+ python -m lidar_slam --no-model /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 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 0.029259764 Adjusted end_distance from 9.223372036854776e+18 to 264.379259764 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029259764 meters 0.6577882256382658 Centerline is valid? [0, False] SLAMing on 0.08925976399999999 meters 0.5118770375195416 Centerline is valid? [False, False] Translation: X:0.03, Y:0.17, Z:0.01 [[ 0.97814225 0.20568003 0.03055259 0.02638392] [-0.20586705 0.97857514 0.00307333 0.16506873] [-0.02926588 -0.00929593 0.99952844 0.01248537] [ 0. 0. 0. 1. ]] SLAMing on 0.149259764 meters 0.509194250081344 Centerline is valid? [False, False] Translation: X:0.01, Y:0.17, Z:0.02 [[ 0.97866043 0.20468167 0.01814296 0.01472071] [-0.20467554 0.97882737 -0.002214 0.17454118] [-0.01821199 -0.00154667 0.99983295 0.01737733] [ 0. 0. 0. 1. ]] SLAMing on 0.20925976399999996 meters 0.4946401762138004 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.21, Z:0.01 [[ 0.97392967 0.22596966 0.01996765 -0.00546682] [-0.22581026 0.97412063 -0.00993581 0.21235755] [-0.02169609 0.00516788 0.99975126 0.00560669] [ 0. 0. 0. 1. ]] SLAMing on 0.26925976399999996 meters 0.4832433122404006 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.27, Z:-0.00 [[ 0.96662259 0.25458988 0.0287187 -0.0295082 ] [-0.25387635 0.96687928 -0.02629167 0.26512791] [-0.0344611 0.01812312 0.9992417 -0.0014888 ] [ 0. 0. 0. 1. ]] SLAMing on 0.32925976399999995 meters 0.45723026600721944 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.34, Z:-0.00 [[ 0.95633597 0.28887753 0.04439912 -0.07275452] [-0.28728754 0.9570535 -0.03891611 0.34471627] [-0.05373432 0.02446156 0.99825561 -0.00373888] [ 0. 0. 0. 1. ]] SLAMing on 0.38925976399999995 meters 0.9450516600029252 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.42, Z:-0.01 [[ 0.94198523 0.33066025 0.05768555 -0.10603455] [-0.32791557 0.94326594 -0.05216078 0.42499926] [-0.07166032 0.03021869 0.99697123 -0.01067756] [ 0. 0. 0. 1. ]] SLAMing on 0.44925976399999995 meters 0.9124758239649235 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.56, Z:-0.01 [[ 0.92078752 0.38069758 0.08496882 -0.18245974] [-0.3749447 0.92390214 -0.07629744 0.56266584] [-0.10754913 0.03839512 0.9934581 -0.00857232] [ 0. 0. 0. 1. ]] SLAMing on 0.509259764 meters 0.8830432279199223 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.68, Z:-0.01 [[ 0.90014517 0.42238236 0.10645095 -0.24712221] [-0.41258626 0.90512334 -0.10258811 0.68292404] [-0.13968265 0.048424 0.98901156 -0.00848181] [ 0. 0. 0. 1. ]] SLAMing on 0.5692597639999999 meters 0.4902874987593394 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.76, Z:-0.01 [[ 0.87839114 0.46591636 0.10654085 -0.26996432] [-0.45401044 0.88306675 -0.11860708 0.76338682] [-0.14934366 0.05581275 0.9872089 -0.0134677 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6292597639999998 meters 0.8140204874176654 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.87, Z:-0.02 [[ 0.85775956 0.50097508 0.11520633 -0.32760122] [-0.48732206 0.8638012 -0.12792459 0.87137207] [-0.1636024 0.05358595 0.98506995 -0.01706081] [ 0. 0. 0. 1. ]] SLAMing on 0.6892597639999999 meters 0.49829272059331287 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.99, Z:-0.01 [[ 0.83820054 0.53073472 0.12546119 -0.40440209] [-0.51395418 0.84568424 -0.1437681 0.99257315] [-0.18240327 0.0560252 0.98162632 -0.00589365] [ 0. 0. 0. 1. ]] SLAMing on 0.7492597639999998 meters 0.8190159205916262 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.06, Z:0.01 [[ 0.83207029 0.5399608 0.12689117 -0.46073532] [-0.52170018 0.83955381 -0.15158602 1.06432333] [-0.18838247 0.05993108 0.98026543 0.00786378] [ 0. 0. 0. 1. ]] SLAMing on 0.8092597639999999 meters 0.8291353772031935 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.15, Z:0.03 [[ 0.82942226 0.54265565 0.13260303 -0.54181376] [-0.52270321 0.83765355 -0.15848624 1.14696936] [-0.19707885 0.06213998 0.97841635 0.0303481 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8692597639999998 meters 0.8155187768785279 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.22, Z:0.05 [[ 0.82887026 0.54229492 0.13744203 -0.61821939] [-0.51931633 0.83720465 -0.17146113 1.22459521] [-0.2080496 0.07074314 0.97555665 0.04663767] [ 0. 0. 0. 1. ]] SLAMing on 0.9292597639999999 meters 0.4090590701811659 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.28, Z:0.07 [[ 0.83956654 0.52412288 0.14290989 -0.66705098] [-0.50212481 0.84907891 -0.16412092 1.27715846] [-0.20736131 0.06603183 0.97603334 0.06710519] [ 0. 0. 0. 1. ]] SLAMing on 0.9892597639999998 meters 0.4167044671937252 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.32, Z:0.08 [[ 0.83431376 0.53288222 0.14126953 -0.70160476] [-0.50987898 0.843318 -0.16981806 1.3208046 ] [-0.20962816 0.06965118 0.97529726 0.0821413 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0492597639999999 meters 0.40309255915763753 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.35, Z:0.10 [[ 0.84395667 0.51736583 0.14166774 -0.74135944] [-0.49426924 0.85265324 -0.16935281 1.35067749] [-0.20841081 0.07290442 0.9753204 0.10396439] [ 0. 0. 0. 1. ]] SLAMing on 1.109259764 meters 0.394830705666752 Centerline is valid? [False, False] Translation: X:-0.80, Y:1.38, Z:0.12 [[ 0.85775655 0.49374176 0.14308311 -0.79614664] [-0.47085395 0.86631232 -0.16673189 1.38385786] [-0.20627716 0.07564412 0.97556532 0.11748283] [ 0. 0. 0. 1. ]] SLAMing on 1.169259764 meters 0.3847236787549714 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.43, Z:0.14 [[ 0.86230938 0.48678996 0.13949221 -0.83947299] [-0.46445026 0.87006283 -0.16515639 1.42755373] [-0.20176346 0.07762871 0.97635306 0.13544778] [ 0. 0. 0. 1. ]] SLAMing on 1.2292597639999998 meters 0.3742600900151894 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.46, Z:0.16 [[ 0.8697606 0.47459963 0.1351728 -0.86426587] [-0.45277479 0.87643674 -0.16387078 1.45921223] [-0.19624342 0.08132551 0.97717689 0.1628118 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2892597639999999 meters 0.3773686925217709 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.47, Z:0.17 [[ 0.87466728 0.46873553 0.12346721 -0.86402606] [-0.44870052 0.87931775 -0.1595874 1.47167035] [-0.18337119 0.08418607 0.97943234 0.17453659] [ 0. 0. 0. 1. ]] SLAMing on 1.349259764 meters 0.36588671019634905 Centerline is valid? [False, False] Translation: X:-0.89, Y:1.50, Z:0.20 [[ 0.88016008 0.45938172 0.11952688 -0.88552644] [-0.44027822 0.88418224 -0.15613092 1.50304427] [-0.17740723 0.08479512 0.98047767 0.2007612 ] [ 0. 0. 0. 1. ]] SLAMing on 1.409259764 meters 0.3634784762321796 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.54, Z:0.23 [[ 0.88545337 0.45035527 0.11468416 -0.90379906] [-0.43227063 0.88874559 -0.15255613 1.5363783 ] [-0.1706295 0.08550675 0.98161814 0.2256984 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4692597639999998 meters 0.3584915405886866 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.57, Z:0.24 [[ 0.89640027 0.43017439 0.10684828 -0.93271345] [-0.4127184 0.89796202 -0.15273418 1.56516513] [-0.16164804 0.09281271 0.98247428 0.24002622] [ 0. 0. 0. 1. ]] SLAMing on 1.5292597639999999 meters 0.35611747390894855 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.60, Z:0.26 [[ 0.90580789 0.41153507 0.10075198 -0.96383218] [-0.39493688 0.90622548 -0.15093122 1.59689782] [-0.1534175 0.09692402 0.98339657 0.25558462] [ 0. 0. 0. 1. ]] SLAMing on 1.589259764 meters 0.3512695748506472 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.63, Z:0.28 [[ 0.91485085 0.39027334 0.1036081 -0.98316338] [-0.37368183 0.91551235 -0.14899335 1.63140708] [-0.15300263 0.09759023 0.98339531 0.27677157] [ 0. 0. 0. 1. ]] SLAMing on 1.6492597639999997 meters 0.34456405235637066 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.66, Z:0.29 [[ 0.92281393 0.37286916 0.09686606 -1.01190529] [-0.35730377 0.92239774 -0.14668479 1.65742563] [-0.14404327 0.10075216 0.98442904 0.28865404] [ 0. 0. 0. 1. ]] SLAMing on 1.7092597639999998 meters 0.3410409847389279 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.68, Z:0.30 [[ 0.93077472 0.35451915 0.08930052 -1.042773 ] [-0.33998993 0.92917187 -0.14507409 1.6802611 ] [-0.13440708 0.10467002 0.98538263 0.30177667] [ 0. 0. 0. 1. ]] SLAMing on 1.7692597639999998 meters 0.352049846331013 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.70, Z:0.32 [[ 0.93828582 0.33357655 0.09135867 -1.06557303] [-0.31922437 0.93691818 -0.14240831 1.69754169] [-0.13309968 0.10445579 0.9855828 0.31854973] [ 0. 0. 0. 1. ]] SLAMing on 1.829259764 meters 0.3619813380294611 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.71, Z:0.34 [[ 0.94497828 0.31662928 0.08223111 -1.09782579] [-0.3033626 0.94224519 -0.14193353 1.71283588] [-0.12242218 0.10917826 0.98645472 0.33695681] [ 0. 0. 0. 1. ]] SLAMing on 1.8892597639999997 meters 0.3893060227518304 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.71, Z:0.37 [[ 0.95068499 0.30428451 0.06007474 -1.10172662] [-0.29421307 0.94603718 -0.13583933 1.70755128] [-0.09816675 0.11146564 0.98890783 0.37087795] [ 0. 0. 0. 1. ]] SLAMing on 1.9492597639999998 meters 0.3909857348270466 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.69, Z:0.41 [[ 0.95836491 0.28269468 0.04025444 -1.11486615] [-0.27554854 0.95255104 -0.12930395 1.69413909] [-0.07489795 0.11282832 0.9907876 0.40905866] [ 0. 0. 0. 1. ]] SLAMing on 2.009259764 meters 0.3765683436683821 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.68, Z:0.44 [[ 0.96129011 0.27387401 0.03023816 -1.11888505] [-0.268172 0.95514577 -0.12561979 1.68425517] [-0.06328585 0.11264804 0.99161753 0.44088151] [ 0. 0. 0. 1. ]] SLAMing on 2.0692597639999994 meters 0.3791556447312149 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.66, Z:0.48 [[ 0.96848175 0.24885637 0.01065905 -1.14113734] [-0.24584033 0.96187624 -0.11981917 1.66195723] [-0.04007045 0.11342226 0.99273851 0.48280529] [ 0. 0. 0. 1. ]] SLAMing on 2.1292597639999995 meters 0.36983511153636645 Centerline is valid? [False, False] Translation: X:-1.19, Y:1.63, Z:0.51 [[ 9.79374311e-01 2.02054329e-01 -8.47843451e-05 -1.18557523e+00] [-2.00869634e-01 9.73586452e-01 -1.08539439e-01 1.63071420e+00] [-2.18483186e-02 1.06317769e-01 9.94092140e-01 5.13794901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1892597639999996 meters 0.3546688129872224 Centerline is valid? [False, False] Translation: X:-1.29, Y:1.58, Z:0.55 [[ 9.92788672e-01 1.19166973e-01 -1.30339972e-02 -1.28708012e+00] [-1.19877299e-01 9.87165560e-01 -1.05515830e-01 1.58029697e+00] [ 2.92711092e-04 1.06317401e-01 9.94332200e-01 5.46613914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2492597639999996 meters 0.34989537178945784 Centerline is valid? [False, False] Translation: X:-1.40, Y:1.51, Z:0.55 [[ 0.99920716 0.00732177 -0.03913376 -1.39517071] [-0.01099179 0.99547313 -0.09440571 1.5102742 ] [ 0.03826539 0.09476101 0.99476435 0.54850309] [ 0. 0. 0. 1. ]] SLAMing on 2.3092597639999997 meters 0.342549893371156 Centerline is valid? [False, False] Translation: X:-1.45, Y:1.47, Z:0.57 [[ 0.99627488 -0.06223074 -0.05969678 -1.45112858] [ 0.05720632 0.99495021 -0.08247132 1.47416215] [ 0.06452757 0.07874907 0.99480389 0.56730651] [ 0. 0. 0. 1. ]] SLAMing on 2.3692597639999997 meters 0.36215101685127266 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.46, Z:0.58 [[ 0.99432885 -0.08391099 -0.0653382 -1.50649082] [ 0.07939463 0.9944594 -0.06889847 1.46367372] [ 0.07075753 0.06332023 0.99548175 0.57881406] [ 0. 0. 0. 1. ]] SLAMing on 2.4292597639999993 meters 0.36574457296326307 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.46, Z:0.59 [[ 0.99189394 -0.10434802 -0.07251143 -1.55498522] [ 0.10013249 0.99319153 -0.0595321 1.4606635 ] [ 0.0782298 0.05178878 0.99558928 0.5927871 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4892597639999994 meters 0.41778225856122275 Centerline is valid? [False, False] Translation: X:-1.60, Y:1.45, Z:0.58 [[ 0.99149089 -0.10497957 -0.07697469 -1.59792594] [ 0.10251496 0.99410455 -0.03531057 1.45351363] [ 0.08022778 0.02711905 0.99640758 0.58414667] [ 0. 0. 0. 1. ]] SLAMing on 2.5492597639999994 meters 0.4217008487964016 Centerline is valid? [False, False] Translation: X:-1.64, Y:1.46, Z:0.59 [[ 0.99034411 -0.119373 -0.07048851 -1.64473412] [ 0.11712645 0.99249291 -0.03520244 1.45835517] [ 0.07416157 0.02660646 0.99689125 0.59233611] [ 0. 0. 0. 1. ]] SLAMing on 2.6092597639999995 meters 0.4321779372786911 Centerline is valid? [False, False] Translation: X:-1.68, Y:1.48, Z:0.57 [[ 0.98969063 -0.12849675 -0.06325376 -1.68199062] [ 0.12774862 0.99168152 -0.01574987 1.47608463] [ 0.06475139 0.00750691 0.99787319 0.57050789] [ 0. 0. 0. 1. ]] SLAMing on 2.6692597639999995 meters 0.4917272045094642 Centerline is valid? [False, False] Translation: X:-1.72, Y:1.49, Z:0.57 [[ 0.99452473 -0.0915248 -0.05043582 -1.71778167] [ 0.09094821 0.99576254 -0.01361569 1.49298501] [ 0.05146827 0.00895409 0.99863449 0.56804768] [ 0. 0. 0. 1. ]] SLAMing on 2.7292597639999996 meters 0.4414666316611187 Centerline is valid? [False, False] Translation: X:-1.74, Y:1.50, Z:0.56 [[ 0.99761338 -0.05765499 -0.0379926 -1.74077547] [ 0.05716377 0.99826816 -0.01389221 1.50441953] [ 0.03872776 0.01168726 0.99918145 0.55595187] [ 0. 0. 0. 1. ]] SLAMing on 2.7892597639999996 meters 0.4029989481880949 Centerline is valid? [False, False] Translation: X:-1.76, Y:1.51, Z:0.55 [[ 0.99918942 -0.0349351 -0.02000123 -1.76129796] [ 0.0346687 0.99930748 -0.01351466 1.50502726] [ 0.02045952 0.01281029 0.99970861 0.55082103] [ 0. 0. 0. 1. ]] SLAMing on 2.8492597639999993 meters 0.4021470202079891 Centerline is valid? [False, False] Translation: X:-1.75, Y:1.49, Z:0.55 [[ 0.99960409 0.00987738 -0.02634568 -1.75054668] [-0.01012511 0.99990562 -0.00928628 1.49443029] [ 0.02625147 0.00954935 0.99960976 0.55056479] [ 0. 0. 0. 1. ]] SLAMing on 2.9092597639999993 meters 0.3713221073722286 Centerline is valid? [False, False] Translation: X:-1.77, Y:1.45, Z:0.54 [[ 9.99807045e-01 -1.43275347e-02 -1.34385605e-02 -1.76532076e+00] [ 1.43047440e-02 9.99896079e-01 -1.79051403e-03 1.45291546e+00] [ 1.34628176e-02 1.59793337e-03 9.99908095e-01 5.41185062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9692597639999994 meters 0.35300796227824566 Centerline is valid? [False, False] Translation: X:-1.77, Y:1.47, Z:0.54 [[ 0.99911006 0.041279 -0.0086675 -1.76859028] [-0.04131045 0.99914029 -0.00348122 1.46706812] [ 0.00851635 0.00383618 0.99995638 0.5447882 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0292597639999994 meters 0.3249121435856947 Centerline is valid? [False, False] Translation: X:-1.79, Y:1.47, Z:0.54 [[ 9.96387599e-01 8.48551621e-02 -3.36956654e-03 -1.79335206e+00] [-8.48614983e-02 9.96391160e-01 -1.78396096e-03 1.46777899e+00] [ 3.20602802e-03 2.06346304e-03 9.99992732e-01 5.43932853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0892597639999995 meters 0.3011836188695954 Centerline is valid? [False, False] Translation: X:-1.80, Y:1.47, Z:0.55 [[ 0.99429583 0.10610675 -0.01082394 -1.80275098] [-0.10601073 0.99432343 0.00909129 1.46680454] [ 0.01172714 -0.00789198 0.99990009 0.54759456] [ 0. 0. 0. 1. ]] SLAMing on 3.1492597639999995 meters 0.2841309397165904 Centerline is valid? [False, False] Translation: X:-1.82, Y:1.48, Z:0.54 [[ 0.99139198 0.13086115 -0.00416048 -1.82116202] [-0.13082738 0.99137637 0.0075558 1.48044922] [ 0.00511336 -0.00694646 0.9999628 0.543494 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2092597639999996 meters 0.2318225207120537 Centerline is valid? [False, False] Translation: X:-1.86, Y:1.50, Z:0.54 [[ 0.98332548 0.18160239 0.00956904 -1.86133572] [-0.18166058 0.98334534 0.00560209 1.50254137] [-0.00839232 -0.007247 0.99993852 0.54089134] [ 0. 0. 0. 1. ]] SLAMing on 3.269259763999999 meters 0.1931559449144047 Centerline is valid? [False, False] Translation: X:-1.88, Y:1.52, Z:0.54 [[ 0.98140317 0.19187895 0.00550279 -1.87924585] [-0.19192605 0.98135906 0.00993933 1.51546811] [-0.00349306 -0.01081062 0.99993546 0.54397117] [ 0. 0. 0. 1. ]] SLAMing on 3.3292597639999992 meters 0.18014057232873637 Centerline is valid? [False, False] Translation: X:-1.93, Y:1.55, Z:0.54 [[ 0.97622664 0.21587487 0.01948309 -1.9283784 ] [-0.21610734 0.97631081 0.0107154 1.54876969] [-0.01670837 -0.0146711 0.99975276 0.53748254] [ 0. 0. 0. 1. ]] SLAMing on 3.3892597639999993 meters 0.13454422199566904 Centerline is valid? [False, False] Translation: X:-1.98, Y:1.60, Z:0.53 [[ 0.96699203 0.25263172 0.03322081 -1.97695204] [-0.25284409 0.96750434 0.00228583 1.59735594] [-0.0315638 -0.01061006 0.99944542 0.53359366] [ 0. 0. 0. 1. ]] SLAMing on 3.4492597639999993 meters 0.10858593847303304 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.65, Z:0.53 [[ 0.95742138 0.28366661 0.05364286 -2.04425601] [-0.28395148 0.95883566 -0.00239428 1.64612086] [-0.05211386 -0.01293963 0.99855731 0.53175356] [ 0. 0. 0. 1. ]] SLAMing on 3.5092597639999994 meters 0.09708574809853851 Centerline is valid? [False, True] Translation: X:-2.14, Y:1.72, Z:0.53 [[ 0.93915193 0.33514229 0.07532133 -2.13998946] [-0.33510273 0.94208429 -0.0135407 1.71694978] [-0.0754971 -0.01252361 0.99706737 0.53242262] [ 0. 0. 0. 1. ]] SLAMing on 3.5692597639999994 meters 0.11461749713330927 Centerline is valid? [True, False] Translation: X:-2.45, Y:0.46, Z:0.60 [[ 0.92424993 0.37142343 0.0883555 -2.44928096] [-0.37461685 0.92691373 0.02220709 0.46352801] [-0.07364969 -0.05362436 0.99584143 0.59701965] [ 0. 0. 0. 1. ]] SLAMing on 3.6292597639999995 meters 0.10556044955732125 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.51, Z:0.61 [[ 0.9368473 0.34453936 0.06008137 -2.58173839] [-0.34597138 0.93812513 0.01500167 0.5148805 ] [-0.05119517 -0.0348407 0.99808075 0.61456084] [ 0. 0. 0. 1. ]] SLAMing on 3.689259763999999 meters 0.09101205422600542 Centerline is valid? [False, True] Translation: X:-2.70, Y:0.56, Z:0.63 [[ 0.95046969 0.30845002 0.03828787 -2.69529854] [-0.30899055 0.95102289 0.00896163 0.55807602] [-0.03364842 -0.02034834 0.99922657 0.63081111] [ 0. 0. 0. 1. ]] SLAMing on 3.749259763999999 meters 0.08562612796394854 Centerline is valid? [True, True] Translation: X:-2.65, Y:0.49, Z:0.61 [[ 9.61219452e-01 2.73263973e-01 3.72017047e-02 -2.65224411e+00] [-2.73040382e-01 9.61938966e-01 -1.10623181e-02 4.93343254e-01] [-3.88087024e-02 4.75747685e-04 9.99246545e-01 6.10157798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809259763999999 meters 0.10083164974501518 Centerline is valid? [True, False] Translation: X:-2.72, Y:0.52, Z:0.62 [[ 9.74198452e-01 2.23647983e-01 3.03142880e-02 -2.72026258e+00] [-2.23489523e-01 9.74668727e-01 -8.56189533e-03 5.21740773e-01] [-3.14612391e-02 1.56605940e-03 9.99503746e-01 6.18470402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8692597639999993 meters 0.14889816937609807 Centerline is valid? [False, False] Translation: X:-2.76, Y:0.54, Z:0.63 [[ 0.98753621 0.15577344 0.02251364 -2.76186102] [-0.15563317 0.98778361 -0.00786462 0.54414497] [-0.02346371 0.00426273 0.9997156 0.62858026] [ 0. 0. 0. 1. ]] SLAMing on 3.9292597639999993 meters 0.19336150271822355 Centerline is valid? [False, False] Translation: X:-2.79, Y:0.57, Z:0.64 [[ 9.97195977e-01 7.07301898e-02 2.44422362e-02 -2.79266407e+00] [-7.07049028e-02 9.97495470e-01 -1.89832288e-03 5.70442313e-01] [-2.45152886e-02 1.64814006e-04 9.99699442e-01 6.39546364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9892597639999994 meters 0.24611514602204698 Centerline is valid? [False, False] Translation: X:-2.83, Y:0.61, Z:0.65 [[ 0.99896657 -0.03928672 0.0228549 -2.8302685 ] [ 0.03899837 0.99915564 0.01292825 0.60735781] [-0.02334351 -0.01202359 0.9996552 0.65405818] [ 0. 0. 0. 1. ]] SLAMing on 4.049259763999999 meters 0.26264274322325415 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.67, Z:0.67 [[ 0.98359112 -0.17537964 0.04231412 -2.93760966] [ 0.1742817 0.98428614 0.02840219 0.67236742] [-0.04663037 -0.02056157 0.99870057 0.66703437] [ 0. 0. 0. 1. ]] SLAMing on 4.109259763999999 meters 0.22633676165030747 Centerline is valid? [False, False] Translation: X:-3.15, Y:0.79, Z:0.69 [[ 0.93963591 -0.3336812 0.07577079 -3.14558313] [ 0.33132888 0.94257496 0.04211421 0.78815577] [-0.08547237 -0.01446698 0.9962355 0.68895219] [ 0. 0. 0. 1. ]] SLAMing on 4.1692597639999995 meters 0.19174125647618376 Centerline is valid? [False, False] Translation: X:-3.51, Y:0.98, Z:0.74 [[ 0.86407704 -0.48545255 0.13306651 -3.50534223] [ 0.4813892 0.87421351 0.0633655 0.97745378] [-0.14708949 0.0093041 0.98907943 0.74485154] [ 0. 0. 0. 1. ]] SLAMing on 4.229259763999999 meters 0.5414323938231783 Centerline is valid? [False, False] Translation: X:-3.82, Y:1.19, Z:0.73 [[ 0.78923562 -0.59039089 0.1689548 -3.821679 ] [ 0.59247791 0.80442134 0.04331551 1.19439637] [-0.16148393 0.06591584 0.98467154 0.73063539] [ 0. 0. 0. 1. ]] SLAMing on 4.289259764 meters 0.6078962735886364 Centerline is valid? [False, False] Translation: X:-4.21, Y:1.47, Z:0.75 [[ 0.73938436 -0.64971634 0.17657705 -4.21046599] [ 0.65760903 0.75315344 0.01761425 1.47348884] [-0.14443388 0.10309496 0.9841292 0.74892995] [ 0. 0. 0. 1. ]] SLAMing on 4.349259763999999 meters 0.647182099953555 Centerline is valid? [False, False] Translation: X:-4.64, Y:1.78, Z:0.81 [[ 0.74580132 -0.63820381 0.19098767 -4.63550329] [ 0.65475047 0.75510059 -0.03353979 1.78314464] [-0.12280968 0.15006329 0.98101926 0.80566194] [ 0. 0. 0. 1. ]] SLAMing on 4.409259763999999 meters 0.6421106973272815 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.10, Z:0.90 [[ 0.78826177 -0.58051122 0.20408355 -5.08238114] [ 0.6044965 0.7925298 -0.08050153 2.10118007] [-0.11501025 0.18682407 0.97563795 0.90036262] [ 0. 0. 0. 1. ]] SLAMing on 4.469259763999999 meters 0.6138910330681016 Centerline is valid? [False, False] Translation: X:-5.48, Y:2.38, Z:1.02 [[ 0.83277794 -0.50785872 0.22036428 -5.47532621] [ 0.53925256 0.8342074 -0.11534596 2.38300958] [-0.12525006 0.21488957 0.96857364 1.01782914] [ 0. 0. 0. 1. ]] SLAMing on 4.529259763999999 meters 0.5962871474458175 Centerline is valid? [False, False] Translation: X:-5.79, Y:2.62, Z:1.12 [[ 0.86845586 -0.44141671 0.22568941 -5.79034591] [ 0.47403652 0.87265605 -0.11730647 2.61917252] [-0.14516819 0.20886051 0.96711089 1.1249275 ] [ 0. 0. 0. 1. ]] SLAMing on 4.5892597639999995 meters 0.36022795312368694 Centerline is valid? [False, False] Translation: X:-6.06, Y:2.76, Z:1.21 [[ 0.90031937 -0.37050528 0.22836565 -6.05812591] [ 0.40175474 0.90927708 -0.10866614 2.76391234] [-0.16738627 0.18958121 0.96749202 1.21256748] [ 0. 0. 0. 1. ]] SLAMing on 4.649259763999999 meters 0.3467237932488932 Centerline is valid? [False, False] Translation: X:-6.27, Y:2.87, Z:1.28 [[ 0.91963858 -0.32037037 0.22721731 -6.26530997] [ 0.34836317 0.93251924 -0.09513655 2.86692695] [-0.18140558 0.16664538 0.96918591 1.28444608] [ 0. 0. 0. 1. ]] SLAMing on 4.709259764 meters 0.3739041476169423 Centerline is valid? [False, False] Translation: X:-6.44, Y:2.94, Z:1.34 [[ 0.92872956 -0.29810339 0.22044449 -6.43568235] [ 0.32320587 0.94228118 -0.08743076 2.93630788] [-0.18165729 0.15244849 0.97147315 1.34155809] [ 0. 0. 0. 1. ]] SLAMing on 4.769259763999999 meters 0.3423178845389817 Centerline is valid? [False, False] Translation: X:-6.59, Y:3.00, Z:1.39 [[ 0.9350576 -0.28375134 0.21249108 -6.58867981] [ 0.30381853 0.95030402 -0.06794541 3.00240224] [-0.18265152 0.1280916 0.97479791 1.38667619] [ 0. 0. 0. 1. ]] SLAMing on 4.829259763999999 meters 0.3504291637589803 Centerline is valid? [False, False] Translation: X:-6.74, Y:3.06, Z:1.43 [[ 0.94161953 -0.26912339 0.20229991 -6.73964018] [ 0.28668215 0.95597642 -0.06262926 3.06409491] [-0.17653894 0.11696871 0.97731895 1.43151051] [ 0. 0. 0. 1. ]] SLAMing on 4.889259763999999 meters 0.33911753741701084 Centerline is valid? [False, False] Translation: X:-6.87, Y:3.12, Z:1.47 [[ 0.94683238 -0.25278665 0.19901596 -6.87433258] [ 0.26863691 0.96157206 -0.05668665 3.11869525] [-0.17703856 0.10713579 0.97835539 1.46638423] [ 0. 0. 0. 1. ]] SLAMing on 4.949259763999999 meters 0.33684836826450126 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.18, Z:1.50 [[ 0.95302279 -0.23543475 0.19057292 -6.99877567] [ 0.24858983 0.9674187 -0.04800155 3.17764666] [-0.17306257 0.09312107 0.98049876 1.50263707] [ 0. 0. 0. 1. ]] SLAMing on 5.009259763999999 meters 0.362403697249394 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.23, Z:1.53 [[ 0.95675257 -0.22601111 0.18314885 -7.11849593] [ 0.23798416 0.97018027 -0.04597597 3.22774965] [-0.16729632 0.08757416 0.98200952 1.53320652] [ 0. 0. 0. 1. ]] SLAMing on 5.069259763999999 meters 0.36870398440493324 Centerline is valid? [False, False] Translation: X:-7.23, Y:3.27, Z:1.56 [[ 0.9580149 -0.22391824 0.17907559 -7.22772426] [ 0.23390098 0.97157703 -0.0364472 3.26736716] [-0.16582454 0.07680292 0.98315997 1.55746453] [ 0. 0. 0. 1. ]] SLAMing on 5.1292597639999995 meters 0.3965042893161994 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.32, Z:1.59 [[ 0.96252802 -0.21026883 0.1712508 -7.33748468] [ 0.21947658 0.974934 -0.03652026 3.31803927] [-0.15927916 0.07273731 0.98455037 1.58516695] [ 0. 0. 0. 1. ]] SLAMing on 5.189259763999999 meters 0.38134106561063175 Centerline is valid? [False, False] Translation: X:-7.43, Y:3.37, Z:1.61 [[ 0.96864896 -0.19204774 0.15759714 -7.43430628] [ 0.19978677 0.97922554 -0.03467824 3.37057689] [-0.14766327 0.06507687 0.9868944 1.60844673] [ 0. 0. 0. 1. ]] SLAMing on 5.249259763999999 meters 0.3947810356125832 Centerline is valid? [False, False] Translation: X:-7.51, Y:3.41, Z:1.63 [[ 0.9739015 -0.17267149 0.14731066 -7.50705098] [ 0.17929261 0.98324827 -0.03281776 3.41086102] [-0.13917626 0.05837297 0.98854568 1.63137677] [ 0. 0. 0. 1. ]] SLAMing on 5.309259763999999 meters 0.3902434941873579 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.45, Z:1.65 [[ 0.9801596 -0.14999741 0.12956829 -7.56606538] [ 0.15448386 0.98767283 -0.02524124 3.45372616] [-0.12418496 0.04475666 0.99124918 1.64676993] [ 0. 0. 0. 1. ]] SLAMing on 5.369259763999999 meters 0.3438858545874219 Centerline is valid? [False, False] Translation: X:-7.61, Y:3.49, Z:1.66 [[ 0.9855195 -0.12852254 0.11060413 -7.61296995] [ 0.13217039 0.99087868 -0.02627616 3.48942181] [-0.10621819 0.04051426 0.99351713 1.66031882] [ 0. 0. 0. 1. ]] SLAMing on 5.429259763999999 meters 0.3530730905883827 Centerline is valid? [False, False] Translation: X:-7.64, Y:3.53, Z:1.67 [[ 0.9908566 -0.10611166 0.08332776 -7.6439331 ] [ 0.10856686 0.99376216 -0.02549502 3.52730492] [-0.08010265 0.03430855 0.99619601 1.67230098] [ 0. 0. 0. 1. ]] SLAMing on 5.489259763999999 meters 0.3740292299382749 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.56, Z:1.69 [[ 0.9946008 -0.08290592 0.06241682 -7.66001623] [ 0.08437312 0.99620772 -0.02124516 3.55678322] [-0.06041876 0.02639676 0.99782402 1.6856823 ] [ 0. 0. 0. 1. ]] SLAMing on 5.549259763999999 meters 0.31689574082656174 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.59, Z:1.70 [[ 0.99785081 -0.0523087 0.03946586 -7.66443909] [ 0.05299872 0.99845586 -0.01664443 3.59104853] [-0.03853427 0.0187003 0.99908228 1.70093345] [ 0. 0. 0. 1. ]] SLAMing on 5.609259763999999 meters 0.33600794281295737 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.62, Z:1.71 [[ 0.99957642 -0.02337866 0.01733283 -7.66396483] [ 0.02364979 0.99959848 -0.01560647 3.62247535] [-0.01696102 0.01600978 0.99972797 1.71349887] [ 0. 0. 0. 1. ]] SLAMing on 5.669259763999999 meters 0.2999292198891508 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.64, Z:1.72 [[ 9.99962413e-01 -2.14324565e-03 8.40107838e-03 -7.66258464e+00] [ 2.26437476e-03 9.99893240e-01 -1.44353873e-02 3.64029863e+00] [-8.36924290e-03 1.44538679e-02 9.99860511e-01 1.72045284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729259763999999 meters 0.2891743457008645 Centerline is valid? [False, False] Translation: X:-7.65, Y:3.66, Z:1.73 [[ 9.99937683e-01 1.08854100e-02 2.47749834e-03 -7.64948962e+00] [-1.08570764e-02 9.99878602e-01 -1.11760818e-02 3.66336260e+00] [-2.59885380e-03 1.11484870e-02 9.99934476e-01 1.72726091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789259763999999 meters 0.28179094045120817 Centerline is valid? [False, False] Translation: X:-7.64, Y:3.68, Z:1.72 [[ 9.99750395e-01 2.23403713e-02 2.34294425e-04 -7.64201721e+00] [-2.23398696e-02 9.99748511e-01 -1.96110337e-03 3.67687546e+00] [-2.78047280e-04 1.95537977e-03 9.99998050e-01 1.72491164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849259763999999 meters 0.2783665669734095 Centerline is valid? [False, False] Translation: X:-7.62, Y:3.69, Z:1.73 [[ 9.99554063e-01 2.94490174e-02 4.94273740e-03 -7.62320552e+00] [-2.94903777e-02 9.99528798e-01 8.51469424e-03 3.68841234e+00] [-4.68965899e-03 -8.65666042e-03 9.99951533e-01 1.72656821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909259763999999 meters 0.2909856318117743 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.69, Z:1.73 [[ 9.99042066e-01 4.37531131e-02 7.85131728e-04 -7.57893049e+00] [-4.37598967e-02 9.98937190e-01 1.44762774e-02 3.69444573e+00] [-1.50915081e-04 -1.44967673e-02 9.99894905e-01 1.73485633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969259763999999 meters 0.2839638732258323 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.70, Z:1.73 [[ 9.99207854e-01 3.97951654e-02 9.28563295e-05 -7.57679413e+00] [-3.97939835e-02 9.99153949e-01 1.03838921e-02 3.69561832e+00] [ 3.20450936e-04 -1.03793617e-02 9.99946082e-01 1.73366246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029259763999999 meters 0.28693981987271716 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.69, Z:1.74 [[ 9.99783789e-01 2.07512360e-02 -1.32722458e-03 -7.57564714e+00] [-2.07436205e-02 9.99769616e-01 5.51511567e-03 3.68558320e+00] [ 1.44136427e-03 -5.48639179e-03 9.99983911e-01 1.74346101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089259763999999 meters 0.2975456256865226 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.66, Z:1.75 [[ 9.99985129e-01 -4.54481721e-03 -3.01428319e-03 -7.57602466e+00] [ 4.53685955e-03 9.99986219e-01 -2.64158798e-03 3.66473593e+00] [ 3.02624718e-03 2.62787332e-03 9.99991968e-01 1.75048764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149259763999999 meters 0.30476446699921045 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.66, Z:1.75 [[ 9.99961755e-01 -8.43725896e-03 -2.30238316e-03 -7.57770645e+00] [ 8.42438844e-03 9.99949147e-01 -5.54367082e-03 3.65986641e+00] [ 2.34903947e-03 5.52406263e-03 9.99981983e-01 1.75026136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209259763999999 meters 0.29351700004449155 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99967664e-01 -7.86587739e-03 -1.67292366e-03 -7.57951478e+00] [ 7.85852061e-03 9.99959618e-01 -4.35958377e-03 3.65453044e+00] [ 1.70714806e-03 4.34629609e-03 9.99989098e-01 1.75053242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269259763999999 meters 0.28727117188144946 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.66, Z:1.75 [[ 9.99961354e-01 -8.59617735e-03 -1.84312758e-03 -7.58064258e+00] [ 8.58592183e-03 9.99948005e-01 -5.50172125e-03 3.65691296e+00] [ 1.89032552e-03 5.48568368e-03 9.99983167e-01 1.75301438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329259763999999 meters 0.2933815589037192 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99967746e-01 -7.85365265e-03 -1.68131202e-03 -7.57959986e+00] [ 7.84637807e-03 9.99960012e-01 -4.29046319e-03 3.65460886e+00] [ 1.71494060e-03 4.27713260e-03 9.99989383e-01 1.75072601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389259763999999 meters 0.3116972645651012 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99976345e-01 -6.57548937e-03 -2.01780241e-03 -7.57657616e+00] [ 6.57031045e-03 9.99975132e-01 -2.56259799e-03 3.65215783e+00] [ 2.03460257e-03 2.54927979e-03 9.99994681e-01 1.74713181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449259763999999 meters 0.2902237202434982 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99895670e-01 -1.43439624e-02 -1.70294826e-03 -7.57724217e+00] [ 1.43269161e-02 9.99850968e-01 -9.63233559e-03 3.64672962e+00] [ 1.84086033e-03 9.60693265e-03 9.99952158e-01 1.74686925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5092597639999985 meters 0.2913351564670134 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.64, Z:1.75 [[ 9.99891653e-01 -1.47198311e-02 -9.85773524e-05 -7.58200230e+00] [ 1.47184470e-02 9.99854992e-01 -8.56518383e-03 3.64019770e+00] [ 2.24641118e-04 8.56280491e-03 9.99963313e-01 1.74877975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569259763999999 meters 0.29296857019054107 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.75 [[ 9.99948437e-01 -1.00989400e-02 1.06509389e-03 -7.58413478e+00] [ 1.01002537e-02 9.99948228e-01 -1.23529181e-03 3.63153322e+00] [-1.05256361e-03 1.24598583e-03 9.99998670e-01 1.74540327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.629259763999999 meters 0.29733262807184896 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99954559e-01 -9.44969737e-03 1.25857029e-03 -7.58348707e+00] [ 9.44990553e-03 9.99955336e-01 -1.59546069e-04 3.62914333e+00] [-1.25700641e-03 1.71432189e-04 9.99999195e-01 1.74358373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689259763999999 meters 0.2908087798896916 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99958984e-01 -9.01213871e-03 9.01349255e-04 -7.58139636e+00] [ 9.01187163e-03 9.99959347e-01 2.99935752e-04 3.62961011e+00] [-9.04015675e-04 -2.91800606e-04 9.99999549e-01 1.74179763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749259763999999 meters 0.29009709140941675 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99960428e-01 -8.87203444e-03 6.54797472e-04 -7.58006605e+00] [ 8.87180209e-03 9.99960581e-01 3.56895833e-04 3.63051482e+00] [-6.57938052e-04 -3.51072476e-04 9.99999722e-01 1.74078095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809259763999999 meters 0.30593675869094983 Centerline is valid? [False, False] Translation: X:-7.56, Y:3.64, Z:1.75 [[ 9.99994572e-01 -1.18706676e-03 -3.07364500e-03 -7.56310593e+00] [ 1.17845169e-03 9.99995377e-01 -2.80318004e-03 3.63834442e+00] [ 3.07695835e-03 2.79954268e-03 9.99991347e-01 1.74658608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869259763999999 meters 0.2859370580453668 Centerline is valid? [False, False] Translation: X:-7.56, Y:3.65, Z:1.75 [[ 9.99963941e-01 6.26612680e-03 -5.73170055e-03 -7.55790095e+00] [-6.26848005e-03 9.99980276e-01 -3.92694270e-04 3.65399748e+00] [ 5.72912683e-03 4.28609160e-04 9.99983497e-01 1.75192696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929259763999998 meters 0.28205755744736105 Centerline is valid? [False, False] Translation: X:-7.54, Y:3.66, Z:1.75 [[ 9.99990408e-01 4.28266125e-03 -9.18051406e-04 -7.53994676e+00] [-4.27989989e-03 9.99986374e-01 2.98899935e-03 3.65727798e+00] [ 9.30839768e-04 -2.98504151e-03 9.99995112e-01 1.75198766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989259763999999 meters 0.28796034489890293 Centerline is valid? [False, False] Translation: X:-7.53, Y:3.66, Z:1.75 [[ 9.99988834e-01 3.11014767e-03 -3.55806046e-03 -7.52600331e+00] [-3.12524992e-03 9.99986098e-01 -4.24685947e-03 3.65803237e+00] [ 3.54480263e-03 4.25793187e-03 9.99984652e-01 1.75228324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0492597639999985 meters 0.2992934702512011 Centerline is valid? [False, False] Translation: X:-7.52, Y:3.66, Z:1.75 [[ 9.99984637e-01 3.65651287e-03 -4.16605548e-03 -7.52317528e+00] [-3.67240206e-03 9.99985988e-01 -3.81272026e-03 3.65933531e+00] [ 4.15205585e-03 3.82796112e-03 9.99984053e-01 1.75017185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109259763999999 meters 0.28835908409335387 Centerline is valid? [False, False] Translation: X:-7.52, Y:3.66, Z:1.75 [[ 9.99987208e-01 -2.86145063e-04 -5.05000676e-03 -7.52030694e+00] [ 2.46159674e-04 9.99968632e-01 -7.91673433e-03 3.66151965e+00] [ 5.05211368e-03 7.91538995e-03 9.99955910e-01 1.74898050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169259763999999 meters 0.27027838217695377 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.66, Z:1.75 [[ 9.99997963e-01 -1.78385229e-03 9.44569473e-04 -7.50472796e+00] [ 1.78630208e-03 9.99995027e-01 -2.59909225e-03 3.65926477e+00] [-9.39928379e-04 2.60077424e-03 9.99996176e-01 1.74870312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229259763999999 meters 0.2758578376550254 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.67, Z:1.75 [[ 9.99996127e-01 -2.69526103e-03 -6.93878739e-04 -7.50239745e+00] [ 2.69043579e-03 9.99972827e-01 -6.86349026e-03 3.66961500e+00] [ 7.12358782e-04 6.86159684e-03 9.99976205e-01 1.75476377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289259763999999 meters 0.2824954573579469 Centerline is valid? [False, False] Translation: X:-7.48, Y:3.66, Z:1.75 [[ 9.99998307e-01 -1.04060750e-03 1.51739623e-03 -7.47505782e+00] [ 1.04223299e-03 9.99998884e-01 -1.07083897e-03 3.66357498e+00] [-1.51628021e-03 1.07241864e-03 9.99998275e-01 1.75311689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349259763999998 meters 0.2644272439371236 Centerline is valid? [False, False] Translation: X:-7.47, Y:3.67, Z:1.75 [[ 9.99999402e-01 -8.21230817e-04 7.22682686e-04 -7.47214407e+00] [ 8.22229968e-04 9.99998705e-01 -1.38334857e-03 3.66716944e+00] [-7.21545702e-04 1.38394196e-03 9.99998782e-01 1.75143067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409259763999999 meters 0.2611951950225753 Centerline is valid? [False, False] Translation: X:-7.47, Y:3.67, Z:1.75 [[ 9.99999731e-01 -2.88384810e-04 -6.75039651e-04 -7.46767366e+00] [ 2.87045219e-04 9.99997991e-01 -1.98371805e-03 3.67252620e+00] [ 6.75610369e-04 1.98352375e-03 9.99997805e-01 1.74939037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4692597639999985 meters 0.26568137937718833 Centerline is valid? [False, False] Translation: X:-7.46, Y:3.68, Z:1.75 [[ 9.99996462e-01 -6.63496405e-04 -2.57611509e-03 -7.46371946e+00] [ 6.50759966e-04 9.99987578e-01 -4.94174355e-03 3.68243399e+00] [ 2.57936192e-03 4.94004964e-03 9.99984471e-01 1.75163006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529259763999999 meters 0.27514053519520465 Centerline is valid? [False, False] Translation: X:-7.45, Y:3.69, Z:1.75 [[ 9.99993953e-01 5.15735844e-04 3.43921641e-03 -7.44902618e+00] [-5.22298706e-04 9.99998044e-01 1.90761859e-03 3.68580975e+00] [-3.43822586e-03 -1.90940335e-03 9.99992266e-01 1.75324444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.589259763999999 meters 0.26917134789076713 Centerline is valid? [False, False] Translation: X:-7.45, Y:3.69, Z:1.75 [[ 9.99996751e-01 2.39616515e-04 2.53797404e-03 -7.44658404e+00] [-2.41308180e-04 9.99999749e-01 6.66256125e-04 3.69175164e+00] [-2.53781376e-03 -6.66866394e-04 9.99996557e-01 1.75301824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649259763999999 meters 0.24778669388542876 Centerline is valid? [False, False] Translation: X:-7.44, Y:3.70, Z:1.75 [[ 9.99998285e-01 3.67778901e-04 1.81502187e-03 -7.44390133e+00] [-3.68370471e-04 9.99999879e-01 3.25606667e-04 3.69552018e+00] [-1.81490190e-03 -3.26274709e-04 9.99998300e-01 1.75167457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709259763999999 meters 0.2793483945798068 Centerline is valid? [False, False] Translation: X:-7.43, Y:3.70, Z:1.75 [[ 9.99995036e-01 3.14900593e-03 -1.11392607e-04 -7.43005545e+00] [-3.14955794e-03 9.99980666e-01 -5.36173326e-03 3.69853977e+00] [ 9.45063238e-05 5.36205748e-03 9.99985620e-01 1.75481813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769259763999998 meters 0.2700528815767297 Centerline is valid? [False, False] Translation: X:-7.43, Y:3.70, Z:1.75 [[ 9.99993140e-01 3.52834894e-03 -1.12706544e-03 -7.42642660e+00] [-3.53474496e-03 9.99977369e-01 -5.72427131e-03 3.70317388e+00] [ 1.10684271e-03 5.72821593e-03 9.99982981e-01 1.75282761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829259763999999 meters 0.25211580782736503 Centerline is valid? [False, False] Translation: X:-7.41, Y:3.71, Z:1.75 [[ 9.99979639e-01 4.78867183e-03 4.21789509e-03 -7.41011732e+00] [-4.79366750e-03 9.99987820e-01 1.17508756e-03 3.70927026e+00] [-4.21221661e-03 -1.19528282e-03 9.99990414e-01 1.75307876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889259763999998 meters 0.24865680354075628 Centerline is valid? [False, False] Translation: X:-7.40, Y:3.72, Z:1.76 [[ 9.99986101e-01 5.10406091e-03 1.32176309e-03 -7.40377403e+00] [-5.09986327e-03 9.99982003e-01 -3.15992078e-03 3.72240476e+00] [-1.33786773e-03 3.15313605e-03 9.99994134e-01 1.75720257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949259763999999 meters 0.23302723306038467 Centerline is valid? [False, False] Translation: X:-7.40, Y:3.73, Z:1.76 [[ 9.99917145e-01 1.28725553e-02 2.65472680e-05 -7.39979108e+00] [-1.28725806e-02 9.99913665e-01 2.63800351e-03 3.73387753e+00] [ 7.41287020e-06 -2.63812667e-03 9.99996520e-01 1.75678097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009259764 meters 0.24054032188023902 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.76 [[ 9.99968075e-01 6.21249205e-03 5.02536284e-03 -7.38295954e+00] [-6.22255698e-03 9.99978660e-01 1.98967649e-03 3.74046841e+00] [-5.01289475e-03 -2.02088357e-03 9.99985393e-01 1.75578150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069259764 meters 0.21463997126460566 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.76 [[ 9.99969879e-01 6.14228533e-03 4.74473718e-03 -7.38169622e+00] [-6.15037721e-03 9.99979654e-01 1.69273953e-03 3.74288810e+00] [-4.73424335e-03 -1.72187047e-03 9.99987311e-01 1.75506626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129259764 meters 0.2252228355007453 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.75 [[ 9.99987609e-01 2.36678644e-03 4.37960321e-03 -7.37985835e+00] [-2.35793558e-03 9.99995170e-01 -2.02499003e-03 3.74260495e+00] [-4.38437477e-03 2.01463811e-03 9.99988359e-01 1.75349686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189259763999999 meters 0.21642517392828836 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.75 [[ 9.99990555e-01 -1.66580633e-03 4.01422624e-03 -7.37838437e+00] [ 1.69047670e-03 9.99979658e-01 -6.15019776e-03 3.74335423e+00] [-4.00389955e-03 6.15692563e-03 9.99973030e-01 1.75257332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249259764 meters 0.22958798550328757 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.75, Z:1.75 [[ 9.99992299e-01 -1.73296682e-03 3.52119186e-03 -7.37678221e+00] [ 1.75590564e-03 9.99977191e-01 -6.52189107e-03 3.74647613e+00] [-3.50980932e-03 6.52802373e-03 9.99972533e-01 1.75211598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309259764 meters 0.21962849383969052 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.75, Z:1.75 [[ 9.99993295e-01 -2.25248080e-03 2.88723182e-03 -7.37588101e+00] [ 2.27526123e-03 9.99966117e-01 -7.91120953e-03 3.75166098e+00] [-2.86931415e-03 7.91772569e-03 9.99964538e-01 1.75358312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369259763999999 meters 0.21764182849626032 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99994137e-01 -2.40383020e-03 2.43878790e-03 -7.37448717e+00] [ 2.42443773e-03 9.99961084e-01 -8.48243648e-03 3.75536773e+00] [-2.41830266e-03 8.48829944e-03 9.99961050e-01 1.75333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429259764 meters 0.219529823955551 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99995187e-01 -2.14948491e-03 2.23731865e-03 -7.37285683e+00] [ 2.16788603e-03 9.99963577e-01 -8.25495952e-03 3.75647854e+00] [-2.21949325e-03 8.25977004e-03 9.99963424e-01 1.75168747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489259764 meters 0.23171178515885485 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99995855e-01 -1.80457623e-03 2.24345739e-03 -7.37189962e+00] [ 1.82196917e-03 9.99968114e-01 -7.77502287e-03 3.75606807e+00] [-2.22935524e-03 7.77907816e-03 9.99967257e-01 1.75020310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549259764 meters 0.2187379295069136 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99995948e-01 -1.90950895e-03 2.11149647e-03 -7.37136641e+00] [ 1.92644788e-03 9.99965746e-01 -8.04951950e-03 3.75757219e+00] [-2.09605352e-03 8.05355457e-03 9.99965373e-01 1.74999188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609259763999999 meters 0.22068696892192535 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99996727e-01 -1.89810884e-03 1.71562897e-03 -7.36984369e+00] [ 1.91233542e-03 9.99963484e-01 -8.32909228e-03 3.76034256e+00] [-1.69975680e-03 8.33234587e-03 9.99963841e-01 1.74930827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669259764 meters 0.210619994963623 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99996942e-01 1.84845095e-03 1.64317290e-03 -7.37014910e+00] [-1.83999152e-03 9.99985123e-01 -5.13491431e-03 3.76398704e+00] [-1.65264009e-03 5.13187518e-03 9.99985466e-01 1.75038595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729259764 meters 0.21422713281271047 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99996743e-01 1.99434979e-03 1.59276758e-03 -7.36936563e+00] [-1.98642777e-03 9.99985726e-01 -4.95993779e-03 3.76441437e+00] [-1.60263670e-03 4.95675771e-03 9.99986431e-01 1.74942208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789259763999999 meters 0.21388004388091214 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.77, Z:1.75 [[ 9.99996987e-01 -2.22184025e-03 1.04370033e-03 -7.36794320e+00] [ 2.23152440e-03 9.99953601e-01 -9.37099998e-03 3.76593297e+00] [-1.02283104e-03 9.37330078e-03 9.99955547e-01 1.74934442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849259764 meters 0.21074208995921453 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99979949e-01 -6.27287563e-03 8.67838856e-04 -7.36748074e+00] [ 6.28389092e-03 9.99891369e-01 -1.33328025e-02 3.76484471e+00] [-7.84109569e-04 1.33379886e-02 9.99910738e-01 1.74929469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909259764 meters 0.2090637838242831 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99980613e-01 -6.15362155e-03 9.52349305e-04 -7.36788429e+00] [ 6.16555027e-03 9.99895507e-01 -1.30752425e-02 3.76366152e+00] [-8.71789697e-04 1.30808608e-02 9.99914062e-01 1.74953209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969259764 meters 0.2126168842464607 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99981810e-01 -5.91777162e-03 1.16638937e-03 -7.36856662e+00] [ 5.93193507e-03 9.99903793e-01 -1.25385811e-02 3.76125484e+00] [-1.09207670e-03 1.25452720e-02 9.99920709e-01 1.74968011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029259763999999 meters 0.2091622824195126 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99997639e-01 -1.89274769e-03 1.06707066e-03 -7.36859093e+00] [ 1.90208487e-03 9.99959309e-01 -8.81825902e-03 3.76334332e+00] [-1.05033650e-03 8.82026787e-03 9.99960549e-01 1.75019638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089259764 meters 0.22610364265539176 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99997679e-01 -1.93733191e-03 9.43206773e-04 -7.36803984e+00] [ 1.94575297e-03 9.99957511e-01 -9.01060188e-03 3.76469412e+00] [-9.25710171e-04 9.01241621e-03 9.99958959e-01 1.74993720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149259764 meters 0.21368396818493465 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.76, Z:1.75 [[ 9.99998573e-01 -1.43004462e-03 8.99252919e-04 -7.36669860e+00] [ 1.43742222e-03 9.99964871e-01 -8.25772374e-03 3.76376929e+00] [-8.87412416e-04 8.25900456e-03 9.99965500e-01 1.74799288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209259763999999 meters 0.216033876322914 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99985053e-01 -2.38380804e-03 4.92055709e-03 -7.34799365e+00] [ 2.38345266e-03 9.99997157e-01 7.80859763e-05 3.76234280e+00] [-4.92072925e-03 -6.63568943e-05 9.99987891e-01 1.74358099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269259764 meters 0.2159004491825248 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99969869e-01 -6.20078789e-03 4.67026715e-03 -7.34671597e+00] [ 6.21768258e-03 9.99974148e-01 -3.61171000e-03 3.76124947e+00] [-4.64775097e-03 3.64063942e-03 9.99982572e-01 1.74256187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329259764 meters 0.20718032623034116 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99970685e-01 -6.09249482e-03 4.63785800e-03 -7.34647935e+00] [ 6.10851021e-03 9.99975402e-01 -3.44688868e-03 3.76098218e+00] [-4.61674377e-03 3.47511803e-03 9.99983304e-01 1.74230573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389259764 meters 0.20790589461161185 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99974323e-01 -5.91023712e-03 4.05246478e-03 -7.34445396e+00] [ 5.92517691e-03 9.99975658e-01 -3.68455323e-03 3.76363153e+00] [-4.03058956e-03 3.70847019e-03 9.99985001e-01 1.74142615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449259763999999 meters 0.2040899152662002 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99973423e-01 -6.02246741e-03 4.10900349e-03 -7.34502095e+00] [ 6.03855043e-03 9.99974112e-01 -3.91297680e-03 3.76380576e+00] [-4.08533134e-03 3.93768523e-03 9.99983902e-01 1.74214457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509259764 meters 0.20227989963155668 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99973094e-01 -5.92624920e-03 4.32330535e-03 -7.34551385e+00] [ 5.94167570e-03 9.99975996e-01 -3.56414583e-03 3.76251620e+00] [-4.30207955e-03 3.58973761e-03 9.99984303e-01 1.74207360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569259764 meters 0.21087149270418853 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99948229e-01 -9.25320400e-03 4.23291196e-03 -7.34366708e+00] [ 9.27956209e-03 9.99937410e-01 -6.25026923e-03 3.75910948e+00] [-4.17481200e-03 6.28922521e-03 9.99971508e-01 1.73934604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629259763999999 meters 0.23051983525465378 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.75, Z:1.74 [[ 9.99952249e-01 -8.54514488e-03 4.74135351e-03 -7.34403945e+00] [ 8.56731450e-03 9.99952370e-01 -4.67535924e-03 3.75391243e+00] [-4.70117606e-03 4.71575665e-03 9.99977830e-01 1.73770535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689259763999999 meters 0.2215678391673135 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.75, Z:1.74 [[ 9.99944612e-01 -9.33703172e-03 4.85723983e-03 -7.34673800e+00] [ 9.36489403e-03 9.99939642e-01 -5.74547900e-03 3.75397767e+00] [-4.80330093e-03 5.79064831e-03 9.99971698e-01 1.74159718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749259764 meters 0.2170049139431784 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.75, Z:1.74 [[ 9.99946605e-01 -8.91292214e-03 5.22935634e-03 -7.34733963e+00] [ 8.93666652e-03 9.99949784e-01 -4.53493214e-03 3.74992805e+00] [-5.18867425e-03 4.58142301e-03 9.99976044e-01 1.74090835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809259764 meters 0.2206016670381087 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.74, Z:1.74 [[ 9.99909609e-01 -1.22021612e-02 5.64627761e-03 -7.34725166e+00] [ 1.22389918e-02 9.99903745e-01 -6.53506511e-03 3.74304745e+00] [-5.56599221e-03 6.60357915e-03 9.99962706e-01 1.73868217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869259763999999 meters 0.22301332392133524 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.74, Z:1.74 [[ 9.99912604e-01 -1.15944593e-02 6.35238838e-03 -7.34838502e+00] [ 1.16245796e-02 9.99921267e-01 -4.72535413e-03 3.73640031e+00] [-6.29710031e-03 4.79878499e-03 9.99968659e-01 1.73742679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929259764 meters 0.21991578859239683 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.73, Z:1.74 [[ 9.99915321e-01 -1.08618476e-02 7.16735752e-03 -7.34947835e+00] [ 1.08809704e-02 9.99937330e-01 -2.63446368e-03 3.72918255e+00] [-7.13829320e-03 2.71222840e-03 9.99970844e-01 1.73559969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989259764 meters 0.24121706437103463 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.73, Z:1.74 [[ 9.99917963e-01 -1.04077765e-02 7.46624576e-03 -7.34998577e+00] [ 1.04203566e-02 9.99944349e-01 -1.64800933e-03 3.72564606e+00] [-7.44867814e-03 1.72567507e-03 9.99970769e-01 1.73512020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049259763999999 meters 0.2159993272296153 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.73, Z:1.74 [[ 9.99913835e-01 -1.07123769e-02 7.58736349e-03 -7.35143672e+00] [ 1.07278624e-02 9.99940448e-01 -2.00320993e-03 3.72528916e+00] [-7.56545251e-03 2.08443352e-03 9.99969209e-01 1.73693360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109259763999999 meters 0.23534272945860688 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.74 [[ 9.99913142e-01 -1.04285719e-02 8.05932254e-03 -7.35240453e+00] [ 1.04383446e-02 9.99944833e-01 -1.17148550e-03 3.72214731e+00] [-8.04666101e-03 1.25550973e-03 9.99966837e-01 1.73665554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169259764 meters 0.2544751194652247 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99919699e-01 -9.66676014e-03 8.19445130e-03 -7.35128516e+00] [ 9.66569351e-03 9.99953272e-01 1.69759582e-04 3.71937699e+00] [-8.19570941e-03 -9.05408958e-05 9.99966411e-01 1.73415761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229259764 meters 0.2444728655818729 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99921457e-01 -9.30857345e-03 8.39223797e-03 -7.35148831e+00] [ 9.30200690e-03 9.99956398e-01 8.21149147e-04 3.71722873e+00] [-8.39951578e-03 -7.43019996e-04 9.99964447e-01 1.73364878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289259763999999 meters 0.2390151933745916 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99923376e-01 -8.95185316e-03 8.55018978e-03 -7.35164940e+00] [ 8.93933757e-03 9.99958917e-01 1.50087795e-03 3.71500975e+00] [-8.56327415e-03 -1.42432991e-03 9.99962320e-01 1.73319175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349259764 meters 0.250760410259027 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99920282e-01 -8.97785347e-03 8.87853464e-03 -7.35279054e+00] [ 8.96248634e-03 9.99958271e-01 1.76909426e-03 3.71330865e+00] [-8.89404682e-03 -1.68937948e-03 9.99959020e-01 1.73378773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409259764 meters 0.24621389757039214 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99919838e-01 -8.85199821e-03 9.05316072e-03 -7.35334023e+00] [ 8.83347644e-03 9.99958813e-01 2.08383424e-03 3.71189058e+00] [-9.07123394e-03 -2.00369631e-03 9.99956848e-01 1.73395342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469259763999998 meters 0.24437132295732872 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99922209e-01 -8.57809129e-03 9.05496407e-03 -7.35265668e+00] [ 8.55584638e-03 9.99960292e-01 2.49253869e-03 3.71139209e+00] [-9.07598574e-03 -2.41487192e-03 9.99955896e-01 1.73287413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529259763999999 meters 0.2356909358012349 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99883187e-01 -1.24537496e-02 8.86091869e-03 -7.35128651e+00] [ 1.24656705e-02 9.99921467e-01 -1.29137573e-03 3.71100852e+00] [-8.84414034e-03 1.40168217e-03 9.99959907e-01 1.73162013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589259764 meters 0.23594143082641805 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99901813e-01 -1.25301478e-02 -6.27374241e-03 -7.34955200e+00] [ 1.25054260e-02 9.99913945e-01 -3.96436714e-03 3.70854150e+00] [ 6.32287663e-03 3.88552207e-03 9.99972462e-01 1.73497656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649259764 meters 0.24692234007584377 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99903309e-01 -1.23689779e-02 -6.35466245e-03 -7.34871217e+00] [ 1.23451081e-02 9.99916644e-01 -3.78186096e-03 3.70885711e+00] [ 6.40091051e-03 3.70304629e-03 9.99972658e-01 1.73405089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709259763999999 meters 0.2332300850022386 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99948492e-01 -8.06048003e-03 -6.16786504e-03 -7.34958942e+00] [ 8.06339982e-03 9.99967390e-01 4.48667243e-04 3.70846992e+00] [ 6.16404743e-03 -4.98378095e-04 9.99980878e-01 1.73455856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769259764 meters 0.22747690960512026 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.74 [[ 9.99945057e-01 -8.55367791e-03 -6.05943984e-03 -7.35069848e+00] [ 8.55204571e-03 9.99963387e-01 -2.95224618e-04 3.71000287e+00] [ 6.06174325e-03 2.43387791e-04 9.99981598e-01 1.73595697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829259764 meters 0.2453378317698149 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.74 [[ 9.99944079e-01 -8.66131459e-03 -6.06803421e-03 -7.35088755e+00] [ 8.65860208e-03 9.99962402e-01 -4.73143877e-04 3.71049200e+00] [ 6.07190411e-03 4.20576724e-04 9.99981477e-01 1.73630745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889259763999998 meters 0.24302325747639972 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.74 [[ 9.99944826e-01 -8.62702372e-03 -5.99322391e-03 -7.35103452e+00] [ 8.62499442e-03 9.99962738e-01 -3.64363272e-04 3.71026546e+00] [ 5.99614396e-03 3.12651645e-04 9.99981974e-01 1.73626549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949259763999999 meters 0.23305866834430858 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99945137e-01 -8.21001734e-03 -6.50525963e-03 -7.34845835e+00] [ 8.20921993e-03 9.99966293e-01 -1.49271885e-04 3.71213792e+00] [ 6.50626588e-03 9.58605884e-05 9.99978829e-01 1.73422962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009259764 meters 0.2250107197785098 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.72, Z:1.73 [[ 9.99943797e-01 -7.63234038e-03 -7.35861623e-03 -7.34452327e+00] [ 7.63101732e-03 9.99970862e-01 -2.07859150e-04 3.71638698e+00] [ 7.35998826e-03 1.51693740e-04 9.99972903e-01 1.73114466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069259764 meters 0.2329101317710768 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.72, Z:1.73 [[ 9.99936287e-01 -7.54737505e-03 -8.39402380e-03 -7.34122706e+00] [ 7.53730926e-03 9.99970837e-01 -1.23015133e-03 3.72293419e+00] [ 8.40306342e-03 1.16680460e-03 9.99964013e-01 1.72986662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129259763999999 meters 0.22803241524897863 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.73, Z:1.73 [[ 9.99922153e-01 -8.22894050e-03 -9.37940864e-03 -7.33938558e+00] [ 8.19901567e-03 9.99961189e-01 -3.22448185e-03 3.73067140e+00] [ 9.40557869e-03 3.14732892e-03 9.99950813e-01 1.73131180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189259763999999 meters 0.21740628080085472 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.74, Z:1.73 [[ 9.99939591e-01 -4.62147569e-03 -9.97280219e-03 -7.33856524e+00] [ 4.61353966e-03 9.99989022e-01 -8.18625712e-04 3.73707860e+00] [ 9.97647597e-03 7.72566341e-04 9.99949935e-01 1.73274788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249259764 meters 0.21227351958000015 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.75, Z:1.74 [[ 9.99919610e-01 -5.11359124e-03 -1.16027720e-02 -7.33602809e+00] [ 5.05622816e-03 9.99974877e-01 -4.96787155e-03 3.74684804e+00] [ 1.16278841e-02 4.90880592e-03 9.99920345e-01 1.73872219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309259763999998 meters 0.2360328099874144 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.74 [[ 9.99914678e-01 -5.27068190e-03 -1.19522606e-02 -7.33464958e+00] [ 5.20520743e-03 9.99971314e-01 -5.50250673e-03 3.75025983e+00] [ 1.19809197e-02 5.43982325e-03 9.99913429e-01 1.73811580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369259763999999 meters 0.21269865967243248 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.74 [[ 9.99915520e-01 -4.67212174e-03 -1.21294611e-02 -7.33262307e+00] [ 4.61452019e-03 9.99977964e-01 -4.77254794e-03 3.75014126e+00] [ 1.21514918e-02 4.71617312e-03 9.99915046e-01 1.73576157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429259764 meters 0.21843726358834217 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 0.99988486 -0.00873584 -0.01240767 -7.3313698 ] [ 0.00862692 0.99992402 -0.00880485 3.75028625] [ 0.01248364 0.00869679 0.99988426 1.73499527] [ 0. 0. 0. 1. ]] SLAMing on 11.489259764 meters 0.2146200157188566 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.72 [[ 9.99963520e-01 -7.28386603e-03 4.46133163e-03 -7.33400591e+00] [ 7.30556189e-03 9.99961473e-01 -4.86625416e-03 3.74602234e+00] [-4.42571461e-03 4.89866917e-03 9.99978208e-01 1.72426254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549259763999999 meters 0.21983102682378572 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.72 [[ 9.99962501e-01 -7.38565883e-03 4.52197938e-03 -7.33460310e+00] [ 7.40821204e-03 9.99960102e-01 -4.99119339e-03 3.74592842e+00] [-4.48493571e-03 5.02450601e-03 9.99977320e-01 1.72496718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609259763999999 meters 0.21358448852958672 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99961233e-01 -8.03823467e-03 3.59427586e-03 -7.33408663e+00] [ 8.06529119e-03 9.99938763e-01 -7.57762968e-03 3.75185078e+00] [-3.53314499e-03 7.60632480e-03 9.99964830e-01 1.72951981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669259764 meters 0.2179695786844648 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99960868e-01 -8.02953541e-03 3.71338610e-03 -7.33430710e+00] [ 8.05748966e-03 9.99938844e-01 -7.57529644e-03 3.75192010e+00] [-3.65233289e-03 7.60492057e-03 9.99964412e-01 1.72944279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729259763999998 meters 0.22243951681038143 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99965957e-01 -7.56501058e-03 3.29490430e-03 -7.33192535e+00] [ 7.58828114e-03 9.99945944e-01 -7.10829751e-03 3.75292812e+00] [-3.24095184e-03 7.13305818e-03 9.99969307e-01 1.72729253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789259763999999 meters 0.22446719782270289 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99965672e-01 -7.62901261e-03 3.23305116e-03 -7.33186905e+00] [ 7.65237838e-03 9.99944238e-01 -7.27748703e-03 3.75353511e+00] [-3.17735084e-03 7.30197774e-03 9.99968292e-01 1.72749321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849259764 meters 0.22386479780333787 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99967780e-01 -7.32077674e-03 3.29316926e-03 -7.33193887e+00] [ 7.34311822e-03 9.99949754e-01 -6.82404139e-03 3.75187672e+00] [-3.24304651e-03 6.84800365e-03 9.99971293e-01 1.72729725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909259764 meters 0.21633438587621165 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99967294e-01 -7.42662168e-03 3.20267708e-03 -7.33195538e+00] [ 7.44896437e-03 9.99947603e-01 -7.02168493e-03 3.75257849e+00] [-3.15036188e-03 7.04531190e-03 9.99970219e-01 1.72771449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969259763999998 meters 0.21574426396123297 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99969184e-01 -6.92525315e-03 3.69747618e-03 -7.33268533e+00] [ 6.94624506e-03 9.99959657e-01 -5.69503088e-03 3.74815175e+00] [-3.65788748e-03 5.72053896e-03 9.99976947e-01 1.72674742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029259763999999 meters 0.21914778453689565 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99968437e-01 -6.46826111e-03 4.61371016e-03 -7.33457433e+00] [ 6.48641534e-03 9.99971237e-01 -3.93079356e-03 3.74132057e+00] [-4.58815206e-03 3.96059594e-03 9.99981631e-01 1.72599944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089259764 meters 0.21982638670408333 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.74, Z:1.73 [[ 9.99970395e-01 -5.85304634e-03 4.99502927e-03 -7.33514452e+00] [ 5.86571350e-03 9.99979608e-01 -2.52508259e-03 3.73644566e+00] [-4.98014799e-03 2.55430724e-03 9.99984337e-01 1.72522123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149259763999998 meters 0.24685054815853816 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.73, Z:1.72 [[ 9.99942823e-01 -9.31145260e-03 5.25813926e-03 -7.33571850e+00] [ 9.33831924e-03 9.99943349e-01 -5.10830991e-03 3.72982222e+00] [-5.21027560e-03 5.15712001e-03 9.99973128e-01 1.72494859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209259763999999 meters 0.22898393252149074 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.72, Z:1.72 [[ 9.99899106e-01 -1.27610627e-02 6.23958081e-03 -7.33743172e+00] [ 1.28024276e-02 9.99896032e-01 -6.63504850e-03 3.72024972e+00] [-6.15426182e-03 6.71426084e-03 9.99958521e-01 1.72331456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269259764 meters 0.23845063608341543 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.71, Z:1.72 [[ 9.99830782e-01 -1.69586972e-02 7.12817789e-03 -7.34027328e+00] [ 1.70270616e-02 9.99808537e-01 -9.64203441e-03 3.71349982e+00] [-6.96329677e-03 9.76177472e-03 9.99928108e-01 1.72471116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329259764 meters 0.2315347043525687 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.71, Z:1.73 [[ 0.9998309 -0.01673131 0.00763083 -7.34205404] [ 0.01679684 0.99982189 -0.00860495 3.70851823] [-0.0074855 0.00873167 0.99993386 1.72553859] [ 0. 0. 0. 1. ]] SLAMing on 12.389259763999998 meters 0.24047314412516804 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.71, Z:1.73 [[ 9.99883997e-01 -1.26706361e-02 8.45265078e-03 -7.34467992e+00] [ 1.27044048e-02 9.99911480e-01 -3.95338674e-03 3.70512370e+00] [-8.40181063e-03 4.06031403e-03 9.99956461e-01 1.72666081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449259763999999 meters 0.2338871602735162 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.70, Z:1.73 [[ 9.99882248e-01 -1.25356610e-02 8.85135595e-03 -7.34607632e+00] [ 1.25656480e-02 9.99915470e-01 -3.34039904e-03 3.70184692e+00] [-8.80873363e-03 3.45122873e-03 9.99955247e-01 1.72739170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509259764 meters 0.27288446451922654 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.70, Z:1.73 [[ 9.99886727e-01 -1.17924985e-02 9.35257356e-03 -7.34637806e+00] [ 1.18092861e-02 9.99928751e-01 -1.74178399e-03 3.69684174e+00] [-9.33136722e-03 1.85203391e-03 9.99954747e-01 1.72567789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569259763999998 meters 0.2762170126209806 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.69, Z:1.72 [[ 9.99892505e-01 -1.07662238e-02 9.95321641e-03 -7.34638470e+00] [ 1.07605481e-02 9.99941909e-01 6.23613477e-04 3.69024139e+00] [-9.95935218e-03 -5.16444378e-04 9.99950271e-01 1.72266053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629259763999999 meters 0.2617881142706471 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.69, Z:1.72 [[ 9.99846858e-01 -1.43282690e-02 1.00479454e-02 -7.34612070e+00] [ 1.43513130e-02 9.99894539e-01 -2.22506376e-03 3.68582748e+00] [-1.00150044e-02 2.36892422e-03 9.99947043e-01 1.72179499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689259763999999 meters 0.261767986067903 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.68, Z:1.72 [[ 9.99852980e-01 -1.37514276e-02 1.02429261e-02 -7.34598705e+00] [ 1.37635417e-02 9.99904658e-01 -1.11313162e-03 3.68271339e+00] [-1.02266423e-02 1.25394691e-03 9.99946920e-01 1.72063114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749259764 meters 0.2680229191303991 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.68, Z:1.72 [[ 9.99861655e-01 -1.28313896e-02 1.05842272e-02 -7.34557809e+00] [ 1.28239109e-02 9.99917471e-01 7.74156284e-04 3.67784061e+00] [-1.05932872e-02 -6.38317997e-04 9.99943686e-01 1.71820566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809259763999998 meters 0.2680817808716267 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99866238e-01 -1.24179296e-02 1.06442765e-02 -7.34474674e+00] [ 1.24028349e-02 9.99921982e-01 1.48294319e-03 3.67666376e+00] [-1.06618611e-02 -1.35072563e-03 9.99942248e-01 1.71659892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869259763999999 meters 0.2577165967296637 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.68, Z:1.72 [[ 9.99902623e-01 -9.03202100e-03 1.06379755e-02 -7.34626164e+00] [ 8.98741464e-03 9.99950651e-01 4.23349310e-03 3.67991409e+00] [-1.06756875e-02 -4.13747296e-03 9.99934453e-01 1.71916082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929259764 meters 0.24988783409562448 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.68, Z:1.72 [[ 9.99902482e-01 -9.42096634e-03 1.03088458e-02 -7.34590196e+00] [ 9.38724033e-03 9.99950444e-01 3.31507246e-03 3.68288544e+00] [-1.03395661e-02 -3.21797757e-03 9.99941367e-01 1.72002022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989259763999998 meters 0.25543946726830585 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.68, Z:1.72 [[ 9.99903522e-01 -9.39304194e-03 1.02331885e-02 -7.34534452e+00] [ 9.36034933e-03 9.99950948e-01 3.23798676e-03 3.68376101e+00] [-1.02631011e-02 -3.14188815e-03 9.99942397e-01 1.71949371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049259763999999 meters 0.246623961624912 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99906302e-01 -9.55868223e-03 9.79892583e-03 -7.34445103e+00] [ 9.53298284e-03 9.99951006e-01 2.66603690e-03 3.68609688e+00] [-9.82392954e-03 -2.57237410e-03 9.99948435e-01 1.71977339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109259763999999 meters 0.24624307847181687 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99903491e-01 -1.00101963e-02 9.63347218e-03 -7.34496875e+00] [ 9.99258546e-03 9.99948316e-01 1.87449385e-03 3.68788831e+00] [-9.65173833e-03 -1.77804965e-03 9.99951840e-01 1.72133765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169259764 meters 0.2533515546141481 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99904806e-01 -1.01036259e-02 9.39659217e-03 -7.34458685e+00] [ 1.00889168e-02 9.99947807e-01 1.61145777e-03 3.68895833e+00] [-9.41238330e-03 -1.51650293e-03 9.99954553e-01 1.72172551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229259763999998 meters 0.24855827719614954 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99908669e-01 -9.87340812e-03 9.22871626e-03 -7.34345886e+00] [ 9.85666030e-03 9.99949695e-01 1.85847644e-03 3.68928746e+00] [-9.24660151e-03 -1.76734239e-03 9.99955687e-01 1.72064479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289259763999999 meters 0.27156356006229787 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99911394e-01 -9.67517454e-03 9.14301411e-03 -7.34271639e+00] [ 9.65640781e-03 9.99951182e-01 2.09449750e-03 3.68927126e+00] [-9.16283240e-03 -2.00602325e-03 9.99956008e-01 1.71982777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349259764 meters 0.23415812118241502 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99914697e-01 -9.60540492e-03 8.85072643e-03 -7.34181669e+00] [ 9.58811879e-03 9.99952046e-01 1.99344222e-03 3.69017863e+00] [-8.86944982e-03 -1.90841035e-03 9.99958845e-01 1.71956214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409259763999998 meters 0.26236938398821874 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99920385e-01 -8.95085319e-03 8.89410053e-03 -7.34043150e+00] [ 8.92470195e-03 9.99955747e-01 2.97564320e-03 3.68863376e+00] [-8.92034148e-03 -2.89602910e-03 9.99956019e-01 1.71720679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469259763999998 meters 0.26442305990663006 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.71 [[ 9.99888918e-01 -1.22624363e-02 8.47261754e-03 -7.33736723e+00] [ 1.22641052e-02 9.99924783e-01 -1.45051499e-04 3.68794558e+00] [-8.47020156e-03 2.48944459e-04 9.99964096e-01 1.71390723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529259763999999 meters 0.24883791595400725 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.71 [[ 9.99886959e-01 -1.23305369e-02 8.60392211e-03 -7.33778273e+00] [ 1.23324690e-02 9.99923937e-01 -1.71533457e-04 3.68788818e+00] [-8.60115258e-03 2.77621669e-04 9.99962971e-01 1.71410320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589259764 meters 0.2539260743262085 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99875854e-01 -1.33671968e-02 8.34234852e-03 -7.33874087e+00] [ 1.33850859e-02 9.99908227e-01 -2.09222535e-03 3.69254661e+00] [-8.31361573e-03 2.20362866e-03 9.99963013e-01 1.71706577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649259763999998 meters 0.25710918199294486 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99921681e-01 -9.35081695e-03 8.31827496e-03 -7.33856574e+00] [ 9.33696801e-03 9.99954961e-01 1.70216133e-03 3.69467087e+00] [-8.33381691e-03 -1.62436055e-03 9.99963954e-01 1.71687679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709259763999999 meters 0.2440621502464573 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.70, Z:1.72 [[ 9.99992235e-01 -1.38860206e-03 3.68795084e-03 -7.31903614e+00] [ 1.38194351e-03 9.99997412e-01 1.80742296e-03 3.69865466e+00] [-3.69045109e-03 -1.80231238e-03 9.99991566e-01 1.71578237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769259764 meters 0.23532092590597684 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.71, Z:1.72 [[ 9.99994525e-01 2.62312076e-03 2.01701178e-03 -7.31537335e+00] [-2.62741715e-03 9.99994279e-01 2.13038621e-03 3.70982373e+00] [-2.01141198e-03 -2.13567408e-03 9.99995697e-01 1.71896785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829259763999998 meters 0.21536728749536457 Centerline is valid? [False, False] Translation: X:-7.29, Y:3.72, Z:1.72 [[ 9.99970432e-01 5.49546311e-03 5.37904324e-03 -7.29466390e+00] [-5.54017269e-03 9.99949937e-01 8.33250321e-03 3.71577247e+00] [-5.33298298e-03 -8.36205767e-03 9.99950816e-01 1.72254362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889259763999998 meters 0.21363172651295476 Centerline is valid? [False, False] Translation: X:-7.29, Y:3.73, Z:1.73 [[ 9.99979138e-01 6.07330395e-03 2.19946878e-03 -7.28762847e+00] [-6.07771916e-03 9.99979518e-01 2.00630881e-03 3.73211480e+00] [-2.18723881e-03 -2.01963471e-03 9.99995569e-01 1.73055666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949259763999999 meters 0.20021570973115532 Centerline is valid? [False, False] Translation: X:-7.29, Y:3.74, Z:1.73 [[ 9.99952144e-01 9.67565640e-03 1.44637383e-03 -7.28592504e+00] [-9.68143908e-03 9.99944948e-01 4.04600104e-03 3.74029940e+00] [-1.40714649e-03 -4.05981039e-03 9.99990769e-01 1.73168798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009259764 meters 0.1932875622108574 Centerline is valid? [False, False] Translation: X:-7.26, Y:3.75, Z:1.74 [[ 9.99893062e-01 1.43535714e-02 2.79991483e-03 -7.25967714e+00] [-1.43797332e-02 9.99850915e-01 9.55886622e-03 3.75042772e+00] [-2.66229353e-03 -9.59810605e-03 9.99950393e-01 1.73555969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069259763999998 meters 0.17805623961884876 Centerline is valid? [False, False] Translation: X:-7.25, Y:3.77, Z:1.74 [[ 9.99834955e-01 1.81675931e-02 -1.99986279e-05 -7.25339002e+00] [-1.81668824e-02 9.99804443e-01 7.81278272e-03 3.76731437e+00] [ 1.61934174e-04 -7.81112995e-03 9.99969480e-01 1.74026123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129259763999999 meters 0.18786856903834687 Centerline is valid? [False, False] Translation: X:-7.23, Y:3.78, Z:1.74 [[ 9.99846460e-01 1.74187635e-02 1.90875890e-03 -7.22993820e+00] [-1.74369034e-02 9.99798564e-01 9.93915324e-03 3.77784595e+00] [-1.73524665e-03 -9.97091002e-03 9.99948784e-01 1.74238495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189259763999999 meters 0.17492635854913244 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.79, Z:1.74 [[ 9.99865583e-01 1.55966005e-02 5.05588684e-03 -7.20945864e+00] [-1.56606798e-02 9.99794241e-01 1.28925719e-02 3.78698593e+00] [-4.85376625e-03 -1.29700176e-02 9.99904105e-01 1.74280613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249259763999998 meters 0.17407185356558563 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.80, Z:1.75 [[ 9.99969814e-01 7.44804408e-03 2.21311442e-03 -7.20380345e+00] [-7.45072559e-03 9.99971516e-01 1.20588264e-03 3.79691027e+00] [-2.20406991e-03 -1.22233555e-03 9.99996824e-01 1.74703231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309259763999998 meters 0.17758141017092924 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.80, Z:1.75 [[ 9.99992999e-01 2.94722005e-03 2.30579622e-03 -7.20517677e+00] [-2.94013502e-03 9.99990965e-01 -3.07008349e-03 3.79531268e+00] [-2.31482360e-03 3.06328264e-03 9.99992629e-01 1.74855610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.369259763999999 meters 0.17622854838703125 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.80, Z:1.75 [[ 9.99997082e-01 -1.46694802e-03 1.91930486e-03 -7.20524999e+00] [ 1.48143657e-03 9.99970255e-01 -7.56933615e-03 3.79521961e+00] [-1.90814395e-03 7.57215740e-03 9.99969510e-01 1.75005974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429259764 meters 0.18749574239529074 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.79, Z:1.75 [[ 9.99983429e-01 -5.35952770e-03 2.10187928e-03 -7.20619972e+00] [ 5.38216938e-03 9.99925905e-01 -1.09186124e-02 3.79057147e+00] [-2.04320493e-03 1.09297441e-02 9.99938181e-01 1.75071951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489259763999998 meters 0.19582558313475112 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.78, Z:1.75 [[ 9.99957895e-01 -8.70721915e-03 2.89690192e-03 -7.20743233e+00] [ 8.74347918e-03 9.99880501e-01 -1.27489291e-02 3.78104464e+00] [-2.78554803e-03 1.27737213e-02 9.99914533e-01 1.74941326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549259763999999 meters 0.19345059835518047 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.77, Z:1.75 [[ 9.99960626e-01 -8.00444993e-03 3.83092243e-03 -7.20906413e+00] [ 8.04459692e-03 9.99911653e-01 -1.05816313e-02 3.77251260e+00] [-3.74588385e-03 1.06120329e-02 9.99936675e-01 1.74796767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609259763999999 meters 0.20748634588204232 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.77, Z:1.75 [[ 9.99961774e-01 -7.53494762e-03 4.43571072e-03 -7.21037129e+00] [ 7.57510737e-03 9.99929832e-01 -9.10764897e-03 3.76640035e+00] [-4.36677382e-03 9.14090181e-03 9.99948686e-01 1.74765055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669259763999998 meters 0.20345937635562927 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.76, Z:1.74 [[ 9.99923448e-01 -1.10516837e-02 5.56407008e-03 -7.21225111e+00] [ 1.11063446e-02 9.99889405e-01 -9.89076586e-03 3.75541353e+00] [-5.45414510e-03 9.95180518e-03 9.99935605e-01 1.74475834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729259763999998 meters 0.20827283293880922 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99928028e-01 -1.05252492e-02 5.75830247e-03 -7.21240507e+00] [ 1.05756227e-02 9.99905454e-01 -8.78860161e-03 3.75176648e+00] [-5.66525582e-03 8.84886671e-03 9.99944800e-01 1.74403349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.789259763999999 meters 0.2347269674046662 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99925889e-01 -9.87812222e-03 7.11608074e-03 -7.21444556e+00] [ 9.91638796e-03 9.99936453e-01 -5.36229840e-03 3.74198762e+00] [-7.06265910e-03 5.43246681e-03 9.99960303e-01 1.74013661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849259764 meters 0.2097220308439612 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99929971e-01 -9.25836571e-03 7.37127395e-03 -7.21433225e+00] [ 9.28928311e-03 9.99948154e-01 -4.17117785e-03 3.73843511e+00] [-7.33227349e-03 4.23935959e-03 9.99964132e-01 1.73877770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909259763999998 meters 0.21278059935483504 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99929563e-01 -9.25437076e-03 7.43143711e-03 -7.21467507e+00] [ 9.28490302e-03 9.99948552e-01 -4.08458954e-03 3.73795082e+00] [-7.39325447e-03 4.15330201e-03 9.99964044e-01 1.73906702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969259763999998 meters 0.23150196930514982 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99933601e-01 -8.84852366e-03 7.38227557e-03 -7.21364521e+00] [ 8.87486184e-03 9.99954342e-01 -3.54266001e-03 3.73726421e+00] [-7.35059120e-03 3.60794145e-03 9.99966475e-01 1.73765875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029259763999999 meters 0.21166585696346815 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99935705e-01 -8.83333588e-03 7.11041621e-03 -7.21264096e+00] [ 8.86034551e-03 9.99953617e-01 -3.77610544e-03 3.73905773e+00] [-7.07673079e-03 3.83886340e-03 9.99967591e-01 1.73720504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089259763999998 meters 0.21262996879219806 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99924874e-01 -9.87072332e-03 7.26740039e-03 -7.21458919e+00] [ 9.90892595e-03 9.99937178e-01 -5.23960564e-03 3.74276285e+00] [-7.21522514e-03 5.31122414e-03 9.99959865e-01 1.73980651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149259763999998 meters 0.21072351260442065 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99928124e-01 -9.97360366e-03 6.65380233e-03 -7.21320615e+00] [ 1.00120516e-02 9.99933229e-01 -5.77027097e-03 3.74581642e+00] [-6.59580766e-03 5.83647444e-03 9.99961215e-01 1.74005704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209259763999999 meters 0.21284989096630094 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99960877e-01 -5.59431915e-03 6.85181274e-03 -7.21322794e+00] [ 5.60277362e-03 9.99983566e-01 -1.21532983e-03 3.74564522e+00] [-6.84490119e-03 1.25367144e-03 9.99975788e-01 1.73924077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269259764 meters 0.20927612861579922 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99963837e-01 -5.38996475e-03 6.57816888e-03 -7.21170423e+00] [ 5.39746275e-03 9.99984803e-01 -1.12261006e-03 3.74693427e+00] [-6.57201809e-03 1.15807489e-03 9.99977733e-01 1.73803628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329259763999998 meters 0.22842406038002006 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99965974e-01 -4.90013692e-03 6.63615821e-03 -7.21106559e+00] [ 4.90258828e-03 9.99987920e-01 -3.53177164e-04 3.74510935e+00] [-6.63434743e-03 3.85699498e-04 9.99977918e-01 1.73675897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389259763999998 meters 0.20557786501017059 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99967693e-01 -4.51359608e-03 6.65128738e-03 -7.21060691e+00] [ 4.51192732e-03 9.99989786e-01 2.65875704e-04 3.74362605e+00] [-6.65241950e-03 -2.35856989e-04 9.99977845e-01 1.73593093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449259763999999 meters 0.21404953591481735 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99968020e-01 -4.27675377e-03 6.75786301e-03 -7.21060527e+00] [ 4.27213854e-03 9.99990631e-01 6.97229725e-04 3.74231792e+00] [-6.76078158e-03 -6.68336901e-04 9.99976922e-01 1.73546473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509259763999998 meters 0.21690778906744732 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99939745e-01 -8.73907747e-03 6.64334344e-03 -7.21110623e+00] [ 8.76472554e-03 9.99954210e-01 -3.84145708e-03 3.74233666e+00] [-6.60946845e-03 3.89945269e-03 9.99970554e-01 1.73674906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569259763999998 meters 0.23988665572933188 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99940525e-01 -8.66577344e-03 6.62195727e-03 -7.21168516e+00] [ 8.69049159e-03 9.99955343e-01 -3.71314416e-03 3.74104900e+00] [-6.58948428e-03 3.77047139e-03 9.99971181e-01 1.73766324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629259763999999 meters 0.2166269053384562 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99943660e-01 -8.11960236e-03 6.83729384e-03 -7.21142726e+00] [ 8.13809341e-03 9.99963291e-01 -2.68097460e-03 3.73820927e+00] [-6.81527441e-03 2.73646609e-03 9.99973032e-01 1.73629910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689259763999999 meters 0.23405248964325506 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.73, Z:1.73 [[ 9.99948511e-01 -7.23900816e-03 7.11141489e-03 -7.21064553e+00] [ 7.24727930e-03 9.99973091e-01 -1.13799885e-03 3.73432301e+00] [-7.10298554e-03 1.18947867e-03 9.99974066e-01 1.73378734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749259763999998 meters 0.23350607387831904 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.73, Z:1.73 [[ 9.99915175e-01 -1.11771670e-02 6.68680565e-03 -7.20904482e+00] [ 1.12115606e-02 9.99923998e-01 -5.12830663e-03 3.73441264e+00] [-6.62897749e-03 5.20284115e-03 9.99964493e-01 1.73302025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809259763999998 meters 0.21883494296700431 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99915359e-01 -1.13244773e-02 6.40556538e-03 -7.20839281e+00] [ 1.13598358e-02 9.99920289e-01 -5.51079251e-03 3.73641934e+00] [-6.34264795e-03 5.58309224e-03 9.99964299e-01 1.73320717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869259763999999 meters 0.2373555361389951 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99920721e-01 -1.09177668e-02 6.27327303e-03 -7.20703338e+00] [ 1.09492229e-02 9.99927544e-01 -5.00203798e-03 3.73615383e+00] [-6.21820741e-03 5.07032889e-03 9.99967812e-01 1.73162221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929259763999998 meters 0.23357914126369014 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99919796e-01 -1.10270275e-02 6.22949402e-03 -7.20696498e+00] [ 1.10597315e-02 9.99925109e-01 -5.24004130e-03 3.73705328e+00] [-6.17124541e-03 5.30851756e-03 9.99966867e-01 1.73174427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989259763999998 meters 0.21370416615831475 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99956969e-01 -6.73732408e-03 6.37724055e-03 -7.20750193e+00] [ 6.74325366e-03 9.99976851e-01 -9.08757749e-04 3.73672184e+00] [-6.37097033e-03 9.51721995e-04 9.99979252e-01 1.73190419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049259763999995 meters 0.20778113170281523 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99957900e-01 -6.94727808e-03 5.99440572e-03 -7.20665236e+00] [ 6.95694761e-03 9.99974530e-01 -1.59375229e-03 3.73972396e+00] [-5.98318081e-03 1.63538796e-03 9.99980763e-01 1.73220214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109259763999997 meters 0.2088133704392133 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.74, Z:1.73 [[ 9.99965118e-01 -6.27267451e-03 5.51503039e-03 -7.20353003e+00] [ 6.27858906e-03 9.99979732e-01 -1.05578291e-03 3.74105759e+00] [-5.50829603e-03 1.09037269e-03 9.99984235e-01 1.72915223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169259763999996 meters 0.21344032460309248 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.74, Z:1.73 [[ 9.99969993e-01 -5.99750456e-03 4.90337646e-03 -7.20115739e+00] [ 6.00366461e-03 9.99981206e-01 -1.24253540e-03 3.74397867e+00] [-4.89583219e-03 1.27193634e-03 9.99987206e-01 1.72777308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229259764 meters 0.1984120782478408 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.75, Z:1.73 [[ 9.99974993e-01 -6.04812481e-03 3.66519151e-03 -7.19789762e+00] [ 6.05732218e-03 9.99978520e-01 -2.50349932e-03 3.75153369e+00] [-3.64997130e-03 2.52563796e-03 9.99990149e-01 1.72726009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289259763999997 meters 0.19417705175792951 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.76, Z:1.73 [[ 9.99993574e-01 -2.05321985e-03 2.93887056e-03 -7.19551443e+00] [ 2.05183688e-03 9.99997783e-01 4.73514223e-04 3.75897369e+00] [-2.93983627e-03 -4.67481097e-04 9.99995569e-01 1.72626925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349259763999996 meters 0.1804422606755842 Centerline is valid? [False, False] Translation: X:-7.19, Y:3.77, Z:1.72 [[ 9.99996815e-01 2.07842243e-03 1.43192202e-03 -7.19025788e+00] [-2.08279585e-03 9.99993151e-01 3.05953816e-03 3.76865456e+00] [-1.42555320e-03 -3.06251082e-03 9.99994294e-01 1.72301343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409259763999998 meters 0.17013643729820527 Centerline is valid? [False, False] Translation: X:-7.16, Y:3.78, Z:1.73 [[ 9.99902164e-01 1.36459653e-02 -3.07406243e-03 -7.16439872e+00] [-1.36443963e-02 9.99906770e-01 5.30798680e-04 3.77816492e+00] [ 3.08101909e-03 -4.88803023e-04 9.99995134e-01 1.72693917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469259763999997 meters 0.16351593354325802 Centerline is valid? [False, False] Translation: X:-7.15, Y:3.79, Z:1.73 [[ 9.99887673e-01 1.48494882e-02 2.03321199e-03 -7.14799421e+00] [-1.48643187e-02 9.99861508e-01 7.48437929e-03 3.78915098e+00] [-1.92179121e-03 -7.51376090e-03 9.99969925e-01 1.72622331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529259763999995 meters 0.1586158579399165 Centerline is valid? [False, False] Translation: X:-7.15, Y:3.80, Z:1.73 [[ 9.99948911e-01 1.00890241e-02 6.22176306e-04 -7.14555517e+00] [-1.00898359e-02 9.99948231e-01 1.31576603e-03 3.79727995e+00] [-6.08869302e-04 -1.32197647e-03 9.99998941e-01 1.72783875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589259763999998 meters 0.1489909442511079 Centerline is valid? [False, False] Translation: X:-7.14, Y:3.81, Z:1.73 [[ 9.99951710e-01 9.82351076e-03 -2.76332464e-04 -7.14311893e+00] [-9.82361294e-03 9.99951678e-01 -3.70886123e-04 3.80504749e+00] [ 2.72675707e-04 3.73582796e-04 9.99999893e-01 1.72782360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649259763999996 meters 0.15455887345002764 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.81, Z:1.73 [[ 9.99984654e-01 3.49623180e-03 4.29750462e-03 -7.12656339e+00] [-3.49610135e-03 9.99993888e-01 -3.78670944e-05 3.81367755e+00] [-4.29761075e-03 2.28420016e-05 9.99990765e-01 1.72743311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709259763999995 meters 0.1442306045319983 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.82, Z:1.73 [[ 9.99988007e-01 3.21352687e-03 3.69575027e-03 -7.12501286e+00] [-3.20980438e-03 9.99994336e-01 -1.01272662e-03 3.81881088e+00] [-3.69898376e-03 1.00085184e-03 9.99992658e-01 1.72745805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769259763999997 meters 0.14711856546114996 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99995549e-01 -1.27580620e-03 2.69709105e-03 -7.12271148e+00] [ 1.29263369e-03 9.99979654e-01 -6.24661770e-03 3.82501178e+00] [-2.68906670e-03 6.25007625e-03 9.99976852e-01 1.72754210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829259763999996 meters 0.1425207908787573 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99997008e-01 -1.03748149e-03 2.21546319e-03 -7.12025919e+00] [ 1.05183052e-03 9.99978416e-01 -6.48545195e-03 3.82874443e+00] [-2.20868684e-03 6.48776283e-03 9.99976515e-01 1.72562704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889259763999995 meters 0.1413477269534125 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.72 [[ 9.99997198e-01 -8.43344018e-04 2.21207120e-03 -7.11973946e+00] [ 8.57054494e-04 9.99980385e-01 -6.20441906e-03 3.82847074e+00] [-2.20679535e-03 6.20629754e-03 9.99978306e-01 1.72484778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949259763999997 meters 0.15095208246071407 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.72 [[ 9.99997441e-01 -9.08932760e-04 2.07156383e-03 -7.11935419e+00] [ 9.22247275e-04 9.99978867e-01 -6.43541022e-03 3.82972272e+00] [-2.06567069e-03 6.43730424e-03 9.99977147e-01 1.72487792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009259763999996 meters 0.14212426746069662 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.72 [[ 9.99997298e-01 -7.24805299e-04 2.20890573e-03 -7.11972717e+00] [ 7.38081442e-04 9.99981635e-01 -6.01540365e-03 3.82798965e+00] [-2.20450517e-03 6.01701774e-03 9.99979468e-01 1.72485192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069259763999998 meters 0.13804395298529712 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99997472e-01 -1.05180939e-03 1.98721598e-03 -7.11975098e+00] [ 1.06508079e-03 9.99977060e-01 -6.68917435e-03 3.83020279e+00] [-1.98013466e-03 6.69127398e-03 9.99975653e-01 1.72585569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129259763999997 meters 0.14480030854010478 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99997686e-01 -1.16210552e-03 1.81013231e-03 -7.11927592e+00] [ 1.17481246e-03 9.99974566e-01 -7.03472318e-03 3.83193936e+00] [-1.80191118e-03 7.03683347e-03 9.99973618e-01 1.72591691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189259763999996 meters 0.14221139560556803 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99997770e-01 -1.06638832e-03 1.82263152e-03 -7.11898499e+00] [ 1.07890059e-03 9.99975766e-01 -6.87780779e-03 3.83190866e+00] [-1.81525293e-03 6.87975890e-03 9.99974687e-01 1.72541857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249259763999998 meters 0.13784143630631765 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.84, Z:1.73 [[ 9.99998552e-01 -1.38005667e-03 9.96104530e-04 -7.11715938e+00] [ 1.38813375e-03 9.99965792e-01 -8.15404280e-03 3.83862027e+00] [-9.84817414e-04 8.15541371e-03 9.99966259e-01 1.72578548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309259763999997 meters 0.13438008438702267 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.73 [[ 9.99998874e-01 -1.47318776e-03 2.86663075e-04 -7.11491882e+00] [ 1.47574453e-03 9.99957202e-01 -9.13323872e-03 3.84479204e+00] [-2.73195831e-04 9.13365148e-03 9.99958250e-01 1.72502010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369259763999995 meters 0.12544331811266995 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99998602e-01 -1.66456657e-03 -1.58206781e-04 -7.11360871e+00] [ 1.66290285e-03 9.99948705e-01 -9.99110755e-03 3.84931149e+00] [ 1.74829529e-04 9.99083050e-03 9.99950075e-01 1.72491435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429259763999998 meters 0.12860426042235396 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99998047e-01 -1.94283787e-03 -3.62675452e-04 -7.11322373e+00] [ 1.93885537e-03 9.99941130e-01 -1.06759808e-02 3.85214719e+00] [ 3.83395802e-04 1.06752567e-02 9.99942944e-01 1.72527367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489259763999996 meters 0.12217993092613956 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99997646e-01 -2.07862400e-03 -6.22842191e-04 -7.11255104e+00] [ 2.07152566e-03 9.99935261e-01 -1.11884812e-02 3.85472250e+00] [ 6.46058515e-04 1.11871646e-02 9.99937213e-01 1.72539220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549259763999995 meters 0.12487318453983094 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99996935e-01 -2.29551198e-03 -9.27563893e-04 -7.11212356e+00] [ 2.28433702e-03 9.99926889e-01 -1.18742678e-02 3.85740041e+00] [ 9.54753602e-04 1.18721126e-02 9.99929068e-01 1.72608311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609259763999997 meters 0.12765113515696164 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99995709e-01 -2.70172786e-03 -1.13223304e-03 -7.11223614e+00] [ 2.68721512e-03 9.99916639e-01 -1.26290725e-02 3.86003695e+00] [ 1.16625897e-03 1.26259758e-02 9.99919609e-01 1.72714490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669259763999996 meters 0.12702167665665393 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99996713e-01 -2.35424499e-03 -1.01522134e-03 -7.11220490e+00] [ 2.34189171e-03 9.99925228e-01 -1.20022617e-02 3.85800345e+00] [ 1.04340170e-03 1.19998447e-02 9.99927455e-01 1.72654766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729259763999995 meters 0.12653353986534663 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99998373e-01 -1.54558322e-03 -9.30267522e-04 -7.11145226e+00] [ 1.53558675e-03 9.99942084e-01 -1.06522577e-02 3.85400360e+00] [ 9.46677595e-04 1.06508118e-02 9.99942830e-01 1.72485401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789259763999997 meters 0.12924303689009795 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99985888e-01 -5.21800336e-03 -9.98116701e-04 -7.11089649e+00] [ 5.20373757e-03 9.99891265e-01 -1.37978268e-02 3.85012783e+00] [ 1.07000528e-03 1.37924382e-02 9.99904307e-01 1.72411724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849259763999996 meters 0.1329674122201245 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99988759e-01 -4.71360632e-03 -5.13747115e-04 -7.11166516e+00] [ 4.70700016e-03 9.99914747e-01 -1.21795807e-02 3.84421367e+00] [ 5.71113066e-04 1.21770256e-02 9.99925694e-01 1.72309219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.909259763999998 meters 0.13129174395160667 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99989741e-01 -4.47860904e-03 -6.77726644e-04 -7.11125493e+00] [ 4.47028928e-03 9.99920193e-01 -1.18162643e-02 3.84311601e+00] [ 7.30592985e-04 1.18131135e-02 9.99929956e-01 1.72305286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.969259763999997 meters 0.13311650655284493 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99992983e-01 -3.73420238e-03 -2.99807575e-04 -7.11113855e+00] [ 3.73091309e-03 9.99939891e-01 -1.03099763e-02 3.83831750e+00] [ 3.38289092e-04 1.03087854e-02 9.99946806e-01 1.72117134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029259763999995 meters 0.1326572856138083 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99992593e-01 -3.81975816e-03 -4.73658386e-04 -7.11068949e+00] [ 3.81450215e-03 9.99936107e-01 -1.06410192e-02 3.83979832e+00] [ 5.14274242e-04 1.06391336e-02 9.99943271e-01 1.72125295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089259763999998 meters 0.12444666035790714 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99989590e-01 -4.37880900e-03 -1.28258767e-03 -7.10967167e+00] [ 4.36227207e-03 9.99910795e-01 -1.26242614e-02 3.84662688e+00] [ 1.33775248e-03 1.26185350e-02 9.99919488e-01 1.72370586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149259763999996 meters 0.12340892606498964 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99990994e-01 -3.96701113e-03 -1.50834350e-03 -7.10816518e+00] [ 3.94811482e-03 9.99916176e-01 -1.23309658e-02 3.84693868e+00] [ 1.55713414e-03 1.23248997e-02 9.99922833e-01 1.72236872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209259763999995 meters 0.1311002752595747 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99990800e-01 -3.98104508e-03 -1.59746601e-03 -7.10775381e+00] [ 3.96090621e-03 9.99915050e-01 -1.24178691e-02 3.84777512e+00] [ 1.64676641e-03 1.24114274e-02 9.99921619e-01 1.72212690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.269259763999997 meters 0.12681690199905463 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99989924e-01 -3.93597391e-03 -2.15857877e-03 -7.10591243e+00] [ 3.90814641e-03 9.99911107e-01 -1.27477352e-02 3.85100076e+00] [ 2.20856164e-03 1.27391707e-02 9.99916414e-01 1.72153518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329259763999996 meters 0.12843798433390974 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.85, Z:1.71 [[ 9.99978079e-01 -5.81801817e-03 3.16112809e-03 -7.08957076e+00] [ 5.82966262e-03 9.99976210e-01 -3.68699509e-03 3.84698696e+00] [-3.13960189e-03 3.70534258e-03 9.99988207e-01 1.71481195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.389259763999995 meters 0.12446513004608145 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.85, Z:1.71 [[ 9.99978769e-01 -5.71943971e-03 3.12255103e-03 -7.08925087e+00] [ 5.73050041e-03 9.99977298e-01 -3.54481921e-03 3.84686520e+00] [-3.10220576e-03 3.56263773e-03 9.99988842e-01 1.71446683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449259763999997 meters 0.12432146162963167 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.85, Z:1.71 [[ 9.99979617e-01 -5.64440957e-03 2.98433698e-03 -7.08890544e+00] [ 5.65488280e-03 9.99977841e-01 -3.51268418e-03 3.84695119e+00] [-2.96444383e-03 3.52948865e-03 9.99989377e-01 1.71449584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509259763999996 meters 0.12275668798296163 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.85, Z:1.71 [[ 9.99981999e-01 -5.23318615e-03 2.93518746e-03 -7.08832106e+00] [ 5.24169850e-03 9.99982057e-01 -2.89994904e-03 3.84525771e+00] [-2.91995882e-03 2.91528221e-03 9.99991487e-01 1.71374278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569259763999995 meters 0.12540583283013065 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.84, Z:1.71 [[ 9.99954457e-01 -9.14556041e-03 2.72817103e-03 -7.08732936e+00] [ 9.16375680e-03 9.99935340e-01 -6.73359605e-03 3.84422996e+00] [-2.66641211e-03 6.75828968e-03 9.99973608e-01 1.71310395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629259763999997 meters 0.13794283938233015 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.83, Z:1.71 [[ 9.99957446e-01 -8.44610965e-03 3.71062930e-03 -7.08835157e+00] [ 8.45882204e-03 9.99958362e-01 -3.42370758e-03 3.83487844e+00] [-3.68155779e-03 3.45494944e-03 9.99987255e-01 1.70903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689259763999996 meters 0.14911973311591248 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.83, Z:1.71 [[ 9.99908173e-01 -1.27957962e-02 4.46242847e-03 -7.09103893e+00] [ 1.28238707e-02 9.99897795e-01 -6.32048750e-03 3.82774216e+00] [-4.38109672e-03 6.37713271e-03 9.99970069e-01 1.71039387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749259763999998 meters 0.1479397268225592 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.82, Z:1.71 [[ 9.99909046e-01 -1.25574492e-02 4.92037727e-03 -7.09241688e+00] [ 1.25832368e-02 9.99907069e-01 -5.24555943e-03 3.82281745e+00] [-4.85404917e-03 5.30699660e-03 9.99974137e-01 1.71071132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809259763999997 meters 0.1537402792737077 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.82, Z:1.71 [[ 9.99857955e-01 -1.59984341e-02 5.30289507e-03 -7.09292918e+00] [ 1.60384035e-02 9.99842626e-01 -7.58245520e-03 3.81515687e+00] [-5.18075312e-03 7.66642812e-03 9.99957192e-01 1.71000973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869259763999995 meters 0.1576818658074277 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.81, Z:1.71 [[ 9.99856553e-01 -1.57557046e-02 6.21544117e-03 -7.09520312e+00] [ 1.57921794e-02 9.99858102e-01 -5.86366064e-03 3.80682804e+00] [-6.12217311e-03 5.96097488e-03 9.99963492e-01 1.71020020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.929259763999998 meters 0.1618256076289804 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.80, Z:1.71 [[ 9.99776126e-01 -1.99940235e-02 6.92359481e-03 -7.09765915e+00] [ 2.00556991e-02 9.99758748e-01 -8.95621684e-03 3.79983619e+00] [-6.74285367e-03 9.09306932e-03 9.99935923e-01 1.71198543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989259763999996 meters 0.1886507589645813 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.79, Z:1.71 [[ 9.99782250e-01 -1.92590229e-02 8.03386968e-03 -7.09927380e+00] [ 1.93040790e-02 9.99798149e-01 -5.56893620e-03 3.78901909e+00] [-7.92499577e-03 5.72281001e-03 9.99952221e-01 1.70882591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.049259763999995 meters 0.1730449556483205 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.78, Z:1.71 [[ 9.99786331e-01 -1.87287704e-02 8.74784128e-03 -7.10058139e+00] [ 1.87616963e-02 9.99817148e-01 -3.69711163e-03 3.78176681e+00] [-8.67699936e-03 3.86044602e-03 9.99954902e-01 1.70795447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109259763999997 meters 0.19288847019835045 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.77, Z:1.71 [[ 9.99688322e-01 -2.28867527e-02 9.97273005e-03 -7.10381860e+00] [ 2.29462788e-02 9.99719314e-01 -5.89589631e-03 3.77197290e+00] [-9.83499293e-03 6.12289573e-03 9.99932889e-01 1.70904204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169259763999996 meters 0.19225209352878128 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.76, Z:1.71 [[ 9.99687277e-01 -2.25558793e-02 1.07972422e-02 -7.10593636e+00] [ 2.25964838e-02 9.99737991e-01 -3.65351611e-03 3.76315405e+00] [-1.07120050e-02 3.89635328e-03 9.99935034e-01 1.70898198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.229259763999995 meters 0.20558520123001672 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.76, Z:1.71 [[ 9.99593368e-01 -2.61353270e-02 1.14036476e-02 -7.10696636e+00] [ 2.62042277e-02 9.99638992e-01 -5.93496470e-03 3.75540463e+00] [-1.12444186e-02 6.23137513e-03 9.99917363e-01 1.70834139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.289259763999997 meters 0.20971579537160942 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.75, Z:1.71 [[ 0.99950199 -0.02482362 0.01948223 -7.12124164] [ 0.0251008 0.99958529 -0.01411406 3.74990342] [-0.01912379 0.01459605 0.99971058 1.70623909] [ 0. 0. 0. 1. ]] SLAMing on 19.349259763999996 meters 0.19681629830538439 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.71 [[ 9.99636803e-01 -2.64695639e-02 5.06198974e-03 -7.12126608e+00] [ 2.65316104e-02 9.99568433e-01 -1.26104066e-02 3.74453785e+00] [-4.72601319e-03 1.27401293e-02 9.99907673e-01 1.71037555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409259763999994 meters 0.2111414990026325 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.71 [[ 9.99748906e-01 -2.15477773e-02 6.14960322e-03 -7.12242500e+00] [ 2.15839281e-02 9.99749784e-01 -5.87400980e-03 3.73801568e+00] [-6.02149263e-03 6.00526747e-03 9.99963839e-01 1.70661039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469259763999997 meters 0.20961309006131904 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.71 [[ 9.99838935e-01 -1.66901754e-02 6.59858487e-03 -7.12275632e+00] [ 1.66932904e-02 9.99860570e-01 -4.17262863e-04 3.73419561e+00] [-6.59070064e-03 5.27347749e-04 9.99978142e-01 1.70502904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529259763999995 meters 0.2032479716159187 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99840256e-01 -1.67414858e-02 6.25985129e-03 -7.12178590e+00] [ 1.67467509e-02 9.99859452e-01 -7.89617504e-04 3.73633024e+00] [-6.24575210e-03 8.94323537e-04 9.99980095e-01 1.70485818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589259763999998 meters 0.2123423903368435 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99907591e-01 -1.18660676e-02 6.63369682e-03 -7.12163933e+00] [ 1.18354305e-02 9.99919199e-01 4.63874797e-03 3.73335208e+00] [-6.68820451e-03 -4.55980665e-03 9.99967238e-01 1.70286528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649259763999996 meters 0.2062361662073108 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99910751e-01 -1.16600855e-02 6.52168704e-03 -7.12082137e+00] [ 1.16281877e-02 9.99920346e-01 4.90775277e-03 3.73327040e+00] [-6.57839238e-03 -4.83147936e-03 9.99966690e-01 1.70202535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709259763999995 meters 0.2042740520574934 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99916037e-01 -1.12060081e-02 6.50721710e-03 -7.11999143e+00] [ 1.11694926e-02 9.99921820e-01 5.62103985e-03 3.73176894e+00] [-6.56969778e-03 -5.54788558e-03 9.99963029e-01 1.70073032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769259763999997 meters 0.209608777244576 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99920493e-01 -1.06393594e-02 6.76845094e-03 -7.11992089e+00] [ 1.05944555e-02 9.99921858e-01 6.63592106e-03 3.72851494e+00] [-6.83852399e-03 -6.56368541e-03 9.99955075e-01 1.69954712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829259763999996 meters 0.2062692215542989 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99920860e-01 -1.06141560e-02 6.75383934e-03 -7.11989620e+00] [ 1.05691718e-02 9.99921954e-01 6.66172780e-03 3.72839026e+00] [-6.82402085e-03 -6.58981810e-03 9.99955003e-01 1.69955237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889259763999995 meters 0.21326821385644162 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99918232e-01 -1.10997978e-02 6.35002396e-03 -7.11952393e+00] [ 1.10644357e-02 9.99923234e-01 5.57709170e-03 3.73205784e+00] [-6.41144108e-03 -5.50637624e-03 9.99964286e-01 1.70067361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949259763999997 meters 0.20417144179698268 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99913486e-01 -1.16465708e-02 6.11376976e-03 -7.11960370e+00] [ 1.16206493e-02 9.99923410e-01 4.25838316e-03 3.73582217e+00] [-6.16289707e-03 -4.18696877e-03 9.99972244e-01 1.70205445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009259763999996 meters 0.20234310349640744 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99915277e-01 -1.16911539e-02 5.72325688e-03 -7.11817791e+00] [ 1.16696933e-02 9.99924804e-01 3.76887580e-03 3.73881124e+00] [-5.76688903e-03 -3.70176784e-03 9.99976520e-01 1.70138183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069259763999995 meters 0.19912768796025526 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.74, Z:1.70 [[ 9.99962873e-01 -6.92164303e-03 5.13261867e-03 -7.11456546e+00] [ 6.88053265e-03 9.99944452e-01 7.98449025e-03 3.74317027e+00] [-5.18759936e-03 -7.94887866e-03 9.99954951e-01 1.69775378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129259763999997 meters 0.20587459310103642 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.75, Z:1.70 [[ 9.99984864e-01 -5.40348991e-03 1.03607342e-03 -7.09920797e+00] [ 5.39936211e-03 9.99977636e-01 3.94632912e-03 3.74528364e+00] [-1.05737420e-03 -3.94067525e-03 9.99991676e-01 1.69728973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189259763999996 meters 0.18850601497223113 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.75, Z:1.70 [[ 9.99987413e-01 -5.01518452e-03 -1.45114872e-04 -7.09541204e+00] [ 5.01565593e-03 9.99981455e-01 3.45438476e-03 3.75176195e+00] [ 1.27787804e-04 -3.45506913e-03 9.99994023e-01 1.69532488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249259763999994 meters 0.18356058436966502 Centerline is valid? [False, False] Translation: X:-7.09, Y:3.76, Z:1.70 [[ 9.99983959e-01 -5.54093253e-03 -1.17470984e-03 -7.09302335e+00] [ 5.54275392e-03 9.99983433e-01 1.55296138e-03 3.76092122e+00] [ 1.16608552e-03 -1.55944760e-03 9.99998104e-01 1.69562122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309259763999997 meters 0.18954506691462217 Centerline is valid? [False, False] Translation: X:-7.08, Y:3.76, Z:1.70 [[ 9.99994632e-01 -1.83215558e-03 -2.71645441e-03 -7.07738720e+00] [ 1.82319096e-03 9.99992896e-01 -3.29893002e-03 3.76357279e+00] [ 2.72247926e-03 3.29395969e-03 9.99990869e-01 1.69735651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369259763999995 meters 0.17499054743677553 Centerline is valid? [False, False] Translation: X:-7.06, Y:3.77, Z:1.69 [[ 9.99966500e-01 7.56492781e-03 3.12582679e-03 -7.06474226e+00] [-7.55463110e-03 9.99966042e-01 -3.29285652e-03 3.77446576e+00] [-3.15063086e-03 3.26913174e-03 9.99989693e-01 1.69328352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429259763999998 meters 0.15239227866331923 Centerline is valid? [False, False] Translation: X:-7.06, Y:3.79, Z:1.70 [[ 9.99929796e-01 1.17917748e-02 1.16506832e-03 -7.06026430e+00] [-1.17864507e-02 9.99920521e-01 -4.47558951e-03 3.78919534e+00] [-1.21775086e-03 4.46154329e-03 9.99989306e-01 1.69897148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489259763999996 meters 0.15651600286555742 Centerline is valid? [False, False] Translation: X:-7.05, Y:3.80, Z:1.70 [[ 9.99942598e-01 8.44937345e-03 6.58857006e-03 -7.04571884e+00] [-8.43849307e-03 9.99962988e-01 -1.67745815e-03 3.79978251e+00] [-6.60249968e-03 1.62176426e-03 9.99976888e-01 1.69986053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549259763999995 meters 0.14240884861116226 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.81, Z:1.70 [[ 9.99912829e-01 1.20172965e-02 5.46983702e-03 -7.04375175e+00] [-1.20129401e-02 9.99927499e-01 -8.28592020e-04 3.81042144e+00] [-5.47939789e-03 7.62810966e-04 9.99984697e-01 1.70348232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609259763999997 meters 0.1423085554693181 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.82, Z:1.71 [[ 9.99924291e-01 1.16634199e-02 3.92145135e-03 -7.04073484e+00] [-1.16491332e-02 9.99925497e-01 -3.64652957e-03 3.82096319e+00] [-3.96369020e-03 3.60057198e-03 9.99985662e-01 1.70594641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669259763999996 meters 0.13738310930031228 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.83, Z:1.71 [[ 9.99927485e-01 1.16289167e-02 3.12929034e-03 -7.03852525e+00] [-1.16146496e-02 9.99922244e-01 -4.53941478e-03 3.82606550e+00] [-3.18183549e-03 4.50274000e-03 9.99984801e-01 1.70571057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729259763999995 meters 0.13070306418449096 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.83, Z:1.71 [[ 9.99937121e-01 1.10574441e-02 1.86761166e-03 -7.03644297e+00] [-1.10446764e-02 9.99916467e-01 -6.71365438e-03 3.83497874e+00] [-1.94169152e-03 6.69260507e-03 9.99975719e-01 1.70797395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789259763999997 meters 0.1241346858916422 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.84, Z:1.71 [[ 9.99937327e-01 1.10834551e-02 1.58105907e-03 -7.03519136e+00] [-1.10722348e-02 9.99914637e-01 -6.93720594e-03 3.83711147e+00] [-1.65781232e-03 6.91926530e-03 9.99974687e-01 1.70729431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849259763999996 meters 0.12567903265992486 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.84, Z:1.70 [[ 9.99967939e-01 3.73798057e-03 7.08160697e-03 -7.02098473e+00] [-3.71446307e-03 9.99987553e-01 -3.33117471e-03 3.83839539e+00] [-7.09397069e-03 3.30476354e-03 9.99969377e-01 1.70133522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909259763999994 meters 0.12409006294405095 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.84, Z:1.70 [[ 9.99971338e-01 3.71340960e-03 6.59800615e-03 -7.01940110e+00] [-3.68916736e-03 9.99986414e-01 -3.68255532e-03 3.84165456e+00] [-6.61159135e-03 3.65810863e-03 9.99971452e-01 1.70078818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969259763999997 meters 0.12509861137996553 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.85, Z:1.70 [[ 9.99983277e-01 -7.79353837e-04 5.73052447e-03 -7.01754869e+00] [ 8.29844266e-04 9.99960814e-01 -8.81369425e-03 3.84669313e+00] [-5.72343092e-03 8.81830230e-03 9.99944738e-01 1.70116875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029259763999995 meters 0.1238940908991106 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.85, Z:1.70 [[ 9.99982681e-01 -1.01077094e-03 5.79790341e-03 -7.01768719e+00] [ 1.06368225e-03 9.99957754e-01 -9.13012577e-03 3.84830522e+00] [-5.78843001e-03 9.13613478e-03 9.99941511e-01 1.70115436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089259763999994 meters 0.11964315652078183 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.85, Z:1.70 [[ 9.99984967e-01 -1.25347301e-03 5.33808828e-03 -7.01657536e+00] [ 1.30669647e-03 9.99949358e-01 -9.97872145e-03 3.85269439e+00] [-5.32530989e-03 9.98554670e-03 9.99935963e-01 1.70137886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149259763999996 meters 0.12549754163785906 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.85, Z:1.70 [[ 9.99985428e-01 -1.33094785e-03 5.23189710e-03 -7.01614387e+00] [ 1.38458994e-03 9.99946379e-01 -1.02626785e-02 3.85426220e+00] [-5.21795747e-03 1.02697729e-02 9.99933650e-01 1.70123331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209259763999995 meters 0.1213394159248795 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.86, Z:1.70 [[ 9.99981902e-01 2.65565719e-03 5.39836409e-03 -7.01671366e+00] [-2.62103118e-03 9.99976013e-01 -6.41115325e-03 3.85588198e+00] [-5.41526042e-03 6.39688794e-03 9.99964877e-01 1.70156677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269259763999997 meters 0.11663692206160116 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.86, Z:1.70 [[ 9.99984756e-01 2.80769478e-03 4.75444697e-03 -7.01488000e+00] [-2.77513798e-03 9.99972753e-01 -6.84046048e-03 3.85890614e+00] [-4.77352335e-03 6.82716195e-03 9.99965301e-01 1.70134747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329259763999996 meters 0.1137413018442667 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.86, Z:1.70 [[ 9.99983817e-01 3.41120241e-03 4.55291735e-03 -7.01337350e+00] [-3.38323488e-03 9.99975449e-01 -6.13640225e-03 3.85775661e+00] [-4.57373808e-03 6.12089936e-03 9.99970807e-01 1.69977793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389259763999995 meters 0.1113569770609833 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.86, Z:1.70 [[ 9.99991642e-01 -8.10246720e-04 4.00745738e-03 -7.01232125e+00] [ 8.52540308e-04 9.99943843e-01 -1.05632974e-02 3.85876801e+00] [-3.99867345e-03 1.05666256e-02 9.99936176e-01 1.70020096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449259763999997 meters 0.12668021392807036 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.86, Z:1.70 [[ 9.99978089e-01 -5.11422704e-03 4.20320053e-03 -7.01385556e+00] [ 5.17406560e-03 9.99883631e-01 -1.43510455e-02 3.85508616e+00] [-4.12931690e-03 1.43724787e-02 9.99888184e-01 1.70168850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509259763999996 meters 0.1388736247200718 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.84, Z:1.69 [[ 0.99980728 -0.01587853 0.01154482 -7.00478848] [ 0.01600496 0.99981203 -0.01094313 3.84372065] [-0.01136889 0.0111258 0.99987347 1.694554 ] [ 0. 0. 0. 1. ]] SLAMing on 21.569259763999995 meters 0.12864191024611088 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.84, Z:1.69 [[ 9.99865931e-01 -1.10920952e-02 1.20451175e-02 -7.00537875e+00] [ 1.11551471e-02 9.99924362e-01 -5.18012806e-03 3.83884554e+00] [-1.19867479e-02 5.31379862e-03 9.99914037e-01 1.69307396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629259763999997 meters 0.13599135723519468 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.84, Z:1.69 [[ 9.99870995e-01 -1.06391667e-02 1.20333760e-02 -7.00493605e+00] [ 1.06928705e-02 9.99933116e-01 -4.40740319e-03 3.83652479e+00] [-1.19856801e-02 4.53550594e-03 9.99917883e-01 1.69229720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689259763999996 meters 0.13499512233102234 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.83, Z:1.69 [[ 9.99876676e-01 -1.00188586e-02 1.20935992e-02 -7.00430574e+00] [ 1.00596929e-02 9.99943887e-01 -3.32042834e-03 3.83340112e+00] [-1.20596537e-02 3.44167675e-03 9.99921357e-01 1.69088717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749259763999994 meters 0.13648616242714354 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.83, Z:1.69 [[ 9.99874545e-01 -1.00939328e-02 1.22068535e-02 -7.00513666e+00] [ 1.01347855e-02 9.99943231e-01 -3.28948332e-03 3.83252672e+00] [-1.21729567e-02 3.41278447e-03 9.99920083e-01 1.69171210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809259763999997 meters 0.1368005815641301 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.83, Z:1.69 [[ 9.99868110e-01 -9.96888554e-03 1.28212036e-02 -7.00674738e+00] [ 1.00007505e-02 9.99947054e-01 -2.42362230e-03 3.82815631e+00] [-1.27963640e-02 2.55152431e-03 9.99914868e-01 1.69190746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869259763999995 meters 0.13768794572606183 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.83, Z:1.69 [[ 9.99870797e-01 -9.84443757e-03 1.27072988e-02 -7.00643972e+00] [ 9.87411793e-03 9.99948662e-01 -2.27507052e-03 3.82776480e+00] [-1.26842496e-02 2.40024995e-03 9.99916671e-01 1.69187194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929259763999994 meters 0.13766393114257736 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.82, Z:1.69 [[ 9.99870120e-01 -9.58932531e-03 1.29532687e-02 -7.00706864e+00] [ 9.60971417e-03 9.99952681e-01 -1.51270795e-03 3.82464967e+00] [-1.29381499e-02 1.63698869e-03 9.99914959e-01 1.69181361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989259763999996 meters 0.13766851965451563 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.82, Z:1.69 [[ 9.99871010e-01 -9.16923208e-03 1.31866510e-02 -7.00767041e+00] [ 9.17720229e-03 9.99957741e-01 -5.44029808e-04 3.82049681e+00] [-1.31811055e-02 6.64976198e-04 9.99912904e-01 1.69177416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049259763999995 meters 0.1408458533801551 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.81, Z:1.69 [[ 9.99868740e-01 -8.58008394e-03 1.37435446e-02 -7.00859606e+00] [ 8.56651910e-03 9.99962760e-01 1.04556406e-03 3.81393967e+00] [-1.37520038e-02 -9.27692480e-04 9.99905006e-01 1.69100927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109259763999997 meters 0.15073622507441448 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.81, Z:1.69 [[ 9.99830588e-01 -1.22169929e-02 1.37673783e-02 -7.00870833e+00] [ 1.22477209e-02 9.99922683e-01 -2.14983801e-03 3.80912528e+00] [-1.37400493e-02 2.31809281e-03 9.99902914e-01 1.69117370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169259763999996 meters 0.14988494412033038 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.80, Z:1.69 [[ 9.99723425e-01 -1.96800270e-02 1.28751521e-02 -7.02373119e+00] [ 1.96740513e-02 9.99806273e-01 5.90634306e-04 3.80302734e+00] [-1.28842815e-02 -3.37164548e-04 9.99916937e-01 1.68963825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229259763999995 meters 0.15348211264608763 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.80, Z:1.69 [[ 9.99726395e-01 -1.93652753e-02 1.31194924e-02 -7.02425161e+00] [ 1.93482472e-02 9.99811792e-01 1.42362466e-03 3.79985183e+00] [-1.31445921e-02 -1.16939597e-03 9.99912922e-01 1.68942987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289259763999997 meters 0.16779386007943636 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.80, Z:1.70 [[ 0.99975557 -0.02058373 0.00806956 -7.04048482] [ 0.02067031 0.99972805 -0.01079654 3.79820691] [-0.00784513 0.0109607 0.99990915 1.69798668] [ 0. 0. 0. 1. ]] SLAMing on 22.349259763999996 meters 0.17370938087216847 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.79, Z:1.69 [[ 9.99773345e-01 -1.93134833e-02 8.95807946e-03 -7.04050722e+00] [ 1.93657008e-02 9.99795763e-01 -5.77944340e-03 3.78688779e+00] [-8.84462871e-03 5.95161295e-03 9.99943174e-01 1.69033801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409259763999994 meters 0.16670778483712423 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.78, Z:1.68 [[ 9.99782405e-01 -1.83189972e-02 9.97778742e-03 -7.04091339e+00] [ 1.83309944e-02 9.99831355e-01 -1.11226137e-03 3.77658821e+00] [-9.95572920e-03 1.29492212e-03 9.99949602e-01 1.68288423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469259763999997 meters 0.17095381764809442 Centerline is valid? [False, False] Translation: X:-7.05, Y:3.78, Z:1.69 [[ 9.99918507e-01 -1.24562532e-02 2.79670168e-03 -7.05120919e+00] [ 1.24735589e-02 9.99902618e-01 -6.25815158e-03 3.78200948e+00] [-2.71847621e-03 6.29252641e-03 9.99976507e-01 1.68599215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529259763999995 meters 0.16378406772281154 Centerline is valid? [False, False] Translation: X:-7.05, Y:3.79, Z:1.68 [[ 9.99978603e-01 -6.37817162e-03 1.45328144e-03 -7.04537661e+00] [ 6.37930124e-03 9.99979353e-01 -7.73983870e-04 3.78847338e+00] [-1.44831483e-03 7.83238229e-04 9.99998644e-01 1.68093606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589259763999994 meters 0.14585878144331837 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.81, Z:1.68 [[ 9.99891116e-01 1.12973772e-02 -9.49349200e-03 -7.01329518e+00] [-1.12837542e-02 9.99935230e-01 1.48731583e-03 3.80854937e+00] [ 9.50967988e-03 -1.38003165e-03 9.99953830e-01 1.68181199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649259763999996 meters 0.1349961316154652 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.82, Z:1.68 [[ 9.99798730e-01 2.00051494e-02 -1.51458321e-03 -7.00363435e+00] [-2.00030981e-02 9.99798996e-01 1.35764220e-03 3.81973909e+00] [ 1.54143861e-03 -1.32707259e-03 9.99997931e-01 1.67776426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709259763999995 meters 0.11947783843138343 Centerline is valid? [False, False] Translation: X:-6.98, Y:3.83, Z:1.68 [[ 9.99789769e-01 2.03295199e-02 2.66990035e-03 -6.98478503e+00] [-2.03488307e-02 9.99765432e-01 7.41656913e-03 3.83157715e+00] [-2.51849879e-03 -7.46933928e-03 9.99968933e-01 1.67558603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769259763999994 meters 0.11510530067608819 Centerline is valid? [False, False] Translation: X:-6.98, Y:3.84, Z:1.68 [[ 9.99799638e-01 1.99292722e-02 1.87288303e-03 -6.98281274e+00] [-1.99388454e-02 9.99787470e-01 5.23995112e-03 3.84022043e+00] [-1.76805657e-03 -5.27624435e-03 9.99984517e-01 1.67624541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829259763999996 meters 0.11041485981887798 Centerline is valid? [False, False] Translation: X:-6.98, Y:3.85, Z:1.68 [[ 9.99812887e-01 1.93175193e-02 1.01207720e-03 -6.98136938e+00] [-1.93205623e-02 9.99808570e-01 3.08851978e-03 3.84813775e+00] [-9.52220921e-04 -3.10749578e-03 9.99994718e-01 1.67805549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889259763999995 meters 0.10785624170368427 Centerline is valid? [False, False] Translation: X:-6.97, Y:3.86, Z:1.68 [[ 9.99912151e-01 1.15942051e-02 6.42383278e-03 -6.96788250e+00] [-1.16099243e-02 9.99929686e-01 2.41515677e-03 3.85537992e+00] [-6.39537927e-03 -2.48952481e-03 9.99976450e-01 1.67937431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949259763999997 meters 0.10982193937033458 Centerline is valid? [False, False] Translation: X:-6.97, Y:3.86, Z:1.68 [[ 9.99958064e-01 7.32790479e-03 5.49283836e-03 -6.96547264e+00] [-7.31392089e-03 9.99969972e-01 -2.56162036e-03 3.86039225e+00] [-5.51144473e-03 2.52133875e-03 9.99981633e-01 1.67894434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009259763999996 meters 0.10861900057722827 Centerline is valid? [False, False] Translation: X:-6.96, Y:3.86, Z:1.68 [[ 9.99960599e-01 7.17696979e-03 5.22408347e-03 -6.96459523e+00] [-7.16090115e-03 9.99969592e-01 -3.08810912e-03 3.86318486e+00] [-5.24608788e-03 3.05057830e-03 9.99981586e-01 1.67880326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069259763999995 meters 0.10764409012889456 Centerline is valid? [False, False] Translation: X:-6.96, Y:3.87, Z:1.68 [[ 9.99963730e-01 7.19406587e-03 4.55886424e-03 -6.96254144e+00] [-7.17650474e-03 9.99966811e-01 -3.85680454e-03 3.86817291e+00] [-4.58645904e-03 3.82394795e-03 9.99982171e-01 1.67830666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129259763999997 meters 0.1034833839289731 Centerline is valid? [False, False] Translation: X:-6.96, Y:3.87, Z:1.68 [[ 9.99968065e-01 7.00610439e-03 3.84503454e-03 -6.96071615e+00] [-6.98698624e-03 9.99963273e-01 -4.96327729e-03 3.87409688e+00] [-3.87966656e-03 4.93625359e-03 9.99980291e-01 1.67833981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189259763999996 meters 0.09961255053768893 Centerline is valid? [False, True] Translation: X:-6.96, Y:3.88, Z:1.68 [[ 9.99969854e-01 7.06333304e-03 3.22509973e-03 -6.95873311e+00] [-7.04512292e-03 9.99959372e-01 -5.62324668e-03 3.87843251e+00] [-3.26468757e-03 5.60035594e-03 9.99978989e-01 1.67784379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249259763999994 meters 0.09842189766027903 Centerline is valid? [True, True] Translation: X:-6.90, Y:3.88, Z:1.67 [[ 9.99953077e-01 9.37123461e-03 2.45430441e-03 -6.90057179e+00] [-9.37095019e-03 9.99956084e-01 -1.27358915e-04 3.87674494e+00] [-2.45539014e-03 1.04353774e-04 9.99996980e-01 1.66961302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309259763999997 meters 0.09340539934176051 Centerline is valid? [True, True] Translation: X:-6.84, Y:3.89, Z:1.68 [[ 9.99860983e-01 1.41678029e-02 8.79137934e-03 -6.83924322e+00] [-1.41644384e-02 9.99899580e-01 -4.44858977e-04 3.88647132e+00] [-8.79679918e-03 3.20272183e-04 9.99961256e-01 1.67915119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369259763999995 meters 0.0883521505876431 Centerline is valid? [True, True] Translation: X:-6.78, Y:3.90, Z:1.68 [[ 9.99561906e-01 2.44760521e-02 1.66408764e-02 -6.77882667e+00] [-2.44654390e-02 9.99700323e-01 -8.41083945e-04 3.90220284e+00] [-1.66564759e-02 4.33589126e-04 9.99861177e-01 1.68465432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429259763999994 meters 0.08597562713684964 Centerline is valid? [True, True] Translation: X:-6.72, Y:3.91, Z:1.68 [[ 9.99372367e-01 3.01944552e-02 1.85247449e-02 -6.71852958e+00] [-3.01822836e-02 9.99543973e-01 -9.36338962e-04 3.90993288e+00] [-1.85445693e-02 3.76632180e-04 9.99827964e-01 1.68290984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489259763999996 meters 0.08484204580251499 Centerline is valid? [True, True] Translation: X:-6.66, Y:3.92, Z:1.68 [[ 9.99187364e-01 3.64505003e-02 1.72038776e-02 -6.66023785e+00] [-3.64409075e-02 9.99335430e-01 -8.70854717e-04 3.91619700e+00] [-1.72241875e-02 2.43222116e-04 9.99851623e-01 1.67521551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.549259763999995 meters 0.08328595928790765 Centerline is valid? [True, True] Translation: X:-6.60, Y:3.92, Z:1.68 [[ 9.98997103e-01 4.15743039e-02 1.66242188e-02 -6.60143416e+00] [-4.15659782e-02 9.99135403e-01 -8.46175510e-04 3.92234853e+00] [-1.66450247e-02 1.54324967e-04 9.99861450e-01 1.67622095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.609259763999994 meters 0.08390628421920725 Centerline is valid? [True, True] Translation: X:-6.54, Y:3.92, Z:1.67 [[ 9.98957902e-01 4.31594557e-02 1.48449442e-02 -6.54428536e+00] [-4.31531093e-02 9.99068191e-01 -7.47716438e-04 3.91843637e+00] [-1.48633825e-02 1.06331746e-04 9.99889528e-01 1.66562684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669259763999996 meters 0.08419662288978466 Centerline is valid? [True, True] Translation: X:-6.49, Y:3.91, Z:1.66 [[ 9.98939760e-01 4.40796958e-02 1.32791564e-02 -6.48652313e+00] [-4.40746927e-02 9.99028014e-01 -6.69325255e-04 3.91423485e+00] [-1.32957529e-02 8.33408736e-05 9.99911604e-01 1.65866633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.729259763999995 meters 0.08392732989833179 Centerline is valid? [True, True] Translation: X:-6.43, Y:3.91, Z:1.66 [[ 9.98931173e-01 4.43214113e-02 1.31195999e-02 -6.42894915e+00] [-4.43165030e-02 9.99017320e-01 -6.64746338e-04 3.90931954e+00] [-1.31361700e-02 8.26210531e-05 9.99913713e-01 1.65719577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.789259763999997 meters 0.08383369446600834 Centerline is valid? [True, True] Translation: X:-6.37, Y:3.90, Z:1.66 [[ 9.98990114e-01 4.28405435e-02 1.35439793e-02 -6.37143470e+00] [-4.28352321e-02 9.99081917e-01 -6.82145668e-04 3.90141598e+00] [-1.35607683e-02 1.01297281e-04 9.99908043e-01 1.65541842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849259763999996 meters 0.08479873921848169 Centerline is valid? [True, True] Translation: X:-6.31, Y:3.89, Z:1.65 [[ 9.99180281e-01 3.84266703e-02 1.27340841e-02 -6.31330506e+00] [-3.84216683e-02 9.99261412e-01 -6.37303940e-04 3.88717554e+00] [-1.27491683e-02 1.47516776e-04 9.99918715e-01 1.65078203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.909259763999994 meters 0.08643569412534335 Centerline is valid? [True, True] Translation: X:-6.26, Y:3.87, Z:1.65 [[ 9.99404470e-01 3.18200771e-02 1.33487356e-02 -6.25584230e+00] [-3.18141124e-02 9.99493586e-01 -6.59002412e-04 3.86834985e+00] [-1.33629451e-02 2.33931783e-04 9.99910684e-01 1.64870187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.969259763999997 meters 0.0894487317274346 Centerline is valid? [True, True] Translation: X:-6.20, Y:3.84, Z:1.65 [[ 9.99649919e-01 2.21754485e-02 1.44322353e-02 -6.19703051e+00] [-2.21675281e-02 9.99754019e-01 -7.08559839e-04 3.84487182e+00] [-1.44443979e-02 3.88384804e-04 9.99895599e-01 1.64788710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029259763999995 meters 0.09281204784600465 Centerline is valid? [True, True] Translation: X:-6.14, Y:3.83, Z:1.65 [[ 9.99778833e-01 1.41858137e-02 1.55256962e-02 -6.13788144e+00] [-1.41756904e-02 9.99899230e-01 -7.61898007e-04 3.82654956e+00] [-1.55349398e-02 5.41642038e-04 9.99879179e-01 1.64561564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089259763999994 meters 0.09980807306932016 Centerline is valid? [True, True] Translation: X:-6.08, Y:3.80, Z:1.64 [[ 9.99850214e-01 3.90375703e-03 1.68614954e-02 -6.07940162e+00] [-3.89036805e-03 9.99992091e-01 -8.26784928e-04 3.80029132e+00] [-1.68645896e-02 7.61063664e-04 9.99857493e-01 1.64308527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149259763999996 meters 0.10122447330715369 Centerline is valid? [True, False] Translation: X:-6.08, Y:3.80, Z:1.65 [[ 9.99978191e-01 -5.31366965e-03 3.92216055e-03 -6.07917284e+00] [ 5.30585117e-03 9.99983922e-01 2.00113313e-03 3.79788714e+00] [-3.93273085e-03 -1.98027908e-03 9.99990306e-01 1.64789176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209259763999995 meters 0.10421135566613605 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.80, Z:1.65 [[ 9.99945917e-01 -9.60737830e-03 3.98271072e-03 -6.07974168e+00] [ 9.61577336e-03 9.99951575e-01 -2.09411432e-03 3.79641810e+00] [-3.96239891e-03 2.13229791e-03 9.99989876e-01 1.64860159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269259763999994 meters 0.11670178235192928 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.80, Z:1.65 [[ 9.99893988e-01 -1.39540878e-02 4.15885199e-03 -6.08036855e+00] [ 1.39795704e-02 9.99883290e-01 -6.16256090e-03 3.79516006e+00] [-4.07237370e-03 6.22004656e-03 9.99972363e-01 1.64899170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329259763999996 meters 0.12204127945361598 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.79, Z:1.65 [[ 9.99893335e-01 -1.36664900e-02 5.15232559e-03 -6.08190857e+00] [ 1.36883204e-02 9.99897381e-01 -4.22581202e-03 3.78834839e+00] [-5.09404485e-03 4.29588795e-03 9.99977798e-01 1.64708468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389259763999995 meters 0.13707020037888545 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.78, Z:1.65 [[ 9.99820735e-01 -1.79914918e-02 5.89955956e-03 -6.08362676e+00] [ 1.80357072e-02 9.99808994e-01 -7.52915841e-03 3.78404884e+00] [-5.76297192e-03 7.63421143e-03 9.99954252e-01 1.64697440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449259763999994 meters 0.1462864233554709 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.78, Z:1.64 [[ 9.99813318e-01 -1.79755576e-02 7.08572937e-03 -6.08587200e+00] [ 1.80129897e-02 9.99823944e-01 -5.25479843e-03 3.77614129e+00] [-6.99002396e-03 5.38145263e-03 9.99961089e-01 1.64499268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509259763999996 meters 0.14390004123156772 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.77, Z:1.64 [[ 9.99885450e-01 -1.33121748e-02 7.20230063e-03 -6.08542791e+00] [ 1.33135519e-02 9.99911360e-01 -1.43281802e-04 3.77453761e+00] [-7.19975483e-03 2.39153592e-04 9.99974053e-01 1.64340428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569259763999995 meters 0.14152841083563839 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.78, Z:1.64 [[ 9.99884784e-01 -1.33687709e-02 7.18990844e-03 -6.08532451e+00] [ 1.33714179e-02 9.99910547e-01 -3.20209446e-04 3.77538855e+00] [-7.18498448e-03 4.16311824e-04 9.99974101e-01 1.64335294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.629259763999997 meters 0.13805936903861699 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.78, Z:1.64 [[ 9.99883134e-01 -1.34919403e-02 7.18926869e-03 -6.08527800e+00] [ 1.34967999e-02 9.99908717e-01 -6.27865956e-04 3.77670952e+00] [-7.18014131e-03 7.24824701e-04 9.99973960e-01 1.64336605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689259763999996 meters 0.1343436328550921 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.78, Z:1.64 [[ 9.99886523e-01 -1.34020720e-02 6.87928871e-03 -6.08395022e+00] [ 1.34077554e-02 9.99909807e-01 -7.80701559e-04 3.77872465e+00] [-6.86820523e-03 8.72848788e-04 9.99976033e-01 1.64256632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.749259763999994 meters 0.1325910760186197 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.78, Z:1.64 [[ 9.99889286e-01 -1.32603957e-02 6.75112323e-03 -6.08345840e+00] [ 1.32651251e-02 9.99911799e-01 -6.56229062e-04 3.77868361e+00] [-6.74182592e-03 7.45710902e-04 9.99976996e-01 1.64232244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.809259763999997 meters 0.13267692824232302 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.78, Z:1.64 [[ 9.99891722e-01 -1.29752038e-02 6.94172962e-03 -6.08375074e+00] [ 1.29753932e-02 9.99915816e-01 1.77515967e-05 3.77619441e+00] [-6.94137556e-03 7.23219968e-05 9.99975906e-01 1.64197993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869259763999995 meters 0.1348216307398391 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.77, Z:1.64 [[ 9.99895690e-01 -1.25839959e-02 7.08883494e-03 -6.08369477e+00] [ 1.25780843e-02 9.99920507e-01 8.77896572e-04 3.77354800e+00] [-7.09931887e-03 -7.88641036e-04 9.99974489e-01 1.64115512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.929259763999994 meters 0.1425546672561332 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.77, Z:1.64 [[ 9.99900607e-01 -1.21551689e-02 7.14333945e-03 -6.08365347e+00] [ 1.21427294e-02 9.99924686e-01 1.78220530e-03 3.77029924e+00] [-7.16446447e-03 -1.69528852e-03 9.99972898e-01 1.64074326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.989259763999996 meters 0.14025416059664628 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.77, Z:1.64 [[ 9.99902723e-01 -1.17365749e-02 7.53643680e-03 -6.08456848e+00] [ 1.17153024e-02 9.99927282e-01 2.86058967e-03 3.76538075e+00] [-7.56946229e-03 -2.77201977e-03 9.99967509e-01 1.64062723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.049259763999995 meters 0.14475734174305602 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99848592e-01 -1.56878288e-02 7.52892781e-03 -6.08444064e+00] [ 1.56950783e-02 9.99876415e-01 -9.04759944e-04 3.76321345e+00] [-7.51380363e-03 1.02279007e-03 9.99971248e-01 1.64061516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.109259763999994 meters 0.15357163008251232 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99856123e-01 -1.51911987e-02 7.54727684e-03 -6.08408920e+00] [ 1.51904920e-02 9.99884606e-01 1.50966609e-04 3.76004920e+00] [-7.54869930e-03 -3.62980401e-05 9.99971508e-01 1.63975980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169259763999996 meters 0.16303171921663104 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99862798e-01 -1.47535167e-02 7.53122031e-03 -6.08353489e+00] [ 1.47475660e-02 9.99890892e-01 8.45067003e-04 3.75817754e+00] [-7.54286630e-03 -7.33883889e-04 9.99971283e-01 1.63888987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.229259763999995 meters 0.1571613035223508 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99872016e-01 -1.40922134e-02 7.57373861e-03 -6.08277051e+00] [ 1.40780936e-02 9.99899066e-01 1.91439590e-03 3.75521519e+00] [-7.59995224e-03 -1.80752709e-03 9.99969486e-01 1.63742105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.289259763999993 meters 0.1556066372407228 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.64 [[ 9.99875320e-01 -1.38091911e-02 7.65835514e-03 -6.08260957e+00] [ 1.37900839e-02 9.99901681e-01 2.54216244e-03 3.75344951e+00] [-7.69270738e-03 -2.43623612e-03 9.99967443e-01 1.63670294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349259763999996 meters 0.15164463836310144 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99871666e-01 -1.44715669e-02 6.87208816e-03 -6.08192706e+00] [ 1.44696224e-02 9.99895254e-01 3.32600301e-04 3.76010674e+00] [-6.87618159e-03 -2.33121096e-04 9.99976332e-01 1.63956095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.409259763999994 meters 0.14107507075873604 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99873347e-01 -1.44159551e-02 6.74310827e-03 -6.08115969e+00] [ 1.44148521e-02 9.99896078e-01 2.12141717e-04 3.76137553e+00] [-6.74546573e-03 -1.14913940e-04 9.99977242e-01 1.63894743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469259763999997 meters 0.1459357356018674 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99875730e-01 -1.42095349e-02 6.82746299e-03 -6.08074527e+00] [ 1.42061416e-02 9.99898939e-01 5.45242222e-04 3.76098547e+00] [-6.83452063e-03 -4.48182559e-04 9.99976544e-01 1.63794129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529259763999995 meters 0.14132112035841393 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99878015e-01 -1.42566928e-02 6.37984971e-03 -6.07949495e+00] [ 1.42565564e-02 9.99898368e-01 6.68658520e-05 3.76370503e+00] [-6.38015460e-03 2.40969919e-05 9.99979646e-01 1.63781603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589259763999994 meters 0.13837475023482346 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99933852e-01 -9.42843515e-03 6.58765272e-03 -6.07907598e+00] [ 9.39327027e-03 9.99941577e-01 5.34870244e-03 3.76130957e+00] [-6.63769774e-03 -5.28646903e-03 9.99963996e-01 1.63605084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649259763999996 meters 0.13684487094888695 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99936533e-01 -9.07217754e-03 6.68019578e-03 -6.07926367e+00] [ 9.03261486e-03 9.99941628e-01 5.92892596e-03 3.75878786e+00] [-6.73359411e-03 -5.86821003e-03 9.99960111e-01 1.63595569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709259763999995 meters 0.14909201407498282 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99934537e-01 -9.19709051e-03 6.80702366e-03 -6.08003263e+00] [ 9.15726230e-03 9.99940905e-01 5.85926663e-03 3.75828355e+00] [-6.86050961e-03 -5.79654936e-03 9.99959666e-01 1.63663541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769259763999994 meters 0.14556687361785717 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.64 [[ 9.99887494e-01 -1.35589133e-02 6.41519958e-03 -6.07942174e+00] [ 1.35510748e-02 9.99907381e-01 1.26376689e-03 3.75922212e+00] [-6.43174072e-03 -1.17669186e-03 9.99978624e-01 1.63742466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829259763999996 meters 0.1454847108581755 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.64 [[ 9.99893973e-01 -1.28946894e-02 6.76529302e-03 -6.07957800e+00] [ 1.28771373e-02 9.99913623e-01 2.63160509e-03 3.75456206e+00] [-6.79864238e-03 -2.54420846e-03 9.99973652e-01 1.63618974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889259763999995 meters 0.15565619089335958 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.63 [[ 9.99896586e-01 -1.22502439e-02 7.53315370e-03 -6.08064207e+00] [ 1.22158421e-02 9.99914822e-01 4.59589505e-03 3.74687048e+00] [-7.58881288e-03 -4.50339595e-03 9.99961064e-01 1.63475633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949259763999994 meters 0.15399347090920204 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99896575e-01 -1.19913141e-02 7.94023213e-03 -6.08162251e+00] [ 1.19470714e-02 9.99912972e-01 5.59614443e-03 3.74265923e+00] [-8.00664623e-03 -5.50070313e-03 9.99952817e-01 1.63464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009259763999996 meters 0.16678408138824868 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.64 [[ 9.99836198e-01 -1.63591698e-02 7.74298596e-03 -6.08165763e+00] [ 1.63512827e-02 9.99865725e-01 1.08081971e-03 3.74267246e+00] [-7.75962759e-03 -9.54034918e-04 9.99969439e-01 1.63573106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069259763999995 meters 0.1560151974546706 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99842605e-01 -1.57621153e-02 8.14379323e-03 -6.08188190e+00] [ 1.57410182e-02 9.99872596e-01 2.64821856e-03 3.73781851e+00] [-8.18449720e-03 -2.51961015e-03 9.99963332e-01 1.63416731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129259763999993 meters 0.16406693110537146 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99849906e-01 -1.52234001e-02 8.27130725e-03 -6.08147420e+00] [ 1.51932936e-02 9.99877764e-01 3.69059577e-03 3.73491141e+00] [-8.32647962e-03 -3.56437343e-03 9.99958982e-01 1.63286136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189259763999996 meters 0.1616636409223737 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99850868e-01 -1.51459567e-02 8.29707327e-03 -6.08169757e+00] [ 1.51144587e-02 9.99878374e-01 3.84591705e-03 3.73398094e+00] [-8.35431422e-03 -3.71993773e-03 9.99958183e-01 1.63309835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249259763999994 meters 0.166043899904884 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99848418e-01 -1.54796499e-02 7.97009757e-03 -6.08143734e+00] [ 1.54569137e-02 9.99876311e-01 2.90641774e-03 3.73695627e+00] [-8.01410209e-03 -2.78278407e-03 9.99964014e-01 1.63412870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309259763999997 meters 0.16277307652948925 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99850705e-01 -1.55459969e-02 7.54247444e-03 -6.08010509e+00] [ 1.55288621e-02 9.99876717e-01 2.32503772e-03 3.74026901e+00] [-7.57768961e-03 -2.20756456e-03 9.99968852e-01 1.63375925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369259763999995 meters 0.16302937402952772 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99946705e-01 -1.02554666e-02 1.18883851e-03 -6.09242577e+00] [ 1.02597548e-02 9.99940673e-01 -3.65890425e-03 3.74471533e+00] [-1.15124421e-03 3.67090644e-03 9.99992600e-01 1.63830418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429259763999994 meters 0.16136054506653177 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99949489e-01 -9.99151020e-03 1.09078907e-03 -6.09148584e+00] [ 9.99512295e-03 9.99944408e-01 -3.35842193e-03 3.74469453e+00] [-1.05717272e-03 3.36915486e-03 9.99993766e-01 1.63725043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489259763999996 meters 0.1632729119507156 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.75, Z:1.64 [[ 9.99949779e-01 -9.96738466e-03 1.04411554e-03 -6.09126577e+00] [ 9.97087521e-03 9.99944533e-01 -3.39298617e-03 3.74510876e+00] [-1.01023843e-03 3.40322651e-03 9.99993699e-01 1.63711387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549259763999995 meters 0.1520207203542209 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.75, Z:1.64 [[ 9.99949545e-01 -9.99435403e-03 1.01015393e-03 -6.09102708e+00] [ 9.99781309e-03 9.99943968e-01 -3.47930715e-03 3.74576872e+00] [-9.75323899e-04 3.48923093e-03 9.99993437e-01 1.63690073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609259763999994 meters 0.15282244225678368 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99953331e-01 -9.60829411e-03 1.00821631e-03 -6.09047226e+00] [ 9.61119399e-03 9.99949572e-01 -2.91193727e-03 3.74442603e+00] [-9.80186714e-04 2.92149153e-03 9.99995252e-01 1.63600438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669259763999996 meters 0.17129169373486117 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.63 [[ 9.99956972e-01 -9.14994222e-03 1.52758687e-03 -6.09106728e+00] [ 9.15255083e-03 9.99956653e-01 -1.70949834e-03 3.74035446e+00] [-1.51187884e-03 1.72340610e-03 9.99997372e-01 1.63480428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729259763999995 meters 0.1682756472670442 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99956060e-01 -9.27996361e-03 1.32694661e-03 -6.09072593e+00] [ 9.28265324e-03 9.99954844e-01 -2.03534139e-03 3.74172599e+00] [-1.30799880e-03 2.04756954e-03 9.99997048e-01 1.63510416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789259763999993 meters 0.16273386785130092 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99955726e-01 -9.31544515e-03 1.33013217e-03 -6.09076053e+00] [ 9.31823902e-03 9.99954358e-01 -2.10992730e-03 3.74201558e+00] [-1.31041655e-03 2.12222838e-03 9.99996889e-01 1.63516459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849259763999996 meters 0.16225051768300466 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.74, Z:1.64 [[ 9.99954758e-01 -9.44043866e-03 1.16662608e-03 -6.09024221e+00] [ 9.44335595e-03 9.99952233e-01 -2.52094083e-03 3.74399764e+00] [-1.14277156e-03 2.53184364e-03 9.99996142e-01 1.63508590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909259763999994 meters 0.15722138607073458 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.75, Z:1.64 [[ 9.99950014e-01 -9.98042858e-03 6.00684664e-04 -6.08960849e+00] [ 9.98282661e-03 9.99941637e-01 -4.13114519e-03 3.74936828e+00] [-5.59419007e-04 4.13693522e-03 9.99991286e-01 1.63671788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969259763999993 meters 0.15082945949413287 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.75, Z:1.64 [[ 9.99949309e-01 -1.00595526e-02 4.29534064e-04 -6.08875335e+00] [ 1.00613759e-02 9.99939357e-01 -4.47774857e-03 3.75166998e+00] [-3.84463869e-04 4.48184329e-03 9.99989883e-01 1.63615412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029259763999995 meters 0.14658342648725545 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.75, Z:1.64 [[ 9.99947566e-01 -1.02391020e-02 1.63762891e-04 -6.08819370e+00] [ 1.02397874e-02 9.99935315e-01 -4.95092249e-03 3.75377536e+00] [-1.13059298e-04 4.95233978e-03 9.99987731e-01 1.63640229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089259763999994 meters 0.14817404340831644 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.76, Z:1.64 [[ 9.99946846e-01 -1.03082749e-02 -2.10269890e-04 -6.08702059e+00] [ 1.03069768e-02 9.99932042e-01 -5.44773825e-03 3.75669916e+00] [ 2.66412384e-04 5.44528143e-03 9.99985139e-01 1.63618819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149259763999996 meters 0.15460070925310984 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.76, Z:1.64 [[ 9.99948291e-01 -1.01650011e-02 -2.97460572e-04 -6.08622596e+00] [ 1.01632616e-02 9.99933992e-01 -5.35904220e-03 3.75727300e+00] [ 3.51915607e-04 5.35574192e-03 9.99985596e-01 1.63535703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209259763999995 meters 0.15304782168905445 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.76, Z:1.64 [[ 9.99944575e-01 -1.05186372e-02 -4.52688672e-04 -6.08621978e+00] [ 1.05157144e-02 9.99926491e-01 -6.03590541e-03 3.75967501e+00] [ 5.16144895e-04 6.03081053e-03 9.99981681e-01 1.63607148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269259763999994 meters 0.14600143284222264 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.76, Z:1.64 [[ 9.99981249e-01 -6.10878876e-03 -4.29472306e-04 -6.08588392e+00] [ 6.10808632e-03 9.99980036e-01 -1.61831557e-03 3.76007636e+00] [ 4.39349680e-04 1.61566197e-03 9.99998598e-01 1.63535410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329259763999996 meters 0.13959238232123108 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.76, Z:1.63 [[ 9.99981902e-01 -5.99074878e-03 -5.53169509e-04 -6.08504775e+00] [ 5.98988659e-03 9.99980863e-01 -1.54735218e-03 3.76083590e+00] [ 5.62428721e-04 1.54401075e-03 9.99998650e-01 1.63459306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389259763999995 meters 0.15167192235414478 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.63 [[ 9.99949349e-01 -1.00442447e-02 -6.42228709e-04 -6.08424866e+00] [ 1.00405824e-02 9.99934621e-01 -5.47185494e-03 3.76024371e+00] [ 6.97147371e-04 5.46512943e-03 9.99984823e-01 1.63382578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449259763999994 meters 0.14306376497434406 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.63 [[ 9.99947846e-01 -1.01910004e-02 -6.70263642e-04 -6.08476537e+00] [ 1.01870465e-02 9.99932096e-01 -5.65921796e-03 3.76030894e+00] [ 7.27891221e-04 5.65209480e-03 9.99983762e-01 1.63474970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509259763999996 meters 0.14592172724319527 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.63 [[ 9.99948081e-01 -1.01641969e-02 -7.23770238e-04 -6.08470025e+00] [ 1.01599815e-02 9.99932664e-01 -5.60729884e-03 3.76016267e+00] [ 7.80715192e-04 5.59965422e-03 9.99984017e-01 1.63486128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569259763999995 meters 0.14660969375475197 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.63 [[ 9.99954110e-01 -9.54875099e-03 -7.74433264e-04 -6.08373156e+00] [ 9.54507643e-03 9.99943784e-01 -4.61730493e-03 3.75773496e+00] [ 8.18479223e-04 4.60970102e-03 9.99989040e-01 1.63343228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629259763999993 meters 0.1529612791838352 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.76, Z:1.63 [[ 9.99958294e-01 -9.10943079e-03 -6.54512913e-04 -6.08370665e+00] [ 9.10687695e-03 9.99951295e-01 -3.80430509e-03 3.75503158e+00] [ 6.89136089e-04 3.79818586e-03 9.99992549e-01 1.63284250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689259763999996 meters 0.1457322790828059 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.63 [[ 9.99960159e-01 -8.89332715e-03 -7.67474236e-04 -6.08346372e+00] [ 8.89056207e-03 9.99954233e-01 -3.53402796e-03 3.75402749e+00] [ 7.98868378e-04 3.52706389e-03 9.99993461e-01 1.63287676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749259763999994 meters 0.1459253881794543 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.63 [[ 9.99964468e-01 -8.40493688e-03 -6.47580815e-04 -6.08321427e+00] [ 8.40319429e-03 9.99961186e-01 -2.64821686e-03 3.75146688e+00] [ 6.69813776e-04 2.64268102e-03 9.99996284e-01 1.63191826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809259763999993 meters 0.15750913050174045 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.75, Z:1.63 [[ 9.99926675e-01 -1.20800146e-02 -8.47403174e-04 -6.08223330e+00] [ 1.20747390e-02 9.99909236e-01 -5.97659668e-03 3.74842517e+00] [ 9.19523636e-04 5.96592628e-03 9.99981781e-01 1.63122629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869259763999995 meters 0.15984309921660494 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99932393e-01 -1.16260517e-02 -2.08245249e-04 -6.08345839e+00] [ 1.16250765e-02 9.99923632e-01 -4.19371095e-03 3.74167070e+00] [ 2.56985646e-04 4.19100656e-03 9.99991185e-01 1.63049716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.929259763999994 meters 0.16108530587655778 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.74, Z:1.63 [[ 9.99936528e-01 -1.12666101e-02 5.28938661e-05 -6.08381745e+00] [ 1.12667241e-02 9.99930907e-01 -3.35292552e-03 3.73876894e+00] [-1.51141070e-05 3.35330864e-03 9.99994378e-01 1.62993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.989259763999996 meters 0.1713939277296218 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.73, Z:1.63 [[ 9.99941182e-01 -1.08191982e-02 7.60316117e-04 -6.08503071e+00] [ 1.08204274e-02 9.99940126e-01 -1.63164757e-03 3.73237341e+00] [-7.42617475e-04 1.63977855e-03 9.99998380e-01 1.62879301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.049259763999995 meters 0.1736905170281418 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.73, Z:1.63 [[ 9.99944199e-01 -1.05272366e-02 8.80671174e-04 -6.08531686e+00] [ 1.05280634e-02 9.99944137e-01 -9.39512781e-04 3.72979170e+00] [-8.70731503e-04 9.48732118e-04 9.99999171e-01 1.62865405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.109259763999994 meters 0.16724853452741398 Centerline is valid? [False, False] Translation: X:-6.09, Y:3.73, Z:1.63 [[ 9.99946906e-01 -1.02660081e-02 8.90797845e-04 -6.08514137e+00] [ 1.02664696e-02 9.99947166e-01 -5.15016339e-04 3.72851231e+00] [-8.85463619e-04 5.24134344e-04 9.99999471e-01 1.62829350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169259763999996 meters 0.17616148992753908 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99951665e-01 -9.79139839e-03 8.92708275e-04 -6.08448236e+00] [ 9.79117575e-03 9.99952033e-01 2.53432302e-04 3.72659704e+00] [-8.95146911e-04 -2.44679389e-04 9.99999569e-01 1.62716822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229259763999995 meters 0.16817261040178735 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.72, Z:1.63 [[ 9.99955962e-01 -9.33212676e-03 9.92746765e-04 -6.08406852e+00] [ 9.33106131e-03 9.99955890e-01 1.07250312e-03 3.72439129e+00] [-1.00271171e-03 -1.06319251e-03 9.99998932e-01 1.62604361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.289259763999993 meters 0.1671186202611273 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99952074e-01 -9.76979613e-03 6.33652122e-04 -6.08368491e+00] [ 9.76970269e-03 9.99952264e-01 1.50378111e-04 3.72774912e+00] [-6.35091038e-04 -1.44180311e-04 9.99999788e-01 1.62695403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349259763999996 meters 0.17210942748412886 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99952422e-01 -9.72539367e-03 7.55381283e-04 -6.08395583e+00] [ 9.72515753e-03 9.99952660e-01 3.15656936e-04 3.72716378e+00] [-7.58415411e-04 -3.08295715e-04 9.99999665e-01 1.62688440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.409259763999994 meters 0.17319629440027876 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99954187e-01 -9.56826514e-03 2.68805870e-04 -6.08211757e+00] [ 9.56825502e-03 9.99954222e-01 3.89372092e-05 3.72963722e+00] [-2.69166126e-04 -3.63634222e-05 9.99999963e-01 1.62599351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469259763999993 meters 0.17416914976044506 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99954549e-01 -9.53327112e-03 1.27988396e-04 -6.08141255e+00] [ 9.53327965e-03 9.99954555e-01 -6.61693950e-05 3.73068032e+00] [-1.27351769e-04 6.73865367e-05 9.99999990e-01 1.62551864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529259763999995 meters 0.1698565660197132 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99953077e-01 -9.67374770e-03 -5.12167467e-04 -6.07985590e+00] [ 9.67328498e-03 9.99952809e-01 -8.98353684e-04 3.73460989e+00] [ 5.20833744e-04 8.93357188e-04 9.99999465e-01 1.62571877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589259763999994 meters 0.16887549777593527 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.63 [[ 9.99954619e-01 -9.51154421e-03 -5.38025555e-04 -6.07947196e+00] [ 9.51116638e-03 9.99954522e-01 -7.00507000e-04 3.73438788e+00] [ 5.44663990e-04 6.95357960e-04 9.99999610e-01 1.62523489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649259763999993 meters 0.1631080676665587 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99957530e-01 -9.20085716e-03 -5.31577194e-04 -6.07900518e+00] [ 9.20075642e-03 9.99957654e-01 -1.91646987e-04 3.73317182e+00] [ 5.33318000e-04 1.86747935e-04 9.99999840e-01 1.62442672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709259763999995 meters 0.16449380437639882 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99957232e-01 -9.23008541e-03 -5.82118221e-04 -6.07899709e+00] [ 9.22991718e-03 9.99957361e-01 -2.91033829e-04 3.73350229e+00] [ 5.84779667e-04 2.85648480e-04 9.99999788e-01 1.62463737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.769259763999994 meters 0.1590685259874782 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99959373e-01 -8.98962216e-03 -6.63212958e-04 -6.07828440e+00] [ 8.98963677e-03 9.99959592e-01 1.90632075e-05 3.73321031e+00] [ 6.63014788e-04 -2.50244766e-05 9.99999780e-01 1.62385830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.829259763999996 meters 0.15505206198482877 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99963530e-01 -8.51531996e-03 -6.54189455e-04 -6.07744537e+00] [ 8.51580930e-03 9.99963459e-01 7.48905640e-04 3.73166125e+00] [ 6.47788379e-04 -7.54449280e-04 9.99999506e-01 1.62245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.889259763999995 meters 0.1699356667498772 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99967202e-01 -8.08881526e-03 -4.07047794e-04 -6.07755186e+00] [ 8.08945994e-03 9.99965987e-01 1.60787443e-03 3.72895741e+00] [ 3.94028150e-04 -1.61111449e-03 9.99998625e-01 1.62156041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.949259763999994 meters 0.15561834705261343 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99968362e-01 -7.94681586e-03 -3.51690497e-04 -6.07778140e+00] [ 7.94747746e-03 9.99966572e-01 1.92158435e-03 3.72755143e+00] [ 3.36408264e-04 -1.92431861e-03 9.99998092e-01 1.62164070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009259763999996 meters 0.16428769690957304 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99966184e-01 -8.20169032e-03 -6.01871650e-04 -6.07749454e+00] [ 8.20247696e-03 9.99965493e-01 1.31637028e-03 3.72970025e+00] [ 5.91054420e-04 -1.32126260e-03 9.99998952e-01 1.62228685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069259763999995 meters 0.16508470163417813 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99970368e-01 -7.68519662e-03 -4.47606438e-04 -6.07695633e+00] [ 7.68615114e-03 9.99968104e-01 2.17130433e-03 3.72760422e+00] [ 4.30905260e-04 -2.17468036e-03 9.99997543e-01 1.62077839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129259763999993 meters 0.17060309150817274 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99972600e-01 -7.39332377e-03 -3.71584077e-04 -6.07654901e+00] [ 7.39426732e-03 9.99969268e-01 2.60551146e-03 3.72667851e+00] [ 3.52309267e-04 -2.60818766e-03 9.99996537e-01 1.61983571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189259763999996 meters 0.17178621422070542 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99969222e-01 -7.82488261e-03 -5.70411947e-04 -6.07655450e+00] [ 7.82587889e-03 9.99967818e-01 1.76581052e-03 3.72943069e+00] [ 5.56576330e-04 -1.77022014e-03 9.99998278e-01 1.62074577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249259763999994 meters 0.16521495023868127 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99970887e-01 -7.61059226e-03 -5.50629780e-04 -6.07632091e+00] [ 7.61173438e-03 9.99968820e-01 2.10274223e-03 3.72855994e+00] [ 5.34609498e-04 -2.10687227e-03 9.99997638e-01 1.62027949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309259763999993 meters 0.16603447627292062 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99928678e-01 -1.19044380e-02 -9.60740141e-04 -6.07511814e+00] [ 1.19020646e-02 9.99926192e-01 -2.43946715e-03 3.73022801e+00] [ 9.89709716e-04 2.42785837e-03 9.99996563e-01 1.62016605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369259763999995 meters 0.16902190922283117 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.73, Z:1.62 [[ 9.99931771e-01 -1.16499481e-02 -8.55172635e-04 -6.07508717e+00] [ 1.16482826e-02 9.99930299e-01 -1.92736875e-03 3.72876084e+00] [ 8.77566775e-04 1.91727595e-03 9.99997777e-01 1.61964918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429259763999994 meters 0.17693873892698886 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.73, Z:1.62 [[ 9.99935787e-01 -1.13021819e-02 -8.25799395e-04 -6.07467495e+00] [ 1.13010406e-02 9.99935197e-01 -1.37387701e-03 3.72731359e+00] [ 8.41273689e-04 1.36445640e-03 9.99998715e-01 1.61884764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489259763999993 meters 0.1780305027341035 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.73, Z:1.62 [[ 9.99938710e-01 -1.10447937e-02 -7.66737979e-04 -6.07437020e+00] [ 1.10440809e-02 9.99938582e-01 -9.27775417e-04 3.72636047e+00] [ 7.76937975e-04 9.19250638e-04 9.99999276e-01 1.61812137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549259763999995 meters 0.17838894173260217 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.73, Z:1.62 [[ 9.99940032e-01 -1.09270332e-02 -7.30199119e-04 -6.07457072e+00] [ 1.09265227e-02 9.99940059e-01 -6.99407557e-04 3.72537904e+00] [ 7.37797800e-04 6.91387078e-04 9.99999489e-01 1.61826885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609259763999994 meters 0.16329954302476948 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.72, Z:1.62 [[ 9.99942692e-01 -1.06835710e-02 -6.88215030e-04 -6.07483225e+00] [ 1.06833585e-02 9.99942883e-01 -3.11727296e-04 3.72357201e+00] [ 6.91506081e-04 3.04356983e-04 9.99999715e-01 1.61847793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669259763999996 meters 0.1724341933323684 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.72, Z:1.62 [[ 9.99949420e-01 -1.00548561e-02 -2.40444017e-04 -6.07509491e+00] [ 1.00551114e-02 9.99948857e-01 1.08527508e-03 3.71892945e+00] [ 2.29519435e-04 -1.08763787e-03 9.99999382e-01 1.61701973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.729259763999995 meters 0.1768031068781617 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.71, Z:1.62 [[ 9.99955459e-01 -9.43796775e-03 6.32755395e-05 -6.07549651e+00] [ 9.43777965e-03 9.99952325e-01 2.50519947e-03 3.71368828e+00] [-8.69165146e-05 -2.50449071e-03 9.99996860e-01 1.61636803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.789259763999993 meters 0.17117499337874348 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.71, Z:1.62 [[ 9.99958243e-01 -9.13515664e-03 2.47613800e-04 -6.07596633e+00] [ 9.13431021e-03 9.99953073e-01 3.22746562e-03 3.71087752e+00] [-2.77085584e-04 -3.22506907e-03 9.99994761e-01 1.61631587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849259763999996 meters 0.17734298059266565 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.71, Z:1.62 [[ 9.99962224e-01 -8.67325123e-03 5.70908642e-04 -6.07656347e+00] [ 8.67073932e-03 9.99953316e-01 4.26435511e-03 3.70670165e+00] [-6.07867813e-04 -4.25924382e-03 9.99990745e-01 1.61597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909259763999994 meters 0.18436613966688487 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.71, Z:1.62 [[ 9.99918119e-01 -1.27898445e-02 4.18932535e-04 -6.07641303e+00] [ 1.27897459e-02 9.99918180e-01 2.37188537e-04 3.70527388e+00] [-4.21931862e-04 -2.31811075e-04 9.99999884e-01 1.61647253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969259763999993 meters 0.19030925475361987 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.70, Z:1.62 [[ 9.99920907e-01 -1.25618895e-02 6.15348998e-04 -6.07683020e+00] [ 1.25613941e-02 9.99920781e-01 8.02504157e-04 3.70318048e+00] [-6.25381219e-04 -7.94711044e-04 9.99999489e-01 1.61635742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029259763999995 meters 0.1953214033092621 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.70, Z:1.61 [[ 9.99931202e-01 -1.16988593e-02 8.53022218e-04 -6.07651709e+00] [ 1.16968536e-02 9.99928899e-01 2.31954329e-03 3.69826408e+00] [-8.80097578e-04 -2.30940603e-03 9.99996946e-01 1.61485015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089259763999994 meters 0.1953012060087225 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.70, Z:1.61 [[ 9.99935451e-01 -1.13020318e-02 1.16555971e-03 -6.07693011e+00] [ 1.12982195e-02 9.99930966e-01 3.22704360e-03 3.69506735e+00] [-1.20195139e-03 -3.21366654e-03 9.99994114e-01 1.61423846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149259763999993 meters 0.2011435943511878 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.69, Z:1.61 [[ 9.99939481e-01 -1.09173359e-02 1.35862091e-03 -6.07730305e+00] [ 1.09117727e-02 9.99932316e-01 4.03686713e-03 3.69194532e+00] [-1.40260079e-03 -4.02179786e-03 9.99990929e-01 1.61402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209259763999995 meters 0.20132829515800277 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.69, Z:1.61 [[ 9.99940818e-01 -1.07850095e-02 1.42972407e-03 -6.07740553e+00] [ 1.07787298e-02 9.99932535e-01 4.32951693e-03 3.69095906e+00] [-1.47632150e-03 -4.31385010e-03 9.99989606e-01 1.61388294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269259763999994 meters 0.18949241772789965 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.69, Z:1.61 [[ 9.99940280e-01 -1.08526225e-02 1.28728178e-03 -6.07675785e+00] [ 1.08472627e-02 9.99932761e-01 4.10005708e-03 3.69250663e+00] [-1.33169159e-03 -4.08584874e-03 9.99990766e-01 1.61348657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.329259763999993 meters 0.18792849538262446 Centerline is valid? [False, False] Translation: X:-6.08, Y:3.70, Z:1.61 [[ 9.99938902e-01 -1.10161122e-02 9.14650693e-04 -6.07560745e+00] [ 1.10128691e-02 9.99933307e-01 3.47819741e-03 3.69559791e+00] [-9.52905906e-04 -3.46791197e-03 9.99993533e-01 1.61324945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.389259763999995 meters 0.19439164544528276 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.70, Z:1.61 [[ 9.99938196e-01 -1.11175129e-02 -7.20840461e-05 -6.07319309e+00] [ 1.11176413e-02 9.99935926e-01 2.13140564e-03 3.70223588e+00] [ 4.83834977e-05 -2.13207532e-03 9.99997726e-01 1.61324690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.449259763999994 meters 0.19365243940789625 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.71, Z:1.61 [[ 9.99937160e-01 -1.12047866e-02 -3.57717884e-04 -6.07191199e+00] [ 1.12053863e-02 9.99935736e-01 1.72111892e-03 3.70517278e+00] [ 3.38410125e-04 -1.72501913e-03 9.99998455e-01 1.61248363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509259763999996 meters 0.17764467525509756 Centerline is valid? [False, False] Translation: X:-6.07, Y:3.71, Z:1.61 [[ 9.99935937e-01 -1.12507813e-02 -1.24209121e-03 -6.06955110e+00] [ 1.12515397e-02 9.99936516e-01 6.05258427e-04 3.71094676e+00] [ 1.23520273e-03 -6.19195091e-04 9.99999045e-01 1.61219698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.569259763999995 meters 0.1690238416188177 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.72, Z:1.61 [[ 9.99987530e-01 -4.01531377e-03 -2.96928541e-03 -6.05472576e+00] [ 4.01246180e-03 9.99991484e-01 -9.65822260e-04 3.71530088e+00] [ 2.97313820e-03 9.53896072e-04 9.99995125e-01 1.61491203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.629259763999993 meters 0.16923558391855092 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.72, Z:1.61 [[ 9.99984456e-01 -4.30168144e-03 -3.54737768e-03 -6.05305945e+00] [ 4.29454472e-03 9.99988744e-01 -2.01699765e-03 3.72075135e+00] [ 3.55601423e-03 2.00173192e-03 9.99991674e-01 1.61467284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689259763999996 meters 0.16086691936515654 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.62 [[ 9.99981094e-01 2.99185152e-03 -5.37224817e-03 -6.03746285e+00] [-3.01510916e-03 9.99986096e-01 -4.32635237e-03 3.72628548e+00] [ 5.35922967e-03 4.34246849e-03 9.99976211e-01 1.61844610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.749259763999994 meters 0.1633591331960113 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.73, Z:1.62 [[ 9.99999541e-01 -9.55532737e-04 6.49899981e-05 -6.02239674e+00] [ 9.55578522e-04 9.99999293e-01 -7.08148561e-04 3.72920625e+00] [-6.43132930e-05 7.08210339e-04 9.99999747e-01 1.61766407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.809259763999993 meters 0.16608739835151345 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.74, Z:1.62 [[ 9.99983597e-01 -5.58879827e-03 -1.25348012e-03 -6.02020361e+00] [ 5.57924191e-03 9.99956295e-01 -7.50200941e-03 3.73643516e+00] [ 1.29535255e-03 7.49489288e-03 9.99971074e-01 1.62097051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869259763999995 meters 0.15840514226807204 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.74, Z:1.62 [[ 9.99979263e-01 -6.06679283e-03 -2.16061305e-03 -6.01851404e+00] [ 6.04734042e-03 9.99942120e-01 -8.89870764e-03 3.74326437e+00] [ 2.21447461e-03 8.88545715e-03 9.99958071e-01 1.62197717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.929259763999994 meters 0.15216937777754974 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.75, Z:1.62 [[ 9.99977410e-01 -6.19147522e-03 -2.61627273e-03 -6.01716958e+00] [ 6.16631624e-03 9.99935696e-01 -9.51740882e-03 3.74697404e+00] [ 2.67503129e-03 9.50106106e-03 9.99951286e-01 1.62181478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.989259763999993 meters 0.14819308342388957 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.75, Z:1.62 [[ 9.99979577e-01 -5.79987835e-03 -2.68463355e-03 -6.01597542e+00] [ 5.77531326e-03 9.99942195e-01 -9.06931142e-03 3.74681011e+00] [ 2.73707927e-03 9.05362159e-03 9.99955269e-01 1.62028818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049259763999995 meters 0.14639100579246508 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99979564e-01 -5.55307422e-03 -3.16765434e-03 -6.01406532e+00] [ 5.52412750e-03 9.99943563e-01 -9.07491859e-03 3.74858174e+00] [ 3.21786927e-03 9.05723462e-03 9.99953805e-01 1.61926358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.109259763999994 meters 0.15560906650989823 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99976719e-01 -5.99336794e-03 -3.26217287e-03 -6.01454647e+00] [ 5.96124948e-03 9.99934523e-01 -9.76797593e-03 3.75064755e+00] [ 3.32050235e-03 9.74830190e-03 9.99946971e-01 1.62042947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169259763999996 meters 0.1511911651591627 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99977303e-01 -5.90528816e-03 -3.24347640e-03 -6.01437321e+00] [ 5.87382764e-03 9.99936427e-01 -9.62498839e-03 3.75051794e+00] [ 3.30010853e-03 9.60571832e-03 9.99948418e-01 1.62007939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.229259763999995 meters 0.14307895142264862 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99975626e-01 -5.98006308e-03 -3.60360265e-03 -6.01311060e+00] [ 5.94354818e-03 9.99931735e-01 -1.00598040e-02 3.75359893e+00] [ 3.66351491e-03 1.00381407e-02 9.99942906e-01 1.61964049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.289259763999993 meters 0.14217141878516631 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99975190e-01 -5.95518200e-03 -3.76222121e-03 -6.01261140e+00] [ 5.91671358e-03 9.99930936e-01 -1.01546179e-02 3.75433920e+00] [ 3.82243397e-03 1.01321060e-02 9.99941363e-01 1.61954254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349259763999996 meters 0.15701985555096734 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.75, Z:1.62 [[ 9.99975267e-01 -5.88565146e-03 -3.85035660e-03 -6.01212612e+00] [ 5.84633996e-03 9.99931471e-01 -1.01426349e-02 3.75488017e+00] [ 3.90978876e-03 1.01198736e-02 9.99941149e-01 1.61917560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.409259763999994 meters 0.15209176136193994 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.76, Z:1.62 [[ 9.99973178e-01 -6.01289162e-03 -4.18182720e-03 -6.01131958e+00] [ 5.96834133e-03 9.99926161e-01 -1.05854161e-02 3.75731616e+00] [ 4.24516738e-03 1.05601736e-02 9.99935229e-01 1.61932097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.469259763999993 meters 0.14870776441279893 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.76, Z:1.62 [[ 9.99971195e-01 -6.23742931e-03 -4.32479770e-03 -6.01119853e+00] [ 6.18911916e-03 9.99919291e-01 -1.10953197e-02 3.75920339e+00] [ 4.39365493e-03 1.10682334e-02 9.99929092e-01 1.61982351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529259763999995 meters 0.14221174579504275 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.76, Z:1.62 [[ 9.99969579e-01 -6.24234073e-03 -4.67705428e-03 -6.01001127e+00] [ 6.18869298e-03 9.99915885e-01 -1.13984017e-02 3.76153147e+00] [ 4.74781357e-03 1.13691101e-02 9.99924098e-01 1.61946489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.589259763999994 meters 0.1412059966959025 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.76, Z:1.62 [[ 9.99967489e-01 -6.09239640e-03 -5.28248300e-03 -6.00797738e+00] [ 6.02969625e-03 9.99912136e-01 -1.18052224e-02 3.76495280e+00] [ 5.35394095e-03 1.17729868e-02 9.99916363e-01 1.61875392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.649259763999993 meters 0.1345601920906464 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.77, Z:1.62 [[ 9.99965361e-01 -5.90908579e-03 -5.86161691e-03 -6.00606615e+00] [ 5.83792121e-03 9.99909938e-01 -1.20844844e-02 3.76758119e+00] [ 5.93249725e-03 1.20498462e-02 9.99909799e-01 1.61817061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709259763999995 meters 0.13289259052025293 Centerline is valid? [False, False] Translation: X:-6.01, Y:3.77, Z:1.62 [[ 9.99965911e-01 -5.76377704e-03 -5.91238643e-03 -6.00582407e+00] [ 5.69314757e-03 9.99913056e-01 -1.18940839e-02 3.76719046e+00] [ 5.98042723e-03 1.18600184e-02 9.99911783e-01 1.61799131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.769259763999994 meters 0.1465134694588419 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99965711e-01 -8.25005127e-03 -7.17079670e-04 -5.98901562e+00] [ 8.24727187e-03 9.99958785e-01 -3.79618817e-03 3.76335795e+00] [ 7.48368863e-04 3.79014405e-03 9.99992537e-01 1.61177360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.829259763999993 meters 0.13165638779355715 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99965581e-01 -8.26598620e-03 -7.14768623e-04 -5.98912668e+00] [ 8.26321470e-03 9.99958649e-01 -3.79718098e-03 3.76336004e+00] [ 7.46126512e-04 3.79114400e-03 9.99992535e-01 1.61191598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.889259763999995 meters 0.13520758921920464 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99967072e-01 -8.10663986e-03 -3.71221713e-04 -5.98958013e+00] [ 8.10538957e-03 9.99961856e-01 -3.25402097e-03 3.76167124e+00] [ 3.97586729e-04 3.25090492e-03 9.99994637e-01 1.61120483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.949259763999994 meters 0.14000226383803868 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99965183e-01 -8.32594517e-03 -5.57926256e-04 -5.98922951e+00] [ 8.32385574e-03 9.99958701e-01 -3.64814151e-03 3.76354501e+00] [ 5.88277441e-04 3.64337039e-03 9.99993190e-01 1.61142893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.009259764 meters 0.1333544034955606 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.77, Z:1.61 [[ 9.99963701e-01 -8.47565133e-03 -8.72361687e-04 -5.98827770e+00] [ 8.47203038e-03 9.99955813e-01 -4.07395643e-03 3.76628251e+00] [ 9.06852574e-04 4.06641788e-03 9.99991321e-01 1.61124658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.069259763999995 meters 0.13938237567705225 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.77, Z:1.61 [[ 9.99964412e-01 -8.32644200e-03 -1.35835047e-03 -5.98636559e+00] [ 8.32038490e-03 9.99955680e-01 -4.40547786e-03 3.76927930e+00] [ 1.39497222e-03 4.39401908e-03 9.99989373e-01 1.61028991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129259764 meters 0.13184686920179534 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.77, Z:1.61 [[ 9.99990912e-01 -3.97790959e-03 -1.53346949e-03 -5.98492231e+00] [ 3.97731505e-03 9.99992014e-01 -3.90563304e-04 3.77245684e+00] [ 1.53501087e-03 3.84460663e-04 9.99998748e-01 1.60879687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189259764 meters 0.12515671228968592 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.78, Z:1.61 [[ 9.99988581e-01 -4.32540665e-03 -2.03174877e-03 -5.98399390e+00] [ 4.32234155e-03 9.99989518e-01 -1.51057666e-03 3.77693816e+00] [ 2.03826134e-03 1.50177750e-03 9.99996795e-01 1.60959058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249259763999994 meters 0.12629078238063488 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.78, Z:1.61 [[ 9.99957737e-01 -8.73949112e-03 -2.85396457e-03 -5.98222209e+00] [ 8.72024182e-03 9.99939606e-01 -6.68894819e-03 3.78145950e+00] [ 2.91225021e-03 6.66377823e-03 9.99973556e-01 1.61020173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309259764 meters 0.12781989768689947 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.78, Z:1.61 [[ 9.99961208e-01 -8.38418552e-03 -2.69952295e-03 -5.98207967e+00] [ 8.36774552e-03 9.99946720e-01 -6.04473070e-03 3.77958020e+00] [ 2.75005926e-03 6.02190729e-03 9.99978087e-01 1.60931604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369259764 meters 0.1322806054461858 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.78, Z:1.61 [[ 9.99964932e-01 -8.05205048e-03 -2.30217423e-03 -5.98288958e+00] [ 8.04009854e-03 9.99954393e-01 -5.15454249e-03 3.77585928e+00] [ 2.34357387e-03 5.13585202e-03 9.99984065e-01 1.60892980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.429259764 meters 0.1298084524758085 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.77, Z:1.61 [[ 9.99969491e-01 -7.57365302e-03 -1.91245446e-03 -5.98362696e+00] [ 7.56608744e-03 9.99963644e-01 -3.93267420e-03 3.77080251e+00] [ 1.94216964e-03 3.91808442e-03 9.99990438e-01 1.60849553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.489259763999996 meters 0.13659990116900636 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.77, Z:1.61 [[ 9.99930697e-01 -1.16607458e-02 -1.62131677e-03 -5.98481094e+00] [ 1.16484999e-02 9.99905010e-01 -7.36778646e-03 3.76625913e+00] [ 1.70707664e-03 7.34838994e-03 9.99971543e-01 1.60925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.549259764 meters 0.13966553057658748 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99937720e-01 -1.10800688e-02 -1.33742600e-03 -5.98500042e+00] [ 1.10717926e-02 9.99920436e-01 -6.04461935e-03 3.76167563e+00] [ 1.40429439e-03 6.02943519e-03 9.99980837e-01 1.60819412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.609259764 meters 0.1475096982364862 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.61 [[ 9.99944325e-01 -1.05121783e-02 -9.17124801e-04 -5.98546469e+00] [ 1.05077498e-02 9.99933714e-01 -4.70678417e-03 3.75682318e+00] [ 9.66542564e-04 4.69688521e-03 9.99988502e-01 1.60713149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.669259763999996 meters 0.14474155606844874 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.75, Z:1.61 [[ 9.99954333e-01 -9.52540554e-03 -7.73478395e-04 -5.98464018e+00] [ 9.52299220e-03 9.99949955e-01 -3.06604978e-03 3.75184762e+00] [ 8.02645053e-04 3.05854393e-03 9.99995001e-01 1.60513152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.729259764 meters 0.14227059451963273 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.75, Z:1.60 [[ 9.99958336e-01 -9.12271311e-03 -3.19722874e-04 -5.98549831e+00] [ 9.12208164e-03 9.99956542e-01 -1.92378243e-03 3.74727143e+00] [ 3.37259094e-04 1.92078574e-03 9.99998098e-01 1.60464161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789259764 meters 0.14904006029459105 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.74, Z:1.60 [[ 9.99960982e-01 -8.83340787e-03 -6.84691388e-05 -5.98578792e+00] [ 8.83332418e-03 9.99960337e-01 -1.13887406e-03 3.74460471e+00] [ 7.85265622e-05 1.13822481e-03 9.99999349e-01 1.60397783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849259763999996 meters 0.15351789073028435 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.75, Z:1.60 [[ 9.99961472e-01 -8.77505026e-03 -2.31392519e-04 -5.98509279e+00] [ 8.77478078e-03 9.99960850e-01 -1.14096663e-03 3.74541515e+00] [ 2.41395499e-04 1.13889225e-03 9.99999322e-01 1.60357816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.909259764 meters 0.16033432352187307 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.74, Z:1.60 [[ 9.99965766e-01 -8.27149106e-03 -2.20010959e-04 -5.98434102e+00] [ 8.27140633e-03 9.99965718e-01 -3.83299973e-04 3.74359595e+00] [ 2.23173879e-04 3.81467051e-04 9.99999902e-01 1.60234559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.969259764 meters 0.15902798171863303 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.74, Z:1.60 [[ 9.99971078e-01 -7.60130540e-03 2.52168311e-04 -5.98490869e+00] [ 7.60105400e-03 9.99970628e-01 9.83380183e-04 3.73810620e+00] [-2.59635877e-04 -9.81434997e-04 9.99999485e-01 1.60139493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.029259763999995 meters 0.16024393790541294 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.74, Z:1.60 [[ 9.99929779e-01 -1.18480915e-02 2.45904131e-04 -5.98559422e+00] [ 1.18488014e-02 9.99924933e-01 -3.12010881e-03 3.73622402e+00] [-2.08918337e-04 3.12280338e-03 9.99995102e-01 1.60253509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089259764 meters 0.1724071577970548 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.73, Z:1.60 [[ 9.99935064e-01 -1.13538474e-02 9.78744710e-04 -5.98704546e+00] [ 1.13550173e-02 9.99934812e-01 -1.19812840e-03 3.72869211e+00] [-9.65077540e-04 1.20916426e-03 9.99998803e-01 1.60169840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149259764 meters 0.17406693192341774 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99940780e-01 -1.07830696e-02 1.47018698e-03 -5.98786183e+00] [ 1.07824931e-02 9.99941787e-01 3.99486526e-04 3.72261290e+00] [-1.47440909e-03 -3.83610587e-04 9.99998839e-01 1.60084297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.209259763999995 meters 0.1763351134590006 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99943196e-01 -1.05043323e-02 1.80635521e-03 -5.98873918e+00] [ 1.05022131e-02 9.99944156e-01 1.17871453e-03 3.71924465e+00] [-1.81863594e-03 -1.15967685e-03 9.99997674e-01 1.60086361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269259764 meters 0.17787648610535844 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99948529e-01 -9.92434353e-03 2.10855924e-03 -5.98920512e+00] [ 9.91924550e-03 9.99947888e-01 2.41463435e-03 3.71436049e+00] [-2.13241302e-03 -2.39359475e-03 9.99994862e-01 1.60031915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.329259764 meters 0.17008362468106725 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99949835e-01 -9.78754987e-03 2.12893179e-03 -5.98921264e+00] [ 9.78188861e-03 9.99948635e-01 2.65355900e-03 3.71350723e+00] [-2.15479428e-03 -2.63260091e-03 9.99994213e-01 1.60024397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.389259763999995 meters 0.16957291126642116 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99952998e-01 -9.46125118e-03 2.11827783e-03 -5.98876939e+00] [ 9.45454707e-03 9.99950334e-01 3.15284399e-03 3.71219005e+00] [-2.14800247e-03 -3.13266845e-03 9.99992786e-01 1.59958073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449259764 meters 0.17951713266409325 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99949821e-01 -9.78929466e-03 2.12738129e-03 -5.98939277e+00] [ 9.78369691e-03 9.99948691e-01 2.62595511e-03 3.71337966e+00] [-2.15297838e-03 -2.60500969e-03 9.99994289e-01 1.60055454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.509259764 meters 0.17330490370195847 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99950457e-01 -9.72179796e-03 2.13771591e-03 -5.98891834e+00] [ 9.71599671e-03 9.99949133e-01 2.70760544e-03 3.71388423e+00] [-2.16392997e-03 -2.68670126e-03 9.99994050e-01 1.59982411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.569259763999995 meters 0.17351163127233837 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99950812e-01 -9.76412753e-03 1.74228061e-03 -5.98770766e+00] [ 9.76009595e-03 9.99949706e-01 2.30765761e-03 3.71637318e+00] [-1.76472525e-03 -2.29053928e-03 9.99995820e-01 1.59956079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629259764 meters 0.16655514875553762 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99948001e-01 -1.00721016e-02 1.59624250e-03 -5.98768938e+00] [ 1.00695085e-02 9.99947982e-01 1.62428037e-03 3.71863485e+00] [-1.61251939e-03 -1.60812253e-03 9.99997407e-01 1.60022976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.689259764 meters 0.16392871776326545 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99944939e-01 -1.04033654e-02 1.37411891e-03 -5.98764303e+00] [ 1.04021759e-02 9.99945517e-01 8.69967960e-04 3.72094161e+00] [-1.38309464e-03 -8.55626233e-04 9.99998677e-01 1.60116493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.749259763999994 meters 0.16353435092369706 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99944429e-01 -1.04481271e-02 1.40544700e-03 -5.98751461e+00] [ 1.04470598e-02 9.99945136e-01 7.64623912e-04 3.72174312e+00] [-1.41335877e-03 -7.49898632e-04 9.99998720e-01 1.60087692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.809259764 meters 0.16439825381870019 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99946553e-01 -1.02960725e-02 9.38983897e-04 -5.98579926e+00] [ 1.02955118e-02 9.99946820e-01 6.00058451e-04 3.72395520e+00] [-9.45112207e-04 -5.90359060e-04 9.99999379e-01 1.60007303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.869259764 meters 0.1686592163790949 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99951354e-01 -9.81365855e-03 9.90334366e-04 -5.98548492e+00] [ 9.81230306e-03 9.99950927e-01 1.36441633e-03 3.72152652e+00] [-1.00367568e-03 -1.35463250e-03 9.99998579e-01 1.59932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.929259763999994 meters 0.17644175472936002 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99952929e-01 -9.65436748e-03 9.65903250e-04 -5.98567548e+00] [ 9.65278140e-03 9.99952077e-01 1.63347052e-03 3.72023948e+00] [-9.81627085e-04 -1.62406998e-03 9.99998199e-01 1.59967634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.989259763999996 meters 0.17313309407218344 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.72, Z:1.60 [[ 9.99956013e-01 -9.30608199e-03 1.17016241e-03 -5.98615226e+00] [ 9.30319414e-03 9.99953724e-01 2.44959712e-03 3.71702069e+00] [-1.19290441e-03 -2.43860312e-03 9.99996315e-01 1.59954447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.049259764 meters 0.18084924845807587 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99910325e-01 -1.33385641e-02 1.19364034e-03 -5.98648031e+00] [ 1.33401410e-02 9.99910141e-01 -1.32307062e-03 3.71449576e+00] [-1.17588522e-03 1.33887530e-03 9.99998412e-01 1.60005390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.109259764 meters 0.18661214574772816 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.71, Z:1.60 [[ 9.99915336e-01 -1.28829334e-02 1.83063848e-03 -5.98767685e+00] [ 1.28826036e-02 9.99916997e-01 1.91817361e-04 3.70859397e+00] [-1.83295770e-03 -1.68217731e-04 9.99998306e-01 1.59927476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.169259763999996 meters 0.18734879707029176 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99919591e-01 -1.24974761e-02 2.15037167e-03 -5.98845230e+00] [ 1.24948784e-02 9.99921195e-01 1.21722441e-03 3.70435940e+00] [-2.16541444e-03 -1.19025791e-03 9.99996947e-01 1.59918187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.229259764 meters 0.19077134131960402 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99926547e-01 -1.18616278e-02 2.49043928e-03 -5.98893884e+00] [ 1.18551777e-02 9.99926373e-01 2.58891608e-03 3.69915242e+00] [-2.52096467e-03 -2.55920132e-03 9.99993548e-01 1.59849620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.289259764 meters 0.19191345651965996 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99928301e-01 -1.16386485e-02 2.81702686e-03 -5.98976494e+00] [ 1.16293673e-02 9.99926968e-01 3.28892826e-03 3.69623662e+00] [-2.85509981e-03 -3.25593220e-03 9.99990624e-01 1.59851150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.349259763999996 meters 0.19357073454471416 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99930758e-01 -1.13386008e-02 3.14895398e-03 -5.99084285e+00] [ 1.13255386e-02 9.99927313e-01 4.13542629e-03 3.69205676e+00] [-3.19561504e-03 -4.09947634e-03 9.99986491e-01 1.59886742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.409259764 meters 0.1904746116169849 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99875585e-01 -1.54813689e-02 3.02355415e-03 -5.99088441e+00] [ 1.54813197e-02 9.99880156e-01 3.96587953e-05 3.69066990e+00] [-3.02380577e-03 7.15474728e-06 9.99995428e-01 1.59959667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469259764 meters 0.19137929833281112 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99881479e-01 -1.49591821e-02 3.64013699e-03 -5.99197848e+00] [ 1.49535207e-02 9.99886945e-01 1.57754837e-03 3.68466478e+00] [-3.66332428e-03 -1.52292853e-03 9.99992130e-01 1.59877428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529259763999995 meters 0.195397524368595 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99886786e-01 -1.45456524e-02 3.85223807e-03 -5.99224325e+00] [ 1.45360577e-02 9.99891203e-01 2.50707788e-03 3.68142115e+00] [-3.88828604e-03 -2.45079769e-03 9.99989437e-01 1.59825226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589259764 meters 0.18921725910198492 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99886986e-01 -1.45780817e-02 3.67345808e-03 -5.99175066e+00] [ 1.45694005e-02 9.99891030e-01 2.37901314e-03 3.68235740e+00] [-3.70773923e-03 -2.32522419e-03 9.99990423e-01 1.59820878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.649259764 meters 0.19311118064007335 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99891677e-01 -1.43200047e-02 3.40173807e-03 -5.99024564e+00] [ 1.43114692e-02 9.99894409e-01 2.52039403e-03 3.68340753e+00] [-3.43747093e-03 -2.47143715e-03 9.99991038e-01 1.59693714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.709259763999995 meters 0.19885902806785227 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99941494e-01 -1.02940396e-02 3.32280740e-03 -5.98992396e+00] [ 1.02731147e-02 9.99927672e-01 6.25418172e-03 3.68599313e+00] [-3.38694786e-03 -6.21968024e-03 9.99974922e-01 1.59665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769259764 meters 0.18707811153673254 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99937499e-01 -1.08730626e-02 2.60274348e-03 -5.98879897e+00] [ 1.08616901e-02 9.99931573e-01 4.34439583e-03 3.69254374e+00] [-2.64980227e-03 -4.31585410e-03 9.99987176e-01 1.59817818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829259764 meters 0.18314922987684926 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99936818e-01 -1.10332818e-02 2.15109654e-03 -5.98756507e+00] [ 1.10255123e-02 9.99932770e-01 3.59088938e-03 3.69624876e+00] [-2.19057121e-03 -3.56694555e-03 9.99991239e-01 1.59804513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.889259763999995 meters 0.1766921213061366 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99935454e-01 -1.13245769e-02 9.17410314e-04 -5.98524059e+00] [ 1.13233828e-02 9.99935048e-01 1.29642748e-03 3.70387621e+00] [-9.32032219e-04 -1.28595562e-03 9.99998739e-01 1.60017928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949259764 meters 0.1811181063248085 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99936355e-01 -1.12408175e-02 9.64271504e-04 -5.98544421e+00] [ 1.12394648e-02 9.99935859e-01 1.39699660e-03 3.70335553e+00] [-9.79913039e-04 -1.38606979e-03 9.99998559e-01 1.60030688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.009259764 meters 0.17179674563898792 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99940650e-01 -1.08290962e-02 1.19433717e-03 -5.98565069e+00] [ 1.08263904e-02 9.99938863e-01 2.24918915e-03 3.70042913e+00] [-1.21862084e-03 -2.23612530e-03 9.99996757e-01 1.59966479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.069259763999995 meters 0.18270413050733356 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99941300e-01 -1.07729409e-02 1.15736967e-03 -5.98560681e+00] [ 1.07702097e-02 9.99939260e-01 2.34070886e-03 3.70014897e+00] [-1.18251569e-03 -2.32810634e-03 9.99996591e-01 1.59971964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129259764 meters 0.1882793974237028 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.70, Z:1.60 [[ 9.99948119e-01 -1.00905180e-02 1.39280708e-03 -5.98567478e+00] [ 1.00854667e-02 9.99942706e-01 3.58724852e-03 3.69573553e+00] [-1.42892448e-03 -3.57301530e-03 9.99992596e-01 1.59884505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.189259764 meters 0.1832151146610175 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99903278e-01 -1.38029289e-02 1.70711156e-03 -5.98614935e+00] [ 1.38019914e-02 9.99904591e-01 5.59741641e-04 3.69073126e+00] [-1.71467476e-03 -5.36125963e-04 9.99998386e-01 1.59849271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.249259763999994 meters 0.20210431938037227 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.69, Z:1.60 [[ 9.99907441e-01 -1.34456643e-02 2.07945769e-03 -5.98698896e+00] [ 1.34422236e-02 9.99908272e-01 1.65983514e-03 3.68637133e+00] [-2.10158453e-03 -1.63172897e-03 9.99996460e-01 1.59827791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309259764 meters 0.18930810354328736 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99914358e-01 -1.29031934e-02 2.18745486e-03 -5.98693767e+00] [ 1.28974733e-02 9.99913420e-01 2.60919506e-03 3.68303888e+00] [-2.22093241e-03 -2.58075896e-03 9.99994204e-01 1.59770923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369259764 meters 0.19654082726779143 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99918142e-01 -1.25896455e-02 2.28260402e-03 -5.98698347e+00] [ 1.25825000e-02 9.99915975e-01 3.11819569e-03 3.68121929e+00] [-2.32166920e-03 -3.08921957e-03 9.99992533e-01 1.59741184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429259763999994 meters 0.19445904182807075 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99922672e-01 -1.22121952e-02 2.34800037e-03 -5.98668521e+00] [ 1.22033951e-02 9.99918592e-01 3.72638828e-03 3.67952688e+00] [-2.39331660e-03 -3.69744655e-03 9.99990300e-01 1.59666518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489259763999996 meters 0.19899363979538642 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99921982e-01 -1.22303672e-02 2.53924989e-03 -5.98729830e+00] [ 1.22204108e-02 9.99917722e-01 3.90019480e-03 3.67850857e+00] [-2.58674178e-03 -3.86885984e-03 9.99989170e-01 1.59691684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549259764 meters 0.2068542092692198 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99921111e-01 -1.23427559e-02 2.32965823e-03 -5.98670810e+00] [ 1.23343888e-02 9.99917547e-01 3.57237960e-03 3.68024386e+00] [-2.37355915e-03 -3.54336287e-03 9.99990905e-01 1.59688651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609259763999994 meters 0.2047746344475359 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99922762e-01 -1.22185458e-02 2.27536007e-03 -5.98622264e+00] [ 1.22100355e-02 9.99918545e-01 3.71728141e-03 3.68034737e+00] [-2.32059450e-03 -3.68921207e-03 9.99990502e-01 1.59637075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669259763999996 meters 0.2114287070359779 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.68, Z:1.60 [[ 9.99929174e-01 -1.16575089e-02 2.39773855e-03 -5.98592407e+00] [ 1.16464052e-02 9.99921626e-01 4.59389436e-03 3.67766284e+00] [-2.45110399e-03 -4.56564396e-03 9.99986573e-01 1.59538766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.729259764 meters 0.20329366606792476 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.67, Z:1.59 [[ 9.99937550e-01 -1.08605609e-02 2.63530812e-03 -5.98580978e+00] [ 1.08439691e-02 9.99921791e-01 6.23062843e-03 3.67230580e+00] [-2.70277013e-03 -6.20166213e-03 9.99977117e-01 1.59407958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.789259764 meters 0.2073131766941671 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.66, Z:1.59 [[ 9.99891710e-01 -1.43872411e-02 3.09428598e-03 -5.98643023e+00] [ 1.43739166e-02 9.99887503e-01 4.28613856e-03 3.66431153e+00] [-3.15560359e-03 -4.24119741e-03 9.99986027e-01 1.59293073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.849259763999996 meters 0.21891076512931998 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.65, Z:1.59 [[ 9.99840393e-01 -1.74612532e-02 3.78074094e-03 -5.98695099e+00] [ 1.74487507e-02 9.99842264e-01 3.31498756e-03 3.65373184e+00] [-3.83802842e-03 -3.24848926e-03 9.99987358e-01 1.59027177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.909259764 meters 0.2243643811766564 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.65, Z:1.59 [[ 9.99755241e-01 -2.17485240e-02 4.05712788e-03 -5.98818942e+00] [ 2.17512899e-02 9.99763209e-01 -6.38867911e-04 3.65106743e+00] [-4.04227275e-03 7.26959307e-04 9.99991566e-01 1.59134620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.969259764 meters 0.24004450966245647 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.64, Z:1.59 [[ 9.99670898e-01 -2.51496477e-02 5.05873190e-03 -5.98888317e+00] [ 2.51560561e-02 9.99682807e-01 -1.20718295e-03 3.64157354e+00] [-5.02676708e-03 1.33404341e-03 9.99986476e-01 1.58686429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.029259763999995 meters 0.26152230937106946 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.64, Z:1.59 [[ 9.99748037e-01 -2.23065701e-02 -2.50580541e-03 -5.99620574e+00] [ 2.22776977e-02 9.99691161e-01 -1.10129970e-02 3.64378379e+00] [ 2.75069371e-03 1.09543986e-02 9.99936215e-01 1.59123874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089259764 meters 0.22306456333026733 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.64, Z:1.59 [[ 9.99905508e-01 -1.35460054e-02 -2.34102578e-03 -5.99606487e+00] [ 1.35409282e-02 9.99905960e-01 -2.17119440e-03 3.64413428e+00] [ 2.37021664e-03 2.13928958e-03 9.99994903e-01 1.58985004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149259764 meters 0.22264536413011843 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.65, Z:1.59 [[ 9.99906966e-01 -1.34050607e-02 -2.52255026e-03 -5.99489993e+00] [ 1.33996105e-02 9.99907877e-01 -2.16521517e-03 3.64540880e+00] [ 2.55134272e-03 2.13121254e-03 9.99994474e-01 1.58880468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209259763999995 meters 0.23241714724645865 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.65, Z:1.59 [[ 9.99950236e-01 -9.54006104e-03 -2.91753470e-03 -5.99415470e+00] [ 9.54248502e-03 9.99954135e-01 8.18041631e-04 3.65045730e+00] [ 2.90959672e-03 -8.45841454e-04 9.99995409e-01 1.58939602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269259764 meters 0.22564635465855334 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.66, Z:1.59 [[ 9.99946972e-01 -9.64385651e-03 -3.61250201e-03 -5.99181921e+00] [ 9.64378828e-03 9.99953497e-01 -3.63074424e-05 3.65603305e+00] [ 3.61268417e-03 1.46731245e-06 9.99993474e-01 1.58848438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329259764 meters 0.21973039074404677 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.66, Z:1.59 [[ 9.99941237e-01 -9.95555742e-03 -4.29067412e-03 -5.99003504e+00] [ 9.94982715e-03 9.99949581e-01 -1.35480102e-03 3.66213243e+00] [ 4.30394559e-03 1.31202994e-03 9.99989877e-01 1.58855008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389259763999995 meters 0.2057772638255928 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.67, Z:1.59 [[ 9.99972463e-01 -5.77445369e-03 -4.66136983e-03 -5.98834890e+00] [ 5.78427737e-03 9.99981073e-01 2.09674477e-03 3.66696803e+00] [ 4.64917405e-03 -2.12364969e-03 9.99986938e-01 1.58746401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449259764 meters 0.2042878886551009 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.67, Z:1.59 [[ 9.99975441e-01 -2.93110988e-03 -6.36595019e-03 -5.97444987e+00] [ 2.90956511e-03 9.99990018e-01 -3.39100514e-03 3.67086361e+00] [ 6.37582605e-03 3.37239972e-03 9.99973988e-01 1.59049231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509259764 meters 0.2132597554867797 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.68, Z:1.59 [[ 9.99973138e-01 1.25490267e-03 -7.22137120e-03 -5.97209556e+00] [-1.25974631e-03 9.99998985e-01 -6.66227601e-04 3.67792438e+00] [ 7.22052781e-03 6.75306800e-04 9.99973704e-01 1.59031913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569259763999995 meters 0.16964112527309608 Centerline is valid? [False, False] Translation: X:-5.95, Y:3.68, Z:1.59 [[ 9.99824558e-01 1.51163327e-02 -1.10611423e-02 -5.95125920e+00] [-1.50895031e-02 9.99883009e-01 2.50503249e-03 3.68321940e+00] [ 1.10977151e-02 -2.33768586e-03 9.99935686e-01 1.59282919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629259764 meters 0.18648617871294185 Centerline is valid? [False, False] Translation: X:-5.93, Y:3.69, Z:1.59 [[ 9.99938526e-01 9.38874294e-03 -5.89871353e-03 -5.93477276e+00] [-9.37110298e-03 9.99951557e-01 3.01103145e-03 3.68892020e+00] [ 5.92669758e-03 -2.95556890e-03 9.99978069e-01 1.59180312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689259764 meters 0.16584207666260192 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.70, Z:1.59 [[ 9.99977418e-01 6.71510609e-03 -2.64462202e-04 -5.91965341e+00] [-6.71316489e-03 9.99954611e-01 6.76088857e-03 3.69531397e+00] [ 3.09850283e-04 -6.75896052e-03 9.99977110e-01 1.59119567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.749259763999994 meters 0.15608908557174778 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.60 [[ 9.99989299e-01 3.44601140e-03 -3.08662760e-03 -5.91319737e+00] [-3.45174519e-03 9.99992324e-01 -1.85422699e-03 3.70569624e+00] [ 3.08021422e-03 1.86486140e-03 9.99993517e-01 1.59785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809259764 meters 0.14945861119080656 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.60 [[ 9.99991787e-01 -5.95326155e-04 -4.00893219e-03 -5.91053885e+00] [ 5.68709229e-04 9.99977811e-01 -6.63727554e-03 3.70982989e+00] [ 4.01279458e-03 6.63494111e-03 9.99969937e-01 1.59711138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.869259764 meters 0.14744113611147888 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.60 [[ 9.99991785e-01 -6.11423806e-04 -4.00709886e-03 -5.91040821e+00] [ 5.84353041e-04 9.99977025e-01 -6.75339435e-03 3.71055824e+00] [ 4.01113598e-03 6.75099731e-03 9.99969167e-01 1.59696462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.929259763999994 meters 0.15534786550217883 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.59 [[ 9.99914075e-01 -4.40656580e-03 1.23460160e-02 -5.91212714e+00] [ 4.48775978e-03 9.99968435e-01 -6.55656528e-03 3.70847418e+00] [-1.23167344e-02 6.61140786e-03 9.99902289e-01 1.58639087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.989259763999996 meters 0.1497426599522617 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.59 [[ 9.99912044e-01 -4.34042521e-03 1.25325754e-02 -5.91227687e+00] [ 4.41929370e-03 9.99970564e-01 -6.27225818e-03 3.70782847e+00] [-1.25049822e-02 6.32709163e-03 9.99901792e-01 1.58586051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.049259764 meters 0.15306327159084024 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.59 [[ 9.99907211e-01 -4.40145449e-03 1.28916949e-02 -5.91283439e+00] [ 4.47843673e-03 9.99972278e-01 -5.94869097e-03 3.70710692e+00] [-1.28651546e-02 6.00587364e-03 9.99899204e-01 1.58530148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.109259763999994 meters 0.18215468311310826 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.70, Z:1.58 [[ 9.99894372e-01 -4.39065158e-03 1.38552192e-02 -5.91445689e+00] [ 4.45859705e-03 9.99978168e-01 -4.87688948e-03 3.70313245e+00] [-1.38335040e-02 4.93814918e-03 9.99892119e-01 1.58398655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.169259763999996 meters 0.1823040056219409 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.70, Z:1.58 [[ 9.99879622e-01 -4.88357643e-03 1.47272552e-02 -5.91663925e+00] [ 4.95208159e-03 9.99977072e-01 -4.61871572e-03 3.70138456e+00] [-1.47043616e-02 4.69109030e-03 9.99880881e-01 1.58416220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.229259764 meters 0.17645907590909995 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.70, Z:1.58 [[ 9.99891179e-01 -8.30238834e-04 1.47289096e-02 -5.91605223e+00] [ 8.40182660e-04 9.99999423e-01 -6.68948075e-04 3.70392283e+00] [-1.47283457e-02 6.81250254e-04 9.99891300e-01 1.58330008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28925976399999 meters 0.16199702942123148 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.71, Z:1.58 [[ 9.99902042e-01 -1.03726581e-03 1.39581631e-02 -5.91361249e+00] [ 1.06436853e-03 9.99997563e-01 -1.93442275e-03 3.71146990e+00] [-1.39561225e-02 1.94908989e-03 9.99900709e-01 1.58235158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.349259763999996 meters 0.15918748263907578 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.72, Z:1.58 [[ 9.99914380e-01 -9.27646081e-04 1.30526884e-02 -5.91078029e+00] [ 9.69524618e-04 9.99994402e-01 -3.20246052e-03 3.71804591e+00] [-1.30496446e-02 3.21484123e-03 9.99909682e-01 1.58153796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.409259764 meters 0.16145599941016245 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.72, Z:1.58 [[ 9.99920555e-01 -1.04260188e-03 1.25617017e-02 -5.90929650e+00] [ 1.09296995e-03 9.99991389e-01 -4.00345541e-03 3.72231488e+00] [-1.25574195e-02 4.01686692e-03 9.99913084e-01 1.58129017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.469259764 meters 0.15372908592558365 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927899e-01 -1.21707667e-03 1.19463475e-02 -5.90770450e+00] [ 1.27608666e-03 9.99987017e-01 -4.93320486e-03 3.72711247e+00] [-1.19401883e-02 4.94809375e-03 9.99916471e-01 1.58134355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.529259763999995 meters 0.15837674149790446 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927043e-01 -1.28541853e-03 1.20106419e-02 -5.90759458e+00] [ 1.34630123e-03 9.99986280e-01 -5.06235321e-03 3.72808903e+00] [-1.20039698e-02 5.07815382e-03 9.99915055e-01 1.58096560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589259764 meters 0.1593791865677402 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99926024e-01 -1.09543548e-03 1.21138897e-02 -5.90751237e+00] [ 1.15228377e-03 9.99988353e-01 -4.68683511e-03 3.72708359e+00] [-1.21086145e-02 4.70044704e-03 9.99915640e-01 1.58038116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.649259764 meters 0.15513075328225934 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927860e-01 -1.23637162e-03 1.19476588e-02 -5.90724952e+00] [ 1.29742911e-03 9.99986133e-01 -5.10401605e-03 3.72875955e+00] [-1.19411827e-02 5.11914909e-03 9.99915598e-01 1.58072778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.709259763999995 meters 0.15838302991608724 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927403e-01 -1.14066773e-03 1.19952953e-02 -5.90733072e+00] [ 1.19970086e-03 9.99987200e-01 -4.91531368e-03 3.72813430e+00] [-1.19895350e-02 4.92934761e-03 9.99915973e-01 1.58063909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769259764 meters 0.15246262828785087 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99926958e-01 -8.68179537e-04 1.20551035e-02 -5.90692924e+00] [ 9.21968979e-04 9.99989642e-01 -4.45712404e-03 3.72717890e+00] [-1.20511090e-02 4.46791291e-03 9.99917401e-01 1.57971709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.829259764 meters 0.15343109310200603 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927801e-01 -8.94686579e-04 1.19830056e-02 -5.90661275e+00] [ 9.49773185e-04 9.99989005e-01 -4.59215923e-03 3.72802417e+00] [-1.19787653e-02 4.60320881e-03 9.99917656e-01 1.57954352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.889259763999995 meters 0.15391610016662555 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99927926e-01 -1.03817833e-03 1.19609507e-02 -5.90653835e+00] [ 1.09676166e-03 9.99987431e-01 -4.89236489e-03 3.72932708e+00] [-1.19557212e-02 4.90513059e-03 9.99916497e-01 1.57957818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949259764 meters 0.14948591632120942 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99932725e-01 -9.80995632e-04 1.15577738e-02 -5.90528564e+00] [ 1.04147191e-03 9.99985793e-01 -5.22766369e-03 3.73157586e+00] [-1.15524813e-02 5.23934910e-03 9.99919541e-01 1.57931383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.009259764 meters 0.14830938269659183 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99931760e-01 -6.79368705e-04 1.16624970e-02 -5.90498672e+00] [ 7.34871044e-04 9.99988423e-01 -4.75541867e-03 3.73041647e+00] [-1.16591313e-02 4.76366459e-03 9.99920683e-01 1.57841057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.069259763999995 meters 0.14691982344470375 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99933753e-01 -7.62800783e-04 1.14850871e-02 -5.90461261e+00] [ 8.20444124e-04 9.99987088e-01 -5.01509822e-03 3.73161293e+00] [-1.14811132e-02 5.02418885e-03 9.99921468e-01 1.57858011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129259764 meters 0.15807694702608088 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99932589e-01 -5.80809721e-04 1.15965777e-02 -5.90472354e+00] [ 6.34556814e-04 9.99989073e-01 -4.63159605e-03 3.73038262e+00] [-1.15937609e-02 4.63864252e-03 9.99922031e-01 1.57826991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.189259764 meters 0.15876084989127495 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99930701e-01 -1.23197751e-05 1.17725411e-02 -5.90452248e+00] [ 5.50327129e-05 9.99993418e-01 -3.62786632e-03 3.72717350e+00] [-1.17724189e-02 3.62826278e-03 9.99924120e-01 1.57713649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.249259763999994 meters 0.16011400534573345 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.58 [[ 9.99929041e-01 2.61211108e-04 1.19098657e-02 -5.90478340e+00] [-2.25372478e-04 9.99995443e-01 -3.01039769e-03 3.72489825e+00] [-1.19105978e-02 3.00749992e-03 9.99924543e-01 1.57690523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309259764 meters 0.15872977222330467 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.58 [[ 9.99928147e-01 5.67418104e-04 1.19740962e-02 -5.90476549e+00] [-5.38529289e-04 9.99996937e-01 -2.41569566e-03 3.72289015e+00] [-1.19754303e-02 2.40907368e-03 9.99925390e-01 1.57651932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.369259764 meters 0.15815086724730917 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.72, Z:1.58 [[ 9.99928726e-01 4.00385545e-04 1.19323902e-02 -5.90504900e+00] [-3.68671708e-04 9.99996395e-01 -2.65987524e-03 3.72347491e+00] [-1.19334122e-02 2.65528653e-03 9.99925269e-01 1.57714856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.429259763999994 meters 0.15355498121216182 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99933108e-01 5.72137229e-04 1.15521931e-02 -5.90367235e+00] [-5.40071639e-04 9.99995994e-01 -2.77864333e-03 3.72509014e+00] [-1.15537366e-02 2.77221845e-03 9.99929410e-01 1.57657887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.489259763999996 meters 0.15175188913390886 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.58 [[ 9.99932623e-01 7.81226716e-04 1.15818057e-02 -5.90326215e+00] [-7.52644545e-04 9.99996661e-01 -2.47200425e-03 3.72460277e+00] [-1.15836982e-02 2.46312071e-03 9.99929873e-01 1.57578915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.549259764 meters 0.1489981792448452 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99934352e-01 8.26770126e-04 1.14283602e-02 -5.90254686e+00] [-7.98018260e-04 9.99996506e-01 -2.52016600e-03 3.72561568e+00] [-1.14304039e-02 2.51088052e-03 9.99931518e-01 1.57531169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.609259763999994 meters 0.15068544677478968 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99935167e-01 7.96054011e-04 1.13590962e-02 -5.90248482e+00] [-7.66513568e-04 9.99996314e-01 -2.60471474e-03 3.72596518e+00] [-1.13611279e-02 2.59583896e-03 9.99932091e-01 1.57550112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.669259763999996 meters 0.15140580994174677 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99935138e-01 -3.33008168e-03 1.08917708e-02 -5.90109154e+00] [ 3.40659968e-03 9.99969597e-01 -7.01431271e-03 3.72751453e+00] [-1.08680814e-02 7.05096165e-03 9.99916081e-01 1.57518729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.729259764 meters 0.15663125968540112 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99938176e-01 -3.41610448e-03 1.05817815e-02 -5.90033410e+00] [ 3.49422710e-03 9.99966713e-01 -7.37307798e-03 3.72944664e+00] [-1.05562421e-02 7.40959729e-03 9.99916828e-01 1.57527745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78925976399999 meters 0.14870531381839333 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99941170e-01 -3.24528831e-03 1.03501233e-02 -5.89961271e+00] [ 3.32078822e-03 9.99967944e-01 -7.28576570e-03 3.72968473e+00] [-1.03261471e-02 7.31970764e-03 9.99919893e-01 1.57508571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.849259763999996 meters 0.15746149423865388 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99941903e-01 -2.90649469e-03 1.03799624e-02 -5.89945776e+00] [ 2.97629753e-03 9.99973020e-01 -6.71566420e-03 3.72782308e+00] [-1.03601633e-02 6.74616789e-03 9.99923575e-01 1.57465111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.909259764 meters 0.15855475109666886 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99939132e-01 -2.78056251e-03 1.06771311e-02 -5.90035966e+00] [ 2.84600505e-03 9.99977229e-01 -6.11893069e-03 3.72511071e+00] [-1.06598739e-02 6.14894541e-03 9.99924276e-01 1.57481229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96925976399999 meters 0.15880955931766735 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99941194e-01 -2.77884957e-03 1.04826764e-02 -5.89995186e+00] [ 2.84425236e-03 9.99976552e-01 -6.22939070e-03 3.72578235e+00] [-1.04651201e-02 6.25883975e-03 9.99925651e-01 1.57497557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.029259763999995 meters 0.16534082387680085 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99941780e-01 -2.39952581e-03 1.05204413e-02 -5.89951867e+00] [ 2.45871117e-03 9.99981205e-01 -5.61642886e-03 3.72414206e+00] [-1.05067668e-02 5.64196860e-03 9.99928885e-01 1.57408595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089259764 meters 0.16139829378510867 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99942981e-01 -2.31959547e-03 1.04237103e-02 -5.89906928e+00] [ 2.37774000e-03 9.99981665e-01 -5.56917660e-03 3.72438885e+00] [-1.04106010e-02 5.59364392e-03 9.99930163e-01 1.57379020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.149259764 meters 0.15930052848662832 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99943781e-01 -2.40064823e-03 1.03281590e-02 -5.89897470e+00] [ 2.46029573e-03 9.99980348e-01 -5.76640580e-03 3.72517384e+00] [-1.03141129e-02 5.79149194e-03 9.99930036e-01 1.57406415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.209259763999995 meters 0.1600584958163327 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99944591e-01 -2.54410518e-03 1.02148043e-02 -5.89880405e+00] [ 2.60608179e-03 9.99978251e-01 -6.05861193e-03 3.72637759e+00] [-1.01991684e-02 6.08489684e-03 9.99929473e-01 1.57429485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269259764 meters 0.1596420733908026 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99946604e-01 -2.81044382e-03 9.94441206e-03 -5.89816083e+00] [ 2.87668163e-03 9.99973732e-01 -6.65278500e-03 3.72934320e+00] [-9.92545357e-03 6.68103668e-03 9.99928422e-01 1.57445688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.329259764 meters 0.15407722120719944 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99948876e-01 -2.44669785e-03 9.81113881e-03 -5.89706856e+00] [ 2.50884418e-03 9.99976837e-01 -6.32696662e-03 3.72910378e+00] [-9.79543138e-03 6.35125778e-03 9.99931853e-01 1.57332865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.389259763999995 meters 0.1583744547438747 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99948467e-01 -2.57759085e-03 9.81930548e-03 -5.89731563e+00] [ 2.64206710e-03 9.99974999e-01 -6.55897034e-03 3.72970313e+00] [-9.80215365e-03 6.58457560e-03 9.99930278e-01 1.57371513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449259764 meters 0.161969991002572 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99947085e-01 -2.98471899e-03 9.84472568e-03 -5.89838506e+00] [ 3.05465522e-03 9.99970154e-01 -7.09655890e-03 3.73057396e+00] [-9.82325061e-03 7.12625563e-03 9.99926357e-01 1.57526953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.509259764 meters 0.15808584308240456 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99948974e-01 -2.57245538e-03 9.76888897e-03 -5.89783866e+00] [ 2.63612917e-03 9.99975330e-01 -6.51074505e-03 3.72886399e+00] [-9.75189937e-03 6.53616488e-03 9.99931087e-01 1.57466186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.569259763999995 meters 0.15865230657972304 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99949630e-01 -2.16011564e-03 9.80163416e-03 -5.89733280e+00] [ 2.21773543e-03 9.99980303e-01 -5.87153358e-03 3.72722402e+00] [-9.78875790e-03 5.89297526e-03 9.99934724e-01 1.57369242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629259764 meters 0.15201718091100538 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.57 [[ 9.99948945e-01 -2.19620538e-03 9.86326126e-03 -5.89799212e+00] [ 2.25436064e-03 9.99980119e-01 -5.88890674e-03 3.72648813e+00] [-9.85013192e-03 5.91084143e-03 9.99934016e-01 1.57446666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.689259764 meters 0.15687332825053374 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99950692e-01 -1.72476817e-03 9.77950867e-03 -5.89730550e+00] [ 1.77568501e-03 9.99984902e-01 -5.20019251e-03 3.72462125e+00] [-9.77039190e-03 5.21730142e-03 9.99938658e-01 1.57367352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.749259763999994 meters 0.16026539699981426 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99939471e-01 -5.49640818e-03 9.53122596e-03 -5.89644004e+00] [ 5.58050353e-03 9.99945539e-01 -8.81910735e-03 3.72248950e+00] [-9.48223347e-03 8.87176257e-03 9.99915686e-01 1.57329971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809259764 meters 0.1575940727468855 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99940455e-01 -5.17468748e-03 9.60778471e-03 -5.89696558e+00] [ 5.25339451e-03 9.99952703e-01 -8.18492207e-03 3.71929098e+00] [-9.56497588e-03 8.23490818e-03 9.99920346e-01 1.57374095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.869259764 meters 0.15944783220216424 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.72, Z:1.57 [[ 9.99936409e-01 -5.14591346e-03 1.00347874e-02 -5.89850302e+00] [ 5.22227378e-03 9.99957496e-01 -7.59826258e-03 3.71583976e+00] [-9.99526090e-03 7.65018381e-03 9.99920782e-01 1.57451870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.929259763999994 meters 0.1833112341463564 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.71, Z:1.57 [[ 9.99934821e-01 -4.68300621e-03 1.04126657e-02 -5.89896278e+00] [ 4.75036190e-03 9.99967894e-01 -6.45333489e-03 3.71176030e+00] [-1.03821104e-02 6.50237820e-03 9.99924963e-01 1.57361558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.989259763999996 meters 0.17155176196719343 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.71, Z:1.57 [[ 9.99933332e-01 -4.19360991e-03 1.07585310e-02 -5.89917193e+00] [ 4.24965778e-03 9.99977491e-01 -5.19206056e-03 3.70771257e+00] [-1.07365154e-02 5.23743449e-03 9.99928646e-01 1.57235131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.049259764 meters 0.18621865204605137 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.71, Z:1.57 [[ 9.99933360e-01 -3.84077383e-03 1.08869124e-02 -5.89928221e+00] [ 3.88968096e-03 9.99982424e-01 -4.47467751e-03 3.70520948e+00] [-1.08695348e-02 4.51672593e-03 9.99930724e-01 1.57193012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.109259763999994 meters 0.17194217659563052 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.70, Z:1.57 [[ 9.99933992e-01 -3.66893940e-03 1.08881334e-02 -5.89935467e+00] [ 3.71470826e-03 9.99984338e-01 -4.18631173e-03 3.70407381e+00] [-1.08726036e-02 4.22648164e-03 9.99931959e-01 1.57197897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.169259763999996 meters 0.1835548713460389 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.70, Z:1.57 [[ 0.99991311 -0.00751136 0.01083322 -5.89892527] [ 0.00759617 0.99994065 -0.00780958 3.70184979] [-0.01077391 0.00789119 0.99991082 1.5715158 ] [ 0. 0. 0. 1. ]] SLAMing on 40.229259764 meters 0.19157650398233114 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.70, Z:1.57 [[ 0.99990874 -0.00718144 0.01144275 -5.90022828] [ 0.00725732 0.99995186 -0.00660375 3.6967605 ] [-0.01139478 0.00668619 0.99991272 1.57109744] [ 0. 0. 0. 1. ]] SLAMing on 40.28925976399999 meters 0.19221146390792151 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.69, Z:1.57 [[ 0.9999041 -0.00724714 0.01180148 -5.90186389] [ 0.00732035 0.99995416 -0.00617216 3.69374014] [-0.01175621 0.00625796 0.99991131 1.57231367] [ 0. 0. 0. 1. ]] SLAMing on 40.349259763999996 meters 0.18424031075513453 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.69, Z:1.57 [[ 9.99907764e-01 -6.58738622e-03 1.18772447e-02 -5.90128932e+00] [ 6.64759221e-03 9.99965220e-01 -5.03668633e-03 3.69049091e+00] [-1.18436530e-02 5.11517685e-03 9.99916778e-01 1.57096199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.409259764 meters 0.18918538071177046 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.69, Z:1.57 [[ 9.99912485e-01 -6.07524810e-03 1.17521379e-02 -5.90009901e+00] [ 6.12659014e-03 9.99971824e-01 -4.33768240e-03 3.68924421e+00] [-1.17254543e-02 4.40930333e-03 9.99921533e-01 1.56951704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46925976399999 meters 0.1827372884194135 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.69, Z:1.57 [[ 9.99914121e-01 -6.22161707e-03 1.15344177e-02 -5.89943710e+00] [ 6.27633813e-03 9.99969192e-01 -4.71404173e-03 3.69126827e+00] [-1.15047334e-02 4.78603080e-03 9.99922364e-01 1.56940085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.529259763999995 meters 0.17909814184358297 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.69, Z:1.57 [[ 9.99917467e-01 -6.21161542e-03 1.12460748e-02 -5.89844358e+00] [ 6.26738455e-03 9.99968204e-01 -4.93055307e-03 3.69299808e+00] [-1.12150905e-02 5.00062961e-03 9.99924605e-01 1.56902073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589259764 meters 0.17548321518156293 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.70, Z:1.57 [[ 9.99921658e-01 -6.28257563e-03 1.08262585e-02 -5.89717684e+00] [ 6.34166053e-03 9.99965138e-01 -5.43189515e-03 3.69599096e+00] [-1.07917548e-02 5.50012606e-03 9.99926641e-01 1.56879564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64925976399999 meters 0.17430777582790163 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.70, Z:1.57 [[ 9.99925623e-01 -5.99007238e-03 1.06239032e-02 -5.89586069e+00] [ 6.04550824e-03 9.99968239e-01 -5.19361576e-03 3.69645515e+00] [-1.05924557e-02 5.25745637e-03 9.99930077e-01 1.56755339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.709259763999995 meters 0.1701847892758611 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.70, Z:1.57 [[ 0.99993543 -0.00603089 0.0096318 -5.89336369] [ 0.00609003 0.99996271 -0.00612231 3.70212403] [-0.00959452 0.00618057 0.99993487 1.56742983] [ 0. 0. 0. 1. ]] SLAMing on 40.769259764 meters 0.17553983034320583 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.70, Z:1.57 [[ 9.99938968e-01 -5.89085772e-03 9.34655336e-03 -5.89198791e+00] [ 5.94918546e-03 9.99962927e-01 -6.22507955e-03 3.70397729e+00] [-9.30953580e-03 6.28030400e-03 9.99936943e-01 1.56644336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.829259764 meters 0.17825555514895322 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.70, Z:1.57 [[ 9.99939056e-01 -5.84798599e-03 9.36399965e-03 -5.89173863e+00] [ 5.90609380e-03 9.99963401e-01 -6.18986533e-03 3.70429310e+00] [-9.32745870e-03 6.24479276e-03 9.99936999e-01 1.56600799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.889259763999995 meters 0.16866665241552584 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.71, Z:1.57 [[ 9.99958547e-01 -2.03240330e-03 8.87547879e-03 -5.89058191e+00] [ 2.05992938e-03 9.99993094e-01 -3.09332293e-03 3.71000356e+00] [-8.86913061e-03 3.11147756e-03 9.99955828e-01 1.56626458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949259764 meters 0.1654698384010782 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.71, Z:1.57 [[ 9.99962463e-01 -2.10902590e-03 8.40388990e-03 -5.88857319e+00] [ 2.14112449e-03 9.99990441e-01 -3.81232737e-03 3.71490945e+00] [-8.39576927e-03 3.83017804e-03 9.99957419e-01 1.56505883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.009259764 meters 0.154045166529066 Centerline is valid? [False, False] Translation: X:-5.89, Y:3.72, Z:1.56 [[ 9.99966482e-01 2.10153208e-03 7.91319360e-03 -5.88611535e+00] [-2.09897538e-03 9.99997742e-01 -3.31383605e-04 3.72079246e+00] [-7.91387215e-03 3.14762899e-04 9.99968635e-01 1.56313340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.069259763999995 meters 0.14620966685748651 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.57 [[ 9.99979826e-01 1.73449681e-03 6.11054305e-03 -5.88254060e+00] [-1.71022744e-03 9.99990638e-01 -3.97470954e-03 3.73311262e+00] [-6.11737996e-03 3.96417893e-03 9.99973431e-01 1.56643841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129259764 meters 0.13916022172005219 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.74, Z:1.57 [[ 9.99983600e-01 1.68410928e-03 5.47381527e-03 -5.88035597e+00] [-1.65728075e-03 9.99986611e-01 -4.90209549e-03 3.73877109e+00] [-5.48199765e-03 4.89294345e-03 9.99973003e-01 1.56548768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.189259764 meters 0.12989446743770966 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.75, Z:1.57 [[ 9.99959869e-01 5.50160392e-03 7.07050573e-03 -5.85227848e+00] [-5.51101261e-03 9.99983954e-01 1.31190252e-03 3.74597712e+00] [-7.06317471e-03 -1.35081552e-03 9.99974143e-01 1.56530076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.249259763999994 meters 0.12419454616094655 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.75, Z:1.57 [[ 9.99964975e-01 5.18600860e-03 6.56917766e-03 -5.85115699e+00] [-5.18636253e-03 9.99986550e-01 3.68434871e-05 3.75123119e+00] [-6.56889823e-03 -7.09123336e-05 9.99978422e-01 1.56581950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309259764 meters 0.12519394025230468 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99968544e-01 5.19502926e-03 5.99361780e-03 -5.84933263e+00] [-5.19097408e-03 9.99986287e-01 -6.91942204e-04 3.75533169e+00] [-5.99713027e-03 6.60807723e-04 9.99981799e-01 1.56535495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.369259764 meters 0.12710307845499186 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99986222e-01 8.49288486e-04 5.18022580e-03 -5.84754718e+00] [-8.19623553e-04 9.99983270e-01 -5.72600866e-03 3.75941547e+00] [-5.18500217e-03 5.72168393e-03 9.99970189e-01 1.56575617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.429259763999994 meters 0.12700333603245098 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99984906e-01 7.92007542e-04 5.43703339e-03 -5.84855417e+00] [-7.61467381e-04 9.99983936e-01 -5.61683728e-03 3.75827096e+00] [-5.44139463e-03 5.61261237e-03 9.99969444e-01 1.56630027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.489259763999996 meters 0.13176475906612595 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99978148e-01 -3.69713967e-03 5.48032473e-03 -5.84909605e+00] [ 3.75222104e-03 9.99942208e-01 -1.00747753e-02 3.75845991e+00] [-5.44276016e-03 1.00951185e-02 9.99934230e-01 1.56692490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.549259764 meters 0.13358180080876333 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99978548e-01 -3.68398481e-03 5.41585233e-03 -5.84907769e+00] [ 3.73826029e-03 9.99942551e-01 -1.00458656e-02 3.75833869e+00] [-5.37853238e-03 1.00658960e-02 9.99934872e-01 1.56712961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609259763999994 meters 0.13097359265241562 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99979643e-01 -3.29588442e-03 5.46364275e-03 -5.84875591e+00] [ 3.34708128e-03 9.99950330e-01 -9.38795278e-03 3.75652116e+00] [-5.43242977e-03 9.40604892e-03 9.99941006e-01 1.56631145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.669259763999996 meters 0.12747533345884748 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.76, Z:1.57 [[ 9.99980290e-01 -3.08893595e-03 5.46616114e-03 -5.84857674e+00] [ 3.13845690e-03 9.99953903e-01 -9.07428130e-03 3.75560807e+00] [-5.43787929e-03 9.09125775e-03 9.99943888e-01 1.56596837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.729259764 meters 0.13181039680534185 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.75, Z:1.57 [[ 9.99981086e-01 -2.63706246e-03 5.55632175e-03 -5.84859715e+00] [ 2.68287607e-03 9.99962336e-01 -8.25405592e-03 3.75266728e+00] [-5.53434602e-03 8.26880673e-03 9.99950498e-01 1.56552829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78925976399999 meters 0.13295622767877927 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.75, Z:1.56 [[ 9.99978151e-01 -2.14773058e-03 6.25171045e-03 -5.84993385e+00] [ 2.18896776e-03 9.99975845e-01 -6.59679082e-03 3.74590739e+00] [-6.23739131e-03 6.61033149e-03 9.99958698e-01 1.56472317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849259763999996 meters 0.14112730626465259 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.74, Z:1.57 [[ 0.99996206 -0.00622423 0.00609415 -5.84988215] [ 0.00628851 0.9999242 -0.0105854 3.74432072] [-0.0060278 0.01062332 0.9999254 1.56526963] [ 0. 0. 0. 1. ]] SLAMing on 41.909259764 meters 0.14665166438095503 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.74, Z:1.56 [[ 9.99958606e-01 -5.78816518e-03 7.02025791e-03 -5.85181368e+00] [ 5.84783084e-03 9.99946702e-01 -8.50853165e-03 3.73602772e+00] [-6.97063496e-03 8.54923273e-03 9.99939159e-01 1.56445345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96925976399999 meters 0.15148733546087614 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.73, Z:1.56 [[ 0.99992747 -0.00960567 0.00726493 -5.85261034] [ 0.00968948 0.99988588 -0.01159052 3.73068268] [-0.00715277 0.01166007 0.99990644 1.56464186] [ 0. 0. 0. 1. ]] SLAMing on 42.029259763999995 meters 0.14870432141656076 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99993027 -0.00902751 0.00761265 -5.85338192] [ 0.00910451 0.99990713 -0.0101413 3.72484683] [-0.00752039 0.0102099 0.9999196 1.56435237] [ 0. 0. 0. 1. ]] SLAMing on 42.089259764 meters 0.15470260212239256 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99988986 -0.01252297 0.00796485 -5.85371157] [ 0.01262268 0.99984101 -0.01259428 3.7179515 ] [-0.00780586 0.01269343 0.99988897 1.56347604] [ 0. 0. 0. 1. ]] SLAMing on 42.14925976399999 meters 0.1638136904051607 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 0.99989141 -0.01194177 0.00863456 -5.85474612] [ 0.01203278 0.99987178 -0.0105656 3.71086617] [-0.00850728 0.01066835 0.9999069 1.56197338] [ 0. 0. 0. 1. ]] SLAMing on 42.209259763999995 meters 0.173723350584184 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 0.99989366 -0.01161621 0.00881705 -5.8549842 ] [ 0.01170302 0.99988291 -0.00985927 3.70841267] [-0.00870149 0.00996141 0.99991252 1.56154764] [ 0. 0. 0. 1. ]] SLAMing on 42.269259764 meters 0.17166338449244667 Centerline is valid? [False, False] Translation: X:-5.86, Y:3.70, Z:1.56 [[ 9.99929660e-01 -7.04609172e-03 9.54087649e-03 -5.85650546e+00] [ 7.08854168e-03 9.99965095e-01 -4.42279066e-03 3.70327046e+00] [-9.50938008e-03 4.49011046e-03 9.99944704e-01 1.56112291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32925976399999 meters 0.17170644319577819 Centerline is valid? [False, False] Translation: X:-5.86, Y:3.70, Z:1.56 [[ 9.99930096e-01 -7.10846969e-03 9.44842721e-03 -5.85637936e+00] [ 7.15255554e-03 9.99963653e-01 -4.64037298e-03 3.70409261e+00] [-9.41509784e-03 4.70762900e-03 9.99944596e-01 1.56136893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389259763999995 meters 0.16381276756617894 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 9.99934496e-01 -7.01827294e-03 9.04145417e-03 -5.85470460e+00] [ 7.06300453e-03 9.99962929e-01 -4.92499485e-03 3.70684321e+00] [-9.00655403e-03 4.98853207e-03 9.99946997e-01 1.56043894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449259764 meters 0.1722881848753021 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 0.99993697 -0.0073273 0.00850706 -5.85378534] [ 0.00737786 0.99995522 -0.00592693 3.71105671] [-0.00846325 0.00598932 0.99994625 1.56121728] [ 0. 0. 0. 1. ]] SLAMing on 42.509259764 meters 0.17060520141573154 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 0.99993734 -0.00742063 0.00838122 -5.85327485] [ 0.00747265 0.9999529 -0.0061927 3.71264543] [-0.00833487 0.00625494 0.9999457 1.56098591] [ 0. 0. 0. 1. ]] SLAMing on 42.569259763999995 meters 0.1624105377366759 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.71, Z:1.56 [[ 0.99994219 -0.00723538 0.0079539 -5.85140764] [ 0.00728558 0.99995361 -0.00630101 3.7149971 ] [-0.00790795 0.0063586 0.99994851 1.559813 ] [ 0. 0. 0. 1. ]] SLAMing on 42.629259764 meters 0.16333637214481553 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99994218 -0.00727094 0.00792321 -5.85146913] [ 0.00732162 0.99995281 -0.0063856 3.71524665] [-0.00787641 0.00644324 0.99994822 1.56005475] [ 0. 0. 0. 1. ]] SLAMing on 42.689259764 meters 0.15346633623063324 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 9.99965132e-01 -3.24047011e-03 7.69641930e-03 -5.85094242e+00] [ 3.26085887e-03 9.99991204e-01 -2.63805323e-03 3.71813469e+00] [-7.68780307e-03 2.66305818e-03 9.99966902e-01 1.56012767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749259763999994 meters 0.16687959411688433 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 9.99965817e-01 -3.22820689e-03 7.61203532e-03 -5.85056990e+00] [ 3.24875176e-03 9.99991110e-01 -2.68817914e-03 3.71871739e+00] [-7.60328965e-03 2.71281686e-03 9.99967415e-01 1.55991000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809259764 meters 0.1595179728704954 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99994512 -0.00749126 0.00732402 -5.84951868] [ 0.00754333 0.99994628 -0.00710853 3.72020489] [-0.00727037 0.00716339 0.99994791 1.5594834 ] [ 0. 0. 0. 1. ]] SLAMing on 42.869259764 meters 0.1490027194406867 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99995028 -0.00744327 0.00663617 -5.84740986] [ 0.00749325 0.99994351 -0.00753893 3.72423155] [-0.00657968 0.00758828 0.99994956 1.55879214] [ 0. 0. 0. 1. ]] SLAMing on 42.929259763999994 meters 0.16039178000935064 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.73, Z:1.56 [[ 0.99995095 -0.00754098 0.0064207 -5.84675053] [ 0.00759184 0.99993972 -0.00793277 3.72629848] [-0.00636049 0.00798112 0.99994792 1.55872009] [ 0. 0. 0. 1. ]] SLAMing on 42.989259763999996 meters 0.15496571022288366 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.73, Z:1.56 [[ 9.99974745e-01 -2.91195721e-03 6.48303446e-03 -5.84593208e+00] [ 2.93195381e-03 9.99990968e-01 -3.07708621e-03 3.72578385e+00] [-6.47401556e-03 3.09601645e-03 9.99974251e-01 1.55711992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049259764 meters 0.15493370283678912 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.56 [[ 0.99995582 -0.00726522 0.00596518 -5.84484102] [ 0.00731161 0.99994291 -0.00779219 3.72810841] [-0.00590823 0.00783546 0.99995185 1.55753695] [ 0. 0. 0. 1. ]] SLAMing on 43.109259763999994 meters 0.15809773165940794 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99995355 -0.00715026 0.00646261 -5.84629119] [ 0.00719565 0.99994942 -0.00702745 3.72402457] [-0.00641204 0.00707362 0.99995442 1.55792433] [ 0. 0. 0. 1. ]] SLAMing on 43.169259763999996 meters 0.15796070896448788 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.99995403 -0.00709354 0.00645062 -5.84636739] [ 0.007138 0.99995075 -0.0068949 3.72351549] [-0.00640139 0.00694063 0.99995542 1.55806401] [ 0. 0. 0. 1. ]] SLAMing on 43.229259764 meters 0.1529943799269924 Centerline is valid? [False, False] Translation: X:-5.85, Y:3.72, Z:1.56 [[ 0.9999569 -0.00683414 0.00628475 -5.84529576] [ 0.00687573 0.99995444 -0.00662071 3.72364134] [-0.00623921 0.00666364 0.99995833 1.55705273] [ 0. 0. 0. 1. ]] SLAMing on 43.28925976399999 meters 0.15672986086610805 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.56 [[ 0.99995976 -0.0064527 0.00623275 -5.84447717] [ 0.00649071 0.99996034 -0.00609864 3.72266109] [-0.00619315 0.00613885 0.99996198 1.55594493] [ 0. 0. 0. 1. ]] SLAMing on 43.349259763999996 meters 0.15994307845315078 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.56 [[ 0.99996076 -0.00634489 0.00618262 -5.84426904] [ 0.00638147 0.99996215 -0.00591398 3.72225565] [-0.00614486 0.0059532 0.9999634 1.55579198] [ 0. 0. 0. 1. ]] SLAMing on 43.409259764 meters 0.14966601249131037 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.56 [[ 9.99962916e-01 -6.41196921e-03 5.74923805e-03 -5.84301356e+00] [ 6.44852714e-03 9.99958964e-01 -6.36291510e-03 3.72509376e+00] [-5.70820331e-03 6.39975326e-03 9.99963229e-01 1.55560347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46925976399999 meters 0.1524217865603195 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.56 [[ 9.99964524e-01 -6.50229134e-03 5.35452189e-03 -5.84171917e+00] [ 6.53918032e-03 9.99954808e-01 -6.90086825e-03 3.72836246e+00] [-5.30940845e-03 6.93563762e-03 9.99961853e-01 1.55524752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.529259763999995 meters 0.14274059662062852 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.55 [[ 9.99970415e-01 -6.22489763e-03 4.51879612e-03 -5.83853088e+00] [ 6.25898785e-03 9.99951762e-01 -7.56956770e-03 3.73410082e+00] [-4.47145836e-03 7.59762685e-03 9.99961140e-01 1.55347743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589259764 meters 0.13994045938503097 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.74, Z:1.55 [[ 9.99970059e-01 -6.32730540e-03 4.45490515e-03 -5.83815792e+00] [ 6.36216381e-03 9.99948913e-01 -7.85452442e-03 3.73568331e+00] [-4.40497959e-03 7.88263208e-03 9.99959229e-01 1.55322668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64925976399999 meters 0.13887374471784475 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.74, Z:1.55 [[ 9.99970150e-01 -6.35431622e-03 4.39570847e-03 -5.83778642e+00] [ 6.38915354e-03 9.99947930e-01 -7.95718835e-03 3.73665444e+00] [-4.34491710e-03 7.98503568e-03 9.99958680e-01 1.55290894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709259763999995 meters 0.14158065876248752 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.74, Z:1.55 [[ 9.99971899e-01 -6.01786197e-03 4.47053099e-03 -5.83756072e+00] [ 6.05100303e-03 9.99954037e-01 -7.43706414e-03 3.73521051e+00] [-4.42557029e-03 7.46390635e-03 9.99962352e-01 1.55222095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769259764 meters 0.15030293089947763 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.55 [[ 9.99971914e-01 -5.48869082e-03 5.10351657e-03 -5.83876964e+00] [ 5.51941244e-03 9.99966616e-01 -6.02522543e-03 3.72901841e+00] [-5.07027559e-03 6.05322462e-03 9.99968825e-01 1.55169824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82925976399999 meters 0.15075500433477101 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.55 [[ 9.99973078e-01 -5.03756132e-03 5.33543714e-03 -5.83928608e+00] [ 5.06393634e-03 9.99974969e-01 -4.94144692e-03 3.72478961e+00] [-5.31041074e-03 4.96833220e-03 9.99973557e-01 1.55140640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.889259763999995 meters 0.15139278212206342 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.55 [[ 9.99973613e-01 -4.64181872e-03 5.58809435e-03 -5.83967888e+00] [ 4.66417597e-03 9.99981144e-01 -3.99451140e-03 3.72141379e+00] [-5.56944719e-03 4.02046985e-03 9.99976408e-01 1.55089375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949259764 meters 0.15635443208374447 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.55 [[ 0.99994661 -0.00829157 0.00616656 -5.84064046] [ 0.00833284 0.99994285 -0.00669789 3.71495427] [-0.00611068 0.00674892 0.99995856 1.55011302] [ 0. 0. 0. 1. ]] SLAMing on 44.00925976399999 meters 0.1565133243564834 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.55 [[ 9.99948612e-01 -7.90478733e-03 6.34731932e-03 -5.84107568e+00] [ 7.94176184e-03 9.99951519e-01 -5.82129683e-03 3.71156610e+00] [-6.30099548e-03 5.87140658e-03 9.99962911e-01 1.54992766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.069259763999995 meters 0.16831017793856815 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.55 [[ 9.99947436e-01 -7.44596785e-03 7.04858049e-03 -5.84235417e+00] [ 7.47571079e-03 9.99963224e-01 -4.20280576e-03 3.70516008e+00] [-7.01702731e-03 4.25527800e-03 9.99966326e-01 1.54907131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129259764 meters 0.1687615668853303 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.70, Z:1.55 [[ 9.99949020e-01 -6.75742166e-03 7.50291553e-03 -5.84271661e+00] [ 6.77717747e-03 9.99973626e-01 -2.61078952e-03 3.69965833e+00] [-7.48507544e-03 2.66150502e-03 9.99968445e-01 1.54757145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.189259764 meters 0.1706765852076122 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.70, Z:1.55 [[ 9.99949622e-01 -6.56211549e-03 7.59550228e-03 -5.84276483e+00] [ 6.57891912e-03 9.99975962e-01 -2.18944532e-03 3.69835935e+00] [-7.58095231e-03 2.23930522e-03 9.99968757e-01 1.54722566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.249259763999994 meters 0.16782211454061097 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.69, Z:1.55 [[ 9.99950453e-01 -5.98510269e-03 7.95422950e-03 -5.84291637e+00] [ 5.99311688e-03 9.99981557e-01 -9.84084737e-04 3.69448521e+00] [-7.94819295e-03 1.03170661e-03 9.99967880e-01 1.54590666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309259764 meters 0.1694612467447538 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.69, Z:1.55 [[ 9.99951754e-01 -5.88099197e-03 7.86794215e-03 -5.84245104e+00] [ 5.88801236e-03 9.99982288e-01 -8.69411403e-04 3.69461277e+00] [-7.86268979e-03 9.15695998e-04 9.99968669e-01 1.54550658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.369259764 meters 0.17801546986560524 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.70, Z:1.55 [[ 9.99951552e-01 -6.13046425e-03 7.70135934e-03 -5.84191952e+00] [ 6.14178362e-03 9.99980092e-01 -1.44699917e-03 3.69734055e+00] [-7.69233525e-03 1.49422915e-03 9.99969297e-01 1.54543745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.429259763999994 meters 0.16200827608998722 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.70, Z:1.54 [[ 9.99952380e-01 -6.19217104e-03 7.54286445e-03 -5.84108954e+00] [ 6.20584206e-03 9.99979141e-01 -1.79038918e-03 3.69951719e+00] [-7.53162072e-03 1.83711375e-03 9.99969949e-01 1.54486437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489259763999996 meters 0.16153703823793897 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.70, Z:1.55 [[ 9.99955914e-01 -6.35880556e-03 6.90914792e-03 -5.83951113e+00] [ 6.37752648e-03 9.99976043e-01 -2.69093935e-03 3.70398729e+00] [-6.89187123e-03 2.73488400e-03 9.99972511e-01 1.54503132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.549259764 meters 0.1741582450111041 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.55 [[ 9.99957427e-01 -6.52916588e-03 6.52025608e-03 -5.83847331e+00] [ 6.55144428e-03 9.99972754e-01 -3.40130501e-03 3.70756559e+00] [-6.49787075e-03 3.44387730e-03 9.99972958e-01 1.54510045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.609259763999994 meters 0.15933014582893387 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.54 [[ 9.99958880e-01 -6.39380531e-03 6.43094216e-03 -5.83754594e+00] [ 6.41545257e-03 9.99973806e-01 -3.35113309e-03 3.70858551e+00] [-6.40934722e-03 3.39225270e-03 9.99973706e-01 1.54406196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.669259763999996 meters 0.15774216155532686 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.54 [[ 9.99959515e-01 -6.34305614e-03 6.38236669e-03 -5.83712705e+00] [ 6.36442875e-03 9.99974189e-01 -3.33397818e-03 3.70906517e+00] [-6.36105435e-03 3.37446332e-03 9.99974075e-01 1.54362434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.729259764 meters 0.1626980179771145 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.54 [[ 9.99962133e-01 -6.37827949e-03 5.92029164e-03 -5.83606820e+00] [ 6.40087807e-03 9.99972271e-01 -3.80607327e-03 3.71143248e+00] [-5.89585128e-03 3.84382421e-03 9.99975232e-01 1.54388172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78925976399999 meters 0.15919773399985607 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.54 [[ 9.99931586e-01 -1.01285484e-02 5.85121937e-03 -5.83522036e+00] [ 1.01711942e-02 9.99921588e-01 -7.30517931e-03 3.70919944e+00] [-5.77676970e-03 7.36419342e-03 9.99956198e-01 1.54286889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.849259763999996 meters 0.15827887067139446 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99936746e-01 -9.60596844e-03 5.85061048e-03 -5.83437401e+00] [ 9.64304337e-03 9.99933393e-01 -6.34203692e-03 3.70705283e+00] [-5.78929939e-03 6.39805345e-03 9.99962774e-01 1.54135512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.909259764 meters 0.15801646294063487 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99938170e-01 -9.36178765e-03 6.00107074e-03 -5.83443569e+00] [ 9.39652919e-03 9.99939104e-01 -5.78740854e-03 3.70543744e+00] [-5.94652481e-03 5.84343994e-03 9.99965246e-01 1.54076581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96925976399999 meters 0.16323847015658655 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.54 [[ 9.99942855e-01 -8.86899388e-03 5.96886330e-03 -5.83353480e+00] [ 8.89966131e-03 9.99947233e-01 -5.13110362e-03 3.70411569e+00] [-5.92304061e-03 5.18393127e-03 9.99969022e-01 1.53946187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.029259763999995 meters 0.16425400315347016 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.54 [[ 9.99947981e-01 -8.38189986e-03 5.81193217e-03 -5.83196174e+00] [ 8.40858113e-03 9.99954151e-01 -4.58163625e-03 3.70397354e+00] [-5.77326288e-03 4.63026802e-03 9.99972615e-01 1.53760797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089259764 meters 0.16643156127953523 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99949537e-01 -8.39299715e-03 5.52092330e-03 -5.83100978e+00] [ 8.41995176e-03 9.99952657e-01 -4.87727589e-03 3.70586144e+00] [-5.47972696e-03 4.92351568e-03 9.99972865e-01 1.53732763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14925976399999 meters 0.15678701472321407 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99951859e-01 -8.24497840e-03 5.31979419e-03 -5.82985527e+00] [ 8.27115700e-03 9.99953700e-01 -4.91788815e-03 3.70744448e+00] [-5.27900001e-03 4.96165225e-03 9.99973757e-01 1.53637455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.209259763999995 meters 0.1619039457654124 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99954561e-01 -8.06353369e-03 5.08480924e-03 -5.82846368e+00] [ 8.08875732e-03 9.99954986e-01 -4.95968597e-03 3.70926616e+00] [-5.04458775e-03 5.00059040e-03 9.99974773e-01 1.53518304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269259764 meters 0.15980520260330078 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.54 [[ 9.99954202e-01 -8.41078061e-03 4.56653820e-03 -5.82750444e+00] [ 8.43820719e-03 9.99946275e-01 -6.02031413e-03 3.71397836e+00] [-4.51565732e-03 6.05857181e-03 9.99971451e-01 1.53601810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32925976399999 meters 0.14873177718080174 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.54 [[ 9.99958082e-01 -8.20412203e-03 4.06528729e-03 -5.82563141e+00] [ 8.22980609e-03 9.99946023e-01 -6.34196379e-03 3.71678347e+00] [-4.01303762e-03 6.37515448e-03 9.99971626e-01 1.53521473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.389259763999995 meters 0.1511133242288964 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.72, Z:1.53 [[ 9.99984765e-01 -3.90106231e-03 3.90541767e-03 -5.82451118e+00] [ 3.91030193e-03 9.99989568e-01 -2.36101305e-03 3.71956966e+00] [-3.89616647e-03 2.37624844e-03 9.99989587e-01 1.53416495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449259764 meters 0.14451790693130534 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.72, Z:1.53 [[ 9.99988608e-01 -3.75161682e-03 2.95103655e-03 -5.82189746e+00] [ 3.76147432e-03 9.99987341e-01 -3.34192485e-03 3.72484036e+00] [-2.93846158e-03 3.35298703e-03 9.99990061e-01 1.53410516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50925976399999 meters 0.13826343783391004 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99989866e-01 -3.61755749e-03 2.67995325e-03 -5.82067452e+00] [ 3.62662305e-03 9.99987692e-01 -3.38562953e-03 3.72621100e+00] [-2.66767255e-03 3.39531440e-03 9.99990678e-01 1.53338165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.569259763999995 meters 0.14699474211238783 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99989969e-01 -3.54585642e-03 2.73654182e-03 -5.82048869e+00] [ 3.55468137e-03 9.99988476e-01 -3.22675640e-03 3.72621710e+00] [-2.72506867e-03 3.23645156e-03 9.99991050e-01 1.53287547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629259764 meters 0.1410075502347535 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99960876e-01 -8.42708378e-03 2.68890136e-03 -5.82126252e+00] [ 8.44921464e-03 9.99929625e-01 -8.32806934e-03 3.72845997e+00] [-2.61853079e-03 8.35046262e-03 9.99961706e-01 1.53434365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68925976399999 meters 0.13840244885574784 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99960394e-01 -8.64557677e-03 2.11294687e-03 -5.81999913e+00] [ 8.66437073e-03 9.99921478e-01 -9.05354928e-03 3.73232762e+00] [-2.03450780e-03 9.07149806e-03 9.99956783e-01 1.53472573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.749259763999994 meters 0.152009061929135 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99960771e-01 -8.63113594e-03 1.98994580e-03 -5.81954279e+00] [ 8.64896740e-03 9.99920885e-01 -9.13342751e-03 3.73308702e+00] [-1.91095651e-03 9.15028019e-03 9.99956309e-01 1.53455416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809259764 meters 0.15302408681805432 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99961130e-01 -8.60157648e-03 1.93678912e-03 -5.81928230e+00] [ 8.61896298e-03 9.99920946e-01 -9.15508881e-03 3.73351928e+00] [-1.85788781e-03 9.17142607e-03 9.99956216e-01 1.53438484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.869259764 meters 0.14578212823277395 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.53 [[ 9.99958733e-01 -8.90078402e-03 1.81879979e-03 -5.81926560e+00] [ 8.91787711e-03 9.99913993e-01 -9.61656232e-03 3.73552240e+00] [-1.73304841e-03 9.63238531e-03 9.99952106e-01 1.53480589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.929259763999994 meters 0.13711317616452537 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.53 [[ 9.99988623e-01 -4.38846107e-03 1.86938342e-03 -5.81906103e+00] [ 4.39773598e-03 9.99977897e-01 -4.98660329e-03 3.73488101e+00] [-1.84745858e-03 4.99476761e-03 9.99985819e-01 1.53416551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989259763999996 meters 0.13659754429718562 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.53 [[ 9.99988977e-01 -4.37845021e-03 1.69533266e-03 -5.81846920e+00] [ 4.38712809e-03 9.99977119e-01 -5.14925628e-03 3.73610024e+00] [-1.67274811e-03 5.15663717e-03 9.99985305e-01 1.53400557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.049259764 meters 0.13539641651910325 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.53 [[ 9.99990898e-01 -4.06460463e-03 1.29753972e-03 -5.81672056e+00] [ 4.07116775e-03 9.99978727e-01 -5.09620406e-03 3.73739326e+00] [-1.27679806e-03 5.10144018e-03 9.99986172e-01 1.53296663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.109259763999994 meters 0.13197794081111333 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99991421e-01 -4.09243292e-03 6.39963757e-04 -5.81498720e+00] [ 4.09606526e-03 9.99974898e-01 -5.78147292e-03 3.74132165e+00] [-6.16287402e-04 5.78404465e-03 9.99983082e-01 1.53294124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.169259763999996 meters 0.13311966463001876 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99992751e-01 -3.72980424e-03 7.65322473e-04 -5.81480751e+00] [ 3.73372587e-03 9.99979570e-01 -5.18835824e-03 3.73955268e+00] [-7.45955277e-04 5.19117813e-03 9.99986248e-01 1.53215618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.229259764 meters 0.13431512785770913 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99966446e-01 -8.17230646e-03 5.66266328e-04 -5.81460766e+00] [ 8.17745909e-03 9.99918651e-01 -9.78877001e-03 3.74057675e+00] [-4.86223435e-04 9.79307217e-03 9.99951929e-01 1.53275337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28925976399999 meters 0.13716106117599533 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99964892e-01 -8.36406191e-03 5.08046123e-04 -5.81473371e+00] [ 8.36874649e-03 9.99914472e-01 -1.00505043e-02 3.74166982e+00] [-4.23939630e-04 1.00544031e-02 9.99949363e-01 1.53317018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.349259763999996 meters 0.13414830026940236 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99968259e-01 -7.95789032e-03 3.90906978e-04 -5.81363523e+00] [ 7.96125200e-03 9.99922980e-01 -9.52117907e-03 3.74096985e+00] [-3.15108372e-04 9.52398897e-03 9.99954596e-01 1.53193303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.409259764 meters 0.1316686477921179 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99969909e-01 -7.74902568e-03 3.66431971e-04 -5.81306568e+00] [ 7.75210093e-03 9.99926638e-01 -9.30722351e-03 3.74095952e+00] [-2.94283175e-04 9.30978406e-03 9.99956620e-01 1.53117488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46925976399999 meters 0.133828453704744 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99969471e-01 -7.80049264e-03 4.57442410e-04 -5.81329856e+00] [ 7.80442287e-03 9.99925991e-01 -9.33292714e-03 3.74118204e+00] [-3.84607126e-04 9.33621229e-03 9.99956343e-01 1.53118140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.529259763999995 meters 0.13346857047009186 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99969706e-01 -7.76660751e-03 5.17162412e-04 -5.81342651e+00] [ 7.77104494e-03 9.99927331e-01 -9.21643503e-03 3.74086254e+00] [-4.45544397e-04 9.22017472e-03 9.99957394e-01 1.53111206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589259764 meters 0.13014766725872312 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99995242e-01 -2.96842142e-03 8.39609114e-04 -5.81331709e+00] [ 2.97174279e-03 9.99987653e-01 -3.98266794e-03 3.73846036e+00] [-8.27776511e-04 3.98514409e-03 9.99991717e-01 1.52947601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64925976399999 meters 0.13877782139935965 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99973545e-01 -7.27265765e-03 1.32150584e-04 -5.81168622e+00] [ 7.27354236e-03 9.99934390e-01 -8.84933747e-03 3.74161356e+00] [-6.77837118e-05 8.85006456e-03 9.99960835e-01 1.52987493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.709259763999995 meters 0.13802840399589922 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99974957e-01 -7.07544793e-03 1.50496166e-04 -5.81136436e+00] [ 7.07647513e-03 9.99938500e-01 -8.53932640e-03 3.74104886e+00] [-9.00673513e-05 8.54017754e-03 9.99963528e-01 1.52928471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769259764 meters 0.1336789719042421 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99976279e-01 -6.88678798e-03 1.16055999e-04 -5.81091907e+00] [ 6.88751274e-03 9.99942019e-01 -8.27769749e-03 3.74073529e+00] [-5.90425225e-05 8.27830047e-03 9.99965733e-01 1.52870722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82925976399999 meters 0.13349171680979677 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99981284e-01 -6.10207914e-03 4.43246911e-04 -5.81039531e+00] [ 6.10493025e-03 9.99958622e-01 -6.74420007e-03 3.73652432e+00] [-4.02074928e-04 6.74677983e-03 9.99977159e-01 1.52632249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.889259763999995 meters 0.13603644523478625 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99982753e-01 -5.84943815e-03 5.27483618e-04 -5.81028608e+00] [ 5.85262230e-03 9.99963330e-01 -6.25177105e-03 3.73515540e+00] [-4.90894927e-04 6.25475039e-03 9.99980318e-01 1.52574360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949259764 meters 0.13569154676199854 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.74, Z:1.53 [[ 9.99983283e-01 -5.77941329e-03 1.78622066e-04 -5.80936880e+00] [ 5.78044943e-03 9.99962300e-01 -6.47955570e-03 3.73664137e+00] [-1.41167302e-04 6.48047990e-03 9.99978992e-01 1.52580440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00925976399999 meters 0.13612926588187993 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.52 [[ 9.99985698e-01 -5.34141578e-03 2.71050269e-04 -5.80904707e+00] [ 5.34288955e-03 9.99969115e-01 -5.76398078e-03 3.73461233e+00] [-2.40254079e-04 5.76534654e-03 9.99983351e-01 1.52486301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.069259763999995 meters 0.13438843582281967 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.52 [[ 9.99988272e-01 -4.74995401e-03 9.45645886e-04 -5.81007479e+00] [ 4.75383870e-03 9.99980093e-01 -4.14901141e-03 3.72836517e+00] [-9.25919447e-04 4.15345820e-03 9.99990946e-01 1.52371718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129259764 meters 0.1395332070225815 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.52 [[ 9.99959226e-01 -8.97851192e-03 9.65319657e-04 -5.81059235e+00] [ 8.98612623e-03 9.99926033e-01 -8.19627944e-03 3.72668416e+00] [-8.91657862e-04 8.20461974e-03 9.99965944e-01 1.52447196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18925976399999 meters 0.15721683499783423 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.72, Z:1.52 [[ 9.99962259e-01 -8.58019825e-03 1.36421430e-03 -5.81139406e+00] [ 8.58954720e-03 9.99938597e-01 -7.00154995e-03 3.72206733e+00] [-1.30405584e-03 7.01300369e-03 9.99974558e-01 1.52395803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.249259763999994 meters 0.14826278377658977 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.72, Z:1.52 [[ 9.99964568e-01 -8.15413489e-03 2.09112888e-03 -5.81282977e+00] [ 8.16539324e-03 9.99951903e-01 -5.43305997e-03 3.71558943e+00] [-2.04672640e-03 5.44994236e-03 9.99983054e-01 1.52331532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309259764 meters 0.15995544426006328 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.71, Z:1.52 [[ 9.99968758e-01 -7.54759821e-03 2.34886598e-03 -5.81297253e+00] [ 7.55757346e-03 9.99962336e-01 -4.26734022e-03 3.71140261e+00] [-2.31656934e-03 4.28495862e-03 9.99988136e-01 1.52240602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.369259764 meters 0.1523034129305805 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.71, Z:1.52 [[ 9.99972910e-01 -6.96426116e-03 2.38304416e-03 -5.81213256e+00] [ 6.97206740e-03 9.99970305e-01 -3.28326818e-03 3.70903318e+00] [-2.36010785e-03 3.29979398e-03 9.99991771e-01 1.52082608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.429259763999994 meters 0.15483300753523654 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.70, Z:1.52 [[ 9.99975353e-01 -6.47148892e-03 2.72268669e-03 -5.81261441e+00] [ 6.47744837e-03 9.99976632e-01 -2.18571745e-03 3.70479444e+00] [-2.70847822e-03 2.20329964e-03 9.99993905e-01 1.52019474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489259763999996 meters 0.15815299618301235 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.70, Z:1.52 [[ 9.99938623e-01 -1.07594425e-02 2.64288401e-03 -5.81266744e+00] [ 1.07764356e-02 9.99920793e-01 -6.50195666e-03 3.70447503e+00] [-2.57271725e-03 6.53003845e-03 9.99975370e-01 1.52072957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.549259764 meters 0.16252519886946412 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.70, Z:1.52 [[ 9.99942539e-01 -1.03203703e-02 2.89987466e-03 -5.81304964e+00] [ 1.03363664e-02 9.99931141e-01 -5.55637506e-03 3.70094123e+00] [-2.84233112e-03 5.58602995e-03 9.99980359e-01 1.52023074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.609259763999994 meters 0.1721008849032045 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.52 [[ 9.99948519e-01 -9.54947250e-03 3.43024400e-03 -5.81380363e+00] [ 9.56252082e-03 9.99947028e-01 -3.80785827e-03 3.69407286e+00] [-3.39369926e-03 3.84046402e-03 9.99986867e-01 1.51927870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.669259763999996 meters 0.16776555023392986 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.52 [[ 9.99903889e-01 -1.33003032e-02 3.91329536e-03 -5.81472512e+00] [ 1.33253011e-02 9.99890522e-01 -6.43277642e-03 3.68762912e+00] [-3.82730907e-03 6.48430400e-03 9.99971652e-01 1.51883208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.729259764 meters 0.1772436217540089 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.68, Z:1.52 [[ 9.99906599e-01 -1.29835612e-02 4.26853850e-03 -5.81549257e+00] [ 1.30061945e-02 9.99901274e-01 -5.31807748e-03 3.68343631e+00] [-4.19906950e-03 5.37309821e-03 9.99976749e-01 1.51846613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78925976399999 meters 0.16442659136937496 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.68, Z:1.52 [[ 9.99908668e-01 -1.27537394e-02 4.47198491e-03 -5.81608224e+00] [ 1.27752608e-02 9.99906788e-01 -4.81739859e-03 3.68121795e+00] [-4.41012822e-03 4.87408938e-03 9.99978397e-01 1.51855676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.849259763999996 meters 0.17322593973030143 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.68, Z:1.52 [[ 9.99914725e-01 -1.21638912e-02 4.75210002e-03 -5.81604396e+00] [ 1.21816512e-02 9.99918857e-01 -3.72638266e-03 3.67782935e+00] [-4.70638711e-03 3.78395332e-03 9.99981766e-01 1.51726615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.909259764 meters 0.17616249141956866 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.68, Z:1.52 [[ 9.99915648e-01 -1.20280898e-02 4.90120335e-03 -5.81639556e+00] [ 1.20445787e-02 9.99921854e-01 -3.34872350e-03 3.67634543e+00] [-4.86054160e-03 3.40747395e-03 9.99982382e-01 1.51718076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96925976399999 meters 0.17817059647873137 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.52 [[ 9.99914774e-01 -1.22981406e-02 4.38182545e-03 -5.81498251e+00] [ 1.23170679e-02 9.99914814e-01 -4.31902391e-03 3.68126241e+00] [-4.32833621e-03 4.37262706e-03 9.99981073e-01 1.51715931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.029259763999995 meters 0.18074491999175424 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.52 [[ 9.99917357e-01 -1.22225852e-02 3.98597273e-03 -5.81324477e+00] [ 1.22410114e-02 9.99914349e-01 -4.63159984e-03 3.68420713e+00] [-3.92902121e-03 4.68000941e-03 9.99981330e-01 1.51609916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089259764 meters 0.17097388514329065 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.52 [[ 9.99960500e-01 -7.90959893e-03 4.05425140e-03 -5.81309983e+00] [ 7.91097619e-03 9.99968655e-01 -3.23784168e-04 3.68492047e+00] [-4.05156332e-03 3.55844464e-04 9.99991729e-01 1.51548702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14925976399999 meters 0.17094427190977082 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.51 [[ 9.99962175e-01 -7.79808343e-03 3.85197949e-03 -5.81218975e+00] [ 7.79958915e-03 9.99969512e-01 -3.76025584e-04 3.68593796e+00] [-3.84892977e-03 4.06055219e-04 9.99992510e-01 1.51494496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.209259763999995 meters 0.17202276660744212 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.51 [[ 9.99963417e-01 -7.62811995e-03 3.86985326e-03 -5.81196035e+00] [ 7.62869018e-03 9.99970892e-01 -1.32613016e-04 3.68543912e+00] [-3.86872903e-03 1.62130076e-04 9.99992503e-01 1.51452256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269259764 meters 0.17792710409395462 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99964754e-01 -7.41998833e-03 3.92855625e-03 -5.81197374e+00] [ 7.41907270e-03 9.99972448e-01 2.47592792e-04 3.68415236e+00] [-3.93028514e-03 -2.18437821e-04 9.99992253e-01 1.51426758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32925976399999 meters 0.1731391107300948 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99966015e-01 -7.19721923e-03 4.02110353e-03 -5.81198534e+00] [ 7.19449815e-03 9.99973881e-01 6.90755644e-04 3.68279496e+00] [-4.02597002e-03 -6.61802346e-04 9.99991677e-01 1.51387484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389259763999995 meters 0.16963343530255437 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99968005e-01 -6.93725287e-03 3.98285576e-03 -5.81157259e+00] [ 6.93300344e-03 9.99975384e-01 1.07974656e-03 3.68181939e+00] [-3.99024819e-03 -1.05209886e-03 9.99991485e-01 1.51335610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449259764 meters 0.1695945200853207 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99966878e-01 -7.06492553e-03 4.04104047e-03 -5.81203216e+00] [ 7.06143132e-03 9.99974682e-01 8.78296231e-04 3.68215361e+00] [-4.04714325e-03 -8.49731610e-04 9.99991449e-01 1.51386537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50925976399999 meters 0.1741737107759261 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99966402e-01 -7.08853560e-03 4.11664702e-03 -5.81223718e+00] [ 7.08491578e-03 9.99974503e-01 8.93229900e-04 3.68204909e+00] [-4.12287375e-03 -8.64033793e-04 9.99991128e-01 1.51387115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569259763999995 meters 0.16421937968352507 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.51 [[ 9.99965582e-01 -7.52906955e-03 3.48550631e-03 -5.81110248e+00] [ 7.53050079e-03 9.99971566e-01 -3.97684646e-04 3.68748184e+00] [-3.48241301e-03 4.23918566e-04 9.99993847e-01 1.51467186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629259764 meters 0.17029984747934382 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.51 [[ 9.99969418e-01 -7.40729509e-03 2.50908711e-03 -5.80825899e+00] [ 7.41058136e-03 9.99971692e-01 -1.30299401e-03 3.69360604e+00] [-2.49936442e-03 1.32154796e-03 9.99996003e-01 1.51383173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68925976399999 meters 0.1624816074555116 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.70, Z:1.51 [[ 9.99968945e-01 -7.65223873e-03 1.88466715e-03 -5.80692307e+00] [ 7.65695582e-03 9.99967539e-01 -2.50851016e-03 3.69838258e+00] [-1.86541026e-03 2.52286307e-03 9.99995078e-01 1.51445965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.749259763999994 meters 0.1525704064022266 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.71, Z:1.52 [[ 9.99965325e-01 -8.25363709e-03 1.10718035e-03 -5.80590956e+00] [ 8.25864858e-03 9.99955312e-01 -4.60084104e-03 3.70538829e+00] [-1.06915720e-03 4.60982532e-03 9.99988803e-01 1.51665106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809259764 meters 0.15791680245444123 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.52 [[ 9.99966345e-01 -8.15431147e-03 9.03299651e-04 -5.80482417e+00] [ 8.15846443e-03 9.99955705e-01 -4.69344887e-03 3.70699579e+00] [-8.64987795e-04 4.70066045e-03 9.99988578e-01 1.51584032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86925976399999 meters 0.15760266263418865 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.52 [[ 9.99967434e-01 -8.01949206e-03 9.04859142e-04 -5.80450639e+00] [ 8.02349107e-03 9.99957659e-01 -4.50597792e-03 3.70679796e+00] [-8.68685176e-04 4.51309131e-03 9.99989439e-01 1.51535628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929259763999994 meters 0.15682491441148952 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.51 [[ 9.99969411e-01 -7.81190126e-03 3.88334061e-04 -5.80272923e+00] [ 7.81360912e-03 9.99958845e-01 -4.61033012e-03 3.70894521e+00] [-3.52302636e-04 4.61322338e-03 9.99989297e-01 1.51463687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989259763999996 meters 0.14999869011738495 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.51 [[ 9.99971086e-01 -7.59003033e-03 4.67737548e-04 -5.80261255e+00] [ 7.59194889e-03 9.99962164e-01 -4.24645397e-03 3.70801542e+00] [-4.35489137e-04 4.24988222e-03 9.99990874e-01 1.51411325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.049259764 meters 0.1480421700351431 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.51 [[ 9.99972775e-01 -7.35548257e-03 5.87835763e-04 -5.80274195e+00] [ 7.35765987e-03 9.99965743e-01 -3.79180557e-03 3.70648555e+00] [-5.59925065e-04 3.79602743e-03 9.99992638e-01 1.51376773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.109259763999994 meters 0.15600460683225348 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.51 [[ 9.99973931e-01 -7.20089935e-03 5.33177443e-04 -5.80266762e+00] [ 7.20274652e-03 9.99967767e-01 -3.54762145e-03 3.70563882e+00] [-5.07614192e-04 3.55136931e-03 9.99993565e-01 1.51383354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.169259763999996 meters 0.15132420954860906 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.51 [[ 9.99976234e-01 -6.85982097e-03 6.88262519e-04 -5.80293356e+00] [ 6.86176307e-03 9.99972367e-01 -2.86022112e-03 3.70311911e+00] [-6.68622895e-04 2.86487584e-03 9.99995673e-01 1.51354475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.229259764 meters 0.15410817958700154 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.51 [[ 9.99937900e-01 -1.11227497e-02 6.92681614e-04 -5.80354032e+00] [ 1.11272930e-02 9.99913989e-01 -6.94251269e-03 3.70138282e+00] [-6.15402204e-04 6.94978924e-03 9.99975661e-01 1.51450663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28925976399999 meters 0.15230154642655383 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.52 [[ 9.99936473e-01 -1.12583804e-02 5.47084815e-04 -5.80367999e+00] [ 1.12620427e-02 9.99910448e-01 -7.22932888e-03 3.70203670e+00] [-4.65645287e-04 7.23503092e-03 9.99973718e-01 1.51533190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.349259763999996 meters 0.15316616693367116 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.52 [[ 9.99939243e-01 -1.10057874e-02 6.18199050e-04 -5.80388108e+00] [ 1.10096928e-02 9.99916838e-01 -6.71594258e-03 3.70001803e+00] [-5.44233403e-04 6.72234072e-03 9.99977257e-01 1.51527799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.409259764 meters 0.16592260089544353 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.51 [[ 9.99944436e-01 -1.05165645e-02 7.25328092e-04 -5.80363148e+00] [ 1.05205881e-02 9.99927913e-01 -5.78663676e-03 3.69719490e+00] [-6.64420267e-04 5.79394611e-03 9.99982994e-01 1.51430300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46925976399999 meters 0.1575049898805962 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.51 [[ 9.99945677e-01 -1.03943160e-02 7.74907202e-04 -5.80404512e+00] [ 1.03983922e-02 9.99931049e-01 -5.45621390e-03 3.69557840e+00] [-7.18140160e-04 5.46397529e-03 9.99984815e-01 1.51466091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.529259763999995 meters 0.16590264684424277 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99947459e-01 -1.02117144e-02 8.94938569e-04 -5.80479197e+00] [ 1.02160158e-02 9.99935606e-01 -4.94137261e-03 3.69293112e+00] [-8.44421055e-04 4.95025569e-03 9.99987391e-01 1.51527419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589259764 meters 0.1737617720522596 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.51 [[ 9.99953339e-01 -9.61003021e-03 9.83755245e-04 -5.80473369e+00] [ 9.61377858e-03 9.99946262e-01 -3.87921897e-03 3.68904202e+00] [-9.46422969e-04 3.88849557e-03 9.99991992e-01 1.51474258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64925976399999 meters 0.176778886723601 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.69, Z:1.51 [[ 9.99957000e-01 -9.19188602e-03 1.22741007e-03 -5.80519166e+00] [ 9.19548050e-03 9.99953352e-01 -2.95569797e-03 3.68545098e+00] [-1.20018438e-03 2.96685750e-03 9.99994879e-01 1.51440836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.709259763999995 meters 0.16878424761347285 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99959673e-01 -8.81815038e-03 1.70070384e-03 -5.80646117e+00] [ 8.82064584e-03 9.99960024e-01 -1.46543469e-03 3.67916945e+00] [-1.68771343e-03 1.48037690e-03 9.99997480e-01 1.51432630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769259764 meters 0.16391481697903662 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.68, Z:1.51 [[ 9.99961971e-01 -8.58477982e-03 1.53532074e-03 -5.80611128e+00] [ 8.58653266e-03 9.99962487e-01 -1.13875208e-03 3.67808160e+00] [-1.52548721e-03 1.15189185e-03 9.99998173e-01 1.51438591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82925976399999 meters 0.17517779936161496 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.67, Z:1.51 [[ 9.99965203e-01 -8.17810413e-03 1.64637744e-03 -5.80649858e+00] [ 8.17874838e-03 9.99966479e-01 -3.84959585e-04 3.67484106e+00] [-1.64317402e-03 3.98411497e-04 9.99998571e-01 1.51450251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.889259763999995 meters 0.17613630985342474 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.67, Z:1.51 [[ 9.99924743e-01 -1.21530432e-02 1.67660191e-03 -5.80679705e+00] [ 1.21598077e-02 9.99917722e-01 -4.08524633e-03 3.67197929e+00] [-1.62681579e-03 4.10532605e-03 9.99990250e-01 1.51491114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949259764 meters 0.18610473217719914 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.67, Z:1.52 [[ 9.99928827e-01 -1.18022187e-02 1.74614176e-03 -5.80715007e+00] [ 1.18079765e-02 9.99924756e-01 -3.32467433e-03 3.66880639e+00] [-1.70677184e-03 3.34505610e-03 9.99992949e-01 1.51508197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00925976399999 meters 0.18693697210083093 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.66, Z:1.51 [[ 9.99936246e-01 -1.10717240e-02 2.21813385e-03 -5.80765843e+00] [ 1.10752274e-02 9.99937430e-01 -1.57344885e-03 3.66240752e+00] [-2.20057427e-03 1.59791488e-03 9.99996302e-01 1.51380179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.069259763999995 meters 0.18480888812450533 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.66, Z:1.51 [[ 9.99942133e-01 -1.04744705e-02 2.45271239e-03 -5.80779580e+00] [ 1.04752677e-02 9.99945084e-01 -3.12417940e-04 3.65806089e+00] [-2.44930529e-03 3.38092680e-04 9.99996943e-01 1.51294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129259764 meters 0.18533080202196997 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.65, Z:1.51 [[ 9.99946791e-01 -9.90248824e-03 2.89070455e-03 -5.80866527e+00] [ 9.89925621e-03 9.99950362e-01 1.13025191e-03 3.65218616e+00] [-2.90175337e-03 -1.10157594e-03 9.99995183e-01 1.51250342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18925976399999 meters 0.21234067341049942 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.65, Z:1.51 [[ 9.99901779e-01 -1.36695553e-02 3.09446618e-03 -5.80928215e+00] [ 1.36759764e-02 9.99904350e-01 -2.06346796e-03 3.64730726e+00] [-3.06596350e-03 2.10558513e-03 9.99993083e-01 1.51276149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.249259763999994 meters 0.26081586642364263 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99884012e-01 -1.45684880e-02 4.44086561e-03 -5.81309858e+00] [ 1.45771300e-02 9.99891905e-01 -1.91990740e-03 3.63925713e+00] [-4.41241543e-03 1.98441979e-03 9.99988296e-01 1.51440210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309259764 meters 0.21288041143938197 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99887840e-01 -1.42880584e-02 4.48990557e-03 -5.81338462e+00] [ 1.42943326e-02 9.99896894e-01 -1.36843416e-03 3.63704318e+00] [-4.46989036e-03 1.43246088e-03 9.99988984e-01 1.51456311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36925976399999 meters 0.26533615375647207 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99822763e-01 -1.80526533e-02 5.34276963e-03 -5.81477663e+00] [ 1.80727277e-02 9.99829705e-01 -3.73318267e-03 3.63008755e+00] [-5.27446593e-03 3.82907943e-03 9.99978759e-01 1.51337807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.429259763999994 meters 0.2673533995026686 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.62, Z:1.51 [[ 9.99825998e-01 -1.75971750e-02 6.18969178e-03 -5.81597657e+00] [ 1.76089366e-02 9.99843238e-01 -1.85085077e-03 3.62418537e+00] [-6.15615173e-03 1.95952261e-03 9.99979131e-01 1.51134653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489259763999996 meters 0.26273881174175484 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.62, Z:1.51 [[ 9.99890673e-01 -1.33684198e-02 6.31881987e-03 -5.81609958e+00] [ 1.33531752e-02 9.99907844e-01 2.44862488e-03 3.62478041e+00] [-6.35097180e-03 -2.36398087e-03 9.99977038e-01 1.51081779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54925976399999 meters 0.25456719810348605 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99898005e-01 -1.29364343e-02 6.05209031e-03 -5.81421731e+00] [ 1.29197976e-02 9.99912671e-01 2.77998304e-03 3.62556223e+00] [-6.08752486e-03 -2.70150772e-03 9.99977822e-01 1.50893248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.609259763999994 meters 0.24742565015487641 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99898755e-01 -1.32199139e-02 5.26444606e-03 -5.81237089e+00] [ 1.32115510e-02 9.99911411e-01 1.62019372e-03 3.63103040e+00] [-5.28539851e-03 -1.55047819e-03 9.99984830e-01 1.50916770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669259763999996 meters 0.2394852321991775 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99895964e-01 -1.35263022e-02 5.00995034e-03 -5.81206872e+00] [ 1.35221188e-02 9.99908195e-01 8.67944990e-04 3.63371737e+00] [-5.02123049e-03 -8.00109549e-04 9.99987073e-01 1.50979794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.729259764 meters 0.23442558955124945 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99898285e-01 -1.33394021e-02 5.04774337e-03 -5.81193109e+00] [ 1.33339536e-02 9.99910481e-01 1.11149891e-03 3.63307022e+00] [-5.06211823e-03 -1.04407948e-03 9.99986642e-01 1.50942409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78925976399999 meters 0.2342701583303677 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99899404e-01 -1.32244059e-02 5.12814391e-03 -5.81192828e+00] [ 1.32177775e-02 9.99911764e-01 1.32430489e-03 3.63253574e+00] [-5.14520457e-03 -1.25638900e-03 9.99985974e-01 1.50908894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.849259763999996 meters 0.2325183920348535 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99902126e-01 -1.29334072e-02 5.33533162e-03 -5.81224349e+00] [ 1.29230403e-02 9.99914548e-01 1.97299793e-03 3.63022395e+00] [-5.36039329e-03 -1.90385612e-03 9.99983821e-01 1.50870990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.909259764 meters 0.23065779085169458 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99906315e-01 -1.24399116e-02 5.71042114e-03 -5.81288577e+00] [ 1.24232502e-02 9.99918495e-01 2.94397470e-03 3.62621362e+00] [-5.74657850e-03 -2.87275691e-03 9.99979362e-01 1.50822952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96925976399999 meters 0.22598986706686394 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.62, Z:1.51 [[ 9.99910595e-01 -1.19751791e-02 5.94956100e-03 -5.81289814e+00] [ 1.19527738e-02 9.99921391e-01 3.78727434e-03 3.62352486e+00] [-5.99444660e-03 -3.71582198e-03 9.99975129e-01 1.50726415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.029259763999995 meters 0.22338574870198744 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.62, Z:1.51 [[ 9.99913691e-01 -1.16725902e-02 6.03000361e-03 -5.81280664e+00] [ 1.16469538e-02 9.99923058e-01 4.26924493e-03 3.62202463e+00] [-6.07937280e-03 -4.19864529e-03 9.99972706e-01 1.50678901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089259764 meters 0.2188233182476204 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.62, Z:1.51 [[ 9.99915280e-01 -1.16187882e-02 5.86820854e-03 -5.81206947e+00] [ 1.15941650e-02 9.99923911e-01 4.21276770e-03 3.62287403e+00] [-5.91670929e-03 -4.14437381e-03 9.99973908e-01 1.50628657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14925976399999 meters 0.20673236506195616 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.50 [[ 9.99923904e-01 -1.13055045e-02 4.93669267e-03 -5.80865389e+00] [ 1.12872192e-02 9.99929392e-01 3.71623503e-03 3.62886371e+00] [-4.97835801e-03 -3.66023071e-03 9.99980909e-01 1.50416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.209259763999995 meters 0.20500094683806122 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99921644e-01 -1.18370723e-02 4.07291990e-03 -5.80712673e+00] [ 1.18300629e-02 9.99928507e-01 1.74078609e-03 3.63630948e+00] [-4.09323453e-03 -1.69246679e-03 9.99990190e-01 1.50538563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269259764 meters 0.18815377894643073 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.64, Z:1.51 [[ 9.99986428e-01 -4.65866480e-03 2.33250936e-03 -5.79390885e+00] [ 4.66018083e-03 9.99988933e-01 -6.44942874e-04 3.64214846e+00] [-2.32947898e-03 6.55804036e-04 9.99997072e-01 1.51045790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32925976399999 meters 0.20367892718651512 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99986963e-01 -4.79867680e-03 1.74547350e-03 -5.79138312e+00] [ 4.80152315e-03 9.99987144e-01 -1.63018431e-03 3.64839705e+00] [-1.73762834e-03 1.63854399e-03 9.99997148e-01 1.50888363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.389259763999995 meters 0.20083693534786992 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99987200e-01 -4.92490758e-03 1.15961299e-03 -5.78973294e+00] [ 4.92751674e-03 9.99985310e-01 -2.25802346e-03 3.65250665e+00] [-1.14847540e-03 2.26370857e-03 9.99996778e-01 1.50867636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449259764 meters 0.20117074713469424 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99954405e-01 -9.48626385e-03 1.09460267e-03 -5.79028556e+00] [ 9.49358445e-03 9.99931207e-01 -6.88864590e-03 3.65306879e+00] [-1.02917986e-03 6.89872352e-03 9.99975674e-01 1.50988563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50925976399999 meters 0.20363731278521874 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99959087e-01 -8.88147591e-03 1.71592009e-03 -5.79128017e+00] [ 8.89032122e-03 9.99946867e-01 -5.21788547e-03 3.64679253e+00] [-1.66948639e-03 5.23292707e-03 9.99984915e-01 1.50878117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.569259763999995 meters 0.1983733599677108 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.64, Z:1.51 [[ 9.99963065e-01 -8.42168239e-03 1.71591431e-03 -5.79087469e+00] [ 8.42908964e-03 9.99954986e-01 -4.35629347e-03 3.64435841e+00] [-1.67914975e-03 4.37059616e-03 9.99989039e-01 1.50802479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629259764 meters 0.201218118608009 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.64, Z:1.51 [[ 9.99966858e-01 -7.86269258e-03 2.11201602e-03 -5.79134954e+00] [ 7.86940005e-03 9.99963959e-01 -3.18654847e-03 3.63992203e+00] [-2.08688505e-03 3.20306316e-03 9.99992693e-01 1.50719101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68925976399999 meters 0.1941116401003329 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.64, Z:1.51 [[ 9.99967660e-01 -7.93744168e-03 1.29463954e-03 -5.78913139e+00] [ 7.94237739e-03 9.99961036e-01 -3.85290794e-03 3.64472897e+00] [-1.26400686e-03 3.86306585e-03 9.99991739e-01 1.50677742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.749259763999994 meters 0.19389637173571542 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99966964e-01 -8.10934681e-03 5.56462328e-04 -5.78727496e+00] [ 8.11189786e-03 9.99955833e-01 -4.74647933e-03 3.64975648e+00] [-5.17946904e-04 4.75083649e-03 9.99988581e-01 1.50669961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809259764 meters 0.1787631109821841 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.66, Z:1.51 [[ 9.99963791e-01 -8.49902015e-03 -4.28730126e-04 -5.78603821e+00] [ 8.49588653e-03 9.99940471e-01 -6.84650976e-03 3.65546984e+00] [ 4.86893228e-04 6.84261941e-03 9.99976470e-01 1.50961676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86925976399999 meters 0.17544680235569188 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.66, Z:1.51 [[ 9.99962803e-01 -8.54894025e-03 -1.14379871e-03 -5.78434856e+00] [ 8.54014252e-03 9.99935501e-01 -7.48733657e-03 3.65926955e+00] [ 1.20773373e-03 7.47728986e-03 9.99971315e-01 1.50971670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.929259763999994 meters 0.17349541601571689 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.66, Z:1.51 [[ 9.99966593e-01 -8.05709139e-03 -1.37674450e-03 -5.78276308e+00] [ 8.04726494e-03 9.99943120e-01 -6.99984334e-03 3.65917972e+00] [ 1.43306457e-03 6.98853047e-03 9.99974553e-01 1.50818313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989259763999996 meters 0.18610937165163235 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.66, Z:1.51 [[ 9.99927313e-01 -1.20216521e-02 -9.20757143e-04 -5.78353074e+00] [ 1.20115326e-02 9.99874771e-01 -1.03036561e-02 3.65522198e+00] [ 1.04450881e-03 1.02918474e-02 9.99946492e-01 1.50772785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04925976399999 meters 0.1917838312518865 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99924973e-01 -1.22481317e-02 -1.80482079e-04 -5.78569769e+00] [ 1.22458015e-02 9.99877851e-01 -9.71204847e-03 3.65165701e+00] [ 2.99414482e-04 9.70910965e-03 9.99952821e-01 1.50851911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.109259763999994 meters 0.20499203218464276 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99926556e-01 -1.21184209e-02 1.62801847e-04 -5.78645058e+00] [ 1.21193984e-02 9.99885537e-01 -9.05723510e-03 3.64922604e+00] [-5.30238254e-05 9.05854296e-03 9.99958969e-01 1.50827841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169259763999996 meters 0.19618632321999468 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99931183e-01 -1.17043939e-02 7.97222021e-04 -5.78703874e+00] [ 1.17103028e-02 9.99900528e-01 -7.86143135e-03 3.64549341e+00] [-7.05129431e-04 7.87022607e-03 9.99968781e-01 1.50660924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22925976399999 meters 0.20849936116241616 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.64, Z:1.51 [[ 9.99933192e-01 -1.15153904e-02 1.00377413e-03 -5.78719108e+00] [ 1.15225980e-02 9.99905503e-01 -7.49759184e-03 3.64442566e+00] [-9.17341580e-04 7.50865703e-03 9.99971389e-01 1.50602623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28925976399999 meters 0.1993153908713094 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.51 [[ 9.99929509e-01 -1.18726240e-02 1.31124100e-04 -5.78519650e+00] [ 1.18733128e-02 9.99892487e-01 -8.60459488e-03 3.65066774e+00] [-2.89508825e-05 8.60554521e-03 9.99962971e-01 1.50626222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.349259763999996 meters 0.19019034145118177 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.65, Z:1.50 [[ 9.99970952e-01 -7.62184780e-03 5.96548317e-05 -5.78414378e+00] [ 7.62204257e-03 9.99960184e-01 -4.64050922e-03 3.65356717e+00] [-2.42832016e-05 4.64082911e-03 9.99989231e-01 1.50495085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.409259764 meters 0.2118446530161326 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.66, Z:1.50 [[ 9.99970670e-01 -7.65787271e-03 -1.23472281e-04 -5.78280377e+00] [ 7.65714912e-03 9.99957854e-01 -5.06530365e-03 3.65668933e+00] [ 1.62256528e-04 5.06420964e-03 9.99987164e-01 1.50375727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46925976399999 meters 0.20482453298560666 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.66, Z:1.50 [[ 9.99991745e-01 -4.03561445e-03 -4.72944246e-04 -5.78255529e+00] [ 4.03453335e-03 9.99989296e-01 -2.26498003e-03 3.66198055e+00] [ 4.82079770e-04 2.26305322e-03 9.99997323e-01 1.50497922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.529259763999995 meters 0.19460015073280057 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.67, Z:1.51 [[ 9.99989521e-01 -4.38218330e-03 -1.32435490e-03 -5.78043217e+00] [ 4.37725180e-03 9.99983560e-01 -3.70393848e-03 3.66893457e+00] [ 1.34056446e-03 3.69810263e-03 9.99992263e-01 1.50515911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589259764 meters 0.18826390143906604 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.67, Z:1.50 [[ 9.99990428e-01 -3.96668347e-03 -1.84627858e-03 -5.77760299e+00] [ 3.95978892e-03 9.99985229e-01 -3.72308951e-03 3.67190149e+00] [ 1.86101963e-03 3.71574300e-03 9.99991365e-01 1.50281847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64925976399999 meters 0.1833614574128149 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.68, Z:1.50 [[ 9.99988974e-01 -4.12414491e-03 -2.24568658e-03 -5.77620720e+00] [ 4.11434867e-03 9.99982077e-01 -4.34953346e-03 3.67557366e+00] [ 2.26358444e-03 4.34024597e-03 9.99988019e-01 1.50235516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.709259763999995 meters 0.1823153980453225 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.68, Z:1.50 [[ 9.99988120e-01 -4.29108421e-03 -2.31229636e-03 -5.77616369e+00] [ 4.28024605e-03 9.99979926e-01 -4.67192074e-03 3.67671933e+00] [ 2.33229755e-03 4.66196804e-03 9.99986413e-01 1.50262563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769259764 meters 0.1797546677103322 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.68, Z:1.50 [[ 9.99987080e-01 -4.45427562e-03 -2.44921030e-03 -5.77589952e+00] [ 4.44183289e-03 9.99977320e-01 -5.06248745e-03 3.67837275e+00] [ 2.47170446e-03 5.05154306e-03 9.99984186e-01 1.50282852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82925976399999 meters 0.17985013631132565 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.50 [[ 9.99988641e-01 -4.00278912e-03 -2.58749743e-03 -5.77439014e+00] [ 3.99123905e-03 9.99982117e-01 -4.45365555e-03 3.67792228e+00] [ 2.60527820e-03 4.44327764e-03 9.99986735e-01 1.50103585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.889259763999995 meters 0.18317194827217845 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.50 [[ 9.99988015e-01 -4.02336854e-03 -2.78953870e-03 -5.77356920e+00] [ 4.01007201e-03 9.99980650e-01 -4.75589211e-03 3.67977625e+00] [ 2.80861943e-03 4.74464886e-03 9.99984800e-01 1.50065283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949259764 meters 0.17825089647244535 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.50 [[ 9.99986320e-01 -4.15589996e-03 -3.17628763e-03 -5.77220397e+00] [ 4.13911173e-03 9.99977527e-01 -5.27391146e-03 3.68335550e+00] [ 3.19813410e-03 5.26069230e-03 9.99981048e-01 1.50010322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00925976399999 meters 0.16819094371096485 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99983210e-01 -4.45225077e-03 -3.70915225e-03 -5.77070844e+00] [ 4.42933512e-03 9.99971195e-01 -6.16361166e-03 3.68845853e+00] [ 3.73648735e-03 6.14707910e-03 9.99974126e-01 1.49991643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.069259763999995 meters 0.17307898890271556 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99983513e-01 -4.18619805e-03 -3.93054392e-03 -5.76899834e+00] [ 4.16207884e-03 9.99972583e-01 -6.12461057e-03 3.69021286e+00] [ 3.95607499e-03 6.10815036e-03 9.99973520e-01 1.49822995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129259764 meters 0.1756775605796543 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99981546e-01 -4.31217230e-03 -4.27941045e-03 -5.76780839e+00] [ 4.28361372e-03 9.99968645e-01 -6.66036166e-03 3.69343822e+00] [ 4.30799689e-03 6.64190741e-03 9.99968663e-01 1.49786143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18925976399999 meters 0.17155529867776537 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.70, Z:1.50 [[ 9.99978160e-01 -4.42406219e-03 -4.90995709e-03 -5.76597831e+00] [ 4.38764261e-03 9.99962967e-01 -7.40364267e-03 3.69806014e+00] [ 4.94252943e-03 7.38193784e-03 9.99960538e-01 1.49756863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.249259763999994 meters 0.1525018313762404 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.70, Z:1.50 [[ 9.99978075e-01 -4.28582532e-03 -5.04798111e-03 -5.76491260e+00] [ 4.24828321e-03 9.99963414e-01 -7.42444490e-03 3.69947492e+00] [ 5.07961630e-03 7.40283686e-03 9.99959697e-01 1.49654350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309259764 meters 0.16409630526939448 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.70, Z:1.50 [[ 9.99979369e-01 -4.14654231e-03 -4.90589653e-03 -5.76484154e+00] [ 4.11119730e-03 9.99965680e-01 -7.19287856e-03 3.69909867e+00] [ 4.93555373e-03 7.17256106e-03 9.99962097e-01 1.49587736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36925976399999 meters 0.1578752554796051 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.70, Z:1.50 [[ 9.99980782e-01 -3.90604414e-03 -4.81436076e-03 -5.76484707e+00] [ 3.87344493e-03 9.99969635e-01 -6.76207054e-03 3.69778250e+00] [ 4.84062751e-03 6.74329243e-03 9.99965548e-01 1.49546132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.429259763999994 meters 0.17983937133650568 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99983933e-01 -3.41409234e-03 -4.52530028e-03 -5.76548757e+00] [ 3.38840690e-03 9.99978176e-01 -5.67152942e-03 3.69346766e+00] [ 4.54456465e-03 5.65610473e-03 9.99973677e-01 1.49524625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489259763999996 meters 0.16479287632213976 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.49 [[ 9.99969087e-01 -6.70352204e-03 -4.10943090e-03 -5.76586855e+00] [ 6.67244311e-03 9.99949384e-01 -7.53045630e-03 3.68483372e+00] [ 4.15970348e-03 7.50280356e-03 9.99963202e-01 1.49382530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54925976399999 meters 0.19120742090228057 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.49 [[ 9.99974861e-01 -6.13424910e-03 -3.55653613e-03 -5.76693444e+00] [ 6.11344848e-03 9.99964316e-01 -5.83022753e-03 3.67847219e+00] [ 3.59217329e-03 5.80833826e-03 9.99976679e-01 1.49307688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.609259763999994 meters 0.17827069178869548 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.67, Z:1.49 [[ 9.99978456e-01 -5.74896288e-03 -3.16799374e-03 -5.76761701e+00] [ 5.73404500e-03 9.99972524e-01 -4.69806625e-03 3.67436513e+00] [ 3.19491571e-03 4.67979962e-03 9.99983946e-01 1.49244235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669259763999996 meters 0.18697869246977478 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.67, Z:1.49 [[ 9.99978492e-01 -5.74978226e-03 -3.15527636e-03 -5.76771508e+00] [ 5.73498267e-03 9.99972605e-01 -4.67959740e-03 3.67427818e+00] [ 3.18209659e-03 4.66140130e-03 9.99984073e-01 1.49256218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72925976399999 meters 0.1852475700581393 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.49 [[ 9.99976685e-01 -5.89980938e-03 -3.43821515e-03 -5.76737312e+00] [ 5.88186493e-03 9.99969150e-01 -5.20606595e-03 3.67604878e+00] [ 3.46882387e-03 5.18572145e-03 9.99980538e-01 1.49327217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78925976399999 meters 0.18414237670530903 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.49 [[ 9.99977439e-01 -5.83359462e-03 -3.33032893e-03 -5.76737511e+00] [ 5.81667799e-03 9.99970246e-01 -5.06685216e-03 3.67589137e+00] [ 3.35978780e-03 5.04736639e-03 9.99981618e-01 1.49285396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.849259763999996 meters 0.17991827309155117 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.68, Z:1.49 [[ 9.99975923e-01 -5.99922948e-03 -3.48752796e-03 -5.76709174e+00] [ 5.98010099e-03 9.99967160e-01 -5.46962388e-03 3.67752917e+00] [ 3.52022696e-03 5.44863641e-03 9.99978960e-01 1.49311978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90925976399999 meters 0.17040393164039166 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99968240e-01 -6.60182543e-03 -4.46484929e-03 -5.76565810e+00] [ 6.56777109e-03 9.99949556e-01 -7.59933866e-03 3.68507686e+00] [ 4.51479357e-03 7.56977320e-03 9.99961157e-01 1.49531081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96925976399999 meters 0.16273390638201446 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.69, Z:1.49 [[ 9.99986458e-01 -2.15145110e-03 -4.73862391e-03 -5.76353207e+00] [ 2.13437318e-03 9.99991220e-01 -3.60609646e-03 3.68876793e+00] [ 4.74634065e-03 3.59593364e-03 9.99982271e-01 1.49317440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.029259763999995 meters 0.17450125388512416 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.69, Z:1.49 [[ 9.99983252e-01 -2.66399776e-03 -5.13792385e-03 -5.76256796e+00] [ 2.63884070e-03 9.99984528e-01 -4.89692647e-03 3.69444218e+00] [ 5.15088975e-03 4.88328630e-03 9.99974811e-01 1.49347857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089259764 meters 0.14990717411764995 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.70, Z:1.50 [[ 9.99983334e-01 5.59675733e-04 -5.74620711e-03 -5.76202759e+00] [-5.79250019e-04 9.99994034e-01 -3.40537171e-03 3.70367920e+00] [ 5.74426692e-03 3.40864345e-03 9.99977692e-01 1.49596061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14925976399999 meters 0.14730948522608972 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.71, Z:1.50 [[ 9.99979399e-01 9.30881110e-05 -6.41812860e-03 -5.76046503e+00] [-1.25550459e-04 9.99987202e-01 -5.05769748e-03 3.71048234e+00] [ 6.41757565e-03 5.05839909e-03 9.99966613e-01 1.49649343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.209259763999995 meters 0.14247165368558445 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.71, Z:1.50 [[ 9.99976321e-01 -1.75111222e-04 -6.87949165e-03 -5.75945910e+00] [ 1.33380363e-04 9.99981593e-01 -6.06597064e-03 3.71443857e+00] [ 6.88042723e-03 6.06490941e-03 9.99957937e-01 1.49695406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269259764 meters 0.13689892486721822 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.72, Z:1.50 [[ 9.99968718e-01 -5.66570047e-04 -7.88931117e-03 -5.75767370e+00] [ 5.02343244e-04 9.99966739e-01 -8.14059318e-03 3.72162374e+00] [ 7.89366098e-03 8.13637539e-03 9.99935743e-01 1.49895608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32925976399999 meters 0.13294761683105877 Centerline is valid? [False, False] Translation: X:-5.76, Y:3.72, Z:1.50 [[ 9.99967165e-01 -5.95995172e-04 -8.08164068e-03 -5.75686340e+00] [ 5.28131285e-04 9.99964607e-01 -8.39682640e-03 3.72339863e+00] [ 8.08635911e-03 8.39228252e-03 9.99932088e-01 1.49854080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.389259763999995 meters 0.13960277063924634 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.72, Z:1.49 [[ 9.99994625e-01 -3.24408908e-03 -4.74494763e-04 -5.74826015e+00] [ 3.24440839e-03 9.99994510e-01 6.73722001e-04 3.72225841e+00] [ 4.72306544e-04 -6.75257834e-04 9.99999660e-01 1.49412905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449259764 meters 0.13302419782832067 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.73, Z:1.49 [[ 9.99993309e-01 -3.47384031e-03 -1.14632307e-03 -5.74678035e+00] [ 3.47342104e-03 9.99993900e-01 -3.67540388e-04 3.72686891e+00] [ 1.14759286e-03 3.63556267e-04 9.99999275e-01 1.49458039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50925976399999 meters 0.13003916062405296 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.50 [[ 9.99992281e-01 -6.43143930e-04 -3.87604471e-03 -5.73225643e+00] [ 6.27978314e-04 9.99992149e-01 -3.91260026e-03 3.72893166e+00] [ 3.87853065e-03 3.91013599e-03 9.99984834e-01 1.49539140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.569259763999995 meters 0.13078964761707562 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.50 [[ 9.99977150e-01 -4.77362638e-03 -4.78670125e-03 -5.72998987e+00] [ 4.73216513e-03 9.99951512e-01 -8.63599225e-03 3.73205943e+00] [ 4.82769415e-03 8.61314345e-03 9.99951252e-01 1.49550358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629259764 meters 0.1359428438164174 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.50 [[ 9.99977143e-01 -4.80281476e-03 -4.75879825e-03 -5.73010567e+00] [ 4.76137255e-03 9.99950975e-01 -8.68193582e-03 3.73222531e+00] [ 4.80026269e-03 8.65907897e-03 9.99950988e-01 1.49557882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68925976399999 meters 0.1357423589790222 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.50 [[ 9.99977409e-01 -4.74118208e-03 -4.76465302e-03 -5.72990866e+00] [ 4.70030623e-03 9.99952368e-01 -8.55386657e-03 3.73220272e+00] [ 4.80498151e-03 8.53127801e-03 9.99952064e-01 1.49525557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.749259763999994 meters 0.1342529401793324 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.49 [[ 9.99979317e-01 -4.36488724e-03 -4.72360165e-03 -5.72931926e+00] [ 4.32725819e-03 9.99959057e-01 -7.94729126e-03 3.73097569e+00] [ 4.75809729e-03 7.92668665e-03 9.99957263e-01 1.49411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809259764 meters 0.12977262993723315 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99916750e-01 -4.14111717e-03 1.22206764e-02 -5.73200733e+00] [ 4.18125375e-03 9.99985943e-01 -3.26059778e-03 3.72834122e+00] [-1.22070021e-02 3.31142408e-03 9.99920009e-01 1.48330879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86925976399999 meters 0.12920598123345464 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99918711e-01 -4.24081087e-03 1.20244282e-02 -5.73181025e+00] [ 4.28559017e-03 9.99983969e-01 -3.70070900e-03 3.72978671e+00] [-1.20085414e-02 3.75193995e-03 9.99920856e-01 1.48391797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.929259763999994 meters 0.12648494192361612 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99919498e-01 -4.01104968e-03 1.20378205e-02 -5.73155614e+00] [ 4.05189002e-03 9.99986112e-01 -3.37019993e-03 3.72895629e+00] [-1.20241353e-02 3.41870455e-03 9.99921863e-01 1.48344157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989259763999996 meters 0.1296339773150287 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99920017e-01 -3.87518872e-03 1.20392425e-02 -5.73134965e+00] [ 3.91412575e-03 9.99987180e-01 -3.21229878e-03 3.72867332e+00] [-1.20266399e-02 3.25916496e-03 9.99922366e-01 1.48312666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04925976399999 meters 0.1296169157848227 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99923714e-01 -3.61744185e-03 1.18102136e-02 -5.73004802e+00] [ 3.65440808e-03 9.99988487e-01 -3.10994354e-03 3.72972146e+00] [-1.17988276e-02 3.15286563e-03 9.99925421e-01 1.48205404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.109259763999994 meters 0.12263300012508238 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.73, Z:1.48 [[ 9.99931264e-01 -3.61216979e-03 1.11543552e-02 -5.72849175e+00] [ 3.65663626e-03 9.99985439e-01 -3.96864982e-03 3.73365010e+00] [-1.11398574e-02 4.00916445e-03 9.99929913e-01 1.48248836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169259763999996 meters 0.11698694625471558 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.74, Z:1.48 [[ 9.99940003e-01 5.95335014e-04 1.09378041e-02 -5.72752896e+00] [-5.92113572e-04 9.99999780e-01 -2.97759596e-04 3.73707781e+00] [-1.09379789e-02 2.91265309e-04 9.99940136e-01 1.48204614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22925976399999 meters 0.11175739608318196 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.74, Z:1.48 [[ 9.99949234e-01 6.52985464e-04 1.00550163e-02 -5.72524892e+00] [-6.38765528e-04 9.99998792e-01 -1.41735971e-03 3.74249495e+00] [-1.00559296e-02 1.41086496e-03 9.99948443e-01 1.48213138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28925976399999 meters 0.11154756245711517 Centerline is valid? [False, False] Translation: X:-5.72, Y:3.75, Z:1.48 [[ 9.99957706e-01 6.60004095e-04 9.17331390e-03 -5.72314491e+00] [-6.37541778e-04 9.99996792e-01 -2.45136750e-03 3.74758049e+00] [-9.17490238e-03 2.44541546e-03 9.99954920e-01 1.48248960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.349259763999996 meters 0.10525029263415431 Centerline is valid? [False, False] Translation: X:-5.72, Y:3.75, Z:1.48 [[ 9.99962461e-01 8.28935759e-04 8.62493216e-03 -5.72166996e+00] [-8.04495128e-04 9.99995653e-01 -2.83680236e-03 3.74970524e+00] [-8.62724619e-03 2.82975716e-03 9.99958781e-01 1.48251628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40925976399999 meters 0.10036764246871041 Centerline is valid? [False, False] Translation: X:-5.72, Y:3.75, Z:1.48 [[ 9.99966013e-01 1.31158187e-03 8.13962926e-03 -5.72000518e+00] [-1.28910321e-03 9.99995343e-01 -2.76626353e-03 3.75014099e+00] [-8.14321954e-03 2.75567669e-03 9.99963046e-01 1.48203711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46925976399999 meters 0.09970300914180266 Centerline is valid? [False, True] Translation: X:-5.72, Y:3.75, Z:1.48 [[ 9.99968132e-01 1.24428376e-03 7.88589565e-03 -5.72010751e+00] [-1.22008518e-03 9.99994535e-01 -3.07265733e-03 3.75051678e+00] [-7.88967581e-03 3.06293794e-03 9.99964185e-01 1.48327857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.529259763999995 meters 0.09879045206006566 Centerline is valid? [True, True] Translation: X:-5.66, Y:3.74, Z:1.48 [[ 9.99961381e-01 3.21934534e-03 8.17758014e-03 -5.65850940e+00] [-3.21617951e-03 9.99994748e-01 -4.00256241e-04 3.74403986e+00] [-8.17882575e-03 3.73940218e-04 9.99966483e-01 1.47907671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58925976399999 meters 0.09744933236762 Centerline is valid? [True, True] Translation: X:-5.60, Y:3.74, Z:1.48 [[ 9.99951295e-01 4.52858834e-03 8.76925945e-03 -5.59596756e+00] [-4.52503133e-03 9.99989672e-01 -4.25421440e-04 3.74113983e+00] [-8.77109543e-03 3.85719546e-04 9.99961459e-01 1.47824165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64925976399999 meters 0.09835865750802626 Centerline is valid? [True, True] Translation: X:-5.53, Y:3.73, Z:1.48 [[ 9.99960918e-01 3.48229323e-03 8.12626085e-03 -5.53381832e+00] [-3.47919178e-03 9.99993869e-01 -3.95763168e-04 3.73177213e+00] [-8.12758919e-03 3.67474881e-04 9.99966903e-01 1.47564707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.709259763999995 meters 0.09851760290429978 Centerline is valid? [True, True] Translation: X:-5.47, Y:3.73, Z:1.48 [[ 9.99963008e-01 8.21734330e-04 8.56194354e-03 -5.47189510e+00] [-8.18138213e-04 9.99999576e-01 -4.23505884e-04 3.72575443e+00] [-8.56228791e-03 4.16485364e-04 9.99963256e-01 1.47610679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769259764 meters 0.10081363659120178 Centerline is valid? [True, False] Translation: X:-5.47, Y:3.73, Z:1.48 [[ 9.99959542e-01 -3.48891744e-03 8.29101542e-03 -5.47146119e+00] [ 3.52992584e-03 9.99981584e-01 -4.93664921e-03 3.72658748e+00] [-8.27363917e-03 4.96571615e-03 9.99953443e-01 1.47654817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82925976399999 meters 0.10534168115481388 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99993744 -0.00752155 0.00827911 -5.4713658 ] [ 0.00759411 0.99993272 -0.00876802 3.7248822 ] [-0.0082126 0.00883035 0.99992729 1.47644093] [ 0. 0. 0. 1. ]] SLAMing on 55.889259763999995 meters 0.10644209675154792 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99993488 -0.00730427 0.00876818 -5.47252045] [ 0.00737229 0.99994278 -0.00775107 3.72046671] [-0.00871106 0.00781521 0.99993152 1.47628766] [ 0. 0. 0. 1. ]] SLAMing on 55.949259764 meters 0.10890796316199132 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99993131 -0.00720179 0.0092473 -5.47385954] [ 0.00726525 0.99995017 -0.00684701 3.71651205] [-0.00919753 0.00691372 0.9999338 1.47643933] [ 0. 0. 0. 1. ]] SLAMing on 56.00925976399999 meters 0.11924536550642895 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.48 [[ 0.99992914 -0.00684186 0.009742 -5.47436006] [ 0.00689717 0.99996022 -0.00565606 3.71264742] [-0.00970291 0.00572285 0.99993655 1.47509001] [ 0. 0. 0. 1. ]] SLAMing on 56.069259763999995 meters 0.12140816602896967 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.47 [[ 9.99927892e-01 -6.57275764e-03 1.00503583e-02 -5.47468115e+00] [ 6.62191408e-03 9.99966238e-01 -4.86558320e-03 3.71012280e+00] [-1.00180387e-02 4.93178496e-03 9.99937656e-01 1.47425652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129259764 meters 0.12694071250821923 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.71, Z:1.47 [[ 9.99921344e-01 -6.63520109e-03 1.06432896e-02 -5.47614441e+00] [ 6.67906076e-03 9.99969328e-01 -4.09063809e-03 3.70687445e+00] [-1.06158209e-02 4.16140351e-03 9.99934991e-01 1.47419503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18925976399999 meters 0.12862744574088703 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.71, Z:1.47 [[ 9.99918254e-01 -6.68849129e-03 1.08972276e-02 -5.47685238e+00] [ 6.73095415e-03 9.99969879e-01 -3.86466112e-03 3.70586387e+00] [-1.08710506e-02 3.93769394e-03 9.99933155e-01 1.47426955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.249259763999994 meters 0.134095840737202 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.70, Z:1.47 [[ 9.99908789e-01 -6.69857743e-03 1.17278393e-02 -5.47807771e+00] [ 6.73498902e-03 9.99972613e-01 -3.06797719e-03 3.70351247e+00] [-1.17069670e-02 3.14668423e-03 9.99926520e-01 1.47279335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309259764 meters 0.13720959615571657 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.70, Z:1.47 [[ 9.99903138e-01 -7.05315617e-03 1.19986581e-02 -5.47907734e+00] [ 7.09433383e-03 9.99969079e-01 -3.39276117e-03 3.70443063e+00] [-1.19743574e-02 3.47755502e-03 9.99922258e-01 1.47328701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36925976399999 meters 0.1325528819142716 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.71, Z:1.47 [[ 9.99922217e-01 -3.16749704e-03 1.20634150e-02 -5.47903763e+00] [ 3.16357299e-03 9.99994937e-01 3.44354150e-04 3.70739349e+00] [-1.20644446e-02 -3.06163871e-04 9.99927175e-01 1.47295719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.429259763999994 meters 0.13687646785433824 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.72, Z:1.47 [[ 9.99931850e-01 -3.59361754e-03 1.11076746e-02 -5.47704658e+00] [ 3.61968729e-03 9.99990740e-01 -2.32779116e-03 3.71644534e+00] [-1.10992066e-02 2.36783883e-03 9.99935598e-01 1.47484963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489259763999996 meters 0.12367680196708146 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.72, Z:1.47 [[ 9.99933275e-01 -3.67345634e-03 1.09522642e-02 -5.47643952e+00] [ 3.70354621e-03 9.99989420e-01 -2.72835058e-03 3.71839084e+00] [-1.09421258e-02 2.76873074e-03 9.99936300e-01 1.47462574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54925976399999 meters 0.11934223337123541 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.47 [[ 9.99939064e-01 -3.93503933e-03 1.03142874e-02 -5.47471351e+00] [ 3.97737607e-03 9.99983737e-01 -4.08737643e-03 3.72466876e+00] [-1.02980356e-02 4.12815115e-03 9.99938453e-01 1.47474545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.609259763999994 meters 0.12346328613748365 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99942120e-01 -4.01338131e-03 9.98242507e-03 -5.47339642e+00] [ 4.05880964e-03 9.99981481e-01 -4.53474285e-03 3.72794357e+00] [-9.96404055e-03 4.57499714e-03 9.99939892e-01 1.47407595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669259763999996 meters 0.12411060216834291 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99943399e-01 -3.93872273e-03 9.88357293e-03 -5.47311599e+00] [ 3.98335962e-03 9.99981938e-01 -4.50065582e-03 3.72800908e+00] [-9.86566758e-03 4.53977091e-03 9.99941028e-01 1.47406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72925976399999 meters 0.1206810422017517 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99943755e-01 -3.63317547e-03 9.96432345e-03 -5.47276144e+00] [ 3.67288369e-03 9.99985376e-01 -3.96963858e-03 3.72674816e+00] [-9.94975534e-03 4.00601311e-03 9.99942475e-01 1.47315130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78925976399999 meters 0.12463013868722596 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99944161e-01 -3.43354861e-03 9.99429175e-03 -5.47254938e+00] [ 3.47002288e-03 9.99987375e-01 -3.63446092e-03 3.72591035e+00] [-9.98168647e-03 3.66893840e-03 9.99943451e-01 1.47268101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.849259763999996 meters 0.12199792727742335 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99944668e-01 -3.74666918e-03 9.82974367e-03 -5.47231733e+00] [ 3.78876564e-03 9.99983717e-01 -4.26743798e-03 3.72844663e+00] [-9.81359493e-03 4.30444445e-03 9.99942581e-01 1.47307967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90925976399999 meters 0.12307684172900991 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99946695e-01 -3.63116052e-03 9.66547834e-03 -5.47143332e+00] [ 3.67243335e-03 9.99984201e-01 -4.25581044e-03 3.72934481e+00] [-9.64987210e-03 4.29107941e-03 9.99944232e-01 1.47241556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96925976399999 meters 0.12007297383458085 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99949278e-01 -3.57583368e-03 9.41562565e-03 -5.47042889e+00] [ 3.61798261e-03 9.99983495e-01 -4.46326679e-03 3.73096920e+00] [-9.39951034e-03 4.49710598e-03 9.99945711e-01 1.47198379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.029259763999995 meters 0.12382268401255583 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99947907e-01 -3.85034573e-03 9.45296736e-03 -5.47080525e+00] [ 3.89660185e-03 9.99980502e-01 -4.87975914e-03 3.73233172e+00] [-9.43399429e-03 4.91633939e-03 9.99943413e-01 1.47247194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08925976399999 meters 0.1211614074793972 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99947487e-01 -3.96643848e-03 9.44932651e-03 -5.47067943e+00] [ 4.01488394e-03 9.99978867e-01 -5.11342811e-03 3.73362082e+00] [-9.42884472e-03 5.15109754e-03 9.99942280e-01 1.47234605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14925976399999 meters 0.12263703291509849 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 9.99947145e-01 -3.99584225e-03 9.47318724e-03 -5.47037561e+00] [ 4.04475954e-03 9.99978557e-01 -5.15023998e-03 3.73453173e+00] [-9.45240456e-03 5.18828452e-03 9.99941865e-01 1.47177766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.209259763999995 meters 0.12044471212173659 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99947144e-01 -4.13438180e-03 9.41363929e-03 -5.47013955e+00] [ 4.18556186e-03 9.99976533e-01 -5.42360429e-03 3.73599507e+00] [-9.39099512e-03 5.46271898e-03 9.99940982e-01 1.47169165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26925976399999 meters 0.11575765271367164 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99952150e-01 -4.19048989e-03 8.83952506e-03 -5.46845542e+00] [ 4.24627550e-03 9.99971129e-01 -6.30162986e-03 3.74059253e+00] [-8.81286294e-03 6.33886339e-03 9.99941074e-01 1.47147117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32925976399999 meters 0.1179491027675547 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99955419e-01 -3.96283570e-03 8.57060962e-03 -5.46716162e+00] [ 4.01732321e-03 9.99971771e-01 -6.34963955e-03 3.74190168e+00] [-8.54520510e-03 6.38378739e-03 9.99943112e-01 1.47061225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.389259763999995 meters 0.11288120643526167 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99957365e-01 -4.16826111e-03 8.23975067e-03 -5.46670159e+00] [ 4.22585497e-03 9.99966677e-01 -6.98474866e-03 3.74430283e+00] [-8.21036184e-03 7.01927086e-03 9.99941658e-01 1.47134482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449259764 meters 0.11463359372108273 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.47 [[ 9.99958710e-01 -4.36463071e-03 7.97046505e-03 -5.46658452e+00] [ 4.42510692e-03 9.99961437e-01 -7.58573151e-03 3.74599899e+00] [-7.93704877e-03 7.62068846e-03 9.99939462e-01 1.47242346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50925976399999 meters 0.11027414386159268 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99961946e-01 -3.79297107e-03 7.85617548e-03 -5.46563729e+00] [ 3.84619054e-03 9.99969685e-01 -6.77022671e-03 3.74383462e+00] [-7.83025804e-03 6.80018543e-03 9.99946221e-01 1.47130308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.569259763999995 meters 0.1142414791726679 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99962611e-01 -3.48292804e-03 7.91493662e-03 -5.46558886e+00] [ 3.53200863e-03 9.99974570e-01 -6.19551447e-03 3.74189937e+00] [-7.89315681e-03 6.22323845e-03 9.99949483e-01 1.47089846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629259764 meters 0.11236910458366703 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.47 [[ 9.99960803e-01 -3.01701064e-03 8.32407712e-03 -5.46657827e+00] [ 3.05758956e-03 9.99983484e-01 -4.86647282e-03 3.73622917e+00] [-8.30925744e-03 4.89173368e-03 9.99953513e-01 1.47074719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68925976399999 meters 0.11838849077479625 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.47 [[ 0.99994115 -0.0068328 0.00842685 -5.46709161] [ 0.00690113 0.99994333 -0.00810634 3.73147999] [-0.00837099 0.00816401 0.99993164 1.47103389] [ 0. 0. 0. 1. ]] SLAMing on 57.749259763999994 meters 0.1250923719540649 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.47 [[ 0.99993723 -0.00630157 0.00926384 -5.46872162] [ 0.00635546 0.99996299 -0.0057994 3.72229256] [-0.00922695 0.00585791 0.99994027 1.47010726] [ 0. 0. 0. 1. ]] SLAMing on 57.809259764 meters 0.12837224332124295 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.47 [[ 0.99990154 -0.01020755 0.00962867 -5.46984712] [ 0.0102908 0.99990975 -0.0086372 3.71614191] [-0.00953964 0.00873543 0.99991634 1.47033356] [ 0. 0. 0. 1. ]] SLAMing on 57.86925976399999 meters 0.14159123981310312 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.47 [[ 0.99984637 -0.01415311 0.01034067 -5.47150351] [ 0.01426687 0.99983759 -0.01101171 3.70846856] [-0.01018314 0.01115755 0.9998859 1.47004626] [ 0. 0. 0. 1. ]] SLAMing on 57.929259763999994 meters 0.14805865409045638 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.47 [[ 0.99983208 -0.01403552 0.01178183 -5.47438875] [ 0.01413196 0.99986698 -0.00814283 3.6984654 ] [-0.01166597 0.00830796 0.99989744 1.46787077] [ 0. 0. 0. 