456 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99996420e-01 -1.15333438e-03 2.41465792e-03 5.02588972e+00] [ 1.14319952e-03 9.99990550e-01 4.19440685e-03 9.39783894e-01] [-2.41947266e-03 -4.19163140e-03 9.99988288e-01 -6.01906221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64463044 meters 0.28888362140387064 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99996327e-01 -1.30534477e-03 2.37517099e-03 5.02586548e+00] [ 1.29703262e-03 9.99993042e-01 3.49778137e-03 9.43171489e-01] [-2.37972028e-03 -3.49468785e-03 9.99991062e-01 -6.02023764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70463044 meters 0.28988838261527666 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99996984e-01 -1.30333736e-03 2.08159348e-03 5.02675144e+00] [ 1.29697446e-03 9.99994492e-01 3.05517476e-03 9.45768127e-01] [-2.08556393e-03 -3.05246578e-03 9.99993166e-01 -6.02713460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76463044 meters 0.29365088362753694 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997293e-01 -1.39446456e-03 1.86287249e-03 5.02686576e+00] [ 1.39007285e-03 9.99996257e-01 2.35671588e-03 9.49215012e-01] [-1.86615188e-03 -2.35411997e-03 9.99995488e-01 -6.02470097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82463044 meters 0.29180357036608506 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997172e-01 -1.49650503e-03 1.84825019e-03 5.02667888e+00] [ 1.49278681e-03 9.99996863e-01 2.01149255e-03 9.50792064e-01] [-1.85125460e-03 -2.00872782e-03 9.99996269e-01 -6.02247821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88463044 meters 0.2923455445259443 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997159e-01 -1.60295160e-03 1.76395545e-03 5.02655761e+00] [ 1.60000099e-03 9.99997321e-01 1.67286728e-03 9.52547471e-01] [-1.76663225e-03 -1.67004020e-03 9.99997045e-01 -6.01833516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94463044 meters 0.29051415922257273 Centerline is valid? [False, False] Translation: X:5.02, Y:0.95, Z:-0.60 [[ 9.99995694e-01 -1.95186575e-03 2.19138407e-03 5.02495567e+00] [ 1.94798105e-03 9.99996530e-01 1.77345134e-03 9.50619133e-01] [-2.19483800e-03 -1.76917492e-03 9.99996026e-01 -6.00286884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00463044 meters 0.2772010985451298 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99978766e-01 6.26102439e-03 1.80766871e-03 5.00975178e+00] [-6.25834778e-03 9.99979317e-01 -1.48257377e-03 9.42467214e-01] [-1.81691375e-03 1.47122927e-03 9.99997267e-01 -5.99992544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06463044000003 meters 0.27903557636690934 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99994493e-01 -1.90432013e-03 2.71793576e-03 5.02627155e+00] [ 1.89704697e-03 9.99994620e-01 2.67606410e-03 9.42705832e-01] [-2.72301722e-03 -2.67089331e-03 9.99992726e-01 -6.00923617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12463044000003 meters 0.2762789886985966 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99994649e-01 -1.84553942e-03 2.70093705e-03 5.02613157e+00] [ 1.83764182e-03 9.99994038e-01 2.92359048e-03 9.41686868e-01] [-2.70631655e-03 -2.91861148e-03 9.99992079e-01 -6.00512825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18463044000003 meters 0.2829712260965302 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99994696e-01 -1.82392180e-03 2.69826563e-03 5.02635749e+00] [ 1.81605914e-03 9.99994107e-01 2.91355368e-03 9.41936694e-01] [-2.70356382e-03 -2.90863801e-03 9.99992115e-01 -6.00921522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24463044000004 meters 0.28179049101767456 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99995075e-01 -1.83689164e-03 2.54475771e-03 5.02675941e+00] [ 1.82997940e-03 9.99994637e-01 2.71593715e-03 9.43014401e-01] [-2.54973295e-03 -2.71126692e-03 9.99993074e-01 -6.01153520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30463044 meters 0.2800347650638941 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99995300e-01 -1.90021057e-03 2.40626359e-03 5.02693202e+00] [ 1.89467613e-03 9.99995560e-01 2.30020820e-03 9.45051674e-01] [-2.41062378e-03 -2.29563829e-03 9.99994459e-01 -6.01176912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36463044 meters 0.29099507797135515 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99996033e-01 -1.92061835e-03 2.06034944e-03 5.02724021e+00] [ 1.91744567e-03 9.99996975e-01 1.54074769e-03 9.48939054e-01] [-2.06330240e-03 -1.53679097e-03 9.99996691e-01 -6.00784853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42463044 meters 0.27722769440341555 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99995869e-01 -2.07110374e-03 1.99295867e-03 5.02678018e+00] [ 2.06817078e-03 9.99996777e-01 1.47260216e-03 9.48911259e-01] [-1.99600216e-03 -1.46847430e-03 9.99996930e-01 -5.99638539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48463044 meters 0.27795396111714493 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997363e-01 -1.81469614e-03 1.40756614e-03 5.02916271e+00] [ 1.81210094e-03 9.99996660e-01 1.84283974e-03 9.48198507e-01] [-1.41090564e-03 -1.84028423e-03 9.99997311e-01 -6.01387096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54463044 meters 0.2780320308294855 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99997666e-01 -1.73281046e-03 1.29061975e-03 5.02988643e+00] [ 1.73012699e-03 9.99996345e-01 2.07743114e-03 9.47244882e-01] [-1.29421483e-03 -2.07519335e-03 9.99997009e-01 -6.02001194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60463044 meters 0.27879656322419777 Centerline is valid? [False, False] Translation: X:5.03, Y:0.95, Z:-0.60 [[ 9.99998142e-01 -1.60243679e-03 1.07133250e-03 5.03038769e+00] [ 1.59983164e-03 9.99995772e-01 2.42813509e-03 9.45973759e-01] [-1.07521890e-03 -2.42641662e-03 9.99996478e-01 -6.01831607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66463044 meters 0.2783417984760795 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99997993e-01 -1.57401330e-03 1.23983457e-03 5.03065159e+00] [ 1.57027773e-03 9.99994243e-01 3.00818710e-03 9.42623303e-01] [-1.24456236e-03 -3.00623418e-03 9.99994707e-01 -6.02514499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72463044 meters 0.2795508282367146 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998287e-01 -1.44390083e-03 1.15805932e-03 5.03098008e+00] [ 1.44022910e-03 9.99993954e-01 3.16518123e-03 9.42516260e-01] [-1.16262253e-03 -3.16350794e-03 9.99994320e-01 -6.02780687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78463044 meters 0.2796740190916854 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99997834e-01 -1.51529815e-03 1.42696142e-03 5.02981703e+00] [ 1.51079397e-03 9.99993890e-01 3.15229363e-03 9.41864428e-01] [-1.43172937e-03 -3.15013096e-03 9.99994013e-01 -6.01886636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84463044 meters 0.2834999201381908 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998946e-01 -1.17726364e-03 8.50172395e-04 5.03144817e+00] [ 1.17451212e-03 9.99994095e-01 3.22970575e-03 9.42792847e-01] [-8.53969589e-04 -3.22870380e-03 9.99994423e-01 -6.02798508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90463044 meters 0.2884737247320776 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998935e-01 -1.16554257e-03 8.78170299e-04 5.03151250e+00] [ 1.16293284e-03 9.99994924e-01 2.96645541e-03 9.44319671e-01] [-8.81623372e-04 -2.96543099e-03 9.99995214e-01 -6.03173931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96463044 meters 0.2833302232524114 Centerline is valid? [False, False] Translation: X:5.01, Y:0.94, Z:-0.60 [[ 9.99983303e-01 5.77808515e-03 9.06806035e-05 5.01382386e+00] [-5.77790622e-03 9.99981573e-01 -1.86288233e-03 9.40430096e-01] [-1.01442825e-04 1.86232728e-03 9.99998261e-01 -6.01332406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02463044 meters 0.2841479321729246 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998185e-01 -1.88382716e-03 -2.83777750e-04 5.03085728e+00] [ 1.88453360e-03 9.99995074e-01 2.51005449e-03 9.43959777e-01] [ 2.79047843e-04 -2.51058473e-03 9.99996810e-01 -6.01832180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08463044 meters 0.2818759381260441 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998177e-01 -1.90075451e-03 -1.83858801e-04 5.03074846e+00] [ 1.90127918e-03 9.99993997e-01 2.89681202e-03 9.41933469e-01] [ 1.78351569e-04 -2.89715631e-03 9.99995787e-01 -6.01746233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14463044 meters 0.2785459423906364 Centerline is valid? [False, False] Translation: X:5.03, Y:0.94, Z:-0.60 [[ 9.99998055e-01 -1.97118529e-03 -6.92018472e-05 5.03003563e+00] [ 1.97141384e-03 9.99992020e-01 3.47466134e-03 9.38718581e-01] [ 6.23520937e-05 -3.47479101e-03 9.99993961e-01 -6.00652156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20463044 meters 0.28324895675933676 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99992630e-01 3.71810501e-03 -9.56804536e-04 5.04859682e+00] [-3.71528995e-03 9.99988814e-01 2.92730169e-03 9.33049582e-01] [ 9.67677848e-04 -2.92372531e-03 9.99995258e-01 -6.00106581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26463044 meters 0.2838523854054791 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99992647e-01 3.72178916e-03 -9.24330137e-04 5.04825164e+00] [-3.71889023e-03 9.99988223e-01 3.11840525e-03 9.31958691e-01] [ 9.35925297e-04 -3.11494484e-03 9.99994711e-01 -5.99567616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32463044 meters 0.2851903181094968 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998736e-01 1.81891610e-04 -1.57962127e-03 5.05093080e+00] [-1.82577435e-04 9.99999889e-01 -4.34037030e-04 9.31520200e-01] [ 1.57954215e-03 4.34324884e-04 9.99998658e-01 -6.01409452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38463044 meters 0.28572091986663734 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998792e-01 4.18157962e-04 -1.49674679e-03 5.05161483e+00] [-4.18277183e-04 9.99999909e-01 -7.93416766e-05 9.30590183e-01] [ 1.49671348e-03 7.99676358e-05 9.99998877e-01 -6.02706838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44463044 meters 0.2931473617931183 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998821e-01 5.09387586e-04 -1.44832991e-03 5.05181054e+00] [-5.09391312e-04 9.99999870e-01 -2.20373940e-06 9.30481943e-01] [ 1.44832860e-03 2.94150347e-06 9.99998951e-01 -6.03223968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50463044 meters 0.2872553446134654 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998929e-01 4.36026790e-04 -1.39676234e-03 5.05149611e+00] [-4.36246109e-04 9.99999893e-01 -1.56719251e-04 9.31010861e-01] [ 1.39669386e-03 1.57328416e-04 9.99999012e-01 -6.02986681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56463044000003 meters 0.28804031327440927 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998870e-01 4.72836590e-04 -1.42705106e-03 5.05199401e+00] [-4.73328733e-04 9.99999829e-01 -3.44549205e-04 9.32466540e-01] [ 1.42688790e-03 3.45224280e-04 9.99998922e-01 -6.03683556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62463044000003 meters 0.2884880097550463 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998757e-01 4.13933500e-04 -1.52139836e-03 5.05238654e+00] [-4.14955654e-04 9.99999688e-01 -6.71597384e-04 9.34368429e-01] [ 1.52111989e-03 6.72227863e-04 9.99998617e-01 -6.04025291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68463044000003 meters 0.28949111925326054 Centerline is valid? [False, False] Translation: X:5.05, Y:0.94, Z:-0.60 [[ 9.99998366e-01 3.75578755e-04 -1.76834912e-03 5.05299204e+00] [-3.77131799e-04 9.99999543e-01 -8.77993256e-04 9.35908373e-01] [ 1.76801856e-03 8.78658722e-04 9.99998051e-01 -6.04063522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74463044000004 meters 0.2894208495060381 Centerline is valid? [False, False] Translation: X:5.05, Y:0.94, Z:-0.60 [[ 9.99997998e-01 2.63740222e-04 -1.98371363e-03 5.05342167e+00] [-2.66330127e-04 9.99999112e-01 -1.30543361e-03 9.38084954e-01] [ 1.98336758e-03 1.30595931e-03 9.99997180e-01 -6.04094254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80463044 meters 0.28142980095505865 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998556e-01 -8.25601762e-04 -1.48534064e-03 5.05064380e+00] [ 8.22973798e-04 9.99998097e-01 -1.76900896e-03 9.33831206e-01] [ 1.48679831e-03 1.76778401e-03 9.99997332e-01 -6.01476104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86463044 meters 0.2801464144521016 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998218e-01 -6.98893616e-04 -1.75358111e-03 5.05199873e+00] [ 6.97011138e-04 9.99999180e-01 -1.07388697e-03 9.30853947e-01] [ 1.75433020e-03 1.07266279e-03 9.99997886e-01 -6.02534676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92463044 meters 0.27880675104528807 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998445e-01 -5.73134903e-04 -1.66759936e-03 5.05213302e+00] [ 5.71821060e-04 9.99999526e-01 -7.88234874e-04 9.29639380e-01] [ 1.66805034e-03 7.87280080e-04 9.99998299e-01 -6.02887402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98463044 meters 0.2817794646970948 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998988e-01 -5.50033560e-04 -1.31172354e-03 5.05100514e+00] [ 5.49142389e-04 9.99999618e-01 -6.79652365e-04 9.28823763e-01] [ 1.31209687e-03 6.78931354e-04 9.99998909e-01 -6.02333401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04463044 meters 0.2837135165729157 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998982e-01 -3.87227821e-04 -1.37361397e-03 5.05140271e+00] [ 3.86257628e-04 9.99999676e-01 -7.06501706e-04 9.29635061e-01] [ 1.37388710e-03 7.05970417e-04 9.99998807e-01 -6.02913905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10463044 meters 0.28381486235446607 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998965e-01 -3.20350902e-04 -1.40294814e-03 5.05169587e+00] [ 3.19335376e-04 9.99999687e-01 -7.24015508e-04 9.30122966e-01] [ 1.40317964e-03 7.23566748e-04 9.99998754e-01 -6.03337651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16463044 meters 0.2862993302043117 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998845e-01 -1.71018773e-04 -1.51052378e-03 5.05225815e+00] [ 1.69656708e-04 9.99999579e-01 -9.01799163e-04 9.31646272e-01] [ 1.51067737e-03 9.01541851e-04 9.99998453e-01 -6.04074084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22463044 meters 0.2870123226492049 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99998622e-01 -8.70401113e-05 -1.65771449e-03 5.05286655e+00] [ 8.56439511e-05 9.99999642e-01 -8.42272305e-04 9.31917233e-01] [ 1.65778720e-03 8.42129172e-04 9.99998271e-01 -6.04459834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28463044 meters 0.2971670508558301 Centerline is valid? [False, False] Translation: X:5.05, Y:0.93, Z:-0.60 [[ 9.99996004e-01 -1.95013503e-03 -2.04669243e-03 5.05280064e+00] [ 1.94713629e-03 9.99997030e-01 -1.46613562e-03 9.25113760e-01] [ 2.04954552e-03 1.46214457e-03 9.99996831e-01 -6.02943480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34463044 meters 0.2831974928445683 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99994517e-01 -1.76240283e-03 -2.80354188e-03 5.05535125e+00] [ 1.76000589e-03 9.99998084e-01 -8.57206827e-04 9.22993409e-01] [ 2.80504725e-03 8.52267877e-04 9.99995703e-01 -6.04399621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40463044 meters 0.28046476825274735 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99994234e-01 -1.73953738e-03 -2.91656981e-03 5.05602690e+00] [ 1.73826502e-03 9.99998393e-01 -4.38729677e-04 9.21039661e-01] [ 2.91732831e-03 4.33657376e-04 9.99995651e-01 -6.04812650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46463044 meters 0.2779960940877023 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99993898e-01 -1.66300077e-03 -3.07233935e-03 5.05641546e+00] [ 1.66249894e-03 9.99998604e-01 -1.65883712e-04 9.19788478e-01] [ 3.07261092e-03 1.60774938e-04 9.99995267e-01 -6.04663833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52463044 meters 0.27661709567204046 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99993433e-01 -1.68860223e-03 -3.20649389e-03 5.05680016e+00] [ 1.68769000e-03 9.99998535e-01 -2.87180641e-04 9.20653407e-01] [ 3.20697413e-03 2.81767187e-04 9.99994818e-01 -6.04727190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58463044 meters 0.27640125933359605 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99993272e-01 -1.71802040e-03 -3.24119628e-03 5.05697651e+00] [ 1.71659197e-03 9.99998428e-01 -4.43440431e-04 9.21539986e-01] [ 3.24195303e-03 4.37873636e-04 9.99994649e-01 -6.04883559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64463044 meters 0.27600433749437553 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99992587e-01 -1.64079611e-03 -3.48320845e-03 5.05765934e+00] [ 1.64053888e-03 9.99998651e-01 -7.67045369e-05 9.20031209e-01] [ 3.48332961e-03 7.09896295e-05 9.99993931e-01 -6.04929519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70463044 meters 0.2761440577047724 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99991963e-01 -1.53505812e-03 -3.70369510e-03 5.05866823e+00] [ 1.53514597e-03 9.99998821e-01 2.08766541e-05 9.20030399e-01] [ 3.70365869e-03 -2.65621989e-05 9.99993141e-01 -6.05739732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76463044 meters 0.2772244278700462 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99992518e-01 -1.74464611e-03 -3.45264549e-03 5.05734153e+00] [ 1.74444484e-03 9.99998477e-01 -6.13066883e-05 9.19567199e-01] [ 3.45274719e-03 5.52832799e-05 9.99994038e-01 -6.04311898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82463044 meters 0.276541966199229 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99992513e-01 -1.86126083e-03 -3.39245583e-03 5.05703243e+00] [ 1.86029763e-03 9.99998228e-01 -2.87056893e-04 9.20491155e-01] [ 3.39298411e-03 2.80743767e-04 9.99994204e-01 -6.04000669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88463044 meters 0.27692543212578374 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99991690e-01 -1.85929788e-03 -3.62808849e-03 5.05771694e+00] [ 1.85812143e-03 9.99998220e-01 -3.27603711e-04 9.20869087e-01] [ 3.62869114e-03 3.20859559e-04 9.99993365e-01 -6.04213792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94463044 meters 0.27578368767981165 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.60 [[ 9.99991922e-01 -1.86010678e-03 -3.56308895e-03 5.05771959e+00] [ 1.86006192e-03 9.99998270e-01 -1.59031831e-05 9.19358197e-01] [ 3.56311237e-03 9.27548855e-06 9.99993652e-01 -6.04071132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00463044 meters 0.4408436289934461 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99989895e-01 -1.30751890e-03 -4.30131157e-03 5.06104164e+00] [ 1.31140061e-03 9.99998735e-01 8.99751067e-04 9.17369285e-01] [ 4.30012969e-03 -9.05382718e-04 9.99990345e-01 -6.06702682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06463044000003 meters 0.43835050388079994 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99989250e-01 -1.07233245e-03 -4.51115923e-03 5.06254037e+00] [ 1.07768005e-03 9.99998719e-01 1.18315076e-03 9.17028931e-01] [ 4.50988472e-03 -1.18799963e-03 9.99989125e-01 -6.08205207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12463044000003 meters 0.2821647019258054 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99989240e-01 -1.08051588e-03 -4.51134475e-03 5.06233196e+00] [ 1.08628898e-03 9.99998594e-01 1.27742978e-03 9.16530392e-01] [ 4.50995812e-03 -1.28231666e-03 9.99989008e-01 -6.07723045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18463044000003 meters 0.27575377949588226 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99988990e-01 -9.06449681e-04 -4.60407476e-03 5.06340434e+00] [ 9.13809962e-04 9.99998308e-01 1.59679303e-03 9.15563463e-01] [ 4.60261956e-03 -1.60098270e-03 9.99988126e-01 -6.08940323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24463044000004 meters 0.27416950360861325 Centerline is valid? [False, False] Translation: X:5.05, Y:0.91, Z:-0.61 [[ 9.99958590e-01 7.02484553e-03 -5.78529871e-03 5.04777337e+00] [-7.03996543e-03 9.99971846e-01 -2.59729997e-03 9.13036977e-01] [ 