1. ]] SLAMing on 57.989259763999996 meters 0.14893936579953976 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.47 [[ 9.99875893e-01 -9.60648820e-03 1.24865680e-02 -5.47608058e+00] [ 9.64135132e-03 9.99949781e-01 -2.73485797e-03 3.69334897e+00] [-1.24596685e-02 2.85490594e-03 9.99918300e-01 1.46771406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04925976399999 meters 0.15617203836415688 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.47 [[ 9.99883164e-01 -8.91019076e-03 1.24204141e-02 -5.47532955e+00] [ 8.93274008e-03 9.99958551e-01 -1.76121115e-03 3.69018899e+00] [-1.24042066e-02 1.87195371e-03 9.99921313e-01 1.46676300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.109259763999994 meters 0.15663372652527816 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.47 [[ 9.99884904e-01 -8.25320378e-03 1.27304053e-02 -5.47543105e+00] [ 8.25952768e-03 9.99965791e-01 -4.44258475e-04 3.68549272e+00] [-1.27263032e-02 5.49354478e-04 9.99918866e-01 1.46559130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169259763999996 meters 0.16713374298512101 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.47 [[ 9.99878088e-01 -8.13643188e-03 1.33269159e-02 -5.47715116e+00] [ 8.12813001e-03 9.99966737e-01 6.76987029e-04 3.68018192e+00] [-1.33319809e-02 -5.68581592e-04 9.99910964e-01 1.46601490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22925976399999 meters 0.16518456083650915 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.47 [[ 9.99835643e-01 -1.25229439e-02 1.31096660e-02 -5.47747381e+00] [ 1.25746073e-02 9.99913463e-01 -3.86587633e-03 3.67996731e+00] [-1.30601194e-02 4.03008985e-03 9.99906591e-01 1.46752284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28925976399999 meters 0.15862274446733346 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.47 [[ 9.99878263e-01 -7.78933510e-03 1.35198076e-02 -5.47821203e+00] [ 7.76865920e-03 9.99968573e-01 1.58115029e-03 3.67542442e+00] [-1.35316989e-02 -1.47592703e-03 9.99907353e-01 1.46683643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349259763999996 meters 0.1582721614771364 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99886503e-01 -6.84777421e-03 1.34197112e-02 -5.47688482e+00] [ 6.80817299e-03 9.99972341e-01 2.99444056e-03 3.67144318e+00] [-1.34398453e-02 -2.90273698e-03 9.99905468e-01 1.46505465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40925976399999 meters 0.15702600965247937 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99883584e-01 -6.70168820e-03 1.37078555e-02 -5.47788933e+00] [ 6.65338536e-03 9.99971507e-01 3.56630847e-03 3.66838317e+00] [-1.37313652e-02 -3.47468965e-03 9.99899683e-01 1.46544877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46925976399999 meters 0.16953652780797493 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99846793e-01 -1.11846969e-02 1.34645096e-02 -5.47805838e+00] [ 1.12016675e-02 9.99936556e-01 -1.18563500e-03 3.66909532e+00] [-1.34503944e-02 1.33627831e-03 9.99908646e-01 1.46684307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.529259763999995 meters 0.16034348323698486 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99845800e-01 -1.11959890e-02 1.35287071e-02 -5.47877998e+00] [ 1.12106079e-02 9.99936654e-01 -1.00522823e-03 3.66751245e+00] [-1.35165956e-02 1.15673825e-03 9.99907978e-01 1.46768637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58925976399999 meters 0.17949998048640117 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99846367e-01 -1.10157041e-02 1.36344199e-02 -5.47898586e+00] [ 1.10257202e-02 9.99938997e-01 -6.59665480e-04 3.66619123e+00] [-1.36263215e-02 8.09893433e-04 9.99906829e-01 1.46757683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64925976399999 meters 0.16488194781060353 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99851530e-01 -1.07567344e-02 1.34614648e-02 -5.47823570e+00] [ 1.07626286e-02 9.99942014e-01 -3.65485140e-04 3.66569353e+00] [-1.34567528e-02 5.10311622e-04 9.99909324e-01 1.46708109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709259763999995 meters 0.17448223851479422 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.66, Z:1.47 [[ 9.99850380e-01 -1.07405928e-02 1.35593868e-02 -5.47867883e+00] [ 1.07437058e-02 9.99942272e-01 -1.56756231e-04 3.66466843e+00] [-1.35569204e-02 3.02410840e-04 9.99908055e-01 1.46735865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76925976399999 meters 0.16568658379017437 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99860724e-01 -1.05971612e-02 1.28931434e-02 -5.47697821e+00] [ 1.06048085e-02 9.99943630e-01 -5.24906009e-04 3.66697926e+00] [-1.28868541e-02 6.61562219e-04 9.99916742e-01 1.46727570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82925976399999 meters 0.1587490355527819 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99865183e-01 -1.03363756e-02 1.27583191e-02 -5.47589421e+00] [ 1.03407977e-02 9.99946493e-01 -2.80686732e-04 3.66725644e+00] [-1.27547352e-02 4.12580088e-04 9.99918570e-01 1.46614658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889259763999995 meters 0.1599623874788362 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.67, Z:1.47 [[ 9.99867307e-01 -1.04576640e-02 1.24902387e-02 -5.47523303e+00] [ 1.04671907e-02 9.99944974e-01 -6.97606754e-04 3.66924882e+00] [-1.24822561e-02 8.28251898e-04 9.99921751e-01 1.46622537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94925976399999 meters 0.1640209850875481 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.47 [[ 9.99871406e-01 -1.05811909e-02 1.20503205e-02 -5.47427443e+00] [ 1.05964307e-02 9.99943134e-01 -1.20153514e-03 3.67182042e+00] [-1.20369216e-02 1.32907101e-03 9.99926670e-01 1.46651863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00925976399999 meters 0.16197009885842498 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.47 [[ 9.99872677e-01 -1.05633882e-02 1.19601554e-02 -5.47398702e+00] [ 1.05795194e-02 9.99943208e-01 -1.28627808e-03 3.67246524e+00] [-1.19458887e-02 1.41264701e-03 9.99927647e-01 1.46643299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069259763999995 meters 0.15828710955109582 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.47 [[ 9.99881384e-01 -1.06294211e-02 1.11459716e-02 -5.47226959e+00] [ 1.06539832e-02 9.99940941e-01 -2.14661982e-03 3.67656176e+00] [-1.11224960e-02 2.26511419e-03 9.99935578e-01 1.46682430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129259764 meters 0.15156479353487265 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.47 [[ 9.99883434e-01 -1.05562307e-02 1.10310248e-02 -5.47176701e+00] [ 1.05804924e-02 9.99941728e-01 -2.14336414e-03 3.67708018e+00] [-1.10077561e-02 2.25982797e-03 9.99936859e-01 1.46651511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18925976399999 meters 0.15472745107548794 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.47 [[ 9.99886210e-01 -1.00379499e-02 1.12608440e-02 -5.47164254e+00] [ 1.00505635e-02 9.99948926e-01 -1.06410190e-03 3.67374398e+00] [-1.12495874e-02 1.17715864e-03 9.99936028e-01 1.46531515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249259763999994 meters 0.15390009801292098 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.46 [[ 9.99887472e-01 -9.78994452e-03 1.13666343e-02 -5.47167990e+00] [ 9.79559755e-03 9.99951924e-01 -4.41766777e-04 3.67177143e+00] [-1.13617630e-02 5.53060041e-04 9.99935300e-01 1.46487351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309259764 meters 0.15581786338495784 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.47 [[ 9.99883641e-01 -1.02702926e-02 1.12794305e-02 -5.47228949e+00] [ 1.02841607e-02 9.99946430e-01 -1.17218757e-03 3.67377654e+00] [-1.12667876e-02 1.28805065e-03 9.99935698e-01 1.46615498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36925976399999 meters 0.15100088749105214 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.47 [[ 9.99888680e-01 -1.01943339e-02 1.08950874e-02 -5.47072852e+00] [ 1.02108614e-02 9.99946798e-01 -1.46241363e-03 3.67651947e+00] [-1.08795994e-02 1.57349906e-03 9.99939577e-01 1.46527202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429259763999994 meters 0.14747345143184307 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.46 [[ 9.99895501e-01 -1.01250956e-02 1.03184499e-02 -5.46887574e+00] [ 1.01464105e-02 9.99946493e-01 -2.01546271e-03 3.68001813e+00] [-1.02974910e-02 2.11994732e-03 9.99944732e-01 1.46465974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489259763999996 meters 0.14256645780237812 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.46 [[ 9.99926673e-01 -6.31478721e-03 1.03331042e-02 -5.46877510e+00] [ 6.29941276e-03 9.99979004e-01 1.51975483e-03 3.68369081e+00] [-1.03424842e-02 -1.45455090e-03 9.99945457e-01 1.46441926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54925976399999 meters 0.14449153034314438 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.69, Z:1.46 [[ 9.99932186e-01 -6.70296269e-03 9.52336326e-03 -5.46679009e+00] [ 6.70421222e-03 9.99977522e-01 -9.92886969e-05 3.69132540e+00] [-9.52248367e-03 1.63128612e-04 9.99954647e-01 1.46444942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609259763999994 meters 0.14760608141200646 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.47 [[ 9.99937739e-01 -7.11167521e-03 8.59899496e-03 -5.46477462e+00] [ 7.12948554e-03 9.99972499e-01 -2.04233283e-03 3.69972096e+00] [-8.58423407e-03 2.10351208e-03 9.99960942e-01 1.46507175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669259763999996 meters 0.14086599803037772 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.46 [[ 9.99941525e-01 -7.11607489e-03 8.14297740e-03 -5.46310095e+00] [ 7.13783534e-03 9.99971024e-01 -2.64636109e-03 3.70357785e+00] [-8.12390974e-03 2.70432958e-03 9.99963344e-01 1.46435194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72925976399999 meters 0.1400957210434572 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99943029e-01 -7.20139347e-03 7.87906042e-03 -5.46178258e+00] [ 7.22558657e-03 9.99969255e-01 -3.04641097e-03 3.70678336e+00] [-7.85687977e-03 3.10316825e-03 9.99964319e-01 1.46342112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78925976399999 meters 0.13770649186359138 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99945972e-01 -7.13763223e-03 7.55688027e-03 -5.46046038e+00] [ 7.16245457e-03 9.99969026e-01 -3.26278138e-03 3.70899351e+00] [-7.53335767e-03 3.31673091e-03 9.99966123e-01 1.46270628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849259763999996 meters 0.13394402807959907 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99948222e-01 -6.88414328e-03 7.49412161e-03 -5.45967302e+00] [ 6.90678171e-03 9.99971650e-01 -2.99914827e-03 3.70895971e+00] [-7.47326258e-03 3.05075325e-03 9.99967421e-01 1.46174734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90925976399999 meters 0.1328344345245416 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99948039e-01 -6.87978133e-03 7.52245470e-03 -5.45973233e+00] [ 6.90258038e-03 9.99971650e-01 -3.00904957e-03 3.70907272e+00] [-7.50153983e-03 3.06081757e-03 9.99967179e-01 1.46173452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96925976399999 meters 0.13142225404946362 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99949226e-01 -6.69190988e-03 7.53417268e-03 -5.45947175e+00] [ 6.71252164e-03 9.99973788e-01 -2.71381399e-03 3.70840043e+00] [-7.51581460e-03 2.76424950e-03 9.99967935e-01 1.46127853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.029259763999995 meters 0.13403800498485197 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99948095e-01 -6.49178895e-03 7.85264212e-03 -5.46019014e+00] [ 6.50803602e-03 9.99976731e-01 -2.04521228e-03 3.70556306e+00] [-7.83918231e-03 2.09621140e-03 9.99967076e-01 1.46110452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08925976399999 meters 0.13318223308285884 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99947823e-01 -6.67069061e-03 7.73642358e-03 -5.46034445e+00] [ 6.68925942e-03 9.99974802e-01 -2.37679227e-03 3.70647112e+00] [-7.72037379e-03 2.42841921e-03 9.99967249e-01 1.46182534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14925976399999 meters 0.1399096917553178 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99949014e-01 -6.49017951e-03 7.73604533e-03 -5.46016103e+00] [ 6.50668626e-03 9.99976604e-01 -2.11049053e-03 3.70570757e+00] [-7.72216688e-03 2.16071894e-03 9.99967849e-01 1.46153633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.209259763999995 meters 0.13434282596387292 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99949150e-01 -6.71716917e-03 7.52170637e-03 -5.46008358e+00] [ 6.73836530e-03 9.99973387e-01 -2.79620705e-03 3.70774067e+00] [-7.50272361e-03 2.84674887e-03 9.99967802e-01 1.46241873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26925976399999 meters 0.12785067282699114 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99950550e-01 -6.58563921e-03 7.45166349e-03 -5.45972766e+00] [ 6.60552102e-03 9.99974681e-01 -2.64664511e-03 3.70758870e+00] [-7.43404497e-03 2.69573635e-03 9.99968734e-01 1.46214997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32925976399999 meters 0.1359501384568746 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99951603e-01 -6.44018874e-03 7.43748836e-03 -5.45956400e+00] [ 6.45834485e-03 9.99976217e-01 -2.41972965e-03 3.70696129e+00] [-7.42172796e-03 2.46764641e-03 9.99969414e-01 1.46193443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.389259763999995 meters 0.12958787948702405 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.46 [[ 9.99951948e-01 -6.04157550e-03 7.72016237e-03 -5.45974613e+00] [ 6.05291148e-03 9.99980636e-01 -1.44583851e-03 3.70373910e+00] [-7.71127774e-03 1.49249849e-03 9.99969154e-01 1.46102801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44925976399999 meters 0.14315543128384575 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.46 [[ 9.99951453e-01 -5.88546845e-03 7.90274973e-03 -5.46006459e+00] [ 5.89325482e-03 9.99982172e-01 -9.62348302e-04 3.70202937e+00] [-7.89694497e-03 1.00887450e-03 9.99968310e-01 1.46075101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50925976399999 meters 0.13670328348502966 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.46 [[ 9.99952491e-01 -5.91675233e-03 7.74647944e-03 -5.45964306e+00] [ 5.92568662e-03 9.99981803e-01 -1.13089177e-03 3.70297855e+00] [-7.73964728e-03 1.17674125e-03 9.99969356e-01 1.46073613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.569259763999995 meters 0.13755133153513127 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.70, Z:1.46 [[ 9.99953980e-01 -5.74600424e-03 7.68251159e-03 -5.45905538e+00] [ 5.75374705e-03 9.99982961e-01 -9.86126223e-04 3.70316010e+00] [-7.67671440e-03 1.03028407e-03 9.99970003e-01 1.46010653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62925976399999 meters 0.1375890375262948 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 0.99992307 -0.01008182 0.00722607 -5.45776009] [ 0.01012374 0.999932 -0.00578856 3.70614649] [-0.00716722 0.00586127 0.99995714 1.46006291] [ 0. 0. 0. 1. ]] SLAMing on 60.68925976399999 meters 0.14524531243532499 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 0.9999228 -0.01022923 0.0070539 -5.45711077] [ 0.01027273 0.99992827 -0.00615846 3.70836629] [-0.0069904 0.00623045 0.99995616 1.45979867] [ 0. 0. 0. 1. ]] SLAMing on 60.749259763999994 meters 0.1336367477302028 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 0.99992486 -0.01028102 0.00667571 -5.45608382] [ 0.01032516 0.99992483 -0.00661253 3.71091838] [-0.00660722 0.00668096 0.99995585 1.45977571] [ 0. 0. 0. 1. ]] SLAMing on 60.809259764 meters 0.13975158176431843 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 0.99992463 -0.01035255 0.00659997 -5.45575038] [ 0.01039783 0.99992238 -0.0068639 3.71230569] [-0.0065284 0.006932 0.99995466 1.45962936] [ 0. 0. 0. 1. ]] SLAMing on 60.86925976399999 meters 0.13868433418010664 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 0.99992242 -0.01056603 0.00659582 -5.4559888 ] [ 0.01061365 0.99991756 -0.00722696 3.71342761] [-0.00651892 0.0072964 0.99995213 1.460055 ] [ 0. 0. 0. 1. ]] SLAMing on 60.929259763999994 meters 0.13343339106922902 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99956840e-01 -6.37605359e-03 6.75746587e-03 -5.45620281e+00] [ 6.39662136e-03 9.99974962e-01 -3.02648140e-03 3.71435465e+00] [-6.73799967e-03 3.06957572e-03 9.99972588e-01 1.45964149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989259763999996 meters 0.13191171749194386 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99958267e-01 -6.14274771e-03 6.76251763e-03 -5.45549435e+00] [ 6.16132211e-03 9.99977294e-01 -2.72927082e-03 3.71428595e+00] [-6.74559886e-03 2.77082297e-03 9.99973409e-01 1.45855166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04925976399999 meters 0.12829138967062154 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99959807e-01 -6.27584831e-03 6.40296794e-03 -5.45451398e+00] [ 6.29701141e-03 9.99974760e-01 -3.29041289e-03 3.71725266e+00] [-6.38215619e-03 3.33060020e-03 9.99974087e-01 1.45852181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.109259763999994 meters 0.1249265329641386 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99964058e-01 -6.19423232e-03 5.78922230e-03 -5.45252322e+00] [ 6.21622297e-03 9.99973503e-01 -3.78830673e-03 3.72111711e+00] [-5.76560325e-03 3.82415767e-03 9.99976067e-01 1.45781042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169259763999996 meters 0.1224620154709837 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99966391e-01 -5.95505843e-03 5.63516032e-03 -5.45143401e+00] [ 5.97573705e-03 9.99975448e-01 -3.65987656e-03 3.72187822e+00] [-5.61322719e-03 3.69342779e-03 9.99977425e-01 1.45679045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22925976399999 meters 0.12366202438898569 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99965538e-01 -6.05638324e-03 5.67832327e-03 -5.45165780e+00] [ 6.07797122e-03 9.99974338e-01 -3.79230544e-03 3.72229690e+00] [-5.65520989e-03 3.82668744e-03 9.99976687e-01 1.45697948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28925976399999 meters 0.12461049282680746 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99964512e-01 -6.18540223e-03 5.71979438e-03 -5.45217468e+00] [ 6.20768725e-03 9.99973179e-01 -3.88661076e-03 3.72217377e+00] [-5.69560071e-03 3.92197953e-03 9.99976089e-01 1.45760547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349259763999996 meters 0.1278721889136553 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99965045e-01 -6.34371750e-03 5.44661654e-03 -5.45158340e+00] [ 6.36781546e-03 9.99969963e-01 -4.41850651e-03 3.72457806e+00] [-5.41842319e-03 4.45303511e-03 9.99975405e-01 1.45786414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40925976399999 meters 0.1266361507632364 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.73, Z:1.46 [[ 9.99964468e-01 -6.53273667e-03 5.32778600e-03 -5.45158460e+00] [ 6.55861407e-03 9.99966710e-01 -4.85414240e-03 3.72608172e+00] [-5.29589780e-03 4.88891282e-03 9.99974026e-01 1.45839577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46925976399999 meters 0.1243496867984508 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.73, Z:1.46 [[ 9.99963938e-01 -6.69410207e-03 5.22613300e-03 -5.45137878e+00] [ 6.72132016e-03 9.99963850e-01 -5.20799959e-03 3.72762820e+00] [-5.19108119e-03 5.24293829e-03 9.99972782e-01 1.45851982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529259763999995 meters 0.119934806110612 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.73, Z:1.46 [[ 9.99966425e-01 -6.51252474e-03 4.97358423e-03 -5.45024130e+00] [ 6.53833889e-03 9.99965147e-01 -5.19175025e-03 3.72867932e+00] [-4.93959948e-03 5.22409492e-03 9.99974154e-01 1.45778915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58925976399999 meters 0.12005342586669417 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.73, Z:1.46 [[ 9.99968549e-01 -6.21655357e-03 4.92507118e-03 -5.44984757e+00] [ 6.23996405e-03 9.99969239e-01 -4.75230721e-03 3.72745473e+00] [-4.89537671e-03 4.78289001e-03 9.99976579e-01 1.45732894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64925976399999 meters 0.12501082293785212 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99971385e-01 -5.69948429e-03 4.97448695e-03 -5.44968551e+00] [ 5.71841730e-03 9.99976429e-01 -3.80013538e-03 3.72409369e+00] [-4.95271088e-03 3.82847283e-03 9.99980407e-01 1.45679410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709259763999995 meters 0.12687694255865734 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.46 [[ 9.99940448e-01 -9.79017578e-03 4.82203275e-03 -5.44966894e+00] [ 9.82779282e-03 9.99920970e-01 -7.84015888e-03 3.72245109e+00] [-4.74489513e-03 7.88708192e-03 9.99957639e-01 1.45745265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76925976399999 meters 0.12990512009225721 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.71, Z:1.46 [[ 9.99945411e-01 -8.94772948e-03 5.39570811e-03 -5.45007640e+00] [ 8.97726013e-03 9.99944721e-01 -5.47383216e-03 3.71460870e+00] [-5.34643148e-03 5.52197203e-03 9.99970461e-01 1.45524298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82925976399999 meters 0.1330469858355334 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.71, Z:1.45 [[ 9.99947288e-01 -8.46713476e-03 5.80763694e-03 -5.45078619e+00] [ 8.49065889e-03 9.99955801e-01 -4.03792557e-03 3.70915340e+00] [-5.77319058e-03 4.08702339e-03 9.99974983e-01 1.45457509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889259763999995 meters 0.1396357473962618 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.71, Z:1.46 [[ 0.99990415 -0.01251399 0.00592391 -5.45153718] [ 0.01255868 0.99989249 -0.00756895 3.70521134] [-0.00582856 0.00764262 0.99995381 1.45532199] [ 0. 0. 0. 1. ]] SLAMing on 61.94925976399999 meters 0.14107434312526557 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.70, Z:1.45 [[ 0.99990919 -0.01183933 0.00643706 -5.45215686] [ 0.0118769 0.99991247 -0.00583041 3.69868426] [-0.00636746 0.00590633 0.99996228 1.45409555] [ 0. 0. 0. 1. ]] SLAMing on 62.00925976399999 meters 0.1523236837285591 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.69, Z:1.45 [[ 9.99908632e-01 -1.15568469e-02 7.01185503e-03 -5.45359530e+00] [ 1.15888898e-02 9.99922510e-01 -4.54652007e-03 3.69267959e+00] [-6.95876825e-03 4.62736428e-03 9.99965081e-01 1.45424025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069259763999995 meters 0.14194128930616676 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.69, Z:1.46 [[ 9.99908904e-01 -1.15527194e-02 6.97984745e-03 -5.45423563e+00] [ 1.15839987e-02 9.99922967e-01 -4.45769465e-03 3.69130834e+00] [-6.92781128e-03 4.53814312e-03 9.99965705e-01 1.45535089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12925976399999 meters 0.15009735695796667 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.69, Z:1.45 [[ 9.99911614e-01 -1.11192162e-02 7.28877825e-03 -5.45475209e+00] [ 1.11445893e-02 9.99931946e-01 -3.44979449e-03 3.68724583e+00] [-7.24992321e-03 3.53072002e-03 9.99967486e-01 1.45493821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18925976399999 meters 0.15099473315748782 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.68, Z:1.45 [[ 9.99916621e-01 -1.05794897e-02 7.40445860e-03 -5.45453892e+00] [ 1.05973570e-02 9.99941019e-01 -2.37798385e-03 3.68372099e+00] [-7.37886402e-03 2.45625326e-03 9.99969759e-01 1.45402244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249259763999994 meters 0.14747440573383216 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.68, Z:1.45 [[ 9.99917399e-01 -1.05505777e-02 7.34027345e-03 -5.45454713e+00] [ 1.05681066e-02 9.99941387e-01 -2.35336226e-03 3.68348321e+00] [-7.31501388e-03 2.43074066e-03 9.99970291e-01 1.45428989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309259764 meters 0.1506794826387057 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.68, Z:1.45 [[ 9.99923027e-01 -9.82872912e-03 7.57207813e-03 -5.45438216e+00] [ 9.83614319e-03 9.99951180e-01 -9.42514380e-04 3.67876531e+00] [-7.56244474e-03 1.01692188e-03 9.99970887e-01 1.45301793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36925976399999 meters 0.15314031225965216 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99924792e-01 -9.23999951e-03 8.06429882e-03 -5.45470305e+00] [ 9.23493067e-03 9.99957136e-01 6.65564822e-04 3.67356997e+00] [-8.07010296e-03 -5.91041526e-04 9.99967262e-01 1.45134249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429259763999994 meters 0.15767745802527505 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99925458e-01 -9.31037975e-03 7.89908421e-03 -5.45459013e+00] [ 9.30661736e-03 9.99956561e-01 5.12932130e-04 3.67399957e+00] [-7.90351668e-03 -4.39380141e-04 9.99968670e-01 1.45180742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489259763999996 meters 0.15301275263350067 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99927057e-01 -8.88453121e-03 8.18198889e-03 -5.45491187e+00] [ 8.87352772e-03 9.99959677e-01 1.38016438e-03 3.67076646e+00] [-8.19392108e-03 -1.30746060e-03 9.99965575e-01 1.45120581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54925976399999 meters 0.15923514775356115 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99932038e-01 -8.38747255e-03 8.09751366e-03 -5.45417765e+00] [ 8.37077255e-03 9.99962772e-01 2.09405601e-03 3.66879942e+00] [-8.11477604e-03 -2.02613125e-03 9.99965022e-01 1.45036215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609259763999994 meters 0.1561670295069255 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99934869e-01 -8.03191426e-03 8.10835194e-03 -5.45385468e+00] [ 8.01034643e-03 9.99964301e-01 2.68893339e-03 3.66704225e+00] [-8.12965976e-03 -2.62380755e-03 9.99963511e-01 1.44978061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669259763999996 meters 0.1680859351281787 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99897306e-01 -1.18794262e-02 8.01600973e-03 -5.45353807e+00] [ 1.18868834e-02 9.99928958e-01 -8.83285437e-04 3.66428860e+00] [-8.00494734e-03 9.78480101e-04 9.99967481e-01 1.44977073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72925976399999 meters 0.16472677668910643 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99899000e-01 -1.17512520e-02 7.99367689e-03 -5.45368465e+00] [ 1.17566606e-02 9.99930690e-01 -6.29945657e-04 3.66308308e+00] [-7.98572019e-03 7.23860978e-04 9.99967852e-01 1.45006067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78925976399999 meters 0.16150969381454885 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99901698e-01 -1.13902979e-02 8.17646063e-03 -5.45369865e+00] [ 1.13898769e-02 9.99935128e-01 9.80490086e-05 3.66071676e+00] [-8.17704702e-03 -4.91048977e-06 9.99966567e-01 1.44933094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849259763999996 meters 0.17259113659672534 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99903603e-01 -1.12565875e-02 8.12854330e-03 -5.45353471e+00] [ 1.12547797e-02 9.99936627e-01 2.68110158e-04 3.66021273e+00] [-8.13104617e-03 -1.76599349e-04 9.99966927e-01 1.44925685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90925976399999 meters 0.16772569320220332 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99907707e-01 -1.11831786e-02 7.71453765e-03 -5.45218500e+00] [ 1.11827683e-02 9.99937466e-01 9.63282121e-05 3.66212001e+00] [-7.71513249e-03 -1.00494348e-05 9.99970238e-01 1.44875199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96925976399999 meters 0.15810911199031324 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.66, Z:1.45 [[ 9.99912774e-01 -1.08356435e-02 7.55198588e-03 -5.45077125e+00] [ 1.08326312e-02 9.99941229e-01 4.39670759e-04 3.66246153e+00] [-7.55630615e-03 -3.57824531e-04 9.99971387e-01 1.44722773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029259763999995 meters 0.1553915905799476 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99918260e-01 -1.06872324e-02 7.01826724e-03 -5.44886476e+00] [ 1.06863233e-02 9.99942886e-01 1.67013657e-04 3.66544505e+00] [-7.01965131e-03 -9.20005322e-05 9.99975358e-01 1.44630781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08925976399999 meters 0.1620415343961215 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99919448e-01 -1.08868630e-02 6.52489813e-03 -5.44766667e+00] [ 1.08907068e-02 9.99940541e-01 -5.53842675e-04 3.66921433e+00] [-6.51848056e-03 6.24858814e-04 9.99978559e-01 1.44638949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14925976399999 meters 0.1582009631740546 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.67, Z:1.45 [[ 9.99921000e-01 -1.08772591e-02 6.29906399e-03 -5.44655223e+00] [ 1.08823877e-02 9.99940480e-01 -7.80475054e-04 3.67137021e+00] [-6.29019964e-03 8.48962253e-04 9.99979856e-01 1.44561307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209259763999995 meters 0.16596322735691788 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.68, Z:1.44 [[ 9.99925131e-01 -1.07660728e-02 5.81583222e-03 -5.44454105e+00] [ 1.07728904e-02 9.99941318e-01 -1.14218806e-03 3.67503029e+00] [-5.80319405e-03 1.20475587e-03 9.99982436e-01 1.44433685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26925976399999 meters 0.14830793137043763 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.68, Z:1.44 [[ 9.99928254e-01 -1.07372004e-02 5.31037077e-03 -5.44283991e+00] [ 1.07459932e-02 9.99940932e-01 -1.63004013e-03 3.67863411e+00] [-5.29255503e-03 1.68698839e-03 9.99984571e-01 1.44366270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32925976399999 meters 0.14520659857890977 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.68, Z:1.44 [[ 9.99932578e-01 -1.05993845e-02 4.74254571e-03 -5.44087740e+00] [ 1.06090433e-02 9.99941690e-01 -2.01612222e-03 3.68208157e+00] [-4.72089952e-03 2.06630016e-03 9.99986722e-01 1.44280488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389259763999995 meters 0.15384524577231903 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.69, Z:1.44 [[ 9.99933723e-01 -1.06996246e-02 4.25059952e-03 -5.43949217e+00] [ 1.07112574e-02 9.99938924e-01 -2.72346358e-03 3.68594088e+00] [-4.22119987e-03 2.76881234e-03 9.99987257e-01 1.44260783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44925976399999 meters 0.13451313367787313 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.69, Z:1.44 [[ 9.99969315e-01 -6.53095851e-03 4.32613219e-03 -5.43911657e+00] [ 6.52542496e-03 9.99977875e-01 1.29198027e-03 3.68814377e+00] [-4.33447434e-03 -1.26371077e-03 9.99989808e-01 1.44171705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50925976399999 meters 0.1415040295693224 Centerline is valid? [False, False] Translation: X:-5.44, Y:3.70, Z:1.44 [[ 9.99971665e-01 -6.74096931e-03 3.35083446e-03 -5.43658404e+00] [ 6.74110428e-03 9.99977278e-01 -2.89880361e-05 3.69597829e+00] [-3.35056292e-03 5.15755393e-05 9.99994386e-01 1.44124680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569259763999995 meters 0.12777011377681452 Centerline is valid? [False, False] Translation: X:-5.43, Y:3.71, Z:1.44 [[ 9.99970531e-01 -7.32090551e-03 2.31106290e-03 -5.43468615e+00] [ 7.32679499e-03 9.99969907e-01 -2.55029109e-03 3.70582113e+00] [-2.29232291e-03 2.56714863e-03 9.99994077e-01 1.44285201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62925976399999 meters 0.12351052284440756 Centerline is valid? [False, False] Translation: X:-5.43, Y:3.71, Z:1.44 [[ 9.99993478e-01 -3.07903675e-03 1.88761324e-03 -5.43264924e+00] [ 3.07721274e-03 9.99994796e-01 9.68449221e-04 3.71143242e+00] [-1.89058531e-03 -9.62634317e-04 9.99997750e-01 1.44133987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68925976399999 meters 0.11966470063628518 Centerline is valid? [False, False] Translation: X:-5.42, Y:3.71, Z:1.44 [[ 9.99999950e-01 5.47057354e-05 -3.11656669e-04 -5.41740972e+00] [-5.57847095e-05 9.99994002e-01 -3.46310373e-03 3.71458216e+00] [ 3.11465348e-04 3.46312094e-03 9.99993955e-01 1.44274276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749259763999994 meters 0.11987418585950194 Centerline is valid? [False, False] Translation: X:-5.42, Y:3.72, Z:1.44 [[ 9.99999669e-01 -3.21581886e-05 -8.13087477e-04 -5.41554792e+00] [ 2.87608074e-05 9.99991272e-01 -4.17803769e-03 3.71955193e+00] [ 8.13214738e-04 4.17801293e-03 9.99990941e-01 1.44181370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80925976399999 meters 0.11703896991966453 Centerline is valid? [False, False] Translation: X:-5.41, Y:3.72, Z:1.44 [[ 9.99999140e-01 -3.85545011e-04 -1.25334207e-03 -5.41431808e+00] [ 3.79163153e-04 9.99986984e-01 -5.08812887e-03 3.72488230e+00] [ 1.25528746e-03 5.08764927e-03 9.99986270e-01 1.44163591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86925976399999 meters 0.11274623131802544 Centerline is valid? [False, False] Translation: X:-5.41, Y:3.73, Z:1.44 [[ 9.99998733e-01 -5.62496395e-04 -1.48935986e-03 -5.41295270e+00] [ 5.54143024e-04 9.99984149e-01 -5.60318353e-03 3.72893310e+00] [ 1.49248803e-03 5.60235111e-03 9.99983193e-01 1.44053032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929259763999994 meters 0.11544219877678205 Centerline is valid? [False, False] Translation: X:-5.41, Y:3.73, Z:1.44 [[ 9.99997844e-01 -7.45270439e-04 -1.93810009e-03 -5.41136469e+00] [ 7.32991066e-04 9.99979704e-01 -6.32878953e-03 3.73377558e+00] [ 1.94277741e-03 6.32735528e-03 9.99978095e-01 1.43984297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989259763999996 meters 0.10874594054566969 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99995623e-01 -2.58991519e-03 1.43027469e-03 -5.39068608e+00] [ 2.59061709e-03 9.99996525e-01 -4.89111130e-04 3.73533922e+00] [-1.42900297e-03 4.92814283e-04 9.99998858e-01 1.43702409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.049259764 meters 0.10994556038679092 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99996187e-01 -2.57980779e-03 9.85638067e-04 -5.38926883e+00] [ 2.58072166e-03 9.99996240e-01 -9.27042536e-04 3.73826422e+00] [-9.83242770e-04 9.29582658e-04 9.99999085e-01 1.43663030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10925976399999 meters 0.10665539982436564 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99974872e-01 -7.08763477e-03 1.42091949e-04 -5.38779812e+00] [ 7.08838547e-03 9.99955281e-01 -6.26025509e-03 3.74274556e+00] [-9.77151934e-05 6.26110499e-03 9.99980394e-01 1.43773470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16925976399999 meters 0.10634410547402912 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99974758e-01 -7.10410335e-03 -1.22078879e-04 -5.38723088e+00] [ 7.10315169e-03 9.99953331e-01 -6.54834121e-03 3.74419836e+00] [ 1.68593275e-04 6.54730877e-03 9.99978552e-01 1.43795459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22925976399999 meters 0.10364106969974508 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99977141e-01 -6.75827837e-03 -2.07335126e-04 -5.38678252e+00] [ 6.75688554e-03 9.99958505e-01 -6.11013638e-03 3.74280885e+00] [ 2.48620525e-04 6.10859577e-03 9.99981311e-01 1.43758981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.289259764 meters 0.10531237287875256 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.44 [[ 9.99979676e-01 -6.37362212e-03 -1.54366826e-04 -5.38687177e+00] [ 6.37269333e-03 9.99965046e-01 -5.41257266e-03 3.73999184e+00] [ 1.88859123e-04 5.41147892e-03 9.99985340e-01 1.43744917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.349259764 meters 0.11533460997937191 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99982699e-01 -5.87083371e-03 3.68217640e-04 -5.38791913e+00] [ 5.87223255e-03 9.99975073e-01 -3.92045506e-03 3.73354971e+00] [-3.45192122e-04 3.92254949e-03 9.99992247e-01 1.43702807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.409259764 meters 0.11284775011383194 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99950264e-01 -9.96082949e-03 5.01850607e-04 -5.38877095e+00] [ 9.96430985e-03 9.99922306e-01 -7.48961614e-03 3.72964493e+00] [-4.27208827e-04 7.49424423e-03 9.99971827e-01 1.43779274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46925976399999 meters 0.11962077161506349 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99955568e-01 -9.41293253e-03 5.08273560e-04 -5.38845816e+00] [ 9.41601793e-03 9.99934840e-01 -6.45395228e-03 3.72609001e+00] [-4.47489824e-04 6.45845143e-03 9.99979044e-01 1.43710666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52925976399999 meters 0.12055104212216154 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99964592e-01 -8.37056676e-03 8.64908163e-04 -5.38786519e+00] [ 8.37426949e-03 9.99955386e-01 -4.37000886e-03 3.71972540e+00] [-8.28290125e-04 4.37709710e-03 9.99990077e-01 1.43437988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58925976399999 meters 0.11627273834067547 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99965403e-01 -8.27091730e-03 8.85519775e-04 -5.38805813e+00] [ 8.27451268e-03 9.99957210e-01 -4.13657911e-03 3.71869058e+00] [-8.51268580e-04 4.14376324e-03 9.99991052e-01 1.43454598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64925976399999 meters 0.12134951745973971 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99963930e-01 -8.42968775e-03 1.03839770e-03 -5.38872893e+00] [ 8.43403816e-03 9.99955363e-01 -4.25893591e-03 3.71874382e+00] [-1.00244985e-03 4.26754018e-03 9.99990392e-01 1.43496682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.709259764 meters 0.12001301734537637 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99965685e-01 -8.19731993e-03 1.19680067e-03 -5.38857236e+00] [ 8.20178763e-03 9.99959231e-01 -3.77711638e-03 3.71765406e+00] [-1.16578965e-03 3.78680267e-03 9.99992150e-01 1.43404939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.769259764 meters 0.12435995721980667 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99967112e-01 -7.98498669e-03 1.41950103e-03 -5.38885496e+00] [ 7.98952567e-03 9.99962895e-01 -3.22120281e-03 3.71576079e+00] [-1.39372710e-03 3.23243801e-03 9.99993804e-01 1.43356315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.829259764 meters 0.12493802992101517 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99965126e-01 -8.25652752e-03 1.25548082e-03 -5.38874032e+00] [ 8.26116305e-03 9.99958908e-01 -3.73299626e-03 3.71779479e+00] [-1.22460764e-03 3.74323781e-03 9.99992244e-01 1.43408511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88925976399999 meters 0.11709548690830975 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99967010e-01 -8.08347584e-03 7.97136463e-04 -5.38713939e+00] [ 8.08656812e-03 9.99959480e-01 -3.95547330e-03 3.71994606e+00] [-7.65130191e-04 3.96178891e-03 9.99991859e-01 1.43349686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94925976399999 meters 0.12002729994544052 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99968875e-01 -7.86321291e-03 6.47601567e-04 -5.38623507e+00] [ 7.86561901e-03 9.99961843e-01 -3.80067588e-03 3.72025800e+00] [-6.17691333e-04 3.80565137e-03 9.99992568e-01 1.43273610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00925976399999 meters 0.1186517082103653 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99970222e-01 -7.70140629e-03 4.94212140e-04 -5.38565253e+00] [ 7.70317169e-03 9.99963575e-01 -3.67563958e-03 3.72027293e+00] [-4.65886545e-04 3.67933712e-03 9.99993123e-01 1.43246570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.069259764 meters 0.11925262317993762 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.72, Z:1.43 [[ 9.99974964e-01 -7.05247470e-03 5.77931143e-04 -5.38509977e+00] [ 7.05390057e-03 9.99971987e-01 -2.50346288e-03 3.71680743e+00] [-5.60259345e-04 2.50747687e-03 9.99996699e-01 1.43111400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.129259764 meters 0.12000000938127725 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.43 [[ 9.99978131e-01 -6.52893269e-03 1.05410205e-03 -5.38578128e+00] [ 6.52997190e-03 9.99978194e-01 -9.85458104e-04 3.71113344e+00] [-1.04764508e-03 9.92319810e-04 9.99998959e-01 1.43014121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.189259764 meters 0.1292699863984999 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.43 [[ 9.99943139e-01 -1.05717113e-02 1.39943162e-03 -5.38678580e+00] [ 1.05775872e-02 9.99934980e-01 -4.26022441e-03 3.70645535e+00] [-1.35430277e-03 4.27478478e-03 9.99989946e-01 1.43038035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24925976399999 meters 0.13377435923285777 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.70, Z:1.43 [[ 9.99891632e-01 -1.46048704e-02 1.84985410e-03 -5.38780310e+00] [ 1.46179250e-02 9.99866854e-01 -7.25198195e-03 3.70112319e+00] [-1.74369354e-03 7.27823709e-03 9.99971993e-01 1.43020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30925976399999 meters 0.13425844506103224 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.70, Z:1.43 [[ 9.99894545e-01 -1.43816301e-02 2.01678506e-03 -5.38826228e+00] [ 1.43947470e-02 9.99874292e-01 -6.64764034e-03 3.69854928e+00] [-1.92092763e-03 6.67597043e-03 9.99975870e-01 1.43019812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36925976399999 meters 0.1338855979574339 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.70, Z:1.43 [[ 9.99898809e-01 -1.40761967e-02 2.05739556e-03 -5.38806174e+00] [ 1.40886634e-02 9.99881676e-01 -6.17606190e-03 3.69707183e+00] [-1.97021666e-03 6.20442289e-03 9.99978811e-01 1.42970624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.429259764 meters 0.1345687166459249 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99954975e-01 -9.11659958e-03 2.63340541e-03 -5.38818379e+00] [ 9.11787247e-03 9.99958320e-01 -4.71764382e-04 3.69268961e+00] [-2.62899476e-03 4.95754196e-04 9.99996421e-01 1.42740885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.489259764 meters 0.13934455916859834 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99955902e-01 -9.05551959e-03 2.48813867e-03 -5.38734464e+00] [ 9.05674008e-03 9.99958872e-01 -4.79695827e-04 3.69378663e+00] [-2.48369244e-03 5.02209099e-04 9.99996790e-01 1.42669995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.549259764 meters 0.1392736429112612 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99956802e-01 -8.95354054e-03 2.49568400e-03 -5.38708794e+00] [ 8.95432046e-03 9.99959864e-01 -3.01507924e-04 3.69361723e+00] [-2.49288427e-03 3.23842054e-04 9.99996840e-01 1.42625993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60925976399999 meters 0.13351652569894995 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99957759e-01 -8.81815563e-03 2.59223747e-03 -5.38716926e+00] [ 8.81831869e-03 9.99961117e-01 -5.14803298e-05 3.69287929e+00] [-2.59168271e-03 7.43373313e-05 9.99996639e-01 1.42597905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66925976399999 meters 0.1400259129521489 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.42 [[ 9.99962359e-01 -8.13194868e-03 3.02518453e-03 -5.38688810e+00] [ 8.12747857e-03 9.99965866e-01 1.48700457e-03 3.68848680e+00] [-3.03717351e-03 -1.46236147e-03 9.99994319e-01 1.42360360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72925976399999 meters 0.14927409319446475 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.42 [[ 9.99963389e-01 -7.91823160e-03 3.24385772e-03 -5.38734519e+00] [ 7.91145430e-03 9.99966506e-01 2.09680080e-03 3.68612913e+00] [-3.26035202e-03 -2.07106040e-03 9.99992540e-01 1.42340940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.789259764 meters 0.14395056540779466 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99965676e-01 -7.65495034e-03 3.17007473e-03 -5.38711926e+00] [ 7.64717923e-03 9.99967743e-01 2.45630605e-03 3.68483018e+00] [-3.18877538e-03 -2.43197960e-03 9.99991959e-01 1.42331554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.849259764 meters 0.149023224698424 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99968001e-01 -7.26225449e-03 3.35522647e-03 -5.38731118e+00] [ 7.25159934e-03 9.99968660e-01 3.17701160e-03 3.68196522e+00] [-3.37819359e-03 -3.15257918e-03 9.99989324e-01 1.42286139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.909259764 meters 0.15488879997988028 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99929182e-01 -1.13620388e-02 3.54044616e-03 -5.38771572e+00] [ 1.13643492e-02 9.99935223e-01 -6.33163849e-04 3.67984591e+00] [-3.53302279e-03 6.73353876e-04 9.99993532e-01 1.42286389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96925976399999 meters 0.15656675519437402 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99930695e-01 -1.11602219e-02 3.74890354e-03 -5.38805129e+00] [ 1.11602858e-02 9.99937722e-01 3.88085433e-06 3.67766295e+00] [-3.74871338e-03 3.79582497e-05 9.99992973e-01 1.42245663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02925976399999 meters 0.1536144098136241 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99931349e-01 -1.11168051e-02 3.70324658e-03 -5.38773972e+00] [ 1.11167647e-02 9.99938206e-01 3.14845070e-05 3.67793961e+00] [-3.70336775e-03 9.68577544e-06 9.99993142e-01 1.42216916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08925976399999 meters 0.1491492286108768 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99935395e-01 -1.07892323e-02 3.57759567e-03 -5.38670882e+00] [ 1.07879632e-02 9.99941738e-01 3.73851855e-04 3.67786928e+00] [-3.58142081e-03 -3.35232732e-04 9.99993531e-01 1.42106869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14925976399999 meters 0.14666350667375913 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99938061e-01 -1.04987770e-02 3.69453841e-03 -5.38610581e+00] [ 1.04957232e-02 9.99944561e-01 8.44999290e-04 3.67734411e+00] [-3.70320505e-03 -8.06170099e-04 9.99992818e-01 1.41964735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.209259764 meters 0.14729564241321322 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99935332e-01 -1.06922533e-02 3.87395861e-03 -5.38679501e+00] [ 1.06898027e-02 9.99942649e-01 6.52741882e-04 3.67770724e+00] [-3.88071572e-03 -6.11287818e-04 9.99992283e-01 1.42001764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.269259764 meters 0.15457236050771744 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99933776e-01 -1.08333442e-02 3.88360560e-03 -5.38665718e+00] [ 1.08319079e-02 9.99941257e-01 3.90689208e-04 3.67905244e+00] [-3.88760993e-03 -3.48596477e-04 9.99992382e-01 1.41981648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32925976399999 meters 0.15027336392017507 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99936530e-01 -1.06346186e-02 3.72035083e-03 -5.38562718e+00] [ 1.06331010e-02 9.99943376e-01 4.27448213e-04 3.68000726e+00] [-3.72468591e-03 -3.87862216e-04 9.99992988e-01 1.41890196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38925976399999 meters 0.15019802292566534 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99936376e-01 -1.05862221e-02 3.89567325e-03 -5.38600486e+00] [ 1.05839978e-02 9.99943813e-01 5.91148349e-04 3.67936318e+00] [-3.90171240e-03 -5.49878941e-04 9.99992237e-01 1.41878719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44925976399999 meters 0.14619592297732337 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99935952e-01 -1.06554218e-02 3.81496837e-03 -5.38593023e+00] [ 1.06538866e-02 9.99943156e-01 4.22513002e-04 3.68002328e+00] [-3.81925357e-03 -3.81841701e-04 9.99992634e-01 1.41901192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50925976399999 meters 0.15896788326766384 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99942134e-01 -9.96372675e-03 4.05618083e-03 -5.38522215e+00] [ 9.95730531e-03 9.99949144e-01 1.60025432e-03 3.67713529e+00] [-4.07191905e-03 -1.55977309e-03 9.99990493e-01 1.41688680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.569259764 meters 0.16691835700435184 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.68, Z:1.42 [[ 9.99944592e-01 -9.65937703e-03 4.18436789e-03 -5.38517466e+00] [ 9.65039118e-03 9.99951096e-01 2.16237577e-03 3.67546737e+00] [-4.20505046e-03 -2.12187518e-03 9.99988908e-01 1.41626918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.629259764 meters 0.15797239358909881 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.67, Z:1.42 [[ 9.99944983e-01 -9.49306575e-03 4.46228037e-03 -5.38591157e+00] [ 9.48106523e-03 9.99951401e-01 2.70283008e-03 3.67301176e+00] [-4.48772165e-03 -2.66037421e-03 9.99986391e-01 1.41629799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.689259764 meters 0.15449920970329928 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.68, Z:1.42 [[ 9.99947256e-01 -9.46574518e-03 3.98561288e-03 -5.38465177e+00] [ 9.45689419e-03 9.99952788e-01 2.23375347e-03 3.67562961e+00] [-4.00656886e-03 -2.19594413e-03 9.99989563e-01 1.41622301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74925976399999 meters 0.1455964175360912 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.67, Z:1.42 [[ 9.99951342e-01 -9.02208639e-03 3.98945948e-03 -5.38400440e+00] [ 9.01071266e-03 9.99955313e-01 2.85978810e-03 3.67411787e+00] [-4.01508246e-03 -2.82370108e-03 9.99987953e-01 1.41519818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80925976399999 meters 0.1511341236250229 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.67, Z:1.42 [[ 9.99904197e-01 -1.32708457e-02 3.93456759e-03 -5.38397600e+00] [ 1.32764024e-02 9.99910899e-01 -1.38953563e-03 3.67367800e+00] [-3.91577670e-03 1.44163941e-03 9.99991294e-01 1.41555302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86925976399999 meters 0.1533995591640368 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.67, Z:1.41 [[ 9.99906900e-01 -1.29459720e-02 4.31204023e-03 -5.38453598e+00] [ 1.29476033e-02 9.99916115e-01 -3.50612398e-04 3.67010187e+00] [-4.30713949e-03 4.06410342e-04 9.99990642e-01 1.41484494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.929259764 meters 0.17110450235581934 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.67, Z:1.42 [[ 9.99842686e-01 -1.70965180e-02 4.72360464e-03 -5.38553181e+00] [ 1.71154477e-02 9.99845533e-01 -3.99653401e-03 3.66707241e+00] [-4.65454818e-03 4.07675190e-03 9.99980857e-01 1.41504557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.989259764 meters 0.15809743331389328 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99909320e-01 -1.24188250e-02 5.20815881e-03 -5.38638505e+00] [ 1.24115044e-02 9.99921944e-01 1.43557733e-03 3.66304055e+00] [-5.22558047e-03 -1.37080607e-03 9.99985407e-01 1.41418888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.049259764 meters 0.15812494475249397 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99910794e-01 -1.22643347e-02 5.29049422e-03 -5.38661855e+00] [ 1.22551596e-02 9.99923348e-01 1.76321780e-03 3.66177054e+00] [-5.31171339e-03 -1.69822466e-03 9.99984451e-01 1.41420092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10925976399999 meters 0.17331187458258956 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99918158e-01 -1.15056902e-02 5.59430379e-03 -5.38639731e+00] [ 1.14879066e-02 9.99928889e-01 3.20069812e-03 3.65738546e+00] [-5.63073221e-03 -3.13616933e-03 9.99979229e-01 1.41250320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16925976399999 meters 0.17060934032734568 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99916307e-01 -1.16938282e-02 5.53472102e-03 -5.38682866e+00] [ 1.16780175e-02 9.99927661e-01 2.88038549e-03 3.65784666e+00] [-5.56800338e-03 -2.81550986e-03 9.99980535e-01 1.41343826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22925976399999 meters 0.16879643833664848 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99919734e-01 -1.13285452e-02 5.67352079e-03 -5.38701138e+00] [ 1.13085420e-02 9.99929771e-01 3.54547140e-03 3.65545786e+00] [-5.71328737e-03 -3.48102757e-03 9.99977620e-01 1.41313630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.289259764 meters 0.17272949662451575 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.65, Z:1.41 [[ 9.99921134e-01 -1.11672320e-02 5.74613093e-03 -5.38728503e+00] [ 1.11449287e-02 9.99930292e-01 3.89893735e-03 3.65385322e+00] [-5.78927072e-03 -3.83458964e-03 9.99975890e-01 1.41324342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.349259764 meters 0.1667091894362893 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.65, Z:1.41 [[ 9.99918259e-01 -1.14238231e-02 5.74213995e-03 -5.38788107e+00] [ 1.14038566e-02 9.99928856e-01 3.49798541e-03 3.65455227e+00] [-5.78169179e-03 -3.43221694e-03 9.99977396e-01 1.41421918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.409259764 meters 0.1743594741885015 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.41 [[ 9.99920305e-01 -1.14870252e-02 5.23760771e-03 -5.38663004e+00] [ 1.14718968e-02 9.99929963e-01 2.90936994e-03 3.65742957e+00] [-5.27066089e-03 -2.84905278e-03 9.99982051e-01 1.41431749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46925976399999 meters 0.1553799730373235 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.66, Z:1.42 [[ 9.99918257e-01 -1.19219808e-02 4.62021771e-03 -5.38539208e+00] [ 1.19153685e-02 9.99927949e-01 1.45606909e-03 3.66326509e+00] [-4.63724405e-03 -1.40089847e-03 9.99988267e-01 1.41502553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52925976399999 meters 0.1601197538677699 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.67, Z:1.42 [[ 9.99919178e-01 -1.20622430e-02 4.01748648e-03 -5.38385298e+00] [ 1.20604845e-02 9.99927163e-01 4.61653623e-04 3.66791621e+00] [-4.02276244e-03 -4.13163478e-04 9.99991823e-01 1.41509913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58925976399999 meters 0.15677661819322855 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.67, Z:1.41 [[ 9.99920217e-01 -1.21589055e-02 3.42356258e-03 -5.38212751e+00] [ 1.21602930e-02 9.99925987e-01 -3.84757644e-04 3.67253872e+00] [-3.41863096e-03 4.26358471e-04 9.99994066e-01 1.41479271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64925976399999 meters 0.15543651275032686 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.68, Z:1.42 [[ 9.99914762e-01 -1.27863290e-02 2.64167148e-03 -5.38109365e+00] [ 1.27925949e-02 9.99915366e-01 -2.36881722e-03 3.67960041e+00] [-2.61115943e-03 2.40240914e-03 9.99993705e-01 1.41667812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.709259764 meters 0.1461252436144554 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.68, Z:1.41 [[ 9.99962685e-01 -8.11856956e-03 2.95251104e-03 -5.38070592e+00] [ 8.11091216e-03 9.99963735e-01 2.59631399e-03 3.67874969e+00] [-2.97348232e-03 -2.57226955e-03 9.99992271e-01 1.41468236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.769259764 meters 0.14177986323046604 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.68, Z:1.42 [[ 9.99958538e-01 -8.72502887e-03 2.60679673e-03 -5.38068552e+00] [ 8.72187126e-03 9.99961219e-01 1.22022037e-03 3.68304431e+00] [-2.61734209e-03 -1.19743363e-03 9.99995858e-01 1.41627175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82925976399999 meters 0.1362929927040256 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99955456e-01 -9.29324075e-03 1.64975234e-03 -5.37950393e+00] [ 9.29553897e-03 9.99955828e-01 -1.39090982e-03 3.69050235e+00] [-1.63675340e-03 1.40618320e-03 9.99997672e-01 1.41949652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88925976399999 meters 0.1341053017957125 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99959799e-01 -8.91681222e-03 9.43952110e-04 -5.37683120e+00] [ 8.91836023e-03 9.99958872e-01 -1.64862563e-03 3.69383175e+00] [-9.29212802e-04 1.65697786e-03 9.99998195e-01 1.41801111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94925976399999 meters 0.13265225739454534 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.70, Z:1.42 [[ 9.99959280e-01 -9.00015961e-03 6.59845722e-04 -5.37613913e+00] [ 9.00149343e-03 9.99957390e-01 -2.04710595e-03 3.69580805e+00] [-6.41393326e-04 2.05296219e-03 9.99997687e-01 1.41812935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00925976399999 meters 0.12985521712057466 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.70, Z:1.42 [[ 9.99952738e-01 -9.72223104e-03 1.94830673e-05 -5.37592976e+00] [ 9.72223339e-03 9.99945198e-01 -3.88321847e-03 3.70124506e+00] [ 1.82715476e-05 3.88322436e-03 9.99992460e-01 1.42080255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.069259764 meters 0.1272857962804143 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99955326e-01 -9.44701255e-03 -3.16728655e-04 -5.37437480e+00] [ 9.44573984e-03 9.99948152e-01 -3.80416537e-03 3.70251009e+00] [ 3.52650231e-04 3.80100369e-03 9.99992714e-01 1.41975515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.129259764 meters 0.12652576030412496 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99956983e-01 -9.26731960e-03 -3.85992024e-04 -5.37378436e+00] [ 9.26587007e-03 9.99950585e-01 -3.60157722e-03 3.70246417e+00] [ 4.19349917e-04 3.59784574e-03 9.99993440e-01 1.41912124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.189259764 meters 0.13232576367222113 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.71, Z:1.42 [[ 9.99954245e-01 -9.52426904e-03 -8.92805495e-04 -5.37288260e+00] [ 9.52020235e-03 9.99944764e-01 -4.45361114e-03 3.70612239e+00] [ 9.35173570e-04 4.44490767e-03 9.99989684e-01 1.41986934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24925976399999 meters 0.1316063548626201 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.71, Z:1.42 [[ 9.99953922e-01 -9.54244289e-03 -1.04642599e-03 -5.37233614e+00] [ 9.53751041e-03 9.99943837e-01 -4.62146017e-03 3.70730793e+00] [ 1.09046724e-03 4.61126692e-03 9.99988773e-01 1.41968478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30925976399999 meters 0.12813491328782448 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.71, Z:1.42 [[ 9.99956375e-01 -9.26824575e-03 -1.16072062e-03 -5.37151063e+00] [ 9.26311239e-03 9.99947624e-01 -4.35249799e-03 3.70724193e+00] [ 1.20099985e-03 4.34155623e-03 9.99989854e-01 1.41889910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36925976399999 meters 0.12603147182688357 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99960466e-01 -8.82045364e-03 -1.12507029e-03 -5.37125269e+00] [ 8.81631174e-03 9.99954530e-01 -3.63477310e-03 3.70486145e+00] [ 1.15707948e-03 3.62471043e-03 9.99992761e-01 1.41832148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.429259764 meters 0.1285727985873915 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99961118e-01 -8.75422078e-03 -1.06096487e-03 -5.37160737e+00] [ 8.75051960e-03 9.99955782e-01 -3.44432964e-03 3.70387959e+00] [ 1.09107038e-03 3.43491173e-03 9.99993505e-01 1.41857739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.489259764 meters 0.126773642308926 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99966760e-01 -8.08774381e-03 -1.03309084e-03 -5.37120975e+00] [ 8.08540445e-03 9.99964784e-01 -2.24888110e-03 3.69988153e+00] [ 1.05124283e-03 2.24045339e-03 9.99996938e-01 1.41773349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.549259764 meters 0.1258147295298691 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99968759e-01 -7.81298704e-03 -1.19910345e-03 -5.37038559e+00] [ 7.81063737e-03 9.99967592e-01 -1.95184989e-03 3.69952907e+00] [ 1.21431437e-03 1.94242315e-03 9.99997376e-01 1.41713301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60925976399999 meters 0.12797837887993582 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.70, Z:1.42 [[ 9.99973383e-01 -7.21910068e-03 -1.05713296e-03 -5.37030632e+00] [ 7.21811493e-03 9.99973513e-01 -9.33336952e-04 3.69576440e+00] [ 1.06384281e-03 9.25681602e-04 9.99999006e-01 1.41646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66925976399999 meters 0.1324275574443665 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99975203e-01 -6.99490883e-03 -8.15788622e-04 -5.37083685e+00] [ 6.99463983e-03 9.99975482e-01 -3.32126730e-04 3.69335092e+00] [ 8.18091816e-04 3.26412347e-04 9.99999612e-01 1.41630018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72925976399999 meters 0.13236507363965166 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99975670e-01 -6.90022546e-03 -1.02306322e-03 -5.37043447e+00] [ 6.89996279e-03 9.99976161e-01 -2.60047716e-04 3.69324628e+00] [ 1.02483322e-03 2.52982291e-04 9.99999443e-01 1.41648266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.789259764 meters 0.1508193642479044 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99936647e-01 -1.11480956e-02 -1.55616225e-03 -5.36926828e+00] [ 1.11404294e-02 9.99926176e-01 -4.85103721e-03 3.69479252e+00] [ 1.61012720e-03 4.83339356e-03 9.99987023e-01 1.41692817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.849259764 meters 0.14883656920949817 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99939785e-01 -1.08654618e-02 -1.53861493e-03 -5.36875528e+00] [ 1.08585917e-02 9.99931340e-01 -4.40518592e-03 3.69399173e+00] [ 1.58637367e-03 4.38821347e-03 9.99989113e-01 1.41604077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.909259764 meters 0.14643576424359447 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99941575e-01 -1.06688033e-02 -1.73861374e-03 -5.36773267e+00] [ 1.06613801e-02 9.99934243e-01 -4.22437674e-03 3.69453068e+00] [ 1.78356846e-03 4.20559391e-03 9.99989566e-01 1.41525748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96925976399999 meters 0.14380283703232283 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99942805e-01 -1.05532331e-02 -1.73673166e-03 -5.36747617e+00] [ 1.05460501e-02 9.99936007e-01 -4.09435092e-03 3.69448481e+00] [ 1.77982916e-03 4.07580108e-03 9.99990110e-01 1.41486364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02925976399999 meters 0.14269237657086453 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99944462e-01 -1.04100966e-02 -1.64386004e-03 -5.36728124e+00] [ 1.04037060e-02 9.99938471e-01 -3.84942231e-03 3.69421573e+00] [ 1.68383175e-03 3.83210629e-03 9.99991240e-01 1.41420062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08925976399999 meters 0.1420017330591361 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99945011e-01 -1.03599350e-02 -1.62694261e-03 -5.36740916e+00] [ 1.03538290e-02 9.99939487e-01 -3.71767835e-03 3.69377068e+00] [ 1.66535907e-03 3.70062884e-03 9.99991766e-01 1.41430123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14925976399999 meters 0.1579093913508268 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99948930e-01 -9.98606913e-03 -1.55416039e-03 -5.36726030e+00] [ 9.98131449e-03 9.99945572e-01 -3.03756683e-03 3.69165459e+00] [ 1.58440915e-03 3.02189914e-03 9.99994179e-01 1.41369695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.209259764 meters 0.16138083317946833 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99955116e-01 -9.39475282e-03 -1.22667641e-03 -5.36734820e+00] [ 9.39260200e-03 9.99954362e-01 -1.74751400e-03 3.68740113e+00] [ 1.24303788e-03 1.73591388e-03 9.99997721e-01 1.41241090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.269259764 meters 0.14667736646992474 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99955928e-01 -9.35004428e-03 -8.47230778e-04 -5.36871131e+00] [ 9.34908624e-03 9.99955660e-01 -1.12779011e-03 3.68393713e+00] [ 8.57738099e-04 1.11981957e-03 9.99999005e-01 1.41308510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32925976399999 meters 0.1641617202188466 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99958340e-01 -9.09946313e-03 -7.19096219e-04 -5.36875784e+00] [ 9.09901856e-03 9.99958411e-01 -6.19108180e-04 3.68233614e+00] [ 7.24699865e-04 6.12539319e-04 9.99999550e-01 1.41260752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38925976399999 meters 0.16075437626067732 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99960078e-01 -8.90051576e-03 -7.89012433e-04 -5.36815625e+00] [ 8.90020670e-03 9.99960315e-01 -3.94354719e-04 3.68219614e+00] [ 7.92491081e-04 3.87316602e-04 9.99999611e-01 1.41195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44925976399999 meters 0.15810701620370127 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99960343e-01 -8.85959043e-03 -9.05756795e-04 -5.36748251e+00] [ 8.85919037e-03 9.99960658e-01 -4.44747865e-04 3.68321995e+00] [ 9.09661445e-04 4.36705955e-04 9.99999491e-01 1.41141672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50925976399999 meters 0.15285924275389334 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99959365e-01 -8.92647549e-03 -1.25928749e-03 -5.36646999e+00] [ 8.92530816e-03 9.99959737e-01 -9.29568060e-04 3.68587686e+00] [ 1.26753455e-03 9.18290758e-04 9.99998775e-01 1.41134112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.569259764 meters 0.15278198888461486 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99960274e-01 -8.83169676e-03 -1.20491278e-03 -5.36616618e+00] [ 8.83075408e-03 9.99960700e-01 -7.85454533e-04 3.68601045e+00] [ 1.21180232e-03 7.74783041e-04 9.99998966e-01 1.41067393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.629259764 meters 0.14994395704094549 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99958577e-01 -9.02677478e-03 -1.16719967e-03 -5.36646966e+00] [ 9.02554205e-03 9.99958710e-01 -1.05713158e-03 3.68697726e+00] [ 1.17669396e-03 1.04655318e-03 9.99998760e-01 1.41101271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68925976399998 meters 0.14786490749131667 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99961022e-01 -8.75062431e-03 -1.17534980e-03 -5.36566404e+00] [ 8.74985775e-03 9.99961504e-01 -6.55764371e-04 3.68672438e+00] [ 1.18104290e-03 6.45454667e-04 9.99999094e-01 1.40979941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74925976399999 meters 0.14607436183847938 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99961411e-01 -8.69655316e-03 -1.24379614e-03 -5.36532370e+00] [ 8.69580346e-03 9.99962007e-01 -6.06890415e-04 3.68709542e+00] [ 1.24902674e-03 5.96051189e-04 9.99999042e-01 1.40953698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80925976399999 meters 0.14588848268719495 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.41 [[ 9.99963239e-01 -8.51469551e-03 -1.01031730e-03 -5.36584461e+00] [ 8.51455945e-03 9.99963741e-01 -1.38895838e-04 3.68519656e+00] [ 1.01146332e-03 1.30288325e-04 9.99999480e-01 1.40938127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86925976399999 meters 0.14671457851653807 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99966397e-01 -8.15850902e-03 -8.02468060e-04 -5.36597180e+00] [ 8.15897375e-03 9.99966548e-01 5.77574143e-04 3.68282650e+00] [ 7.97729072e-04 -5.84102050e-04 9.99999511e-01 1.40871102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.929259764 meters 0.14174638009996413 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99922843e-01 -1.22923858e-02 -1.79049736e-03 -5.36323545e+00] [ 1.22847597e-02 9.99915678e-01 -4.20968777e-03 3.68719063e+00] [ 1.84209349e-03 4.18736713e-03 9.99989536e-01 1.40819929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.989259764 meters 0.14420240246907673 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99968099e-01 -7.81427935e-03 -1.65481469e-03 -5.36308585e+00] [ 7.81478468e-03 9.99969419e-01 2.99122372e-04 3.68711717e+00] [ 1.65242666e-03 -3.12044850e-04 9.99998586e-01 1.40732767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.049259764 meters 0.1372055237015723 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99964014e-01 -8.16474319e-03 -2.30400157e-03 -5.36184889e+00] [ 8.16256885e-03 9.99966233e-01 -9.51552388e-04 3.69240502e+00] [ 2.31169296e-03 9.32711573e-04 9.99996893e-01 1.40806652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10925976399999 meters 0.13200418353870655 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.70, Z:1.41 [[ 9.99964410e-01 -7.95558088e-03 -2.80857891e-03 -5.35995027e+00] [ 7.95226189e-03 9.99967671e-01 -1.19092617e-03 3.69516060e+00] [ 2.81796262e-03 1.16854923e-03 9.99995347e-01 1.40711924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16925976399999 meters 0.13274269039066008 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.70, Z:1.41 [[ 9.99965204e-01 -7.79014929e-03 -2.98401964e-03 -5.35919022e+00] [ 7.78680966e-03 9.99969045e-01 -1.12915824e-03 3.69562787e+00] [ 2.99272358e-03 1.10588295e-03 9.99994910e-01 1.40667811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22925976399999 meters 0.13906953797864613 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99966328e-01 -7.71228652e-03 -2.80403724e-03 -5.35996043e+00] [ 7.70994206e-03 9.99969920e-01 -8.45949223e-04 3.69392966e+00] [ 2.81047710e-03 8.24301774e-04 9.99995711e-01 1.40711819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.289259764 meters 0.13786633498546325 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99969579e-01 -7.50000366e-03 -2.14289189e-03 -5.36158289e+00] [ 7.50049319e-03 9.99971847e-01 2.20499208e-04 3.68880088e+00] [ 2.14117782e-03 -2.36565246e-04 9.99997680e-01 1.40708046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.349259764 meters 0.14901512906309458 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.41 [[ 9.99928823e-01 -1.17414040e-02 -2.11880736e-03 -5.36203732e+00] [ 1.17332685e-02 9.99923896e-01 -3.81211494e-03 3.68712340e+00] [ 2.16340570e-03 3.78698307e-03 9.99990489e-01 1.40779441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.409259764 meters 0.15234785701339554 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99928219e-01 -1.19527895e-02 -8.29159495e-04 -5.36517024e+00] [ 1.19508776e-02 9.99926001e-01 -2.27371130e-03 3.67947628e+00] [ 8.56275330e-04 2.26363890e-03 9.99997071e-01 1.40776378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46925976399999 meters 0.1621660889596519 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99929458e-01 -1.18624789e-02 -6.00929909e-04 -5.36571350e+00] [ 1.18613612e-02 9.99927976e-01 -1.83049135e-03 3.67784276e+00] [ 6.22600792e-04 1.82323437e-03 9.99998144e-01 1.40760884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52925976399999 meters 0.1546542360429515 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.41 [[ 9.99933006e-01 -1.15553539e-02 -6.75882930e-04 -5.36500869e+00] [ 1.15543742e-02 9.99932215e-01 -1.43592568e-03 3.67717320e+00] [ 6.92429744e-04 1.42802008e-03 9.99998741e-01 1.40682805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58925976399999 meters 0.1532691489952881 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.68, Z:1.41 [[ 9.99936527e-01 -1.12473871e-02 -6.61603679e-04 -5.36458923e+00] [ 1.12467278e-02 9.99936262e-01 -9.91910253e-04 3.67612077e+00] [ 6.72717908e-04 9.84406417e-04 9.99999289e-01 1.40612145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64925976399999 meters 0.1520763899520382 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.68, Z:1.41 [[ 9.99938976e-01 -1.09720409e-02 -1.28814963e-03 -5.36261386e+00] [ 1.09706453e-02 9.99939231e-01 -1.08558903e-03 3.67811708e+00] [ 1.29998247e-03 1.07139095e-03 9.99998581e-01 1.40549455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.709259764 meters 0.14765477366453186 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.68, Z:1.41 [[ 9.99939386e-01 -1.09068052e-02 -1.50524305e-03 -5.36221041e+00] [ 1.09050711e-02 9.99939870e-01 -1.15547444e-03 3.67841539e+00] [ 1.51775508e-03 1.13898962e-03 9.99998200e-01 1.40576428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.769259764 meters 0.152638102277632 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.68, Z:1.41 [[ 9.99942088e-01 -1.06681297e-02 -1.41854391e-03 -5.36229017e+00] [ 1.06671133e-02 9.99942844e-01 -7.22100009e-04 3.67687515e+00] [ 1.42616629e-03 7.06926422e-04 9.99998733e-01 1.40550327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82925976399999 meters 0.15471047327650161 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.41 [[ 9.99945595e-01 -1.03859741e-02 -9.68543150e-04 -5.36330887e+00] [ 1.03861368e-02 9.99946049e-01 1.63154372e-04 3.67301856e+00] [ 9.66796379e-04 -1.73204917e-04 9.99999518e-01 1.40529111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88925976399999 meters 0.15464419878160793 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99948032e-01 -1.01432262e-02 -1.02417748e-03 -5.36295970e+00] [ 1.01437549e-02 9.99948420e-01 5.12417628e-04 3.67207766e+00] [ 1.01892708e-03 -5.22780004e-04 9.99999344e-01 1.40496639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94925976399999 meters 0.15227008418749433 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99952705e-01 -9.69089510e-03 -8.21197024e-04 -5.36281335e+00] [ 9.69201169e-03 9.99952097e-01 1.36682519e-03 3.66947207e+00] [ 8.07911927e-04 -1.37471960e-03 9.99998729e-01 1.40389269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00925976399999 meters 0.15448272193282087 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99954414e-01 -9.53260935e-03 -5.46806308e-04 -5.36339926e+00] [ 9.53360126e-03 9.99952859e-01 1.84102249e-03 3.66751419e+00] [ 5.29230783e-04 -1.84615160e-03 9.99998156e-01 1.40370770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.069259764 meters 0.15968730662989183 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99951453e-01 -9.81166493e-03 -9.07045045e-04 -5.36316333e+00] [ 9.81265242e-03 9.99951260e-01 1.09072578e-03 3.66987174e+00] [ 8.96298999e-04 -1.09957335e-03 9.99998994e-01 1.40487827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.129259764 meters 0.1528333237958303 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99954526e-01 -9.48918935e-03 -9.49621933e-04 -5.36256779e+00] [ 9.49063770e-03 9.99953789e-01 1.53248172e-03 3.66894860e+00] [ 9.35036041e-04 -1.54142455e-03 9.99998375e-01 1.40412366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18925976399998 meters 0.1537131621589099 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99958215e-01 -9.08554503e-03 -1.01069688e-03 -5.36151329e+00] [ 9.08757898e-03 9.99956654e-01 2.02636826e-03 3.66837173e+00] [ 9.92242410e-04 -2.03546837e-03 9.99997436e-01 1.40280249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24925976399999 meters 0.1608858988028502 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99953961e-01 -9.52779433e-03 -1.13923652e-03 -5.36192549e+00] [ 9.52920213e-03 9.99953831e-01 1.23675964e-03 3.67056846e+00] [ 1.12740033e-03 -1.24755871e-03 9.99998586e-01 1.40402806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30925976399999 meters 0.1579136923601789 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99952897e-01 -9.58832439e-03 -1.50587038e-03 -5.36127386e+00] [ 9.58954961e-03 9.99953692e-01 8.08522279e-04 3.67222545e+00] [ 1.49804827e-03 -8.22924814e-04 9.99998539e-01 1.40456187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36925976399999 meters 0.15646723758754943 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99956551e-01 -9.18282456e-03 -1.60349154e-03 -5.36051336e+00] [ 9.18497808e-03 9.99956918e-01 1.34085514e-03 3.67092567e+00] [ 1.59110962e-03 -1.35552492e-03 9.99997815e-01 1.40376722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.429259764 meters 0.15395176314240072 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99959281e-01 -8.89426172e-03 -1.52600447e-03 -5.36058804e+00] [ 8.89708207e-03 9.99958706e-01 1.85146586e-03 3.66887942e+00] [ 1.50947403e-03 -1.86496745e-03 9.99997122e-01 1.40354638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.489259764 meters 0.1509189093240312 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99959763e-01 -8.80915118e-03 -1.69470040e-03 -5.36012392e+00] [ 8.81230269e-03 9.99959439e-01 1.86123120e-03 3.66918962e+00] [ 1.67823580e-03 -1.87609052e-03 9.99996832e-01 1.40350674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.549259764 meters 0.15029773423448545 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99960947e-01 -8.69595106e-03 -1.57644229e-03 -5.36029926e+00] [ 8.69927287e-03 9.99959929e-01 2.11269147e-03 3.66833096e+00] [ 1.55800726e-03 -2.12632287e-03 9.99996526e-01 1.40331404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60925976399999 meters 0.15175190608220074 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99964509e-01 -8.27837027e-03 -1.56534293e-03 -5.35957131e+00] [ 8.28265741e-03 9.99961910e-01 2.75243441e-03 3.66693663e+00] [ 1.54249764e-03 -2.76530193e-03 9.99994987e-01 1.40214128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66925976399999 meters 0.16082309975750808 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99964476e-01 -8.24876359e-03 -1.73340995e-03 -5.35927797e+00] [ 8.25339865e-03 9.99962338e-01 2.68403704e-03 3.66713778e+00] [ 1.71120468e-03 -2.69824822e-03 9.99994896e-01 1.40237129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72925976399999 meters 0.157737090512408 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99964686e-01 -8.19345301e-03 -1.86929174e-03 -5.35902302e+00] [ 8.19843830e-03 9.99962814e-01 2.67505050e-03 3.66717639e+00] [ 1.84730433e-03 -2.69028131e-03 9.99994675e-01 1.40250843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.789259764 meters 0.1599251195062023 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99968137e-01 -7.78823522e-03 -1.75157335e-03 -5.35864450e+00] [ 7.79402496e-03 9.99964104e-01 3.32328014e-03 3.66545773e+00] [ 1.72562798e-03 -3.33682606e-03 9.99992944e-01 1.40147364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.849259764 meters 0.1614797571569147 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99967893e-01 -7.81198639e-03 -1.78508302e-03 -5.35884606e+00] [ 7.81780928e-03 9.99964066e-01 3.27861337e-03 3.66526329e+00] [ 1.75940639e-03 -3.29246354e-03 9.99993032e-01 1.40190786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.909259764 meters 0.1515239329629671 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99964430e-01 -8.14130990e-03 -2.20420034e-03 -5.35835079e+00] [ 8.14650892e-03 9.99964032e-01 2.36007564e-03 3.66844605e+00] [ 2.18490696e-03 -2.37794823e-03 9.99994786e-01 1.40291056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96925976399999 meters 0.1647958722250427 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99967688e-01 -7.73482588e-03 -2.18967615e-03 -5.35773480e+00] [ 7.74118838e-03 9.99965796e-01 2.91227024e-03 3.66712209e+00] [ 2.16707536e-03 -2.92912684e-03 9.99993362e-01 1.40195550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02925976399999 meters 0.16629017771696109 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99923774e-01 -1.20938775e-02 -2.48682958e-03 -5.35723617e+00] [ 1.20898829e-02 9.99925610e-01 -1.61510557e-03 3.66797504e+00] [ 2.50617748e-03 1.58491698e-03 9.99995604e-01 1.40250625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08925976399999 meters 0.1638298273354454 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.67, Z:1.40 [[ 9.99924786e-01 -1.20493774e-02 -2.28804177e-03 -5.35801079e+00] [ 1.20463466e-02 9.99926551e-01 -1.33378470e-03 3.66653756e+00] [ 2.30394499e-03 1.30612184e-03 9.99996493e-01 1.40287447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14925976399999 meters 0.16451440273380344 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.66, Z:1.40 [[ 9.99931640e-01 -1.15126938e-02 -2.04285486e-03 -5.35809483e+00] [ 1.15121199e-02 9.99933691e-01 -2.92435411e-04 3.66284300e+00] [ 2.04608612e-03 2.68897830e-04 9.99997871e-01 1.40201157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.209259764 meters 0.1656760999079546 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.66, Z:1.40 [[ 9.99936934e-01 -1.10728629e-02 -1.87611942e-03 -5.35805907e+00] [ 1.10738184e-02 9.99938559e-01 4.99652221e-04 3.66023146e+00] [ 1.87047157e-03 -5.20396516e-04 9.99998115e-01 1.40127480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.269259764 meters 0.1650750924876462 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.66, Z:1.40 [[ 9.99941721e-01 -1.06842626e-02 -1.54942223e-03 -5.35863140e+00] [ 1.06863499e-02 9.99941995e-01 1.34519082e-03 3.65679039e+00] [ 1.53495998e-03 -1.36167009e-03 9.99997895e-01 1.40088092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32925976399999 meters 0.16632849833700514 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99944363e-01 -1.04869564e-02 -1.13765591e-03 -5.35965013e+00] [ 1.04892690e-02 9.99942893e-01 2.04620107e-03 3.65363335e+00] [ 1.11613252e-03 -2.05802041e-03 9.99997259e-01 1.40089249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38925976399999 meters 0.1638479301965321 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99948370e-01 -1.00992617e-02 -1.12347505e-03 -5.35910326e+00] [ 1.01022104e-02 9.99945458e-01 2.65066165e-03 3.65216997e+00] [ 1.09664405e-03 -2.66187437e-03 9.99995856e-01 1.40000191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44925976399999 meters 0.1659577088338652 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99950977e-01 -9.84238976e-03 -1.08201083e-03 -5.35852298e+00] [ 9.84562883e-03 9.99946940e-01 3.03014093e-03 3.65175853e+00] [ 1.05212959e-03 -3.04064546e-03 9.99994824e-01 1.39896894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50925976399999 meters 0.16275090090965016 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99953064e-01 -9.61906111e-03 -1.15922707e-03 -5.35780154e+00] [ 9.62275935e-03 9.99948490e-01 3.22806995e-03 3.65179677e+00] [ 1.12811636e-03 -3.23907340e-03 9.99994118e-01 1.39822182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.569259764 meters 0.1630807786271858 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99950462e-01 -9.89183071e-03 -1.10715497e-03 -5.35810376e+00] [ 9.89493426e-03 9.99947029e-01 2.83370347e-03 3.65323522e+00] [ 1.07906580e-03 -2.84451831e-03 9.99995372e-01 1.39852049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.629259764 meters 0.16492752492859136 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.65, Z:1.40 [[ 9.99953473e-01 -9.55704010e-03 -1.30941805e-03 -5.35650914e+00] [ 9.56107190e-03 9.99949461e-01 3.10821499e-03 3.65401308e+00] [ 1.27964654e-03 -3.12058981e-03 9.99994312e-01 1.39696093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68925976399998 meters 0.16081022557689567 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.66, Z:1.40 [[ 9.99950917e-01 -9.73993968e-03 -1.81563196e-03 -5.35529881e+00] [ 9.74409093e-03 9.99949899e-01 2.29174372e-03 3.65771530e+00] [ 1.79321955e-03 -2.30932292e-03 9.99995726e-01 1.39720307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74925976399999 meters 0.16561471804068606 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.66, Z:1.40 [[ 9.99949691e-01 -9.84896533e-03 -1.90098892e-03 -5.35467014e+00] [ 9.85267602e-03 9.99949555e-01 1.95258326e-03 3.65978743e+00] [ 1.88166210e-03 -1.97121485e-03 9.99996287e-01 1.39668030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80925976399999 meters 0.16559423950625535 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.66, Z:1.40 [[ 9.99946849e-01 -1.01091386e-02 -2.02614165e-03 -5.35421645e+00] [ 1.01120211e-02 9.99947868e-01 1.41747877e-03 3.66243271e+00] [ 2.01170654e-03 -1.43789182e-03 9.99996943e-01 1.39656665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86925976399999 meters 0.16190794702342778 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.67, Z:1.40 [[ 9.99942181e-01 -1.03523574e-02 -2.90904955e-03 -5.35190698e+00] [ 1.03528672e-02 9.99946395e-01 1.60261939e-04 3.66955196e+00] [ 2.90723452e-03 -1.90369677e-04 9.99995756e-01 1.39635700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.929259764 meters 0.15253179259190744 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.67, Z:1.40 [[ 9.99941538e-01 -1.02813600e-02 -3.34878768e-03 -5.35010774e+00] [ 1.02806903e-02 9.99947129e-01 -2.17157105e-04 3.67287292e+00] [ 3.35084330e-03 1.82716561e-04 9.99994369e-01 1.39534469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.989259764 meters 0.15411016372967887 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.68, Z:1.39 [[ 9.99939612e-01 -1.03132329e-02 -3.79612372e-03 -5.34842922e+00] [ 1.03101452e-02 9.99946503e-01 -8.32043942e-04 3.67701744e+00] [ 3.80450170e-03 7.92855109e-04 9.99992449e-01 1.39458379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04925976399998 meters 0.14704802014035065 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.68, Z:1.39 [[ 9.99974312e-01 -5.98758990e-03 -3.94009566e-03 -5.34708917e+00] [ 5.99978428e-03 9.99977226e-01 3.09043787e-03 3.68046423e+00] [ 3.92150165e-03 -3.11399821e-03 9.99987462e-01 1.39306873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10925976399999 meters 0.13977979895774104 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.40 [[ 9.99965985e-01 -6.33034749e-03 -5.28723433e-03 -5.34456650e+00] [ 6.32796724e-03 9.99979869e-01 -4.66795547e-04 3.69096372e+00] [ 5.29008287e-03 4.33322224e-04 9.99985914e-01 1.39686884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16925976399999 meters 0.13221230751608454 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.40 [[ 9.99961026e-01 -6.48439127e-03 -5.99157283e-03 -5.34267655e+00] [ 6.47407980e-03 9.99977531e-01 -1.73879130e-03 3.69709538e+00] [ 6.00271321e-03 1.69993361e-03 9.99980539e-01 1.39691289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22925976399999 meters 0.13104965086582765 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.40 [[ 9.99959289e-01 -6.47561531e-03 -6.28389640e-03 -5.34126594e+00] [ 6.46219658e-03 9.99976801e-01 -2.15337512e-03 3.70049329e+00] [ 6.29769505e-03 2.11267968e-03 9.99977938e-01 1.39596745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.289259764 meters 0.1314634430933689 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.40 [[ 9.99960529e-01 -6.26638462e-03 -6.29857316e-03 -5.34069416e+00] [ 6.25448874e-03 9.99978623e-01 -1.90658905e-03 3.70045552e+00] [ 6.31038594e-03 1.86711944e-03 9.99978346e-01 1.39518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.349259764 meters 0.13037421910185246 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99964226e-01 -5.95216527e-03 -6.00987829e-03 -5.34115167e+00] [ 5.94492264e-03 9.99981582e-01 -1.22226719e-03 3.69785821e+00] [ 6.01704274e-03 1.18649521e-03 9.99981194e-01 1.39473120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.409259764 meters 0.1423811471104013 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.40 [[ 0.99992898 -0.01033594 -0.00593307 -5.34157482] [ 0.01030319 0.99993166 -0.00552399 3.69741363] [ 0.00598976 0.00546246 0.99996714 1.39517535] [ 0. 0. 0. 1. ]] SLAMing on 73.46925976399999 meters 0.1407713360648246 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99932403e-01 -1.01731235e-02 -5.63002161e-03 -5.34217735e+00] [ 1.01452093e-02 9.99936211e-01 -4.96464460e-03 3.69533914e+00] [ 5.68016843e-03 4.90719126e-03 9.99971827e-01 1.39484985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52925976399999 meters 0.1466636674084323 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.39 [[ 9.99936741e-01 -1.00255142e-02 -5.09934824e-03 -5.34343970e+00] [ 1.00045560e-02 9.99941470e-01 -4.11900482e-03 3.69166601e+00] [ 5.14034492e-03 4.06772754e-03 9.99978515e-01 1.39470471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58925976399999 meters 0.15581172146767577 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.39 [[ 9.99942087e-01 -9.68836458e-03 -4.68593063e-03 -5.34429224e+00] [ 9.67360685e-03 9.99948211e-01 -3.16184870e-03 3.68780153e+00] [ 4.71632109e-03 3.11633574e-03 9.99984022e-01 1.39434330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64925976399999 meters 0.1459707345813015 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.39 [[ 9.99943530e-01 -9.50329251e-03 -4.75658855e-03 -5.34404054e+00] [ 9.48943955e-03 9.99950692e-01 -2.92651831e-03 3.68709493e+00] [ 4.78416558e-03 2.88121569e-03 9.99984405e-01 1.39423191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.709259764 meters 0.14311209479362746 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.68, Z:1.39 [[ 9.99951171e-01 -8.76079034e-03 -4.57211890e-03 -5.34377065e+00] [ 8.75331013e-03 9.99960322e-01 -1.65350248e-03 3.68264789e+00] [ 4.58642347e-03 1.61340057e-03 9.99988181e-01 1.39307437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.769259764 meters 0.14389177205341458 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.68, Z:1.39 [[ 9.99954889e-01 -8.50725559e-03 -4.22445076e-03 -5.34475710e+00] [ 8.50357314e-03 9.99963449e-01 -8.88898167e-04 3.67891077e+00] [ 4.23185843e-03 8.52935142e-04 9.99990682e-01 1.39325340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82925976399999 meters 0.15663961498495252 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.68, Z:1.39 [[ 9.99906736e-01 -1.30336173e-02 -4.07981092e-03 -5.34597724e+00] [ 1.30122850e-02 9.99901751e-01 -5.21233786e-03 3.67761796e+00] [ 4.14734570e-03 5.15876408e-03 9.99978093e-01 1.39469775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88925976399999 meters 0.16288400301564326 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.68, Z:1.39 [[ 9.99910597e-01 -1.27288722e-02 -4.09563138e-03 -5.34557485e+00] [ 1.27095685e-02 9.99908160e-01 -4.70525183e-03 3.67620078e+00] [ 4.15514778e-03 4.65277745e-03 9.99980543e-01 1.39412021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94925976399999 meters 0.1592459350640153 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.68, Z:1.39 [[ 9.99959217e-01 -8.12075424e-03 -3.95204806e-03 -5.34542254e+00] [ 8.12132113e-03 9.99967013e-01 1.27415539e-04 3.67501573e+00] [ 3.95088298e-03 -1.59506194e-04 9.99992183e-01 1.39313597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00925976399999 meters 0.15438097107450152 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.68, Z:1.39 [[ 9.99957185e-01 -8.07447344e-03 -4.52010866e-03 -5.34354050e+00] [ 8.07261575e-03 9.99967324e-01 -4.29077878e-04 3.67879223e+00] [ 4.52342554e-03 3.92570407e-04 9.99989692e-01 1.39247479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.069259764 meters 0.15279909804213795 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.68, Z:1.39 [[ 9.99953144e-01 -8.48665660e-03 -4.65692447e-03 -5.34335502e+00] [ 8.48118925e-03 9.99963323e-01 -1.19251967e-03 3.68200511e+00] [ 4.66687417e-03 1.15296754e-03 9.99988445e-01 1.39279990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.129259764 meters 0.15264589001104578 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.39 [[ 9.99949297e-01 -8.57171964e-03 -5.28488365e-03 -5.34144285e+00] [ 8.56211551e-03 9.99961657e-01 -1.83723788e-03 3.68652815e+00] [ 5.30042930e-03 1.79189494e-03 9.99984347e-01 1.39221760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18925976399998 meters 0.14845501914845127 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.69, Z:1.39 [[ 9.99945708e-01 -8.57610391e-03 -5.91871124e-03 -5.33948665e+00] [ 8.56192144e-03 9.99960424e-01 -2.41740251e-03 3.69041726e+00] [ 5.93920889e-03 2.36659572e-03 9.99979562e-01 1.39168457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24925976399999 meters 0.1413812505328635 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99939302e-01 -8.74777035e-03 -6.69842697e-03 -5.33769853e+00] [ 8.72450068e-03 9.99955832e-01 -3.49527739e-03 3.69564601e+00] [ 6.72870700e-03 3.43662480e-03 9.99971457e-01 1.39197989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30925976399999 meters 0.13428986246557773 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99938373e-01 -8.50112763e-03 -7.14010281e-03 -5.33593679e+00] [ 8.47594927e-03 9.99957780e-01 -3.54921889e-03 3.69753310e+00] [ 7.16997371e-03 3.48848102e-03 9.99968210e-01 1.39105346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36925976399999 meters 0.13519169874092699 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99940099e-01 -8.27706588e-03 -7.16154689e-03 -5.33532884e+00] [ 8.25405439e-03 9.99960696e-01 -3.23681445e-03 3.69716323e+00] [ 7.18805674e-03 3.17750876e-03 9.99969117e-01 1.39021120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.429259764 meters 0.1345894828115166 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99939164e-01 -8.42759721e-03 -7.11641356e-03 -5.33583642e+00] [ 8.40344696e-03 9.99958853e-01 -3.41670821e-03 3.69733551e+00] [ 7.14491539e-03 3.35669794e-03 9.99968841e-01 1.39080310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.489259764 meters 0.13357334201658352 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99939063e-01 -8.51973341e-03 -7.02027699e-03 -5.33627573e+00] [ 8.49599097e-03 9.99958112e-01 -3.40489033e-03 3.69715462e+00] [ 7.04899168e-03 3.34503864e-03 9.99969561e-01 1.39104743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54925976399998 meters 0.13961604320029897 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99941182e-01 -8.27956723e-03 -7.00579282e-03 -5.33596671e+00] [ 8.25851451e-03 9.99961311e-01 -3.02865752e-03 3.69618712e+00] [ 7.03059775e-03 2.97062194e-03 9.99970873e-01 1.39050172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60925976399999 meters 0.1367624723185323 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.70, Z:1.39 [[ 9.99938217e-01 -8.42433697e-03 -7.25209046e-03 -5.33551781e+00] [ 8.39961593e-03 9.99958831e-01 -3.43255119e-03 3.69801877e+00] [ 7.28070887e-03 3.37142434e-03 9.99967812e-01 1.39080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66925976399999 meters 0.12884102224798263 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 9.99933187e-01 -8.31213646e-03 -8.03307765e-03 -5.33352801e+00] [ 8.28039704e-03 9.99957811e-01 -3.97630694e-03 3.70157689e+00] [ 8.06579035e-03 3.90952419e-03 9.99959829e-01 1.39073939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72925976399999 meters 0.12391109003562285 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 9.99934668e-01 -7.60519210e-03 -8.53345263e-03 -5.33112681e+00] [ 7.57544418e-03 9.99965135e-01 -3.51296132e-03 3.70179077e+00] [ 8.55987186e-03 3.44808712e-03 9.99957419e-01 1.38905520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.789259764 meters 0.12643202109624502 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 9.99934669e-01 -7.37900456e-03 -8.72975272e-03 -5.33043104e+00] [ 7.34998251e-03 9.99967371e-01 -3.35192332e-03 3.70163878e+00] [ 8.75420173e-03 3.28754080e-03 9.99956277e-01 1.38878455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.849259764 meters 0.13158410903751155 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 0.99988948 -0.01173169 -0.00913207 -5.32969315] [ 0.01165991 0.99990102 -0.00787405 3.70266213] [ 0.00922355 0.0077667 0.9999273 1.38935561] [ 0. 0. 0. 1. ]] SLAMing on 74.909259764 meters 0.1288938078078799 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 0.9998993 -0.01120134 -0.00871326 -5.32998777] [ 0.01114424 0.99991628 -0.00657506 3.69824629] [ 0.00878618 0.0064773 0.99994042 1.38796509] [ 0. 0. 0. 1. ]] SLAMing on 74.96925976399999 meters 0.12705330942466211 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.39 [[ 0.99990386 -0.01097823 -0.00847095 -5.33048495] [ 0.01092764 0.99992232 -0.00599568 3.69590537] [ 0.00853612 0.00590253 0.99994615 1.38771479] [ 0. 0. 0. 1. ]] SLAMing on 75.02925976399999 meters 0.13023099326747714 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.39 [[ 0.99990501 -0.01117537 -0.00806725 -5.33199782] [ 0.01112877 0.99992126 -0.00579795 3.69418826] [ 0.00813141 0.00570762 0.99995065 1.38843736] [ 0. 0. 0. 1. ]] SLAMing on 75.08925976399999 meters 0.13756474307245004 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.39 [[ 9.99911338e-01 -1.08970682e-02 -7.65315727e-03 -5.33246376e+00] [ 1.08597241e-02 9.99929005e-01 -4.90427869e-03 3.69123530e+00] [ 7.70605619e-03 4.82073269e-03 9.99958688e-01 1.38740051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14925976399999 meters 0.13809360370913384 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.39 [[ 9.99916845e-01 -1.05600187e-02 -7.40190928e-03 -5.33250751e+00] [ 1.05292638e-02 9.99935822e-01 -4.18171970e-03 3.68903631e+00] [ 7.44559328e-03 4.10343532e-03 9.99963862e-01 1.38638175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.209259764 meters 0.13455027620089452 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.39 [[ 9.99913784e-01 -1.07748424e-02 -7.50510328e-03 -5.33221497e+00] [ 1.07404097e-02 9.99931679e-01 -4.61319511e-03 3.69119858e+00] [ 7.55429697e-03 4.53218950e-03 9.99961195e-01 1.38638019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.269259764 meters 0.1425495142171591 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.39 [[ 9.99914164e-01 -1.05624524e-02 -7.75239859e-03 -5.33068581e+00] [ 1.05272451e-02 9.99934152e-01 -4.56831235e-03 3.69274135e+00] [ 7.80014069e-03 4.48630882e-03 9.99959515e-01 1.38506783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32925976399999 meters 0.12867172433697696 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99949896e-01 -6.23375456e-03 -7.83235321e-03 -5.33007427e+00] [ 6.23000350e-03 9.99980467e-01 -5.03226663e-04 3.69460666e+00] [ 7.83533721e-03 4.54405862e-04 9.99969200e-01 1.38441464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38925976399999 meters 0.12547051754397895 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 9.99946801e-01 -6.10463777e-03 -8.31440290e-03 -5.32839903e+00] [ 6.09685950e-03 9.99980953e-01 -9.60542485e-04 3.69757090e+00] [ 8.32010829e-03 9.09799638e-04 9.99964973e-01 1.38391798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44925976399999 meters 0.12381738721718631 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 9.99945234e-01 -5.90991591e-03 -8.63726660e-03 -5.32673570e+00] [ 5.90095373e-03 9.99982025e-01 -1.06273539e-03 3.69980603e+00] [ 8.64339202e-03 1.01170908e-03 9.99962133e-01 1.38272590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50925976399999 meters 0.12503484185389796 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 9.99942496e-01 -6.12981680e-03 -8.79944130e-03 -5.32634072e+00] [ 6.11600828e-03 9.99980025e-01 -1.59530318e-03 3.70225469e+00] [ 8.80904444e-03 1.54139399e-03 9.99960012e-01 1.38283796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.569259764 meters 0.12515209782953343 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 9.99942368e-01 -6.18784153e-03 -8.77334438e-03 -5.32643619e+00] [ 6.17324138e-03 9.99979517e-01 -1.69025448e-03 3.70262833e+00] [ 8.78362370e-03 1.63599709e-03 9.99960085e-01 1.38289326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.629259764 meters 0.1258258244081908 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.38 [[ 9.99937130e-01 -6.56554306e-03 -9.09011492e-03 -5.32595419e+00] [ 6.54169858e-03 9.99975091e-01 -2.65037427e-03 3.70645133e+00] [ 9.10728964e-03 2.59074284e-03 9.99955172e-01 1.38352866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68925976399998 meters 0.11615016211008154 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.71, Z:1.38 [[ 9.99932649e-01 -6.61638386e-03 -9.53525412e-03 -5.32456328e+00] [ 6.58446857e-03 9.99972628e-01 -3.37459859e-03 3.71025583e+00] [ 9.55732076e-03 3.31158673e-03 9.99948844e-01 1.38329302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74925976399999 meters 0.1154596794896712 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.71, Z:1.38 [[ 9.99930606e-01 -6.55556822e-03 -9.78816104e-03 -5.32337219e+00] [ 6.52041209e-03 9.99972192e-01 -3.61930226e-03 3.71253860e+00] [ 9.81161544e-03 3.55522826e-03 9.99945545e-01 1.38256466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80925976399999 meters 0.11177928646472808 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.72, Z:1.38 [[ 9.99922187e-01 -6.82249340e-03 -1.04438184e-02 -5.32198027e+00] [ 6.77465586e-03 9.99966430e-01 -4.60900998e-03 3.71771631e+00] [ 1.04749128e-02 4.53789806e-03 9.99934840e-01 1.38301524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86925976399999 meters 0.11254905531598272 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.72, Z:1.38 [[ 9.99918128e-01 -6.74452808e-03 -1.08742405e-02 -5.32036992e+00] [ 6.69079908e-03 9.99965267e-01 -4.96977543e-03 3.72072064e+00] [ 1.09073816e-02 4.89661118e-03 9.99928524e-01 1.38231219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.929259764 meters 0.11453900825085728 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.73, Z:1.38 [[ 0.99991054 -0.00680157 -0.01151702 -5.31847498] [ 0.00673589 0.99996089 -0.00573174 3.72564986] [ 0.01155555 0.00565365 0.99991725 1.38197839] [ 0. 0. 0. 1. ]] SLAMing on 75.989259764 meters 0.10469579926204017 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.73, Z:1.38 [[ 0.99990059 -0.00741848 -0.01199101 -5.3181038 ] [ 0.00733073 0.99994615 -0.0073453 3.73139008] [ 0.01204486 0.00725667 0.99990113 1.38357005] [ 0. 0. 0. 1. ]] SLAMing on 76.04925976399998 meters 0.11558732757150428 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.73, Z:1.38 [[ 9.99924986e-01 -3.04481743e-03 -1.18638603e-02 -5.31789666e+00] [ 3.00835972e-03 9.99990702e-01 -3.08964083e-03 3.73248716e+00] [ 1.18731574e-02 3.05371831e-03 9.99924849e-01 1.38274293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10925976399999 meters 0.09919550003182942 Centerline is valid? [False, True] Translation: X:-5.32, Y:3.74, Z:1.38 [[ 9.99920071e-01 -3.62162638e-03 -1.21134649e-02 -5.31822274e+00] [ 3.56961950e-03 9.99984331e-01 -4.31218045e-03 3.73595958e+00] [ 1.21288922e-02 4.26859532e-03 9.99917331e-01 1.38444473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16925976399999 meters 0.10154643821165323 Centerline is valid? [True, False] Translation: X:-5.32, Y:3.74, Z:1.39 [[ 9.99913269e-01 -4.15089366e-03 -1.24989888e-02 -5.31826327e+00] [ 4.08133093e-03 9.99976070e-01 -5.58584240e-03 3.73982004e+00] [ 1.25218759e-02 5.53434543e-03 9.99906282e-01 1.38629927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22925976399999 meters 0.10777839685831468 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.39 [[ 9.99913511e-01 -3.88195126e-03 -1.25658731e-02 -5.31772478e+00] [ 3.81635589e-03 9.99978989e-01 -5.23989723e-03 3.73905686e+00] [ 1.25859501e-02 5.19148820e-03 9.99907317e-01 1.38575130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.289259764 meters 0.10602981937410617 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.39 [[ 9.99909831e-01 -3.83859074e-03 -1.28683967e-02 -5.31729947e+00] [ 3.77006487e-03 9.99978608e-01 -5.34516461e-03 3.73930054e+00] [ 1.28886393e-02 5.29616795e-03 9.99902912e-01 1.38631167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.349259764 meters 0.10640513165982582 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.38 [[ 9.99976356e-01 -4.96424188e-03 4.75861961e-03 -5.32154430e+00] [ 4.97852719e-03 9.99983122e-01 -2.99485712e-03 3.73847627e+00] [-4.74367210e-03 3.01847723e-03 9.99984193e-01 1.37720262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40925976399998 meters 0.10652101683653188 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.38 [[ 9.99978827e-01 -4.53379413e-03 4.66792135e-03 -5.32101740e+00] [ 4.54469368e-03 9.99986965e-01 -2.32703643e-03 3.73635414e+00] [-4.65731020e-03 2.34820143e-03 9.99986398e-01 1.37666288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46925976399999 meters 0.10512450329436059 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.38 [[ 9.99954082e-01 -8.79728169e-03 3.80020913e-03 -5.31933290e+00] [ 8.82463376e-03 9.99934839e-01 -7.24173223e-03 3.73917938e+00] [-3.73625395e-03 7.27493516e-03 9.99966557e-01 1.37766745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52925976399999 meters 0.10516769852218703 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.74, Z:1.38 [[ 9.99957547e-01 -8.43082158e-03 3.71828927e-03 -5.31894958e+00] [ 8.45564327e-03 9.99941730e-01 -6.71114743e-03 3.73739285e+00] [-3.66149211e-03 6.74230305e-03 9.99970567e-01 1.37736603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58925976399999 meters 0.10689527276675483 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.73, Z:1.38 [[ 9.99960033e-01 -8.00322124e-03 3.98506147e-03 -5.31956667e+00] [ 8.02594969e-03 9.99951429e-01 -5.72046475e-03 3.73306984e+00] [-3.93908577e-03 5.75222002e-03 9.99975697e-01 1.37717946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64925976399999 meters 0.10892670616304524 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.73, Z:1.38 [[ 9.99962692e-01 -7.43958764e-03 4.38951053e-03 -5.32037486e+00] [ 7.45823341e-03 9.99963169e-01 -4.24683466e-03 3.72674597e+00] [-4.35775416e-03 4.27941421e-03 9.99981348e-01 1.37684250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.709259764 meters 0.11385299137491728 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.72, Z:1.38 [[ 9.99922326e-01 -1.16069549e-02 4.54104490e-03 -5.32160737e+00] [ 1.16430582e-02 9.99900163e-01 -8.00646536e-03 3.72291492e+00] [-4.44766085e-03 8.05871512e-03 9.99957637e-01 1.37823070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.769259764 meters 0.11950432559130775 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.71, Z:1.38 [[ 9.99924654e-01 -1.10404927e-02 5.36607044e-03 -5.32304395e+00] [ 1.10708769e-02 9.99922663e-01 -5.66594878e-03 3.71387067e+00] [-5.30310058e-03 5.72492898e-03 9.99969551e-01 1.37707028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82925976399999 meters 0.12809386177915197 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.71, Z:1.38 [[ 0.99986998 -0.01501994 0.00586675 -5.32445022] [ 0.01507019 0.9998493 -0.00861791 3.70765158] [-0.00573642 0.0087052 0.99994566 1.37745579] [ 0. 0. 0. 1. ]] SLAMing on 76.88925976399999 meters 0.13381969332540414 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 0.99986671 -0.01497225 0.00651113 -5.32652387] [ 0.01502014 0.99986004 -0.00736884 3.70134683] [-0.00639989 0.00746566 0.99995165 1.37834282] [ 0. 0. 0. 1. ]] SLAMing on 76.94925976399999 meters 0.13110058277360814 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.38 [[ 0.99987782 -0.01417475 0.0065888 -5.32582069] [ 0.01421419 0.9998811 -0.00597841 3.69710518] [-0.00650327 0.00607134 0.99996042 1.37675869] [ 0. 0. 0. 1. ]] SLAMing on 77.00925976399999 meters 0.1330384960400049 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99883598e-01 -1.36858946e-02 6.74435651e-03 -5.32582047e+00] [ 1.37198208e-02 9.99893328e-01 -5.00997890e-03 3.69366810e+00] [-6.67507103e-03 5.10192709e-03 9.99964706e-01 1.37602493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.069259764 meters 0.1323697195310011 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99882385e-01 -1.37853196e-02 6.72164235e-03 -5.32637892e+00] [ 1.38196512e-02 9.99891558e-01 -5.08819792e-03 3.69328015e+00] [-6.65077101e-03 5.18049022e-03 9.99964464e-01 1.37695082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.129259764 meters 0.13348854578906175 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99885819e-01 -1.33745354e-02 7.03358403e-03 -5.32670770e+00] [ 1.34032709e-02 9.99901953e-01 -4.05432342e-03 3.68961363e+00] [-6.97866972e-03 4.14813353e-03 9.99967045e-01 1.37610862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18925976399998 meters 0.1403165082226548 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99886955e-01 -1.32047239e-02 7.19107831e-03 -5.32702696e+00] [ 1.32309055e-02 9.99905967e-01 -3.60552283e-03 3.68798062e+00] [-7.14279218e-03 3.70025972e-03 9.99967644e-01 1.37591942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24925976399999 meters 0.13789404452093623 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.38 [[ 9.99886255e-01 -1.33910447e-02 6.93949771e-03 -5.32639748e+00] [ 1.34196297e-02 9.99901592e-01 -4.08911127e-03 3.69048557e+00] [-6.88405733e-03 4.18177164e-03 9.99967561e-01 1.37602892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30925976399999 meters 0.13538143174519493 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99890381e-01 -1.30460500e-02 7.00189207e-03 -5.32586106e+00] [ 1.30712903e-02 9.99908190e-01 -3.57121747e-03 3.68939895e+00] [-6.95465894e-03 3.66234976e-03 9.99969109e-01 1.37493646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36925976399999 meters 0.14027451097250504 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99936948e-01 -8.69709825e-03 7.10354907e-03 -5.32598418e+00] [ 8.69114467e-03 9.99961854e-01 8.68553038e-04 3.68927442e+00] [-7.11083199e-03 -8.06760301e-04 9.99974392e-01 1.37456064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.429259764 meters 0.13874783091495846 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99937624e-01 -8.67801936e-03 7.03137726e-03 -5.32562292e+00] [ 8.67266325e-03 9.99962078e-01 7.91878299e-04 3.68998469e+00] [-7.03798256e-03 -7.30848137e-04 9.99974966e-01 1.37433101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.489259764 meters 0.13504674752799328 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99938615e-01 -8.54047807e-03 7.05883343e-03 -5.32551017e+00] [ 8.53341729e-03 9.99963059e-01 1.02979036e-03 3.68934525e+00] [-7.06736758e-03 -9.69491174e-04 9.99974556e-01 1.37402171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54925976399998 meters 0.1393311161886127 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99939628e-01 -8.48297737e-03 6.98421536e-03 -5.32544363e+00] [ 8.47517914e-03 9.99963429e-01 1.14539239e-03 3.68890523e+00] [-6.99367628e-03 -1.08613076e-03 9.99974954e-01 1.37418173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60925976399999 meters 0.13977485031962913 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99940524e-01 -8.22100263e-03 7.16689750e-03 -5.32561931e+00] [ 8.20887806e-03 9.99964828e-01 1.71952503e-03 3.68692630e+00] [-7.18078165e-03 -1.66059057e-03 9.99972839e-01 1.37368510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66925976399999 meters 0.1491401533186662 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.37 [[ 9.99943245e-01 -7.85541067e-03 7.19714140e-03 -5.32511645e+00] [ 7.83897285e-03 9.99966608e-01 2.30930702e-03 3.68548403e+00] [-7.21504163e-03 -2.25275776e-03 9.99971434e-01 1.37275243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72925976399999 meters 0.14795927643295023 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.68, Z:1.37 [[ 9.99944559e-01 -7.74223697e-03 7.13694720e-03 -5.32519307e+00] [ 7.72478919e-03 9.99967115e-01 2.46904614e-03 3.68452199e+00] [-7.15582844e-03 -2.41377784e-03 9.99971483e-01 1.37310924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.789259764 meters 0.14631218052203385 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.37 [[ 9.99945965e-01 -7.59532319e-03 7.09775050e-03 -5.32488126e+00] [ 7.57626269e-03 9.99967632e-01 2.70846941e-03 3.68409463e+00] [-7.11809246e-03 -2.65454864e-03 9.99971143e-01 1.37276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.849259764 meters 0.14817003789692657 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.37 [[ 9.99909263e-01 -1.15610869e-02 6.91431078e-03 -5.32385284e+00] [ 1.15696402e-02 9.99932351e-01 -1.19832653e-03 3.68345093e+00] [-6.89998908e-03 1.27821388e-03 9.99975378e-01 1.37201547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90925976399998 meters 0.14784349643336514 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.37 [[ 9.99909120e-01 -1.15659763e-02 6.92675955e-03 -5.32397198e+00] [ 1.15741056e-02 9.99932374e-01 -1.13466684e-03 3.68323428e+00] [-6.91316759e-03 1.21473477e-03 9.99975366e-01 1.37213213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96925976399999 meters 0.1449346158896809 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99907313e-01 -1.19149511e-02 6.58781919e-03 -5.32346802e+00] [ 1.19279310e-02 9.99926988e-01 -1.93452243e-03 3.68659297e+00] [-6.56428846e-03 2.01292218e-03 9.99976429e-01 1.37275294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02925976399999 meters 0.14130115742096658 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99913167e-01 -1.15968942e-02 6.25861735e-03 -5.32180902e+00] [ 1.16083090e-02 9.99931018e-01 -1.79061938e-03 3.68773327e+00] [-6.23742000e-03 1.86311586e-03 9.99978811e-01 1.37153049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08925976399999 meters 0.13715532669175096 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99915004e-01 -1.15382327e-02 6.07066418e-03 -5.32105849e+00] [ 1.15500742e-02 9.99931454e-01 -1.91919097e-03 3.68896763e+00] [-6.04810398e-03 1.98914447e-03 9.99979732e-01 1.37116217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14925976399999 meters 0.1376485652534053 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99917010e-01 -1.13411378e-02 6.11154583e-03 -5.32076767e+00] [ 1.13507900e-02 9.99934381e-01 -1.54697204e-03 3.68819351e+00] [-6.09360038e-03 1.61621453e-03 9.99980128e-01 1.37052059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.209259764 meters 0.13684747293299218 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99918507e-01 -1.13477119e-02 5.84889720e-03 -5.31990489e+00] [ 1.13580342e-02 9.99933991e-01 -1.73464429e-03 3.68974641e+00] [-5.82882687e-03 1.80093490e-03 9.99981391e-01 1.37025051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.269259764 meters 0.13593366334912638 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99923513e-01 -1.08910535e-02 5.86107484e-03 -5.31925305e+00] [ 1.08973838e-02 9.99940071e-01 -1.04919823e-03 3.68799371e+00] [-5.84929672e-03 1.11298836e-03 9.99982273e-01 1.36916446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32925976399999 meters 0.13413242145009505 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99924231e-01 -1.08371242e-02 5.83857449e-03 -5.31918650e+00] [ 1.08432702e-02 9.99940688e-01 -1.02201551e-03 3.68792521e+00] [-5.82715248e-03 1.08524731e-03 9.99982433e-01 1.36915721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38925976399999 meters 0.15399295585484718 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99924708e-01 -1.06833285e-02 6.03700682e-03 -5.31981425e+00] [ 1.06872429e-02 9.99942700e-01 -6.16523881e-04 3.68593625e+00] [-6.03007437e-03 6.80996419e-04 9.99981587e-01 1.36936535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44925976399999 meters 0.15396796153616782 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.37 [[ 9.99925024e-01 -1.05987428e-02 6.13287843e-03 -5.32011731e+00] [ 1.06014696e-02 9.99943718e-01 -4.12279777e-04 3.68496498e+00] [-6.12816362e-03 4.77266391e-04 9.99981109e-01 1.36942976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50925976399999 meters 0.14854678452830883 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99926694e-01 -1.06006625e-02 5.85092288e-03 -5.31946452e+00] [ 1.06048848e-02 9.99943528e-01 -6.91100401e-04 3.68633436e+00] [-5.84326634e-03 7.53098102e-04 9.99982644e-01 1.36956530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.569259764 meters 0.14476214899149348 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99927556e-01 -1.06018294e-02 5.69940389e-03 -5.31901450e+00] [ 1.06070154e-02 9.99943356e-01 -8.80466422e-04 3.68752996e+00] [-5.68974650e-03 9.40856303e-04 9.99983371e-01 1.36950194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.629259764 meters 0.14251481798988672 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99929604e-01 -1.04591270e-02 5.60308321e-03 -5.31834399e+00] [ 1.04636123e-02 9.99944957e-01 -7.71778709e-04 3.68798873e+00] [-5.59470267e-03 8.30352869e-04 9.99984005e-01 1.36884990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68925976399998 meters 0.13867878581636947 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99930671e-01 -1.03276391e-02 5.65630170e-03 -5.31812348e+00] [ 1.03312015e-02 9.99946451e-01 -6.00954814e-04 3.68781590e+00] [-5.64979237e-03 6.59349543e-04 9.99983822e-01 1.36830596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74925976399999 meters 0.1374157234800014 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99931182e-01 -1.02340057e-02 5.73547165e-03 -5.31806437e+00] [ 1.02367000e-02 9.99947507e-01 -4.40605179e-04 3.68755818e+00] [-5.73066142e-03 4.99287160e-04 9.99983455e-01 1.36790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80925976399999 meters 0.1568700138832326 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99931442e-01 -1.02345788e-02 5.68907696e-03 -5.31783908e+00] [ 1.02374267e-02 9.99947485e-01 -4.71685141e-04 3.68807200e+00] [-5.68395070e-03 5.29894312e-04 9.99983706e-01 1.36772223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86925976399999 meters 0.15227034278324592 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.37 [[ 9.99935226e-01 -1.00395161e-02 5.36212226e-03 -5.31668709e+00] [ 1.00424365e-02 9.99949439e-01 -5.17983914e-04 3.68916540e+00] [-5.35665084e-03 5.71799135e-04 9.99985490e-01 1.36722178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.929259764 meters 0.14644171856841925 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.69, Z:1.37 [[ 9.99943987e-01 -9.31666913e-03 5.02211466e-03 -5.31466899e+00] [ 9.31577761e-03 9.99956587e-01 2.00882773e-04 3.68835467e+00] [-5.02376820e-03 -1.54086617e-04 9.99987369e-01 1.36543173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.989259764 meters 0.14275810780813128 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.69, Z:1.37 [[ 9.99946959e-01 -9.05629160e-03 4.90547072e-03 -5.31442570e+00] [ 9.05391568e-03 9.99958884e-01 5.06331242e-04 3.68714366e+00] [-4.90985451e-03 -4.61890667e-04 9.99987840e-01 1.36549664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04925976399998 meters 0.14051144077985667 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.69, Z:1.37 [[ 9.99950768e-01 -8.65735674e-03 4.84893581e-03 -5.31401324e+00] [ 8.65214971e-03 9.99961971e-01 1.09380113e-03 3.68531370e+00] [-4.85822084e-03 -1.05179356e-03 9.99987646e-01 1.36503949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10925976399999 meters 0.14001685721396828 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.36 [[ 9.99955930e-01 -7.97713801e-03 4.95011040e-03 -5.31367599e+00] [ 7.96588591e-03 9.99965653e-01 2.28866928e-03 3.68141224e+00] [-4.96819741e-03 -2.24913640e-03 9.99985129e-01 1.36401241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16925976399999 meters 0.14240588833014842 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.36 [[ 9.99916560e-01 -1.19035041e-02 5.01798648e-03 -5.31424172e+00] [ 1.19098261e-02 9.99928317e-01 -1.23187728e-03 3.67751624e+00] [-5.00296311e-03 1.29153784e-03 9.99986651e-01 1.36469851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22925976399999 meters 0.14812591423818536 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.67, Z:1.36 [[ 9.99914753e-01 -1.16862704e-02 5.82393611e-03 -5.31632968e+00] [ 1.16833423e-02 9.99931603e-01 5.36528729e-04 3.66957365e+00] [-5.82980779e-03 -4.68439952e-04 9.99982897e-01 1.36497456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.289259764 meters 0.15513091727572154 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.37 [[ 9.99856221e-01 -1.57699324e-02 6.23270315e-03 -5.31773240e+00] [ 1.57869589e-02 9.99871754e-01 -2.69211585e-03 3.66436620e+00] [-6.18944934e-03 2.79012421e-03 9.99976953e-01 1.36577458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.349259764 meters 0.15696641451971527 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.37 [[ 9.99860297e-01 -1.53971676e-02 6.50494620e-03 -5.31809039e+00] [ 1.54087524e-02 9.99879774e-01 -1.73456765e-03 3.66100183e+00] [-6.47745670e-03 1.83455843e-03 9.99977338e-01 1.36520467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40925976399998 meters 0.16644388760543516 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.37 [[ 9.99781540e-01 -1.95877933e-02 7.29312571e-03 -5.32003932e+00] [ 1.96218684e-02 9.99796750e-01 -4.63035543e-03 3.65472027e+00] [-7.20094494e-03 4.77244863e-03 9.99962684e-01 1.36548796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46925976399999 meters 0.17545814309539937 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.36 [[ 9.99762545e-01 -1.99494980e-02 8.76766650e-03 -5.32327620e+00] [ 1.99697411e-02 9.99798104e-01 -2.22737545e-03 3.64622494e+00] [-8.72146132e-03 2.40193458e-03 9.99959083e-01 1.36375717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52925976399999 meters 0.1737466399416812 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99836308e-01 -1.54390011e-02 9.43364808e-03 -5.32464191e+00] [ 1.54085358e-02 9.99875857e-01 3.29362073e-03 3.64134511e+00] [-9.48332718e-03 -3.14772289e-03 9.99950078e-01 1.36296266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58925976399999 meters 0.1717351054420884 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99839737e-01 -1.52375686e-02 9.39769998e-03 -5.32444648e+00] [ 1.52043069e-02 9.99877925e-01 3.60069445e-03 3.64040864e+00] [-9.45141858e-03 -3.45723188e-03 9.99949358e-01 1.36279026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64925976399999 meters 0.16929202259699389 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99844078e-01 -1.49462436e-02 9.40371003e-03 -5.32395835e+00] [ 1.49088211e-02 9.99880707e-01 4.03714257e-03 3.63948876e+00] [-9.46292835e-03 -3.89631486e-03 9.99947634e-01 1.36198736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.709259764 meters 0.16558240882259198 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99845879e-01 -1.48126263e-02 9.42361313e-03 -5.32378922e+00] [ 1.47725414e-02 9.99881595e-01 4.30914688e-03 3.63883770e+00] [-9.48632711e-03 -4.16927204e-03 9.99946312e-01 1.36164045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.769259764 meters 0.1720048182941423 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99848406e-01 -1.48221560e-02 9.13609977e-03 -5.32284969e+00] [ 1.47854321e-02 9.99882389e-01 4.07416647e-03 3.64059323e+00] [-9.19541320e-03 -3.93846767e-03 9.99949965e-01 1.36131808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82925976399999 meters 0.16342544622634542 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99849243e-01 -1.50302767e-02 8.69374187e-03 -5.32199519e+00] [ 1.50016394e-02 9.99881858e-01 3.34989957e-03 3.64359852e+00] [-8.74306469e-03 -3.21897417e-03 9.99956598e-01 1.36178022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88925976399999 meters 0.1782918698816149 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.64, Z:1.36 [[ 9.99850280e-01 -1.50055352e-02 8.61696664e-03 -5.32151552e+00] [ 1.49779744e-02 9.99882529e-01 3.25412028e-03 3.64454546e+00] [-8.66478421e-03 -3.12456837e-03 9.99957578e-01 1.36136497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94925976399999 meters 0.17924898524422278 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.36 [[ 9.99853745e-01 -1.50140487e-02 8.18939956e-03 -5.32017472e+00] [ 1.49913943e-02 9.99883644e-01 2.82071463e-03 3.64730399e+00] [-8.23079702e-03 -2.69753157e-03 9.99962488e-01 1.36099662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00925976399999 meters 0.17751574072921472 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.36 [[ 9.99855252e-01 -1.50912320e-02 7.85683211e-03 -5.31901553e+00] [ 1.50727864e-02 9.99883515e-01 2.40166253e-03 3.65012789e+00] [-7.89216095e-03 -2.28289054e-03 9.99966251e-01 1.36052865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.069259764 meters 0.1730309378272385 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.36 [[ 9.99855664e-01 -1.51496616e-02 7.69018766e-03 -5.31818318e+00] [ 1.51337163e-02 9.99883215e-01 2.12744342e-03 3.65218038e+00] [-7.72151961e-03 -2.01075524e-03 9.99968167e-01 1.35991976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.129259764 meters 0.1670250493325973 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.36 [[ 0.99991211 -0.01084361 0.00762829 -5.31767028] [ 0.01079522 0.99992152 0.00635719 3.65334524] [-0.00769663 -0.00627429 0.9999507 1.35918914] [ 0. 0. 0. 1. ]] SLAMing on 80.18925976399998 meters 0.16994977859883187 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.36 [[ 9.99860363e-01 -1.52208230e-02 6.89787003e-03 -5.31600597e+00] [ 1.52126951e-02 9.99883525e-01 1.22927188e-03 3.65727284e+00] [-6.91577713e-03 -1.12416503e-03 9.99975454e-01 1.35965564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24925976399999 meters 0.15937581527714872 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.36 [[ 0.99991762 -0.01059388 0.00724746 -5.31622853] [ 0.01054857 0.99992475 0.00626214 3.65509721] [-0.00731326 -0.00618518 0.99995413 1.35843098] [ 0. 0. 0. 1. ]] SLAMing on 80.30925976399999 meters 0.16405852646797697 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.36 [[ 9.99916297e-01 -1.09684368e-02 6.86237105e-03 -5.31560584e+00] [ 1.09320477e-02 9.99926102e-01 5.31792333e-03 3.65890235e+00] [-6.92019324e-03 -5.24245844e-03 9.99962313e-01 1.35903193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36925976399999 meters 0.15617152629362693 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.36 [[ 9.99918186e-01 -1.10693404e-02 6.41028243e-03 -5.31427442e+00] [ 1.10396228e-02 9.99928236e-01 4.65290874e-03 3.66229905e+00] [-6.46132703e-03 -4.58176096e-03 9.99968629e-01 1.35875781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.429259764 meters 0.148823598444578 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.36 [[ 9.99918828e-01 -1.13473548e-02 5.79433331e-03 -5.31280278e+00] [ 1.13275361e-02 9.99929918e-01 3.44179471e-03 3.66751128e+00] [-5.83298250e-03 -3.37587981e-03 9.99977290e-01 1.35905353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.489259764 meters 0.1567958141227627 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.36 [[ 9.99920496e-01 -1.14221750e-02 5.34196539e-03 -5.31135242e+00] [ 1.14077643e-02 9.99931229e-01 2.72036791e-03 3.67132208e+00] [-5.37267053e-03 -2.65921175e-03 9.99982031e-01 1.35870310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54925976399998 meters 0.1457881175912451 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.36 [[ 9.99918192e-01 -1.17802064e-02 4.98361205e-03 -5.31073054e+00] [ 1.17711949e-02 9.99929036e-01 1.83371152e-03 3.67494601e+00] [-5.00485990e-03 -1.77489843e-03 9.99985900e-01 1.35927096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60925976399999 meters 0.14232497613678496 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.36 [[ 9.99918892e-01 -1.19250589e-02 4.47249302e-03 -5.30926606e+00] [ 1.19205230e-02 9.99928408e-01 1.03945862e-03 3.67903507e+00] [-4.48456843e-03 -9.86059850e-04 9.99989458e-01 1.35908709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66925976399999 meters 0.13948348871037705 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.36 [[ 9.99922663e-01 -1.19320774e-02 3.50624552e-03 -5.30695165e+00] [ 1.19331285e-02 9.99928759e-01 -2.78991427e-04 3.68497627e+00] [-3.50266679e-03 3.20810328e-04 9.99993814e-01 1.35937292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72925976399999 meters 0.13068920540802012 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.36 [[ 9.99927714e-01 -1.17457254e-02 2.56985005e-03 -5.30409799e+00] [ 1.17487409e-02 9.99930307e-01 -1.16149917e-03 3.69088236e+00] [-2.55602830e-03 1.19160771e-03 9.99996023e-01 1.35841347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.789259764 meters 0.12584443673623394 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99931736e-01 -1.15515011e-02 1.75700558e-03 -5.30147862e+00] [ 1.15546391e-02 9.99931647e-01 -1.78645114e-03 3.69564004e+00] [-1.73624929e-03 1.80663075e-03 9.99996861e-01 1.35745429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.849259764 meters 0.12469896445590707 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99932996e-01 -1.15065871e-02 1.26544670e-03 -5.29999591e+00] [ 1.15094548e-02 9.99931158e-01 -2.28270886e-03 3.69863135e+00] [-1.23909339e-03 2.29712051e-03 9.99996594e-01 1.35721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90925976399998 meters 0.12221865009935913 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99931743e-01 -1.16600537e-02 7.42654107e-04 -5.29879943e+00] [ 1.16622682e-02 9.99927339e-01 -3.05086237e-03 3.70231584e+00] [-7.07026926e-04 3.05931516e-03 9.99995070e-01 1.35752725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96925976399999 meters 0.12881199565546889 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99936656e-01 -1.12317705e-02 7.28838918e-04 -5.29804377e+00] [ 1.12334867e-02 9.99934034e-01 -2.39491294e-03 3.70088452e+00] [-7.01891727e-04 2.40294864e-03 9.99996867e-01 1.35636170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02925976399999 meters 0.13216655269637456 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99939767e-01 -1.09104024e-02 1.19428622e-03 -5.29866062e+00] [ 1.09120515e-02 9.99939505e-01 -1.38312301e-03 3.69731929e+00] [-1.17912355e-03 1.39607182e-03 9.99998330e-01 1.35539928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08925976399999 meters 0.13001432365659846 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.36 [[ 9.99938339e-01 -1.09645501e-02 1.75964156e-03 -5.30020375e+00] [ 1.09657853e-02 9.99939633e-01 -6.93825801e-04 3.69402630e+00] [-1.75192785e-03 7.13078871e-04 9.99998211e-01 1.35555954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14925976399999 meters 0.12975454496110178 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.36 [[ 9.99940249e-01 -1.08734513e-02 1.12575138e-03 -5.29844838e+00] [ 1.08746686e-02 9.99940285e-01 -1.08092393e-03 3.69668724e+00] [-1.11393078e-03 1.09310152e-03 9.99998782e-01 1.35532880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.209259764 meters 0.12326964663056847 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.35 [[ 9.99947219e-01 -1.02697779e-02 3.00967493e-04 -5.29516193e+00] [ 1.02701563e-02 9.99946436e-01 -1.28406931e-03 3.70027959e+00] [-2.87764266e-04 1.28709252e-03 9.99999130e-01 1.35335929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26925976399998 meters 0.11922743546501544 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.35 [[ 9.99948535e-01 -1.01448159e-02 9.62649110e-05 -5.29412785e+00] [ 1.01449386e-02 9.99947596e-01 -1.37344192e-03 3.70160937e+00] [-8.23265509e-05 1.37434784e-03 9.99999052e-01 1.35262251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32925976399999 meters 0.11826834605511985 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99947252e-01 -1.02436444e-02 -7.48969518e-04 -5.29219392e+00] [ 1.02416958e-02 9.99944273e-01 -2.56081386e-03 3.70708886e+00] [ 7.75159847e-04 2.55300807e-03 9.99996441e-01 1.35308225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38925976399999 meters 0.11477046851358058 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99946020e-01 -1.03097943e-02 -1.29038908e-03 -5.29089757e+00] [ 1.03054728e-02 9.99941412e-01 -3.31197869e-03 3.71063754e+00] [ 1.32445930e-03 3.29850184e-03 9.99993683e-01 1.35336360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44925976399999 meters 0.11068027138884041 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99945755e-01 -1.03226524e-02 -1.38910745e-03 -5.29062399e+00] [ 1.03176752e-02 9.99940492e-01 -3.54367930e-03 3.71159277e+00] [ 1.42560496e-03 3.52915472e-03 9.99992756e-01 1.35343195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50925976399999 meters 0.11090943922883491 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99947656e-01 -1.01589321e-02 -1.21726323e-03 -5.29076925e+00] [ 1.01549794e-02 9.99943283e-01 -3.21054051e-03 3.71056476e+00] [ 1.24980986e-03 3.19801117e-03 9.99994105e-01 1.35295422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.569259764 meters 0.11206996553683586 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99948040e-01 -1.01335170e-02 -1.10909420e-03 -5.29102899e+00] [ 1.01300800e-02 9.99944002e-01 -3.06187997e-03 3.71005056e+00] [ 1.14005971e-03 3.05048566e-03 9.99994697e-01 1.35289563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.629259764 meters 0.117046790969842 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99946582e-01 -1.02849185e-02 -1.02663083e-03 -5.29117487e+00] [ 1.02815696e-02 9.99941973e-01 -3.21571888e-03 3.71097458e+00] [ 1.05964466e-03 3.20499173e-03 9.99994303e-01 1.35276590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68925976399998 meters 0.11712357845024778 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99945209e-01 -1.04410261e-02 -7.50502482e-04 -5.29169236e+00] [ 1.04384727e-02 9.99939975e-01 -3.32928467e-03 3.71163929e+00] [ 7.85218581e-04 3.32126816e-03 9.99994176e-01 1.35247426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74925976399999 meters 0.11790071010732987 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99944195e-01 -1.05478183e-02 -5.92366727e-04 -5.29175869e+00] [ 1.05457337e-02 9.99938549e-01 -3.41830363e-03 3.71257870e+00] [ 6.28385972e-04 3.41186593e-03 9.99993982e-01 1.35194861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80925976399999 meters 0.11824008232294196 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99944721e-01 -1.05040743e-02 -4.68829740e-04 -5.29164082e+00] [ 1.05024936e-02 9.99939548e-01 -3.25553624e-03 3.71275486e+00] [ 5.02997793e-04 3.25043240e-03 9.99994591e-01 1.35123771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86925976399999 meters 0.1192257464441655 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99946883e-01 -1.03011145e-02 -3.44703970e-04 -5.29139524e+00] [ 1.03001062e-02 9.99943007e-01 -2.80908562e-03 3.71192421e+00] [ 3.73621037e-04 2.80538592e-03 9.99995995e-01 1.35027804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.929259764 meters 0.12063850609015735 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99945890e-01 -1.03870545e-02 -5.71369608e-04 -5.29095477e+00] [ 1.03851613e-02 9.99940881e-01 -3.22220899e-03 3.71356182e+00] [ 6.04805090e-04 3.21610087e-03 9.99994645e-01 1.35062176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.989259764 meters 0.1151635985917163 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99947271e-01 -1.02389687e-02 -7.86390435e-04 -5.29028871e+00] [ 1.02363817e-02 9.99942402e-01 -3.22624058e-03 3.71395092e+00] [ 8.19378517e-04 3.21802067e-03 9.99994486e-01 1.35050571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04925976399998 meters 0.11560252930060946 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99947765e-01 -1.01875414e-02 -8.25025447e-04 -5.29030684e+00] [ 1.01847920e-02 9.99942784e-01 -3.27075095e-03 3.71390809e+00] [ 8.58299153e-04 3.26217739e-03 9.99994311e-01 1.35075125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10925976399999 meters 0.1170776673966478 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99950374e-01 -9.91806258e-03 -9.38582857e-04 -5.28966230e+00] [ 9.91522169e-03 9.99946389e-01 -2.98452618e-03 3.71338476e+00] [ 9.68133256e-04 2.97507181e-03 9.99995106e-01 1.35023551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16925976399999 meters 0.11299087745983609 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99953280e-01 -9.60002432e-03 -1.13017098e-03 -5.28889902e+00] [ 9.59701725e-03 9.99950471e-01 -2.63673685e-03 3.71258389e+00] [ 1.15542775e-03 2.62576739e-03 9.99995885e-01 1.34982599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22925976399999 meters 0.11056800325067097 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99954482e-01 -9.42835192e-03 -1.46281894e-03 -5.28825125e+00] [ 9.42447475e-03 9.99952117e-01 -2.63511263e-03 3.71250800e+00] [ 1.48759366e-03 2.62120638e-03 9.99995458e-01 1.35019791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.289259764 meters 0.11741157437408002 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99956848e-01 -9.12969831e-03 -1.71762989e-03 -5.28749635e+00] [ 9.12558141e-03 9.99955506e-01 -2.38961370e-03 3.71186962e+00] [ 1.73936992e-03 2.37383622e-03 9.99995670e-01 1.35005636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.349259764 meters 0.1098925936878507 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99960677e-01 -8.65501204e-03 -1.93277615e-03 -5.28671055e+00] [ 8.65146298e-03 9.99960888e-01 -1.83712282e-03 3.71011209e+00] [ 1.94860088e-03 1.82032924e-03 9.99996445e-01 1.34969208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40925976399998 meters 0.11107377787395066 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.35 [[ 9.99967203e-01 -7.77975449e-03 -2.25122260e-03 -5.28516371e+00] [ 7.77818949e-03 9.99969502e-01 -7.03099441e-04 3.70681473e+00] [ 2.25662388e-03 6.85565946e-04 9.99997219e-01 1.34852565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46925976399999 meters 0.11050342916279167 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.35 [[ 9.99973115e-01 -6.88463079e-03 -2.52422245e-03 -5.28367793e+00] [ 6.88595410e-03 9.99976158e-01 5.15929283e-04 3.70333847e+00] [ 2.52061028e-03 -5.33297092e-04 9.99996681e-01 1.34725826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52925976399999 meters 0.10980346724313682 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.35 [[ 9.99979077e-01 -5.95991425e-03 -2.51486242e-03 -5.28363164e+00] [ 5.96492223e-03 9.99980232e-01 1.98857168e-03 3.69682596e+00] [ 2.50296099e-03 -2.00353104e-03 9.99994861e-01 1.34716599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58925976399999 meters 0.11055575357686818 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.69, Z:1.35 [[ 9.99981804e-01 -5.59281211e-03 -2.26083250e-03 -5.28455060e+00] [ 5.59932149e-03 9.99980167e-01 2.88319473e-03 3.69232913e+00] [ 2.24466250e-03 -2.89580140e-03 9.99993288e-01 1.34754107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64925976399999 meters 0.11294946182280134 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.35 [[ 9.99951665e-01 -9.54605738e-03 -2.35392682e-03 -5.28522763e+00] [ 9.54446587e-03 9.99954215e-01 -6.86417785e-04 3.68789762e+00] [ 2.36037162e-03 6.63917633e-04 9.99996994e-01 1.34896106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.709259764 meters 0.11684020469052092 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.35 [[ 9.99910496e-01 -1.32161661e-02 -2.08151589e-03 -5.28579733e+00] [ 1.32092024e-02 9.99907228e-01 -3.32447895e-03 3.68115953e+00] [ 2.12525965e-03 3.29668624e-03 9.99992308e-01 1.34881339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76925976399998 meters 0.13444471265273297 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.35 [[ 9.99850055e-01 -1.72590869e-02 -1.41102511e-03 -5.28751384e+00] [ 1.72505275e-02 9.99833976e-01 -5.86848761e-03 3.67364332e+00] [ 1.51207558e-03 5.84326674e-03 9.99981785e-01 1.34913859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82925976399999 meters 0.14335482956844295 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.35 [[ 9.99768202e-01 -2.15279155e-02 -3.01532329e-04 -5.29005723e+00] [ 2.15249232e-02 9.99738101e-01 -7.77222272e-03 3.66421923e+00] [ 4.68773112e-04 7.76393067e-03 9.99969750e-01 1.34878999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88925976399999 meters 0.1554727718751019 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.35 [[ 9.99764496e-01 -2.16793615e-02 9.78753326e-04 -5.29285814e+00] [ 2.16847737e-02 9.99747408e-01 -5.90687889e-03 3.65652428e+00] [-8.50448738e-04 5.92671184e-03 9.99982075e-01 1.34813234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94925976399999 meters 0.17405486171375956 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.65, Z:1.35 [[ 9.99293323e-01 -3.71592755e-02 5.66071341e-03 -5.30781948e+00] [ 3.72439486e-02 9.99183346e-01 -1.56693933e-02 3.64950946e+00] [-5.07382726e-03 1.58691474e-02 9.99861204e-01 1.34918065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00925976399999 meters 0.18061183219075366 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.65, Z:1.35 [[ 0.99928095 -0.03743065 0.00604428 -5.30935972] [ 0.03752126 0.9991733 -0.01564839 3.64792568] [-0.00545355 0.01586393 0.99985929 1.3500558 ] [ 0. 0. 0. 1. ]] SLAMing on 83.069259764 meters 0.17365029278041832 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.65, Z:1.35 [[ 0.99941136 -0.03372736 0.00627623 -5.31084066] [ 0.0338009 0.99935647 -0.01200625 3.64942613] [-0.00586725 0.01221132 0.99990823 1.35093263] [ 0. 0. 0. 1. ]] SLAMing on 83.129259764 meters 0.1740501555661883 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.34 [[ 0.99970153 -0.02220973 0.01017752 -5.31526488] [ 0.02235901 0.9996405 -0.01479703 3.65023504] [-0.00984522 0.01502017 0.99983872 1.34238863] [ 0. 0. 0. 1. ]] SLAMing on 83.18925976399998 meters 0.17407826765279028 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.34 [[ 9.99848908e-01 -1.34454498e-02 1.10173096e-02 -5.31682883e+00] [ 1.35042533e-02 9.99894870e-01 -5.28047129e-03 3.64616064e+00] [-1.09451530e-02 5.42845399e-03 9.99925365e-01 1.34121550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24925976399999 meters 0.1582413911784744 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.34 [[ 9.99897024e-01 -9.63428699e-03 1.06358819e-02 -5.31679631e+00] [ 9.65985645e-03 9.99950569e-01 -2.35532477e-03 3.65009230e+00] [-1.06126643e-02 2.45782332e-03 9.99940663e-01 1.34294220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30925976399999 meters 0.15298532396369757 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.34 [[ 9.99901382e-01 -1.00020569e-02 9.85822313e-03 -5.31550110e+00] [ 1.00397953e-02 9.99942432e-01 -3.78609552e-03 3.65575184e+00] [-9.81978688e-03 3.88469669e-03 9.99944239e-01 1.34419208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36925976399999 meters 0.15402192043410626 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.34 [[ 9.99901620e-01 -1.00222660e-02 9.81350658e-03 -5.31518217e+00] [ 1.00611366e-02 9.99941703e-01 -3.91960224e-03 3.65678878e+00] [-9.77365119e-03 4.01795166e-03 9.99944164e-01 1.34391641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.429259764 meters 0.15287097093384877 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.34 [[ 9.99903181e-01 -9.74424127e-03 9.93370612e-03 -5.31503068e+00] [ 9.77837611e-03 9.99946432e-01 -3.39350471e-03 3.65546839e+00] [-9.90010687e-03 3.49031167e-03 9.99944901e-01 1.34313751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.489259764 meters 0.16587862181541646 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.65, Z:1.34 [[ 9.99899927e-01 -9.76726802e-03 1.02341280e-02 -5.31565052e+00] [ 9.79919607e-03 9.99947261e-01 -3.07427531e-03 3.65449266e+00] [-1.02035610e-02 3.17425388e-03 9.99942904e-01 1.34287592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54925976399998 meters 0.15687976086756802 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99902087e-01 -9.87116793e-03 9.91846482e-03 -5.31493074e+00] [ 9.90603564e-03 9.99944905e-01 -3.47247645e-03 3.65637930e+00] [-9.88364096e-03 3.57038911e-03 9.99944781e-01 1.34304450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60925976399999 meters 0.1607355160887498 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99903951e-01 -9.91655163e-03 9.68248745e-03 -5.31414700e+00] [ 9.95398152e-03 9.99943141e-01 -3.82522118e-03 3.65842196e+00] [-9.64400391e-03 3.92123307e-03 9.99945807e-01 1.34282705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66925976399999 meters 0.15585854946312386 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99909762e-01 -9.78900626e-03 9.20013411e-03 -5.31254189e+00] [ 9.82726723e-03 9.99943212e-01 -4.12277410e-03 3.66096556e+00] [-9.15925379e-03 4.21281425e-03 9.99949179e-01 1.34225476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72925976399999 meters 0.1568263067363378 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99912136e-01 -9.78129047e-03 8.94692688e-03 -5.31156868e+00] [ 9.82024808e-03 9.99942445e-01 -4.32078151e-03 3.66283349e+00] [-8.90414912e-03 4.40826290e-03 9.99950640e-01 1.34177594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.789259764 meters 0.15768515340602207 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99913887e-01 -9.57720279e-03 8.97192662e-03 -5.31123662e+00] [ 9.61277461e-03 9.99946073e-01 -3.93009250e-03 3.66203449e+00] [-8.93380350e-03 4.01599918e-03 9.99952028e-01 1.34111618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.849259764 meters 0.15077780474393246 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.34 [[ 9.99945547e-01 -5.31929845e-03 8.97820155e-03 -5.31099820e+00] [ 5.31683636e-03 9.99985821e-01 2.98075906e-04 3.66293824e+00] [-8.97965981e-03 -2.50324046e-04 9.99959651e-01 1.34064633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90925976399998 meters 0.1643155133031299 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.34 [[ 9.99947029e-01 -5.42587931e-03 8.74634115e-03 -5.31033181e+00] [ 5.42734546e-03 9.99985261e-01 -1.43904219e-04 3.66511697e+00] [-8.74543144e-03 1.91366011e-04 9.99961740e-01 1.34062868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96925976399999 meters 0.14761509709990603 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.34 [[ 9.99948899e-01 -5.80050823e-03 8.27971724e-03 -5.30953166e+00] [ 5.81003131e-03 9.99982487e-01 -1.12658047e-03 3.66917445e+00] [-8.27303750e-03 1.17462832e-03 9.99965088e-01 1.34134352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02925976399999 meters 0.15146683157794175 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.34 [[ 9.99954207e-01 -6.23006428e-03 7.26437729e-03 -5.30798224e+00] [ 6.25286205e-03 9.99975584e-01 -3.11981809e-03 3.67586134e+00] [-7.24476325e-03 3.16509837e-03 9.99968747e-01 1.34354875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08925976399999 meters 0.14467998260852255 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.34 [[ 9.99957971e-01 -6.20330879e-03 6.75094429e-03 -5.30635888e+00] [ 6.22817670e-03 9.99973874e-01 -3.66885120e-03 3.67919490e+00] [-6.72800890e-03 3.71074308e-03 9.99970482e-01 1.34314347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14925976399999 meters 0.1409428197355557 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.68, Z:1.34 [[ 9.99960414e-01 -6.39558810e-03 6.18606223e-03 -5.30473523e+00] [ 6.42296802e-03 9.99969620e-01 -4.41637194e-03 3.68389854e+00] [-6.15762901e-03 4.45592999e-03 9.99971114e-01 1.34285003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.209259764 meters 0.14092024312373172 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99965919e-01 -6.03652628e-03 5.63219683e-03 -5.30210914e+00] [ 6.06138622e-03 9.99971917e-01 -4.40731745e-03 3.68680122e+00] [-5.60543378e-03 4.44130617e-03 9.99974427e-01 1.34089304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26925976399998 meters 0.13831215722986517 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99969603e-01 -5.79531792e-03 5.21604745e-03 -5.30008590e+00] [ 5.81883535e-03 9.99972923e-01 -4.50484415e-03 3.68959903e+00] [-5.18979921e-03 4.53505853e-03 9.99976249e-01 1.33940938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32925976399999 meters 0.13553809893622695 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99970029e-01 -5.80468349e-03 5.12320992e-03 -5.29956089e+00] [ 5.82839264e-03 9.99972319e-01 -4.62505803e-03 3.69075485e+00] [-5.09622110e-03 4.65477949e-03 9.99976180e-01 1.33900057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38925976399999 meters 0.13549795511079082 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99969704e-01 -5.84116288e-03 5.14511819e-03 -5.29965722e+00] [ 5.86538391e-03 9.99971729e-01 -4.70513178e-03 3.69111997e+00] [-5.11748929e-03 4.73516733e-03 9.99975694e-01 1.33907870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44925976399999 meters 0.14338713019052424 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99970259e-01 -5.72086441e-03 5.17239702e-03 -5.29943038e+00] [ 5.74444438e-03 9.99973124e-01 -4.55550323e-03 3.69107306e+00] [-5.14619659e-03 4.58508029e-03 9.99976247e-01 1.33862266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50925976399999 meters 0.13140026587972006 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99940051e-01 -9.90985361e-03 4.65715046e-03 -5.29793220e+00] [ 9.95205516e-03 9.99908818e-01 -9.12758562e-03 3.69349999e+00] [-4.56627277e-03 9.17338665e-03 9.99947498e-01 1.33845109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.569259764 meters 0.13930524940617708 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99941427e-01 -9.78713808e-03 4.62111881e-03 -5.29753321e+00] [ 9.82823062e-03 9.99911603e-01 -8.95497973e-03 3.69348777e+00] [-4.53306670e-03 8.99987263e-03 9.99949226e-01 1.33795992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62925976399998 meters 0.13628594538145078 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.34 [[ 9.99942445e-01 -9.72116166e-03 4.53944052e-03 -5.29698107e+00] [ 9.76144807e-03 9.99912404e-01 -8.93857224e-03 3.69433507e+00] [-4.45214958e-03 8.98236929e-03 9.99949746e-01 1.33744655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68925976399998 meters 0.13294944957985128 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.70, Z:1.34 [[ 9.99944883e-01 -9.58216391e-03 4.29113794e-03 -5.29572462e+00] [ 9.62069658e-03 9.99912759e-01 -9.05083255e-03 3.69613221e+00] [-4.20403701e-03 9.09161743e-03 9.99949833e-01 1.33654418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74925976399999 meters 0.1299635030101271 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99949769e-01 -9.23743280e-03 3.88963427e-03 -5.29359906e+00] [ 9.27204812e-03 9.99916714e-01 -8.97742944e-03 3.69822236e+00] [-3.80638192e-03 9.01304337e-03 9.99952137e-01 1.33485532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80925976399999 meters 0.13013265732906154 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99953467e-01 -8.95177256e-03 3.59564242e-03 -5.29196879e+00] [ 8.98346949e-03 9.99920057e-01 -8.89814102e-03 3.69970742e+00] [-3.51570084e-03 8.93002831e-03 9.99953946e-01 1.33354661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86925976399999 meters 0.12859178169785346 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99953323e-01 -9.00863574e-03 3.49228004e-03 -5.29157812e+00] [ 9.04011339e-03 9.99917684e-01 -9.10500915e-03 3.70096016e+00] [-3.40996885e-03 9.13615477e-03 9.99952450e-01 1.33340444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.929259764 meters 0.12563431553987514 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99954182e-01 -8.87479067e-03 3.58768812e-03 -5.29150265e+00] [ 8.90630885e-03 9.99921026e-01 -8.86670985e-03 3.70059624e+00] [-3.50871459e-03 8.89825665e-03 9.99954254e-01 1.33289314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.989259764 meters 0.12790177312322581 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99954399e-01 -8.75906290e-03 3.80514174e-03 -5.29185241e+00] [ 8.79110071e-03 9.99925349e-01 -8.48609708e-03 3.69934265e+00] [-3.73052742e-03 8.51916149e-03 9.99956753e-01 1.33253165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04925976399998 meters 0.1283440390238144 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99952894e-01 -8.92280138e-03 3.82013201e-03 -5.29181762e+00] [ 8.95588080e-03 9.99921773e-01 -8.73151757e-03 3.70069001e+00] [-3.74192358e-03 8.76531891e-03 9.99954583e-01 1.33243598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10925976399999 meters 0.12497881778686187 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99953106e-01 -9.00131923e-03 3.57231165e-03 -5.29111854e+00] [ 9.03371355e-03 9.99917257e-01 -9.15807189e-03 3.70283714e+00] [-3.48958134e-03 9.18991368e-03 9.99951683e-01 1.33243544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16925976399999 meters 0.12045688577015808 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.33 [[ 9.99956619e-01 -8.79425612e-03 3.06926384e-03 -5.28906005e+00] [ 8.82326164e-03 9.99915295e-01 -9.56831480e-03 3.70637488e+00] [-2.98485765e-03 9.59498064e-03 9.99949512e-01 1.33127962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22925976399999 meters 0.11761977499152333 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.71, Z:1.33 [[ 9.99960877e-01 -8.36506928e-03 2.87561117e-03 -5.28755196e+00] [ 8.39136473e-03 9.99921942e-01 -9.25720446e-03 3.70688010e+00] [-2.79794955e-03 9.28097259e-03 9.99953016e-01 1.32973494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.289259764 meters 0.1233546843080146 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99988056e-01 -3.67462022e-03 3.22247916e-03 -5.28771067e+00] [ 3.68771482e-03 9.99984930e-01 -4.06703552e-03 3.70439487e+00] [-3.20748579e-03 4.07887053e-03 9.99986537e-01 1.32838896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.349259764 meters 0.1182387764058444 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99965423e-01 -7.76943853e-03 2.96451723e-03 -5.28700974e+00] [ 7.79365729e-03 9.99935618e-01 -8.24737705e-03 3.70414668e+00] [-2.90024887e-03 8.27019631e-03 9.99961595e-01 1.32844633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40925976399998 meters 0.1237690394815708 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99966926e-01 -7.47305823e-03 3.20932445e-03 -5.28730422e+00] [ 7.49704355e-03 9.99943562e-01 -7.52779333e-03 3.70168207e+00] [-3.15288768e-03 7.55160480e-03 9.99966516e-01 1.32783498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46925976399999 meters 0.12061216715878526 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99968640e-01 -7.17929999e-03 3.34304278e-03 -5.28732800e+00] [ 7.20244301e-03 9.99949820e-01 -6.96294190e-03 3.69992869e+00] [-3.29288598e-03 6.98680162e-03 9.99970170e-01 1.32728210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52925976399999 meters 0.12273489582883884 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.33 [[ 9.99971007e-01 -6.76134035e-03 3.50263888e-03 -5.28727165e+00] [ 6.78288418e-03 9.99957925e-01 -6.17581653e-03 3.69744484e+00] [-3.46073471e-03 6.19939547e-03 9.99974795e-01 1.32648067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58925976399999 meters 0.12513632111491857 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99973459e-01 -6.19891903e-03 3.82817849e-03 -5.28718770e+00] [ 6.21793624e-03 9.99968288e-01 -4.97593474e-03 3.69390169e+00] [-3.79721168e-03 4.99960604e-03 9.99980292e-01 1.32493636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64925976399999 meters 0.1319991714997825 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99973053e-01 -5.94855469e-03 4.30220161e-03 -5.28818659e+00] [ 5.96567058e-03 9.99974298e-01 -3.97657205e-03 3.68993801e+00] [-4.27843618e-03 4.00213041e-03 9.99982839e-01 1.32455187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.709259764 meters 0.13204878618324828 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99972987e-01 -5.81285129e-03 4.49842258e-03 -5.28876008e+00] [ 5.82886471e-03 9.99976693e-01 -3.55489884e-03 3.68818104e+00] [-4.47765364e-03 3.58102350e-03 9.99983563e-01 1.32460279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76925976399998 meters 0.13533483831219148 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99974115e-01 -5.51200155e-03 4.62464618e-03 -5.28853603e+00] [ 5.52585012e-03 9.99980271e-01 -2.98710088e-03 3.68673870e+00] [-4.60809003e-03 3.01257866e-03 9.99984845e-01 1.32368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82925976399999 meters 0.13240395556050896 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99942293e-01 -9.79019944e-03 4.42307849e-03 -5.28798982e+00] [ 9.82301041e-03 9.99923938e-01 -7.45832737e-03 3.68761602e+00] [-4.34972355e-03 7.50134491e-03 9.99962404e-01 1.32381677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88925976399999 meters 0.13649610588306077 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99941376e-01 -9.89570538e-03 4.39537049e-03 -5.28803756e+00] [ 9.92899650e-03 9.99921687e-01 -7.61801737e-03 3.68830120e+00] [-4.31964063e-03 7.66121239e-03 9.99961323e-01 1.32401250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94925976399999 meters 0.13176659424237855 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99944573e-01 -9.65983475e-03 4.18792181e-03 -5.28682946e+00] [ 9.69095390e-03 9.99925101e-01 -7.47519203e-03 3.68917118e+00] [-4.11539902e-03 7.51536265e-03 9.99963291e-01 1.32297918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00925976399999 meters 0.13784186465136228 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99948769e-01 -9.13737326e-03 4.35526992e-03 -5.28653895e+00] [ 9.16587420e-03 9.99936412e-01 -6.56960161e-03 3.68646117e+00] [-4.29496407e-03 6.60918489e-03 9.99968935e-01 1.32178729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.069259764 meters 0.13661814774164419 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.32 [[ 9.99950760e-01 -8.90717692e-03 4.37489348e-03 -5.28640675e+00] [ 8.93401141e-03 9.99941160e-01 -6.15298919e-03 3.68520423e+00] [-4.31983030e-03 6.19177156e-03 9.99971500e-01 1.32145505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12925976399998 meters 0.13869011526923405 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.32 [[ 9.99950950e-01 -8.75697670e-03 4.62739779e-03 -5.28715602e+00] [ 8.78298940e-03 9.99945572e-01 -5.63135425e-03 3.68293852e+00] [-4.57783229e-03 5.67172042e-03 9.99973437e-01 1.32156283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18925976399998 meters 0.13944048133604836 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.32 [[ 9.99952468e-01 -8.36083137e-03 5.01571376e-03 -5.28772677e+00] [ 8.38351098e-03 9.99954652e-01 -4.51785548e-03 3.67905964e+00] [-4.97771328e-03 4.55969003e-03 9.99977216e-01 1.32078408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24925976399999 meters 0.13865613015500639 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.32 [[ 9.99956791e-01 -7.84933361e-03 4.98036142e-03 -5.28700839e+00] [ 7.86773922e-03 9.99962252e-01 -3.68687172e-03 3.67686943e+00] [-4.95123393e-03 3.72589660e-03 9.99980801e-01 1.31971516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30925976399999 meters 0.15078330275155627 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.32 [[ 9.99960476e-01 -7.23410973e-03 5.16855224e-03 -5.28688878e+00] [ 7.24710181e-03 9.99970616e-01 -2.49938763e-03 3.67297354e+00] [-5.15031953e-03 2.53674587e-03 9.99983519e-01 1.31867016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36925976399999 meters 0.14749568676791175 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.32 [[ 9.99961872e-01 -7.03698402e-03 5.17068826e-03 -5.28701547e+00] [ 7.04818668e-03 9.99972847e-01 -2.15155213e-03 3.67145750e+00] [-5.15540742e-03 2.18791407e-03 9.99984317e-01 1.31883038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.429259764 meters 0.1433702492016112 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.32 [[ 9.99962613e-01 -6.87058647e-03 5.25040466e-03 -5.28712214e+00] [ 6.88023370e-03 9.99974672e-01 -1.82157800e-03 3.67029566e+00] [-5.23775637e-03 1.85763391e-03 9.99984557e-01 1.31864784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.489259764 meters 0.14592115603159772 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.32 [[ 9.99965716e-01 -6.39707449e-03 5.25782688e-03 -5.28648940e+00] [ 6.40289421e-03 9.99978906e-01 -1.09078147e-03 3.66838904e+00] [-5.25073816e-03 1.12440938e-03 9.99985583e-01 1.31759058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54925976399998 meters 0.14476816093704256 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.67, Z:1.32 [[ 9.99967255e-01 -6.24955872e-03 5.14112869e-03 -5.28616336e+00] [ 6.25451698e-03 9.99979990e-01 -9.48917431e-04 3.66801523e+00] [-5.13509550e-03 9.81041636e-04 9.99986334e-01 1.31756325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60925976399999 meters 0.14142885091545943 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.32 [[ 9.99968972e-01 -5.81342234e-03 5.31600358e-03 -5.28631490e+00] [ 5.81402920e-03 9.99983094e-01 -9.87103141e-05 3.66491281e+00] [-5.31533986e-03 1.29614651e-04 9.99985865e-01 1.31706461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66925976399999 meters 0.14064406033738383 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.32 [[ 9.99971349e-01 -5.46756914e-03 5.23512646e-03 -5.28570060e+00] [ 5.46572842e-03 9.99984996e-01 3.65852112e-04 3.66379704e+00] [-5.23704824e-03 -3.37227850e-04 9.99986230e-01 1.31643558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72925976399999 meters 0.14021812679367554 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.32 [[ 9.99942293e-01 -9.52339867e-03 4.97149798e-03 -5.28521206e+00] [ 9.54205718e-03 9.99947468e-01 -3.74296611e-03 3.66279692e+00] [-4.93559106e-03 3.79018843e-03 9.99980637e-01 1.31687421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.789259764 meters 0.14685627590674136 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.66, Z:1.32 [[ 9.99943867e-01 -8.93874894e-03 5.68874368e-03 -5.28639474e+00] [ 8.94926049e-03 9.99958289e-01 -1.82501369e-03 3.65556044e+00] [-5.67219305e-03 1.87582129e-03 9.99982154e-01 1.31576992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.849259764 meters 0.15761816289963254 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.65, Z:1.32 [[ 9.99944666e-01 -8.61008228e-03 6.04414292e-03 -5.28734543e+00] [ 8.61450857e-03 9.99962645e-01 -7.06675677e-04 3.65093675e+00] [-6.03783260e-03 7.58703895e-04 9.99981484e-01 1.31572374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90925976399998 meters 0.1618757174119997 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.65, Z:1.32 [[ 9.99904244e-01 -1.24905920e-02 5.95709747e-03 -5.28722910e+00] [ 1.25166310e-02 9.99912184e-01 -4.35403657e-03 3.64813639e+00] [-5.90218985e-03 4.42818244e-03 9.99972777e-01 1.31601161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96925976399999 meters 0.16080378663828698 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.64, Z:1.32 [[ 9.99907887e-01 -1.20448430e-02 6.25612203e-03 -5.28746159e+00] [ 1.20660618e-02 9.99921540e-01 -3.36508877e-03 3.64491573e+00] [-6.21509921e-03 3.44026556e-03 9.99974768e-01 1.31505753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02925976399999 meters 0.1699900221551946 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.64, Z:1.31 [[ 9.99906393e-01 -1.17305904e-02 7.04262704e-03 -5.28908972e+00] [ 1.17436842e-02 9.99929383e-01 -1.82075589e-03 3.63874148e+00] [-7.02077117e-03 1.90329185e-03 9.99973543e-01 1.31437247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08925976399999 meters 0.1640636694992784 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.64, Z:1.31 [[ 9.99906669e-01 -1.15418877e-02 7.31011690e-03 -5.28979924e+00] [ 1.15501582e-02 9.99932700e-01 -1.09016682e-03 3.63591766e+00] [-7.29704235e-03 1.17449808e-03 9.99972686e-01 1.31430997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14925976399999 meters 0.17513495252269493 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.63, Z:1.31 [[ 9.99910913e-01 -1.10416809e-02 7.49986547e-03 -5.28983369e+00] [ 1.10426412e-02 9.99939024e-01 -8.66400755e-05 3.63253203e+00] [-7.49845151e-03 1.69450680e-04 9.99971872e-01 1.31348580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.209259764 meters 0.16754001802010768 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.63, Z:1.31 [[ 9.99911283e-01 -1.08971957e-02 7.66004692e-03 -5.29018330e+00] [ 1.08954326e-02 9.99940606e-01 2.71854699e-04 3.63122921e+00] [-7.66255442e-03 -1.88371056e-04 9.99970624e-01 1.31337409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26925976399998 meters 0.1700509268555403 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.63, Z:1.31 [[ 9.99913046e-01 -1.05756851e-02 7.87750514e-03 -5.29043657e+00] [ 1.05683383e-02 9.99943680e-01 9.73679889e-04 3.62883114e+00] [-7.88735881e-03 -8.90343085e-04 9.99968498e-01 1.31285440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32925976399999 meters 0.17980010542799044 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.63, Z:1.31 [[ 9.99910564e-01 -1.09104802e-02 7.73474422e-03 -5.29069158e+00] [ 1.09080182e-02 9.99940441e-01 3.60418235e-04 3.63046241e+00] [-7.73821588e-03 -2.76015270e-04 9.99970021e-01 1.31387061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38925976399999 meters 0.16437788094970418 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.63, Z:1.31 [[ 9.99915494e-01 -1.08201502e-02 7.20616564e-03 -5.28884199e+00] [ 1.08202427e-02 9.99941459e-01 2.61474525e-05 3.63349474e+00] [-7.20602670e-03 5.18272181e-05 9.99974035e-01 1.31306273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44925976399999 meters 0.16635250956838438 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.64, Z:1.31 [[ 9.99921042e-01 -1.06586339e-02 6.65609268e-03 -5.28683594e+00] [ 1.06607530e-02 9.99943133e-01 -2.82960987e-04 3.63649463e+00] [-6.65269819e-03 3.53897605e-04 9.99977808e-01 1.31208801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50925976399999 meters 0.16930285865522648 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.64, Z:1.31 [[ 9.99920111e-01 -1.09548862e-02 6.30578866e-03 -5.28587570e+00] [ 1.09619460e-02 9.99939326e-01 -1.08609878e-03 3.64040308e+00] [-6.29350797e-03 1.15513573e-03 9.99979528e-01 1.31205077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.569259764 meters 0.1656491247117924 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.64, Z:1.31 [[ 9.99958578e-01 -6.82543381e-03 6.02124954e-03 -5.28478178e+00] [ 6.80942011e-03 9.99973235e-01 2.67603536e-03 3.64374268e+00] [-6.03935348e-03 -2.63492330e-03 9.99978291e-01 1.31136717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62925976399998 meters 0.15704374522734504 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.65, Z:1.31 [[ 9.99958575e-01 -7.23428875e-03 5.52381999e-03 -5.28368907e+00] [ 7.22709549e-03 9.99973012e-01 1.32107801e-03 3.64929118e+00] [-5.53322797e-03 -1.28110211e-03 9.99983871e-01 1.31178464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68925976399998 meters 0.16070424374903597 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.65, Z:1.31 [[ 9.99959552e-01 -7.42887747e-03 5.07005453e-03 -5.28246818e+00] [ 7.42625719e-03 9.99972282e-01 5.35444093e-04 3.65309389e+00] [-5.07389175e-03 -4.97770906e-04 9.99987004e-01 1.31178806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74925976399999 meters 0.16073071783491905 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.66, Z:1.31 [[ 9.99957617e-01 -7.77343077e-03 4.93327024e-03 -5.28215683e+00] [ 7.77401004e-03 9.99969777e-01 -9.82566514e-05 3.65597852e+00] [-4.93235736e-03 1.36603779e-04 9.99987827e-01 1.31190330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80925976399999 meters 0.15518183530542448 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.66, Z:1.31 [[ 9.99957645e-01 -8.17517620e-03 4.22774646e-03 -5.28076516e+00] [ 8.18103059e-03 9.99965597e-01 -1.36931862e-03 3.66160490e+00] [-4.21640659e-03 1.40384794e-03 9.99990126e-01 1.31257598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86925976399999 meters 0.1434356946928679 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.67, Z:1.31 [[ 9.99960298e-01 -8.29334576e-03 3.25927586e-03 -5.27845203e+00] [ 8.30220104e-03 9.99961856e-01 -2.71287625e-03 3.66810849e+00] [-3.23665272e-03 2.73982770e-03 9.99991009e-01 1.31272739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.929259764 meters 0.14159153679848072 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.67, Z:1.31 [[ 9.99962363e-01 -8.33527626e-03 2.40738681e-03 -5.27624522e+00] [ 8.34446756e-03 9.99957836e-01 -3.83349039e-03 3.67385086e+00] [-2.37533210e-03 3.85343447e-03 9.99989754e-01 1.31264355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98925976399998 meters 0.14180682916507914 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.68, Z:1.31 [[ 9.99960568e-01 -8.71546834e-03 1.70384694e-03 -5.27473458e+00] [ 8.72415965e-03 9.99948621e-01 -5.16190715e-03 3.68033002e+00] [-1.65877096e-03 5.17656824e-03 9.99985226e-01 1.31311446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04925976399998 meters 0.13202265848672376 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.68, Z:1.31 [[ 9.99960233e-01 -8.81170640e-03 1.37354388e-03 -5.27318679e+00] [ 8.81941227e-03 9.99944812e-01 -5.70891721e-03 3.68432962e+00] [-1.32316278e-03 5.72080404e-03 9.99982761e-01 1.31207518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10925976399999 meters 0.13632315547340873 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.69, Z:1.31 [[ 9.99959944e-01 -8.92049335e-03 7.31797872e-04 -5.27138331e+00] [ 8.92512276e-03 9.99938471e-01 -6.58756758e-03 3.68943247e+00] [-6.72988493e-04 6.59383510e-03 9.99978034e-01 1.31180630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16925976399999 meters 0.13129874117634246 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.69, Z:1.31 [[ 9.99957976e-01 -9.16705537e-03 1.04915074e-04 -5.26994172e+00] [ 9.16758802e-03 9.99929091e-01 -7.60053413e-03 3.69455477e+00] [-3.52331175e-05 7.60117655e-03 9.99971110e-01 1.31213135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22925976399999 meters 0.12759940942676543 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.31 [[ 9.99990284e-01 -4.40592538e-03 1.43240394e-04 -5.26841824e+00] [ 4.40630141e-03 9.99986537e-01 -2.74040536e-03 3.69500285e+00] [-1.31164444e-04 2.74100989e-03 9.99996235e-01 1.30959226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.289259764 meters 0.12491293120693846 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.31 [[ 9.99988569e-01 -4.77262845e-03 -2.88250916e-04 -5.26770143e+00] [ 4.77148706e-03 9.99981249e-01 -3.83845663e-03 3.69935122e+00] [ 3.06565038e-04 3.83703737e-03 9.99992592e-01 1.31040871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.349259764 meters 0.12438775861964281 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.31 [[ 9.99986740e-01 -5.08758088e-03 -7.98051177e-04 -5.26662450e+00] [ 5.08365785e-03 9.99975350e-01 -4.84308266e-03 3.70410515e+00] [ 8.22671080e-04 4.83896142e-03 9.99987954e-01 1.31087790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40925976399998 meters 0.12110423517002064 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.31 [[ 9.99986353e-01 -5.10512210e-03 -1.10957098e-03 -5.26551466e+00] [ 5.09920220e-03 9.99973090e-01 -5.27420497e-03 3.70678269e+00] [ 1.13646659e-03 5.26847507e-03 9.99985476e-01 1.31051087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46925976399999 meters 0.11868277769124236 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.31 [[ 9.99985520e-01 -5.22580204e-03 -1.28454151e-03 -5.26509015e+00] [ 5.21844877e-03 9.99970351e-01 -5.66263314e-03 3.70858301e+00] [ 1.31409522e-03 5.65584783e-03 9.99983142e-01 1.31062985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52925976399999 meters 0.11633205920450043 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99984474e-01 -5.17528624e-03 -2.06579432e-03 -5.26329073e+00] [ 5.16181590e-03 9.99965724e-01 -6.47358064e-03 3.71261235e+00] [ 2.09922615e-03 6.46281688e-03 9.99976912e-01 1.31106530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58925976399999 meters 0.11478895129677602 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99985184e-01 -4.99520779e-03 -2.16311501e-03 -5.26264533e+00] [ 4.98148043e-03 9.99967711e-01 -6.30566492e-03 3.71272767e+00] [ 2.19454328e-03 6.29479598e-03 9.99977780e-01 1.31045617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64925976399999 meters 0.11380048951725472 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99986817e-01 -4.60012343e-03 -2.28136193e-03 -5.26208310e+00] [ 4.58686456e-03 9.99972756e-01 -5.78339402e-03 3.71110759e+00] [ 2.30790410e-03 5.77285348e-03 9.99980674e-01 1.31003004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.709259764 meters 0.11416793393090052 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99987875e-01 -4.32118844e-03 -2.36148773e-03 -5.26195510e+00] [ 4.30859322e-03 9.99976604e-01 -5.31290791e-03 3.70930131e+00] [ 2.38439056e-03 5.30266880e-03 9.99983098e-01 1.31006954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76925976399998 meters 0.11327894208514731 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99959585e-01 -8.55320113e-03 -2.76983551e-03 -5.26098801e+00] [ 8.52595959e-03 9.99916587e-01 -9.70190417e-03 3.71006984e+00] [ 2.85258680e-03 9.67789655e-03 9.99949099e-01 1.31030217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82925976399999 meters 0.11168492717262407 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99964567e-01 -7.92968927e-03 -2.82580755e-03 -5.26000063e+00] [ 7.90466542e-03 9.99930393e-01 -8.75926151e-03 3.70764864e+00] [ 2.89506908e-03 8.73661407e-03 9.99957644e-01 1.30891124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88925976399999 meters 0.11419389393064011 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99965291e-01 -7.82953729e-03 -2.84868219e-03 -5.25993115e+00] [ 7.80476977e-03 9.99932526e-01 -8.60402231e-03 3.70713102e+00] [ 2.91585549e-03 8.58149037e-03 9.99958927e-01 1.30887372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94925976399999 meters 0.11656937255427324 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99965695e-01 -7.79998943e-03 -2.78730886e-03 -5.26038155e+00] [ 7.77620785e-03 9.99934117e-01 -8.44343361e-03 3.70610528e+00] [ 2.85298392e-03 8.42146927e-03 9.99960469e-01 1.30927971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00925976399999 meters 0.11741898927866995 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.31 [[ 9.99967237e-01 -7.64675546e-03 -2.65547875e-03 -5.26056295e+00] [ 7.62524047e-03 9.99938767e-01 -8.01986289e-03 3.70468322e+00] [ 2.71664208e-03 7.99935148e-03 9.99964314e-01 1.30893839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.069259764 meters 0.11860100154015574 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.31 [[ 9.99968645e-01 -7.54332541e-03 -2.40966710e-03 -5.26108985e+00] [ 7.52483370e-03 9.99942860e-01 -7.59300827e-03 3.70305628e+00] [ 2.46680594e-03 7.57463785e-03 9.99968269e-01 1.30871088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12925976399998 meters 0.12203135601000353 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.31 [[ 9.99969776e-01 -7.45882325e-03 -2.19380493e-03 -5.26141381e+00] [ 7.44273200e-03 9.99945993e-01 -7.25377329e-03 3.70206417e+00] [ 2.24779106e-03 7.23722615e-03 9.99971285e-01 1.30826631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18925976399998 meters 0.12156757366190732 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.31 [[ 9.99971634e-01 -7.26484258e-03 -1.98846687e-03 -5.26135616e+00] [ 7.25133871e-03 9.99951155e-01 -6.71608654e-03 3.70078189e+00] [ 2.03716106e-03 6.70147698e-03 9.99975470e-01 1.30724769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24925976399999 meters 0.11799032464806591 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.31 [[ 9.99969623e-01 -7.43143845e-03 -2.35080446e-03 -5.26044543e+00] [ 7.41406301e-03 9.99945755e-01 -7.31559842e-03 3.70390180e+00] [ 2.40504237e-03 7.29794718e-03 9.99970477e-01 1.30736519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30925976399999 meters 0.1191818817400923 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99969305e-01 -7.30983650e-03 -2.82058682e-03 -5.25865010e+00] [ 7.28817343e-03 9.99944441e-01 -7.61566672e-03 3.70677853e+00] [ 2.87609939e-03 7.59487603e-03 9.99967022e-01 1.30650950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36925976399999 meters 0.1162008337255774 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.31 [[ 9.99971154e-01 -6.90343660e-03 -3.16769441e-03 -5.25677003e+00] [ 6.87988843e-03 9.99949060e-01 -7.38548711e-03 3.70778151e+00] [ 3.21851829e-03 7.36348068e-03 9.99967710e-01 1.30507683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.429259764 meters 0.11238687724106104 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.30 [[ 9.99970333e-01 -6.79020593e-03 -3.63666869e-03 -5.25520062e+00] [ 6.76229612e-03 9.99948006e-01 -7.63263606e-03 3.71023282e+00] [ 3.68830678e-03 7.60781740e-03 9.99964258e-01 1.30455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48925976399998 meters 0.11024758758134953 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99969742e-01 -6.77142998e-03 -3.82913438e-03 -5.25452815e+00] [ 6.74133860e-03 9.99946718e-01 -7.81758042e-03 3.71155353e+00] [ 3.88186656e-03 7.79153039e-03 9.99962111e-01 1.30435512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54925976399998 meters 0.10909182900993727 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99970335e-01 -6.58070723e-03 -4.00304912e-03 -5.25379677e+00] [ 6.54958019e-03 9.99948597e-01 -7.73986650e-03 3.71182014e+00] [ 4.05377715e-03 7.71341860e-03 9.99962034e-01 1.30397628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60925976399999 meters 0.11156684089842757 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99970798e-01 -6.44944895e-03 -4.09981925e-03 -5.25324281e+00] [ 6.41798371e-03 9.99950202e-01 -7.64216584e-03 3.71207698e+00] [ 4.14890284e-03 7.61563010e-03 9.99962394e-01 1.30353429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66925976399999 meters 0.10726259405805261 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99972703e-01 -6.09597406e-03 -4.17528344e-03 -5.25246528e+00] [ 6.06599246e-03 9.99955996e-01 -7.15614479e-03 3.71119346e+00] [ 4.21872339e-03 7.13062220e-03 9.99965678e-01 1.30260934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72925976399999 meters 0.11115009054688797 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99974978e-01 -5.70408985e-03 -4.18413391e-03 -5.25191205e+00] [ 5.67665889e-03 9.99962509e-01 -6.53878604e-03 3.70953987e+00] [ 4.22127487e-03 6.51487052e-03 9.99969868e-01 1.30173787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.789259764 meters 0.11185531917652043 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.71, Z:1.30 [[ 9.99977821e-01 -5.25989130e-03 -4.08553567e-03 -5.25147703e+00] [ 5.23635034e-03 9.99969750e-01 -5.75150707e-03 3.70736278e+00] [ 4.11566439e-03 5.72998621e-03 9.99975114e-01 1.30060260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.849259764 meters 0.11815956033385115 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.70, Z:1.30 [[ 9.99980633e-01 -4.85951519e-03 -3.88821365e-03 -5.25151601e+00] [ 4.84055343e-03 9.99976419e-01 -4.87136761e-03 3.70456049e+00] [ 3.91179444e-03 4.85245216e-03 9.99980576e-01 1.29975515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90925976399998 meters 0.11834168213593442 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.70, Z:1.30 [[ 9.99983370e-01 -4.57401604e-03 -3.51261465e-03 -5.25223659e+00] [ 4.56022844e-03 9.99981906e-01 -3.92319756e-03 3.70088288e+00] [ 3.53049586e-03 3.90711399e-03 9.99986135e-01 1.29929844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96925976399999 meters 0.11913098342564733 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.70, Z:1.30 [[ 9.99954418e-01 -8.87778699e-03 -3.51377694e-03 -5.25246865e+00] [ 8.84903879e-03 9.99927924e-01 -8.11425516e-03 3.70009663e+00] [ 3.58556031e-03 8.08279175e-03 9.99960905e-01 1.29972075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02925976399999 meters 0.12476732545834432 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.70, Z:1.30 [[ 9.99958352e-01 -8.50105486e-03 -3.32071775e-03 -5.25230890e+00] [ 8.47652270e-03 9.99937185e-01 -7.33311556e-03 3.69790694e+00] [ 3.38284838e-03 7.30466200e-03 9.99967599e-01 1.29860516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08925976399999 meters 0.12666092102308296 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.30 [[ 9.99963355e-01 -8.02944159e-03 -2.96935422e-03 -5.25233655e+00] [ 8.01089071e-03 9.99948645e-01 -6.20744039e-03 3.69465842e+00] [ 3.01904401e-03 6.18342574e-03 9.99976325e-01 1.29704915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14925976399999 meters 0.13392029775867711 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.30 [[ 9.99964754e-01 -7.95084094e-03 -2.69704979e-03 -5.25292149e+00] [ 7.93501077e-03 9.99951521e-01 -5.83021959e-03 3.69322682e+00] [ 2.74327419e-03 5.80861299e-03 9.99979367e-01 1.29681774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.209259764 meters 0.1339496724920322 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.30 [[ 9.99967897e-01 -7.59758154e-03 -2.54587079e-03 -5.25267799e+00] [ 7.58430071e-03 9.99957790e-01 -5.18628747e-03 3.69155364e+00] [ 2.58516657e-03 5.16681232e-03 9.99983310e-01 1.29577625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26925976399998 meters 0.13180798919161066 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.29 [[ 9.99971758e-01 -7.11296851e-03 -2.42658632e-03 -5.25235391e+00] [ 7.10225463e-03 9.99965118e-01 -4.39561464e-03 3.68917849e+00] [ 2.45776754e-03 4.37825626e-03 9.99987395e-01 1.29472670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32925976399999 meters 0.13035869060295216 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.29 [[ 9.99973657e-01 -6.82440282e-03 -2.47250065e-03 -5.25204429e+00] [ 6.81450593e-03 9.99968823e-01 -3.98934013e-03 3.68791700e+00] [ 2.49964843e-03 3.97238616e-03 9.99988986e-01 1.29439438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38925976399999 meters 0.13258527894033642 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99980048e-01 -5.88825125e-03 -2.28731120e-03 -5.25136962e+00] [ 5.88311496e-03 9.99980172e-01 -2.24583433e-03 3.68266736e+00] [ 2.30048988e-03 2.23233301e-03 9.99994862e-01 1.29233793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44925976399999 meters 0.13974589473114615 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99983665e-01 -5.37586050e-03 -1.94172858e-03 -5.25154841e+00] [ 5.37380680e-03 9.99984998e-01 -1.06134280e-03 3.67891316e+00] [ 1.94740508e-03 1.05089099e-03 9.99997552e-01 1.29108066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50925976399999 meters 0.1460165602175965 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99953480e-01 -9.46515261e-03 -1.85685907e-03 -5.25167740e+00] [ 9.45604606e-03 9.99943513e-01 -4.85323838e-03 3.67689527e+00] [ 1.90269082e-03 4.83545406e-03 9.99986499e-01 1.29095941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.569259764 meters 0.1504467154384826 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.29 [[ 9.99954025e-01 -9.48532512e-03 -1.40588948e-03 -5.25283995e+00] [ 9.47916091e-03 9.99945705e-01 -4.32822613e-03 3.67456368e+00] [ 1.44686778e-03 4.31470048e-03 9.99989645e-01 1.29093142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62925976399998 meters 0.13958988540593945 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99950531e-01 -9.78801622e-03 -1.76945476e-03 -5.25241022e+00] [ 9.77870624e-03 9.99938689e-01 -5.19573297e-03 3.67793544e+00] [ 1.82020220e-03 5.17817297e-03 9.99984937e-01 1.29182652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68925976399998 meters 0.13978958984524947 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99953608e-01 -9.38539077e-03 -2.16699534e-03 -5.25007142e+00] [ 9.37419751e-03 9.99942959e-01 -5.11897199e-03 3.68024693e+00] [ 2.21491529e-03 5.09842067e-03 9.99984550e-01 1.28972012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74925976399999 meters 0.13517527646050864 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99986440e-01 -4.81069490e-03 -1.99428752e-03 -5.24929796e+00] [ 4.80977012e-03 9.99988323e-01 -4.68249749e-04 3.68073859e+00] [ 1.99651684e-03 4.58651335e-04 9.99997902e-01 1.28773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80925976399999 meters 0.13333899667145427 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.29 [[ 9.99985790e-01 -4.89341804e-03 -2.11524915e-03 -5.24895822e+00] [ 4.89188283e-03 9.99987768e-01 -7.30346178e-04 3.68197008e+00] [ 2.11879716e-03 7.19988249e-04 9.99997496e-01 1.28776540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86925976399999 meters 0.12781691998493538 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.29 [[ 9.99982466e-01 -5.25574656e-03 -2.72858650e-03 -5.24781843e+00] [ 5.25046282e-03 9.99984334e-01 -1.94000415e-03 3.68725596e+00] [ 2.73873993e-03 1.92564379e-03 9.99994396e-01 1.28853277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.929259764 meters 0.12577282753054164 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.29 [[ 9.99982802e-01 -5.04023005e-03 -2.99875895e-03 -5.24634683e+00] [ 5.03416883e-03 9.99985277e-01 -2.02537059e-03 3.68913424e+00] [ 3.00892313e-03 2.01023950e-03 9.99993453e-01 1.28733786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98925976399998 meters 0.12106364965833231 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.29 [[ 9.99982878e-01 -4.92530063e-03 -3.15989236e-03 -5.24555271e+00] [ 4.91876598e-03 9.99985755e-01 -2.07244753e-03 3.69001697e+00] [ 3.17005478e-03 2.05686927e-03 9.99992860e-01 1.28679157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04925976399998 meters 0.11991540848526655 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.29 [[ 9.99983145e-01 -4.76392892e-03 -3.31884566e-03 -5.24481679e+00] [ 4.75750516e-03 9.99986800e-01 -1.94075514e-03 3.69032245e+00] [ 3.32804747e-03 1.92493301e-03 9.99992609e-01 1.28627869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10925976399999 meters 0.12352802936354568 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.29 [[ 9.99954126e-01 -8.77108054e-03 -3.84898592e-03 -5.24294680e+00] [ 8.74733333e-03 9.99942867e-01 -6.14379341e-03 3.69164124e+00] [ 3.90265373e-03 6.10984320e-03 9.99973719e-01 1.28553185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16925976399999 meters 0.1228100740655222 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99958490e-01 -8.35591053e-03 -3.63290816e-03 -5.24280284e+00] [ 8.33650479e-03 9.99951076e-01 -5.32438013e-03 3.68932832e+00] [ 3.67722046e-03 5.29387336e-03 9.99979226e-01 1.28432443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22925976399999 meters 0.13202748023347222 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99960404e-01 -8.25336136e-03 -3.32751031e-03 -5.24356053e+00] [ 8.23715494e-03 9.99954288e-01 -4.85507163e-03 3.68732202e+00] [ 3.36742886e-03 4.82747017e-03 9.99982678e-01 1.28422998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.289259764 meters 0.13211510480756639 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99962492e-01 -8.09216391e-03 -3.08734467e-03 -5.24387901e+00] [ 8.07843668e-03 9.99957542e-01 -4.43315027e-03 3.68592786e+00] [ 3.12308737e-03 4.40804307e-03 9.99985408e-01 1.28371276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34925976399998 meters 0.12826562292361574 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99965874e-01 -7.77355119e-03 -2.79675770e-03 -5.24371472e+00] [ 7.76314992e-03 9.99962981e-01 -3.71087782e-03 3.68433045e+00] [ 2.82550086e-03 3.68903954e-03 9.99989204e-01 1.28218792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40925976399998 meters 0.1393455484881225 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99965892e-01 -7.86822354e-03 -2.51133950e-03 -5.24431952e+00] [ 7.85927865e-03 9.99962807e-01 -3.55201329e-03 3.68405446e+00] [ 2.53919413e-03 3.53215482e-03 9.99990538e-01 1.28186085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46925976399999 meters 0.13538345941169497 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99964020e-01 -8.12111113e-03 -2.45075462e-03 -5.24481784e+00] [ 8.11148940e-03 9.99959454e-01 -3.91075604e-03 3.68514535e+00] [ 2.48241494e-03 3.89073606e-03 9.99989350e-01 1.28238084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52925976399999 meters 0.13068758127308383 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99962871e-01 -8.14860387e-03 -2.80304800e-03 -5.24370665e+00] [ 8.13618302e-03 9.99957157e-01 -4.41441742e-03 3.68796979e+00] [ 2.83889925e-03 4.39144740e-03 9.99986328e-01 1.28217658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58925976399999 meters 0.1383271141021175 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99963620e-01 -7.93746727e-03 -3.12332943e-03 -5.24230910e+00] [ 7.92332121e-03 9.99958414e-01 -4.51576552e-03 3.68958657e+00] [ 3.15904328e-03 4.49085409e-03 9.99984926e-01 1.28140406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64925976399999 meters 0.1292795470785423 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99962098e-01 -8.07273316e-03 -3.26102280e-03 -5.24225646e+00] [ 8.05690059e-03 9.99955832e-01 -4.83939745e-03 3.69068130e+00] [ 3.29994593e-03 4.81294029e-03 9.99982973e-01 1.28190151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.709259764 meters 0.12776258598944848 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99960236e-01 -8.27631447e-03 -3.32088723e-03 -5.24262789e+00] [ 8.25893327e-03 9.99952301e-01 -5.21391787e-03 3.69161146e+00] [ 3.36388085e-03 5.18628356e-03 9.99980893e-01 1.28273741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76925976399998 meters 0.13510032443718528 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.28 [[ 9.99963478e-01 -7.97902316e-03 -3.06229548e-03 -5.24296239e+00] [ 7.96515536e-03 9.99958088e-01 -4.51435219e-03 3.68902193e+00] [ 3.09818725e-03 4.48979566e-03 9.99985121e-01 1.28218354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82925976399999 meters 0.1393332644011685 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99967804e-01 -7.67485501e-03 -2.34234950e-03 -5.24432128e+00] [ 7.66732884e-03 9.99965468e-01 -3.20532764e-03 3.68391328e+00] [ 2.36686904e-03 3.18726488e-03 9.99992120e-01 1.28130079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88925976399999 meters 0.14820221466466232 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99971882e-01 -7.25037009e-03 -1.91510754e-03 -5.24494565e+00] [ 7.24661791e-03 9.99971824e-01 -1.95897565e-03 3.67948198e+00] [ 1.92925688e-03 1.94504252e-03 9.99996247e-01 1.28041540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94925976399999 meters 0.14643576554468787 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99974596e-01 -6.89367822e-03 -1.81257018e-03 -5.24479932e+00] [ 6.89162262e-03 9.99975605e-01 -1.13789111e-03 3.67699733e+00] [ 1.82037022e-03 1.12537065e-03 9.99997710e-01 1.27961878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00925976399999 meters 0.14105251187299894 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.28 [[ 9.99938132e-01 -1.09291157e-02 -2.07036360e-03 -5.24397688e+00] [ 1.09183367e-02 9.99927141e-01 -5.14800654e-03 3.67633034e+00] [ 2.12647591e-03 5.12508312e-03 9.99984606e-01 1.27949763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.069259764 meters 0.14812967398601865 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99943249e-01 -1.05261364e-02 -1.64306247e-03 -5.24459947e+00] [ 1.05192461e-02 9.99936070e-01 -4.14733893e-03 3.67244604e+00] [ 1.68661288e-03 4.12981978e-03 9.99990050e-01 1.27874197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12925976399998 meters 0.14684649952215262 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99945022e-01 -1.03632729e-02 -1.59862597e-03 -5.24464951e+00] [ 1.03571407e-02 9.99939152e-01 -3.79762936e-03 3.67128533e+00] [ 1.63788456e-03 3.78086338e-03 9.99991511e-01 1.27860756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18925976399998 meters 0.14745887255495707 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99948068e-01 -1.00889601e-02 -1.44003204e-03 -5.24459034e+00] [ 1.00842754e-02 9.99943954e-01 -3.22424089e-03 3.66965278e+00] [ 1.47248057e-03 3.20955177e-03 9.99993765e-01 1.27783513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24925976399999 meters 0.14903158109918274 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99952276e-01 -9.69802374e-03 -1.18049841e-03 -5.24469205e+00] [ 9.69517728e-03 9.99950136e-01 -2.39353423e-03 3.66694094e+00] [ 1.20365210e-03 2.38197486e-03 9.99996439e-01 1.27689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30925976399999 meters 0.14560334189314955 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99950925e-01 -9.78456204e-03 -1.55217483e-03 -5.24414099e+00] [ 9.78014764e-03 9.99948178e-01 -2.82655329e-03 3.66883816e+00] [ 1.57975098e-03 2.81123408e-03 9.99994801e-01 1.27753017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36925976399999 meters 0.13987269528909566 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.67, Z:1.28 [[ 9.99957596e-01 -9.07606469e-03 -1.55912080e-03 -5.24331551e+00] [ 9.07319420e-03 9.99957148e-01 -1.83840742e-03 3.66581431e+00] [ 1.57573949e-03 1.82418326e-03 9.99997095e-01 1.27631176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.429259764 meters 0.140532883534394 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.66, Z:1.28 [[ 9.99961997e-01 -8.58015687e-03 -1.54477919e-03 -5.24301623e+00] [ 8.57849727e-03 9.99962623e-01 -1.07776730e-03 3.66311950e+00] [ 1.55396886e-03 1.06447446e-03 9.99998226e-01 1.27582317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48925976399998 meters 0.1404794925032568 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.66, Z:1.28 [[ 9.99965639e-01 -8.16045355e-03 -1.45897243e-03 -5.24305231e+00] [ 8.16004329e-03 9.99966665e-01 -2.86933786e-04 3.66022726e+00] [ 1.46126531e-03 2.75018648e-04 9.99998895e-01 1.27550479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54925976399998 meters 0.15193559076036142 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.66, Z:1.28 [[ 9.99925207e-01 -1.21497811e-02 -1.40127688e-03 -5.24342838e+00] [ 1.21442633e-02 9.99918723e-01 -3.88115642e-03 3.65695239e+00] [ 1.44831819e-03 3.86384866e-03 9.99991486e-01 1.27597428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60925976399999 meters 0.15737828304239154 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.65, Z:1.28 [[ 9.99931322e-01 -1.16986516e-02 -7.02589592e-04 -5.24464746e+00] [ 1.16970372e-02 9.99929034e-01 -2.25952822e-03 3.65046324e+00] [ 7.28973165e-04 2.25115483e-03 9.99997200e-01 1.27510726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66925976399999 meters 0.1628381662900955 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.64, Z:1.27 [[ 9.99936319e-01 -1.12852843e-02 2.48083321e-05 -5.24584542e+00] [ 1.12852980e-02 9.99936107e-01 -6.51101263e-04 3.64447586e+00] [-1.74588841e-05 6.51339769e-04 9.99999788e-01 1.27396613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72925976399999 meters 0.1612628886882928 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.64, Z:1.27 [[ 9.99937969e-01 -1.11381808e-02 2.03635370e-06 -5.24558549e+00] [ 1.11381806e-02 9.99937875e-01 -4.31845478e-04 3.64407292e+00] [ 2.77374581e-06 4.31841371e-04 9.99999907e-01 1.27364536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.789259764 meters 0.1635742149241159 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.64, Z:1.27 [[ 9.99940279e-01 -1.09284159e-02 -9.39230431e-05 -5.24521492e+00] [ 1.09284023e-02 9.99940273e-01 -1.44192180e-04 3.64333336e+00] [ 9.54932254e-05 1.43157140e-04 9.99999985e-01 1.27343060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84925976399998 meters 0.15816557628235084 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.65, Z:1.27 [[ 9.99942407e-01 -1.07224762e-02 -4.59644955e-04 -5.24385643e+00] [ 1.07223338e-02 9.99942466e-01 -3.11257546e-04 3.64507940e+00] [ 4.62955962e-04 3.06311154e-04 9.99999846e-01 1.27280970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90925976399998 meters 0.1580744852846678 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.65, Z:1.27 [[ 9.99944351e-01 -1.05117474e-02 -8.93777751e-04 -5.24184481e+00] [ 1.05112881e-02 9.99944621e-01 -5.17080401e-04 3.64807800e+00] [ 8.99163673e-04 5.07656870e-04 9.99999467e-01 1.27135823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96925976399999 meters 0.14574861970944367 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.65, Z:1.27 [[ 9.99943476e-01 -1.05167838e-02 -1.56294269e-03 -5.23981161e+00] [ 1.05147640e-02 9.99943880e-01 -1.29496722e-03 3.65271418e+00] [ 1.57647387e-03 1.27846005e-03 9.99997940e-01 1.27079609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02925976399999 meters 0.13633731846512984 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.66, Z:1.27 [[ 9.99977893e-01 -6.31698822e-03 -2.07583522e-03 -5.23830632e+00] [ 6.32099259e-03 9.99978163e-01 1.92817899e-03 3.65778234e+00] [ 2.06360960e-03 -1.94125771e-03 9.99995987e-01 1.27055725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08925976399999 meters 0.1314688584545524 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.67, Z:1.28 [[ 9.99974029e-01 -5.95509607e-03 -4.05922571e-03 -5.23409082e+00] [ 5.94619879e-03 9.99979900e-01 -2.20042187e-03 3.66837969e+00] [ 4.07224785e-03 2.17622776e-03 9.99989340e-01 1.27598589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14925976399999 meters 0.12156817254281431 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.67, Z:1.28 [[ 9.99971359e-01 -5.88927517e-03 -4.75365769e-03 -5.23193354e+00] [ 5.87447115e-03 9.99977871e-01 -3.12221528e-03 3.67370429e+00] [ 4.77194008e-03 3.09420064e-03 9.99983827e-01 1.27547745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.209259764 meters 0.11538162546237041 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 9.99984185e-01 -1.20294286e-03 -5.49388224e-03 -5.22880524e+00] [ 1.20419543e-03 9.99999250e-01 2.24689808e-04 3.67991596e+00] [ 5.49360783e-03 -2.31301963e-04 9.99984883e-01 1.27370492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26925976399998 meters 0.10865644393150682 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 9.99980714e-01 -1.22387803e-03 -6.08886395e-03 -5.22718911e+00] [ 1.22069042e-03 9.99999116e-01 -5.27203615e-04 3.68385364e+00] [ 6.08950380e-03 5.19760829e-04 9.99981324e-01 1.27369681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32925976399999 meters 0.10508194353569132 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.69, Z:1.27 [[ 9.99977365e-01 -1.34514777e-03 -6.59243343e-03 -5.22620435e+00] [ 1.33595113e-03 9.99998129e-01 -1.39923360e-03 3.68733046e+00] [ 6.59430327e-03 1.39039476e-03 9.99977291e-01 1.27439192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38925976399999 meters 0.10902998103891728 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.28 [[ 0.99995663 -0.00571587 -0.0073529 -5.22467882] [ 0.00566913 0.9999637 -0.00636125 3.69075336] [ 0.00738899 0.00631929 0.99995273 1.27511219] [ 0. 0. 0. 1. ]] SLAMing on 93.44925976399999 meters 0.10802639011522851 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.27 [[ 0.99996103 -0.00529246 -0.00706606 -5.22481976] [ 0.0052548 0.99997194 -0.00533826 3.68742908] [ 0.00709412 0.00530093 0.99996079 1.27407215] [ 0. 0. 0. 1. ]] SLAMing on 93.50925976399999 meters 0.111234148744326 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 9.99965789e-01 -5.11304890e-03 -6.50215561e-03 -5.22619873e+00] [ 5.08470160e-03 9.99977530e-01 -4.36876052e-03 3.68312362e+00] [ 6.52434719e-03 4.33554954e-03 9.99969317e-01 1.27389185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.569259764 meters 0.11442175973462006 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 9.99968397e-01 -4.95362829e-03 -6.21829143e-03 -5.22684096e+00] [ 4.93004126e-03 9.99980617e-01 -3.80278358e-03 3.68093630e+00] [ 6.23700847e-03 3.77200696e-03 9.99973435e-01 1.27369042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62925976399998 meters 0.11867074162315387 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 0.9999366 -0.00936925 -0.00624619 -5.22693118] [ 0.00931886 0.9999242 -0.00804676 3.68085372] [ 0.00632111 0.00798804 0.99994812 1.27394099] [ 0. 0. 0. 1. ]] SLAMing on 93.68925976399998 meters 0.12097454821439553 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 0.99994043 -0.00917537 -0.00591094 -5.22737257] [ 0.00913155 0.99993093 -0.00739934 3.67878618] [ 0.00597842 0.00734492 0.99995515 1.27321738] [ 0. 0. 0. 1. ]] SLAMing on 93.74925976399999 meters 0.12535429071741525 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 0.99994147 -0.0092983 -0.00553128 -5.22860177] [ 0.00925853 0.99993141 -0.00717297 3.67731476] [ 0.0055976 0.00712134 0.99995898 1.27361062] [ 0. 0. 0. 1. ]] SLAMing on 93.80925976399999 meters 0.13411254490136207 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 0.99994087 -0.00946597 -0.00535254 -5.22941355] [ 0.0094269 0.99992908 -0.0072786 3.67722272] [ 0.00542106 0.00722771 0.99995919 1.27411758] [ 0. 0. 0. 1. ]] SLAMing on 93.86925976399999 meters 0.13041846383674255 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.68, Z:1.27 [[ 0.9999426 -0.00935175 -0.00522963 -5.22960185] [ 0.00931477 0.99993175 -0.00705166 3.67638829] [ 0.00529521 0.00700254 0.99996146 1.27394554] [ 0. 0. 0. 1. ]] SLAMing on 93.929259764 meters 0.13769087308220782 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.67, Z:1.27 [[ 9.99947145e-01 -8.96650346e-03 -5.03082938e-03 -5.22973113e+00] [ 8.93487025e-03 9.99940391e-01 -6.27550120e-03 3.67371710e+00] [ 5.08679880e-03 6.23021970e-03 9.99967654e-01 1.27333847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98925976399998 meters 0.13813096055654564 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.67, Z:1.27 [[ 9.99950480e-01 -8.66159224e-03 -4.90035596e-03 -5.22991599e+00] [ 8.63393591e-03 9.99946838e-01 -5.63702087e-03 3.67135833e+00] [ 4.94892102e-03 5.59443237e-03 9.99972105e-01 1.27303848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04925976399998 meters 0.13709884445276121 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.67, Z:1.27 [[ 9.99956741e-01 -8.04519592e-03 -4.66802644e-03 -5.23005848e+00] [ 8.02448100e-03 9.99957948e-01 -4.43950680e-03 3.66693439e+00] [ 4.70354685e-03 4.40185627e-03 9.99979250e-01 1.27227344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10925976399999 meters 0.13860324783646005 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99962905e-01 -7.39030041e-03 -4.42408085e-03 -5.23040758e+00] [ 7.37638369e-03 9.99967821e-01 -3.15377069e-03 3.66188208e+00] [ 4.44724580e-03 3.12101999e-03 9.99985241e-01 1.27177871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16925976399999 meters 0.13863763627027598 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99967378e-01 -7.02523217e-03 -3.98604463e-03 -5.23187206e+00] [ 7.01687520e-03 9.99973162e-01 -2.10668153e-03 3.65665100e+00] [ 4.00073758e-03 2.07864323e-03 9.99989837e-01 1.27237561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22925976399999 meters 0.14837610381243657 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99930570e-01 -1.10421055e-02 -4.11431931e-03 -5.23169235e+00] [ 1.10180656e-02 9.99922359e-01 -5.82054660e-03 3.65444618e+00] [ 4.17827096e-03 5.77481064e-03 9.99974596e-01 1.27264208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.289259764 meters 0.1850237980853789 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99936802e-01 -1.06190117e-02 -3.69159730e-03 -5.23229995e+00] [ 1.06015626e-02 9.99932688e-01 -4.71457182e-03 3.65028714e+00] [ 3.74141290e-03 4.67513717e-03 9.99982072e-01 1.27188736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34925976399998 meters 0.15698540676747488 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.27 [[ 9.99940739e-01 -1.04640115e-02 -3.00371462e-03 -5.23413043e+00] [ 1.04533849e-02 9.99939124e-01 -3.53198015e-03 3.64469723e+00] [ 3.04049045e-03 3.50037185e-03 9.99989251e-01 1.27206234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40925976399998 meters 0.15786453381814325 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99938899e-01 -1.05651642e-02 -3.25209725e-03 -5.23367939e+00] [ 1.05530172e-02 9.99937359e-01 -3.72989526e-03 3.64598066e+00] [ 3.29130049e-03 3.69534792e-03 9.99987756e-01 1.27228852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46925976399999 meters 0.15632386638705864 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99938131e-01 -1.06194107e-02 -3.31102099e-03 -5.23347504e+00] [ 1.06066331e-02 9.99936325e-01 -3.85305813e-03 3.64684150e+00] [ 3.35172737e-03 3.81770096e-03 9.99987095e-01 1.27221341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52925976399999 meters 0.1565556758741591 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99976522e-01 -6.02401775e-03 -3.26611477e-03 -5.23282476e+00] [ 6.02646117e-03 9.99981568e-01 7.38785639e-04 3.64679214e+00] [ 3.26160411e-03 -7.58451407e-04 9.99994393e-01 1.27097677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58925976399999 meters 0.1431706748323567 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99975084e-01 -6.09808510e-03 -3.55597624e-03 -5.23196391e+00] [ 6.09942807e-03 9.99981331e-01 3.66945189e-04 3.64888379e+00] [ 3.55367219e-03 -3.88625468e-04 9.99993610e-01 1.27084650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64925976399999 meters 0.14348233604627475 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99972313e-01 -6.14592825e-03 -4.19540012e-03 -5.23017533e+00] [ 6.14447793e-03 9.99981058e-01 -3.58494688e-04 3.65308385e+00] [ 4.19752394e-03 3.32706219e-04 9.99991135e-01 1.27064696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.709259764 meters 0.1641124938347682 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99970219e-01 -6.40330973e-03 -4.30797195e-03 -5.23022705e+00] [ 6.39945230e-03 9.99979111e-01 -9.08605301e-04 3.65499564e+00] [ 4.31370004e-03 8.81009581e-04 9.99990308e-01 1.27125045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76925976399998 meters 0.16317501231711035 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99967843e-01 -6.73062671e-03 -4.36014126e-03 -5.23063571e+00] [ 6.72446262e-03 9.99976373e-01 -1.42685739e-03 3.65650311e+00] [ 4.36964189e-03 1.39749190e-03 9.99989477e-01 1.27212124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82925976399999 meters 0.16489712979210314 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99969423e-01 -6.65833320e-03 -4.10126421e-03 -5.23113556e+00] [ 6.65387825e-03 9.99977259e-01 -1.09892747e-03 3.65532583e+00] [ 4.10848797e-03 1.07160455e-03 9.99990986e-01 1.27184008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88925976399999 meters 0.1587985609900911 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99966730e-01 -6.56129661e-03 -4.84655351e-03 -5.22909794e+00] [ 6.55391940e-03 9.99977342e-01 -1.53647173e-03 3.65851626e+00] [ 4.85652495e-03 1.50465669e-03 9.99987075e-01 1.27159089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94925976399999 meters 0.15301894717168338 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99966179e-01 -6.24361346e-03 -5.35341756e-03 -5.22715674e+00] [ 6.23488775e-03 9.99979210e-01 -1.64507723e-03 3.66044497e+00] [ 5.36357749e-03 1.61164363e-03 9.99984317e-01 1.27074876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00925976399999 meters 0.15017740196448337 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99968271e-01 -5.87504497e-03 -5.37959784e-03 -5.22662536e+00] [ 5.86869365e-03 9.99982064e-01 -1.19565650e-03 3.65922446e+00] [ 5.38652589e-03 1.16404736e-03 9.99984815e-01 1.27007928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.069259764 meters 0.1511999675486766 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99969925e-01 -5.77494972e-03 -5.17679888e-03 -5.22739739e+00] [ 5.77109402e-03 9.99983059e-01 -7.59432283e-04 3.65714410e+00] [ 5.18109686e-03 7.29533650e-04 9.99986312e-01 1.27039626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12925976399998 meters 0.15559003161110269 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.66, Z:1.27 [[ 9.99935923e-01 -1.00570902e-02 -5.19661561e-03 -5.22792667e+00] [ 1.00321434e-02 9.99938134e-01 -4.80455229e-03 3.65541601e+00] [ 5.24461393e-03 4.75211123e-03 9.99974955e-01 1.27131298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18925976399998 meters 0.15499613502099882 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99938530e-01 -9.82349501e-03 -5.14143294e-03 -5.22789840e+00] [ 9.80112459e-03 9.99942470e-01 -4.35826855e-03 3.65400812e+00] [ 5.18395059e-03 4.30760882e-03 9.99977285e-01 1.27099109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24925976399999 meters 0.15341226747997988 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99944349e-01 -9.23660954e-03 -5.09752318e-03 -5.22733532e+00] [ 9.21942520e-03 9.99951773e-01 -3.38438000e-03 3.65113730e+00] [ 5.12853753e-03 3.33719543e-03 9.99981280e-01 1.26986537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30925976399999 meters 0.1498522510250109 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99945662e-01 -8.99954293e-03 -5.26122541e-03 -5.22646867e+00] [ 8.98301383e-03 9.99954669e-01 -3.15691647e-03 3.65113035e+00] [ 5.28939772e-03 3.10948327e-03 9.99981177e-01 1.26920780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36925976399999 meters 0.1480675473556263 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99946930e-01 -8.93108319e-03 -5.13547554e-03 -5.22683461e+00] [ 8.91598031e-03 9.99955882e-01 -2.95630431e-03 3.65023071e+00] [ 5.16165197e-03 2.91035962e-03 9.99982443e-01 1.26924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.429259764 meters 0.15884634984523105 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99951788e-01 -8.44454591e-03 -5.01111562e-03 -5.22643621e+00] [ 8.43393291e-03 9.99962154e-01 -2.13525900e-03 3.64790368e+00] [ 5.02895727e-03 2.09289264e-03 9.99985165e-01 1.26808768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48925976399998 meters 0.1554643940118204 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99952941e-01 -8.25567140e-03 -5.09513143e-03 -5.22581666e+00] [ 8.24605022e-03 9.99964183e-01 -1.90643736e-03 3.64779891e+00] [ 5.11068786e-03 1.86433293e-03 9.99985202e-01 1.26748743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54925976399998 meters 0.149996885811108 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.65, Z:1.27 [[ 9.99956310e-01 -7.83080983e-03 -5.10449887e-03 -5.22544753e+00] [ 7.82448969e-03 9.99968598e-01 -1.25694801e-03 3.64577120e+00] [ 5.11418150e-03 1.21695300e-03 9.99986182e-01 1.26690555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60925976399999 meters 0.14959159710181583 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.27 [[ 9.99960030e-01 -7.48999968e-03 -4.88236901e-03 -5.22584571e+00] [ 7.48750236e-03 9.99971828e-01 -5.29576395e-04 3.64295473e+00] [ 4.88619799e-03 4.92998478e-04 9.99987941e-01 1.26658655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66925976399999 meters 0.16451456984747637 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.27 [[ 9.99958682e-01 -7.55189982e-03 -5.06003641e-03 -5.22582901e+00] [ 7.54863025e-03 9.99971288e-01 -6.64942444e-04 3.64329484e+00] [ 5.06491271e-03 6.26718626e-04 9.99986977e-01 1.26723752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72925976399999 meters 0.15676763325981755 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.27 [[ 9.99961642e-01 -7.14795617e-03 -5.06174552e-03 -5.22523123e+00] [ 7.14739076e-03 9.99974449e-01 -1.29781923e-04 3.64192738e+00] [ 5.06254386e-03 9.35986719e-05 9.99987181e-01 1.26633867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.789259764 meters 0.15448387229353647 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99965785e-01 -6.62129992e-03 -4.95854164e-03 -5.22446158e+00] [ 6.62498505e-03 9.99977790e-01 7.27132323e-04 3.63997699e+00] [ 4.95361695e-03 -7.59957708e-04 9.99987442e-01 1.26470553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84925976399998 meters 0.159016525866241 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99967998e-01 -6.35806311e-03 -4.85577622e-03 -5.22449072e+00] [ 6.36400857e-03 9.99979017e-01 1.20994298e-03 3.63842681e+00] [ 4.84798144e-03 -1.24080646e-03 9.99987479e-01 1.26430631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90925976399998 meters 0.15905334498625257 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.27 [[ 9.99967361e-01 -6.51286816e-03 -4.78106526e-03 -5.22535537e+00] [ 6.51793411e-03 9.99978212e-01 1.04476904e-03 3.63810913e+00] [ 4.77415664e-03 -1.07589761e-03 9.99988025e-01 1.26531281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96925976399999 meters 0.16191308515610303 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.27 [[ 9.99929445e-01 -1.07413323e-02 -5.07241699e-03 -5.22433812e+00] [ 1.07250397e-02 9.99937274e-01 -3.22834796e-03 3.63885977e+00] [ 5.10677557e-03 3.17371831e-03 9.99981924e-01 1.26501509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02925976399999 meters 0.15704754105232618 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99934762e-01 -1.03245109e-02 -4.88625025e-03 -5.22457778e+00] [ 1.03125939e-02 9.99943803e-01 -2.45784436e-03 3.63606330e+00] [ 4.91135170e-03 2.40729410e-03 9.99985042e-01 1.26462337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08925976399999 meters 0.1567160821481058 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99940111e-01 -9.84873272e-03 -4.77243511e-03 -5.22445789e+00] [ 9.84103623e-03 9.99950242e-01 -1.63350646e-03 3.63338340e+00] [ 4.78828561e-03 1.58644292e-03 9.99987278e-01 1.26392590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14925976399999 meters 0.16781285561349207 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99944178e-01 -9.50806456e-03 -4.60852453e-03 -5.22447760e+00] [ 9.50349082e-03 9.99954327e-01 -1.01333808e-03 3.63146243e+00] [ 4.61794894e-03 9.69484446e-04 9.99988867e-01 1.26328123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20925976399998 meters 0.16354374454509912 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99900349e-01 -1.33889775e-02 -4.47519549e-03 -5.22461741e+00] [ 1.33691653e-02 9.99900824e-01 -4.42808826e-03 3.62804317e+00] [ 4.53403924e-03 4.36781737e-03 9.99980182e-01 1.26305030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26925976399998 meters 0.16854648932335184 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99903303e-01 -1.31853474e-02 -4.41948870e-03 -5.22473191e+00] [ 1.31675514e-02 9.99905175e-01 -4.03191158e-03 3.62666049e+00] [ 4.47223178e-03 3.97332786e-03 9.99982106e-01 1.26296257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32925976399999 meters 0.16943046148507607 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99911861e-01 -1.25689963e-02 -4.27674007e-03 -5.22426407e+00] [ 1.25564745e-02 9.99916836e-01 -2.94224201e-03 3.62363508e+00] [ 4.31336543e-03 2.88828191e-03 9.99986526e-01 1.26157059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38925976399999 meters 0.16552785691971167 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99917463e-01 -1.21093373e-02 -4.29313376e-03 -5.22360793e+00] [ 1.20994857e-02 9.99924123e-01 -2.31331489e-03 3.62206533e+00] [ 4.32082072e-03 2.26117925e-03 9.99988109e-01 1.26062039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44925976399999 meters 0.17551874759488095 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99920876e-01 -1.18583474e-02 -4.19779147e-03 -5.22347700e+00] [ 1.18504581e-02 9.99927977e-01 -1.89929922e-03 3.62096257e+00] [ 4.22001169e-03 1.84940319e-03 9.99989386e-01 1.26002796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50925976399999 meters 0.1662393847083232 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99924278e-01 -1.16449782e-02 -3.97898817e-03 -5.22375250e+00] [ 1.16393833e-02 9.99931243e-01 -1.42639181e-03 3.61939506e+00] [ 3.99532488e-03 1.37997083e-03 9.99991066e-01 1.25956738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.569259764 meters 0.17795765354286908 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99927890e-01 -1.13582084e-02 -3.89941104e-03 -5.22355026e+00] [ 1.13546606e-02 9.99935101e-01 -9.30763739e-04 3.61807605e+00] [ 3.90972978e-03 8.86420132e-04 9.99991964e-01 1.25891970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62925976399998 meters 0.17365041204156553 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99925645e-01 -1.14959333e-02 -4.06794798e-03 -5.22308028e+00] [ 1.14905934e-02 9.99933092e-01 -1.33361385e-03 3.61999321e+00] [ 4.08300693e-03 1.28677155e-03 9.99990837e-01 1.25892493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68925976399998 meters 0.17787064849000883 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99926698e-01 -1.13998878e-02 -4.07925887e-03 -5.22267314e+00] [ 1.13947022e-02 9.99934243e-01 -1.29219642e-03 3.62043243e+00] [ 4.09372153e-03 1.24561976e-03 9.99990845e-01 1.25838507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74925976399999 meters 0.16488140782323443 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99925758e-01 -1.14281531e-02 -4.22800062e-03 -5.22183859e+00] [ 1.14218852e-02 9.99933638e-01 -1.50365190e-03 3.62228849e+00] [ 4.24490401e-03 1.45524853e-03 9.99989931e-01 1.25774412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80925976399999 meters 0.17784961780002573 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.62, Z:1.26 [[ 9.99924708e-01 -1.14972212e-02 -4.28866681e-03 -5.22122267e+00] [ 1.14902060e-02 9.99932613e-01 -1.65681847e-03 3.62382864e+00] [ 4.30742662e-03 1.60741606e-03 9.99989431e-01 1.25707627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86925976399999 meters 0.17296837234716322 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99925122e-01 -1.13937573e-02 -4.46462124e-03 -5.22000686e+00] [ 1.13861533e-02 9.99933688e-01 -1.72490489e-03 3.62542861e+00] [ 4.48397833e-03 1.67394087e-03 9.99988546e-01 1.25596963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.929259764 meters 0.16840168058077695 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.63, Z:1.26 [[ 9.99918438e-01 -1.16675227e-02 -5.19478439e-03 -5.21834099e+00] [ 1.16518436e-02 9.99927499e-01 -3.03833640e-03 3.63142229e+00] [ 5.22985763e-03 2.97755977e-03 9.99981891e-01 1.25633206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98925976399998 meters 0.16449746745493152 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99915632e-01 -1.15871681e-02 -5.87076209e-03 -5.21605361e+00] [ 1.15646060e-02 9.99925667e-01 -3.86261091e-03 3.63656228e+00] [ 5.91508242e-03 3.79439198e-03 9.99975307e-01 1.25554603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04925976399998 meters 0.1529308975585658 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99913439e-01 -1.17212014e-02 -5.97730898e-03 -5.21557400e+00] [ 1.16959342e-02 9.99922591e-01 -4.24476821e-03 3.63869478e+00] [ 6.02660007e-03 4.17449057e-03 9.99973126e-01 1.25531081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10925976399999 meters 0.15234421906336257 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99910551e-01 -1.19585966e-02 -5.99021613e-03 -5.21565815e+00] [ 1.19311289e-02 9.99918239e-01 -4.60037310e-03 3.64023902e+00] [ 6.04474037e-03 4.52849156e-03 9.99971477e-01 1.25552681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16925976399999 meters 0.15899504095197195 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.26 [[ 9.99913005e-01 -1.18729027e-02 -5.74593557e-03 -5.21604026e+00] [ 1.18480938e-02 9.99920422e-01 -4.33259167e-03 3.63936233e+00] [ 5.79691876e-03 4.26413638e-03 9.99974106e-01 1.25513672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22925976399999 meters 0.15764593912647504 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.64, Z:1.26 [[ 9.99908421e-01 -1.19847903e-02 -6.28600145e-03 -5.21459422e+00] [ 1.19535196e-02 9.99916109e-01 -4.98886738e-03 3.64306797e+00] [ 6.34526464e-03 4.91327066e-03 9.99967798e-01 1.25505193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.289259764 meters 0.143797479641846 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.64, Z:1.25 [[ 9.99954196e-01 -7.28273457e-03 -6.21033012e-03 -5.21408773e+00] [ 7.28166132e-03 9.99973469e-01 -1.95410616e-04 3.64233619e+00] [ 6.21158848e-03 1.50180145e-04 9.99980697e-01 1.25383573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34925976399998 meters 0.14554436756195108 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.64, Z:1.25 [[ 9.99956293e-01 -6.99293521e-03 -6.20565216e-03 -5.21341361e+00] [ 6.99406580e-03 9.99975528e-01 1.60503754e-04 3.64193030e+00] [ 6.20437790e-03 -2.03899479e-04 9.99980732e-01 1.25281309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40925976399998 meters 0.15810427536915955 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.65, Z:1.25 [[ 9.99908851e-01 -1.18552663e-02 -6.46082958e-03 -5.21349981e+00] [ 1.18228042e-02 9.99917408e-01 -5.03968692e-03 3.64515229e+00] [ 6.52004280e-03 4.96284243e-03 9.99966429e-01 1.25411389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46925976399999 meters 0.1600329934222556 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.65, Z:1.25 [[ 9.99909832e-01 -1.18287387e-02 -6.35679269e-03 -5.21353007e+00] [ 1.17974972e-02 9.99918254e-01 -4.92989638e-03 3.64511996e+00] [ 6.41458751e-03 4.85445761e-03 9.99967643e-01 1.25374094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52925976399999 meters 0.1517281741823187 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.65, Z:1.25 [[ 9.99951791e-01 -7.49124030e-03 -6.34794916e-03 -5.21306403e+00] [ 7.48668687e-03 9.99971700e-01 -7.40767066e-04 3.64656801e+00] [ 6.35331878e-03 6.93206247e-04 9.99979577e-01 1.25291313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58925976399999 meters 0.1552511103834057 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.65, Z:1.25 [[ 9.99949902e-01 -7.63644676e-03 -6.47129718e-03 -5.21258682e+00] [ 7.62837230e-03 9.99970095e-01 -1.27150012e-03 3.64892557e+00] [ 6.48081340e-03 1.22207096e-03 9.99978253e-01 1.25283263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64925976399999 meters 0.15104030351761288 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.65, Z:1.25 [[ 9.99945225e-01 -7.99417403e-03 -6.75575590e-03 -5.21216210e+00] [ 7.97983449e-03 9.99965856e-01 -2.14686233e-03 3.65232277e+00] [ 6.77268762e-03 2.09283492e-03 9.99974875e-01 1.25347042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70925976399998 meters 0.15538337631910795 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.66, Z:1.25 [[ 9.99967325e-01 -3.61772766e-03 -7.22922849e-03 -5.20999285e+00] [ 3.62895499e-03 9.99992229e-01 1.54053376e-03 3.65698085e+00] [ 7.22359908e-03 -1.56671796e-03 9.99972682e-01 1.25196210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76925976399998 meters 0.14796767545839834 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.66, Z:1.25 [[ 9.99962447e-01 -4.00427595e-03 -7.68575244e-03 -5.20924847e+00] [ 4.00532209e-03 9.99991971e-01 1.20727090e-04 3.66176643e+00] [ 7.68520731e-03 -1.51506470e-04 9.99970457e-01 1.25306220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82925976399999 meters 0.13145245811900355 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.67, Z:1.26 [[ 9.99952385e-01 -4.95943334e-03 -8.40426763e-03 -5.20937722e+00] [ 4.93106865e-03 9.99982088e-01 -3.39240048e-03 3.66947631e+00] [ 8.42094147e-03 3.35079693e-03 9.99958929e-01 1.25872028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88925976399999 meters 0.12790878512936243 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.67, Z:1.26 [[ 9.99947271e-01 -5.52771140e-03 -8.65447717e-03 -5.20959406e+00] [ 5.48802458e-03 9.99974348e-01 -4.60274987e-03 3.67322224e+00] [ 8.67969783e-03 4.55501119e-03 9.99951956e-01 1.26028306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94925976399999 meters 0.13340448742867064 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.26 [[ 9.99943864e-01 -5.52238308e-03 -9.04276836e-03 -5.20837815e+00] [ 5.47726859e-03 9.99972468e-01 -5.00620240e-03 3.67567839e+00] [ 9.07016557e-03 4.95639171e-03 9.99946582e-01 1.26007636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00925976399999 meters 0.13071539432465773 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.26 [[ 0.99990011 -0.01007042 -0.00991707 -5.20655299] [ 0.00996887 0.99989791 -0.01023639 3.68057327] [ 0.01001915 0.0101365 0.99989843 1.26073951] [ 0. 0. 0. 1. ]] SLAMing on 98.069259764 meters 0.12866650024093965 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.26 [[ 0.9998978 -0.01014657 -0.01007173 -5.20606997] [ 0.01004076 0.99989445 -0.01050065 3.68200451] [ 0.01017722 0.01039845 0.99989414 1.26068599] [ 0. 0. 0. 1. ]] SLAMing on 98.12925976399998 meters 0.12630019411041898 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.26 [[ 9.99938093e-01 -5.17903340e-03 -9.84822332e-03 -5.20520432e+00] [ 5.12879651e-03 9.99973743e-01 -5.11954359e-03 3.67994996e+00] [ 9.87447901e-03 5.06871712e-03 9.99938399e-01 1.25823083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18925976399998 meters 0.12297617995973752 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.68, Z:1.26 [[ 9.99932427e-01 -5.15222815e-03 -1.04209718e-02 -5.20362409e+00] [ 5.09332597e-03 9.99970949e-01 -5.67093644e-03 3.68320722e+00] [ 1.04498870e-02 5.61747583e-03 9.99929619e-01 1.25810017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24925976399999 meters 0.12258189770223377 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.69, Z:1.26 [[ 0.99991445 -0.00554647 -0.01184594 -5.20172177] [ 0.005437 0.99994241 -0.00925282 3.69135419] [ 0.01189657 0.00918763 0.99988702 1.26403338] [ 0. 0. 0. 1. ]] SLAMing on 98.30925976399999 meters 0.1201960117051455 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.69, Z:1.26 [[ 0.99991435 -0.00539506 -0.01192385 -5.20130547] [ 0.00528658 0.99994452 -0.00911041 3.69125074] [ 0.01197234 0.00904659 0.9998874 1.26370922] [ 0. 0. 0. 1. ]] SLAMing on 98.36925976399999 meters 0.11613317659705717 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.69, Z:1.26 [[ 9.99915658e-01 -4.98293895e-03 -1.19936603e-02 -5.20073555e+00] [ 4.88091171e-03 9.99951783e-01 -8.52105566e-03 3.68965526e+00] [ 1.20355419e-02 8.46179698e-03 9.99891766e-01 1.26307510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.429259764 meters 0.11846662090222 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.69, Z:1.25 [[ 9.99975744e-01 -4.42092523e-03 5.38211145e-03 -5.20449360e+00] [ 4.44056354e-03 9.99983507e-01 -3.64234673e-03 3.68551949e+00] [-5.36592014e-03 3.66615799e-03 9.99978883e-01 1.25194238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48925976399998 meters 0.11865440466085964 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.69, Z:1.25 [[ 9.99950026e-01 -8.70703083e-03 4.91256948e-03 -5.20374311e+00] [ 8.74714026e-03 9.99928096e-01 -8.20311606e-03 3.68648016e+00] [-4.84079146e-03 8.24567705e-03 9.99954287e-01 1.25276227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54925976399998 meters 0.1203455942317035 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.68, Z:1.25 [[ 9.99954826e-01 -7.98730613e-03 5.15251952e-03 -5.20389482e+00] [ 8.02068631e-03 9.99946769e-01 -6.49061642e-03 3.68020168e+00] [-5.10040271e-03 6.53164996e-03 9.99965661e-01 1.25182275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60925976399999 meters 0.12036078007032208 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.68, Z:1.25 [[ 9.99957723e-01 -7.57213567e-03 5.21674797e-03 -5.20375657e+00] [ 7.60171832e-03 9.99955006e-01 -5.67441133e-03 3.67753435e+00] [-5.17354583e-03 5.71382769e-03 9.99970293e-01 1.25122897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66925976399999 meters 0.12142475518618596 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99960937e-01 -7.06134964e-03 5.31623980e-03 -5.20364876e+00] [ 7.08619009e-03 9.99963996e-01 -4.66831557e-03 3.67406665e+00] [-5.28308379e-03 4.70580510e-03 9.99974972e-01 1.25054609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72925976399999 meters 0.12297328171125962 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99923816e-01 -1.12678770e-02 5.03965591e-03 -5.20327234e+00] [ 1.13127370e-02 9.99895835e-01 -8.96329655e-03 3.67373794e+00] [-4.93813363e-03 9.01962598e-03 9.99947129e-01 1.25120385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789259764 meters 0.12963937905193595 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99925642e-01 -1.10649158e-02 5.12618416e-03 -5.20349003e+00] [ 1.11079451e-02 9.99902660e-01 -8.44300475e-03 3.67180731e+00] [-5.03226404e-03 8.49931832e-03 9.99951218e-01 1.25110496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84925976399998 meters 0.12829871287715686 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99929524e-01 -1.07485435e-02 5.04143008e-03 -5.20275763e+00] [ 1.07883301e-02 9.99910342e-01 -7.93225886e-03 3.67089526e+00] [-4.95571784e-03 7.98608843e-03 9.99955831e-01 1.25020870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90925976399998 meters 0.12539342406086534 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99931299e-01 -1.06690590e-02 4.85463553e-03 -5.20198432e+00] [ 1.07076395e-02 9.99910735e-01 -7.99178614e-03 3.67187718e+00] [-4.76893735e-03 8.04321879e-03 9.99956281e-01 1.24978264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96925976399999 meters 0.13326424519205732 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99931455e-01 -1.07139556e-02 4.72184481e-03 -5.20155043e+00] [ 1.07523708e-02 9.99908678e-01 -8.18675331e-03 3.67307278e+00] [-4.63370109e-03 8.23696317e-03 9.99955340e-01 1.24969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02925976399999 meters 0.12274993461103395 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99931442e-01 -1.07202913e-02 4.71033984e-03 -5.20133654e+00] [ 1.07586477e-02 9.99908546e-01 -8.19457719e-03 3.67357270e+00] [-4.62206081e-03 8.24469227e-03 9.99955330e-01 1.24939961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08925976399999 meters 0.12399508422327234 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99934523e-01 -1.04477491e-02 4.66847132e-03 -5.20090837e+00] [ 1.04835989e-02 9.99915230e-01 -7.72179306e-03 3.67236622e+00] [-4.58740022e-03 7.77022984e-03 9.99959289e-01 1.24883293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14925976399999 meters 0.12991204233201392 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99936553e-01 -1.01286105e-02 4.92966727e-03 -5.20106135e+00] [ 1.01623445e-02 9.99924784e-01 -6.86680535e-03 3.66975013e+00] [-4.85974529e-03 6.91646665e-03 9.99964272e-01 1.24785479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20925976399998 meters 0.1297660911159741 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 0.9999374 -0.00986494 0.00528075 -5.20163341] [ 0.00989653 0.99993309 -0.00599001 3.66662739] [-0.0052213 0.0060419 0.99996812 1.2472084 ] [ 0. 0. 0. 1. ]] SLAMing on 99.26925976399998 meters 0.13776858445001605 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 0.99993413 -0.01000923 0.00561683 -5.20299992] [ 0.0100414 0.99993318 -0.00572713 3.66466205] [-0.00555913 0.00578315 0.99996783 1.24797642] [ 0. 0. 0. 1. ]] SLAMing on 99.32925976399999 meters 0.1391362120792457 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 9.99934027e-01 -9.84237772e-03 5.92187131e-03 -5.20354746e+00] [ 9.87299285e-03 9.99937932e-01 -5.16301081e-03 3.66262326e+00] [-5.87068745e-03 5.22113679e-03 9.99969137e-01 1.24754997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38925976399999 meters 0.1477670257048942 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 9.99936579e-01 -9.70144737e-03 5.72020991e-03 -5.20268594e+00] [ 9.73031261e-03 9.99939957e-01 -5.04013413e-03 3.66300147e+00] [-5.67096985e-03 5.09547391e-03 9.99970938e-01 1.24701989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44925976399999 meters 0.13413931399188128 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 0.99993964 -0.0096283 0.00529177 -5.20159306] [ 0.00965622 0.99993946 -0.00527567 3.66461367] [-0.00524066 0.00532645 0.99997208 1.24704822] [ 0. 0. 0. 1. ]] SLAMing on 99.50925976399999 meters 0.1316863703673255 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 9.99945158e-01 -9.12713695e-03 5.13588664e-03 -5.20030145e+00] [ 9.15113926e-03 9.99947225e-01 -4.66952085e-03 3.66364121e+00] [-5.09299624e-03 4.71626398e-03 9.99975909e-01 1.24567611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56925976399998 meters 0.13302853574298693 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.66, Z:1.25 [[ 9.99944999e-01 -9.19358217e-03 5.04743064e-03 -5.19992098e+00] [ 9.21793853e-03 9.99945880e-01 -4.82362778e-03 3.66481476e+00] [-5.00281106e-03 4.86988938e-03 9.99975628e-01 1.24543941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62925976399998 meters 0.13139649367543102 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.25 [[ 9.99944496e-01 -9.33173728e-03 4.89117147e-03 -5.19943298e+00] [ 9.35700798e-03 9.99942860e-01 -5.16942936e-03 3.66676876e+00] [-4.84265223e-03 5.21490917e-03 9.99974676e-01 1.24531699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68925976399998 meters 0.1301559710766194 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.24 [[ 9.99946071e-01 -9.34752085e-03 4.52533995e-03 -5.19818120e+00] [ 9.37250415e-03 9.99940778e-01 -5.53139303e-03 3.66950816e+00] [-4.47336714e-03 5.57350849e-03 9.99974462e-01 1.24481970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74925976399999 meters 0.12679208389893482 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.67, Z:1.24 [[ 9.99978209e-01 -4.71495997e-03 4.62077158e-03 -5.19731621e+00] [ 4.71875072e-03 9.99988539e-01 -8.09814466e-04 3.66945363e+00] [-4.61690038e-03 8.31601088e-04 9.99988996e-01 1.24304231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80925976399999 meters 0.1319741526677936 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.68, Z:1.24 [[ 9.99950298e-01 -9.30223232e-03 3.58735352e-03 -5.19549882e+00] [ 9.32648460e-03 9.99933358e-01 -6.80408269e-03 3.67613566e+00] [-3.52382130e-03 6.83720191e-03 9.99970417e-01 1.24462007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86925976399999 meters 0.12584298478823705 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.68, Z:1.24 [[ 9.99949327e-01 -9.46427478e-03 3.43074127e-03 -5.19507930e+00] [ 9.48882006e-03 9.99928985e-01 -7.21026748e-03 3.67825049e+00] [-3.36225768e-03 7.24245580e-03 9.99968121e-01 1.24462327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.929259764 meters 0.12658569427115773 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.24 [[ 9.99948172e-01 -9.64092542e-03 3.27186586e-03 -5.19481422e+00] [ 9.66566885e-03 9.99924154e-01 -7.63286370e-03 3.68006931e+00] [-3.19802983e-03 7.66409287e-03 9.99965517e-01 1.24489532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98925976399998 meters 0.12367930459981037 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.24 [[ 9.99949409e-01 -9.59637135e-03 3.01469069e-03 -5.19356991e+00] [ 9.61969304e-03 9.99923158e-01 -7.81918748e-03 3.68237603e+00] [-2.93942321e-03 7.84779230e-03 9.99964885e-01 1.24400670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04925976399998 meters 0.1220940006302602 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99950626e-01 -9.61907274e-03 2.49380762e-03 -5.19191805e+00] [ 9.63962840e-03 9.99918540e-01 -8.36603386e-03 3.68607982e+00] [-2.41313099e-03 8.38966017e-03 9.99961894e-01 1.24352557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10925976399999 meters 0.1177301440457658 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99983237e-01 -5.17297026e-03 2.60101137e-03 -5.19171209e+00] [ 5.18288089e-03 9.99979280e-01 -3.81810563e-03 3.68604773e+00] [-2.58120653e-03 3.83152236e-03 9.99989328e-01 1.24265815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16925976399999 meters 0.1148933030923344 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99984628e-01 -5.14930671e-03 2.05639780e-03 -5.19000214e+00] [ 5.15831572e-03 9.99977016e-01 -4.39995926e-03 3.68972380e+00] [-2.03369379e-03 4.41049918e-03 9.99988206e-01 1.24223716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22925976399999 meters 0.11272948233077461 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99986288e-01 -4.90726222e-03 1.82843781e-03 -5.18878594e+00] [ 4.91504907e-03 9.99978767e-01 -4.27887167e-03 3.69050774e+00] [-1.80740144e-03 4.28779986e-03 9.99989174e-01 1.24129627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.289259764 meters 0.11457058052545939 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99985379e-01 -5.18558882e-03 1.53376044e-03 -5.18837791e+00] [ 5.19305309e-03 9.99974494e-01 -4.90337197e-03 3.69320817e+00] [-1.50829445e-03 4.91126517e-03 9.99986802e-01 1.24186361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34925976399998 meters 0.11410947668984588 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99985247e-01 -5.22209014e-03 1.49511299e-03 -5.18832420e+00] [ 5.22950861e-03 9.99973817e-01 -5.00166413e-03 3.69363054e+00] [-1.46895470e-03 5.00940905e-03 9.99986374e-01 1.24195776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40925976399998 meters 0.11352778022687844 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99986678e-01 -4.96141427e-03 1.42415884e-03 -5.18778818e+00] [ 4.96799617e-03 9.99976821e-01 -4.65588288e-03 3.69291944e+00] [-1.40102606e-03 4.66289607e-03 9.99988147e-01 1.24141064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46925976399999 meters 0.11215185664926297 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99985943e-01 -5.07949911e-03 1.52092425e-03 -5.18830987e+00] [ 5.08666720e-03 9.99975797e-01 -4.74680425e-03 3.69293266e+00] [-1.49677605e-03 4.75447396e-03 9.99987577e-01 1.24180013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52925976399999 meters 0.11144029989700592 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99984330e-01 -5.39263455e-03 1.50341105e-03 -5.18857469e+00] [ 5.40043493e-03 9.99971722e-01 -5.23359151e-03 3.69468801e+00] [-1.47514569e-03 5.24162857e-03 9.99985175e-01 1.24230001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58925976399999 meters 0.11262305997731598 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.24 [[ 9.99984158e-01 -5.46262668e-03 1.35768859e-03 -5.18809855e+00] [ 5.46993784e-03 9.99970238e-01 -5.44092940e-03 3.69597419e+00] [-1.32792642e-03 5.44826967e-03 9.99984276e-01 1.24217443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64925976399999 meters 0.11209907545382168 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.24 [[ 9.99985573e-01 -5.21081006e-03 1.30395100e-03 -5.18744852e+00] [ 5.21744784e-03 9.99973179e-01 -5.13997287e-03 3.69557997e+00] [-1.27713260e-03 5.14670201e-03 9.99985940e-01 1.24140022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70925976399998 meters 0.1111369471717571 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.24 [[ 9.99985853e-01 -5.15780766e-03 1.30048694e-03 -5.18754429e+00] [ 5.16436741e-03 9.99973699e-01 -5.09219913e-03 3.69526640e+00] [-1.27418815e-03 5.09884328e-03 9.99986189e-01 1.24157384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76925976399998 meters 0.10927364276314336 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99986034e-01 -5.13551900e-03 1.24790115e-03 -5.18777782e+00] [ 5.14186005e-03 9.99973609e-01 -5.13243580e-03 3.69481766e+00] [-1.22151049e-03 5.13878065e-03 9.99986050e-01 1.24218019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82925976399999 meters 0.11738581397994315 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99959217e-01 -8.97997231e-03 9.61637728e-04 -5.18697814e+00] [ 8.98818495e-03 9.99919938e-01 -8.90670192e-03 3.69273546e+00] [-8.81578801e-04 8.91498205e-03 9.99959872e-01 1.24219505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88925976399999 meters 0.12214819935614363 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.24 [[ 9.99917871e-01 -1.27743918e-02 1.03221524e-03 -5.18731580e+00] [ 1.27859628e-02 9.99844897e-01 -1.21120201e-02 3.68784527e+00] [-8.77331450e-04 1.21242232e-02 9.99926114e-01 1.24242384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94925976399999 meters 0.12752780824341511 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.24 [[ 9.99921760e-01 -1.23198612e-02 2.16696642e-03 -5.18944086e+00] [ 1.23391955e-02 9.99882027e-01 -9.14748673e-03 3.67739315e+00] [-2.05401500e-03 9.17350965e-03 9.99955813e-01 1.24043301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00925976399999 meters 0.13609551583091367 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.67, Z:1.24 [[ 9.99865194e-01 -1.61317228e-02 3.05952512e-03 -5.19120413e+00] [ 1.61652728e-02 9.99805729e-01 -1.12778016e-02 3.66874207e+00] [-2.87700037e-03 1.13257394e-02 9.99931723e-01 1.23962859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06925976399998 meters 0.14066522650298457 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.66, Z:1.24 [[ 9.99859857e-01 -1.60631635e-02 4.71599657e-03 -5.19447651e+00] [ 1.60978650e-02 9.99842927e-01 -7.41490242e-03 3.65738252e+00] [-4.59614903e-03 7.48978075e-03 9.99961389e-01 1.23560971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12925976399998 meters 0.14384574139685716 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.65, Z:1.24 [[ 9.99861210e-01 -1.58631662e-02 5.09115960e-03 -5.19570213e+00] [ 1.58967564e-02 9.99851680e-01 -6.62653590e-03 3.65347620e+00] [-4.98528664e-03 6.70654913e-03 9.99965084e-01 1.23600867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18925976399998 meters 0.14415393286976816 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.65, Z:1.23 [[ 9.99921875e-01 -1.08917552e-02 6.13294890e-03 -5.19702609e+00] [ 1.08933904e-02 9.99940638e-01 -2.33282044e-04 3.64582655e+00] [-6.13004399e-03 3.00072425e-04 9.99981166e-01 1.23369599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24925976399999 meters 0.15461696309892473 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.64, Z:1.23 [[ 9.99928281e-01 -1.02457842e-02 6.20136610e-03 -5.19669096e+00] [ 1.02406295e-02 9.99947191e-01 8.62397666e-04 3.64200588e+00] [-6.20987456e-03 -7.98829923e-04 9.99980399e-01 1.23286105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30925976399999 meters 0.154708332655374 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.64, Z:1.23 [[ 9.99931012e-01 -1.00189119e-02 6.13134787e-03 -5.19631262e+00] [ 1.00118872e-02 9.99949189e-01 1.17533943e-03 3.64121446e+00] [-6.14281196e-03 -1.11387198e-03 9.99980512e-01 1.23254013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36925976399999 meters 0.1543281487926206 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.64, Z:1.23 [[ 9.99935103e-01 -9.52435676e-03 6.25107243e-03 -5.19630202e+00] [ 9.51142303e-03 9.99952570e-01 2.09552016e-03 3.63784505e+00] [-6.27073443e-03 -2.03592757e-03 9.99978266e-01 1.23200778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.429259764 meters 0.1499908839127729 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.64, Z:1.23 [[ 9.99937475e-01 -9.24488685e-03 6.29104047e-03 -5.19632488e+00] [ 9.22879790e-03 9.99954081e-01 2.58168052e-03 3.63594867e+00] [-6.31461894e-03 -2.52346036e-03 9.99976879e-01 1.23188014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48925976399998 meters 0.1563599010914393 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.63, Z:1.23 [[ 9.99939313e-01 -9.07079060e-03 6.25227083e-03 -5.19634777e+00] [ 9.05326312e-03 9.99955025e-01 2.82600280e-03 3.63479703e+00] [-6.27762371e-03 -2.76922784e-03 9.99976461e-01 1.23205837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54925976399998 meters 0.14817320635766787 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.63, Z:1.23 [[ 9.99942607e-01 -8.46619381e-03 6.56550814e-03 -5.19666268e+00] [ 8.43979860e-03 9.99956233e-01 4.03762405e-03 3.63011969e+00] [-6.59940410e-03 -3.98198076e-03 9.99970295e-01 1.23134872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60925976399999 meters 0.1594718667376465 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.63, Z:1.23 [[ 9.99898513e-01 -1.25558420e-02 6.73163720e-03 -5.19724413e+00] [ 1.25539132e-02 9.99921143e-01 3.28697462e-04 3.62732699e+00] [-6.73523344e-03 -2.44155714e-04 9.99977288e-01 1.23173675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66925976399999 meters 0.16047495431017958 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.62, Z:1.23 [[ 9.99899961e-01 -1.22093934e-02 7.14139021e-03 -5.19797026e+00] [ 1.21999145e-02 9.99924641e-01 1.36937878e-03 3.62339454e+00] [-7.15757132e-03 -1.28211744e-03 9.99973562e-01 1.23121325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72925976399999 meters 0.15831723175195273 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.62, Z:1.23 [[ 9.99900263e-01 -1.19803899e-02 7.47892399e-03 -5.19891552e+00] [ 1.19650105e-02 9.99926216e-01 2.09773165e-03 3.62003252e+00] [-7.50350381e-03 -2.00803703e-03 9.99969832e-01 1.23140608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.789259764 meters 0.16163842765655834 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.61, Z:1.23 [[ 9.99905980e-01 -1.13086918e-02 7.75526338e-03 -5.19927786e+00] [ 1.12828945e-02 9.99930694e-01 3.36214174e-03 3.61488457e+00] [-7.79274732e-03 -3.27432381e-03 9.99964275e-01 1.23086227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84925976399998 meters 0.1695150343063966 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.61, Z:1.23 [[ 9.99907094e-01 -1.09248812e-02 8.15167364e-03 -5.20032574e+00] [ 1.08876709e-02 9.99930169e-01 4.59524378e-03 3.60928223e+00] [-8.20130689e-03 -4.50606411e-03 9.99956216e-01 1.23099010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90925976399998 meters 0.17149254783013035 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.61, Z:1.23 [[ 9.99857317e-01 -1.48189201e-02 8.10837952e-03 -5.20001002e+00] [ 1.48116127e-02 9.99889841e-01 9.60526671e-04 3.60694638e+00] [-8.12172027e-03 -8.40291443e-04 9.99966665e-01 1.23082116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96925976399999 meters 0.1814509610588327 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99859431e-01 -1.44221127e-02 8.55108330e-03 -5.20070574e+00] [ 1.44053461e-02 9.99894199e-01 2.01912346e-03 3.60283036e+00] [-8.57929861e-03 -1.89565832e-03 9.99961400e-01 1.23019301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02925976399999 meters 0.17871396838445983 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99858373e-01 -1.43602610e-02 8.77596234e-03 -5.20156726e+00] [ 1.43398786e-02 9.99894344e-01 2.38106159e-03 3.60087794e+00] [-8.80922777e-03 -2.25487814e-03 9.99958656e-01 1.23070527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08925976399999 meters 0.17765994901079366 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99859476e-01 -1.43976207e-02 8.58704707e-03 -5.20163705e+00] [ 1.43789602e-02 9.99894129e-01 2.23089311e-03 3.60075441e+00] [-8.61825750e-03 -2.10710680e-03 9.99960642e-01 1.23155147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14925976399999 meters 0.18153175987237938 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99864099e-01 -1.39841702e-02 8.73080552e-03 -5.20150252e+00] [ 1.39592612e-02 9.99898338e-01 2.90746149e-03 3.59872227e+00] [-8.77057637e-03 -2.78519076e-03 9.99957659e-01 1.23076781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20925976399998 meters 0.1848967839619659 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99865133e-01 -1.37308578e-02 9.00992060e-03 -5.20212096e+00] [ 1.36997572e-02 9.99900013e-01 3.50451748e-03 3.59616534e+00] [-9.05713975e-03 -3.38061111e-03 9.99953269e-01 1.23067046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26925976399998 meters 0.17823931277501817 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99864906e-01 -1.37218709e-02 9.04881013e-03 -5.20251617e+00] [ 1.36898971e-02 9.99899859e-01 3.58599738e-03 3.59548385e+00] [-9.09711056e-03 -3.46163565e-03 9.99952629e-01 1.23113687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32925976399999 meters 0.18337348957209948 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.59, Z:1.23 [[ 9.99865723e-01 -1.36414991e-02 9.07997413e-03 -5.20273588e+00] [ 1.36075765e-02 9.99900240e-01 3.78734127e-03 3.59449208e+00] [-9.13073332e-03 -3.66327627e-03 9.99951604e-01 1.23133351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38925976399999 meters 0.1778575004767886 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.59, Z:1.23 [[ 9.99871836e-01 -1.32937665e-02 8.92114723e-03 -5.20161020e+00] [ 1.32568370e-02 9.99903362e-01 4.18599314e-03 3.59428095e+00] [-8.97593273e-03 -4.06719045e-03 9.99951444e-01 1.23018358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44925976399999 meters 0.18264493755711256 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.59, Z:1.23 [[ 9.99877364e-01 -1.28988938e-02 8.88118849e-03 -5.20072566e+00] [ 1.28570782e-02 9.99906065e-01 4.74944667e-03 3.59335763e+00] [-8.94161684e-03 -4.63467808e-03 9.99949282e-01 1.22894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50925976399999 meters 0.20331288974939377 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.59, Z:1.23 [[ 9.99877964e-01 -1.28011816e-02 8.95474222e-03 -5.20054975e+00] [ 1.27575944e-02 9.99906574e-01 4.90780770e-03 3.59327223e+00] [-9.01673136e-03 -4.79296780e-03 9.99947862e-01 1.22839363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56925976399998 meters 0.20551782474989785 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.59, Z:1.23 [[ 9.99875890e-01 -1.27344489e-02 9.27570852e-03 -5.20099093e+00] [ 1.26862363e-02 9.99905806e-01 5.23815823e-03 3.59226707e+00] [-9.34153986e-03 -5.11983429e-03 9.99943260e-01 1.22785000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62925976399998 meters 0.19646996089669272 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99875920e-01 -1.32475323e-02 8.52335112e-03 -5.19989050e+00] [ 1.32171935e-02 9.99906147e-01 3.60603143e-03 3.59843549e+00] [-8.57032219e-03 -3.49292921e-03 9.99957174e-01 1.22917603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68925976399998 meters 0.1917205463557375 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.60, Z:1.23 [[ 9.99876441e-01 -1.33945022e-02 8.22739575e-03 -5.19911057e+00] [ 1.33697579e-02 9.99905953e-01 3.05522966e-03 3.60105568e+00] [-8.26754527e-03 -2.94485387e-03 9.99961487e-01 1.22920598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74925976399999 meters 0.18424202972690704 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.61, Z:1.23 [[ 9.99885169e-01 -1.32239966e-02 7.40105413e-03 -5.19665143e+00] [ 1.32071853e-02 9.99910100e-01 2.31576057e-03 3.60560629e+00] [-7.43101238e-03 -2.21774756e-03 9.99969930e-01 1.22846289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80925976399999 meters 0.176049725408192 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.61, Z:1.23 [[ 9.99884815e-01 -1.35380832e-02 6.86126825e-03 -5.19525400e+00] [ 1.35302913e-02 9.99907764e-01 1.18078656e-03 3.61085559e+00] [-6.87662098e-03 -1.08781559e-03 9.99975764e-01 1.22849756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86925976399999 meters 0.16942117854470437 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.62, Z:1.23 [[ 9.99886050e-01 -1.40470413e-02 5.52873556e-03 -5.19329322e+00] [ 1.40602583e-02 9.99898367e-01 -2.35903691e-03 3.62008774e+00] [-5.49503616e-03 2.43650355e-03 9.99981934e-01 1.23310742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92925976399998 meters 0.15968622326156898 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.62, Z:1.23 [[ 9.99939203e-01 -9.74222487e-03 5.16516977e-03 -5.19135450e+00] [ 9.73484652e-03 9.99951561e-01 1.45170559e-03 3.62452189e+00] [-5.17906242e-03 -1.40133520e-03 9.99985607e-01 1.23140310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98925976399998 meters 0.15405072996259592 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.63, Z:1.23 [[ 9.99938968e-01 -1.01121081e-02 4.45023511e-03 -5.18989992e+00] [ 1.01124766e-02 9.99948866e-01 -6.03067081e-05 3.63068365e+00] [-4.44939773e-03 1.05305926e-04 9.99990096e-01 1.23211132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04925976399998 meters 0.15381912459072267 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.64, Z:1.23 [[ 9.99933513e-01 -1.07771069e-02 4.10167694e-03 -5.18999609e+00] [ 1.07837787e-02 9.99940560e-01 -1.60799332e-03 3.63532965e+00] [-4.08410362e-03 1.65211799e-03 9.99990295e-01 1.23397676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10925976399999 meters 0.15065821753974717 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.64, Z:1.23 [[ 9.99935718e-01 -1.08989588e-02 3.12595651e-03 -5.18745941e+00] [ 1.09081596e-02 9.99936178e-01 -2.94155601e-03 3.64258527e+00] [-3.09369710e-03 2.97546535e-03 9.99990788e-01 1.23377153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16925976399999 meters 0.1466370317041596 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.65, Z:1.23 [[ 9.99936638e-01 -1.09774569e-02 2.49324363e-03 -5.18558126e+00] [ 1.09865754e-02 9.99932898e-01 -3.67354953e-03 3.64728761e+00] [-2.45275010e-03 3.70070898e-03 9.99990144e-01 1.23329619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22925976399999 meters 0.14724466341016368 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.65, Z:1.23 [[ 9.99933179e-01 -1.14471212e-02 1.61298712e-03 -5.18401379e+00] [ 1.14559563e-02 9.99918815e-01 -5.57901899e-03 3.65470360e+00] [-1.54899246e-03 5.59712450e-03 9.99983136e-01 1.23464051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.289259764 meters 0.13737190406040029 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.66, Z:1.23 [[ 9.99973698e-01 -7.15608688e-03 1.18080771e-03 -5.18230234e+00] [ 7.15833262e-03 9.99972557e-01 -1.90872569e-03 3.65909050e+00] [-1.16711630e-03 1.91712810e-03 9.99997481e-01 1.23364721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34925976399998 meters 0.13705593839146582 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.23 [[ 9.99971507e-01 -7.53373371e-03 4.77783508e-04 -5.18094772e+00] [ 7.53525530e-03 9.99966272e-01 -3.26711857e-03 3.66500888e+00] [-4.53153792e-04 3.27062570e-03 9.99994549e-01 1.23439182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40925976399998 meters 0.13221839519526093 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.23 [[ 9.99970222e-01 -7.71654345e-03 9.83562008e-05 -5.17974173e+00] [ 7.71686671e-03 9.99962714e-01 -3.87557418e-03 3.66883006e+00] [-6.84464970e-05 3.87621777e-03 9.99992485e-01 1.23409951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46925976399999 meters 0.13217717765317677 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.23 [[ 9.99966272e-01 -8.21223381e-03 1.14640986e-04 -5.17989101e+00] [ 8.21267760e-03 9.99955497e-01 -4.64285311e-03 3.67214752e+00] [-7.65076884e-05 4.64363803e-03 9.99989215e-01 1.23432012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52925976399999 meters 0.13012201820914104 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.23 [[ 9.99965162e-01 -8.34666685e-03 -8.46966068e-05 -5.17911470e+00] [ 8.34613801e-03 9.99952627e-01 -5.00848353e-03 3.67455685e+00] [ 1.26496738e-04 5.00760216e-03 9.99987454e-01 1.23396669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58925976399999 meters 0.12495021896063832 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.68, Z:1.23 [[ 9.99992030e-01 -3.97948088e-03 -3.20624733e-04 -5.17763941e+00] [ 3.97918575e-03 9.99991664e-01 -9.15920808e-04 3.67740852e+00] [ 3.24266949e-04 9.14637683e-04 9.99999529e-01 1.23263148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64925976399999 meters 0.1215927069593562 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.68, Z:1.23 [[ 9.99991644e-01 -4.00196036e-03 -8.34214027e-04 -5.17605532e+00] [ 4.00070349e-03 9.99990868e-01 -1.50291907e-03 3.68090668e+00] [ 8.40221032e-04 1.49956907e-03 9.99998523e-01 1.23235314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70925976399998 meters 0.11997490528077329 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.68, Z:1.24 [[ 9.99996516e-01 -7.46463166e-04 -2.53175875e-03 -5.16126685e+00] [ 7.27940215e-04 9.99973022e-01 -7.30928610e-03 3.68419308e+00] [ 2.53714656e-03 7.30741766e-03 9.99970082e-01 1.23688125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76925976399998 meters 0.1261662456946129 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99983888e-01 -4.89594307e-03 2.87273222e-03 -5.14603573e+00] [ 4.90311480e-03 9.99984868e-01 -2.49477450e-03 3.68353331e+00] [-2.86047447e-03 2.50881964e-03 9.99992762e-01 1.23482686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82925976399999 meters 0.12676211687218678 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.24 [[ 9.99982871e-01 -5.13461376e-03 2.80943964e-03 -5.14648380e+00] [ 5.14282108e-03 9.99982507e-01 -2.92195174e-03 3.68439764e+00] [-2.79438740e-03 2.93635014e-03 9.99991785e-01 1.23581420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88925976399999 meters 0.1233113867339332 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.24 [[ 9.99985147e-01 -4.79942283e-03 2.58280753e-03 -5.14538545e+00] [ 4.80607884e-03 9.99985130e-01 -2.57703849e-03 3.68416021e+00] [-2.57040083e-03 2.58941339e-03 9.99993344e-01 1.23500397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94925976399999 meters 0.12389036080613552 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.68, Z:1.23 [[ 9.99957418e-01 -8.95078138e-03 2.24634060e-03 -5.14443804e+00] [ 8.96605209e-03 9.99936118e-01 -6.88262175e-03 3.68464572e+00] [-2.18459226e-03 6.90246948e-03 9.99973791e-01 1.23497811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00925976399999 meters 0.12774423266777643 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99959297e-01 -8.54364072e-03 2.90026590e-03 -5.14581802e+00] [ 8.55879671e-03 9.99949569e-01 -5.25416839e-03 3.67775149e+00] [-2.85522991e-03 5.27877731e-03 9.99981991e-01 1.23442092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06925976399998 meters 0.13083945552513973 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99960398e-01 -8.19821558e-03 3.46295669e-03 -5.14679947e+00] [ 8.21197602e-03 9.99958368e-01 -3.97825833e-03 3.67288697e+00] [-3.43019790e-03 4.00653850e-03 9.99986091e-01 1.23358987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12925976399998 meters 0.1319637123732514 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99962511e-01 -7.84000625e-03 3.67577720e-03 -5.14705053e+00] [ 7.85159656e-03 9.99964216e-01 -3.14940283e-03 3.66986936e+00] [-3.65095433e-03 3.17814548e-03 9.99988285e-01 1.23303269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18925976399998 meters 0.13423960768019813 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99965893e-01 -7.38368460e-03 3.70045306e-03 -5.14664708e+00] [ 7.39245549e-03 9.99969885e-01 -2.36217327e-03 3.66748597e+00] [-3.68290008e-03 2.38944814e-03 9.99990363e-01 1.23222789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24925976399999 meters 0.1412260212718561 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99968883e-01 -6.95679595e-03 3.71976289e-03 -5.14626388e+00] [ 6.96306694e-03 9.99974354e-01 -1.67557402e-03 3.66535241e+00] [-3.70801086e-03 1.70142283e-03 9.99991678e-01 1.23149826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30925976399999 meters 0.13682603617491707 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99969200e-01 -6.92334061e-03 3.69691987e-03 -5.14626440e+00] [ 6.92956035e-03 9.99974592e-01 -1.67226226e-03 3.66527334e+00] [-3.68524829e-03 1.69782878e-03 9.99991768e-01 1.23160775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36925976399999 meters 0.13810089494981637 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.66, Z:1.23 [[ 9.99971730e-01 -6.52481691e-03 3.73708073e-03 -5.14578196e+00] [ 6.52869562e-03 9.99978161e-01 -1.02664163e-03 3.66356031e+00] [-3.73030047e-03 1.05101087e-03 9.99992490e-01 1.23067709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42925976399998 meters 0.14067965962530474 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.66, Z:1.23 [[ 9.99937516e-01 -1.06178590e-02 3.49656902e-03 -5.14493706e+00] [ 1.06358949e-02 9.99930017e-01 -5.18062234e-03 3.66348574e+00] [-3.44131721e-03 5.21748777e-03 9.99980467e-01 1.23046540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48925976399998 meters 0.1404685295719622 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.66, Z:1.23 [[ 9.99939901e-01 -1.03806168e-02 3.52676092e-03 -5.14482025e+00] [ 1.03972806e-02 9.99934713e-01 -4.73996605e-03 3.66205009e+00] [-3.47732690e-03 4.77634991e-03 9.99982547e-01 1.23012278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54925976399998 meters 0.1436999154412779 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.66, Z:1.23 [[ 9.99943284e-01 -9.99711929e-03 3.67240647e-03 -5.14497201e+00] [ 1.00119812e-02 9.99941673e-01 -4.05106517e-03 3.65937997e+00] [-3.63169329e-03 4.08760347e-03 9.99985051e-01 1.22977273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60925976399999 meters 0.14370088780724577 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.66, Z:1.23 [[ 9.99946326e-01 -9.63736867e-03 3.80350481e-03 -5.14482328e+00] [ 9.65028330e-03 9.99947682e-01 -3.39183572e-03 3.65738867e+00] [-3.77061744e-03 3.42835857e-03 9.99987014e-01 1.22896200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66925976399999 meters 0.1434552960945939 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99947635e-01 -9.37959983e-03 4.09277011e-03 -5.14543426e+00] [ 9.39051242e-03 9.99952383e-01 -2.65528711e-03 3.65450070e+00] [-4.06766970e-03 2.69358127e-03 9.99988099e-01 1.22873506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72925976399999 meters 0.1475563347590263 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99948711e-01 -9.16645117e-03 4.30714411e-03 -5.14594831e+00] [ 9.17551827e-03 9.99955720e-01 -2.09010662e-03 3.65217338e+00] [-4.28779453e-03 2.12951970e-03 9.99988540e-01 1.22866115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.789259764 meters 0.14882062377753377 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99953491e-01 -8.65470185e-03 4.25590051e-03 -5.14521826e+00] [ 8.66032342e-03 9.99961648e-01 -1.30423998e-03 3.64999988e+00] [-4.24444948e-03 1.34103680e-03 9.99990093e-01 1.22767006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84925976399998 meters 0.14268605611340038 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99957676e-01 -8.27674293e-03 4.01770741e-03 -5.14391719e+00] [ 8.28055097e-03 9.99965281e-01 -9.32107480e-04 3.64983431e+00] [-4.00985311e-03 9.65336860e-04 9.99991495e-01 1.22661529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90925976399998 meters 0.1480837197777395 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99962910e-01 -7.87131581e-03 3.49578585e-03 -5.14217181e+00] [ 7.87400527e-03 9.99968714e-01 -7.56248623e-04 3.65040581e+00] [-3.48972381e-03 7.83746410e-04 9.99993604e-01 1.22596515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96925976399999 meters 0.1424712351863147 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99966040e-01 -7.68202876e-03 2.98419456e-03 -5.14085371e+00] [ 7.68509108e-03 9.99969953e-01 -1.01607056e-03 3.65205047e+00] [-2.97629941e-03 1.03896986e-03 9.99995031e-01 1.22598823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02925976399999 meters 0.13748954402339092 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99969204e-01 -7.38452735e-03 2.65707215e-03 -5.13959484e+00] [ 7.38688650e-03 9.99972330e-01 -8.79161031e-04 3.65255583e+00] [-2.65050644e-03 8.98761447e-04 9.99996084e-01 1.22535538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08925976399999 meters 0.13569561269483588 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99971197e-01 -7.12956020e-03 2.60294621e-03 -5.13938409e+00] [ 7.13105674e-03 9.99974413e-01 -5.66112686e-04 3.65137834e+00] [-2.59884348e-03 5.84658137e-04 9.99996452e-01 1.22524521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14925976399999 meters 0.13479949409166803 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99932765e-01 -1.13910115e-02 2.17022497e-03 -5.13842423e+00] [ 1.14018520e-02 9.99922245e-01 -5.04995442e-03 3.65269774e+00] [-2.11253213e-03 5.07435947e-03 9.99984894e-01 1.22556355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20925976399998 meters 0.1354018540510353 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99935066e-01 -1.11538948e-02 2.33547449e-03 -5.13858883e+00] [ 1.11643327e-02 9.99927529e-01 -4.50497614e-03 3.65086263e+00] [-2.28505721e-03 4.53075762e-03 9.99987125e-01 1.22511590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26925976399998 meters 0.13808893872614114 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.22 [[ 9.99935919e-01 -1.08666051e-02 3.17414522e-03 -5.14014622e+00] [ 1.08764566e-02 9.99936035e-01 -3.10307683e-03 3.64476242e+00] [-3.14022228e-03 3.13740144e-03 9.99990148e-01 1.22436389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32925976399999 meters 0.14079549225212878 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.22 [[ 9.99937269e-01 -1.05862373e-02 3.65926686e-03 -5.14103426e+00] [ 1.05939346e-02 9.99941697e-01 -2.09058011e-03 3.64084421e+00] [-3.63692214e-03 2.12921500e-03 9.99991120e-01 1.22385345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38925976399999 meters 0.16063129733021836 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.22 [[ 9.99879917e-01 -1.49176551e-02 4.19713644e-03 -5.14254785e+00] [ 1.49412454e-02 9.99872430e-01 -5.64651404e-03 3.63705104e+00] [-4.11236826e-03 5.70854643e-03 9.99975250e-01 1.22435807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44925976399999 meters 0.15387991765599263 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.63, Z:1.22 [[ 9.99879324e-01 -1.48514389e-02 4.55758176e-03 -5.14345505e+00] [ 1.48747363e-02 9.99876250e-01 -5.12118611e-03 3.63474599e+00] [-4.48096077e-03 5.18836094e-03 9.99976501e-01 1.22435831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50925976399999 meters 0.17215236526538188 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.63, Z:1.22 [[ 9.99936879e-01 -1.01618675e-02 4.79309479e-03 -5.14346715e+00] [ 1.01623002e-02 9.99948360e-01 -6.59240879e-05 3.63258452e+00] [-4.79217737e-03 1.14628795e-04 9.99988511e-01 1.22325730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56925976399998 meters 0.15653807846000892 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.63, Z:1.22 [[ 9.99939901e-01 -1.00026764e-02 4.48777368e-03 -5.14240127e+00] [ 1.00035015e-02 9.99949951e-01 -1.61436985e-04 3.63376586e+00] [-4.48593427e-03 2.06320734e-04 9.99989917e-01 1.22285468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62925976399998 meters 0.14985786231733655 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.22 [[ 9.99936993e-01 -1.04586474e-02 4.07759429e-03 -5.14180977e+00] [ 1.04638146e-02 9.99944474e-01 -1.24794252e-03 3.63824641e+00] [-4.06431608e-03 1.29053108e-03 9.99990908e-01 1.22361154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68925976399998 meters 0.14455265504539802 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.65, Z:1.23 [[ 9.99938190e-01 -1.08011655e-02 2.63641836e-03 -5.13966898e+00] [ 1.08147820e-02 9.99927965e-01 -5.20634081e-03 3.64718062e+00] [-2.57999390e-03 5.23453129e-03 9.99982972e-01 1.22973452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74925976399999 meters 0.136812505518437 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.66, Z:1.23 [[ 9.99976571e-01 -6.59877255e-03 1.82040232e-03 -5.13698885e+00] [ 6.60309184e-03 9.99975374e-01 -2.37699320e-03 3.65555514e+00] [-1.80467226e-03 2.38895779e-03 9.99995518e-01 1.22853619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80925976399999 meters 0.12970982359669544 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.66, Z:1.23 [[ 9.99997053e-01 -2.13542502e-03 1.15504605e-03 -5.13407402e+00] [ 2.13421053e-03 9.99997170e-01 1.05167999e-03 3.66206376e+00] [-1.15728856e-03 -1.04921178e-03 9.99998780e-01 1.22645057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86925976399999 meters 0.1147095059534342 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.68, Z:1.23 [[ 9.99947278e-01 8.04222050e-03 -6.38461131e-03 -5.10970617e+00] [-8.04746036e-03 9.99967302e-01 -7.95435640e-04 3.67572304e+00] [ 6.37800548e-03 8.46773610e-04 9.99979302e-01 1.23163103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92925976399998 meters 0.10344540880726877 Centerline is valid? [False, False] Translation: X:-5.10, Y:3.69, Z:1.23 [[ 9.99881285e-01 1.21433407e-02 -9.48451057e-03 -5.10165612e+00] [-1.21572634e-02 9.99925101e-01 -1.41166891e-03 3.69294020e+00] [ 9.46665781e-03 1.52680701e-03 9.99954025e-01 1.23190863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98925976399998 meters 0.09258793079652107 Centerline is valid? [False, True] Translation: X:-5.04, Y:3.70, Z:1.23 [[ 9.99469529e-01 2.68322918e-02 -1.84577525e-02 -5.03966038e+00] [-2.67997235e-02 9.99638803e-01 2.00961935e-03 3.70145658e+00] [ 1.85050083e-02 -1.51389064e-03 9.99827622e-01 1.23297098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04925976399998 meters 0.08945007719746782 Centerline is valid? [True, True] Translation: X:-4.98, Y:3.71, Z:1.23 [[ 9.99263660e-01 3.33050186e-02 -1.90502945e-02 -4.97938849e+00] [-3.32898694e-02 9.99445120e-01 1.11187717e-03 3.71213490e+00] [ 1.90767549e-02 -4.76876638e-04 9.99817908e-01 1.23106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10925976399999 meters 0.08552217036830692 Centerline is valid? [True, True] Translation: X:-4.92, Y:3.75, Z:1.22 [[ 9.98154761e-01 5.57646059e-02 -2.40287644e-02 -4.91697379e+00] [-5.57470291e-02 9.98443942e-01 1.40125130e-03 3.75168903e+00] [ 2.40695145e-02 -5.91334229e-05 9.99710286e-01 1.22212197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16925976399999 meters 0.08662449434566984 Centerline is valid? [True, True] Translation: X:-4.86, Y:3.76, Z:1.22 [[ 9.97600636e-01 6.37737544e-02 -2.69421328e-02 -4.85714207e+00] [-6.37546135e-02 9.97964371e-01 1.56972169e-03 3.76276875e+00] [ 2.69873957e-02 1.51729910e-04 9.99635762e-01 1.21534701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22925976399999 meters 0.08917360059967618 Centerline is valid? [True, True] Translation: X:-4.80, Y:3.77, Z:1.20 [[ 9.97193327e-01 6.84634896e-02 -3.03021255e-02 -4.79810856e+00] [-6.84414624e-02 9.97653573e-01 1.76474339e-03 3.76848252e+00] [ 3.03518443e-02 3.14131448e-04 9.99539227e-01 1.20132769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28925976399998 meters 0.08848879454776463 Centerline is valid? [True, True] Translation: X:-4.74, Y:3.75, Z:1.20 [[ 9.97568356e-01 6.12644742e-02 -3.32270771e-02 -4.74013895e+00] [-6.12340580e-02 9.98121562e-01 1.93318653e-03 3.74714021e+00] [ 3.32830977e-02 1.06143052e-04 9.99445959e-01 1.19963021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34925976399998 meters 0.09076946758944034 Centerline is valid? [True, True] Translation: X:-4.68, Y:3.70, Z:1.20 [[ 9.98563151e-01 4.13286972e-02 -3.41111655e-02 -4.68222485e+00] [-4.12849784e-02 9.99145439e-01 1.98531059e-03 3.70213977e+00] [ 3.41640658e-02 -5.74179271e-04 9.99416073e-01 1.19770255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40925976399998 meters 0.10334565067610252 Centerline is valid? [True, False] Translation: X:-4.67, Y:3.69, Z:1.19 [[ 9.99738045e-01 6.72313610e-03 -2.18778764e-02 -4.67359508e+00] [-6.77325744e-03 9.99974602e-01 -2.21766508e-03 3.69398054e+00] [ 2.18624111e-02 2.36526864e-03 9.99758191e-01 1.19111006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46925976399999 meters 0.12108761025844314 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.68, Z:1.19 [[ 9.99833072e-01 -1.27293498e-02 -1.31069228e-02 -4.67562952e+00] [ 1.26837618e-02 9.99913237e-01 -3.55544185e-03 3.68378089e+00] [ 1.31510440e-02 3.38860326e-03 9.99907779e-01 1.18612794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52925976399999 meters 0.14647283066566563 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.18 [[ 9.99106430e-01 -4.20455149e-02 -4.30307588e-03 -4.68329080e+00] [ 4.20109735e-02 9.99086504e-01 -7.82528066e-03 3.66586540e+00] [ 4.62816300e-03 7.63751181e-03 9.99960123e-01 1.17700157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58925976399999 meters 0.15542123878497724 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.66, Z:1.18 [[ 9.99089531e-01 -4.25336274e-02 -3.31653075e-03 -4.68687785e+00] [ 4.25085705e-02 9.99069496e-01 -7.29134466e-03 3.66056351e+00] [ 3.62357204e-03 7.14372514e-03 9.99967918e-01 1.17912682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64925976399999 meters 0.15973336136968488 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.65, Z:1.18 [[ 9.98729488e-01 -5.03268559e-02 -2.57251918e-03 -4.68814569e+00] [ 5.02853235e-02 9.98633328e-01 -1.42429504e-02 3.65187942e+00] [ 3.28580631e-03 1.40954946e-02 9.99895255e-01 1.17974425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70925976399998 meters 0.16052724984047234 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.64, Z:1.18 [[ 9.98523736e-01 -5.42899438e-02 -1.71762614e-03 -4.69091613e+00] [ 5.42524098e-02 9.98378563e-01 -1.72314116e-02 3.64318611e+00] [ 2.65033349e-03 1.71127882e-02 9.99850053e-01 1.18197585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76925976399998 meters 0.18091772086088442 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.18 [[ 9.98316496e-01 -5.79915735e-02 1.07250733e-03 -4.69721267e+00] [ 5.80014871e-02 9.98151850e-01 -1.81303938e-02 3.62882379e+00] [-1.91151117e-05 1.81620783e-02 9.99835056e-01 1.18362938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82925976399999 meters 0.18519052717211487 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.61, Z:1.18 [[ 0.99802046 -0.06259753 0.006059 -4.70832473] [ 0.06268945 0.99789828 -0.01640292 3.61117714] [-0.00501949 0.01675029 0.9998471 1.18136939] [ 0. 0. 0. 1. ]] SLAMing on 106.88925976399999 meters 0.19018605217235823 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.60, Z:1.18 [[ 0.99775666 -0.06629891 0.00927949 -4.71573228] [ 0.06644742 0.99764962 -0.01673277 3.59645798] [-0.00814831 0.01731183 0.99981694 1.18297972] [ 0. 0. 0. 1. ]] SLAMing on 106.94925976399999 meters 0.21305033896685294 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.58, Z:1.19 [[ 9.97335279e-01 -7.29507562e-02 7.26267942e-04 -4.72740534e+00] [ 7.29528794e-02 9.97201799e-01 -1.63232572e-02 3.58255645e+00] [ 4.66558256e-04 1.63327436e-02 9.99866503e-01 1.19125019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00925976399999 meters 0.22855780665303016 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.57, Z:1.19 [[ 9.97021788e-01 -7.70830575e-02 2.39940560e-03 -4.73084323e+00] [ 7.71144645e-02 9.96848268e-01 -1.86249649e-02 3.57291083e+00] [-9.56174082e-04 1.87545247e-02 9.99823661e-01 1.19208791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06925976399998 meters 0.22565196839467 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.56, Z:1.19 [[ 0.99596887 -0.08908907 0.01044771 -4.75433486] [ 0.08927131 0.99583531 -0.01851121 3.55686489] [-0.00875505 0.01936927 0.99977406 1.19035426] [ 0. 0. 0. 1. ]] SLAMing on 107.12925976399998 meters 0.2213757061694974 Centerline is valid? [False, False] Translation: X:-4.77, Y:3.55, Z:1.19 [[ 9.96540672e-01 -8.28997076e-02 5.85892145e-03 -4.77132346e+00] [ 8.29940692e-02 9.96382127e-01 -1.82932253e-02 3.54836379e+00] [-4.32122159e-03 1.87161987e-02 9.99815498e-01 1.19111903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18925976399998 meters 0.23082082410897936 Centerline is valid? [False, False] Translation: X:-4.80, Y:3.54, Z:1.19 [[ 9.96108435e-01 -8.78881306e-02 6.60770739e-03 -4.80004666e+00] [ 8.80255411e-02 9.95813480e-01 -2.46377116e-02 3.53746992e+00] [-4.41468168e-03 2.51234794e-02 9.99674608e-01 1.19076864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24925976399999 meters 0.23951565570128874 Centerline is valid? [False, False] Translation: X:-4.82, Y:3.53, Z:1.19 [[ 9.96368145e-01 -8.51258207e-02 2.02852617e-03 -4.81650480e+00] [ 8.51493195e-02 9.95983245e-01 -2.76942022e-02 3.52878120e+00] [ 3.37113611e-04 2.77663485e-02 9.99614384e-01 1.19070960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30925976399999 meters 0.23719932779315964 Centerline is valid? [False, False] Translation: X:-4.82, Y:3.52, Z:1.19 [[ 9.96704440e-01 -8.10729366e-02 2.72738803e-03 -4.81964873e+00] [ 8.11141954e-02 9.96442609e-01 -2.28607497e-02 3.52367120e+00] [-8.64297540e-04 2.30066406e-02 9.99734939e-01 1.19225458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36925976399999 meters 0.2518137298809107 Centerline is valid? [False, False] Translation: X:-4.83, Y:3.52, Z:1.19 [[ 0.99716531 -0.07433053 0.01167553 -4.83495026] [ 0.07459403 0.9969242 -0.02403878 3.52057058] [-0.00985281 0.02484156 0.99964285 1.18941051] [ 0. 0. 0. 1. ]] SLAMing on 107.42925976399998 meters 0.23594628433681072 Centerline is valid? [False, False] Translation: X:-4.85, Y:3.52, Z:1.19 [[ 9.97960146e-01 -6.35772895e-02 5.78584914e-03 -4.85008262e+00] [ 6.36823749e-02 9.97764159e-01 -2.02790190e-02 3.52226305e+00] [-4.48362784e-03 2.06061094e-02 9.99777618e-01 1.18868892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48925976399998 meters 0.2538173912092333 Centerline is valid? [False, False] Translation: X:-4.86, Y:3.53, Z:1.18 [[ 0.99867981 -0.04970138 0.01297691 -4.86054983] [ 0.04992095 0.99860534 -0.01718324 3.52690423] [-0.01210478 0.01780838 0.99976814 1.18102448] [ 0. 0. 0. 1. ]] SLAMing on 107.54925976399998 meters 0.24930373849277218 Centerline is valid? [False, False] Translation: X:-4.87, Y:3.53, Z:1.17 [[ 0.99894999 -0.04146946 0.01947313 -4.86988245] [ 0.04186128 0.99891994 -0.02016402 3.53003112] [-0.0186159 0.02095802 0.99960703 1.17489965] [ 0. 0. 0. 1. ]] SLAMing on 107.60925976399999 meters 0.24799652320887874 Centerline is valid? [False, False] Translation: X:-4.88, Y:3.54, Z:1.17 [[ 0.99964399 -0.02384609 0.01196911 -4.88012415] [ 0.02397374 0.999656 -0.01063665 3.53575189] [-0.01171135 0.01091981 0.99987179 1.17242684] [ 0. 0. 0. 1. ]] SLAMing on 107.66925976399999 meters 0.23850066089951624 Centerline is valid? [False, False] Translation: X:-4.88, Y:3.54, Z:1.17 [[ 0.99974359 -0.0195518 0.01142267 -4.87783005] [ 0.01963108 0.99978368 -0.00687064 3.54011612] [-0.01128587 0.00709312 0.99991115 1.17074244] [ 0. 0. 0. 1. ]] SLAMing on 107.72925976399999 meters 0.2227804812733569 Centerline is valid? [False, False] Translation: X:-4.88, Y:3.55, Z:1.17 [[ 9.99877271e-01 -1.13719674e-02 1.07759442e-02 -4.87579895e+00] [ 1.13677195e-02 9.99935282e-01 4.55369967e-04 3.54673025e+00] [-1.07804253e-02 -3.32816169e-04 9.99941834e-01 1.16986886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78925976399998 meters 0.21574004623108786 Centerline is valid? [False, False] Translation: X:-4.87, Y:3.55, Z:1.17 [[ 9.99919332e-01 -7.62829361e-03 1.01557614e-02 -4.87404832e+00] [ 7.59600337e-03 9.99965984e-01 3.21428519e-03 3.55361083e+00] [-1.01799354e-02 -3.13688270e-03 9.99943263e-01 1.16961673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84925976399998 meters 0.20563608064043323 Centerline is valid? [False, False] Translation: X:-4.87, Y:3.56, Z:1.17 [[ 9.99949331e-01 -3.76901487e-03 9.33436003e-03 -4.87171783e+00] [ 3.71577201e-03 9.99976767e-01 5.71475421e-03 3.56158767e+00] [-9.35568216e-03 -5.67978030e-03 9.99940104e-01 1.16916203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90925976399998 meters 0.19810311462102534 Centerline is valid? [False, False] Translation: X:-4.85, Y:3.57, Z:1.17 [[ 9.99978484e-01 4.17748159e-03 5.05766172e-03 -4.85342841e+00] [-4.19161381e-03 9.99987332e-01 2.78685263e-03 3.57184474e+00] [-5.04595562e-03 -2.80799244e-03 9.99983327e-01 1.17427588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96925976399999 meters 0.20227811619790093 Centerline is valid? [False, False] Translation: X:-4.85, Y:3.58, Z:1.18 [[ 9.99992661e-01 -5.62209052e-04 3.78979525e-03 -4.85133356e+00] [ 5.76121193e-04 9.99993096e-01 -3.67085625e-03 3.57947146e+00] [-3.78770530e-03 3.67301269e-03 9.99986081e-01 1.17632295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02925976399999 meters 0.1882149093407867 Centerline is valid? [False, False] Translation: X:-4.85, Y:3.59, Z:1.17 [[ 9.99996859e-01 -2.47215848e-04 2.49400939e-03 -4.84709003e+00] [ 2.58631750e-04 9.99989487e-01 -4.57804541e-03 3.58785974e+00] [-2.49285140e-03 4.57867606e-03 9.99986411e-01 1.17429152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08925976399999 meters 0.1817865214529818 Centerline is valid? [False, False] Translation: X:-4.85, Y:3.59, Z:1.17 [[ 9.99991544e-01 3.55723489e-03 2.06366429e-03 -4.84522707e+00] [-3.55401395e-03 9.99992464e-01 -1.56236290e-03 3.59485578e+00] [-2.06920643e-03 1.55501539e-03 9.99996650e-01 1.17340698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14925976399999 meters 0.17237318546490085 Centerline is valid? [False, False] Translation: X:-4.81, Y:3.60, Z:1.18 [[ 9.99951955e-01 9.80239534e-03 2.08330483e-05 -4.80785297e+00] [-9.80241429e-03 9.99947658e-01 2.93165189e-03 3.59899702e+00] [ 7.90525294e-06 -2.93171525e-03 9.99995702e-01 1.17572614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20925976399998 meters 0.16736917794268674 Centerline is valid? [False, False] Translation: X:-4.79, Y:3.61, Z:1.18 [[ 0.99996413 0.00625358 0.00571277 -4.79359114] [-0.0062872 0.99996292 0.005885 3.60577913] [-0.00567576 -0.0059207 0.99996636 1.1763357 ] [ 0. 0. 0. 1. ]] SLAMing on 108.26925976399998 meters 0.16730737610980068 Centerline is valid? [False, False] Translation: X:-4.79, Y:3.62, Z:1.18 [[ 9.99974105e-01 5.86638459e-03 4.16826601e-03 -4.79031575e+00] [-5.87992281e-03 9.99977454e-01 3.24312948e-03 3.61630035e+00] [-4.14914659e-03 -3.26755458e-03 9.99986054e-01 1.17774601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32925976399999 meters 0.15852950701636745 Centerline is valid? [False, False] Translation: X:-4.79, Y:3.63, Z:1.18 [[ 9.99980578e-01 5.74863768e-03 2.40755005e-03 -4.78667841e+00] [-5.74922816e-03 9.99983445e-01 2.38413127e-04 3.62637183e+00] [-2.40613964e-03 -2.52250052e-04 9.99997073e-01 1.18025967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38925976399999 meters 0.14994387571300635 Centerline is valid? [False, False] Translation: X:-4.78, Y:3.64, Z:1.18 [[ 9.99985103e-01 5.38341060e-03 9.01395801e-04 -4.78371053e+00] [-5.38118783e-03 9.99982519e-01 -2.45045252e-03 3.63625970e+00] [-9.14571836e-04 2.44556543e-03 9.99996591e-01 1.18230008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44925976399999 meters 0.14968669266642287 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.64, Z:1.18 [[ 9.99983556e-01 3.38692542e-03 4.62777862e-03 -4.76377077e+00] [-3.39157843e-03 9.99993751e-01 9.97974513e-04 3.64174064e+00] [-4.62436964e-03 -1.01365358e-03 9.99988794e-01 1.18240854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50925976399999 meters 0.14284131401503802 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.65, Z:1.19 [[ 9.99997249e-01 -6.13697874e-04 2.26383690e-03 -4.75891692e+00] [ 6.29952530e-04 9.99973979e-01 -7.18642451e-03 3.65210666e+00] [-2.25936769e-03 7.18783085e-03 9.99971615e-01 1.18790437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56925976399998 meters 0.13860528898819927 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99998338e-01 -6.31292006e-04 1.71025096e-03 -4.75711291e+00] [ 6.44679762e-04 9.99969069e-01 -7.83873930e-03 3.65623181e+00] [-1.70524952e-03 7.83982883e-03 9.99967814e-01 1.18741300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62925976399998 meters 0.13643003265507286 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99998548e-01 -6.57360516e-04 1.57232486e-03 -4.75624611e+00] [ 6.69979294e-04 9.99967466e-01 -8.03853738e-03 3.65817439e+00] [-1.56698949e-03 8.03957913e-03 9.99966454e-01 1.18673884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68925976399998 meters 0.13712737680765286 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99998262e-01 -7.87310278e-04 1.69028600e-03 -4.75666956e+00] [ 8.01118765e-04 9.99966188e-01 -8.18424480e-03 3.65861963e+00] [-1.68378531e-03 8.18558469e-03 9.99965080e-01 1.18696033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74925976399999 meters 0.1375530373345373 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99997718e-01 -7.44239181e-04 2.00259418e-03 -4.75728288e+00] [ 7.60056087e-04 9.99968434e-01 -7.90907325e-03 3.65764901e+00] [-1.99664473e-03 7.91057729e-03 9.99966718e-01 1.18668083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80925976399999 meters 0.1404531898421815 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99997808e-01 -7.32987422e-04 1.96138824e-03 -4.75696041e+00] [ 7.48484121e-04 9.99968421e-01 -7.91184775e-03 3.65815314e+00] [-1.95552702e-03 7.91329847e-03 9.99966777e-01 1.18637924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86925976399999 meters 0.1465572960181636 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.66, Z:1.19 [[ 9.99998742e-01 -5.08411295e-04 1.50282425e-03 -4.75522845e+00] [ 5.20480671e-04 9.99967530e-01 -8.04167834e-03 3.66022639e+00] [-1.49868698e-03 8.04245041e-03 9.99966536e-01 1.18563587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92925976399998 meters 0.13561472202678682 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99998986e-01 -2.27852032e-04 1.40574345e-03 -4.75448730e+00] [ 2.38773450e-04 9.99969755e-01 -7.77387061e-03 3.65996431e+00] [-1.40392964e-03 7.77419839e-03 9.99968795e-01 1.18493673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98925976399998 meters 0.14647152671814895 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99998899e-01 -2.74291071e-05 1.48342991e-03 -4.75463498e+00] [ 3.83913422e-05 9.99972691e-01 -7.39026622e-03 3.65857465e+00] [-1.48318669e-03 7.39031504e-03 9.99971591e-01 1.18480291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04925976399998 meters 0.1373342720573033 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.19 [[ 9.99990058e-01 -4.24533180e-03 1.36437408e-03 -4.75478932e+00] [ 4.26086266e-03 9.99923764e-01 -1.15893078e-02 3.65760868e+00] [-1.31506960e-03 1.15950060e-02 9.99931911e-01 1.18547830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10925976399999 meters 0.15004316847668883 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.65, Z:1.18 [[ 9.99991038e-01 -3.84216689e-03 1.77816625e-03 -4.75541268e+00] [ 3.86068869e-03 9.99937076e-01 -1.05327405e-02 3.65377101e+00] [-1.73758581e-03 1.05395111e-02 9.99942948e-01 1.18468238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16925976399999 meters 0.1519377509596288 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.65, Z:1.18 [[ 9.99967428e-01 -7.89826980e-03 1.66133008e-03 -4.75530290e+00] [ 7.92135558e-03 9.99865203e-01 -1.43815089e-02 3.65187962e+00] [-1.54751710e-03 1.43942004e-02 9.99895201e-01 1.18495137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22925976399999 meters 0.1519774274333548 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.65, Z:1.18 [[ 9.99971159e-01 -7.39633888e-03 1.72503221e-03 -4.75506719e+00] [ 7.41888048e-03 9.99882034e-01 -1.34491055e-02 3.64896450e+00] [-1.62535458e-03 1.34615154e-02 9.99908069e-01 1.18417127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28925976399998 meters 0.15120745225938415 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.65, Z:1.18 [[ 9.99975477e-01 -6.72863527e-03 1.94184905e-03 -4.75486264e+00] [ 6.75188270e-03 9.99902483e-01 -1.22244376e-02 3.64515233e+00] [-1.85940591e-03 1.22372489e-02 9.99923393e-01 1.18284616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34925976399998 meters 0.16282722469464733 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.64, Z:1.18 [[ 9.99977206e-01 -6.23958511e-03 2.57970655e-03 -4.75609994e+00] [ 6.26702035e-03 9.99922391e-01 -1.07673643e-02 3.63907101e+00] [-2.51232245e-03 1.07832860e-02 9.99938703e-01 1.18216424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40925976399998 meters 0.16778309452713733 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.64, Z:1.18 [[ 9.99977206e-01 -6.07494136e-03 2.94652328e-03 -4.75710164e+00] [ 6.10423029e-03 9.99931014e-01 -1.00351745e-02 3.63591851e+00] [-2.88535691e-03 1.00529320e-02 9.99945305e-01 1.18221504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46925976399999 meters 0.16506499075486317 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.63, Z:1.18 [[ 9.99976051e-01 -5.91643641e-03 3.59076397e-03 -4.75872858e+00] [ 5.94887258e-03 9.99940982e-01 -9.09078876e-03 3.63155736e+00] [-3.53676697e-03 9.11193204e-03 9.99952231e-01 1.18218665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52925976399999 meters 0.1623826156888675 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.63, Z:1.18 [[ 9.99976738e-01 -5.91039339e-03 3.40465108e-03 -4.75822847e+00] [ 5.94162061e-03 9.99939695e-01 -9.23602278e-03 3.63243638e+00] [-3.34985724e-03 9.25603707e-03 9.99951551e-01 1.18219580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58925976399999 meters 0.16083004580708685 Centerline is valid? [False, False] Translation: X:-4.76, Y:3.64, Z:1.18 [[ 9.99978834e-01 -5.84077052e-03 2.86665809e-03 -4.75648317e+00] [ 5.86809753e-03 9.99936521e-01 -9.61871604e-03 3.63557092e+00] [-2.81029540e-03 9.63533428e-03 9.99949630e-01 1.18166461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64925976399999 meters 0.15258838956013665 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99979429e-01 -5.99594053e-03 2.27817495e-03 -4.75481572e+00] [ 6.01942199e-03 9.99927342e-01 -1.04440133e-02 3.64039448e+00] [-2.21538774e-03 1.04575117e-02 9.99942865e-01 1.18143598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70925976399998 meters 0.15800057994797273 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99996669e-01 -1.79414862e-03 1.85551824e-03 -4.75309813e+00] [ 1.80672872e-03 9.99975244e-01 -6.80052870e-03 3.64490279e+00] [-1.84327115e-03 6.80385846e-03 9.99975155e-01 1.18051781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76925976399998 meters 0.1521607288332696 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.65, Z:1.18 [[ 9.99997655e-01 -1.83894766e-03 1.14366855e-03 -4.75092261e+00] [ 1.84770867e-03 9.99968592e-01 -7.70715577e-03 3.65025226e+00] [-1.12945957e-03 7.70925087e-03 9.99969645e-01 1.17994127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82925976399999 meters 0.14452936572679143 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.65, Z:1.18 [[ 9.99997780e-01 -1.83803200e-03 1.03029033e-03 -4.75032384e+00] [ 1.84606660e-03 9.99967465e-01 -7.85245130e-03 3.65140268e+00] [-1.01582375e-03 7.85433585e-03 9.99968638e-01 1.17951933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88925976399999 meters 0.14360538994033525 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99998674e-01 -1.58226159e-03 3.86177584e-04 -4.74776613e+00] [ 1.58534134e-03 9.99965862e-01 -8.10938708e-03 3.65519585e+00] [-3.73333229e-04 8.10998855e-03 9.99967044e-01 1.17805737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94925976399999 meters 0.15118776319120414 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99998733e-01 -1.59148881e-03 -2.18038937e-05 -4.74640809e+00] [ 1.59124879e-03 9.99963281e-01 -8.42042808e-03 3.65787769e+00] [ 3.52041102e-05 8.42038272e-03 9.99964547e-01 1.17761993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00925976399999 meters 0.13724523359226182 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99998701e-01 -1.60116657e-03 -1.86771882e-04 -4.74603020e+00] [ 1.59950412e-03 9.99961867e-01 -8.58518542e-03 3.65877358e+00] [ 2.00511071e-04 8.58487553e-03 9.99963129e-01 1.17773133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06925976399998 meters 0.13807586267663516 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99999492e-01 -9.99503920e-04 -1.31787076e-04 -4.74562767e+00] [ 9.98467621e-04 9.99970301e-01 -7.64203856e-03 3.65581140e+00] [ 1.39421410e-04 7.64190310e-03 9.99970791e-01 1.17681219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12925976399998 meters 0.13726207273846452 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.66, Z:1.18 [[ 9.99985815e-01 -5.31132663e-03 -4.00515975e-04 -4.74546083e+00] [ 5.30609634e-03 9.99912826e-01 -1.20907605e-02 3.65589273e+00] [ 4.64699039e-04 1.20884638e-02 9.99926824e-01 1.17766148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18925976399998 meters 0.14709230654644362 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.65, Z:1.18 [[ 9.99987153e-01 -5.06874537e-03 3.67663701e-05 -4.74686063e+00] [ 5.06884073e-03 9.99925276e-01 -1.11242634e-02 3.65109159e+00] [ 1.96224358e-05 1.11243069e-02 9.99938123e-01 1.17808476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24925976399999 meters 0.14999658818566772 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.65, Z:1.18 [[ 9.99988471e-01 -4.78118941e-03 4.43967019e-04 -4.74796174e+00] [ 4.78543661e-03 9.99937375e-01 -1.01166384e-02 3.64673366e+00] [-3.95569652e-04 1.01186463e-02 9.99948727e-01 1.17804409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30925976399999 meters 0.1532878255617963 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99990158e-01 -4.37262338e-03 7.50921530e-04 -4.74838341e+00] [ 4.37932054e-03 9.99948444e-01 -9.16140253e-03 3.64326896e+00] [-7.10823452e-04 9.16460089e-03 9.99957752e-01 1.17734694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36925976399999 meters 0.14907226816127378 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99992422e-01 -3.77823100e-03 9.39089392e-04 -4.74811906e+00] [ 3.78561428e-03 9.99960923e-01 -7.98882978e-03 3.63978028e+00] [-9.08869051e-04 7.99232427e-03 9.99967648e-01 1.17596806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42925976399998 meters 0.16031116768350334 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99994128e-01 -3.30956590e-03 8.88727710e-04 -4.74761761e+00] [ 3.31590424e-03 9.99968382e-01 -7.22775731e-03 3.63761041e+00] [-8.64778871e-04 7.23066181e-03 9.99973484e-01 1.17527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48925976399998 meters 0.15198862730208865 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.64, Z:1.18 [[ 9.99971205e-01 -7.56991741e-03 5.34083965e-04 -4.74686430e+00] [ 7.57562584e-03 9.99903461e-01 -1.16481437e-02 3.63835617e+00] [-4.45856919e-04 1.16518543e-02 9.99932015e-01 1.17558457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54925976399998 meters 0.16275653137250679 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.63, Z:1.17 [[ 9.99975990e-01 -6.83176708e-03 1.16050180e-03 -4.74762886e+00] [ 6.84285077e-03 9.99928255e-01 -9.83155950e-03 3.63173322e+00] [-1.09325161e-03 9.83926458e-03 9.99950996e-01 1.17405954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60925976399999 meters 0.17471788206710326 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.63, Z:1.17 [[ 9.99977667e-01 -6.42695095e-03 1.83295418e-03 -4.74894470e+00] [ 6.44200498e-03 9.99944564e-01 -8.32887151e-03 3.62598084e+00] [-1.77932332e-03 8.34049340e-03 9.99963634e-01 1.17324164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66925976399999 meters 0.1675786343557111 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99979825e-01 -6.13074327e-03 1.66238716e-03 -4.74881037e+00] [ 6.14357573e-03 9.99950494e-01 -7.82731643e-03 3.62397722e+00] [-1.61431759e-03 7.83737151e-03 9.99967984e-01 1.17358354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72925976399999 meters 0.16700875574126864 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99985114e-01 -5.20409773e-03 1.63970732e-03 -4.74773987e+00] [ 5.21448350e-03 9.99965958e-01 -6.39462347e-03 3.61997806e+00] [-1.60637325e-03 6.40307851e-03 9.99978210e-01 1.17182411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78925976399998 meters 0.15589849222513663 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99987817e-01 -4.75442165e-03 1.32710359e-03 -4.74665690e+00] [ 4.76220527e-03 9.99971108e-01 -5.92490996e-03 3.61896494e+00] [-1.29889572e-03 5.93115771e-03 9.99981567e-01 1.17130645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84925976399998 meters 0.16030220626171177 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99958372e-01 -9.05071681e-03 1.15690779e-03 -4.74677554e+00] [ 9.06212428e-03 9.99906220e-01 -1.02678970e-02 3.61848606e+00] [-1.06386747e-03 1.02779536e-02 9.99946615e-01 1.17223934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90925976399998 meters 0.1636963177453659 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99959670e-01 -8.82722299e-03 1.65471858e-03 -4.74765037e+00] [ 8.84237931e-03 9.99916839e-01 -9.38757280e-03 3.61527961e+00] [-1.57171477e-03 9.40182585e-03 9.99954567e-01 1.17155018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96925976399999 meters 0.16833102403312317 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.61, Z:1.17 [[ 9.99959701e-01 -8.71435516e-03 2.15775142e-03 -4.74846383e+00] [ 8.73264097e-03 9.99924756e-01 -8.61526543e-03 3.61264909e+00] [-2.08251258e-03 8.63376112e-03 9.99960560e-01 1.17068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02925976399999 meters 0.17473605592133667 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99958684e-01 -8.93395706e-03 1.67749168e-03 -4.74751996e+00] [ 8.94921172e-03 9.99916542e-01 -9.31779840e-03 3.61613792e+00] [-1.59410687e-03 9.33242566e-03 9.99955181e-01 1.17120182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08925976399999 meters 0.15947647043882068 Centerline is valid? [False, False] Translation: X:-4.75, Y:3.62, Z:1.17 [[ 9.99959803e-01 -8.85579427e-03 1.40236824e-03 -4.74643140e+00] [ 8.86866193e-03 9.99916001e-01 -9.45190251e-03 3.61761142e+00] [-1.31854634e-03 9.46395971e-03 9.99954346e-01 1.17065223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14925976399998 meters 0.15878459615010806 Centerline is valid? [False, False] Translation: X:-4.74, Y:3.62, Z:1.17 [[ 9.99989101e-01 -4.56175396e-03 9.93710674e-04 -4.74487682e+00] [ 4.56730814e-03 9.99973548e-01 -5.66067452e-03 3.62116458e+00] [-9.67861784e-04 5.66515141e-03 9.99983485e-01 1.16983518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20925976399998 meters 0.1556337466747316 Centerline is valid? [False, False] Translation: X:-4.74, Y:3.63, Z:1.17 [[ 9.99989927e-01 -4.47285882e-03 3.73592583e-04 -4.74251830e+00] [ 4.47506945e-03 9.99971123e-01 -6.14230180e-03 3.62540375e+00] [-3.46108146e-04 6.14391179e-03 9.99981066e-01 1.16860861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26925976399998 meters 0.15418445447973234 Centerline is valid? [False, False] Translation: X:-4.74, Y:3.63, Z:1.17 [[ 9.99990248e-01 -4.40753558e-03 2.78477632e-04 -4.74157567e+00] [ 4.40916425e-03 9.99971387e-01 -6.14694124e-03 3.62671031e+00] [-2.51376801e-04 6.14810914e-03 9.99981069e-01 1.16758255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32925976399999 meters 0.1626570311629989 Centerline is valid? [False, False] Translation: X:-4.74, Y:3.63, Z:1.17 [[ 9.99990084e-01 -4.39514924e-03 -7.17474477e-04 -4.73863625e+00] [ 4.39005871e-03 9.99966220e-01 -6.94880217e-03 3.63326494e+00] [ 7.47991264e-04 6.94558351e-03 9.99975599e-01 1.16655188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38925976399999 meters 0.1510833981111036 Centerline is valid? [False, False] Translation: X:-4.74, Y:3.64, Z:1.17 [[ 9.99989803e-01 -4.21294784e-03 -1.62637473e-03 -4.73570219e+00] [ 4.20039849e-03 9.99961963e-01 -7.64395709e-03 3.63880376e+00] [ 1.65851646e-03 7.63704772e-03 9.99969462e-01 1.16545045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44925976399999 meters 0.14043983258925755 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99988999e-01 -4.11511295e-03 -2.25106619e-03 -4.73341535e+00] [ 4.09651383e-03 9.99957943e-01 -8.20549546e-03 3.64310434e+00] [ 2.28473806e-03 8.19618367e-03 9.99963801e-01 1.16438043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50925976399999 meters 0.14405332699491333 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99987286e-01 -4.39466186e-03 -2.47290666e-03 -4.73295975e+00] [ 4.37260207e-03 9.99951221e-01 -8.85638486e-03 3.64606427e+00] [ 2.51170685e-03 8.84545922e-03 9.99957724e-01 1.16467090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56925976399998 meters 0.1413274024109568 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99988231e-01 -4.30366361e-03 -2.23986469e-03 -4.73330439e+00] [ 4.28435006e-03 9.99954209e-01 -8.55717248e-03 3.64512167e+00] [ 2.27658931e-03 8.54747541e-03 9.99960878e-01 1.16422929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62925976399998 meters 0.14174871732142433 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99958867e-01 -8.59815040e-03 -2.88709250e-03 -4.73152856e+00] [ 8.55901079e-03 9.99874840e-01 -1.33059517e-02 3.64842011e+00] [ 3.00113772e-03 1.32806937e-02 9.99907304e-01 1.16410695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68925976399998 meters 0.1374350671635614 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99960209e-01 -8.37347972e-03 -3.07661551e-03 -4.73053660e+00] [ 8.33269810e-03 9.99880290e-01 -1.30373143e-02 3.64861157e+00] [ 3.18541490e-03 1.30111590e-02 9.99910277e-01 1.16328249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74925976399999 meters 0.13765886503979355 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99961273e-01 -8.23068643e-03 -3.11576392e-03 -4.73010184e+00] [ 8.19002600e-03 9.99883956e-01 -1.28451578e-02 3.64848398e+00] [ 3.22112682e-03 1.28191421e-02 9.99912643e-01 1.16276403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80925976399999 meters 0.13537543522633771 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99963165e-01 -7.98960831e-03 -3.13598532e-03 -4.72940384e+00] [ 7.94978718e-03 9.99890125e-01 -1.25115704e-02 3.64823903e+00] [ 3.23560330e-03 1.24861791e-02 9.99916810e-01 1.16173929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86925976399999 meters 0.1352331093501728 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99991057e-01 -3.39399871e-03 -2.52319141e-03 -4.73013188e+00] [ 3.37529960e-03 9.99967081e-01 -7.37857694e-03 3.64559732e+00] [ 2.54815123e-03 7.36999442e-03 9.99969595e-01 1.16029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92925976399998 meters 0.14082950602475167 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99991349e-01 -3.41891657e-03 -2.36909171e-03 -4.73029975e+00] [ 3.40148909e-03 9.99967412e-01 -7.32157863e-03 3.64567080e+00] [ 2.39404637e-03 7.31345685e-03 9.99970391e-01 1.15992386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98925976399998 meters 0.13804836401544207 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99990788e-01 -3.27453648e-03 -2.77512641e-03 -4.72866631e+00] [ 3.25359467e-03 9.99966450e-01 -7.51746917e-03 3.64812527e+00] [ 2.79964954e-03 7.50837078e-03 9.99967893e-01 1.15905999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04925976399998 meters 0.13623475700318177 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99992672e-01 -2.79520123e-03 -2.61579030e-03 -4.72819806e+00] [ 2.77749955e-03 9.99973384e-01 -6.74657918e-03 3.64617587e+00] [ 2.63457872e-03 6.73926438e-03 9.99973820e-01 1.15769242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10925976399999 meters 0.13886530196263994 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99970867e-01 -7.13111811e-03 -2.72252164e-03 -4.72800480e+00] [ 7.10042874e-03 9.99912957e-01 -1.11203897e-02 3.64641941e+00] [ 2.80158547e-03 1.11007347e-02 9.99934460e-01 1.15789309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16925976399999 meters 0.1469215394671358 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99972812e-01 -7.01101370e-03 -2.28484726e-03 -4.72929335e+00] [ 6.98666982e-03 9.99920530e-01 -1.04937725e-02 3.64318260e+00] [ 2.35823766e-03 1.04775238e-02 9.99942328e-01 1.15812252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22925976399999 meters 0.14644134939885883 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99973342e-01 -6.96224421e-03 -2.20073672e-03 -4.72960450e+00] [ 6.93907759e-03 9.99922208e-01 -1.03647109e-02 3.64243794e+00] [ 2.27272717e-03 1.03491635e-02 9.99943863e-01 1.15825448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28925976399998 meters 0.14535735784207926 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99977507e-01 -6.39193886e-03 -2.03210600e-03 -4.72906622e+00] [ 6.37254488e-03 9.99935408e-01 -9.41114988e-03 3.63980437e+00] [ 2.09213023e-03 9.39798850e-03 9.99953649e-01 1.15668205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34925976399998 meters 0.1559868552160874 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99976087e-01 -6.57793678e-03 -2.13450884e-03 -4.72880697e+00] [ 6.55683717e-03 9.99931011e-01 -9.74584913e-03 3.64150051e+00] [ 2.19846916e-03 9.73162045e-03 9.99950230e-01 1.15672765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40925976399998 meters 0.1477402045482069 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.64, Z:1.16 [[ 9.99974592e-01 -6.69651850e-03 -2.44378030e-03 -4.72797521e+00] [ 6.67136848e-03 9.99926147e-01 -1.01584260e-02 3.64379744e+00] [ 2.51162591e-03 1.01418645e-02 9.99945416e-01 1.15674727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46925976399999 meters 0.14563823445865573 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99973761e-01 -6.67108610e-03 -2.82365097e-03 -4.72668936e+00] [ 6.64092793e-03 9.99922205e-01 -1.05584729e-02 3.64644127e+00] [ 2.89386778e-03 1.05394442e-02 9.99940271e-01 1.15634686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52925976399999 meters 0.1394890686227757 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.65, Z:1.16 [[ 9.99972222e-01 -6.65983264e-03 -3.34697729e-03 -4.72473991e+00] [ 6.62184690e-03 9.99914959e-01 -1.12350100e-02 3.65107414e+00] [ 3.42151594e-03 1.12125347e-02 9.99931284e-01 1.15537301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58925976399999 meters 0.1343993740987059 Centerline is valid? [False, False] Translation: X:-4.73, Y:3.65, Z:1.16 [[ 9.99991795e-01 -2.52503734e-03 -3.16763869e-03 -4.72500132e+00] [ 2.50210606e-03 9.99970788e-01 -7.22242780e-03 3.65251091e+00] [ 3.18578305e-03 7.21444277e-03 9.99968901e-01 1.15506083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64925976399998 meters 0.12799631568790693 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.66, Z:1.15 [[ 9.99989622e-01 -2.59906270e-03 -3.74166569e-03 -4.72312764e+00] [ 2.56940399e-03 9.99965417e-01 -7.90971121e-03 3.65723105e+00] [ 3.76209412e-03 7.90001527e-03 9.99961717e-01 1.15438265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70925976399998 meters 0.12042917710353979 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.66, Z:1.15 [[ 9.99987925e-01 -2.31262756e-03 -4.33612431e-03 -4.72064745e+00] [ 2.27656634e-03 9.99962938e-01 -8.30303649e-03 3.66133721e+00] [ 4.35516544e-03 8.29306475e-03 9.99956128e-01 1.15283410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76925976399998 meters 0.11999577979116308 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.66, Z:1.15 [[ 9.99988128e-01 -2.00065880e-03 -4.44322068e-03 -4.71953180e+00] [ 1.96497460e-03 9.99965900e-01 -8.02105282e-03 3.66160584e+00] [ 4.45911656e-03 8.01222678e-03 9.99957959e-01 1.15159830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82925976399999 meters 0.12055690080280827 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.66, Z:1.15 [[ 9.99988764e-01 -1.95936672e-03 -4.31658196e-03 -4.72000424e+00] [ 1.92543462e-03 9.99967326e-01 -7.85105490e-03 3.66066318e+00] [ 4.33182401e-03 7.84265538e-03 9.99959863e-01 1.15179003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88925976399999 meters 0.12651682563741376 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.15 [[ 9.99964675e-01 -7.94912146e-03 2.73131473e-03 -4.70908424e+00] [ 7.95556074e-03 9.99965581e-01 -2.35485477e-03 3.65317668e+00] [-2.71250170e-03 2.37650073e-03 9.99993497e-01 1.14769800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94925976399999 meters 0.13662037224226606 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.15 [[ 9.99965083e-01 -7.77239244e-03 3.06962568e-03 -4.70987721e+00] [ 7.77765633e-03 9.99968297e-01 -1.70663269e-03 3.65040010e+00] [-3.05626374e-03 1.73044759e-03 9.99993832e-01 1.14754379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00925976399999 meters 0.128843373365837 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.15 [[ 9.99967624e-01 -7.44683847e-03 3.04873320e-03 -4.70972675e+00] [ 7.45078941e-03 9.99971415e-01 -1.28662820e-03 3.64878119e+00] [-3.03906473e-03 1.30930201e-03 9.99994525e-01 1.14741581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06925976399998 meters 0.1273603384499591 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.15 [[ 9.99971583e-01 -6.87441717e-03 3.09429461e-03 -4.70905670e+00] [ 6.87587607e-03 9.99976255e-01 -4.61088779e-04 3.64647579e+00] [-3.09105142e-03 4.82351662e-04 9.99995106e-01 1.14618046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12925976399998 meters 0.13269827890223446 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.15 [[ 9.99935998e-01 -1.09227383e-02 2.94858585e-03 -4.70861712e+00] [ 1.09359243e-02 9.99930105e-01 -4.49350989e-03 3.64545992e+00] [-2.89929833e-03 4.52546781e-03 9.99985557e-01 1.14621583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18925976399998 meters 0.1355536713148639 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.64, Z:1.15 [[ 9.99934914e-01 -1.08109737e-02 3.64575057e-03 -4.71049562e+00] [ 1.08234402e-02 9.99935586e-01 -3.41724130e-03 3.64037637e+00] [-3.60857202e-03 3.45647845e-03 9.99987515e-01 1.14644698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24925976399999 meters 0.14233200610358857 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.64, Z:1.15 [[ 9.99933950e-01 -1.08070475e-02 3.91203967e-03 -4.71139241e+00] [ 1.08192034e-02 9.99936667e-01 -3.09958600e-03 3.63879897e+00] [-3.87829454e-03 3.14170643e-03 9.99987544e-01 1.14669962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30925976399999 meters 0.13997886817408786 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.64, Z:1.15 [[ 9.99937236e-01 -1.04015847e-02 4.16301890e-03 -4.71115405e+00] [ 1.04113296e-02 9.99943095e-01 -2.32605585e-03 3.63690350e+00] [-4.13858733e-03 2.36925242e-03 9.99988629e-01 1.14527673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36925976399999 meters 0.14026149551752043 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.64, Z:1.15 [[ 9.99934202e-01 -1.05381960e-02 4.53181838e-03 -4.71218152e+00] [ 1.05487615e-02 9.99941683e-01 -2.31386837e-03 3.63642245e+00] [-4.50717010e-03 2.36152120e-03 9.99987054e-01 1.14546376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42925976399998 meters 0.14120627645434522 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.64, Z:1.15 [[ 9.99934623e-01 -1.06619021e-02 4.13207704e-03 -4.71100003e+00] [ 1.06741502e-02 9.99938668e-01 -2.95352030e-03 3.63995613e+00] [-4.10033347e-03 2.99743361e-03 9.99987101e-01 1.14526460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48925976399998 meters 0.13290098521349594 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.14 [[ 9.99972949e-01 -6.43458493e-03 3.56325383e-03 -4.70878677e+00] [ 6.43348320e-03 9.99979254e-01 3.20567934e-04 3.64634789e+00] [-3.56524262e-03 -2.97635129e-04 9.99993600e-01 1.14394465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54925976399998 meters 0.12394183114273 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.65, Z:1.14 [[ 9.99993033e-01 -2.38494073e-03 2.87145207e-03 -4.70694472e+00] [ 2.37762547e-03 9.99993926e-01 2.54830867e-03 3.65434763e+00] [-2.87751219e-03 -2.54146368e-03 9.99992630e-01 1.14448353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60925976399999 meters 0.11920596224706759 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.67, Z:1.15 [[ 9.99995996e-01 -2.54051728e-03 1.24619816e-03 -4.70361547e+00] [ 2.54184054e-03 9.99996206e-01 -1.06140493e-03 3.66598971e+00] [-1.24349692e-03 1.06456832e-03 9.99998660e-01 1.14770498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66925976399999 meters 0.11776379493734239 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.67, Z:1.15 [[ 9.99996676e-01 -2.50417892e-03 6.13392286e-04 -4.70156711e+00] [ 2.50529998e-03 9.99995180e-01 -1.83373724e-03 3.67075722e+00] [-6.08797324e-04 1.83526788e-03 9.99998131e-01 1.14709289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72925976399999 meters 0.10694397945672335 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.68, Z:1.15 [[ 9.99996286e-01 -2.72518675e-03 4.03545733e-05 -4.70036590e+00] [ 2.72529254e-03 9.99992061e-01 -2.90694474e-03 3.67533455e+00] [-3.24322857e-05 2.90704392e-03 9.99995774e-01 1.14768831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78925976399998 meters 0.10192360424755673 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.68, Z:1.15 [[ 9.99994125e-01 -3.20788089e-03 -1.20812257e-03 -4.69837205e+00] [ 3.20116682e-03 9.99979647e-01 -5.51896852e-03 3.68426751e+00] [ 1.22580218e-03 5.51506869e-03 9.99984041e-01 1.15068100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84925976399998 meters 0.10281589790943078 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.68, Z:1.15 [[ 9.99994714e-01 -3.00305362e-03 -1.24653503e-03 -4.69768644e+00] [ 2.99640375e-03 9.99981451e-01 -5.30269892e-03 3.68430176e+00] [ 1.26243620e-03 5.29893576e-03 9.99985164e-01 1.14982383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90925976399998 meters 0.10268815873708417 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99993793e-01 -3.21828923e-03 -1.43412463e-03 -4.69766097e+00] [ 3.21002065e-03 9.99978425e-01 -5.73107264e-03 3.68575745e+00] [ 1.45253793e-03 5.72643350e-03 9.99982549e-01 1.15053967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96925976399999 meters 0.10344477197083089 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99993164e-01 -3.35026541e-03 -1.56440719e-03 -4.69745622e+00] [ 3.34083761e-03 9.99976475e-01 -5.99065114e-03 3.68705182e+00] [ 1.58444066e-03 5.98538376e-03 9.99980832e-01 1.15075324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02925976399999 meters 0.10413753922119505 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.68, Z:1.15 [[ 9.99995530e-01 -2.65615540e-03 -1.37306235e-03 -4.69670386e+00] [ 2.64955547e-03 9.99985035e-01 -4.78639863e-03 3.68384961e+00] [ 1.38575523e-03 4.78273923e-03 9.99987602e-01 1.14874999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08925976399999 meters 0.10417804532968256 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99993139e-01 -3.38643691e-03 -1.50106570e-03 -4.69762420e+00] [ 3.37752843e-03 9.99976902e-01 -5.89809521e-03 3.68712372e+00] [ 1.52100456e-03 5.89298485e-03 9.99981479e-01 1.15065626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14925976399998 meters 0.11196552754967064 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99993603e-01 -3.24254520e-03 -1.51021139e-03 -4.69699334e+00] [ 3.23393091e-03 9.99978685e-01 -5.67196595e-03 3.68738348e+00] [ 1.52857081e-03 5.66704575e-03 9.99982774e-01 1.14970132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20925976399998 meters 0.10552555040257072 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99994149e-01 -3.07272090e-03 -1.50319456e-03 -4.69656396e+00] [ 3.06456848e-03 9.99980746e-01 -5.39596664e-03 3.68709159e+00] [ 1.51974592e-03 5.39132843e-03 9.99984312e-01 1.14898748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26925976399998 meters 0.11229837515537883 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99990470e-01 -4.13191610e-03 -1.40962320e-03 -4.69834224e+00] [ 4.12209251e-03 9.99967684e-01 -6.90209415e-03 3.69131346e+00] [ 1.43809652e-03 6.89621778e-03 9.99975187e-01 1.15137778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32925976399999 meters 0.11133368399816318 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.69, Z:1.15 [[ 9.99989003e-01 -4.45691684e-03 -1.45909354e-03 -4.69830533e+00] [ 4.44584154e-03 9.99961933e-01 -7.50776390e-03 3.69385216e+00] [ 1.49249948e-03 7.50119444e-03 9.99970752e-01 1.15163026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38925976399999 meters 0.11082902397387034 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.70, Z:1.15 [[ 9.99989455e-01 -4.32614793e-03 -1.54090250e-03 -4.69715154e+00] [ 4.31461394e-03 9.99963226e-01 -7.41150373e-03 3.69532082e+00] [ 1.57290910e-03 7.40477718e-03 9.99971347e-01 1.15020209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44925976399999 meters 0.10691259211424213 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.70, Z:1.15 [[ 9.99985240e-01 -4.91472322e-03 -2.31636541e-03 -4.69607084e+00] [ 4.89419934e-03 9.99949440e-01 -8.78429311e-03 3.70176776e+00] [ 2.35942067e-03 8.77282670e-03 9.99958734e-01 1.15154448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50925976399998 meters 0.1031400020293155 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99982169e-01 -5.25620058e-03 -2.83432345e-03 -4.69497493e+00] [ 5.22791325e-03 9.99937357e-01 -9.89699272e-03 3.70729414e+00] [ 2.88616648e-03 9.88199865e-03 9.99947007e-01 1.15200516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56925976399998 meters 0.10310603183260018 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99984595e-01 -4.68241348e-03 -2.98060798e-03 -4.69324985e+00] [ 4.65458865e-03 9.99946155e-01 -9.27475303e-03 3.70690558e+00] [ 3.02387572e-03 9.26073665e-03 9.99952546e-01 1.14999877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62925976399998 meters 0.10337192196587111 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99983955e-01 -4.80091656e-03 -3.00680887e-03 -4.69359568e+00] [ 4.77257322e-03 9.99944771e-01 -9.36366963e-03 3.70693272e+00] [ 3.05159700e-03 9.34916917e-03 9.99951639e-01 1.15055209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68925976399998 meters 0.10276596474760911 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99983637e-01 -4.86917639e-03 -3.00275861e-03 -4.69386206e+00] [ 4.84070274e-03 9.99943933e-01 -9.41795853e-03 3.70694793e+00] [ 3.04844795e-03 9.40326896e-03 9.99951142e-01 1.15091832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74925976399999 meters 0.10191354703650482 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99985737e-01 -4.33682826e-03 -3.11721816e-03 -4.69226865e+00] [ 4.30919371e-03 9.99951837e-01 -8.81784218e-03 3.70659309e+00] [ 3.15530950e-03 8.80428371e-03 9.99956263e-01 1.14898625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80925976399999 meters 0.10430423982383574 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.71, Z:1.15 [[ 9.99986475e-01 -4.13291939e-03 -3.15733872e-03 -4.69164255e+00] [ 4.10570619e-03 9.99954784e-01 -8.57743161e-03 3.70653939e+00] [ 3.19264579e-03 8.56435250e-03 9.99958229e-01 1.14819991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86925976399999 meters 0.10700133557167282 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.70, Z:1.15 [[ 9.99986863e-01 -4.10484943e-03 -3.07000397e-03 -4.69248525e+00] [ 4.07944887e-03 9.99957772e-01 -8.23478292e-03 3.70447523e+00] [ 3.10367688e-03 8.22215081e-03 9.99961381e-01 1.14898142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92925976399998 meters 0.10294835294229805 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.70, Z:1.15 [[ 9.99988882e-01 -3.71952000e-03 -2.89841323e-03 -4.69250946e+00] [ 3.69772019e-03 9.99965108e-01 -7.49069899e-03 3.70190799e+00] [ 2.92617390e-03 7.47989819e-03 9.99967744e-01 1.14827779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98925976399998 meters 0.10913200569129529 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.70, Z:1.15 [[ 9.99966583e-01 -7.57636601e-03 -3.07104813e-03 -4.69174297e+00] [ 7.54152244e-03 9.99908806e-01 -1.12029071e-02 3.69993244e+00] [ 3.15564539e-03 1.11793724e-02 9.99932529e-01 1.14785065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04925976399998 meters 0.11655803481713502 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.69, Z:1.15 [[ 9.99971651e-01 -7.07905209e-03 -2.56580277e-03 -4.69281622e+00] [ 7.05364684e-03 9.99927307e-01 -9.77885477e-03 3.69378151e+00] [ 2.63484127e-03 9.76047928e-03 9.99948894e-01 1.14744497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10925976399999 meters 0.11906617794618776 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.69, Z:1.15 [[ 9.99974964e-01 -6.73251725e-03 -2.17836962e-03 -4.69395529e+00] [ 6.71349399e-03 9.99940265e-01 -8.62533554e-03 3.68844334e+00] [ 2.23630972e-03 8.61049512e-03 9.99960428e-01 1.14759462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16925976399999 meters 0.12394283809778285 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.68, Z:1.15 [[ 9.99980982e-01 -5.98597764e-03 -1.48418213e-03 -4.69467247e+00] [ 5.97627021e-03 9.99961269e-01 -6.46096008e-03 3.68090119e+00] [ 1.52279980e-03 6.45196733e-03 9.99978026e-01 1.14553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22925976399999 meters 0.12393729805155432 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.68, Z:1.15 [[ 9.99983561e-01 -5.63068488e-03 -1.08295831e-03 -4.69566524e+00] [ 5.62463030e-03 9.99968975e-01 -5.51485000e-03 3.67655801e+00] [ 1.11397709e-03 5.50866810e-03 9.99984207e-01 1.14546251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28925976399998 meters 0.12298494463577196 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.67, Z:1.15 [[ 9.99985512e-01 -5.28347659e-03 -1.02958942e-03 -4.69557960e+00] [ 5.27834505e-03 9.99973943e-01 -4.92462349e-03 3.67448940e+00] [ 1.05558172e-03 4.91911761e-03 9.99987344e-01 1.14505165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34925976399998 meters 0.1248966746755783 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99958567e-01 -8.97413044e-03 -1.52612533e-03 -4.69334684e+00] [ 8.96076249e-03 9.99923285e-01 -8.55157272e-03 3.67383961e+00] [ 1.60275119e-03 8.53754316e-03 9.99962270e-01 1.14365224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40925976399998 meters 0.12357487687115397 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99959112e-01 -8.88465503e-03 -1.68422614e-03 -4.69277254e+00] [ 8.86996076e-03 9.99924193e-01 -8.54007224e-03 3.67426172e+00] [ 1.75997406e-03 8.52478403e-03 9.99962115e-01 1.14343001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46925976399999 meters 0.12080060455449625 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99959523e-01 -8.80227265e-03 -1.86327254e-03 -4.69246789e+00] [ 8.78604130e-03 9.99924873e-01 -8.54716380e-03 3.67434577e+00] [ 1.93836702e-03 8.53044705e-03 9.99961736e-01 1.14368004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52925976399999 meters 0.12535264215423536 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99960297e-01 -8.70112554e-03 -1.92216863e-03 -4.69239727e+00] [ 8.68468856e-03 9.99927004e-01 -8.40022111e-03 3.67382206e+00] [ 1.99511970e-03 8.38319416e-03 9.99962870e-01 1.14377139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58925976399999 meters 0.12372597893748978 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99960708e-01 -8.62873094e-03 -2.03154468e-03 -4.69198527e+00] [ 8.61146649e-03 9.99927983e-01 -8.35886191e-03 3.67407725e+00] [ 2.10352474e-03 8.34103889e-03 9.99963000e-01 1.14357014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64925976399998 meters 0.12088324543992542 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99963522e-01 -8.26850435e-03 -2.14148049e-03 -4.69126731e+00] [ 8.25128063e-03 9.99934509e-01 -7.93058659e-03 3.67306630e+00] [ 2.20691433e-03 7.91262734e-03 9.99966259e-01 1.14291334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70925976399998 meters 0.11710646424667073 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99962310e-01 -8.30634756e-03 -2.52646837e-03 -4.69082204e+00] [ 8.28498785e-03 9.99930812e-01 -8.35049804e-03 3.67437581e+00] [ 2.59565570e-03 8.32925156e-03 9.99961942e-01 1.14383816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76925976399998 meters 0.11934379490801168 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99962334e-01 -8.29327489e-03 -2.55965482e-03 -4.69100890e+00] [ 8.27158187e-03 9.99930740e-01 -8.37229701e-03 3.67416453e+00] [ 2.62891130e-03 8.35080927e-03 9.99961676e-01 1.14425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82925976399999 meters 0.12095370554778893 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.67, Z:1.14 [[ 9.99967047e-01 -7.74762530e-03 -2.42458665e-03 -4.69102619e+00] [ 7.72974603e-03 9.99943489e-01 -7.29863004e-03 3.67026296e+00] [ 2.48099669e-03 7.27964809e-03 9.99970425e-01 1.14364057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88925976399999 meters 0.12347764054562697 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.66, Z:1.14 [[ 9.99972112e-01 -7.28270067e-03 -1.65479723e-03 -4.69256081e+00] [ 7.27345756e-03 9.99958287e-01 -5.52464866e-03 3.66287529e+00] [ 1.69496257e-03 5.51245849e-03 9.99983370e-01 1.14295375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94925976399999 meters 0.13212130177745054 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.66, Z:1.14 [[ 9.99931054e-01 -1.16966024e-02 -1.03741205e-03 -4.69485463e+00] [ 1.16870140e-02 9.99892879e-01 -8.81162417e-03 3.65723056e+00] [ 1.14036698e-03 8.79889240e-03 9.99960639e-01 1.14424022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00925976399998 meters 0.14291109116993617 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.65, Z:1.14 [[ 9.99868849e-01 -1.61947266e-02 1.22264055e-04 -4.69789756e+00] [ 1.61950549e-02 9.99801513e-01 -1.16041152e-02 3.64985776e+00] [ 6.56856853e-05 1.16045734e-02 9.99932663e-01 1.14474634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06925976399998 meters 0.1525735371434416 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.64, Z:1.14 [[ 9.99935709e-01 -1.12735099e-02 1.21865136e-03 -4.69930757e+00] [ 1.12785381e-02 9.99927570e-01 -4.20109494e-03 3.64108056e+00] [-1.17120201e-03 4.21456946e-03 9.99990433e-01 1.14079847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12925976399998 meters 0.1481484500129729 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.64, Z:1.14 [[ 9.99938699e-01 -1.09678286e-02 1.51807518e-03 -4.69985744e+00] [ 1.09729285e-02 9.99934039e-01 -3.39293210e-03 3.63797329e+00] [-1.48076195e-03 3.40938184e-03 9.99993092e-01 1.14044295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18925976399998 meters 0.1566753774337226 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99944907e-01 -1.03690605e-02 1.63265066e-03 -4.69964745e+00] [ 1.03729745e-02 9.99943301e-01 -2.40739139e-03 3.63459702e+00] [-1.60759571e-03 2.42419420e-03 9.99995769e-01 1.13962652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24925976399999 meters 0.15319740979964444 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99947004e-01 -1.01413522e-02 1.77259408e-03 -4.70005072e+00] [ 1.01447194e-02 9.99946734e-01 -1.90103113e-03 3.63249060e+00] [-1.75322064e-03 1.91891286e-03 9.99996622e-01 1.13968520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30925976399999 meters 0.17058603530672384 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99949516e-01 -9.76508894e-03 2.36807589e-03 -4.70140753e+00] [ 9.76675084e-03 9.99952065e-01 -6.91246657e-04 3.62681216e+00] [-2.36121229e-03 7.14340167e-04 9.99996957e-01 1.13965757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36925976399999 meters 0.17051056679880616 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99951666e-01 -9.52969128e-03 2.41894080e-03 -4.70176342e+00] [ 9.53007379e-03 9.99954577e-01 -1.46654686e-04 3.62438801e+00] [-2.41743335e-03 1.69700281e-04 9.99997064e-01 1.13994404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42925976399998 meters 0.16953215543817035 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99955439e-01 -8.95531250e-03 2.98690585e-03 -4.70257620e+00] [ 8.95138806e-03 9.99959058e-01 1.32467236e-03 3.61855001e+00] [-2.99864641e-03 -1.29787637e-03 9.99994662e-01 1.13897320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48925976399998 meters 0.1683442195326047 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99957155e-01 -8.74803072e-03 3.02640855e-03 -4.70296371e+00] [ 8.74280855e-03 9.99960277e-01 1.73448312e-03 3.61648352e+00] [-3.04146164e-03 -1.70794950e-03 9.99993916e-01 1.13937392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54925976399998 meters 0.1710399613339018 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.61, Z:1.14 [[ 9.99959429e-01 -8.47252626e-03 3.05888688e-03 -4.70310310e+00] [ 8.46579904e-03 9.99961732e-01 2.20552868e-03 3.61454448e+00] [-3.07745623e-03 -2.17954327e-03 9.99992889e-01 1.13944582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60925976399999 meters 0.1665061082573675 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.61, Z:1.14 [[ 9.99964656e-01 -7.73655984e-03 3.29113195e-03 -4.70260141e+00] [ 7.72497765e-03 9.99963975e-01 3.51748432e-03 3.61064689e+00] [-3.31822662e-03 -3.49193608e-03 9.99988398e-01 1.13768734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66925976399999 meters 0.16397564741934567 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.61, Z:1.14 [[ 9.99964758e-01 -7.89311988e-03 2.86034822e-03 -4.70183479e+00] [ 7.88462950e-03 9.99964513e-01 2.96752378e-03 3.61292920e+00] [-2.88366973e-03 -2.94486641e-03 9.99991506e-01 1.13820976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72925976399999 meters 0.1628236616153731 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.61, Z:1.14 [[ 9.99964989e-01 -7.82133964e-03 2.97445971e-03 -4.70185368e+00] [ 7.81211532e-03 9.99964679e-01 3.10025273e-03 3.61272558e+00] [-2.99860278e-03 -3.07690737e-03 9.99990770e-01 1.13781132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78925976399998 meters 0.1586396925372867 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99967271e-01 -7.70504509e-03 2.46752984e-03 -4.70011483e+00] [ 7.69796750e-03 9.99966266e-01 2.86505590e-03 3.61513035e+00] [-2.48952199e-03 -2.84596716e-03 9.99992851e-01 1.13710412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84925976399998 meters 0.15421036174137998 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99966900e-01 -7.88982193e-03 1.98754283e-03 -4.69907824e+00] [ 7.88560899e-03 9.99966664e-01 2.11866421e-03 3.61846458e+00] [-2.00419245e-03 -2.10292109e-03 9.99995780e-01 1.13746806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90925976399998 meters 0.15523934405164264 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.62, Z:1.14 [[ 9.99966288e-01 -7.96790191e-03 1.98366982e-03 -4.69912527e+00] [ 7.96394068e-03 9.99966294e-01 1.99687244e-03 3.61895969e+00] [-1.99951384e-03 -1.98100730e-03 9.99996039e-01 1.13757869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96925976399999 meters 0.16464505169736626 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99962652e-01 -8.57056871e-03 1.11364607e-03 -4.69802335e+00] [ 8.57060238e-03 9.99963271e-01 -2.54676037e-05 3.62568712e+00] [-1.11338690e-03 3.50112702e-05 9.99999380e-01 1.13978705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02925976399999 meters 0.15653107730081814 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99964835e-01 -8.36537156e-03 5.91070027e-04 -4.69596716e+00] [ 8.36552205e-03 9.99964977e-01 -2.52591765e-04 3.62845811e+00] [-5.88936302e-04 2.57527492e-04 9.99999793e-01 1.13866129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08925976399999 meters 0.15707943832185028 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99959859e-01 -8.95945673e-03 9.33624634e-05 -4.69595500e+00] [ 8.95960035e-03 9.99958464e-01 -1.67219768e-03 3.63247231e+00] [-7.83766028e-05 1.67296704e-03 9.99998598e-01 1.14086259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14925976399998 meters 0.15922969587827346 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99959441e-01 -9.00444496e-03 1.91613887e-04 -4.69635909e+00] [ 9.00475659e-03 9.99958023e-01 -1.69291818e-03 3.63233412e+00] [-1.76362055e-04 1.69457495e-03 9.99998549e-01 1.14111437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20925976399998 meters 0.15948472112031334 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.63, Z:1.14 [[ 9.99962188e-01 -8.69408298e-03 1.89300862e-04 -4.69572271e+00] [ 8.69430271e-03 9.99961493e-01 -1.19264613e-03 3.63138144e+00] [-1.78924608e-04 1.19424687e-03 9.99999271e-01 1.14010756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26925976399998 meters 0.16188890498850672 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.64, Z:1.14 [[ 9.99961822e-01 -8.72021491e-03 -5.58260512e-04 -4.69371585e+00] [ 8.71915339e-03 9.99960227e-01 -1.87647417e-03 3.63564944e+00] [ 5.74601567e-04 1.87153497e-03 9.99998084e-01 1.13990200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32925976399999 meters 0.15774386491023953 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.64, Z:1.14 [[ 9.99961525e-01 -8.75365176e-03 -5.67547527e-04 -4.69362900e+00] [ 8.75250788e-03 9.99959721e-01 -1.98756439e-03 3.63623471e+00] [ 5.84923113e-04 1.98252046e-03 9.99997864e-01 1.13984937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38925976399999 meters 0.14860366665049093 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.64, Z:1.14 [[ 9.99960306e-01 -8.87384136e-03 -8.01147371e-04 -4.69262981e+00] [ 8.87197817e-03 9.99957998e-01 -2.29998877e-03 3.63865218e+00] [ 8.21523457e-04 2.29278972e-03 9.99997034e-01 1.13928005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44925976399999 meters 0.14358018148376708 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.64, Z:1.14 [[ 9.99958689e-01 -8.99328065e-03 -1.31940104e-03 -4.69113273e+00] [ 8.98930221e-03 9.99955122e-01 -2.99090146e-03 3.64281088e+00] [ 1.34623985e-03 2.97891741e-03 9.99994657e-01 1.13901432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50925976399998 meters 0.14244102908221074 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.65, Z:1.14 [[ 9.99954215e-01 -9.36803441e-03 -1.95156267e-03 -4.69000465e+00] [ 9.35939267e-03 9.99946558e-01 -4.39115423e-03 3.64835948e+00] [ 1.99259486e-03 4.37268774e-03 9.99988455e-01 1.14004480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56925976399998 meters 0.13635779201008968 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.65, Z:1.14 [[ 9.99951032e-01 -9.63404520e-03 -2.26232018e-03 -4.68905286e+00] [ 9.62223978e-03 9.99940327e-01 -5.17244036e-03 3.65237909e+00] [ 2.31201671e-03 5.15041849e-03 9.99984064e-01 1.13991871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62925976399998 meters 0.14118696666921512 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.66, Z:1.14 [[ 9.99949008e-01 -9.74507501e-03 -2.64842353e-03 -4.68739182e+00] [ 9.72983583e-03 9.99936377e-01 -5.70728334e-03 3.65654219e+00] [ 2.70387293e-03 5.68122359e-03 9.99980206e-01 1.13890082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68925976399998 meters 0.13729099467749126 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.66, Z:1.14 [[ 9.99946121e-01 -9.81101259e-03 -3.39107523e-03 -4.68525544e+00] [ 9.78878830e-03 9.99930901e-01 -6.50937420e-03 3.66202134e+00] [ 3.45470446e-03 6.47582896e-03 9.99973064e-01 1.13840541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74925976399999 meters 0.13439925682358528 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99944368e-01 -9.82465533e-03 -3.83882242e-03 -4.68368117e+00] [ 9.79741343e-03 9.99927138e-01 -7.05192713e-03 3.66574276e+00] [ 3.90782547e-03 7.01392429e-03 9.99967766e-01 1.13782190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80925976399999 meters 0.12825290362797748 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99979671e-01 -5.26264453e-03 -3.60023174e-03 -4.68346702e+00] [ 5.25385856e-03 9.99983208e-01 -2.44551106e-03 3.66553150e+00] [ 3.61304114e-03 2.42654624e-03 9.99990529e-01 1.13653751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86925976399998 meters 0.14295336296016836 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99978926e-01 -5.31677732e-03 -3.72561201e-03 -4.68311691e+00] [ 5.30695243e-03 9.99982428e-01 -2.64206187e-03 3.66667947e+00] [ 3.73959380e-03 2.62223454e-03 9.99989570e-01 1.13653999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92925976399998 meters 0.14136088898302915 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99977228e-01 -5.55303792e-03 -3.83491447e-03 -4.68314239e+00] [ 5.54116857e-03 9.99979846e-01 -3.09879734e-03 3.66831146e+00] [ 3.85204492e-03 3.07747687e-03 9.99987845e-01 1.13707023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98925976399998 meters 0.13380748426574954 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99978133e-01 -5.27432194e-03 -3.98929065e-03 -4.68208252e+00] [ 5.26275488e-03 9.99981934e-01 -2.90448900e-03 3.66869129e+00] [ 4.00453779e-03 2.88343083e-03 9.99987825e-01 1.13614347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04925976399998 meters 0.13194117905006236 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.14 [[ 9.99979497e-01 -4.92761620e-03 -4.08952193e-03 -4.68110193e+00] [ 4.91750744e-03 9.99984838e-01 -2.47825259e-03 3.66824730e+00] [ 4.10167180e-03 2.45809153e-03 9.99988567e-01 1.13507072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10925976399999 meters 0.1390776499654619 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.13 [[ 9.99948926e-01 -9.09481446e-03 -4.40787144e-03 -4.68009142e+00] [ 9.06512260e-03 9.99936398e-01 -6.70990817e-03 3.66875893e+00] [ 4.46861646e-03 6.66960757e-03 9.99967773e-01 1.13486949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16925976399999 meters 0.14965486089629385 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.66, Z:1.13 [[ 9.99954286e-01 -8.72460069e-03 -3.91239610e-03 -4.68074194e+00] [ 8.70290610e-03 9.99946848e-01 -5.52824958e-03 3.66480276e+00] [ 3.96041992e-03 5.49394765e-03 9.99977066e-01 1.13371057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22925976399999 meters 0.149143054443649 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.66, Z:1.13 [[ 9.99954925e-01 -8.74204360e-03 -3.70474248e-03 -4.68157273e+00] [ 8.72210297e-03 9.99947570e-01 -5.36486197e-03 3.66360489e+00] [ 3.75144810e-03 5.33230701e-03 9.99978746e-01 1.13411006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28925976399998 meters 0.14550535068899814 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.13 [[ 9.99954619e-01 -8.70850387e-03 -3.86282399e-03 -4.68085118e+00] [ 8.68702661e-03 9.99946908e-01 -5.54235184e-03 3.66509504e+00] [ 3.91088450e-03 5.50854387e-03 9.99977180e-01 1.13370334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34925976399998 meters 0.14346004618918107 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.13 [[ 9.99956558e-01 -8.46399923e-03 -3.90416822e-03 -4.67998586e+00] [ 8.44348446e-03 9.99950616e-01 -5.24147284e-03 3.66521349e+00] [ 3.94833924e-03 5.20828035e-03 9.99978642e-01 1.13256750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40925976399998 meters 0.14282400186883792 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.13 [[ 9.99955288e-01 -8.63302458e-03 -3.85920485e-03 -4.68011394e+00] [ 8.61166148e-03 9.99947692e-01 -5.51838149e-03 3.66639349e+00] [ 3.90664331e-03 5.48490059e-03 9.99977327e-01 1.13263111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46925976399999 meters 0.13885326620407787 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.67, Z:1.13 [[ 9.99951557e-01 -8.90547873e-03 -4.19236823e-03 -4.67885197e+00] [ 8.87924662e-03 9.99941142e-01 -6.23468393e-03 3.67105642e+00] [ 4.24764432e-03 6.19715683e-03 9.99971776e-01 1.13205944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52925976399999 meters 0.13138001710414737 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.68, Z:1.13 [[ 0.99994801 -0.00896612 -0.0048567 -4.67672378] [ 0.00893145 0.99993481 -0.00711364 3.67682114] [ 0.00492016 0.00706989 0.9999629 1.13134837] [ 0. 0. 0. 1. ]] SLAMing on 118.58925976399999 meters 0.12391232410677831 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.68, Z:1.13 [[ 9.99975651e-01 -4.70789985e-03 -5.15100206e-03 -4.67526309e+00] [ 4.69008213e-03 9.99982996e-01 -3.46570635e-03 3.68121128e+00] [ 5.16723067e-03 3.44146335e-03 9.99980728e-01 1.13033535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64925976399998 meters 0.11449466793517532 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.69, Z:1.13 [[ 9.99967968e-01 2.77560851e-03 -7.50727742e-03 -4.65945145e+00] [-2.81312246e-03 9.99983588e-01 -4.99107625e-03 3.68752439e+00] [ 7.49330094e-03 5.01203527e-03 9.99959364e-01 1.13386071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70925976399998 meters 0.11207431962218949 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.69, Z:1.13 [[ 9.99965386e-01 1.27191608e-03 8.22244026e-03 -4.65957366e+00] [-1.21464951e-03 9.99975000e-01 -6.96591391e-03 3.69076157e+00] [-8.23109476e-03 6.95568541e-03 9.99941932e-01 1.12532548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76925976399998 meters 0.1116176601264479 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.69, Z:1.12 [[ 9.99965675e-01 1.22958300e-03 8.19374253e-03 -4.65925946e+00] [-1.17172218e-03 9.99974373e-01 -7.06264928e-03 3.69171939e+00] [-8.20221666e-03 7.05280607e-03 9.99941489e-01 1.12498287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82925976399999 meters 0.1125139953142666 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.69, Z:1.12 [[ 9.99966812e-01 1.12259066e-03 8.06937931e-03 -4.65893867e+00] [-1.06412583e-03 9.99973182e-01 -7.24591584e-03 3.69294819e+00] [-8.07729710e-03 7.23708853e-03 9.99941189e-01 1.12497005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88925976399999 meters 0.11355700805952265 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.69, Z:1.12 [[ 9.99966605e-01 1.22351722e-03 8.08034522e-03 -4.65845125e+00] [-1.16641770e-03 9.99974345e-01 -7.06740568e-03 3.69325771e+00] [-8.08878501e-03 7.05774460e-03 9.99942378e-01 1.12414387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94925976399999 meters 0.11522375784932569 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.70, Z:1.12 [[ 9.99966348e-01 8.19318286e-04 8.16280357e-03 -4.65897714e+00] [-7.56703583e-04 9.99970292e-01 -7.67087273e-03 3.69532362e+00] [-8.16884596e-03 7.66443777e-03 9.99937261e-01 1.12468952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00925976399998 meters 0.11361323401183657 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.70, Z:1.13 [[ 9.99968468e-01 4.88062099e-04 7.92624517e-03 -4.65865537e+00] [-4.22117947e-04 9.99965305e-01 -8.31926440e-03 3.69817800e+00] [-7.93003049e-03 8.31565626e-03 9.99933980e-01 1.12517976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06925976399998 meters 0.1155493730871657 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.70, Z:1.12 [[ 9.99971264e-01 4.47460521e-04 7.56770234e-03 -4.65722209e+00] [-3.81399638e-04 9.99961833e-01 -8.72850992e-03 3.70147149e+00] [-7.57131916e-03 8.72537278e-03 9.99933269e-01 1.12446221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12925976399998 meters 0.11157742583659229 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.70, Z:1.12 [[ 9.99973979e-01 5.78308619e-04 7.19077691e-03 -4.65565314e+00] [-5.13697993e-04 9.99959513e-01 -8.98381071e-03 3.70391457e+00] [-7.19568119e-03 8.97988306e-03 9.99933790e-01 1.12369707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18925976399998 meters 0.10879487712571836 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99976588e-01 3.65068822e-04 6.83306583e-03 -4.65495025e+00] [-2.98667594e-04 9.99952753e-01 -9.71613248e-03 3.70717094e+00] [-6.83629005e-03 9.71386419e-03 9.99929451e-01 1.12423939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24925976399999 meters 0.10804051672992696 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99976427e-01 6.19894016e-04 6.83821917e-03 -4.65457102e+00] [-5.56208548e-04 9.99956496e-01 -9.31113933e-03 3.70623452e+00] [-6.84369360e-03 9.30711636e-03 9.99933268e-01 1.12358855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30925976399999 meters 0.10688378116545161 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99976825e-01 5.23462973e-04 6.78784021e-03 -4.65444682e+00] [-4.58911315e-04 9.99954693e-01 -9.50796932e-03 3.70727088e+00] [-6.79250974e-03 9.50463396e-03 9.99931760e-01 1.12362613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36925976399998 meters 0.1059178272817323 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99978430e-01 4.44441438e-04 6.55296102e-03 -4.65395730e+00] [-3.79641210e-04 9.99951054e-01 -9.88662414e-03 3.70889768e+00] [-6.55703431e-03 9.88392311e-03 9.99929654e-01 1.12392083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42925976399998 meters 0.10465419192177475 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99981990e-01 7.77997178e-04 5.95098896e-03 -4.65165421e+00] [-7.17854762e-04 9.99948718e-01 -1.01017576e-02 3.71164405e+00] [-5.95854292e-03 1.00973037e-02 9.99931268e-01 1.12288162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48925976399998 meters 0.10325664354959836 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.71, Z:1.12 [[ 9.99984684e-01 1.03461719e-03 5.43699022e-03 -4.64960677e+00] [-9.78618772e-04 9.99946556e-01 -1.02921115e-02 3.71430781e+00] [-5.44734804e-03 1.02866331e-02 9.99932253e-01 1.12188787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54925976399998 meters 0.10054248332419077 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.72, Z:1.12 [[ 9.99987068e-01 1.01414855e-03 4.98347810e-03 -4.64813666e+00] [-9.60259104e-04 9.99941172e-01 -1.08041426e-02 3.71766163e+00] [-4.99414194e-03 1.07992175e-02 9.99929215e-01 1.12156654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60925976399999 meters 0.10225189055091356 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.72, Z:1.12 [[ 9.99987637e-01 9.78936763e-04 4.87512718e-03 -4.64744648e+00] [-9.25064241e-04 9.99938624e-01 -1.10405068e-02 3.71950359e+00] [-4.88563592e-03 1.10358605e-02 9.99927168e-01 1.12105889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66925976399999 meters 0.09938818588708236 Centerline is valid? [False, True] Translation: X:-4.65, Y:3.72, Z:1.12 [[ 9.99989488e-01 7.91309516e-04 4.51643529e-03 -4.64686115e+00] [-7.38031117e-04 9.99930270e-01 -1.17860604e-02 3.72233692e+00] [-4.52544678e-03 1.17826033e-02 9.99920342e-01 1.12183880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72925976399999 meters 0.09691922408888923 Centerline is valid? [True, True] Translation: X:-4.59, Y:3.72, Z:1.11 [[ 9.99980791e-01 2.90846130e-03 5.47335912e-03 -4.58580257e+00] [-2.90718753e-03 9.99995745e-01 -2.40663245e-04 3.71923190e+00] [-5.47403579e-03 2.24746540e-04 9.99984992e-01 1.11364969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78925976399998 meters 0.0966734016492621 Centerline is valid? [True, True] Translation: X:-4.52, Y:3.72, Z:1.11 [[ 9.99987921e-01 3.05722482e-03 3.84853903e-03 -4.52413149e+00] [-3.05659650e-03 9.99995314e-01 -1.69133663e-04 3.71723258e+00] [-3.84903808e-03 1.57368189e-04 9.99992580e-01 1.10894810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84925976399998 meters 0.0970519374660432 Centerline is valid? [True, True] Translation: X:-4.46, Y:3.71, Z:1.11 [[ 9.99989791e-01 1.69054058e-03 4.19036507e-03 -4.46388757e+00] [-1.68978046e-03 9.99998555e-01 -1.84930488e-04 3.71285394e+00] [-4.19067165e-03 1.77847804e-04 9.99991203e-01 1.10908620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90925976399998 meters 0.09779229744608493 Centerline is valid? [True, True] Translation: X:-4.40, Y:3.71, Z:1.11 [[ 9.99989746e-01 -4.36886122e-04 4.50744641e-03 -4.40265100e+00] [ 4.37784585e-04 9.99999885e-01 -1.98343956e-04 3.70643223e+00] [-4.50735923e-03 2.00315213e-04 9.99989822e-01 1.10872658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96925976399999 meters 0.09940955264584668 Centerline is valid? [True, True] Translation: X:-4.34, Y:3.70, Z:1.11 [[ 9.99991439e-01 -2.92719119e-03 2.92464265e-03 -4.34203275e+00] [ 2.92758053e-03 9.99995706e-01 -1.28852835e-04 3.69825694e+00] [-2.92425291e-03 1.37413859e-04 9.99995715e-01 1.10596064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02925976399999 meters 0.10044406464729552 Centerline is valid? [True, False] Translation: X:-4.34, Y:3.70, Z:1.11 [[ 9.99970247e-01 -7.23600322e-03 2.67307921e-03 -4.34216845e+00] [ 7.24821668e-03 9.99963206e-01 -4.58798417e-03 3.69772298e+00] [-2.63978219e-03 4.60722273e-03 9.99985902e-01 1.10728483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08925976399999 meters 0.10155252384609359 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.69, Z:1.11 [[ 9.99971238e-01 -6.97086167e-03 2.98828356e-03 -4.34301247e+00] [ 6.98242331e-03 9.99968110e-01 -3.87617591e-03 3.69435450e+00] [-2.96116798e-03 3.89692988e-03 9.99988023e-01 1.10731273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14925976399998 meters 0.10467550699655315 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.69, Z:1.11 [[ 9.99972319e-01 -6.67365633e-03 3.28988605e-03 -4.34382111e+00] [ 6.68362966e-03 9.99973074e-01 -3.02989501e-03 3.69055319e+00] [-3.26957699e-03 3.05179951e-03 9.99989998e-01 1.10729600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20925976399998 meters 0.10349690854286608 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.69, Z:1.11 [[ 9.99936167e-01 -1.09382425e-02 2.83148153e-03 -4.34311232e+00] [ 1.09592223e-02 9.99911795e-01 -7.50315060e-03 3.69112789e+00] [-2.74916050e-03 7.53370248e-03 9.99967842e-01 1.10815621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26925976399998 meters 0.10779273686996445 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99942272e-01 -1.01845405e-02 3.42467476e-03 -4.34338455e+00] [ 1.02036863e-02 9.99932146e-01 -5.62032508e-03 3.68479814e+00] [-3.36720195e-03 5.65494493e-03 9.99978342e-01 1.10594905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32925976399999 meters 0.11202601756639784 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99946036e-01 -9.74361580e-03 3.60377330e-03 -4.34382639e+00] [ 9.76019060e-03 9.99941739e-01 -4.61065946e-03 3.68050073e+00] [-3.55863884e-03 4.64558416e-03 9.99982877e-01 1.10580659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38925976399999 meters 0.11126636570201424 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99945385e-01 -9.81333087e-03 3.59524698e-03 -4.34449009e+00] [ 9.83018082e-03 9.99940640e-01 -4.69942534e-03 3.67984553e+00] [-3.54891655e-03 4.73451061e-03 9.99982495e-01 1.10685909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44925976399999 meters 0.10939574527965062 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.10 [[ 9.99953460e-01 -8.95523379e-03 3.58897904e-03 -4.34322541e+00] [ 8.96771122e-03 9.99953749e-01 -3.47571515e-03 3.67649378e+00] [-3.55768720e-03 3.50773832e-03 9.99987519e-01 1.10493325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50925976399998 meters 0.10906670938271232 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.10 [[ 9.99954395e-01 -8.89541585e-03 3.47567680e-03 -4.34287952e+00] [ 8.90765701e-03 9.99954122e-01 -3.52248976e-03 3.67689454e+00] [-3.44418333e-03 3.55328926e-03 9.99987756e-01 1.10489579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56925976399998 meters 0.10692643590624949 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99949653e-01 -9.48006655e-03 3.28927549e-03 -4.34365604e+00] [ 9.49547854e-03 9.99943862e-01 -4.70198278e-03 3.67984751e+00] [-3.24451573e-03 4.73297930e-03 9.99983536e-01 1.10713378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62925976399998 meters 0.1068782526935382 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99953087e-01 -9.11506036e-03 3.27703200e-03 -4.34317549e+00] [ 9.12856692e-03 9.99949803e-01 -4.13052535e-03 3.67836420e+00] [-3.23921751e-03 4.16024618e-03 9.99986100e-01 1.10640646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68925976399998 meters 0.11124991131980758 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.68, Z:1.11 [[ 9.99956195e-01 -8.75704913e-03 3.30481234e-03 -4.34273159e+00] [ 8.76873192e-03 9.99955297e-01 -3.53730806e-03 3.67684914e+00] [-3.27368823e-03 3.56613212e-03 9.99988283e-01 1.10553968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74925976399999 meters 0.11111397708735637 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.11 [[ 9.99956969e-01 -8.59514695e-03 3.49062495e-03 -4.34343719e+00] [ 8.60587220e-03 9.99958258e-01 -3.06927932e-03 3.67441822e+00] [-3.46409834e-03 3.09918712e-03 9.99989197e-01 1.10587329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80925976399999 meters 0.11427514942995781 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.11 [[ 9.99957985e-01 -8.36742864e-03 3.74365402e-03 -4.34396348e+00] [ 8.37664929e-03 9.99961904e-01 -2.45414343e-03 3.67194376e+00] [-3.72297653e-03 2.48539959e-03 9.99989981e-01 1.10564548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86925976399998 meters 0.11433584874964839 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99960738e-01 -7.95696304e-03 3.89998665e-03 -4.34395481e+00] [ 7.96294613e-03 9.99967138e-01 -1.52101193e-03 3.66882251e+00] [-3.88775585e-03 1.55200759e-03 9.99991238e-01 1.10484575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92925976399998 meters 0.11550754118296334 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99961001e-01 -7.89364851e-03 3.96076474e-03 -4.34420748e+00] [ 7.89921039e-03 9.99967834e-01 -1.39056970e-03 3.66816440e+00] [-3.94966066e-03 1.42180238e-03 9.99991189e-01 1.10497611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98925976399998 meters 0.1169273619740566 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.11 [[ 9.99962186e-01 -7.71055164e-03 4.02173453e-03 -4.34464501e+00] [ 7.71523656e-03 9.99969575e-01 -1.15069044e-03 3.66644817e+00] [-4.01273971e-03 1.18167556e-03 9.99991251e-01 1.10547074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04925976399998 meters 0.1187301725292739 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.67, Z:1.11 [[ 9.99961825e-01 -7.64954837e-03 4.22291072e-03 -4.34520808e+00] [ 7.65344257e-03 9.99970301e-01 -9.06772383e-04 3.66532333e+00] [-4.21584890e-03 9.39057572e-04 9.99990672e-01 1.10550364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10925976399999 meters 0.11891797205618349 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.66, Z:1.11 [[ 9.99961147e-01 -7.59774690e-03 4.46985129e-03 -4.34577155e+00] [ 7.60011272e-03 9.99970987e-01 -5.12536511e-04 3.66394314e+00] [-4.46582748e-03 5.46487971e-04 9.99989879e-01 1.10528929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16925976399999 meters 0.1159645309423462 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.66, Z:1.11 [[ 9.99961869e-01 -7.54924720e-03 4.38960701e-03 -4.34541054e+00] [ 7.55148005e-03 9.99971366e-01 -4.92315432e-04 3.66435069e+00] [-4.38576470e-03 5.25444690e-04 9.99990244e-01 1.10506440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22925976399998 meters 0.11265031335278584 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99964923e-01 -7.43366226e-03 3.85910696e-03 -4.34381039e+00] [ 7.43722870e-03 9.99971929e-01 -9.10633877e-04 3.66710383e+00] [-3.85222929e-03 9.39302996e-04 9.99992139e-01 1.10475039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28925976399998 meters 0.1130521928580773 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99964507e-01 -7.54443772e-03 3.75045818e-03 -4.34357111e+00] [ 7.54924655e-03 9.99970698e-01 -1.26969739e-03 3.66852782e+00] [-3.74076913e-03 1.29796546e-03 9.99992161e-01 1.10490804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34925976399998 meters 0.10915927252322659 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99968052e-01 -7.31923353e-03 3.21309778e-03 -4.34193326e+00] [ 7.32430314e-03 9.99971946e-01 -1.56887457e-03 3.67057918e+00] [-3.20152468e-03 1.59235815e-03 9.99993607e-01 1.10464985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40925976399998 meters 0.10726672527271247 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99968723e-01 -7.29921485e-03 3.04551799e-03 -4.34142954e+00] [ 7.30432285e-03 9.99971929e-01 -1.66948063e-03 3.67140816e+00] [-3.03324661e-03 1.69167386e-03 9.99993969e-01 1.10458364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46925976399999 meters 0.11216967937817819 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99970068e-01 -7.14133199e-03 2.97719718e-03 -4.34151288e+00] [ 7.14554387e-03 9.99973481e-01 -1.40648464e-03 3.67013973e+00] [-2.96707405e-03 1.42771623e-03 9.99994579e-01 1.10495037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52925976399999 meters 0.11580650766165378 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99972859e-01 -6.76194598e-03 2.92516270e-03 -4.34110793e+00] [ 6.76440721e-03 9.99976775e-01 -8.32323338e-04 3.66834935e+00] [-2.91946664e-03 8.52087740e-04 9.99995375e-01 1.10448607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58925976399999 meters 0.11517487873345353 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.67, Z:1.10 [[ 9.99975823e-01 -6.32059088e-03 2.89895023e-03 -4.34061520e+00] [ 6.32103296e-03 9.99980012e-01 -1.43359474e-04 3.66633891e+00] [-2.89798617e-03 1.61680368e-04 9.99995788e-01 1.10376077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64925976399998 meters 0.11740672879077377 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.66, Z:1.10 [[ 9.99978069e-01 -5.77875925e-03 3.23543793e-03 -4.34117493e+00] [ 5.77505147e-03 9.99982658e-01 1.15416073e-03 3.66095508e+00] [-3.24205144e-03 -1.13545059e-03 9.99994100e-01 1.10320347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70925976399998 meters 0.11872879719006628 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.66, Z:1.10 [[ 9.99946030e-01 -9.94024680e-03 3.02127827e-03 -4.34153883e+00] [ 9.94915117e-03 9.99946164e-01 -2.94662149e-03 3.65883558e+00] [-2.99182548e-03 2.97652161e-03 9.99991095e-01 1.10466587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76925976399998 meters 0.12016755616895647 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.66, Z:1.10 [[ 9.99947178e-01 -9.71232637e-03 3.36343236e-03 -4.34251079e+00] [ 9.71940394e-03 9.99950572e-01 -2.09435501e-03 3.65500458e+00] [-3.34292506e-03 2.12693494e-03 9.99992150e-01 1.10474909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82925976399999 meters 0.12495981765366117 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.65, Z:1.10 [[ 9.99904103e-01 -1.33826669e-02 3.56225474e-03 -4.34271097e+00] [ 1.34003961e-02 9.99897707e-01 -5.00049995e-03 3.64970327e+00] [-3.49497032e-03 5.04775604e-03 9.99981152e-01 1.10424197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88925976399999 meters 0.12578338473373352 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.64, Z:1.10 [[ 9.99905771e-01 -1.31195026e-02 4.04070780e-03 -4.34384941e+00] [ 1.31350838e-02 9.99906304e-01 -3.85395850e-03 3.64485672e+00] [-3.98976718e-03 3.90667038e-03 9.99984410e-01 1.10404760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94925976399999 meters 0.14354669868560355 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.64, Z:1.10 [[ 9.99909948e-01 -1.25779692e-02 4.67871859e-03 -4.34482696e+00] [ 1.25858462e-02 9.99919421e-01 -1.65795494e-03 3.63720871e+00] [-4.65748787e-03 1.71669127e-03 9.99987680e-01 1.10261269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00925976399998 meters 0.14623433296403812 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.63, Z:1.10 [[ 9.99910471e-01 -1.22889211e-02 5.29451858e-03 -4.34597156e+00] [ 1.22911568e-02 9.99924385e-01 -3.89920063e-04 3.63234857e+00] [-5.28932654e-03 4.54960912e-04 9.99985908e-01 1.10191564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06925976399998 meters 0.14891430848918466 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.63, Z:1.10 [[ 9.99910301e-01 -1.19957593e-02 5.95749525e-03 -4.34741374e+00] [ 1.19904760e-02 9.99927687e-01 9.21765084e-04 3.62631674e+00] [-5.96812172e-03 -8.50249199e-04 9.99981829e-01 1.10167801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12925976399998 meters 0.14856929754710463 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.63, Z:1.10 [[ 9.99911367e-01 -1.19962133e-02 5.77488790e-03 -4.34697654e+00] [ 1.19918407e-02 9.99927782e-01 7.91213888e-04 3.62710694e+00] [-5.78396242e-03 -7.21892225e-04 9.99983012e-01 1.10172376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18925976399998 meters 0.14780617423726625 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.10 [[ 9.99919452e-01 -1.15593410e-02 5.24131433e-03 -4.34494015e+00] [ 1.15543835e-02 9.99932770e-01 9.75146571e-04 3.62834121e+00] [-5.25223401e-03 -9.14507869e-04 9.99985789e-01 1.10062894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24925976399999 meters 0.1407916115293097 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.10 [[ 9.99923822e-01 -1.11859308e-02 5.21769710e-03 -4.34445222e+00] [ 1.11784136e-02 9.99936442e-01 1.46766436e-03 3.62696471e+00] [-5.23378266e-03 -1.40922698e-03 9.99985311e-01 1.09996980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30925976399999 meters 0.1409930948629512 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.10 [[ 9.99927272e-01 -1.08580614e-02 5.24911297e-03 -4.34436352e+00] [ 1.08477046e-02 9.99939167e-01 1.99752220e-03 3.62507178e+00] [-5.27048287e-03 -1.94043610e-03 9.99984228e-01 1.09969357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36925976399998 meters 0.14131106449395173 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.62, Z:1.10 [[ 9.99931390e-01 -1.04233183e-02 5.34501253e-03 -4.34424423e+00] [ 1.04083986e-02 9.99941878e-01 2.81157643e-03 3.62244085e+00] [-5.37400783e-03 -2.75575051e-03 9.99981763e-01 1.09904316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42925976399998 meters 0.14607132977938436 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.62, Z:1.10 [[ 9.99932561e-01 -1.01239378e-02 5.69025843e-03 -4.34533110e+00] [ 1.01025217e-02 9.99941824e-01 3.77987638e-03 3.61763040e+00] [-5.72819462e-03 -3.72213551e-03 9.99976666e-01 1.09942130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48925976399998 meters 0.1498662279563433 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.61, Z:1.10 [[ 0.99993739 -0.00961063 0.00573244 -4.34504311] [ 0.00958349 0.99994284 0.00474166 3.6145204 ] [-0.00577768 -0.00468642 0.99997233 1.09869674] [ 0. 0. 0. 1. ]] SLAMing on 122.54925976399998 meters 0.1468032811250535 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.61, Z:1.10 [[ 0.99994529 -0.00879494 0.00566342 -4.34418657] [ 0.00876065 0.99994331 0.00605135 3.61036758] [-0.00571632 -0.0060014 0.99996565 1.0975573 ] [ 0. 0. 0. 1. ]] SLAMing on 122.60925976399999 meters 0.14696614913621703 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.61, Z:1.10 [[ 9.99902049e-01 -1.29555335e-02 5.29599060e-03 -4.34333330e+00] [ 1.29467843e-02 9.99914771e-01 1.68299570e-03 3.61080064e+00] [-5.31734333e-03 -1.61426480e-03 9.99984560e-01 1.09783105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66925976399999 meters 0.1517815301752094 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.60, Z:1.10 [[ 9.99905291e-01 -1.23788368e-02 6.01443140e-03 -4.34449877e+00] [ 1.23578461e-02 9.99917462e-01 3.51476458e-03 3.60342054e+00] [-6.05744368e-03 -3.44010628e-03 9.99975736e-01 1.09683196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72925976399998 meters 0.15426149098607905 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.60, Z:1.10 [[ 9.99843340e-01 -1.67201867e-02 5.80789541e-03 -4.34452103e+00] [ 1.67255646e-02 9.99859732e-01 -8.78640171e-04 3.60315935e+00] [-5.79238972e-03 9.75642854e-04 9.99982748e-01 1.09789015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78925976399998 meters 0.15730736685589933 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.10 [[ 0.99990797 -0.01202648 0.00627798 -4.3452221 ] [ 0.01199795 0.99991761 0.00456213 3.59907811] [-0.00633233 -0.00448639 0.99996989 1.09692625] [ 0. 0. 0. 1. ]] SLAMing on 122.84925976399998 meters 0.1655359518415036 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.60, Z:1.10 [[ 9.99855120e-01 -1.60972849e-02 5.53316818e-03 -4.34327131e+00] [ 1.60976848e-02 9.99870423e-01 -2.77329839e-05 3.60138352e+00] [-5.53200479e-03 1.16800163e-04 9.99984692e-01 1.09691013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90925976399998 meters 0.1594776792253361 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99882208e-01 -7.62664917e-03 1.33193281e-02 -4.35441672e+00] [ 7.67161740e-03 9.99965034e-01 -3.32833956e-03 3.59968306e+00] [-1.32934783e-02 3.43012830e-03 9.99905754e-01 1.09116198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96925976399999 meters 0.15556325553083064 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99909301e-01 -3.14794545e-03 1.30950623e-02 -4.35317014e+00] [ 3.13411343e-03 9.99994509e-01 1.07666525e-03 3.60087049e+00] [-1.30983797e-02 -1.03552619e-03 9.99913676e-01 1.09000381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02925976399999 meters 0.1519124457806543 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99911839e-01 -3.15068688e-03 1.28991306e-02 -4.35248509e+00] [ 3.13951010e-03 9.99994679e-01 8.86632585e-04 3.60229177e+00] [-1.29018555e-02 -8.46057468e-04 9.99916410e-01 1.08972220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08925976399999 meters 0.15133573784169804 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99911695e-01 -2.93081509e-03 1.29619299e-02 -4.35217518e+00] [ 2.91557470e-03 9.99995036e-01 1.19452112e-03 3.60166558e+00] [-1.29653665e-02 -1.15662416e-03 9.99915277e-01 1.08898813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14925976399998 meters 0.1505090697703236 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99911662e-01 -2.98436814e-03 1.29522501e-02 -4.35208844e+00] [ 2.96996124e-03 9.99994950e-01 1.13140133e-03 3.60220658e+00] [-1.29555612e-02 -1.09283370e-03 9.99915476e-01 1.08888663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20925976399998 meters 0.15652234134674384 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.60, Z:1.09 [[ 9.99913672e-01 -3.04604588e-03 1.27816694e-02 -4.35154357e+00] [ 3.03468936e-03 9.99994983e-01 9.07801265e-04 3.60356620e+00] [-1.27843705e-02 -8.68934500e-04 9.99917899e-01 1.08871788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26925976399998 meters 0.1463741219832873 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.61, Z:1.09 [[ 9.99920227e-01 -3.31821317e-03 1.21872503e-02 -4.35040479e+00] [ 3.32066016e-03 9.99994470e-01 -1.80552038e-04 3.60811188e+00] [-1.21865838e-02 2.21007351e-04 9.99925716e-01 1.08937096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32925976399999 meters 0.15277177204836243 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.61, Z:1.09 [[ 9.99922984e-01 -2.89912560e-03 1.20673854e-02 -4.34908636e+00] [ 2.89651400e-03 9.99995778e-01 2.33889796e-04 3.60810206e+00] [-1.20680125e-02 -1.98918432e-04 9.99927159e-01 1.08778393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38925976399999 meters 0.14311321600868104 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.61, Z:1.09 [[ 9.99929031e-01 -3.12004144e-03 1.14977470e-02 -4.34765992e+00] [ 3.12695856e-03 9.99994941e-01 -5.83678338e-04 3.61241114e+00] [-1.14958677e-02 6.19589893e-04 9.99933728e-01 1.08778683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44925976399999 meters 0.14484218827764578 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.62, Z:1.09 [[ 9.99933253e-01 -3.12974875e-03 1.11217460e-02 -4.34646183e+00] [ 3.14083356e-03 9.99994588e-01 -9.79352100e-04 3.61503823e+00] [-1.11186207e-02 1.01421828e-03 9.99937672e-01 1.08743471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50925976399998 meters 0.14253173368622082 Centerline is valid? [False, False] Translation: X:-4.35, Y:3.62, Z:1.09 [[ 9.99936988e-01 -3.18281072e-03 1.07652301e-02 -4.34523884e+00] [ 3.19874507e-03 9.99993813e-01 -1.46327455e-03 3.61808469e+00] [-1.07605062e-02 1.49761757e-03 9.99940983e-01 1.08696803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56925976399998 meters 0.1383351314810954 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.62, Z:1.09 [[ 9.99937534e-01 -3.16043819e-03 1.07210051e-02 -4.34479968e+00] [ 3.17666874e-03 9.99993834e-01 -1.49721027e-03 3.61887086e+00] [-1.07162072e-02 1.53117383e-03 9.99941407e-01 1.08646588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62925976399998 meters 0.14763915352782628 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.62, Z:1.09 [[ 0.99991851 -0.00742644 0.01038345 -4.34374103] [ 0.00748999 0.99995337 -0.00609555 3.62084226] [-0.01033769 0.00617283 0.99992751 1.08623982] [ 0. 0. 0. 1. ]] SLAMing on 123.68925976399998 meters 0.14566112742092205 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.62, Z:1.08 [[ 9.99941429e-01 -3.06039908e-03 1.03813965e-02 -4.34293457e+00] [ 3.07821716e-03 9.99993816e-01 -1.70080341e-03 3.62206052e+00] [-1.03761272e-02 1.73265998e-03 9.99944665e-01 1.08487433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74925976399999 meters 0.14138826939154783 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.09 [[ 9.99943836e-01 -3.28274131e-03 1.00770765e-02 -4.34223117e+00] [ 3.30726685e-03 9.99991607e-01 -2.41809583e-03 3.62540629e+00] [-1.00690539e-02 2.45128760e-03 9.99946301e-01 1.08505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80925976399999 meters 0.13281821705110916 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.08 [[ 9.99947175e-01 -3.23764954e-03 9.75524386e-03 -4.34057846e+00] [ 3.26636023e-03 9.99990377e-01 -2.92860956e-03 3.62913785e+00] [-9.74566817e-03 2.96031900e-03 9.99948128e-01 1.08382125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86925976399998 meters 0.1447594272681746 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.63, Z:1.08 [[ 9.99950123e-01 -3.18634758e-03 9.46564138e-03 -4.33900134e+00] [ 3.21706590e-03 9.99989603e-01 -3.23179221e-03 3.63227666e+00] [-9.45524535e-03 3.26208261e-03 9.99949977e-01 1.08251407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92925976399998 meters 0.12786151584922786 Centerline is valid? [False, False] Translation: X:-4.34, Y:3.64, Z:1.08 [[ 9.99960867e-01 -3.17187106e-03 8.25859273e-03 -4.33603178e+00] [ 3.21071952e-03 9.99983824e-01 -4.69500385e-03 3.64057661e+00] [-8.24356720e-03 4.72133615e-03 9.99954875e-01 1.08252080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98925976399998 meters 0.12040487479035454 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.08 [[ 9.99966113e-01 -3.09668602e-03 7.62778247e-03 -4.33406367e+00] [ 3.13752443e-03 9.99980778e-01 -5.34776831e-03 3.64462323e+00] [-7.61107550e-03 5.37151944e-03 9.99956608e-01 1.08196127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04925976399998 meters 0.11499420610337639 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.08 [[ 9.99975939e-01 -2.54362463e-03 6.45385030e-03 -4.33003699e+00] [ 2.58213492e-03 9.99978871e-01 -5.96572618e-03 3.65090175e+00] [-6.43853937e-03 5.98224735e-03 9.99961378e-01 1.08011742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10925976399999 meters 0.11190458056368564 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.08 [[ 9.99977864e-01 -2.27599307e-03 6.25229735e-03 -4.32862016e+00] [ 2.31295731e-03 9.99979853e-01 -5.91124976e-03 3.65236006e+00] [-6.23871742e-03 5.92558020e-03 9.99962982e-01 1.07873899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16925976399999 meters 0.10911147087695187 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.08 [[ 9.99978614e-01 -2.34593455e-03 6.10473778e-03 -4.32816878e+00] [ 2.38462672e-03 9.99977068e-01 -6.33851585e-03 3.65427581e+00] [-6.08972804e-03 6.35293782e-03 9.99961277e-01 1.07871132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22925976399998 meters 0.11252874726332372 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.66, Z:1.08 [[ 9.99978202e-01 -2.39872265e-03 6.15162742e-03 -4.32809136e+00] [ 2.43912559e-03 9.99975451e-01 -6.56877517e-03 3.65558137e+00] [-6.13571973e-03 6.58363657e-03 9.99959504e-01 1.07846065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28925976399998 meters 0.10946910421082404 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.08 [[ 9.99978102e-01 -1.98564080e-03 6.31288182e-03 -4.32755967e+00] [ 2.02290777e-03 9.99980534e-01 -5.90242759e-03 3.65407810e+00] [-6.30103884e-03 5.91506872e-03 9.99962654e-01 1.07694144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34925976399998 meters 0.1083056036573345 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.08 [[ 9.99978597e-01 -1.65035564e-03 6.33104884e-03 -4.32676917e+00] [ 1.68501462e-03 9.99983603e-01 -5.47302389e-03 3.65361617e+00] [-6.32191260e-03 5.48357466e-03 9.99964981e-01 1.07563889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40925976399998 meters 0.10804846722100257 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.07 [[ 9.99977514e-01 -1.21038832e-03 6.59593889e-03 -4.32634831e+00] [ 1.24138871e-03 9.99988194e-01 -4.69785408e-03 3.65187568e+00] [-6.59017480e-03 4.70593657e-03 9.99967211e-01 1.07387298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46925976399999 meters 0.10797313604401944 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.07 [[ 0.9999636 -0.00556602 0.00646714 -4.32623803] [ 0.00562573 0.99994138 -0.0092509 3.65266264] [-0.00641527 0.00928695 0.9999363 1.07429934] [ 0. 0. 0. 1. ]] SLAMing on 124.52925976399999 meters 0.11275840884246202 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.65, Z:1.07 [[ 0.99996005 -0.00520306 0.00726821 -4.32762274] [ 0.00526115 0.99995419 -0.00799601 3.64775383] [-0.00722627 0.00803393 0.99994162 1.0731734 ] [ 0. 0. 0. 1. ]] SLAMing on 124.58925976399999 meters 0.11397613762566737 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 0.99995596 -0.00478951 0.00807115 -4.3286872 ] [ 0.00484249 0.99996678 -0.00655712 3.64279751] [-0.00803948 0.00659592 0.99994593 1.07145302] [ 0. 0. 0. 1. ]] SLAMing on 124.64925976399998 meters 0.119329906608295 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 0.99992038 -0.00912554 0.00871579 -4.33043263] [ 0.00921333 0.99990669 -0.01008623 3.63937622] [-0.00862293 0.01016572 0.99991115 1.07149702] [ 0. 0. 0. 1. ]] SLAMing on 124.70925976399998 meters 0.12385275901490264 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 0.99991928 -0.00884435 0.00912242 -4.33088074] [ 0.00892831 0.99991778 -0.00920442 3.63667501] [-0.00904026 0.00928513 0.99991603 1.07035578] [ 0. 0. 0. 1. ]] SLAMing on 124.76925976399998 meters 0.1303514761859371 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 0.99991654 -0.00886325 0.00939945 -4.33137109] [ 0.00894757 0.99991976 -0.00896696 3.63608231] [-0.00931922 0.00905031 0.99991562 1.06989293] [ 0. 0. 0. 1. ]] SLAMing on 124.82925976399999 meters 0.1250474333675153 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.07 [[ 9.99944840e-01 -4.06420944e-03 9.68498320e-03 -4.33067979e+00] [ 4.10180994e-03 9.99984116e-01 -3.86565498e-03 3.63462297e+00] [-9.66911853e-03 3.90516771e-03 9.99945627e-01 1.06765947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88925976399999 meters 0.12497208582051793 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99945860e-01 -4.15815867e-03 9.53869301e-03 -4.33002938e+00] [ 4.19874439e-03 9.99982201e-01 -4.23877881e-03 3.63695098e+00] [-9.52089772e-03 4.27859986e-03 9.99945522e-01 1.06727215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94925976399999 meters 0.1216800139667728 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99947357e-01 -4.21450648e-03 9.35529843e-03 -4.32919992e+00] [ 4.25736944e-03 9.99980511e-01 -4.56649978e-03 3.63920474e+00] [-9.33587056e-03 4.60608834e-03 9.99945811e-01 1.06677819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00925976399998 meters 0.11954305759104483 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99946357e-01 -4.27977069e-03 9.43221005e-03 -4.32929445e+00] [ 4.32363095e-03 9.99979913e-01 -4.63457551e-03 3.63968528e+00] [-9.41218566e-03 4.67510829e-03 9.99944776e-01 1.06661277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06925976399998 meters 0.11985171635624366 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 0.99994612 -0.00439612 0.00940388 -4.32934946] [ 0.0044419 0.99997836 -0.00485247 3.64047395] [-0.00938234 0.00489398 0.99994401 1.06683435] [ 0. 0. 0. 1. ]] SLAMing on 125.12925976399998 meters 0.1205220663663791 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99945353e-01 -4.24961839e-03 9.55156879e-03 -4.32948843e+00] [ 4.29282379e-03 9.99980627e-01 -4.50744127e-03 3.63939964e+00] [-9.53222884e-03 4.54819815e-03 9.99944224e-01 1.06642944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18925976399998 meters 0.12342555490604665 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99942886e-01 -4.14796685e-03 9.84986463e-03 -4.33016940e+00] [ 4.18818012e-03 9.99982965e-01 -4.06551019e-03 3.63760646e+00] [-9.83283324e-03 4.10653100e-03 9.99943224e-01 1.06624242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24925976399999 meters 0.1206586557623815 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99946025e-01 -4.08622058e-03 9.55249330e-03 -4.32954824e+00] [ 4.12709542e-03 9.99982396e-01 -4.26318137e-03 3.63851212e+00] [-9.53490484e-03 4.30237532e-03 9.99945286e-01 1.06656211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30925976399999 meters 0.1213543441004451 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.07 [[ 9.99947339e-01 -3.82003182e-03 9.52507021e-03 -4.32935480e+00] [ 3.85698645e-03 9.99985095e-01 -3.86437661e-03 3.63716729e+00] [-9.51016619e-03 3.90091118e-03 9.99947168e-01 1.06635256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36925976399998 meters 0.121124350626341 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.07 [[ 9.99945546e-01 -3.26372443e-03 9.91227085e-03 -4.32974120e+00] [ 3.28930373e-03 9.99991300e-01 -2.56536384e-03 3.63234559e+00] [-9.90381197e-03 2.59782861e-03 9.99947582e-01 1.06530576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42925976399998 meters 0.1298919628648621 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.07 [[ 9.99946653e-01 -3.24344099e-03 9.80669268e-03 -4.32971831e+00] [ 3.26879808e-03 9.99991353e-01 -2.57076999e-03 3.63217271e+00] [-9.79826974e-03 2.60268895e-03 9.99948609e-01 1.06568915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48925976399998 meters 0.13214499940989974 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.07 [[ 9.99946571e-01 -3.14212567e-03 9.84794063e-03 -4.32978440e+00] [ 3.16597614e-03 9.99992091e-01 -2.40722009e-03 3.63162414e+00] [-9.84029895e-03 2.43826982e-03 9.99948610e-01 1.06562573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54925976399998 meters 0.12726217834586498 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.06 [[ 9.99948529e-01 -2.60751131e-03 9.80507721e-03 -4.32851478e+00] [ 2.62397362e-03 9.99995169e-01 -1.66646892e-03 3.63039966e+00] [-9.80068450e-03 1.69211141e-03 9.99950540e-01 1.06383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60925976399999 meters 0.12211746151071087 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.06 [[ 9.99950090e-01 -2.74985351e-03 9.60500517e-03 -4.32808413e+00] [ 2.76991707e-03 9.99994008e-01 -2.07618671e-03 3.63235607e+00] [-9.59923841e-03 2.10268816e-03 9.99951715e-01 1.06402226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66925976399999 meters 0.12763178505682468 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.63, Z:1.06 [[ 9.99951026e-01 -2.94911656e-03 9.44712000e-03 -4.32782105e+00] [ 2.97267865e-03 9.99992504e-01 -2.48103329e-03 3.63415080e+00] [-9.43973232e-03 2.50899504e-03 9.99952297e-01 1.06428723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72925976399998 meters 0.12735810903163566 Centerline is valid? [False, False] Translation: X:-4.33, Y:3.64, Z:1.06 [[ 9.99954731e-01 -2.98152549e-03 9.03580675e-03 -4.32654308e+00] [ 3.00918819e-03 9.99990823e-01 -3.04940589e-03 3.63717525e+00] [-9.02663195e-03 3.07645829e-03 9.99954527e-01 1.06410486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78925976399998 meters 0.12021205136763095 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.64, Z:1.06 [[ 9.99960557e-01 -2.99468450e-03 8.36159788e-03 -4.32442250e+00] [ 3.02754202e-03 9.99987735e-01 -3.91968451e-03 3.64233581e+00] [-8.34975710e-03 3.94484500e-03 9.99957359e-01 1.06352310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84925976399998 meters 0.11743317828807892 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.65, Z:1.06 [[ 9.99964861e-01 -2.99643272e-03 7.82930433e-03 -4.32274997e+00] [ 3.03193869e-03 9.99985156e-01 -4.52708313e-03 3.64599799e+00] [-7.81562301e-03 4.55066203e-03 9.99959103e-01 1.06314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90925976399998 meters 0.11289975304687581 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.65, Z:1.06 [[ 9.99969393e-01 -2.94482672e-03 7.24849262e-03 -4.32104991e+00] [ 2.98171410e-03 9.99982634e-01 -5.08343685e-03 3.64940444e+00] [-7.23339690e-03 5.10489419e-03 9.99960808e-01 1.06292702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96925976399999 meters 0.1073610813100161 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.66, Z:1.06 [[ 9.99975686e-01 -3.01002683e-03 6.29022791e-03 -4.31873345e+00] [ 3.04942700e-03 9.99975734e-01 -6.26353456e-03 3.65557241e+00] [-6.27122187e-03 6.28256386e-03 9.99960600e-01 1.06317369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02925976399999 meters 0.10460522070552236 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.66, Z:1.06 [[ 9.99978674e-01 -2.76425517e-03 5.91689696e-03 -4.31712371e+00] [ 2.80151999e-03 9.99976237e-01 -6.29903928e-03 3.65719609e+00] [-5.89934420e-03 6.31548125e-03 9.99962656e-01 1.06223346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08925976399998 meters 0.10431371947140887 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.66, Z:1.06 [[ 9.99980965e-01 -2.55857594e-03 5.61455898e-03 -4.31597772e+00] [ 2.59397903e-03 9.99976744e-01 -6.30739058e-03 3.65813058e+00] [-5.59829047e-03 6.32183457e-03 9.99964346e-01 1.06174700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14925976399998 meters 0.10273311964473361 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.66, Z:1.06 [[ 9.99981289e-01 -2.59907858e-03 5.53765443e-03 -4.31615400e+00] [ 2.63495851e-03 9.99975521e-01 -6.48185176e-03 3.65831687e+00] [-5.52067203e-03 6.49632198e-03 9.99963659e-01 1.06239472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20925976399998 meters 0.1024592697801672 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.66, Z:1.06 [[ 9.99982773e-01 -2.25772346e-03 5.41808929e-03 -4.31550076e+00] [ 2.29056206e-03 9.99979000e-01 -6.06238627e-03 3.65725886e+00] [-5.40428832e-03 6.07469230e-03 9.99966945e-01 1.06185879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26925976399998 meters 0.10056864698236283 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.06 [[ 0.99997 -0.00613414 0.00473048 -4.31341579] [ 0.00618251 0.99992807 -0.01027767 3.65811253] [-0.0046671 0.01030661 0.99993599 1.06140929] [ 0. 0. 0. 1. ]] SLAMing on 126.32925976399999 meters 0.10365293622972634 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.06 [[ 0.99997001 -0.00621033 0.00462746 -4.31343683] [ 0.00625834 0.99992598 -0.01043367 3.65859915] [-0.00456232 0.01046232 0.99993486 1.06185933] [ 0. 0. 0. 1. ]] SLAMing on 126.38925976399999 meters 0.10210727584389233 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.06 [[ 0.99997163 -0.00595629 0.00461124 -4.31331743] [ 0.00600247 0.99993131 -0.01006684 3.65726839] [-0.00455097 0.01009423 0.9999387 1.06171741] [ 0. 0. 0. 1. ]] SLAMing on 126.44925976399999 meters 0.10251100967025414 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.06 [[ 0.99997306 -0.00564339 0.00469447 -4.31310196] [ 0.00568794 0.99993841 -0.00952999 3.65574078] [-0.0046404 0.00955643 0.99994357 1.06099449] [ 0. 0. 0. 1. ]] SLAMing on 126.50925976399998 meters 0.10269161179424426 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.06 [[ 0.9999749 -0.00520508 0.00480646 -4.31266331] [ 0.00524695 0.99994803 -0.00874054 3.65365051] [-0.00476072 0.00876554 0.99995025 1.05976357] [ 0. 0. 0. 1. ]] SLAMing on 126.56925976399998 meters 0.1017477771170305 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.06 [[ 0.99997562 -0.00515992 0.00470393 -4.3124234 ] [ 0.00520098 0.99994812 -0.00875858 3.65388304] [-0.0046585 0.00878283 0.99995058 1.05981245] [ 0. 0. 0. 1. ]] SLAMing on 126.62925976399998 meters 0.10118693513376176 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.06 [[ 0.99997709 -0.00481902 0.00475255 -4.3121979 ] [ 0.00485764 0.99995501 -0.00814741 3.65200297] [-0.00471308 0.00817031 0.99995552 1.05919605] [ 0. 0. 0. 1. ]] SLAMing on 126.68925976399998 meters 0.1020103229113389 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.06 [[ 9.99977830e-01 -4.25245003e-03 5.12406816e-03 -4.31240669e+00] [ 4.28752024e-03 9.99967328e-01 -6.85277585e-03 3.64762616e+00] [-5.09475966e-03 6.87459347e-03 9.99963391e-01 1.05790778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74925976399999 meters 0.1031975445980739 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.06 [[ 9.99977552e-01 -4.05474664e-03 5.33429377e-03 -4.31299834e+00] [ 4.08850879e-03 9.99971584e-01 -6.33365651e-03 3.64532999e+00] [-5.30846082e-03 6.35532364e-03 9.99965714e-01 1.05794063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80925976399999 meters 0.10477949200205675 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.64, Z:1.06 [[ 0.99995341 -0.00812949 0.00520504 -4.31285316] [ 0.0081829 0.99991322 -0.01032484 3.64385899] [-0.00512065 0.01036695 0.99993315 1.05829245] [ 0. 0. 0. 1. ]] SLAMing on 126.86925976399998 meters 0.10642188195657608 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.64, Z:1.06 [[ 0.99995553 -0.00763855 0.00553099 -4.31304549] [ 0.00768871 0.999929 -0.00910414 3.63992426] [-0.00546105 0.00914626 0.99994326 1.0570861 ] [ 0. 0. 0. 1. ]] SLAMing on 126.92925976399998 meters 0.11562756363466188 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.64, Z:1.06 [[ 0.99995484 -0.00741718 0.00594197 -4.31403165] [ 0.00746521 0.99993931 -0.00810184 3.63588031] [-0.00588152 0.00814584 0.99994953 1.0568322 ] [ 0. 0. 0. 1. ]] SLAMing on 126.98925976399998 meters 0.11889658003331098 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.63, Z:1.06 [[ 0.99995582 -0.00717498 0.00607257 -4.31417608] [ 0.00722101 0.99994511 -0.00759183 3.63410766] [-0.00601776 0.00763534 0.99995274 1.0564789 ] [ 0. 0. 0. 1. ]] SLAMing on 127.04925976399998 meters 0.11764622006068887 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.63, Z:1.06 [[ 0.99995301 -0.00695812 0.00675043 -4.31567461] [ 0.00700185 0.99995451 -0.00647674 3.62923798] [-0.00670506 0.0065237 0.99995624 1.0562095 ] [ 0. 0. 0. 1. ]] SLAMing on 127.10925976399999 meters 0.12379352768490193 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.63, Z:1.06 [[ 0.99991454 -0.01121937 0.0067115 -4.31570212] [ 0.01129089 0.99987885 -0.01071483 3.62883849] [-0.00659047 0.01078969 0.99992007 1.0565418 ] [ 0. 0. 0. 1. ]] SLAMing on 127.16925976399999 meters 0.13518798822546402 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.62, Z:1.06 [[ 0.9999131 -0.01090289 0.00741127 -4.31685376] [ 0.01097068 0.99989778 -0.00916912 3.62346989] [-0.00731054 0.00924963 0.9999305 1.05529858] [ 0. 0. 0. 1. ]] SLAMing on 127.22925976399998 meters 0.1389485900953958 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.62, Z:1.05 [[ 0.99991215 -0.01075685 0.00774526 -4.31739105] [ 0.01082329 0.99990455 -0.00858787 3.62153301] [-0.00765214 0.00867094 0.99993313 1.05476157] [ 0. 0. 0. 1. ]] SLAMing on 127.28925976399998 meters 0.13792608337814602 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.62, Z:1.05 [[ 0.99990978 -0.01071486 0.00810106 -4.3180975 ] [ 0.0107814 0.99990813 -0.00821525 3.62014775] [-0.00801229 0.00830185 0.99993344 1.05442601] [ 0. 0. 0. 1. ]] SLAMing on 127.34925976399998 meters 0.13853345467238581 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.62, Z:1.05 [[ 9.99944934e-01 -6.47928814e-03 8.25518459e-03 -4.31839274e+00] [ 6.51225703e-03 9.99970902e-01 -3.97311801e-03 3.62059627e+00] [-8.22920140e-03 4.02665911e-03 9.99958032e-01 1.05417614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40925976399998 meters 0.13480639667627242 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.63, Z:1.06 [[ 0.99994696 -0.0068441 0.00769621 -4.31742843] [ 0.00688401 0.99996293 -0.00517173 3.62548341] [-0.00766053 0.00522444 0.99995701 1.05508812] [ 0. 0. 0. 1. ]] SLAMing on 127.46925976399999 meters 0.1318481378520725 Centerline is valid? [False, False] Translation: X:-4.32, Y:3.63, Z:1.05 [[ 0.99995225 -0.00644429 0.00734669 -4.31520611] [ 0.00648163 0.99996614 -0.00506995 3.6275762 ] [-0.00731377 0.00511733 0.99996016 1.05308584] [ 0. 0. 0. 1. ]] SLAMing on 127.52925976399999 meters 0.13072495730964373 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.63, Z:1.05 [[ 0.99995349 -0.00657789 0.00705365 -4.31408203] [ 0.00661782 0.99996212 -0.00565317 3.63098523] [-0.0070162 0.00569958 0.99995914 1.05261 ] [ 0. 0. 0. 1. ]] SLAMing on 127.58925976399998 meters 0.12993459903780522 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.63, Z:1.05 [[ 0.99995409 -0.00683409 0.00671624 -4.31328672] [ 0.00687684 0.99995611 -0.00636303 3.6344768 ] [-0.00667245 0.00640893 0.9999572 1.05282126] [ 0. 0. 0. 1. ]] SLAMing on 127.64925976399998 meters 0.13608959283642208 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.64, Z:1.05 [[ 0.99995481 -0.00708832 0.00633469 -4.31235203] [ 0.00713416 0.99994832 -0.00724265 3.63849071] [-0.00628302 0.00728751 0.99995371 1.05307034] [ 0. 0. 0. 1. ]] SLAMing on 127.70925976399998 meters 0.12321256226179747 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.64, Z:1.05 [[ 0.99995754 -0.00729567 0.00562916 -4.31082309] [ 0.00734245 0.99993831 -0.00833486 3.6436941 ] [-0.005568 0.00837584 0.99994942 1.05360312] [ 0. 0. 0. 1. ]] SLAMing on 127.76925976399998 meters 0.11796202063682171 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 0.99996269 -0.00701649 0.00503789 -4.30859329] [ 0.00705994 0.99993758 -0.00865954 3.64680555] [-0.00497681 0.00869478 0.99994981 1.05253305] [ 0. 0. 0. 1. ]] SLAMing on 127.82925976399999 meters 0.11530075059283564 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 0.99996579 -0.00680489 0.00470236 -4.30691856] [ 0.00684558 0.99993878 -0.00869346 3.64879858] [-0.00464292 0.00872535 0.99995115 1.05128394] [ 0. 0. 0. 1. ]] SLAMing on 127.88925976399999 meters 0.11449113555677431 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 0.99996468 -0.00708966 0.00451431 -4.30687655] [ 0.00713135 0.99993145 -0.00928648 3.6509946 ] [-0.00444816 0.00931835 0.99994669 1.05202569] [ 0. 0. 0. 1. ]] SLAMing on 127.94925976399999 meters 0.11281342722718812 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 0.99996319 -0.00737173 0.00439115 -4.30687298] [ 0.00741505 0.9999232 -0.00993067 3.65336814] [-0.0043176 0.00996286 0.99994105 1.05263148] [ 0. 0. 0. 1. ]] SLAMing on 128.00925976399998 meters 0.11375280869775849 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 0.99996473 -0.00713388 0.004432 -4.30631107] [ 0.00717613 0.99992826 -0.00959045 3.65308154] [-0.00436327 0.00962192 0.99994419 1.05157856] [ 0. 0. 0. 1. ]] SLAMing on 128.06925976399998 meters 0.11636249112098461 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.65, Z:1.05 [[ 9.99964682e-01 -7.20759427e-03 4.32265768e-03 -4.30610853e+00] [ 7.24961240e-03 9.99925847e-01 -9.78484863e-03 3.65403970e+00] [-4.25181192e-03 9.81584064e-03 9.99942784e-01 1.05172989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12925976399998 meters 0.11359820395106608 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.05 [[ 9.99962328e-01 -7.57304443e-03 4.24169078e-03 -4.30659920e+00] [ 7.61677989e-03 9.99916998e-01 -1.03913991e-02 3.65570786e+00] [-4.16264418e-03 1.04233156e-02 9.99937011e-01 1.05286048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18925976399996 meters 0.11636614220096422 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.05 [[ 9.99960902e-01 -7.75337451e-03 4.25207759e-03 -4.30661078e+00] [ 7.79851517e-03 9.99912296e-01 -1.07043559e-02 3.65716328e+00] [-4.16870979e-03 1.07370972e-02 9.99933666e-01 1.05286871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24925976399996 meters 0.11456214181311498 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.66, Z:1.05 [[ 9.99961648e-01 -7.68274169e-03 4.20463535e-03 -4.30618917e+00] [ 7.72721803e-03 9.99913260e-01 -1.06659385e-02 3.65763069e+00] [-4.12232699e-03 1.06980196e-02 9.99934277e-01 1.05242394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30925976399996 meters 0.10921808612818423 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99962491e-01 -7.89518826e-03 3.56113922e-03 -4.30493557e+00] [ 7.93616040e-03 9.99900738e-01 -1.16418246e-02 3.66207854e+00] [-3.46887134e-03 1.16696497e-02 9.99925890e-01 1.05315051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36925976399996 meters 0.10674175889289221 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99988048e-01 -3.19225687e-03 3.70321805e-03 -4.30438838e+00] [ 3.21680910e-03 9.99972760e-01 -6.64307143e-03 3.66080771e+00] [-3.68191079e-03 6.65490458e-03 9.99971077e-01 1.05158976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42925976399997 meters 0.10527522508628442 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99989908e-01 -2.76181361e-03 3.54349407e-03 -4.30297226e+00] [ 2.78383618e-03 9.99976749e-01 -6.22512378e-03 3.66078123e+00] [-3.52621905e-03 6.23492546e-03 9.99974345e-01 1.05009657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48925976399997 meters 0.1126354280833041 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99990692e-01 -2.58116818e-03 3.45746167e-03 -4.30254035e+00] [ 2.60187138e-03 9.99978633e-01 -5.99692337e-03 3.66035948e+00] [-3.44190873e-03 6.00586342e-03 9.99976041e-01 1.04976620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54925976399997 meters 0.10886639906829684 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99990589e-01 -2.74810082e-03 3.35716881e-03 -4.30259708e+00] [ 2.76939504e-03 9.99975973e-01 -6.35481296e-03 3.66159715e+00] [-3.33962448e-03 6.36405048e-03 9.99974173e-01 1.05030036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60925976399997 meters 0.10983470137149859 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99971119e-01 -7.02601565e-03 2.89756475e-03 -4.30151704e+00] [ 7.05739505e-03 9.99914973e-01 -1.09654068e-02 3.66322091e+00] [-2.82027526e-03 1.09855393e-02 9.99935680e-01 1.05057625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66925976399997 meters 0.10913304143212404 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99973729e-01 -6.56124332e-03 3.08094885e-03 -4.30133881e+00] [ 6.59185526e-03 9.99927939e-01 -1.00331339e-02 3.66037750e+00] [-3.01489701e-03 1.00531795e-02 9.99944920e-01 1.04943080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72925976399998 meters 0.11133392757640344 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99972192e-01 -6.63398693e-03 3.40681624e-03 -4.30255170e+00] [ 6.66688375e-03 9.99930366e-01 -9.73735293e-03 3.65842205e+00] [-3.34198154e-03 9.75979499e-03 9.99946787e-01 1.04995419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78925976399998 meters 0.11279658010939654 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.66, Z:1.05 [[ 9.99972049e-01 -6.59683423e-03 3.51890780e-03 -4.30311238e+00] [ 6.63012240e-03 9.99932574e-01 -9.53353970e-03 3.65720257e+00] [-3.45577935e-03 9.55660402e-03 9.99948363e-01 1.05033889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84925976399998 meters 0.11547984986336866 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99974462e-01 -6.13325216e-03 3.66853691e-03 -4.30288859e+00] [ 6.16493372e-03 9.99943255e-01 -8.68797166e-03 3.65463036e+00] [-3.61504322e-03 8.71036608e-03 9.99955530e-01 1.04931333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90925976399996 meters 0.11372836460091303 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99976160e-01 -5.88432640e-03 3.61316889e-03 -4.30235342e+00] [ 5.91433368e-03 9.99947637e-01 -8.35122848e-03 3.65399509e+00] [-3.56383834e-03 8.37239887e-03 9.99958600e-01 1.04869418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96925976399996 meters 0.12587043587596028 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99976858e-01 -5.83376173e-03 3.50023667e-03 -4.30201781e+00] [ 5.86268701e-03 9.99948275e-01 -8.31125289e-03 3.65421216e+00] [-3.45156975e-03 8.33158134e-03 9.99959335e-01 1.04860233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02925976399996 meters 0.11746535784518736 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99978725e-01 -5.43748074e-03 3.60314893e-03 -4.30166836e+00] [ 5.46479163e-03 9.99956083e-01 -7.61373842e-03 3.65230875e+00] [-3.56159114e-03 7.63326690e-03 9.99964524e-01 1.04758061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08925976399996 meters 0.11885707590596097 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99981117e-01 -5.11757219e-03 3.40249209e-03 -4.30063068e+00] [ 5.14217225e-03 9.99960417e-01 -7.26100975e-03 3.65189730e+00] [-3.36519867e-03 7.27836884e-03 9.99967850e-01 1.04676112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14925976399996 meters 0.11560750103697276 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99982086e-01 -4.94155400e-03 3.37773694e-03 -4.30042802e+00] [ 4.96501812e-03 9.99963355e-01 -6.97397862e-03 3.65114518e+00] [-3.34315087e-03 6.99062421e-03 9.99969977e-01 1.04650788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20925976399997 meters 0.11856784706097122 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99983329e-01 -4.61345602e-03 3.47249220e-03 -4.30054103e+00] [ 4.63546745e-03 9.99969046e-01 -6.35767032e-03 3.64878623e+00] [-3.44305388e-03 6.37366095e-03 9.99973761e-01 1.04625859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26925976399997 meters 0.12297606043178537 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99985194e-01 -4.02765053e-03 3.65930643e-03 -4.30002570e+00] [ 4.04666145e-03 9.99978278e-01 -5.20276175e-03 3.64571196e+00] [-3.63827204e-03 5.21749269e-03 9.99979770e-01 1.04450774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32925976399997 meters 0.12400780020193053 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.64, Z:1.04 [[ 9.99986203e-01 -3.68635964e-03 3.74228633e-03 -4.29978335e+00] [ 3.70340195e-03 9.99982758e-01 -4.55731410e-03 3.64379227e+00] [-3.72542190e-03 4.57111042e-03 9.99982613e-01 1.04372220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38925976399997 meters 0.12587936745176112 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99959657e-01 -8.34440908e-03 3.32502040e-03 -4.29978510e+00] [ 8.37578200e-03 9.99919453e-01 -9.53591997e-03 3.64576485e+00] [-3.24518096e-03 9.56338490e-03 9.99949004e-01 1.04544754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44925976399998 meters 0.12632018856836363 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99958916e-01 -8.38902548e-03 3.43367387e-03 -4.30031609e+00] [ 8.42122610e-03 9.99919666e-01 -9.47340020e-03 3.64514029e+00] [-3.35392543e-03 9.50192674e-03 9.99949231e-01 1.04579761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50925976399998 meters 0.1253583629272513 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.05 [[ 9.99960739e-01 -8.25254687e-03 3.22746324e-03 -4.29944388e+00] [ 8.28285864e-03 9.99920626e-01 -9.49402495e-03 3.64593684e+00] [-3.14885717e-03 9.52038483e-03 9.99949722e-01 1.04533889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56925976399998 meters 0.12119629558498952 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99961705e-01 -8.20834763e-03 3.03506084e-03 -4.29865252e+00] [ 8.23714883e-03 9.99919972e-01 -9.60199790e-03 3.64710029e+00] [-2.95600142e-03 9.62663044e-03 9.99949294e-01 1.04491793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62925976399998 meters 0.12165035387000754 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99963203e-01 -8.10437992e-03 2.81262667e-03 -4.29762603e+00] [ 8.13116806e-03 9.99920404e-01 -9.64721628e-03 3.64833266e+00] [-2.73421809e-03 9.66973123e-03 9.99949509e-01 1.04426609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68925976399996 meters 0.12232122608585516 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99964537e-01 -8.08212486e-03 2.36710953e-03 -4.29621591e+00] [ 8.10535589e-03 9.99917401e-01 -9.97468575e-03 3.65073299e+00] [-2.28629735e-03 9.99351829e-03 9.99947450e-01 1.04389600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74925976399996 meters 0.12383402145757799 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99964217e-01 -8.17010951e-03 2.19394385e-03 -4.29583878e+00] [ 8.19230743e-03 9.99913322e-01 -1.03069860e-02 3.65221957e+00] [-2.10954448e-03 1.03245907e-02 9.99944475e-01 1.04409259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80925976399996 meters 0.1223801556684009 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99965273e-01 -8.03291880e-03 2.21923768e-03 -4.29569170e+00] [ 8.05487369e-03 9.99916875e-01 -1.00678251e-02 3.65165834e+00] [-2.13817918e-03 1.00853511e-02 9.99946856e-01 1.04374142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86925976399996 meters 0.12275258664684956 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99965712e-01 -7.96741594e-03 2.25735796e-03 -4.29572207e+00] [ 7.98943612e-03 9.99918880e-01 -9.91980699e-03 3.65125768e+00] [-2.17813962e-03 9.93750187e-03 9.99948250e-01 1.04360308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92925976399997 meters 0.12201607478562497 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99968238e-01 -7.67252389e-03 2.15754091e-03 -4.29488982e+00] [ 7.69271482e-03 9.99925177e-01 -9.51113789e-03 3.65075675e+00] [-2.08440504e-03 9.52743315e-03 9.99952441e-01 1.04267044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98925976399997 meters 0.12076255170783581 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99970007e-01 -7.45393023e-03 2.10318866e-03 -4.29460757e+00] [ 7.47300459e-03 9.99929644e-01 -9.21204022e-03 3.64989065e+00] [-2.03437479e-03 9.22748106e-03 9.99955356e-01 1.04241428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04925976399997 meters 0.12644062869427516 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.65, Z:1.04 [[ 9.99969507e-01 -7.50416374e-03 2.16159283e-03 -4.29504157e+00] [ 7.52388288e-03 9.99928786e-01 -9.26359194e-03 3.64958488e+00] [-2.09192338e-03 9.27957304e-03 9.99954756e-01 1.04287310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10925976399997 meters 0.1259049992858899 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99970476e-01 -7.37923446e-03 2.14335388e-03 -4.29488561e+00] [ 7.39839603e-03 9.99931460e-01 -9.07405519e-03 3.64909119e+00] [-2.07624740e-03 9.08964466e-03 9.99956533e-01 1.04267922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16925976399997 meters 0.12020496090924841 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99972736e-01 -7.22517843e-03 1.52462261e-03 -4.29289524e+00] [ 7.23922351e-03 9.99929454e-01 -9.41702758e-03 3.65201858e+00] [-1.45647535e-03 9.42780792e-03 9.99954497e-01 1.04208405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22925976399998 meters 0.12029090556242009 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99974742e-01 -6.99951682e-03 1.23412832e-03 -4.29161922e+00] [ 7.01087990e-03 9.99930705e-01 -9.45689589e-03 3.65323671e+00] [-1.16784910e-03 9.46530935e-03 9.99954521e-01 1.04137689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28925976399998 meters 0.11451101534391599 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99977718e-01 -6.57788678e-03 1.13793795e-03 -4.29072502e+00] [ 6.58783569e-03 9.99938050e-01 -8.97203267e-03 3.65222046e+00] [-1.07885044e-03 8.97932930e-03 9.99959103e-01 1.04040988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34925976399998 meters 0.11695039372650988 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99979461e-01 -6.31823505e-03 1.07580424e-03 -4.29028111e+00] [ 6.32724433e-03 9.99943106e-01 -8.58779988e-03 3.65125285e+00] [-1.02148330e-03 8.59443037e-03 9.99962545e-01 1.03992726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40925976399996 meters 0.11657689316996984 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99980466e-01 -6.15643118e-03 1.07960122e-03 -4.29024326e+00] [ 6.16520174e-03 9.99946399e-01 -8.31799759e-03 3.65030557e+00] [-1.02833418e-03 8.32449107e-03 9.99964822e-01 1.03981978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46925976399996 meters 0.11667708937545818 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.65, Z:1.04 [[ 9.99984161e-01 -5.44966839e-03 1.40676829e-03 -4.29029596e+00] [ 5.45928106e-03 9.99961139e-01 -6.92223531e-03 3.64529781e+00] [-1.36898973e-03 6.92980561e-03 9.99975052e-01 1.03855421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52925976399996 meters 0.11893947308035825 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.64, Z:1.04 [[ 9.99985816e-01 -5.00790906e-03 1.81331645e-03 -4.29084380e+00] [ 5.01848472e-03 9.99970147e-01 -5.87540801e-03 3.64136893e+00] [-1.78383881e-03 5.88442477e-03 9.99981096e-01 1.03771321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58925976399996 meters 0.1261943222593831 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.64, Z:1.04 [[ 9.99955918e-01 -9.23126546e-03 1.71630786e-03 -4.29106793e+00] [ 9.24802755e-03 9.99906938e-01 -1.00293765e-02 3.64002563e+00] [-1.62356430e-03 1.00448069e-02 9.99948232e-01 1.03852652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64925976399996 meters 0.1326097876534018 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.63, Z:1.04 [[ 9.99958223e-01 -8.73395408e-03 2.69623592e-03 -4.29275260e+00] [ 8.75368133e-03 9.99934352e-01 -7.39361009e-03 3.63130010e+00] [-2.63148347e-03 7.41690320e-03 9.99969032e-01 1.03642569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70925976399997 meters 0.13828428542227558 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.04 [[ 9.99957731e-01 -8.47259041e-03 3.57098048e-03 -4.29467460e+00] [ 8.49265292e-03 9.99948026e-01 -5.64099694e-03 3.62425158e+00] [-3.52300102e-03 5.67108560e-03 9.99977713e-01 1.03575582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76925976399997 meters 0.1479864508229217 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.04 [[ 9.99959284e-01 -8.27212065e-03 3.60593568e-03 -4.29450046e+00] [ 8.29117684e-03 9.99951571e-01 -5.30215162e-03 3.62333484e+00] [-3.56190101e-03 5.33183318e-03 9.99979442e-01 1.03531678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82925976399997 meters 0.1489020151633449 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.04 [[ 9.99960451e-01 -8.11395445e-03 3.64155989e-03 -4.29448630e+00] [ 8.13217769e-03 9.99954344e-01 -5.01764837e-03 3.62240274e+00] [-3.60068066e-03 5.04706374e-03 9.99980781e-01 1.03512285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88925976399997 meters 0.14710540240936332 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.62, Z:1.03 [[ 9.99962414e-01 -7.49692180e-03 4.35508122e-03 -4.29548947e+00] [ 7.51169914e-03 9.99966052e-01 -3.38673702e-03 3.61606976e+00] [-4.32954327e-03 3.41932379e-03 9.99984782e-01 1.03385622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94925976399998 meters 0.1444101895042336 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.62, Z:1.03 [[ 9.99963726e-01 -7.35107924e-03 4.30219213e-03 -4.29541927e+00] [ 7.36461160e-03 9.99967957e-01 -3.13811496e-03 3.61509958e+00] [-4.27898575e-03 3.16968510e-03 9.99985822e-01 1.03391902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00925976399998 meters 0.15326645302109404 Centerline is valid? [False, False] Translation: X:-4.30, Y:3.62, Z:1.03 [[ 9.99964524e-01 -7.30930466e-03 4.18630400e-03 -4.29511823e+00] [ 7.32234180e-03 9.99968363e-01 -3.10742322e-03 3.61530366e+00] [-4.16345845e-03 3.13796653e-03 9.99986409e-01 1.03389502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06925976399998 meters 0.1436555485065216 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.61, Z:1.03 [[ 9.99968917e-01 -6.51588889e-03 4.43934021e-03 -4.29440000e+00] [ 6.52370593e-03 9.99977191e-01 -1.74865710e-03 3.61159647e+00] [-4.42784490e-03 1.77756369e-03 9.99988617e-01 1.03168318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12925976399995 meters 0.14558313010702587 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.61, Z:1.03 [[ 9.99971434e-01 -6.21915669e-03 4.29571956e-03 -4.29357785e+00] [ 6.22521292e-03 9.99979646e-01 -1.39790114e-03 3.61112559e+00] [-4.28693835e-03 1.42460298e-03 9.99989796e-01 1.03095518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18925976399996 meters 0.1449945973930241 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.61, Z:1.03 [[ 9.99971846e-01 -6.25280650e-03 4.14854022e-03 -4.29297436e+00] [ 6.25956134e-03 9.99979101e-01 -1.61726257e-03 3.61265327e+00] [-4.13834109e-03 1.64318508e-03 9.99990087e-01 1.03064743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24925976399996 meters 0.14541223837660902 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.61, Z:1.03 [[ 9.99972624e-01 -6.15937876e-03 4.10050410e-03 -4.29248636e+00] [ 6.16570869e-03 9.99979817e-01 -1.53284835e-03 3.61306924e+00] [-4.09097995e-03 1.55808890e-03 9.99990418e-01 1.03008800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30925976399996 meters 0.14796054997113225 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.03 [[ 9.99937668e-01 -1.06203375e-02 3.44502179e-03 -4.29092215e+00] [ 1.06431418e-02 9.99921113e-01 -6.67011418e-03 3.61730197e+00] [-3.37391116e-03 6.70636427e-03 9.99971820e-01 1.03046309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36925976399996 meters 0.14569345481573193 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.03 [[ 9.99936761e-01 -1.07811959e-02 3.19987335e-03 -4.29025722e+00] [ 1.08039019e-02 9.99915962e-01 -7.16551995e-03 3.61981600e+00] [-3.12235157e-03 7.19963793e-03 9.99969208e-01 1.03048167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42925976399997 meters 0.13748125123339383 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.62, Z:1.03 [[ 9.99974811e-01 -6.46487675e-03 2.92952628e-03 -4.28885061e+00] [ 6.47439823e-03 9.99973752e-01 -3.25243181e-03 3.62304776e+00] [-2.90842281e-03 3.27131681e-03 9.99990420e-01 1.02935050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48925976399997 meters 0.13460326466370157 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.63, Z:1.03 [[ 9.99977304e-01 -6.25969282e-03 2.49151482e-03 -4.28691794e+00] [ 6.26826911e-03 9.99974405e-01 -3.44940619e-03 3.62577085e+00] [-2.46985883e-03 3.46494539e-03 9.99990947e-01 1.02816789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54925976399997 meters 0.13547225648072356 Centerline is valid? [False, False] Translation: X:-4.29, Y:3.63, Z:1.03 [[ 9.99979080e-01 -6.10078057e-03 2.14958122e-03 -4.28523983e+00] [ 6.10850413e-03 9.99974845e-01 -3.60499521e-03 3.62814026e+00] [-2.12753386e-03 3.61805051e-03 9.99991192e-01 1.02698538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60925976399997 meters 0.1295101829386467 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.63, Z:1.03 [[ 9.99978091e-01 -6.42957530e-03 1.57406236e-03 -4.28408439e+00] [ 6.43692909e-03 9.99968180e-01 -4.71223394e-03 3.63308757e+00] [-1.54371461e-03 4.72226283e-03 9.99987659e-01 1.02763939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66925976399997 meters 0.1266529633839422 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.64, Z:1.03 [[ 9.99976549e-01 -6.77030365e-03 1.03142663e-03 -4.28298241e+00] [ 6.77622091e-03 9.99959954e-01 -5.84576071e-03 3.63821017e+00] [-9.91807751e-04 5.85261279e-03 9.99982381e-01 1.02821910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72925976399998 meters 0.12516738758787624 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.64, Z:1.03 [[ 9.99978083e-01 -6.60102658e-03 5.08913890e-04 -4.28071484e+00] [ 6.60412388e-03 9.99958058e-01 -6.34572317e-03 3.64242415e+00] [-4.67004257e-04 6.34894502e-03 9.99979736e-01 1.02689133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78925976399998 meters 0.12389204251939737 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.65, Z:1.03 [[ 9.99977763e-01 -6.66857239e-03 -5.20526446e-05 -4.27887834e+00] [ 6.66803790e-03 9.99952787e-01 -7.06829653e-03 3.64701429e+00] [ 9.91856342e-05 7.06779227e-03 9.99975018e-01 1.02635808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84925976399998 meters 0.11718838047031459 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.65, Z:1.03 [[ 9.99975632e-01 -6.91883760e-03 -9.30400118e-04 -4.27717110e+00] [ 6.91070737e-03 9.99940208e-01 -8.47478446e-03 3.65319569e+00] [ 9.88980145e-04 8.46814822e-03 9.99963656e-01 1.02747632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90925976399996 meters 0.1138733260909525 Centerline is valid? [False, False] Translation: X:-4.28, Y:3.66, Z:1.03 [[ 9.99975348e-01 -6.88633390e-03 -1.37160495e-03 -4.27562710e+00] [ 6.87362040e-03 9.99935264e-01 -9.06759017e-03 3.65689376e+00] [ 1.43395861e-03 9.05793875e-03 9.99957948e-01 1.02701157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96925976399996 meters 0.10999285508778218 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99996860e-01 -2.15578798e-03 -1.27779693e-03 -4.27441500e+00] [ 2.15029083e-03 9.99988495e-01 -4.28792363e-03 3.65726305e+00] [ 1.28702608e-03 4.28516253e-03 9.99989990e-01 1.02474573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02925976399996 meters 0.10656416335732381 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.03 [[ 9.99995815e-01 -2.37511421e-03 -1.65206441e-03 -4.27367743e+00] [ 2.36669454e-03 9.99984297e-01 -5.07987371e-03 3.66064466e+00] [ 1.66410374e-03 5.07594252e-03 9.99985733e-01 1.02526671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08925976399996 meters 0.10452432606629322 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99994913e-01 -2.43904002e-03 -2.05562713e-03 -4.27238683e+00] [ 2.42756898e-03 9.99981572e-01 -5.56445513e-03 3.66397928e+00] [ 2.06916118e-03 5.55943664e-03 9.99982405e-01 1.02493764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14925976399996 meters 0.10582804295017048 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99995647e-01 -2.13406322e-03 -2.03768511e-03 -4.27168871e+00] [ 2.12361963e-03 9.99984670e-01 -5.11370566e-03 3.66344800e+00] [ 2.04856684e-03 5.10935613e-03 9.99984849e-01 1.02375649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20925976399997 meters 0.10753888526044036 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.67, Z:1.02 [[ 9.99975709e-01 -6.48384686e-03 -2.55745028e-03 -4.27044452e+00] [ 6.45822030e-03 9.99930094e-01 -9.90446688e-03 3.66606534e+00] [ 2.62149054e-03 9.88770972e-03 9.99947679e-01 1.02401882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26925976399997 meters 0.11042536869418525 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99978741e-01 -6.14221541e-03 -2.18887713e-03 -4.27086439e+00] [ 6.12258761e-03 9.99941973e-01 -8.86369681e-03 3.66253751e+00] [ 2.24319285e-03 8.85010678e-03 9.99958321e-01 1.02304507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32925976399997 meters 0.10914534538756751 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99979564e-01 -5.98159771e-03 -2.25643469e-03 -4.27049852e+00] [ 5.96185039e-03 9.99944737e-01 -8.65905631e-03 3.66217009e+00] [ 2.30810498e-03 8.64542683e-03 9.99959964e-01 1.02274160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38925976399997 meters 0.10629562995584982 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99979587e-01 -5.95857691e-03 -2.30692419e-03 -4.27042804e+00] [ 5.93825826e-03 9.99944378e-01 -8.71656018e-03 3.66249733e+00] [ 2.35873416e-03 8.70268314e-03 9.99959349e-01 1.02287368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44925976399998 meters 0.1083092510495653 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99984289e-01 -5.14394845e-03 -2.22759760e-03 -4.26947786e+00] [ 5.12724004e-03 9.99959160e-01 -7.44249541e-03 3.65884767e+00] [ 2.26579044e-03 7.43095706e-03 9.99969823e-01 1.02103084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50925976399998 meters 0.11069877848220049 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99984455e-01 -5.07336199e-03 -2.31297322e-03 -4.26927308e+00] [ 5.05624451e-03 9.99960224e-01 -7.34737727e-03 3.65876121e+00] [ 2.35015712e-03 7.33556810e-03 9.99970333e-01 1.02102921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56925976399998 meters 0.11069547880098628 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99985161e-01 -4.93805647e-03 -2.30074839e-03 -4.26931946e+00] [ 4.92165180e-03 9.99962810e-01 -7.08206953e-03 3.65779569e+00] [ 2.33563448e-03 7.07064096e-03 9.99972275e-01 1.02101240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62925976399995 meters 0.1120190040211589 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99986395e-01 -4.73051072e-03 -2.19834528e-03 -4.26931718e+00] [ 4.71560254e-03 9.99966181e-01 -6.73795335e-03 3.65668474e+00] [ 2.23014490e-03 6.72749516e-03 9.99974883e-01 1.02058720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68925976399996 meters 0.1098913277380191 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99986750e-01 -4.65178745e-03 -2.20485182e-03 -4.26913655e+00] [ 4.63708394e-03 9.99967286e-01 -6.62755527e-03 3.65657071e+00] [ 2.23560967e-03 6.61724337e-03 9.99975607e-01 1.02032977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74925976399996 meters 0.10898954951005348 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99988488e-01 -4.29052085e-03 -2.14841172e-03 -4.26858811e+00] [ 4.27747354e-03 9.99972603e-01 -6.04121033e-03 3.65525465e+00] [ 2.17427280e-03 6.03195101e-03 9.99979444e-01 1.01922384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80925976399996 meters 0.107274911345622 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99989286e-01 -3.95892395e-03 -2.39884492e-03 -4.26733723e+00] [ 3.94521345e-03 9.99976009e-01 -5.69348766e-03 3.65522442e+00] [ 2.42132745e-03 5.68396271e-03 9.99980915e-01 1.01826488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86925976399996 meters 0.10900698645591772 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.66, Z:1.02 [[ 9.99989649e-01 -3.77546125e-03 -2.53932429e-03 -4.26661040e+00] [ 3.76133531e-03 9.99977553e-01 -5.54483213e-03 3.65548454e+00] [ 2.56020159e-03 5.53522348e-03 9.99981403e-01 1.01770732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92925976399997 meters 0.10652894864097114 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.65, Z:1.02 [[ 9.99990945e-01 -3.47717130e-03 -2.45328018e-03 -4.26645668e+00] [ 3.46476343e-03 9.99981277e-01 -5.04391338e-03 3.65395902e+00] [ 2.47077279e-03 5.03536768e-03 9.99984270e-01 1.01708215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98925976399997 meters 0.1109698060043677 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.65, Z:1.02 [[ 9.99991897e-01 -3.25083968e-03 -2.37432473e-03 -4.26633738e+00] [ 3.23978812e-03 9.99983970e-01 -4.64372132e-03 3.65282545e+00] [ 2.38938266e-03 4.63599139e-03 9.99986399e-01 1.01654855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04925976399997 meters 0.11471757967976708 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.65, Z:1.02 [[ 9.99967730e-01 -7.57404973e-03 -2.67808159e-03 -4.26576220e+00] [ 7.54941478e-03 9.99930167e-01 -9.09219505e-03 3.65365899e+00] [ 2.74675931e-03 9.07168370e-03 9.99955079e-01 1.01693535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10925976399997 meters 0.1142096826676088 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.65, Z:1.02 [[ 9.99967212e-01 -7.66352769e-03 -2.61616940e-03 -4.26624852e+00] [ 7.63924284e-03 9.99928777e-01 -9.16970406e-03 3.65347817e+00] [ 2.68625535e-03 9.14941786e-03 9.99954535e-01 1.01743428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16925976399997 meters 0.11398098319975328 Centerline is valid? [False, False] Translation: X:-4.27, Y:3.65, Z:1.02 [[ 9.99967570e-01 -7.57551475e-03 -2.73305236e-03 -4.26576799e+00] [ 7.55013774e-03 9.99929368e-01 -9.17903617e-03 3.65406767e+00] [ 2.80239524e-03 9.15810358e-03 9.99954137e-01 1.01717947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22925976399998 meters 0.1109037619661898 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.02 [[ 9.99968227e-01 -7.40275091e-03 -2.95716102e-03 -4.26467443e+00] [ 7.37536054e-03 9.99930771e-01 -9.16832919e-03 3.65519329e+00] [ 3.02482716e-03 9.14622776e-03 9.99953597e-01 1.01642144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28925976399998 meters 0.10677740496237376 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.02 [[ 9.99967443e-01 -7.28850468e-03 -3.46283503e-03 -4.26283415e+00] [ 7.25510398e-03 9.99927963e-01 -9.56206580e-03 3.65852629e+00] [ 3.53227874e-03 9.53663126e-03 9.99948286e-01 1.01562823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34925976399998 meters 0.10485492651444231 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.02 [[ 9.99968033e-01 -7.07823631e-03 -3.71913221e-03 -4.26177032e+00] [ 7.04275869e-03 9.99930383e-01 -9.46725812e-03 3.65912058e+00] [ 3.78588479e-03 9.44076253e-03 9.99948268e-01 1.01504663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40925976399996 meters 0.10192599836795703 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99968279e-01 -6.96383695e-03 -3.86588404e-03 -4.26103072e+00] [ 6.92657543e-03 9.99930219e-01 -9.56968509e-03 3.66024726e+00] [ 3.93225600e-03 9.54260419e-03 9.99946737e-01 1.01456827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46925976399996 meters 0.10418099955321974 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99968220e-01 -6.93189524e-03 -3.93797668e-03 -4.26066802e+00] [ 6.89340633e-03 9.99929147e-01 -9.70468826e-03 3.66124245e+00] [ 4.00496955e-03 9.67723377e-03 9.99945154e-01 1.01437553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52925976399996 meters 0.10375360516510766 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99968541e-01 -6.86372492e-03 -3.97570401e-03 -4.26037963e+00] [ 6.82510585e-03 9.99930172e-01 -9.64722115e-03 3.66147544e+00] [ 4.04164227e-03 9.61978306e-03 9.99945561e-01 1.01408492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58925976399996 meters 0.10186504985543038 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99972503e-01 -6.28843599e-03 -3.93040590e-03 -4.25957947e+00] [ 6.25433705e-03 9.99943214e-01 -8.62857835e-03 3.65890636e+00] [ 3.98444297e-03 8.60375901e-03 9.99955049e-01 1.01252002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64925976399996 meters 0.10467296847345325 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99973743e-01 -6.19016197e-03 -3.76763346e-03 -4.26015553e+00] [ 6.15865135e-03 9.99946436e-01 -8.31842072e-03 3.65729445e+00] [ 3.81892402e-03 8.29499876e-03 9.99958304e-01 1.01272628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70925976399997 meters 0.1080467860838776 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.66, Z:1.01 [[ 9.99973630e-01 -6.31818284e-03 -3.58060225e-03 -4.26136032e+00] [ 6.28813034e-03 9.99945424e-01 -8.34314801e-03 3.65611571e+00] [ 3.63312037e-03 8.32041270e-03 9.99958785e-01 1.01386849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76925976399997 meters 0.10766417363228634 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.65, Z:1.01 [[ 9.99978873e-01 -5.65884530e-03 -3.19869232e-03 -4.26142841e+00] [ 5.63644362e-03 9.99959827e-01 -6.96954473e-03 3.65137566e+00] [ 3.23800339e-03 6.95136824e-03 9.99970596e-01 1.01239581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82925976399997 meters 0.11355697760357987 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.65, Z:1.01 [[ 9.99983846e-01 -4.98020547e-03 -2.73946250e-03 -4.26154386e+00] [ 4.96560039e-03 9.99973559e-01 -5.31258212e-03 3.64617809e+00] [ 2.76584781e-03 5.29889323e-03 9.99982136e-01 1.01048670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88925976399997 meters 0.1197319411023136 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.64, Z:1.01 [[ 9.99953602e-01 -9.21108076e-03 -2.81950743e-03 -4.26167604e+00] [ 9.18426691e-03 9.99913831e-01 -9.37975095e-03 3.64477227e+00] [ 2.90566212e-03 9.35342064e-03 9.99952034e-01 1.01105162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94925976399998 meters 0.12159477981340865 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.64, Z:1.01 [[ 9.99958254e-01 -8.75209046e-03 -2.62514444e-03 -4.26177701e+00] [ 8.73005048e-03 9.99927505e-01 -8.29285490e-03 3.64115330e+00] [ 2.69753395e-03 8.26959106e-03 9.99962168e-01 1.01022611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00925976399998 meters 0.11891651698963386 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.64, Z:1.01 [[ 9.99962069e-01 -8.33963858e-03 -2.51230841e-03 -4.26170850e+00] [ 8.32028486e-03 9.99936368e-01 -7.61795077e-03 3.63872538e+00] [ 2.57567951e-03 7.59675869e-03 9.99967827e-01 1.00964615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06925976399998 meters 0.12026420925605535 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.63, Z:1.01 [[ 9.99968497e-01 -7.68023234e-03 -2.00470404e-03 -4.26237249e+00] [ 7.66780782e-03 9.99951791e-01 -6.13348455e-03 3.63295350e+00] [ 2.05171398e-03 6.11791964e-03 9.99979181e-01 1.00864672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12925976399995 meters 0.12218600758112289 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.63, Z:1.01 [[ 9.99971337e-01 -7.41326899e-03 -1.53897456e-03 -4.26357786e+00] [ 7.40528815e-03 9.99959430e-01 -5.12831270e-03 3.62842853e+00] [ 1.57692969e-03 5.11676915e-03 9.99985666e-01 1.00864733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18925976399996 meters 0.1283386905954253 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.01 [[ 9.99933795e-01 -1.14296039e-02 -1.33055885e-03 -4.26423235e+00] [ 1.14178661e-02 9.99898531e-01 -8.51824353e-03 3.62442658e+00] [ 1.42778399e-03 8.50248743e-03 9.99962834e-01 1.00882889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24925976399996 meters 0.1328633285850928 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.01 [[ 9.99941987e-01 -1.07426951e-02 -7.85367552e-04 -4.26450093e+00] [ 1.07371741e-02 9.99919739e-01 -6.72515339e-03 3.61888848e+00] [ 8.57550790e-04 6.71633062e-03 9.99977077e-01 1.00667976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30925976399996 meters 0.12998868590104692 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.01 [[ 9.99946177e-01 -1.03546290e-02 -6.51805482e-04 -4.26425060e+00] [ 1.03505463e-02 9.99928532e-01 -5.98312703e-03 3.61673519e+00] [ 7.13711959e-04 5.97605845e-03 9.99981889e-01 1.00567043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36925976399996 meters 0.13707826519211877 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.01 [[ 9.99947246e-01 -1.02362371e-02 -8.51006386e-04 -4.26362897e+00] [ 1.02309698e-02 9.99929786e-01 -5.97923378e-03 3.61718368e+00] [ 9.12151488e-04 5.97021173e-03 9.99981762e-01 1.00553404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42925976399997 meters 0.14238218454836268 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.01 [[ 9.99947685e-01 -1.01679665e-02 -1.11365918e-03 -4.26285378e+00] [ 1.01609435e-02 9.99929525e-01 -6.14011200e-03 3.61830245e+00] [ 1.17601315e-03 6.12847495e-03 9.99980529e-01 1.00544634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48925976399997 meters 0.13200394004264226 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.00 [[ 9.99950780e-01 -9.81998831e-03 -1.41628387e-03 -4.26118371e+00] [ 9.81140359e-03 9.99934188e-01 -5.94609908e-03 3.61932831e+00] [ 1.47458129e-03 5.93191068e-03 9.99981319e-01 1.00410544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54925976399997 meters 0.12870135462759766 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.00 [[ 9.99948413e-01 -9.97843392e-03 -1.89794575e-03 -4.25994051e+00] [ 9.96546509e-03 9.99927736e-01 -6.72402225e-03 3.62338183e+00] [ 1.96490381e-03 6.70476146e-03 9.99975592e-01 1.00413903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60925976399997 meters 0.12862116646354724 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.62, Z:1.00 [[ 9.99983741e-01 -5.45830420e-03 -1.65055119e-03 -4.26025529e+00] [ 5.45503293e-03 9.99983161e-01 -1.97997172e-03 3.62205789e+00] [ 1.66133069e-03 1.97093572e-03 9.99996678e-01 1.00348979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66925976399997 meters 0.11988518545719268 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.63, Z:1.01 [[ 9.99979502e-01 -5.98745838e-03 -2.26855122e-03 -4.25987230e+00] [ 5.97883639e-03 9.99974950e-01 -3.78856543e-03 3.62718985e+00] [ 2.29117827e-03 3.77492447e-03 9.99990250e-01 1.00616063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72925976399998 meters 0.11997282550463999 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.64, Z:1.01 [[ 9.99973222e-01 -6.16609059e-03 -3.94130502e-03 -4.25700550e+00] [ 6.13331218e-03 9.99946949e-01 -8.27531327e-03 3.63748935e+00] [ 3.99212226e-03 8.25091843e-03 9.99957992e-01 1.01319043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78925976399998 meters 0.1132925929660106 Centerline is valid? [False, False] Translation: X:-4.26, Y:3.64, Z:1.01 [[ 9.99990946e-01 -1.38583316e-03 -4.02335650e-03 -4.25544562e+00] [ 1.37119754e-03 9.99992442e-01 -3.63814567e-03 3.63840093e+00] [ 4.02836795e-03 3.63259591e-03 9.99985288e-01 1.01119363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84925976399998 meters 0.10389945854652746 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.64, Z:1.01 [[ 9.99986829e-01 -1.10078583e-03 -5.01296311e-03 -4.25219254e+00] [ 1.07823364e-03 9.99989297e-01 -4.49925692e-03 3.64385738e+00] [ 5.01786218e-03 4.49379251e-03 9.99977313e-01 1.01024311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90925976399996 meters 0.10033413431268486 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.65, Z:1.01 [[ 9.99981964e-01 -1.28095212e-03 -5.86781068e-03 -4.25056093e+00] [ 1.24758832e-03 9.99983056e-01 -5.68603866e-03 3.64875417e+00] [ 5.87499480e-03 5.67861550e-03 9.99966618e-01 1.01142458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96925976399996 meters 0.09519970118239529 Centerline is valid? [False, True] Translation: X:-4.25, Y:3.65, Z:1.00 [[ 9.99970317e-01 1.74068619e-03 7.50572014e-03 -4.24606310e+00] [-1.69398819e-03 9.99979199e-01 -6.22353115e-03 3.65367649e+00] [-7.51639722e-03 6.21063181e-03 9.99952465e-01 1.00454782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02925976399996 meters 0.09526881333921981 Centerline is valid? [True, True] Translation: X:-4.19, Y:3.64, Z:1.00 [[ 9.99955550e-01 4.11044231e-03 8.48541648e-03 -4.18649021e+00] [-4.10702781e-03 9.99991478e-01 -4.19781952e-04 3.64487976e+00] [-8.48706966e-03 3.84913451e-04 9.99963910e-01 9.97047933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08925976399996 meters 0.09395467673433833 Centerline is valid? [True, True] Translation: X:-4.12, Y:3.64, Z:0.99 [[ 9.99954049e-01 5.03012446e-03 8.16073774e-03 -4.12380290e+00] [-5.02700965e-03 9.99987284e-01 -4.02150621e-04 3.64266920e+00] [-8.16265683e-03 3.61108035e-04 9.99966620e-01 9.94009359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14925976399996 meters 0.09392156866363001 Centerline is valid? [True, True] Translation: X:-4.06, Y:3.64, Z:0.99 [[ 9.99946587e-01 5.56662318e-03 8.70833977e-03 -4.06241194e+00] [-5.56307219e-03 9.99984433e-01 -4.31938031e-04 3.63566017e+00] [-8.71060864e-03 3.83469837e-04 9.99961988e-01 9.92059191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20925976399997 meters 0.0946743906792694 Centerline is valid? [True, True] Translation: X:-4.00, Y:3.63, Z:0.99 [[ 9.99945524e-01 4.74802566e-03 9.29545168e-03 -4.00134782e+00] [-4.74394078e-03 9.99988641e-01 -4.61449796e-04 3.62656196e+00] [-9.29753706e-03 4.17327585e-04 9.99956690e-01 9.92860957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26925976399997 meters 0.0962675490679683 Centerline is valid? [True, True] Translation: X:-3.94, Y:3.62, Z:0.99 [[ 9.99943699e-01 1.61296551e-03 1.04879692e-02 -3.94021609e+00] [-1.60758819e-03 9.99998572e-01 -5.21122765e-04 3.61637518e+00] [-1.04887948e-02 5.04233090e-04 9.99944864e-01 9.92437874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32925976399997 meters 0.09911932478000655 Centerline is valid? [True, True] Translation: X:-3.88, Y:3.60, Z:0.99 [[ 9.99923400e-01 -3.85594430e-03 1.17611815e-02 -3.87971188e+00] [ 3.86309172e-03 9.99992367e-01 -5.85055591e-04 3.60199254e+00] [-1.17588358e-02 6.30445299e-04 9.99930664e-01 9.91844905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38925976399997 meters 0.10640275525472014 Centerline is valid? [True, False] Translation: X:-3.88, Y:3.59, Z:0.99 [[ 9.99895474e-01 -7.58301870e-03 1.23100989e-02 -3.88143073e+00] [ 7.61935729e-03 9.99966745e-01 -2.90772176e-03 3.59298608e+00] [-1.22876402e-02 3.00121286e-03 9.99920000e-01 9.92467329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44925976399998 meters 0.1123643105016287 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.59, Z:0.99 [[ 9.99888946e-01 -7.20726369e-03 1.30442291e-02 -3.88309343e+00] [ 7.22248761e-03 9.99973290e-01 -1.12036795e-03 3.58563942e+00] [-1.30358059e-02 1.21445531e-03 9.99914293e-01 9.92110557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50925976399998 meters 0.11984177119487524 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.58, Z:0.99 [[ 9.99840376e-01 -1.11966557e-02 1.39232471e-02 -3.88533151e+00] [ 1.12438847e-02 9.99931279e-01 -3.31845759e-03 3.57701827e+00] [-1.38851347e-02 3.47447927e-03 9.99897560e-01 9.92088410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56925976399998 meters 0.130256779393155 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.57, Z:0.99 [[ 9.99829857e-01 -1.07772200e-02 1.49702607e-02 -3.88701504e+00] [ 1.07910885e-02 9.99941417e-01 -8.45935298e-04 3.56823943e+00] [-1.49602668e-02 1.00733678e-03 9.99887582e-01 9.90136535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62925976399995 meters 0.1500052597637717 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.56, Z:0.99 [[ 9.99757070e-01 -1.50136518e-02 1.61366124e-02 -3.88983892e+00] [ 1.50624738e-02 9.99882325e-01 -2.90826845e-03 3.55856547e+00] [-1.60910498e-02 3.15061924e-03 9.99865567e-01 9.89959164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68925976399996 meters 0.14751380947633833 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.55, Z:0.99 [[ 9.99739047e-01 -1.48714322e-02 1.73400742e-02 -3.89213707e+00] [ 1.48838200e-02 9.99889058e-01 -5.85561085e-04 3.54988659e+00] [-1.73294423e-02 8.43494824e-04 9.99849478e-01 9.88350033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74925976399996 meters 0.17857001396112326 Centerline is valid? [False, False] Translation: X:-3.92, Y:3.55, Z:0.99 [[ 9.99358862e-01 -2.96991462e-02 1.99956205e-02 -3.91504984e+00] [ 2.97703114e-02 9.99551415e-01 -3.27076394e-03 3.54656751e+00] [-1.98895119e-02 3.86394278e-03 9.99794718e-01 9.86666205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80925976399996 meters 0.1794168041177157 Centerline is valid? [False, False] Translation: X:-3.91, Y:3.54, Z:0.99 [[ 9.99542865e-01 -2.99655141e-02 4.01604933e-03 -3.91373139e+00] [ 2.99811930e-02 9.99542845e-01 -3.90243309e-03 3.54275125e+00] [-3.89727495e-03 4.02105510e-03 9.99984321e-01 9.93472114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86925976399996 meters 0.18415568600899354 Centerline is valid? [False, False] Translation: X:-3.92, Y:3.54, Z:0.99 [[ 9.99533613e-01 -3.01644786e-02 4.76037629e-03 -3.91623177e+00] [ 3.01811844e-02 9.99538395e-01 -3.47740030e-03 3.53913753e+00] [-4.65328491e-03 3.61945228e-03 9.99982623e-01 9.94490978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92925976399997 meters 0.18272100379049994 Centerline is valid? [False, False] Translation: X:-3.92, Y:3.54, Z:0.99 [[ 9.99536589e-01 -2.99738985e-02 5.30782536e-03 -3.91757507e+00] [ 2.99888803e-02 9.99546406e-01 -2.76585449e-03 3.53509882e+00] [-5.22251431e-03 2.92374850e-03 9.99982088e-01 9.94459174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98925976399997 meters 0.18071786373323212 Centerline is valid? [False, False] Translation: X:-3.92, Y:3.53, Z:0.99 [[ 9.99514870e-01 -3.00397177e-02 8.22437946e-03 -3.92403356e+00] [ 3.00571752e-02 9.99546165e-01 -2.00730919e-03 3.53272390e+00] [-8.16034795e-03 2.25353699e-03 9.99964165e-01 9.93925718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04925976399997 meters 0.17648732141464513 Centerline is valid? [False, False] Translation: X:-3.93, Y:3.53, Z:1.00 [[ 9.99502458e-01 -3.03024065e-02 8.75221309e-03 -3.92634687e+00] [ 3.03200890e-02 9.99538445e-01 -1.89474387e-03 3.53005848e+00] [-8.69075816e-03 2.15916904e-03 9.99959904e-01 9.95430869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10925976399997 meters 0.1768673732094621 Centerline is valid? [False, False] Translation: X:-3.93, Y:3.53, Z:1.00 [[ 9.99493026e-01 -3.04455727e-02 9.31439738e-03 -3.92811743e+00] [ 3.04618781e-02 9.99534627e-01 -1.61369318e-03 3.52761769e+00] [-9.26093289e-03 1.89660912e-03 9.99955318e-01 9.95943169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16925976399997 meters 0.1842801989290684 Centerline is valid? [False, False] Translation: X:-3.93, Y:3.53, Z:1.00 [[ 0.99934093 -0.03498228 0.00969229 -3.92968931] [ 0.0350417 0.99936766 -0.00602985 3.52616123] [-0.00947522 0.00636551 0.99993485 0.99743787] [ 0. 0. 0. 1. ]] SLAMing on 136.22925976399998 meters 0.17867562117582877 Centerline is valid? [False, False] Translation: X:-3.94, Y:3.52, Z:1.00 [[ 0.99931828 -0.03460527 0.01286255 -3.93701011] [ 0.03467768 0.99938369 -0.0054491 3.52390218] [-0.01266606 0.00589143 0.99990243 0.99851442] [ 0. 0. 0. 1. ]] SLAMing on 136.28925976399998 meters 0.18257073975159907 Centerline is valid? [False, False] Translation: X:-3.94, Y:3.52, Z:1.00 [[ 9.99434269e-01 -3.07748030e-02 1.35665939e-02 -3.93982348e+00] [ 3.07945632e-02 9.99524953e-01 -1.24999803e-03 3.52158229e+00] [-1.35216807e-02 1.66706820e-03 9.99907188e-01 9.99793994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34925976399998 meters 0.18397978034263893 Centerline is valid? [False, False] Translation: X:-3.95, Y:3.52, Z:1.01 [[ 0.99958881 -0.02781955 0.00694873 -3.95229759] [ 0.02788641 0.99956386 -0.00971763 3.52403052] [-0.00667536 0.00990741 0.99992864 1.00570134] [ 0. 0. 0. 1. ]] SLAMing on 136.40925976399996 meters 0.18245744591247803 Centerline is valid? [False, False] Translation: X:-3.95, Y:3.52, Z:1.01 [[ 0.99958087 -0.02789909 0.00772816 -3.95448894] [ 0.02797018 0.99956598 -0.00924822 3.52049973] [-0.00746679 0.00946051 0.99992737 1.00613982] [ 0. 0. 0. 1. ]] SLAMing on 136.46925976399996 meters 0.18208867431507636 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.52, Z:1.01 [[ 0.99967586 -0.02410665 0.00818796 -3.95692815] [ 0.02415025 0.99969446 -0.00526842 3.51927527] [-0.00805846 0.00546445 0.9999526 1.00780345] [ 0. 0. 0. 1. ]] SLAMing on 136.52925976399996 meters 0.187641722452619 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.52, Z:1.01 [[ 9.99770654e-01 -1.96206627e-02 8.58308795e-03 -3.95771862e+00] [ 1.96239630e-02 9.99807386e-01 -3.00458736e-04 3.51705239e+00] [-8.57553953e-03 4.68824028e-04 9.99963119e-01 1.00714500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58925976399996 meters 0.20575115503677563 Centerline is valid? [False, False] Translation: X:-3.97, Y:3.52, Z:1.01 [[ 9.99842115e-01 -1.77144026e-02 1.39457428e-03 -3.96783503e+00] [ 1.77279946e-02 9.99788485e-01 -1.04260605e-02 3.52037504e+00] [-1.20958787e-03 1.04491374e-02 9.99944675e-01 1.01253407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64925976399996 meters 0.19835682931752005 Centerline is valid? [False, False] Translation: X:-3.97, Y:3.52, Z:1.01 [[ 9.99912550e-01 -1.31170415e-02 1.68415328e-03 -3.96814347e+00] [ 1.31258952e-02 9.99899495e-01 -5.35829160e-03 3.51811647e+00] [-1.61369909e-03 5.37992904e-03 9.99984226e-01 1.01158492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70925976399997 meters 0.19960954906006917 Centerline is valid? [False, False] Translation: X:-3.97, Y:3.52, Z:1.01 [[ 9.99958992e-01 -8.79345812e-03 2.16550073e-03 -3.96914605e+00] [ 8.79482103e-03 9.99961132e-01 -6.20656907e-04 3.51646707e+00] [-2.15995884e-03 6.39676647e-04 9.99997463e-01 1.01113948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76925976399997 meters 0.19066445952890382 Centerline is valid? [False, False] Translation: X:-3.97, Y:3.52, Z:1.01 [[ 9.99961087e-01 -8.73646307e-03 1.22452004e-03 -3.96650676e+00] [ 8.73784212e-03 9.99961191e-01 -1.12541178e-03 3.52055550e+00] [-1.21464040e-03 1.13606765e-03 9.99998617e-01 1.01051026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82925976399997 meters 0.18515801159036804 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.53, Z:1.01 [[ 9.99960447e-01 -8.89327320e-03 1.20058264e-04 -3.96394017e+00] [ 8.89351599e-03 9.99958029e-01 -2.20127676e-03 3.52680361e+00] [-1.00476670e-04 2.20225743e-03 9.99997570e-01 1.01060943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88925976399997 meters 0.1761614230609492 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.53, Z:1.01 [[ 9.99958991e-01 -9.03219030e-03 -6.59570027e-04 -3.96181844e+00] [ 9.03012406e-03 9.99954511e-01 -3.07122714e-03 3.53176515e+00] [ 6.87279932e-04 3.06514519e-03 9.99995066e-01 1.01033184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94925976399998 meters 0.17648370774249258 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.53, Z:1.01 [[ 9.99956830e-01 -9.24040588e-03 -9.76456369e-04 -3.96097051e+00] [ 9.23675438e-03 9.99950568e-01 -3.68012696e-03 3.53474126e+00] [ 1.01041397e-03 3.67094880e-03 9.99992752e-01 1.01036688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00925976399998 meters 0.17268065495206456 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.54, Z:1.01 [[ 9.99982663e-01 -5.73137160e-03 -1.35068368e-03 -3.96013805e+00] [ 5.73035797e-03 9.99983298e-01 -7.53133969e-04 3.54122654e+00] [ 1.35497761e-03 7.45381011e-04 9.99998804e-01 1.01052181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06925976399998 meters 0.1634028164568461 Centerline is valid? [False, False] Translation: X:-3.96, Y:3.55, Z:1.01 [[ 9.99979682e-01 -5.93587992e-03 -2.32418496e-03 -3.95760493e+00] [ 5.93080106e-03 9.99980023e-01 -2.18604972e-03 3.54837777e+00] [ 2.33711466e-03 2.17222102e-03 9.99994910e-01 1.01036226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12925976399995 meters 0.1643050588811506 Centerline is valid? [False, False] Translation: X:-3.94, Y:3.55, Z:1.01 [[ 9.99980946e-01 1.51359894e-04 -6.17126471e-03 -3.94196870e+00] [-1.64293666e-04 9.99997791e-01 -2.09535259e-03 3.55268799e+00] [ 6.17093393e-03 2.09632656e-03 9.99978762e-01 1.01000650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18925976399996 meters 0.1543687102680148 Centerline is valid? [False, False] Translation: X:-3.93, Y:3.56, Z:1.01 [[ 0.99993486 0.00790265 -0.00823519 -3.92635792] [-0.0079373 0.99995975 -0.00418348 3.5581349 ] [ 0.0082018 0.00424857 0.99995734 1.01483526] [ 0. 0. 0. 1. ]] SLAMing on 137.24925976399996 meters 0.14490611568878645 Centerline is valid? [False, False] Translation: X:-3.91, Y:3.57, Z:1.01 [[ 9.99983787e-01 4.85747002e-03 -2.97167774e-03 -3.91119143e+00] [-4.86018264e-03 9.99987779e-01 -9.06285240e-04 3.56820625e+00] [ 2.96723917e-03 9.20713443e-04 9.99995174e-01 1.01497920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30925976399996 meters 0.1413472781323129 Centerline is valid? [False, False] Translation: X:-3.90, Y:3.57, Z:1.01 [[ 9.99996010e-01 -2.11316588e-03 1.87470764e-03 -3.89504601e+00] [ 2.11498203e-03 9.99997296e-01 -9.67311530e-04 3.57363855e+00] [-1.87265848e-03 9.71272644e-04 9.99997775e-01 1.01473570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36925976399996 meters 0.13503914346512805 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.58, Z:1.01 [[ 9.99996790e-01 -2.32347222e-03 1.01021061e-03 -3.89262461e+00] [ 2.32565182e-03 9.99994959e-01 -2.16177689e-03 3.58051507e+00] [-1.00518269e-03 2.16411935e-03 9.99997153e-01 1.01428492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42925976399997 meters 0.13815875391885643 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.59, Z:1.01 [[ 9.99996439e-01 -2.65939317e-03 2.20842808e-04 -3.89083528e+00] [ 2.66010234e-03 9.99991097e-01 -3.27550287e-03 3.58649899e+00] [-2.12129992e-04 3.27607867e-03 9.99994611e-01 1.01457544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48925976399997 meters 0.13308464399975745 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.59, Z:1.01 [[ 9.99996584e-01 -2.61144420e-03 -1.11900983e-04 -3.88901288e+00] [ 2.61101782e-03 9.99989913e-01 -3.65465079e-03 3.58993840e+00] [ 1.21443771e-04 3.65434613e-03 9.99993315e-01 1.01322130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54925976399997 meters 0.1289433341995321 Centerline is valid? [False, False] Translation: X:-3.89, Y:3.59, Z:1.01 [[ 9.99995927e-01 -2.79360324e-03 -5.84747935e-04 -3.88757877e+00] [ 2.79099219e-03 9.99986339e-01 -4.41943576e-03 3.59410686e+00] [ 5.97086097e-04 4.41778573e-03 9.99990063e-01 1.01296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60925976399997 meters 0.1262595539846769 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.60, Z:1.01 [[ 9.99993807e-01 -2.96078777e-03 -1.90233951e-03 -3.88457191e+00] [ 2.94930904e-03 9.99977598e-01 -6.00873997e-03 3.60246099e+00] [ 1.92008749e-03 6.00309217e-03 9.99980138e-01 1.01339191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66925976399997 meters 0.12082285865904946 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.61, Z:1.01 [[ 9.99991832e-01 -3.13305313e-03 -2.55344622e-03 -3.88257609e+00] [ 3.11475604e-03 9.99969670e-01 -7.13839740e-03 3.60856048e+00] [ 2.57573375e-03 7.13038573e-03 9.99971261e-01 1.01297618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72925976399998 meters 0.1212757054427985 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.61, Z:1.01 [[ 9.99989497e-01 -3.52214987e-03 -2.93247012e-03 -3.88158747e+00] [ 3.49814129e-03 9.99960650e-01 -8.15241869e-03 3.61352468e+00] [ 2.96106876e-03 8.14207487e-03 9.99962469e-01 1.01311843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78925976399998 meters 0.11755707760051963 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.62, Z:1.01 [[ 9.99987975e-01 -3.67196422e-03 -3.25055906e-03 -3.88017079e+00] [ 3.64329268e-03 9.99954792e-01 -8.78290372e-03 3.61755285e+00] [ 3.28266262e-03 8.77095537e-03 9.99956146e-01 1.01242373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84925976399995 meters 0.1164229745880533 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.62, Z:1.01 [[ 9.99986448e-01 -3.88433241e-03 -3.46632098e-03 -3.87939824e+00] [ 3.85157781e-03 9.99948340e-01 -9.40655275e-03 3.62082523e+00] [ 3.50268009e-03 9.39307447e-03 9.99949749e-01 1.01226120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90925976399996 meters 0.1136152681522645 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.62, Z:1.01 [[ 9.99993439e-01 3.47322750e-04 -3.60560226e-03 -3.87848282e+00] [-3.67341799e-04 9.99984514e-01 -5.55302997e-03 3.62385573e+00] [ 3.60361773e-03 5.55431803e-03 9.99978082e-01 1.01156589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96925976399996 meters 0.10857598912602517 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.63, Z:1.01 [[ 9.99992227e-01 2.56851757e-04 -3.93439639e-03 -3.87733418e+00] [-2.80701036e-04 9.99981584e-01 -6.06238538e-03 3.62693125e+00] [ 3.93276680e-03 6.06344265e-03 9.99973884e-01 1.01125354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02925976399996 meters 0.10938476727385506 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.63, Z:1.01 [[ 9.99991266e-01 3.24390532e-04 -4.16688408e-03 -3.87637319e+00] [-3.50610422e-04 9.99980136e-01 -6.29325687e-03 3.62864101e+00] [ 4.16475983e-03 6.29466286e-03 9.99971516e-01 1.01085195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08925976399996 meters 0.10756589294734938 Centerline is valid? [False, False] Translation: X:-3.87, Y:3.63, Z:1.01 [[ 0.99997961 -0.00407708 -0.0049151 -3.87469608] [ 0.00402119 0.99992774 -0.01132881 3.63264015] [ 0.00496093 0.01130882 0.99992375 1.01122736] [ 0. 0. 0. 1. ]] SLAMing on 138.14925976399996 meters 0.10556545011948595 Centerline is valid? [False, False] Translation: X:-3.87, Y:3.63, Z:1.01 [[ 0.99997754 -0.00415306 -0.00525977 -3.87376946] [ 0.00409118 0.99992293 -0.01172195 3.63497813] [ 0.00530805 0.01170017 0.99991746 1.01125855] [ 0. 0. 0. 1. ]] SLAMing on 138.20925976399997 meters 0.10599519788020378 Centerline is valid? [False, False] Translation: X:-3.87, Y:3.63, Z:1.01 [[ 0.99997814 -0.00406944 -0.00521085 -3.87385344] [ 0.00400893 0.99992502 -0.01157118 3.63442327] [ 0.00525755 0.01155003 0.99991947 1.01117909] [ 0. 0. 0. 1. ]] SLAMing on 138.26925976399997 meters 0.10532558819024465 Centerline is valid? [False, False] Translation: X:-3.87, Y:3.63, Z:1.01 [[ 9.99978554e-01 -3.88443370e-03 -5.27286631e-03 -3.87362075e+00] [ 3.82434568e-03 9.99928179e-01 -1.13583471e-02 3.63372239e+00] [ 5.31660835e-03 1.13379383e-02 9.99921589e-01 1.01108137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32925976399997 meters 0.10987335929468957 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.63, Z:1.00 [[ 9.99983160e-01 -5.76026163e-03 7.05986343e-04 -3.85963975e+00] [ 5.76125997e-03 9.99982395e-01 -1.42031572e-03 3.62944996e+00] [-6.97792524e-04 1.42435918e-03 9.99998742e-01 1.00398150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38925976399997 meters 0.11087342145711437 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.63, Z:1.00 [[ 9.99986055e-01 -5.22070363e-03 7.95936282e-04 -3.85921579e+00] [ 5.22109592e-03 9.99986249e-01 -4.91589599e-04 3.62653009e+00] [-7.93358894e-04 4.95738404e-04 9.99999562e-01 1.00292192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44925976399998 meters 0.11031442128874436 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.63, Z:1.00 [[ 9.99953693e-01 -9.62135873e-03 2.02753497e-04 -3.85813317e+00] [ 9.62231186e-03 9.99939181e-01 -5.38930202e-03 3.62899953e+00] [-1.50888757e-04 5.39100341e-03 9.99985457e-01 1.00377409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50925976399998 meters 0.11126791728043482 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.63, Z:1.00 [[ 9.99953988e-01 -9.58226959e-03 4.50016767e-04 -3.85922676e+00] [ 9.58442005e-03 9.99941327e-01 -5.04801348e-03 3.62670997e+00] [-4.01618937e-04 5.05209436e-03 9.99987157e-01 1.00443523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56925976399998 meters 0.11344591893110963 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99958416e-01 -9.10266508e-03 5.55160986e-04 -3.85903895e+00] [ 9.10489993e-03 9.99949873e-01 -4.16550233e-03 3.62374894e+00] [-5.17215985e-04 4.17038380e-03 9.99991170e-01 1.00365474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62925976399995 meters 0.11435962957797055 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99960934e-01 -8.82300187e-03 5.33808071e-04 -3.85852750e+00] [ 8.82492222e-03 9.99954181e-01 -3.70894288e-03 3.62273913e+00] [-5.01059603e-04 3.71350880e-03 9.99992979e-01 1.00291451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68925976399996 meters 0.11395167411989242 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99964546e-01 -8.40518226e-03 5.08956637e-04 -3.85780987e+00] [ 8.40668596e-03 9.99960078e-01 -3.02815241e-03 3.62112012e+00] [-4.83484146e-04 3.03232369e-03 9.99995286e-01 1.00184532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74925976399996 meters 0.11325920290133948 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99964959e-01 -8.35855019e-03 4.64088986e-04 -3.85772796e+00] [ 8.35990230e-03 9.99960578e-01 -2.99227820e-03 3.62099460e+00] [-4.39059583e-04 2.99605308e-03 9.99995415e-01 1.00191470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80925976399996 meters 0.11093063076512717 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99963754e-01 -8.50411757e-03 4.12872174e-04 -3.85798507e+00] [ 8.50542361e-03 9.99958475e-01 -3.27193191e-03 3.62164365e+00] [-3.85030136e-04 3.27532497e-03 9.99994562e-01 1.00253886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86925976399996 meters 0.11746696481708366 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99965975e-01 -8.24025692e-03 3.84222287e-04 -3.85763823e+00] [ 8.24132697e-03 9.99961916e-01 -2.87194102e-03 3.62060592e+00] [-3.60542123e-04 2.87500980e-03 9.99995802e-01 1.00208305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92925976399997 meters 0.11276065198059312 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99969750e-01 -7.75653956e-03 5.78674145e-04 -3.85753941e+00] [ 7.75762402e-03 9.99968112e-01 -1.89594981e-03 3.61741424e+00] [-5.63949683e-04 1.90038159e-03 9.99998035e-01 1.00108958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98925976399997 meters 0.11339382660581822 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99970936e-01 -7.59371480e-03 6.79482614e-04 -3.85778232e+00] [ 7.59475442e-03 9.99969972e-01 -1.54075964e-03 3.61596576e+00] [-6.67762122e-04 1.54587536e-03 9.99998582e-01 1.00103387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04925976399997 meters 0.11855683037005184 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99971341e-01 -7.52402142e-03 8.40622415e-04 -3.85817602e+00] [ 7.52509598e-03 9.99970864e-01 -1.28252638e-03 3.61488391e+00] [-8.30948167e-04 1.28881538e-03 9.99998824e-01 1.00098916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10925976399997 meters 0.11907030983760648 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99930081e-01 -1.18221990e-02 2.60637052e-04 -3.85681971e+00] [ 1.18235575e-02 9.99911869e-01 -6.03801395e-03 3.61743388e+00] [-1.89231479e-04 6.04067343e-03 9.99981737e-01 1.00134823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16925976399997 meters 0.12257118275530801 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99929871e-01 -1.18359569e-02 4.04095030e-04 -3.85721558e+00] [ 1.18381367e-02 9.99912505e-01 -5.90266526e-03 3.61691492e+00] [-3.34195982e-04 5.90703504e-03 9.99982497e-01 1.00133651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22925976399998 meters 0.12084375443890592 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99933441e-01 -1.15316811e-02 3.64647096e-04 -3.85669185e+00] [ 1.15334967e-02 9.99918655e-01 -5.44628666e-03 3.61588114e+00] [-3.01812593e-04 5.45012982e-03 9.99985102e-01 1.00066369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28925976399998 meters 0.12387002506519569 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99936826e-01 -1.12288454e-02 5.07601827e-04 -3.85652320e+00] [ 1.12311870e-02 9.99925053e-01 -4.87328843e-03 3.61436920e+00] [-4.52842381e-04 4.87868154e-03 9.99987997e-01 9.99792576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34925976399995 meters 0.12340024523571798 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99937673e-01 -1.11530640e-02 5.08450388e-04 -3.85661648e+00] [ 1.11553581e-02 9.99926458e-01 -4.75769637e-03 3.61388944e+00] [-4.55350103e-04 4.76307179e-03 9.99988553e-01 9.99920958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40925976399996 meters 0.12495098718094987 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.62, Z:1.00 [[ 9.99937639e-01 -1.11656164e-02 2.16469404e-04 -3.85593625e+00] [ 1.11665584e-02 9.99925180e-01 -4.99430304e-03 3.61529091e+00] [-1.60688736e-04 4.99640881e-03 9.99987505e-01 1.00004209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46925976399996 meters 0.12165606299603739 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.62, Z:1.00 [[ 9.99941338e-01 -1.08309101e-02 1.12954297e-04 -3.85494707e+00] [ 1.08313153e-02 9.99930746e-01 -4.60283526e-03 3.61501250e+00] [-6.30935802e-05 4.60378869e-03 9.99989401e-01 9.98946147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52925976399996 meters 0.12065063463702007 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99944434e-01 -1.05416090e-02 5.36730263e-05 -3.85449904e+00] [ 1.05417416e-02 9.99935544e-01 -4.21649315e-03 3.61402049e+00] [-9.22094483e-06 4.21682466e-03 9.99991109e-01 9.98469418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58925976399996 meters 0.12509600968971524 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99944835e-01 -1.05030927e-02 1.05215870e-04 -3.85500654e+00] [ 1.05034332e-02 9.99936603e-01 -4.05798191e-03 3.61285969e+00] [-6.25878396e-05 4.05886318e-03 9.99991761e-01 9.99018075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64925976399996 meters 0.1232734721511341 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99946596e-01 -1.03203230e-02 5.44252386e-04 -3.85607646e+00] [ 1.03220596e-02 9.99941311e-01 -3.29096480e-03 3.60937366e+00] [-5.10256625e-04 3.29640685e-03 9.99994437e-01 9.98905129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70925976399997 meters 0.1286411260552778 Centerline is valid? [False, False] Translation: X:-3.86, Y:3.61, Z:1.00 [[ 9.99949273e-01 -1.00586848e-02 5.24294238e-04 -3.85566088e+00] [ 1.00601554e-02 9.99945242e-01 -2.88221304e-03 3.60845242e+00] [-4.95274256e-04 2.88734132e-03 9.99995709e-01 9.98316152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76925976399997 meters 0.12724707170247465 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99954104e-01 -9.57169946e-03 4.14239897e-04 -3.85460275e+00] [ 9.57257939e-03 9.99951812e-01 -2.17708685e-03 3.60700816e+00] [-3.93381514e-04 2.18095228e-03 9.99997544e-01 9.97082915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82925976399997 meters 0.12603404113702707 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99956880e-01 -9.27878971e-03 3.77503815e-04 -3.85393030e+00] [ 9.27942152e-03 9.99955487e-01 -1.70781380e-03 3.60626366e+00] [-3.61640566e-04 1.71124318e-03 9.99998470e-01 9.96151192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88925976399997 meters 0.12573617112035243 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.60, Z:1.00 [[ 9.99959646e-01 -8.97632903e-03 3.63214497e-04 -3.85354143e+00] [ 8.97675667e-03 9.99958996e-01 -1.19339646e-03 3.60484656e+00] [-3.52487285e-04 1.19660879e-03 9.99999222e-01 9.95556739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94925976399998 meters 0.1278539536469941 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99958500e-01 -9.10445491e-03 3.27696262e-04 -3.85354163e+00] [ 9.10489549e-03 9.99957612e-01 -1.36907911e-03 3.60573695e+00] [-3.15217653e-04 1.37200594e-03 9.99999009e-01 9.95689526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00925976399998 meters 0.1343414418163774 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99958301e-01 -9.12866579e-03 2.53683255e-04 -3.85337538e+00] [ 9.12901601e-03 9.99957328e-01 -1.41548796e-03 3.60618585e+00] [-2.40750913e-04 1.41774482e-03 9.99998966e-01 9.95706852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06925976399998 meters 0.12634351514987716 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99957690e-01 -9.19881568e-03 -8.93253097e-06 -3.85270697e+00] [ 9.19878611e-03 9.99956169e-01 -1.74416460e-03 3.60789936e+00] [ 2.49763881e-05 1.74400864e-03 9.99998479e-01 9.95758948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12925976399995 meters 0.12424999430400298 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99957083e-01 -9.26059142e-03 -2.72003609e-04 -3.85211974e+00] [ 9.26000443e-03 9.99954951e-01 -2.08535047e-03 3.60952099e+00] [ 2.91302934e-04 2.08274222e-03 9.99997789e-01 9.95965481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18925976399996 meters 0.122971875118727 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99958062e-01 -9.15489323e-03 -2.50870296e-04 -3.85203849e+00] [ 9.15440064e-03 9.99956294e-01 -1.89895965e-03 3.60908748e+00] [ 2.68244105e-04 1.89658345e-03 9.99998166e-01 9.95734444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24925976399996 meters 0.13087676193315714 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99958862e-01 -9.06742315e-03 -2.38010740e-04 -3.85193068e+00] [ 9.06701495e-03 9.99957510e-01 -1.66348716e-03 3.60853980e+00] [ 2.53084169e-04 1.66126068e-03 9.99998588e-01 9.95451339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30925976399996 meters 0.12955639360208757 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:1.00 [[ 9.99959246e-01 -9.01910353e-03 -4.02692396e-04 -3.85144187e+00] [ 9.01841196e-03 9.99957910e-01 -1.68737405e-03 3.60897483e+00] [ 4.17894048e-04 1.68367364e-03 9.99998495e-01 9.95368292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36925976399996 meters 0.1303946759966012 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99962093e-01 -8.67207409e-03 -7.79816472e-04 -3.84984600e+00] [ 8.67089272e-03 9.99961273e-01 -1.50576924e-03 3.60967428e+00] [ 7.92844415e-04 1.49895045e-03 9.99998562e-01 9.94431573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42925976399997 meters 0.12765301641592514 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99961775e-01 -8.69472568e-03 -9.21638144e-04 -3.84942300e+00] [ 8.69316626e-03 9.99960798e-01 -1.68273217e-03 3.61068537e+00] [ 9.36232909e-04 1.67465590e-03 9.99998159e-01 9.94381964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48925976399997 meters 0.12513638646292746 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99961215e-01 -8.74189323e-03 -1.07098406e-03 -3.84914813e+00] [ 8.73988642e-03 9.99960068e-01 -1.86436686e-03 3.61152186e+00] [ 1.08723939e-03 1.85493427e-03 9.99997689e-01 9.94575323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54925976399997 meters 0.12388203676662037 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99961699e-01 -8.69162547e-03 -1.02772782e-03 -3.84905207e+00] [ 8.68976877e-03 9.99960628e-01 -1.79747674e-03 3.61160554e+00] [ 1.04331035e-03 1.78847717e-03 9.99997856e-01 9.94273200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60925976399997 meters 0.12273269115380678 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99961646e-01 -8.69373374e-03 -1.06050168e-03 -3.84873221e+00] [ 8.69176836e-03 9.99960526e-01 -1.84399011e-03 3.61232191e+00] [ 1.07649097e-03 1.83470175e-03 9.99997738e-01 9.93939358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66925976399997 meters 0.12239095886649978 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99961135e-01 -8.75373750e-03 -1.04940132e-03 -3.84888596e+00] [ 8.75168275e-03 9.99959808e-01 -1.94687817e-03 3.61262657e+00] [ 1.06640160e-03 1.93761848e-03 9.99997554e-01 9.94153804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72925976399998 meters 0.1266764029745986 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99963199e-01 -8.50618149e-03 -1.11622515e-03 -3.84813287e+00] [ 8.50434186e-03 9.99962488e-01 -1.64260897e-03 3.61237419e+00] [ 1.13015561e-03 1.63305576e-03 9.99998028e-01 9.93285607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78925976399998 meters 0.1257087343416163 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99965869e-01 -8.16849529e-03 -1.23991952e-03 -3.84711903e+00] [ 8.16698868e-03 9.99965911e-01 -1.21533101e-03 3.61191327e+00] [ 1.24980467e-03 1.20516312e-03 9.99998493e-01 9.92227545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84925976399995 meters 0.1250831398827648 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99968479e-01 -7.84512094e-03 -1.22293504e-03 -3.84678408e+00] [ 7.84427023e-03 9.99968989e-01 -6.98878088e-04 3.61039705e+00] [ 1.22837990e-03 6.89263026e-04 9.99999008e-01 9.91621724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90925976399996 meters 0.12577727598063757 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99969336e-01 -7.74774128e-03 -1.14012652e-03 -3.84698339e+00] [ 7.74723664e-03 9.99969890e-01 -4.46375641e-04 3.60942344e+00] [ 1.14355059e-03 4.37529123e-04 9.99999250e-01 9.91561030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96925976399996 meters 0.12664043410247847 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99971526e-01 -7.47006098e-03 -1.07050340e-03 -3.84681559e+00] [ 7.47009369e-03 9.99972098e-01 2.65635597e-05 3.60796867e+00] [ 1.07027510e-03 -3.45595641e-05 9.99999427e-01 9.91004906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02925976399996 meters 0.1266462607552565 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99970495e-01 -7.59588337e-03 -1.14527710e-03 -3.84682642e+00] [ 7.59561485e-03 9.99971124e-01 -2.38625687e-04 3.60888159e+00] [ 1.14705661e-03 2.29919562e-04 9.99999316e-01 9.91346739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08925976399996 meters 0.12720597216577692 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99973576e-01 -7.18142138e-03 -1.12884218e-03 -3.84633920e+00] [ 7.18188122e-03 9.99974128e-01 4.03833906e-04 3.60712782e+00] [ 1.12591288e-03 -4.11930445e-04 9.99999281e-01 9.90514085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14925976399996 meters 0.12694500684461352 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99976176e-01 -6.82351146e-03 -1.04271316e-03 -3.84615375e+00] [ 6.82460022e-03 9.99976167e-01 1.04419362e-03 3.60518820e+00] [ 1.03556324e-03 -1.05128485e-03 9.99998911e-01 9.89832538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20925976399997 meters 0.12307733271910318 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99975720e-01 -6.82279028e-03 -1.41747268e-03 -3.84526442e+00] [ 6.82386940e-03 9.99976430e-01 7.57864613e-04 3.60670755e+00] [ 1.41226852e-03 -7.67518860e-04 9.99998708e-01 9.89984904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26925976399997 meters 0.12306313730502742 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.61, Z:0.99 [[ 9.99976568e-01 -6.70708951e-03 -1.37025159e-03 -3.84524048e+00] [ 6.70841062e-03 9.99977036e-01 9.61829541e-04 3.60619906e+00] [ 1.36376904e-03 -9.70999214e-04 9.99998599e-01 9.89742866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32925976399997 meters 0.1321163631549779 Centerline is valid? [False, False] Translation: X:-3.85, Y:3.60, Z:0.99 [[ 9.99979922e-01 -6.27222239e-03 -9.02207470e-04 -3.84597133e+00] [ 6.27405615e-03 9.99978228e-01 2.04426349e-03 3.60157535e+00] [ 8.89365752e-04 -2.04988294e-03 9.99997504e-01 9.89060986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38925976399997 meters 0.13003930336905412 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99938745e-01 -1.08945247e-02 -1.95337484e-03 -3.84431215e+00] [ 1.08878294e-02 9.99934925e-01 -3.40605537e-03 3.60666838e+00] [ 1.99035507e-03 3.38457872e-03 9.99992292e-01 9.90556933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44925976399998 meters 0.12465788605234226 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99938669e-01 -1.08973582e-02 -1.97612691e-03 -3.84419344e+00] [ 1.08905233e-02 9.99934789e-01 -3.43715250e-03 3.60704264e+00] [ 2.01345392e-03 3.41542064e-03 9.99992140e-01 9.90471859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50925976399998 meters 0.12367897408158168 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99940258e-01 -1.07447553e-02 -2.00776883e-03 -3.84372865e+00] [ 1.07381048e-02 9.99936918e-01 -3.29434420e-03 3.60711285e+00] [ 2.04303909e-03 3.27258776e-03 9.99992558e-01 9.89912244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56925976399998 meters 0.12549761979557322 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99938354e-01 -1.09163433e-02 -2.03006060e-03 -3.84329918e+00] [ 1.09090161e-02 9.99934065e-01 -3.58607283e-03 3.60919797e+00] [ 2.06907355e-03 3.56370580e-03 9.99991509e-01 9.89377999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62925976399995 meters 0.12390037591919124 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99937406e-01 -1.09327524e-02 -2.37874991e-03 -3.84194172e+00] [ 1.09232903e-02 9.99932517e-01 -3.95505159e-03 3.61213404e+00] [ 2.42182898e-03 3.92882026e-03 9.99989350e-01 9.88704321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68925976399996 meters 0.11773867475634188 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.61, Z:0.99 [[ 9.99974955e-01 -6.66791457e-03 -2.37228534e-03 -3.84151956e+00] [ 6.66811985e-03 9.99977765e-01 7.86367659e-05 3.61414032e+00] [ 2.37170825e-03 -9.44534795e-05 9.99997183e-01 9.88006252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74925976399996 meters 0.11893015054622894 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.62, Z:0.99 [[ 9.99975193e-01 -6.56325302e-03 -2.55658374e-03 -3.84074696e+00] [ 6.56326323e-03 9.99978462e-01 -4.39617314e-06 3.61514024e+00] [ 2.55655753e-03 -1.23834680e-05 9.99996732e-01 9.87612892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80925976399996 meters 0.11515135883050387 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.62, Z:0.99 [[ 9.99972739e-01 -6.78233382e-03 -2.91894648e-03 -3.83985211e+00] [ 6.78030364e-03 9.99976765e-01 -7.04854758e-04 3.61866004e+00] [ 2.92365922e-03 6.85044199e-04 9.99995491e-01 9.87709717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86925976399996 meters 0.11452811876279295 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.62, Z:0.99 [[ 9.99972078e-01 -6.81267872e-03 -3.07082292e-03 -3.83917577e+00] [ 6.81000993e-03 9.99976426e-01 -8.78699223e-04 3.62013962e+00] [ 3.07673682e-03 8.57762354e-04 9.99994899e-01 9.87298003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92925976399997 meters 0.11948845133437513 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.62, Z:0.99 [[ 9.99971124e-01 -6.83622970e-03 -3.31908866e-03 -3.83808773e+00] [ 6.83223484e-03 9.99975924e-01 -1.21345048e-03 3.62271549e+00] [ 3.32730417e-03 1.19073865e-03 9.99993756e-01 9.86700937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98925976399997 meters 0.11429361027389835 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.62, Z:0.99 [[ 9.99970639e-01 -6.87968913e-03 -3.37517834e-03 -3.83759480e+00] [ 6.87502418e-03 9.99975398e-01 -1.39179339e-03 3.62415787e+00] [ 3.38467041e-03 1.36854809e-03 9.99993336e-01 9.86211878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04925976399997 meters 0.11460226106408977 Centerline is valid? [False, False] Translation: X:-3.84, Y:3.63, Z:0.99 [[ 9.99962690e-01 -7.48510675e-03 -4.31172602e-03 -3.83629744e+00] [ 7.46989789e-03 9.99965860e-01 -3.53269606e-03 3.63194277e+00] [ 4.33802143e-03 3.50035610e-03 9.99984464e-01 9.88371677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10925976399997 meters 0.10752360640196022 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.64, Z:0.99 [[ 0.99995519 -0.00789548 -0.00522359 -3.83431721] [ 0.0078668 0.999954 -0.00548816 3.64060363] [ 0.00526668 0.00544682 0.9999713 0.989099 ] [ 0. 0. 0. 1. ]] SLAMing on 142.16925976399997 meters 0.10661893202826221 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.65, Z:0.99 [[ 0.99995194 -0.007845 -0.00587979 -3.83198403] [ 0.00780804 0.99994978 -0.00628333 3.64588261] [ 0.00592879 0.00623711 0.99996297 0.98809296] [ 0. 0. 0. 1. ]] SLAMing on 142.22925976399998 meters 0.10424342581866237 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.65, Z:0.99 [[ 0.99994942 -0.00787643 -0.0062553 -3.83068959] [ 0.00783386 0.99994618 -0.00680179 3.64906594] [ 0.00630854 0.00675244 0.9999573 0.98771493] [ 0. 0. 0. 1. ]] SLAMing on 142.28925976399998 meters 0.09736550279337189 Centerline is valid? [False, True] Translation: X:-3.83, Y:3.66, Z:0.99 [[ 9.99966249e-01 -3.84416813e-03 -7.26111378e-03 -3.82800493e+00] [ 3.81400152e-03 9.99984058e-01 -4.16383156e-03 3.65898009e+00] [ 7.27700449e-03 4.13599712e-03 9.99964969e-01 9.87069270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34925976399995 meters 0.09120766529686966 Centerline is valid? [True, True] Translation: X:-3.77, Y:3.68, Z:0.98 [[ 9.99942678e-01 7.60312765e-03 -7.53883879e-03 -3.76769515e+00] [-7.60121025e-03 9.99971070e-01 2.82956867e-04 3.67758733e+00] [ 7.54077205e-03 -2.25636348e-04 9.99971543e-01 9.81701074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40925976399996 meters 0.0887259866521608 Centerline is valid? [True, True] Translation: X:-3.71, Y:3.69, Z:0.98 [[ 9.99823845e-01 1.72325140e-02 -7.43776117e-03 -3.70759569e+00] [-1.72309143e-02 9.99851498e-01 2.79114126e-04 3.69242324e+00] [ 7.44146648e-03 -1.50905534e-04 9.99972301e-01 9.76370281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46925976399996 meters 0.08552243968962607 Centerline is valid? [True, True] Translation: X:-3.65, Y:3.72, Z:0.97 [[ 9.99538269e-01 2.90990087e-02 -8.74622675e-03 -3.64631919e+00] [-2.90972506e-02 9.99576531e-01 3.28221621e-04 3.71707277e+00] [ 8.75207392e-03 -7.35789196e-05 9.99961697e-01 9.72830542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52925976399996 meters 0.08613606105259738 Centerline is valid? [True, True] Translation: X:-3.59, Y:3.71, Z:0.97 [[ 9.99592020e-01 2.66450855e-02 -1.02875327e-02 -3.58809064e+00] [-2.66425868e-02 9.99644951e-01 3.79882266e-04 3.71067667e+00] [ 1.02940021e-02 -1.05640798e-04 9.99947010e-01 9.71142554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58925976399996 meters 0.08712129359373937 Centerline is valid? [True, True] Translation: X:-3.53, Y:3.70, Z:0.97 [[ 9.99606760e-01 2.51121475e-02 -1.24782116e-02 -3.53047179e+00] [-2.51083217e-02 9.99684629e-01 4.63187143e-04 3.70449799e+00] [ 1.24859080e-02 -1.49698047e-04 9.99922037e-01 9.65004283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64925976399996 meters 0.08830149608287562 Centerline is valid? [True, True] Translation: X:-3.47, Y:3.69, Z:0.96 [[ 9.99701919e-01 2.09650359e-02 -1.25116257e-02 -3.47246801e+00] [-2.09609343e-02 9.99780190e-01 4.58875777e-04 3.69242576e+00] [ 1.25184959e-02 -1.96483629e-04 9.99921621e-01 9.59872653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70925976399997 meters 0.08941231431927986 Centerline is valid? [True, True] Translation: X:-3.41, Y:3.69, Z:0.96 [[ 9.99749024e-01 1.71982096e-02 -1.43565706e-02 -3.41278675e+00] [-1.71923709e-02 9.99852060e-01 5.30017955e-04 3.68552871e+00] [ 1.43635621e-02 -2.83061445e-04 9.99896799e-01 9.56659721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76925976399997 meters 0.09184540212706498 Centerline is valid? [True, True] Translation: X:-3.35, Y:3.67, Z:0.95 [[ 9.99805209e-01 9.87182006e-03 -1.70906760e-02 -3.35275284e+00] [-9.86246768e-03 9.99951165e-01 6.31421221e-04 3.67425222e+00] [ 1.70960746e-02 -4.62741987e-04 9.99853744e-01 9.54897564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82925976399997 meters 0.09569275263587906 Centerline is valid? [True, True] Translation: X:-3.29, Y:3.66, Z:0.95 [[ 9.99805141e-01 3.07171367e-03 -1.94998463e-02 -3.29283197e+00] [-3.05824445e-03 9.99995064e-01 7.20517798e-04 3.66102521e+00] [ 1.95019633e-02 -6.60742102e-04 9.99809600e-01 9.48860552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88925976399997 meters 0.09591339523309927 Centerline is valid? [True, True] Translation: X:-3.23, Y:3.66, Z:0.95 [[ 9.99799460e-01 2.02153120e-03 -1.99237068e-02 -3.23398235e+00] [-2.00744015e-03 9.99997721e-01 7.27224735e-04 3.65773887e+00] [ 1.99251315e-02 -6.87083248e-04 9.99801239e-01 9.47953909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94925976399998 meters 0.09731485869783776 Centerline is valid? [True, True] Translation: X:-3.18, Y:3.65, Z:0.94 [[ 9.99771511e-01 9.20909795e-04 -2.13559838e-02 -3.17619288e+00] [-9.04431433e-04 9.99999286e-01 7.81249749e-04 3.65081163e+00] [ 2.13566880e-02 -7.61756219e-04 9.99771630e-01 9.42664623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00925976399998 meters 0.09875042880230771 Centerline is valid? [True, True] Translation: X:-3.12, Y:3.64, Z:0.94 [[ 9.99750881e-01 -1.76179435e-03 -2.22502230e-02 -3.11746515e+00] [ 1.78032696e-03 9.99998085e-01 8.13136272e-04 3.64104153e+00] [ 2.22487478e-02 -8.52546376e-04 9.99752102e-01 9.38724429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06925976399998 meters 0.09948992661401353 Centerline is valid? [True, True] Translation: X:-3.06, Y:3.64, Z:0.94 [[ 9.99740979e-01 -3.43498709e-03 -2.24983500e-02 -3.05941954e+00] [ 3.45430176e-03 9.99993698e-01 8.19685888e-04 3.63505886e+00] [ 2.24953926e-02 -8.97189662e-04 9.99746544e-01 9.37274704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12925976399995 meters 0.10295944790171578 Centerline is valid? [True, False] Translation: X:-3.07, Y:3.63, Z:0.93 [[ 9.99969083e-01 -6.96469839e-03 -3.65055612e-03 -3.06672202e+00] [ 6.97065237e-03 9.99974391e-01 1.62080149e-03 3.63075717e+00] [ 3.63917424e-03 -1.64619813e-03 9.99992023e-01 9.27549061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18925976399996 meters 0.10350162247714342 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.63, Z:0.93 [[ 9.99972867e-01 -6.52907040e-03 -3.41121040e-03 -3.06716377e+00] [ 6.53815022e-03 9.99975095e-01 2.65742246e-03 3.62646601e+00] [ 3.39377495e-03 -2.67965337e-03 9.99990651e-01 9.27193725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24925976399996 meters 0.10757574445432427 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.62, Z:0.93 [[ 9.99943090e-01 -1.01952110e-02 -3.14245744e-03 -3.06775336e+00] [ 1.01949438e-02 9.99948025e-01 -1.01036512e-04 3.61959172e+00] [ 3.14332420e-03 6.89935845e-05 9.99995057e-01 9.27081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30925976399996 meters 0.10876484549496415 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.61, Z:0.93 [[ 9.99899083e-01 -1.38915335e-02 -2.97463344e-03 -3.06825350e+00] [ 1.38821398e-02 9.99898659e-01 -3.15565172e-03 3.61359194e+00] [ 3.01816883e-03 3.11403898e-03 9.99990597e-01 9.27352514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36925976399996 meters 0.11263700844488504 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.61, Z:0.93 [[ 9.99910716e-01 -1.31430299e-02 -2.41273012e-03 -3.06899273e+00] [ 1.31400415e-02 9.99912884e-01 -1.25028533e-03 3.60582270e+00] [ 2.42895247e-03 1.21847033e-03 9.99996308e-01 9.26272733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42925976399997 meters 0.11452378319998177 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.60, Z:0.93 [[ 9.99853580e-01 -1.69623922e-02 -2.25725566e-03 -3.06991795e+00] [ 1.69525288e-02 9.99846966e-01 -4.31928757e-03 3.59950970e+00] [ 2.33017567e-03 4.28038895e-03 9.99988124e-01 9.27266076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48925976399997 meters 0.12205476949944957 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.59, Z:0.93 [[ 9.99863038e-01 -1.64686608e-02 -1.63992328e-03 -3.07126510e+00] [ 1.64643446e-02 9.99861043e-01 -2.61159710e-03 3.59206546e+00] [ 1.68270490e-03 2.58423915e-03 9.99995245e-01 9.27011507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54925976399997 meters 0.12804275095514034 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.58, Z:0.93 [[ 9.99797716e-01 -2.00900864e-02 -9.56698698e-04 -3.07275577e+00] [ 2.00852589e-02 9.99786685e-01 -4.81326751e-03 3.58214782e+00] [ 1.05319358e-03 4.79307832e-03 9.99987959e-01 9.27326465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60925976399997 meters 0.13210161948973226 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.57, Z:0.93 [[ 9.99810609e-01 -1.94613828e-02 -2.71228154e-05 -3.07427109e+00] [ 1.94612555e-02 9.99807528e-01 -2.48339985e-03 3.57281383e+00] [ 7.54479902e-05 2.48240167e-03 9.99996916e-01 9.25979259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66925976399997 meters 0.13455365846804146 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.56, Z:0.92 [[ 9.99818718e-01 -1.90162153e-02 9.56169961e-04 -3.07607420e+00] [ 1.90162842e-02 9.99819172e-01 -6.30153650e-05 3.56340652e+00] [-9.54798745e-04 8.11867412e-05 9.99999541e-01 9.24685972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72925976399998 meters 0.1406868777051607 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.56, Z:0.93 [[ 9.99740564e-01 -2.27419368e-02 1.26879941e-03 -3.07717035e+00] [ 2.27453520e-02 9.99737521e-01 -2.74553734e-03 3.55597249e+00] [-1.20602754e-03 2.77368434e-03 9.99995426e-01 9.25453598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78925976399998 meters 0.14622227961812678 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.55, Z:0.92 [[ 9.99752625e-01 -2.21726265e-02 1.75054820e-03 -3.07811762e+00] [ 2.21745795e-02 9.99753504e-01 -1.10423876e-03 3.54929156e+00] [-1.72563283e-03 1.14278326e-03 9.99997858e-01 9.24964836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84925976399995 meters 0.15722570266102318 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.54, Z:0.92 [[ 9.99772698e-01 -2.11934577e-02 2.32168480e-03 -3.07877168e+00] [ 2.11904782e-02 9.99774611e-01 1.30048512e-03 3.54002494e+00] [-2.34872329e-03 -1.25099191e-03 9.99996459e-01 9.23643790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90925976399996 meters 0.14390614125932905 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.54, Z:0.92 [[ 9.99774153e-01 -2.10591213e-02 2.85588560e-03 -3.08074963e+00] [ 2.10535846e-02 9.99776437e-01 1.95511457e-03 3.53502996e+00] [-2.89642013e-03 -1.89454639e-03 9.99994011e-01 9.24700597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96925976399996 meters 0.16517572588964913 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.53, Z:0.93 [[ 9.99767532e-01 -2.12238799e-02 3.79860362e-03 -3.08417878e+00] [ 2.12136589e-02 9.99771289e-01 2.71108566e-03 3.52766528e+00] [-3.85527459e-03 -2.62987314e-03 9.99989110e-01 9.26850625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02925976399996 meters 0.1567125838840309 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.52, Z:0.93 [[ 9.99762017e-01 -2.13349746e-02 4.55292368e-03 -3.08693591e+00] [ 2.13197649e-02 9.99767050e-01 3.36343502e-03 3.52202268e+00] [-4.62362188e-03 -3.26556732e-03 9.99983979e-01 9.28435670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08925976399996 meters 0.15890434259812763 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.52, Z:0.93 [[ 9.99659227e-01 -2.56392095e-02 4.90513975e-03 -3.08898225e+00] [ 2.56423311e-02 9.99671016e-01 -5.74542469e-04 3.51778633e+00] [-4.88879523e-03 7.00125898e-04 9.99987805e-01 9.30595747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14925976399996 meters 0.16152489349618965 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.52, Z:0.93 [[ 9.99657554e-01 -2.56625498e-02 5.11946722e-03 -3.08998608e+00] [ 2.56649773e-02 9.99670517e-01 -4.09028324e-04 3.51618200e+00] [-5.10728373e-03 5.40279264e-04 9.99986812e-01 9.31253406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20925976399997 meters 0.1594497557221374 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.51, Z:0.93 [[ 0.99954252 -0.02978005 0.0052829 -3.09068962] [ 0.02980287 0.99954657 -0.00429439 3.51326856] [-0.00515262 0.00444987 0.99997682 0.93209533] [ 0. 0. 0. 1. ]] SLAMing on 144.26925976399997 meters 0.16614737164473276 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.51, Z:0.93 [[ 0.9995333 -0.02996986 0.00591543 -3.09286971] [ 0.02999352 0.99954228 -0.00395184 3.50979575] [-0.00579429 0.00412742 0.9999747 0.9331102 ] [ 0. 0. 0. 1. ]] SLAMing on 144.32925976399997 meters 0.1676305987965382 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.51, Z:0.93 [[ 0.9995147 -0.03039705 0.00681024 -3.09605043] [ 0.03042363 0.99952974 -0.00383383 3.5056156 ] [-0.0066905 0.00403916 0.99996946 0.9349466 ] [ 0. 0. 0. 1. ]] SLAMing on 144.38925976399997 meters 0.17377800057744971 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.50, Z:0.94 [[ 0.99948626 -0.0310872 0.00779714 -3.09955563] [ 0.03111708 0.99950875 -0.00374075 3.50203741] [-0.00767702 0.00398145 0.99996261 0.93700276] [ 0. 0. 0. 1. ]] SLAMing on 144.44925976399998 meters 0.18537747478541342 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.50, Z:0.94 [[ 0.99931457 -0.03598146 0.00870208 -3.10254073] [ 0.03605223 0.99931694 -0.00811782 3.4995148 ] [-0.00840405 0.00842598 0.99992918 0.93895834] [ 0. 0. 0. 1. ]] SLAMing on 144.50925976399998 meters 0.18546002863364247 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.50, Z:0.94 [[ 0.99930799 -0.03613434 0.00882377 -3.10303573] [ 0.03620743 0.99931009 -0.00826875 3.49954997] [-0.00851889 0.00858251 0.99992688 0.93924758] [ 0. 0. 0. 1. ]] SLAMing on 144.56925976399998 meters 0.18427936633664013 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.94 [[ 0.99943281 -0.03234935 0.00935817 -3.10526592] [ 0.03239018 0.99946629 -0.00424438 3.498884 ] [-0.00921587 0.00454509 0.9999472 0.94016302] [ 0. 0. 0. 1. ]] SLAMing on 144.62925976399995 meters 0.18102792780604046 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.94 [[ 0.99950274 -0.02617425 0.0175835 -3.11763031] [ 0.02629928 0.99963018 -0.0069172 3.49902505] [-0.01739594 0.00737619 0.99982147 0.93514252] [ 0. 0. 0. 1. ]] SLAMing on 144.68925976399996 meters 0.18689349246099635 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.94 [[ 0.99976643 -0.01882354 0.01061903 -3.12800889] [ 0.01894545 0.9997544 -0.01149843 3.50313053] [-0.01039998 0.01169693 0.9998775 0.93959924] [ 0. 0. 0. 1. ]] SLAMing on 144.74925976399996 meters 0.176119345670906 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.94 [[ 9.99889301e-01 -9.94283714e-03 1.10691038e-02 -3.12838623e+00] [ 9.96688512e-03 9.99948083e-01 -2.11949050e-03 3.50118639e+00] [-1.10474554e-02 2.22958036e-03 9.99936489e-01 9.38011721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80925976399996 meters 0.18052534041974766 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.94 [[ 9.99892520e-01 -9.80625145e-03 1.08988634e-02 -3.12751008e+00] [ 9.83021311e-03 9.99949377e-01 -2.14715416e-03 3.50219988e+00] [-1.08772561e-02 2.25406153e-03 9.99938300e-01 9.37343855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86925976399996 meters 0.17213599058637283 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.94 [[ 9.99895884e-01 -9.52686431e-03 1.08378958e-02 -3.12656377e+00] [ 9.54796148e-03 9.99952619e-01 -1.89653616e-03 3.50249502e+00] [-1.08193143e-02 1.99981852e-03 9.99939470e-01 9.36151920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92925976399997 meters 0.18092949364633168 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.94 [[ 9.99894333e-01 -9.76680518e-03 1.07671800e-02 -3.12614715e+00] [ 9.79235468e-03 9.99949356e-01 -2.32274362e-03 3.50493702e+00] [-1.07439489e-02 2.42793423e-03 9.99939335e-01 9.35872660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98925976399997 meters 0.17719608154254954 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.51, Z:0.94 [[ 9.99892461e-01 -9.85026318e-03 1.08645788e-02 -3.12628661e+00] [ 9.87688343e-03 9.99948344e-01 -2.39925733e-03 3.50551743e+00] [-1.08403843e-02 2.50630750e-03 9.99938100e-01 9.35749459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04925976399997 meters 0.20079803479785285 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.51, Z:0.94 [[ 9.99894029e-01 -9.89140964e-03 1.06813235e-02 -3.12564775e+00] [ 9.92052627e-03 9.99947209e-01 -2.67640338e-03 3.50713578e+00] [-1.06542862e-02 2.78208411e-03 9.99939371e-01 9.35542288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10925976399997 meters 0.18292196070104552 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.51, Z:0.94 [[ 9.99891708e-01 -1.00857334e-02 1.07168475e-02 -3.12561457e+00] [ 1.01188934e-02 9.99944168e-01 -3.04449085e-03 3.50887195e+00] [-1.06855432e-02 3.15260379e-03 9.99937938e-01 9.35444084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16925976399997 meters 0.19030705996878924 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.51, Z:0.94 [[ 9.99892419e-01 -9.91497287e-03 1.08093821e-02 -3.12559800e+00] [ 9.94540908e-03 9.99946719e-01 -2.76561176e-03 3.50813466e+00] [-1.07813852e-02 2.87281797e-03 9.99937752e-01 9.35055524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22925976399998 meters 0.18681333191948973 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.51, Z:0.94 [[ 9.99894430e-01 -9.91125776e-03 1.06252519e-02 -3.12507914e+00] [ 9.94252196e-03 9.99946385e-01 -2.89366851e-03 3.50901692e+00] [-1.05960023e-02 2.99900483e-03 9.99939364e-01 9.35033946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28925976399998 meters 0.1860568221115906 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.51, Z:0.93 [[ 9.99899659e-01 -9.52403937e-03 1.04864051e-02 -3.12396670e+00] [ 9.54984012e-03 9.99951488e-01 -2.41308028e-03 3.50857845e+00] [-1.04629141e-02 2.51298164e-03 9.99942105e-01 9.33828271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34925976399995 meters 0.187688016843593 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.51, Z:0.93 [[ 9.99901556e-01 -9.08708003e-03 1.06912545e-02 -3.12390484e+00] [ 9.10472986e-03 9.99957266e-01 -1.60335284e-03 3.50611923e+00] [-1.06762278e-02 1.70053598e-03 9.99941561e-01 9.32867976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40925976399996 meters 0.18814130613150082 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99900543e-01 -8.91944652e-03 1.09246235e-02 -3.12456668e+00] [ 8.93218684e-03 9.99959482e-01 -1.11796442e-03 3.50398216e+00] [-1.09142092e-02 1.21543401e-03 9.99939700e-01 9.33009169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46925976399996 meters 0.18697020252790073 Centerline is valid? [False, False] Translation: X:-3.13, Y:3.50, Z:0.93 [[ 9.99899691e-01 -8.94431810e-03 1.09821454e-02 -3.12509367e+00] [ 8.95637426e-03 9.99959341e-01 -1.04910555e-03 3.50325658e+00] [-1.09723153e-02 1.14736051e-03 9.99939144e-01 9.33587232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52925976399996 meters 0.1835789559743559 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99901033e-01 -8.77036418e-03 1.10001868e-02 -3.12484262e+00] [ 8.77917028e-03 9.99961179e-01 -7.52508488e-04 3.50269078e+00] [-1.09931599e-02 8.49006528e-04 9.99939213e-01 9.33121379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58925976399996 meters 0.18792413607930233 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99903041e-01 -8.04240525e-03 1.13678967e-02 -3.12461051e+00] [ 8.03614944e-03 9.99967532e-01 5.95876974e-04 3.49855963e+00] [-1.13723199e-02 -5.04465082e-04 9.99935206e-01 9.31237816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64925976399996 meters 0.18417259365899594 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99906942e-01 -7.95106733e-03 1.10854628e-02 -3.12372744e+00] [ 7.94598585e-03 9.99968304e-01 5.02360538e-04 3.49957399e+00] [-1.10891057e-02 -4.14228859e-04 9.99938428e-01 9.30972229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70925976399997 meters 0.1718378841179527 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99909439e-01 -8.15519725e-03 1.07054178e-02 -3.12330731e+00] [ 8.15721057e-03 9.99966719e-01 -1.44413529e-04 3.50178053e+00] [-1.07038838e-02 2.31726798e-04 9.99942685e-01 9.31898430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76925976399997 meters 0.1718924301292206 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99912856e-01 -8.13774602e-03 1.03950966e-02 -3.12262547e+00] [ 8.14279857e-03 9.99966748e-01 -4.43819399e-04 3.50306755e+00] [-1.03911392e-02 5.28425900e-04 9.99945871e-01 9.32123207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82925976399997 meters 0.16899341642316662 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99916272e-01 -8.04041819e-03 1.01390687e-02 -3.12164703e+00] [ 8.04655587e-03 9.99967466e-01 -5.64700943e-04 3.50438445e+00] [-1.01341984e-02 6.46238245e-04 9.99948439e-01 9.31651779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88925976399997 meters 0.17327565370936993 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99918591e-01 -7.77241208e-03 1.01193284e-02 -3.12086773e+00] [ 7.77465103e-03 9.99969760e-01 -1.81934293e-04 3.50418954e+00] [-1.01176083e-02 2.60593729e-04 9.99948782e-01 9.30519236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94925976399998 meters 0.17772109161075184 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99919954e-01 -7.50067137e-03 1.01895089e-02 -3.12087180e+00] [ 7.49807454e-03 9.99971846e-01 2.93031156e-04 3.50259453e+00] [-1.01914200e-02 -2.16606002e-04 9.99948043e-01 9.30201034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00925976399998 meters 0.17634554454258344 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99915383e-01 -7.90936194e-03 1.03280998e-02 -3.12200214e+00] [ 7.91241604e-03 9.99968664e-01 -2.54879332e-04 3.50357446e+00] [-1.03257602e-02 3.36577987e-04 9.99946631e-01 9.31487584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06925976399995 meters 0.17210280441678194 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99913086e-01 -7.89001799e-03 1.05626212e-02 -3.12266068e+00] [ 7.89136132e-03 9.99968859e-01 -8.55058457e-05 3.50268892e+00] [-1.05616176e-02 1.68851874e-04 9.99944210e-01 9.31598566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12925976399995 meters 0.17440966718563589 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99912155e-01 -7.66927567e-03 1.08103629e-02 -3.12270455e+00] [ 7.66538343e-03 9.99970540e-01 4.01435662e-04 3.50154756e+00] [-1.08131231e-02 -3.18534821e-04 9.99941486e-01 9.30664957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18925976399996 meters 0.19198502449029697 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.50, Z:0.93 [[ 9.99915286e-01 -7.38840209e-03 1.07159647e-02 -3.12156474e+00] [ 7.38043049e-03 9.99972457e-01 7.83254803e-04 3.50170911e+00] [-1.07214566e-02 -7.04100017e-04 9.99942276e-01 9.29264934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24925976399996 meters 0.17413504266299987 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.51, Z:0.93 [[ 9.99920238e-01 -7.64209010e-03 1.00556135e-02 -3.12057742e+00] [ 7.64500191e-03 9.99970745e-01 -2.51163258e-04 3.50537463e+00] [-1.00533999e-02 3.28018410e-04 9.99949409e-01 9.30488478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30925976399996 meters 0.16917948424111248 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.51, Z:0.93 [[ 9.99921940e-01 -8.00947800e-03 9.58973072e-03 -3.12015562e+00] [ 8.02316018e-03 9.99966849e-01 -1.38913256e-03 3.50886378e+00] [-9.57828658e-03 1.46596407e-03 9.99953053e-01 9.31927409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36925976399996 meters 0.18294742905110978 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.51, Z:0.93 [[ 9.99930205e-01 -7.85033336e-03 8.82931903e-03 -3.11779633e+00] [ 7.86909213e-03 9.99966850e-01 -2.09187003e-03 3.51321299e+00] [-8.81260446e-03 2.16120275e-03 9.99958833e-01 9.31175010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42925976399997 meters 0.1694219775312274 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99934243e-01 -7.73979525e-03 8.46202404e-03 -3.11616832e+00] [ 7.75958067e-03 9.99967231e-01 -2.30781718e-03 3.51573724e+00] [-8.44388472e-03 2.37332718e-03 9.99961533e-01 9.30144757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48925976399997 meters 0.1670504207476948 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99932688e-01 -7.91104330e-03 8.48737456e-03 -3.11661427e+00] [ 7.93349010e-03 9.99965112e-01 -2.61432832e-03 3.51645352e+00] [-8.46639639e-03 2.68148685e-03 9.99960564e-01 9.30795504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54925976399997 meters 0.17890754473405085 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99931467e-01 -8.03319588e-03 8.51642203e-03 -3.11704272e+00] [ 8.05715106e-03 9.99963670e-01 -2.78225298e-03 3.51665308e+00] [-8.49376224e-03 2.85068040e-03 9.99959864e-01 9.31357585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60925976399997 meters 0.1773751120765918 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99931517e-01 -8.12705791e-03 8.42097024e-03 -3.11656463e+00] [ 8.15247022e-03 9.99962304e-01 -2.98782066e-03 3.51807226e+00] [-8.39637061e-03 3.05626775e-03 9.99960079e-01 9.31039666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66925976399997 meters 0.16207948914338144 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99937390e-01 -7.91763718e-03 7.90744273e-03 -3.11486677e+00] [ 7.94314918e-03 9.99963332e-01 -3.20015007e-03 3.52024518e+00] [-7.88181515e-03 3.26275970e-03 9.99963615e-01 9.30470244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72925976399998 meters 0.15987226943375388 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99937010e-01 -7.95848634e-03 7.91445310e-03 -3.11503541e+00] [ 7.98449899e-03 9.99962808e-01 -3.26057863e-03 3.52037795e+00] [-7.88820947e-03 3.32356619e-03 9.99963364e-01 9.30704649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78925976399998 meters 0.1693777881315135 Centerline is valid? [False, False] Translation: X:-3.12, Y:3.52, Z:0.93 [[ 9.99937429e-01 -7.76458144e-03 8.05285319e-03 -3.11530351e+00] [ 7.78751094e-03 9.99965701e-01 -2.81993820e-03 3.51880342e+00] [-8.03068134e-03 2.88247343e-03 9.99963599e-01 9.30529061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84925976399995 meters 0.17729145387980771 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99940505e-01 -7.69892507e-03 7.72736691e-03 -3.11430316e+00] [ 7.72129642e-03 9.99966073e-01 -2.86943467e-03 3.51985144e+00] [-7.70501318e-03 2.92892924e-03 9.99966026e-01 9.30253690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90925976399996 meters 0.17401770213719722 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99942036e-01 -7.71170089e-03 7.51364429e-03 -3.11368528e+00] [ 7.73495384e-03 9.99965370e-01 -3.07063511e-03 3.52104211e+00] [-7.48970428e-03 3.12857482e-03 9.99967058e-01 9.30179582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96925976399996 meters 0.17115296589128073 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99944790e-01 -7.38575282e-03 7.47452935e-03 -3.11319143e+00] [ 7.40543872e-03 9.99969175e-01 -2.60948946e-03 3.51990765e+00] [-7.45502590e-03 2.66469756e-03 9.99968660e-01 9.29527282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02925976399996 meters 0.16978778726152002 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99945195e-01 -7.16310789e-03 7.63517711e-03 -3.11331292e+00] [ 7.17949720e-03 9.99971977e-01 -2.12130950e-03 3.51841879e+00] [-7.61976799e-03 2.17600998e-03 9.99968602e-01 9.29039831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08925976399996 meters 0.16736030279814154 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99947146e-01 -7.11673311e-03 7.42005751e-03 -3.11279788e+00] [ 7.13265420e-03 9.99972312e-01 -2.12143190e-03 3.51874714e+00] [-7.40475439e-03 2.17424448e-03 9.99970221e-01 9.29077723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14925976399996 meters 0.16879069534506827 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99948479e-01 -7.02156817e-03 7.33048829e-03 -3.11258689e+00] [ 7.03671230e-03 9.99973157e-01 -2.04216746e-03 3.51854867e+00] [-7.31595229e-03 2.09364478e-03 9.99971046e-01 9.29100948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20925976399997 meters 0.17859753221214333 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.52, Z:0.93 [[ 9.99949053e-01 -6.63261294e-03 7.60913276e-03 -3.11298575e+00] [ 6.64206602e-03 9.99977200e-01 -1.21773628e-03 3.51533470e+00] [-7.60088249e-03 1.26821460e-03 9.99970309e-01 9.28589585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26925976399997 meters 0.1800385884615258 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99949096e-01 -6.46222929e-03 7.74890489e-03 -3.11336864e+00] [ 6.46866000e-03 9.99978754e-01 -8.05110144e-04 3.51363914e+00] [-7.74353745e-03 8.55194192e-04 9.99969653e-01 9.28596960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32925976399997 meters 0.17616621473376956 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99950344e-01 -6.27057956e-03 7.74529145e-03 -3.11367299e+00] [ 6.27433559e-03 9.99980210e-01 -4.60739325e-04 3.51187867e+00] [-7.74224907e-03 5.09313005e-04 9.99969899e-01 9.29040860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38925976399997 meters 0.16387234230321046 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99954077e-01 -5.82641877e-03 7.60899010e-03 -3.11274930e+00] [ 5.82584299e-03 9.99983025e-01 9.78341225e-05 3.51067041e+00] [-7.60943096e-03 -5.35008480e-05 9.99971046e-01 9.28120845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44925976399998 meters 0.17223672981225868 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99955177e-01 -5.38466090e-03 7.78771191e-03 -3.11287527e+00] [ 5.37705252e-03 9.99985046e-01 9.97580930e-04 3.50748916e+00] [-7.79296709e-03 -9.55661280e-04 9.99969178e-01 9.27545496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50925976399998 meters 0.17291697313618293 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99925172e-01 -9.56393446e-03 7.62764427e-03 -3.11251706e+00] [ 9.58880931e-03 9.99948806e-01 -3.23126816e-03 3.50719612e+00] [-7.59635014e-03 3.30416640e-03 9.99965688e-01 9.27738802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56925976399995 meters 0.17209939580219621 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99925904e-01 -9.50012026e-03 7.61143622e-03 -3.11272689e+00] [ 9.52387259e-03 9.99949871e-01 -3.09046537e-03 3.50636780e+00] [-7.58169488e-03 3.16272673e-03 9.99966257e-01 9.28096551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62925976399995 meters 0.17049011775977854 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.93 [[ 9.99926439e-01 -9.52108978e-03 7.51434588e-03 -3.11260073e+00] [ 9.54512272e-03 9.99949423e-01 -3.16891704e-03 3.50667627e+00] [-7.48379429e-03 3.24040928e-03 9.99966746e-01 9.28299955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68925976399996 meters 0.1704051537147877 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99932293e-01 -8.74909494e-03 7.67225135e-03 -3.11179654e+00] [ 8.76376205e-03 9.99959830e-01 -1.88017744e-03 3.50322926e+00] [-7.65549330e-03 1.94728792e-03 9.99968800e-01 9.26299109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74925976399996 meters 0.16373426349886244 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99934360e-01 -8.64613694e-03 7.51798897e-03 -3.11127616e+00] [ 8.65994501e-03 9.99960871e-01 -1.80605963e-03 3.50336130e+00] [-7.50207935e-03 1.87104645e-03 9.99970109e-01 9.26087573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80925976399996 meters 0.1884707600767713 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99937308e-01 -8.70483101e-03 7.04308179e-03 -3.11062949e+00] [ 8.72106843e-03 9.99959376e-01 -2.27802348e-03 3.50495795e+00] [-7.02296586e-03 2.33930387e-03 9.99972602e-01 9.26985528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86925976399996 meters 0.16917222475902835 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99940249e-01 -8.33186764e-03 7.07654404e-03 -3.11030841e+00] [ 8.34415083e-03 9.99963728e-01 -1.70801345e-03 3.50331329e+00] [-7.06205642e-03 1.76695915e-03 9.99973502e-01 9.26312300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92925976399997 meters 0.16671989988737393 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99941545e-01 -8.14375590e-03 7.11233138e-03 -3.11017660e+00] [ 8.15390685e-03 9.99965777e-01 -1.39940227e-03 3.50246334e+00] [-7.10069159e-03 1.45731376e-03 9.99973728e-01 9.25954908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98925976399997 meters 0.16899261586744044 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99943497e-01 -7.78051479e-03 7.24331474e-03 -3.11003965e+00] [ 7.78577660e-03 9.99969446e-01 -6.98522134e-04 3.50041559e+00] [-7.23765857e-03 7.54877496e-04 9.99973523e-01 9.25155820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04925976399997 meters 0.1745082301985866 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99942560e-01 -7.68001478e-03 7.47623437e-03 -3.11071591e+00] [ 7.68229419e-03 9.99970453e-01 -2.76217413e-04 3.49850806e+00] [-7.47389211e-03 3.33636179e-04 9.99972014e-01 9.25310061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10925976399997 meters 0.18888424846687263 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99940318e-01 -7.75075662e-03 7.69976461e-03 -3.11158001e+00] [ 7.75162984e-03 9.99969952e-01 -8.35717523e-05 3.49716600e+00] [-7.69888551e-03 1.43252490e-04 9.99970353e-01 9.25785208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16925976399997 meters 0.1756087278854986 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99939156e-01 -7.91015177e-03 7.68853020e-03 -3.11182456e+00] [ 7.91317221e-03 9.99968625e-01 -3.62508311e-04 3.49789020e+00] [-7.68542147e-03 4.23326918e-04 9.99970377e-01 9.26234427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22925976399998 meters 0.18170892736941793 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99940436e-01 -7.51102807e-03 7.91886923e-03 -3.11164630e+00] [ 7.50840083e-03 9.99971746e-01 3.61447813e-04 3.49589842e+00] [-7.92136034e-03 -3.01968239e-04 9.99968580e-01 9.25020513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28925976399998 meters 0.18674950534654214 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.92 [[ 9.99943705e-01 -7.35755283e-03 7.64543949e-03 -3.11067258e+00] [ 7.35478395e-03 9.99972877e-01 3.90213047e-04 3.49652224e+00] [-7.64810313e-03 -3.33960524e-04 9.99970697e-01 9.24553396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34925976399995 meters 0.18575198724933445 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.93 [[ 9.99942894e-01 -7.53044152e-03 7.58299661e-03 -3.11088765e+00] [ 7.53005680e-03 9.99971646e-01 7.92845399e-05 3.49733991e+00] [-7.58337864e-03 -2.21796171e-05 9.99971246e-01 9.25142448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40925976399996 meters 0.17983595991024953 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.92 [[ 9.99948413e-01 -7.22773092e-03 7.13660530e-03 -3.10911697e+00] [ 7.22716828e-03 9.99973878e-01 1.04625049e-04 3.49889807e+00] [-7.13717508e-03 -5.30422040e-05 9.99974529e-01 9.24095599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46925976399996 meters 0.17346274454076843 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.92 [[ 9.99949448e-01 -7.20192842e-03 7.01671289e-03 -3.10840964e+00] [ 7.20220037e-03 9.99974064e-01 -1.34893690e-05 3.50014816e+00] [-7.01643375e-03 6.40244592e-05 9.99975382e-01 9.23481566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52925976399996 meters 0.17090845605072405 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.92 [[ 9.99948719e-01 -7.59422964e-03 6.69979733e-03 -3.10785926e+00] [ 7.60087261e-03 9.99970646e-01 -9.66613045e-04 3.50400750e+00] [-6.69225998e-03 1.01748778e-03 9.99977089e-01 9.23985529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58925976399996 meters 0.1706600609246231 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.50, Z:0.92 [[ 9.99946786e-01 -7.79102703e-03 6.76206712e-03 -3.10821995e+00] [ 7.79977882e-03 9.99968776e-01 -1.26884314e-03 3.50489142e+00] [-6.75197039e-03 1.32151825e-03 9.99976332e-01 9.24328496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64925976399996 meters 0.16749535569717355 Centerline is valid? [False, False] Translation: X:-3.11, Y:3.51, Z:0.92 [[ 9.99949527e-01 -8.04709409e-03 6.01568124e-03 -3.10663860e+00] [ 8.06129514e-03 9.99964769e-01 -2.34016346e-03 3.50988820e+00] [-5.99663778e-03 2.38853952e-03 9.99979167e-01 9.24772209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70925976399997 meters 0.16322026216173557 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 9.99952861e-01 -8.16521768e-03 5.25397228e-03 -3.10451931e+00] [ 8.18222455e-03 9.99961329e-01 -3.22364277e-03 3.51543173e+00] [-5.22744735e-03 3.26647999e-03 9.99981002e-01 9.24393226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76925976399997 meters 0.1780661517875146 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.51, Z:0.92 [[ 9.99954518e-01 -7.88782666e-03 5.36136706e-03 -3.10412025e+00] [ 7.90287316e-03 9.99964877e-01 -2.79109841e-03 3.51463838e+00] [-5.33916305e-03 2.83334167e-03 9.99981733e-01 9.23358781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82925976399997 meters 0.16602285547938636 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99995726 -0.00804343 0.00455934 -3.10238099] [ 0.00806033 0.99996067 -0.00370001 3.51935405] [-0.0045294 0.0037366 0.99998276 0.92373009] [ 0. 