5.76689020e-03 2.63792072e-03 9.99979892e-01 -6.08601904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30463044 meters 0.2749936358184539 Centerline is valid? [False, False] Translation: X:5.06, Y:0.91, Z:-0.61 [[ 9.99989224e-01 -1.24782902e-03 -4.47145451e-03 5.06282854e+00] [ 1.25409719e-03 9.99998235e-01 1.39928898e-03 9.14906330e-01] [ 4.46970054e-03 -1.40488154e-03 9.99989024e-01 -6.08179497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36463044 meters 0.2750281305011564 Centerline is valid? [False, False] Translation: X:5.06, Y:0.91, Z:-0.61 [[ 9.99988691e-01 -1.12249196e-03 -4.62139644e-03 5.06358588e+00] [ 1.12954677e-03 9.99998200e-01 1.52422646e-03 9.14952798e-01] [ 4.61967719e-03 -1.52942930e-03 9.99988160e-01 -6.08885784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42463044 meters 0.274550179196599 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99988948e-01 -1.26693037e-03 -4.52757127e-03 5.06286528e+00] [ 1.27261692e-03 9.99998405e-01 1.25332276e-03 9.15919891e-01] [ 4.52597618e-03 -1.25907077e-03 9.99988965e-01 -6.08150368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48463044 meters 0.27467549628635274 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99989544e-01 -1.45295001e-03 -4.33589234e-03 5.06164353e+00] [ 1.45676443e-03 9.99998555e-01 8.76703700e-04 9.16917496e-01] [ 4.33461227e-03 -8.83010907e-04 9.99990216e-01 -6.06931612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54463044 meters 0.2756608004282226 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99989504e-01 -1.44625167e-03 -4.34736205e-03 5.06144807e+00] [ 1.44884694e-03 9.99998774e-01 5.93885819e-04 9.18341866e-01] [ 4.34649781e-03 -6.00178248e-04 9.99990374e-01 -6.06739720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60463044 meters 0.27507026673213847 Centerline is valid? [False, False] Translation: X:5.06, Y:0.92, Z:-0.61 [[ 9.99991025e-01 -1.45693744e-03 -3.97829061e-03 5.06011633e+00] [ 1.45682595e-03 9.99998938e-01 -3.09225519e-05 9.21410325e-01] [ 3.97833144e-03 2.51265973e-05 9.99992086e-01 -6.05964197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66463044 meters 0.2760277685820307 Centerline is valid? [False, False] Translation: X:5.08, Y:0.93, Z:-0.61 [[ 9.99988565e-01 4.76127475e-03 4.48351346e-04 5.07572053e+00] [-4.76082272e-03 9.99988163e-01 -1.00394828e-03 9.27087831e-01] [-4.53126113e-04 1.00180228e-03 9.99999396e-01 -6.05406432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72463044 meters 0.2756508086520414 Centerline is valid? [False, False] Translation: X:5.08, Y:0.92, Z:-0.61 [[ 9.99988559e-01 4.73429204e-03 6.84597410e-04 5.07517871e+00] [-4.73396961e-03 9.99988683e-01 -4.71823036e-04 9.24194787e-01] [-6.86823410e-04 4.68576775e-04 9.99999654e-01 -6.05062351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78463044 meters 0.27599397382839275 Centerline is valid? [False, False] Translation: X:5.08, Y:0.92, Z:-0.61 [[ 9.99985277e-01 5.41941544e-03 2.73586691e-04 5.07829950e+00] [-5.41950878e-03 9.99985256e-01 3.41588577e-04 9.23389392e-01] [-2.71731447e-04 -3.43066254e-04 9.99999904e-01 -6.08285984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84463044 meters 0.28425700688751776 Centerline is valid? [False, False] Translation: X:5.08, Y:0.92, Z:-0.61 [[ 9.99998676e-01 1.62453640e-03 -9.70558277e-05 5.07926438e+00] [-1.62487283e-03 9.99992296e-01 -3.57308572e-03 9.23885676e-01] [ 9.12504722e-05 3.57323869e-03 9.99993612e-01 -6.08811478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90463044 meters 0.2763239108770554 Centerline is valid? [False, False] Translation: X:5.08, Y:0.92, Z:-0.61 [[ 9.99998746e-01 1.58157766e-03 -7.91740199e-05 5.07900324e+00] [-1.58186613e-03 9.99991580e-01 -3.78663780e-03 9.24804137e-01] [ 7.31844915e-05 3.78675829e-03 9.99992828e-01 -6.08586180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96463044 meters 0.27605849376800246 Centerline is valid? [False, False] Translation: X:5.08, Y:0.93, Z:-0.61 [[ 9.99998188e-01 1.84315285e-03 -4.76020971e-04 5.08061886e+00] [-1.84497117e-03 9.99990894e-01 -3.84806840e-03 9.26199476e-01] [ 4.68924058e-04 3.84893967e-03 9.99992483e-01 -6.10035216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02463044 meters 0.2760931634125144 Centerline is valid? [False, False] Translation: X:5.08, Y:0.93, Z:-0.61 [[ 9.99998288e-01 1.79909563e-03 -4.32327309e-04 5.08025052e+00] [-1.80083349e-03 9.99990163e-01 -4.05359358e-03 9.27033184e-01] [ 4.25030254e-04 4.05436519e-03 9.99991691e-01 -6.09746807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08463044 meters 0.27492887885242373 Centerline is valid? [False, False] Translation: X:5.08, Y:0.93, Z:-0.61 [[ 9.99998507e-01 1.69928951e-03 -3.14484932e-04 5.07944729e+00] [-1.70063091e-03 9.99989242e-01 -4.31544313e-03 9.28017481e-01] [ 3.07148362e-04 4.31597151e-03 9.99990639e-01 -6.08936797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14463044 meters 0.2757746989303717 Centerline is valid? [False, False] Translation: X:5.09, Y:0.93, Z:-0.61 [[ 9.99980015e-01 -6.13456499e-03 1.52884491e-03 5.09473000e+00] [ 6.13519814e-03 9.99981096e-01 -4.09791267e-04 9.32854799e-01] [-1.52630212e-03 4.19162844e-04 9.99998747e-01 -6.09180259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20463044 meters 0.2750970875044613 Centerline is valid? [False, False] Translation: X:5.09, Y:0.93, Z:-0.61 [[ 9.99979994e-01 -6.16039236e-03 1.43596461e-03 5.09477961e+00] [ 6.16108383e-03 9.99980906e-01 -4.77614993e-04 9.32969357e-01] [-1.43299490e-03 4.86452536e-04 9.99998855e-01 -6.08938073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26463044 meters 0.2738555608625559 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99982555e-01 -5.82682278e-03 9.68155539e-04 5.09679302e+00] [ 5.82673068e-03 9.99983020e-01 9.79249871e-05 9.31316714e-01] [-9.68709691e-04 -9.22820973e-05 9.99999527e-01 -6.10349429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32463044 meters 0.27575762112058866 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99983440e-01 -5.69361503e-03 8.37953977e-04 5.09728677e+00] [ 5.69337224e-03 9.99983750e-01 2.91837000e-04 9.30880669e-01] [-8.39601968e-04 -2.87061383e-04 9.99999606e-01 -6.10629077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38463044 meters 0.27554233999139804 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99983675e-01 -5.64261850e-03 8.99905036e-04 5.09691974e+00] [ 5.64228730e-03 9.99984014e-01 3.70151964e-04 9.30628222e-01] [-9.01979276e-04 -3.65068399e-04 9.99999527e-01 -6.10238553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44463044 meters 0.2751533615932204 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99984413e-01 -5.48912469e-03 1.02182040e-03 5.09706881e+00] [ 5.48860551e-03 9.99984807e-01 5.10208864e-04 9.30147511e-01] [-1.02460548e-03 -5.04592542e-04 9.99999348e-01 -6.11042336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50463044 meters 0.27603706850801696 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99985789e-01 -5.23943698e-03 9.84529676e-04 5.09779880e+00] [ 5.23859543e-03 9.99985913e-01 8.55425348e-04 9.29216894e-01] [-9.88997754e-04 -8.50255640e-04 9.99999149e-01 -6.12054927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56463044000003 meters 0.27584954937189526 Centerline is valid? [False, False] Translation: X:5.10, Y:0.93, Z:-0.61 [[ 9.99986871e-01 -4.98829657e-03 1.17239277e-03 5.09774300e+00] [ 4.98663101e-03 9.99986559e-01 1.41930238e-03 9.26925486e-01] [-1.17945691e-03 -1.41343745e-03 9.99998306e-01 -6.12523165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62463044000003 meters 0.27522208143540605 Centerline is valid? [False, False] Translation: X:5.10, Y:0.92, Z:-0.61 [[ 9.99987403e-01 -4.84112910e-03 1.32534132e-03 5.09758371e+00] [ 4.83857264e-03 9.99986441e-01 1.92536426e-03 9.24262832e-01] [-1.33464429e-03 -1.91892725e-03 9.99997268e-01 -6.12676443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68463044000003 meters 0.27645648865075295 Centerline is valid? [False, False] Translation: X:5.10, Y:0.92, Z:-0.61 [[ 9.99989675e-01 -4.36737111e-03 1.25540197e-03 5.09906159e+00] [ 4.36360535e-03 9.99986019e-01 2.98689308e-03 9.19972629e-01] [-1.26842929e-03 -2.98138417e-03 9.99994751e-01 -6.14400501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74463044000004 meters 0.2799946668499015 Centerline is valid? [False, False] Translation: X:5.10, Y:0.92, Z:-0.61 [[ 9.99990935e-01 -4.12044598e-03 1.07365104e-03 5.09972948e+00] [ 4.11651552e-03 9.99984911e-01 3.63768832e-03 9.17279198e-01] [-1.08862374e-03 -3.63323565e-03 9.99992807e-01 -6.14615361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80463044 meters 0.28136412814045164 Centerline is valid? [False, False] Translation: X:5.10, Y:0.91, Z:-0.62 [[ 9.99992557e-01 -3.75431436e-03 8.89616243e-04 5.10082733e+00] [ 3.75028043e-03 9.99982872e-01 4.49355409e-03 9.14025250e-01] [-9.06471219e-04 -4.49018433e-03 9.99989508e-01 -6.15429364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86463044 meters 0.28103735823181675 Centerline is valid? [False, False] Translation: X:5.10, Y:0.91, Z:-0.61 [[ 9.99991552e-01 -3.89041860e-03 1.32666962e-03 5.09960547e+00] [ 3.88356003e-03 9.99979281e-01 5.13374150e-03 9.08720891e-01] [-1.34661454e-03 -5.12854593e-03 9.99985942e-01 -6.14723551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92463044 meters 0.27957210150601497 Centerline is valid? [False, False] Translation: X:5.10, Y:0.91, Z:-0.61 [[ 9.99991596e-01 -3.79231987e-03 1.55775671e-03 5.09914731e+00] [ 3.78330815e-03 9.99976324e-01 5.74783726e-03 9.05320676e-01] [-1.57951747e-03 -5.74189548e-03 9.99982268e-01 -6.14519185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98463044 meters 0.27992772986749703 Centerline is valid? [False, False] Translation: X:5.10, Y:0.90, Z:-0.62 [[ 9.99991400e-01 -3.71128841e-03 1.85107603e-03 5.09936892e+00] [ 3.69892463e-03 9.99971124e-01 6.63852517e-03 8.99830548e-01] [-1.87566006e-03 -6.63162109e-03 9.99976251e-01 -6.15370500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04463044 meters 0.2784442800992225 Centerline is valid? [False, False] Translation: X:5.10, Y:0.90, Z:-0.62 [[ 9.99992893e-01 -3.33385328e-03 1.76026314e-03 5.10026017e+00] [ 3.32040410e-03 9.99965691e-01 7.58886173e-03 8.95897769e-01] [-1.78550290e-03 -7.58296301e-03 9.99969655e-01 -6.16156115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10463044 meters 0.2781454523313993 Centerline is valid? [False, False] Translation: X:5.10, Y:0.89, Z:-0.62 [[ 9.99986329e-01 -4.63850154e-03 2.41392443e-03 5.09845490e+00] [ 4.61990529e-03 9.99960042e-01 7.65312522e-03 8.86207983e-01] [-2.44932701e-03 -7.64186849e-03 9.99967801e-01 -6.15124450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16463044 meters 0.27774546905018066 Centerline is valid? [False, False] Translation: X:5.08, Y:0.87, Z:-0.62 [[ 9.99991234e-01 2.69094491e-03 3.20780694e-03 5.08146085e+00] [-2.70460375e-03 9.99987263e-01 4.26129296e-03 8.74763211e-01] [-3.19629918e-03 -4.26993145e-03 9.99985776e-01 -6.15317204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22463044 meters 0.27564940980411473 Centerline is valid? [False, False] Translation: X:5.08, Y:0.86, Z:-0.62 [[ 9.99990791e-01 1.95237805e-03 3.82179362e-03 5.08093378e+00] [-1.97182856e-03 9.99985090e-01 5.09223050e-03 8.63145138e-01] [-3.81179468e-03 -5.09971953e-03 9.99979731e-01 -6.15999554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28463044 meters 0.27916624361081327 Centerline is valid? [False, False] Translation: X:5.08, Y:0.86, Z:-0.62 [[ 9.99990728e-01 -1.90586179e-03 3.86156684e-03 5.08112612e+00] [ 1.89867862e-03 9.99996462e-01 1.86298410e-03 8.58896159e-01] [-3.86510377e-03 -1.85563495e-03 9.99990809e-01 -6.16293736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34463044 meters 0.2757865508647866 Centerline is valid? [False, False] Translation: X:5.06, Y:0.84, Z:-0.62 [[ 9.99973153e-01 5.22974547e-03 5.13255541e-03 5.06302642e+00] [-5.22404457e-03 9.99985723e-01 -1.12351287e-03 8.44695952e-01] [-5.13835782e-03 1.09667001e-03 9.99986197e-01 -6.16293708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40463044 meters 0.27937652816617775 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:-0.62 [[ 9.99962370e-01 -5.46852060e-03 6.73446989e-03 5.08062239e+00] [ 5.46581765e-03 9.99984974e-01 4.19700155e-04 8.43178824e-01] [-6.73666384e-03 -3.82874977e-04 9.99977235e-01 -6.17839650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46463044 meters 0.27979335022435553 Centerline is valid? [False, False] Translation: X:5.08, Y:0.84, Z:-0.62 [[ 9.99965145e-01 -5.03989063e-03 6.65648135e-03 5.08175751e+00] [ 5.03140111e-03 9.99986508e-01 1.29150756e-03 8.39846055e-01] [-6.66290060e-03 -1.25797112e-03 9.99977011e-01 -6.19096176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52463044 meters 0.27660535585316537 Centerline is valid? [False, False] Translation: X:5.07, Y:0.83, Z:-0.62 [[ 9.99972697e-01 2.56249460e-03 6.93102602e-03 5.06586684e+00] [-2.55017984e-03 9.99995155e-01 -1.78501262e-03 8.27874445e-01] [-6.93556652e-03 1.76728852e-03 9.99974387e-01 -6.20276017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58463044 meters 0.27767704744808225 Centerline is valid? [False, False] Translation: X:5.08, Y:0.82, Z:-0.62 [[ 9.99940751e-01 -5.27622385e-03 9.52136852e-03 5.08150773e+00] [ 5.25004573e-03 9.99982376e-01 2.77231027e-03 8.23758549e-01] [-9.53582804e-03 -2.72215839e-03 9.99950828e-01 -6.20345016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64463044 meters 0.27587651121352 Centerline is valid? [False, False] Translation: X:5.08, Y:0.81, Z:-0.62 [[ 9.99929038e-01 -6.79177048e-03 9.78728858e-03 5.08165435e+00] [ 6.76560191e-03 9.99973456e-01 2.70436390e-03 8.13938342e-01] [-9.80539621e-03 -2.63795509e-03 9.99948446e-01 -6.20795592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70463044 meters 0.2757722212164547 Centerline is valid? [False, False] Translation: X:5.08, Y:0.81, Z:-0.62 [[ 9.99934401e-01 -6.33807428e-03 9.54052166e-03 5.08301283e+00] [ 6.30292035e-03 9.99973253e-01 3.71026570e-03 8.09835703e-01] [-9.56378242e-03 -3.64988916e-03 9.99947605e-01 -6.21773599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76463044 meters 0.2762971398016305 Centerline is valid? [False, False] Translation: X:5.08, Y:0.81, Z:-0.62 [[ 9.99935759e-01 -6.07336071e-03 9.57035044e-03 5.08330840e+00] [ 6.03191553e-03 9.99972331e-01 4.35351203e-03 8.07025571e-01] [-9.59652609e-03 -4.29550481e-03 9.99944726e-01 -6.22129019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82463044 meters 0.27632447206908883 Centerline is valid? [False, False] Translation: X:5.08, Y:0.80, Z:-0.62 [[ 9.99936513e-01 -5.80136240e-03 9.65992334e-03 5.08358149e+00] [ 5.75339170e-03 9.99971017e-01 4.98635722e-03 8.04097813e-01] [-9.68857103e-03 -4.93046333e-03 9.99940909e-01 -6.22695022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88463044 meters 0.2766316639342998 Centerline is valid? [False, False] Translation: X:5.07, Y:0.80, Z:-0.62 [[ 9.99947522e-01 2.04444851e-03 1.00386146e-02 5.06589530e+00] [-2.06505134e-03 9.99995782e-01 2.04242145e-03 7.95431724e-01] [-1.00343966e-02 -2.06304452e-03 9.99947526e-01 -6.21854268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94463044 meters 0.2766231707160552 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:-0.62 [[ 9.99948454e-01 2.19211254e-03 9.91386825e-03 5.06640485e+00] [-2.21572384e-03 9.99994734e-01 2.37128730e-03 7.94097519e-01] [-9.90861791e-03 -2.39313147e-03 9.99948045e-01 -6.22124613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00463044 meters 0.2766568321917675 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:-0.62 [[ 9.99946620e-01 2.35460365e-03 1.00604857e-02 5.06608345e+00] [-2.38564281e-03 9.99992428e-01 3.07436828e-03 7.90509378e-01] [-1.00531706e-02 -3.09820489e-03 9.99944666e-01 -6.21796354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06463044000003 meters 0.27723215621435054 Centerline is valid? [False, False] Translation: X:5.07, Y:0.79, Z:-0.62 [[ 9.99946872e-01 2.58629717e-03 9.97818930e-03 5.06644325e+00] [-2.62364015e-03 9.99989597e-01 3.73118815e-03 7.87790289e-01] [-9.96843554e-03 -3.75716910e-03 9.99943255e-01 -6.21828813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12463044000003 meters 0.2764149267872789 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99949402e-01 -1.34331434e-03 9.96940327e-03 5.06662702e+00] [ 1.34009762e-03 9.99999048e-01 3.29331820e-04 7.84022860e-01] [-9.96983617e-03 -3.15955183e-04 9.99950250e-01 -6.21815890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18463044000003 meters 0.2775494437655367 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99952483e-01 -9.76763425e-04 9.69939754e-03 5.06789725e+00] [ 9.65845081e-04 9.99998895e-01 1.13029275e-03 7.81103732e-01] [-9.70049084e-03 -1.12087093e-03 9.99952321e-01 -6.22640647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24463044000004 meters 0.27819922889174054 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99954443e-01 -7.52618633e-04 9.51554784e-03 5.06875484e+00] [ 7.35910920e-04 9.99998182e-01 1.75921253e-03 7.78155725e-01] [-9.51685456e-03 -1.75212979e-03 9.99953179e-01 -6.23187687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30463044 meters 0.27877305621550086 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99954195e-01 -7.18297062e-04 9.54418629e-03 5.06823525e+00] [ 6.99713232e-04 9.99997853e-01 1.95033262e-03 7.76993587e-01] [-9.54556672e-03 -1.94356509e-03 9.99952551e-01 -6.22402536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36463044 meters 0.27950535915897234 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99955791e-01 -5.85478833e-04 9.38468617e-03 5.06886944e+00] [ 5.65456918e-04 9.99997559e-01 2.13597804e-03 7.76261625e-01] [-9.38591383e-03 -2.13057698e-03 9.99953682e-01 -6.22907497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42463044 meters 0.2800524394101226 Centerline is valid? [False, False] Translation: X:5.07, Y:0.78, Z:-0.62 [[ 9.99956930e-01 -5.22076567e-04 9.26635693e-03 5.06922202e+00] [ 5.01564308e-04 9.99997419e-01 2.21581293e-03 7.76116092e-01] [-9.26748985e-03 -2.21106982e-03 9.99954611e-01 -6.23100076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48463044 meters 0.2765027336378708 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:-0.62 [[ 9.99956885e-01 -4.36650009e-04 9.27561368e-03 5.06879101e+00] [ 4.13115114e-04 9.99996691e-01 2.53905152e-03 7.74311237e-01] [-9.27669167e-03 -2.53511015e-03 9.99953757e-01 -6.22350680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54463044 meters 0.2750946778041015 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:-0.62 [[ 9.99958435e-01 -2.76577090e-04 9.11331651e-03 5.06919050e+00] [ 2.49042817e-04 9.99995402e-01 3.02231927e-03 7.72187215e-01] [-9.11411051e-03 -3.01992404e-03 9.99953905e-01 -6.22222668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60463044 meters 0.27400681597137233 Centerline is valid? [False, False] Translation: X:5.07, Y:0.77, Z:-0.62 [[ 9.99953679e-01 -4.04338099e-04 9.61642790e-03 5.06792215e+00] [ 3.69628726e-04 9.99993412e-01 3.61088663e-03 7.68042764e-01] [-9.61782457e-03 -3.60716486e-03 9.99947242e-01 -6.21506438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66463044 meters 0.2743792889318613 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:-0.62 [[ 9.99954943e-01 -1.58742130e-04 9.49140464e-03 5.06851645e+00] [ 1.16221037e-04 9.99989956e-01 4.48034162e-03 7.64391992e-01] [-9.49202053e-03 -4.47903665e-03 9.99944918e-01 -6.21717620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72463044 meters 0.27437692728140894 Centerline is valid? [False, False] Translation: X:5.07, Y:0.76, Z:-0.62 [[ 9.99957722e-01 8.73255220e-05 9.19492200e-03 5.06972452e+00] [-1.36634753e-04 9.99985614e-01 5.36216738e-03 7.60712320e-01] [-9.19432147e-03 -5.36319703e-03 9.99943349e-01 -6.22386687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78463044 meters 0.27307416108912214 Centerline is valid? [False, False] Translation: X:5.07, Y:0.75, Z:-0.62 [[ 9.99950373e-01 -2.23289962e-03 9.70903946e-03 5.06744470e+00] [ 2.18727486e-03 9.99986529e-01 4.70728632e-03 