0. 0. 1. ]] SLAMing on 148.88925976399997 meters 0.1869153246870869 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99995731 -0.00813923 0.00437471 -3.10205477] [ 0.00815683 0.99995866 -0.00401877 3.52073032] [-0.00434182 0.00405428 0.99998236 0.9240086 ] [ 0. 0. 0. 1. ]] SLAMing on 148.94925976399998 meters 0.16943828433141261 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99995956 -0.00783742 0.00440952 -3.10165071] [ 0.00785299 0.99996295 -0.00352468 3.51957252] [-0.00438173 0.00355917 0.99998407 0.92321669] [ 0. 0. 0. 1. ]] SLAMing on 149.00925976399998 meters 0.18538355593475409 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 9.99960487e-01 -7.72348451e-03 4.40145309e-03 -3.10136395e+00] [ 7.73782745e-03 9.99964778e-01 -3.25102598e-03 3.51909831e+00] [-4.37618881e-03 3.28495520e-03 9.99985029e-01 9.22765689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06925976399995 meters 0.1643534591646784 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 9.99961064e-01 -7.68539629e-03 4.33659731e-03 -3.10120422e+00] [ 7.69935931e-03 9.99965200e-01 -3.21235495e-03 3.51914044e+00] [-4.31175818e-03 3.24561889e-03 9.99985437e-01 9.22782244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12925976399995 meters 0.15994059986953785 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99996274 -0.00773414 0.00383325 -3.10000822] [ 0.00774814 0.99996332 -0.00365098 3.52175164] [-0.00380487 0.00368055 0.99998599 0.92287983] [ 0. 0. 0. 1. ]] SLAMing on 149.18925976399996 meters 0.17567067365145775 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99996286 -0.00772759 0.0038167 -3.0997532 ] [ 0.00774165 0.99996326 -0.00368168 3.52224517] [-0.00378811 0.00371109 0.99998594 0.92256976] [ 0. 0. 0. 1. ]] SLAMing on 149.24925976399996 meters 0.17162399181677662 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.52, Z:0.92 [[ 0.99996455 -0.00758112 0.0036648 -3.09877966] [ 0.00759424 0.99996476 -0.00357721 3.52293423] [-0.00363755 0.00360491 0.99998689 0.92168111] [ 0. 0. 0. 1. ]] SLAMing on 149.30925976399996 meters 0.16152035250869434 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.53, Z:0.93 [[ 9.99964326e-01 -8.10046851e-03 2.39354308e-03 -3.09717338e+00] [ 8.11555180e-03 9.99946839e-01 -6.36061580e-03 3.53078597e+00] [-2.34189186e-03 6.37981382e-03 9.99976906e-01 9.25552744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36925976399996 meters 0.15491143466288346 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.54, Z:0.93 [[ 9.99965348e-01 -8.13866915e-03 1.75073467e-03 -3.09543502e+00] [ 8.15087941e-03 9.99941688e-01 -7.08410975e-03 3.53508515e+00] [-1.69297735e-03 7.09813430e-03 9.99973375e-01 9.25412589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42925976399997 meters 0.15370018278030673 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.53, Z:0.92 [[ 9.99966944e-01 -7.92804045e-03 1.80498426e-03 -3.09491745e+00] [ 7.94011628e-03 9.99945462e-01 -6.78439946e-03 3.53482932e+00] [-1.75109883e-03 6.79850698e-03 9.99975357e-01 9.24411528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48925976399997 meters 0.15371539701314194 Centerline is valid? [False, False] Translation: X:-3.10, Y:3.53, Z:0.92 [[ 9.99966204e-01 -7.98363472e-03 1.96262141e-03 -3.09517599e+00] [ 7.99673822e-03 9.99945163e-01 -6.76190055e-03 3.53493970e+00] [-1.90852924e-03 6.77736659e-03 9.99975212e-01 9.24196574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54925976399997 meters 0.15514205488094213 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99965189e-01 -8.22896341e-03 1.38048910e-03 -3.09389932e+00] [ 8.23916493e-03 9.99937521e-01 -7.55444986e-03 3.53934711e+00] [-1.31823756e-03 7.56556096e-03 9.99970512e-01 9.24542249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60925976399997 meters 0.15016390571909993 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99969207e-01 -7.81802524e-03 6.81014963e-04 -3.09118865e+00] [ 7.82302904e-03 9.99939876e-01 -7.68406143e-03 3.54263447e+00] [-6.20899831e-04 7.68915241e-03 9.99970245e-01 9.22984383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66925976399997 meters 0.1452392985735192 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99971316e-01 -7.57064538e-03 2.29768635e-04 -3.08945931e+00] [ 7.57219424e-03 9.99941507e-01 -7.72292364e-03 3.54441121e+00] [-1.71287679e-04 7.72444197e-03 9.99970151e-01 9.22110254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72925976399998 meters 0.1412817693073814 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99973478e-01 -7.28302598e-03 -2.35888367e-05 -3.08838401e+00] [ 7.28264019e-03 9.99944967e-01 -7.55158902e-03 3.54462345e+00] [ 7.85859576e-05 7.55121695e-03 9.99971486e-01 9.21494678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78925976399998 meters 0.14044178283869266 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99974700e-01 -7.11306787e-03 -5.43665272e-05 -3.08798154e+00] [ 7.11247944e-03 9.99947920e-01 -7.31919756e-03 3.54427496e+00] [ 1.06425645e-04 7.31862571e-03 9.99973213e-01 9.20996314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84925976399995 meters 0.1391433680132655 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99975775e-01 -6.96027886e-03 -6.01571825e-05 -3.08772648e+00] [ 6.95967900e-03 9.99950748e-01 -7.07558424e-03 3.54379548e+00] [ 1.09402259e-04 7.07499416e-03 9.99974966e-01 9.20619084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90925976399996 meters 0.14262975847268478 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99976012e-01 -6.91279918e-03 4.33613079e-04 -3.08903505e+00] [ 6.91542743e-03 9.99955704e-01 -6.38488474e-03 3.54049448e+00] [-3.89456445e-04 6.38773020e-03 9.99979522e-01 9.20694769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96925976399996 meters 0.14612712696020627 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99975795e-01 -6.88410786e-03 1.00876884e-03 -3.09062344e+00] [ 6.88975799e-03 9.99959969e-01 -5.70888113e-03 3.53688200e+00] [-9.69427908e-04 5.71569312e-03 9.99983195e-01 9.20981850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02925976399996 meters 0.14382330313467467 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.54, Z:0.92 [[ 9.99976956e-01 -6.75015565e-03 7.22528438e-04 -3.08985009e+00] [ 6.75410803e-03 9.99961425e-01 -5.61516781e-03 3.53716741e+00] [-6.84597310e-04 5.61991845e-03 9.99983974e-01 9.20870474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08925976399996 meters 0.14539099827051075 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.53, Z:0.92 [[ 9.99981781e-01 -5.97856288e-03 8.33700425e-04 -3.08910646e+00] [ 5.98218343e-03 9.99972382e-01 -4.41006410e-03 3.53367671e+00] [-8.07311554e-04 4.41497110e-03 9.99989928e-01 9.19220316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14925976399996 meters 0.15336606737015346 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.53, Z:0.92 [[ 9.99986255e-01 -5.13905964e-03 1.03956214e-03 -3.08849782e+00] [ 5.14200782e-03 9.99982709e-01 -2.85346848e-03 3.52905919e+00] [-1.02488002e-03 2.85877470e-03 9.99995389e-01 9.17223001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20925976399997 meters 0.14602708428155947 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.53, Z:0.92 [[ 9.99953923e-01 -9.59238794e-03 3.71983821e-04 -3.08747077e+00] [ 9.59496449e-03 9.99924421e-01 -7.68696025e-03 3.53174271e+00] [-2.98219402e-04 7.69017523e-03 9.99970386e-01 9.18246672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26925976399997 meters 0.15204405594746656 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.53, Z:0.92 [[ 9.99957553e-01 -9.14277152e-03 1.14077931e-03 -3.08890042e+00] [ 9.14955266e-03 9.99939610e-01 -6.08786610e-03 3.52507686e+00] [-1.08505045e-03 6.09804531e-03 9.99980818e-01 9.17551110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32925976399997 meters 0.1639349626874296 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.52, Z:0.92 [[ 9.99957945e-01 -8.97720623e-03 1.87544166e-03 -3.09073902e+00] [ 8.98630244e-03 9.99947620e-01 -4.89939052e-03 3.51939954e+00] [-1.83136058e-03 4.91603776e-03 9.99986239e-01 9.17709948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38925976399997 meters 0.16288603453070108 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.51, Z:0.92 [[ 9.99960062e-01 -8.52414261e-03 2.68595293e-03 -3.09211463e+00] [ 8.53252036e-03 9.99958720e-01 -3.12322749e-03 3.51275759e+00] [-2.65921922e-03 3.14602070e-03 9.99991516e-01 9.16459861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44925976399998 meters 0.18304138955461954 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.51, Z:0.92 [[ 9.99964249e-01 -7.79538679e-03 3.27622613e-03 -3.09283891e+00] [ 7.80006783e-03 9.99968573e-01 -1.41844890e-03 3.50616474e+00] [-3.26506581e-03 1.44395297e-03 9.99993627e-01 9.15200488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50925976399998 meters 0.1677796227427628 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 9.99928248e-01 -1.15624843e-02 3.13170645e-03 -3.09210827e+00] [ 1.15777548e-02 9.99920957e-01 -4.90267244e-03 3.50362720e+00] [-3.07477184e-03 4.93857879e-03 9.99983078e-01 9.14693422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56925976399995 meters 0.184879747445884 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.92 [[ 9.99929529e-01 -1.14296608e-02 3.20943649e-03 -3.09264430e+00] [ 1.14443946e-02 9.99923881e-01 -4.61055978e-03 3.50202857e+00] [-3.15649506e-03 4.64696492e-03 9.99984221e-01 9.15168047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62925976399995 meters 0.1815960050332299 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 0.99993209 -0.01103326 0.00375208 -3.0935641 ] [ 0.01104658 0.99993269 -0.00354884 3.49775367] [-0.00371267 0.00359005 0.99998666 0.91453727] [ 0. 0. 0. 1. ]] SLAMing on 150.68925976399996 meters 0.18316422865695065 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99936085e-01 -1.05248734e-02 4.12958047e-03 -3.09345129e+00] [ 1.05350753e-02 9.99941487e-01 -2.45649411e-03 3.49470328e+00] [-4.10348455e-03 2.49984254e-03 9.99988456e-01 9.12772278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74925976399996 meters 0.17540447024323266 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 9.99941204e-01 -1.01618571e-02 3.78496531e-03 -3.09167208e+00] [ 1.01699674e-02 9.99946017e-01 -2.12971089e-03 3.49553072e+00] [-3.76311916e-03 2.16807864e-03 9.99990569e-01 9.11373907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80925976399996 meters 0.174770146062678 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99942240e-01 -1.00466780e-02 3.81842501e-03 -3.09170585e+00] [ 1.00540388e-02 9.99947626e-01 -1.91342647e-03 3.49488604e+00] [-3.79900144e-03 1.95170654e-03 9.99990879e-01 9.11275523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86925976399996 meters 0.17474658269976767 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99940799e-01 -1.00412742e-02 4.19178533e-03 -3.09277075e+00] [ 1.00478228e-02 9.99948327e-01 -1.54412672e-03 3.49293494e+00] [-4.17606373e-03 1.58615363e-03 9.99990022e-01 9.11525207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92925976399997 meters 0.18013700285517917 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99943632e-01 -9.69826439e-03 4.32164318e-03 -3.09231176e+00] [ 9.70227228e-03 9.99952520e-01 -9.07399555e-04 3.49161983e+00] [-4.31263779e-03 9.49278166e-04 9.99990250e-01 9.10265620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98925976399997 meters 0.18006233845533692 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99943236e-01 -9.75142649e-03 4.29347001e-03 -3.09205965e+00] [ 9.75594741e-03 9.99951876e-01 -1.03329515e-03 3.49251830e+00] [-4.28318729e-03 1.07512336e-03 9.99990249e-01 9.10042237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04925976399997 meters 0.19192739690875915 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.49, Z:0.91 [[ 9.99943449e-01 -9.74140318e-03 4.26649596e-03 -3.09188164e+00] [ 9.74595440e-03 9.99951959e-01 -1.04724589e-03 3.49275892e+00] [-4.25608935e-03 1.08876775e-03 9.99990350e-01 9.09898497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10925976399997 meters 0.18134694483919642 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 9.99944733e-01 -9.82438813e-03 3.74336432e-03 -3.09042259e+00] [ 9.83060999e-03 9.99950321e-01 -1.64734435e-03 3.49636529e+00] [-3.72699420e-03 1.68405286e-03 9.99991637e-01 9.09713879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16925976399997 meters 0.1730564364698359 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 9.99946824e-01 -9.80789386e-03 3.18650261e-03 -3.08855483e+00] [ 9.81449528e-03 9.99949709e-01 -2.06269211e-03 3.49976541e+00] [-3.16611169e-03 2.09385634e-03 9.99992796e-01 9.08998536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22925976399998 meters 0.16976150912051804 Centerline is valid? [False, False] Translation: X:-3.09, Y:3.50, Z:0.91 [[ 9.99951874e-01 -9.42169196e-03 2.73526181e-03 -3.08601427e+00] [ 9.42712163e-03 9.99953605e-01 -1.97900278e-03 3.50223685e+00] [-2.71648935e-03 2.00469319e-03 9.99994301e-01 9.06852294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28925976399998 meters 0.17584592475428135 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.51, Z:0.91 [[ 9.99953809e-01 -9.42349499e-03 1.89156116e-03 -3.08361492e+00] [ 9.42875296e-03 9.99951655e-01 -2.79029992e-03 3.50772118e+00] [-1.86517534e-03 2.80800609e-03 9.99994318e-01 9.06233119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34925976399995 meters 0.16393651320342023 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.51, Z:0.91 [[ 9.99953790e-01 -9.53933162e-03 1.19099690e-03 -3.08164073e+00] [ 9.54360627e-03 9.99947846e-01 -3.63658541e-03 3.51298864e+00] [-1.15624419e-03 3.64778377e-03 9.99992678e-01 9.05880005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40925976399996 meters 0.1746394150770867 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.51, Z:0.91 [[ 9.99953164e-01 -9.61232122e-03 1.12865419e-03 -3.08121966e+00] [ 9.61661859e-03 9.99946286e-01 -3.86591078e-03 3.51447795e+00] [-1.09143319e-03 3.87658355e-03 9.99991890e-01 9.05542430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46925976399996 meters 0.17391941542482256 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.52, Z:0.91 [[ 9.99952494e-01 -9.66838510e-03 1.23798756e-03 -3.08118932e+00] [ 9.67317134e-03 9.99945529e-01 -3.92036014e-03 3.51511197e+00] [-1.20001657e-03 3.93214916e-03 9.99991549e-01 9.05114220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52925976399996 meters 0.17005477174447384 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.52, Z:0.90 [[ 9.99953766e-01 -9.57516822e-03 8.84152487e-04 -3.07943597e+00] [ 9.57872818e-03 9.99945660e-01 -4.11400172e-03 3.51799383e+00] [-8.44712183e-04 4.12228057e-03 9.99991147e-01 9.03827659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58925976399996 meters 0.1638626905462946 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.52, Z:0.90 [[ 9.99984959e-01 -5.45523845e-03 5.67917229e-04 -3.07839865e+00] [ 5.45550182e-03 9.99985011e-01 -4.63231994e-04 3.52163465e+00] [-5.65381675e-04 4.66323300e-04 9.99999731e-01 9.03498855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64925976399996 meters 0.15938757325053093 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.52, Z:0.90 [[ 9.99985754e-01 -5.33204083e-03 2.47121099e-04 -3.07692622e+00] [ 5.33219138e-03 9.99985596e-01 -6.12593857e-04 3.52369084e+00] [-2.43851164e-04 6.13902827e-04 9.99999782e-01 9.02545522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70925976399997 meters 0.15507674854060063 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.53, Z:0.90 [[ 9.99985220e-01 -5.43571366e-03 -1.10801843e-04 -3.07527619e+00] [ 5.43558771e-03 9.99984614e-01 -1.10697302e-03 3.52757574e+00] [ 1.16817326e-04 1.10635438e-03 9.99999381e-01 9.01486982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76925976399997 meters 0.15479111399351506 Centerline is valid? [False, False] Translation: X:-3.08, Y:3.53, Z:0.90 [[ 9.99984030e-01 -5.65048854e-03 -1.11449449e-04 -3.07515426e+00] [ 5.65031811e-03 9.99982950e-01 -1.47450503e-03 3.52928703e+00] [ 1.19779222e-04 1.47385176e-03 9.99998907e-01 9.01379769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82925976399997 meters 0.15028316088038088 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.53, Z:0.90 [[ 9.99983355e-01 -5.75210975e-03 -4.51072834e-04 -3.07382077e+00] [ 5.75119307e-03 9.99981446e-01 -2.00783987e-03 3.53270783e+00] [ 4.62613780e-04 2.00521224e-03 9.99997883e-01 9.00769340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88925976399997 meters 0.145441524076433 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.54, Z:0.90 [[ 9.99981283e-01 -6.01542560e-03 -1.11765864e-03 -3.07171203e+00] [ 6.01177708e-03 9.99976681e-01 -3.23961004e-03 3.53973088e+00] [ 1.13712021e-03 3.23283028e-03 9.99994128e-01 9.00086191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94925976399998 meters 0.14481956113808386 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.55, Z:0.90 [[ 9.99977896e-01 -6.34617541e-03 -1.98319326e-03 -3.06967608e+00] [ 6.33693092e-03 9.99969187e-01 -4.63344608e-03 3.54697463e+00] [ 2.01253681e-03 4.62077630e-03 9.99987299e-01 9.00259186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00925976399998 meters 0.13354182950005647 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.55, Z:0.90 [[ 9.99995202e-01 -1.96762255e-03 -2.39242918e-03 -3.06735593e+00] [ 1.96531248e-03 9.99997601e-01 -9.67544383e-04 3.55210738e+00] [ 2.39432720e-03 9.62837870e-04 9.99996670e-01 8.98345994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06925976399995 meters 0.13607821305137616 Centerline is valid? [False, False] Translation: X:-3.07, Y:3.56, Z:0.90 [[ 9.99993446e-01 -1.99988260e-03 -3.01806447e-03 -3.06517748e+00] [ 1.99438740e-03 9.99996350e-01 -1.82268022e-03 3.55752877e+00] [ 3.02169860e-03 1.81664908e-03 9.99993785e-01 8.97418049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12925976399995 meters 0.12951690911664485 Centerline is valid? [False, False] Translation: X:-3.06, Y:3.57, Z:0.90 [[ 9.99986804e-01 -2.73521973e-03 -4.34856317e-03 -3.06318179e+00] [ 2.71279304e-03 9.99983034e-01 -5.15482502e-03 3.56874323e+00] [ 4.36258898e-03 5.14296024e-03 9.99977259e-01 9.00873132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18925976399996 meters 0.12683732864614178 Centerline is valid? [False, False] Translation: X:-3.06, Y:3.58, Z:0.90 [[ 9.99982629e-01 -3.17884248e-03 -4.96345021e-03 -3.06193961e+00] [ 3.14640305e-03 9.99973730e-01 -6.52984980e-03 3.57505889e+00] [ 4.98407718e-03 6.51411936e-03 9.99966362e-01 9.01514033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24925976399996 meters 0.12128054868634655 Centerline is valid? [False, False] Translation: X:-3.06, Y:3.58, Z:0.90 [[ 9.99983754e-01 6.46130169e-04 -5.66338767e-03 -3.05992728e+00] [-6.69658039e-04 9.99991150e-01 -4.15346959e-03 3.58480057e+00] [ 5.66065387e-03 4.15719465e-03 9.99975337e-01 9.01180851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30925976399996 meters 0.11510002099344081 Centerline is valid? [False, False] Translation: X:-3.05, Y:3.59, Z:0.90 [[ 9.99961944e-01 2.17168798e-03 -8.44951814e-03 -3.05217119e+00] [-2.22750097e-03 9.99975728e-01 -6.60167059e-03 3.59285268e+00] [ 8.43497628e-03 6.62024067e-03 9.99942510e-01 9.03514792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36925976399996 meters 0.10414986287504385 Centerline is valid? [False, False] Translation: X:-3.04, Y:3.60, Z:0.90 [[ 9.99932706e-01 1.15964893e-02 -3.24751740e-04 -3.03905499e+00] [-1.15982656e-02 9.99913876e-01 -6.14168400e-03 3.60252679e+00] [ 2.53501798e-04 6.14503726e-03 9.99981087e-01 8.97102478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42925976399997 meters 0.1010523342241835 Centerline is valid? [False, False] Translation: X:-3.02, Y:3.61, Z:0.90 [[ 9.99955264e-01 8.62066121e-03 3.89271993e-03 -3.02122286e+00] [-8.61028773e-03 9.99959356e-01 -2.67378432e-03 3.61059738e+00] [-3.91561150e-03 2.64014726e-03 9.99988849e-01 8.96439134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48925976399997 meters 0.09197369462142385 Centerline is valid? [False, True] Translation: X:-3.00, Y:3.62, Z:0.90 [[ 9.99949562e-01 7.60966680e-03 6.55491121e-03 -3.00004680e+00] [-7.61283696e-03 9.99970917e-01 4.58815282e-04 3.62203947e+00] [-6.55122914e-03 -5.08693610e-04 9.99978411e-01 8.98344425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54925976399997 meters 0.08981542657214063 Centerline is valid? [True, True] Translation: X:-2.94, Y:3.63, Z:0.90 [[ 9.99857584e-01 1.45710180e-02 8.51456522e-03 -2.94076035e+00] [-1.45684288e-02 9.99893808e-01 -3.66029387e-04 3.62942434e+00] [-8.51899446e-03 2.41933421e-04 9.99963683e-01 8.95464496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60925976399997 meters 0.08703842081025982 Centerline is valid? [True, True] Translation: X:-2.88, Y:3.64, Z:0.89 [[ 9.99767770e-01 1.97178802e-02 8.69543003e-03 -2.88045082e+00] [-1.97153580e-02 9.99805563e-01 -3.75689322e-04 3.63904728e+00] [-8.70114712e-03 2.04168559e-04 9.99962123e-01 8.93467078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66925976399997 meters 0.08658039913559785 Centerline is valid? [True, True] Translation: X:-2.82, Y:3.64, Z:0.89 [[ 9.99736711e-01 2.14510056e-02 8.14639195e-03 -2.82271194e+00] [-2.14488382e-02 9.99769885e-01 -3.53333183e-04 3.64103473e+00] [-8.15209670e-03 1.78509511e-04 9.99966755e-01 8.90763200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72925976399998 meters 0.08465623612951062 Centerline is valid? [True, True] Translation: X:-2.76, Y:3.65, Z:0.89 [[ 9.99626296e-01 2.54572190e-02 9.95988113e-03 -2.76387459e+00] [-2.54541954e-02 9.99675897e-01 -4.30241085e-04 3.64597979e+00] [-9.96760584e-03 1.76559541e-04 9.99950307e-01 8.91717757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78925976399995 meters 0.08400092765487405 Centerline is valid? [True, True] Translation: X:-2.71, Y:3.65, Z:0.89 [[ 9.99570782e-01 2.74266681e-02 1.02970583e-02 -2.70537227e+00] [-2.74235491e-02 9.99623805e-01 -4.43999863e-04 3.64618174e+00] [-1.03053620e-02 1.61427407e-04 9.99946885e-01 8.90231071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84925976399995 meters 0.08395908163656642 Centerline is valid? [True, True] Translation: X:-2.65, Y:3.64, Z:0.89 [[ 9.99582385e-01 2.66538601e-02 1.11636596e-02 -2.64723486e+00] [-2.66501565e-02 9.99644706e-01 -4.80404835e-04 3.64065162e+00] [-1.11724979e-02 1.82690935e-04 9.99937569e-01 8.90372973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90925976399996 meters 0.08455869896085952 Centerline is valid? [True, True] Translation: X:-2.59, Y:3.63, Z:0.89 [[ 9.99584065e-01 2.60086370e-02 1.24598548e-02 -2.59032133e+00] [-2.60039844e-02 9.99661696e-01 -5.35303177e-04 3.63166361e+00] [-1.24695621e-02 2.11074656e-04 9.99922230e-01 8.86378673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96925976399996 meters 0.08536073226339995 Centerline is valid? [True, True] Translation: X:-2.53, Y:3.62, Z:0.88 [[ 9.99662117e-01 2.31340697e-02 1.18518446e-02 -2.53164235e+00] [-2.31296733e-02 9.99732344e-01 -5.07900178e-04 3.62034559e+00] [-1.18604222e-02 2.33599273e-04 9.99929635e-01 8.84184768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02925976399996 meters 0.08616683988634453 Centerline is valid? [True, True] Translation: X:-2.47, Y:3.61, Z:0.88 [[ 9.99717504e-01 2.08992653e-02 1.13195629e-02 -2.47373803e+00] [-2.08951164e-02 9.99781556e-01 -4.84675210e-04 3.60976314e+00] [-1.13272196e-02 2.48014706e-04 9.99935814e-01 8.82598606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08925976399996 meters 0.08751719579653008 Centerline is valid? [True, True] Translation: X:-2.41, Y:3.60, Z:0.88 [[ 9.99822999e-01 1.61001396e-02 9.73428174e-03 -2.41436143e+00] [-1.60968585e-02 9.99870351e-01 -4.15329312e-04 3.59691045e+00] [-9.73970656e-03 2.58564442e-04 9.99952535e-01 8.83020721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14925976399996 meters 0.08972997095576071 Centerline is valid? [True, True] Translation: X:-2.36, Y:3.58, Z:0.88 [[ 9.99879556e-01 1.26033963e-02 9.05695348e-03 -2.35683446e+00] [-1.26004084e-02 9.99920537e-01 -3.86887066e-04 3.58269551e+00] [-9.06110988e-03 2.72719155e-04 9.99958910e-01 8.78809414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20925976399997 meters 0.09168133881532643 Centerline is valid? [True, True] Translation: X:-2.30, Y:3.57, Z:0.88 [[ 9.99920695e-01 8.27645027e-03 9.49229605e-03 -2.29749864e+00] [-8.27298782e-03 9.99965697e-01 -4.03972636e-04 3.56937072e+00] [-9.49531389e-03 3.25410949e-04 9.99954866e-01 8.79549628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26925976399997 meters 0.09384462553274955 Centerline is valid? [True, True] Translation: X:-2.24, Y:3.56, Z:0.88 [[ 9.99951339e-01 4.63634914e-03 8.70766646e-03 -2.23810025e+00] [-4.63330271e-03 9.99989198e-01 -3.69996885e-04 3.55730983e+00] [-8.70928783e-03 3.29633626e-04 9.99962019e-01 8.75910735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32925976399997 meters 0.09829480937694891 Centerline is valid? [True, True] Translation: X:-2.18, Y:3.54, Z:0.87 [[ 9.99967422e-01 -1.65077187e-03 7.90123690e-03 -2.17950387e+00] [ 1.65347477e-03 9.99998577e-01 -3.35565676e-04 3.53849723e+00] [-7.90067171e-03 3.48619240e-04 9.99968728e-01 8.73963656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38925976399997 meters 0.09843831422387583 Centerline is valid? [True, True] Translation: X:-2.12, Y:3.53, Z:0.88 [[ 9.99942486e-01 -7.53357027e-03 7.63346818e-03 -2.11934949e+00] [ 7.53626047e-03 9.99971550e-01 -3.23717223e-04 3.53221873e+00] [-7.63081226e-03 3.81226410e-04 9.99970812e-01 8.76766612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44925976399998 meters 0.10290397281644094 Centerline is valid? [True, False] Translation: X:-2.12, Y:3.53, Z:0.88 [[ 0.99990332 -0.01151301 0.00779811 -2.11993232] [ 0.01154197 0.99992662 -0.00367846 3.52791578] [-0.00775518 0.00376811 0.99996283 0.87709378] [ 0. 0. 0. 1. ]] SLAMing on 153.50925976399998 meters 0.1099067547581363 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.52, Z:0.88 [[ 9.99902027e-01 -1.12672183e-02 8.30578076e-03 -2.12092815e+00] [ 1.12894542e-02 9.99932800e-01 -2.63514765e-03 3.52349689e+00] [-8.27553183e-03 2.72865721e-03 9.99962034e-01 8.76669067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56925976399995 meters 0.11036393193369387 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.52, Z:0.88 [[ 9.99899072e-01 -1.10891566e-02 8.88119369e-03 -2.12215969e+00] [ 1.11034248e-02 9.99937140e-01 -1.55886157e-03 3.51882481e+00] [-8.86334895e-03 1.65731591e-03 9.99959346e-01 8.76373742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62925976399995 meters 0.12030808482989057 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.52, Z:0.88 [[ 0.99983784 -0.01545147 0.00924888 -2.123461 ] [ 0.01550107 0.99986572 -0.00531562 3.5157894 ] [-0.00916551 0.00545813 0.9999431 0.87705398] [ 0. 0. 0. 1. ]] SLAMing on 153.68925976399996 meters 0.12747372936646803 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.88 [[ 0.99984178 -0.01513627 0.00934348 -2.12336512] [ 0.01518025 0.99987394 -0.00465409 3.51370687] [-0.00927185 0.00479519 0.99994552 0.8764653 ] [ 0. 0. 0. 1. ]] SLAMing on 153.74925976399996 meters 0.13050955799095548 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99837800e-01 -1.49224686e-02 1.00843679e-02 -2.12434669e+00] [ 1.49520091e-02 9.99884121e-01 -2.86032065e-03 3.50824320e+00] [-1.00405163e-02 3.01063826e-03 9.99945061e-01 8.74397288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80925976399996 meters 0.1406373568019042 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.51, Z:0.87 [[ 9.99832842e-01 -1.49205979e-02 1.05670991e-02 -2.12536457e+00] [ 1.49446138e-02 9.99885908e-01 -2.19739277e-03 3.50570794e+00] [-1.05331071e-02 2.35494667e-03 9.99941752e-01 8.73981892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86925976399996 meters 0.13640538128785937 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.50, Z:0.87 [[ 9.99829279e-01 -1.49506965e-02 1.08576874e-02 -2.12596877e+00] [ 1.49730526e-02 9.99885936e-01 -1.98064471e-03 3.50487213e+00] [-1.08268369e-02 2.14287930e-03 9.99939092e-01 8.73739667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92925976399997 meters 0.13628339930047256 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.51, Z:0.87 [[ 9.99883605e-01 -1.06682955e-02 1.09070437e-02 -2.12575454e+00] [ 1.06429211e-02 9.99940526e-01 2.38182842e-03 3.50550066e+00] [-1.09318051e-02 -2.26546838e-03 9.99937680e-01 8.72989509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98925976399997 meters 0.1355508703116583 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99887645e-01 -1.03804680e-02 1.08140310e-02 -2.12478140e+00] [ 1.03517462e-02 9.99942751e-01 2.70856658e-03 3.50545532e+00] [-1.08415281e-02 -2.59631815e-03 9.99937858e-01 8.71869598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04925976399997 meters 0.144024972914244 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99893259e-01 -1.02160370e-02 1.04452491e-02 -2.12352386e+00] [ 1.01901313e-02 9.99944878e-01 2.53036037e-03 3.50704336e+00] [-1.04705236e-02 -2.42365182e-03 9.99942245e-01 8.71458468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10925976399997 meters 0.1385873625752678 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99894944e-01 -1.01234549e-02 1.03738056e-02 -2.12306516e+00] [ 1.00973256e-02 9.99945723e-01 2.56806984e-03 3.50744219e+00] [-1.03992403e-02 -2.46305236e-03 9.99942893e-01 8.71053875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16925976399997 meters 0.13307123914382366 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99897103e-01 -9.89246038e-03 1.03885964e-02 -2.12255479e+00] [ 9.86275084e-03 9.99947136e-01 2.90717134e-03 3.50697106e+00] [-1.04168063e-02 -2.80441207e-03 9.99941811e-01 8.70197003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22925976399998 meters 0.14021271001624835 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 0.9998965 -0.00955462 0.01075599 -2.12303437] [ 0.00951405 0.99994746 0.00381669 3.50367946] [-0.01079189 -0.00371396 0.99993487 0.86945045] [ 0. 0. 0. 1. ]] SLAMing on 154.28925976399995 meters 0.13793408129637155 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 0.99989578 -0.00927421 0.01106437 -2.12354165] [ 0.00922385 0.99994691 0.00459385 3.50081346] [-0.01110638 -0.00449132 0.99992824 0.86896037] [ 0. 0. 0. 1. ]] SLAMing on 154.34925976399995 meters 0.14377728103411055 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99848326e-01 -1.36362297e-02 1.08341239e-02 -2.12312289e+00] [ 1.36369252e-02 9.99907013e-01 9.67743510e-06 3.50197732e+00] [-1.08332484e-02 1.38068171e-04 9.99941309e-01 8.69411447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40925976399996 meters 0.1443681158651413 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99849941e-01 -1.35350245e-02 1.08120044e-02 -2.12320795e+00] [ 1.35337134e-02 9.99908396e-01 1.94428706e-04 3.50111433e+00] [-1.08136455e-02 -4.80729617e-05 9.99941530e-01 8.69625229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46925976399996 meters 0.1425493404282629 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99853109e-01 -1.32358980e-02 1.08890472e-02 -2.12324183e+00] [ 1.32289231e-02 9.99912240e-01 7.12322823e-04 3.49923912e+00] [-1.08975198e-02 -5.68167822e-04 9.99940459e-01 8.69335228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52925976399996 meters 0.14051444446452624 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99855918e-01 -1.29192903e-02 1.10106585e-02 -2.12311399e+00] [ 1.29062948e-02 9.99915928e-01 1.25051498e-03 3.49755164e+00] [-1.10258885e-02 -1.10822800e-03 9.99938599e-01 8.68640265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58925976399996 meters 0.14079336141900267 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99861897e-01 -1.24008304e-02 1.10637530e-02 -2.12247325e+00] [ 1.23781730e-02 9.99921153e-01 2.11403005e-03 3.49526367e+00] [-1.10890964e-02 -1.97678905e-03 9.99936560e-01 8.67384012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64925976399996 meters 0.14974701749710514 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.49, Z:0.87 [[ 9.99865298e-01 -1.20777981e-02 1.11136663e-02 -2.12230826e+00] [ 1.20473717e-02 9.99923506e-01 2.80063884e-03 3.49308554e+00] [-1.11466418e-02 -2.66637111e-03 9.99934319e-01 8.66854395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70925976399997 meters 0.14980025951779055 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.49, Z:0.87 [[ 9.99866714e-01 -1.19582452e-02 1.11155473e-02 -2.12247394e+00] [ 1.19253817e-02 9.99924335e-01 3.01813467e-03 3.49206280e+00] [-1.11507979e-02 -2.88517525e-03 9.99933666e-01 8.67092462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76925976399997 meters 0.15509670950669477 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.49, Z:0.87 [[ 0.9998661 -0.0114819 0.01165989 -2.12312283] [ 0.01143347 0.99992577 0.00421183 3.48761757] [-0.01170738 -0.00407795 0.99992315 0.86600585] [ 0. 0. 0. 1. ]] SLAMing on 154.82925976399997 meters 0.16141163343806297 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.49, Z:0.87 [[ 0.9998699 -0.01121707 0.01159106 -2.1225526 ] [ 0.01116463 0.99992719 0.00457881 3.48688114] [-0.01164157 -0.0044488 0.99992234 0.86538067] [ 0. 0. 0. 1. ]] SLAMing on 154.88925976399997 meters 0.1512116308543265 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.49, Z:0.87 [[ 0.99987121 -0.0111914 0.01150322 -2.12241705] [ 0.01113928 0.99992744 0.00458556 3.48687586] [-0.0115537 -0.00445684 0.99992332 0.86551229] [ 0. 0. 0. 1. ]] SLAMing on 154.94925976399998 meters 0.1598557095258219 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 0.9998792 -0.01047892 0.01147919 -2.12152489] [ 0.01041364 0.99992935 0.00573189 3.48356901] [-0.01153845 -0.00561166 0.99991768 0.86414765] [ 0. 0. 0. 1. ]] SLAMing on 155.00925976399998 meters 0.15767810859660347 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 0.99988021 -0.01002904 0.01178889 -2.12188875] [ 0.00994994 0.99992772 0.00674865 3.47980796] [-0.01185572 -0.00663055 0.99990773 0.86348954] [ 0. 0. 0. 1. ]] SLAMing on 155.06925976399995 meters 0.16107850981619815 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 0.99987913 -0.00981469 0.01205782 -2.12255119] [ 0.00972578 0.99992524 0.00741045 3.47700867] [-0.01212965 -0.00729228 0.99989984 0.86347765] [ 0. 0. 0. 1. ]] SLAMing on 155.12925976399995 meters 0.1628688299300434 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 9.99826265e-01 -1.42606632e-02 1.20030122e-02 -2.12304657e+00] [ 1.42274472e-02 9.99894728e-01 2.84816181e-03 3.47698132e+00] [-1.20423653e-02 -2.67689476e-03 9.99923905e-01 8.64654724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18925976399996 meters 0.16484372357803245 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 9.99827095e-01 -1.42132008e-02 1.19901691e-02 -2.12281331e+00] [ 1.41789946e-02 9.99895171e-01 2.93305331e-03 3.47705593e+00] [-1.20306003e-02 -2.76253763e-03 9.99923814e-01 8.64342735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24925976399996 meters 0.1666300875432564 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.48, Z:0.86 [[ 9.99831451e-01 -1.39501985e-02 1.19357208e-02 -2.12220233e+00] [ 1.39116610e-02 9.99897764e-01 3.30571310e-03 3.47641148e+00] [-1.19806159e-02 -3.13911023e-03 9.99923302e-01 8.63604356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30925976399996 meters 0.16783068242424745 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 0.99992148 -0.01157243 0.00480812 -2.1316602 ] [ 0.01160635 0.99990753 -0.00708724 3.48065465] [-0.00472566 0.00714249 0.99996333 0.8694792 ] [ 0. 0. 0. 1. ]] SLAMing on 155.36925976399996 meters 0.16644451257202372 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 0.99991847 -0.01185289 0.00475009 -2.13194879] [ 0.01188872 0.99990055 -0.00758633 3.48217914] [-0.0046597 0.00764219 0.99995994 0.87021058] [ 0. 0. 0. 1. ]] SLAMing on 155.42925976399997 meters 0.16148840471250145 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 0.99991879 -0.0118464 0.00469878 -2.13184234] [ 0.01188186 0.99990057 -0.00759362 3.48233697] [-0.00460836 0.00764883 0.99996013 0.87026196] [ 0. 0. 0. 1. ]] SLAMing on 155.48925976399997 meters 0.15387109410670408 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 9.99961491e-01 -7.29491644e-03 4.87854560e-03 -2.13173392e+00] [ 7.30894911e-03 9.99969186e-01 -2.86478822e-03 3.48143017e+00] [-4.85749688e-03 2.90033494e-03 9.99983996e-01 8.69238799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54925976399997 meters 0.15717053408465942 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 9.99963000e-01 -7.31153560e-03 4.53200901e-03 -2.13059060e+00] [ 7.32608259e-03 9.99968039e-01 -3.20158584e-03 3.48376698e+00] [-4.50845566e-03 3.23466926e-03 9.99984605e-01 8.68893844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60925976399997 meters 0.16463038786984557 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.48, Z:0.87 [[ 9.99962654e-01 -7.39700518e-03 4.46938470e-03 -2.13032247e+00] [ 7.41228953e-03 9.99966704e-01 -3.41295626e-03 3.48497588e+00] [-4.44399024e-03 3.44595717e-03 9.99984188e-01 8.68767782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66925976399997 meters 0.14523041542146703 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.49, Z:0.87 [[ 0.9999657 -0.00737689 0.00376476 -2.12841555] [ 0.00739197 0.99996464 -0.00400919 3.48892134] [-0.00373505 0.00403688 0.99998488 0.8684877 ] [ 0. 0. 0. 1. ]] SLAMing on 155.72925976399998 meters 0.1428473849064573 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.49, Z:0.87 [[ 9.99967918e-01 -7.44118788e-03 2.96500431e-03 -2.12640284e+00] [ 7.45567211e-03 9.99960179e-01 -4.90432660e-03 3.49377953e+00] [-2.92839223e-03 4.92627536e-03 9.99983578e-01 8.68487354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78925976399995 meters 0.1489283312804483 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.50, Z:0.87 [[ 9.99968253e-01 -7.47494831e-03 2.75992585e-03 -2.12563061e+00] [ 7.48918832e-03 9.99958509e-01 -5.18578989e-03 3.49558549e+00] [-2.72104783e-03 5.20629487e-03 9.99982745e-01 8.68165353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84925976399995 meters 0.14051945001065966 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.50, Z:0.87 [[ 9.99967898e-01 -7.51813292e-03 2.77131245e-03 -2.12532938e+00] [ 7.53277872e-03 9.99957515e-01 -5.31278620e-03 3.49667454e+00] [-2.73125248e-03 5.33349134e-03 9.99982047e-01 8.67677447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90925976399996 meters 0.14184850619829123 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.50, Z:0.87 [[ 9.99967392e-01 -7.61631273e-03 2.68454746e-03 -2.12508578e+00] [ 7.63115102e-03 9.99955419e-01 -5.56108663e-03 3.49792815e+00] [-2.64207281e-03 5.58139148e-03 9.99980934e-01 8.67679375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96925976399996 meters 0.15477800698583086 Centerline is valid? [False, False] Translation: X:-2.13, Y:3.50, Z:0.87 [[ 9.99965620e-01 -7.85328687e-03 2.66164071e-03 -2.12536132e+00] [ 7.86898727e-03 9.99951393e-01 -5.94054080e-03 3.49916730e+00] [-2.61485857e-03 5.96128098e-03 9.99978813e-01 8.68208364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02925976399996 meters 0.13739529633568645 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99966594e-01 -7.76181515e-03 2.56213306e-03 -2.12473131e+00] [ 7.77683883e-03 9.99952314e-01 -5.90680301e-03 3.49980872e+00] [-2.51616337e-03 5.92653098e-03 9.99979272e-01 8.67662527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08925976399996 meters 0.13832277998055661 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99969878e-01 -7.46480218e-03 2.12594862e-03 -2.12279279e+00] [ 7.47735475e-03 9.99954289e-01 -5.95901753e-03 3.50192025e+00] [-2.08136855e-03 5.97473450e-03 9.99979985e-01 8.66420838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14925976399996 meters 0.13379402027815307 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.50, Z:0.87 [[ 9.99991940e-01 -3.28839783e-03 2.30346536e-03 -2.12315975e+00] [ 3.29260326e-03 9.99992915e-01 -1.82429313e-03 3.50272023e+00] [-2.29745004e-03 1.83186283e-03 9.99995683e-01 8.66242313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20925976399997 meters 0.1335425389345589 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99968472e-01 -7.80256910e-03 1.47502985e-03 -2.12156365e+00] [ 7.81298185e-03 9.99943625e-01 -7.19055991e-03 3.50750429e+00] [-1.41884186e-03 7.20185759e-03 9.99973060e-01 8.67185272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26925976399997 meters 0.13023563698654256 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99993621e-01 -3.28591108e-03 1.39999201e-03 -2.12053110e+00] [ 3.28985381e-03 9.99990603e-01 -2.82331446e-03 3.50859398e+00] [-1.39070169e-03 2.82790222e-03 9.99995034e-01 8.65888712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32925976399997 meters 0.12558068749457627 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.51, Z:0.87 [[ 9.99994103e-01 -3.36002321e-03 7.10389077e-04 -2.11877727e+00] [ 3.36261450e-03 9.99987581e-01 -3.67853471e-03 3.51320521e+00] [-6.98020292e-04 3.68090178e-03 9.99992982e-01 8.65937084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38925976399997 meters 0.12242537358591886 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.52, Z:0.87 [[ 9.99994908e-01 -3.16967494e-03 3.70911754e-04 -2.11723450e+00] [ 3.17108347e-03 9.99987520e-01 -3.86060406e-03 3.51541455e+00] [-3.58670265e-04 3.86176059e-03 9.99992479e-01 8.65008751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44925976399998 meters 0.12954446747739454 Centerline is valid? [False, False] Translation: X:-2.12, Y:3.52, Z:0.86 [[ 9.99994796e-01 -3.22121085e-03 -1.79137745e-04 -2.11549612e+00] [ 3.22034650e-03 9.99984085e-01 -4.63240626e-03 3.52002508e+00] [ 1.94056851e-04 4.63180527e-03 9.99989254e-01 8.64581937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50925976399998 meters 0.11317269520393182 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.87 [[ 9.99992860e-01 -3.65178311e-03 -9.71551945e-04 -2.11423530e+00] [ 3.64570142e-03 9.99974199e-01 -6.18957598e-03 3.52653658e+00] [ 9.94129867e-04 6.18598980e-03 9.99980372e-01 8.66017649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56925976399995 meters 0.1140173682862893 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.87 [[ 9.99991959e-01 -3.77091417e-03 -1.36447555e-03 -2.11328443e+00] [ 3.76147341e-03 9.99969419e-01 -6.85661948e-03 3.52959936e+00] [ 1.39028954e-03 6.85143191e-03 9.99975562e-01 8.66273665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62925976399995 meters 0.11130784652967274 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.87 [[ 9.99991313e-01 -3.81475372e-03 -1.67999837e-03 -2.11220947e+00] [ 3.80231904e-03 9.99965806e-01 -7.34362322e-03 3.53248660e+00] [ 1.70795504e-03 7.33717153e-03 9.99971624e-01 8.65998593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68925976399996 meters 0.10788504462410092 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990527e-01 -3.81672158e-03 -2.09230679e-03 -2.11089776e+00] [ 3.80039982e-03 9.99962746e-01 -7.75009259e-03 3.53535208e+00] [ 2.12180878e-03 7.74206758e-03 9.99967779e-01 8.65693287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74925976399996 meters 0.10983040780815281 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990208e-01 -3.82595908e-03 -2.22412047e-03 -2.11049826e+00] [ 3.80824571e-03 9.99961427e-01 -7.91462699e-03 3.53633566e+00] [ 2.25431572e-03 7.90607949e-03 9.99966205e-01 8.65652393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80925976399996 meters 0.10725185536880734 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990027e-01 -3.70890351e-03 -2.48784082e-03 -2.10960381e+00] [ 3.68901697e-03 9.99961586e-01 -7.95100929e-03 3.53726231e+00] [ 2.51723477e-03 7.94175231e-03 9.99965295e-01 8.65349296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86925976399996 meters 0.10736746684240421 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990144e-01 -3.66671970e-03 -2.50355188e-03 -2.10963115e+00] [ 3.64676300e-03 9.99961908e-01 -7.92992264e-03 3.53714164e+00] [ 2.53253332e-03 7.92071462e-03 9.99965424e-01 8.65454971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92925976399997 meters 0.10734112363955706 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990269e-01 -3.58749367e-03 -2.56741504e-03 -2.10958532e+00] [ 3.56728813e-03 9.99962968e-01 -7.83176945e-03 3.53676140e+00] [ 2.59541638e-03 7.82253453e-03 9.99966035e-01 8.65617279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98925976399997 meters 0.10588244634589455 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99990280e-01 -3.52070486e-03 -2.65424026e-03 -2.10949752e+00] [ 3.49988006e-03 9.99963376e-01 -7.81009826e-03 3.53661668e+00] [ 2.68164010e-03 7.80073282e-03 9.99965978e-01 8.65842428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04925976399997 meters 0.10494160809713964 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.87 [[ 9.99991249e-01 -3.06402408e-03 -2.84834427e-03 -2.10856456e+00] [ 3.04321397e-03 9.99968856e-01 -7.28188275e-03 3.53533697e+00] [ 2.87056742e-03 7.27315091e-03 9.99969430e-01 8.65167847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10925976399997 meters 0.10467640904828658 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.54, Z:0.86 [[ 9.99991560e-01 -2.82350729e-03 -2.98451902e-03 -2.10792552e+00] [ 2.80246313e-03 9.99971349e-01 -7.03192310e-03 3.53500340e+00] [ 3.00428820e-03 7.02349975e-03 9.99970822e-01 8.64719953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16925976399997 meters 0.1037706947808507 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.86 [[ 9.99992448e-01 -2.30925443e-03 -3.12598154e-03 -2.10693848e+00] [ 2.28920716e-03 9.99976889e-01 -6.40156945e-03 3.53348116e+00] [ 3.14069215e-03 6.39436509e-03 9.99974624e-01 8.63770587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22925976399998 meters 0.10393401838805916 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.86 [[ 9.99991786e-01 -2.10720955e-03 -3.46235160e-03 -2.10604712e+00] [ 2.08517993e-03 9.99977639e-01 -6.35395836e-03 3.53377873e+00] [ 3.47566330e-03 6.34668655e-03 9.99973819e-01 8.63744567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28925976399995 meters 0.1016137593500817 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.53, Z:0.86 [[ 9.99991851e-01 -1.83428113e-03 -3.59620877e-03 -2.10532075e+00] [ 1.81232408e-03 9.99979756e-01 -6.09939260e-03 3.53348651e+00] [ 3.60732397e-03 6.09282540e-03 9.99974932e-01 8.63183254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34925976399995 meters 0.0996877149459503 Centerline is valid? [False, True] Translation: X:-2.10, Y:3.53, Z:0.86 [[ 9.99991620e-01 -1.38142726e-03 -3.85377525e-03 -2.10423106e+00] [ 1.35953904e-03 9.99982964e-01 -5.67653179e-03 3.53261191e+00] [ 3.86155131e-03 5.67124486e-03 9.99976462e-01 8.62565348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40925976399996 meters 0.10110105340404708 Centerline is valid? [True, False] Translation: X:-2.10, Y:3.53, Z:0.86 [[ 9.99991544e-01 -1.00080848e-03 -3.98889334e-03 -2.10393162e+00] [ 9.79994645e-04 9.99985914e-01 -5.21649171e-03 3.53071460e+00] [ 3.99405786e-03 5.21253850e-03 9.99978438e-01 8.62626798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46925976399996 meters 0.10053099153434689 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.53, Z:0.86 [[ 0.99997618 -0.00523096 -0.00450345 -2.10284781] [ 0.00518683 0.99993895 -0.00975672 3.53206923] [ 0.00455421 0.00973313 0.99994226 0.86305037] [ 0. 0. 0. 1. ]] SLAMing on 157.52925976399996 meters 0.10504337020958414 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.53, Z:0.86 [[ 0.99998048 -0.00466426 -0.00415727 -2.10311701] [ 0.0046288 0.99995318 -0.00849779 3.52756026] [ 0.00419671 0.00847838 0.99995525 0.86192447] [ 0. 0. 0. 1. ]] SLAMing on 157.58925976399996 meters 0.10593358219861754 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.52, Z:0.86 [[ 0.99998476 -0.00409505 -0.00370281 -2.10396448] [ 0.0040696 0.99996824 -0.00685258 3.52094586] [ 0.00373075 0.00683741 0.99996967 0.86123451] [ 0. 0. 0. 1. ]] SLAMing on 157.64925976399996 meters 0.10613635753116048 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.51, Z:0.86 [[ 9.99988372e-01 -3.68226763e-03 -3.11380494e-03 -2.10522262e+00] [ 3.66543304e-03 9.99978729e-01 -5.39496883e-03 3.51463378e+00] [ 3.13360443e-03 5.38349266e-03 9.99980599e-01 8.60835856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70925976399997 meters 0.11020650260678297 Centerline is valid? [False, False] Translation: X:-2.10, Y:3.51, Z:0.86 [[ 9.99963946e-01 -7.77492576e-03 -3.41421384e-03 -2.10448123e+00] [ 7.74227288e-03 9.99925137e-01 -9.47508482e-03 3.51394746e+00] [ 3.48762632e-03 9.44830944e-03 9.99949282e-01 8.60930574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76925976399997 meters 0.11399311960838034 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.51, Z:0.86 [[ 9.99964267e-01 -7.78396082e-03 -3.29779509e-03 -2.10531541e+00] [ 7.75353537e-03 9.99928165e-01 -9.14045496e-03 3.51195698e+00] [ 3.36870713e-03 9.11455877e-03 9.99952787e-01 8.61676260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82925976399997 meters 0.1181420558331454 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.51, Z:0.86 [[ 9.99967621e-01 -7.50544084e-03 -2.90269895e-03 -2.10616514e+00] [ 7.48127999e-03 9.99938009e-01 -8.24674357e-03 3.50817482e+00] [ 2.96441445e-03 8.22476064e-03 9.99961782e-01 8.61429268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88925976399997 meters 0.12006688368624117 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.50, Z:0.86 [[ 9.99971790e-01 -7.09473316e-03 -2.46660399e-03 -2.10681079e+00] [ 7.07710943e-03 9.99949881e-01 -7.08171733e-03 3.50376600e+00] [ 2.51672326e-03 7.06406113e-03 9.99971882e-01 8.60654070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94925976399998 meters 0.1256682198549887 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.50, Z:0.86 [[ 9.99933583e-01 -1.12742685e-02 -2.39172841e-03 -2.10709182e+00] [ 1.12476808e-02 9.99877843e-01 -1.08530398e-02 3.50161049e+00] [ 2.51379633e-03 1.08254175e-02 9.99938244e-01 8.60801462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00925976399998 meters 0.1297451293953228 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.50, Z:0.86 [[ 9.99936910e-01 -1.10859021e-02 -1.81062153e-03 -2.10836511e+00] [ 1.10674777e-02 9.99889872e-01 -9.88707702e-03 3.49723168e+00] [ 1.92002930e-03 9.86641424e-03 9.99949482e-01 8.60564882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06925976399995 meters 0.1363007706704005 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99936657e-01 -1.11979473e-02 -1.13456788e-03 -2.11027017e+00] [ 1.11870283e-02 9.99894989e-01 -9.21206477e-03 3.49343899e+00] [ 1.23760496e-03 9.19878881e-03 9.99956924e-01 8.60977821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12925976399995 meters 0.15015877772812702 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99937330e-01 -1.11679791e-02 -7.82314891e-04 -2.11107799e+00] [ 1.11606719e-02 9.99899053e-01 -8.79337416e-03 3.49171281e+00] [ 8.80440137e-04 8.78409192e-03 9.99961032e-01 8.60822164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18925976399996 meters 0.1429429461068281 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99938994e-01 -1.10406907e-02 -3.34660694e-04 -2.11170148e+00] [ 1.10376012e-02 9.99905944e-01 -8.14087089e-03 3.48956927e+00] [ 4.24510055e-04 8.13668039e-03 9.99966807e-01 8.59965278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24925976399996 meters 0.14857229483324896 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99977622e-01 -6.68160005e-03 3.35229488e-04 -2.11294424e+00] [ 6.68260966e-03 9.99972845e-01 -3.10683534e-03 3.48663888e+00] [-3.14461754e-04 3.10900602e-03 9.99995118e-01 8.59201434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30925976399996 meters 0.15155851570043763 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99978183e-01 -6.59500489e-03 3.74517050e-04 -2.11281907e+00] [ 6.59605020e-03 9.99974150e-01 -2.86201735e-03 3.48619812e+00] [-3.55632350e-04 2.86442524e-03 9.99995834e-01 8.58821779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36925976399996 meters 0.15372276192731488 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99977186e-01 -6.75395573e-03 -1.09117471e-04 -2.11172878e+00] [ 6.75352634e-03 9.99970906e-01 -3.54641431e-03 3.48956638e+00] [ 1.33066622e-04 3.54559647e-03 9.99993705e-01 8.59106605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42925976399997 meters 0.15661418669670416 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99979649e-01 -6.35451817e-03 -5.67846047e-04 -2.10941221e+00] [ 6.35251248e-03 9.99973813e-01 -3.46673937e-03 3.49168943e+00] [ 5.89860636e-04 3.46306157e-03 9.99993830e-01 8.57431829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48925976399997 meters 0.14889476084567257 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99980468e-01 -6.20676566e-03 -7.35256234e-04 -2.10862873e+00] [ 6.20419240e-03 9.99974796e-01 -3.45186792e-03 3.49241343e+00] [ 7.56662637e-04 3.44723883e-03 9.99993772e-01 8.56953669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54925976399997 meters 0.1456923789506157 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99978859e-01 -6.42829998e-03 -9.79319601e-04 -2.10826385e+00] [ 6.42441267e-03 9.99971671e-01 -3.92213727e-03 3.49460535e+00] [ 1.00450453e-03 3.91576280e-03 9.99991829e-01 8.57360368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60925976399997 meters 0.1395008633830911 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99979085e-01 -6.39380897e-03 -9.73714062e-04 -2.10828098e+00] [ 6.39002554e-03 9.99972209e-01 -3.84033501e-03 3.49448283e+00] [ 9.98241370e-04 3.83403263e-03 9.99992152e-01 8.57352333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66925976399997 meters 0.14426684965979977 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99982355e-01 -5.90029261e-03 -6.89672275e-04 -2.10847937e+00] [ 5.89834705e-03 9.99978713e-01 -2.78979514e-03 3.49082246e+00] [ 7.06118202e-04 2.78567799e-03 9.99995871e-01 8.56478013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72925976399998 meters 0.14626671531370147 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.49, Z:0.86 [[ 9.99953355e-01 -9.62742021e-03 -7.75027327e-04 -2.10802690e+00] [ 9.62251356e-03 9.99935075e-01 -6.10355750e-03 3.48726735e+00] [ 8.33738521e-04 6.09581509e-03 9.99981073e-01 8.56107477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78925976399995 meters 0.15041420266302166 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.48, Z:0.86 [[ 9.99958925e-01 -9.05178490e-03 -4.62981152e-04 -2.10860889e+00] [ 9.04942441e-03 9.99947199e-01 -4.86901052e-03 3.48221153e+00] [ 5.07029942e-04 4.86462081e-03 9.99988039e-01 8.55700852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84925976399995 meters 0.1544228338408057 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.47, Z:0.85 [[ 9.99924141e-01 -1.23157650e-02 -1.82843026e-04 -2.10877475e+00] [ 1.23141548e-02 9.99898921e-01 -7.10695350e-03 3.47425414e+00] [ 2.70352113e-04 7.10416282e-03 9.99974729e-01 8.54797150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90925976399996 meters 0.15844981651669643 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.47, Z:0.85 [[ 9.99929088e-01 -1.19054230e-02 2.81382190e-04 -2.10996471e+00] [ 1.19068706e-02 9.99911861e-01 -5.87339061e-03 3.46881134e+00] [-2.11432190e-04 5.87632450e-03 9.99982712e-01 8.54735400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96925976399996 meters 0.1627413361659169 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.46, Z:0.85 [[ 9.99939635e-01 -1.09423055e-02 9.95743591e-04 -2.11048384e+00] [ 1.09452382e-02 9.99935632e-01 -2.98907566e-03 3.45995179e+00] [-9.62972118e-04 2.99979388e-03 9.99995037e-01 8.51735353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02925976399996 meters 0.16451648114375234 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99946998e-01 -1.01738304e-02 1.57928448e-03 -2.11121381e+00] [ 1.01754615e-02 9.99947700e-01 -1.02818382e-03 3.45277663e+00] [-1.56874132e-03 1.04419927e-03 9.99998224e-01 8.50305620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08925976399996 meters 0.18194957766163725 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99951565e-01 -9.69518434e-03 1.69464580e-03 -2.11106508e+00] [ 9.69543008e-03 9.99952989e-01 -1.36853340e-04 3.45000461e+00] [-1.69323931e-03 1.53277031e-04 9.99998555e-01 8.49522288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14925976399996 meters 0.18003536627871253 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99956639e-01 -9.13466162e-03 1.81040513e-03 -2.11061265e+00] [ 9.13310341e-03 9.99957916e-01 8.67101714e-04 3.44717211e+00] [-1.81824962e-03 -8.50529498e-04 9.99997985e-01 8.48262453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20925976399997 meters 0.18070393752174688 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99957762e-01 -9.00483185e-03 1.84043679e-03 -2.11071579e+00] [ 9.00273669e-03 9.99958821e-01 1.14353948e-03 3.44616855e+00] [-1.85065838e-03 -1.12692222e-03 9.99997653e-01 8.48274005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26925976399997 meters 0.17562042954176776 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99957674e-01 -9.06714540e-03 1.56132263e-03 -2.10980164e+00] [ 9.06588319e-03 9.99958573e-01 8.13614140e-04 3.44831852e+00] [-1.56863511e-03 -7.99424934e-04 9.99998450e-01 8.48008228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32925976399997 meters 0.16882689590186664 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99959143e-01 -8.94364610e-03 1.31282434e-03 -2.10843200e+00] [ 8.94273279e-03 9.99959768e-01 6.99911513e-04 3.45016443e+00] [-1.31903128e-03 -6.88142679e-04 9.99998893e-01 8.46925141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38925976399997 meters 0.1660365329658714 Centerline is valid? [False, False] Translation: X:-2.11, Y:3.45, Z:0.85 [[ 9.99959815e-01 -8.90589410e-03 1.02589639e-03 -2.10748265e+00] [ 8.90537661e-03 9.99960217e-01 5.07898617e-04 3.45160457e+00] [-1.03037887e-03 -4.98742213e-04 9.99999345e-01 8.46600788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44925976399998 meters 0.1567462683355933 Centerline is valid? [False, False] Translation: X:-2.09, Y:3.45, Z:0.85 [[ 9.99994158e-01 -1.80711081e-03 -2.90141357e-03 -2.09002821e+00] [ 1.80384573e-03 9.99997737e-01 -1.12756443e-03 3.45419197e+00] [ 2.90344463e-03 1.12232414e-03 9.99995155e-01 8.50432463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50925976399998 meters 0.14508027608559618 Centerline is valid? [False, False] Translation: X:-2.08, Y:3.46, Z:0.86 [[ 9.99964799e-01 5.35273421e-03 -6.46133042e-03 -2.07962390e+00] [-5.35979555e-03 9.99985057e-01 -1.07604146e-03 3.46411148e+00] [ 6.45547410e-03 1.11063500e-03 9.99978546e-01 8.56073755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56925976399995 meters 0.12572468408242649 Centerline is valid? [False, False] Translation: X:-2.08, Y:3.47, Z:0.86 [[ 9.99957827e-01 5.44110555e-03 -7.39861340e-03 -2.07714166e+00] [-5.46146400e-03 9.99981348e-01 -2.73424309e-03 3.47116716e+00] [ 7.38359809e-03 2.77453504e-03 9.99968892e-01 8.56233941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62925976399995 meters 0.11791615269242069 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 0.99993836 0.01016927 0.00445722 -2.07158448] [-0.01014752 0.99993663 -0.00487564 3.47785984] [-0.00450652 0.00483011 0.99997818 0.85016929] [ 0. 0. 0. 1. ]] SLAMing on 159.68925976399996 meters 0.11593179456061803 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 0.99994068 0.01001611 0.00427945 -2.07146962] [-0.00999338 0.99993603 -0.00529883 3.47929237] [-0.00433225 0.00525575 0.9999768 0.85077608] [ 0. 0. 0. 1. ]] SLAMing on 159.74925976399996 meters 0.12169789589790375 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 0.9999413 0.00993051 0.0043336 -2.07215051] [-0.00990789 0.99993734 -0.00520992 3.47833166] [-0.00438507 0.00516668 0.99997704 0.85157927] [ 0. 0. 0. 1. ]] SLAMing on 159.80925976399996 meters 0.1157275935277346 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 0.99997686 0.00580999 0.00353841 -2.07017816] [-0.00577521 0.99993568 -0.0097608 3.48122629] [-0.00359489 0.00974014 0.9999461 0.85128217] [ 0. 0. 0. 1. ]] SLAMing on 159.86925976399996 meters 0.11566468818250467 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99977023e-01 5.96012367e-03 3.22971367e-03 -2.06910943e+00] [-5.92804581e-03 9.99933893e-01 -9.85228738e-03 3.48244615e+00] [-3.28822102e-03 9.83291511e-03 9.99946249e-01 8.50852888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92925976399997 meters 0.11290676772533649 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99974888e-01 6.37878374e-03 3.08788016e-03 -2.06791661e+00] [-6.34956278e-03 9.99935827e-01 -9.38218464e-03 3.48196575e+00] [-3.14752893e-03 9.36234235e-03 9.99951219e-01 8.49545430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98925976399997 meters 0.1166530412808623 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99993466e-01 2.25796710e-03 2.82288234e-03 -2.06710187e+00] [-2.21948585e-03 9.99905575e-01 -1.35615106e-02 3.48211106e+00] [-2.85323724e-03 1.35551567e-02 9.99904054e-01 8.49217693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04925976399997 meters 0.11440887636920147 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99992431e-01 2.59759814e-03 2.89648463e-03 -2.06708719e+00] [-2.56004565e-03 9.99913591e-01 -1.28940498e-02 3.47982932e+00] [-2.92972791e-03 1.28865371e-02 9.99912673e-01 8.48783744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10925976399997 meters 0.11764996311148446 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99990731e-01 3.02687734e-03 3.06191359e-03 -2.06703183e+00] [-2.99007787e-03 9.99924096e-01 -1.19524716e-02 3.47687756e+00] [-3.09785985e-03 1.19432055e-02 9.99923879e-01 8.47893603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16925976399997 meters 0.1239510521531345 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.48, Z:0.85 [[ 9.99995132e-01 -1.03138115e-03 2.94501817e-03 -2.06656617e+00] [ 1.07809665e-03 9.99872922e-01 -1.59052734e-02 3.47591010e+00] [-2.92823952e-03 1.59083710e-02 9.99869166e-01 8.47544792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22925976399998 meters 0.12722779325203454 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.47, Z:0.85 [[ 9.99994116e-01 -8.05586771e-04 3.33457765e-03 -2.06748516e+00] [ 8.55456354e-04 9.99887413e-01 -1.49809821e-02 3.47220485e+00] [-3.32213374e-03 1.49837465e-02 9.99882218e-01 8.47304918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28925976399995 meters 0.12662384225902631 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.47, Z:0.85 [[ 9.99993420e-01 -7.13627961e-04 3.55691071e-03 -2.06815821e+00] [ 7.65505991e-04 9.99893046e-01 -1.46051790e-02 3.47041683e+00] [-3.54610762e-03 1.46078057e-02 9.99887012e-01 8.47464888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34925976399995 meters 0.12822390332014816 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.47, Z:0.85 [[ 9.99992047e-01 -4.15518867e-04 3.96652887e-03 -2.06838201e+00] [ 4.69893382e-04 9.99905804e-01 -1.37172627e-02 3.46796830e+00] [-3.96045545e-03 1.37190174e-02 9.99898046e-01 8.46043394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40925976399996 meters 0.13556744263254955 Centerline is valid? [False, False] Translation: X:-2.07, Y:3.47, Z:0.85 [[ 9.99990700e-01 -1.70603895e-04 4.30946926e-03 -2.06881008e+00] [ 2.26655787e-04 9.99915347e-01 -1.30095430e-02 3.46550099e+00] [-4.30688497e-03 1.30103987e-02 9.99906086e-01 8.45324865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46925976399996 meters 0.14118021628617575 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.84 [[ 0.99990475 -0.00700892 0.01189014 -2.06090688] [ 0.00708105 0.99995671 -0.00603557 3.46354297] [-0.01184732 0.00611919 0.99991109 0.83827238] [ 0. 0. 0. 1. ]] SLAMing on 160.52925976399996 meters 0.1435009807725591 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.84 [[ 0.99990045 -0.00727119 0.01209239 -2.06145231] [ 0.00734849 0.99995277 -0.00636038 3.46468399] [-0.01204557 0.0064486 0.99990666 0.83840091] [ 0. 0. 0. 1. ]] SLAMing on 160.58925976399996 meters 0.13754782377693392 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 0.99989799 -0.00734081 0.01225257 -2.060945 ] [ 0.00742044 0.99995156 -0.00646623 3.46651646] [-0.01220451 0.00655649 0.99990403 0.83703595] [ 0. 0. 0. 1. ]] SLAMing on 160.64925976399996 meters 0.14622577284214744 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 0.99989587 -0.00749903 0.01232947 -2.0608528 ] [ 0.00758231 0.99994866 -0.00672174 3.46799843] [-0.01227844 0.00681453 0.9999014 0.83665286] [ 0. 0. 0. 1. ]] SLAMing on 160.70925976399997 meters 0.14756574377824871 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99911900e-01 -3.32360806e-03 1.28508925e-02 -2.06191183e+00] [ 3.35081130e-03 9.99992190e-01 -2.09588485e-03 3.46675672e+00] [-1.28438262e-02 2.13876112e-03 9.99915227e-01 8.36264974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76925976399997 meters 0.15259810199027177 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99906934e-01 -3.72078403e-03 1.31254900e-02 -2.06289735e+00] [ 3.75403710e-03 9.99989804e-01 -2.50974511e-03 3.46793652e+00] [-1.31160179e-02 2.55878512e-03 9.99910707e-01 8.36778622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82925976399997 meters 0.15290035862458906 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99896468e-01 -3.95001067e-03 1.38365442e-02 -2.06451410e+00] [ 3.98134162e-03 9.99989571e-01 -2.23754925e-03 3.46641520e+00] [-1.38275616e-02 2.29240561e-03 9.99901767e-01 8.36663571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88925976399997 meters 0.1552949507782171 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.84 [[ 9.99893453e-01 -3.68466935e-03 1.41246662e-02 -2.06474933e+00] [ 3.70731389e-03 9.99991884e-01 -1.57734251e-03 3.46426809e+00] [-1.41187396e-02 1.62953902e-03 9.99898998e-01 8.35826333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94925976399998 meters 0.14881924900947144 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99902864e-01 -4.15733975e-03 1.33033218e-02 -2.06330762e+00] [ 4.20039784e-03 9.99986025e-01 -3.21033955e-03 3.47091182e+00] [-1.32897894e-02 3.26590695e-03 9.99906353e-01 8.37044445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00925976399995 meters 0.1572998701690573 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99904318e-01 -3.60534432e-03 1.33550133e-02 -2.06238972e+00] [ 3.63629312e-03 9.99990758e-01 -2.29383484e-03 3.46898583e+00] [-1.33466198e-02 2.34217810e-03 9.99908187e-01 8.35298886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06925976399995 meters 0.1604967013798307 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99901405e-01 -3.43794989e-03 1.36147098e-02 -2.06292575e+00] [ 3.46280463e-03 9.99992380e-01 -1.80242699e-03 3.46711814e+00] [-1.36084094e-02 1.84939436e-03 9.99905691e-01 8.35040627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12925976399995 meters 0.15906939903443532 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99900945e-01 -3.75572387e-03 1.35644834e-02 -2.06337815e+00] [ 3.78760455e-03 9.99990123e-01 -2.32538135e-03 3.46849004e+00] [-1.35556159e-02 2.37652790e-03 9.99905294e-01 8.36005036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18925976399996 meters 0.16039622956953123 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99901883e-01 -3.43138659e-03 1.35812222e-02 -2.06293940e+00] [ 3.45605672e-03 9.99992420e-01 -1.79343503e-03 3.46725837e+00] [-1.35749653e-02 1.84019654e-03 9.99906163e-01 8.35192988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24925976399996 meters 0.16086433768343966 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.84 [[ 9.99902330e-01 -3.27831623e-03 1.35861605e-02 -2.06284683e+00] [ 3.29999713e-03 9.99993317e-01 -1.57369678e-03 3.46656997e+00] [-1.35809106e-02 1.61837737e-03 9.99906465e-01 8.35006696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30925976399996 meters 0.15984505904499802 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 9.99902773e-01 -3.13187773e-03 1.35880701e-02 -2.06256878e+00] [ 3.15047610e-03 9.99994129e-01 -1.34753785e-03 3.46619198e+00] [-1.35837700e-02 1.39021573e-03 9.99906770e-01 8.34552147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36925976399996 meters 0.16003654738838438 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.83 [[ 9.99903844e-01 -2.83778263e-03 1.35738953e-02 -2.06227759e+00] [ 2.84948611e-03 9.99995585e-01 -8.42942336e-04 3.46471791e+00] [-1.35714433e-02 8.81539908e-04 9.99907515e-01 8.34092284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42925976399997 meters 0.154201305158147 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 9.99910304e-01 -3.02678868e-03 1.30469377e-02 -2.06146189e+00] [ 3.04763509e-03 9.99994111e-01 -1.57821511e-03 3.46760806e+00] [-1.30420840e-02 1.61783586e-03 9.99913640e-01 8.34967586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48925976399997 meters 0.15450745922100792 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 9.99911621e-01 -2.65176844e-03 1.30276349e-02 -2.06090512e+00] [ 2.66536066e-03 9.99995921e-01 -1.02608615e-03 3.46626445e+00] [-1.30248608e-02 1.06071881e-03 9.99914610e-01 8.34119830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54925976399997 meters 0.156991156872414 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99989254 -0.00702438 0.01286694 -2.06080001] [ 0.00709676 0.9999592 -0.00558875 3.46708179] [-0.01282716 0.00567946 0.9999016 0.83470813] [ 0. 0. 0. 1. ]] SLAMing on 161.60925976399997 meters 0.1553434281205135 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99989503 -0.00685976 0.01276254 -2.06026755] [ 0.00692815 0.99996184 -0.00532238 3.4667543 ] [-0.01272555 0.00541024 0.99990439 0.83425662] [ 0. 0. 0. 1. ]] SLAMing on 161.66925976399997 meters 0.15370800844530588 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99989606 -0.00658667 0.01282501 -2.06013783] [ 0.00664823 0.99996655 -0.00476359 3.46510291] [-0.0127932 0.00484836 0.99990641 0.83373807] [ 0. 0. 0. 1. ]] SLAMing on 161.72925976399998 meters 0.16883286500172534 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.83 [[ 0.99989652 -0.00630103 0.01293263 -2.05993688] [ 0.006356 0.99997092 -0.00421394 3.46373514] [-0.0129057 0.0042957 0.99990749 0.83291757] [ 0. 0. 0. 1. ]] SLAMing on 161.78925976399995 meters 0.16781160105569995 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.83 [[ 0.99989738 -0.00620694 0.01291149 -2.05937304] [ 0.0062604 0.99997198 -0.00410486 3.46416106] [-0.01288565 0.00418527 0.99990822 0.83210807] [ 0. 0. 0. 1. ]] SLAMing on 161.84925976399995 meters 0.16588069341801726 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.9999028 -0.00625014 0.01246312 -2.05791233] [ 0.00630784 0.99996954 -0.00459602 3.46747046] [-0.01243402 0.00467419 0.99991177 0.83164502] [ 0. 0. 0. 1. ]] SLAMing on 161.90925976399996 meters 0.1524298721359727 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99990825 -0.00628922 0.01199699 -2.05648552] [ 0.00635207 0.99996626 -0.00520821 3.47096603] [-0.01196383 0.00528394 0.99991447 0.83134156] [ 0. 0. 0. 1. ]] SLAMing on 161.96925976399996 meters 0.15203569246888698 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99991178 -0.0061755 0.01175948 -2.05540092] [ 0.00623812 0.99996652 -0.00529543 3.47237485] [-0.01172639 0.00536832 0.99991683 0.83063079] [ 0. 0. 0. 1. ]] SLAMing on 162.02925976399996 meters 0.16021268899374438 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.47, Z:0.83 [[ 0.99991364 -0.00608842 0.01164694 -2.05457409] [ 0.0061504 0.99996708 -0.00529258 3.47338814] [-0.01161434 0.00536376 0.99991817 0.82979484] [ 0. 0. 0. 1. ]] SLAMing on 162.08925976399996 meters 0.15701264070972576 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.47, Z:0.83 [[ 0.99991297 -0.00591731 0.01179157 -2.05498729] [ 0.00597547 0.99997013 -0.00490328 3.47168165] [-0.01176221 0.00497332 0.99991845 0.82986097] [ 0. 0. 0. 1. ]] SLAMing on 162.14925976399996 meters 0.15587991816145927 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99990895 -0.00582996 0.01216985 -2.05600174] [ 0.00588307 0.99997331 -0.00433229 3.4689955 ] [-0.01214427 0.00440349 0.99991656 0.82996661] [ 0. 0. 0. 1. ]] SLAMing on 162.20925976399997 meters 0.1661984572590829 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.47, Z:0.83 [[ 0.99991095 -0.00556826 0.01212825 -2.05549287] [ 0.00561527 0.99997684 -0.00384527 3.46789634] [-0.01210656 0.00391303 0.99991906 0.82925479] [ 0. 0. 0. 1. ]] SLAMing on 162.26925976399997 meters 0.1587063641887609 Centerline is valid? [False, False] Translation: X:-2.06, Y:3.46, Z:0.83 [[ 9.99911238e-01 -4.89362387e-03 1.23922430e-02 -2.05513087e+00] [ 4.92411178e-03 9.99984922e-01 -2.43092618e-03 3.46366214e+00] [-1.23801601e-02 2.49173119e-03 9.99920258e-01 8.27435649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32925976399997 meters 0.16608444608298167 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99911911e-01 -4.56415362e-03 1.24634567e-02 -2.05492673e+00] [ 4.58685129e-03 9.99987873e-01 -1.79315977e-03 3.46172281e+00] [-1.24551213e-02 1.85016983e-03 9.99920720e-01 8.26750312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38925976399997 meters 0.16899804473524294 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99914075e-01 -4.63800489e-03 1.22609983e-02 -2.05488659e+00] [ 4.66255628e-03 9.99987181e-01 -1.97457090e-03 3.46212821e+00] [-1.22516830e-02 2.03156883e-03 9.99922882e-01 8.27475264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44925976399998 meters 0.16892601462568185 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99914957e-01 -4.40568775e-03 1.22746934e-02 -2.05469432e+00] [ 4.42624793e-03 9.99988846e-01 -1.64834293e-03 3.46112240e+00] [-1.22672944e-02 1.70253359e-03 9.99923304e-01 8.27099254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50925976399995 meters 0.1633672746840469 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99915512e-01 -3.83927700e-03 1.24188498e-02 -2.05408888e+00] [ 3.84717085e-03 9.99992412e-01 -6.11807448e-04 3.45838952e+00] [-1.24164067e-02 6.59533195e-04 9.99922696e-01 8.25458733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56925976399995 meters 0.16963223631597155 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99914133e-01 -3.68378032e-03 1.25760460e-02 -2.05416327e+00] [ 3.68625803e-03 9.99993191e-01 -1.73843819e-04 3.45712182e+00] [-1.25753200e-02 2.20187442e-04 9.99920903e-01 8.24873870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62925976399995 meters 0.1635239924123747 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99915708e-01 -3.71742120e-03 1.24401619e-02 -2.05395792e+00] [ 3.72195151e-03 9.99993015e-01 -3.41036013e-04 3.45777173e+00] [-1.24388072e-02 3.87308946e-04 9.99922560e-01 8.25122612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68925976399996 meters 0.1641452310621176 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.83 [[ 9.99919676e-01 -3.74891527e-03 1.21072887e-02 -2.05305071e+00] [ 3.75995307e-03 9.99992536e-01 -8.89032686e-04 3.46025953e+00] [-1.21038655e-02 9.34484113e-04 9.99926309e-01 8.25141534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74925976399996 meters 0.1541180642088672 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99920622e-01 -3.31199683e-03 1.21564737e-02 -2.05216143e+00] [ 3.31568399e-03 9.99994463e-01 -2.83166506e-04 3.45932638e+00] [-1.21554685e-02 3.23451054e-04 9.99926067e-01 8.23519462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80925976399996 meters 0.15586828647652068 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99919710e-01 -3.32213309e-03 1.22285313e-02 -2.05236012e+00] [ 3.32555129e-03 9.99994437e-01 -2.59202496e-04 3.45919748e+00] [-1.22276021e-02 2.99848292e-04 9.99925195e-01 8.23529707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86925976399996 meters 0.15201070689171597 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99924936e-01 -3.59010811e-03 1.17146959e-02 -2.05140049e+00] [ 3.60457946e-03 9.99992766e-01 -1.21443506e-03 3.46324436e+00] [-1.17102512e-02 1.25657045e-03 9.99930643e-01 8.24125126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92925976399997 meters 0.15462296474597992 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99927025e-01 -3.60849474e-03 1.15292629e-02 -2.05084178e+00] [ 3.62626097e-03 9.99992269e-01 -1.52043503e-03 3.46463910e+00] [-1.15236873e-02 1.56213219e-03 9.99932380e-01 8.24081654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98925976399997 meters 0.1459490800107987 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99929853e-01 -3.23792177e-03 1.13931597e-02 -2.04984905e+00] [ 3.25140441e-03 9.99994035e-01 -1.16507444e-03 3.46421231e+00] [-1.13893193e-02 1.20203648e-03 9.99934417e-01 8.23090046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04925976399997 meters 0.14986317250690964 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99933080e-01 -2.94263891e-03 1.11882688e-02 -2.04873681e+00] [ 2.95312789e-03 9.99995215e-01 -9.21093171e-04 3.46444575e+00] [-1.11855048e-02 9.54071919e-04 9.99936985e-01 8.22147079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10925976399997 meters 0.14609696191312102 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.47, Z:0.82 [[ 9.99935888e-01 -2.90745462e-03 1.09437682e-02 -2.04829519e+00] [ 2.91911397e-03 9.99995189e-01 -1.04956465e-03 3.46505570e+00] [-1.09406640e-02 1.08144347e-03 9.99939564e-01 8.22458334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16925976399997 meters 0.14509661496579615 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99936451e-01 -2.70039210e-03 1.09454248e-02 -2.04804583e+00] [ 2.70877717e-03 9.99996049e-01 -7.51327609e-04 3.46433831e+00] [-1.09433527e-02 7.80928580e-04 9.99939815e-01 8.22043385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22925976399998 meters 0.1529795222711169 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 0.99991854 -0.00667077 0.01088202 -2.04784438] [ 0.00672151 0.99996668 -0.00463195 3.46271148] [-0.01085076 0.00470472 0.99993006 0.82202031] [ 0. 0. 0. 1. ]] SLAMing on 163.28925976399995 meters 0.15297785850464118 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 0.99991242 -0.00644115 0.01156165 -2.04929745] [ 0.00648169 0.99997297 -0.00347197 3.45783713] [-0.01153897 0.00354661 0.99992713 0.82159324] [ 0. 0. 0. 1. ]] SLAMing on 163.34925976399995 meters 0.16223848260409654 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99907064e-01 -6.36334826e-03 1.20570032e-02 -2.05051679e+00] [ 6.39811881e-03 9.99975478e-01 -2.84747180e-03 3.45505363e+00] [-1.20385880e-02 2.92434931e-03 9.99923257e-01 8.21601482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40925976399996 meters 0.15986615647372432 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.45, Z:0.82 [[ 9.99904963e-01 -6.24093046e-03 1.22929534e-02 -2.05086601e+00] [ 6.27104161e-03 9.99977427e-01 -2.41244216e-03 3.45366668e+00] [-1.22776200e-02 2.48930251e-03 9.99921529e-01 8.21141545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46925976399996 meters 0.15400708810759728 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99914155e-01 -6.31546096e-03 1.14803552e-02 -2.04893584e+00] [ 6.35418286e-03 9.99974236e-01 -3.33954243e-03 3.45839794e+00] [-1.14589687e-02 3.41220402e-03 9.99928522e-01 8.21382368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52925976399996 meters 0.15914430550105527 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 0.99991955 -0.00613275 0.01110317 -2.04747613] [ 0.00617215 0.99997477 -0.00351762 3.46034104] [-0.01108131 0.00358587 0.99993217 0.82064098] [ 0. 0. 0. 1. ]] SLAMing on 163.58925976399996 meters 0.16454763335648637 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99922710e-01 -5.89288039e-03 1.09474829e-02 -2.04630104e+00] [ 5.93003513e-03 9.99976757e-01 -3.36455252e-03 3.46123538e+00] [-1.09274016e-02 3.42921143e-03 9.99934414e-01 8.19456618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64925976399996 meters 0.16572941288872498 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99923028e-01 -5.85514565e-03 1.09387152e-02 -2.04610078e+00] [ 5.89133897e-03 9.99977268e-01 -3.27944852e-03 3.46141018e+00] [-1.09192649e-02 3.34363978e-03 9.99934793e-01 8.19171190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70925976399997 meters 0.1704028508279982 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.46, Z:0.82 [[ 9.99923874e-01 -5.87206875e-03 1.08519658e-02 -2.04562261e+00] [ 5.90806901e-03 9.99977141e-01 -3.28831933e-03 3.46227340e+00] [-1.08324085e-02 3.35218316e-03 9.99935709e-01 8.18764878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76925976399997 meters 0.154506047209597 Centerline is valid? [False, False] Translation: X:-2.05, Y:3.47, Z:0.82 [[ 9.99942354e-01 -1.80007506e-03 1.05852835e-02 -2.04503248e+00] [ 1.79707351e-03 9.99998342e-01 2.93063501e-04 3.46517136e+00] [-1.05857935e-02 -2.74024075e-04 9.99943931e-01 8.19057901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82925976399997 meters 0.1483073765725426 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.82 [[ 9.99946395e-01 -1.99193163e-03 1.01606355e-02 -2.04405879e+00] [ 1.99871363e-03 9.99997787e-01 -6.57367559e-04 3.46892188e+00] [-1.01593035e-02 6.77640522e-04 9.99948163e-01 8.19496561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88925976399997 meters 0.14597125821255383 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.82 [[ 9.99947030e-01 -1.86434767e-03 1.01223494e-02 -2.04373872e+00] [ 1.86949937e-03 9.99998128e-01 -4.99504846e-04 3.46877998e+00] [-1.01213992e-02 5.18402113e-04 9.99948643e-01 8.19159103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94925976399998 meters 0.15466942931331013 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.82 [[ 0.99993401 -0.0064387 0.00951402 -2.04296427] [ 0.0064919 0.99996341 -0.00557157 3.47164802] [-0.0094778 0.00563297 0.99993922 0.82041817] [ 0. 0. 0. 1. ]] SLAMing on 164.00925976399995 meters 0.15264234106734725 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.82 [[ 0.99993259 -0.00607158 0.00989741 -2.04341262] [ 0.00611601 0.99997133 -0.00446576 3.46810301] [-0.00987001 0.00452599 0.99994105 0.81941321] [ 0. 0. 0. 1. ]] SLAMing on 164.06925976399995 meters 0.1562034002220278 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 9.99931873e-01 -5.64418367e-03 1.02172799e-02 -2.04373790e+00] [ 5.67888244e-03 9.99978196e-01 -3.37026587e-03 3.46441570e+00] [-1.01980348e-02 3.42805899e-03 9.99942123e-01 8.18468440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12925976399995 meters 0.1588992491091903 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 9.99932043e-01 -5.54031609e-03 1.02573858e-02 -2.04414031e+00] [ 5.57241794e-03 9.99979657e-01 -3.10370257e-03 3.46298891e+00] [-1.02399817e-02 3.16065009e-03 9.99942575e-01 8.18890116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18925976399996 meters 0.16570216601249177 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 9.99932782e-01 -5.23674022e-03 1.03444619e-02 -2.04427344e+00] [ 5.26338547e-03 9.99982896e-01 -2.55025615e-03 3.46093027e+00] [-1.03309299e-02 2.60453162e-03 9.99943243e-01 8.18679760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24925976399996 meters 0.15680158313756998 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 9.99931720e-01 -4.51496778e-03 1.07782119e-02 -2.04451293e+00] [ 4.52416140e-03 9.99989423e-01 -8.28752210e-04 3.45514595e+00] [-1.07743561e-02 8.77457993e-04 9.99941570e-01 8.17078405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30925976399996 meters 0.17047061164560892 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 0.99990662 -0.00889759 0.01037227 -2.04397835] [ 0.00895487 0.99994484 -0.00548838 3.45643833] [-0.01032287 0.00558075 0.99993114 0.81794971] [ 0. 0. 0. 1. ]] SLAMing on 164.36925976399996 meters 0.16914133398927514 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 0.99990706 -0.00899299 0.01024664 -2.04392091] [ 0.00905161 0.99994285 -0.00568906 3.4571329 ] [-0.01019489 0.00578128 0.99993132 0.81837858] [ 0. 0. 0. 1. ]] SLAMing on 164.42925976399997 meters 0.15579066911443787 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 0.99990906 -0.00905758 0.00999154 -2.04306838] [ 0.00911738 0.9999407 -0.00595628 3.4590498 ] [-0.009937 0.00604684 0.99993234 0.81807306] [ 0. 0. 0. 1. ]] SLAMing on 164.48925976399997 meters 0.16548168218959985 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 0.99991414 -0.00879374 0.00971558 -2.04155356] [ 0.00885115 0.99994353 -0.00588193 3.46037501] [-0.00966331 0.00596742 0.9999355 0.81685155] [ 0. 0. 0. 1. ]] SLAMing on 164.54925976399997 meters 0.16303175138788542 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 0.99991916 -0.00856077 0.0094009 -2.03993033] [ 0.00861575 0.99994593 -0.00582331 3.46187464] [-0.00935054 0.00590383 0.99993885 0.81558785] [ 0. 0. 0. 1. ]] SLAMing on 164.60925976399997 meters 0.15407173763330478 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.82 [[ 9.99944556e-01 -4.40497288e-03 9.56453266e-03 -2.04042989e+00] [ 4.42052531e-03 9.99988941e-01 -1.60552090e-03 3.46222563e+00] [-9.55735461e-03 1.64771214e-03 9.99952970e-01 8.15629937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66925976399997 meters 0.15748518706036466 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.82 [[ 9.99946998e-01 -4.75104928e-03 9.13394520e-03 -2.03966433e+00] [ 4.77418846e-03 9.99985445e-01 -2.51318471e-03 3.46620621e+00] [-9.12187200e-03 2.55665869e-03 9.99955126e-01 8.16247719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72925976399998 meters 0.15500465019521856 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.81 [[ 9.99951181e-01 -4.58120893e-03 8.75484131e-03 -2.03769245e+00] [ 4.60580836e-03 9.99985496e-01 -2.79171610e-03 3.46940177e+00] [-8.74192489e-03 2.83190294e-03 9.99957779e-01 8.14723766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78925976399995 meters 0.14712456544852312 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.81 [[ 9.99956667e-01 -4.50369960e-03 8.14745640e-03 -2.03559636e+00] [ 4.53153257e-03 9.99983949e-01 -3.40092543e-03 3.47360822e+00] [-8.13200888e-03 3.43769852e-03 9.99961026e-01 8.13841159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84925976399995 meters 0.15215006167306172 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.81 [[ 0.9999572 -0.00457774 0.00803956 -2.03540994] [ 0.00460719 0.99998273 -0.0036493 3.47471445] [-0.00802272 0.00368619 0.99996102 0.81402696] [ 0. 0. 0. 1. ]] SLAMing on 164.90925976399996 meters 0.15302462275024273 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.81 [[ 0.99995727 -0.00461693 0.008009 -2.0354914 ] [ 0.00464667 0.99998236 -0.00369852 3.47491089] [-0.00799179 0.00373557 0.99996109 0.81426928] [ 0. 0. 0. 1. ]] SLAMing on 164.96925976399996 meters 0.15474460462588813 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.47, Z:0.81 [[ 0.99995754 -0.00454342 0.00801723 -2.0356037 ] [ 0.00457215 0.99998318 -0.00356813 3.47432072] [-0.00800089 0.00360463 0.9999615 0.81440002] [ 0. 0. 0. 1. ]] SLAMing on 165.02925976399996 meters 0.15351623933356914 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.48, Z:0.82 [[ 0.99995743 -0.00474113 0.00791643 -2.03571962] [ 0.00477226 0.99998094 -0.00391817 3.47544949] [-0.0078977 0.00395579 0.99996099 0.81500153] [ 0. 0. 0. 1. ]] SLAMing on 165.08925976399996 meters 0.15118034566004465 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.48, Z:0.81 [[ 0.99995825 -0.00474674 0.00780759 -2.03537758] [ 0.00477844 0.9999804 -0.00404601 3.47620793] [-0.00778823 0.00408315 0.99996133 0.81493517] [ 0. 0. 0. 1. ]] SLAMing on 165.14925976399996 meters 0.1430522839291207 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.48, Z:0.81 [[ 0.99996475 -0.00416088 0.00729352 -2.03325574] [ 0.00418782 0.99998445 -0.00368268 3.47655545] [-0.00727809 0.00371309 0.99996662 0.81366988] [ 0. 0. 0. 1. ]] SLAMing on 165.20925976399997 meters 0.13931460449960759 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.47, Z:0.81 [[ 9.99968978e-01 -3.48464390e-03 7.06395967e-03 -2.03187172e+00] [ 3.50474852e-03 9.99989838e-01 -2.83570473e-03 3.47459727e+00] [-7.05400646e-03 2.86037416e-03 9.99971029e-01 8.12388525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26925976399997 meters 0.13945723708512625 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.47, Z:0.81 [[ 9.99969578e-01 -3.24874718e-03 7.09144716e-03 -2.03202224e+00] [ 3.26578918e-03 9.99991804e-01 -2.39292117e-03 3.47275408e+00] [-7.08361504e-03 2.41600754e-03 9.99971992e-01 8.12461594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32925976399997 meters 0.1432405476190518 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.47, Z:0.81 [[ 0.99994762 -0.00730194 0.00717242 -2.03265339] [ 0.0073456 0.99995453 -0.00608067 3.46956295] [-0.0071277 0.00613304 0.99995579 0.81315243] [ 0. 0. 0. 1. ]] SLAMing on 165.38925976399997 meters 0.14667169854197568 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.46, Z:0.81 [[ 0.99994518 -0.00694371 0.00783721 -2.03386188] [ 0.00697958 0.99996525 -0.00455872 3.46363543] [-0.00780528 0.00461317 0.9999589 0.81238361] [ 0. 0. 0. 1. ]] SLAMing on 165.44925976399998 meters 0.16666531148610406 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.46, Z:0.81 [[ 0.99990282 -0.01104147 0.00851053 -2.03540256] [ 0.01110361 0.99991178 -0.00728965 3.4574028 ] [-0.00842929 0.00738344 0.99993721 0.81208082] [ 0. 0. 0. 1. ]] SLAMing on 165.50925976399995 meters 0.1664929243394102 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.45, Z:0.81 [[ 0.99990673 -0.01058468 0.00863075 -2.03519734] [ 0.01064017 0.99992285 -0.0064097 3.4546465 ] [-0.00856224 0.00650093 0.99994221 0.81118165] [ 0. 0. 0. 1. ]] SLAMing on 165.56925976399995 meters 0.1717239068024454 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.81 [[ 0.99991061 -0.01032701 0.00849244 -2.03468963] [ 0.01037884 0.99992765 -0.0060813 3.45388795] [-0.00842903 0.0061689 0.99994545 0.81092058] [ 0. 0. 0. 1. ]] SLAMing on 165.62925976399995 meters 0.1625851685114796 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.45, Z:0.81 [[ 0.9999128 -0.00984428 0.00880228 -2.03503767] [ 0.00988956 0.99993802 -0.00511469 3.45032829] [-0.00875138 0.0052013 0.99994818 0.81024226] [ 0. 0. 0. 1. ]] SLAMing on 165.68925976399996 meters 0.16757155909368873 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.45, Z:0.81 [[ 0.99990951 -0.00953598 0.00948906 -2.03628784] [ 0.00957295 0.99994673 -0.00385872 3.44532667] [-0.00945176 0.00394921 0.99994753 0.80953724] [ 0. 0. 0. 1. ]] SLAMing on 165.74925976399996 meters 0.1767389149843602 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.44, Z:0.81 [[ 0.99991197 -0.0093555 0.00940921 -2.03582738] [ 0.00938955 0.9999495 -0.00358182 3.4448591 ] [-0.00937523 0.00366985 0.99994932 0.8091064 ] [ 0. 0. 0. 1. ]] SLAMing on 165.80925976399996 meters 0.16623478320136587 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.44, Z:0.81 [[ 0.99991524 -0.00920683 0.00920535 -2.03527578] [ 0.00923926 0.99995124 -0.00348647 3.44484905] [-0.0091728 0.00357123 0.99995155 0.80905784] [ 0. 0. 0. 1. ]] SLAMing on 165.86925976399996 meters 0.16192507803835887 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99920719e-01 -8.74845028e-03 9.05654151e-03 -2.03416505e+00] [ 8.77565427e-03 9.99957087e-01 -2.96842442e-03 3.44401469e+00] [-9.03018376e-03 3.04766616e-03 9.99954583e-01 8.07903742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92925976399997 meters 0.16768548598491972 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.81 [[ 9.99926184e-01 -8.51778365e-03 8.66450921e-03 -2.03280901e+00] [ 8.54402153e-03 9.99959012e-01 -2.99570642e-03 3.44521204e+00] [-8.63863729e-03 3.06951504e-03 9.99957975e-01 8.07358413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98925976399997 meters 0.1688334817560415 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99927056e-01 -8.42090939e-03 8.65862255e-03 -2.03272943e+00] [ 8.44603422e-03 9.99960215e-01 -2.86925074e-03 3.44494476e+00] [-8.63411637e-03 2.94217247e-03 9.99958397e-01 8.07268762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04925976399997 meters 0.16274303003316795 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99923493e-01 -8.24749418e-03 9.21883085e-03 -2.03387443e+00] [ 8.26663856e-03 9.99963749e-01 -2.04048732e-03 3.44146507e+00] [-9.20166775e-03 2.11653996e-03 9.99955424e-01 8.06935581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10925976399997 meters 0.17139011079328306 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99919394e-01 -8.08448471e-03 9.79014050e-03 -2.03483702e+00] [ 8.09658201e-03 9.99966506e-01 -1.19665685e-03 3.43837279e+00] [-9.78013823e-03 1.27582707e-03 9.99951359e-01 8.06179304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16925976399997 meters 0.17486090174008764 Centerline is valid? [False, False] Translation: X:-2.04, Y:3.44, Z:0.81 [[ 9.99917030e-01 -7.82733850e-03 1.02305920e-02 -2.03541061e+00] [ 7.83031511e-03 9.99969311e-01 -2.50928793e-04 3.43531199e+00] [-1.02283139e-02 3.31016733e-04 9.99947635e-01 8.05211698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22925976399998 meters 0.1720035262136562 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99920329e-01 -8.05247620e-03 9.72079621e-03 -2.03462662e+00] [ 8.06259966e-03 9.99966994e-01 -1.00268357e-03 3.43821580e+00] [-9.71240128e-03 1.08097857e-03 9.99952249e-01 8.06097954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28925976399995 meters 0.16823021619257447 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.81 [[ 9.99920547e-01 -7.98656259e-03 9.75263754e-03 -2.03434452e+00] [ 7.99629945e-03 9.99967568e-01 -9.59796104e-04 3.43861888e+00] [-9.74465578e-03 1.03770486e-03 9.99951981e-01 8.05595306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34925976399995 meters 0.1827233258220845 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.80 [[ 9.99925218e-01 -7.97703744e-03 9.26959714e-03 -2.03244289e+00] [ 7.98984738e-03 9.99967175e-01 -1.34572020e-03 3.44206741e+00] [-9.25855801e-03 1.41968224e-03 9.99956131e-01 8.04580863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40925976399996 meters 0.18075566707186017 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.80 [[ 9.99926624e-01 -7.91414432e-03 9.17128408e-03 -2.03178865e+00] [ 7.92685635e-03 9.99967670e-01 -1.35054810e-03 3.44287547e+00] [-9.16029914e-03 1.42314845e-03 9.99957031e-01 8.04012528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46925976399996 meters 0.18178694915519794 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.44, Z:0.80 [[ 9.99927722e-01 -7.99226420e-03 8.98190376e-03 -2.03130474e+00] [ 8.00741518e-03 9.99966575e-01 -1.65214034e-03 3.44434457e+00] [-8.96839920e-03 1.72394276e-03 9.99958297e-01 8.04076864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52925976399996 meters 0.17495042511458941 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.80 [[ 9.99925332e-01 -8.25978908e-03 9.00595285e-03 -2.03164199e+00] [ 8.27879585e-03 9.99963577e-01 -2.07523287e-03 3.44573881e+00] [-8.98848384e-03 2.14963637e-03 9.99957292e-01 8.04549700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58925976399996 meters 0.17625944223580173 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.80 [[ 9.99931046e-01 -8.24963008e-03 8.35740976e-03 -2.02968137e+00] [ 8.27200736e-03 9.99962284e-01 -2.64651830e-03 3.44961154e+00] [-8.33526176e-03 2.71546837e-03 9.99961574e-01 8.04051157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64925976399996 meters 0.16679621683311627 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.80 [[ 9.99935644e-01 -8.03049910e-03 8.01366371e-03 -2.02804357e+00] [ 8.05195781e-03 9.99964073e-01 -2.64910420e-03 3.45121977e+00] [-7.99210217e-03 2.71345939e-03 9.99964381e-01 8.02947343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70925976399997 meters 0.17116759971152082 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.45, Z:0.80 [[ 9.99936760e-01 -8.11121826e-03 7.78998388e-03 -2.02735323e+00] [ 8.13497953e-03 9.99962340e-01 -3.02340627e-03 3.45312294e+00] [-7.76516700e-03 3.08658643e-03 9.99965087e-01 8.02848534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76925976399997 meters 0.15905227942236147 Centerline is valid? [False, False] Translation: X:-2.03, Y:3.46, Z:0.80 [[ 0.99994032 -0.0083711 0.00701965 -2.02589372] [ 0.00840114 0.99995563 -0.00426101 3.45815374] [-0.00698367 0.00431973 0.99996628 0.80379765] [ 0. 0. 0. 1. ]] SLAMing on 166.82925976399997 meters 0.15147821120260802 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99994538 -0.0082709 0.0063896 -2.02393511] [ 0.00830129 0.99995429 -0.00474503 3.46170869] [-0.00635006 0.00479781 0.99996833 0.80321516] [ 0. 0. 0. 1. ]] SLAMing on 166.88925976399997 meters 0.14950885738963507 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.9999513 -0.00794669 0.00585221 -2.02178151] [ 0.00797506 0.99995648 -0.00484138 3.46401043] [-0.00581348 0.00488782 0.99997116 0.80202767] [ 0. 0. 0. 1. ]] SLAMing on 166.94925976399998 meters 0.1469042985490397 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99995463 -0.00749396 0.00588009 -2.02102735] [ 0.00751898 0.99996272 -0.00424431 3.46280709] [-0.00584807 0.00428833 0.9999737 0.80075312] [ 0. 0. 0. 1. ]] SLAMing on 167.00925976399995 meters 0.1469876546356168 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.9999562 -0.00729996 0.00585654 -2.02065996] [ 0.0073233 0.99996529 -0.00397434 3.46232476] [-0.00582732 0.00401706 0.99997495 0.80027718] [ 0. 0. 0. 1. ]] SLAMing on 167.06925976399995 meters 0.16138863459437683 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99995549 -0.00738771 0.00586938 -2.02100479] [ 0.00741104 0.99996468 -0.00396395 3.46215184] [-0.00583989 0.00400727 0.99997492 0.80072379] [ 0. 0. 0. 1. ]] SLAMing on 167.12925976399995 meters 0.15662004244838307 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99995471 -0.00738061 0.00600881 -2.02162565] [ 0.00740365 0.99996529 -0.00382049 3.46117593] [-0.0059804 0.0038648 0.99997465 0.80110355] [ 0. 0. 0. 1. ]] SLAMing on 167.18925976399996 meters 0.15107202113181312 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99995493 -0.00730723 0.00606105 -2.02149388] [ 0.00732964 0.99996635 -0.00368325 3.46113141] [-0.00603393 0.00372751 0.99997485 0.80067802] [ 0. 0. 0. 1. ]] SLAMing on 167.24925976399996 meters 0.17669955603761367 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 9.99956692e-01 -6.87967680e-03 6.26769672e-03 -2.02106740e+00] [ 6.89766398e-03 9.99972142e-01 -2.85274045e-03 3.45931791e+00] [-6.24789618e-03 2.89584937e-03 9.99976289e-01 7.99110644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30925976399996 meters 0.17028186348039412 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 9.99959886e-01 -6.91416609e-03 5.69396229e-03 -2.01977292e+00] [ 6.93368826e-03 9.99970127e-01 -3.41599933e-03 3.46208687e+00] [-5.67017341e-03 3.45534246e-03 9.99977955e-01 7.99401246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36925976399996 meters 0.16631482346336246 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99995934 -0.00712616 0.00552652 -2.01950787] [ 0.00714756 0.999967 -0.00386149 3.46398708] [-0.00549882 0.00390083 0.99997727 0.79971032] [ 0. 0. 0. 1. ]] SLAMing on 167.42925976399997 meters 0.16431986307565374 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.46, Z:0.80 [[ 0.99996182 -0.00688375 0.00538257 -2.01829021] [ 0.00690332 0.9999696 -0.00362635 3.46459109] [-0.00535745 0.00366337 0.99997894 0.79841646] [ 0. 0. 0. 1. ]] SLAMing on 167.48925976399997 meters 0.16280501081151505 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.47, Z:0.80 [[ 0.99996041 -0.00699708 0.00549671 -2.01847402] [ 0.00701759 0.99996845 -0.00372134 3.46525916] [-0.00547049 0.00375977 0.99997797 0.79824293] [ 0. 0. 0. 1. ]] SLAMing on 167.54925976399997 meters 0.1633037223408372 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.47, Z:0.80 [[ 0.99995838 -0.00722646 0.00556846 -2.01872577] [ 0.00724888 0.99996566 -0.00401726 3.46646701] [-0.00553924 0.00405746 0.99997643 0.79837381] [ 0. 0. 0. 1. ]] SLAMing on 167.60925976399997 meters 0.15763518415593827 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.47, Z:0.80 [[ 0.99996021 -0.00737889 0.00501277 -2.01720792] [ 0.0074027 0.99996133 -0.00474729 3.47063243] [-0.00497755 0.00478421 0.99997617 0.79824313] [ 0. 0. 0. 1. ]] SLAMing on 167.66925976399997 meters 0.14592820425365263 Centerline is valid? [False, False] Translation: X:-2.02, Y:3.48, Z:0.80 [[ 0.99996248 -0.0075826 0.00418905 -2.01505498] [ 0.00760778 0.99995288 -0.00603002 3.47731434] [-0.00414313 0.00606167 0.99997304 0.79818876] [ 0. 0. 0. 1. ]] SLAMing on 167.72925976399995 meters 0.15135771298529888 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.48, Z:0.80 [[ 0.99996554 -0.00742234 0.0037178 -2.01321158] [ 0.00744588 0.99995207 -0.00635758 3.48019974] [-0.00367043 0.00638505 0.99997288 0.79729933] [ 0. 0. 0. 1. ]] SLAMing on 167.78925976399995 meters 0.14246540371679525 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.48, Z:0.80 [[ 9.99968249e-01 -7.35652706e-03 3.06317923e-03 -2.01139876e+00] [ 7.37812172e-03 9.99947581e-01 -7.09916592e-03 3.48414376e+00] [-3.01079345e-03 7.12154103e-03 9.99970109e-01 7.97225391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84925976399995 meters 0.13930314400942456 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99969629e-01 -7.42477875e-03 2.36922087e-03 -2.00966507e+00] [ 7.44310186e-03 9.99941714e-01 -7.82105973e-03 3.48840790e+00] [-2.31101314e-03 7.83845655e-03 9.99966608e-01 7.97342804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90925976399996 meters 0.13360640595145756 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99971980e-01 -7.21259140e-03 2.00451106e-03 -2.00809827e+00] [ 7.22812588e-03 9.99943035e-01 -7.85369342e-03 3.49020182e+00] [-1.94775139e-03 7.86796222e-03 9.99967150e-01 7.96410612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96925976399996 meters 0.132847073845412 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99973444e-01 -7.00670632e-03 2.00420178e-03 -2.00761866e+00] [ 7.02161181e-03 9.99947001e-01 -7.52936795e-03 3.48972103e+00] [-1.95133949e-03 7.54324073e-03 9.99969645e-01 7.95650824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02925976399996 meters 0.13702377983123312 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99972045e-01 -7.18841950e-03 2.05806201e-03 -2.00791863e+00] [ 7.20422031e-03 9.99943816e-01 -7.77590571e-03 3.49064534e+00] [-2.00204991e-03 7.79051507e-03 9.99967649e-01 7.95931535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08925976399996 meters 0.13897586021004632 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99971464e-01 -7.24804358e-03 2.13022624e-03 -2.00818218e+00] [ 7.26450773e-03 9.99942993e-01 -7.82547727e-03 3.49071076e+00] [-2.07338540e-03 7.84072901e-03 9.99967111e-01 7.96067051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14925976399996 meters 0.13719330667935034 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99970375e-01 -7.40638748e-03 2.09630923e-03 -2.00818805e+00] [ 7.42306063e-03 9.99939959e-01 -8.06079983e-03 3.49177971e+00] [-2.03648196e-03 8.07612206e-03 9.99965314e-01 7.96224714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20925976399997 meters 0.14142681472717258 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.80 [[ 9.99971383e-01 -7.30047227e-03 1.98419649e-03 -2.00762070e+00] [ 7.31597832e-03 9.99941848e-01 -7.92321809e-03 3.49204146e+00] [-1.92623787e-03 7.93750769e-03 9.99966642e-01 7.95767494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26925976399997 meters 0.13555827763724215 Centerline is valid? [False, False] Translation: X:-2.01, Y:3.49, Z:0.79 [[ 9.99975225e-01 -6.91863450e-03 1.29667597e-03 -2.00504830e+00] [ 6.92866051e-03 9.99944837e-01 -7.89403434e-03 3.49447992e+00] [-1.24198850e-03 7.90282300e-03 9.99968001e-01 7.94461698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32925976399997 meters 0.13323699167969533 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99976339e-01 -6.78019543e-03 1.16248959e-03 -2.00428768e+00] [ 6.78911126e-03 9.99946178e-01 -7.84533091e-03 3.49517527e+00] [-1.10923414e-03 7.85303755e-03 9.99968549e-01 7.93858316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38925976399997 meters 0.14665719025177848 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.49, Z:0.79 [[ 9.99978130e-01 -6.51125173e-03 1.15897247e-03 -2.00385416e+00] [ 6.51973208e-03 9.99950843e-01 -7.47027870e-03 3.49434884e+00] [-1.11027463e-03 7.47767152e-03 9.99971425e-01 7.93184942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44925976399998 meters 0.13941865273824577 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.49, Z:0.79 [[ 9.99977474e-01 -6.59824168e-03 1.23102930e-03 -2.00421578e+00] [ 6.60727700e-03 9.99950151e-01 -7.48592689e-03 3.49432204e+00] [-1.18157398e-03 7.49389202e-03 9.99971222e-01 7.93422262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50925976399995 meters 0.14621381466165265 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.49, Z:0.79 [[ 9.99978224e-01 -6.46530001e-03 1.32314232e-03 -2.00424330e+00] [ 6.47459876e-03 9.99953488e-01 -7.14849306e-03 3.49337414e+00] [-1.27686363e-03 7.15690422e-03 9.99973574e-01 7.93018427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56925976399995 meters 0.13144020173067034 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99978944e-01 -6.45039652e-03 7.09823225e-04 -2.00247567e+00] [ 6.45570905e-03 9.99949087e-01 -7.75545641e-03 3.49720921e+00] [-6.59761317e-04 7.75987552e-03 9.99969674e-01 7.92740827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62925976399995 meters 0.12843649688099187 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99979553e-01 -6.37546469e-03 4.96857575e-04 -2.00158074e+00] [ 6.37918712e-03 9.99948526e-01 -7.88991273e-03 3.49858938e+00] [-4.46530140e-04 7.89292095e-03 9.99968751e-01 7.92283378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68925976399996 meters 0.1275091696349664 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99979979e-01 -6.30865030e-03 4.91514327e-04 -2.00142246e+00] [ 6.31230603e-03 9.99949424e-01 -7.82971272e-03 3.49861930e+00] [-4.42094549e-04 7.83265856e-03 9.99969227e-01 7.92063255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74925976399996 meters 0.13137069683658797 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99977867e-01 -6.64207400e-03 3.86186175e-04 -2.00159175e+00] [ 6.64510189e-03 9.99942184e-01 -8.45402032e-03 3.50073001e+00] [-3.30011619e-04 8.45639945e-03 9.99964190e-01 7.92828055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80925976399996 meters 0.12983485877386555 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99976233e-01 -6.89197372e-03 1.83711884e-04 -2.00117493e+00] [ 6.89335379e-03 9.99935314e-01 -9.04705016e-03 3.50347142e+00] [-1.21347969e-04 9.04810153e-03 9.99959058e-01 7.93072535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86925976399996 meters 0.1258201554430031 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99975225e-01 -7.03811751e-03 1.18117857e-04 -2.00076805e+00] [ 7.03891495e-03 9.99931395e-01 -9.36267039e-03 3.50534400e+00] [-5.22141793e-05 9.36326985e-03 9.99956162e-01 7.92765998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92925976399997 meters 0.1275511976425503 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99975847e-01 -6.94069661e-03 -3.62824509e-04 -1.99910629e+00] [ 6.93683724e-03 9.99928577e-01 -9.73247631e-03 3.50824912e+00] [ 4.30348761e-04 9.72972439e-03 9.99952573e-01 7.92163046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98925976399997 meters 0.12144714048780875 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99975170e-01 -7.02484661e-03 -5.57885362e-04 -1.99852219e+00] [ 7.01883182e-03 9.99923989e-01 -1.01366882e-02 3.51030017e+00] [ 6.29051637e-04 1.01325208e-02 9.99948467e-01 7.92135666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04925976399997 meters 0.11808348754719626 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99974613e-01 -7.09683047e-03 -6.38686885e-04 -1.99835833e+00] [ 7.08980652e-03 9.99920793e-01 -1.03991680e-02 3.51141727e+00] [ 7.12437429e-04 1.03943758e-02 9.99945723e-01 7.92271159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10925976399997 meters 0.12029928291811291 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99975751e-01 -6.93467497e-03 -6.39116021e-04 -1.99803236e+00] [ 6.92784290e-03 9.99924640e-01 -1.01350379e-02 3.51102891e+00] [ 7.09351050e-04 1.01303644e-02 9.99948435e-01 7.91742862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16925976399997 meters 0.12109309243071885 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99977123e-01 -6.73617997e-03 -6.14046929e-04 -1.99783240e+00] [ 6.72985482e-03 9.99929542e-01 -9.77854707e-03 3.51014405e+00] [ 6.79873717e-04 9.77419092e-03 9.99952000e-01 7.91281754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22925976399995 meters 0.12100962968185974 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99976751e-01 -6.79337490e-03 -5.89653350e-04 -1.99798516e+00] [ 6.78723460e-03 9.99928393e-01 -9.85605296e-03 3.51045326e+00] [ 6.56566990e-04 9.85182170e-03 9.99951254e-01 7.91425543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28925976399995 meters 0.11934732037551979 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99976580e-01 -6.79682081e-03 -8.01211292e-04 -1.99735026e+00] [ 6.78840105e-03 9.99926146e-01 -1.00806951e-02 3.51182218e+00] [ 8.69668797e-04 1.00750201e-02 9.99948868e-01 7.91368526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34925976399995 meters 0.12576192991095442 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99980145e-01 -6.29315748e-03 -3.24094167e-04 -1.99766356e+00] [ 6.29007034e-03 9.99941685e-01 -8.77845104e-03 3.50753207e+00] [ 3.79319443e-04 8.77623817e-03 9.99961416e-01 7.89795314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40925976399996 meters 0.13667070773468318 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99981306e-01 -6.11385031e-03 -9.64042984e-05 -1.99819397e+00] [ 6.11284931e-03 9.99947416e-01 -8.23392024e-03 3.50528443e+00] [ 1.46740185e-04 8.23317701e-03 9.99966096e-01 7.89636360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46925976399996 meters 0.12430310000954665 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99979495e-01 -6.39742281e-03 -2.86288062e-04 -1.99826401e+00] [ 6.39463056e-03 9.99940175e-01 -8.87444505e-03 3.50734823e+00] [ 3.43044512e-04 8.87243238e-03 9.99960580e-01 7.90615131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52925976399996 meters 0.12998287339672113 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99982114e-01 -5.97611856e-03 -2.41934181e-04 -1.99756832e+00] [ 5.97390791e-03 9.99947797e-01 -8.28952769e-03 3.50612964e+00] [ 2.91460752e-04 8.28793412e-03 9.99965612e-01 7.89368841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58925976399996 meters 0.127929206873649 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99984196e-01 -5.61763388e-03 -2.23244986e-04 -1.99698561e+00] [ 5.61573779e-03 9.99954275e-01 -7.74026338e-03 3.50493750e+00] [ 2.66716744e-04 7.73888737e-03 9.99970019e-01 7.88355846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64925976399996 meters 0.12932645245359498 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99983598e-01 -5.71645522e-03 -3.53515794e-04 -1.99707713e+00] [ 5.71346428e-03 9.99952071e-01 -7.95060810e-03 3.50542253e+00] [ 3.98948145e-04 7.94845790e-03 9.99968331e-01 7.89030052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70925976399997 meters 0.12916243833337185 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99983407e-01 -5.75221269e-03 -3.13941973e-04 -1.99730922e+00] [ 5.74952245e-03 9.99951582e-01 -7.98600759e-03 3.50535609e+00] [ 3.59863987e-04 7.98407006e-03 9.99968062e-01 7.89227246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76925976399997 meters 0.1282881113438893 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99985990e-01 -5.28696949e-03 -2.60584557e-04 -1.99672082e+00] [ 5.28494847e-03 9.99959921e-01 -7.22668275e-03 3.50342404e+00] [ 2.98781365e-04 7.22520432e-03 9.99973853e-01 7.88055086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82925976399997 meters 0.12591536023424552 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99986458e-01 -5.19504383e-03 -3.07792899e-04 -1.99655215e+00] [ 5.19271563e-03 9.99961060e-01 -7.13539225e-03 3.50327947e+00] [ 3.44849589e-04 7.13369734e-03 9.99974495e-01 7.87975776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88925976399997 meters 0.13526966755568393 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.50, Z:0.79 [[ 9.99985653e-01 -5.33986233e-03 -4.24869265e-04 -1.99651518e+00] [ 5.33652935e-03 9.99957686e-01 -7.49312284e-03 3.50449070e+00] [ 4.64863531e-04 7.49074801e-03 9.99971836e-01 7.88454814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94925976399998 meters 0.13501631209651266 Centerline is valid? [False, False] Translation: X:-2.00, Y:3.51, Z:0.79 [[ 9.99986692e-01 -5.11129749e-03 -7.00398352e-04 -1.99519347e+00] [ 5.10596244e-03 9.99959449e-01 -7.41825389e-03 3.50547462e+00] [ 7.38286852e-04 7.41457896e-03 9.99972239e-01 7.87530538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00925976399995 meters 0.1273476224133968 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99988475e-01 -4.69247634e-03 -1.01466665e-03 -1.99324865e+00] [ 4.68508751e-03 9.99963350e-01 -7.16574884e-03 3.50663658e+00] [ 1.04825457e-03 7.16091246e-03 9.99973811e-01 7.85807724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06925976399995 meters 0.12513439595561376 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99988338e-01 -4.67402250e-03 -1.21526067e-03 -1.99255377e+00] [ 4.66496506e-03 9.99962092e-01 -7.35205250e-03 3.50795229e+00] [ 1.24957826e-03 7.34629762e-03 9.99972235e-01 7.85609925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12925976399995 meters 0.12272684928497665 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99986078e-01 -4.99921509e-03 -1.68893237e-03 -1.99188156e+00] [ 4.98522482e-03 9.99954046e-01 -8.18856900e-03 3.51188600e+00] [ 1.72979118e-03 8.18003529e-03 9.99965047e-01 7.86422449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18925976399996 meters 0.12081935164142736 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99986312e-01 -4.92895642e-03 -1.75514058e-03 -1.99142820e+00] [ 4.91433114e-03 9.99953960e-01 -8.24185468e-03 3.51266153e+00] [ 1.79568352e-03 8.23311653e-03 9.99964495e-01 7.86039875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24925976399996 meters 0.117988757136978 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99986123e-01 -4.92728169e-03 -1.86450952e-03 -1.99079463e+00] [ 4.91150401e-03 9.99952874e-01 -8.37412769e-03 3.51407708e+00] [ 1.90568334e-03 8.36485393e-03 9.99963198e-01 7.85510579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30925976399996 meters 0.11762868084909006 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.79 [[ 9.99985606e-01 -5.02104259e-03 -1.89151786e-03 -1.99081547e+00] [ 5.00470756e-03 9.99950976e-01 -8.54389115e-03 3.51482051e+00] [ 1.93432437e-03 8.53430168e-03 9.99961711e-01 7.85681152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36925976399996 meters 0.1147121145813355 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.79 [[ 9.99984855e-01 -5.10646560e-03 -2.05271455e-03 -1.99026098e+00] [ 5.08827790e-03 9.99948597e-01 -8.76998307e-03 3.51649899e+00] [ 2.09739265e-03 8.75940547e-03 9.99959436e-01 7.85441635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42925976399997 meters 0.12013713110737545 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.78 [[ 9.99985080e-01 -5.01291063e-03 -2.17040944e-03 -1.98955930e+00] [ 4.99374343e-03 9.99949264e-01 -8.74829333e-03 3.51737062e+00] [ 2.21415373e-03 8.73732434e-03 9.99959378e-01 7.84822150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48925976399997 meters 0.11796924390508134 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.78 [[ 9.99984971e-01 -4.91960009e-03 -2.41976345e-03 -1.98876000e+00] [ 4.89810120e-03 9.99949179e-01 -8.81180372e-03 3.51835948e+00] [ 2.46299102e-03 8.79981905e-03 9.99958248e-01 7.84617023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54925976399997 meters 0.116518959324282 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.79 [[ 9.99983672e-01 -5.14098459e-03 -2.49528589e-03 -1.98915444e+00] [ 5.11750651e-03 9.99943418e-01 -9.32588864e-03 3.51959727e+00] [ 2.54308895e-03 9.31296673e-03 9.99953400e-01 7.85670795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60925976399997 meters 0.11021569175905749 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.79 [[ 9.99984140e-01 -5.01874090e-03 -2.55587249e-03 -1.98878430e+00] [ 4.99504646e-03 9.99945258e-01 -9.19409099e-03 3.51962918e+00] [ 2.60187534e-03 9.18117847e-03 9.99954467e-01 7.85332607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66925976399997 meters 0.11146399949870804 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.78 [[ 9.99986268e-01 -4.54426490e-03 -2.61025265e-03 -1.98795365e+00] [ 4.52210783e-03 9.99954220e-01 -8.43256573e-03 3.51789181e+00] [ 2.64845297e-03 8.42064609e-03 9.99961038e-01 7.84139967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72925976399995 meters 0.1121674103818801 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.78 [[ 9.99987423e-01 -4.28348076e-03 -2.60878080e-03 -1.98776423e+00] [ 4.26244637e-03 9.99958788e-01 -8.01580487e-03 3.51658492e+00] [ 2.64300883e-03 8.00458427e-03 9.99964470e-01 7.83804957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78925976399995 meters 0.11146344052779154 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.52, Z:0.78 [[ 9.99988095e-01 -4.17567391e-03 -2.52462862e-03 -1.98789441e+00] [ 4.15588312e-03 9.99960989e-01 -7.79416338e-03 3.51585742e+00] [ 2.55707602e-03 7.78357852e-03 9.99966438e-01 7.83637010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84925976399995 meters 0.11260448197337275 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99988613e-01 -3.98428920e-03 -2.62654730e-03 -1.98799362e+00] [ 3.96431377e-03 9.99963511e-01 -7.56703964e-03 3.51446362e+00] [ 2.65660073e-03 7.55654101e-03 9.99967920e-01 7.84207776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90925976399996 meters 0.11381082976707133 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99990226e-01 -3.56020038e-03 -2.62147604e-03 -1.98757905e+00] [ 3.54219268e-03 9.99970318e-01 -6.84219205e-03 3.51237278e+00] [ 2.64575781e-03 6.83283940e-03 9.99973156e-01 7.83439416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96925976399996 meters 0.12338608958715369 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99992932e-01 -3.01510292e-03 -2.24596750e-03 -1.98814408e+00] [ 3.00279862e-03 9.99980576e-01 -5.46176557e-03 3.50683673e+00] [ 2.26239166e-03 5.45498278e-03 9.99982562e-01 7.82687740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02925976399996 meters 0.12214853531979711 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99968686e-01 -7.48904135e-03 -2.55755147e-03 -1.98796229e+00] [ 7.46280896e-03 9.99920975e-01 -1.01168069e-02 3.50777889e+00] [ 2.63311454e-03 1.00974036e-02 9.99945553e-01 7.83715160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08925976399996 meters 0.12453746052881642 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99968595e-01 -7.51921906e-03 -2.50425137e-03 -1.98853139e+00] [ 7.49377586e-03 9.99921729e-01 -1.00189653e-02 3.50683740e+00] [ 2.57939015e-03 9.99988437e-03 9.99946673e-01 7.84347016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14925976399996 meters 0.12754557565787794 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99969309e-01 -7.44273602e-03 -2.44677164e-03 -1.98863249e+00] [ 7.41833361e-03 9.99924113e-01 -9.83552177e-03 3.50621591e+00] [ 2.51978915e-03 9.81706894e-03 9.99948637e-01 7.84253163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20925976399997 meters 0.1226769282733943 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99971518e-01 -7.12930658e-03 -2.47722121e-03 -1.98801214e+00] [ 7.10589928e-03 9.99931201e-01 -9.33271538e-03 3.50514976e+00] [ 2.54358657e-03 9.31484668e-03 9.99953381e-01 7.83364155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26925976399997 meters 0.12685342316546275 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99971329e-01 -7.01703993e-03 -2.84639815e-03 -1.98695552e+00] [ 6.98995664e-03 9.99931239e-01 -9.41582747e-03 3.50625177e+00] [ 2.91227367e-03 9.39566132e-03 9.99951619e-01 7.83201441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32925976399997 meters 0.12089831396243736 Centerline is valid? [False, False] Translation: X:-1.99, Y:3.51, Z:0.78 [[ 9.99972333e-01 -6.69539712e-03 -3.24113985e-03 -1.98534517e+00] [ 6.66507606e-03 9.99934753e-01 -9.27717113e-03 3.50728141e+00] [ 3.30304272e-03 9.25531202e-03 9.99951713e-01 7.82283427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38925976399997 meters 0.11761638536951956 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997207 -0.00652323 -0.00364678 -1.98399727] [ 0.00648869 0.99993474 -0.00940299 3.50889191] [ 0.00370788 0.00937907 0.99994914 0.78184379] [ 0. 0. 0. 1. ]] SLAMing on 171.44925976399998 meters 0.1199442990861983 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997251 -0.00625549 -0.00398063 -1.98277748] [ 0.00621827 0.99993745 -0.0092967 3.50945304] [ 0.00403853 0.00927169 0.99994886 0.78131845] [ 0. 0. 0. 1. ]] SLAMing on 171.50925976399995 meters 0.1143376185855977 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997061 -0.00636947 -0.0042683 -1.98239881] [ 0.00632802 0.99993336 -0.00965518 3.51093897] [ 0.00432951 0.00962789 0.99994428 0.78189445] [ 0. 0. 0. 1. ]] SLAMing on 171.56925976399995 meters 0.11686385060734074 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997017 -0.00636075 -0.00438251 -1.98209863] [ 0.00631738 0.99993165 -0.00983835 3.5117654 ] [ 0.00444479 0.00981037 0.999942 0.78196798] [ 0. 0. 0. 1. ]] SLAMing on 171.62925976399995 meters 0.10991577782944016 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.9999712 -0.00594145 -0.00472116 -1.98019775] [ 0.00589585 0.99993639 -0.00961581 3.512904 ] [ 0.004778 0.0095877 0.99994262 0.78042904] [ 0. 0. 0. 1. ]] SLAMing on 171.68925976399996 meters 0.11192606803263327 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997121 -0.00578118 -0.00491495 -1.97927378] [ 0.00573415 0.99993815 -0.00953004 3.5135519 ] [ 0.00496974 0.00950158 0.99994251 0.77979462] [ 0. 0. 0. 1. ]] SLAMing on 171.74925976399996 meters 0.11108197820941722 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997276 -0.0054317 -0.00499718 -1.97881934] [ 0.00538628 0.99994446 -0.00905863 3.512172 ] [ 0.00504611 0.00903147 0.99994648 0.77939417] [ 0. 0. 0. 1. ]] SLAMing on 171.80925976399996 meters 0.11417752702271165 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997183 -0.00547228 -0.00513741 -1.97871315] [ 0.00542517 0.99994352 -0.00913881 3.51247056] [ 0.00518713 0.00911068 0.99994504 0.77974658] [ 0. 0. 0. 1. ]] SLAMing on 171.86925976399996 meters 0.10967363236296918 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997222 -0.00523812 -0.00530226 -1.97797559] [ 0.00519084 0.99994698 -0.00889284 3.51225911] [ 0.00534856 0.00886507 0.9999464 0.77926164] [ 0. 0. 0. 1. ]] SLAMing on 171.92925976399997 meters 0.11349333666663744 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.51, Z:0.78 [[ 0.99997753 -0.00429245 -0.0051491 -1.97709442] [ 0.00425468 0.99996412 -0.00732519 3.50736096] [ 0.00518036 0.00730312 0.99995991 0.77719126] [ 0. 0. 0. 1. ]] SLAMing on 171.98925976399997 meters 0.11694446532131203 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.50, Z:0.78 [[ 0.99997938 -0.00403116 -0.00499864 -1.97776355] [ 0.00399817 0.99997027 -0.00659369 3.50386727] [ 0.00502507 0.00657357 0.99996577 0.77752507] [ 0. 0. 0. 1. ]] SLAMing on 172.04925976399997 meters 0.1134701757943733 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.50, Z:0.78 [[ 0.99998085 -0.00370856 -0.00495531 -1.97786926] [ 0.0036792 0.9999757 -0.00592094 3.50125472] [ 0.00497715 0.00590259 0.99997019 0.77742002] [ 0. 0. 0. 1. ]] SLAMing on 172.10925976399997 meters 0.11648355748924877 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.50, Z:0.78 [[ 9.99983666e-01 -2.96162785e-03 -4.88833670e-03 -1.97713928e+00] [ 2.93923934e-03 9.99985188e-01 -4.58083304e-03 3.49729838e+00] [ 4.90183102e-03 4.56639022e-03 9.99977560e-01 7.75850429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16925976399997 meters 0.11634492454042936 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.50, Z:0.78 [[ 0.99996315 -0.00689952 -0.00510797 -1.97641306] [ 0.0068567 0.99994159 -0.00835528 3.49554987] [ 0.00516532 0.00831995 0.99995205 0.77562477] [ 0. 0. 0. 1. ]] SLAMing on 172.22925976399995 meters 0.11973708935595896 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.49, Z:0.77 [[ 0.99996817 -0.0064016 -0.00476261 -1.97692506] [ 0.00636752 0.99995425 -0.0071375 3.49089862] [ 0.00480808 0.00710694 0.99996319 0.77494299] [ 0. 0. 0. 1. ]] SLAMing on 172.28925976399995 meters 0.12276356943485597 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.49, Z:0.77 [[ 0.99997202 -0.00615572 -0.00425101 -1.97821475] [ 0.00613051 0.99996369 -0.00591829 3.48585514] [ 0.00428729 0.00589206 0.99997345 0.774698 ] [ 0. 0. 0. 1. ]] SLAMing on 172.34925976399995 meters 0.12978037225547345 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 0.99997635 -0.00568309 -0.00387401 -1.97861475] [ 0.0056647 0.99997271 -0.0047418 3.48155971] [ 0.00390085 0.00471975 0.99998125 0.77371814] [ 0. 0. 0. 1. ]] SLAMing on 172.40925976399996 meters 0.1296217597465179 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 0.99994336 -0.00989911 -0.00390868 -1.97849102] [ 0.00986393 0.99991155 -0.00892135 3.48100204] [ 0.00399665 0.00888229 0.99995256 0.7737707 ] [ 0. 0. 0. 1. ]] SLAMing on 172.46925976399996 meters 0.1322670417367055 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99946971e-01 -9.70831182e-03 -3.43581722e-03 -1.97944042e+00] [ 9.68053323e-03 9.99921050e-01 -8.01133329e-03 3.47722557e+00] [ 3.51332248e-03 7.97764791e-03 9.99962006e-01 7.73334480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52925976399996 meters 0.146351723432806 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99949866e-01 -9.54747581e-03 -3.01836384e-03 -1.98033092e+00] [ 9.52515785e-03 9.99927813e-01 -7.32393017e-03 3.47439279e+00] [ 3.08807100e-03 7.29481260e-03 9.99968624e-01 7.73068203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58925976399996 meters 0.16644312616029497 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99957067e-01 -9.09356262e-03 -1.78094197e-03 -1.98206639e+00] [ 9.08449574e-03 9.99946061e-01 -5.03464406e-03 3.46656226e+00] [ 1.82662876e-03 5.01824895e-03 9.99985740e-01 7.70351777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64925976399996 meters 0.1660983239863925 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99958338e-01 -8.98034534e-03 -1.63592521e-03 -1.98216805e+00] [ 8.97246412e-03 9.99948404e-01 -4.76286166e-03 3.46584317e+00] [ 1.67861294e-03 4.74798495e-03 9.99987319e-01 7.69912927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70925976399997 meters 0.16133813906237998 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99956899e-01 -9.09686303e-03 -1.85676645e-03 -1.98157199e+00] [ 9.08696383e-03 9.99944815e-01 -5.27198307e-03 3.46844718e+00] [ 1.90462249e-03 5.25488347e-03 9.99984379e-01 7.69956365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76925976399997 meters 0.15968048942401666 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99956468e-01 -9.15102824e-03 -1.82255722e-03 -1.98155760e+00] [ 9.14107772e-03 9.99943665e-01 -5.39512849e-03 3.46911381e+00] [ 1.87182552e-03 5.37823349e-03 9.99983785e-01 7.69824237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82925976399997 meters 0.1557778469496204 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99959933e-01 -8.77617298e-03 -1.76368823e-03 -1.98074158e+00] [ 8.76736260e-03 9.99949351e-01 -4.94257362e-03 3.46869851e+00] [ 1.80697579e-03 4.92691269e-03 9.99986230e-01 7.68403787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88925976399997 meters 0.15588943977933037 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99961347e-01 -8.64511190e-03 -1.60201076e-03 -1.98067480e+00] [ 8.63756237e-03 9.99951833e-01 -4.66100405e-03 3.46836208e+00] [ 1.64222850e-03 4.64698642e-03 9.99987854e-01 7.67656742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94925976399998 meters 0.15739682318118955 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99962457e-01 -8.57063857e-03 -1.27606447e-03 -1.98104516e+00] [ 8.56510312e-03 9.99954151e-01 -4.28195616e-03 3.46751473e+00] [ 1.31270506e-03 4.27086578e-03 9.99990018e-01 7.66907471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00925976399995 meters 0.15590282650926632 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99962296e-01 -8.60108257e-03 -1.19483043e-03 -1.98090925e+00] [ 8.59586450e-03 9.99953785e-01 -4.30577201e-03 3.46823590e+00] [ 1.23180951e-03 4.29533907e-03 9.99990016e-01 7.66395422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06925976399995 meters 0.15233929960035617 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99958119e-01 -9.01149063e-03 -1.59789136e-03 -1.98024358e+00] [ 9.00278512e-03 9.99945033e-01 -5.37409276e-03 3.47276574e+00] [ 1.64623212e-03 5.35948221e-03 9.99984283e-01 7.67196941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12925976399995 meters 0.1486216227466764 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99957446e-01 -9.07573343e-03 -1.65452745e-03 -1.97994519e+00] [ 9.06629617e-03 9.99943080e-01 -5.62484991e-03 3.47412362e+00] [ 1.70548291e-03 5.60961012e-03 9.99982812e-01 7.67045496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18925976399996 meters 0.14516307443491813 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99959443e-01 -8.86659608e-03 -1.57981523e-03 -1.97950022e+00] [ 8.85803351e-03 9.99946471e-01 -5.34696063e-03 3.47398239e+00] [ 1.62714001e-03 5.33274972e-03 9.99984457e-01 7.66087328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24925976399996 meters 0.14408846180372473 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99958695e-01 -8.95228813e-03 -1.56993718e-03 -1.97967155e+00] [ 8.94355707e-03 9.99944974e-01 -5.48293250e-03 3.47443043e+00] [ 1.61893559e-03 5.46866521e-03 9.99983736e-01 7.66343361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30925976399996 meters 0.1542334578569988 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99957654e-01 -9.04993076e-03 -1.66979877e-03 -1.97948791e+00] [ 9.04031032e-03 9.99942994e-01 -5.68173701e-03 3.47546032e+00] [ 1.72112291e-03 5.66640092e-03 9.99982465e-01 7.66483687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36925976399996 meters 0.1548541031038722 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99960377e-01 -8.80373299e-03 -1.31824715e-03 -1.98013617e+00] [ 8.79696142e-03 9.99948517e-01 -5.05738669e-03 3.47312240e+00] [ 1.36270316e-03 5.04558973e-03 9.99986342e-01 7.66067872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42925976399997 meters 0.15264096735991758 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.77 [[ 9.99961697e-01 -8.64088783e-03 -1.39244909e-03 -1.97969090e+00] [ 8.63399518e-03 9.99950808e-01 -4.88225142e-03 3.47293456e+00] [ 1.43456758e-03 4.87004202e-03 9.99987112e-01 7.65681633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48925976399997 meters 0.14310636262806456 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99959079e-01 -8.84206797e-03 -1.91248881e-03 -1.97874206e+00] [ 8.83127523e-03 9.99945435e-01 -5.57997811e-03 3.47601150e+00] [ 1.96172300e-03 5.56286006e-03 9.99982603e-01 7.66383126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54925976399997 meters 0.14340369481140983 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99960665e-01 -8.66368846e-03 -1.89981305e-03 -1.97825588e+00] [ 8.65344607e-03 9.99948328e-01 -5.33478902e-03 3.47590795e+00] [ 1.94593384e-03 5.31813924e-03 9.99983965e-01 7.65599322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60925976399997 meters 0.14160289064729814 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99959595e-01 -8.75904010e-03 -2.02184681e-03 -1.97784219e+00] [ 8.74765251e-03 9.99946203e-01 -5.57402470e-03 3.47727750e+00] [ 2.07056115e-03 5.55611307e-03 9.99982421e-01 7.65496920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66925976399997 meters 0.13883218100602276 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99986534e-01 -4.82003401e-03 -1.92331226e-03 -1.97824762e+00] [ 4.81642004e-03 9.99986635e-01 -1.87926016e-03 3.47977984e+00] [ 1.93234465e-03 1.86997138e-03 9.99996385e-01 7.65713108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72925976399995 meters 0.13887675940113275 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.48, Z:0.77 [[ 9.99986533e-01 -4.79080275e-03 -1.99570676e-03 -1.97764674e+00] [ 4.78687001e-03 9.99986601e-01 -1.97074007e-03 3.48091493e+00] [ 2.00512144e-03 1.96116034e-03 9.99996067e-01 7.65143768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78925976399995 meters 0.14882757001995384 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.49, Z:0.77 [[ 9.99982207e-01 -5.27780756e-03 -2.78036733e-03 -1.97609663e+00] [ 5.26781121e-03 9.99979679e-01 -3.59047078e-03 3.48767042e+00] [ 2.79926064e-03 3.57576045e-03 9.99989689e-01 7.66010373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84925976399995 meters 0.1304966543103979 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.49, Z:0.77 [[ 9.99979989e-01 -5.39381246e-03 -3.30591805e-03 -1.97466079e+00] [ 5.37960411e-03 9.99976320e-01 -4.29178271e-03 3.49148453e+00] [ 3.32898884e-03 4.27391229e-03 9.99985326e-01 7.65963653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90925976399996 meters 0.13250317138524262 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.50, Z:0.77 [[ 0.9999772 -0.00530041 -0.00418319 -1.97205478] [ 0.00527811 0.99997191 -0.00532258 3.49745138] [ 0.00421129 0.00530038 0.99997709 0.76544333] [ 0. 0. 0. 1. ]] SLAMing on 173.96925976399996 meters 0.1268694577966784 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.50, Z:0.77 [[ 0.99997297 -0.0055244 -0.00485137 -1.97048573] [ 0.0054936 0.99996482 -0.00633834 3.50263894] [ 0.00488621 0.00631152 0.99996814 0.76569916] [ 0. 0. 0. 1. ]] SLAMing on 174.02925976399996 meters 0.11431893509164479 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.51, Z:0.77 [[ 0.99997017 -0.00558456 -0.0053366 -1.9692425 ] [ 0.00554669 0.99995952 -0.00708524 3.50620531] [ 0.00537595 0.00705543 0.99996066 0.76592277] [ 0. 0. 0. 1. ]] SLAMing on 174.08925976399996 meters 0.12038323475166714 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.51, Z:0.77 [[ 0.99997056 -0.00542511 -0.00542723 -1.96866887] [ 0.00538739 0.9999614 -0.00694091 3.50634255] [ 0.00546467 0.00691147 0.99996118 0.7654163 ] [ 0. 0. 0. 1. ]] SLAMing on 174.14925976399996 meters 0.12054075236159065 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.51, Z:0.77 [[ 0.99993257 -0.0098932 -0.00608048 -1.9673096 ] [ 0.00982093 0.99988211 -0.01180285 3.50948294] [ 0.00619653 0.01174234 0.99991186 0.76598915] [ 0. 0. 0. 1. ]] SLAMing on 174.20925976399997 meters 0.12096368507007248 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.51, Z:0.77 [[ 0.99993807 -0.00945846 -0.00586535 -1.96751507] [ 0.009394 0.99989623 -0.01092198 3.5063269 ] [ 0.00596804 0.0108662 0.99992315 0.76536276] [ 0. 0. 0. 1. ]] SLAMing on 174.26925976399997 meters 0.12283130844119376 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.50, Z:0.77 [[ 0.99994093 -0.00930826 -0.00561123 -1.96834823] [ 0.00924962 0.99990327 -0.0103875 3.50379532] [ 0.00570737 0.01033499 0.9999303 0.7655894 ] [ 0. 0. 0. 1. ]] SLAMing on 174.32925976399997 meters 0.12562592387948834 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.50, Z:0.77 [[ 0.99994809 -0.00884934 -0.00505066 -1.96946263] [ 0.0088035 0.99992051 -0.00902583 3.49815238] [ 0.00513013 0.0089809 0.99994651 0.76500514] [ 0. 0. 0. 1. ]] SLAMing on 174.38925976399997 meters 0.1315815738840774 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.49, Z:0.76 [[ 0.99995421 -0.00828072 -0.00479746 -1.96953374] [ 0.00824302 0.9999354 -0.00782577 3.49410721] [ 0.00486195 0.00778586 0.99995787 0.76394939] [ 0. 0. 0. 1. ]] SLAMing on 174.44925976399998 meters 0.13310335250208422 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.49, Z:0.76 [[ 0.99995931 -0.00777888 -0.00456792 -1.96964815] [ 0.0077481 0.99994742 -0.00671789 3.49046482] [ 0.00461993 0.00668223 0.999967 0.76305146] [ 0. 0. 0. 1. ]] SLAMing on 174.50925976399995 meters 0.14021724602491664 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.48, Z:0.76 [[ 0.9999658 -0.00736825 -0.00375733 -1.97142406] [ 0.0073489 0.99995979 -0.00513834 3.48355198] [ 0.00379504 0.00511056 0.99997974 0.76267161] [ 0. 0. 0. 1. ]] SLAMing on 174.56925976399995 meters 0.1408385354031285 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.48, Z:0.76 [[ 9.99970445e-01 -7.02215941e-03 -3.13031706e-03 -1.97283763e+00] [ 7.01021576e-03 9.99968169e-01 -3.81025635e-03 3.47798823e+00] [ 3.15697364e-03 3.78819954e-03 9.99987841e-01 7.62444155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62925976399995 meters 0.14363486080272445 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99974131e-01 -6.73475915e-03 -2.52595117e-03 -1.97425653e+00] [ 6.72810963e-03 9.99973903e-01 -2.63180446e-03 3.47284619e+00] [ 2.54360981e-03 2.61474150e-03 9.99993347e-01 7.62304987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68925976399996 meters 0.149505580591505 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99938181e-01 -1.08418228e-02 -2.46767124e-03 -1.97456169e+00] [ 1.08257189e-02 9.99920608e-01 -6.44834926e-03 3.47067943e+00] [ 2.53738718e-03 6.42123631e-03 9.99976164e-01 7.62595832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74925976399996 meters 0.15122249407625213 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.76 [[ 9.99941893e-01 -1.05835318e-02 -2.04945939e-03 -1.97554274e+00] [ 1.05720356e-02 9.99928761e-01 -5.54123494e-03 3.46693748e+00] [ 2.10795922e-03 5.51924600e-03 9.99982547e-01 7.62392416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80925976399996 meters 0.14921561132975888 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.47, Z:0.76 [[ 9.99943134e-01 -1.04628277e-02 -2.06350742e-03 -1.97604868e+00] [ 1.04518285e-02 9.99931486e-01 -5.27095573e-03 3.46515824e+00] [ 2.11851514e-03 5.24908857e-03 9.99983979e-01 7.63175420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86925976399996 meters 0.15430850709757335 Centerline is valid? [False, False] Translation: X:-1.98, Y:3.46, Z:0.76 [[ 9.99947739e-01 -9.99740141e-03 -2.13783577e-03 -1.97538411e+00] [ 9.98743974e-03 9.99939448e-01 -4.62068047e-03 3.46338505e+00] [ 2.18390112e-03 4.59908749e-03 9.99987039e-01 7.62423108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92925976399997 meters 0.15295960500363767 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.46, Z:0.76 [[ 9.99948043e-01 -9.93557742e-03 -2.27946347e-03 -1.97495762e+00] [ 9.92494551e-03 9.99940032e-01 -4.62905725e-03 3.46384225e+00] [ 2.32531913e-03 4.60619318e-03 9.99986688e-01 7.62348994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98925976399997 meters 0.15113866046505325 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.46, Z:0.76 [[ 9.99948392e-01 -9.88670644e-03 -2.33800450e-03 -1.97481999e+00] [ 9.87594242e-03 9.99940782e-01 -4.57151668e-03 3.46384354e+00] [ 2.38306329e-03 4.54819075e-03 9.99986817e-01 7.62359253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04925976399997 meters 0.1508654138500506 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99947386e-01 -9.94873810e-03 -2.49959868e-03 -1.97432452e+00] [ 9.93660009e-03 9.99939003e-01 -4.82236095e-03 3.46529901e+00] [ 2.54742262e-03 4.79726971e-03 9.99985248e-01 7.62276874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10925976399997 meters 0.15991176692723344 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99946483e-01 -9.90273666e-03 -2.99446026e-03 -1.97278100e+00] [ 9.88698756e-03 9.99937449e-01 -5.22925460e-03 3.46815934e+00] [ 3.04605689e-03 5.19936856e-03 9.99981844e-01 7.61903787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16925976399997 meters 0.1526767392349031 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99944629e-01 -9.99562332e-03 -3.29034120e-03 -1.97194418e+00] [ 9.97689311e-03 9.99934208e-01 -5.66050724e-03 3.47052210e+00] [ 3.34670502e-03 5.62736643e-03 9.99978566e-01 7.61849264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22925976399995 meters 0.14317791176496542 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.47, Z:0.76 [[ 9.99978167e-01 -5.73454376e-03 -3.28331050e-03 -1.97178353e+00] [ 5.72957478e-03 9.99982429e-01 -1.52081546e-03 3.47170090e+00] [ 3.29197400e-03 1.50197028e-03 9.99993453e-01 7.61515540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28925976399995 meters 0.13900814679212908 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.48, Z:0.76 [[ 9.99974433e-01 -5.76403850e-03 -4.23188975e-03 -1.96900247e+00] [ 5.75354470e-03 9.99980354e-01 -2.48769863e-03 3.47809267e+00] [ 4.24614580e-03 2.46328666e-03 9.99987951e-01 7.60772289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34925976399995 meters 0.14357874731693412 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.48, Z:0.76 [[ 9.99972813e-01 -5.67767998e-03 -4.70508931e-03 -1.96721004e+00] [ 5.66452252e-03 9.99980022e-01 -2.80505529e-03 3.48103093e+00] [ 4.72092152e-03 2.77832694e-03 9.99984997e-01 7.59951438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40925976399996 meters 0.13293483633105885 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.48, Z:0.76 [[ 9.99970180e-01 -5.95991822e-03 -4.91098903e-03 -1.96689182e+00] [ 5.94275432e-03 9.99976209e-01 -3.50220965e-03 3.48387154e+00] [ 4.93174507e-03 3.47292041e-03 9.99981808e-01 7.60421250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46925976399996 meters 0.13736450675373418 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.49, Z:0.76 [[ 0.99992397 -0.01080361 -0.00594417 -1.9654665 ] [ 0.01074716 0.99989763 -0.00944654 3.49013129] [ 0.00604562 0.00938194 0.99993771 0.76266354] [ 0. 0. 0. 1. ]] SLAMing on 175.52925976399996 meters 0.13235281597258708 Centerline is valid? [False, False] Translation: X:-1.97, Y:3.49, Z:0.76 [[ 0.99992566 -0.01064741 -0.00594255 -1.96503809] [ 0.01059226 0.99990124 -0.00923608 3.49006592] [ 0.0060403 0.00917245 0.99993969 0.76201468] [ 0. 0. 0. 1. ]] SLAMing on 175.58925976399996 meters 0.12996739062410187 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99992632 -0.01033655 -0.00636511 -1.96325028] [ 0.01027827 0.99990557 -0.00912235 3.49136981] [ 0.0064588 0.00905626 0.99993813 0.76095339] [ 0. 0. 0. 1. ]] SLAMing on 175.64925976399996 meters 0.13918155659387663 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99992353 -0.01051291 -0.00651198 -1.96318133] [ 0.01045075 0.99990019 -0.00950699 3.49286267] [ 0.00661128 0.0094382 0.9999336 0.76148406] [ 0. 0. 0. 1. ]] SLAMing on 175.70925976399997 meters 0.1287848079736933 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.9999647 -0.00571732 -0.00615762 -1.96349171] [ 0.00569082 0.99997451 -0.00431189 3.48981942] [ 0.00618212 0.00427669 0.99997175 0.76041083] [ 0. 0. 0. 1. ]] SLAMing on 175.76925976399997 meters 0.1300469566897728 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99996641 -0.00543337 -0.00613622 -1.9630305 ] [ 0.00540957 0.99997781 -0.0038884 3.48896447] [ 0.00615721 0.00385508 0.99997361 0.75960455] [ 0. 0. 0. 1. ]] SLAMing on 175.82925976399997 meters 0.13196049745035054 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993223 -0.00975347 -0.00635691 -1.9627419 ] [ 0.00970084 0.99991885 -0.00825794 3.48921279] [ 0.00643694 0.00819571 0.9999457 0.7600967 ] [ 0. 0. 0. 1. ]] SLAMing on 175.88925976399997 meters 0.1374872525395734 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.9999376 -0.00949301 -0.00588951 -1.96384261] [ 0.00944941 0.99992807 -0.00738615 3.4853002 ] [ 0.00595921 0.00733004 0.99995538 0.75992513] [ 0. 0. 0. 1. ]] SLAMing on 175.94925976399995 meters 0.13364862544062156 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.9999362 -0.00949441 -0.00612046 -1.96339292] [ 0.0094485 0.99992733 -0.00748679 3.48597477] [ 0.0061911 0.00742848 0.99995324 0.76013303] [ 0. 0. 0. 1. ]] SLAMing on 176.00925976399995 meters 0.13906487420425975 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993808 -0.00930902 -0.00609739 -1.96302223] [ 0.00926471 0.99993076 -0.00725552 3.4857245 ] [ 0.00616451 0.00719858 0.99995509 0.75948057] [ 0. 0. 0. 1. ]] SLAMing on 176.06925976399995 meters 0.13809986100385618 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993995 -0.00911053 -0.00609014 -1.96265164] [ 0.00906793 0.99993447 -0.00698727 3.48529365] [ 0.00615339 0.00693163 0.99995704 0.75887297] [ 0. 0. 0. 1. ]] SLAMing on 176.12925976399995 meters 0.13789827371543625 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993961 -0.00905554 -0.00622699 -1.96225781] [ 0.00901173 0.9999347 -0.0070281 3.4858259 ] [ 0.00629023 0.00697156 0.99995591 0.758836 ] [ 0. 0. 0. 1. ]] SLAMing on 176.18925976399996 meters 0.13514435270144848 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993718 -0.00926059 -0.00631503 -1.96210588] [ 0.00921402 0.99993043 -0.00736466 3.48751108] [ 0.0063828 0.00730601 0.99995294 0.75896374] [ 0. 0. 0. 1. ]] SLAMing on 176.24925976399996 meters 0.13127982357134713 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993906 -0.00901522 -0.00637218 -1.96150252] [ 0.00896992 0.99993455 -0.0071014 3.48726799] [ 0.00643578 0.00704381 0.99995448 0.75830593] [ 0. 0. 0. 1. ]] SLAMing on 176.30925976399996 meters 0.1338516372062346 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99993878 -0.009056 -0.0063577 -1.96154369] [ 0.00901028 0.9999336 -0.00718372 3.48767563] [ 0.00642233 0.007126 0.99995399 0.75833777] [ 0. 0. 0. 1. ]] SLAMing on 176.36925976399996 meters 0.12938362058459754 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 9.99970476e-01 -4.69030889e-03 -6.08677408e-03 -1.96212278e+00] [ 4.67408090e-03 9.99985492e-01 -2.67759775e-03 3.48697486e+00] [ 6.09924454e-03 2.64906862e-03 9.99977891e-01 7.58041273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42925976399997 meters 0.1341921387666155 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 9.99969363e-01 -4.76587644e-03 -6.20960144e-03 -1.96168685e+00] [ 4.74798136e-03 9.99984542e-01 -2.89340190e-03 3.48830036e+00] [ 6.22329505e-03 2.86383019e-03 9.99976534e-01 7.57914638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48925976399997 meters 0.12944403419105235 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 9.99966893e-01 -4.62254147e-03 -6.69661451e-03 -1.95987375e+00] [ 4.60182952e-03 9.99984591e-01 -3.10501186e-03 3.49086981e+00] [ 6.71086437e-03 3.07409238e-03 9.99972757e-01 7.57095667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54925976399997 meters 0.1310578895782575 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 9.99965960e-01 -4.74031597e-03 -6.75345524e-03 -1.95971567e+00] [ 4.71774540e-03 9.99983246e-01 -3.35409863e-03 3.49202565e+00] [ 6.76924158e-03 3.32212338e-03 9.99971570e-01 7.57133170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60925976399997 meters 0.12685857398845957 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.49, Z:0.76 [[ 0.99996328 -0.00488762 -0.00703976 -1.95909223] [ 0.00486032 0.99998062 -0.00389011 3.49441081] [ 0.00705863 0.00385575 0.99996765 0.75743008] [ 0. 0. 0. 1. ]] SLAMing on 176.66925976399997 meters 0.1237310779804764 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.50, Z:0.76 [[ 0.99996125 -0.00467103 -0.00746166 -1.95718052] [ 0.00464092 0.99998104 -0.0040486 3.49702131] [ 0.00748043 0.00401382 0.99996397 0.75628684] [ 0. 0. 0. 1. ]] SLAMing on 176.72925976399995 meters 0.12965902938807208 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.50, Z:0.76 [[ 0.99995885 -0.00486476 -0.0076574 -1.95668016] [ 0.00483059 0.99997833 -0.00447376 3.49920857] [ 0.007679 0.00443659 0.99996067 0.75633323] [ 0. 0. 0. 1. ]] SLAMing on 176.78925976399995 meters 0.12621302785617525 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.50, Z:0.76 [[ 0.99995717 -0.00491888 -0.00784042 -1.95600123] [ 0.00488218 0.99997707 -0.00469311 3.50091212] [ 0.00786333 0.00465463 0.99995825 0.75606794] [ 0. 0. 0. 1. ]] SLAMing on 176.84925976399995 meters 0.1237081641032677 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.50, Z:0.76 [[ 0.99995428 -0.005087 -0.00809666 -1.9553049 ] [ 0.00504545 0.99997404 -0.00514367 3.50343875] [ 0.00812261 0.00510259 0.99995399 0.75608266] [ 0. 0. 0. 1. ]] SLAMing on 176.90925976399996 meters 0.12471855064120178 Centerline is valid? [False, False] Translation: X:-1.96, Y:3.50, Z:0.76 [[ 0.99995393 -0.00510552 -0.00812806 -1.95510498] [ 0.00506302 0.99997345 -0.00524095 3.50414552] [ 0.0081546 0.00519955 0.99995323 0.75593838] [ 0. 0. 0. 1. ]] SLAMing on 176.96925976399996 meters 0.12269337802884529 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.50, Z:0.76 [[ 0.99995375 -0.00505202 -0.00818364 -1.9548017 ] [ 0.00500979 0.99997407 -0.00517344 3.50431327] [ 0.00820957 0.0051322 0.99995313 0.75569633] [ 0. 0. 0. 1. ]] SLAMing on 177.02925976399996 meters 0.12077466684173446 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.76 [[ 0.99995115 -0.00505092 -0.00849638 -1.95380308] [ 0.00500532 0.999973 -0.00537966 3.50625025] [ 0.00852332 0.00533687 0.99994943 0.75543794] [ 0. 0. 0. 1. ]] SLAMing on 177.08925976399996 meters 0.11906948169705618 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.76 [[ 0.99995097 -0.00502199 -0.00853436 -1.95354062] [ 0.00497635 0.99997325 -0.0053602 3.50660117] [ 0.00856105 0.00531747 0.99994922 0.75519988] [ 0. 0. 0. 1. ]] SLAMing on 177.14925976399996 meters 0.11772224233013419 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.75 [[ 0.99995067 -0.00488088 -0.00865078 -1.95277971] [ 0.00483563 0.99997456 -0.00524392 3.5070799 ] [ 0.00867615 0.00520183 0.99994883 0.75452286] [ 0. 0. 0. 1. ]] SLAMing on 177.20925976399997 meters 0.11919794124170695 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.75 [[ 0.99994998 -0.0048216 -0.00876334 -1.95221606] [ 0.00477555 0.99997472 -0.00526847 3.50779222] [ 0.00878852 0.00522635 0.99994772 0.75415264] [ 0. 0. 0. 1. ]] SLAMing on 177.26925976399997 meters 0.12221024049969346 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.75 [[ 0.99991475 -0.00905952 -0.00940324 -1.95032983] [ 0.0089668 0.99991122 -0.00985659 3.51074967] [ 0.0094917 0.00977143 0.99990721 0.75383208] [ 0. 0. 0. 1. ]] SLAMing on 177.32925976399997 meters 0.12199233641349128 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.75 [[ 0.99991798 -0.00882311 -0.00928337 -1.95044179] [ 0.00873627 0.99991809 -0.00935351 3.50898836] [ 0.00936514 0.00927164 0.99991316 0.75345601] [ 0. 0. 0. 1. ]] SLAMing on 177.38925976399997 meters 0.12907208542574036 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.51, Z:0.75 [[ 0.99991939 -0.00870646 -0.00924182 -1.95063582] [ 0.00862243 0.99992147 -0.00909432 3.5078993 ] [ 0.00932028 0.0090139 0.99991594 0.75353408] [ 0. 0. 0. 1. ]] SLAMing on 177.44925976399995 meters 0.123150589287228 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.50, Z:0.75 [[ 0.99992592 -0.00812231 -0.00906591 -1.95065058] [ 0.00804991 0.99993565 -0.00799394 3.50389929] [ 0.00913025 0.00792036 0.99992695 0.75275326] [ 0. 0. 0. 1. ]] SLAMing on 177.50925976399995 meters 0.12736633300466116 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.50, Z:0.75 [[ 0.9999302 -0.00762168 -0.0090281 -1.95027461] [ 0.00755774 0.99994626 -0.00709565 3.50111051] [ 0.0090817 0.00702693 0.99993407 0.75190901] [ 0. 0. 0. 1. ]] SLAMing on 177.56925976399995 meters 0.12778485673245907 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.50, Z:0.75 [[ 0.99993835 -0.00687874 -0.00871702 -1.95028721] [ 0.00682968 0.99996074 -0.00564543 3.49602163] [ 0.00875551 0.00558555 0.99994607 0.75060253] [ 0. 