7.50520927e-01] [-9.71941956e-03 -4.68581637e-03 9.99941786e-01 -6.20055799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84463044 meters 0.2738257499348293 Centerline is valid? [False, False] Translation: X:5.07, Y:0.75, Z:-0.62 [[ 9.99953469e-01 -1.77939276e-03 9.48119679e-03 5.06878863e+00] [ 1.72328754e-03 9.99980977e-01 5.92241270e-03 7.45839511e-01] [-9.49155473e-03 -5.90579830e-03 9.99937514e-01 -6.21122691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90463044 meters 0.2748764440767976 Centerline is valid? [False, False] Translation: X:5.07, Y:0.74, Z:-0.62 [[ 9.99954362e-01 -1.47855438e-03 9.43863587e-03 5.06998513e+00] [ 1.41340489e-03 9.99975159e-01 6.90536913e-03 7.41290690e-01] [-9.44861137e-03 -6.89171337e-03 9.99931612e-01 -6.22580598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96463044 meters 0.27183032787699274 Centerline is valid? [False, False] Translation: X:5.07, Y:0.74, Z:-0.62 [[ 9.99942508e-01 -5.31565220e-03 9.31264930e-03 5.07059061e+00] [ 5.28248955e-03 9.99979632e-01 3.58201832e-03 7.37499362e-01] [-9.33150038e-03 -3.53261841e-03 9.99950221e-01 -6.22795643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02463044 meters 0.27140727003906 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99956060e-01 2.26594780e-03 9.09634126e-03 5.05352499e+00] [-2.27045370e-03 9.99997305e-01 4.85057031e-04 7.29768236e-01] [-9.09521763e-03 -5.05688539e-04 9.99958510e-01 -6.23263871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08463044 meters 0.27118345483702316 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99955528e-01 2.40053760e-03 9.12024798e-03 5.05371652e+00] [-2.41165788e-03 9.99996362e-01 1.20849404e-03 7.26354676e-01] [-9.11731376e-03 -1.23043522e-03 9.99957679e-01 -6.23400020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14463044 meters 0.27156945861746146 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99951200e-01 2.27012177e-03 9.61483195e-03 5.05219200e+00] [-2.28491910e-03 9.99996222e-01 1.52830594e-03 7.23958754e-01] [-9.61132618e-03 -1.55020047e-03 9.99952609e-01 -6.22209982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20463044 meters 0.26964801689956824 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99952394e-01 2.35727998e-03 9.46849715e-03 5.05233768e+00] [-2.37618358e-03 9.99995205e-01 1.98571961e-03 7.21825981e-01] [-9.46377085e-03 -2.00812397e-03 9.99953201e-01 -6.21694989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26463044 meters 0.2684842382077254 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99953135e-01 2.31521812e-03 9.40038978e-03 5.05309425e+00] [-2.33769233e-03 9.99994434e-01 2.38048995e-03 7.19485559e-01] [-9.39482610e-03 -2.40235361e-03 9.99952982e-01 -6.22498137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32463044 meters 0.2675490680848802 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99950699e-01 2.23244824e-03 9.67554353e-03 5.05221760e+00] [-2.25819567e-03 9.99993936e-01 2.65097680e-03 7.17747016e-01] [-9.66956670e-03 -2.67269538e-03 9.99949677e-01 -6.21660895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38463044 meters 0.26735837369349763 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99957631e-01 -1.61387975e-03 9.06265312e-03 5.05421491e+00] [ 1.62148120e-03 9.99998340e-01 -8.31481860e-04 7.15582780e-01] [-9.06129616e-03 8.46141552e-04 9.99958588e-01 -6.22587917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44463044 meters 0.26783700373505676 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:-0.62 [[ 9.99960278e-01 -1.42639216e-03 8.79816285e-03 5.05524919e+00] [ 1.43018008e-03 9.99998887e-01 -4.24258580e-04 7.14123462e-01] [-8.79754790e-03 4.36824685e-04 9.99961205e-01 -6.23207941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50463044 meters 0.2662555511677328 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:-0.62 [[ 9.99952509e-01 5.60430223e-04 9.72958238e-03 5.05150035e+00] [-5.80190578e-04 9.99997775e-01 2.02825232e-03 7.10417938e-01] [-9.72842404e-03 -2.03380101e-03 9.99950609e-01 -6.20457581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56463044000003 meters 0.26712068252937576 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:-0.62 [[ 9.99951976e-01 4.55696692e-04 9.78966660e-03 5.05123127e+00] [-4.72937866e-04 9.99998341e-01 1.75891772e-03 7.11642797e-01] [-9.78884883e-03 -1.76346315e-03 9.99950533e-01 -6.20291423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62463044000003 meters 0.2663562895569461 Centerline is valid? [False, False] Translation: X:5.05, Y:0.71, Z:-0.62 [[ 9.99950622e-01 1.99174986e-04 9.93547126e-03 5.05034488e+00] [-2.11107004e-04 9.99999258e-01 1.19991709e-03 7.13678884e-01] [-9.93522489e-03 -1.20195528e-03 9.99949922e-01 -6.19516862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68463044000003 meters 0.2673568955788291 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99951568e-01 1.07027822e-04 9.84127622e-03 5.05027269e+00] [-1.14038293e-04 9.99999740e-01 7.11795517e-04 7.16626574e-01] [-9.84119748e-03 -7.12883325e-04 9.99951320e-01 -6.19134560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74463044000004 meters 0.2673748768766039 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99951179e-01 -1.88311807e-04 9.87950493e-03 5.04991634e+00] [ 1.89699190e-04 9.99999972e-01 -1.39493482e-04 7.20312398e-01] [-9.87947839e-03 1.41360806e-04 9.99951187e-01 -6.18879554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80463044 meters 0.26787202391509596 Centerline is valid? [False, False] Translation: X:5.05, Y:0.72, Z:-0.62 [[ 9.99953364e-01 -2.43442893e-04 9.65453040e-03 5.05068152e+00] [ 2.48397394e-04 9.99999838e-01 -5.11983131e-04 7.22706562e-01] [-9.65440420e-03 5.14357415e-04 9.99953263e-01 -6.19417162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86463044 meters 0.26748655395654924 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99953444e-01 -4.17752985e-04 9.64026331e-03 5.05092768e+00] [ 4.27562048e-04 9.99999393e-01 -1.01547137e-03 7.25128524e-01] [-9.63983324e-03 1.01954590e-03 9.99953016e-01 -6.19846444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92463044 meters 0.2670098487107366 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99953870e-01 -5.38238617e-04 9.58998764e-03 5.05136286e+00] [ 5.52108655e-04 9.99998805e-01 -1.44371531e-03 7.27662657e-01] [-9.58919913e-03 1.44894343e-03 9.99952973e-01 -6.20378925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98463044 meters 0.2682982825750831 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99955834e-01 -6.44353300e-04 9.37624014e-03 5.05206525e+00] [ 6.61323097e-04 9.99998149e-01 -1.80688435e-03 7.29770734e-01] [-9.37505851e-03 1.81300527e-03 9.99954410e-01 -6.20728906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04463044 meters 0.26701548869600467 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99956103e-01 -9.13946013e-04 9.32510049e-03 5.05219670e+00] [ 9.37345845e-04 9.99996422e-01 -2.50527652e-03 7.32947060e-01] [-9.32277744e-03 2.51390738e-03 9.99953382e-01 -6.20874497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10463044 meters 0.26656668090597757 Centerline is valid? [False, False] Translation: X:5.05, Y:0.73, Z:-0.62 [[ 9.99957353e-01 -9.44895505e-04 9.18692170e-03 5.05277116e+00] [ 9.69840700e-04 9.99995854e-01 -2.71121844e-03 7.34406168e-01] [-9.18432180e-03 2.72001266e-03 9.99954124e-01 -6.21241953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16463044 meters 0.26780895342037064 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:-0.62 [[ 9.99957955e-01 -9.12391757e-04 9.12442333e-03 5.05373072e+00] [ 9.40022380e-04 9.99994985e-01 -3.02437474e-03 7.37078639e-01] [-9.12161816e-03 3.03282474e-03 9.99953798e-01 -6.22538709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22463044 meters 0.26758822958167705 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:-0.62 [[ 9.99958164e-01 -1.02353882e-03 9.08965889e-03 5.05390347e+00] [ 1.05518991e-03 9.99993395e-01 -3.47798516e-03 7.39424238e-01] [-9.08603900e-03 3.48743097e-03 9.99952640e-01 -6.22784854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28463044 meters 0.26827433286743313 Centerline is valid? [False, False] Translation: X:5.05, Y:0.74, Z:-0.62 [[ 9.99960607e-01 -1.04906406e-03 8.81386704e-03 5.05408368e+00] [ 1.08445773e-03 9.99991364e-01 -4.01186033e-03 7.42786386e-01] [-8.80958223e-03 4.02126056e-03 9.99953109e-01 -6.22281763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34463044 meters 0.26911072981785367 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99962540e-01 -9.47161671e-04 8.60362091e-03 5.05540311e+00] [ 9.87580348e-04 9.99988492e-01 -4.69483528e-03 7.47148767e-01] [-8.59907512e-03 4.70315617e-03 9.99951967e-01 -6.23936911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40463044 meters 0.2701222272480044 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99971251e-01 4.92173557e-04 7.56665938e-03 5.05944163e+00] [-4.59063748e-04 9.99990316e-01 -4.37686412e-03 7.54763707e-01] [-7.56874028e-03 4.37326471e-03 9.99961794e-01 -6.26781992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46463044 meters 0.27129175324171173 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.63 [[ 9.99971491e-01 2.86758937e-04 7.54558228e-03 5.05877630e+00] [-2.46972027e-04 9.99986066e-01 -5.27327840e-03 7.59338752e-01] [-7.54698930e-03 5.27126451e-03 9.99957627e-01 -6.25838453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52463044 meters 0.2705870708796738 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.63 [[ 9.99972080e-01 5.99016646e-05 7.47232114e-03 5.05842308e+00] [-1.41823326e-05 9.99981282e-01 -6.11839425e-03 7.63207587e-01] [-7.47254777e-03 6.11811745e-03 9.99953364e-01 -6.25147347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58463044 meters 0.27133254316833555 Centerline is valid? [False, False] Translation: X:5.04, Y:0.77, Z:-0.63 [[ 9.99997618e-01 -1.21135890e-03 1.81580079e-03 5.04252109e+00] [ 1.21653896e-03 9.99995186e-01 -2.85438223e-03 7.68889062e-01] [-1.81233437e-03 2.85658442e-03 9.99994278e-01 -6.26707533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64463044 meters 0.27263710330682334 Centerline is valid? [False, False] Translation: X:5.04, Y:0.77, Z:-0.63 [[ 9.99998795e-01 -1.06084176e-03 1.13308069e-03 5.04356022e+00] [ 1.06455793e-03 9.99994041e-01 -3.28415170e-03 7.72271633e-01] [-1.12958998e-03 3.28535397e-03 9.99993965e-01 -6.26265796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70463044 meters 0.2715858144870641 Centerline is valid? [False, False] Translation: X:5.04, Y:0.78, Z:-0.63 [[ 9.99998909e-01 -1.16039687e-03 9.14395260e-04 5.04325081e+00] [ 1.16410664e-03 9.99991052e-01 -4.06703510e-03 7.76537563e-01] [-9.09667703e-04 4.06809511e-03 9.99991312e-01 -6.25264373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76463044 meters 0.27319923368547927 Centerline is valid? [False, False] Translation: X:5.06, Y:0.79, Z:-0.63 [[ 9.99960882e-01 -8.40593139e-03 2.75213380e-03 5.05957409e+00] [ 8.40811345e-03 9.99964345e-01 -7.82252475e-04 7.85988698e-01] [-2.74546012e-03 8.05362128e-04 9.99995907e-01 -6.25730469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82463044 meters 0.27307210688364897 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99996598e-01 2.51960223e-03 6.74707860e-04 5.04212350e+00] [-2.51823706e-03 9.99994796e-01 -2.01660848e-03 7.88847672e-01] [-6.79785400e-04 2.01490254e-03 9.99997739e-01 -6.24601238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88463044 meters 0.2736118505550548 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99996993e-01 2.38893614e-03 5.53434210e-04 5.04187141e+00] [-2.38756489e-03 9.99994111e-01 -2.46527586e-03 7.90886403e-01] [-5.59320337e-04 2.46394708e-03 9.99996808e-01 -6.23975978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94463044 meters 0.2739942840590092 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99997268e-01 2.27653635e-03 5.29943092e-04 5.04136681e+00] [-2.27502558e-03 9.99993396e-01 -2.83417308e-03 7.92796685e-01] [-5.36391690e-04 2.83295970e-03 9.99995843e-01 -6.23248563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00463044 meters 0.2750024207192099 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99997303e-01 2.26616458e-03 5.08184368e-04 5.04136643e+00] [-2.26466566e-03 9.99993140e-01 -2.93098777e-03 7.93440919e-01] [-5.14822983e-04 2.92982900e-03 9.99995576e-01 -6.23200131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06463044000003 meters 0.2732184412184809 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99997358e-01 2.23933044e-03 5.19798696e-04 5.04101385e+00] [-2.23795810e-03 9.99994048e-01 -2.62587796e-03 7.91499378e-01] [-5.25675811e-04 2.62470773e-03 9.99996417e-01 -6.22499561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12463044000003 meters 0.2725329435295868 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99997294e-01 2.27634330e-03 4.80271034e-04 5.04099928e+00] [-2.27541401e-03 9.99995555e-01 -1.92667384e-03 7.87930964e-01] [-4.84654670e-04 1.92557581e-03 9.99998029e-01 -6.22047728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18463044000003 meters 0.2715823864766132 Centerline is valid? [False, False] Translation: X:5.04, Y:0.79, Z:-0.62 [[ 9.99996832e-01 2.47396176e-03 4.64949251e-04 5.04158080e+00] [-2.47335932e-03 9.99996107e-01 -1.29185387e-03 7.85137693e-01] [-4.68143438e-04 1.29069979e-03 9.99999057e-01 -6.22724244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24463044000004 meters 0.27076691584048934 Centerline is valid? [False, False] Translation: X:5.04, Y:0.78, Z:-0.62 [[ 9.99997082e-01 2.26952700e-03 8.27372333e-04 5.04079961e+00] [-2.26905943e-03 9.99997266e-01 -5.65633966e-04 7.79170805e-01] [-8.28653792e-04 5.63754959e-04 9.99999498e-01 -6.22461842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30463044 meters 0.27048434538955973 Centerline is valid? [False, False] Translation: X:5.06, Y:0.78, Z:-0.62 [[ 9.99975380e-01 -6.36905018e-03 2.94539590e-03 5.05608377e+00] [ 6.35962136e-03 9.99974659e-01 3.19957151e-03 7.75017273e-01] [-2.96569949e-03 -3.18076113e-03 9.99990544e-01 -6.21638443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36463044 meters 0.27098234665693266 Centerline is valid? [False, False] Translation: X:5.06, Y:0.77, Z:-0.62 [[ 9.99975656e-01 -6.21008280e-03 3.18153006e-03 5.05605323e+00] [ 6.19689936e-03 9.99972242e-01 4.13697832e-03 7.70675092e-01] [-3.20713272e-03 -4.11716198e-03 9.99986382e-01 -6.22039121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42463044 meters 0.26816398688461984 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99973395e-01 -6.26519476e-03 3.73576693e-03 5.05572824e+00] [ 6.24604580e-03 9.99967408e-01 5.11566571e-03 7.64403243e-01] [-3.76769582e-03 -5.09219583e-03 9.99979937e-01 -6.23138475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48463044 meters 0.2684693194236409 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99977118e-01 -5.83905338e-03 3.41596572e-03 5.05753285e+00] [ 5.81800582e-03 9.99964229e-01 6.13935253e-03 7.60383215e-01] [-3.45169153e-03 -6.11933794e-03 9.99975319e-01 -6.24802080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54463044 meters 0.26794067719975795 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.63 [[ 9.99977782e-01 -5.66384377e-03 3.51520025e-03 5.05761532e+00] [ 5.63949683e-03 9.99960307e-01 6.89787852e-03 7.56633239e-01] [-3.55412922e-03 -6.87790130e-03 9.99970031e-01 -6.25049131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60463044 meters 0.26780707124348324 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99970488e-01 7.19254775e-03 2.70000190e-03 5.05710827e+00] [-7.19803867e-03 9.99972034e-01 2.02949199e-03 7.50935960e-01] [-2.68532918e-03 -2.04886682e-03 9.99994296e-01 -6.23144621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66463044 meters 0.2675621812725416 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99985108e-01 5.08034584e-03 1.99353702e-03 5.05993142e+00] [-5.07958796e-03 9.99987025e-01 -3.85046841e-04 7.53690851e-01] [-1.99546732e-03 3.74914760e-04 9.99997939e-01 -6.25079881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72463044 meters 0.2676315722921765 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99985144e-01 5.08220149e-03 1.97068087e-03 5.06013223e+00] [-5.08144012e-03 9.99987013e-01 -3.91160130e-04 7.53845503e-01] [-1.97264323e-03 3.81140422e-04 9.99997982e-01 -6.25345286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78463044 meters 0.26724134217986295 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99984622e-01 5.09197474e-03 2.19695648e-03 5.06012498e+00] [-5.09096015e-03 9.99986932e-01 -4.67162412e-04 7.54456772e-01] [-2.19930655e-03 4.55970610e-04 9.99997478e-01 -6.26152138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84463044 meters 0.2673801115381863 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99984281e-01 5.16324853e-03 2.18603703e-03 5.06042395e+00] [-5.16259481e-03 9.99986627e-01 -3.04577241e-04 7.53821025e-01] [-2.18758040e-03 2.93286830e-04 9.99997564e-01 -6.26528692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90463044 meters 0.2671706482014402 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99983704e-01 5.29509038e-03 2.13376071e-03 5.06087287e+00] [-5.29571289e-03 9.99985937e-01 2.86197616e-04 7.51399278e-01] [-2.13221526e-03 -2.97492737e-04 9.99997683e-01 -6.26862531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96463044 meters 0.2672846690388756 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99997200e-01 1.23300869e-03 2.02000623e-03 5.06186809e+00] [-1.22567799e-03 9.99992674e-01 -3.62627222e-03 7.50450130e-01] [-2.02446266e-03 3.62378618e-03 9.99991385e-01 -6.27895290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02463044 meters 0.26664598524328587 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99997386e-01 1.39618205e-03 1.81072648e-03 5.06247334e+00] [-1.39039858e-03 9.99993941e-01 -3.19134007e-03 7.48502041e-01] [-1.81517120e-03 3.18881410e-03 9.99993268e-01 -6.28009175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08463044 meters 0.26747577101850967 Centerline is valid? [False, False] Translation: X:5.08, Y:0.75, Z:-0.63 [[ 9.99978578e-01 -6.13110545e-03 2.29209146e-03 5.08038847e+00] [ 6.12915097e-03 9.99980848e-01 8.58760159e-04 7.49602472e-01] [-2.29731271e-03 -8.44693188e-04 9.99997004e-01 -6.27957255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14463044 meters 0.2669452103017533 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99998333e-01 1.35842110e-03 1.22052399e-03 5.06361343e+00] [-1.35458410e-03 9.99994156e-01 -3.13908076e-03 7.46918494e-01] [-1.22478106e-03 3.13742222e-03 9.99994328e-01 -6.28278847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20463044 meters 0.2669735631905895 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99998305e-01 1.39580601e-03 1.20041380e-03 5.06322506e+00] [-1.39203308e-03 9.99994107e-01 -3.13813747e-03 7.47109215e-01] [-1.20478696e-03 3.13646113e-03 9.99994356e-01 -6.27660923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26463044 meters 0.26758251851915255 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99998518e-01 1.28810791e-03 1.14265548e-03 5.06280196e+00] [-1.28416926e-03 9.99993255e-01 -3.44098967e-03 7.48067076e-01] [-1.14708014e-03 3.43951721e-03 9.99993427e-01 -6.26885125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32463044 meters 0.2681918652819897 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99998305e-01 6.91907447e-04 1.70639031e-03 5.05993123e+00] [-6.83991138e-04 9.99989022e-01 -4.63544182e-03 7.51220097e-01] [-1.70957888e-03 4.63426680e-03 9.99987800e-01 -6.24294320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38463044 meters 0.26951550967846477 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99998638e-01 7.06090771e-04 1.49202051e-03 5.06031258e+00] [-6.98501634e-04 9.99986848e-01 -5.08089690e-03 7.53650249e-01] [-1.49558846e-03 5.07984780e-03 9.99985979e-01 -6.24433613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44463044 meters 0.26970891270138514 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99998048e-01 6.50109451e-04 1.86566542e-03 5.05873581e+00] [-6.39948753e-04 9.99984990e-01 -5.44159127e-03 7.55480805e-01] [-1.86917504e-03 5.44038672e-03 9.99983454e-01 -6.23137197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50463044 meters 0.2702427214650535 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99998268e-01 5.43588495e-04 1.77985869e-03 5.05837704e+00] [-5.33303957e-04 9.99983190e-01 -5.77367374e-03 7.56973701e-01] [-1.78296728e-03 5.77271454e-03 9.99981748e-01 -6.22397521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56463044000003 meters 0.2700989042930316 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99998459e-01 4.93332221e-04 1.68460770e-03 5.05821302e+00] [-4.83492703e-04 9.99982852e-01 -5.83625713e-03 7.57030859e-01] [-1.68745803e-03 5.83543365e-03 9.99981550e-01 -6.21777346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62463044000003 meters 0.2689492051277485 Centerline is valid? [False, False] Translation: X:5.06, Y:0.76, Z:-0.62 [[ 9.99998377e-01 5.99691748e-04 1.69905790e-03 5.05840392e+00] [-5.90168544e-04 9.99984146e-01 -5.59995877e-03 7.56202151e-01] [-1.70238921e-03 5.59894695e-03 9.99982877e-01 -6.21957978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68463044000003 meters 0.269952050067978 Centerline is valid? [False, False] Translation: X:5.08, Y:0.76, Z:-0.62 [[ 9.99972754e-01 -7.03967137e-03 2.22110969e-03 5.07665330e+00] [ 7.04348442e-03 9.99973726e-01 -1.71360456e-03 7.56978459e-01] [-2.20898812e-03 1.72920223e-03 9.99996065e-01 -6.22623068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74463044000004 meters 0.26921118345399714 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99997217e-01 9.52930484e-04 2.15826493e-03 5.05983922e+00] [-9.42412619e-04 9.99987702e-01 -4.86908150e-03 7.51645424e-01] [-2.16287829e-03 4.86703397e-03 9.99985817e-01 -6.23316081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80463044 meters 0.2682232390373454 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.62 [[ 9.99995995e-01 1.21296862e-03 2.55690714e-03 5.05976241e+00] [-1.20191805e-03 9.99989951e-01 -4.31896360e-03 7.49381881e-01] [-2.56212021e-03 4.31587311e-03 9.99987404e-01 -6.24370550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86463044 meters 0.26931687010090904 Centerline is valid? [False, False] Translation: X:5.06, Y:0.75, Z:-0.63 [[ 9.99995067e-01 1.54143388e-03 2.73684067e-03 5.06008609e+00] [-1.53137933e-03 9.99992085e-01 -3.67208220e-03 7.46917015e-01] [-2.74247928e-03 3.66787295e-03 9.99989513e-01 -6.25381235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92463044 meters 0.26961282873227504 Centerline is valid? [False, False] Translation: X:5.06, Y:0.74, Z:-0.63 [[ 9.99993977e-01 1.80864718e-03 2.96225224e-03 5.06003809e+00] [-1.79963036e-03 9.99993748e-01 -3.04375159e-03 7.43990123e-01] [-2.96773879e-03 3.03840230e-03 9.99990980e-01 -6.25959635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98463044 meters 0.26878193988763127 Centerline is valid? [False, False] Translation: X:5.06, Y:0.74, Z:-0.63 [[ 9.99992659e-01 2.06574657e-03 3.22708234e-03 5.06019644e+00] [-2.05777327e-03 9.99994827e-01 -2.47211499e-03 7.41456430e-01] [-3.23217241e-03 2.46545624e-03 9.99991737e-01 -6.27012635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04463044 meters 0.27106434754536135 Centerline is valid? [False, False] Translation: X:5.06, Y:0.74, Z:-0.63 [[ 9.99991081e-01 2.86438138e-03 3.10359666e-03 5.06312350e+00] [-2.86075331e-03 9.99995220e-01 -1.17279986e-03 7.36859310e-01] [-3.10694117e-03 1.16391078e-03 9.99994496e-01 -6.30827966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10463044 meters 0.2710831218628356 Centerline is valid? [False, False] Translation: X:5.06, Y:0.73, Z:-0.63 [[ 9.99990239e-01 3.11896444e-03 3.12968552e-03 5.06339512e+00] [-3.11721252e-03 9.99994982e-01 -5.64498545e-04 7.34130301e-01] [-3.13143046e-03 5.54737140e-04 9.99994943e-01 -6.31250490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16463044 meters 0.2697100549610091 Centerline is valid? [False, False] Translation: X:5.06, Y:0.73, Z:-0.63 [[ 9.99989477e-01 3.27075739e-03 3.21685241e-03 5.06308582e+00] [-3.27117922e-03 9.99994642e-01 1.25878162e-04 7.29594456e-01] [-3.21642345e-03 -1.36399738e-04 9.99994818e-01 -6.30888213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22463044 meters 0.2717960438069494 Centerline is valid? [False, False] Translation: X:5.06, Y:0.73, Z:-0.63 [[ 9.99988608e-01 3.58530751e-03 3.15122905e-03 5.06399597e+00] [-3.58752864e-03 9.99993320e-01 6.99476939e-04 7.27605817e-01] [-3.14870016e-03 -7.10774095e-04 9.99994790e-01 -6.32067234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28463044 meters 0.272511361374693 Centerline is valid? [False, False] Translation: X:5.06, Y:0.73, Z:-0.63 [[ 9.99986907e-01 3.82678365e-03 3.39741705e-03 5.06388884e+00] [-3.83108552e-03 9.99991867e-01 1.26061686e-03 7.25015283e-01] [-3.39256531e-03 -1.27361615e-03 9.99993434e-01 -6.32679534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34463044 meters 0.2723355313574294 Centerline is valid? [False, False] Translation: X:5.06, Y:0.72, Z:-0.63 [[ 9.99987748e-01 2.77400429e-03 4.09994304e-03 5.06016798e+00] [-2.77801562e-03 9.99995668e-01 9.73015962e-04 7.18742181e-01] [-4.09722613e-03 -9.84393746e-04 9.99991122e-01 -6.29565505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40463044 meters 0.27163577822258755 Centerline is valid? [False, False] Translation: X:5.06, Y:0.72, Z:-0.63 [[ 9.99986667e-01 2.89350541e-03 4.27697351e-03 5.05941544e+00] [-2.90031007e-03 9.99994537e-01 1.58565419e-03 7.15422070e-01] [-4.27236205e-03 -1.59803760e-03 9.99989597e-01 -6.28759782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46463044 meters 0.27325069242559313 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:-0.63 [[ 9.99984988e-01 3.16593017e-03 4.47219223e-03 5.05963931e+00] [-3.17884340e-03 9.99990791e-01 2.88329905e-03 7.08953570e-01] [-4.46302272e-03 -2.89747217e-03 9.99985843e-01 -6.29409269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52463044 meters 0.2707009615470946 Centerline is valid? [False, False] Translation: X:5.06, Y:0.71, Z:-0.63 [[ 9.99989727e-01 -7.93395963e-04 4.46270297e-03 5.05995536e+00] [ 7.96246813e-04 9.99999480e-01 -6.37076321e-04 7.05799694e-01] [-4.46219520e-03 6.40623190e-04 9.99989839e-01 -6.29683252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58463044 meters 0.27085812218488703 Centerline is valid? [False, False] Translation: X:5.06, Y:0.70, Z:-0.63 [[ 9.99989014e-01 -5.70695648e-04 4.65256541e-03 5.05982951e+00] [ 5.69500265e-04 9.99999804e-01 2.58250592e-04 7.01475075e-01] [-4.65271189e-03 -2.55598117e-04 9.99989143e-01 -6.29851287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64463044 meters 0.27002908689521055 Centerline is valid? [False, False] Translation: X:5.06, Y:0.69, Z:-0.63 [[ 9.99983736e-01 -1.61428818e-03 5.47006676e-03 5.05723818e+00] [ 1.61099124e-03 9.99998518e-01 6.07075524e-04 6.91898372e-01] [-5.47103865e-03 -5.98253421e-04 9.99984855e-01 -6.28321728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70463044 meters 0.2695153815870883 Centerline is valid? [False, False] Translation: X:5.06, Y:0.69, Z:-0.63 [[ 9.99984439e-01 -1.34786898e-03 5.41349156e-03 5.05782829e+00] [ 1.34137509e-03 9.99998377e-01 1.20302802e-03 6.89403788e-01] [-5.41510430e-03 -1.19574778e-03 9.99984623e-01 -6.28926022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76463044 meters 0.26931163332486535 Centerline is valid? [False, False] Translation: X:5.06, Y:0.68, Z:-0.63 [[ 9.99976567e-01 -2.83546216e-03 6.23102862e-03 5.05621255e+00] [ 2.82664146e-03 9.99994991e-01 1.42396061e-03 6.77764222e-01] [-6.23503500e-03 -1.40631436e-03 9.99979573e-01 -6.28623093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82463044 meters 0.26782965612192394 Centerline is valid? [False, False] Translation: X:5.06, Y:0.67, Z:-0.63 [[ 9.99977977e-01 -2.34175573e-03 6.20976758e-03 5.05735045e+00] [ 2.32572670e-03 9.99993949e-01 2.58722703e-03 6.72527751e-01] [-6.21578865e-03 -2.57272783e-03 9.99977372e-01 -6.30040409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88463044 meters 0.2730222385683953 Centerline is valid? [False, False] Translation: X:5.08, Y:0.67, Z:-0.63 [[ 9.99994164e-01 1.16637540e-03 3.21105176e-03 5.08317605e+00] [-1.16617362e-03 9.99999318e-01 -6.47097810e-05 6.65662481e-01] [-3.21112504e-03 6.09647595e-05 9.99994842e-01 -6.33265871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94463044 meters 0.2681854589136671 Centerline is valid? [False, False] Translation: X:5.06, Y:0.66, Z:-0.63 [[ 9.99974501e-01 -6.11532520e-03 3.68777231e-03 5.06194916e+00] [ 6.11283660e-03 9.99981081e-01 6.85720242e-04 6.64784648e-01] [-3.69189594e-03 -6.63160007e-04 9.99992965e-01 -6.33828401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00463044 meters 0.2692560408353665 Centerline is valid? [False, False] Translation: X:5.06, Y:0.66, Z:-0.63 [[ 9.99974256e-01 -6.01670351e-03 3.90972677e-03 5.06209932e+00] [ 6.01389266e-03 9.99981650e-01 7.30295241e-04 6.64976174e-01] [-3.91404899e-03 -7.06763763e-04 9.99992090e-01 -6.34930852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06463044000003 meters 0.2751615012454716 Centerline is valid? [False, False] Translation: X:5.06, Y:0.66, Z:-0.64 [[ 9.99975491e-01 -5.78158734e-03 3.94854767e-03 5.06254992e+00] [ 5.77680930e-03 9.99982569e-01 1.22041077e-03 6.63153609e-01] [-3.95553475e-03 -1.19757085e-03 9.99991460e-01 -6.35568278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12463044000003 meters 0.269122967182608 Centerline is valid? [False, False] Translation: X:5.06, Y:0.66, Z:-0.64 [[ 9.99978109e-01 -5.51376193e-03 3.65789940e-03 5.06358439e+00] [ 5.50691767e-03 9.99983072e-01 1.87853037e-03 6.60547261e-01] [-3.66819525e-03 -1.85834549e-03 9.99991545e-01 -6.35997541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18463044000003 meters 0.2682203027232276 Centerline is valid? [False, False] Translation: X:5.07, Y:0.66, Z:-0.64 [[ 9.99980687e-01 -5.27862075e-03 3.28055268e-03 5.06533191e+00] [ 5.26936902e-03 9.99982134e-01 2.82244850e-03 6.56410237e-01] [-3.29539270e-03 -2.80510754e-03 9.99990636e-01 -6.37370691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24463044000004 meters 0.26871424741372335 Centerline is valid? [False, False] Translation: X:5.07, Y:0.65, Z:-0.64 [[ 9.99983808e-01 -4.89476126e-03 2.90270902e-03 5.06695890e+00] [ 4.88389357e-03 9.99981082e-01 3.73932568e-03 6.52931286e-01] [-2.92095722e-03 -3.72508861e-03 9.99988796e-01 -6.38543284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30463044 meters 0.267522682879943 Centerline is valid? [False, False] Translation: X:5.05, Y:0.64, Z:-0.64 [[ 9.99995986e-01 1.93762035e-03 2.06703399e-03 5.04930348e+00] [-1.93838335e-03 9.99998054e-01 3.67188009e-04 6.44573734e-01] [-2.06631849e-03 -3.71193240e-04 9.99997796e-01 -6.38723125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36463044 meters 0.268196570094411 Centerline is valid? [False, False] Translation: X:5.07, Y:0.64, Z:-0.64 [[ 9.99979322e-01 -4.79374524e-03 4.28657064e-03 5.06719098e+00] [ 4.77193404e-03 9.99975690e-01 5.08409456e-03 6.39971985e-01] [-4.31083828e-03 -5.06353421e-03 9.99977888e-01 -6.38661396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42463044 meters 0.2669869443335292 Centerline is valid? [False, False] Translation: X:5.05, Y:0.63, Z:-0.64 [[ 9.99988391e-01 1.90984779e-03 4.42381159e-03 5.04897212e+00] [-1.91549941e-03 9.99997354e-01 1.27366120e-03 6.33075649e-01] [-4.42136739e-03 -1.28212022e-03 9.99989404e-01 -6.39415002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48463044 meters 0.2690440052103622 Centerline is valid? [False, False] Translation: X:5.08, Y:0.63, Z:-0.63 [[ 9.99994956e-01 -2.32291422e-04 3.16750981e-03 5.08028394e+00] [ 2.20418727e-04 9.99992952e-01 3.74810818e-03 6.30225245e-01] [-3.16835814e-03 -3.74739110e-03 9.99987959e-01 -6.32445428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54463044 meters 0.26607710726356054 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99990234e-01 -2.06586478e-03 3.90703723e-03 5.07659476e+00] [ 2.05540815e-03 9.99994300e-01 2.67848399e-03 6.24865448e-01] [-3.91254834e-03 -2.67042728e-03 9.99988780e-01 -6.29431240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60463044 meters 0.2652524082456103 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99990858e-01 -1.92901325e-03 3.81613487e-03 5.07723618e+00] [ 1.91680030e-03 9.99993038e-01 3.20141699e-03 6.22628937e-01] [-3.82228388e-03 -3.19407295e-03 9.99987594e-01 -6.30044515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66463044 meters 0.26580134508020964 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99992549e-01 -1.81426365e-03 3.40750706e-03 5.07824571e+00] [ 1.80236956e-03 9.99992284e-01 3.49038858e-03 6.21615225e-01] [-3.41381325e-03 -3.48422098e-03 9.99988103e-01 -6.30147419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72463044 meters 0.26365325609510853 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99992699e-01 -1.85484196e-03 3.34088875e-03 5.07876430e+00] [ 1.84289862e-03 9.99991914e-01 3.57443879e-03 6.20933145e-01] [-3.34749175e-03 -3.56825578e-03 9.99988031e-01 -6.30654995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78463044 meters 0.26314563989393225 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99993206e-01 -1.74316045e-03 3.24812901e-03 5.07927529e+00] [ 1.73075454e-03 9.99991212e-01 3.81830443e-03 6.20344122e-01] [-3.25475639e-03 -3.81265677e-03 9.99987435e-01 -6.31005958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84463044 meters 0.26351013618350416 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99994432e-01 -1.63368279e-03 2.90976723e-03 5.08049001e+00] [ 1.62175618e-03 9.99990294e-01 4.09647569e-03 6.19251896e-01] [-2.91643133e-03 -4.09173395e-03 9.99987376e-01 -6.31787503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90463044 meters 0.2628316438327621 Centerline is valid? [False, False] Translation: X:5.08, Y:0.62, Z:-0.63 [[ 9.99994681e-01 -1.47496631e-03 2.90914881e-03 5.08080829e+00] [ 1.46127712e-03 9.99987877e-01 4.70209230e-03 6.16699556e-01] [-2.91604897e-03 -4.69781622e-03 9.99984713e-01 -6.32134808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96463044 meters 0.2622665738539363 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:-0.63 [[ 9.99980825e-01 5.45281077e-03 2.93552114e-03 5.06254563e+00] [-5.45658599e-03 9.99984294e-01 1.27957883e-03 6.09717500e-01] [-2.92849773e-03 -1.29557222e-03 9.99994873e-01 -6.33088456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02463044 meters 0.2620617507647418 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:-0.63 [[ 9.99995891e-01 1.55927592e-03 2.40546615e-03 5.06402112e+00] [-1.55265071e-03 9.99995003e-01 -2.75364624e-03 6.10791237e-01] [-2.40974783e-03 2.74990008e-03 9.99993316e-01 -6.33803484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08463044 meters 0.26259276287107586 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:-0.63 [[ 9.99995692e-01 1.54549757e-03 2.49538941e-03 5.06417309e+00] [-1.53841045e-03 9.99994785e-01 -2.83951060e-03 6.11384137e-01] [-2.49976485e-03 2.83565943e-03 9.99992855e-01 -6.34381403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14463044 meters 0.26232405955824484 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:-0.63 [[ 9.99995545e-01 1.41757409e-03 2.62700392e-03 5.06323580e+00] [-1.40948202e-03 9.99994265e-01 -3.07963574e-03 6.12348655e-01] [-2.63135446e-03 3.07591930e-03 9.99991807e-01 -6.33273238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20463044 meters 0.26183013330053634 Centerline is valid? [False, False] Translation: X:5.06, Y:0.61, Z:-0.63 [[ 9.99996269e-01 1.39247422e-03 2.34999507e-03 5.06385142e+00] [-1.38502168e-03 9.99994017e-01 -3.16995508e-03 6.12873267e-01] [-2.35439509e-03 3.16668846e-03 9.99992214e-01 -6.33275225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26463044 meters 0.2641779871497462 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.63 [[ 9.99975782e-01 -6.94478599e-03 4.53368311e-04 5.08693961e+00] [ 6.94540301e-03 9.99974937e-01 -1.37389642e-03 6.19634383e-01] [-4.43815531e-04 1.37701197e-03 9.99998953e-01 -6.34871203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32463044 meters 0.2629448797707935 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99974855e-01 -7.09079796e-03 1.02944106e-04 5.08792526e+00] [ 7.09097893e-03 9.99973093e-01 -1.87922228e-03 6.22570327e-01] [-8.96161510e-05 1.87990500e-03 9.99998229e-01 -6.35197352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38463044 meters 0.26318359160803895 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99994917e-01 -3.17390871e-03 -3.03405814e-04 5.08944016e+00] [ 3.17441339e-03 9.99993554e-01 1.67760194e-03 6.24047478e-01] [ 2.98079303e-04 -1.67855655e-03 9.99998547e-01 -6.36313731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44463044 meters 0.26330751146327525 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.64 [[ 9.99994643e-01 -3.17782154e-03 -7.84339439e-04 5.09069213e+00] [ 3.17904496e-03 9.99993725e-01 1.56353193e-03 6.25188667e-01] [ 7.79365891e-04 -1.56601700e-03 9.99998470e-01 -6.36515864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50463044 meters 0.2624142087522526 Centerline is valid? [False, False] Translation: X:5.07, Y:0.62, Z:-0.64 [[ 9.99993500e-01 3.60411255e-03 9.94437439e-05 5.07097786e+00] [-3.60382684e-03 9.99989759e-01 -2.73749502e-03 6.22136380e-01] [-1.09308966e-04 2.73711885e-03 9.99996248e-01 -6.35443979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56463044000003 meters 0.2631721235116427 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99993668e-01 -3.23055237e-03 1.49223937e-03 5.08888267e+00] [ 3.22857744e-03 9.99993912e-01 1.32398731e-03 6.23828834e-01] [-1.49650750e-03 -1.31916111e-03 9.99998010e-01 -6.35162883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62463044000003 meters 0.26279564229735264 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99993937e-01 -3.20311707e-03 1.36606450e-03 5.08927293e+00] [ 3.20126940e-03 9.99993961e-01 1.35259753e-03 6.23733884e-01] [-1.37038878e-03 -1.34821619e-03 9.99998152e-01 -6.35282802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68463044000003 meters 0.26228324220718674 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.63 [[ 9.99992713e-01 -3.43467996e-03 1.66643541e-03 5.08765044e+00] [ 3.43275487e-03 9.99993439e-01 1.15670004e-03 6.23374465e-01] [-1.67039738e-03 -1.15097115e-03 9.99997943e-01 -6.33641669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74463044000004 meters 0.2619661509683836 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.63 [[ 9.99992095e-01 -3.45394323e-03 1.96995821e-03 5.08617022e+00] [ 3.45189277e-03 9.99993498e-01 1.04331872e-03 6.24366853e-01] [-1.97354897e-03 -1.03651039e-03 9.99997515e-01 -6.32180411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80463044 meters 0.2628800377727818 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.63 [[ 9.99993226e-01 -3.32353370e-03 1.58170828e-03 5.08750605e+00] [ 3.32235076e-03 9.99994200e-01 7.49929050e-04 6.26418424e-01] [-1.58419152e-03 -7.44668980e-04 9.99998468e-01 -6.33257671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86463044 meters 0.26374085798146707 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.63 [[ 9.99992175e-01 -3.42819410e-03 1.97412195e-03 5.08625433e+00] [ 3.42764610e-03 9.99994086e-01 2.80909799e-04 6.28397627e-01] [-1.97507329e-03 -2.74141010e-04 9.99998012e-01 -6.32582608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92463044 meters 0.2643515274157004 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.63 [[ 9.99993060e-01 -3.31591035e-03 1.69851849e-03 5.08720789e+00] [ 3.31631742e-03 9.99994473e-01 -2.36902749e-04 6.31815428e-01] [-1.69772355e-03 2.42533931e-04 9.99998529e-01 -6.33284836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98463044 meters 0.26530461499930214 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99993472e-01 -3.31639714e-03 1.43443349e-03 5.08790754e+00] [ 3.31756502e-03 9.99994167e-01 -8.12560117e-04 6.35098538e-01] [-1.43173035e-03 8.17313639e-04 9.99998641e-01 -6.33706817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04463044 meters 0.2657763424019738 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99993682e-01 -3.33927241e-03 1.21876328e-03 5.08819963e+00] [ 3.34097458e-03 9.99993443e-01 -1.39728071e-03 6.38347826e-01] [-1.21408938e-03 1.40134374e-03 9.99998281e-01 -6.33552910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10463044 meters 0.26670504814084744 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99994215e-01 -3.26859921e-03 9.40960602e-04 5.08915543e+00] [ 3.27049266e-03 9.99992616e-01 -2.01779811e-03 6.42228212e-01] [-9.34358281e-04 2.02086384e-03 9.99997522e-01 -6.34354223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16463044 meters 0.2678428443932238 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99994166e-01 -3.33544073e-03 7.36831196e-04 5.08976498e+00] [ 3.33716598e-03 9.99991664e-01 -2.35275192e-03 6.44152669e-01] [-7.28977589e-04 2.35519712e-03 9.99996961e-01 -6.34739047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22463044 meters 0.2680193729135716 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99993936e-01 -3.41796698e-03 6.67111627e-04 5.08965715e+00] [ 3.41965051e-03 9.99990930e-01 -2.53899597e-03 6.44995230e-01] [-6.58427372e-04 2.54126187e-03 9.99996554e-01 -6.34358453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28463044 meters 0.2680481866502691 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99994165e-01 -3.37374055e-03 5.36690285e-04 5.09008558e+00] [ 3.37506130e-03 9.99991231e-01 -2.47934187e-03 6.44856731e-01] [-5.28320923e-04 2.48113877e-03 9.99996782e-01 -6.34559244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34463044 meters 0.26767531001488926 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.64 [[ 9.99995021e-01 -3.13274846e-03 3.80438240e-04 5.09113163e+00] [ 3.13351547e-03 9.99993025e-01 -2.03253642e-03 6.43170653e-01] [-3.74068161e-04 2.03371841e-03 9.99997862e-01 -6.35626250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40463044 meters 0.2674961532377611 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.64 [[ 9.99995882e-01 -2.85117143e-03 3.26300351e-04 5.09111240e+00] [ 2.85154451e-03 9.99995275e-01 -1.14864607e-03 6.38965684e-01] [-3.23023823e-04 1.14957180e-03 9.99999287e-01 -6.35179169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46463044 meters 0.26693579398690803 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99996382e-01 -2.68296811e-03 1.94769062e-04 5.09104010e+00] [ 2.68310241e-03 9.99996161e-01 -6.92597533e-04 6.36592991e-01] [-1.92910097e-04 6.93117613e-04 9.99999741e-01 -6.34470681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52463044 meters 0.26681756837128945 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99996363e-01 -2.64654943e-03 5.19126878e-04 5.09018016e+00] [ 2.64682988e-03 9.99996351e-01 -5.40308441e-04 6.35648018e-01] [-5.17695031e-04 5.41680517e-04 9.99999719e-01 -6.34200261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58463044 meters 0.26895138587547857 Centerline is valid? [False, False] Translation: X:5.09, Y:0.64, Z:-0.63 [[ 9.99996357e-01 -2.61397621e-03 6.72908002e-04 5.08993119e+00] [ 2.61433631e-03 9.99996440e-01 -5.34819572e-04 6.35892533e-01] [-6.71507601e-04 5.36576832e-04 9.99999631e-01 -6.34370486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64463044 meters 0.26756027565494134 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.63 [[ 9.99996623e-01 -2.49873243e-03 7.14918469e-04 5.09016910e+00] [ 2.49894155e-03 9.99996835e-01 -2.91763475e-04 6.34747823e-01] [-7.14187168e-04 2.93549029e-04 9.99999702e-01 -6.34888077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70463044 meters 0.26747721534626057 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.64 [[ 9.99996993e-01 -2.35416841e-03 6.86897774e-04 5.09043807e+00] [ 2.35410575e-03 9.99997225e-01 9.20166116e-05 6.33071595e-01] [-6.87112491e-04 -9.03993049e-05 9.99999760e-01 -6.35091983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76463044 meters 0.2670797607163536 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.63 [[ 9.99997201e-01 -2.23426533e-03 7.78537464e-04 5.09017209e+00] [ 2.23377446e-03 9.99997306e-01 6.30808608e-04 6.30360531e-01] [-7.79944760e-04 -6.29067765e-04 9.99999498e-01 -6.34712888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82463044 meters 0.26800368805945224 Centerline is valid? [False, False] Translation: X:5.09, Y:0.63, Z:-0.64 [[ 9.99997865e-01 -1.96361084e-03 6.42991126e-04 5.09088469e+00] [ 1.96282122e-03 9.99997322e-01 1.22636690e-03 6.28084825e-01] [-6.45397511e-04 -1.22510221e-03 9.99999041e-01 -6.35167954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88463044 meters 0.26671520317744263 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99998160e-01 -1.80671773e-03 6.45233983e-04 5.09133063e+00] [ 1.80557104e-03 9.99996798e-01 1.77334420e-03 6.24728606e-01] [-6.48435849e-04 -1.77217592e-03 9.99998219e-01 -6.35751110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94463044 meters 0.26692454539876675 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99998562e-01 -1.56545298e-03 6.51469763e-04 5.09199853e+00] [ 1.56398333e-03 9.99996245e-01 2.25032071e-03 6.22866159e-01] [-6.54990088e-04 -2.24929859e-03 9.99997256e-01 -6.36786897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00463044 meters 0.267770806703333 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99998715e-01 -1.42861183e-03 7.27921681e-04 5.09196954e+00] [ 1.42675790e-03 9.99995754e-01 2.54107069e-03 6.21701935e-01] [-7.31548794e-04 -2.54002886e-03 9.99996507e-01 -6.36949802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06463044000003 meters 0.2677917833020755 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99998496e-01 -1.48129389e-03 9.02148271e-04 5.09109216e+00] [ 1.47895495e-03 9.99995558e-01 2.58780212e-03 6.20835042e-01] [-9.05977559e-04 -2.58646399e-03 9.99996245e-01 -6.36216350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12463044000003 meters 0.2694493799938908 Centerline is valid? [False, False] Translation: X:5.09, Y:0.62, Z:-0.64 [[ 9.99998501e-01 -1.34931989e-03 1.08530592e-03 5.09119297e+00] [ 1.34625888e-03 9.99995128e-01 2.81621052e-03 6.19946354e-01] [-1.08910060e-03 -2.81474519e-03 9.99995446e-01 -6.36985150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18463044000003 meters 0.267908320199298 Centerline is valid? [False, False] Translation: X:5.07, Y:0.61, Z:-0.64 [[ 9.99985127e-01 5.45404734e-03 -1.18111861e-05 5.07359218e+00] [-5.45405366e-03 9.99984931e-01 -6.24651255e-04 6.12987769e-01] [ 8.40413060e-06 6.24706383e-04 9.99999805e-01 -6.38327170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24463044000004 meters 0.2692682397975722 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:-0.64 [[ 9.99986853e-01 -5.08679783e-03 6.46959837e-04 5.09225422e+00] [ 5.08666635e-03 9.99987042e-01 2.04712346e-04 6.12231998e-01] [-6.47992784e-04 -2.01418786e-04 9.99999770e-01 -6.37852254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30463044 meters 0.26739751554765573 Centerline is valid? [False, False] Translation: X:5.09, Y:0.61, Z:-0.64 [[ 9.99988658e-01 -4.72436309e-03 6.03487890e-04 5.09255797e+00] [ 4.72354532e-03 9.99987934e-01 1.34938826e-03 6.06676998e-01] [-6.09855609e-04 -1.34652235e-03 9.99998907e-01 -6.37895954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36463044 meters 0.26776256002599835 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:-0.64 [[ 9.99990509e-01 -4.31762450e-03 5.83532487e-04 5.09354033e+00] [ 4.31631494e-03 9.99988205e-01 2.22711922e-03 6.03007610e-01] [-5.93141468e-04 -2.22457938e-03 9.99997350e-01 -6.39194422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42463044 meters 0.2678051491354278 Centerline is valid? [False, False] Translation: X:5.09, Y:0.60, Z:-0.64 [[ 9.99991868e-01 -3.96252391e-03 7.49765484e-04 5.09345210e+00] [ 3.95986877e-03 9.99985999e-01 3.51025417e-03 5.96860011e-01] [-7.63664453e-04 -3.50725665e-03 9.99993558e-01 -6.39295241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48463044 meters 0.26721154603233566 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:-0.64 [[ 9.99992874e-01 -3.74509315e-03 4.76399294e-04 5.09394237e+00] [ 3.74312567e-03 9.99984729e-01 4.06582248e-03 5.94476512e-01] [-4.91618903e-04 -4.06401028e-03 9.99991621e-01 -6.38958257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54463044 meters 0.26638308881639855 Centerline is valid? [False, False] Translation: X:5.09, Y:0.59, Z:-0.64 [[ 9.99992797e-01 -3.70497049e-03 8.24402512e-04 5.09311158e+00] [ 3.70075547e-03 9.99980366e-01 5.05691327e-03 5.88704303e-01] [-8.43122039e-04 -5.05382593e-03 9.99986874e-01 -6.38448981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60463044 meters 0.2657074412037347 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.64 [[ 9.99986278e-01 -5.07418479e-03 1.30271033e-03 5.09235814e+00] [ 5.06674420e-03 9.99971187e-01 5.65276790e-03 5.76716551e-01] [-1.33135598e-03 -5.64608983e-03 9.99983174e-01 -6.38501910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66463044 meters 0.2643156800234806 Centerline is valid? [False, False] Translation: X:5.07, Y:0.57, Z:-0.64 [[ 9.99993003e-01 2.32706416e-03 2.92888460e-03 5.07265212e+00] [-2.33782903e-03 9.99990506e-01 3.67737456e-03 5.65615014e-01] [-2.92029931e-03 -3.68419606e-03 9.99988949e-01 -6.38788145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72463044 meters 0.26546076179533473 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:-0.64 [[ 9.99992934e-01 2.65338070e-03 2.66307172e-03 5.07340409e+00] [-2.66525205e-03 9.99986484e-01 4.46416059e-03 5.62215509e-01] [-2.65119061e-03 -4.47122680e-03 9.99986490e-01 -6.38905999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78463044 meters 0.2649379096802464 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:-0.64 [[ 9.99995367e-01 -1.32198974e-03 2.74188026e-03 5.07388291e+00] [ 1.31959400e-03 9.99998746e-01 8.75384501e-04 5.59498563e-01] [-2.74303407e-03 -8.71762277e-04 9.99995858e-01 -6.39861361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84463044 meters 0.26549931455408626 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:-0.64 [[ 9.99995698e-01 -1.11518627e-03 2.71288424e-03 5.07449985e+00] [ 1.11154627e-03 9.99998481e-01 1.34288297e-03 5.57611084e-01] [-2.71437769e-03 -1.33986170e-03 9.99995418e-01 -6.40686136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90463044 meters 0.26333013763405605 Centerline is valid? [False, False] Translation: X:5.06, Y:0.55, Z:-0.64 [[ 9.99981385e-01 5.59756882e-03 2.42816601e-03 5.05520134e+00] [-5.59283430e-03 9.99982454e-01 -1.95225976e-03 5.51458471e-01] [-2.43905132e-03 1.93864308e-03 9.99995146e-01 -6.40397197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96463044 meters 0.2651248363528548 Centerline is valid? [False, False] Translation: X:5.10, Y:0.55, Z:-0.64 [[ 9.99994221e-01 1.58038033e-03 3.00989138e-03 5.09513562e+00] [-1.57452906e-03 9.99996868e-01 -1.94539161e-03 5.45936564e-01] [-3.01295641e-03 1.94064121e-03 9.99993578e-01 -6.39416902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02463044 meters 0.2636270053133724 Centerline is valid? [False, False] Translation: X:5.10, Y:0.54, Z:-0.64 [[ 9.99994394e-01 1.71695670e-03 2.87475774e-03 5.09528219e+00] [-1.71262662e-03 9.99997396e-01 -1.50802548e-03 5.43931568e-01] [-2.87733947e-03 1.50309364e-03 9.99994731e-01 -6.39109821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08463044 meters 0.26364995205207176 Centerline is valid? [False, False] Translation: X:5.10, Y:0.54, Z:-0.64 [[ 9.99995309e-01 1.81644715e-03 2.46625859e-03 5.09619449e+00] [-1.81329989e-03 9.99997540e-01 -1.27776472e-03 5.43002203e-01] [-2.46857352e-03 1.27328666e-03 9.99996142e-01 -6.39036456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14463044 meters 0.26292333211667784 Centerline is valid? [False, False] Translation: X:5.10, Y:0.54, Z:-0.64 [[ 9.99995949e-01 1.74756530e-03 2.24669684e-03 5.09688894e+00] [-1.74428760e-03 9.99997413e-01 -1.46003040e-03 5.43864169e-01] [-2.24924252e-03 1.45610560e-03 9.99996410e-01 -6.39450273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20463044 meters 0.26450171392630867 Centerline is valid? [False, False] Translation: X:5.12, Y:0.55, Z:-0.64 [[ 9.99987041e-01 -4.55895908e-03 2.26560305e-03 5.11688500e+00] [ 4.55311106e-03 9.99986307e-01 2.57970847e-03 5.47992016e-01] [-2.27733282e-03 -2.56935950e-03 9.99994106e-01 -6.39270565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26463044 meters 0.2628970938804361 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:-0.64 [[ 9.99981881e-01 4.36590824e-03 4.14444870e-03 5.09296554e+00] [-4.36851384e-03 9.99990266e-01 6.19853955e-04 5.47598110e-01] [-4.14170214e-03 -6.37947806e-04 9.99991220e-01 -6.36264696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32463044 meters 0.26244111623720123 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:-0.64 [[ 9.99983684e-01 4.14828692e-03 3.92738037e-03 5.09269315e+00] [-4.14903145e-03 9.99991376e-01 1.81446323e-04 5.49515808e-01] [-3.92659381e-03 -1.97738188e-04 9.99992271e-01 -6.35032695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38463044 meters 0.2617389884258774 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:-0.63 [[ 9.99984611e-01 3.98430598e-03 3.86041413e-03 5.09249117e+00] [-3.98369191e-03 9.99992051e-01 -1.66744119e-04 5.50996650e-01] [-3.86104780e-03 1.51362853e-04 9.99992535e-01 -6.34465580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44463044 meters 0.26135013439781984 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:-0.63 [[ 9.99985877e-01 3.85035797e-03 3.66349667e-03 5.09230993e+00] [-3.84886987e-03 9.99992508e-01 -4.13159592e-04 5.51831768e-01] [-3.66506004e-03 3.99053435e-04 9.99993204e-01 -6.33459996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50463044 meters 0.26178308733414213 Centerline is valid? [False, False] Translation: X:5.09, Y:0.55, Z:-0.63 [[ 9.99987316e-01 3.73832395e-03 3.37538928e-03 5.09257683e+00] [-3.73620391e-03 9.99992819e-01 -6.34172756e-04 5.52887762e-01] [-3.37773578e-03 6.21553569e-04 9.99994102e-01 -6.32853202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56463044000003 meters 0.2621952641959977 Centerline is valid? [False, False] Translation: X:5.09, Y:0.56, Z:-0.63 [[ 9.99987817e-01 3.41691013e-03 3.56244459e-03 5.09153726e+00] [-3.41207221e-03 9.99993250e-01 -1.36322659e-03 5.55911366e-01] [-3.56707857e-03 1.35105466e-03 9.99992725e-01 -6.31852327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62463044000003 meters 0.26054656421353356 Centerline is valid? [False, False] Translation: X:5.07, Y:0.56, Z:-0.63 [[ 9.99988995e-01 -3.52203863e-03 3.09934781e-03 5.07193982e+00] [ 3.52466168e-03 9.99993434e-01 -8.41268305e-04 5.61175839e-01] [-3.09636448e-03 8.52183199e-04 9.99994843e-01 -6.32875033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68463044000003 meters 0.26246030014794425 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:-0.63 [[ 9.99990673e-01 4.02591095e-03 1.56421636e-03 5.09553728e+00] [-4.02304531e-03 9.99990232e-01 -1.83084010e-03 5.65509651e-01] [-1.57157188e-03 1.82453011e-03 9.99997101e-01 -6.33118585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74463044000004 meters 0.2625056728824452 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:-0.63 [[ 9.99992104e-01 3.70155509e-03 1.44581332e-03 5.09572183e+00] [-3.69762658e-03 9.99989490e-01 -2.71044716e-03 5.69646205e-01] [-1.45583099e-03 2.70507968e-03 9.99995282e-01 -6.33131359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80463044 meters 0.262765290815869 Centerline is valid? [False, False] Translation: X:5.10, Y:0.57, Z:-0.63 [[ 9.99993267e-01 3.38750233e-03 1.41065168e-03 5.09576593e+00] [-3.38246420e-03 9.99987947e-01 -3.55869229e-03 5.73318985e-01] [-1.42268976e-03 3.55389685e-03 9.99992673e-01 -6.33150568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86463044 meters 0.2620983965665264 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.63 [[ 9.99993872e-01 2.94759095e-03 1.88896124e-03 5.09384441e+00] [-2.93875366e-03 9.99984804e-01 -4.66420938e-03 5.78596641e-01] [-1.90268072e-03 4.65862960e-03 9.99987338e-01 -6.31667210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92463044 meters 0.26172984880267 Centerline is valid? [False, False] Translation: X:5.09, Y:0.58, Z:-0.63 [[ 9.99994429e-01 2.79200163e-03 1.82912551e-03 5.09425385e+00] [-2.78266539e-03 9.99983189e-01 -5.08702550e-03 5.80640203e-01] [-1.84329775e-03 5.08190732e-03 9.99985388e-01 -6.32104136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98463044 meters 0.2624705021743542 Centerline is valid? [False, False] Translation: X:5.10, Y:0.58, Z:-0.63 [[ 9.99994744e-01 2.87362601e-03 1.50161020e-03 5.09558439e+00] [-2.86589387e-03 9.99982754e-01 -5.12625689e-03 5.81873102e-01] [-1.51631525e-03 5.12192649e-03 9.99985733e-01 -6.32949557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04463044 meters 0.26150838691270833 Centerline is valid? [False, False] Translation: X:5.10, Y:0.58, Z:-0.63 [[ 9.99995114e-01 2.69742629e-03 1.58004135e-03 5.09520164e+00] [-2.68866178e-03 9.99981133e-01 -5.52311635e-03 5.83397526e-01] [-1.59490974e-03 5.51884117e-03 9.99983499e-01 -6.32603536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10463044 meters 0.2617903471660567 Centerline is valid? [False, False] Translation: X:5.10, Y:0.59, Z:-0.63 [[ 9.99995884e-01 2.57839279e-03 1.25839379e-03 5.09610410e+00] [-2.57072479e-03 9.99978349e-01 -6.05752943e-03 5.86492826e-01] [-1.27398524e-03 6.05426952e-03 9.99980861e-01 -6.32960487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16463044 meters 0.2623361523441846 Centerline is valid? [False, False] Translation: X:5.10, Y:0.59, Z:-0.64 [[ 9.99991903e-01 4.02269601e-03 -1.04719280e-04 5.10104252e+00] [-4.02322152e-03 9.99976081e-01 -5.62601272e-03 5.94451069e-01] [ 8.20850363e-05 5.62638848e-03 9.99984168e-01 -6.35938215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22463044 meters 0.262361281848417 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:-0.64 [[ 9.99993365e-01 3.64018084e-03 -1.38348895e-04 5.10052099e+00] [-3.64099808e-03 9.99972537e-01 -6.45507954e-03 5.97748595e-01] [ 1.14847439e-04 6.45554044e-03 9.99979156e-01 -6.35056941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28463044 meters 0.2624055404381426 Centerline is valid? [False, False] Translation: X:5.10, Y:0.60, Z:-0.63 [[ 9.99994582e-01 3.28235371e-03 -2.50972806e-04 5.10027347e+00] [-3.28408981e-03 9.99968239e-01 -7.26200192e-03 6.01418350e-01] [ 2.27128375e-04 7.26278679e-03 9.99973600e-01 -6.34284981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34463044 meters 0.26333264869647055 Centerline is valid? [False, False] Translation: X:5.12, Y:0.61, Z:-0.63 [[ 9.99992157e-01 -3.79023605e-03 -1.14865395e-03 5.11982722e+00] [ 3.78528756e-03 9.99983676e-01 -4.28005790e-03 6.10102771e-01] [ 1.16485763e-03 4.27567635e-03 9.99990181e-01 -6.33545548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40463044 meters 0.2619090146059131 Centerline is valid? [False, False] Translation: X:5.12, Y:0.61, Z:-0.63 [[ 9.99999301e-01 -6.76634281e-05 -1.18024313e-03 5.11903593e+00] [ 6.62123079e-05 9.99999242e-01 -1.22950525e-03 6.14789158e-01] [ 1.18032543e-03 1.22942625e-03 9.99998548e-01 -6.32330345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46463044 meters 0.26310255945821714 Centerline is valid? [False, False] Translation: X:5.12, Y:0.62, Z:-0.63 [[ 9.99996533e-01 1.25184219e-03 -2.31685777e-03 5.12185436e+00] [-1.25408397e-03 9.99998747e-01 -9.66398751e-04 6.23055134e-01] [ 2.31564509e-03 9.69300935e-04 9.99996849e-01 -6.32939663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52463044 meters 0.2618330096971003 Centerline is valid? [False, False] Translation: X:5.12, Y:0.63, Z:-0.63 [[ 9.99997010e-01 4.48650628e-04 -2.40384064e-03 5.12060336e+00] [-4.55204833e-04 9.99996179e-01 -2.72670265e-03 6.30360196e-01] [ 2.40260811e-03 2.72778873e-03 9.99993393e-01 -6.30881451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58463044 meters 0.26295414996397054 Centerline is valid? [False, False] Translation: X:5.12, Y:0.64, Z:-0.63 [[ 9.99992569e-01 1.79467524e-03 -3.41199138e-03 5.12444161e+00] [-1.80176523e-03 9.99996222e-01 -2.07602507e-03 6.36416573e-01] [ 3.40825269e-03 2.08215725e-03 9.99992024e-01 -6.32959402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64463044 meters 0.2629170974610993 Centerline is valid? [False, False] Translation: X:5.12, Y:0.64, Z:-0.63 [[ 9.99991813e-01 1.47265230e-03 -3.76886454e-03 5.12484806e+00] [-1.48344035e-03 9.99994806e-01 -2.86122171e-03 6.41066168e-01] [ 3.76463138e-03 2.86678917e-03 9.99988804e-01 -6.32353736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70463044 meters 0.2629716550173333 Centerline is valid? [False, False] Translation: X:5.12, Y:0.64, Z:-0.63 [[ 9.99992065e-01 1.06623693e-03 -3.83832946e-03 5.12399856e+00] [-1.08047122e-03 9.99992541e-01 -3.70829976e-03 6.44598591e-01] [ 3.83434690e-03 3.71241754e-03 9.99985758e-01 -6.30790508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76463044 meters 0.2629250046182624 Centerline is valid? [False, False] Translation: X:5.12, Y:0.65, Z:-0.63 [[ 9.99992226e-01 6.96698920e-04 -3.88114904e-03 5.12387546e+00] [-7.14470565e-04 9.99989259e-01 -4.57946163e-03 6.48626195e-01] [ 3.87791685e-03 4.58219900e-03 9.99981982e-01 -6.30449871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82463044 meters 0.2644634013718782 Centerline is valid? [False, False] Translation: X:5.15, Y:0.66, Z:-0.63 [[ 9.99967645e-01 -4.56603405e-03 -6.62267648e-03 5.14783126e+00] [ 4.56304558e-03 9.99989481e-01 -4.66287370e-04 6.59971809e-01] [ 6.62473590e-03 4.36052709e-04 9.99977961e-01 -6.32711777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88463044 meters 0.26500694269951697 Centerline is valid? [False, False] Translation: X:5.15, Y:0.66, Z:-0.63 [[ 9.99963119e-01 -4.84451415e-03 -7.09166042e-03 5.14837495e+00] [ 4.83609223e-03 9.99987581e-01 -1.20424766e-03 6.64275653e-01] [ 7.09740634e-03 1.16990732e-03 9.99974129e-01 -6.31960623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94463044 meters 0.26376420297886966 Centerline is valid? [False, False] Translation: X:5.15, Y:0.67, Z:-0.63 [[ 9.99959980e-01 -5.63982179e-03 -6.94478002e-03 5.14670836e+00] [ 5.62030657e-03 9.99980212e-01 -2.82637311e-03 6.71422778e-01] [ 6.96058284e-03 2.78722821e-03 9.99971890e-01 -6.30145324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00463044 meters 0.26380965107348725 Centerline is valid? [False, False] Translation: X:5.15, Y:0.67, Z:-0.63 [[ 9.99975513e-01 -1.69489957e-03 -6.78976393e-03 5.14656046e+00] [ 1.69896378e-03 9.99998381e-01 5.92854871e-04 6.74325961e-01] [ 6.78874811e-03 -6.04375917e-04 9.99976774e-01 -6.30323756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06463044000003 meters 0.264606437497266 Centerline is valid? [False, False] Translation: X:5.15, Y:0.68, Z:-0.63 [[ 9.99971513e-01 -6.03241073e-04 -7.52391990e-03 5.14995188e+00] [ 6.11418221e-04 9.99999225e-01 1.08456730e-03 6.80313288e-01] [ 7.52325981e-03 -1.08913666e-03 9.99971107e-01 -6.32526179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12463044000003 meters 0.26419787526542665 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99968060e-01 -9.21025821e-04 -7.93923113e-03 5.15090497e+00] [ 9.21474131e-04 9.99999574e-01 5.28099191e-05 6.85793013e-01] [ 7.93917911e-03 -6.01240284e-05 9.99968482e-01 -6.32755588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18463044000003 meters 0.26463412956926646 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99966644e-01 -1.13944466e-03 -8.08779924e-03 5.15121262e+00] [ 1.13500555e-03 9.99999203e-01 -5.53433383e-04 6.88931691e-01] [ 8.08842340e-03 5.44235225e-04 9.99967140e-01 -6.32732055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24463044000004 meters 0.26419197538778605 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99966481e-01 -1.44164580e-03 -8.05966522e-03 5.15054334e+00] [ 1.43231053e-03 9.99998297e-01 -1.16392225e-03 6.91450135e-01] [ 8.06132946e-03 1.15233929e-03 9.99966843e-01 -6.31782502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30463044 meters 0.26423411892617427 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99966130e-01 -1.45599633e-03 -8.10053486e-03 5.15089833e+00] [ 1.44591162e-03 9.99998173e-01 -1.25066084e-03 6.92172259e-01] [ 8.10234101e-03 1.23890582e-03 9.99966408e-01 -6.32115611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36463044 meters 0.26568499176936 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99965190e-01 -1.24688874e-03 -8.25005699e-03 5.15210721e+00] [ 1.23935444e-03 9.99998810e-01 -9.18292270e-04 6.91319620e-01] [ 8.25119219e-03 9.08035560e-04 9.99965546e-01 -6.33347943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42463044 meters 0.2643078541491633 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99966350e-01 -1.24279566e-03 -8.10890004e-03 5.15148632e+00] [ 1.23637498e-03 9.99998918e-01 -7.96770776e-04 6.90288003e-01] [ 8.10988149e-03 7.86718324e-04 9.99966805e-01 -6.32842076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48463044 meters 0.26348317592940645 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99967136e-01 -1.21909418e-03 -8.01507633e-03 5.15100123e+00] [ 1.21379954e-03 9.99999042e-01 -6.65417085e-04 6.89524960e-01] [ 8.01587986e-03 6.55666521e-04 9.99967657e-01 -6.32278740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54463044 meters 0.4518796595265016 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99968250e-01 -1.04219589e-03 -7.90013368e-03 5.15169388e+00] [ 1.03890950e-03 9.99999372e-01 -4.20083989e-04 6.88799059e-01] [ 7.90056653e-03 4.11863128e-04 9.99968705e-01 -6.33713085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60463044 meters 0.4481152121019247 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99967262e-01 -9.58726421e-04 -8.03463751e-03 5.15247293e+00] [ 9.55617971e-04 9.99999467e-01 -3.90711310e-04 6.89442138e-01] [ 8.03500781e-03 3.83020475e-04 9.99967645e-01 -6.34431483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66463044 meters 0.28842234750229867 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99967635e-01 -9.46896453e-04 -7.98952961e-03 5.15305417e+00] [ 9.42533235e-04 9.99999405e-01 -5.49864645e-04 6.90600768e-01] [ 7.99004552e-03 5.42316451e-04 9.99967932e-01 -6.35514630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72463044 meters 0.2654181200460123 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99966751e-01 -9.11253723e-04 -8.10351534e-03 5.15359518e+00] [ 9.07024134e-04 9.99999451e-01 -5.25604711e-04 6.90854446e-01] [ 8.10398985e-03 5.18237151e-04 9.99967028e-01 -6.35935220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78463044 meters 0.26666405460419074 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99966864e-01 -9.02418308e-04 -8.09055486e-03 5.15340471e+00] [ 8.98899605e-04 9.99999500e-01 -4.38540682e-04 6.90258965e-01] [ 8.09094656e-03 4.31253554e-04 9.99967175e-01 -6.35594402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84463044 meters 0.26463273543994204 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99969218e-01 -9.32691581e-04 -7.79054086e-03 5.15301448e+00] [ 9.30400927e-04 9.99999523e-01 -2.97649284e-04 6.89061342e-01] [ 7.79081476e-03 2.90391795e-04 9.99969609e-01 -6.35867322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90463044 meters 0.2652938570432285 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99968116e-01 -7.23427902e-04 -7.95254169e-03 5.15376210e+00] [ 7.24491060e-04 9.99999729e-01 1.30807934e-04 6.87380551e-01] [ 7.95244491e-03 -1.36565309e-04 9.99968369e-01 -6.36385295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96463044 meters 0.2652996744739819 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.64 [[ 9.99968158e-01 -8.18998572e-04 -7.93802743e-03 5.15299315e+00] [ 8.19236475e-04 9.99999664e-01 2.67184670e-05 6.87672813e-01] [ 7.93800288e-03 -3.32207378e-05 9.99968493e-01 -6.35268059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02463044 meters 0.2636928023026127 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99970645e-01 -1.01949154e-03 -7.59409669e-03 5.15196221e+00] [ 1.01654126e-03 9.99999406e-01 -3.92345910e-04 6.88888350e-01] [ 7.59449217e-03 3.84614680e-04 9.99971087e-01 -6.34900243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08463044 meters 0.26417804032944703 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99972221e-01 -9.83614688e-04 -7.38847714e-03 5.15012818e+00] [ 9.77701812e-04 9.99999199e-01 -8.03852849e-04 6.91217312e-01] [ 7.38926191e-03 7.96606792e-04 9.99972382e-01 -6.32555186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14463044 meters 0.26388111108402473 Centerline is valid? [False, False] Translation: X:5.15, Y:0.69, Z:-0.63 [[ 9.99972890e-01 -1.07105308e-03 -7.28509314e-03 5.15002259e+00] [ 1.06078262e-03 9.99998438e-01 -1.41350903e-03 6.93962646e-01] [ 7.28659571e-03 1.40574281e-03 9.99972464e-01 -6.32831453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20463044 meters 0.26426538124179466 Centerline is valid? [False, False] Translation: X:5.15, Y:0.70, Z:-0.63 [[ 9.99970858e-01 -9.45180300e-04 -7.57557805e-03 5.15093886e+00] [ 9.32230169e-04 9.99998099e-01 -1.71280659e-03 6.96416055e-01] [ 7.57718256e-03 1.70569450e-03 9.99969838e-01 -6.33514662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26463044 meters 0.264878303660836 Centerline is valid? [False, False] Translation: X:5.15, Y:0.70, Z:-0.64 [[ 9.99964636e-01 1.10200909e-03 -8.33737565e-03 5.15373055e+00] [-1.10718975e-03 9.99999197e-01 -6.16787316e-04 7.02707475e-01] [ 8.33668925e-03 6.25996561e-04 9.99965053e-01 -6.35213286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32463044 meters 0.2647490119293149 Centerline is valid? [False, False] Translation: X:5.15, Y:0.70, Z:-0.64 [[ 9.99965321e-01 1.02619239e-03 -8.26455104e-03 5.15366328e+00] [-1.03281101e-03 9.99999149e-01 -7.96616300e-04 7.03549511e-01] [ 8.26372653e-03 8.05124394e-04 9.99965531e-01 -6.35436421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38463044 meters 0.2649041027036221 Centerline is valid? [False, False] Translation: X:5.15, Y:0.70, Z:-0.64 [[ 9.99966833e-01 1.06737173e-03 -8.07423721e-03 5.15387443e+00] [-1.07433189e-03 9.99999055e-01 -8.57731847e-04 7.04180565e-01] [ 8.07331407e-03 8.66377809e-04 9.99967035e-01 -6.36484084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44463044 meters 0.26503403510882867 Centerline is valid? [False, False] Translation: X:5.15, Y:0.70, Z:-0.64 [[ 9.99965538e-01 1.12130189e-03 -8.22591767e-03 5.15424265e+00] [-1.12767131e-03 9.99999068e-01 -7.69713046e-04 7.04134502e-01] [ 8.22504693e-03 7.78962652e-04 9.99965870e-01 -6.36438168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50463044 meters 0.2639779200133058 Centerline is valid? [False, False] Translation: X:5.12, Y:0.70, Z:-0.64 [[ 9.99977306e-01 3.03756217e-03 -6.01342237e-03 5.12071568e+00] [-3.05987961e-03 9.99988453e-01 -3.70555601e-03 7.04275264e-01] [ 6.00209707e-03 3.72387226e-03 9.99975053e-01 -6.40013778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56463044000003 meters 0.26530089737091794 Centerline is valid? [False, False] Translation: X:5.14, Y:0.70, Z:-0.64 [[ 9.99957920e-01 -7.11247707e-03 -5.79395730e-03 5.14199790e+00] [ 7.10033473e-03 9.99972559e-01 -2.11357253e-03 7.02828231e-01] [ 5.80883104e-03 2.07234456e-03 9.99980981e-01 -6.42458722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62463044000003 meters 0.26454473185468314 Centerline is valid? [False, False] Translation: X:5.14, Y:0.70, Z:-0.64 [[ 9.99958296e-01 -6.93526886e-03 -5.94209884e-03 5.14234288e+00] [ 6.92607879e-03 9.99974789e-01 -1.56578699e-03 7.00316705e-01] [ 5.95280818e-03 1.52456624e-03 9.99981120e-01 -6.42384866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68463044000003 meters 0.2635444457760045 Centerline is valid? [False, False] Translation: X:5.14, Y:0.70, Z:-0.64 [[ 9.99959816e-01 -6.80420167e-03 -5.83694789e-03 5.14226178e+00] [ 6.79839863e-03 9.99976377e-01 -1.01345649e-03 6.97503642e-01] [ 5.84370577e-03 9.73733862e-04 9.99982451e-01 -6.42469485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74463044000004 meters 0.26394208194870955 Centerline is valid? [False, False] Translation: X:5.16, Y:0.69, Z:-0.64 [[ 9.99975776e-01 -4.91893275e-04 -6.94294944e-03 5.16277169e+00] [ 4.82426122e-04 9.99998952e-01 -1.36517251e-03 6.91608921e-01] [ 6.94361369e-03 1.36178998e-03 9.99974966e-01 -6.42502054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80463044 meters 0.2637884040994295 Centerline is valid? [False, False] Translation: X:5.16, Y:0.69, Z:-0.64 [[ 9.99974995e-01 -3.50195807e-04 -7.06306213e-03 5.16303656e+00] [ 3.42776420e-04 9.99999388e-01 -1.05163227e-03 6.90243910e-01] [ 7.06342609e-03 1.04918492e-03 9.99974503e-01 -6.42515424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86463044 meters 0.2639807679866331 Centerline is valid? [False, False] Translation: X:5.16, Y:0.69, Z:-0.64 [[ 9.99974512e-01 -3.17711037e-04 -7.13258456e-03 5.16280606e+00] [ 3.11395952e-04 9.99999559e-01 -8.86478411e-04 6.89147527e-01] [ 7.13286306e-03 8.84234759e-04 9.99974170e-01 -6.41976051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92463044 meters 0.26448514913371024 Centerline is valid? [False, False] Translation: X:5.16, Y:0.69, Z:-0.64 [[ 9.99974926e-01 -2.07728278e-04 -7.07846791e-03 5.16270712e+00] [ 2.03340128e-04 9.99999787e-01 -6.20643501e-04 6.87818363e-01] [ 7.07859532e-03 6.19188602e-04 9.99974755e-01 -6.42022691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98463044 meters 0.2640208595577748 Centerline is valid? [False, False] Translation: X:5.16, Y:0.69, Z:-0.64 [[ 9.99976939e-01 5.57782831e-05 -6.79112245e-03 5.16258023e+00] [-5.59520747e-05 9.99999998e-01 -2.54010206e-05 6.85173631e-01] [ 6.79112102e-03 2.57804122e-05 9.99976940e-01 -6.42845653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04463044 meters 0.2646484865419756 Centerline is valid? [False, False] Translation: X:5.16, Y:0.68, Z:-0.64 [[ 9.99978010e-01 3.55384826e-04 -6.62215763e-03 5.16279169e+00] [-3.51598807e-04 9.99999774e-01 5.72875355e-04 6.82558435e-01] [ 6.62235973e-03 -5.70534414e-04 9.99977909e-01 -6.43690934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10463044 meters 0.26437827306329653 Centerline is valid? [False, False] Translation: X:5.16, Y:0.68, Z:-0.64 [[ 9.99977473e-01 5.19895001e-04 -6.69209468e-03 5.16287936e+00] [-5.13381027e-04 9.99999393e-01 9.75064450e-04 6.80789438e-01] [ 6.69259755e-03 -9.71606890e-04 9.99977132e-01 -6.43577615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16463044 meters 0.26360501659065677 Centerline is valid? [False, False] Translation: X:5.15, Y:0.67, Z:-0.65 [[ 9.99948153e-01 7.43488412e-03 -6.95799228e-03 5.14549127e+00] [-7.45595865e-03 9.99967680e-01 -3.00780076e-03 6.72957279e-01] [ 6.93540475e-03 3.05952331e-03 9.99971269e-01 -6.45647601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22463044 meters 0.2641450724664765 Centerline is valid? [False, False] Translation: X:5.16, Y:0.67, Z:-0.65 [[ 9.99979249e-01 -4.54039603e-04 -6.42609026e-03 5.16391192e+00] [ 4.60346430e-04 9.99999414e-01 9.79995564e-04 6.71139199e-01] [ 6.42564154e-03 -9.82933456e-04 9.99978872e-01 -6.46002914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28463044 meters 0.2639470694915179 Centerline is valid? [False, False] Translation: X:5.16, Y:0.66, Z:-0.64 [[ 9.99984004e-01 -1.33726577e-03 -5.49573746e-03 5.16091661e+00] [ 1.34207589e-03 9.99998720e-01 8.71650926e-04 6.63688223e-01] [ 5.49456479e-03 -8.79012680e-04 9.99984518e-01 -6.44586695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34463044 meters 0.2635347914194506 Centerline is valid? [False, False] Translation: X:5.16, Y:0.66, Z:-0.64 [[ 9.99984984e-01 -1.08738759e-03 -5.37118070e-03 5.16075357e+00] [ 1.09543047e-03 9.99998283e-01 1.49469876e-03 6.60836011e-01] [ 5.36954616e-03 -1.50056007e-03 9.99984458e-01 -6.44654781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40463044 meters 0.26433809647487266 Centerline is valid? [False, False] Translation: X:5.16, Y:0.66, Z:-0.65 [[ 9.99985235e-01 -7.78849066e-04 -5.37795295e-03 5.16136088e+00] [ 7.90312613e-04 9.99997420e-01 2.12978583e-03 6.58228549e-01] [ 5.37628029e-03 -2.13400464e-03 9.99983271e-01 -6.45483194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46463044 meters 0.26337888636640083 Centerline is valid? [False, False] Translation: X:5.16, Y:0.65, Z:-0.64 [[ 9.99987607e-01 -2.71242773e-03 -4.17482450e-03 5.15820504e+00] [ 2.71618131e-03 9.99995912e-01 8.93692701e-04 6.51778052e-01] [ 4.17238335e-03 -9.05021205e-04 9.99990886e-01 -6.44629369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52463044 meters 0.2636864259208934 Centerline is valid? [False, False] Translation: X:5.16, Y:0.65, Z:-0.64 [[ 9.99989554e-01 -2.63548019e-03 -3.73445030e-03 5.15716015e+00] [ 2.63978471e-03 9.99995857e-01 1.14819215e-03 6.50357776e-01] [ 3.73140879e-03 -1.15803830e-03 9.99992368e-01 -6.44486376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58463044 meters 0.26325780040606683 Centerline is valid? [False, False] Translation: X:5.16, Y:0.65, Z:-0.64 [[ 9.99990295e-01 -2.38392950e-03 -3.70489859e-03 5.15725191e+00] [ 2.39035476e-03 9.99995645e-01 1.73080156e-03 6.47645375e-01] [ 3.70075635e-03 -1.73964079e-03 9.99991639e-01 -6.44634324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64463044 meters 0.2627448891522792 Centerline is valid? [False, False] Translation: X:5.16, Y:0.64, Z:-0.65 [[ 9.99991603e-01 -2.16358502e-03 -3.48036621e-03 5.15722053e+00] [ 2.17200025e-03 9.99994723e-01 2.41595538e-03 6.44191879e-01] [ 3.47512072e-03 -2.42349445e-03 9.99991025e-01 -6.45202387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70463044 meters 0.2617378315677064 Centerline is valid? [False, False] Translation: X:5.15, Y:0.63, Z:-0.64 [[ 9.99990163e-01 -3.58710741e-03 -2.60897337e-03 5.15484104e+00] [ 3.59307653e-03 9.99990930e-01 2.28683904e-03 6.34237542e-01] [ 2.60074657e-03 -2.29619079e-03 9.99993982e-01 -6.44229786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76463044 meters 0.262684670393347 Centerline is valid? [False, False] Translation: X:5.16, Y:0.63, Z:-0.65 [[ 9.99991379e-01 -3.10309056e-03 -2.75902881e-03 5.15604777e+00] [ 3.11221998e-03 9.99989676e-01 3.31081074e-03 6.30132002e-01] [ 2.74872658e-03 -3.31936890e-03 9.99990713e-01 -6.45441223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82463044 meters 0.26257746473895943 Centerline is valid? [False, False] Translation: X:5.14, Y:0.62, Z:-0.65 [[ 9.99989800e-01 4.08755456e-03 -1.92143141e-03 5.13757149e+00] [-4.08677922e-03 9.99991566e-01 4.07274966e-04 6.19767305e-01] [ 1.92307996e-03 -3.99418346e-04 9.99998071e-01 -6.46698907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88463044 meters 0.26284923102711605 Centerline is valid? [False, False] Translation: X:5.14, Y:0.62, Z:-0.65 [[ 9.99989060e-01 4.31859452e-03 -1.79715102e-03 5.13741444e+00] [-4.31688619e-03 9.99990228e-01 9.53373980e-04 6.17320828e-01] [ 1.80125070e-03 -9.45605453e-04 9.99997931e-01 -6.46809353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94463044 meters 0.2636115756910423 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:-0.65 [[ 9.99997020e-01 7.95718707e-04 -2.30809075e-03 5.13914159e+00] [-8.00345662e-04 9.99997671e-01 -2.00443722e-03 6.13476884e-01] [ 2.30649041e-03 2.00627852e-03 9.99995327e-01 -6.47910990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00463044 meters 0.26357067647201793 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:-0.65 [[ 9.99997347e-01 9.71869688e-04 -2.08819986e-03 5.13886050e+00] [-9.75237108e-04 9.99998225e-01 -1.61218172e-03 6.11801632e-01] [ 2.08662932e-03 1.61421393e-03 9.99996520e-01 -6.48149116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06463044000003 meters 0.26391857063207386 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:-0.65 [[ 9.99997545e-01 1.08800339e-03 -1.93011288e-03 5.13878360e+00] [-1.09064981e-03 9.99998466e-01 -1.37059748e-03 6.10229480e-01] [ 1.92861871e-03 1.37269919e-03 9.99997198e-01 -6.48562267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12463044000003 meters 0.2635168060529288 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:-0.65 [[ 9.99997633e-01 1.24821192e-03 -1.78236663e-03 5.13873185e+00] [-1.25001715e-03 9.99998707e-01 -1.01207151e-03 6.08652511e-01] [ 1.78110104e-03 1.01429711e-03 9.99997899e-01 -6.48981435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18463044000003 meters 0.2631255783562148 Centerline is valid? [False, False] Translation: X:5.14, Y:0.61, Z:-0.65 [[ 9.99997627e-01 1.38754620e-03 -1.67935033e-03 5.13875523e+00] [-1.38878349e-03 9.99998765e-01 -7.35821737e-04 6.07381541e-01] [ 1.67832727e-03 7.38152245e-04 9.99998319e-01 -6.49366700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24463044000004 meters 0.2637097165928622 Centerline is valid? [False, False] Translation: X:5.14, Y:0.60, Z:-0.65 [[ 9.99997198e-01 1.67759370e-03 -1.67037253e-03 5.13922708e+00] [-1.67776985e-03 9.99998587e-01 -1.04059435e-04 6.04741791e-01] [ 1.67019560e-03 1.06861644e-04 9.99998600e-01 -6.50003602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30463044 meters 0.2627083523248034 Centerline is valid? [False, False] Translation: X:5.14, Y:0.60, Z:-0.65 [[ 9.99997374e-01 1.88401038e-03 -1.30483737e-03 5.13841872e+00] [-1.88268031e-03 9.99997708e-01 1.01981642e-03 5.98863355e-01] [ 1.30675572e-03 -1.01735715e-03 9.99998629e-01 -6.49702812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36463044 meters 0.2623102284714063 Centerline is valid? [False, False] Translation: X:5.14, Y:0.59, Z:-0.65 [[ 9.99997793e-01 1.98478530e-03 -6.89127775e-04 5.13742595e+00] [-1.98351147e-03 9.99996332e-01 1.84425972e-03 5.93854994e-01] [ 6.92785707e-04 -1.84288876e-03 9.99998062e-01 -6.50015335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42463044 meters 0.26088312181902024 Centerline is valid? [False, False] Translation: X:5.14, Y:0.58, Z:-0.65 [[ 9.99999758e-01 6.04563845e-04 -3.44820059e-04 5.13713448e+00] [-6.03764089e-04 9.99997139e-01 2.31475225e-03 5.80867713e-01] [ 3.46218488e-04 -2.31454350e-03 9.99997262e-01 -6.50272262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48463044 meters 0.26148169527329423 Centerline is valid? [False, False] Translation: X:5.14, Y:0.57, Z:-0.65 [[ 9.99999182e-01 1.15905962e-03 -5.41664990e-04 5.13837604e+00] [-1.15701970e-03 9.99992295e-01 3.75127898e-03 5.74816490e-01] [ 5.46008773e-04 -3.75064920e-03 9.99992817e-01 -6.51472808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54463044 meters 0.2609928127697984 Centerline is valid? [False, False] Translation: X:5.14, Y:0.57, Z:-0.65 [[ 9.99999154e-01 1.28826012e-03 1.81156806e-04 5.13676259e+00] [-1.28910374e-03 9.99987952e-01 4.73650500e-03 5.68178094e-01] [-1.75052773e-04 -4.73673452e-03 9.99988766e-01 -6.51157912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60463044 meters 0.2597234945450046 Centerline is valid? [False, False] Translation: X:5.14, Y:0.56, Z:-0.65 [[ 9.99996945e-01 -2.37924552e-03 6.70407055e-04 5.13606073e+00] [ 2.37768831e-03 9.99994496e-01 2.31409667e-03 5.57031442e-01] [-6.75909169e-04 -2.31249558e-03 9.99997098e-01 -6.51188400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66463044 meters 0.26084208503103523 Centerline is valid? [False, False] Translation: X:5.16, Y:0.54, Z:-0.65 [[ 9.99989341e-01 4.45990392e-03 -1.19452569e-03 5.15692693e+00] [-4.45644303e-03 9.99985910e-01 2.88444830e-03 5.44791623e-01] [ 1.20737322e-03 -2.87909422e-03 9.99995127e-01 -6.50862261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72463044 meters 0.25936382354466403 Centerline is valid? [False, False] Translation: X:5.15, Y:0.53, Z:-0.65 [[ 9.99994674e-01 3.26008421e-03 -1.52946919e-04 5.15431390e+00] [-3.25954094e-03 9.99988815e-01 3.42706066e-03 5.30823748e-01] [ 1.64117715e-04 -3.42654388e-03 9.99994116e-01 -6.50046903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78463044 meters 0.2583417415316844 Centerline is valid? [False, False] Translation: X:5.16, Y:0.52, Z:-0.65 [[ 9.99999879e-01 -4.24538900e-04 -2.47981161e-04 5.15512271e+00] [ 4.24658323e-04 9.99999794e-01 4.81728798e-04 5.24797708e-01] [ 2.47776597e-04 -4.81834047e-04 9.99999853e-01 -6.50860267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84463044 meters 0.2583370184041302 Centerline is valid? [False, False] Translation: X:5.16, Y:0.52, Z:-0.65 [[ 9.99999965e-01 1.02923298e-04 -2.42389497e-04 5.15578084e+00] [-1.02455933e-04 9.99998137e-01 1.92738097e-03 5.18521552e-01] [ 2.42587418e-04 -1.92735607e-03 9.99998113e-01 -6.51852042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90463044 meters 0.25812506426697424 Centerline is valid? [False, False] Translation: X:5.15, Y:0.51, Z:-0.65 [[ 9.99998653e-01 -1.35071352e-03 9.32659030e-04 5.15304379e+00] [ 1.34881728e-03 9.99997028e-01 2.03080001e-03 5.06687917e-01] [-9.35399287e-04 -2.02953929e-03 9.99997503e-01 -6.51191317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96463044 meters 0.2581730600774007 Centerline is valid? [False, False] Translation: X:5.15, Y:0.50, Z:-0.65 [[ 9.99999411e-01 -8.24160086e-04 7.06276444e-04 5.15439685e+00] [ 8.21810772e-04 9.99994150e-01 3.32019754e-03 5.00998443e-01] [-7.09008687e-04 -3.31961516e-03 9.99994239e-01 -6.52407200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02463044 meters 0.2571328115701574 Centerline is valid? [False, False] Translation: X:5.15, Y:0.49, Z:-0.65 [[ 9.99996110e-01 -2.09226709e-03 1.84443596e-03 5.15106289e+00] [ 2.08530445e-03 9.99990724e-01 3.76882010e-03 4.89243824e-01] [-1.85230423e-03 -3.76495923e-03 9.99991197e-01 -6.50719827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08463044 meters 0.25645954474520877 Centerline is valid? [False, False] Translation: X:5.15, Y:0.48, Z:-0.65 [[ 9.99995508e-01 -1.88308153e-03 2.33206486e-03 5.15045127e+00] [ 1.87225993e-03 9.99987511e-01 4.63387575e-03 4.84778345e-01] [-2.34076170e-03 -4.62948870e-03 9.99986544e-01 -6.51307817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14463044 meters 0.25710352758623317 Centerline is valid? [False, False] Translation: X:5.15, Y:0.48, Z:-0.65 [[ 9.99995650e-01 -1.42136817e-03 2.58449483e-03 5.15105609e+00] [ 1.40548511e-03 9.99980181e-01 6.13698414e-03 4.76050195e-01] [-2.59316652e-03 -6.13332498e-03 9.99977829e-01 -6.52870386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20463044 meters 0.25643050973104525 Centerline is valid? [False, False] Translation: X:5.13, Y:0.47, Z:-0.65 [[ 9.99981761e-01 4.55104298e-03 3.97070651e-03 5.13134271e+00] [-4.56087164e-03 9.99986549e-01 2.46975854e-03 4.66510301e-01] [-3.95941312e-03 -2.48782338e-03 9.99989067e-01 -6.54610676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26463044 meters 0.25733989028573956 Centerline is valid? [False, False] Translation: X:5.13, Y:0.46, Z:-0.66 [[ 9.99990950e-01 8.14340008e-04 4.17565342e-03 5.13205224e+00] [-8.11147295e-04 9.99999377e-01 -7.66238550e-04 4.62870487e-01] [-4.17627480e-03 7.62844546e-04 9.99990988e-01 -6.56220684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32463044 meters 0.25613330057192 Centerline is valid? [False, False] Translation: X:5.11, Y:0.46, Z:-0.66 [[ 9.99980135e-01 -6.10862052e-03 1.55360742e-03 5.11294170e+00] [ 6.10762315e-03 9.99981140e-01 6.45904777e-04 4.56772141e-01] [-1.55752370e-03 -6.36403097e-04 9.99998585e-01 -6.57894665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38463044 meters 0.2569977399237063 Centerline is valid? [False, False] Translation: X:5.13, Y:0.44, Z:-0.66 [[ 9.99998441e-01 1.25683608e-03 -1.24036530e-03 5.13367302e+00] [-1.25509413e-03 9.99998227e-01 1.40416671e-03 4.43602037e-01] [ 1.24212790e-03 -1.40260774e-03 9.99998245e-01 -6.56468237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44463044 meters 0.2572911985199364 Centerline is valid? [False, False] Translation: X:5.13, Y:0.44, Z:-0.66 [[ 9.99999787e-01 -6.18272655e-04 2.09202109e-04 5.13013452e+00] [ 6.18212315e-04 9.99999767e-01 2.88372122e-04 4.37123898e-01] [-2.09380353e-04 -2.88242729e-04 9.99999937e-01 -6.55802271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50463044 meters 0.2584050622735985 Centerline is valid? [False, False] Translation: X:5.13, Y:0.43, Z:-0.66 [[ 9.99999922e-01 -2.46244787e-04 3.08564690e-04 5.13097155e+00] [ 2.45896473e-04 9.99999333e-01 1.12834938e-03 4.33470520e-01] [-3.08842334e-04 -1.12827342e-03 9.99999316e-01 -6.57407010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56463044000003 meters 0.25933898880153294 Centerline is valid? [False, False] Translation: X:5.13, Y:0.43, Z:-0.66 [[ 9.99999960e-01 2.41312490e-04 1.50681332e-04 5.13154403e+00] [-2.41641670e-04 9.99997576e-01 2.18843229e-03 4.28567253e-01] [-1.50152871e-04 -2.18846861e-03 9.99997594e-01 -6.57662840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62463044000003 meters 0.25979723970760066 Centerline is valid? [False, False] Translation: X:5.13, Y:0.43, Z:-0.66 [[ 9.99999871e-01 4.80181110e-04 1.67984137e-04 5.13146053e+00] [-4.80636169e-04 9.99996187e-01 2.71947335e-03 4.25971509e-01] [-1.66677656e-04 -2.71955373e-03 9.99996288e-01 -6.57506081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68463044000003 meters 0.25976896946664857 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999770e-01 6.50372269e-04 1.94265537e-04 5.13120591e+00] [-6.50972941e-04 9.99994958e-01 3.10812280e-03 4.23986647e-01] [-1.92243121e-04 -3.10824855e-03 9.99995151e-01 -6.57151673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74463044000004 meters 0.26121649927847546 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999465e-01 1.01102890e-03 2.16953558e-04 5.13166858e+00] [-1.01186383e-03 9.99991947e-01 3.88346490e-03 4.20164628e-01] [-2.13025516e-04 -3.88368235e-03 9.99992436e-01 -6.57815678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80463044 meters 0.26222156352025433 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999155e-01 1.26113453e-03 3.15659786e-04 5.13146101e+00] [-1.26253195e-03 9.99989228e-01 4.46664010e-03 4.17306160e-01] [-3.10023351e-04 -4.46703485e-03 9.99989975e-01 -6.57698982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86463044 meters 0.2636229320565753 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999028e-01 1.34044927e-03 3.83327063e-04 5.13158001e+00] [-1.34220560e-03 9.99988432e-01 4.61886254e-03 4.16684024e-01] [-3.77131278e-04 -4.61937255e-03 9.99989260e-01 -6.57978141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92463044 meters 0.2657888703042892 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999205e-01 1.13322931e-03 5.53764840e-04 5.13201995e+00] [-1.13547604e-03 9.99991057e-01 4.07385244e-03 4.19344053e-01] [-5.49143279e-04 -4.07447798e-03 9.99991548e-01 -6.59163714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98463044 meters 0.26772000377703176 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.66 [[ 9.99999368e-01 8.12937580e-04 7.76121254e-04 5.13195914e+00] [-8.15578444e-04 9.99993859e-01 3.40841210e-03 4.22664763e-01] [-7.73345662e-04 -3.40904294e-03 9.99993890e-01 -6.59760384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04463044 meters 0.27034773473107127 Centerline is valid? [False, False] Translation: X:5.14, Y:0.43, Z:-0.66 [[ 9.99999241e-01 -1.22169620e-03 1.58456865e-04 5.13630399e+00] [ 1.22152967e-03 9.99998706e-01 1.04683750e-03 4.26468534e-01] [-1.59735577e-04 -1.04664314e-03 9.99999440e-01 -6.63573365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10463044 meters 0.27066176916455825 Centerline is valid? [False, False] Translation: X:5.14, Y:0.43, Z:-0.66 [[ 9.99999287e-01 -1.17783090e-03 1.96718260e-04 5.13666227e+00] [ 1.17761061e-03 9.99998684e-01 1.11619378e-03 4.26132834e-01] [-1.98032688e-04 -1.11596133e-03 9.99999358e-01 -6.64167061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16463044 meters 0.27285313214219375 Centerline is valid? [False, False] Translation: X:5.14, Y:0.43, Z:-0.66 [[ 9.99998935e-01 -1.11848046e-03 9.37882922e-04 5.13565804e+00] [ 1.11719413e-03 9.99998436e-01 1.37092441e-03 4.25172922e-01] [-9.39414807e-04 -1.36987515e-03 9.99998620e-01 -6.64646975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22463044 meters 0.2741640618163584 Centerline is valid? [False, False] Translation: X:5.14, Y:0.42, Z:-0.67 [[ 9.99998561e-01 -1.03302325e-03 1.34546854e-03 5.13553733e+00] [ 1.03098622e-03 9.99998323e-01 1.51380498e-03 4.24784891e-01] [-1.34703008e-03 -1.51241564e-03 9.99997949e-01 -6.65557984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28463044 meters 0.27704598740889064 Centerline is valid? [False, False] Translation: X:5.14, Y:0.42, Z:-0.67 [[ 9.99997663e-01 -9.09149531e-04 1.96133243e-03 5.13576735e+00] [ 9.05846630e-04 9.99998171e-01 1.68424041e-03 4.24188402e-01] [-1.96286007e-03 -1.68245981e-03 9.99996658e-01 -6.67651373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34463044 meters 0.2776525239813696 Centerline is valid? [False, False] Translation: X:5.14, Y:0.42, Z:-0.67 [[ 9.99996454e-01 -8.14286751e-04 2.53537821e-03 5.13521144e+00] [ 8.09571056e-04 9.99997942e-01 1.86042799e-03 4.23430620e-01] [-2.53688791e-03 -1.85836882e-03 9.99995055e-01 -6.68555741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40463044 meters 0.2798948438920884 Centerline is valid? [False, False] Translation: X:5.13, Y:0.42, Z:-0.67 [[ 9.99994252e-01 -4.69452439e-04 3.35782166e-03 5.13487872e+00] [ 4.60910992e-04 9.99996658e-01 2.54406822e-03 4.20062232e-01] [-3.35900476e-03 -2.54250594e-03 9.99991126e-01 -6.70619091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46463044 meters 0.2815380788419477 Centerline is valid? [False, False] Translation: X:5.13, Y:0.41, Z:-0.67 [[ 9.99985505e-01 -3.80841751e-04 5.37079704e-03 5.13167077e+00] [ 3.62873643e-04 9.99994336e-01 3.34609748e-03 4.13918340e-01] [-5.37204095e-03 -3.34410006e-03 9.99979979e-01 -6.72187424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52463044 meters 0.29514194682281175 Centerline is valid? [False, False] Translation: X:5.13, Y:0.41, Z:-0.67 [[ 9.99973550e-01 -1.16985247e-04 7.27218394e-03 5.12920019e+00] [ 8.56406543e-05 9.99990707e-01 4.31036549e-03 4.08038454e-01] [-7.27262060e-03 -4.30962869e-03 9.99964267e-01 -6.74478550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58463044 meters 0.2897330758096465 Centerline is valid? [False, False] Translation: X:5.13, Y:0.40, Z:-0.68 [[ 9.99950760e-01 -3.30350066e-03 9.35760740e-03 5.12824999e+00] [ 3.28513425e-03 9.99992649e-01 1.97741562e-03 3.97796010e-01] [-9.36407101e-03 -1.94657726e-03 9.99954261e-01 -6.79359221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64463044 meters 0.2911103006054002 Centerline is valid? [False, False] Translation: X:5.13, Y:0.39, Z:-0.68 [[ 9.99939222e-01 -2.62901490e-03 1.07069894e-02 5.12834883e+00] [ 2.59447358e-03 9.99991390e-01 3.23866724e-03 3.92060830e-01] [-1.07154117e-02 -3.21069140e-03 9.99937434e-01 -6.83628190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70463044 meters 0.2867873932960248 Centerline is valid? [False, False] Translation: X:5.13, Y:0.39, Z:-0.69 [[ 9.99924111e-01 -1.97004293e-03 1.21610174e-02 5.12830542e+00] [ 1.91685455e-03 9.99988554e-01 4.38378553e-03 3.87477480e-01] [-1.21695144e-02 -4.36014195e-03 9.99916443e-01 -6.88074861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76463044 meters 0.2882022337898379 Centerline is valid? [False, False] Translation: X:5.13, Y:0.38, Z:-0.69 [[ 9.99888739e-01 -1.61564083e-03 1.48289846e-02 5.12609952e+00] [ 1.53979997e-03 9.99985685e-01 5.12435990e-03 3.82036481e-01] [-1.48370515e-02 -5.10095609e-03 9.99876914e-01 -6.93170571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82463044 meters 0.29656458704350347 Centerline is valid? [False, False] Translation: X:5.13, Y:0.38, Z:-0.70 [[ 9.99873753e-01 -3.54909832e-03 1.54881289e-02 5.13010231e+00] [ 3.49832216e-03 9.99988422e-01 3.30425461e-03 3.80753922e-01] [-1.54996767e-02 -3.24965500e-03 9.99874592e-01 -7.00824787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88463044 meters 0.29239366719322885 Centerline is valid? [False, False] Translation: X:5.13, Y:0.38, Z:-0.71 [[ 9.99789114e-01 -3.79793336e-03 2.01817633e-02 5.12981293e+00] [ 3.73608412e-03 9.99988211e-01 3.10143142e-03 3.79267764e-01] [-2.01933044e-02 -3.02537661e-03 9.99791517e-01 -7.13546824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94463044 meters 0.2918212719750564 Centerline is valid? [False, False] Translation: X:5.11, Y:0.38, Z:-0.73 [[ 9.99575137e-01 3.83026840e-03 2.88941882e-02 5.11274248e+00] [-3.86022816e-03 9.99992068e-01 9.81168870e-04 3.79628376e-01] [-2.88902009e-02 -1.09229017e-03 9.99581994e-01 -7.31171991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00463044 meters 0.29857653027219305 Centerline is valid? [False, False] Translation: X:5.11, Y:0.38, Z:-0.74 [[ 9.99508938e-01 5.31395267e-03 3.08811256e-02 5.11499171e+00] [-5.39409632e-03 9.99982295e-01 2.51250209e-03 3.79123764e-01] [-3.08672276e-02 -2.67784406e-03 9.99519906e-01 -7.40863839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06463044000003 meters 0.29990706111389637 Centerline is valid? [False, False] Translation: X:5.12, Y:0.38, Z:-0.76 [[ 0.99934684 0.00963083 0.03483029 5.11771664] [-0.0098601 0.9999308 0.00641671 0.38234526] [-0.03476608 -0.00675595 0.99937264 -0.75636092] [ 0. 0. 0. 1. ]] SLAMing on 501.12463044000003 meters 0.2964103112519555 Centerline is valid? [False, False] Translation: X:5.14, Y:0.38, Z:-0.77 [[ 9.99297081e-01 4.06424992e-03 3.72669587e-02 5.14231247e+00] [-4.47026941e-03 9.99931491e-01 1.08180464e-02 3.84132386e-01] [-3.72204383e-02 -1.09770356e-02 9.99246788e-01 -7.65220908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18463044000003 meters 0.30076513861993615 Centerline is valid? [False, False] Translation: X:5.12, Y:0.39, Z:-0.79 [[ 0.99861109 0.0090733 0.05189959 5.12278023] [-0.0097444 0.99987197 0.0126922 0.39132043] [-0.05177779 -0.0131803 0.99857165 -0.78978088] [ 0. 0. 0. 1. ]] SLAMing on 501.24463044000004 meters 0.2964151054773154 Centerline is valid? [False, False] Translation: X:5.13, Y:0.40, Z:-0.80 [[ 0.99853392 0.01094011 0.05301249 5.12614809] [-0.01169515 0.99983425 0.01395345 0.39603724] [-0.05285105 -0.01455298 0.99849636 -0.79920934] [ 0. 0. 0. 1. ]] SLAMing on 501.30463044 meters 0.29569981921147115 Centerline is valid? [False, False] Translation: X:5.13, Y:0.40, Z:-0.82 [[ 0.99839056 0.01250535 0.05531636 5.13382817] [-0.01333642 0.9998033 0.01468029 0.40304713] [-0.0551219 -0.01539439 0.99836095 -0.81728352] [ 0. 0. 0. 1. ]] SLAMing on 501.36463044 meters 0.2961183689826686 Centerline is valid? [False, False] Translation: X:5.14, Y:0.41, Z:-0.83 [[ 0.99835363 0.01127153 0.05624033 5.139318 ] [-0.01201693 0.99984415 0.01293323 0.40600487] [-0.05608578 -0.01358778 0.99833349 -0.82924322] [ 0. 0. 0. 1. ]] SLAMing on 501.42463044 meters 0.3071891219481084 Centerline is valid? [False, False] Translation: X:5.15, Y:0.41, Z:-0.85 [[ 0.99825948 0.01248333 0.05763828 5.14885987] [-0.01327754 0.99982183 0.01341678 0.41148414] [-0.05746052 -0.01415872 0.99824737 -0.84860863] [ 0. 0. 0. 1. ]] SLAMing on 501.48463044 meters 0.3003397358328382 Centerline is valid? [False, False] Translation: X:5.15, Y:0.42, Z:-0.86 [[ 0.9981931 0.01452654 0.05830538 5.15404232] [-0.01541888 0.99977034 0.01488402 0.41653582] [-0.05807578 -0.01575613 0.99818783 -0.85943923] [ 0. 0. 0. 1. ]] SLAMing on 501.54463044 meters 0.29924434855267373 Centerline is valid? [False, False] Translation: X:5.15, Y:0.42, Z:-0.88 [[ 0.99824741 0.01074215 0.0581954 5.14510207] [-0.0119149 0.99973212 0.01984253 0.4226041 ] [-0.05796666 -0.02050114 0.99810799 -0.87795985] [ 0. 0. 0. 1. ]] SLAMing on 501.60463044 meters 0.29979466172296315 Centerline is valid? [False, False] Translation: X:5.16, Y:0.43, Z:-0.90 [[ 0.99820472 0.01204233 0.05867123 5.15654228] [-0.01320867 0.99972197 0.01953216 0.43389818] [-0.0584197 -0.02027207 0.99808626 -0.89757754] [ 0. 0. 0. 1. ]] SLAMing on 501.66463044 meters 0.30049750596005187 Centerline is valid? [False, False] Translation: X:5.16, Y:0.44, Z:-0.91 [[ 0.99818547 0.01076865 0.05924359 5.163819 ] [-0.0118248 0.99977684 0.01750557 0.43970841] [-0.05904186 -0.01817435 0.99809005 -0.91111116] [ 0. 0. 0. 