0. 0. 1. ]] SLAMing on 177.62925976399995 meters 0.12854240587387253 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.49, Z:0.75 [[ 0.99990206 -0.01082879 -0.00886619 -1.94988851] [ 0.01074562 0.99989831 -0.00937579 3.49371425] [ 0.00896682 0.0092796 0.99991674 0.75064157] [ 0. 0. 0. 1. ]] SLAMing on 177.68925976399996 meters 0.13382509644623364 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.49, Z:0.75 [[ 0.99990828 -0.01045906 -0.00860459 -1.95035829] [ 0.01038609 0.99991009 -0.0084822 3.49028369] [ 0.00869253 0.00839206 0.999927 0.75021709] [ 0. 0. 0. 1. ]] SLAMing on 177.74925976399996 meters 0.14342811974681374 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.49, Z:0.75 [[ 0.99991308 -0.01022206 -0.00832676 -1.95102187] [ 0.01015737 0.99991818 -0.00777517 3.48738222] [ 0.00840556 0.00768991 0.9999351 0.75007351] [ 0. 0. 0. 1. ]] SLAMing on 177.80925976399996 meters 0.13535082446295213 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.48, Z:0.75 [[ 0.99992007 -0.00966539 -0.00815119 -1.95094717] [ 0.0096112 0.99993162 -0.00666131 3.48361623] [ 0.00821502 0.00658244 0.99994459 0.74910778] [ 0. 0. 0. 1. ]] SLAMing on 177.86925976399996 meters 0.14093884648749108 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.48, Z:0.75 [[ 0.9999255 -0.00911589 -0.008118 -1.95024691] [ 0.00906889 0.99994201 -0.00580772 3.48143147] [ 0.00817047 0.00573367 0.99995018 0.74784078] [ 0. 0. 0. 1. ]] SLAMing on 177.92925976399997 meters 0.14251728268121944 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.48, Z:0.75 [[ 0.99993534 -0.00842725 -0.00763543 -1.95060922] [ 0.00839487 0.99995568 -0.00426257 3.476074 ] [ 0.00767101 0.0041982 0.99996176 0.74631707] [ 0. 0. 0. 1. ]] SLAMing on 177.98925976399997 meters 0.1412774623427554 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.75 [[ 0.99993876 -0.00819964 -0.00743209 -1.95102862] [ 0.00817223 0.99995972 -0.00371172 3.47392365] [ 0.00746222 0.00365076 0.99996549 0.7460816 ] [ 0. 0. 0. 1. ]] SLAMing on 178.04925976399997 meters 0.143273984286739 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.75 [[ 9.99941966e-01 -7.86888363e-03 -7.35836830e-03 -1.95063697e+00] [ 7.84618714e-03 9.99964387e-01 -3.10824504e-03 3.47256904e+00] [ 7.38256467e-03 3.05032952e-03 9.99968096e-01 7.45114297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10925976399997 meters 0.14460057722705066 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 9.99949323e-01 -7.27730971e-03 -6.95641940e-03 -1.95068528e+00] [ 7.26450565e-03 9.99971876e-01 -1.86411086e-03 3.46858923e+00] [ 6.96978947e-03 1.81348144e-03 9.99974066e-01 7.43486408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16925976399997 meters 0.15132084428074385 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 9.99948996e-01 -7.33536599e-03 -6.94251792e-03 -1.95082157e+00] [ 7.32218378e-03 9.99971345e-01 -1.92228178e-03 3.46880222e+00] [ 6.95641962e-03 1.87134934e-03 9.99974053e-01 7.43635156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22925976399995 meters 0.1731999986064157 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 9.99948670e-01 -7.27628422e-03 -7.05068577e-03 -1.95065357e+00] [ 7.26303786e-03 9.99971814e-01 -1.90252171e-03 3.46875473e+00] [ 7.06433032e-03 1.85121466e-03 9.99973334e-01 7.43806785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28925976399995 meters 0.17343514416597194 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99990714 -0.01155115 -0.00723096 -1.94999408] [ 0.01150605 0.99991428 -0.00624806 3.46942854] [ 0.00730251 0.00616428 0.99995434 0.74368175] [ 0. 0. 0. 1. ]] SLAMing on 178.34925976399995 meters 0.17218250463960927 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99990913 -0.01135991 -0.00725809 -1.94952466] [ 0.01131682 0.99991826 -0.00595078 3.46905112] [ 0.0073251 0.0058681 0.99995595 0.74305291] [ 0. 0. 0. 1. ]] SLAMing on 178.40925976399996 meters 0.14761590696465018 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99990964 -0.01133711 -0.00722347 -1.94955166] [ 0.01129465 0.99991886 -0.00589116 3.46897227] [ 0.00728967 0.00580904 0.99995656 0.74295581] [ 0. 0. 0. 1. ]] SLAMing on 178.46925976399996 meters 0.16862994501473602 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99991199 -0.01115609 -0.00718048 -1.94921714] [ 0.01111635 0.9999228 -0.00555076 3.46845634] [ 0.00724185 0.00547045 0.99995881 0.74224232] [ 0. 0. 0. 1. ]] SLAMing on 178.52925976399996 meters 0.16621054497032153 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99991466 -0.01089093 -0.00721544 -1.94829318] [ 0.01085352 0.99992755 -0.00520473 3.46848109] [ 0.00727161 0.00512598 0.99996042 0.74098224] [ 0. 0. 0. 1. ]] SLAMing on 178.58925976399996 meters 0.15842454007735451 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99991382 -0.01092691 -0.00727656 -1.94786058] [ 0.01088816 0.99992644 -0.00534404 3.46970548] [ 0.00733442 0.00526435 0.99995925 0.74059177] [ 0. 0. 0. 1. ]] SLAMing on 178.64925976399996 meters 0.15277660031921803 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.47, Z:0.74 [[ 0.99991122 -0.01095436 -0.00758669 -1.94650585] [ 0.01091079 0.99992388 -0.00576131 3.47288052] [ 0.00764923 0.00567802 0.99995462 0.73983438] [ 0. 0. 0. 1. ]] SLAMing on 178.70925976399997 meters 0.1696037175625414 Centerline is valid? [False, False] Translation: X:-1.95, Y:3.48, Z:0.74 [[ 0.99990796 -0.01109738 -0.00780498 -1.9457575 ] [ 0.01104888 0.99991955 -0.0062299 3.47552273] [ 0.00787348 0.00614309 0.99995013 0.73964175] [ 0. 0. 0. 1. ]] SLAMing on 178.76925976399997 meters 0.1461050885183897 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.48, Z:0.74 [[ 0.99990475 -0.01106777 -0.00824601 -1.94383597] [ 0.01101203 0.99991642 -0.00677403 3.47990564] [ 0.00832029 0.00668257 0.99994306 0.73843053] [ 0. 0. 0. 1. ]] SLAMing on 178.82925976399997 meters 0.1445006290903571 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.48, Z:0.74 [[ 0.99989789 -0.01131056 -0.00873401 -1.94249088] [ 0.01124343 0.99990716 -0.00769756 3.48491142] [ 0.00882026 0.00759858 0.99993223 0.73832361] [ 0. 0. 0. 1. ]] SLAMing on 178.88925976399997 meters 0.14410688627335577 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.49, Z:0.74 [[ 0.99993532 -0.00699345 -0.00896888 -1.94106655] [ 0.00695858 0.99996813 -0.00391248 3.48880857] [ 0.00899596 0.00384982 0.99995212 0.7370393 ] [ 0. 0. 0. 1. ]] SLAMing on 178.94925976399995 meters 0.13751514763993097 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.49, Z:0.74 [[ 0.99992986 -0.00697693 -0.00957105 -1.93884386] [ 0.0069322 0.99996493 -0.0046994 3.4942459 ] [ 0.0096035 0.00463273 0.99994315 0.73593275] [ 0. 0. 0. 1. ]] SLAMing on 179.00925976399995 meters 0.12146768851620024 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.50, Z:0.73 [[ 9.99946721e-01 -2.53613896e-03 -1.00061801e-02 -1.93647096e+00] [ 2.52669860e-03 9.99996351e-01 -9.55981202e-04 3.49947138e+00] [ 1.00085681e-02 9.30647667e-04 9.99949480e-01 7.33945763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06925976399995 meters 0.11782972339064882 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.51, Z:0.74 [[ 9.99939486e-01 -3.05890566e-03 -1.05672472e-02 -1.93555213e+00] [ 3.03081728e-03 9.99991834e-01 -2.67305250e-03 3.50597410e+00] [ 1.05753376e-02 2.64086335e-03 9.99940592e-01 7.35043544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12925976399995 meters 0.10969952874383677 Centerline is valid? [False, False] Translation: X:-1.93, Y:3.51, Z:0.73 [[ 9.99933597e-01 1.36445550e-03 -1.14429326e-02 -1.93254081e+00] [-1.36406279e-03 9.99999069e-01 4.21230546e-05 3.51386357e+00] [ 1.14429794e-02 -2.65113789e-05 9.99934527e-01 7.34186063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18925976399996 meters 0.10396307623856425 Centerline is valid? [False, False] Translation: X:-1.93, Y:3.52, Z:0.73 [[ 9.99921934e-01 1.62014413e-03 -1.23895723e-02 -1.92933142e+00] [-1.63101758e-03 9.99998294e-01 -8.67575575e-04 3.52058044e+00] [ 1.23881456e-02 8.87715456e-04 9.99922870e-01 7.32684456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24925976399996 meters 0.09810439652188703 Centerline is valid? [False, True] Translation: X:-1.92, Y:3.53, Z:0.73 [[ 9.99868058e-01 4.49557922e-03 -1.56094704e-02 -1.91882205e+00] [-4.52310956e-03 9.99988276e-01 -1.72883873e-03 3.52561791e+00] [ 1.56015153e-02 1.79921397e-03 9.99876670e-01 7.32825073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30925976399996 meters 0.09028769599396759 Centerline is valid? [True, True] Translation: X:-1.86, Y:3.55, Z:0.73 [[ 9.99683749e-01 1.88023080e-02 -1.66995285e-02 -1.85704676e+00] [-1.87918760e-02 9.99823112e-01 7.81400205e-04 3.55153772e+00] [ 1.67112667e-02 -4.67337619e-04 9.99860248e-01 7.28548172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36925976399996 meters 0.08762404453237187 Centerline is valid? [True, True] Translation: X:-1.80, Y:3.56, Z:0.72 [[ 9.99453185e-01 2.77113900e-02 -1.80391266e-02 -1.79780210e+00] [-2.77006941e-02 9.99615907e-01 8.42574234e-04 3.56408389e+00] [ 1.80555468e-02 -3.42417174e-04 9.99836927e-01 7.23278718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42925976399997 meters 0.08534016987840011 Centerline is valid? [True, True] Translation: X:-1.74, Y:3.58, Z:0.72 [[ 9.99169986e-01 3.63066664e-02 -1.84706480e-02 -1.73818784e+00] [-3.62970351e-02 9.99340678e-01 8.56520695e-04 3.57840798e+00] [ 1.84895673e-02 -1.85380011e-04 9.99829036e-01 7.20700905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48925976399997 meters 0.08434689479584029 Centerline is valid? [True, True] Translation: X:-1.68, Y:3.58, Z:0.72 [[ 9.99027345e-01 4.03941348e-02 -1.76826731e-02 -1.67900861e+00] [-4.03860314e-02 9.99183819e-01 8.15266602e-04 3.58485609e+00] [ 1.77011729e-02 -1.00340636e-04 9.99843317e-01 7.19789312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54925976399997 meters 0.08436797289316994 Centerline is valid? [True, True] Translation: X:-1.62, Y:3.59, Z:0.71 [[ 9.98873702e-01 4.32291909e-02 -1.95592741e-02 -1.62132564e+00] [-4.32198116e-02 9.99065180e-01 9.02190376e-04 3.58919242e+00] [ 1.95799906e-02 -5.58260988e-05 9.99808292e-01 7.14845456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60925976399997 meters 0.08468531267518122 Centerline is valid? [True, True] Translation: X:-1.56, Y:3.58, Z:0.71 [[ 9.98897111e-01 4.19270196e-02 -2.11349543e-02 -1.56308159e+00] [-4.19159182e-02 9.99120673e-01 9.68180113e-04 3.58490541e+00] [ 2.11569627e-02 -8.12213027e-05 9.99776163e-01 7.10306449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66925976399997 meters 0.08497501765512203 Centerline is valid? [True, True] Translation: X:-1.50, Y:3.58, Z:0.71 [[ 9.98970204e-01 3.99442478e-02 -2.15171872e-02 -1.50475582e+00] [-3.99323903e-02 9.99201903e-01 9.80622794e-04 3.57871084e+00] [ 2.15391846e-02 -1.20380234e-04 9.99767998e-01 7.06977205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72925976399995 meters 0.08570857028493267 Centerline is valid? [True, True] Translation: X:-1.45, Y:3.56, Z:0.71 [[ 9.99270468e-01 3.21519438e-02 -2.06102996e-02 -1.44681266e+00] [-3.21395129e-02 9.99482956e-01 9.34178455e-04 3.56459762e+00] [ 2.06296788e-02 -2.71091952e-04 9.99787149e-01 7.07259822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78925976399995 meters 0.08917653339037754 Centerline is valid? [True, True] Translation: X:-1.39, Y:3.54, Z:0.71 [[ 9.99568786e-01 2.09205261e-02 -2.06051805e-02 -1.38722235e+00] [-2.09056595e-02 9.99781014e-01 9.36663273e-04 3.54270089e+00] [ 2.06202637e-02 -5.05494484e-04 9.99787252e-01 7.07087929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84925976399995 meters 0.09245274101854947 Centerline is valid? [True, True] Translation: X:-1.33, Y:3.53, Z:0.71 [[ 9.99723497e-01 1.26692279e-02 -1.98095738e-02 -1.32759638e+00] [-1.26538832e-02 9.99919532e-01 8.99771473e-04 3.52737741e+00] [ 1.98193792e-02 -6.48854651e-04 9.99803366e-01 7.08439373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90925976399996 meters 0.10062927878238442 Centerline is valid? [True, False] Translation: X:-1.32, Y:3.52, Z:0.70 [[ 9.99929234e-01 1.12065408e-04 -1.18959850e-02 -1.32186843e+00] [-9.08654508e-05 9.99998407e-01 1.78263579e-03 3.52394400e+00] [ 1.18961658e-02 -1.78142870e-03 9.99927651e-01 7.04145078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96925976399996 meters 0.10221630890617246 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.52, Z:0.70 [[ 9.99928419e-01 -1.08855904e-02 -4.96605074e-03 -1.31232572e+00] [ 1.08969697e-02 9.99938049e-01 2.27015670e-03 3.52377793e+00] [ 4.94103110e-03 -2.32410911e-03 9.99985092e-01 7.01069658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02925976399996 meters 0.10560885695112071 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.71 [[ 0.99985671 -0.01577208 -0.00614829 -1.31141624] [ 0.01574173 0.99986382 -0.00495282 3.53007369] [ 0.00622557 0.00485532 0.99996883 0.70706718] [ 0. 0. 0. 1. ]] SLAMing on 180.08925976399996 meters 0.10538697242099779 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.71 [[ 0.99986635 -0.01515534 -0.0061317 -1.31027438] [ 0.01513098 0.99987752 -0.00400086 3.52801142] [ 0.00619158 0.00390755 0.9999732 0.70516226] [ 0. 0. 0. 1. ]] SLAMing on 180.14925976399996 meters 0.10495017553980379 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.70 [[ 0.99986843 -0.01501085 -0.00614794 -1.30984323] [ 0.01498763 0.99988043 -0.00380653 3.52791098] [ 0.00620434 0.00371389 0.99997386 0.70455923] [ 0. 0. 0. 1. ]] SLAMing on 180.20925976399997 meters 0.1028413373023574 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.70 [[ 0.999866 -0.01507224 -0.00638877 -1.30923232] [ 0.01504555 0.99987796 -0.0042056 3.52992582] [ 0.00645138 0.00410892 0.99997075 0.70468389] [ 0. 0. 0. 1. ]] SLAMing on 180.26925976399997 meters 0.10341590265869387 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.70 [[ 0.99986916 -0.01482974 -0.00646081 -1.30909314] [ 0.01480471 0.99988278 -0.00390573 3.52856756] [ 0.00651797 0.00380957 0.9999715 0.70479362] [ 0. 0. 0. 1. ]] SLAMing on 180.32925976399997 meters 0.10390427667415408 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.53, Z:0.70 [[ 9.99872460e-01 -1.46075946e-02 -6.45618357e-03 -1.30897874e+00] [ 1.45849785e-02 9.99887380e-01 -3.53632927e-03 3.52730667e+00] [ 6.50711374e-03 3.44171495e-03 9.99972906e-01 7.04571039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38925976399997 meters 0.10352730244549231 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.52, Z:0.70 [[ 9.99883434e-01 -1.38742431e-02 -6.37369807e-03 -1.30859181e+00] [ 1.38601999e-02 9.99901429e-01 -2.24222689e-03 3.52272186e+00] [ 6.40417901e-03 2.15362479e-03 9.99977174e-01 7.03586478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44925976399995 meters 0.10469082172598651 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.52, Z:0.70 [[ 9.99890593e-01 -1.33953103e-02 -6.27439202e-03 -1.30875305e+00] [ 1.33874179e-02 9.99909542e-01 -1.29819589e-03 3.51881649e+00] [ 6.29121418e-03 1.21405595e-03 9.99979473e-01 7.03395611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50925976399995 meters 0.1055479907695834 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.51, Z:0.70 [[ 9.99902822e-01 -1.26467191e-02 -5.86581906e-03 -1.30926750e+00] [ 1.26500889e-02 9.99919840e-01 5.37732503e-04 3.51158710e+00] [ 5.85854831e-03 -6.11883379e-04 9.99982651e-01 7.02445446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56925976399995 meters 0.10727703011011033 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.51, Z:0.70 [[ 9.99847582e-01 -1.65067984e-02 -5.68669764e-03 -1.30991131e+00] [ 1.64916000e-02 9.99860334e-01 -2.70922748e-03 3.50635043e+00] [ 5.73062408e-03 2.61503180e-03 9.99980161e-01 7.02926021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62925976399995 meters 0.11190572094679371 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.70 [[ 9.99861721e-01 -1.58183817e-02 -5.13006100e-03 -1.31049098e+00] [ 1.58151757e-02 9.99874711e-01 -6.64911157e-04 3.49905516e+00] [ 5.13993608e-03 5.83686398e-04 9.99986620e-01 7.01329587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68925976399996 meters 0.11935685355610341 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.70 [[ 9.99797386e-01 -1.95495486e-02 -4.79607389e-03 -1.31106682e+00] [ 1.95348212e-02 9.99804376e-01 -3.09858734e-03 3.49185487e+00] [ 4.85571165e-03 3.00426907e-03 9.99983698e-01 7.00964661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74925976399996 meters 0.1291064232388195 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.70 [[ 9.99805570e-01 -1.93098415e-02 -3.99407244e-03 -1.31278655e+00] [ 1.93043205e-02 9.99812651e-01 -1.41627392e-03 3.48485139e+00] [ 4.02067218e-03 1.33889570e-03 9.99991021e-01 7.00417779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80925976399996 meters 0.13077802167468203 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.70 [[ 9.99815612e-01 -1.89417460e-02 -3.15462647e-03 -1.31422378e+00] [ 1.89426732e-02 9.99820537e-01 2.64291248e-04 3.47786248e+00] [ 3.14905419e-03 -3.23999575e-04 9.99994989e-01 6.99493856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86925976399996 meters 0.1391442634284312 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99824767e-01 -1.85549050e-02 -2.47991157e-03 -1.31524194e+00] [ 1.85598557e-02 9.99825774e-01 1.98843973e-03 3.47124907e+00] [ 2.44258419e-03 -2.03411809e-03 9.99994948e-01 6.98255010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92925976399997 meters 0.14566228108643742 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99816269e-01 -1.90304594e-02 -2.29564174e-03 -1.31659469e+00] [ 1.90337509e-02 9.99817833e-01 1.42056579e-03 3.47207479e+00] [ 2.26818953e-03 -1.46399946e-03 9.99996356e-01 6.99569365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98925976399997 meters 0.13475591423672417 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99819067e-01 -1.88762001e-02 -2.35000111e-03 -1.31634827e+00] [ 1.88798162e-02 9.99820596e-01 1.52621173e-03 3.47178561e+00] [ 2.32077043e-03 -1.57030318e-03 9.99996074e-01 6.99452131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04925976399997 meters 0.1378690989535224 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99819749e-01 -1.88862465e-02 -1.94397573e-03 -1.31761448e+00] [ 1.88896098e-02 9.99820085e-01 1.72653243e-03 3.46970466e+00] [ 1.91101827e-03 -1.76294216e-03 9.99996620e-01 6.99867974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10925976399997 meters 0.14032987247006642 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99828166e-01 -1.84602739e-02 -1.69012527e-03 -1.31775037e+00] [ 1.84645478e-02 9.99826266e-01 2.54903033e-03 3.46675303e+00] [ 1.64277584e-03 -2.57979971e-03 9.99995323e-01 6.99079136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16925976399997 meters 0.14673149065932375 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.70 [[ 9.99821801e-01 -1.88306579e-02 -1.33105313e-03 -1.31972485e+00] [ 1.88336512e-02 9.99820047e-01 2.27327826e-03 3.46567883e+00] [ 1.28800627e-03 -2.29794176e-03 9.99996530e-01 7.00732656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22925976399995 meters 0.14201678054650296 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.70 [[ 9.99819333e-01 -1.89998247e-02 -5.55662979e-04 -1.32235201e+00] [ 1.90012611e-02 9.99815800e-01 2.70522414e-03 3.46149652e+00] [ 5.04161841e-04 -2.71529369e-03 9.99996186e-01 7.01870803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28925976399995 meters 0.1564301375289576 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.70 [[ 9.99726216e-01 -2.33977619e-02 -1.92147932e-04 -1.32423329e+00] [ 2.33974678e-02 9.99725245e-01 -1.41183310e-03 3.45830488e+00] [ 2.25128873e-04 1.40695078e-03 9.99998985e-01 7.03687636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34925976399995 meters 0.15897282163648135 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.45, Z:0.70 [[ 9.99723832e-01 -2.34877980e-02 7.64232332e-04 -1.32704745e+00] [ 2.34882805e-02 9.99723915e-01 -6.28617059e-04 3.45260028e+00] [-7.49256508e-04 6.46393958e-04 9.99999510e-01 7.04596397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40925976399996 meters 0.16118653538021602 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.45, Z:0.71 [[ 9.99610974e-01 -2.78592557e-02 1.32732015e-03 -1.32933303e+00] [ 2.78647987e-02 9.99602199e-01 -4.35862055e-03 3.44795455e+00] [-1.20536421e-03 4.39391045e-03 9.99989620e-01 7.06350088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46925976399996 meters 0.16320810267029998 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.44, Z:0.71 [[ 9.99476300e-01 -3.23019998e-02 1.92527775e-03 -1.33152762e+00] [ 3.23169776e-02 9.99442909e-01 -8.33574857e-03 3.44428848e+00] [-1.65494385e-03 8.39360230e-03 9.99963404e-01 7.07924999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52925976399996 meters 0.16478608118731022 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.44, Z:0.71 [[ 9.99479147e-01 -3.21689988e-02 2.56718623e-03 -1.33343670e+00] [ 3.21876462e-02 9.99453047e-01 -7.58699854e-03 3.43950751e+00] [-2.32171595e-03 7.66567851e-03 9.99967923e-01 7.08463853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58925976399996 meters 0.18428711802135375 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.44, Z:0.71 [[ 9.99457042e-01 -3.27640587e-02 3.48386183e-03 -1.33706754e+00] [ 3.27896887e-02 9.99433579e-01 -7.57345738e-03 3.43575292e+00] [-3.23375129e-03 7.68358006e-03 9.99965252e-01 7.10973282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64925976399996 meters 0.17132144579918415 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.43, Z:0.71 [[ 0.99944229 -0.03315173 0.00400937 -1.33951484] [ 0.03318217 0.99941903 -0.00778049 3.43420646] [-0.00374911 0.00790919 0.99996169 0.7126706 ] [ 0. 0. 0. 1. ]] SLAMing on 181.70925976399997 meters 0.16449817260135297 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.43, Z:0.71 [[ 0.99943222 -0.03334395 0.00483915 -1.34243247] [ 0.0333792 0.99941539 -0.00739613 3.42955362] [-0.0045897 0.00755346 0.99996094 0.71428345] [ 0. 0. 0. 1. ]] SLAMing on 181.76925976399997 meters 0.17035480694242905 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.43, Z:0.72 [[ 0.99942108 -0.03358624 0.00542904 -1.34479717] [ 0.03362534 0.999408 -0.00727892 3.42666272] [-0.00518136 0.00745726 0.99995877 0.71574747] [ 0. 0. 0. 1. ]] SLAMing on 181.82925976399997 meters 0.18536261203747725 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.43, Z:0.72 [[ 0.999402 -0.03406579 0.00592926 -1.34722327] [ 0.03411046 0.99938915 -0.00760221 3.42541371] [-0.00566666 0.00779992 0.99995352 0.71760977] [ 0. 0. 0. 1. ]] SLAMing on 181.88925976399997 meters 0.1829285805537862 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.42, Z:0.72 [[ 0.99937942 -0.03463448 0.00642098 -1.3497589 ] [ 0.03468553 0.99936612 -0.00801705 3.42426141] [-0.00613924 0.00823479 0.99994725 0.71972808] [ 0. 0. 0. 1. ]] SLAMing on 181.94925976399995 meters 0.1782813234007227 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.42, Z:0.72 [[ 0.99948862 -0.03112357 0.00733573 -1.35346566] [ 0.03115492 0.99950575 -0.00419867 3.4227021 ] [-0.00720143 0.00442506 0.99996428 0.72155514] [ 0. 0. 0. 1. ]] SLAMing on 182.00925976399995 meters 0.1818714460063317 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.42, Z:0.72 [[ 9.99557164e-01 -2.55783960e-02 1.52059761e-02 -1.36712001e+00] [ 2.56231576e-02 9.99667874e-01 -2.75615267e-03 3.42168718e+00] [-1.51304278e-02 3.14455727e-03 9.99880584e-01 7.18811222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06925976399995 meters 0.18908152055726185 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.42, Z:0.72 [[ 0.99969544 -0.02290319 0.00919046 -1.38080076] [ 0.02300696 0.99967089 -0.01134874 3.42483641] [-0.00892751 0.01155673 0.99989337 0.72478746] [ 0. 0. 0. 1. ]] SLAMing on 182.12925976399995 meters 0.18388881393322765 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.42, Z:0.72 [[ 0.9997839 -0.01845775 0.00956365 -1.38162939] [ 0.01852051 0.99980725 -0.00651636 3.42270845] [-0.00944153 0.00669207 0.99993303 0.72435709] [ 0. 0. 0. 1. ]] SLAMing on 182.18925976399996 meters 0.17315690244283308 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.42, Z:0.72 [[ 9.99853386e-01 -1.41095689e-02 9.70192325e-03 -1.38188396e+00] [ 1.41297414e-02 9.99898142e-01 -2.01383518e-03 3.42230701e+00] [-9.67252068e-03 2.15062559e-03 9.99950907e-01 7.23954698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24925976399996 meters 0.175169586722599 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.42, Z:0.72 [[ 9.99905255e-01 -9.47852097e-03 9.98187359e-03 -1.38204270e+00] [ 9.44888842e-03 9.99950823e-01 3.01162532e-03 3.42020178e+00] [-1.00099285e-02 -2.91702237e-03 9.99945645e-01 7.22910400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30925976399996 meters 0.1708964236705469 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.42, Z:0.72 [[ 9.99912942e-01 -9.38444043e-03 9.27584721e-03 -1.37992799e+00] [ 9.36173821e-03 9.99953083e-01 2.48785374e-03 3.42393517e+00] [-9.29875913e-03 -2.40079910e-03 9.99953884e-01 7.22327213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36925976399996 meters 0.17892803185717446 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.43, Z:0.72 [[ 9.99913621e-01 -9.57225508e-03 9.00680062e-03 -1.37928640e+00] [ 9.55523128e-03 9.99952483e-01 1.93124267e-03 3.42645365e+00] [-9.02485899e-03 -1.84501379e-03 9.99957573e-01 7.22438206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42925976399997 meters 0.16775984582301287 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.43, Z:0.72 [[ 9.99915774e-01 -9.39407602e-03 8.95523546e-03 -1.37848767e+00] [ 9.37547596e-03 9.99953809e-01 2.11672725e-03 3.42698669e+00] [-8.97470650e-03 -2.03258937e-03 9.99957661e-01 7.21425968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48925976399997 meters 0.1678818247068642 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.43, Z:0.72 [[ 9.99914550e-01 -9.62398887e-03 8.84711545e-03 -1.37857655e+00] [ 9.60916661e-03 9.99952358e-01 1.71636172e-03 3.42822436e+00] [-8.86321220e-03 -1.63120165e-03 9.99959391e-01 7.22036621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54925976399997 meters 0.1689838422498481 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.43, Z:0.72 [[ 9.99914372e-01 -1.00592879e-02 8.37009310e-03 -1.37805137e+00] [ 1.00533453e-02 9.99949181e-01 7.51750263e-04 3.43174474e+00] [-8.37722981e-03 -6.67538456e-04 9.99964688e-01 7.23159071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60925976399997 meters 0.16287541952069082 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.43, Z:0.72 [[ 9.99918848e-01 -9.94708820e-03 7.95940707e-03 -1.37666070e+00] [ 9.94274614e-03 9.99950399e-01 5.84910903e-04 3.43364783e+00] [-7.96483043e-03 -5.05725073e-04 9.99968152e-01 7.22632201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66925976399995 meters 0.16161262641378749 Centerline is valid? [False, False] Translation: X:-1.38, Y:3.44, Z:0.72 [[ 9.99922824e-01 -9.88899226e-03 7.52022309e-03 -1.37512543e+00] [ 9.88718071e-03 9.99951082e-01 2.78030773e-04 3.43630761e+00] [-7.52260466e-03 -2.03655511e-04 9.99971684e-01 7.21964199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72925976399995 meters 0.1653717347145791 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.44, Z:0.72 [[ 9.99926588e-01 -1.00981787e-02 6.69665913e-03 -1.37332976e+00] [ 1.01032137e-02 9.99948703e-01 -7.18463893e-04 3.44132324e+00] [-6.68906043e-03 7.86068927e-04 9.99977319e-01 7.22411958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78925976399995 meters 0.15964215936636772 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.44, Z:0.72 [[ 9.99927238e-01 -1.03637978e-02 6.17332557e-03 -1.37242256e+00] [ 1.03741326e-02 9.99944835e-01 -1.64445311e-03 3.44496073e+00] [-6.15594223e-03 1.70837636e-03 9.99979593e-01 7.23127301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84925976399995 meters 0.15293217223551817 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99929147e-01 -1.03637959e-02 5.85599575e-03 -1.37141330e+00] [ 1.03746653e-02 9.99944509e-01 -1.82878658e-03 3.44669854e+00] [-5.83671763e-03 1.88941100e-03 9.99981181e-01 7.22801431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90925976399996 meters 0.16084329068474104 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99928274e-01 -1.04271131e-02 5.89256985e-03 -1.37161399e+00] [ 1.04383239e-02 9.99943761e-01 -1.87499369e-03 3.44696801e+00] [-5.87268768e-03 1.93636775e-03 9.99980881e-01 7.22948416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96925976399996 meters 0.15160933623228598 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99929750e-01 -1.04587254e-02 5.57765403e-03 -1.37093819e+00] [ 1.04709094e-02 9.99942846e-01 -2.15971353e-03 3.44841449e+00] [-5.55474740e-03 2.21796492e-03 9.99982113e-01 7.23148897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02925976399996 meters 0.15222654948703873 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99931664e-01 -1.04380263e-02 5.26440541e-03 -1.36973225e+00] [ 1.04507658e-02 9.99942513e-01 -2.39826090e-03 3.45071492e+00] [-5.23906966e-03 2.45311408e-03 9.99983267e-01 7.22530873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08925976399996 meters 0.15096312770350118 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99935371e-01 -1.01459467e-02 5.12971247e-03 -1.36881707e+00] [ 1.01568449e-02 9.99946207e-01 -2.10296429e-03 3.45064659e+00] [-5.10809996e-03 2.15493007e-03 9.99984632e-01 7.21657860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14925976399996 meters 0.14915018777432223 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99936037e-01 -1.00792162e-02 5.13148055e-03 -1.36901513e+00] [ 1.00897937e-02 9.99947017e-01 -2.03959819e-03 3.45008083e+00] [-5.11065112e-03 2.09124331e-03 9.99984754e-01 7.21976008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20925976399997 meters 0.15056679360501257 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99933897e-01 -1.03659780e-02 4.97472819e-03 -1.36918143e+00] [ 1.03786329e-02 9.99942953e-01 -2.52478793e-03 3.45169254e+00] [-4.94827250e-03 2.57625191e-03 9.99984439e-01 7.22846718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26925976399997 meters 0.15353453304003115 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99933112e-01 -1.04468599e-02 4.96340954e-03 -1.36918275e+00] [ 1.04600743e-02 9.99941797e-01 -2.64389394e-03 3.45233612e+00] [-4.93550026e-03 2.69563472e-03 9.99984187e-01 7.22902596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32925976399997 meters 0.16005965985600004 Centerline is valid? [False, False] Translation: X:-1.37, Y:3.45, Z:0.72 [[ 9.99938922e-01 -1.01534613e-02 4.36574352e-03 -1.36709975e+00] [ 1.01657927e-02 9.99944374e-01 -2.81172401e-03 3.45472656e+00] [-4.33695194e-03 2.85593352e-03 9.99986517e-01 7.22001755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38925976399997 meters 0.15271744147347488 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99945336e-01 -9.79809322e-03 3.64996217e-03 -1.36451455e+00] [ 9.80928430e-03 9.99947203e-01 -3.06090203e-03 3.45794275e+00] [-3.61977846e-03 3.09653822e-03 9.99988654e-01 7.20755840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44925976399995 meters 0.1480003318678382 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99947041e-01 -9.72879949e-03 3.35649403e-03 -1.36332199e+00] [ 9.73967800e-03 9.99947319e-01 -3.24005621e-03 3.45987360e+00] [-3.32479535e-03 3.27257579e-03 9.99989118e-01 7.20126654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50925976399995 meters 0.1458951957789401 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99946154e-01 -9.79508456e-03 3.42702097e-03 -1.36362182e+00] [ 9.80645686e-03 9.99946412e-01 -3.31750849e-03 3.46003752e+00] [-3.39434205e-03 3.35093679e-03 9.99988625e-01 7.20327593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56925976399995 meters 0.1417228363731875 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99944790e-01 -9.89826028e-03 3.52726670e-03 -1.36395591e+00] [ 9.91031933e-03 9.99945050e-01 -3.41788938e-03 3.46041469e+00] [-3.49324172e-03 3.45265702e-03 9.99987938e-01 7.20455245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62925976399995 meters 0.14379201095411773 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99944966e-01 -9.89567569e-03 3.48431600e-03 -1.36373760e+00] [ 9.90760158e-03 9.99945062e-01 -3.42227502e-03 3.46093128e+00] [-3.45025885e-03 3.45660789e-03 9.99988074e-01 7.20278819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68925976399996 meters 0.1507888653723714 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99947045e-01 -9.71618563e-03 3.39167975e-03 -1.36303886e+00] [ 9.72723888e-03 9.99947382e-01 -3.25779130e-03 3.46119537e+00] [-3.35984799e-03 3.29061046e-03 9.99988942e-01 7.19588796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74925976399996 meters 0.1407881686891257 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99949004e-01 -9.51477359e-03 3.38513767e-03 -1.36251356e+00] [ 9.52471806e-03 9.99950335e-01 -2.93379542e-03 3.46087526e+00] [-3.35705515e-03 2.96588829e-03 9.99989967e-01 7.18764757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80925976399996 meters 0.1413660641249552 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99949268e-01 -9.62952046e-03 2.95512999e-03 -1.36163673e+00] [ 9.63977253e-03 9.99947499e-01 -3.47483295e-03 3.46332200e+00] [-2.92151387e-03 3.50314345e-03 9.99989596e-01 7.19177036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86925976399996 meters 0.13772561868736952 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99949729e-01 -9.65190325e-03 2.71659396e-03 -1.36098536e+00] [ 9.66208652e-03 9.99946249e-01 -3.76071918e-03 3.46498438e+00] [-2.68014984e-03 3.78677809e-03 9.99989238e-01 7.19200459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92925976399997 meters 0.13628396643275892 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99953260e-01 -9.32831742e-03 2.54152283e-03 -1.35986294e+00] [ 9.33699269e-03 9.99950550e-01 -3.42320076e-03 3.46497796e+00] [-2.50946445e-03 3.44677094e-03 9.99990911e-01 7.18165992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98925976399997 meters 0.1417377621602219 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99954046e-01 -9.24670998e-03 2.53050325e-03 -1.35962580e+00] [ 9.25491128e-03 9.99951895e-01 -3.24868891e-03 3.46488200e+00] [-2.50034183e-03 3.27195920e-03 9.99991521e-01 7.17807297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04925976399997 meters 0.14231718846555225 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99953279e-01 -9.36052063e-03 2.41274133e-03 -1.35942159e+00] [ 9.36899504e-03 9.99949896e-01 -3.52531884e-03 3.46607435e+00] [-2.37962163e-03 3.54775910e-03 9.99990875e-01 7.18019643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10925976399997 meters 0.14128605444716943 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99953147e-01 -9.38338912e-03 2.37817800e-03 -1.35946881e+00] [ 9.39193155e-03 9.99949391e-01 -3.60666179e-03 3.46633206e+00] [-2.34421493e-03 3.62882849e-03 9.99990668e-01 7.18246286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16925976399995 meters 0.13811699136495945 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99954812e-01 -9.19596419e-03 2.41021946e-03 -1.35915359e+00] [ 9.20386321e-03 9.99952241e-01 -3.28695965e-03 3.46578062e+00] [-2.37987759e-03 3.30899445e-03 9.99991693e-01 7.17601573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22925976399995 meters 0.1388772623765381 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99956562e-01 -8.97873483e-03 2.50148307e-03 -1.35908086e+00] [ 8.98597876e-03 9.99955421e-01 -2.89982447e-03 3.46464909e+00] [-2.47533480e-03 2.92217678e-03 9.99992667e-01 7.17123276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28925976399995 meters 0.13849329348089148 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.46, Z:0.72 [[ 9.99958616e-01 -8.77477310e-03 2.40208180e-03 -1.35854603e+00] [ 8.78114691e-03 9.99957918e-01 -2.65589515e-03 3.46428129e+00] [-2.37867584e-03 2.67687827e-03 9.99993588e-01 7.16689214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34925976399995 meters 0.14377050115414353 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99957804e-01 -8.98173727e-03 1.92841235e-03 -1.35776063e+00] [ 8.98813532e-03 9.99954044e-01 -3.33515424e-03 3.46719143e+00] [-1.89836825e-03 3.35234634e-03 9.99992579e-01 7.17411365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40925976399996 meters 0.13673830422827785 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99960010e-01 -8.72204434e-03 1.97617990e-03 -1.35743989e+00] [ 8.72787021e-03 9.99957534e-01 -2.95885613e-03 3.46629992e+00] [-1.95028871e-03 2.97598564e-03 9.99993670e-01 7.16736108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46925976399996 meters 0.1399886553257392 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99961153e-01 -8.55901487e-03 2.10621746e-03 -1.35754444e+00] [ 8.56458596e-03 9.99959811e-01 -2.65041953e-03 3.46531628e+00] [-2.08344783e-03 2.66835545e-03 9.99994270e-01 7.16361463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52925976399996 meters 0.1379002747250693 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99960611e-01 -8.67070793e-03 1.89589514e-03 -1.35699293e+00] [ 8.67640819e-03 9.99957801e-01 -3.01936466e-03 3.46719637e+00] [-1.86963511e-03 3.03569529e-03 9.99993644e-01 7.16416332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58925976399996 meters 0.13812308260136466 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99959572e-01 -8.79709660e-03 1.86131436e-03 -1.35677514e+00] [ 8.80311045e-03 9.99955977e-01 -3.24782891e-03 3.46862106e+00] [-1.83266096e-03 3.26408297e-03 9.99992994e-01 7.16244827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64925976399996 meters 0.13705861799747282 Centerline is valid? [False, False] Translation: X:-1.36, Y:3.47, Z:0.72 [[ 9.99959988e-01 -8.78577185e-03 1.68302222e-03 -1.35579704e+00] [ 8.79159432e-03 9.99955284e-01 -3.48395451e-03 3.47076239e+00] [-1.65233774e-03 3.49861156e-03 9.99992515e-01 7.15514661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70925976399997 meters 0.13414224517423387 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.47, Z:0.71 [[ 9.99960499e-01 -8.79437758e-03 1.28828523e-03 -1.35432353e+00] [ 8.79945304e-03 9.99953330e-01 -3.98848433e-03 3.47417989e+00] [-1.25314887e-03 3.99966299e-03 9.99991216e-01 7.14883812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76925976399997 meters 0.15412993831372596 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99960319e-01 -8.87694617e-03 7.48491560e-04 -1.35274517e+00] [ 8.88038589e-03 9.99949406e-01 -4.72478764e-03 3.47833067e+00] [-7.06512005e-04 4.73124705e-03 9.99988558e-01 7.14727066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82925976399997 meters 0.12800181993275805 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99960242e-01 -8.89430756e-03 6.36196912e-04 -1.35222715e+00] [ 8.89733503e-03 9.99948286e-01 -4.92565212e-03 3.47970110e+00] [-5.92353747e-04 4.93111674e-03 9.99987667e-01 7.14454974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88925976399997 meters 0.14745277859575348 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99959122e-01 -9.03873513e-03 2.35684269e-04 -1.35122224e+00] [ 9.03990198e-03 9.99943803e-01 -5.53820613e-03 3.48291739e+00] [-1.85612646e-04 5.54011031e-03 9.99984636e-01 7.14595424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94925976399995 meters 0.1427489270898901 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99958950e-01 -9.05894270e-03 -1.84714268e-04 -1.34989478e+00] [ 9.05768450e-03 9.99941301e-01 -5.94579134e-03 3.48592238e+00] [ 2.38566009e-04 5.94387418e-03 9.99982307e-01 7.14279543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00925976399995 meters 0.1424119055019265 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99960451e-01 -8.89031913e-03 -2.40210998e-04 -1.34935938e+00] [ 8.88880607e-03 9.99944253e-01 -5.69913192e-03 3.48573710e+00] [ 2.90864708e-04 5.69677134e-03 9.99983731e-01 7.13656715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06925976399995 meters 0.14106677657575195 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99960868e-01 -8.84500340e-03 -1.67871037e-04 -1.34951777e+00] [ 8.84393086e-03 9.99945367e-01 -5.57208351e-03 3.48540152e+00] [ 2.17146963e-04 5.57038083e-03 9.99984462e-01 7.13597144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12925976399995 meters 0.14155336179865327 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99958253e-01 -9.13715820e-03 -7.21125245e-05 -1.35030176e+00] [ 9.13657333e-03 9.99940836e-01 -5.90324434e-03 3.48607448e+00] [ 1.26047135e-04 5.90233903e-03 9.99982573e-01 7.14394106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18925976399996 meters 0.13990708864426457 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99959289e-01 -9.02120418e-03 -1.93123831e-04 -1.34991357e+00] [ 9.01993651e-03 9.99942593e-01 -5.78378254e-03 3.48599236e+00] [ 2.45289427e-04 5.78180512e-03 9.99983255e-01 7.14273596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24925976399996 meters 0.13584667495088026 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99960190e-01 -8.90631994e-03 -5.44555117e-04 -1.34860042e+00] [ 8.90293797e-03 9.99942808e-01 -5.92600752e-03 3.48785796e+00] [ 5.97302892e-04 5.92092347e-03 9.99982293e-01 7.13698252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30925976399996 meters 0.1305951277184213 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99960437e-01 -8.87029742e-03 -6.65236828e-04 -1.34828881e+00] [ 8.86614179e-03 9.99942638e-01 -6.00927368e-03 3.48837820e+00] [ 7.18502714e-04 6.00313785e-03 9.99981723e-01 7.13739539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36925976399996 meters 0.13183016927628063 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99961169e-01 -8.78737333e-03 -6.64898181e-04 -1.34820950e+00] [ 8.78331249e-03 9.99944126e-01 -5.88198261e-03 3.48808780e+00] [ 7.16548208e-04 5.87591420e-03 9.99982480e-01 7.13598561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42925976399997 meters 0.13089186367270939 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99962819e-01 -8.59518107e-03 -6.95479869e-04 -1.34785899e+00] [ 8.59117530e-03 9.99947576e-01 -5.57112147e-03 3.48746833e+00] [ 7.43328207e-04 5.56493934e-03 9.99984239e-01 7.13154394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48925976399997 meters 0.13080508322801782 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99967528e-01 -8.04380938e-03 -4.90293143e-04 -1.34763775e+00] [ 8.04151776e-03 9.99957499e-01 -4.50929568e-03 3.48416670e+00] [ 5.26544220e-04 4.50520656e-03 9.99989713e-01 7.11926455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54925976399997 meters 0.13060894315145008 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.49, Z:0.71 [[ 9.99923656e-01 -1.23212528e-02 -9.32207149e-04 -1.34672317e+00] [ 1.23123218e-02 9.99883280e-01 -9.04612178e-03 3.48548144e+00] [ 1.04355790e-03 9.03395353e-03 9.99958648e-01 7.12433647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60925976399997 meters 0.13650441340171018 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99969291e-01 -7.81327278e-03 -6.07451282e-04 -1.34744734e+00] [ 7.81070416e-03 9.99961001e-01 -4.12175804e-03 3.48313889e+00] [ 6.39632012e-04 4.11688685e-03 9.99991321e-01 7.12050637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66925976399995 meters 0.13502526295847367 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99972459e-01 -7.39947652e-03 -5.73834236e-04 -1.34689340e+00] [ 7.39738264e-03 9.99966270e-01 -3.56900595e-03 3.48169132e+00] [ 6.00223656e-04 3.56466278e-03 9.99993466e-01 7.11104874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72925976399995 meters 0.13453017852324445 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99975688e-01 -6.94687906e-03 -6.03452912e-04 -1.34599071e+00] [ 6.94511296e-03 9.99971732e-01 -2.88104738e-03 3.48029678e+00] [ 6.23450142e-04 2.87678629e-03 9.99995668e-01 7.09800879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78925976399995 meters 0.13287022642958457 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99977538e-01 -6.68602590e-03 -4.69902627e-04 -1.34607580e+00] [ 6.68492288e-03 9.99974985e-01 -2.31096739e-03 3.47838339e+00] [ 4.85342060e-04 2.30777422e-03 9.99997219e-01 7.09339913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84925976399995 meters 0.13470100811625235 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.48, Z:0.71 [[ 9.99978331e-01 -6.57002741e-03 -4.14586731e-04 -1.34648076e+00] [ 6.56916030e-03 9.99976302e-01 -2.05931821e-03 3.47700640e+00] [ 4.28106684e-04 2.05655010e-03 9.99997794e-01 7.09718468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90925976399996 meters 0.13276763675958247 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.47, Z:0.71 [[ 9.99980907e-01 -6.17134485e-03 -3.16928131e-04 -1.34652670e+00] [ 6.17091137e-03 9.99980047e-01 -1.35100713e-03 3.47437157e+00] [ 3.25259339e-04 1.34902560e-03 9.99999037e-01 7.09349271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96925976399996 meters 0.13225746067931454 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.47, Z:0.71 [[ 9.99982422e-01 -5.92497059e-03 -2.26445960e-04 -1.34667599e+00] [ 5.92476602e-03 9.99982049e-01 -8.93636061e-04 3.47265674e+00] [ 2.31736662e-04 8.92278712e-04 9.99999575e-01 7.09164911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02925976399996 meters 0.14067306276159344 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.47, Z:0.71 [[ 9.99946531e-01 -1.03204926e-02 -6.49764271e-04 -1.34580615e+00] [ 1.03166953e-02 9.99931106e-01 -5.59893319e-03 3.47453630e+00] [ 7.07503255e-04 5.59193040e-03 9.99984115e-01 7.09609377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08925976399996 meters 0.1441999752715503 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.47, Z:0.71 [[ 9.99953414e-01 -9.65213973e-03 -7.51165042e-05 -1.34625865e+00] [ 9.65180816e-03 9.99946984e-01 -3.58765599e-03 3.46804730e+00] [ 1.09741079e-04 3.58676385e-03 9.99993562e-01 7.07508538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14925976399996 meters 0.14388060306769684 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.71 [[ 9.99954299e-01 -9.52747307e-03 -7.91417503e-04 -1.34439942e+00] [ 9.52429675e-03 9.99946941e-01 -3.92468653e-03 3.47087226e+00] [ 8.28767856e-04 3.91696948e-03 9.99991985e-01 7.07395478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20925976399997 meters 0.1390456449757221 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.71 [[ 9.99954883e-01 -9.45101100e-03 -9.54059333e-04 -1.34400827e+00] [ 9.44710060e-03 9.99947282e-01 -4.02321601e-03 3.47145465e+00] [ 9.92032495e-04 4.01402140e-03 9.99991452e-01 7.07478708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26925976399997 meters 0.13400067626284717 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.71 [[ 9.99959294e-01 -8.97268872e-03 -9.49796709e-04 -1.34332640e+00] [ 8.96947570e-03 9.99954213e-01 -3.33471369e-03 3.46971717e+00] [ 9.79674569e-04 3.32605876e-03 9.99993989e-01 7.06384652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32925976399997 meters 0.13838786425229901 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.71 [[ 9.99962427e-01 -8.64950983e-03 -5.75198280e-04 -1.34392386e+00] [ 8.64809200e-03 9.99959668e-01 -2.42335902e-03 3.46626240e+00] [ 5.96135949e-04 2.41829360e-03 9.99996898e-01 7.05759672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38925976399997 meters 0.14000288471290967 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.46, Z:0.71 [[ 9.99962666e-01 -8.63991655e-03 -1.38392304e-04 -1.34517838e+00] [ 8.63963205e-03 9.99960798e-01 -1.93904925e-03 3.46371519e+00] [ 1.55140103e-04 1.93778120e-03 9.99998110e-01 7.06019283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44925976399995 meters 0.1540547109715782 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.46, Z:0.71 [[ 9.99965248e-01 -8.33309277e-03 2.50104069e-04 -1.34582130e+00] [ 8.33337079e-03 9.99964636e-01 -1.13196721e-03 3.46062056e+00] [-2.40662437e-04 1.13401208e-03 9.99999328e-01 7.05454365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50925976399995 meters 0.14638512791133482 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.46, Z:0.71 [[ 9.99963514e-01 -8.53988192e-03 2.02545036e-04 -1.34583290e+00] [ 8.54017446e-03 9.99962421e-01 -1.49035318e-03 3.46214562e+00] [-1.89809985e-04 1.49202857e-03 9.99998869e-01 7.05688763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56925976399995 meters 0.14787404078564703 Centerline is valid? [False, False] Translation: X:-1.35, Y:3.46, Z:0.70 [[ 9.99966806e-01 -8.14404623e-03 2.48378800e-04 -1.34530540e+00] [ 8.14426481e-03 9.99966437e-01 -8.92101160e-04 3.46072879e+00] [-2.41105151e-04 8.94094410e-04 9.99999571e-01 7.04651593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62925976399995 meters 0.14064590597387114 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99968289e-01 -7.96360617e-03 -3.14647993e-05 -1.34428274e+00] [ 7.96357580e-03 9.99967912e-01 -8.69745622e-04 3.46153085e+00] [ 3.83901013e-05 8.69467469e-04 9.99999621e-01 7.04173000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68925976399996 meters 0.13859411591276802 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99968104e-01 -7.98337049e-03 -2.39147436e-04 -1.34370225e+00] [ 7.98310357e-03 9.99967533e-01 -1.09705715e-03 3.46281853e+00] [ 2.47897885e-04 1.09511302e-03 9.99999370e-01 7.04140528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74925976399996 meters 0.136680495279345 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99969609e-01 -7.79265907e-03 -2.34763632e-04 -1.34319996e+00] [ 7.79245585e-03 9.99969273e-01 -8.54452217e-04 3.46278875e+00] [ 2.41414873e-04 8.52596864e-04 9.99999607e-01 7.03362384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80925976399996 meters 0.13704324679302762 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99970074e-01 -7.73546220e-03 -1.19224414e-04 -1.34336584e+00] [ 7.73538035e-03 9.99969855e-01 -6.72328734e-04 3.46228832e+00] [ 1.24421593e-04 6.71386367e-04 9.99999767e-01 7.03128947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86925976399996 meters 0.14054473515769414 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99968596e-01 -7.92411205e-03 1.27781385e-04 -1.34439223e+00] [ 7.92420655e-03 9.99968317e-01 -7.56860863e-04 3.46195467e+00] [-1.21779886e-04 7.57849661e-04 9.99999705e-01 7.03745136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92925976399997 meters 0.14424568450494896 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99969887e-01 -7.75786958e-03 2.00575769e-04 -1.34431538e+00] [ 7.75796171e-03 9.99969800e-01 -4.62677524e-04 3.46119283e+00] [-1.96980320e-04 4.64219651e-04 9.99999873e-01 7.03316778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98925976399997 meters 0.13692109477429926 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99970157e-01 -7.72480766e-03 -1.11919571e-04 -1.34314129e+00] [ 7.72472903e-03 9.99969928e-01 -6.86759634e-04 3.46327803e+00] [ 1.17221292e-04 6.85874590e-04 9.99999758e-01 7.02783551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04925976399997 meters 0.1377394920027883 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99970722e-01 -7.63893576e-03 -4.48912085e-04 -1.34213802e+00] [ 7.63853353e-03 9.99970429e-01 -8.91010235e-04 3.46486003e+00] [ 4.55705180e-04 8.87555118e-04 9.99999502e-01 7.02627605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10925976399997 meters 0.14146777214907202 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99969910e-01 -7.74138924e-03 -4.99491105e-04 -1.34240594e+00] [ 7.74083703e-03 9.99969436e-01 -1.09816347e-03 3.46511048e+00] [ 5.07977149e-04 1.09426394e-03 9.99999272e-01 7.03255460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16925976399995 meters 0.13770422939921212 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99969524e-01 -7.79676620e-03 -4.00752814e-04 -1.34267837e+00] [ 7.79633027e-03 9.99969027e-01 -1.07806719e-03 3.46509917e+00] [ 4.09145839e-04 1.07490993e-03 9.99999339e-01 7.03265768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22925976399995 meters 0.14078018691149935 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99970873e-01 -7.62889412e-03 -2.31774291e-04 -1.34291591e+00] [ 7.62874425e-03 9.99970695e-01 -6.40775553e-04 3.46360511e+00] [ 2.36655907e-04 6.38988743e-04 9.99999768e-01 7.02904599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28925976399995 meters 0.16285746955034974 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99971725e-01 -7.50773922e-03 -4.27773046e-04 -1.34239000e+00] [ 7.50745503e-03 9.99971599e-01 -6.62114738e-04 3.46374528e+00] [ 4.32731882e-04 6.58884530e-04 9.99999689e-01 7.02945978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34925976399995 meters 0.14344165143827636 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99971520e-01 -7.52065234e-03 -6.31175717e-04 -1.34186627e+00] [ 7.52009632e-03 9.99971338e-01 -8.78729385e-04 3.46495901e+00] [ 6.37766245e-04 8.73957857e-04 9.99999415e-01 7.03000888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40925976399996 meters 0.13692414074615622 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99973543e-01 -7.24451072e-03 -6.56431541e-04 -1.34143967e+00] [ 7.24417204e-03 9.99973627e-01 -5.16853199e-04 3.46410352e+00] [ 6.60158578e-04 5.12084222e-04 9.99999651e-01 7.02470326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46925976399996 meters 0.16014331232652104 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99974454e-01 -7.13169364e-03 -4.78999590e-04 -1.34183150e+00] [ 7.13165682e-03 9.99974566e-01 -7.85379382e-05 3.46235615e+00] [ 4.79547516e-04 7.51198712e-05 9.99999882e-01 7.02310302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52925976399996 meters 0.15933006355486642 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99975187e-01 -7.03675944e-03 -3.29993436e-04 -1.34230623e+00] [ 7.03683341e-03 9.99975216e-01 2.23512653e-04 3.46090464e+00] [ 3.28412453e-04 -2.25829216e-04 9.99999921e-01 7.02429771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58925976399996 meters 0.1595340218815625 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99975167e-01 -7.03783482e-03 -3.67597051e-04 -1.34231780e+00] [ 7.03790827e-03 9.99975214e-01 1.98915923e-04 3.46097516e+00] [ 3.66188003e-04 -2.01498097e-04 9.99999913e-01 7.02597773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64925976399996 meters 0.15680816869435055 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99976350e-01 -6.87077386e-03 -3.01811296e-04 -1.34269784e+00] [ 6.87094387e-03 9.99976235e-01 5.65940340e-04 3.45916395e+00] [ 2.97915675e-04 -5.68000684e-04 9.99999794e-01 7.02876117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70925976399997 meters 0.1585001815363203 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99978037e-01 -6.62471465e-03 -1.97884728e-04 -1.34274680e+00] [ 6.62491373e-03 9.99977532e-01 1.02292227e-03 3.45758640e+00] [ 1.91103714e-04 -1.02421078e-03 9.99999457e-01 7.02512445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76925976399997 meters 0.1515467116010705 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99976688e-01 -6.81876253e-03 -3.58539035e-04 -1.34282318e+00] [ 6.81897783e-03 9.99976569e-01 6.02732164e-04 3.45865369e+00] [ 3.54420747e-04 -6.05162982e-04 9.99999754e-01 7.03267427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82925976399997 meters 0.1518705597979203 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99977284e-01 -6.71609582e-03 -5.71344914e-04 -1.34197252e+00] [ 6.71643976e-03 9.99977263e-01 6.02213417e-04 3.45955527e+00] [ 5.67287400e-04 -6.06037141e-04 9.99999655e-01 7.02791120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88925976399997 meters 0.15442657090623874 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99938115e-01 -1.10578633e-02 -1.22053351e-03 -1.34040690e+00] [ 1.10526501e-02 9.99930104e-01 -4.19845548e-03 3.46282022e+00] [ 1.26687415e-03 4.18470553e-03 9.99990442e-01 7.02965793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94925976399995 meters 0.15469857983103782 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.46, Z:0.70 [[ 9.99936098e-01 -1.12361764e-02 -1.24408039e-03 -1.34059172e+00] [ 1.12304912e-02 9.99926873e-01 -4.48613750e-03 3.46379751e+00] [ 1.29439645e-03 4.47187919e-03 9.99989163e-01 7.03350594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00925976399995 meters 0.1444185396103431 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99934214e-01 -1.13310002e-02 -1.78213027e-03 -1.33926003e+00] [ 1.13218590e-02 9.99923111e-01 -5.05843634e-03 3.46747491e+00] [ 1.83931039e-03 5.03792654e-03 9.99985618e-01 7.03365538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06925976399995 meters 0.14486782486158706 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99976278e-01 -6.70499729e-03 -1.57678689e-03 -1.33904249e+00] [ 6.70475712e-03 9.99977510e-01 -1.57549462e-04 3.46630057e+00] [ 1.57780780e-03 1.46973751e-04 9.99998744e-01 7.02077342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12925976399995 meters 0.14067480654485998 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99978187e-01 -6.36006526e-03 -1.78203097e-03 -1.33771047e+00] [ 6.36019714e-03 9.99979771e-01 6.83494302e-05 3.46677167e+00] [ 1.78156021e-03 -7.96820076e-05 9.99998410e-01 7.00923455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18925976399996 meters 0.13577109696253342 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99974265e-01 -6.78931318e-03 -2.31852276e-03 -1.33719216e+00] [ 6.78682359e-03 9.99976386e-01 -1.07996836e-03 3.47098358e+00] [ 2.32580025e-03 1.06420516e-03 9.99996729e-01 7.02332424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24925976399996 meters 0.13538718715924944 Centerline is valid? [False, False] Translation: X:-1.34, Y:3.47, Z:0.70 [[ 9.99973965e-01 -6.64158006e-03 -2.82110336e-03 -1.33529974e+00] [ 6.63808941e-03 9.99977193e-01 -1.24489925e-03 3.47385130e+00] [ 2.82930712e-03 1.22614010e-03 9.99995246e-01 7.01401957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30925976399996 meters 0.13299412253851428 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.47, Z:0.70 [[ 9.99976209e-01 -6.28966265e-03 -2.83236985e-03 -1.33448197e+00] [ 6.28746386e-03 9.99979926e-01 -7.84546014e-04 3.47318469e+00] [ 2.83724752e-03 7.66718925e-04 9.99995681e-01 7.00233249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36925976399996 meters 0.13177213037500657 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.47, Z:0.70 [[ 9.99975228e-01 -6.40803083e-03 -2.91205562e-03 -1.33436430e+00] [ 6.40505402e-03 9.99978957e-01 -1.03041575e-03 3.47426898e+00] [ 2.91859728e-03 1.01173835e-03 9.99995229e-01 7.00388289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42925976399997 meters 0.13374369011585135 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99972464e-01 -6.58142187e-03 -3.42857843e-03 -1.33333335e+00] [ 6.57578040e-03 9.99977011e-01 -1.65410830e-03 3.47777699e+00] [ 3.43938600e-03 1.63151717e-03 9.99992754e-01 7.00787766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48925976399997 meters 0.12442185743892108 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99972233e-01 -6.26020274e-03 -4.04259984e-03 -1.33118378e+00] [ 6.25299593e-03 9.99978843e-01 -1.79290152e-03 3.48042731e+00] [ 4.05373823e-03 1.76757338e-03 9.99990221e-01 6.99839567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54925976399997 meters 0.13045012080288845 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99973081e-01 -5.82709616e-03 -4.45893113e-03 -1.32921132e+00] [ 5.82002926e-03 9.99981789e-01 -1.59622492e-03 3.48162690e+00] [ 4.46815129e-03 1.57023084e-03 9.99988785e-01 6.98450024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60925976399997 meters 0.12114657386520253 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99972053e-01 -5.78236214e-03 -4.73901672e-03 -1.32822937e+00] [ 5.77410617e-03 9.99981791e-01 -1.75396218e-03 3.48322513e+00] [ 4.74907248e-03 1.72654957e-03 9.99987233e-01 6.98065844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66925976399995 meters 0.12848420841224853 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99970853e-01 -5.75544194e-03 -5.01677905e-03 -1.32758957e+00] [ 5.74566678e-03 9.99981571e-01 -1.96073337e-03 3.48433302e+00] [ 5.02797149e-03 1.93185148e-03 9.99985494e-01 6.98221047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72925976399995 meters 0.1271554183994999 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.49, Z:0.70 [[ 9.99970190e-01 -5.79564923e-03 -5.10193727e-03 -1.32729924e+00] [ 5.78497317e-03 9.99981052e-01 -2.10482645e-03 3.48526885e+00] [ 5.11403943e-03 2.07524914e-03 9.99984770e-01 6.98140765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78925976399995 meters 0.12670693853311926 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.49, Z:0.70 [[ 9.99971237e-01 -5.64601742e-03 -5.06432402e-03 -1.32697879e+00] [ 5.63662859e-03 9.99982373e-01 -1.86627675e-03 3.48500892e+00] [ 5.07477178e-03 1.83767736e-03 9.99985435e-01 6.97509263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84925976399995 meters 0.1252193872236706 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.49, Z:0.70 [[ 0.99993716 -0.00977207 -0.00549329 -1.32548723] [ 0.00973821 0.99993363 -0.00615633 3.48627709] [ 0.00555309 0.00610245 0.99996596 0.69700461] [ 0. 0. 0. 1. ]] SLAMing on 188.90925976399996 meters 0.1278957690416108 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.48, Z:0.70 [[ 9.99971990e-01 -5.45930343e-03 -5.12005124e-03 -1.32640427e+00] [ 5.45153269e-03 9.99983969e-01 -1.53043805e-03 3.48495121e+00] [ 5.12832429e-03 1.50248306e-03 9.99985721e-01 6.96852990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96925976399996 meters 0.12208804968027745 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.49, Z:0.70 [[ 9.99970072e-01 -5.72020688e-03 -5.20915766e-03 -1.32653966e+00] [ 5.70992226e-03 9.99981724e-01 -1.98707084e-03 3.48661893e+00] [ 5.22042892e-03 1.95726748e-03 9.99984458e-01 6.97416675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02925976399996 meters 0.12235180601787629 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.70 [[ 0.9999334 -0.00985562 -0.00600527 -1.3242434 ] [ 0.00981569 0.99992976 -0.00664212 3.4901619 ] [ 0.00607031 0.00658273 0.99995991 0.69695016] [ 0. 0. 0. 1. ]] SLAMing on 189.08925976399996 meters 0.12214554339152921 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.70 [[ 9.99970189e-01 -5.13357019e-03 -5.76781103e-03 -1.32397358e+00] [ 5.12501106e-03 9.99985745e-01 -1.49774851e-03 3.48820347e+00] [ 5.77541761e-03 1.46814377e-03 9.99982244e-01 6.95396198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14925976399996 meters 0.12305209834296335 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.70 [[ 0.99993466 -0.00952389 -0.00632193 -1.32265326] [ 0.00948439 0.9999355 -0.00624763 3.49111577] [ 0.00638103 0.00618726 0.9999605 0.69562091] [ 0. 0. 0. 1. ]] SLAMing on 189.20925976399997 meters 0.12340055721229334 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 0.99993785 -0.00924983 -0.00622351 -1.32235766] [ 0.00921398 0.99994094 -0.0057637 3.48997027] [ 0.00627645 0.005706 0.99996402 0.69474688] [ 0. 0. 0. 1. ]] SLAMing on 189.26925976399997 meters 0.12435782682235703 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.70 [[ 0.99993668 -0.00940976 -0.00617176 -1.32273678] [ 0.00937303 0.99993835 -0.00595368 3.49051011] [ 0.0062274 0.00589545 0.99996323 0.69510809] [ 0. 0. 0. 1. ]] SLAMing on 189.32925976399997 meters 0.12637381274010004 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.70 [[ 0.99993564 -0.0095445 -0.00613278 -1.32301923] [ 0.00950699 0.9999361 -0.00611693 3.49102444] [ 0.00619077 0.00605823 0.99996249 0.69538482] [ 0. 0. 0. 1. ]] SLAMing on 189.38925976399997 meters 0.12826073608646146 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99969368e-01 -4.94207783e-03 -6.06952012e-03 -1.32231319e+00] [ 4.93360592e-03 9.99986836e-01 -1.40999236e-03 3.49097087e+00] [ 6.07640851e-03 1.38000455e-03 9.99980586e-01 6.93958539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44925976399995 meters 0.12029246457968475 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99968362e-01 -4.73255037e-03 -6.39352611e-03 -1.32085346e+00] [ 4.72352227e-03 9.99987827e-01 -1.42643330e-03 3.49241647e+00] [ 6.40019895e-03 1.39618821e-03 9.99978544e-01 6.93071639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50925976399995 meters 0.1226244843917212 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99967261e-01 -4.70831684e-03 -6.58088340e-03 -1.31998834e+00] [ 4.69796226e-03 9.99987704e-01 -1.58800648e-03 3.49398274e+00] [ 6.58827932e-03 1.55703774e-03 9.99977085e-01 6.92530183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56925976399995 meters 0.11943472500512341 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 9.99963110e-01 -5.10214389e-03 -6.90986280e-03 -1.31971907e+00] [ 5.08536757e-03 9.99984085e-01 -2.44327751e-03 3.49730116e+00] [ 6.92221878e-03 2.40804818e-03 9.99973142e-01 6.93455937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62925976399995 meters 0.11746709253491916 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 0.99992461 -0.00949191 -0.00778958 -1.3175536 ] [ 0.0094338 0.99992764 -0.00746409 3.50224891] [ 0.00785987 0.00739004 0.9999418 0.6934808 ] [ 0. 0. 0. 1. ]] SLAMing on 189.68925976399996 meters 0.11627466885200609 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 0.99992504 -0.00930588 -0.00795751 -1.31636048] [ 0.00924752 0.9999303 -0.0073397 3.50328803] [ 0.00802525 0.00726556 0.9999414 0.69236935] [ 0. 0. 0. 1. ]] SLAMing on 189.74925976399996 meters 0.11563418331962284 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 0.99992598 -0.00907781 -0.00810057 -1.31534643] [ 0.00902014 0.99993391 -0.00712814 3.50373089] [ 0.00816475 0.00705455 0.99994178 0.69140887] [ 0. 0. 0. 1. ]] SLAMing on 189.80925976399996 meters 0.12605577906468224 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.69 [[ 0.9999312 -0.00858232 -0.00799664 -1.31488972] [ 0.00853212 0.99994381 -0.00629064 3.50134269] [ 0.00805018 0.00622198 0.99994824 0.69025669] [ 0. 0. 0. 1. ]] SLAMing on 189.86925976399996 meters 0.11635463520226731 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 0.99993169 -0.00855985 -0.0079584 -1.31507301] [ 0.00851054 0.99994451 -0.00620894 3.50093667] [ 0.00801111 0.00614078 0.99994906 0.69036266] [ 0. 0. 0. 1. ]] SLAMing on 189.92925976399997 meters 0.11523852169153438 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.50, Z:0.69 [[ 0.99993596 -0.00816526 -0.00783661 -1.31524073] [ 0.0081224 0.99995196 -0.00548631 3.49802696] [ 0.00788103 0.0054223 0.99995424 0.69013218] [ 0. 0. 0. 1. ]] SLAMing on 189.98925976399997 meters 0.11796110449111175 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 0.99994212 -0.00766023 -0.00755451 -1.31544289] [ 0.00762728 0.99996131 -0.00438123 3.49421777] [ 0.00758778 0.00432336 0.99996187 0.68921338] [ 0. 0. 0. 1. ]] SLAMing on 190.04925976399997 meters 0.12914444739252284 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99948029e-01 -7.28307445e-03 -7.13412165e-03 -1.31619793e+00] [ 7.26017616e-03 9.99968427e-01 -3.23034239e-03 3.48964911e+00] [ 7.15742323e-03 3.17837952e-03 9.99969334e-01 6.88684877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10925976399997 meters 0.13566439080675516 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.68 [[ 9.99884490e-01 -1.51682656e-02 9.64886583e-04 -1.31076959e+00] [ 1.51648124e-02 9.99878914e-01 3.49081423e-03 3.48071565e+00] [-1.01771935e-03 -3.47577868e-03 9.99993442e-01 6.82777395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16925976399995 meters 0.14069271740458572 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99889531e-01 -1.47783783e-02 1.58911162e-03 -1.31198148e+00] [ 1.47701795e-02 9.99878148e-01 5.05291229e-03 3.47404199e+00] [-1.66359183e-03 -5.02888264e-03 9.99985971e-01 6.82240357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22925976399995 meters 0.14545707732385899 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99821460e-01 -1.88301698e-02 1.57248944e-03 -1.31194701e+00] [ 1.88281466e-02 9.99821900e-01 1.29170369e-03 3.47184246e+00] [-1.59653238e-03 -1.26186601e-03 9.99997929e-01 6.82415913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28925976399995 meters 0.14198936606444196 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99821219e-01 -1.88303117e-02 1.71741231e-03 -1.31262554e+00] [ 1.88278641e-02 9.99821717e-01 1.43038406e-03 3.47056374e+00] [-1.74404071e-03 -1.39779312e-03 9.99997502e-01 6.82853293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34925976399995 meters 0.14142100110566197 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99822745e-01 -1.87082816e-02 2.11610152e-03 -1.31374863e+00] [ 1.87041608e-02 9.99823159e-01 1.95066929e-03 3.46744235e+00] [-2.15222098e-03 -1.91074363e-03 9.99995858e-01 6.82999706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40925976399996 meters 0.14264637803918354 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.46, Z:0.68 [[ 9.99829718e-01 -1.83172868e-02 2.23879793e-03 -1.31380118e+00] [ 1.83112981e-02 9.99828778e-01 2.66681635e-03 3.46480562e+00] [-2.28726344e-03 -2.62536695e-03 9.99993938e-01 6.82575255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46925976399996 meters 0.14339856384308497 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99822783e-01 -1.86559697e-02 2.52120743e-03 -1.31534084e+00] [ 1.86500335e-02 9.99823293e-01 2.35788080e-03 3.46441601e+00] [-2.56475047e-03 -2.31044234e-03 9.99994042e-01 6.83810191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52925976399996 meters 0.14514614992242278 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99826279e-01 -1.84332645e-02 2.76145733e-03 -1.31556877e+00] [ 1.84253760e-02 9.99826161e-01 2.85535323e-03 3.46279862e+00] [-2.81361076e-03 -2.80397631e-03 9.99992111e-01 6.83228702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58925976399996 meters 0.163307037108306 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99826578e-01 -1.84263466e-02 2.69870558e-03 -1.31522572e+00] [ 1.84188273e-02 9.99826480e-01 2.78512444e-03 3.46346595e+00] [-2.74955697e-03 -2.73493444e-03 9.99992480e-01 6.82966767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64925976399996 meters 0.15765567098301894 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99818716e-01 -1.88567278e-02 2.63797444e-03 -1.31565474e+00] [ 1.88516465e-02 9.99820414e-01 1.93799855e-03 3.46585320e+00] [-2.67404501e-03 -1.88791706e-03 9.99994643e-01 6.83972360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70925976399997 meters 0.15395385640214038 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99888778e-01 -1.46007621e-02 3.04127214e-03 -1.31651155e+00] [ 1.45813128e-02 9.99873701e-01 6.32201051e-03 3.46511685e+00] [-3.13319420e-03 -6.27696163e-03 9.99975391e-01 6.83530979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76925976399997 meters 0.15026733158268676 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99888500e-01 -1.45662200e-02 3.28818794e-03 -1.31686993e+00] [ 1.45446428e-02 9.99873137e-01 6.49326496e-03 3.46443233e+00] [-3.38235311e-03 -6.44471545e-03 9.99973512e-01 6.83111095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82925976399997 meters 0.15327647282675372 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 0.99988854 -0.01451502 0.00349617 -1.31745676] [ 0.01449115 0.99987216 0.00675769 3.4631286 ] [-0.00359381 -0.00670627 0.99997105 0.68320531] [ 0. 0. 0. 1. ]] SLAMing on 190.88925976399995 meters 0.15304816538035199 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 0.99988629 -0.01464746 0.0035857 -1.31810402] [ 0.01462332 0.99987085 0.00666641 3.46286482] [-0.00368288 -0.00661322 0.99997135 0.68384244] [ 0. 0. 0. 1. ]] SLAMing on 190.94925976399995 meters 0.14524951303990405 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 0.99993845 -0.01047006 0.00367167 -1.31835125] [ 0.01042994 0.99988748 0.01078178 3.46364553] [-0.00378414 -0.01074282 0.99993513 0.68370814] [ 0. 0. 0. 1. ]] SLAMing on 191.00925976399995 meters 0.14444104150761103 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99894887e-01 -1.41861317e-02 2.99477231e-03 -1.31572433e+00] [ 1.41660616e-02 9.99877743e-01 6.61979437e-03 3.46521804e+00] [-3.08831545e-03 -6.57667441e-03 9.99973604e-01 6.82355752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06925976399995 meters 0.14070653335166586 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99890035e-01 -1.45160543e-02 3.03337314e-03 -1.31635229e+00] [ 1.44972979e-02 9.99876201e-01 6.11644396e-03 3.46626746e+00] [-3.12178424e-03 -6.07179566e-03 9.99976694e-01 6.83171457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12925976399995 meters 0.13894855706348955 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99885678e-01 -1.48383740e-02 2.90740834e-03 -1.31655525e+00] [ 1.48221278e-02 9.99874843e-01 5.53192783e-03 3.46805781e+00] [-2.98912927e-03 -5.48820144e-03 9.99980472e-01 6.84013310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18925976399996 meters 0.13734392309126273 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99880180e-01 -1.52030537e-02 2.91430248e-03 -1.31701079e+00] [ 1.51884779e-02 9.99872346e-01 4.96000003e-03 3.46965194e+00] [-2.98933760e-03 -4.91514190e-03 9.99983452e-01 6.84703117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24925976399996 meters 0.14866830122874752 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99880338e-01 -1.52031429e-02 2.85902258e-03 -1.31645916e+00] [ 1.51891043e-02 9.99872781e-01 4.86952204e-03 3.47081304e+00] [-2.93269090e-03 -4.82551335e-03 9.99984057e-01 6.84088141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30925976399996 meters 0.14734434951645187 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.69 [[ 9.99872387e-01 -1.56903767e-02 3.00378203e-03 -1.31748663e+00] [ 1.56777930e-02 9.99868409e-01 4.16798592e-03 3.47238123e+00] [-3.06878403e-03 -4.12036136e-03 9.99986803e-01 6.85148337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36925976399996 meters 0.15316477590715155 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.69 [[ 9.99868880e-01 -1.59122438e-02 3.00396200e-03 -1.31746149e+00] [ 1.59007855e-02 9.99866352e-01 3.80052227e-03 3.47414411e+00] [-3.06403536e-03 -3.75225859e-03 9.99988266e-01 6.85136467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42925976399997 meters 0.14537654326983726 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.69 [[ 9.99862835e-01 -1.62580722e-02 3.16020524e-03 -1.31813391e+00] [ 1.62475549e-02 9.99862469e-01 3.32570446e-03 3.47543013e+00] [-3.21384015e-03 -3.27390268e-03 9.99989476e-01 6.85582353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48925976399997 meters 0.1425833456512789 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.69 [[ 9.99862761e-01 -1.62943233e-02 2.99238286e-03 -1.31740916e+00] [ 1.62850498e-02 9.99862591e-01 3.09767600e-03 3.47714965e+00] [-3.04244621e-03 -3.04851977e-03 9.99990725e-01 6.85161924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54925976399997 meters 0.14507660103460956 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.69 [[ 9.99915937e-01 -1.25880283e-02 3.10804325e-03 -1.31821254e+00] [ 1.25675998e-02 9.99899852e-01 6.50708339e-03 3.48009521e+00] [-3.18964334e-03 -6.46747574e-03 9.99973999e-01 6.85759179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60925976399997 meters 0.13186199123912043 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.69 [[ 9.99914915e-01 -1.27735679e-02 2.64559445e-03 -1.31717168e+00] [ 1.27584929e-02 9.99902708e-01 5.63873961e-03 3.48379599e+00] [-2.71736387e-03 -5.60450604e-03 9.99980603e-01 6.86079843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66925976399995 meters 0.13681587500173586 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99911895e-01 -1.30214970e-02 2.57735542e-03 -1.31724872e+00] [ 1.30080902e-02 9.99902119e-01 5.15193312e-03 3.48548274e+00] [-2.64418903e-03 -5.11795273e-03 9.99983407e-01 6.86524406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72925976399995 meters 0.12944477622954467 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99910212e-01 -1.32004730e-02 2.30537314e-03 -1.31668012e+00] [ 1.31897109e-02 9.99902326e-01 4.62269539e-03 3.48779075e+00] [-2.36616973e-03 -4.59187312e-03 9.99986658e-01 6.86775257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78925976399995 meters 0.12906582970399166 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99912191e-01 -1.30948027e-02 2.03404553e-03 -1.31556436e+00] [ 1.30855743e-02 9.99904318e-01 4.48584710e-03 3.48929735e+00] [-2.09259219e-03 -4.45883655e-03 9.99987870e-01 6.86192981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84925976399995 meters 0.12847219649685201 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.69 [[ 9.99913430e-01 -1.30286648e-02 1.84026908e-03 -1.31472555e+00] [ 1.30205761e-02 9.99905806e-01 4.34104085e-03 3.49057289e+00] [-1.89665371e-03 -4.31670369e-03 9.99988884e-01 6.85730445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90925976399996 meters 0.12560544660361847 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.49, Z:0.69 [[ 9.99905994e-01 -1.36039065e-02 1.71355292e-03 -1.31510151e+00] [ 1.35981574e-02 9.99902018e-01 3.32319703e-03 3.49367837e+00] [-1.75859349e-03 -3.29958347e-03 9.99993010e-01 6.86888422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96925976399996 meters 0.13045457497878277 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.69 [[ 9.99908902e-01 -1.34173908e-02 1.47011070e-03 -1.31389951e+00] [ 1.34123627e-02 9.99904343e-01 3.37831010e-03 3.49484388e+00] [-1.51529818e-03 -3.35828468e-03 9.99993213e-01 6.85994767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02925976399996 meters 0.1263728054705499 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.69 [[ 9.99909294e-01 -1.34065013e-02 1.29239185e-03 -1.31318230e+00] [ 1.34022654e-02 9.99904961e-01 3.23237015e-03 3.49615496e+00] [-1.33560380e-03 -3.21475597e-03 9.99993941e-01 6.85592424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08925976399996 meters 0.12490523627579264 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.69 [[ 9.99910105e-01 -1.33747622e-02 9.47633294e-04 -1.31227570e+00] [ 1.33719818e-02 9.99906438e-01 2.88196057e-03 3.49792174e+00] [-9.86090169e-04 -2.86902976e-03 9.99995398e-01 6.85653768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14925976399996 meters 0.1265522635044938 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.69 [[ 9.99912642e-01 -1.31984306e-02 7.13707248e-04 -1.31128836e+00] [ 1.31963134e-02 9.99908737e-01 2.89406847e-03 3.49868171e+00] [-7.51839274e-04 -2.88439735e-03 9.99995557e-01 6.85093605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20925976399997 meters 0.11875594255155004 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99916064e-01 -1.29555229e-02 1.39623417e-04 -1.30949402e+00] [ 1.29550828e-02 9.99912182e-01 2.79163012e-03 3.50056628e+00] [-1.75778184e-04 -2.78958696e-03 9.99996094e-01 6.84554571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26925976399997 meters 0.12042357333603582 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99917045e-01 -1.28802571e-02 4.65225369e-05 -1.30907565e+00] [ 1.28800753e-02 9.99913090e-01 2.81340194e-03 3.50089833e+00] [-8.27558341e-05 -2.81256935e-03 9.99996041e-01 6.84284571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32925976399997 meters 0.11677498601110103 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99918818e-01 -1.27417820e-02 5.83836683e-05 -1.30887260e+00] [ 1.27415525e-02 9.99914414e-01 2.96941259e-03 3.50040065e+00] [-9.62142794e-05 -2.96842764e-03 9.99995590e-01 6.83949741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38925976399995 meters 0.11489001028394404 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99916902e-01 -1.28914439e-02 -1.98665784e-06 -1.30918152e+00] [ 1.28914020e-02 9.99913234e-01 2.70854730e-03 3.50083254e+00] [-3.29306002e-05 -2.70834783e-03 9.99996332e-01 6.84683484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44925976399995 meters 0.11476075180375703 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99919015e-01 -1.27264327e-02 3.23724598e-05 -1.30917740e+00] [ 1.27262773e-02 9.99914473e-01 3.01482964e-03 3.49982481e+00] [-7.07377176e-05 -3.01417351e-03 9.99995455e-01 6.84519167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50925976399995 meters 0.12100637883156283 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99921179e-01 -1.25546829e-02 1.28917420e-04 -1.30925956e+00] [ 1.25541685e-02 9.99915341e-01 3.42120757e-03 3.49848455e+00] [-1.71858682e-04 -3.41931946e-03 9.99994139e-01 6.84212774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56925976399995 meters 0.12067487083231537 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99917639e-01 -1.28336483e-02 1.12582935e-04 -1.30957792e+00] [ 1.28332572e-02 9.99913235e-01 2.97136799e-03 3.49986904e+00] [-1.50706659e-04 -2.96967846e-03 9.99995579e-01 6.84811025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62925976399995 meters 0.12312941607124481 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99920654e-01 -1.25951336e-02 2.19193483e-04 -1.30937874e+00] [ 1.25943273e-02 9.99915056e-01 3.35614270e-03 3.49892648e+00] [-2.61445929e-04 -3.35311581e-03 9.99994344e-01 6.84082917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68925976399996 meters 0.12167929149724524 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99917610e-01 -1.28363872e-02 1.42639773e-05 -1.30908287e+00] [ 1.28362934e-02 9.99913490e-01 2.87087184e-03 3.50101281e+00] [-5.11143659e-05 -2.87045221e-03 9.99995879e-01 6.84458873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74925976399996 meters 0.11807961751709035 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99917719e-01 -1.28279148e-02 -2.81979542e-05 -1.30897359e+00] [ 1.28279431e-02 9.99913670e-01 2.84558192e-03 3.50120919e+00] [-8.30736249e-06 -2.84570950e-03 9.99995951e-01 6.84479895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80925976399996 meters 0.12043161799788824 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99923588e-01 -1.23617072e-02 7.64092814e-05 -1.30848404e+00] [ 1.23613493e-02 9.99917032e-01 3.62298285e-03 3.49913903e+00] [-1.21189195e-04 -3.62176149e-03 9.99993434e-01 6.83263595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86925976399996 meters 0.11945371111927298 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99920211e-01 -1.26321933e-02 -5.41451073e-06 -1.30886508e+00] [ 1.26321477e-02 9.99915254e-01 3.14861911e-03 3.50025290e+00] [-3.43599132e-05 -3.14843628e-03 9.99995043e-01 6.84207897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92925976399997 meters 0.12502163306416592 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.69 [[ 9.99917186e-01 -1.28693534e-02 -4.98525226e-06 -1.30937503e+00] [ 1.28693188e-02 9.99913439e-01 2.73767156e-03 3.50113565e+00] [-3.02472420e-05 -2.73750900e-03 9.99996253e-01 6.85062081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98925976399997 meters 0.12573637958807973 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99921169e-01 -1.25556467e-02 1.03766860e-04 -1.30926543e+00] [ 1.25552379e-02 9.99915778e-01 3.28689230e-03 3.49946537e+00] [-1.45027179e-04 -3.28533038e-03 9.99994593e-01 6.84431128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04925976399997 meters 0.1259094923400643 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.68 [[ 9.99927167e-01 -1.20674889e-02 1.92597182e-04 -1.30885953e+00] [ 1.20665879e-02 9.99918617e-01 4.14207378e-03 3.49685164e+00] [-2.42565937e-04 -4.13944811e-03 9.99991403e-01 6.83382038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10925976399997 meters 0.12579325426850788 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.68 [[ 9.99929864e-01 -1.18385862e-02 3.40015682e-04 -1.30925599e+00] [ 1.18368690e-02 9.99919025e-01 4.67253427e-03 3.49454484e+00] [-3.95304349e-04 -4.66818183e-03 9.99989026e-01 6.83375536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16925976399995 meters 0.1253161866131859 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.68 [[ 9.99933002e-01 -1.15694408e-02 3.74019702e-04 -1.30925476e+00] [ 1.15673401e-02 9.99919571e-01 5.20078482e-03 3.49258325e+00] [-4.34159792e-04 -5.19610996e-03 9.99986406e-01 6.83179884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22925976399995 meters 0.12778988448021417 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.68 [[ 9.99935812e-01 -1.13122552e-02 6.36007253e-04 -1.30976742e+00] [ 1.13083001e-02 9.99918583e-01 5.91178464e-03 3.48979885e+00] [-7.02831088e-04 -5.90421302e-03 9.99982323e-01 6.82877963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28925976399995 meters 0.13899759805184342 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.68 [[ 9.99885791e-01 -1.50981692e-02 6.71357382e-04 -1.30960753e+00] [ 1.50964396e-02 9.99882890e-01 2.51071789e-03 3.48625206e+00] [-7.09186003e-04 -2.50029604e-03 9.99996623e-01 6.82646054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34925976399995 meters 0.13069617961381477 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.68 [[ 9.99890580e-01 -1.47746780e-02 7.32692078e-04 -1.30969053e+00] [ 1.47722736e-02 9.99885811e-01 3.18516552e-03 3.48374337e+00] [-7.79668208e-04 -3.17399347e-03 9.99994659e-01 6.82472617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40925976399996 meters 0.13967021783592123 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.68 [[ 9.99895903e-01 -1.43855732e-02 1.11246237e-03 -1.31032161e+00] [ 1.43806953e-02 9.99887453e-01 4.27506232e-03 3.47945485e+00] [-1.17383638e-03 -4.25861932e-03 9.99990243e-01 6.81905128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46925976399996 meters 0.140172735954604 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.68 [[ 9.99903888e-01 -1.38266607e-02 1.01895793e-03 -1.30946948e+00] [ 1.38213470e-02 9.99891731e-01 5.04937293e-03 3.47729126e+00] [-1.08866358e-03 -5.03480425e-03 9.99986733e-01 6.80938268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52925976399996 meters 0.13687885217364595 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.68 [[ 9.99906384e-01 -1.36524487e-02 9.12970275e-04 -1.30952287e+00] [ 1.36474999e-02 9.99893226e-01 5.22331822e-03 3.47608476e+00] [-9.84183877e-04 -5.21036947e-03 9.99985942e-01 6.81445067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58925976399996 meters 0.13578229149080365 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99908673e-01 -1.34818659e-02 9.40754060e-04 -1.30989784e+00] [ 1.34764750e-02 9.99893957e-01 5.51893401e-03 3.47437781e+00] [-1.01505983e-03 -5.50575193e-03 9.99984328e-01 6.81895962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64925976399996 meters 0.13726646243574447 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99912145e-01 -1.32166470e-02 1.01082511e-03 -1.30988876e+00] [ 1.32103733e-02 9.99894858e-01 5.97989202e-03 3.47279280e+00] [-1.08975296e-03 -5.96601328e-03 9.99981609e-01 6.81573463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70925976399997 meters 0.138973180518955 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.68 [[ 9.99916405e-01 -1.28406465e-02 1.51683158e-03 -1.31107866e+00] [ 1.28295088e-02 9.99892225e-01 7.13742294e-03 3.46725270e+00] [-1.60831722e-03 -7.11736608e-03 9.99973378e-01 6.81469462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76925976399997 meters 0.14430265348572288 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.46, Z:0.68 [[ 9.99916079e-01 -1.27940622e-02 2.03637059e-03 -1.31272978e+00] [ 1.27777589e-02 9.99887725e-01 7.82729094e-03 3.46323067e+00] [-2.13628481e-03 -7.80061382e-03 9.99967293e-01 6.82087913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82925976399997 meters 0.1500068476309749 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.46, Z:0.68 [[ 9.99916390e-01 -1.26568353e-02 2.64910785e-03 -1.31444700e+00] [ 1.26332926e-02 9.99882150e-01 8.72270311e-03 3.45841710e+00] [-2.75919747e-03 -8.68850685e-03 9.99958447e-01 6.82480978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88925976399995 meters 0.14710524059090557 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99912919e-01 -1.28902307e-02 2.82784229e-03 -1.31533758e+00] [ 1.28659195e-02 9.99881499e-01 8.45311197e-03 3.45857650e+00] [-2.93646975e-03 -8.41599307e-03 9.99960273e-01 6.83167218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94925976399995 meters 0.1493518099452351 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99850517e-01 -1.70546735e-02 2.84288725e-03 -1.31509540e+00] [ 1.70424116e-02 9.99845594e-01 4.28299737e-03 3.45802401e+00] [-2.91549342e-03 -4.23390748e-03 9.99986787e-01 6.83001391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00925976399995 meters 0.14914186326631 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99854902e-01 -1.67623951e-02 3.03282647e-03 -1.31518359e+00] [ 1.67474094e-02 9.99847741e-01 4.90086348e-03 3.45613706e+00] [-3.11451491e-03 -4.84936039e-03 9.99983392e-01 6.82348688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06925976399995 meters 0.14645012846380723 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99851361e-01 -1.70082562e-02 2.82413231e-03 -1.31514297e+00] [ 1.69957891e-02 9.99845962e-01 4.38133113e-03 3.45774345e+00] [-2.89821609e-03 -4.33268153e-03 9.99986414e-01 6.83132300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12925976399995 meters 0.15337016499659248 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99870616e-01 -1.02254081e-02 1.24174285e-02 -1.32888522e+00] [ 1.02371996e-02 9.99947206e-01 -8.86399849e-04 3.46004238e+00] [-1.24077092e-02 1.01340486e-03 9.99922508e-01 6.80701031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18925976399996 meters 0.14222740321558305 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99876529e-01 -9.79818942e-03 1.22850484e-02 -1.32772518e+00] [ 9.80414874e-03 9.99951848e-01 -4.24955090e-04 3.45962539e+00] [-1.22802930e-02 5.45347062e-04 9.99924446e-01 6.79409541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24925976399996 meters 0.14766071562146063 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99877747e-01 -9.67464988e-03 1.22837961e-02 -1.32760967e+00] [ 9.67822574e-03 9.99953138e-01 -2.31690676e-04 3.45916184e+00] [-1.22809790e-02 3.50547703e-04 9.99924524e-01 6.79217154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30925976399996 meters 0.14705407035369483 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99878165e-01 -9.46353414e-03 1.24135730e-02 -1.32766814e+00] [ 9.46114184e-03 9.99955211e-01 2.51428904e-04 3.45773170e+00] [-1.24153964e-02 -1.33951696e-04 9.99922917e-01 6.78737904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36925976399996 meters 0.14787973665416362 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99880444e-01 -9.12979768e-03 1.24797354e-02 -1.32737404e+00] [ 9.12026376e-03 9.99958073e-01 8.20651658e-04 3.45622080e+00] [-1.24867046e-02 -7.06735065e-04 9.99921788e-01 6.77966834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42925976399997 meters 0.14675093794000427 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.45, Z:0.68 [[ 9.99881137e-01 -8.81965848e-03 1.26461357e-02 -1.32712866e+00] [ 8.80206751e-03 9.99960216e-01 1.44600076e-03 3.45478641e+00] [-1.26583859e-02 -1.33451675e-03 9.99918989e-01 6.76855697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48925976399997 meters 0.14740799141493596 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.45, Z:0.68 [[ 9.99883506e-01 -8.53670915e-03 1.26530037e-02 -1.32665330e+00] [ 8.51371410e-03 9.99962009e-01 1.87011149e-03 3.45388252e+00] [-1.26684876e-02 -1.76216957e-03 9.99918199e-01 6.76056004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54925976399997 meters 0.15057658210154637 Centerline is valid? [False, False] Translation: X:-1.33, Y:3.46, Z:0.68 [[ 9.99889771e-01 -8.71005196e-03 1.20241961e-02 -1.32539800e+00] [ 8.69937640e-03 9.99961718e-01 9.39858633e-04 3.45803131e+00] [-1.20319220e-02 -8.35152026e-04 9.99927265e-01 6.76610037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60925976399997 meters 0.13946848331355996 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99896947e-01 -8.48286322e-03 1.15817030e-02 -1.32385740e+00] [ 8.47409329e-03 9.99963769e-01 8.06088007e-04 3.45987667e+00] [-1.15881213e-02 -7.07860506e-04 9.99932605e-01 6.75976690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66925976399995 meters 0.14542846655656944 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99901074e-01 -8.35763483e-03 1.13133233e-02 -1.32254002e+00] [ 8.35030272e-03 9.99964894e-01 6.95177394e-04 3.46170873e+00] [-1.13187362e-02 -6.00638949e-04 9.99935761e-01 6.75019924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72925976399995 meters 0.1382335117357153 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99900776e-01 -8.46227268e-03 1.12618095e-02 -1.32242508e+00] [ 8.45800815e-03 9.99964140e-01 4.26246569e-04 3.46284724e+00] [-1.12650126e-02 -3.30951799e-04 9.99936493e-01 6.75110707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78925976399995 meters 0.14258254790896455 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.67 [[ 9.99899990e-01 -8.51392997e-03 1.12926287e-02 -1.32238982e+00] [ 8.51084135e-03 9.99963730e-01 3.21536333e-04 3.46347005e+00] [-1.12949567e-02 -2.25394404e-04 9.99936185e-01 6.74966922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84925976399995 meters 0.14020510451170784 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.46, Z:0.68 [[ 9.99899124e-01 -8.64438651e-03 1.12701386e-02 -1.32244670e+00] [ 8.64449829e-03 9.99962635e-01 3.87964868e-05 3.46450111e+00] [-1.12700529e-02 5.86321209e-05 9.99936489e-01 6.75196993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90925976399996 meters 0.14538488992114068 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99896197e-01 -9.02504538e-03 1.12313554e-02 -1.32260951e+00] [ 9.03221647e-03 9.99959036e-01 -5.87927811e-04 3.46691943e+00] [-1.12255892e-02 6.89310815e-04 9.99936753e-01 6.75657749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96925976399996 meters 0.134083870859219 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.47, Z:0.68 [[ 9.99904963e-01 -9.02406618e-03 1.04226749e-02 -1.32046569e+00] [ 9.04026830e-03 9.99957998e-01 -1.50843994e-03 3.47216297e+00] [-1.04086249e-02 1.60252036e-03 9.99944545e-01 6.75425266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02925976399996 meters 0.1339529212281518 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.68 [[ 9.99912872e-01 -8.93573129e-03 9.71606537e-03 -1.31842564e+00] [ 8.95773462e-03 9.99957407e-01 -2.22347732e-03 3.47645925e+00] [-9.69578314e-03 2.31031752e-03 9.99950326e-01 6.75058416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08925976399996 meters 0.13237632107005076 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.67 [[ 9.99919644e-01 -8.72154185e-03 9.20003099e-03 -1.31649890e+00] [ 8.74613075e-03 9.99958278e-01 -2.63585849e-03 3.47958701e+00] [-9.17665840e-03 2.71611136e-03 9.99954205e-01 6.74193670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14925976399996 meters 0.12714060670377297 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.67 [[ 9.99920185e-01 -8.90395273e-03 8.96342791e-03 -1.31605664e+00] [ 8.93282929e-03 9.99955024e-01 -3.18673246e-03 3.48203776e+00] [-8.93465025e-03 3.26654688e-03 9.99954750e-01 6.74533232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20925976399997 meters 0.12728676260414348 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.48, Z:0.67 [[ 0.99992102 -0.00901324 0.00875879 -1.31540393] [ 0.00904452 0.99995284 -0.00353778 3.48418164] [-0.00872649 0.00361672 0.99995538 0.67436791] [ 0. 0. 0. 1. ]] SLAMing on 195.26925976399997 meters 0.12686253948723644 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 9.99924758e-01 -8.79951095e-03 8.54673103e-03 -1.31397202e+00] [ 8.82886552e-03 9.99955234e-01 -3.40296108e-03 3.48547829e+00] [-8.51640404e-03 3.47816298e-03 9.99957686e-01 6.72992075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32925976399997 meters 0.12308075066250772 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 0.99992483 -0.00895527 0.0083745 -1.31351506] [ 0.00898751 0.99995232 -0.00381976 3.48760221] [-0.00833989 0.00389474 0.99995764 0.67300941] [ 0. 0. 0. 1. ]] SLAMing on 195.38925976399995 meters 0.13875160598982722 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 0.99992675 -0.00903652 0.00805204 -1.31248877] [ 0.00907159 0.99994948 -0.00432849 3.49063543] [-0.00801252 0.00440122 0.99995821 0.67276094] [ 0. 0. 0. 1. ]] SLAMing on 195.44925976399995 meters 0.1368363952769186 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 0.99992755 -0.00905593 0.00792962 -1.31199196] [ 0.00909133 0.99994882 -0.00443917 3.4917186 ] [-0.00788901 0.00451094 0.99995871 0.67247691] [ 0. 0. 0. 1. ]] SLAMing on 195.50925976399995 meters 0.1300102646567194 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 0.99993218 -0.00892444 0.00748285 -1.31053329] [ 0.00895974 0.99994883 -0.0046971 3.49403474] [-0.00744054 0.00476383 0.99996097 0.67198345] [ 0. 0. 0. 1. ]] SLAMing on 195.56925976399995 meters 0.13022137291166702 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.67 [[ 0.99993216 -0.00899793 0.00739685 -1.31030849] [ 0.00903445 0.99994709 -0.00491827 3.49507156] [-0.0073522 0.00498477 0.99996055 0.67201533] [ 0. 0. 0. 1. ]] SLAMing on 195.62925976399995 meters 0.12495141983541908 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.67 [[ 0.99993994 -0.00847331 0.00695136 -1.30815848] [ 0.00850526 0.99995334 -0.00457956 3.49591401] [-0.00691223 0.00463841 0.99996535 0.67045917] [ 0. 0. 0. 1. ]] SLAMing on 195.68925976399996 meters 0.1217370048120984 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.67 [[ 0.99994252 -0.00832917 0.00675131 -1.30735317] [ 0.0083601 0.99995463 -0.00456675 3.49658171] [-0.00671297 0.00462293 0.99996678 0.67004468] [ 0. 0. 0. 1. ]] SLAMing on 195.74925976399996 meters 0.11972955267323038 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.67 [[ 0.99994429 -0.00834263 0.00646692 -1.30686355] [ 0.00837363 0.9999535 -0.00478237 3.49753319] [-0.00642672 0.00483625 0.99996765 0.67044995] [ 0. 0. 0. 1. ]] SLAMing on 195.80925976399996 meters 0.11803953051509344 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.50, Z:0.67 [[ 0.999947 -0.00805833 0.00640848 -1.30639963] [ 0.0080866 0.99995763 -0.00439781 3.49658177] [-0.00637277 0.0044494 0.99996979 0.66993678] [ 0. 0. 0. 1. ]] SLAMing on 195.86925976399996 meters 0.11618085714422897 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.49, Z:0.67 [[ 0.9999522 -0.00750093 0.00627118 -1.30514573] [ 0.0075236 0.99996522 -0.0035992 3.49497415] [-0.00624397 0.00364621 0.99997386 0.66845425] [ 0. 0. 0. 1. ]] SLAMing on 195.92925976399997 meters 0.1169351966110282 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 9.99955271e-01 -7.09325783e-03 6.25627050e-03 -1.30457296e+00] [ 7.11184856e-03 9.99970346e-01 -2.95431100e-03 3.49333555e+00] [-6.23512929e-03 2.99867250e-03 9.99976065e-01 6.67564943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98925976399997 meters 0.11662053569480943 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 9.99956845e-01 -6.78390581e-03 6.34712507e-03 -1.30470451e+00] [ 6.79882251e-03 9.99974170e-01 -2.33153232e-03 3.49095366e+00] [-6.33114422e-03 2.37458468e-03 9.99977139e-01 6.67345888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04925976399997 meters 0.11642469570546626 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 9.99958991e-01 -6.37064273e-03 6.43674032e-03 -1.30456910e+00] [ 6.38085719e-03 9.99978413e-01 -1.56761156e-03 3.48845536e+00] [-6.42661468e-03 1.60861920e-03 9.99978055e-01 6.66701224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10925976399997 meters 0.11637220008268599 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 0.99992703 -0.01042136 0.00610957 -1.30352122] [ 0.01045604 0.99992925 -0.0056708 3.48848109] [-0.00605004 0.00573427 0.99996526 0.66642346] [ 0. 0. 0. 1. ]] SLAMing on 196.16925976399995 meters 0.11639348671405328 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 0.99992952 -0.01013904 0.00617702 -1.30335121] [ 0.01017075 0.99993515 -0.00512268 3.48686806] [-0.00612468 0.00518515 0.9999678 0.66580187] [ 0. 0. 0. 1. ]] SLAMing on 196.22925976399995 meters 0.1194425212957171 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.49, Z:0.67 [[ 0.99993112 -0.00991794 0.00627599 -1.30345698] [ 0.0099469 0.99993995 -0.0046002 3.48511379] [-0.00622999 0.00466231 0.99996972 0.66549418] [ 0. 0. 0. 1. ]] SLAMing on 196.28925976399995 meters 0.11881175163454928 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.48, Z:0.66 [[ 0.99993056 -0.00972266 0.00665937 -1.3041325 ] [ 0.0097477 0.99994551 -0.00373737 3.48191087] [-0.00662267 0.00380202 0.99997084 0.66494126] [ 0. 0. 0. 1. ]] SLAMing on 196.34925976399995 meters 0.1267097542900511 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.66 [[ 9.99929079e-01 -9.61810224e-03 7.02347954e-03 -1.30501236e+00] [ 9.64086693e-03 9.99948359e-01 -3.21459456e-03 3.47948930e+00] [-6.99219854e-03 3.28207901e-03 9.99970168e-01 6.64911437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40925976399996 meters 0.13014512204001205 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.66 [[ 9.99924622e-01 -9.68094510e-03 7.55180213e-03 -1.30625051e+00] [ 9.70172552e-03 9.99949238e-01 -2.71995390e-03 3.47730064e+00] [-7.52508706e-03 2.79301438e-03 9.99967786e-01 6.64731541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46925976399996 meters 0.13070256897078322 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.66 [[ 9.99923216e-01 -9.64276734e-03 7.78321071e-03 -1.30678736e+00] [ 9.66166041e-03 9.99950461e-01 -2.39347420e-03 3.47603743e+00] [-7.75974541e-03 2.46848916e-03 9.99966846e-01 6.64582256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52925976399996 meters 0.13532710921778918 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.66 [[ 9.99924656e-01 -9.47333081e-03 7.80635746e-03 -1.30639828e+00] [ 9.49001648e-03 9.99952757e-01 -2.10318220e-03 3.47567275e+00] [-7.78606452e-03 2.17710619e-03 9.99967318e-01 6.63850236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58925976399996 meters 0.1339737702167262 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.48, Z:0.66 [[ 9.99926387e-01 -9.32853112e-03 7.75884391e-03 -1.30593190e+00] [ 9.34377553e-03 9.99954482e-01 -1.93085446e-03 3.47565052e+00] [-7.74047871e-03 2.00320922e-03 9.99968036e-01 6.63307326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64925976399996 meters 0.13031431348231884 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.47, Z:0.66 [[ 9.99931807e-01 -8.75507728e-03 7.72847682e-03 -1.30505796e+00] [ 8.76412713e-03 9.99960947e-01 -1.13788466e-03 3.47350271e+00] [-7.71821273e-03 1.20554041e-03 9.99969487e-01 6.62062240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70925976399997 meters 0.12932427202652666 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99932836e-01 -8.75195186e-03 7.59783989e-03 -1.30483679e+00] [ 8.76159395e-03 9.99960852e-01 -1.23670003e-03 3.47394711e+00] [-7.58671891e-03 1.30318616e-03 9.99970371e-01 6.62242421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76925976399997 meters 0.12857029534145412 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99934943e-01 -8.47806417e-03 7.63099454e-03 -1.30472226e+00] [ 8.48422873e-03 9.99963707e-01 -7.75821608e-04 3.47246239e+00] [-7.62414012e-03 8.40514238e-04 9.99970583e-01 6.61857553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82925976399997 meters 0.12458601607487166 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99937755e-01 -8.00950550e-03 7.76744427e-03 -1.30436839e+00] [ 8.00915687e-03 9.99967923e-01 7.59884946e-05 3.47001711e+00] [-7.76780374e-03 -1.37730852e-05 9.99969830e-01 6.60643491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88925976399995 meters 0.12733250743979818 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99939831e-01 -7.67253596e-03 7.84011825e-03 -1.30437968e+00] [ 7.66731629e-03 9.99970364e-01 6.95604574e-04 3.46769129e+00] [-7.84522295e-03 -6.35450054e-04 9.99969024e-01 6.60291643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94925976399995 meters 0.1264093080861096 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99941865e-01 -7.45515748e-03 7.79021964e-03 -1.30422472e+00] [ 7.44790629e-03 9.99971804e-01 9.59404662e-04 3.46667574e+00] [-7.79715250e-03 -9.01328061e-04 9.99969196e-01 6.60245424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00925976399995 meters 0.12592305383381094 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99945966e-01 -7.05473248e-03 7.63523558e-03 -1.30321931e+00] [ 7.04441298e-03 9.99974239e-01 1.37761399e-03 3.46605931e+00] [-7.64475758e-03 -1.32375380e-03 9.99969902e-01 6.59312084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06925976399995 meters 0.1262504331996282 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99949469e-01 -6.76334685e-03 7.43749070e-03 -1.30225732e+00] [ 6.75151657e-03 9.99975905e-01 1.61458671e-03 3.46604076e+00] [-7.44823150e-03 -1.56429078e-03 9.99971038e-01 6.58608412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12925976399995 meters 0.12217774134230164 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99916401e-01 -1.09870249e-02 6.81738401e-03 -1.30095381e+00] [ 1.10085672e-02 9.99934504e-01 -3.13046173e-03 3.46825087e+00] [-6.78254303e-03 3.20524966e-03 9.99971861e-01 6.59130154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18925976399996 meters 0.12485083714541986 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99917377e-01 -1.09340217e-02 6.75921579e-03 -1.30094730e+00] [ 1.09551760e-02 9.99935183e-01 -3.10064564e-03 3.46806530e+00] [-6.72487515e-03 3.17443785e-03 9.99972349e-01 6.59352818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24925976399996 meters 0.1253648508506741 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99922165e-01 -1.03865063e-02 6.91266341e-03 -1.30036494e+00] [ 1.04016476e-02 9.99943573e-01 -2.15802361e-03 3.46567326e+00] [-6.88985902e-03 2.22975873e-03 9.99973779e-01 6.57795608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30925976399996 meters 0.12692008560245735 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99922047e-01 -1.02390860e-02 7.14575681e-03 -1.30065860e+00] [ 1.02520009e-02 9.99945875e-01 -1.77305968e-03 3.46443907e+00] [-7.12721553e-03 1.84617977e-03 9.99972897e-01 6.57312599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36925976399996 meters 0.1286127664910267 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99921379e-01 -1.02221435e-02 7.26243374e-03 -1.30101770e+00] [ 1.02344045e-02 9.99946261e-01 -1.65311982e-03 3.46381175e+00] [-7.24514503e-03 1.72731654e-03 9.99972262e-01 6.57402486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42925976399997 meters 0.13460558715644647 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99916302e-01 -1.04444851e-02 7.63549530e-03 -1.30237454e+00] [ 1.04570131e-02 9.99944040e-01 -1.60268347e-03 3.46280908e+00] [-7.61832881e-03 1.68239380e-03 9.99969565e-01 6.58041474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48925976399997 meters 0.14092104405653147 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99915890e-01 -1.03631449e-02 7.79863747e-03 -1.30273616e+00] [ 1.03738546e-02 9.99945300e-01 -1.33409150e-03 3.46179990e+00] [-7.78438550e-03 1.41488122e-03 9.99968700e-01 6.57925930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54925976399997 meters 0.13695238203341903 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99908714e-01 -1.04883218e-02 8.51813983e-03 -1.30458742e+00] [ 1.04942985e-02 9.99944717e-01 -6.57249749e-04 3.45828687e+00] [-8.51077548e-03 7.46581654e-04 9.99963504e-01 6.58026726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60925976399994 meters 0.14119835300453829 Centerline is valid? [False, False] Translation: X:-1.31, Y:3.46, Z:0.66 [[ 9.99903067e-01 -1.05316734e-02 9.10721256e-03 -1.30603733e+00] [ 1.05327920e-02 9.99944526e-01 -7.48713946e-05 3.45546995e+00] [-9.10591883e-03 1.70788513e-04 9.99958526e-01 6.58004899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66925976399995 meters 0.14397076665800917 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99908965e-01 -1.04430275e-02 8.54424709e-03 -1.30422931e+00] [ 1.04471718e-02 9.99945330e-01 -4.40547663e-04 3.45876887e+00] [-8.53917932e-03 5.29770776e-04 9.99963400e-01 6.57380299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72925976399995 meters 0.14027235943449776 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99911547e-01 -1.03097158e-02 8.40280715e-03 -1.30363882e+00] [ 1.03136545e-02 9.99946722e-01 -4.25533099e-04 3.45914954e+00] [-8.39797234e-03 5.12159109e-04 9.99964605e-01 6.57083312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78925976399995 meters 0.14600582671441706 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99916849e-01 -1.01151479e-02 7.99873661e-03 -1.30227065e+00] [ 1.01202677e-02 9.99948609e-01 -5.99858558e-04 3.46077401e+00] [-7.99225789e-03 6.80758035e-04 9.99967830e-01 6.56657503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84925976399995 meters 0.14421493454959827 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99917303e-01 -1.02330011e-02 7.78924125e-03 -1.30184599e+00] [ 1.02406843e-02 9.99947114e-01 -9.47140225e-04 3.46236773e+00] [-7.77913722e-03 1.02682906e-03 9.99969215e-01 6.56871450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90925976399996 meters 0.1480561450411887 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99920148e-01 -1.01458350e-02 7.53390771e-03 -1.30083819e+00] [ 1.01542380e-02 9.99947863e-01 -1.07794890e-03 3.46391515e+00] [-7.52257823e-03 1.15436392e-03 9.99971039e-01 6.56379164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96925976399996 meters 0.13806892434567408 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99920078e-01 -1.01944293e-02 7.47736620e-03 -1.30069503e+00] [ 1.02041533e-02 9.99947138e-01 -1.26344912e-03 3.46473047e+00] [-7.46409079e-03 1.33964833e-03 9.99971246e-01 6.56431626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02925976399996 meters 0.14251961730722612 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99918869e-01 -1.03524956e-02 7.42163792e-03 -1.30067801e+00] [ 1.03643732e-02 9.99945066e-01 -1.56372294e-03 3.46596578e+00] [-7.40504179e-03 1.64051670e-03 9.99971237e-01 6.56662995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08925976399996 meters 0.1415922882835695 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99918672e-01 -1.03110607e-02 7.50547910e-03 -1.30111024e+00] [ 1.03222922e-02 9.99945659e-01 -1.45924844e-03 3.46515400e+00] [-7.49002485e-03 1.53660351e-03 9.99970769e-01 6.57023972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14925976399996 meters 0.1417213858705668 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99917096e-01 -1.03145593e-02 7.70786215e-03 -1.30173405e+00] [ 1.03253383e-02 9.99945767e-01 -1.35996438e-03 3.46442200e+00] [-7.69341670e-03 1.43943792e-03 9.99969369e-01 6.57200940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20925976399997 meters 0.14026511093818675 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99913201e-01 -1.06698415e-02 7.72950770e-03 -1.30230799e+00] [ 1.06849214e-02 9.99941086e-01 -1.91230162e-03 3.46615334e+00] [-7.70864837e-03 1.99472482e-03 9.99968298e-01 6.58021296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26925976399997 meters 0.13939725557190577 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.47, Z:0.66 [[ 9.99912386e-01 -1.06952816e-02 7.79948846e-03 -1.30272205e+00] [ 1.07102841e-02 9.99940868e-01 -1.88430574e-03 3.46573103e+00] [-7.77887408e-03 1.96767538e-03 9.99967808e-01 6.58375991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32925976399997 meters 0.1399033373389403 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99915506e-01 -1.03095611e-02 7.91788984e-03 -1.30254509e+00] [ 1.03189515e-02 9.99946101e-01 -1.14603964e-03 3.46335662e+00] [-7.90564791e-03 1.22764712e-03 9.99967996e-01 6.57615506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38925976399995 meters 0.13774235367419188 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99919121e-01 -1.01603459e-02 7.64975576e-03 -1.30159479e+00] [ 1.01694399e-02 9.99947628e-01 -1.15084033e-03 3.46410847e+00] [-7.63766219e-03 1.22854098e-03 9.99970078e-01 6.57256004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44925976399995 meters 0.1358010726616356 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99921213e-01 -9.95449887e-03 7.64696770e-03 -1.30130553e+00] [ 9.96164693e-03 9.99949979e-01 -8.97237152e-04 3.46355387e+00] [-7.63765364e-03 9.73342854e-04 9.99970359e-01 6.56858645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50925976399995 meters 0.13863046840170978 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99923624e-01 -9.58742211e-03 7.79925562e-03 -1.30117214e+00] [ 9.58919758e-03 9.99954004e-01 -1.90281985e-04 3.46142176e+00] [-7.79707258e-03 2.65056055e-04 9.99969567e-01 6.56042509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56925976399995 meters 0.1444697709196194 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99926364e-01 -9.36868824e-03 7.71327666e-03 -1.30097135e+00] [ 9.36792638e-03 9.99956111e-01 1.34896658e-04 3.46018289e+00] [-7.71420194e-03 -6.26293166e-05 9.99970243e-01 6.56073610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62925976399995 meters 0.1429997280608765 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.46, Z:0.66 [[ 9.99927361e-01 -9.16275386e-03 7.83054683e-03 -1.30127498e+00] [ 9.15833445e-03 9.99957882e-01 6.00052868e-04 3.45827223e+00] [-7.83571516e-03 -5.28294514e-04 9.99969161e-01 6.56063328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68925976399996 meters 0.1406177164770062 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.45, Z:0.65 [[ 9.99932773e-01 -8.35951652e-03 8.03539826e-03 -1.30101158e+00] [ 8.34353772e-03 9.99963152e-01 2.02002104e-03 3.45325891e+00] [-8.05198857e-03 -1.95284159e-03 9.99965675e-01 6.54844075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74925976399996 meters 0.14650521040310996 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.45, Z:0.65 [[ 9.99937873e-01 -7.69711104e-03 8.06256902e-03 -1.30091814e+00] [ 7.67137968e-03 9.99965398e-01 3.21753808e-03 3.44850894e+00] [-8.08705579e-03 -3.15548716e-03 9.99962321e-01 6.54522976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80925976399996 meters 0.14699868930179125 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.45, Z:0.65 [[ 0.99994192 -0.0071678 0.00804873 -1.30059614] [ 0.00713498 0.99996614 0.00409894 3.44548748] [-0.00807784 -0.00404127 0.99995921 0.65402187] [ 0. 0. 0. 1. ]] SLAMing on 198.86925976399996 meters 0.15015175669737815 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.45, Z:0.65 [[ 9.99908299e-01 -1.12042961e-02 7.60633783e-03 -1.29948429e+00] [ 1.12050867e-02 9.99937219e-01 -6.13258688e-05 3.44542584e+00] [-7.60517319e-03 1.46549920e-04 9.99971070e-01 6.54135453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92925976399997 meters 0.14928669539100523 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.44, Z:0.65 [[ 9.99913520e-01 -1.06854263e-02 7.66643809e-03 -1.29932865e+00] [ 1.06787914e-02 9.99942570e-01 9.05872401e-04 3.44208878e+00] [-7.67567743e-03 -8.23925769e-04 9.99970202e-01 6.53562283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98925976399997 meters 0.14723517336858216 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.44, Z:0.65 [[ 9.99919130e-01 -1.01184969e-02 7.70382556e-03 -1.29911862e+00] [ 1.01043418e-02 9.99947194e-01 1.87413242e-03 3.43862172e+00] [-7.72238215e-03 -1.79613878e-03 9.99968569e-01 6.53028704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04925976399997 meters 0.15483210197356503 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.43, Z:0.65 [[ 9.99919793e-01 -9.71329098e-03 8.12773116e-03 -1.30018861e+00] [ 9.68889456e-03 9.99948454e-01 3.03563808e-03 3.43329602e+00] [-8.15679825e-03 -2.95664587e-03 9.99962362e-01 6.53056385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10925976399994 meters 0.1682726145559262 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.43, Z:0.65 [[ 0.99992075 -0.009446 0.00832303 -1.30068014] [ 0.00941486 0.99994856 0.00377253 3.43032278] [-0.00835824 -0.00369387 0.99995825 0.65300342] [ 0. 0. 0. 1. ]] SLAMing on 199.16925976399995 meters 0.161425191487887 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.43, Z:0.65 [[ 9.99873148e-01 -1.35232616e-02 8.41486334e-03 -1.30106863e+00] [ 1.35235529e-02 9.99908552e-01 2.22808231e-05 3.42777325e+00] [-8.41439513e-03 9.15208529e-05 9.99964594e-01 6.53352014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22925976399995 meters 0.1624168852719662 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99872440e-01 -1.32692180e-02 8.88994874e-03 -1.30188483e+00] [ 1.32614275e-02 9.99911627e-01 9.34708543e-04 3.42424634e+00] [-8.90156596e-03 -8.16695901e-04 9.99960047e-01 6.52770157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28925976399995 meters 0.18048775952879462 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99869910e-01 -1.30375825e-02 9.49653165e-03 -1.30306696e+00] [ 1.30187330e-02 9.99913164e-01 2.04400461e-03 3.41969927e+00] [-9.52235588e-03 -1.92010590e-03 9.99952818e-01 6.52240746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34925976399995 meters 0.17015707376534772 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99873383e-01 -1.30544176e-02 9.09943278e-03 -1.30211293e+00] [ 1.30396703e-02 9.99913572e-01 1.67813591e-03 3.42180431e+00] [-9.12055342e-03 -1.55926983e-03 9.99957191e-01 6.52285527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40925976399996 meters 0.17058839414306887 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99875852e-01 -1.29231239e-02 9.01520613e-03 -1.30164893e+00] [ 1.29072730e-02 9.99915052e-01 1.81421778e-03 3.42180741e+00] [-9.03788567e-03 -1.69763082e-03 9.99957716e-01 6.51905693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46925976399996 meters 0.1745816952629097 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99879459e-01 -1.26944380e-02 8.93972531e-03 -1.30098999e+00] [ 1.26763829e-02 9.99917502e-01 2.07342370e-03 3.42166110e+00] [-8.96530874e-03 -1.95985038e-03 9.99957890e-01 6.51180718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52925976399996 meters 0.16437949417102446 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.42, Z:0.65 [[ 9.99882860e-01 -1.26760876e-02 8.57809207e-03 -1.29993282e+00] [ 1.26611544e-02 9.99918237e-01 1.79292970e-03 3.42353794e+00] [-8.60011803e-03 -1.68411113e-03 9.99961600e-01 6.50969129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58925976399996 meters 0.1656920618731009 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.43, Z:0.65 [[ 0.99993378 -0.00823484 0.00803878 -1.29814994] [ 0.00818917 0.99995023 0.00569832 3.4264561 ] [-0.0080853 -0.00563211 0.99995145 0.65013074] [ 0. 0. 0. 1. ]] SLAMing on 199.64925976399996 meters 0.16301741338575435 Centerline is valid? [False, False] Translation: X:-1.30, Y:3.43, Z:0.65 [[ 0.99993912 -0.00848563 0.00705313 -1.29643534] [ 0.00845837 0.99995668 0.00388626 3.43295715] [-0.0070858 -0.00382636 0.99996757 0.65162498] [ 0. 0. 0. 1. ]] SLAMing on 199.70925976399997 meters 0.13807382982319946 Centerline is valid? [False, False] Translation: X:-1.28, Y:3.44, Z:0.66 [[ 9.99993232e-01 -2.70163951e-03 2.49733968e-03 -1.27976364e+00] [ 2.70119481e-03 9.99996335e-01 1.81424917e-04 3.43906997e+00] [-2.49782067e-03 -1.74677888e-04 9.99996865e-01 6.57755959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76925976399997 meters 0.1298039041922966 Centerline is valid? [False, False] Translation: X:-1.28, Y:3.44, Z:0.66 [[ 9.99995213e-01 -2.58562663e-03 1.69932196e-03 -1.27751227e+00] [ 2.58690213e-03 9.99996374e-01 -7.48827467e-04 3.44404975e+00] [-1.69737961e-03 7.53219862e-04 9.99998276e-01 6.57357113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82925976399997 meters 0.12179682038340663 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.66 [[ 9.99997181e-01 -2.29034348e-03 6.26215026e-04 -1.27449848e+00] [ 2.29145153e-03 9.99995800e-01 -1.77448671e-03 3.45010248e+00] [-6.22148212e-04 1.77591665e-03 9.99998230e-01 6.56776782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88925976399995 meters 0.1170421793034376 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.66 [[ 9.99997281e-01 -2.32925781e-03 -1.10397021e-04 -1.27301373e+00] [ 2.32893691e-03 9.99993304e-01 -2.82282508e-03 3.45442974e+00] [ 1.16971369e-04 2.82256030e-03 9.99996010e-01 6.57526506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94925976399995 meters 0.11541239139119198 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.66 [[ 9.99978944e-01 -6.40095130e-03 -1.06701870e-03 -1.27053412e+00] [ 6.39241710e-03 9.99949004e-01 -7.81839576e-03 3.45912015e+00] [ 1.11700946e-03 7.81141032e-03 9.99968867e-01 6.57283543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00925976399995 meters 0.11217854168443724 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.66 [[ 9.99981528e-01 -5.88315108e-03 -1.52697903e-03 -1.26848082e+00] [ 5.87143419e-03 9.99954128e-01 -7.56754012e-03 3.46010422e+00] [ 1.57142996e-03 7.55843478e-03 9.99970200e-01 6.55975877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06925976399995 meters 0.10910810834228427 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.66 [[ 9.99982848e-01 -5.62309779e-03 -1.63846917e-03 -1.26787818e+00] [ 5.61097109e-03 9.99957509e-01 -7.31415179e-03 3.45968519e+00] [ 1.67952774e-03 7.30483293e-03 9.99971909e-01 6.55501375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12925976399995 meters 0.10822862011573504 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.66 [[ 9.99982875e-01 -5.54010238e-03 -1.88614733e-03 -1.26728464e+00] [ 5.52606598e-03 9.99957591e-01 -7.36744252e-03 3.46030773e+00] [ 1.92688372e-03 7.35689338e-03 9.99971081e-01 6.55564707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18925976399996 meters 0.10726046474637024 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.65 [[ 9.99984322e-01 -5.26581462e-03 -1.90447848e-03 -1.26675187e+00] [ 5.25235144e-03 9.99961660e-01 -7.00645746e-03 3.45969143e+00] [ 1.94130017e-03 6.99634462e-03 9.99973641e-01 6.54823677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24925976399996 meters 0.10759009097962677 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.65 [[ 9.99987575e-01 -4.60514285e-03 -1.90842983e-03 -1.26591121e+00] [ 4.59348119e-03 9.99971024e-01 -6.07059102e-03 3.45710282e+00] [ 1.93633047e-03 6.06174926e-03 9.99979753e-01 6.53540974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30925976399996 meters 0.1067952926790215 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.65 [[ 9.99987735e-01 -4.55376583e-03 -1.94756935e-03 -1.26579097e+00] [ 4.54195052e-03 9.99971512e-01 -6.02868929e-03 3.45709906e+00] [ 1.97496711e-03 6.01976959e-03 9.99979931e-01 6.53528363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36925976399996 meters 0.10791531829083263 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.65 [[ 9.99988559e-01 -4.37406917e-03 -1.93656215e-03 -1.26574551e+00] [ 4.36292640e-03 9.99974116e-01 -5.72120332e-03 3.45610797e+00] [ 1.96153696e-03 5.71268879e-03 9.99981759e-01 6.53397985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42925976399997 meters 0.1104230039857029 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99990136e-01 -4.03236225e-03 -1.86211037e-03 -1.26541228e+00] [ 4.02274770e-03 9.99978707e-01 -5.13845324e-03 3.45457616e+00] [ 1.88279082e-03 5.13091176e-03 9.99985064e-01 6.52565967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48925976399997 meters 0.11237041441005405 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.46, Z:0.65 [[ 9.99961479e-01 -8.52813797e-03 -2.07661029e-03 -1.26521890e+00] [ 8.50747215e-03 9.99916129e-01 -9.76508585e-03 3.45568129e+00] [ 2.15971412e-03 9.74704298e-03 9.99950164e-01 6.53186902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54925976399997 meters 0.11371845433483563 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99963223e-01 -8.37474191e-03 -1.84838268e-03 -1.26574493e+00] [ 8.35734430e-03 9.99922501e-01 -9.22749294e-03 3.45351872e+00] [ 1.92551730e-03 9.21170601e-03 9.99955717e-01 6.53092560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60925976399994 meters 0.12136079317574663 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99965182e-01 -8.25668241e-03 -1.20922708e-03 -1.26703335e+00] [ 8.24653106e-03 9.99932603e-01 -8.17216395e-03 3.44894226e+00] [ 1.27662055e-03 8.16190748e-03 9.99965876e-01 6.52625821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66925976399995 meters 0.12477954647526442 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99966655e-01 -8.13600899e-03 -7.02417622e-04 -1.26786703e+00] [ 8.13069999e-03 9.99940617e-01 -7.25632955e-03 3.44574067e+00] [ 7.61413473e-04 7.25037644e-03 9.99973426e-01 6.51829319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72925976399995 meters 0.14284299755464258 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.44, Z:0.65 [[ 9.99966968e-01 -8.12581011e-03 1.84368029e-04 -1.26960756e+00] [ 8.12673528e-03 9.99950475e-01 -5.74480919e-03 3.44007699e+00] [-1.37677670e-04 5.74611773e-03 9.99983481e-01 6.50802799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78925976399995 meters 0.14935328164968464 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.44, Z:0.65 [[ 9.99966758e-01 -8.11796309e-03 7.63180238e-04 -1.27076725e+00] [ 8.12164710e-03 9.99954743e-01 -4.95480760e-03 3.43706666e+00] [-7.22922754e-04 4.96084117e-03 9.99987434e-01 6.50329313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84925976399995 meters 0.15675862787307213 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.43, Z:0.65 [[ 9.99964124e-01 -8.31451646e-03 1.61855824e-03 -1.27262834e+00] [ 8.32112584e-03 9.99956889e-01 -4.12051719e-03 3.43367318e+00] [-1.58422835e-03 4.13383759e-03 9.99990201e-01 6.49837106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90925976399996 meters 0.1591589301820511 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.43, Z:0.65 [[ 9.99962406e-01 -8.41897907e-03 2.07557786e-03 -1.27356768e+00] [ 8.42685260e-03 9.99957219e-01 -3.81431377e-03 3.43250703e+00] [-2.04337643e-03 3.83166097e-03 9.99990571e-01 6.49498430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96925976399996 meters 0.16882696383176618 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.44, Z:0.65 [[ 9.99959265e-01 -8.80151966e-03 2.00044411e-03 -1.27289894e+00] [ 8.81024166e-03 9.99951536e-01 -4.39386112e-03 3.43599716e+00] [-1.96167451e-03 4.41130653e-03 9.99988346e-01 6.48828484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02925976399996 meters 0.15776695157022688 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.44, Z:0.65 [[ 9.99986725e-01 -4.91243633e-03 1.55483348e-03 -1.27186107e+00] [ 4.91461345e-03 9.99986944e-01 -1.39952231e-03 3.44170348e+00] [-1.54793812e-03 1.40714514e-03 9.99997812e-01 6.49061284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08925976399996 meters 0.1467791139731095 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99988618e-01 -4.73342184e-03 5.98843649e-04 -1.26867012e+00] [ 4.73501102e-03 9.99985196e-01 -2.68077639e-03 3.44913194e+00] [-5.86145538e-04 2.68358141e-03 9.99996227e-01 6.47870713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14925976399996 meters 0.15060686793997446 Centerline is valid? [False, False] Translation: X:-1.27, Y:3.45, Z:0.65 [[ 9.99988638e-01 -4.76457251e-03 1.52184060e-04 -1.26686635e+00] [ 4.76505152e-03 9.99983137e-01 -3.31976651e-03 3.45345285e+00] [-1.36364225e-04 3.32045396e-03 9.99994478e-01 6.46866233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20925976399997 meters 0.13449619737641755 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.65 [[ 9.99986705e-01 -5.11196448e-03 -6.75861204e-04 -1.26484100e+00] [ 5.10877841e-03 9.99976210e-01 -4.63464809e-03 3.46086771e+00] [ 6.99537282e-04 4.63113365e-03 9.99989032e-01 6.46836297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26925976399997 meters 0.14230734890091273 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.65 [[ 9.99985867e-01 -5.24982789e-03 -8.39259686e-04 -1.26430306e+00] [ 5.24554362e-03 9.99973601e-01 -5.02802345e-03 3.46289382e+00] [ 8.65633788e-04 5.02355002e-03 9.99987007e-01 6.46736993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32925976399997 meters 0.13065516738165317 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.65 [[ 9.99984966e-01 -5.34200660e-03 -1.23720570e-03 -1.26282927e+00] [ 5.33503839e-03 9.99970263e-01 -5.56864596e-03 3.46663748e+00] [ 1.26691665e-03 5.56196170e-03 9.99983730e-01 6.46094447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38925976399995 meters 0.13003603087128351 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.65 [[ 9.99984282e-01 -5.41841965e-03 -1.44118315e-03 -1.26224214e+00] [ 5.40985580e-03 9.99968072e-01 -5.88120205e-03 3.46831884e+00] [ 1.47300396e-03 5.87331302e-03 9.99981667e-01 6.46064467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44925976399995 meters 0.13217904318825818 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.65 [[ 9.99983838e-01 -5.43732133e-03 -1.66094485e-03 -1.26152001e+00] [ 5.42692325e-03 9.99966041e-01 -6.20198155e-03 3.47011365e+00] [ 1.69461061e-03 6.19286749e-03 9.99979388e-01 6.45912673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50925976399995 meters 0.13255232292197053 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.65 [[ 9.99984336e-01 -5.30927699e-03 -1.77164399e-03 -1.26067890e+00] [ 5.29831646e-03 9.99967144e-01 -6.13502112e-03 3.47089499e+00] [ 1.80415830e-03 6.12553829e-03 9.99979611e-01 6.45091440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56925976399995 meters 0.12923306596790138 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.64 [[ 9.99984203e-01 -5.30994525e-03 -1.84364718e-03 -1.26038065e+00] [ 5.29844329e-03 9.99966814e-01 -6.18851985e-03 3.47150834e+00] [ 1.87644670e-03 6.17865363e-03 9.99979151e-01 6.44942955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62925976399995 meters 0.1291921778862266 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.65 [[ 9.99984549e-01 -5.26551907e-03 -1.78237815e-03 -1.26064372e+00] [ 5.25462145e-03 9.99967805e-01 -6.06453319e-03 3.47089785e+00] [ 1.81425369e-03 6.05507376e-03 9.99980022e-01 6.45085787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68925976399996 meters 0.1348003038647367 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.64 [[ 9.99985508e-01 -5.09516837e-03 -1.73844039e-03 -1.26058031e+00] [ 5.08506648e-03 9.99970443e-01 -5.76665428e-03 3.47004052e+00] [ 1.76777109e-03 5.75773063e-03 9.99981862e-01 6.44787942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74925976399996 meters 0.13534487332523373 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.64 [[ 9.99988605e-01 -4.57516265e-03 -1.36318171e-03 -1.26054132e+00] [ 4.56885652e-03 9.99979011e-01 -4.59378904e-03 3.46663472e+00] [ 1.38417043e-03 4.58750851e-03 9.99988519e-01 6.43082736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80925976399996 meters 0.13634451459954272 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.47, Z:0.64 [[ 9.99958767e-01 -8.97166877e-03 -1.40466888e-03 -1.26076277e+00] [ 8.95872067e-03 9.99919657e-01 -8.96772674e-03 3.46645310e+00] [ 1.48501150e-03 8.95477294e-03 9.99958803e-01 6.43664482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86925976399996 meters 0.1375127955403918 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.64 [[ 9.99960427e-01 -8.83981891e-03 -1.00070710e-03 -1.26191199e+00] [ 8.83131265e-03 9.99927320e-01 -8.20746364e-03 3.46294836e+00] [ 1.07318686e-03 8.19830129e-03 9.99965817e-01 6.43737288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92925976399997 meters 0.14296015530065465 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.64 [[ 9.99961940e-01 -8.64643998e-03 -1.16511835e-03 -1.26112769e+00] [ 8.63682123e-03 9.99930523e-01 -8.02213748e-03 3.46304579e+00] [ 1.23440033e-03 8.01176924e-03 9.99967143e-01 6.43191387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98925976399997 meters 0.13704442793195515 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.64 [[ 9.99968449e-01 -7.88237075e-03 -9.84727357e-04 -1.26029799e+00] [ 7.87554246e-03 9.99946167e-01 -6.75562120e-03 3.45967779e+00] [ 1.03792466e-03 6.74765279e-03 9.99976696e-01 6.41098582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04925976399997 meters 0.14472103158120117 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.64 [[ 9.99971031e-01 -7.55805215e-03 -9.02184203e-04 -1.26030747e+00] [ 7.55231459e-03 9.99952247e-01 -6.20208887e-03 3.45766503e+00] [ 9.49016832e-04 6.19509562e-03 9.99980360e-01 6.40747729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10925976399994 meters 0.14218075886740317 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.46, Z:0.64 [[ 9.99971822e-01 -7.46188153e-03 -8.21317066e-04 -1.26081385e+00] [ 7.45689712e-03 9.99954713e-01 -5.91318496e-03 3.45609619e+00] [ 8.65403357e-04 5.90689386e-03 9.99982180e-01 6.41156521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16925976399995 meters 0.14979425900815957 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.45, Z:0.64 [[ 9.99975611e-01 -6.95907910e-03 -5.91019869e-04 -1.26081765e+00] [ 6.95609170e-03 9.99963729e-01 -4.91463018e-03 3.45281117e+00] [ 6.25199732e-04 4.91039913e-03 9.99987748e-01 6.40172610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22925976399995 meters 0.14985140544760242 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.45, Z:0.64 [[ 9.99978692e-01 -6.52535842e-03 -1.87858835e-04 -1.26164180e+00] [ 6.52458539e-03 9.99971275e-01 -3.85723626e-03 3.44830292e+00] [ 2.13023287e-04 3.85592837e-03 9.99992543e-01 6.39816731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28925976399995 meters 0.1483647045315815 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.45, Z:0.64 [[ 9.99979870e-01 -6.34455170e-03 -8.24077192e-05 -1.26212084e+00] [ 6.34422884e-03 9.99973897e-01 -3.45790065e-03 3.44638900e+00] [ 1.04344397e-04 3.45730823e-03 9.99994018e-01 6.40093785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34925976399995 meters 0.15237156714158465 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.44, Z:0.64 [[ 9.99951168e-01 -9.88222141e-03 4.95266320e-05 -1.26156323e+00] [ 9.88233662e-03 9.99930985e-01 -6.35333750e-03 3.44202555e+00] [ 1.32618740e-05 6.35351670e-03 9.99979816e-01 6.38604882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40925976399996 meters 0.1530051313555497 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.44, Z:0.64 [[ 9.99955539e-01 -9.42846154e-03 1.56925203e-04 -1.26131779e+00] [ 9.42918293e-03 9.99940375e-01 -5.50785366e-03 3.43954604e+00] [-1.04985260e-04 5.50908845e-03 9.99984819e-01 6.37667543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46925976399996 meters 0.15475341447159743 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.44, Z:0.64 [[ 9.99957348e-01 -9.22996610e-03 3.31932553e-04 -1.26167223e+00] [ 9.23150889e-03 9.99944922e-01 -4.99322661e-03 3.43758463e+00] [-2.85826958e-04 4.99607787e-03 9.99987479e-01 6.37450704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52925976399996 meters 0.1754477147853948 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.64 [[ 9.99961598e-01 -8.75129835e-03 4.67084066e-04 -1.26152005e+00] [ 8.75315814e-03 9.99953119e-01 -4.14040958e-03 3.43488756e+00] [-4.30828209e-04 4.14433904e-03 9.99991319e-01 6.36587277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58925976399996 meters 0.1637687597069667 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.64 [[ 9.99963213e-01 -8.55466130e-03 6.24997554e-04 -1.26170033e+00] [ 8.55693282e-03 9.99956443e-01 -3.72697080e-03 3.43347172e+00] [-5.93087358e-04 3.73218176e-03 9.99992860e-01 6.36207808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64925976399996 meters 0.1589364219160669 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.64 [[ 9.99963455e-01 -8.52102312e-03 6.94020172e-04 -1.26184792e+00] [ 8.52351681e-03 9.99956928e-01 -3.67311351e-03 3.43324944e+00] [-6.62691594e-04 3.67889477e-03 9.99993013e-01 6.36169333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70925976399997 meters 0.15765277198193844 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.64 [[ 9.99963844e-01 -8.49345012e-03 4.15682635e-04 -1.26115050e+00] [ 8.49500581e-03 9.99956327e-01 -3.89593184e-03 3.43445943e+00] [-3.82574578e-04 3.89932220e-03 9.99992324e-01 6.36222000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76925976399997 meters 0.16425936301163407 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.44, Z:0.64 [[ 9.99965112e-01 -8.34717436e-03 3.14689398e-04 -1.26037284e+00] [ 8.34830353e-03 9.99958022e-01 -3.77613279e-03 3.43500594e+00] [-2.83156150e-04 3.77862817e-03 9.99992821e-01 6.35427725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82925976399997 meters 0.1622523087537393 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99968122e-01 -7.97267107e-03 4.36956383e-04 -1.26005308e+00] [ 7.97401228e-03 9.99963218e-01 -3.15883654e-03 3.43346589e+00] [-4.11755946e-04 3.16222014e-03 9.99994915e-01 6.34406612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88925976399995 meters 0.15806504602485363 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99966717e-01 -8.15135653e-03 3.48044834e-04 -1.26008660e+00] [ 8.15253348e-03 9.99960551e-01 -3.52587470e-03 3.43468197e+00] [-3.19290442e-04 3.52859479e-03 9.99993724e-01 6.34843472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94925976399995 meters 0.15854087122050017 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99966981e-01 -8.12008876e-03 3.17451979e-04 -1.25991153e+00] [ 8.12114814e-03 9.99960926e-01 -3.49189494e-03 3.43495176e+00] [-2.89085078e-04 3.49435771e-03 9.99993853e-01 6.34685575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00925976399995 meters 0.1557114139882881 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99971367e-01 -7.55274472e-03 4.69570827e-04 -1.25928565e+00] [ 7.55389970e-03 9.99968322e-01 -2.50856443e-03 3.43254253e+00] [-4.50609405e-04 2.51203969e-03 9.99996743e-01 6.33025028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06925976399995 meters 0.15511843967371985 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99973403e-01 -7.26166328e-03 6.79147931e-04 -1.25959429e+00] [ 7.26292442e-03 9.99971870e-01 -1.87328081e-03 3.43026826e+00] [-6.65525692e-04 1.87816359e-03 9.99998015e-01 6.32611704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12925976399995 meters 0.16308571878352374 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99972799e-01 -7.35761282e-03 5.17239571e-04 -1.25945343e+00] [ 7.35869759e-03 9.99970661e-01 -2.12758376e-03 3.43112664e+00] [-5.01570458e-04 2.13133210e-03 9.99997603e-01 6.33048448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18925976399996 meters 0.1526809438709242 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99972648e-01 -7.38354669e-03 4.31353634e-04 -1.25932649e+00] [ 7.38449249e-03 9.99970239e-01 -2.23380416e-03 3.43155059e+00] [-4.14847399e-04 2.23692839e-03 9.99997412e-01 6.33201318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24925976399996 meters 0.1535213395524649 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99975233e-01 -7.02145509e-03 4.82206343e-04 -1.25890843e+00] [ 7.02226593e-03 9.99973897e-01 -1.70093387e-03 3.43021961e+00] [-4.70250725e-04 1.70427793e-03 9.99998437e-01 6.32334593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30925976399996 meters 0.16379210642090009 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99978665e-01 -6.48969854e-03 7.44474172e-04 -1.25882433e+00] [ 6.49024375e-03 9.99978670e-01 -7.32274772e-04 3.42718544e+00] [-7.39706050e-04 7.37090967e-04 9.99999455e-01 6.31126559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36925976399996 meters 0.16477598594771353 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99978069e-01 -6.53683304e-03 1.06324680e-03 -1.25971505e+00] [ 6.53737688e-03 9.99978502e-01 -5.08817345e-04 3.42600176e+00] [-1.05989789e-03 5.15757031e-04 9.99999305e-01 6.31261179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42925976399997 meters 0.160319828563972 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99976632e-01 -6.78005377e-03 8.75701957e-04 -1.25969984e+00] [ 6.78096022e-03 9.99976472e-01 -1.03632421e-03 3.42771154e+00] [-8.68655020e-04 1.04223809e-03 9.99999080e-01 6.32057594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48925976399997 meters 0.16883133135775852 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99978429e-01 -6.51259120e-03 8.52623179e-04 -1.25894021e+00] [ 6.51317595e-03 9.99978555e-01 -6.84853159e-04 3.42751893e+00] [-8.48144726e-04 6.90391671e-04 9.99999402e-01 6.30991735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54925976399997 meters 0.16256392892486293 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99943044e-01 -1.06725050e-02 7.58366199e-05 -1.25686180e+00] [ 1.06727589e-02 9.99928466e-01 -5.39956437e-03 3.43082473e+00] [-1.82043172e-05 5.40006622e-03 9.99985419e-01 6.30837951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60925976399994 meters 0.16449923478501252 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99945258e-01 -1.04603188e-02 2.49902711e-04 -1.25687695e+00] [ 1.04614250e-02 9.99933097e-01 -4.93563315e-03 3.42958017e+00] [-1.98257696e-04 4.93797730e-03 9.99987788e-01 6.30145554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66925976399995 meters 0.16210151495684397 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99947725e-01 -1.02190173e-02 3.43826448e-04 -1.25672157e+00] [ 1.02204453e-02 9.99937890e-01 -4.44515059e-03 3.42833840e+00] [-2.98380022e-04 4.44843228e-03 9.99990061e-01 6.29482784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72925976399995 meters 0.1627863759919746 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.43, Z:0.63 [[ 9.99947050e-01 -1.02903149e-02 8.38733715e-05 -1.25620135e+00] [ 1.02905960e-02 9.99935928e-01 -4.71639738e-03 3.42967283e+00] [-3.53347835e-05 4.71701075e-03 9.99988874e-01 6.29727794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78925976399995 meters 0.16721055219144038 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.63 [[ 9.99949078e-01 -1.00826382e-02 -4.27006827e-04 -1.25461297e+00] [ 1.00804556e-02 9.99937490e-01 -4.83736636e-03 3.43138311e+00] [ 4.75753550e-04 4.83281561e-03 9.99988209e-01 6.29323126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84925976399995 meters 0.16754533381647752 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.63 [[ 9.99953733e-01 -9.61049352e-03 -4.13669752e-04 -1.25388951e+00] [ 9.60869454e-03 9.99945220e-01 -4.15085045e-03 3.42985924e+00] [ 4.53538813e-04 4.14668357e-03 9.99991300e-01 6.28119650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90925976399996 meters 0.16485433036419664 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.63 [[ 9.99956346e-01 -9.34090908e-03 -2.29557933e-04 -1.25423333e+00] [ 9.34003459e-03 9.99950066e-01 -3.55372987e-03 3.42759350e+00] [ 2.62741538e-04 3.55143066e-03 9.99993659e-01 6.27879878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96925976399996 meters 0.16700017672797576 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.42, Z:0.63 [[ 9.99958148e-01 -9.14623558e-03 2.19515164e-04 -1.25509083e+00] [ 9.14677254e-03 9.99954828e-01 -2.58434793e-03 3.42416032e+00] [-1.95868193e-04 2.58624763e-03 9.99996636e-01 6.27336028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02925976399996 meters 0.17189145798024885 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.42, Z:0.63 [[ 9.99960032e-01 -8.90354773e-03 8.13493029e-04 -1.25605967e+00] [ 8.90484322e-03 9.99959066e-01 -1.60300204e-03 3.42049778e+00] [-7.99187324e-04 1.61018200e-03 9.99998384e-01 6.26512178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08925976399996 meters 0.1808204811910925 Centerline is valid? [False, False] Translation: X:-1.26, Y:3.42, Z:0.63 [[ 9.99960017e-01 -8.92339602e-03 5.80900730e-04 -1.25521968e+00] [ 8.92442224e-03 9.99958577e-01 -1.78864494e-03 3.42197666e+00] [-5.64915880e-04 1.79375763e-03 9.99998232e-01 6.26146708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14925976399996 meters 0.17169334231996114 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.42, Z:0.62 [[ 9.99960231e-01 -8.90453621e-03 4.96120694e-04 -1.25419239e+00] [ 8.90544889e-03 9.99958599e-01 -1.86884305e-03 3.42386201e+00] [-4.79458973e-04 1.87318690e-03 9.99998131e-01 6.24977353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20925976399997 meters 0.1624124341979998 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.62 [[ 9.99964138e-01 -8.46814986e-03 -1.17063601e-04 -1.25166730e+00] [ 8.46792174e-03 9.99962475e-01 -1.82832911e-03 3.42620035e+00] [ 1.32541773e-04 1.82727226e-03 9.99998322e-01 6.23354584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26925976399997 meters 0.16544204757318604 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.62 [[ 9.99961874e-01 -8.70996744e-03 -6.21349552e-04 -1.25056766e+00] [ 8.70828011e-03 9.99958522e-01 -2.66848401e-03 3.43017818e+00] [ 6.44566188e-04 2.66297138e-03 9.99996247e-01 6.23725405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32925976399997 meters 0.1562096972807448 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.43, Z:0.62 [[ 9.99961643e-01 -8.70731115e-03 -9.46214723e-04 -1.24944259e+00] [ 8.70449389e-03 9.99957788e-01 -2.94180733e-03 3.43225985e+00] [ 9.71790013e-04 2.93345817e-03 9.99995225e-01 6.23316184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38925976399995 meters 0.15106114189874778 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.44, Z:0.62 [[ 9.99958651e-01 -8.93729631e-03 -1.67973538e-03 -1.24763510e+00] [ 8.93037151e-03 9.99951776e-01 -4.08580846e-03 3.43799478e+00] [ 1.71617045e-03 4.07063886e-03 9.99990242e-01 6.23472810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44925976399995 meters 0.1573169414659585 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.44, Z:0.62 [[ 9.99958137e-01 -8.94713855e-03 -1.91665561e-03 -1.24660337e+00] [ 8.93859166e-03 9.99950271e-01 -4.42236427e-03 3.44032032e+00] [ 1.95612780e-03 4.40504693e-03 9.99988384e-01 6.22901134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50925976399995 meters 0.15748760069510384 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.44, Z:0.62 [[ 9.99987436e-01 -4.68281776e-03 -1.78837633e-03 -1.24660692e+00] [ 4.68236215e-03 9.99989004e-01 -2.58865848e-04 3.44148075e+00] [ 1.78956889e-03 2.50488771e-04 9.99998367e-01 6.22343925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56925976399995 meters 0.14708036602989102 Centerline is valid? [False, False] Translation: X:-1.25, Y:3.44, Z:0.62 [[ 9.99986123e-01 -4.81155154e-03 -2.14525755e-03 -1.24554568e+00] [ 4.80996328e-03 9.99988155e-01 -7.44902582e-04 3.44438783e+00] [ 2.14881627e-03 7.34573635e-04 9.99997421e-01 6.22158300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62925976399995 meters 0.14496806555163938 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.45, Z:0.62 [[ 9.99985224e-01 -4.85498600e-03 -2.44570710e-03 -1.24438847e+00] [ 4.85228472e-03 9.99987612e-01 -1.10922710e-03 3.44701261e+00] [ 2.45106208e-03 1.09734345e-03 9.99996394e-01 6.21614436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68925976399996 meters 0.14384640775650706 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.45, Z:0.62 [[ 9.99984694e-01 -4.92374098e-03 -2.52376837e-03 -1.24406799e+00] [ 4.92037457e-03 9.99986999e-01 -1.33836062e-03 3.44819983e+00] [ 2.53032530e-03 1.32592225e-03 9.99995920e-01 6.21494027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74925976399996 meters 0.15491913275411973 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.45, Z:0.62 [[ 9.99983202e-01 -5.13627754e-03 -2.68605764e-03 -1.24340166e+00] [ 5.13146343e-03 9.99985221e-01 -1.79609060e-03 3.45097990e+00] [ 2.69524316e-03 1.78227702e-03 9.99994780e-01 6.21160653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80925976399996 meters 0.14786273681906495 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.45, Z:0.62 [[ 9.99983527e-01 -4.99885975e-03 -2.82074631e-03 -1.24247691e+00] [ 4.99394635e-03 9.99986005e-01 -1.74624012e-03 3.45182425e+00] [ 2.82943604e-03 1.73212470e-03 9.99994497e-01 6.20328807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86925976399996 meters 0.1401601359713284 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.46, Z:0.62 [[ 0.99997715 -0.00541861 -0.00404129 -1.24030387] [ 0.00540306 0.999978 -0.00384821 3.45975726] [ 0.00406205 0.00382629 0.99998443 0.62231626] [ 0. 0. 0. 1. ]] SLAMing on 204.92925976399997 meters 0.13359244993411634 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.46, Z:0.62 [[ 0.99997414 -0.00551894 -0.00460984 -1.23871593] [ 0.00549798 0.99997455 -0.00454717 3.46390692] [ 0.00463482 0.00452171 0.99997904 0.62215484] [ 0. 0. 0. 1. ]] SLAMing on 204.98925976399997 meters 0.13723093903603595 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.47, Z:0.62 [[ 0.99997026 -0.00567971 -0.00521728 -1.23691725] [ 0.00565041 0.99996828 -0.00561437 3.46962945] [ 0.00524901 0.00558472 0.99997063 0.62185186] [ 0. 0. 0. 1. ]] SLAMing on 205.04925976399997 meters 0.1323215031383137 Centerline is valid? [False, False] Translation: X:-1.24, Y:3.47, Z:0.62 [[ 0.99996681 -0.00579612 -0.00572597 -1.23527214] [ 0.00575997 0.99996351 -0.0063092 3.47424278] [ 0.00576233 0.00627601 0.9999637 0.6213516 ] [ 0. 0. 0. 1. ]] SLAMing on 205.10925976399994 meters 0.1303480164930578 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996396 -0.00599991 -0.00600733 -1.23462623] [ 0.00595857 0.9999586 -0.00687756 3.47684424] [ 0.00604834 0.00684152 0.9999583 0.6215705 ] [ 0. 0. 0. 1. ]] SLAMing on 205.16925976399995 meters 0.12457186360185327 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99995898 -0.006249 -0.0065571 -1.23308088] [ 0.00619716 0.99994962 -0.0078968 3.48252359] [ 0.00660612 0.00785584 0.99994732 0.62140612] [ 0. 0. 0. 1. ]] SLAMing on 205.22925976399995 meters 0.1211465488349304 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99995746 -0.0061786 -0.00684892 -1.23177061] [ 0.00612286 0.9999482 -0.00813043 3.48486407] [ 0.0068988 0.00808815 0.99994349 0.62065249] [ 0. 0. 0. 1. ]] SLAMing on 205.28925976399995 meters 0.12189250376422851 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99995942 -0.00583711 -0.00686209 -1.23124053] [ 0.00578441 0.99995382 -0.00767453 3.48380867] [ 0.00690657 0.00763452 0.99994701 0.61990484] [ 0. 0. 0. 1. ]] SLAMing on 205.34925976399995 meters 0.1200163481875245 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996172 -0.00556449 -0.00675242 -1.23134337] [ 0.00551611 0.99995914 -0.00716242 3.48196467] [ 0.006792 0.0071249 0.99995155 0.61957595] [ 0. 0. 0. 1. ]] SLAMing on 205.40925976399996 meters 0.12590867447039514 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996568 -0.0051487 -0.00649098 -1.23153387] [ 0.00510834 0.99996761 -0.0062197 3.47875238] [ 0.0065228 0.00618632 0.99995959 0.61874033] [ 0. 0. 0. 1. ]] SLAMing on 205.46925976399996 meters 0.12872573749141308 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 0.99997081 -0.00461223 -0.00609105 -1.23184854] [ 0.00458198 0.99997715 -0.00497103 3.474447 ] [ 0.00611384 0.00494297 0.99996909 0.61752925] [ 0. 0. 0. 1. ]] SLAMing on 205.52925976399996 meters 0.1322167156791515 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 0.999975 -0.0044756 -0.00547392 -1.23351588] [ 0.0044542 0.99998242 -0.00391512 3.46947645] [ 0.00549134 0.00389064 0.99997735 0.61768108] [ 0. 0. 0. 1. ]] SLAMing on 205.58925976399996 meters 0.13271572161383097 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 0.99997514 -0.00461687 -0.00532941 -1.23451029] [ 0.00459618 0.99998188 -0.00388751 3.46856901] [ 0.00534726 0.00386292 0.99997824 0.61853177] [ 0. 0. 0. 1. ]] SLAMing on 205.64925976399996 meters 0.1388399303808046 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 9.99976632e-01 -4.25322698e-03 -5.35213800e-03 -1.23369103e+00] [ 4.23492822e-03 9.99985165e-01 -3.42566306e-03 3.46789925e+00] [ 5.36662872e-03 3.40291709e-03 9.99979810e-01 6.17394921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70925976399997 meters 0.13601407782110175 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 9.99977990e-01 -3.88263602e-03 -5.38006607e-03 -1.23266712e+00] [ 3.86659895e-03 9.99988060e-01 -2.98803426e-03 3.46760116e+00] [ 5.39160328e-03 2.96716594e-03 9.99981063e-01 6.15986358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76925976399997 meters 0.13493283922584165 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 0.99997567 -0.00413183 -0.00562089 -1.23213758] [ 0.00411186 0.99998521 -0.0035591 3.47036913] [ 0.00563551 0.0035359 0.99997787 0.61614971] [ 0. 0. 0. 1. ]] SLAMing on 205.82925976399994 meters 0.1278954608580867 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.62 [[ 0.99997182 -0.0041597 -0.00624882 -1.23040257] [ 0.00413327 0.99998248 -0.00423678 3.47441612] [ 0.00626633 0.00421083 0.9999715 0.61602774] [ 0. 0. 0. 1. ]] SLAMing on 205.88925976399995 meters 0.12497159257148449 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99997182 -0.00394091 -0.00638925 -1.22942202] [ 0.00391466 0.99998387 -0.00411599 3.47500923] [ 0.00640537 0.00409086 0.99997112 0.61516494] [ 0. 0. 0. 1. ]] SLAMing on 205.94925976399995 meters 0.12370600653327903 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.61 [[ 0.99997008 -0.00399621 -0.00662372 -1.2286086 ] [ 0.00396638 0.99998196 -0.00451172 3.47730799] [ 0.00664163 0.00448532 0.99996788 0.61494908] [ 0. 0. 0. 1. ]] SLAMing on 206.00925976399995 meters 0.12069163777880591 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996523 -0.00437018 -0.00710195 -1.22780003] [ 0.00433018 0.99997474 -0.00563692 3.48210238] [ 0.0071264 0.00560597 0.99995889 0.61578683] [ 0. 0. 0. 1. ]] SLAMing on 206.06925976399995 meters 0.11884409615089937 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996416 -0.00443816 -0.00720999 -1.22738117] [ 0.00439553 0.99997283 -0.00591798 3.48364809] [ 0.00723606 0.00588608 0.9999565 0.61565545] [ 0. 0. 0. 1. ]] SLAMing on 206.12925976399995 meters 0.12333341237580034 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.49, Z:0.62 [[ 0.99996301 -0.00459055 -0.00727342 -1.22738923] [ 0.00454482 0.99996988 -0.00629115 3.48507614] [ 0.00730208 0.00625786 0.99995376 0.61598958] [ 0. 0. 0. 1. ]] SLAMing on 206.18925976399996 meters 0.1164961354406008 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996341 -0.00455468 -0.00724142 -1.22749783] [ 0.00450956 0.9999704 -0.00623426 3.48489539] [ 0.0072696 0.00620138 0.99995435 0.61602616] [ 0. 0. 0. 1. ]] SLAMing on 206.24925976399996 meters 0.12453899336222642 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99996566 -0.00432762 -0.0070681 -1.2277019 ] [ 0.0042872 0.99997442 -0.00572499 3.48320259] [ 0.0070927 0.00569449 0.99995863 0.61558323] [ 0. 0. 0. 1. ]] SLAMing on 206.30925976399996 meters 0.12208067571411146 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.61 [[ 0.99996979 -0.00378219 -0.00679072 -1.22767114] [ 0.00375088 0.9999823 -0.00461767 3.47968831] [ 0.00680807 0.00459205 0.99996628 0.61430857] [ 0. 0. 0. 1. ]] SLAMing on 206.36925976399996 meters 0.1297607102288433 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.61 [[ 9.99972842e-01 -3.44523412e-03 -6.51509539e-03 -1.22814186e+00] [ 3.42098105e-03 9.99987192e-01 -3.73008264e-03 3.47644250e+00] [ 6.52786295e-03 3.70769332e-03 9.99971820e-01 6.13815978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42925976399997 meters 0.12769675645881962 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.61 [[ 0.99997078 -0.00371115 -0.00668403 -1.22842507] [ 0.00368274 0.99998416 -0.00425736 3.47767433] [ 0.00669973 0.00423262 0.9999686 0.61497374] [ 0. 0. 0. 1. ]] SLAMing on 206.48925976399997 meters 0.1274634446255831 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.61 [[ 9.99972944e-01 -3.34397017e-03 -6.55207828e-03 -1.22845294e+00] [ 3.32036494e-03 9.99987970e-01 -3.61028017e-03 3.47541459e+00] [ 6.56407213e-03 3.58842720e-03 9.99972018e-01 6.14463658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54925976399997 meters 0.1272493128705749 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.47, Z:0.61 [[ 9.99974876e-01 -2.87952790e-03 -6.47737406e-03 -1.22817996e+00] [ 2.86127176e-03 9.99991914e-01 -2.82595096e-03 3.47296043e+00] [ 6.48545909e-03 2.80734643e-03 9.99975029e-01 6.13678046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60925976399994 meters 0.12663916095113562 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99994562 -0.00746056 -0.00728643 -1.22699606] [ 0.00740203 0.99994039 -0.00802718 3.47667142] [ 0.00734588 0.00797281 0.99994123 0.61510599] [ 0. 0. 0. 1. ]] SLAMing on 206.66925976399995 meters 0.1252138517711078 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99994514 -0.00738659 -0.00742612 -1.22666857] [ 0.00732711 0.99994112 -0.0080045 3.47678991] [ 0.00748481 0.00794965 0.99994039 0.61516595] [ 0. 0. 0. 1. ]] SLAMing on 206.72925976399995 meters 0.12934648801767643 Centerline is valid? [False, False] Translation: X:-1.23, Y:3.48, Z:0.62 [[ 0.99994393 -0.00732582 -0.00764592 -1.22595461] [ 0.00726351 0.99994044 -0.00814607 3.47791898] [ 0.00770514 0.00809008 0.99993759 0.6150146 ] [ 0. 0. 0. 1. ]] SLAMing on 206.78925976399995 meters 0.1278339546265836 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.61 [[ 0.99994155 -0.007207 -0.00805924 -1.22455029] [ 0.00713956 0.99993952 -0.00836597 3.48009795] [ 0.00811904 0.00830794 0.99993253 0.61455424] [ 0. 0. 0. 1. ]] SLAMing on 206.84925976399995 meters 0.12446555651714328 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.61 [[ 9.99965015e-01 -2.69309000e-03 -7.91930461e-03 -1.22449471e+00] [ 2.66309751e-03 9.99989251e-01 -3.79537229e-03 3.47976187e+00] [ 7.92944076e-03 3.77414963e-03 9.99961439e-01 6.13865758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90925976399996 meters 0.11971598948637673 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.61 [[ 9.99960304e-01 -2.69930681e-03 -8.49140235e-03 -1.22291030e+00] [ 2.66134463e-03 9.99986429e-01 -4.47878829e-03 3.48343650e+00] [ 8.50337673e-03 4.45601196e-03 9.99953917e-01 6.13785970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96925976399996 meters 0.11567677888031752 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.61 [[ 9.99955540e-01 -2.44305928e-03 -9.10761484e-03 -1.22082966e+00] [ 2.39929845e-03 9.99985541e-01 -4.81269598e-03 3.48637722e+00] [ 9.11924085e-03 4.79063013e-03 9.99946943e-01 6.13136004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02925976399996 meters 0.11257977659003664 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.61 [[ 9.99952490e-01 -2.22146109e-03 -9.49124686e-03 -1.21930031e+00] [ 2.17485659e-03 9.99985543e-01 -4.91776463e-03 3.48808244e+00] [ 9.50203427e-03 4.89688888e-03 9.99942864e-01 6.12436652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08925976399996 meters 0.10986800950558206 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.61 [[ 9.99949248e-01 -2.28145162e-03 -9.81311045e-03 -1.21854494e+00] [ 2.22941645e-03 9.99983415e-01 -5.31029111e-03 3.49010950e+00] [ 9.82506287e-03 5.28814409e-03 9.99937750e-01 6.12631660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14925976399996 meters 0.10804657706990342 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.61 [[ 9.99945851e-01 -2.30126613e-03 -1.01488311e-02 -1.21796741e+00] [ 2.24452092e-03 9.99981806e-01 -5.59915519e-03 3.49133248e+00] [ 1.01615316e-02 5.57607273e-03 9.99932823e-01 6.13139884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20925976399997 meters 0.10816339512841877 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.60 [[ 0.99996059 -0.00493059 0.0073824 -1.22237597] [ 0.00496825 0.9999747 -0.00509126 3.49131418] [-0.00735711 0.00512773 0.99995979 0.6044757 ] [ 0. 0. 0. 1. ]] SLAMing on 207.26925976399997 meters 0.10778705688451906 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.60 [[ 0.99996192 -0.00451876 0.00746592 -1.22218649] [ 0.00455091 0.99998042 -0.00429466 3.48874867] [-0.00744637 0.00432847 0.99996291 0.60375736] [ 0. 0. 0. 1. ]] SLAMing on 207.32925976399994 meters 0.11154325308563767 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.60 [[ 0.99993455 -0.008888 0.00720398 -1.22209711] [ 0.00895131 0.99992117 -0.00880493 3.48909723] [-0.00712515 0.00886883 0.99993529 0.60472798] [ 0. 0. 0. 1. ]] SLAMing on 207.38925976399995 meters 0.11408759597157478 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.61 [[ 0.99993341 -0.00880194 0.00746272 -1.22306344] [ 0.00886341 0.99992673 -0.00824408 3.48615782] [-0.00738961 0.00830968 0.99993817 0.60512297] [ 0. 0. 0. 1. ]] SLAMing on 207.44925976399995 meters 0.11509124830535268 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99993412 -0.00858621 0.00761768 -1.2232547 ] [ 0.00864531 0.99993252 -0.00776017 3.48442355] [-0.00755054 0.00782552 0.99994087 0.60477711] [ 0. 0. 0. 1. ]] SLAMing on 207.50925976399995 meters 0.11668584256001381 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 9.99964535e-01 -3.92849030e-03 7.44948165e-03 -1.22214910e+00] [ 3.95060805e-03 9.99987825e-01 -2.95664580e-03 3.48399361e+00] [-7.43777580e-03 2.98597092e-03 9.99967881e-01 6.03589524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56925976399995 meters 0.12039313481123605 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 9.99966787e-01 -3.80004484e-03 7.21008267e-03 -1.22141138e+00] [ 3.82126914e-03 9.99988400e-01 -2.93220855e-03 3.48448254e+00] [-7.19885650e-03 2.95966283e-03 9.99969708e-01 6.03420440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62925976399995 meters 0.11664891867598495 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 9.99969383e-01 -3.39267387e-03 7.05142025e-03 -1.22053587e+00] [ 3.41018988e-03 9.99991126e-01 -2.47350147e-03 3.48338288e+00] [-7.04296589e-03 2.49747242e-03 9.99972079e-01 6.02729767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68925976399996 meters 0.11422502853652496 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 9.99969989e-01 -3.43955668e-03 6.94194361e-03 -1.22068126e+00] [ 3.45745473e-03 9.99990726e-01 -2.56789533e-03 3.48334994e+00] [-6.93304681e-03 2.59181972e-03 9.99972607e-01 6.03360306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74925976399996 meters 0.11964049818721118 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.49, Z:0.60 [[ 0.99994813 -0.00783749 0.0065052 -1.2200114 ] [ 0.00788489 0.99994232 -0.00729299 3.48504658] [-0.00644767 0.00734391 0.99995225 0.6041307 ] [ 0. 