1. ]] SLAMing on 501.72463044 meters 0.3052259879651331 Centerline is valid? [False, False] Translation: X:5.21, Y:0.45, Z:-0.93 [[ 9.97928751e-01 4.48369584e-03 6.41724581e-02 5.21248012e+00] [-5.38982539e-03 9.99888110e-01 1.39540791e-02 4.47947964e-01] [-6.41027120e-02 -1.42710551e-02 9.97841260e-01 -9.25844159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78463044 meters 0.3029144820083773 Centerline is valid? [False, False] Translation: X:5.21, Y:0.45, Z:-0.95 [[ 9.98150612e-01 -4.56373380e-03 6.06178810e-02 5.20941122e+00] [ 3.75854719e-03 9.99903281e-01 1.33903760e-02 4.52029266e-01] [-6.06731282e-02 -1.31377769e-02 9.98071225e-01 -9.46944433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84463044 meters 0.3030319559903426 Centerline is valid? [False, False] Translation: X:5.22, Y:0.45, Z:-0.96 [[ 9.98211538e-01 -4.85058007e-03 5.95835293e-02 5.22174403e+00] [ 4.08385842e-03 9.99907377e-01 1.29830543e-02 4.53982843e-01] [-5.96409858e-02 -1.27165040e-02 9.98138890e-01 -9.63502937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90463044 meters 0.3045663994461938 Centerline is valid? [False, False] Translation: X:5.23, Y:0.45, Z:-0.98 [[ 9.98231262e-01 -4.78143929e-03 5.92577888e-02 5.23481902e+00] [ 4.00986470e-03 9.99905722e-01 1.31327244e-02 4.54707476e-01] [-5.93149954e-02 -1.28718803e-02 9.98156323e-01 -9.83013967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96463044 meters 0.3056338716845884 Centerline is valid? [False, False] Translation: X:5.24, Y:0.46, Z:-0.99 [[ 0.99823783 -0.00675039 0.05895479 5.23940408] [ 0.00613807 0.99992539 0.01056127 0.4585025 ] [-0.05902169 -0.0101808 0.99820478 -0.98921958] [ 0. 0. 0. 1. ]] SLAMing on 502.02463044 meters 0.3047434420796694 Centerline is valid? [False, False] Translation: X:5.25, Y:0.46, Z:-1.01 [[ 9.99025389e-01 -3.19937544e-03 4.40231417e-02 5.24901198e+00] [ 2.72079876e-03 9.99936601e-01 1.09266522e-02 4.62636282e-01] [-4.40553091e-02 -1.07962248e-02 9.98970756e-01 -1.00525169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08463044 meters 0.3052412955159402 Centerline is valid? [False, False] Translation: X:5.24, Y:0.47, Z:-1.02 [[ 0.99906931 0.00666441 0.04261577 5.2410622 ] [-0.00703992 0.99993765 0.00866759 0.4661114 ] [-0.04255535 -0.00895953 0.99905394 -1.02144331] [ 0. 0. 0. 1. ]] SLAMing on 502.14463044 meters 0.3061227740431472 Centerline is valid? [False, False] Translation: X:5.25, Y:0.47, Z:-1.03 [[ 0.99907444 0.00989555 0.04186106 5.25115564] [-0.01037137 0.99988388 0.01116481 0.47224749] [-0.04174572 -0.01158863 0.99906106 -1.03436086] [ 0. 0. 0. 1. ]] SLAMing on 502.20463044 meters 0.3087299193916065 Centerline is valid? [False, False] Translation: X:5.27, Y:0.49, Z:-1.05 [[ 0.99911729 0.01329597 0.03984799 5.26822137] [-0.01379173 0.99983055 0.0121923 0.48848865] [-0.03967913 -0.01273111 0.99913137 -1.05463722] [ 0. 0. 0. 1. ]] SLAMing on 502.26463044 meters 0.3092591108741388 Centerline is valid? [False, False] Translation: X:5.28, Y:0.50, Z:-1.07 [[ 0.99914791 0.01307322 0.03914764 5.2775444 ] [-0.01346929 0.99986057 0.00987054 0.50313006] [-0.03901314 -0.01038942 0.99918469 -1.06704981] [ 0. 0. 0. 1. ]] SLAMing on 502.32463044 meters 0.32335535681127003 Centerline is valid? [False, False] Translation: X:5.29, Y:0.52, Z:-1.09 [[ 9.99502207e-01 2.50647929e-03 3.14492550e-02 5.29069529e+00] [-2.85939243e-03 9.99933394e-01 1.11817180e-02 5.24841328e-01] [-3.14191336e-02 -1.12660775e-02 9.99442802e-01 -1.08664763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38463044 meters 0.3079054662469979 Centerline is valid? [False, False] Translation: X:5.28, Y:0.54, Z:-1.10 [[ 0.99961463 -0.00590958 0.0271231 5.28417743] [ 0.00563081 0.99993066 0.0103427 0.53860372] [-0.02718234 -0.01018599 0.99957859 -1.10148428] [ 0. 0. 0. 1. ]] SLAMing on 502.44463044 meters 0.32359491758223013 Centerline is valid? [False, False] Translation: X:5.30, Y:0.56, Z:-1.11 [[ 0.9996304 -0.0077147 0.026068 5.29585544] [ 0.00754098 0.99994874 0.00675608 0.55791581] [-0.02611879 -0.006557 0.99963734 -1.11490195] [ 0. 0. 0. 1. ]] SLAMing on 502.50463044 meters 0.3257986431654062 Centerline is valid? [False, False] Translation: X:5.30, Y:0.57, Z:-1.12 [[ 9.99626840e-01 -1.00419808e-02 2.54035232e-02 5.30436682e+00] [ 9.95280102e-03 9.99943864e-01 3.63453629e-03 5.65494581e-01] [-2.54385951e-02 -3.38034382e-03 9.99670671e-01 -1.12494620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56463044000003 meters 0.3093170005661221 Centerline is valid? [False, False] Translation: X:5.30, Y:0.57, Z:-1.14 [[ 9.99716325e-01 -3.84475269e-03 2.35050488e-02 5.30117652e+00] [ 3.92435547e-03 9.99986717e-01 -3.34143564e-03 5.73557303e-01] [-2.34918896e-02 3.43272992e-03 9.99718134e-01 -1.14266405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62463044000003 meters 0.3082252477517352 Centerline is valid? [False, False] Translation: X:5.32, Y:0.58, Z:-1.16 [[ 0.99971158 -0.00845621 0.02247778 5.31638314] [ 0.00865421 0.99992448 -0.00872589 0.58485079] [-0.0224023 0.0089179 0.99970926 -1.1601784 ] [ 0. 0. 0. 1. ]] SLAMing on 502.68463044000003 meters 0.40084121071771867 Centerline is valid? [False, False] Translation: X:5.33, Y:0.59, Z:-1.17 [[ 0.99973313 -0.00612158 0.02227529 5.32721354] [ 0.00626533 0.99995996 -0.0063896 0.58982384] [-0.02223528 0.00652746 0.99973146 -1.17470662] [ 0. 0. 0. 1. ]] SLAMing on 502.74463044000004 meters 0.404270899481415 Centerline is valid? [False, False] Translation: X:5.34, Y:0.59, Z:-1.18 [[ 9.99756072e-01 -4.10773475e-03 2.17007823e-02 5.33559005e+00] [ 4.20279130e-03 9.99981765e-01 -4.33653826e-03 5.91748127e-01] [-2.16825733e-02 4.42668431e-03 9.99755105e-01 -1.18480846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80463044 meters 0.5683038425101575 Centerline is valid? [False, False] Translation: X:5.34, Y:0.59, Z:-1.20 [[ 9.99772352e-01 -2.05071053e-03 2.12376745e-02 5.34386864e+00] [ 2.09639956e-03 9.99995536e-01 -2.12927939e-03 5.92554613e-01] [-2.12332132e-02 2.17331732e-03 9.99772188e-01 -1.19512653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86463044 meters 0.6011549331708579 Centerline is valid? [False, False] Translation: X:5.36, Y:0.60, Z:-1.21 [[ 9.99793047e-01 1.48907924e-03 2.02890553e-02 5.35892966e+00] [-1.51278013e-03 9.99998191e-01 1.15286369e-03 5.98687306e-01] [-2.02873019e-02 -1.18331798e-03 9.99793491e-01 -1.21281580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92463044 meters 0.5593892417728319 Centerline is valid? [False, False] Translation: X:5.36, Y:0.60, Z:-1.23 [[ 9.99935775e-01 1.58888595e-03 1.12214452e-02 5.35532910e+00] [-1.62747730e-03 9.99992791e-01 3.43077749e-03 6.03212264e-01] [-1.12159131e-02 -3.44881979e-03 9.99931152e-01 -1.23120115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98463044 meters 0.9320237439668998 Centerline is valid? [False, False] Translation: X:5.37, Y:0.61, Z:-1.25 [[ 9.99934954e-01 3.41770924e-03 1.08814840e-02 5.37107909e+00] [-3.46500528e-03 9.99984620e-01 4.33058731e-03 6.12373053e-01] [-1.08665159e-02 -4.36801002e-03 9.99931417e-01 -1.25120889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04463044 meters 0.9386882930711167 Centerline is valid? [False, False] Translation: X:5.38, Y:0.62, Z:-1.26 [[ 0.99993399 0.00558963 0.01003839 5.38110883] [-0.00564897 0.99996668 0.00589272 0.61835964] [-0.01000512 -0.00594904 0.99993225 -1.26205657] [ 0. 0. 0. 1. ]] SLAMing on 503.10463044 meters 0.9378400698233156 Centerline is valid? [False, False] Translation: X:5.39, Y:0.63, Z:-1.27 [[ 0.99993137 0.00729895 0.00916355 5.39026245] [-0.0073611 0.99995001 0.0067667 0.62704585] [-0.0091137 -0.00683369 0.99993512 -1.2713542 ] [ 0. 0. 0. 1. ]] SLAMing on 503.16463044 meters 0.6080200049811497 Centerline is valid? [False, False] Translation: X:5.40, Y:0.65, Z:-1.29 [[ 9.99946206e-01 6.45615787e-03 8.11807275e-03 5.40468266e+00] [-6.49167920e-03 9.99969437e-01 4.35687568e-03 6.45400875e-01] [-8.08969596e-03 -4.40934123e-03 9.99957556e-01 -1.28644960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22463044 meters 0.5869034613955182 Centerline is valid? [False, False] Translation: X:5.42, Y:0.66, Z:-1.30 [[ 9.99961163e-01 4.91963217e-03 7.31235735e-03 5.41626127e+00] [-4.93361244e-03 9.99986034e-01 1.89506245e-03 6.59034077e-01] [-7.30293222e-03 -1.93106519e-03 9.99971469e-01 -1.29818027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28463044 meters 0.5824838434588163 Centerline is valid? [False, False] Translation: X:5.43, Y:0.68, Z:-1.31 [[ 9.99975673e-01 2.91856718e-03 6.33520640e-03 5.43254194e+00] [-2.91059910e-03 9.99994962e-01 -1.26660101e-03 6.78762910e-01] [-6.33887114e-03 1.24813095e-03 9.99979130e-01 -1.31469636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34463044 meters 0.6064754606124765 Centerline is valid? [False, False] Translation: X:5.46, Y:0.70, Z:-1.33 [[ 9.99974894e-01 -4.08616419e-03 5.78923023e-03 5.46495322e+00] [ 4.07484205e-03 9.99989765e-01 1.96617195e-03 7.02058229e-01] [-5.79720508e-03 -1.94253239e-03 9.99981309e-01 -1.32630360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40463044 meters 0.6485568045223425 Centerline is valid? [False, False] Translation: X:5.48, Y:0.72, Z:-1.34 [[ 9.99984210e-01 -3.15517625e-03 4.65032763e-03 5.47720275e+00] [ 3.14630806e-03 9.99993220e-01 1.91308610e-03 7.15852012e-01] [-4.65633223e-03 -1.89842453e-03 9.99987357e-01 -1.33731459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46463044 meters 0.6303101448578421 Centerline is valid? [False, False] Translation: X:5.49, Y:0.73, Z:-1.35 [[ 9.99989837e-01 -2.07488291e-03 4.00259791e-03 5.48569030e+00] [ 2.06613462e-03 9.99995471e-01 2.18855055e-03 7.27953070e-01] [-4.00712077e-03 -2.18025840e-03 9.99989595e-01 -1.34515496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52463044 meters 0.6530765913677324 Centerline is valid? [False, False] Translation: X:5.50, Y:0.75, Z:-1.36 [[ 9.99989916e-01 -2.71926731e-03 3.57394228e-03 5.49819520e+00] [ 2.71841104e-03 9.99996275e-01 2.44422083e-04 7.48449139e-01] [-3.57459361e-03 -2.34704174e-04 9.99993584e-01 -1.35829166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58463044 meters 0.6082524250064866 Centerline is valid? [False, False] Translation: X:5.51, Y:0.76, Z:-1.37 [[ 9.99994780e-01 -1.30692200e-03 2.95505698e-03 5.50814378e+00] [ 1.30362423e-03 9.99998526e-01 1.11762357e-03 7.58283221e-01] [-2.95651327e-03 -1.11376546e-03 9.99995009e-01 -1.36763241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64463044 meters 1.1050855070804866 Centerline is valid? [False, False] Translation: X:5.52, Y:0.78, Z:-1.38 [[ 9.99997366e-01 7.45298013e-04 2.17098855e-03 5.52384976e+00] [-7.49615496e-04 9.99997742e-01 1.98858326e-03 7.79690572e-01] [-2.16950156e-03 -1.99020543e-03 9.99995666e-01 -1.38294152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70463044 meters 0.6067369361129096 Centerline is valid? [False, False] Translation: X:5.54, Y:0.79, Z:-1.40 [[ 9.99997520e-01 1.62448333e-03 1.52380671e-03 5.53631709e+00] [-1.62674975e-03 9.99997571e-01 1.48728055e-03 7.94325010e-01] [-1.52138694e-03 -1.48975571e-03 9.99997733e-01 -1.39508052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76463044 meters 0.9970756560206915 Centerline is valid? [False, False] Translation: X:5.56, Y:0.82, Z:-1.41 [[ 9.99969547e-01 7.79313998e-03 4.15696453e-04 5.55647315e+00] [-7.79536310e-03 9.99953681e-01 5.64521901e-03 8.15167016e-01] [-3.71683216e-04 -5.64828759e-03 9.99983979e-01 -1.41452113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82463044 meters 0.9838828837917262 Centerline is valid? [False, False] Translation: X:5.57, Y:0.83, Z:-1.43 [[ 9.99939193e-01 1.09851596e-02 -9.68216501e-04 5.57135620e+00] [-1.09774604e-02 9.99910653e-01 7.62772964e-03 8.28470107e-01] [ 1.05192182e-03 -7.61663726e-03 9.99970440e-01 -1.42674371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88463044 meters 0.8802840812965133 Centerline is valid? [False, False] Translation: X:5.58, Y:0.84, Z:-1.44 [[ 9.99910696e-01 1.32251527e-02 -1.92250966e-03 5.58319219e+00] [-1.32078739e-02 9.99874588e-01 8.73842682e-03 8.40253549e-01] [ 2.03783559e-03 -8.71225418e-03 9.99959971e-01 -1.43676303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94463044 meters 0.8767708721204527 Centerline is valid? [False, False] Translation: X:5.59, Y:0.85, Z:-1.45 [[ 9.99873007e-01 1.56889158e-02 -2.79796848e-03 5.59487665e+00] [-1.56600728e-02 9.99826879e-01 1.00485925e-02 8.52550161e-01] [ 2.95513562e-03 -1.00035000e-02 9.99945597e-01 -1.44677068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00463044 meters 0.8507151906568972 Centerline is valid? [False, False] Translation: X:5.61, Y:0.86, Z:-1.46 [[ 9.99826476e-01 1.82199715e-02 -3.87951268e-03 5.60768350e+00] [-1.81743838e-02 9.99768940e-01 1.14786130e-02 8.64965414e-01] [ 4.08775628e-03 -1.14061135e-02 9.99926593e-01 -1.45719232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06463044000003 meters 0.5660408771273244 Centerline is valid? [False, False] Translation: X:5.62, Y:0.88, Z:-1.47 [[ 9.99774079e-01 2.06049379e-02 -5.21802509e-03 5.62197734e+00] [-2.05357931e-02 9.99704921e-01 1.29750606e-02 8.75610716e-01] [ 5.48383567e-03 -1.28649730e-02 9.99902205e-01 -1.46838035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12463044000003 meters 0.6145835253127706 Centerline is valid? [False, False] Translation: X:5.64, Y:0.89, Z:-1.48 [[ 0.99974641 0.02153824 -0.00657379 5.64032818] [-0.0214598 0.99970033 0.0117779 0.89472048] [ 0.00682549 -0.01163384 0.99990903 -1.48341636] [ 0. 0. 0. 1. ]] SLAMing on 504.18463044000003 meters 0.6517222720601239 Centerline is valid? [False, False] Translation: X:5.65, Y:0.91, Z:-1.49 [[ 0.99970582 0.02315521 -0.00721897 5.65016939] [-0.02306392 0.99965606 0.01248297 0.9052445 ] [ 0.00750554 -0.0123128 0.99989603 -1.49114141] [ 0. 0. 0. 1. ]] SLAMing on 504.24463044000004 meters 0.5711977830223531 Centerline is valid? [False, False] Translation: X:5.68, Y:0.92, Z:-1.50 [[ 0.99984807 0.01486281 -0.00910665 5.68138733] [-0.01471978 0.99977031 0.01557737 0.92237539] [ 0.00933608 -0.01544096 0.99983719 -1.49824126] [ 0. 0. 0. 1. ]] SLAMing on 504.30463044 meters 0.5979917536518514 Centerline is valid? [False, False] Translation: X:5.69, Y:0.93, Z:-1.51 [[ 0.99987469 0.01255641 -0.00964065 5.69052559] [-0.01243168 0.99983963 0.01289032 0.9331684 ] [ 0.00980096 -0.01276885 0.99987044 -1.5056552 ] [ 0. 0. 0. 1. ]] SLAMing on 504.36463044 meters 0.6257378639297898 Centerline is valid? [False, False] Translation: X:5.70, Y:0.93, Z:-1.51 [[ 9.99934599e-01 4.69707816e-03 -1.04276628e-02 5.69951202e+00] [-4.64157307e-03 9.99974966e-01 5.34070521e-03 9.32032428e-01] [ 1.04524874e-02 -5.29195516e-03 9.99931368e-01 -1.51239044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42463044 meters 0.6626186682327176 Centerline is valid? [False, False] Translation: X:5.70, Y:0.93, Z:-1.52 [[ 9.99927042e-01 5.53180320e-03 -1.07382130e-02 5.70415066e+00] [-5.46449334e-03 9.99965303e-01 6.28750829e-03 9.28700615e-01] [ 1.07726217e-02 -6.22837068e-03 9.99922576e-01 -1.51647419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48463044 meters 0.6165360843603497 Centerline is valid? [False, False] Translation: X:5.71, Y:0.94, Z:-1.52 [[ 0.9999174 0.00606917 -0.01132985 5.70953903] [-0.00600302 0.99996479 0.0058636 0.93674977] [ 0.01136504 -0.0057951 0.99991862 -1.51935623] [ 0. 0. 0. 1. ]] SLAMing on 504.54463044 meters 0.594004640047655 Centerline is valid? [False, False] Translation: X:5.72, Y:0.94, Z:-1.52 [[ 9.99921579e-01 2.64213072e-03 -1.22415031e-02 5.71803042e+00] [-2.61966820e-03 9.99994856e-01 1.85061991e-03 9.41156264e-01] [ 1.22463298e-02 -1.81840611e-03 9.99923357e-01 -1.52497964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60463044 meters 0.6270143033269172 Centerline is valid? [False, False] Translation: X:5.73, Y:0.94, Z:-1.54 [[ 9.99912617e-01 1.05229495e-03 -1.31776448e-02 5.73248619e+00] [-1.04011047e-03 9.99999025e-01 9.31452290e-04 9.38856049e-01] [ 1.31786122e-02 -9.17664691e-04 9.99912737e-01 -1.53768016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66463044 meters 0.6769048182656549 Centerline is valid? [False, False] Translation: X:5.75, Y:0.94, Z:-1.55 [[ 9.99898668e-01 -3.37973768e-04 -1.42316221e-02 5.74797932e+00] [ 3.39603124e-04 9.99999936e-01 1.12071885e-04 9.37814312e-01] [ 1.42315834e-02 -1.16893632e-04 9.99898719e-01 -1.55066837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72463044 meters 0.6538296956326561 Centerline is valid? [False, False] Translation: X:5.77, Y:0.94, Z:-1.56 [[ 9.99970634e-01 4.52107317e-03 -6.18798603e-03 5.77258734e+00] [-4.53247944e-03 9.99988053e-01 -1.83051083e-03 9.40341270e-01] [ 6.17963622e-03 1.85850399e-03 9.99979179e-01 -1.56261240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78463044 meters 0.6593394856779177 Centerline is valid? [False, False] Translation: X:5.79, Y:0.94, Z:-1.58 [[ 9.99963352e-01 3.61460643e-03 -7.76080196e-03 5.79075394e+00] [-3.63554504e-03 9.99989785e-01 -2.68558610e-03 9.42770984e-01] [ 7.75101535e-03 2.71370242e-03 9.99966278e-01 -1.57643380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84463044 meters 0.6956471827628643 Centerline is valid? [False, False] Translation: X:5.80, Y:0.95, Z:-1.59 [[ 9.99961677e-01 1.90969444e-03 -8.54391420e-03 5.80270072e+00] [-1.94500422e-03 9.99989595e-01 -4.12634225e-03 9.45417547e-01] [ 8.53594525e-03 4.14280206e-03 9.99954986e-01 -1.58635659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90463044 meters 0.6817069816285342 Centerline is valid? [False, False] Translation: X:5.81, Y:0.94, Z:-1.59 [[ 9.99952687e-01 2.73539447e-03 -9.33493064e-03 5.81139845e+00] [-2.76546145e-03 9.99991026e-01 -3.20952374e-03 9.44029313e-01] [ 9.32606755e-03 3.23518728e-03 9.99951278e-01 -1.59225654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96463044 meters 0.6971857271062037 Centerline is valid? [False, False] Translation: X:5.82, Y:0.95, Z:-1.60 [[ 9.99948900e-01 9.37363068e-04 -1.00657290e-02 5.82341532e+00] [-9.82255423e-04 9.99989590e-01 -4.45590373e-03 9.45991042e-01] [ 1.00614474e-02 4.46556315e-03 9.99939411e-01 -1.60208603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02463044 meters 0.6606362074804911 Centerline is valid? [False, False] Translation: X:5.83, Y:0.94, Z:-1.61 [[ 9.99942538e-01 1.67138263e-03 -1.05889810e-02 5.82945463e+00] [-1.71014159e-03 9.99991868e-01 -3.65231339e-03 9.43743850e-01] [ 1.05827904e-02 3.67021218e-03 9.99937265e-01 -1.60635584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08463044 meters 0.7415591334033226 Centerline is valid? [False, False] Translation: X:5.84, Y:0.95, Z:-1.61 [[ 9.99933262e-01 2.36704276e-03 -1.13078809e-02 5.83699956e+00] [-2.40366324e-03 9.99991908e-01 -3.22599971e-03 9.45574943e-01] [ 1.13001534e-02 3.25296475e-03 9.99930860e-01 -1.61085202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14463044 meters 0.671846939851515 Centerline is valid? [False, False] Translation: X:5.85, Y:0.95, Z:-1.62 [[ 9.99919751e-01 2.61164328e-03 -1.23964026e-02 5.85245417e+00] [-2.65284232e-03 9.99991009e-01 -3.30818863e-03 9.48102259e-01] [ 1.23876513e-02 3.34080885e-03 9.99917689e-01 -1.62284843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20463044 meters 0.6321554747506023 Centerline is valid? [False, False] Translation: X:5.88, Y:0.95, Z:-1.64 [[ 9.99980446e-01 5.33141222e-03 -3.26867592e-03 5.87773358e+00] [-5.35377236e-03 9.99962065e-01 -6.87058037e-03 9.49512170e-01] [ 3.23192203e-03 6.88794576e-03 9.99971055e-01 -1.63776637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26463044 meters 0.6077333064825446 Centerline is valid? [False, False] Translation: X:5.89, Y:0.95, Z:-1.65 [[ 9.99969067e-01 6.61795928e-03 -4.25050016e-03 5.88780992e+00] [-6.64243898e-03 9.99961285e-01 -5.77119187e-03 9.47453902e-01] [ 4.21214209e-03 5.79924704e-03 9.99974313e-01 -1.64541098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32463044 meters 0.5730417130155503 Centerline is valid? [False, False] Translation: X:5.91, Y:0.94, Z:-1.65 [[ 9.99969352e-01 1.02850022e-05 -7.82912944e-03 5.91410891e+00] [-1.19294938e-05 9.99999978e-01 -2.10001152e-04 9.44027750e-01] [ 7.82912710e-03 2.10088114e-04 9.99969330e-01 -1.64648091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8434.76 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%| | 0/16844 [00:00