0. 0. 1. ]] SLAMing on 207.80925976399996 meters 0.122888604632782 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99994753 -0.007452 0.00702895 -1.22083481] [ 0.00749429 0.99995386 -0.00600905 3.48005546] [-0.00698385 0.00606141 0.99995724 0.60321696] [ 0. 0. 0. 1. ]] SLAMing on 207.86925976399996 meters 0.12652334291231812 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99994654 -0.00737726 0.00724494 -1.2213892 ] [ 0.00741747 0.99995715 -0.00553893 3.47817228] [-0.00720377 0.00559237 0.99995841 0.603105 ] [ 0. 0. 0. 1. ]] SLAMing on 207.92925976399997 meters 0.12205781520812341 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99994898 -0.00734583 0.00693327 -1.22063298] [ 0.00738477 0.99995701 -0.00560747 3.47910148] [-0.00689178 0.00565838 0.99996024 0.60310834] [ 0. 0. 0. 1. ]] SLAMing on 207.98925976399997 meters 0.12335431129427737 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99994969 -0.00737588 0.00679864 -1.22031338] [ 0.00741498 0.99995601 -0.00574353 3.47989499] [-0.00675597 0.00579365 0.99996039 0.60315104] [ 0. 0. 0. 1. ]] SLAMing on 208.04925976399997 meters 0.12516261919976177 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99995192 -0.00710262 0.0067615 -1.21970547] [ 0.00713895 0.99996013 -0.00536422 3.47927552] [-0.00672313 0.00541223 0.99996275 0.6023448 ] [ 0. 0. 0. 1. ]] SLAMing on 208.10925976399994 meters 0.13697756214131557 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99995463 -0.00690443 0.00656219 -1.21886439] [ 0.0069385 0.99996249 -0.00518399 3.47939274] [-0.00652615 0.00522929 0.99996503 0.60184447] [ 0. 0. 0. 1. ]] SLAMing on 208.16925976399995 meters 0.1225896596704106 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99995602 -0.00667383 0.00658945 -1.21881217] [ 0.00670519 0.99996625 -0.00474762 3.47796867] [-0.00655755 0.00479159 0.99996702 0.60160902] [ 0. 0. 0. 1. ]] SLAMing on 208.22925976399995 meters 0.12315300872266036 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99995657 -0.00650885 0.0066699 -1.2189737 ] [ 0.00653828 0.99996894 -0.00440065 3.47661105] [-0.00664104 0.00444407 0.99996807 0.60150294] [ 0. 0. 0. 1. ]] SLAMing on 208.28925976399995 meters 0.13083689282442246 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.48, Z:0.60 [[ 0.99995778 -0.00625221 0.00673456 -1.21880728] [ 0.00627858 0.99997268 -0.00390143 3.47513742] [-0.00670999 0.00394355 0.99996971 0.60092509] [ 0. 0. 0. 1. ]] SLAMing on 208.34925976399995 meters 0.12679433954013405 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 0.99995929 -0.00610467 0.00664416 -1.2183729 ] [ 0.00612946 0.99997431 -0.00371672 3.47493792] [-0.0066213 0.0037573 0.99997102 0.60058423] [ 0. 0. 0. 1. ]] SLAMing on 208.40925976399996 meters 0.1320645377422182 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 0.99996038 -0.00598354 0.00659067 -1.21786907] [ 0.00600654 0.99997592 -0.0034753 3.47485648] [-0.00656971 0.00351475 0.99997224 0.59993339] [ 0. 0. 0. 1. ]] SLAMing on 208.46925976399996 meters 0.13290061949806503 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 9.99963873e-01 -5.55907351e-03 6.43038751e-03 -1.21667202e+00] [ 5.57836262e-03 9.99979984e-01 -2.98564406e-03 3.47423238e+00] [-6.41366139e-03 3.02140723e-03 9.99974868e-01 5.98747378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52925976399996 meters 0.1313343431725961 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 9.99965438e-01 -5.30671063e-03 6.40016098e-03 -1.21607194e+00] [ 5.32376432e-03 9.99982316e-01 -2.65048477e-03 3.47372658e+00] [-6.38598245e-03 2.68446611e-03 9.99976006e-01 5.97928662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58925976399996 meters 0.13141754431029554 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 9.99966149e-01 -5.06232291e-03 6.48639028e-03 -1.21565882e+00] [ 5.07672067e-03 9.99984682e-01 -2.20514936e-03 3.47297564e+00] [-6.47512775e-03 2.23800430e-03 9.99976532e-01 5.96910392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64925976399996 meters 0.13088478869544487 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 9.99966502e-01 -4.86590656e-03 6.58160060e-03 -1.21555003e+00] [ 4.87810639e-03 9.99986411e-01 -1.83884471e-03 3.47199733e+00] [-6.57256352e-03 1.87088886e-03 9.99976650e-01 5.96340251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70925976399997 meters 0.13608913560376482 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.47, Z:0.60 [[ 9.99965387e-01 -5.03723006e-03 6.62198431e-03 -1.21561570e+00] [ 5.05105342e-03 9.99985096e-01 -2.07243197e-03 3.47317072e+00] [-6.61144629e-03 2.10580823e-03 9.99975927e-01 5.96283423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76925976399997 meters 0.13180321640280165 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.48, Z:0.60 [[ 9.99967946e-01 -5.03743814e-03 6.22345463e-03 -1.21435253e+00] [ 5.05329835e-03 9.99984018e-01 -2.53536704e-03 3.47607419e+00] [-6.21058341e-03 2.56673474e-03 9.99977420e-01 5.96026262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82925976399994 meters 0.13946315376784146 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.48, Z:0.60 [[ 9.99970261e-01 -5.06221975e-03 5.81814669e-03 -1.21311669e+00] [ 5.08026366e-03 9.99982319e-01 -3.09073323e-03 3.47936248e+00] [-5.80239785e-03 3.12019904e-03 9.99978298e-01 5.95810682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88925976399995 meters 0.12488467976050303 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.48, Z:0.60 [[ 0.99996984 -0.00525563 0.00571737 -1.2129655 ] [ 0.00527612 0.99997969 -0.00357573 3.4812876 ] [-0.00569847 0.00360579 0.99997726 0.59607497] [ 0. 0. 0. 1. ]] SLAMing on 208.94925976399995 meters 0.12375896992399119 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.49, Z:0.60 [[ 0.99997216 -0.00562641 0.00490117 -1.21140881] [ 0.00565318 0.99996909 -0.00546525 3.48849891] [-0.00487027 0.0054928 0.99997305 0.59754905] [ 0. 0. 0. 1. ]] SLAMing on 209.00925976399995 meters 0.11502566961420321 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.49, Z:0.60 [[ 0.9999732 -0.00581106 0.00445229 -1.21029868] [ 0.00583947 0.9999625 -0.00639523 3.49280705] [-0.00441496 0.00642106 0.99996964 0.59779886] [ 0. 0. 0. 1. ]] SLAMing on 209.06925976399995 meters 0.11695363774140126 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.50, Z:0.60 [[ 0.99997526 -0.00579791 0.00398313 -1.20855487] [ 0.00582618 0.99995766 -0.00712237 3.49727779] [-0.00394166 0.0071454 0.9999667 0.59713326] [ 0. 0. 0. 1. ]] SLAMing on 209.12925976399995 meters 0.11343479076115932 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.50, Z:0.60 [[ 0.9999773 -0.00564109 0.00368552 -1.20711129] [ 0.00566807 0.99995693 -0.00734946 3.49970179] [-0.0036439 0.00737018 0.9999662 0.59623743] [ 0. 0. 0. 1. ]] SLAMing on 209.18925976399996 meters 0.11112385064646933 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.50, Z:0.60 [[ 9.99980156e-01 -5.38702445e-03 3.26601679e-03 -1.20541759e+00] [ 5.41180318e-03 9.99956277e-01 -7.62606999e-03 3.50224635e+00] [-3.22479216e-03 7.64359370e-03 9.99965588e-01 5.95537083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24925976399996 meters 0.10565939339382466 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.60 [[ 9.99980752e-01 -5.40348377e-03 3.04931253e-03 -1.20477841e+00] [ 5.42753864e-03 9.99953778e-01 -7.93626949e-03 3.50398373e+00] [-3.00628808e-03 7.95266699e-03 9.99963858e-01 5.95517089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30925976399996 meters 0.1061276800773865 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99982963e-01 -5.05049454e-03 2.92668272e-03 -1.20373640e+00] [ 5.07289228e-03 9.99957512e-01 -7.69673412e-03 3.50404472e+00] [-2.88768606e-03 7.71144974e-03 9.99966097e-01 5.94608750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36925976399996 meters 0.10546966578682239 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99984118e-01 -4.80685236e-03 2.94231474e-03 -1.20322957e+00] [ 4.82847509e-03 9.99961062e-01 -7.38643528e-03 3.50352901e+00] [-2.90669467e-03 7.40052486e-03 9.99968391e-01 5.93829369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42925976399997 meters 0.10305804090516243 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99985765e-01 -4.45852486e-03 2.93121983e-03 -1.20257899e+00] [ 4.47876246e-03 9.99965928e-01 -6.93422926e-03 3.50262073e+00] [-2.90020353e-03 6.94725879e-03 9.99971662e-01 5.92929039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48925976399997 meters 0.10434300321158624 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99986579e-01 -4.13915447e-03 3.11590111e-03 -1.20278154e+00] [ 4.15884193e-03 9.99971262e-01 -6.33864565e-03 3.50038798e+00] [-3.08957493e-03 6.35151912e-03 9.99975056e-01 5.92525144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54925976399997 meters 0.1045762946447521 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99987945e-01 -3.67774359e-03 3.25326476e-03 -1.20257106e+00] [ 3.69582721e-03 9.99977657e-01 -5.57017049e-03 3.49792911e+00] [-3.23270642e-03 5.58212684e-03 9.99979195e-01 5.91664556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60925976399994 meters 0.10612882014475312 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.49, Z:0.59 [[ 9.99988416e-01 -3.21361627e-03 3.58341268e-03 -1.20271666e+00] [ 3.22964426e-03 9.99984767e-01 -4.47604730e-03 3.49442822e+00] [-3.56897380e-03 4.48756860e-03 9.99983562e-01 5.90450622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66925976399995 meters 0.10669222404164601 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.50, Z:0.59 [[ 9.99964872e-01 -7.64963784e-03 3.42594241e-03 -1.20274764e+00] [ 7.68038478e-03 9.99929522e-01 -9.05335708e-03 3.49544461e+00] [-3.35644606e-03 9.07935161e-03 9.99953149e-01 5.91140651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72925976399995 meters 0.10980858004253996 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.49, Z:0.59 [[ 9.99966335e-01 -7.40872491e-03 3.52700326e-03 -1.20284893e+00] [ 7.43861911e-03 9.99935870e-01 -8.53951673e-03 3.49358737e+00] [-3.46351014e-03 8.56546528e-03 9.99957318e-01 5.90848426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78925976399995 meters 0.1124950837353893 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.49, Z:0.59 [[ 0.99996764 -0.00701632 0.00393556 -1.20352423] [ 0.00704562 0.99994721 -0.00747923 3.48912604] [-0.00388288 0.00750672 0.99996429 0.59029727] [ 0. 0. 0. 1. ]] SLAMing on 209.84925976399995 meters 0.11513465105940418 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.49, Z:0.59 [[ 0.9999689 -0.00667974 0.00419333 -1.20389583] [ 0.0067076 0.99995529 -0.00666559 3.48604502] [-0.00414862 0.00669351 0.99996899 0.58983091] [ 0. 0. 0. 1. ]] SLAMing on 209.90925976399996 meters 0.11835997478366266 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.48, Z:0.59 [[ 0.99996939 -0.00623101 0.00473172 -1.20477485] [ 0.00625536 0.99996718 -0.00514845 3.48007263] [-0.00469949 0.00517789 0.99997555 0.5890113 ] [ 0. 0. 0. 1. ]] SLAMing on 209.96925976399996 meters 0.12079001936868664 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.48, Z:0.59 [[ 0.99993558 -0.01037907 0.00459448 -1.20464526] [ 0.01042096 0.99990347 -0.00918959 3.47884806] [-0.00449866 0.00923688 0.99994722 0.58942758] [ 0. 0. 0. 1. ]] SLAMing on 210.02925976399996 meters 0.12635151136184933 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.47, Z:0.59 [[ 0.9999355 -0.01006284 0.00526631 -1.2059275 ] [ 0.01010241 0.99992053 -0.00754202 3.47242753] [-0.00519 0.00759473 0.99995769 0.58861597] [ 0. 0. 0. 1. ]] SLAMing on 210.08925976399996 meters 0.13256389976403074 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.47, Z:0.59 [[ 0.99993509 -0.00979994 0.00581213 -1.20702114] [ 0.00983701 0.99993124 -0.00638382 3.4675371 ] [-0.00574917 0.00644058 0.99996273 0.5882288 ] [ 0. 0. 0. 1. ]] SLAMing on 210.14925976399996 meters 0.12974045291047182 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.47, Z:0.59 [[ 0.99993688 -0.00969652 0.00567526 -1.20677665] [ 0.00973189 0.99993318 -0.00623919 3.46709224] [-0.00561438 0.00629403 0.99996443 0.58835375] [ 0. 0. 0. 1. ]] SLAMing on 210.20925976399997 meters 0.1464035930499854 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.47, Z:0.59 [[ 0.99993824 -0.00957383 0.00564425 -1.20655197] [ 0.0096081 0.99993538 -0.00607562 3.4667963 ] [-0.00558572 0.00612947 0.99996561 0.5881238 ] [ 0. 0. 0. 1. ]] SLAMing on 210.26925976399997 meters 0.15736629356002302 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.46, Z:0.59 [[ 0.9999434 -0.00884889 0.00590676 -1.20597803] [ 0.00887731 0.99994906 -0.00480241 3.46294015] [-0.00586396 0.00485458 0.99997102 0.58620309] [ 0. 0. 0. 1. ]] SLAMing on 210.32925976399994 meters 0.15570066047564968 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.46, Z:0.59 [[ 0.99994231 -0.00903449 0.00580962 -1.20603227] [ 0.00906447 0.99994564 -0.00515342 3.46414037] [-0.00576274 0.00520579 0.99996984 0.5866978 ] [ 0. 0. 0. 1. ]] SLAMing on 210.38925976399995 meters 0.15310475085166164 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.47, Z:0.59 [[ 0.99994138 -0.009211 0.00569182 -1.20608997] [ 0.0092425 0.99994198 -0.00553234 3.46549099] [-0.00564054 0.00558462 0.9999685 0.58728399] [ 0. 0. 0. 1. ]] SLAMing on 210.44925976399995 meters 0.1511128957434346 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.46, Z:0.59 [[ 0.99994547 -0.0087149 0.0057543 -1.20537706] [ 0.0087425 0.99995032 -0.00478873 3.46367044] [-0.00571228 0.00483877 0.99997198 0.58593233] [ 0. 0. 0. 1. ]] SLAMing on 210.50925976399995 meters 0.15042029189705966 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.46, Z:0.59 [[ 0.99994706 -0.00850097 0.00579709 -1.205059 ] [ 0.00852658 0.99995394 -0.00440734 3.46285759] [-0.00575936 0.00445654 0.99997348 0.58522759] [ 0. 0. 0. 1. ]] SLAMing on 210.56925976399995 meters 0.14926928730137587 Centerline is valid? [False, False] Translation: X:-1.21, Y:3.46, Z:0.59 [[ 0.99994637 -0.0085904 0.00578401 -1.20517301] [ 0.00861673 0.99995256 -0.00454254 3.46330176] [-0.00574471 0.00459213 0.99997295 0.5854542 ] [ 0. 0. 0. 1. ]] SLAMing on 210.62925976399995 meters 0.1473221051615162 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.46, Z:0.59 [[ 0.99994661 -0.00859087 0.00574276 -1.20483177] [ 0.00861707 0.9999525 -0.00455353 3.4639751 ] [-0.00570337 0.00460278 0.99997314 0.58506563] [ 0. 0. 0. 1. ]] SLAMing on 210.68925976399996 meters 0.14569127467012008 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.46, Z:0.58 [[ 0.99994932 -0.00824584 0.00577527 -1.20397249] [ 0.00826913 0.99995773 -0.00402056 3.46335959] [-0.00574187 0.00406812 0.99997524 0.58357566] [ 0. 0. 0. 1. ]] SLAMing on 210.74925976399996 meters 0.1440370617574369 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.46, Z:0.58 [[ 0.99995076 -0.00804949 0.00580343 -1.2035818 ] [ 0.0080715 0.99996029 -0.00377878 3.46298222] [-0.00577278 0.00382544 0.99997602 0.58285763] [ 0. 0. 0. 1. ]] SLAMing on 210.80925976399996 meters 0.1426949138185293 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.46, Z:0.58 [[ 0.99995069 -0.00812677 0.00570756 -1.20335697] [ 0.00814959 0.99995885 -0.00398647 3.46397667] [-0.00567493 0.00403279 0.99997577 0.58292873] [ 0. 0. 0. 1. ]] SLAMing on 210.86925976399996 meters 0.13825843119888798 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99995232 -0.00820205 0.00530015 -1.20216863] [ 0.00822593 0.99995604 -0.00450041 3.46728891] [-0.00526301 0.00454379 0.99997583 0.58268615] [ 0. 0. 0. 1. ]] SLAMing on 210.92925976399997 meters 0.13482141733816916 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99995671 -0.00788821 0.00493522 -1.20037651] [ 0.00791035 0.99995867 -0.0044811 3.46907511] [-0.00489967 0.00451995 0.99997778 0.58136723] [ 0. 0. 0. 1. ]] SLAMing on 210.98925976399997 meters 0.13337773884997955 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99995744 -0.00790751 0.004753 -1.19974083] [ 0.00793007 0.99995729 -0.00474632 3.47070811] [-0.00471527 0.00478381 0.99997744 0.58115474] [ 0. 0. 0. 1. ]] SLAMing on 211.04925976399997 meters 0.13102756515124672 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99995751 -0.00805239 0.00448808 -1.19907206] [ 0.00807573 0.99995383 -0.00520679 3.47317793] [-0.00444595 0.00524281 0.99997637 0.58120311] [ 0. 0. 0. 1. ]] SLAMing on 211.10925976399994 meters 0.13004086800558493 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99996005 -0.007772 0.00441638 -1.19827455] [ 0.00779344 0.99995783 -0.00485868 3.47285546] [-0.00437843 0.0048929 0.99997844 0.58024866] [ 0. 0. 0. 1. ]] SLAMing on 211.16925976399995 meters 0.12874974305863238 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99996178 -0.00752698 0.0044473 -1.19785198] [ 0.00754693 0.99996146 -0.00448652 3.47207911] [-0.00441336 0.00451991 0.99998005 0.57944894] [ 0. 0. 0. 1. ]] SLAMing on 211.22925976399995 meters 0.13389415867825286 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.47, Z:0.58 [[ 0.99996197 -0.00757753 0.00431728 -1.1976123 ] [ 0.00759765 0.99996026 -0.00466359 3.47296189] [-0.00428177 0.00469621 0.99997981 0.57960704] [ 0. 0. 0. 1. ]] SLAMing on 211.28925976399995 meters 0.13021452677205908 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.48, Z:0.58 [[ 0.99996282 -0.00773557 0.00380927 -1.19658493] [ 0.0077564 0.99995488 -0.00548417 3.4766289 ] [-0.00376667 0.00551352 0.99997771 0.58013658] [ 0. 0. 0. 1. ]] SLAMing on 211.34925976399995 meters 0.12312870518841142 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.48, Z:0.58 [[ 0.99996531 -0.00751416 0.00359464 -1.19531501] [ 0.00753347 0.9999571 -0.00538963 3.47768845] [-0.00355398 0.00541652 0.99997902 0.57904188] [ 0. 0. 0. 1. ]] SLAMing on 211.40925976399996 meters 0.12189442279447578 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 9.99965271e-01 -7.64127485e-03 3.32694846e-03 -1.19457706e+00] [ 7.66074306e-03 9.99953375e-01 -5.87879075e-03 3.48024912e+00] [-3.28187189e-03 5.90407348e-03 9.99977185e-01 5.79001141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46925976399996 meters 0.12741667972968054 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 9.99965137e-01 -7.68220951e-03 3.27227236e-03 -1.19431522e+00] [ 7.70175642e-03 9.99952320e-01 -6.00338230e-03 3.48115954e+00] [-3.22599710e-03 6.02837525e-03 9.99976626e-01 5.78819817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52925976399996 meters 0.11978388301805738 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 9.99965198e-01 -7.60632044e-03 3.42724959e-03 -1.19447227e+00] [ 7.62597943e-03 9.99954332e-01 -5.75999848e-03 3.48058608e+00] [-3.38328069e-03 5.78593415e-03 9.99977538e-01 5.78369169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58925976399996 meters 0.12183480414913432 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 0.99996535 -0.00751255 0.00358712 -1.19475425] [ 0.00753211 0.99995667 -0.00547033 3.4796178 ] [-0.00354587 0.00549716 0.9999786 0.5780952 ] [ 0. 0. 0. 1. ]] SLAMing on 211.64925976399996 meters 0.1249988620672232 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 0.99996457 -0.00757221 0.00367591 -1.19493781] [ 0.00759219 0.99995632 -0.0054511 3.47976739] [-0.00363448 0.00547881 0.99997839 0.57795966] [ 0. 0. 0. 1. ]] SLAMing on 211.70925976399997 meters 0.12644475454664786 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 0.99996488 -0.00756136 0.00361516 -1.19458996] [ 0.00758119 0.99995612 -0.00550396 3.480386 ] [-0.00357338 0.00553118 0.99997832 0.57768244] [ 0. 0. 0. 1. ]] SLAMing on 211.76925976399997 meters 0.12017479083708224 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.58 [[ 9.99966283e-01 -7.58371192e-03 3.14976818e-03 -1.19308757e+00] [ 7.60278053e-03 9.99952573e-01 -6.08677621e-03 3.48387729e+00] [-3.10345844e-03 6.11051797e-03 9.99976515e-01 5.77303414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82925976399994 meters 0.12101197866831266 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.49, Z:0.58 [[ 9.99968117e-01 -7.54583350e-03 2.61236904e-03 -1.19156621e+00] [ 7.56306050e-03 9.99949297e-01 -6.64855051e-03 3.48716313e+00] [-2.56206773e-03 6.66809605e-03 9.99974486e-01 5.77200304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88925976399995 meters 0.1159128702772592 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.49, Z:0.58 [[ 9.99972084e-01 -7.13656048e-03 2.21359291e-03 -1.18973340e+00] [ 7.15088741e-03 9.99953089e-01 -6.53331283e-03 3.48820445e+00] [-2.16686369e-03 6.54895960e-03 9.99976208e-01 5.76021499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94925976399995 meters 0.1116615815826822 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.49, Z:0.58 [[ 9.99975600e-01 -6.73345998e-03 1.86008493e-03 -1.18847975e+00] [ 6.74497733e-03 9.99957679e-01 -6.25656319e-03 3.48789114e+00] [-1.81787789e-03 6.26895676e-03 9.99978698e-01 5.75543869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00925976399995 meters 0.109470715234536 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.49, Z:0.58 [[ 9.99977691e-01 -6.45140652e-03 1.73141069e-03 -1.18797450e+00] [ 6.46156571e-03 9.99961555e-01 -5.92757397e-03 3.48692757e+00] [-1.69310294e-03 5.93862935e-03 9.99980933e-01 5.75270475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06925976399995 meters 0.1072222409216329 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.57 [[ 9.99982583e-01 -5.62631543e-03 1.78282036e-03 -1.18733539e+00] [ 5.63454287e-03 9.99973343e-01 -4.64392566e-03 3.48261662e+00] [-1.75664464e-03 4.65389015e-03 9.99987628e-01 5.74029040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12925976399995 meters 0.10708735031448512 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.57 [[ 9.99985598e-01 -5.00867445e-03 1.92805616e-03 -1.18721021e+00] [ 5.01562680e-03 9.99980876e-01 -3.61810081e-03 3.47888825e+00] [-1.90989740e-03 3.62771911e-03 9.99991596e-01 5.73216587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18925976399996 meters 0.10715412432835086 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.48, Z:0.57 [[ 9.99987951e-01 -4.46820136e-03 2.03291389e-03 -1.18725344e+00] [ 4.47363389e-03 9.99986414e-01 -2.67563433e-03 3.47521070e+00] [-2.02093099e-03 2.68469660e-03 9.99994354e-01 5.72837473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24925976399996 meters 0.10899012649348522 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.47, Z:0.57 [[ 9.99962510e-01 -8.44112906e-03 1.93043955e-03 -1.18742469e+00] [ 8.45332426e-03 9.99943796e-01 -6.39891104e-03 3.47235648e+00] [-1.87631702e-03 6.41498977e-03 9.99977663e-01 5.73541103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30925976399996 meters 0.11559648011914751 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.47, Z:0.57 [[ 9.99967686e-01 -7.64494553e-03 2.48647571e-03 -1.18790417e+00] [ 7.65642905e-03 9.99959914e-01 -4.64213726e-03 3.46584717e+00] [-2.45088716e-03 4.66102477e-03 9.99986134e-01 5.71999049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36925976399996 meters 0.11843523911548443 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.46, Z:0.57 [[ 9.99927520e-01 -1.17429363e-02 2.65674912e-03 -1.18887951e+00] [ 1.17646238e-02 9.99896343e-01 -8.30036384e-03 3.46227029e+00] [-2.55900309e-03 8.33101788e-03 9.99962022e-01 5.72909459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42925976399997 meters 0.12153590625815817 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.46, Z:0.57 [[ 9.99931186e-01 -1.12948458e-02 3.17025966e-03 -1.18975655e+00] [ 1.13167959e-02 9.99911508e-01 -6.99335987e-03 3.45720504e+00] [-3.09099019e-03 7.02875581e-03 9.99970521e-01 5.72201319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48925976399997 meters 0.1324073644001756 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.45, Z:0.57 [[ 0.99993356 -0.0107122 0.00425711 -1.19153137] [ 0.01073133 0.9999323 -0.00449713 3.44847717] [-0.00420865 0.00454252 0.99998083 0.57018417] [ 0. 0. 0. 1. ]] SLAMing on 212.54925976399994 meters 0.13499814115077574 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99934713e-01 -1.03320875e-02 4.88032591e-03 -1.19254410e+00] [ 1.03476489e-02 9.99941424e-01 -3.17418416e-03 3.44363554e+00] [-4.84724409e-03 3.22447683e-03 9.99983053e-01 5.69189439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60925976399994 meters 0.14016641715449424 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99933480e-01 -1.00171483e-02 5.71769350e-03 -1.19418075e+00] [ 1.00272008e-02 9.99948226e-01 -1.73219716e-03 3.43771415e+00] [-5.70004580e-03 1.78941440e-03 9.99982154e-01 5.68486654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66925976399995 meters 0.1433524792957983 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99932298e-01 -9.78709258e-03 6.29389095e-03 -1.19521767e+00] [ 9.79199756e-03 9.99951777e-01 -7.48981137e-04 3.43405263e+00] [-6.28625709e-03 8.10560194e-04 9.99979913e-01 5.67787623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72925976399995 meters 0.15193028362444808 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99932665e-01 -9.51860421e-03 6.63787115e-03 -1.19568026e+00] [ 9.51898638e-03 9.99954693e-01 -2.59824588e-05 3.43165615e+00] [-6.63732309e-03 8.91665143e-05 9.99977969e-01 5.67072364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78925976399995 meters 0.16606820037296322 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99936048e-01 -9.25202879e-03 6.50385915e-03 -1.19514358e+00] [ 9.25032373e-03 9.99957172e-01 2.92194268e-04 3.43090134e+00] [-6.50628399e-03 -2.32012778e-04 9.99978807e-01 5.66790445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84925976399995 meters 0.16448732489623832 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99936376e-01 -9.23233899e-03 6.48128978e-03 -1.19534867e+00] [ 9.23082850e-03 9.99957360e-01 2.62930531e-04 3.43064621e+00] [-6.48344088e-03 -2.03086128e-04 9.99978962e-01 5.67247465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90925976399996 meters 0.1762090516890132 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99940891e-01 -8.49969897e-03 6.78003577e-03 -1.19521638e+00] [ 8.48995154e-03 9.99962886e-01 1.46515393e-03 3.42656339e+00] [-6.79223750e-03 -1.40750515e-03 9.99975942e-01 5.65870036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96925976399996 meters 0.16141598025244547 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99941930e-01 -8.38087910e-03 6.77482000e-03 -1.19528951e+00] [ 8.36965136e-03 9.99963556e-01 1.68393148e-03 3.42571584e+00] [-6.78868592e-03 -1.62713082e-03 9.99975633e-01 5.65993099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02925976399996 meters 0.16542672461342778 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99941993e-01 -8.37218044e-03 6.77628972e-03 -1.19548590e+00] [ 8.36106905e-03 9.99963657e-01 1.66641713e-03 3.42553877e+00] [-6.78999500e-03 -1.60966344e-03 9.99975652e-01 5.66335374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08925976399996 meters 0.17111296018508923 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99941125e-01 -8.42920431e-03 6.83333984e-03 -1.19610193e+00] [ 8.41855377e-03 9.99963306e-01 1.58588361e-03 3.42501749e+00] [-6.84645683e-03 -1.52826341e-03 9.99975395e-01 5.67111659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14925976399996 meters 0.16992080216734567 Centerline is valid? [False, False] Translation: X:-1.20, Y:3.43, Z:0.57 [[ 9.99941703e-01 -8.36846742e-03 6.82351056e-03 -1.19595007e+00] [ 8.35729621e-03 9.99963693e-01 1.66403807e-03 3.42504493e+00] [-6.83718827e-03 -1.60691496e-03 9.99975335e-01 5.66945530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20925976399997 meters 0.16635168938303943 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99945235e-01 -8.15462179e-03 6.55958931e-03 -1.19483648e+00] [ 8.14320216e-03 9.99965285e-01 1.76573485e-03 3.42561758e+00] [-6.57376049e-03 -1.71222209e-03 9.99976927e-01 5.66277127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26925976399997 meters 0.16037520565950908 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99945802e-01 -8.48018295e-03 6.03976197e-03 -1.19429343e+00] [ 8.47583768e-03 9.99963802e-01 7.44677469e-04 3.42905090e+00] [-6.04585834e-03 -6.93445068e-04 9.99981483e-01 5.67689323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32925976399994 meters 0.1569590105862144 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 0.99990426 -0.01276835 0.00533293 -1.19263814] [ 0.01279107 0.99990917 -0.0042481 3.43270429] [-0.0052782 0.0043159 0.99997676 0.56805255] [ 0. 0. 0. 1. ]] SLAMing on 213.38925976399995 meters 0.15888758498253241 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 0.99990528 -0.01271078 0.00527827 -1.19222894] [ 0.01273322 0.99990994 -0.00423936 3.43321706] [-0.00522391 0.00430617 0.99997708 0.56767024] [ 0. 0. 0. 1. ]] SLAMing on 213.44925976399995 meters 0.15515291636608633 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 0.99990201 -0.01289248 0.00545528 -1.19291008] [ 0.01291612 0.99990725 -0.00432009 3.43329942] [-0.00539908 0.00439013 0.99997579 0.568009 ] [ 0. 0. 0. 1. ]] SLAMing on 213.50925976399995 meters 0.15696994373333795 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99946268e-01 -8.56331451e-03 5.84218522e-03 -1.19399130e+00] [ 8.56073505e-03 9.99963247e-01 4.66387298e-04 3.43113635e+00] [-5.84596433e-03 -4.16348838e-04 9.99982826e-01 5.68011371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56925976399995 meters 0.15276122292996527 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99946435e-01 -8.70928966e-03 5.59235759e-03 -1.19349589e+00] [ 8.70954525e-03 9.99962071e-01 -2.13510623e-05 3.43326535e+00] [-5.59195953e-03 7.00568102e-05 9.99984362e-01 5.68320584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62925976399995 meters 0.15083093075966472 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99952238e-01 -8.21687227e-03 5.29189175e-03 -1.19155747e+00] [ 8.21483983e-03 9.99966175e-01 4.05689628e-04 3.43369515e+00] [-5.29504626e-03 -3.62198208e-04 9.99985916e-01 5.66519923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68925976399996 meters 0.16538283044704072 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.43, Z:0.57 [[ 9.99953415e-01 -8.13121972e-03 5.20107062e-03 -1.19090353e+00] [ 8.12906150e-03 9.99966864e-01 4.35963755e-04 3.43440303e+00] [-5.20444319e-03 -3.93663623e-04 9.99986379e-01 5.65899354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74925976399996 meters 0.14341461092427793 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99952480e-01 -8.56775428e-03 4.65101867e-03 -1.19043142e+00] [ 8.57094925e-03 9.99963046e-01 -6.67443491e-04 3.43822394e+00] [-4.64512831e-03 7.07275419e-04 9.99988961e-01 5.67470269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80925976399996 meters 0.14089343419002637 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99953225e-01 -8.67655419e-03 4.27374058e-03 -1.18959058e+00] [ 8.68169122e-03 9.99961611e-01 -1.18491707e-03 3.44075329e+00] [-4.26329552e-03 1.22196495e-03 9.99990166e-01 5.67713652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86925976399996 meters 0.1572090414080114 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99957426e-01 -8.26395374e-03 4.10535483e-03 -1.18824160e+00] [ 8.26731414e-03 9.99965503e-01 -8.02244951e-04 3.44075070e+00] [-4.09858349e-03 8.36151054e-04 9.99991251e-01 5.66361686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92925976399997 meters 0.14343434123330065 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99958204e-01 -8.16711257e-03 4.10947447e-03 -1.18813599e+00] [ 8.17009282e-03 9.99966373e-01 -7.08950974e-04 3.44054831e+00] [-4.10354620e-03 7.42496131e-04 9.99991305e-01 5.66198465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98925976399997 meters 0.15474867195592054 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99957289e-01 -8.28166552e-03 4.10296402e-03 -1.18842614e+00] [ 8.28531634e-03 9.99965295e-01 -8.73603931e-04 3.44091873e+00] [-4.09558673e-03 9.07560973e-04 9.99991201e-01 5.66681429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04925976399994 meters 0.15301181698144728 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99958148e-01 -8.22497714e-03 4.00650501e-03 -1.18840237e+00] [ 8.22840851e-03 9.99965793e-01 -8.40719022e-04 3.44062554e+00] [-3.99945306e-03 8.73650996e-04 9.99991621e-01 5.67040311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10925976399994 meters 0.14980446621588642 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99959928e-01 -7.98992298e-03 4.03770402e-03 -1.18828740e+00] [ 7.99184186e-03 9.99967959e-01 -4.59329932e-04 3.43943108e+00] [-4.03390463e-03 4.91580218e-04 9.99991743e-01 5.66718483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16925976399995 meters 0.14789846744294302 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99964747e-01 -7.56375106e-03 3.64606888e-03 -1.18687620e+00] [ 7.56426200e-03 9.99971383e-01 -1.26366342e-04 3.43915380e+00] [-3.64500873e-03 1.53941707e-04 9.99993345e-01 5.66119997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22925976399995 meters 0.14493926960291034 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99967609e-01 -7.32902573e-03 3.32667107e-03 -1.18582075e+00] [ 7.32906566e-03 9.99973142e-01 1.86579654e-07 3.43951796e+00] [-3.32658309e-03 2.41948171e-05 9.99994467e-01 5.65761549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28925976399995 meters 0.14054674603157574 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.57 [[ 9.99970986e-01 -6.91861222e-03 3.18742669e-03 -1.18508300e+00] [ 6.91693025e-03 9.99975933e-01 5.38413042e-04 3.43811967e+00] [-3.19107505e-03 -5.16350212e-04 9.99994775e-01 5.65165158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34925976399995 meters 0.13952580725906913 Centerline is valid? [False, False] Translation: X:-1.19, Y:3.44, Z:0.56 [[ 9.99972492e-01 -6.66022380e-03 3.26460536e-03 -1.18504378e+00] [ 6.65690323e-03 9.99977315e-01 1.02695586e-03 3.43659680e+00] [-3.27137106e-03 -1.00519545e-03 9.99994144e-01 5.64766538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40925976399996 meters 0.1400118514667012 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.57 [[ 9.99934021e-01 -1.11434632e-02 2.78862783e-03 -1.18423392e+00] [ 1.11540983e-02 9.99930465e-01 -3.82772143e-03 3.43901841e+00] [-2.74577985e-03 3.85857351e-03 9.99988786e-01 5.65514500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46925976399996 meters 0.1426296980411862 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99938440e-01 -1.07109957e-02 2.89657199e-03 -1.18391946e+00] [ 1.07197559e-02 9.99937963e-01 -3.02590368e-03 3.43671213e+00] [-2.86398185e-03 3.05676795e-03 9.99991227e-01 5.64550648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52925976399996 meters 0.15075404311288426 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99939531e-01 -1.05535466e-02 3.09141766e-03 -1.18427106e+00] [ 1.05614567e-02 9.99940965e-01 -2.55370072e-03 3.43510358e+00] [-3.06428456e-03 2.58619617e-03 9.99991961e-01 5.64258262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58925976399996 meters 0.1497273345512265 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99940345e-01 -1.04773895e-02 3.08714552e-03 -1.18402004e+00] [ 1.04848693e-02 9.99942112e-01 -2.41676464e-03 3.43514882e+00] [-3.06164543e-03 2.44898878e-03 9.99992314e-01 5.63861443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64925976399996 meters 0.14484427978897535 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99942323e-01 -1.03494040e-02 2.87047238e-03 -1.18316752e+00] [ 1.03563080e-02 9.99943490e-01 -2.40081031e-03 3.43586053e+00] [-2.84546321e-03 2.43039933e-03 9.99992998e-01 5.63421623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70925976399997 meters 0.1390041556436368 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99943771e-01 -1.03747429e-02 2.19525425e-03 -1.18123296e+00] [ 1.03814299e-02 9.99941439e-01 -3.05696559e-03 3.43985940e+00] [-2.16341046e-03 3.07958358e-03 9.99992918e-01 5.63078632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76925976399997 meters 0.1382999013420131 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99944558e-01 -1.03778134e-02 1.78368486e-03 -1.18012446e+00] [ 1.03839819e-02 9.99940014e-01 -3.48450616e-03 3.44208028e+00] [-1.74741631e-03 3.50283473e-03 9.99992338e-01 5.63081718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82925976399994 meters 0.14233409873911732 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.45, Z:0.56 [[ 9.99943980e-01 -1.05133248e-02 1.22768601e-03 -1.17874010e+00] [ 1.05184045e-02 9.99935829e-01 -4.20714817e-03 3.44576316e+00] [-1.18337611e-03 4.21982579e-03 9.99990396e-01 5.63230877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88925976399995 meters 0.14011727680131764 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.44, Z:0.56 [[ 9.99983213e-01 -5.62903127e-03 1.37371811e-03 -1.17771865e+00] [ 5.62769988e-03 9.99983693e-01 9.71133210e-04 3.44447453e+00] [-1.37916225e-03 -9.63386035e-04 9.99998585e-01 5.60946163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94925976399995 meters 0.13905346514958214 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.45, Z:0.56 [[ 9.99947918e-01 -1.01841936e-02 6.65347248e-04 -1.17642919e+00] [ 1.01870038e-02 9.99938578e-01 -4.36645584e-03 3.44867602e+00] [-6.20837549e-04 4.37300632e-03 9.99990246e-01 5.61982463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00925976399995 meters 0.1354814234342581 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.45, Z:0.56 [[ 9.99947510e-01 -1.02235934e-02 6.75405224e-04 -1.17635066e+00] [ 1.02265027e-02 9.99937786e-01 -4.45455576e-03 3.44936020e+00] [-6.29821637e-04 4.46122898e-03 9.99989850e-01 5.61828890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06925976399995 meters 0.13883579519669387 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.45, Z:0.56 [[ 9.99946247e-01 -1.03488784e-02 6.35820153e-04 -1.17612744e+00] [ 1.03517363e-02 9.99935518e-01 -4.66929183e-03 3.45077988e+00] [-5.87457220e-04 4.67562269e-03 9.99988897e-01 5.61634283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12925976399995 meters 0.13490376864305817 Centerline is valid? [False, False] Translation: X:-1.18, Y:3.45, Z:0.56 [[ 9.99946657e-01 -1.03169389e-02 4.93137295e-04 -1.17509567e+00] [ 1.03192001e-02 9.99935107e-01 -4.82666538e-03 3.45273362e+00] [-4.43308882e-04 4.83149670e-03 9.99988230e-01 5.60628466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18925976399996 meters 0.13290180005038765 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99946383e-01 -1.03543422e-02 1.39513001e-04 -1.17385028e+00] [ 1.03549405e-02 9.99932071e-01 -5.35050315e-03 3.45596508e+00] [-8.41025840e-05 5.35166091e-03 9.99985676e-01 5.60171829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24925976399996 meters 0.12951372593006594 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99983826e-01 -5.68630455e-03 1.19478898e-04 -1.17287593e+00] [ 5.68639000e-03 9.99983568e-01 -7.27429283e-04 3.45620268e+00] [-1.15340550e-04 7.28096921e-04 9.99999728e-01 5.58701675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30925976399996 meters 0.12277909951250407 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99983604e-01 -5.72271836e-03 -2.04422928e-04 -1.17187216e+00] [ 5.72247426e-03 9.99982936e-01 -1.17536958e-03 3.45872641e+00] [ 2.11145749e-04 1.17418050e-03 9.99999288e-01 5.58509695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36925976399996 meters 0.1280543951833235 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99983053e-01 -5.77673730e-03 -7.23505467e-04 -1.17047697e+00] [ 5.77537482e-03 9.99981571e-01 -1.87130824e-03 3.46221367e+00] [ 7.34302190e-04 1.86709801e-03 9.99997987e-01 5.58526288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42925976399997 meters 0.12105576770945732 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99983575e-01 -5.64749671e-03 -9.77079880e-04 -1.16937090e+00] [ 5.64552720e-03 9.99982050e-01 -2.00686807e-03 3.46373196e+00] [ 9.88396122e-04 2.00131897e-03 9.99997509e-01 5.57925264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48925976399997 meters 0.12093468667874217 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.47, Z:0.56 [[ 9.99983713e-01 -5.53412559e-03 -1.39576412e-03 -1.16804841e+00] [ 5.53085382e-03 9.99981974e-01 -2.33713714e-03 3.46580857e+00] [ 1.40867297e-03 2.32937931e-03 9.99996295e-01 5.57667250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54925976399994 meters 0.11888001079722382 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.47, Z:0.56 [[ 9.99984882e-01 -5.28629097e-03 -1.51331502e-03 -1.16714247e+00] [ 5.28312818e-03 9.99983868e-01 -2.08640140e-03 3.46599304e+00] [ 1.52431993e-03 2.07837482e-03 9.99996678e-01 5.56735423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60925976399994 meters 0.11767233386861059 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.47, Z:0.56 [[ 9.99984824e-01 -5.28339736e-03 -1.56134700e-03 -1.16711353e+00] [ 5.28000389e-03 9.99983707e-01 -2.16961324e-03 3.46626621e+00] [ 1.57278449e-03 2.16133640e-03 9.99996427e-01 5.56925458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66925976399995 meters 0.12053147126923631 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.47, Z:0.56 [[ 9.99985698e-01 -5.12031344e-03 -1.54442000e-03 -1.16692765e+00] [ 5.11733516e-03 9.99985051e-01 -1.92623712e-03 3.46572162e+00] [ 1.55425985e-03 1.91830626e-03 9.99996952e-01 5.56543881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72925976399995 meters 0.11990263050668158 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99987538e-01 -4.79346468e-03 -1.39492817e-03 -1.16661943e+00] [ 4.79165945e-03 9.99987682e-01 -1.29461455e-03 3.46428912e+00] [ 1.40111668e-03 1.28791439e-03 9.99998189e-01 5.55358363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78925976399995 meters 0.12109864906746527 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.47, Z:0.56 [[ 9.99957039e-01 -9.11189970e-03 -1.70078767e-03 -1.16598565e+00] [ 9.10180199e-03 9.99941446e-01 -5.85328053e-03 3.46540908e+00] [ 1.75402259e-03 5.83754883e-03 9.99981423e-01 5.55742834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84925976399995 meters 0.1219710702423174 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99959093e-01 -8.92205224e-03 -1.48649643e-03 -1.16630792e+00] [ 8.91404108e-03 9.99946163e-01 -5.31146033e-03 3.46363204e+00] [ 1.53380552e-03 5.29799236e-03 9.99984789e-01 5.55268025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90925976399996 meters 0.1232265661798673 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99958726e-01 -8.99686959e-03 -1.26619555e-03 -1.16711235e+00] [ 8.99021865e-03 9.99946254e-01 -5.16386077e-03 3.46270183e+00] [ 1.31258608e-03 5.15226426e-03 9.99985866e-01 5.55562756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96925976399996 meters 0.12579641369846115 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.56 [[ 9.99960508e-01 -8.82944815e-03 -1.01203840e-03 -1.16753001e+00] [ 8.82463919e-03 9.99950196e-01 -4.66161248e-03 3.46098797e+00] [ 1.05314746e-03 4.65249751e-03 9.99988623e-01 5.55117493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02925976399996 meters 0.12902620085146058 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.55 [[ 9.99965227e-01 -8.32822694e-03 -4.30109295e-04 -1.16797983e+00] [ 8.32677297e-03 9.99959958e-01 -3.27831215e-03 3.45661365e+00] [ 4.57394600e-04 3.27461673e-03 9.99994534e-01 5.53320172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08925976399996 meters 0.1314097458202587 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.55 [[ 9.99967371e-01 -8.06202286e-03 -5.10825756e-04 -1.16749195e+00] [ 8.06049885e-03 9.99963255e-01 -2.91837933e-03 3.45576590e+00] [ 5.34335027e-04 2.91416660e-03 9.99995611e-01 5.52850982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14925976399996 meters 0.12834611737817042 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.55 [[ 9.99967159e-01 -8.07536444e-03 -6.84468984e-04 -1.16709107e+00] [ 8.07318573e-03 9.99962518e-01 -3.12820850e-03 3.45680607e+00] [ 7.09704753e-04 3.12257992e-03 9.99994873e-01 5.52980323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20925976399997 meters 0.12802948032829584 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.55 [[ 9.99971321e-01 -7.52770557e-03 -8.31250469e-04 -1.16580111e+00] [ 7.52559928e-03 9.99968536e-01 -2.50858843e-03 3.45582121e+00] [ 8.50108229e-04 2.50226083e-03 9.99996508e-01 5.51625353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26925976399997 meters 0.131700753923038 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.46, Z:0.55 [[ 9.99972477e-01 -7.37311215e-03 -8.26196070e-04 -1.16570697e+00] [ 7.37119734e-03 9.99970194e-01 -2.29718174e-03 3.45514701e+00] [ 8.43108823e-04 2.29102846e-03 9.99997020e-01 5.51447977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32925976399994 meters 0.12561875973963127 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.45, Z:0.55 [[ 9.99974717e-01 -7.07405210e-03 -7.23744182e-04 -1.16584763e+00] [ 7.07277508e-03 9.99973453e-01 -1.75206337e-03 3.45305606e+00] [ 7.36119156e-04 1.74690019e-03 9.99998203e-01 5.51227043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38925976399995 meters 0.1254550926827669 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.45, Z:0.55 [[ 9.99977431e-01 -6.68451050e-03 -6.74783040e-04 -1.16551866e+00] [ 6.68378691e-03 9.99977092e-01 -1.06895250e-03 3.45113440e+00] [ 6.81913006e-04 1.06441827e-03 9.99999201e-01 5.50445492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44925976399995 meters 0.12883714805686705 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.45, Z:0.55 [[ 9.99979822e-01 -6.33795157e-03 -4.30345640e-04 -1.16579359e+00] [ 6.33780269e-03 9.99979856e-01 -3.46448421e-04 3.44854843e+00] [ 4.32532744e-04 3.43713985e-04 9.99999847e-01 5.49871965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50925976399995 meters 0.13113074753132012 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.45, Z:0.55 [[ 9.99941989e-01 -1.07465743e-02 -7.28181889e-04 -1.16558025e+00] [ 1.07428351e-02 9.99930004e-01 -4.95775969e-03 3.44927879e+00] [ 7.81409852e-04 4.94964934e-03 9.99987445e-01 5.50877278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56925976399995 meters 0.12771544227668163 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.45, Z:0.55 [[ 9.99943430e-01 -1.06305625e-02 -3.59022323e-04 -1.16655497e+00] [ 1.06288652e-02 9.99933664e-01 -4.43797832e-03 3.44692371e+00] [ 4.06176713e-04 4.43391127e-03 9.99990088e-01 5.50889460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62925976399995 meters 0.13388468978604418 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.44, Z:0.55 [[ 9.99945172e-01 -1.04715114e-02 -2.55489437e-05 -1.16778522e+00] [ 1.04713414e-02 9.99938108e-01 -3.75925372e-03 3.44324231e+00] [ 6.49124307e-05 3.75878008e-03 9.99992934e-01 5.51486025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68925976399996 meters 0.13416753847432558 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.44, Z:0.55 [[ 9.99948561e-01 -1.01389900e-02 2.77242932e-04 -1.16837203e+00] [ 1.01397598e-02 9.99944291e-01 -2.93259733e-03 3.43997769e+00] [-2.47493912e-04 2.93525766e-03 9.99995661e-01 5.51163352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74925976399996 meters 0.1477423586587127 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.44, Z:0.55 [[ 9.99904807e-01 -1.37929644e-02 3.60688796e-04 -1.16786487e+00] [ 1.37948710e-02 9.99887060e-01 -5.96399051e-03 3.43592090e+00] [-2.78386951e-04 5.96839844e-03 9.99982150e-01 5.50051257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80925976399996 meters 0.14459930878229038 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.43, Z:0.55 [[ 9.99911500e-01 -1.32751333e-02 8.73736950e-04 -1.16885330e+00] [ 1.32788521e-02 9.99902161e-01 -4.39769207e-03 3.42979728e+00] [-8.15271516e-04 4.40890510e-03 9.99989948e-01 5.49384167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86925976399996 meters 0.14458022766569809 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.43, Z:0.55 [[ 9.99914195e-01 -1.30538610e-02 1.09494608e-03 -1.16944070e+00] [ 1.30579664e-02 9.99907406e-01 -3.83002449e-03 3.42745445e+00] [-1.04484809e-03 3.84399362e-03 9.99992066e-01 5.49369787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92925976399997 meters 0.14580180751799945 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99918485e-01 -1.26874000e-02 1.43306690e-03 -1.17009916e+00] [ 1.26915166e-02 9.99915251e-01 -2.90099156e-03 3.42379280e+00] [-1.39613941e-03 2.91894288e-03 9.99994765e-01 5.49015957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98925976399997 meters 0.14632481609425133 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99926536e-01 -1.19642250e-02 1.94427615e-03 -1.17058723e+00] [ 1.19665752e-02 9.99927676e-01 -1.20166490e-03 3.41785212e+00] [-1.92975854e-03 1.22484295e-03 9.99997388e-01 5.47528749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04925976399994 meters 0.15871908616677405 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99929100e-01 -1.17251130e-02 2.07777790e-03 -1.17112841e+00] [ 1.17264119e-02 9.99931055e-01 -6.14058612e-04 3.41530995e+00] [-2.07043474e-03 6.38379955e-04 9.99997653e-01 5.47785100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10925976399994 meters 0.16020773034639807 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99935706e-01 -1.09974844e-02 2.76398359e-03 -1.17218794e+00] [ 1.09940584e-02 9.99938780e-01 1.25166571e-03 3.40798028e+00] [-2.77757956e-03 -1.22119784e-03 9.99995397e-01 5.46725244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16925976399995 meters 0.15488543285849182 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99939826e-01 -1.06208417e-02 2.74620870e-03 -1.17211425e+00] [ 1.06158519e-02 9.99941984e-01 1.82522783e-03 3.40575007e+00] [-2.76543483e-03 -1.79596465e-03 9.99994563e-01 5.46668498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22925976399995 meters 0.16285673399840775 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99943163e-01 -1.02773924e-02 2.83663449e-03 -1.17249653e+00] [ 1.02703547e-02 9.99944172e-01 2.48453021e-03 3.40288111e+00] [-2.86201062e-03 -2.45525576e-03 9.99992890e-01 5.46890051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28925976399995 meters 0.16052785272288853 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99946889e-01 -9.87229481e-03 2.95906551e-03 -1.17257516e+00] [ 9.86297480e-03 9.99946405e-01 3.14786147e-03 3.40025525e+00] [-2.98998353e-03 -3.11850910e-03 9.99990667e-01 5.46541368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34925976399995 meters 0.16263127929325727 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99948451e-01 -9.62437380e-03 3.23535862e-03 -1.17315573e+00] [ 9.61194260e-03 9.99946446e-01 3.83613400e-03 3.39749254e+00] [-3.27210574e-03 -3.80483817e-03 9.99987408e-01 5.46387754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40925976399996 meters 0.16862561986283503 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 0.9999497 -0.00941982 0.00344331 -1.17349102] [ 0.00940482 0.99994633 0.00434617 3.39567525] [-0.00348407 -0.00431356 0.99998463 0.54608679] [ 0. 0. 0. 1. ]] SLAMing on 217.46925976399996 meters 0.1602930088464952 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99950928e-01 -9.43374818e-03 3.02439843e-03 -1.17227530e+00] [ 9.42182731e-03 9.99947883e-01 3.93188063e-03 3.39806568e+00] [-3.06133318e-03 -3.90319233e-03 9.99987697e-01 5.45834037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52925976399996 meters 0.15625101325732002 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99948688e-01 -9.76205449e-03 2.70636785e-03 -1.17175341e+00] [ 9.75369170e-03 9.99947669e-01 3.08620816e-03 3.40147543e+00] [-2.73635396e-03 -3.05965272e-03 9.99991575e-01 5.46307698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58925976399996 meters 0.15076843096248696 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99949693e-01 -9.71499950e-03 2.49586774e-03 -1.17107219e+00] [ 9.70800770e-03 9.99948961e-01 2.79835568e-03 3.40295749e+00] [-2.52292638e-03 -2.77398500e-03 9.99992970e-01 5.46141187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64925976399996 meters 0.15603903694904261 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.40, Z:0.55 [[ 9.99948854e-01 -9.82463951e-03 2.40136164e-03 -1.17095307e+00] [ 9.81858935e-03 9.99948625e-01 2.51840928e-03 3.40409182e+00] [-2.42598073e-03 -2.49470249e-03 9.99993946e-01 5.46354372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70925976399997 meters 0.14883054719789957 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99946343e-01 -1.01121739e-02 2.24812774e-03 -1.17091352e+00] [ 1.01076721e-02 9.99946906e-01 2.00487011e-03 3.40609463e+00] [-2.26828197e-03 -1.98203920e-03 9.99995463e-01 5.46873399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76925976399997 meters 0.15076807103214793 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99946336e-01 -1.01580205e-02 2.03471614e-03 -1.17026583e+00] [ 1.01545080e-02 9.99946946e-01 1.72920695e-03 3.40775211e+00] [-2.05217351e-03 -1.70845261e-03 9.99996435e-01 5.46713585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82925976399994 meters 0.14908567794284658 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99947865e-01 -1.00632275e-02 1.73192872e-03 -1.16914167e+00] [ 1.00606062e-02 9.99948242e-01 1.51563494e-03 3.40960455e+00] [-1.74709126e-03 -1.49813167e-03 9.99997352e-01 5.46175677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88925976399995 meters 0.1454453761751978 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99948323e-01 -1.00463951e-02 1.55605432e-03 -1.16839214e+00] [ 1.00443286e-02 9.99948670e-01 1.33015435e-03 3.41116092e+00] [-1.56933770e-03 -1.31445610e-03 9.99997905e-01 5.45714175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94925976399995 meters 0.14725802492110707 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99946927e-01 -1.02350296e-02 1.17815862e-03 -1.16792437e+00] [ 1.02342404e-02 9.99947402e-01 6.73955410e-04 3.41364015e+00] [-1.18499461e-03 -6.61862082e-04 9.99999079e-01 5.46521285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00925976399995 meters 0.1437996010408289 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99946258e-01 -1.03152791e-02 1.03736889e-03 -1.16750644e+00] [ 1.03148489e-02 9.99946713e-01 4.19246440e-04 3.41523876e+00] [-1.04163826e-03 -4.08523606e-04 9.99999374e-01 5.46405420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06925976399995 meters 0.1425408274948906 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99947104e-01 -1.02365234e-02 1.00157144e-03 -1.16730442e+00] [ 1.02360359e-02 9.99947490e-01 4.90637568e-04 3.41527311e+00] [-1.00654127e-03 -4.80359494e-04 9.99999378e-01 5.46245777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12925976399995 meters 0.1448524568445802 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99948971e-01 -1.00214119e-02 1.27560685e-03 -1.16763923e+00] [ 1.00200934e-02 9.99949261e-01 1.03579157e-03 3.41352505e+00] [-1.28592222e-03 -1.02295701e-03 9.99998650e-01 5.45667866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18925976399996 meters 0.159699423102852 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99948935e-01 -1.00375705e-02 1.17218333e-03 -1.16738341e+00] [ 1.00364849e-02 9.99949202e-01 9.28413073e-04 3.41414111e+00] [-1.18144280e-03 -9.16601063e-04 9.99998882e-01 5.45700757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24925976399996 meters 0.15578104675557342 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.42, Z:0.55 [[ 9.99948402e-01 -1.01175155e-02 9.10552860e-04 -1.16687411e+00] [ 1.01170526e-02 9.99948690e-01 5.11525064e-04 3.41605592e+00] [-9.15681503e-04 -5.02286559e-04 9.99999455e-01 5.45992068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30925976399996 meters 0.15759733778966145 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99952902e-01 -9.66576804e-03 8.75490713e-04 -1.16601601e+00] [ 9.66481249e-03 9.99952701e-01 1.08917470e-03 3.41496824e+00] [-8.85977013e-04 -1.08066195e-03 9.99999024e-01 5.44827023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36925976399996 meters 0.15561685923422341 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99953627e-01 -9.58857078e-03 8.95938301e-04 -1.16600560e+00] [ 9.58749270e-03 9.99953319e-01 1.19993728e-03 3.41476200e+00] [-9.07402161e-04 -1.19129183e-03 9.99998879e-01 5.44730852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42925976399997 meters 0.15547651482432484 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99954092e-01 -9.54295877e-03 8.63556674e-04 -1.16594893e+00] [ 9.54186787e-03 9.99953683e-01 1.25869041e-03 3.41461479e+00] [-8.75528307e-04 -1.25039268e-03 9.99998835e-01 5.44776972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48925976399997 meters 0.1560134702528772 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99958004e-01 -9.10943666e-03 1.00451551e-03 -1.16582018e+00] [ 9.10736970e-03 9.99956439e-01 2.04339664e-03 3.41219251e+00] [-1.02308595e-03 -2.03416233e-03 9.99997408e-01 5.44024834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54925976399994 meters 0.15263035268324376 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99958797e-01 -9.02200476e-03 1.00422778e-03 -1.16598644e+00] [ 9.01979776e-03 9.99956942e-01 2.18096293e-03 3.41146043e+00] [-1.02386120e-03 -2.17181514e-03 9.99997117e-01 5.44282302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60925976399994 meters 0.15165229678311715 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99959293e-01 -8.96799854e-03 9.94035248e-04 -1.16595202e+00] [ 8.96574520e-03 9.99957279e-01 2.24859733e-03 3.41125142e+00] [-1.01415820e-03 -2.23959352e-03 9.99996978e-01 5.44280213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66925976399995 meters 0.15124506730868156 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99911906e-01 -1.32543186e-02 7.09105511e-04 -1.16533371e+00] [ 1.32558455e-02 9.99909731e-01 -2.19366755e-03 3.41215300e+00] [-6.79965932e-04 2.20287410e-03 9.99997342e-01 5.44599159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72925976399995 meters 0.14896407269811532 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.54 [[ 9.99914985e-01 -1.30220115e-02 6.70294719e-04 -1.16502168e+00] [ 1.30232302e-02 9.99913488e-01 -1.84711867e-03 3.41124990e+00] [-6.46183529e-04 1.85569104e-03 9.99998069e-01 5.44263734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78925976399995 meters 0.1570096667202389 Centerline is valid? [False, False] Translation: X:-1.17, Y:3.41, Z:0.55 [[ 9.99913442e-01 -1.31487834e-02 4.67614732e-04 -1.16501343e+00] [ 1.31497637e-02 9.99911207e-01 -2.15902700e-03 3.41225501e+00] [-4.39184632e-04 2.16498914e-03 9.99997560e-01 5.45047978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84925976399995 meters 0.15674429497484121 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99916456e-01 -1.29169341e-02 4.83685436e-04 -1.16497025e+00] [ 1.29177831e-02 9.99914950e-01 -1.79540533e-03 3.41100109e+00] [-4.60453166e-04 1.80150348e-03 9.99998271e-01 5.44910081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90925976399996 meters 0.15532386531416084 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99923222e-01 -1.23806170e-02 5.20229538e-04 -1.16441680e+00] [ 1.23811073e-02 9.99922900e-01 -9.50067236e-04 3.40857202e+00] [-5.08427010e-04 9.56435310e-04 9.99999413e-01 5.43915418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96925976399996 meters 0.1592641763596155 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99922787e-01 -1.24228061e-02 3.06705336e-04 -1.16396809e+00] [ 1.24231609e-02 9.99922129e-01 -1.18338713e-03 3.40982038e+00] [-2.91980464e-04 1.18710600e-03 9.99999253e-01 5.44092951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02925976399996 meters 0.15601525891329762 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99923614e-01 -1.23593362e-02 1.14361581e-04 -1.16349065e+00] [ 1.23594576e-02 9.99922981e-01 -1.12994746e-03 3.41019013e+00] [-1.00387373e-04 1.13127460e-03 9.99999355e-01 5.44081841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08925976399996 meters 0.15172355329569287 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99927772e-01 -1.20170154e-02 2.05464635e-04 -1.16321713e+00] [ 1.20171219e-02 9.99927654e-01 -5.24825800e-04 3.40861458e+00] [-1.99142931e-04 5.27256986e-04 9.99999841e-01 5.43278533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14925976399996 meters 0.1523815842743026 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99931340e-01 -1.17150828e-02 2.66742153e-04 -1.16280910e+00] [ 1.17150626e-02 9.99931373e-01 7.68568462e-05 3.40719702e+00] [-2.67624232e-04 -7.37266683e-05 9.99999961e-01 5.42351873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20925976399997 meters 0.14695927148593113 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99931089e-01 -1.17339047e-02 -3.65016032e-04 -1.16136199e+00] [ 1.17337184e-02 9.99931028e-01 -5.08328014e-04 3.41025857e+00] [ 3.70955529e-04 5.04009989e-04 9.99999804e-01 5.42627277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26925976399997 meters 0.14755414565153 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99932255e-01 -1.16119992e-02 -8.04322761e-04 -1.15994989e+00] [ 1.16113551e-02 9.99932265e-01 -8.00852610e-04 3.41253847e+00] [ 8.13567780e-04 7.91459079e-04 9.99999356e-01 5.42241681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32925976399994 meters 0.142831868669598 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.41, Z:0.54 [[ 9.99932361e-01 -1.15892387e-02 -9.81449683e-04 -1.15928089e+00] [ 1.15883252e-02 9.99932419e-01 -9.31392944e-04 3.41374958e+00] [ 9.92177491e-04 9.19956587e-04 9.99999085e-01 5.41920081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38925976399995 meters 0.14995966550379775 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99929197e-01 -1.18208546e-02 -1.36681290e-03 -1.15860819e+00] [ 1.18187169e-02 9.99928937e-01 -1.56158333e-03 3.41675407e+00] [ 1.38517502e-03 1.54531879e-03 9.99997847e-01 5.42395608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44925976399995 meters 0.14575009968924008 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99926284e-01 -1.20149304e-02 -1.75140285e-03 -1.15770087e+00] [ 1.20111723e-02 9.99925572e-01 -2.14067548e-03 3.41982132e+00] [ 1.77699257e-03 2.11948128e-03 9.99996175e-01 5.42534695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50925976399995 meters 0.13660360661646093 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99924907e-01 -1.21193622e-02 -1.81679209e-03 -1.15762611e+00] [ 1.21150203e-02 9.99923773e-01 -2.38216249e-03 3.42083894e+00] [ 1.84552389e-03 2.35997313e-03 9.99995512e-01 5.42702169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56925976399995 meters 0.15850694752694816 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99923417e-01 -1.22270342e-02 -1.91280981e-03 -1.15737238e+00] [ 1.22220337e-02 9.99921916e-01 -2.60442607e-03 3.42209820e+00] [ 1.94450486e-03 2.58084819e-03 9.99994779e-01 5.42691790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62925976399995 meters 0.15640714076772608 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99923507e-01 -1.21857565e-02 -2.11838057e-03 -1.15680007e+00] [ 1.21801586e-02 9.99922346e-01 -2.63563318e-03 3.42278350e+00] [ 2.15033325e-03 2.60962936e-03 9.99994283e-01 5.42603196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68925976399996 meters 0.14073029018666608 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99927855e-01 -1.18500137e-02 -1.96509089e-03 -1.15658260e+00] [ 1.18461424e-02 9.99927891e-01 -1.97012323e-03 3.42100417e+00] [ 1.98829518e-03 1.94670235e-03 9.99996129e-01 5.41645331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74925976399996 meters 0.1392122380890993 Centerline is valid? [False, False] Translation: X:-1.16, Y:3.42, Z:0.54 [[ 9.99928052e-01 -1.18170210e-02 -2.06125427e-03 -1.15612704e+00] [ 1.18130080e-02 9.99928326e-01 -1.94833113e-03 3.42152912e+00] [ 2.08413000e-03 1.92384134e-03 9.99995978e-01 5.41328868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80925976399996 meters 0.13895616857836074 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.42, Z:0.54 [[ 9.99926896e-01 -1.18073111e-02 -2.60572496e-03 -1.15480602e+00] [ 1.18010098e-02 9.99927436e-01 -2.42051972e-03 3.42421475e+00] [ 2.63411570e-03 2.38959258e-03 9.99993676e-01 5.41434425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86925976399996 meters 0.14274317537702752 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.43, Z:0.54 [[ 9.99970349e-01 -7.17910792e-03 -2.78611410e-03 -1.15346124e+00] [ 7.18480461e-03 9.99972108e-01 2.04007620e-03 3.42530707e+00] [ 2.77139046e-03 -2.06003339e-03 9.99994038e-01 5.40031239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92925976399997 meters 0.13715416594872193 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.43, Z:0.54 [[ 9.99967056e-01 -7.43490002e-03 -3.25716759e-03 -1.15258740e+00] [ 7.43873128e-03 9.99971653e-01 1.16572164e-03 3.42920472e+00] [ 3.24840824e-03 -1.18991243e-03 9.99994016e-01 5.40522603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98925976399997 meters 0.13444715599120427 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.43, Z:0.54 [[ 9.99964720e-01 -7.66443313e-03 -3.43725020e-03 -1.15245620e+00] [ 7.66664234e-03 9.99970412e-01 6.30010261e-04 3.43107120e+00] [ 3.43231983e-03 -6.56340202e-04 9.99993894e-01 5.41070858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04925976399994 meters 0.13050724284339396 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.43, Z:0.54 [[ 9.99961690e-01 -7.87191048e-03 -3.82785636e-03 -1.15173502e+00] [ 7.87180299e-03 9.99969016e-01 -4.31479834e-05 3.43397769e+00] [ 3.82807742e-03 1.30141992e-05 9.99992673e-01 5.41516553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10925976399994 meters 0.12862625960339508 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.43, Z:0.54 [[ 9.99961787e-01 -7.82201155e-03 -3.90384048e-03 -1.15122888e+00] [ 7.82178716e-03 9.99969407e-01 -7.27443560e-05 3.43479497e+00] [ 3.90429006e-03 4.22065670e-05 9.99992377e-01 5.41053066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16925976399995 meters 0.12687868433763677 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.44, Z:0.54 [[ 9.99961110e-01 -7.90656397e-03 -3.90690651e-03 -1.15120986e+00] [ 7.90569489e-03 9.99968721e-01 -2.37839212e-04 3.43556093e+00] [ 3.90866480e-03 2.06943151e-04 9.99992340e-01 5.41051268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22925976399995 meters 0.12696562113159274 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.44, Z:0.54 [[ 9.99960441e-01 -8.00709894e-03 -3.87333252e-03 -1.15140500e+00] [ 8.00595441e-03 9.99967904e-01 -3.10902884e-04 3.43593589e+00] [ 3.87569762e-03 2.79880861e-04 9.99992450e-01 5.41165390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28925976399995 meters 0.1310188838328466 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.44, Z:0.54 [[ 9.99961012e-01 -7.91098243e-03 -3.92310860e-03 -1.15107213e+00] [ 7.91032839e-03 9.99968696e-01 -1.82203560e-04 3.43594305e+00] [ 3.92442720e-03 1.51163379e-04 9.99992288e-01 5.40839801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34925976399995 meters 0.12859360513113835 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.44, Z:0.54 [[ 9.99960066e-01 -7.91654645e-03 -4.14673270e-03 -1.15036997e+00] [ 7.91488026e-03 9.99968589e-01 -4.18065251e-04 3.43735931e+00] [ 4.14991209e-03 3.85227663e-04 9.99991315e-01 5.40676127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40925976399996 meters 0.13118947232578626 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.44, Z:0.54 [[ 9.99955530e-01 -8.06724124e-03 -4.88437915e-03 -1.14862645e+00] [ 8.06010794e-03 9.99966424e-01 -1.47835949e-03 3.44268942e+00] [ 4.89614143e-03 1.43892512e-03 9.99986979e-01 5.40904930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46925976399996 meters 0.12160955019082266 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.45, Z:0.54 [[ 9.99954424e-01 -7.94633546e-03 -5.29207083e-03 -1.14716755e+00] [ 7.93690413e-03 9.99966881e-01 -1.80078584e-03 3.44529735e+00] [ 5.30620521e-03 1.75870110e-03 9.99984375e-01 5.40333419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52925976399996 meters 0.12291474654167914 Centerline is valid? [False, False] Translation: X:-1.15, Y:3.45, Z:0.54 [[ 9.99953426e-01 -7.83872293e-03 -5.63035492e-03 -1.14594806e+00] [ 7.82738611e-03 9.99967299e-01 -2.03274035e-03 3.44737644e+00] [ 5.64610489e-03 1.98857472e-03 9.99982083e-01 5.39845316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58925976399996 meters 0.11785298018952389 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 9.99950469e-01 -7.66590109e-03 -6.34766724e-03 -1.14386588e+00] [ 7.65059651e-03 9.99967777e-01 -2.43183872e-03 3.45058399e+00] [ 6.36610493e-03 2.38315483e-03 9.99976896e-01 5.39476852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64925976399996 meters 0.11399839681418174 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 9.99949212e-01 -7.44322178e-03 -6.79498981e-03 -1.14220776e+00] [ 7.42582053e-03 9.99969093e-01 -2.58254183e-03 3.45272812e+00] [ 6.81400223e-03 2.53195229e-03 9.99973579e-01 5.38732605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70925976399997 meters 0.1172674086905479 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 9.99948713e-01 -7.43491638e-03 -6.87695795e-03 -1.14196942e+00] [ 7.41661528e-03 9.99968897e-01 -2.68290430e-03 3.45331894e+00] [ 6.89669123e-03 2.63176295e-03 9.99972754e-01 5.38715543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76925976399994 meters 0.1146035313081148 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.46, Z:0.54 [[ 9.99945403e-01 -7.55926659e-03 -7.21445949e-03 -1.14143245e+00] [ 7.53631096e-03 9.99966469e-01 -3.20379116e-03 3.45533780e+00] [ 7.23843590e-03 3.14924583e-03 9.99968843e-01 5.39345655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82925976399994 meters 0.11057851472528188 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 9.99946379e-01 -7.45565934e-03 -7.18693751e-03 -1.14138004e+00] [ 7.43406681e-03 9.99967787e-01 -3.02646169e-03 3.45484724e+00] [ 7.20927027e-03 2.97287124e-03 9.99969594e-01 5.39145675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88925976399995 meters 0.11587327823281936 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.46, Z:0.54 [[ 0.9999035 -0.01171289 -0.00747019 -1.14051996] [ 0.01165782 0.99990486 -0.0073731 3.45565958] [ 0.00755584 0.00728531 0.99994492 0.5390545 ] [ 0. 0. 0. 1. ]] SLAMing on 220.94925976399995 meters 0.11806327303183052 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 0.99990491 -0.01165705 -0.00736733 -1.14071627] [ 0.01160453 0.99990723 -0.00713239 3.45488284] [ 0.00744979 0.00704622 0.99994742 0.53887465] [ 0. 0. 0. 1. ]] SLAMing on 221.00925976399995 meters 0.11624497955957064 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 0.99990443 -0.01172127 -0.00733141 -1.14103057] [ 0.01166901 0.9999065 -0.0071298 3.45477843] [ 0.0074143 0.00704357 0.99994771 0.53915852] [ 0. 0. 0. 1. ]] SLAMing on 221.06925976399995 meters 0.11778787799019814 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.45, Z:0.54 [[ 0.99990919 -0.01153377 -0.00696986 -1.14125664] [ 0.01148853 0.99991291 -0.0064957 3.45313902] [ 0.00704417 0.00641504 0.99995461 0.53796611] [ 0. 0. 0. 1. ]] SLAMing on 221.12925976399995 meters 0.11850830569061938 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.46, Z:0.54 [[ 0.99990646 -0.0117282 -0.00703674 -1.14100676] [ 0.01167997 0.99990828 -0.00685687 3.45501451] [ 0.00711652 0.00677404 0.99995173 0.5378463 ] [ 0. 0. 0. 1. ]] SLAMing on 221.18925976399996 meters 0.1138667438467881 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.46, Z:0.54 [[ 9.99946344e-01 -7.43010949e-03 -7.21814807e-03 -1.14001010e+00] [ 7.40840508e-03 9.99967970e-01 -3.02902085e-03 3.45830162e+00] [ 7.24042283e-03 2.97538336e-03 9.99969361e-01 5.37031590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24925976399996 meters 0.10959636429420996 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.46, Z:0.54 [[ 0.99994352 -0.00737215 -0.00765549 -1.13826789] [ 0.00734477 0.99996655 -0.00359897 3.46240152] [ 0.00768177 0.00354254 0.99996422 0.53613747] [ 0. 0. 0. 1. ]] SLAMing on 221.30925976399996 meters 0.11755836095927903 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.47, Z:0.53 [[ 9.99962246e-01 -3.03760281e-03 -8.14127982e-03 -1.13613818e+00] [ 3.03732498e-03 9.99995386e-01 -4.64895011e-05 3.46781740e+00] [ 8.14138347e-03 2.17600333e-05 9.99966858e-01 5.34928273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36925976399996 meters 0.10275233205741333 Centerline is valid? [False, False] Translation: X:-1.14, Y:3.48, Z:0.54 [[ 9.99953034e-01 -3.67500642e-03 -8.96792647e-03 -1.13507888e+00] [ 3.65411312e-03 9.99990574e-01 -2.34505484e-03 3.47575309e+00] [ 8.97646003e-03 2.31217489e-03 9.99957038e-01 5.37143295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42925976399997 meters 0.09594703588717299 Centerline is valid? [False, True] Translation: X:-1.13, Y:3.48, Z:0.54 [[ 9.99953755e-01 5.11475997e-04 -9.60349149e-03 -1.13272582e+00] [-5.04324595e-04 9.99999594e-01 7.47073863e-04 3.48330838e+00] [ 9.60386970e-03 -7.42196038e-04 9.99953606e-01 5.36046205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48925976399997 meters 0.09104428452949496 Centerline is valid? [True, True] Translation: X:-1.07, Y:3.50, Z:0.54 [[ 9.99881322e-01 1.05645692e-02 -1.12130035e-02 -1.07340688e+00] [-1.05597210e-02 9.99944124e-01 4.91489685e-04 3.50066824e+00] [ 1.12175694e-02 -3.73025167e-04 9.99937012e-01 5.35013020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54925976399994 meters 0.0885924679713286 Centerline is valid? [True, True] Translation: X:-1.01, Y:3.51, Z:0.53 [[ 9.99759607e-01 1.72815182e-02 -1.34935754e-02 -1.01415031e+00] [-1.72751127e-02 9.99850599e-01 5.91132092e-04 3.51115768e+00] [ 1.35017751e-02 -3.57886952e-04 9.99908783e-01 5.31686913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60925976399994 meters 0.08508912698725969 Centerline is valid? [True, True] Translation: X:-0.95, Y:3.53, Z:0.53 [[ 9.99575895e-01 2.46939942e-02 -1.54349275e-02 -9.53184500e-01] [-2.46864985e-02 9.99695013e-01 6.76003904e-04 3.52545392e+00] [ 1.54469133e-02 -2.94682894e-04 9.99880646e-01 5.30025260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66925976399995 meters 0.08192759403860411 Centerline is valid? [True, True] Translation: X:-0.89, Y:3.55, Z:0.53 [[ 9.99199967e-01 3.56996190e-02 -1.80267439e-02 -8.93373890e-01] [-3.56912090e-02 9.99362555e-01 7.88144626e-04 3.54842198e+00] [ 1.80433893e-02 -1.44117803e-04 9.99837194e-01 5.29530762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72925976399995 meters 0.08140291832493128 Centerline is valid? [True, True] Translation: X:-0.83, Y:3.56, Z:0.53 [[ 9.98898046e-01 4.25607260e-02 -1.97807574e-02 -8.33874747e-01] [-4.25520492e-02 9.99093882e-01 8.59529585e-04 3.56274579e+00] [ 1.97994159e-02 -1.68706610e-05 9.99803972e-01 5.27466824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78925976399995 meters 0.08168752249487608 Centerline is valid? [True, True] Translation: X:-0.77, Y:3.58, Z:0.53 [[ 9.98493132e-01 5.10299126e-02 -2.01845014e-02 -7.74872941e-01] [-5.10227059e-02 9.98697113e-01 8.72205146e-04 3.57859797e+00] [ 2.02027118e-02 1.58977030e-04 9.99795892e-01 5.26784846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84925976399995 meters 0.08409905180840199 Centerline is valid? [True, True] Translation: X:-0.71, Y:3.60, Z:0.52 [[ 9.97848725e-01 6.19957466e-02 -2.13178048e-02 -7.13527298e-01] [-6.19901866e-02 9.98076333e-01 9.22173420e-04 3.59800083e+00] [ 2.13339673e-02 4.01305125e-04 9.99772324e-01 5.24748504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90925976399996 meters 0.0851906368084025 Centerline is valid? [True, True] Translation: X:-0.65, Y:3.60, Z:0.52 [[ 9.97640472e-01 6.48104381e-02 -2.26516255e-02 -6.53767472e-01] [-6.48049074e-02 9.97897473e-01 9.78911955e-04 3.59997653e+00] [ 2.26674435e-02 4.91334308e-04 9.99742940e-01 5.23329131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96925976399996 meters 0.08645036631503072 Centerline is valid? [True, True] Translation: X:-0.60, Y:3.60, Z:0.52 [[ 9.97644905e-01 6.47264162e-02 -2.26965646e-02 -5.96975536e-01] [-6.47209570e-02 9.97902924e-01 9.75784179e-04 3.59990138e+00] [ 2.27121272e-02 4.95457268e-04 9.99741924e-01 5.17248796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02925976399996 meters 0.08584978966038215 Centerline is valid? [True, True] Translation: X:-0.54, Y:3.60, Z:0.52 [[ 9.97682377e-01 6.41178184e-02 -2.27767537e-02 -5.39473560e-01] [-6.41123171e-02 9.97942215e-01 9.72432851e-04 3.59613509e+00] [ 2.27922343e-02 4.90091335e-04 9.99740103e-01 5.17415708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08925976399996 meters 0.08544005494890683 Centerline is valid? [True, True] Translation: X:-0.48, Y:3.59, Z:0.52 [[ 9.97789728e-01 6.10572752e-02 -2.62234189e-02 -4.80807731e-01] [-6.10490953e-02 9.98134144e-01 1.11316302e-03 3.59049067e+00] [ 2.62424564e-02 4.90213366e-04 9.99655487e-01 5.15682914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14925976399996 meters 0.08785203849319186 Centerline is valid? [True, True] Translation: X:-0.42, Y:3.59, Z:0.50 [[ 9.97987385e-01 5.71340021e-02 -2.75115610e-02 -4.22787484e-01] [-5.71235570e-02 9.98366435e-01 1.16608046e-03 3.59054711e+00] [ 2.75332420e-02 4.07824635e-04 9.99620805e-01 4.98639375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20925976399997 meters 0.08603461262621692 Centerline is valid? [True, True] Translation: X:-0.36, Y:3.57, Z:0.49 [[ 9.98503089e-01 4.58595692e-02 -2.98074024e-02 -3.64548592e-01] [-4.58423837e-02 9.98947891e-01 1.26002890e-03 3.56676226e+00] [ 2.98338261e-02 1.08299626e-04 9.99554866e-01 4.94694121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26925976399994 meters 0.08614749103603819 Centerline is valid? [True, True] Translation: X:-0.31, Y:3.56, Z:0.49 [[ 9.98649777e-01 4.17685050e-02 -3.08871432e-02 -3.06680994e-01] [-4.17481606e-02 9.99127315e-01 1.30355359e-03 3.55718231e+00] [ 3.09146359e-02 -1.23120890e-05 9.99522028e-01 4.93917984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32925976399994 meters 0.08912422178802323 Centerline is valid? [True, True] Translation: X:-0.25, Y:3.53, Z:0.49 [[ 9.99084906e-01 2.83362642e-02 -3.20375875e-02 -2.48829820e-01] [-2.83075102e-02 9.99598349e-01 1.35081139e-03 3.53009442e+00] [ 3.20629965e-02 -4.42670935e-04 9.99485752e-01 4.90445818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38925976399995 meters 0.08915224035041075 Centerline is valid? [True, True] Translation: X:-0.19, Y:3.53, Z:0.49 [[ 9.99040764e-01 2.80267453e-02 -3.36459924e-02 -1.90407792e-01] [-2.79951163e-02 9.99607064e-01 1.41087424e-03 3.53013566e+00] [ 3.36723139e-02 -4.67597411e-04 9.99432817e-01 4.89638183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44925976399995 meters 0.09088340179416185 Centerline is valid? [True, True] Translation: X:-0.13, Y:3.53, Z:0.48 [[ 9.98938761e-01 2.64831921e-02 -3.76827858e-02 -1.30725623e-01] [-2.64424053e-02 9.99649089e-01 1.58043725e-03 3.52566894e+00] [ 3.77114175e-02 -5.82336534e-04 9.99288502e-01 4.82724846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50925976399995 meters 0.09298231823232021 Centerline is valid? [True, True] Translation: X:-0.07, Y:3.51, Z:0.48 [[ 9.98883093e-01 2.30328476e-02 -4.12559539e-02 -7.10887383e-02] [-2.29810433e-02 9.99734405e-01 1.72955940e-03 3.51346283e+00] [ 4.12848332e-02 -7.79522780e-04 9.99147114e-01 4.75917695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56925976399995 meters 0.09407503626836601 Centerline is valid? [True, True] Translation: X:-0.01, Y:3.51, Z:0.47 [[ 9.98849042e-01 2.10128819e-02 -4.31167098e-02 -1.18546821e-02] [-2.09544766e-02 9.99778799e-01 1.80614294e-03 3.50613918e+00] [ 4.31451246e-02 -9.00576054e-04 9.99068410e-01 4.72490791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62925976399995 meters 0.09512949007392345 Centerline is valid? [True, True] Translation: X:0.05, Y:3.50, Z:0.47 [[ 9.98824703e-01 1.93938959e-02 -4.44194707e-02 4.71626690e-02] [-1.93304028e-02 9.99811423e-01 1.85852608e-03 3.50005057e+00] [ 4.44471383e-02 -9.97695495e-04 9.99011239e-01 4.68567819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68925976399996 meters 0.09598345473822385 Centerline is valid? [True, True] Translation: X:0.11, Y:3.49, Z:0.47 [[ 9.98844419e-01 1.69421488e-02 -4.49754457e-02 1.06341695e-01] [-1.68746356e-02 9.99855845e-01 1.88037841e-03 3.49203794e+00] [ 4.50008199e-02 -1.11926122e-03 9.98986323e-01 4.68219413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74925976399996 meters 0.09777793349569255 Centerline is valid? [True, True] Translation: X:0.17, Y:3.48, Z:0.47 [[ 9.98813466e-01 1.32877213e-02 -4.68518582e-02 1.66061876e-01] [-1.32104693e-02 9.99910821e-01 1.95812161e-03 3.48188121e+00] [ 4.68736990e-02 -1.33686319e-03 9.98899929e-01 4.65805656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80925976399996 meters 0.10060185003441059 Centerline is valid? [True, False] Translation: X:0.16, Y:3.48, Z:0.45 [[ 9.99594240e-01 6.54522137e-03 -2.77221075e-02 1.59132474e-01] [-6.55956345e-03 9.99978395e-01 -4.26442705e-04 3.47562905e+00] [ 2.77187174e-02 6.08114595e-04 9.99615578e-01 4.54747226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86925976399996 meters 0.10268856369094197 Centerline is valid? [False, False] Translation: X:0.17, Y:3.47, Z:0.45 [[ 9.99789810e-01 2.61732237e-04 -2.05004435e-02 1.68688247e-01] [-1.42252726e-04 9.99982999e-01 5.82938424e-03 3.46976109e+00] [ 2.05016207e-02 -5.82524271e-03 9.99772849e-01 4.49202634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92925976399997 meters 0.10454099550233395 Centerline is valid? [False, False] Translation: X:0.16, Y:3.47, Z:0.44 [[ 9.99996182e-01 -1.83584399e-03 -2.06529751e-03 1.60024527e-01] [ 1.83185037e-03 9.99996452e-01 -1.93391032e-03 3.46690435e+00] [ 2.06884054e-03 1.93011962e-03 9.99995997e-01 4.42075809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98925976399997 meters 0.10947775856330245 Centerline is valid? [False, False] Translation: X:0.16, Y:3.46, Z:0.44 [[ 9.99954743e-01 -9.33161778e-03 -1.85284626e-03 1.59943163e-01] [ 9.31596469e-03 9.99922289e-01 -8.28429908e-03 3.45733664e+00] [ 1.93000819e-03 8.26666311e-03 9.99963968e-01 4.41189067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04925976399994 meters 0.11533654664732641 Centerline is valid? [False, False] Translation: X:0.16, Y:3.45, Z:0.44 [[ 9.99914530e-01 -1.30150452e-02 -1.24171512e-03 1.58935551e-01] [ 1.30011366e-02 9.99859093e-01 -1.06190813e-02 3.44959050e+00] [ 1.37974798e-03 1.06020300e-02 9.99942845e-01 4.40120345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10925976399994 meters 0.12236089581847809 Centerline is valid? [False, False] Translation: X:0.16, Y:3.44, Z:0.44 [[ 9.99923401e-01 -1.23692504e-02 -4.40527303e-04 1.57549763e-01] [ 1.23652274e-02 9.99889980e-01 -8.19321686e-03 3.44020694e+00] [ 5.41822788e-04 8.18714205e-03 9.99966338e-01 4.38590656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16925976399995 meters 0.13046063201851224 Centerline is valid? [False, False] Translation: X:0.16, Y:3.43, Z:0.44 [[ 9.99872491e-01 -1.59582686e-02 5.78561655e-04 1.55632028e-01] [ 1.59630507e-02 9.99827362e-01 -9.50933189e-03 3.42855490e+00] [-4.26709301e-04 9.51735498e-03 9.99954618e-01 4.37171420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22925976399995 meters 0.13329501410273817 Centerline is valid? [False, False] Translation: X:0.16, Y:3.42, Z:0.44 [[ 9.99886509e-01 -1.50206295e-02 1.16199184e-03 1.55156093e-01] [ 1.50286889e-02 9.99860637e-01 -7.26949428e-03 3.42022892e+00] [-1.05263752e-03 7.28613247e-03 9.99972902e-01 4.35147533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28925976399995 meters 0.13777243297025338 Centerline is valid? [False, False] Translation: X:0.16, Y:3.42, Z:0.43 [[ 9.99823250e-01 -1.87588722e-02 1.25475211e-03 1.55298604e-01] [ 1.87710554e-02 9.99768374e-01 -1.05283326e-02 3.41633117e+00] [-1.05696183e-03 1.05500247e-02 9.99943788e-01 4.34603122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34925976399995 meters 0.14587062818989768 Centerline is valid? [False, False] Translation: X:0.15, Y:3.41, Z:0.44 [[ 9.99731871e-01 -2.30294322e-02 2.41484156e-03 1.51253350e-01] [ 2.30597827e-02 9.99644276e-01 -1.34002890e-02 3.40721377e+00] [-2.10538149e-03 1.34523817e-02 9.99907296e-01 4.36937713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40925976399996 meters 0.1421557383690701 Centerline is valid? [False, False] Translation: X:0.15, Y:3.40, Z:0.44 [[ 9.99727029e-01 -2.31365314e-02 3.25101284e-03 1.47823831e-01] [ 2.31754641e-02 9.99653301e-01 -1.24970019e-02 3.40016972e+00] [-2.96074844e-03 1.25689343e-02 9.99916624e-01 4.39224288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46925976399996 meters 0.14481020111047285 Centerline is valid? [False, False] Translation: X:0.15, Y:3.39, Z:0.44 [[ 0.99981591 -0.01854963 0.00490433 0.14511151] [ 0.01857543 0.99981358 -0.00526849 3.38955073] [-0.00480569 0.00535862 0.99997409 0.43570343] [ 0. 0. 0. 1. ]] SLAMing on 223.52925976399996 meters 0.15841006623472206 Centerline is valid? [False, False] Translation: X:0.14, Y:3.38, Z:0.43 [[ 0.99973778 -0.02207417 0.00609048 0.14301668] [ 0.02211602 0.99973166 -0.0068918 3.37791108] [-0.00593671 0.00702469 0.9999577 0.43468014] [ 0. 0. 0. 1. ]] SLAMing on 223.58925976399996 meters 0.1602239996522607 Centerline is valid? [False, False] Translation: X:0.14, Y:3.37, Z:0.44 [[ 0.99971098 -0.02282336 0.00755278 0.13814024] [ 0.0228682 0.99972105 -0.00590496 3.3692886 ] [-0.00741591 0.00607598 0.99995404 0.43753955] [ 0. 0. 0. 1. ]] SLAMing on 223.64925976399996 meters 0.17562862032020282 Centerline is valid? [False, False] Translation: X:0.14, Y:3.36, Z:0.44 [[ 9.99792020e-01 -1.85470974e-02 8.48062582e-03 1.35600421e-01] [ 1.85511086e-02 9.99827836e-01 -3.94563026e-04 3.36294657e+00] [-8.47184776e-03 5.51805976e-04 9.99963961e-01 4.37956972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70925976399997 meters 0.16638396607065467 Centerline is valid? [False, False] Translation: X:0.13, Y:3.35, Z:0.44 [[ 9.99781742e-01 -1.84353035e-02 9.82896465e-03 1.32466146e-01] [ 1.84251646e-02 9.99829614e-01 1.12109549e-03 3.35408828e+00] [-9.84795767e-03 -9.39750507e-04 9.99951066e-01 4.38303619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76925976399994 meters 0.17807968905181573 Centerline is valid? [False, False] Translation: X:0.12, Y:3.36, Z:0.45 [[ 0.99983169 -0.01799237 0.00358692 0.11945678] [ 0.01802915 0.99978234 -0.01049834 3.35597567] [-0.00339725 0.01056124 0.99993846 0.44589544] [ 0. 0. 0. 1. ]] SLAMing on 223.82925976399994 meters 0.1782807577666586 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 0.99990097 -0.01331915 0.00454353 0.11754854] [ 0.01334079 0.99989965 -0.00476499 3.34929772] [-0.00447961 0.00482513 0.99997833 0.44511304] [ 0. 0. 0. 1. ]] SLAMing on 223.88925976399995 meters 0.177020015285578 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 0.9999033 -0.01303798 0.00483818 0.11629586] [ 0.01305751 0.99990664 -0.00402759 3.34515617] [-0.00478522 0.00409037 0.99998019 0.44583439] [ 0. 0. 0. 1. ]] SLAMing on 223.94925976399995 meters 0.17693644196725059 Centerline is valid? [False, False] Translation: X:0.12, Y:3.34, Z:0.45 [[ 0.99990701 -0.01272176 0.00491148 0.11566066] [ 0.01273917 0.99991262 -0.0035305 3.34238389] [-0.00486614 0.00359274 0.99998171 0.44646527] [ 0. 0. 0. 1. ]] SLAMing on 224.00925976399995 meters 0.17254294125122566 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99952036e-01 -8.23006869e-03 5.30949527e-03 1.14477886e-01] [ 8.22265103e-03 9.99965189e-01 1.41737599e-03 3.33912179e+00] [-5.32097554e-03 -1.37364988e-03 9.99984900e-01 4.46617660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06925976399995 meters 0.17615426029003922 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99948596e-01 -8.76760184e-03 5.09261775e-03 1.13559336e-01] [ 8.76554016e-03 9.99961491e-01 4.27015392e-04 3.34108575e+00] [-5.09616554e-03 -3.82353897e-04 9.99986941e-01 4.48927788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12925976399995 meters 0.16616387673892885 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99947371e-01 -8.91818991e-03 5.07158088e-03 1.13398092e-01] [ 8.91747165e-03 9.99960225e-01 1.64219951e-04 3.34185133e+00] [-5.07284371e-03 -1.18985629e-04 9.99987126e-01 4.49289951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18925976399996 meters 0.16529803894966646 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99946928e-01 -9.04753814e-03 4.92790081e-03 1.13380834e-01] [ 9.04871893e-03 9.99959036e-01 -2.17369095e-04 3.34291254e+00] [-4.92573229e-03 2.61948748e-04 9.99987834e-01 4.49957916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24925976399996 meters 0.17628936209872687 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99947816e-01 -9.03288436e-03 4.77212836e-03 1.13584092e-01] [ 9.03459529e-03 9.99959130e-01 -3.37091148e-04 3.34340679e+00] [-4.76888842e-03 3.80187806e-04 9.99988557e-01 4.50256313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30925976399996 meters 0.1735431325305457 Centerline is valid? [False, False] Translation: X:0.11, Y:3.34, Z:0.45 [[ 9.99946017e-01 -9.34279627e-03 4.54693317e-03 1.13162029e-01] [ 9.34733326e-03 9.99955835e-01 -9.77586258e-04 3.34465626e+00] [-4.53759897e-03 1.02003518e-03 9.99989185e-01 4.51824188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36925976399996 meters 0.16768624940540358 Centerline is valid? [False, False] Translation: X:0.11, Y:3.35, Z:0.45 [[ 9.99946319e-01 -9.42270319e-03 4.30947100e-03 1.13628582e-01] [ 9.42818056e-03 9.99954769e-01 -1.25246215e-03 3.34605851e+00] [-4.29747450e-03 1.29302538e-03 9.99989930e-01 4.52038857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42925976399997 meters 0.1731849505160179 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99953537e-01 -8.85717297e-03 3.80450611e-03 1.15624525e-01] [ 8.86055366e-03 9.99960364e-01 -8.72668628e-04 3.34637571e+00] [-3.79662593e-03 9.06338111e-04 9.99992382e-01 4.50862853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48925976399997 meters 0.158079766621081 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99956015e-01 -8.68224517e-03 3.54765835e-03 1.16503778e-01] [ 8.68535823e-03 9.99961909e-01 -8.63033364e-04 3.34707812e+00] [-3.54003015e-03 8.93808087e-04 9.99993335e-01 4.50486907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54925976399994 meters 0.16026779773377992 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99957151e-01 -8.67871769e-03 3.22126257e-03 1.17083627e-01] [ 8.68226434e-03 9.99961716e-01 -1.08866613e-03 3.34805345e+00] [-3.21169102e-03 1.11658734e-03 9.99994219e-01 4.50839676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60925976399994 meters 0.1447078432545652 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99959921e-01 -8.52556021e-03 2.73320844e-03 1.18126578e-01] [ 8.52887963e-03 9.99962902e-01 -1.20513040e-03 3.34914084e+00] [-2.72283263e-03 1.22839330e-03 9.99995539e-01 4.51023114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66925976399995 meters 0.14764825293473588 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99965084e-01 -8.12387491e-03 1.95783222e-03 1.20564123e-01] [ 8.12624514e-03 9.99966255e-01 -1.20574255e-03 3.35145349e+00] [-1.94797085e-03 1.22161027e-03 9.99997357e-01 4.50020610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72925976399995 meters 0.14406864308827982 Centerline is valid? [False, False] Translation: X:0.12, Y:3.35, Z:0.45 [[ 9.99968592e-01 -7.77296764e-03 1.54772920e-03 1.22373084e-01] [ 7.77461372e-03 9.99969215e-01 -1.06037887e-03 3.35289800e+00] [-1.53943926e-03 1.07237857e-03 9.99998240e-01 4.48774618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78925976399995 meters 0.13649427435605446 Centerline is valid? [False, False] Translation: X:0.12, Y:3.36, Z:0.45 [[ 9.99966987e-01 -8.07173979e-03 9.33372720e-04 1.23051779e-01] [ 8.07363386e-03 9.99965319e-01 -2.04362898e-03 3.35637908e+00] [-9.16844708e-04 2.05109722e-03 9.99997476e-01 4.50074977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84925976399995 meters 0.13235021583092335 Centerline is valid? [False, False] Translation: X:0.12, Y:3.36, Z:0.45 [[ 9.99968459e-01 -7.92716371e-03 4.90159872e-04 1.24361610e-01] [ 7.92822417e-03 9.99966149e-01 -2.20078610e-03 3.35813105e+00] [-4.72697288e-04 2.20460279e-03 9.99997458e-01 4.49711570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90925976399996 meters 0.12386900744647075 Centerline is valid? [False, False] Translation: X:0.13, Y:3.36, Z:0.45 [[ 9.99969423e-01 -7.81398884e-03 -3.08644353e-04 1.26010228e-01] [ 7.81305237e-03 9.99965194e-01 -2.92699353e-03 3.36168019e+00] [ 3.31505105e-04 2.92449257e-03 9.99995669e-01 4.50123367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96925976399996 meters 0.11894591500333727 Centerline is valid? [False, False] Translation: X:0.13, Y:3.37, Z:0.45 [[ 9.99965099e-01 -8.26783902e-03 -1.20180087e-03 1.26889289e-01] [ 8.26167202e-03 9.99953126e-01 -5.04891570e-03 3.36781259e+00] [ 1.24348816e-03 5.03881060e-03 9.99986532e-01 4.53060194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02925976399996 meters 0.10529648183574888 Centerline is valid? [False, False] Translation: X:0.13, Y:3.37, Z:0.45 [[ 9.99991630e-01 -3.51434567e-03 -2.09517208e-03 1.29331811e-01] [ 3.51132305e-03 9.99992792e-01 -1.44459496e-03 3.37185044e+00] [ 2.10023378e-03 1.43722605e-03 9.99996762e-01 4.52547725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08925976399996 meters 0.09612785270942574 Centerline is valid? [False, True] Translation: X:0.13, Y:3.37, Z:0.45 [[ 9.99992875e-01 -2.40216634e-03 -2.91195909e-03 1.32685638e-01] [ 2.39789367e-03 9.99996045e-01 -1.46988886e-03 3.37452756e+00] [ 2.91547849e-03 1.46289582e-03 9.99994680e-01 4.50220743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14925976399996 meters 0.09223604428014995 Centerline is valid? [True, True] Translation: X:0.19, Y:3.38, Z:0.45 [[ 9.99968048e-01 6.94936124e-03 -3.95091431e-03 1.93182670e-01] [-6.94876649e-03 9.99975844e-01 1.64241647e-04 3.37964980e+00] [ 3.95196025e-03 -1.36782419e-04 9.99992182e-01 4.46358171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20925976399997 meters 0.08868819146466123 Centerline is valid? [True, True] Translation: X:0.25, Y:3.39, Z:0.44 [[ 9.99811494e-01 1.88550285e-02 -4.63300403e-03 2.52979081e-01] [-1.88543403e-02 9.99822223e-01 1.92182823e-04 3.38533442e+00] [ 4.63580400e-03 -1.04794360e-04 9.99989249e-01 4.43383942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26925976399994 meters 0.08504693277492412 Centerline is valid? [True, True] Translation: X:0.31, Y:3.39, Z:0.45 [[ 9.99581968e-01 2.86692915e-02 -3.73642562e-03 3.12874499e-01] [-2.86689143e-02 9.99588950e-01 1.54503961e-04 3.39332507e+00] [ 3.73931928e-03 -4.73201074e-05 9.99993008e-01 4.45959911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32925976399994 meters 0.08369969766711005 Centerline is valid? [True, True] Translation: X:0.37, Y:3.40, Z:0.45 [[ 9.99246529e-01 3.86194409e-02 -3.86171842e-03 3.71948864e-01] [-3.86191315e-02 9.99253991e-01 1.54679177e-04 3.40013326e+00] [ 3.86481116e-03 -5.42641898e-06 9.99992532e-01 4.46419641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38925976399995 meters 0.0849448590945685 Centerline is valid? [True, True] Translation: X:0.43, Y:3.42, Z:0.45 [[ 9.98358321e-01 5.69717925e-02 -5.90575559e-03 4.32499341e-01] [-5.69713533e-02 9.98375784e-01 2.42720791e-04 3.41621735e+00] [ 5.90999161e-03 9.41365666e-05 9.99982531e-01 4.45720778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44925976399995 meters 0.08858783949226684 Centerline is valid? [True, True] Translation: X:0.49, Y:3.43, Z:0.45 [[ 9.97398263e-01 7.19317518e-02 -4.74631728e-03 4.93258814e-01] [-7.19316356e-02 9.97409546e-01 1.95408932e-04 3.42769853e+00] [ 4.74807827e-03 1.46509836e-04 9.99988717e-01 4.45335941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50925976399995 meters 0.0991961493731289 Centerline is valid? [True, True] Translation: X:0.55, Y:3.45, Z:0.45 [[ 9.95376606e-01 9.56783917e-02 -8.42956754e-03 5.53872871e-01] [-9.56788757e-02 9.95412192e-01 3.46767352e-04 3.44714826e+00] [ 8.42407245e-03 4.61367434e-04 9.99964410e-01 4.45494988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56925976399995 meters 0.1144481386270531 Centerline is valid? [True, False] Translation: X:0.52, Y:3.45, Z:0.44 [[ 9.93443855e-01 1.12083374e-01 2.25083225e-02 5.21313315e-01] [-1.12039485e-01 9.93698585e-01 -3.20557577e-03 3.44614939e+00] [-2.27257800e-02 6.62738691e-04 9.99741516e-01 4.38765272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62925976399995 meters 0.1253961194136875 Centerline is valid? [False, False] Translation: X:0.52, Y:3.44, Z:0.44 [[ 9.93317294e-01 1.13161765e-01 2.26973208e-02 5.22105821e-01] [-1.13131337e-01 9.93576576e-01 -2.62435011e-03 3.44455281e+00] [-2.28485024e-02 3.90340880e-05 9.99738938e-01 4.37137243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68925976399996 meters 0.1525941836105076 Centerline is valid? [False, False] Translation: X:0.47, Y:3.44, Z:0.43 [[ 9.90437892e-01 1.28702194e-01 4.96842739e-02 4.74103512e-01] [-1.28687607e-01 9.91678985e-01 -3.50572374e-03 3.44150720e+00] [-4.97220447e-02 -2.92154868e-03 9.98758821e-01 4.30192257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74925976399996 meters 0.15381930679525424 Centerline is valid? [False, False] Translation: X:0.46, Y:3.44, Z:0.43 [[ 9.89712859e-01 1.31676942e-01 5.59431806e-02 4.62003709e-01] [-1.31922246e-01 9.91259821e-01 6.98585368e-04 3.44338976e+00] [-5.53622396e-02 -8.07154893e-03 9.98433710e-01 4.30278762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80925976399996 meters 0.1728350317656469 Centerline is valid? [False, False] Translation: X:0.45, Y:3.44, Z:0.43 [[ 0.98798137 0.14518834 0.05303912 0.44801527] [-0.1457002 0.98931123 0.00589414 3.43808785] [-0.05161644 -0.01355111 0.99857504 0.42675883] [ 0. 0. 0. 1. ]] SLAMing on 225.86925976399996 meters 0.19824072275427368 Centerline is valid? [False, False] Translation: X:0.40, Y:3.44, Z:0.42 [[ 0.98331911 0.16288721 0.08094001 0.39997664] [-0.16386187 0.98646794 0.00550401 3.43602874] [-0.07894819 -0.01867518 0.99670378 0.41640662] [ 0. 0. 0. 1. ]] SLAMing on 225.92925976399997 meters 0.2104682136190077 Centerline is valid? [False, False] Translation: X:0.33, Y:3.44, Z:0.41 [[ 0.97581175 0.18385426 0.11827525 0.33255444] [-0.18597828 0.98252832 0.00708333 3.43522686] [-0.11490648 -0.02890862 0.99295558 0.40772549] [ 0. 0. 0. 1. ]] SLAMing on 225.98925976399997 meters 0.23060608335594784 Centerline is valid? [False, False] Translation: X:0.26, Y:3.43, Z:0.41 [[ 9.62204588e-01 2.35804460e-01 1.36229907e-01 2.55411998e-01] [-2.38406864e-01 9.71161101e-01 2.87791702e-03 3.42674188e+00] [-1.31622561e-01 -3.52472898e-02 9.90673069e-01 4.12786977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04925976399994 meters 0.22910061079206537 Centerline is valid? [False, False] Translation: X:0.17, Y:3.42, Z:0.41 [[ 9.55047644e-01 2.45402695e-01 1.66317510e-01 1.70320226e-01] [-2.49338452e-01 9.68412121e-01 2.88097507e-03 3.42430223e+00] [-1.60356894e-01 -4.42208190e-02 9.86068043e-01 4.08166307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10925976399994 meters 0.23123837741348366 Centerline is valid? [False, False] Translation: X:0.04, Y:3.41, Z:0.42 [[ 9.32883304e-01 3.00391760e-01 1.98729796e-01 3.74597676e-02] [-3.06911099e-01 9.51735856e-01 2.10653462e-03 3.40804413e+00] [-1.88505487e-01 -6.29575310e-02 9.80052055e-01 4.18213099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16925976399995 meters 0.23317160425887998 Centerline is valid? [False, False] Translation: X:-0.14, Y:3.38, Z:0.45 [[ 9.03352997e-01 3.57809234e-01 2.36486607e-01 -1.36399915e-01] [-3.68162118e-01 9.29761521e-01 -4.09769694e-04 3.38225688e+00] [-2.20022767e-01 -8.66952435e-02 9.71634662e-01 4.45185290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22925976399995 meters 0.22425288895560827 Centerline is valid? [False, False] Translation: X:-0.35, Y:3.35, Z:0.50 [[ 0.88015976 0.3974325 0.25955002 -0.3495533 ] [-0.40979708 0.91214944 -0.00705426 3.35321354] [-0.239552 -0.10015397 0.9657039 0.49746238] [ 0. 0. 0. 1. ]] SLAMing on 226.28925976399995 meters 0.2379290095985918 Centerline is valid? [False, False] Translation: X:-0.62, Y:3.31, Z:0.56 [[ 0.84426513 0.45078042 0.28985065 -0.62234045] [-0.46589231 0.88464216 -0.01877773 3.30599183] [-0.26487874 -0.11918581 0.95688766 0.56456603] [ 0. 0. 0. 1. ]] SLAMing on 226.34925976399995 meters 0.25440583519715715 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.26, Z:0.64 [[ 0.8221029 0.47310013 0.3167382 -0.91094204] [-0.49453074 0.86903945 -0.01448365 3.25719454] [-0.28211021 -0.14472973 0.94840241 0.63568829] [ 0. 0. 0. 1. ]] SLAMing on 226.40925976399996 meters 0.21610902193399728 Centerline is valid? [False, False] Translation: X:-1.22, Y:3.19, Z:0.73 [[ 0.79239864 0.50461124 0.34274174 -1.22345654] [-0.53592269 0.84425777 -0.00396085 3.18872844] [-0.29136106 -0.1805445 0.93942132 0.72774994] [ 0. 0. 0. 1. ]] SLAMing on 226.46925976399996 meters 0.1955424504204444 Centerline is valid? [False, False] Translation: X:-1.57, Y:3.12, Z:0.85 [[ 7.71510803e-01 5.22963443e-01 3.62326260e-01 -1.56869773e+00] [-5.61794540e-01 8.27273874e-01 2.19846868e-03 3.12100455e+00] [-2.98593330e-01 -2.05249057e-01 9.32048737e-01 8.45218510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52925976399996 meters 0.18960772256180145 Centerline is valid? [False, False] Translation: X:-1.94, Y:3.05, Z:0.98 [[ 0.75234374 0.54091598 0.37601703 -1.93577025] [-0.58661518 0.80981847 0.00875625 3.04531046] [-0.29976914 -0.22716501 0.92657138 0.97777817] [ 0. 0. 0. 1. ]] SLAMing on 226.58925976399996 meters 0.18789546748962277 Centerline is valid? [False, False] Translation: X:-2.33, Y:2.95, Z:1.13 [[ 0.72753274 0.56525786 0.38881829 -2.33387022] [-0.61938718 0.78488134 0.01791095 2.94698121] [-0.29505191 -0.25385987 0.92114035 1.12706138] [ 0. 0. 0. 1. ]] SLAMing on 226.64925976399996 meters 0.21070329105200036 Centerline is valid? [False, False] Translation: X:-2.76, Y:2.83, Z:1.30 [[ 0.70859002 0.57932168 0.40284808 -2.76010246] [-0.64215429 0.76606894 0.02786105 2.8334292 ] [-0.29246889 -0.27843268 0.91484271 1.29527252] [ 0. 0. 0. 1. ]] SLAMing on 226.70925976399997 meters 0.21094759280161152 Centerline is valid? [False, False] Translation: X:-3.21, Y:2.72, Z:1.49 [[ 0.69823027 0.58123797 0.41789581 -3.21262447] [-0.65299239 0.75635751 0.03904166 2.72398315] [-0.29338614 -0.30014286 0.90765568 1.49120615] [ 0. 0. 0. 1. ]] SLAMing on 226.76925976399994 meters 0.20947571958445702 Centerline is valid? [False, False] Translation: X:-3.67, Y:2.59, Z:1.70 [[ 0.69021805 0.58414801 0.42704818 -3.66523867] [-0.66425858 0.74556649 0.0537693 2.59002479] [-0.28698358 -0.32078296 0.90262878 1.69985257] [ 0. 0. 0. 1. ]] SLAMing on 226.82925976399994 meters 0.21144508774790363 Centerline is valid? [False, False] Translation: X:-4.13, Y:2.46, Z:1.92 [[ 0.68983707 0.57950808 0.43392995 -4.13166715] [-0.66489308 0.74427348 0.06304104 2.46145055] [-0.28642976 -0.33200506 0.89873835 1.92308188] [ 0. 0. 0. 1. ]] SLAMing on 226.88925976399995 meters 0.2204895086447884 Centerline is valid? [False, False] Translation: X:-4.60, Y:2.31, Z:2.16 [[ 0.68944235 0.57299851 0.44310489 -4.59789472] [-0.66489174 0.7433356 0.07328814 2.30737804] [-0.28738164 -0.34514473 0.89346903 2.1558805 ] [ 0. 0. 0. 1. ]] SLAMing on 226.94925976399995 meters 0.22569266122474163 Centerline is valid? [False, False] Translation: X:-5.07, Y:2.17, Z:2.41 [[ 0.69317094 0.5632392 0.44975065 -5.07257053] [-0.66093274 0.74563041 0.08487167 2.16536051] [-0.28754471 -0.35608551 0.88911256 2.40585621] [ 0. 0. 0. 1. ]] SLAMing on 227.00925976399995 meters 0.22368573190527838 Centerline is valid? [False, False] Translation: X:-5.54, Y:2.01, Z:2.66 [[ 0.69663764 0.55389953 0.45595099 -5.53739469] [-0.65694315 0.74791202 0.09514886 2.00702947] [-0.28830832 -0.36581816 0.88490417 2.66045948] [ 0. 0. 0. 1. ]] SLAMing on 227.06925976399995 meters 0.2316876581526246 Centerline is valid? [False, False] Translation: X:-6.01, Y:1.85, Z:2.93 [[ 0.69907789 0.54641313 0.46121882 -6.0063017 ] [-0.65389371 0.74952216 0.10314819 1.84631403] [-0.2893322 -0.37369671 0.88127047 2.92517636] [ 0. 0. 0. 1. ]] SLAMing on 227.12925976399995 meters 0.25567606675012006 Centerline is valid? [False, False] Translation: X:-6.47, Y:1.70, Z:3.19 [[ 0.70102204 0.54274825 0.46259316 -6.47482338] [-0.65175338 0.75089096 0.10667848 1.70374312] [-0.28945746 -0.37628062 0.88012912 3.19435108] [ 0. 0. 0. 1. ]] SLAMing on 227.18925976399996 meters 0.24267266200739815 Centerline is valid? [False, False] Translation: X:-6.95, Y:1.55, Z:3.47 [[ 0.70041324 0.54410088 0.46192589 -6.94633808] [-0.65359967 0.74897476 0.10883139 1.54927686] [-0.28675558 -0.37814155 0.880216 3.46632251] [ 0. 0. 0. 1. ]] SLAMing on 227.24925976399996 meters 0.2539361656689007 Centerline is valid? [False, False] Translation: X:-7.43, Y:1.41, Z:3.75 [[ 0.69961644 0.54326796 0.46410856 -7.42556556] [-0.65490347 0.74729614 0.11247193 1.40875381] [-0.28572414 -0.38263351 0.87860874 3.74607172] [ 0. 0. 0. 1. ]] SLAMing on 227.30925976399996 meters 0.25172400852193294 Centerline is valid? [False, False] Translation: X:-7.91, Y:1.26, Z:4.03 [[ 0.69612832 0.5446425 0.46772846 -7.91463344] [-0.66021408 0.74157678 0.11908508 1.25791672] [-0.28199777 -0.39169941 0.87581324 4.03441706] [ 0. 0. 0. 1. ]] SLAMing on 227.36925976399996 meters 0.26948174525261626 Centerline is valid? [False, False] Translation: X:-8.41, Y:1.11, Z:4.33 [[ 0.69383941 0.5448882 0.47083302 -8.40685595] [-0.66397203 0.73717941 0.1253302 1.11237745] [-0.27879746 -0.39957898 0.87327465 4.32893289] [ 0. 0. 0. 1. ]] SLAMing on 227.42925976399997 meters 0.2727959288185079 Centerline is valid? [False, False] Translation: X:-8.90, Y:0.95, Z:4.63 [[ 0.69147661 0.54690503 0.47196927 -8.90199849] [-0.66864397 0.73184906 0.1315758 0.95155449] [-0.27345079 -0.40656099 0.87174126 4.6250944 ] [ 0. 0. 0. 1. ]] SLAMing on 227.48925976399994 meters 0.276409005688906 Centerline is valid? [False, False] Translation: X:-9.40, Y:0.79, Z:4.93 [[ 0.69271521 0.54360548 0.47396067 -9.40255439] [-0.66820306 0.7310401 0.13814864 0.79303956] [-0.2713859 -0.41239963 0.86964144 4.92804306] [ 0. 0. 0. 1. ]] SLAMing on 227.54925976399994 meters 0.2919166121742806 Centerline is valid? [False, False] Translation: X:-9.90, Y:0.62, Z:5.24 [[ 0.69329226 0.54078048 0.47634265 -9.90218118] [-0.66890438 0.72884689 0.14611343 0.62314802] [-0.26816556 -0.419927 0.86703434 5.23705042] [ 0. 0. 0. 1. ]] SLAMing on 227.60925976399994 meters 0.2842741793923035 Centerline is valid? [False, False] Translation: X:-10.40, Y:0.45, Z:5.55 [[ 0.69408303 0.53747503 0.47892519 -10.39888961] [ -0.66821024 0.72852594 0.15081456 0.45172147] [ -0.26785037 -0.42470055 0.86480381 5.5518372 ] [ 0. 0. 0. 1. ]] SLAMing on 227.66925976399995 meters 0.2841997947552139 Centerline is valid? [False, False] Translation: X:-10.90, Y:0.29, Z:5.86 [[ 0.69580604 0.53570602 0.47840675 -10.89588534] [ -0.66596979 0.73065194 0.15043928 0.28727909] [ -0.26895759 -0.423281 0.86515606 5.86363144] [ 0. 0. 0. 1. ]] SLAMing on 227.72925976399995 meters 0.30922817110187883 Centerline is valid? [False, False] Translation: X:-11.39, Y:0.12, Z:6.18 [[ 0.70009832 0.53303238 0.47511979 -11.39017738] [ -0.66224452 0.73352165 0.1528993 0.11714444] [ -0.26701037 -0.42169002 0.86653505 6.17632174] [ 0. 0. 0. 1. ]] SLAMing on 227.78925976399995 meters 0.29598972694015935 Centerline is valid? [False, False] Translation: X:-11.88, Y:-0.04, Z:6.49 [[ 0.70360969 0.52723412 0.47640065 -11.8836874 ] [ -0.65825495 0.73613098 0.15751698 -0.04457221] [ -0.26764496 -0.42442356 0.86500336 6.49242255] [ 0. 0. 0. 1. ]] SLAMing on 227.84925976399995 meters 0.30923550986545395 Centerline is valid? [False, False] Translation: X:-12.37, Y:-0.21, Z:6.81 [[ 0.70674725 0.52028675 0.47938505 -12.37405468] [ -0.65380849 0.73919526 0.16163176 -0.20820692] [ -0.27026429 -0.42765882 0.86259211 6.80892419] [ 0. 0. 0. 1. ]] SLAMing on 227.90925976399996 meters 0.31067030809602403 Centerline is valid? [False, False] Translation: X:-12.86, Y:-0.37, Z:7.12 [[ 0.70908653 0.51992778 0.47631019 -12.85516736] [ -0.65115237 0.74201712 0.15940884 -0.36604068] [ -0.27054923 -0.42318517 0.86470655 7.11688297] [ 0. 0. 0. 1. ]] SLAMing on 227.96925976399996 meters 0.3017181604007827 Centerline is valid? [False, False] Translation: X:-13.33, Y:-0.52, Z:7.42 [[ 0.71122311 0.51811027 0.4751036 -13.33274442] [ -0.64902367 0.7436116 0.16065513 -0.52039507] [ -0.27005548 -0.42261512 0.86513958 7.42160941] [ 0. 0. 0. 1. ]] SLAMing on 228.02925976399996 meters 0.29531349816788094 Centerline is valid? [False, False] Translation: X:-13.81, Y:-0.68, Z:7.73 [[ 0.7115367 0.51824806 0.47448338 -13.81395698] [ -0.64950225 0.7427376 0.16275041 -0.67721082] [ -0.26807156 -0.42398091 0.86508834 7.72991875] [ 0. 0. 0. 1. ]] SLAMing on 228.08925976399996 meters 0.29214888585315046 Centerline is valid? [False, False] Translation: X:-14.30, Y:-0.84, Z:8.04 [[ 0.70778471 0.52283065 0.47506728 -14.29936699] [ -0.65503579 0.73753505 0.16422597 -0.83522088] [ -0.2645164 -0.4274227 0.86448882 8.04331463] [ 0. 0. 0. 1. ]] SLAMing on 228.14925976399996 meters 0.2947397328769868 Centerline is valid? [False, False] Translation: X:-14.79, Y:-1.00, Z:8.36 [[ 0.70564747 0.5262725 0.47444589 -14.78912736] [ -0.65858822 0.73415134 0.16517679 -0.99815456] [ -0.26138708 -0.42902106 0.8646489 8.35861356] [ 0. 0. 0. 1. ]] SLAMing on 228.20925976399997 meters 0.295592955306611 Centerline is valid? [False, False] Translation: X:-15.28, Y:-1.17, Z:8.68 [[ 0.70473258 0.5279216 0.4739734 -15.28001868] [ -0.66079147 0.73161382 0.16761814 -1.16516537] [ -0.25827625 -0.43132355 0.86443818 8.67768249] [ 0. 0. 0. 1. ]] SLAMing on 228.26925976399994 meters 0.3349501481474878 Centerline is valid? [False, False] Translation: X:-15.77, Y:-1.34, Z:9.00 [[ 0.7038324 0.52902095 0.47408521 -15.77477517] [ -0.66370031 0.72762245 0.17339976 -1.33660036] [ -0.25322294 -0.43669487 0.86323562 8.99640369] [ 0. 0. 0. 1. ]] SLAMing on 228.32925976399994 meters 0.30366384594069273 Centerline is valid? [False, False] Translation: X:-16.27, Y:-1.51, Z:9.32 [[ 0.70662086 0.52739911 0.47173842 -16.26866589] [ -0.66212148 0.72796476 0.17793946 -1.51181285] [ -0.24956383 -0.43808387 0.86359737 9.31844892] [ 0. 0. 0. 1. ]] SLAMing on 228.38925976399995 meters 0.3086307521527596 Centerline is valid? [False, False] Translation: X:-16.75, Y:-1.69, Z:9.64 [[ 0.71455065 0.5188343 0.46928492 -16.75347101] [ -0.65290238 0.73550561 0.18096954 -1.69125795] [ -0.25126849 -0.43570915 0.86430416 9.6359957 ] [ 0. 0. 0. 1. ]] SLAMing on 228.44925976399995 meters 0.2951985147187767 Centerline is valid? [False, False] Translation: X:-17.23, Y:-1.87, Z:9.95 [[ 0.7225709 0.50426618 0.47287093 -17.22621552] [ -0.63898691 0.74821768 0.17851059 -1.87015705] [ -0.26379354 -0.43114489 0.86285981 9.94793885] [ 0. 0. 0. 1. ]] SLAMing on 228.50925976399995 meters 0.2908057033136241 Centerline is valid? [False, False] Translation: X:-17.68, Y:-2.04, Z:10.25 [[ 0.72921259 0.49641197 0.47098212 -17.68322296] [ -0.62897324 0.75733549 0.17560074 -2.0413959 ] [ -0.26952117 -0.42428542 0.86448842 10.24902064] [ 0. 0. 0. 1. ]] SLAMing on 228.56925976399995 meters 0.2910334503954725 Centerline is valid? [False, False] Translation: X:-18.13, Y:-2.21, Z:10.54 [[ 0.73913539 0.48277211 0.46969136 -18.12713353] [ -0.61350131 0.77037221 0.17361681 -2.21334951] [ -0.27801982 -0.41648259 0.86559068 10.54137002] [ 0. 0. 0. 1. ]] SLAMing on 228.62925976399995 meters 0.29012565477257685 Centerline is valid? [False, False] Translation: X:-18.56, Y:-2.38, Z:10.82 [[ 0.74519735 0.47549903 0.46752708 -18.55893524] [ -0.60304451 0.77979214 0.16811168 -2.37647882] [ -0.284637 -0.40721602 0.86784612 10.81913283] [ 0. 0. 0. 1. ]] SLAMing on 228.68925976399996 meters 0.28057037000572704 Centerline is valid? [False, False] Translation: X:-18.99, Y:-2.54, Z:11.09 [[ 0.75103355 0.46703943 0.46671488 -18.98669942] [ -0.59305985 0.78787681 0.1659221 -2.54031309] [ -0.29022167 -0.40140292 0.86870425 11.09467615] [ 0. 0. 0. 1. ]] SLAMing on 228.74925976399996 meters 0.2874237029949382 Centerline is valid? [False, False] Translation: X:-19.40, Y:-2.69, Z:11.36 [[ 0.75435325 0.4619502 0.46642596 -19.40399653] [ -0.58542682 0.79486534 0.15957607 -2.69462868] [ -0.29702963 -0.39343499 0.8700473 11.36139796] [ 0. 0. 0. 1. ]] SLAMing on 228.80925976399996 meters 0.2799643044537505 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.85, Z:11.62 [[ 0.75393977 0.46191691 0.46712695 -19.81932647] [ -0.58348196 0.79757236 0.15305925 -2.84507864] [ -0.30186689 -0.38795761 0.87084171 11.62411686] [ 0. 0. 0. 1. ]] SLAMing on 228.86925976399996 meters 0.28301292698486225 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.00, Z:11.89 [[ 0.75196756 0.46554689 0.46670213 -20.23852094] [ -0.5854417 0.79705284 0.1482052 -2.99623103] [ -0.30298979 -0.3846724 0.87190844 11.8850442 ] [ 0. 0. 0. 1. ]] SLAMing on 228.92925976399997 meters 0.2745240465931168 Centerline is valid? [False, False] Translation: X:-20.67, Y:-3.15, Z:12.15 [[ 0.7463721 0.4733859 0.46779748 -20.66563215] [ -0.59281784 0.79235369 0.14402306 -3.14786342] [ -0.30248257 -0.38481348 0.87202229 12.14533953] [ 0. 0. 0. 1. ]] SLAMing on 228.98925976399994 meters 0.2863191745384054 Centerline is valid? [False, False] Translation: X:-21.11, Y:-3.31, Z:12.41 [[ 0.74118761 0.48127702 0.46798863 -21.10978216] [ -0.60206405 0.78492666 0.1463182 -3.30829484] [ -0.29691717 -0.39020837 0.87153751 12.4141993 ] [ 0. 0. 0. 1. ]] SLAMing on 229.04925976399994 meters 0.2940065806749879 Centerline is valid? [False, False] Translation: X:-21.57, Y:-3.48, Z:12.70 [[ 0.73607198 0.48528366 0.47190869 -21.56974339] [ -0.61024628 0.77741497 0.15239899 -3.4802344 ] [ -0.29291214 -0.40015715 0.86837592 12.69774477] [ 0. 0. 0. 1. ]] SLAMing on 229.10925976399994 meters 0.29308438752297955 Centerline is valid? [False, False] Translation: X:-22.03, Y:-3.66, Z:12.98 [[ 0.73414687 0.48736867 0.47275803 -22.02977404] [ -0.61337993 0.77464069 0.15393784 -3.66110855] [ -0.29119313 -0.40299327 0.8676422 12.98272458] [ 0. 0. 0. 1. ]] SLAMing on 229.16925976399995 meters 0.3010249852132577 Centerline is valid? [False, False] Translation: X:-22.49, Y:-3.85, Z:13.27 [[ 0.73367895 0.48808732 0.47274303 -22.48781849] [ -0.615354 0.77233471 0.15760253 -3.84572827] [ -0.28819205 -0.40653397 0.8669922 13.26849617] [ 0. 0. 0. 1. ]] SLAMing on 229.22925976399995 meters 0.2987490790959992 Centerline is valid? [False, False] Translation: X:-22.95, Y:-4.04, Z:13.57 [[ 0.73183472 0.48812757 0.4755517 -22.9490089 ] [ -0.61873538 0.76840668 0.1634555 -4.03703524] [ -0.28562997 -0.41386307 0.86436848 13.56632203] [ 0. 0. 0. 1. ]] SLAMing on 229.28925976399995 meters 0.3010149345499464 Centerline is valid? [False, False] Translation: X:-23.41, Y:-4.23, Z:13.86 [[ 0.73212496 0.48373685 0.4795745 -23.40671029] [ -0.6175095 0.76852001 0.16750823 -4.2311825 ] [ -0.2875327 -0.41877877 0.86136478 13.86221131] [ 0. 0. 0. 1. ]] SLAMing on 229.34925976399995 meters 0.3012252045651862 Centerline is valid? [False, False] Translation: X:-23.86, Y:-4.43, Z:14.16 [[ 0.73398111 0.48098841 0.4795017 -23.85640101] [ -0.6147016 0.77069316 0.1678511 -4.42971359] [ -0.28881425 -0.41795 0.86133857 14.15555948] [ 0. 0. 0. 1. ]] SLAMing on 229.40925976399996 meters 0.2995738859898172 Centerline is valid? [False, False] Translation: X:-24.30, Y:-4.63, Z:14.45 [[ 0.73782115 0.47450795 0.48006475 -24.30076079] [ -0.60924359 0.77432764 0.17099399 -4.6281789 ] [ -0.2905894 -0.41863935 0.86040624 14.44720715] [ 0. 0. 0. 1. ]] SLAMing on 229.46925976399996 meters 0.2927287485180637 Centerline is valid? [False, False] Translation: X:-24.73, Y:-4.83, Z:14.74 [[ 0.74434285 0.46354253 0.48070993 -24.73141938] [ -0.59932747 0.78120729 0.17470476 -4.82865272] [ -0.29455102 -0.4181429 0.85929984 14.7351508 ] [ 0. 0. 0. 1. ]] SLAMing on 229.52925976399996 meters 0.2928862945730927 Centerline is valid? [False, False] Translation: X:-25.15, Y:-5.02, Z:15.02 [[ 0.75261046 0.45167953 0.47912744 -25.14580571] [ -0.58669128 0.7903409 0.17650667 -5.02371211] [ -0.29894956 -0.41394066 0.85981527 15.01676311] [ 0. 0. 0. 1. ]] SLAMing on 229.58925976399996 meters 0.29987045324917516 Centerline is valid? [False, False] Translation: X:-25.55, Y:-5.21, Z:15.29 [[ 0.75890591 0.44180855 0.47840048 -25.54921916] [ -0.57492939 0.79956977 0.17362138 -5.2100804 ] [ -0.30580715 -0.40680879 0.86080695 15.29201803] [ 0. 0. 0. 1. ]] SLAMing on 229.64925976399996 meters 0.33882945421256916 Centerline is valid? [False, False] Translation: X:-25.94, Y:-5.39, Z:15.56 [[ 0.76396953 0.43278091 0.47859298 -25.93859909] [ -0.56386011 0.80837656 0.16908314 -5.39094759] [ -0.31370739 -0.39903386 0.86160296 15.55863044] [ 0. 0. 0. 1. ]] SLAMing on 229.70925976399997 meters 0.27865770891348524 Centerline is valid? [False, False] Translation: X:-26.32, Y:-5.57, Z:15.82 [[ 0.7658341 0.43101597 0.4772037 -26.32172993] [ -0.55982777 0.81201195 0.16501355 -5.56672877] [ -0.31637163 -0.39352489 0.86316114 15.81569945] [ 0. 0. 0. 1. ]] SLAMing on 229.76925976399994 meters 0.32272668122378084 Centerline is valid? [False, False] Translation: X:-26.71, Y:-5.74, Z:16.08 [[ 0.76613028 0.43247 0.4754094 -26.70847395] [ -0.55962747 0.81263408 0.16261287 -5.74222196] [ -0.31600869 -0.39063481 0.86460567 16.0752508 ] [ 0. 0. 0. 1. ]] SLAMing on 229.82925976399994 meters 0.3185735791175666 Centerline is valid? [False, False] Translation: X:-27.09, Y:-5.92, Z:16.33 [[ 0.76895196 0.43365102 0.46974426 -27.09109748] [ -0.55670701 0.81544437 0.15851745 -5.91700201] [ -0.31430906 -0.38340223 0.86845411 16.32567277] [ 0. 0. 0. 1. ]] SLAMing on 229.88925976399995 meters 0.31782204257499524 Centerline is valid? [False, False] Translation: X:-27.48, Y:-6.09, Z:16.58 [[ 0.77030802 0.43314466 0.46798639 -27.47524679] [ -0.55455107 0.81733787 0.15630712 -6.09457601] [ -0.3147994 -0.37992698 0.86980275 16.57548389] [ 0. 0. 0. 1. ]] SLAMing on 229.94925976399995 meters 0.3113975099196157 Centerline is valid? [False, False] Translation: X:-27.86, Y:-6.27, Z:16.82 [[ 0.77230311 0.43078073 0.46687886 -27.85617677] [ -0.5506703 0.82040603 0.1539356 -6.26939058] [ -0.31671774 -0.37598127 0.87082028 16.82214543] [ 0. 0. 0. 1. ]] SLAMing on 230.00925976399995 meters 0.3058765489740319 Centerline is valid? [False, False] Translation: X:-28.23, Y:-6.44, Z:17.06 [[ 0.77420823 0.42645345 0.46769548 -28.23239173] [ -0.54530429 0.82455584 0.15083401 -6.44118706] [ -0.32131736 -0.37181328 0.87092482 17.06372158] [ 0. 0. 0. 1. ]] SLAMing on 230.06925976399995 meters 0.3023564919848831 Centerline is valid? [False, False] Translation: X:-28.60, Y:-6.61, Z:17.30 [[ 0.77647633 0.42164004 0.46829924 -28.60376539] [ -0.5400227 0.8282324 0.14968827 -6.61399585] [ -0.32474604 -0.36912162 0.87079805 17.30098262] [ 0. 0. 0. 1. ]] SLAMing on 230.12925976399995 meters 0.2984254507623593 Centerline is valid? [False, False] Translation: X:-28.97, Y:-6.79, Z:17.54 [[ 0.77874519 0.42195283 0.46423241 -28.97018342] [ -0.53798133 0.82982549 0.14820845 -6.78819456] [ -0.32269491 -0.36516499 0.87322536 17.53531671] [ 0. 0. 0. 1. ]] SLAMing on 230.18925976399996 meters 0.2873356412663038 Centerline is valid? [False, False] Translation: X:-29.33, Y:-6.96, Z:17.77 [[ 0.78058719 0.41979844 0.4630906 -29.3324187 ] [ -0.53509635 0.83172826 0.14798646 -6.96427792] [ -0.32304105 -0.36331443 0.87386904 17.76722102] [ 0. 0. 0. 1. ]] SLAMing on 230.24925976399996 meters 0.2881638374803191 Centerline is valid? [False, False] Translation: X:-29.69, Y:-7.14, Z:18.00 [[ 0.78112381 0.4176641 0.46411452 -29.69351946] [ -0.53346609 0.83268338 0.14850022 -7.14033259] [ -0.32443724 -0.36358642 0.87323845 17.99640704] [ 0. 0. 0. 1. ]] SLAMing on 230.30925976399996 meters 0.282042745076076 Centerline is valid? [False, False] Translation: X:-30.06, Y:-7.32, Z:18.23 [[ 0.78194545 0.41660085 0.46368637 -30.05669697] [ -0.5323092 0.83334352 0.14894794 -7.31778361] [ -0.3243582 -0.36329368 0.87338964 18.22718762] [ 0. 0. 0. 1. ]] SLAMing on 230.36925976399996 meters 0.2910018519368611 Centerline is valid? [False, False] Translation: X:-30.42, Y:-7.50, Z:18.45 [[ 0.78411138 0.41594686 0.46060563 -30.41649158] [ -0.53081427 0.83402301 0.15047201 -7.49717618] [ -0.32156733 -0.36248286 0.87475747 18.45498115] [ 0. 0. 0. 1. ]] SLAMing on 230.42925976399997 meters 0.28201174314184696 Centerline is valid? [False, False] Translation: X:-30.77, Y:-7.67, Z:18.68 [[ 0.78720466 0.41289033 0.45807248 -30.77284385] [ -0.52652199 0.83670566 0.15065933 -7.67426975] [ -0.32106606 -0.35978496 0.87605443 18.6803717 ] [ 0. 0. 0. 1. ]] SLAMing on 230.48925976399994 meters 0.2699494267855364 Centerline is valid? [False, False] Translation: X:-31.12, Y:-7.85, Z:18.90 [[ 0.79505032 0.40105331 0.45502882 -31.11799361] [ -0.51124045 0.8467856 0.14692633 -7.84617041] [ -0.32638656 -0.34944297 0.87827184 18.89736408] [ 0. 0. 0. 1. ]] SLAMing on 230.54925976399994 meters 0.2954900817828373 Centerline is valid? [False, False] Translation: X:-31.46, Y:-8.02, Z:19.11 [[ 0.79583363 0.40021996 0.45439281 -31.46142296] [ -0.51022981 0.84732665 0.14731968 -8.01565567] [ -0.32605886 -0.34908671 0.8785352 19.11427458] [ 0. 0. 0. 1. ]] SLAMing on 230.60925976399994 meters 0.29657310018871824 Centerline is valid? [False, False] Translation: X:-31.80, Y:-8.18, Z:19.33 [[ 0.79652782 0.40127399 0.45224177 -31.80256101] [ -0.51204111 0.84546416 0.15167156 -8.18175136] [ -0.32149236 -0.352377 0.8789045 19.32662122] [ 0. 0. 0. 1. ]] SLAMing on 230.66925976399995 meters 0.3003698245596909 Centerline is valid? [False, False] Translation: X:-32.15, Y:-8.35, Z:19.54 [[ 0.80034796 0.39527539 0.45077767 -32.14632619] [ -0.50560316 0.84906091 0.15316991 -8.34748247] [ -0.3221934 -0.35050383 0.87939665 19.53915522] [ 0. 0. 0. 1. ]] SLAMing on 230.72925976399995 meters 0.2863452896769821 Centerline is valid? [False, False] Translation: X:-32.48, Y:-8.51, Z:19.75 [[ 0.79984162 0.39776273 0.44948659 -32.48025981] [ -0.50546427 0.85022176 0.14706742 -8.51225372] [ -0.32366534 -0.34483006 0.8810976 19.75010916] [ 0. 0. 0. 1. ]] SLAMing on 230.78925976399995 meters 0.2917988240387412 Centerline is valid? [False, False] Translation: X:-32.82, Y:-8.68, Z:19.96 [[ 0.79997667 0.39858754 0.44851455 -32.81659783] [ -0.50556081 0.85034133 0.14604072 -8.67502317] [ -0.32318045 -0.34358055 0.88176346 19.96214603] [ 0. 0. 0. 1. ]] SLAMing on 230.84925976399995 meters 0.28622423746924097 Centerline is valid? [False, False] Translation: X:-33.16, Y:-8.84, Z:20.17 [[ 0.79921838 0.39837642 0.45005134 -33.15974212] [ -0.50760719 0.84834386 0.15049128 -8.84129468] [ -0.32184612 -0.3487247 0.88023074 20.17485389] [ 0. 0. 0. 1. ]] SLAMing on 230.90925976399996 meters 0.2875262146457927 Centerline is valid? [False, False] Translation: X:-33.49, Y:-9.01, Z:20.38 [[ 0.80389493 0.39243399 0.44693232 -33.49436088] [ -0.49892566 0.85399032 0.14755921 -9.00753079] [ -0.32376862 -0.3416081 0.88231388 20.38404865] [ 0. 0. 0. 1. ]] SLAMing on 230.96925976399996 meters 0.27324245505274747 Centerline is valid? [False, False] Translation: X:-33.82, Y:-9.17, Z:20.59 [[ 0.80577857 0.39143202 0.44441181 -33.82091995] [ -0.49561641 0.85648019 0.14424305 -9.1727588 ] [ -0.32416857 -0.33648574 0.88413352 20.58668658] [ 0. 0. 0. 1. ]] SLAMing on 231.02925976399996 meters 0.2805573009703604 Centerline is valid? [False, False] Translation: X:-34.14, Y:-9.33, Z:20.79 [[ 0.81142507 0.38130334 0.44294144 -34.14256837] [ -0.48407341 0.86313953 0.14374658 -9.3342017 ] [ -0.32750921 -0.33105576 0.88495187 20.78679568] [ 0. 0. 0. 1. ]] SLAMing on 231.08925976399996 meters 0.2904835670104459 Centerline is valid? [False, False] Translation: X:-34.46, Y:-9.49, Z:20.98 [[ 0.81497561 0.37170257 0.44458065 -34.46066753] [ -0.47325844 0.8696554 0.14044908 -9.49105271] [ -0.33442667 -0.32486411 0.88465932 20.98227427] [ 0. 0. 0. 1. ]] SLAMing on 231.14925976399996 meters 0.30604309994919177 Centerline is valid? [False, False] Translation: X:-34.77, Y:-9.64, Z:21.17 [[ 0.81913407 0.36295035 0.44416935 -34.76856062] [ -0.46330206 0.87518981 0.13926231 -9.64321132] [ -0.33818719 -0.31985908 0.88505344 21.17112612] [ 0. 0. 0. 1. ]] SLAMing on 231.20925976399997 meters 0.3171119535885476 Centerline is valid? [False, False] Translation: X:-35.07, Y:-9.79, Z:21.36 [[ 0.82268567 0.35681715 0.44257182 -35.07167052] [ -0.45557081 0.87947124 0.13778816 -9.79114369] [ -0.34006401 -0.31497915 0.88608386 21.35636686] [ 0. 0. 0. 1. ]] SLAMing on 231.26925976399994 meters 0.3186247975800235 Centerline is valid? [False, False] Translation: X:-35.36, Y:-9.93, Z:21.53 [[ 0.8298771 0.34381219 0.43942824 -35.36215971] [ -0.43872132 0.88869325 0.13322132 -9.93404066] [ -0.3447138 -0.30334386 0.88834391 21.53467349] [ 0. 0. 0. 1. ]] SLAMing on 231.32925976399994 meters 0.32576591008571515 Centerline is valid? [False, False] Translation: X:-35.65, Y:-10.07, Z:21.71 [[ 0.83201666 0.33872829 0.43933065 -35.6487854 ] [ -0.43244936 0.89206234 0.13119577 -10.07316575] [ -0.3474706 -0.29914533 0.88869356 21.70653108] [ 0. 0. 0. 1. ]] SLAMing on 231.38925976399995 meters 0.30317564909742806 Centerline is valid? [False, False] Translation: X:-35.94, Y:-10.21, Z:21.88 [[ 0.83259702 0.34002187 0.43722686 -35.93683072] [ -0.43326173 0.89159821 0.13166971 -10.2116198 ] [ -0.3450601 -0.29906147 0.88966048 21.87809178] [ 0. 0. 0. 1. ]] SLAMing on 231.44925976399995 meters 0.29765753113870214 Centerline is valid? [False, False] Translation: X:-36.22, Y:-10.35, Z:22.05 [[ 0.83393359 0.33947234 0.43510149 -36.22380719] [ -0.43117547 0.89288787 0.12976505 -10.34666049] [ -0.34444519 -0.29582052 0.89098133 22.04663188] [ 0. 0. 0. 1. ]] SLAMing on 231.50925976399995 meters 0.29455656320344026 Centerline is valid? [False, False] Translation: X:-36.51, Y:-10.48, Z:22.22 [[ 0.82981308 0.34996512 0.43466615 -36.50857345] [ -0.44011084 0.88931406 0.12418919 -10.47900569] [ -0.34309283 -0.2943551 0.89198788 22.21727245] [ 0. 0. 0. 1. ]] SLAMing on 231.56925976399995 meters 0.29382349097752325 Centerline is valid? [False, False] Translation: X:-36.80, Y:-10.61, Z:22.39 [[ 0.82927347 0.3532718 0.43301795 -36.80231721] [ -0.44258387 0.88826303 0.12291589 -10.61385626] [ -0.34121112 -0.29357764 0.89296536 22.38853606] [ 0. 0. 0. 1. ]] SLAMing on 231.62925976399995 meters 0.2857220405611892 Centerline is valid? [False, False] Translation: X:-37.09, Y:-10.75, Z:22.56 [[ 0.82479723 0.36818232 0.42912855 -37.09284331] [ -0.45473272 0.88298502 0.11642856 -10.74854368] [ -0.33604714 -0.29116874 0.89570815 22.56175298] [ 0. 0. 0. 1. ]] SLAMing on 231.68925976399996 meters 0.3068353779336403 Centerline is valid? [False, False] Translation: X:-37.39, Y:-10.88, Z:22.73 [[ 0.82393525 0.37418477 0.42557779 -37.3916227 ] [ -0.45816579 0.88182102 0.11169509 -10.88418221] [ -0.33348884 -0.28701471 0.89800209 22.73264784] [ 0. 0. 0. 1. ]] SLAMing on 231.74925976399996 meters 0.2916310521583762 Centerline is valid? [False, False] Translation: X:-37.70, Y:-11.02, Z:22.91 [[ 0.81870539 0.3860194 0.42510058 -37.70235753] [ -0.46993327 0.87585718 0.10971294 -11.02401202] [ -0.32997607 -0.28959149 0.89847235 22.9064028 ] [ 0. 0. 0. 1. ]] SLAMing on 231.80925976399996 meters 0.3029630528302076 Centerline is valid? [False, False] Translation: X:-38.03, Y:-11.17, Z:23.08 [[ 0.81087709 0.40173579 0.42554283 -38.02659836] [ -0.48769882 0.86580438 0.11194923 -11.16892829] [ -0.32346284 -0.2983138 0.89798701 23.08477044] [ 0. 0. 0. 1. ]] SLAMing on 231.86925976399996 meters 0.2966571177535388 Centerline is valid? [False, False] Translation: X:-38.37, Y:-11.32, Z:23.27 [[ 0.80276481 0.41729985 0.42594542 -38.36761306] [ -0.50520434 0.85542672 0.11407758 -11.3197228 ] [ -0.31676053 -0.30676694 0.89752816 23.27007882] [ 0. 0. 0. 1. ]] SLAMing on 231.92925976399997 meters 0.2827536295832025 Centerline is valid? [False, False] Translation: X:-38.72, Y:-11.48, Z:23.46 [[ 0.79665124 0.42694283 0.42786286 -38.72384051] [ -0.51715619 0.84787623 0.11685624 -11.48419179] [ -0.31288382 -0.31436559 0.89625777 23.46338968] [ 0. 0. 0. 1. ]] SLAMing on 231.98925976399994 meters 0.29166573489229647 Centerline is valid? [False, False] Translation: X:-39.09, Y:-11.65, Z:23.66 [[ 0.79315675 0.43365283 0.42760681 -39.08521902] [ -0.52538108 0.8423221 0.12028384 -11.65112204] [ -0.30802124 -0.32006047 0.89592646 23.66261046] [ 0. 0. 0. 1. ]] SLAMing on 232.04925976399994 meters 0.29015010933376484 Centerline is valid? [False, False] Translation: X:-39.45, Y:-11.82, Z:23.87 [[ 0.78485633 0.44860286 0.42749972 -39.45427323] [ -0.54314914 0.83011515 0.12608666 -11.82372333] [ -0.29831116 -0.33115602 0.89517939 23.8682567 ] [ 0. 0. 0. 1. ]] SLAMing on 232.10925976399994 meters 0.28409966188086844 Centerline is valid? [False, False] Translation: X:-39.83, Y:-12.00, Z:24.08 [[ 0.78297569 0.45144808 0.42795292 -39.8345409 ] [ -0.54751103 0.82669619 0.1296344 -12.00489969] [ -0.29526385 -0.33580953 0.89445582 24.08463531] [ 0. 0. 0. 1. ]] SLAMing on 232.16925976399995 meters 0.287445745815917 Centerline is valid? [False, False] Translation: X:-40.21, Y:-12.19, Z:24.30 [[ 0.7783929 0.46026043 0.42692486 -40.21200853] [ -0.55775528 0.81914626 0.13382249 -12.18778058] [ -0.2881207 -0.34228607 0.89433031 24.29851461] [ 0. 0. 0. 1. ]] SLAMing on 232.22925976399995 meters 0.2896928599530769 Centerline is valid? [False, False] Translation: X:-40.60, Y:-12.38, Z:24.52 [[ 0.77702254 0.46247213 0.42703104 -40.60052587] [ -0.56210421 0.81512732 0.14002254 -12.37816405] [ -0.28332815 -0.34883662 0.89332983 24.523477 ] [ 0. 0. 0. 1. ]] SLAMing on 232.28925976399995 meters 0.2898489932971966 Centerline is valid? [False, False] Translation: X:-40.99, Y:-12.57, Z:24.75 [[ 0.77826785 0.45844854 0.42909682 -40.99083764] [ -0.56050429 0.81525445 0.14558544 -12.5717545 ] [ -0.28307966 -0.35381508 0.89144871 24.75270959] [ 0. 0. 0. 1. ]] SLAMing on 232.34925976399995 meters 0.30537685150243005 Centerline is valid? [False, False] Translation: X:-41.37, Y:-12.76, Z:24.98 [[ 0.78101127 0.45535543 0.42740241 -41.37329255] [ -0.55723545 0.81711122 0.14770888 -12.7602796 ] [ -0.28197526 -0.35352607 0.89191326 24.97659527] [ 0. 0. 0. 1. ]] SLAMing on 232.40925976399996 meters 0.3002186692316617 Centerline is valid? [False, False] Translation: X:-41.75, Y:-12.95, Z:25.20 [[ 0.78325179 0.45317694 0.42561401 -41.75374969] [ -0.55481538 0.81841165 0.14960703 -12.949597 ] [ -0.28052901 -0.35331717 0.89245193 25.20001163] [ 0. 0. 0. 1. ]] SLAMing on 232.46925976399996 meters 0.29602144337670966 Centerline is valid? [False, False] Translation: X:-42.13, Y:-13.14, Z:25.42 [[ 0.78343829 0.4509301 0.4276523 -42.13076243] [ -0.5539298 0.81865219 0.15155981 -13.14108055] [ -0.28175561 -0.35562712 0.89114709 25.42434951] [ 0. 0. 0. 1. ]] SLAMing on 232.52925976399996 meters 0.3105836382220888 Centerline is valid? [False, False] Translation: X:-42.51, Y:-13.33, Z:25.65 [[ 0.78637763 0.44614088 0.4272804 -42.50925645] [ -0.54967013 0.82098965 0.15439802 -13.3322262 ] [ -0.28190952 -0.35627842 0.89083821 25.65041997] [ 0. 0. 0. 1. ]] SLAMing on 232.58925976399996 meters 0.2975001415469961 Centerline is valid? [False, False] Translation: X:-42.88, Y:-13.52, Z:25.87 [[ 0.79093033 0.44060901 0.42460913 -42.8781433 ] [ -0.54263482 0.82574606 0.15391847 -13.5181893 ] [ -0.28280145 -0.35214649 0.8921974 25.87068122] [ 0. 0. 0. 1. ]] SLAMing on 232.64925976399996 meters 0.31295773852523656 Centerline is valid? [False, False] Translation: X:-43.24, Y:-13.70, Z:26.09 [[ 0.79426749 0.43384543 0.42534374 -43.23936525] [ -0.53550009 0.8306042 0.15276227 -13.70001828] [ -0.28701709 -0.34910572 0.89204618 26.08604325] [ 0. 0. 0. 1. ]] SLAMing on 232.70925976399997 meters 0.2871142171779322 Centerline is valid? [False, False] Translation: X:-43.60, Y:-13.88, Z:26.30 [[ 0.79499812 0.43272925 0.42511573 -43.59549034] [ -0.53385505 0.83188064 0.15156973 -13.87886597] [ -0.28805689 -0.34744783 0.89235824 26.30035115] [ 0. 0. 0. 1. ]] SLAMing on 232.76925976399994 meters 0.30637291074229056 Centerline is valid? [False, False] Translation: X:-43.96, Y:-14.06, Z:26.51 [[ 0.7949519 0.43562312 0.42223687 -43.95667262] [ -0.53521432 0.83128929 0.15001249 -14.06250828] [ -0.28565208 -0.34523993 0.89398673 26.51333843] [ 0. 0. 0. 1. ]] SLAMing on 232.82925976399994 meters 0.31182117694511663 Centerline is valid? [False, False] Translation: X:-44.32, Y:-14.25, Z:26.73 [[ 0.79458666 0.43739641 0.42108956 -44.32131975] [ -0.53652879 0.83048489 0.1497722 -14.24529483] [ -0.28419869 -0.34493366 0.89456798 26.72626446] [ 0. 0. 0. 1. ]] SLAMing on 232.88925976399995 meters 0.30899712644303395 Centerline is valid? [False, False] Translation: X:-44.69, Y:-14.43, Z:26.94 [[ 0.793966 0.4381387 0.4214884 -44.69210044] [ -0.53802022 0.82920179 0.15152105 -14.43174555] [ -0.2831117 -0.34707184 0.89408551 26.94290493] [ 0. 0. 0. 1. ]] SLAMing on 232.94925976399995 meters 0.31005342332292746 Centerline is valid? [False, False] Translation: X:-45.06, Y:-14.62, Z:27.16 [[ 0.79346627 0.43947641 0.42103652 -45.06351786] [ -0.53926813 0.8283709 0.15162962 -14.61744783] [ -0.28213676 -0.34736457 0.89427999 27.15615373] [ 0. 0. 0. 1. ]] SLAMing on 233.00925976399995 meters 0.30145313733111717 Centerline is valid? [False, False] Translation: X:-45.44, Y:-14.81, Z:27.37 [[ 0.79402098 0.43961628 0.41984307 -45.4367823 ] [ -0.53915655 0.8283117 0.15234811 -14.80689395] [ -0.28078622 -0.34732874 0.89471886 27.37195417] [ 0. 0. 0. 1. ]] SLAMing on 233.06925976399995 meters 0.30037633921510404 Centerline is valid? [False, False] Translation: X:-45.81, Y:-15.00, Z:27.59 [[ 0.79635793 0.43690777 0.41824114 -45.81098708] [ -0.5362278 0.82989055 0.15408248 -14.99813317] [ -0.27977454 -0.34697733 0.89517201 27.58835416] [ 0. 0. 0. 1. ]] SLAMing on 233.12925976399995 meters 0.2885485212321802 Centerline is valid? [False, False] Translation: X:-46.18, Y:-15.19, Z:27.80 [[ 0.79813286 0.43413119 0.41774879 -46.1804644 ] [ -0.53321849 0.83177821 0.15434715 -15.1881277 ] [ -0.28046744 -0.34594091 0.8953563 27.80444306] [ 0. 0. 0. 1. ]] SLAMing on 233.18925976399996 meters 0.2910261955551207 Centerline is valid? [False, False] Translation: X:-46.55, Y:-15.38, Z:28.02 [[ 0.79897661 0.42949503 0.42091615 -46.54890931] [ -0.52950022 0.8342433 0.15384285 -15.38003008] [ -0.28507174 -0.34579203 0.8939586 28.02008725] [ 0. 0. 0. 1. ]] SLAMing on 233.24925976399996 meters 0.28560368167249267 Centerline is valid? [False, False] Translation: X:-46.91, Y:-15.57, Z:28.23 [[ 0.80292453 0.42384539 0.41912681 -46.90886027] [ -0.52252959 0.83882812 0.15274231 -15.56617267] [ -0.28683623 -0.34164671 0.89498743 28.23014194] [ 0. 0. 0. 1. ]] SLAMing on 233.30925976399996 meters 0.29034068085517517 Centerline is valid? [False, False] Translation: X:-47.27, Y:-15.75, Z:28.44 [[ 0.80443522 0.42293204 0.41714802 -47.2654047 ] [ -0.52004786 0.84078706 0.15042387 -15.75301069] [ -0.28711358 -0.33794319 0.89630363 28.43729335] [ 0. 0. 0. 1. ]] SLAMing on 233.36925976399996 meters 0.28468093940500633 Centerline is valid? [False, False] Translation: X:-47.62, Y:-15.94, Z:28.64 [[ 0.80655156 0.41911038 0.41691853 -47.61859474] [ -0.5149226 0.84450348 0.14720252 -15.93805484] [ -0.29039505 -0.3334072 0.89694501 28.64309858] [ 0. 0. 0. 1. ]] SLAMing on 233.42925976399997 meters 0.2855807601935808 Centerline is valid? [False, False] Translation: X:-47.97, Y:-16.12, Z:28.85 [[ 0.80719537 0.41664882 0.41813801 -47.96695118] [ -0.51236758 0.84629553 0.14581956 -16.12173127] [ -0.29311278 -0.33194523 0.89660318 28.84568062] [ 0. 0. 0. 1. ]] SLAMing on 233.48925976399994 meters 0.27813661598561024 Centerline is valid? [False, False] Translation: X:-48.32, Y:-16.31, Z:29.05 [[ 0.80798852 0.41678727 0.41646479 -48.31660943] [ -0.51146206 0.8470551 0.14458291 -16.30668973] [ -0.29250831 -0.32982727 0.89758168 29.0481621 ] [ 0. 0. 0. 1. ]] SLAMing on 233.54925976399994 meters 0.288796785795127 Centerline is valid? [False, False] Translation: X:-48.66, Y:-16.49, Z:29.25 [[ 0.80753394 0.41987157 0.41424244 -48.66286079] [ -0.51396518 0.84547144 0.14497526 -16.49222642] [ -0.28935916 -0.32997864 0.89854626 29.24659353] [ 0. 0. 0. 1. ]] SLAMing on 233.60925976399994 meters 0.2907674663902823 Centerline is valid? [False, False] Translation: X:-49.02, Y:-16.68, Z:29.45 [[ 0.80868291 0.42032254 0.41153483 -49.01547452] [ -0.51397329 0.84515578 0.1467759 -16.68127015] [ -0.28611782 -0.33021307 0.89949759 29.44731735] [ 0. 0. 0. 1. ]] SLAMing on 233.66925976399995 meters 0.29389479424700987 Centerline is valid? [False, False] Translation: X:-49.36, Y:-16.87, Z:29.65 [[ 0.80998496 0.41864056 0.41068776 -49.36438173] [ -0.51210281 0.84617471 0.14744175 -16.87046102] [ -0.2857885 -0.32973995 0.8997758 29.64720985] [ 0. 0. 0. 1. ]] SLAMing on 233.72925976399995 meters 0.2929969941633209 Centerline is valid? [False, False] Translation: X:-49.72, Y:-17.06, Z:29.85 [[ 0.80841923 0.41870838 0.41369269 -49.71562045] [ -0.51373307 0.84496471 0.14870432 -17.06208051] [ -0.28729198 -0.33274305 0.89819006 29.84831575] [ 0. 0. 0. 1. ]] SLAMing on 233.78925976399995 meters 0.3129858899187168 Centerline is valid? [False, False] Translation: X:-50.06, Y:-17.25, Z:30.05 [[ 0.80942326 0.41833187 0.41210731 -50.06381996] [ -0.51261312 0.8457075 0.14834627 -17.25333926] [ -0.28646427 -0.33132653 0.89897773 30.04834236] [ 0. 0. 0. 1. ]] SLAMing on 233.84925976399995 meters 0.3084672092270947 Centerline is valid? [False, False] Translation: X:-50.41, Y:-17.45, Z:30.25 [[ 0.81073339 0.41793737 0.40992648 -50.41274598] [ -0.51144506 0.84636942 0.14860269 -17.44880162] [ -0.28484262 -0.33013204 0.89993195 30.24958375] [ 0. 0. 0. 1. ]] SLAMing on 233.90925976399996 meters 0.31242306465650127 Centerline is valid? [False, False] Translation: X:-50.76, Y:-17.64, Z:30.45 [[ 0.8124591 0.4165158 0.40795196 -50.75764339] [ -0.50941709 0.84747476 0.1492674 -17.6446376 ] [ -0.28355676 -0.32909136 0.90071885 30.44759144] [ 0. 0. 0. 1. ]] SLAMing on 233.96925976399996 meters 0.30471469343490676 Centerline is valid? [False, False] Translation: X:-51.10, Y:-17.85, Z:30.65 [[ 0.81318354 0.41343973 0.40963413 -51.10438752] [ -0.50770045 0.8480273 0.15195382 -17.84513279] [ -0.28455717 -0.33153777 0.89950538 30.6496938 ] [ 0. 0. 0. 1. ]] SLAMing on 234.02925976399996 meters 0.2988250365930783 Centerline is valid? [False, False] Translation: X:-51.44, Y:-18.04, Z:30.84 [[ 0.81490895 0.41106168 0.40859724 -51.44127241] [ -0.50430833 0.85033771 0.15032927 -18.04018969] [ -0.28565104 -0.32856366 0.90024963 30.84301308] [ 0. 0. 0. 1. ]] SLAMing on 234.08925976399996 meters 0.3087590105380695 Centerline is valid? [False, False] Translation: X:-51.77, Y:-18.24, Z:31.03 [[ 0.81851703 0.40795832 0.40447482 -51.774282 ] [ -0.4985959 0.85420654 0.1474222 -18.23573975] [ -0.28536292 -0.32233707 0.90258895 31.02996826] [ 0. 0. 0. 1. ]] SLAMing on 234.14925976399996 meters 0.28964449477968446 Centerline is valid? [False, False] Translation: X:-52.10, Y:-18.43, Z:31.22 [[ 0.82266582 0.40317675 0.40083595 -52.10086493] [ -0.49262242 0.85746696 0.14857172 -18.42804231] [ -0.28380293 -0.31968565 0.90402267 31.21870231] [ 0. 0. 0. 1. ]] SLAMing on 234.20925976399997 meters 0.3010318682974807 Centerline is valid? [False, False] Translation: X:-52.42, Y:-18.62, Z:31.40 [[ 0.8265271 0.39732937 0.39872588 -52.42016963] [ -0.48572311 0.86141126 0.14847122 -18.61610035] [ -0.28447498 -0.31638586 0.90497181 31.40145859] [ 0. 0. 0. 1. ]] SLAMing on 234.26925976399994 meters 0.2910546383010639 Centerline is valid? [False, False] Translation: X:-52.73, Y:-18.80, Z:31.58 [[ 0.82877812 0.39497372 0.39638692 -52.73342569] [ -0.4821745 0.86353708 0.14768707 -18.80166177] [ -0.28396229 -0.31352748 0.90612689 31.58254333] [ 0. 0. 0. 1. ]] SLAMing on 234.32925976399994 meters 0.27674440667716066 Centerline is valid? [False, False] Translation: X:-53.04, Y:-18.98, Z:31.76 [[ 0.8301072 0.39436009 0.3942108 -53.03872306] [ -0.48032193 0.86480407 0.14630367 -18.98041846] [ -0.28321877 -0.31079583 0.90729988 31.75572229] [ 0. 0. 0. 1. ]] SLAMing on 234.38925976399995 meters 0.2850333587018821 Centerline is valid? [False, False] Translation: X:-53.34, Y:-19.16, Z:31.92 [[ 0.83295711 0.39110515 0.39143227 -53.343827 ] [ -0.47486469 0.8683904 0.1428343 -19.15706824] [ -0.2840528 -0.30485221 0.90905398 31.92392238] [ 0. 0. 0. 1. ]] SLAMing on 234.44925976399995 meters 0.28135801326525484 Centerline is valid? [False, False] Translation: X:-53.65, Y:-19.33, Z:32.09 [[ 0.83373329 0.39111969 0.38976171 -53.64654369] [ -0.47377903 0.86925518 0.14116966 -19.3326425 ] [ -0.28358815 -0.30235877 0.91003128 32.0888186 ] [ 0. 0. 0. 1. ]] SLAMing on 234.50925976399995 meters 0.2837410977272189 Centerline is valid? [False, False] Translation: X:-53.96, Y:-19.51, Z:32.26 [[ 0.83329762 0.39409904 0.38768675 -53.95703629] [ -0.47675566 0.86731224 0.1430857 -19.51333927] [ -0.27985553 -0.30406482 0.91061818 32.25808265] [ 0. 0. 0. 1. ]] SLAMing on 234.56925976399995 meters 0.30866296351082717 Centerline is valid? [False, False] Translation: X:-54.27, Y:-19.70, Z:32.43 [[ 0.83202502 0.39662143 0.38784766 -54.27273471] [ -0.47924229 0.86604527 0.14245143 -19.69914489] [ -0.27939434 -0.30439616 0.9106491 32.42871878] [ 0. 0. 0. 1. ]] SLAMing on 234.62925976399995 meters 0.30436943607083683 Centerline is valid? [False, False] Translation: X:-54.59, Y:-19.88, Z:32.60 [[ 0.8319904 0.39708294 0.3874495 -54.58644725] [ -0.47946357 0.86598745 0.14205784 -19.88382396] [ -0.27911766 -0.30395868 0.91088004 32.59852523] [ 0. 0. 0. 1. ]] SLAMing on 234.68925976399996 meters 0.30190956016894854 Centerline is valid? [False, False] Translation: X:-54.90, Y:-20.07, Z:32.77 [[ 0.83267317 0.39646889 0.38661066 -54.90362589] [ -0.47865008 0.86637476 0.14243902 -20.07024684] [ -0.27847708 -0.30365638 0.91117689 32.76979222] [ 0. 0. 0. 1. ]] SLAMing on 234.74925976399996 meters 0.2870667635823875 Centerline is valid? [False, False] Translation: X:-55.22, Y:-20.26, Z:32.94 [[ 0.83334845 0.39631638 0.38530987 -55.22204854] [ -0.47801076 0.86674408 0.14233906 -20.25651601] [ -0.27755375 -0.3028003 0.91174333 32.93822232] [ 0. 0. 0. 1. ]] SLAMing on 234.80925976399996 meters 0.2859039282031427 Centerline is valid? [False, False] Translation: X:-55.54, Y:-20.44, Z:33.11 [[ 0.83365466 0.39763232 0.38328637 -55.53800716] [ -0.47907919 0.86593609 0.14365868 -20.44464729] [ -0.27477817 -0.30338625 0.91238903 33.10752491] [ 0. 0. 0. 1. ]] SLAMing on 234.86925976399996 meters 0.2817551408831351 Centerline is valid? [False, False] Translation: X:-55.85, Y:-20.63, Z:33.28 [[ 0.83703936 0.39260195 0.38108899 -55.85104119] [ -0.47354608 0.8687275 0.14514353 -20.63047158] [ -0.27407885 -0.30195404 0.91307422 33.27660666] [ 0. 0. 0. 1. ]] SLAMing on 234.92925976399997 meters 0.31378114279386615 Centerline is valid? [False, False] Translation: X:-56.16, Y:-20.81, Z:33.44 [[ 0.83864357 0.39085389 0.37935498 -56.15924006] [ -0.47067383 0.87054458 0.1435907 -20.81486858] [ -0.27412244 -0.29897388 0.91404131 33.44122516] [ 0. 0. 0. 1. ]] SLAMing on 234.98925976399994 meters 0.28286585669301667 Centerline is valid? [False, False] Translation: X:-56.46, Y:-21.00, Z:33.61 [[ 0.83852429 0.3908084 0.37966539 -56.46475488] [ -0.47091169 0.87031696 0.14418936 -20.99940764] [ -0.27407882 -0.29969515 0.91381815 33.60536394] [ 0. 0. 0. 1. ]] SLAMing on 235.04925976399994 meters 0.3128448821585511 Centerline is valid? [False, False] Translation: X:-56.77, Y:-21.18, Z:33.77 [[ 0.84252534 0.38397814 0.3777722 -56.76833994] [ -0.46274945 0.87491974 0.14275291 -21.18291994] [ -0.27570635 -0.29508682 0.91482773 33.76714375] [ 0. 0. 0. 1. ]] SLAMing on 235.10925976399994 meters 0.30135096424180935 Centerline is valid? [False, False] Translation: X:-57.06, Y:-21.36, Z:33.92 [[ 0.8459926 0.38039537 0.37362532 -57.06423663] [ -0.4568801 0.87841445 0.14017357 -21.36136247] [ -0.2748765 -0.28928777 0.9169272 33.92387406] [ 0. 0. 0. 1. ]] SLAMing on 235.16925976399995 meters 0.30180107808118206 Centerline is valid? [False, False] Translation: X:-57.36, Y:-21.54, Z:34.08 [[ 0.84696081 0.3808276 0.37098211 -57.36077254] [ -0.45653617 0.87855526 0.14041147 -21.54027894] [ -0.27245572 -0.28828977 0.91796345 34.08117057] [ 0. 0. 0. 1. ]] SLAMing on 235.22925976399995 meters 0.2953497268442452 Centerline is valid? [False, False] Translation: X:-57.66, Y:-21.72, Z:34.24 [[ 0.84552654 0.38556435 0.36935754 -57.65765542] [ -0.46103105 0.87614299 0.14079713 -21.72027779] [ -0.26932367 -0.28933301 0.91855929 34.23711531] [ 0. 0. 0. 1. ]] SLAMing on 235.28925976399995 meters 0.28571748300932454 Centerline is valid? [False, False] Translation: X:-57.96, Y:-21.90, Z:34.39 [[ 0.84661169 0.38285969 0.36968515 -57.9591761 ] [ -0.45762587 0.87830824 0.13839504 -21.89928165] [ -0.27171163 -0.28634435 0.91879252 34.3904901 ] [ 0. 0. 0. 1. ]] SLAMing on 235.34925976399995 meters 0.28320949221800773 Centerline is valid? [False, False] Translation: X:-58.26, Y:-22.08, Z:34.54 [[ 0.84704416 0.38254385 0.36902086 -58.26046229] [ -0.45679853 0.8788903 0.13742976 -22.07758081] [ -0.27175595 -0.28497726 0.91920437 34.54268766] [ 0. 0. 0. 1. ]] SLAMing on 235.40925976399996 meters 0.27943735565995337 Centerline is valid? [False, False] Translation: X:-58.56, Y:-22.26, Z:34.70 [[ 0.84561182 0.38503688 0.36971238 -58.55997413] [ -0.45929186 0.87775681 0.13635974 -22.25561669] [ -0.27201403 -0.2851133 0.91908584 34.69542481] [ 0. 0. 0. 1. ]] SLAMing on 235.46925976399996 meters 0.27647504464044004 Centerline is valid? [False, False] Translation: X:-58.87, Y:-22.44, Z:34.85 [[ 0.84385142 0.38848592 0.37012628 -58.86595065] [ -0.4627278 0.87609612 0.13541999 -22.4375612 ] [ -0.27165744 -0.28554207 0.91905819 34.84819025] [ 0. 0. 0. 1. ]] SLAMing on 235.52925976399996 meters 0.2881574349617179 Centerline is valid? [False, False] Translation: X:-59.17, Y:-22.62, Z:35.00 [[ 0.8436033 0.39139545 0.36761811 -59.17375451] [ -0.46506676 0.87478902 0.13585679 -22.62166837] [ -0.26841456 -0.2855762 0.91999992 35.00092779] [ 0. 0. 0. 1. ]] SLAMing on 235.58925976399996 meters 0.29501270590688594 Centerline is valid? [False, False] Translation: X:-59.48, Y:-22.81, Z:35.15 [[ 0.84443531 0.3904405 0.36672227 -59.47833559] [ -0.46409299 0.87514306 0.13690256 -22.80706492] [ -0.26748214 -0.2857986 0.9202024 35.15146192] [ 0. 0. 0. 1. ]] SLAMing on 235.64925976399996 meters 0.28743988369875734 Centerline is valid? [False, False] Translation: X:-59.78, Y:-23.00, Z:35.30 [[ 0.84449483 0.38975379 0.36731521 -59.78185415] [ -0.46398071 0.87498196 0.13830567 -22.99629132] [ -0.26748902 -0.2872256 0.91975599 35.3042863 ] [ 0. 0. 0. 1. ]] SLAMing on 235.70925976399994 meters 0.29433493932110544 Centerline is valid? [False, False] Translation: X:-60.09, Y:-23.19, Z:35.46 [[ 0.84504921 0.38808408 0.36780782 -60.0874493 ] [ -0.46294719 0.87523601 0.14014928 -23.18816648] [ -0.26752894 -0.28870864 0.91927993 35.4597861 ] [ 0. 0. 0. 1. ]] SLAMing on 235.76925976399994 meters 0.29780903219039295 Centerline is valid? [False, False] Translation: X:-60.38, Y:-23.38, Z:35.61 [[ 0.84828998 0.38292193 0.36575251 -60.38284852] [ -0.45674922 0.87858865 0.13950671 -23.37718733] [ -0.26792583 -0.28539932 0.92019725 35.60894123] [ 0. 0. 0. 1. ]] SLAMing on 235.82925976399994 meters 0.3184497608109105 Centerline is valid? [False, False] Translation: X:-60.68, Y:-23.56, Z:35.76 [[ 0.85137271 0.37593628 0.36583661 -60.67680226] [ -0.44930855 0.88254046 0.1387233 -23.56319446] [ -0.27071449 -0.28247875 0.92028225 35.75785579] [ 0. 0. 0. 1. ]] SLAMing on 235.88925976399995 meters 0.30411176230057424 Centerline is valid? [False, False] Translation: X:-60.96, Y:-23.75, Z:35.91 [[ 0.8563775 0.36427772 0.36594989 -60.96325358] [ -0.43733874 0.88848809 0.13900985 -23.746661 ] [ -0.27450393 -0.27908898 0.92019397 35.90639381] [ 0. 0. 0. 1. ]] SLAMing on 235.94925976399995 meters 0.2715308222437027 Centerline is valid? [False, False] Translation: X:-61.24, Y:-23.93, Z:36.05 [[ 0.85953558 0.35842763 0.36431883 -61.24056454] [ -0.43092543 0.89152913 0.1395675 -23.92514225] [ -0.27477601 -0.27695748 0.92075659 36.04858935] [ 0. 0. 0. 1. ]] SLAMing on 236.00925976399995 meters 0.3007306120624472 Centerline is valid? [False, False] Translation: X:-61.50, Y:-24.10, Z:36.18 [[ 0.86772916 0.3421209 0.36055428 -61.50432437] [ -0.4125517 0.90033376 0.13856484 -24.09682028] [ -0.27721326 -0.26898403 0.92238842 36.18402149] [ 0. 0. 0. 1. ]] SLAMing on 236.06925976399995 meters 0.2965119076511731 Centerline is valid? [False, False] Translation: X:-61.76, Y:-24.26, Z:36.32 [[ 0.8702674 0.33288674 0.36307171 -61.7602977 ] [ -0.40295008 0.90505427 0.13604409 -24.26139402] [ -0.28331233 -0.26469451 0.92177597 36.31763669] [ 0. 0. 0. 1. ]] SLAMing on 236.12925976399995 meters 0.29127910370163823 Centerline is valid? [False, False] Translation: X:-62.01, Y:-24.42, Z:36.45 [[ 0.87047194 0.33284348 0.36262076 -62.01377441] [ -0.4017132 0.90611362 0.13260702 -24.42339069] [ -0.28443823 -0.26110023 0.9224541 36.44975231] [ 0. 0. 0. 1. ]] SLAMing on 236.18925976399996 meters 0.2862979327752007 Centerline is valid? [False, False] Translation: X:-62.26, Y:-24.58, Z:36.57 [[ 0.87120119 0.33451293 0.35931823 -62.26149745] [ -0.40101961 0.90710764 0.12782408 -24.58149239] [ -0.28318151 -0.25545414 0.9244195 36.57485295] [ 0. 0. 0. 1. ]] SLAMing on 236.24925976399996 meters 0.30025130982019865 Centerline is valid? [False, False] Translation: X:-62.51, Y:-24.74, Z:36.70 [[ 0.872116 0.33566197 0.35601226 -62.5138736 ] [ -0.40031203 0.90785848 0.12467258 -24.74203318] [ -0.2813609 -0.25124494 0.92612743 36.70068921] [ 0. 0. 0. 1. ]] SLAMing on 236.30925976399996 meters 0.2890815590093261 Centerline is valid? [False, False] Translation: X:-62.77, Y:-24.90, Z:36.83 [[ 0.8712745 0.33681242 0.35698479 -62.76886882] [ -0.4013332 0.90760994 0.12319034 -24.90146404] [ -0.28251091 -0.25060245 0.9259514 36.82662067] [ 0. 0. 0. 1. ]] SLAMing on 236.36925976399996 meters 0.28667347177361346 Centerline is valid? [False, False] Translation: X:-63.02, Y:-25.06, Z:36.95 [[ 0.86869124 0.34290479 0.35747982 -63.02467454] [ -0.4074767 0.90502108 0.12206387 -25.06265809] [ -0.28167049 -0.25170051 0.9259096 36.95248224] [ 0. 0. 0. 1. ]] SLAMing on 236.42925976399997 meters 0.2936637306752323 Centerline is valid? [False, False] Translation: X:-63.29, Y:-25.23, Z:37.08 [[ 0.86772865 0.34764189 0.35523529 -63.28777065] [ -0.41168956 0.90315025 0.12178395 -25.22744321] [ -0.27849364 -0.25192208 0.92680988 37.07771982] [ 0. 0. 0. 1. ]] SLAMing on 236.48925976399994 meters 0.30864907192360097 Centerline is valid? [False, False] Translation: X:-63.55, Y:-25.40, Z:37.20 [[ 0.86575605 0.35459565 0.35316905 -63.55489557] [ -0.41855648 0.89988807 0.12252323 -25.3953165 ] [ -0.27436641 -0.25389642 0.92750185 37.20329905] [ 0. 0. 0. 1. ]] SLAMing on 236.54925976399994 meters 0.2947835288677065 Centerline is valid? [False, False] Translation: X:-63.82, Y:-25.57, Z:37.33 [[ 0.86458286 0.35708148 0.35353825 -63.82397684] [ -0.42170741 0.8982009 0.12408867 -25.56526688] [ -0.27323861 -0.25637464 0.92715301 37.33178315] [ 0. 0. 0. 1. ]] SLAMing on 236.60925976399994 meters 0.29517888426619504 Centerline is valid? [False, False] Translation: X:-64.10, Y:-25.74, Z:37.46 [[ 0.86308531 0.35926333 0.35498396 -64.09749907] [ -0.42467292 0.89667002 0.12504312 -25.73822176] [ -0.27338007 -0.25867495 0.92647213 37.462608 ] [ 0. 0. 0. 1. ]] SLAMing on 236.66925976399995 meters 0.317511317391741 Centerline is valid? [False, False] Translation: X:-64.37, Y:-25.91, Z:37.59 [[ 0.86317988 0.35968497 0.35432643 -64.37103125] [ -0.42515295 0.89633181 0.12583422 -25.91317326] [ -0.27233338 -0.2592605 0.92661671 37.59292064] [ 0. 0. 0. 1. ]] SLAMing on 236.72925976399995 meters 0.27514197830265347 Centerline is valid? [False, False] Translation: X:-64.64, Y:-26.09, Z:37.72 [[ 0.86381172 0.35961042 0.35285925 -64.63888112] [ -0.4248351 0.89639343 0.1264672 -26.08555154] [ -0.27082179 -0.25915085 0.92709029 37.72312877] [ 0. 0. 0. 1. ]] SLAMing on 236.78925976399995 meters 0.2772520605252088 Centerline is valid? [False, False] Translation: X:-64.90, Y:-26.26, Z:37.86 [[ 0.8640082 0.35951747 0.35247271 -64.90466938] [ -0.4254402 0.89570753 0.12926197 -26.26017839] [ -0.26924052 -0.26163946 0.92685184 37.85501321] [ 0. 0. 0. 1. ]] SLAMing on 236.84925976399995 meters 0.29419709685181955 Centerline is valid? [False, False] Translation: X:-65.17, Y:-26.43, Z:37.99 [[ 0.8675564 0.35353194 0.34980147 -65.17017885] [ -0.41866864 0.89878866 0.12998277 -26.4333864 ] [ -0.26844453 -0.25921829 0.92776258 37.98537838] [ 0. 0. 0. 1. ]] SLAMing on 236.90925976399996 meters 0.29260236686837815 Centerline is valid? [False, False] Translation: X:-65.43, Y:-26.60, Z:38.11 [[ 0.87102108 0.34604899 0.34867231 -65.42597808] [ -0.40989972 0.90316012 0.1276088 -26.60295056] [ -0.27074803 -0.25407064 0.92851689 38.1107663 ] [ 0. 0. 0. 1. ]] SLAMing on 236.96925976399996 meters 0.28821794414376317 Centerline is valid? [False, False] Translation: X:-65.68, Y:-26.77, Z:38.24 [[ 0.8722071 0.3406017 0.35106303 -65.6793856 ] [ -0.40455045 0.90574692 0.12633866 -26.76806652] [ -0.27494309 -0.25221619 0.92778946 38.23728835] [ 0. 0. 0. 1. ]] SLAMing on 237.02925976399996 meters 0.288432820565696 Centerline is valid? [False, False] Translation: X:-65.93, Y:-26.93, Z:38.36 [[ 0.87349338 0.33739071 0.35096556 -65.9278881 ] [ -0.40096198 0.90744679 0.12557792 -26.93182283] [ -0.27611375 -0.25041533 0.92792961 38.36220785] [ 0. 0. 0. 1. ]] SLAMing on 237.08925976399996 meters 0.28605069599516136 Centerline is valid? [False, False] Translation: X:-66.18, Y:-27.09, Z:38.48 [[ 0.87483819 0.33646482 0.34849615 -66.17587011] [ -0.39842121 0.90897565 0.12257168 -27.092902 ] [ -0.27553345 -0.24607864 0.92926133 38.48236253] [ 0. 0. 0. 1. ]] SLAMing on 237.14925976399996 meters 0.29570118306863935 Centerline is valid? [False, False] Translation: X:-66.42, Y:-27.25, Z:38.60 [[ 0.872985 0.34090068 0.34883222 -66.42412518] [ -0.40300813 0.90700351 0.12218464 -27.25245083] [ -0.27473922 -0.24724758 0.9291862 38.60357475] [ 0. 0. 0. 1. ]] SLAMing on 237.20925976399994 meters 0.29320801776060035 Centerline is valid? [False, False] Translation: X:-66.67, Y:-27.41, Z:38.72 [[ 0.87459069 0.33772174 0.34790107 -66.67345558] [ -0.39912865 0.90886221 0.12110244 -27.41051911] [ -0.27529521 -0.24477235 0.92967685 38.72498647] [ 0. 0. 0. 1. ]] SLAMing on 237.26925976399994 meters 0.28850864369638424 Centerline is valid? [False, False] Translation: X:-66.92, Y:-27.57, Z:38.84 [[ 0.87403181 0.34072223 0.34637662 -66.92095433] [ -0.40146442 0.90799732 0.11986319 -27.56877928] [ -0.27366899 -0.24382213 0.93040639 38.84439759] [ 0. 0. 0. 1. ]] SLAMing on 237.32925976399994 meters 0.2838200416934928 Centerline is valid? [False, False] Translation: X:-67.17, Y:-27.73, Z:38.96 [[ 0.8729052 0.34468298 0.3452972 -67.17389464] [ -0.40522854 0.90634868 0.11967413 -27.72999844] [ -0.27171002 -0.24438845 0.93083186 38.96409301] [ 0. 0. 0. 1. ]] SLAMing on 237.38925976399995 meters 0.2784656600907393 Centerline is valid? [False, False] Translation: X:-67.43, Y:-27.90, Z:39.09 [[ 0.86977048 0.3503714 0.34747545 -67.43278289] [ -0.41193911 0.903225 0.12037762 -27.89680445] [ -0.27167164 -0.24783963 0.92993013 39.08754249] [ 0. 0. 0. 1. ]] SLAMing on 237.44925976399995 meters 0.2710679996477574 Centerline is valid? [False, False] Translation: X:-67.69, Y:-28.06, Z:39.21 [[ 0.86871828 0.35335178 0.34708943 -67.69436856] [ -0.41530342 0.90150898 0.1216743 -28.06392079] [ -0.26991041 -0.24984811 0.92990553 39.21127555] [ 0. 0. 0. 1. ]] SLAMing on 237.50925976399995 meters 0.2821637265708979 Centerline is valid? [False, False] Translation: X:-67.96, Y:-28.23, Z:39.33 [[ 0.86796301 0.35725782 0.34497401 -67.95965789] [ -0.41927918 0.89942243 0.12346763 -28.23190951] [ -0.26616759 -0.25180575 0.93045617 39.33420014] [ 0. 0. 0. 1. ]] SLAMing on 237.56925976399995 meters 0.2806660543543787 Centerline is valid? [False, False] Translation: X:-68.23, Y:-28.40, Z:39.46 [[ 0.86719849 0.36060025 0.34341554 -68.22883748] [ -0.42254585 0.89777482 0.12431966 -28.40372226] [ -0.26348013 -0.25291864 0.93091911 39.45980287] [ 0. 0. 0. 1. ]] SLAMing on 237.62925976399995 meters 0.2940096139126244 Centerline is valid? [False, False] Translation: X:-68.50, Y:-28.58, Z:39.59 [[ 0.86538433 0.36337223 0.34506607 -68.50262301] [ -0.42694701 0.89515978 0.12808285 -28.57912587] [ -0.26234752 -0.25816582 0.92979793 39.58956111] [ 0. 0. 0. 1. ]] SLAMing on 237.68925976399996 meters 0.2865340356066878 Centerline is valid? [False, False] Translation: X:-68.77, Y:-28.75, Z:39.72 [[ 0.8654141 0.36232377 0.34609236 -68.77388382] [ -0.42685608 0.89484634 0.13055235 -28.75418654] [ -0.26239726 -0.26071347 0.92907274 39.71932458] [ 0. 0. 0. 1. ]] SLAMing on 237.74925976399996 meters 0.2911474439209766 Centerline is valid? [False, False] Translation: X:-69.04, Y:-28.93, Z:39.85 [[ 0.86635575 0.36220265 0.34385601 -69.04165158] [ -0.42614786 0.89515048 0.13078082 -28.92856722] [ -0.26043372 -0.25983622 0.92987065 39.84553549] [ 0. 0. 0. 1. ]] SLAMing on 237.80925976399996 meters 0.2809157394077715 Centerline is valid? [False, False] Translation: X:-69.31, Y:-29.10, Z:39.97 [[ 0.86678184 0.36162038 0.34339474 -69.30951429] [ -0.42579856 0.89511419 0.13215965 -29.1022549 ] [ -0.25958588 -0.26077057 0.92984616 39.97367784] [ 0. 0. 0. 1. ]] SLAMing on 237.86925976399996 meters 0.2832961372325366 Centerline is valid? [False, False] Translation: X:-69.58, Y:-29.28, Z:40.10 [[ 0.8664343 0.36080022 0.34513013 -69.57991496] [ -0.4261081 0.89462009 0.1344871 -29.27743467] [ -0.26023737 -0.26358698 0.92886943 40.10498836] [ 0. 0. 0. 1. ]] SLAMing on 237.92925976399997 meters 0.28446122019181863 Centerline is valid? [False, False] Translation: X:-69.85, Y:-29.45, Z:40.24 [[ 0.86510913 0.36277273 0.34638438 -69.84978467] [ -0.42873301 0.89324701 0.13526934 -29.45438342] [ -0.26033478 -0.26552916 0.92828879 40.23637712] [ 0. 0. 0. 1. ]] SLAMing on 237.98925976399994 meters 0.2814904299706363 Centerline is valid? [False, False] Translation: X:-70.12, Y:-29.63, Z:40.37 [[ 0.86627819 0.36068744 0.34563951 -70.11585711] [ -0.42596919 0.89477797 0.13387546 -29.62875151] [ -0.26098342 -0.26320517 0.92876837 40.36585904] [ 0. 0. 0. 1. ]] SLAMing on 238.04925976399994 meters 0.3115092814617918 Centerline is valid? [False, False] Translation: X:-70.38, Y:-29.81, Z:40.50 [[ 0.86800596 0.35621091 0.34594715 -70.38343456] [ -0.42175232 0.89660455 0.13500097 -29.8055154 ] [ -0.26208897 -0.26308566 0.92849088 40.49719 ] [ 0. 0. 0. 1. ]] SLAMing on 238.10925976399994 meters 0.31739165276059833 Centerline is valid? [False, False] Translation: X:-70.65, Y:-29.98, Z:40.63 [[ 0.86942469 0.353241 0.34542946 -70.64658306] [ -0.41862484 0.89802029 0.13532484 -29.97943345] [ -0.26240038 -0.26226011 0.92863646 40.6279313 ] [ 0. 0. 0. 1. ]] SLAMing on 238.16925976399995 meters 0.3069689687705105 Centerline is valid? [False, False] Translation: X:-70.91, Y:-30.15, Z:40.76 [[ 0.87145656 0.35318006 0.34033411 -70.90778782] [ -0.41735448 0.89846442 0.1362972 -30.15295493] [ -0.25764063 -0.26081705 0.93037399 40.75615735] [ 0. 0. 0. 1. ]] SLAMing on 238.22925976399995 meters 0.300550067350338 Centerline is valid? [False, False] Translation: X:-71.17, Y:-30.32, Z:40.88 [[ 0.87173143 0.35244169 0.3403956 -71.16642721] [ -0.41629059 0.89913215 0.13514257 -30.32396636] [ -0.25843076 -0.25951151 0.93051992 40.88353155] [ 0. 0. 0. 1. ]] SLAMing on 238.28925976399995 meters 0.29137213023249936 Centerline is valid? [False, False] Translation: X:-71.43, Y:-30.50, Z:41.01 [[ 0.86914488 0.35698226 0.34227306 -71.43167136] [ -0.42103924 0.8971751 0.13342711 -30.50031613] [ -0.25944776 -0.26007788 0.93007868 41.01454933] [ 0. 0. 0. 1. ]] SLAMing on 238.34925976399995 meters 0.31653225654884987 Centerline is valid? [False, False] Translation: X:-71.70, Y:-30.68, Z:41.14 [[ 0.87044908 0.35648789 0.33946248 -71.69977481] [ -0.41964563 0.89786825 0.13315464 -30.67903397] [ -0.25732457 -0.25835828 0.93114718 41.14210675] [ 0. 0. 0. 1. ]] SLAMing on 238.40925976399996 meters 0.30703247927226013 Centerline is valid? [False, False] Translation: X:-71.97, Y:-30.86, Z:41.27 [[ 0.87069871 0.35470577 0.34068691 -71.9658195 ] [ -0.41839806 0.89832164 0.13401976 -30.85677508] [ -0.25850884 -0.25923358 0.9305757 41.27065541] [ 0. 0. 0. 1. ]] SLAMing on 238.46925976399996 meters 0.2828756958358051 Centerline is valid? [False, False] Translation: X:-72.23, Y:-31.03, Z:41.40 [[ 0.87087209 0.3529388 0.34207602 -72.22983882] [ -0.41702009 0.89893763 0.13418416 -31.03381791] [ -0.26014621 -0.25950981 0.93004226 41.39980201] [ 0. 0. 0. 1. ]] SLAMing on 238.52925976399996 meters 0.29891535459987983 Centerline is valid? [False, False] Translation: X:-72.49, Y:-31.21, Z:41.53 [[ 0.87176023 0.35333332 0.33939602 -72.49147988] [ -0.41649721 0.89926625 0.13360492 -31.21096688] [ -0.25800032 -0.25782895 0.9311069 41.52551887] [ 0. 0. 0. 1. ]] SLAMing on 238.58925976399996 meters 0.31330691474941 Centerline is valid? [False, False] Translation: X:-72.75, Y:-31.39, Z:41.65 [[ 0.87353346 0.3497529 0.33854424 -72.75203815] [ -0.41284342 0.90079796 0.134623 -31.38856025] [ -0.25787517 -0.25736346 0.93127034 41.65264938] [ 0. 0. 0. 1. ]] SLAMing on 238.64925976399996 meters 0.2865043759288469 Centerline is valid? [False, False] Translation: X:-73.01, Y:-31.56, Z:41.78 [[ 0.87691923 0.34032927 0.33939453 -73.00635237] [ -0.4036137 0.90483754 0.13551755 -31.56319108] [ -0.26097632 -0.25582223 0.930831 41.78041696] [ 0. 0. 0. 1. ]] SLAMing on 238.70925976399994 meters 0.2839040252956374 Centerline is valid? [False, False] Translation: X:-73.25, Y:-31.74, Z:41.91 [[ 0.87826064 0.3383616 0.33789003 -73.25440452] [ -0.40093335 0.90614837 0.13471299 -31.7357679 ] [ -0.2605968 -0.2537845 0.93149489 41.90629704] [ 0. 0. 0. 1. ]] SLAMing on 238.76925976399994 meters 0.2968298621092806 Centerline is valid? [False, False] Translation: X:-73.50, Y:-31.90, Z:42.03 [[ 0.88215765 0.33116537 0.33485426 -73.49574055] [ -0.39152603 0.91084525 0.13064572 -31.90200153] [ -0.26173507 -0.24635428 0.93316897 42.02602987] [ 0. 0. 0. 1. ]] SLAMing on 238.82925976399994 meters 0.2897109564341815 Centerline is valid? [False, False] Translation: X:-73.73, Y:-32.07, Z:42.14 [[ 0.88366722 0.32975982 0.33225096 -73.7345469 ] [ -0.3889859 0.91212869 0.12927186 -32.06906945] [ -0.26042697 -0.24347424 0.93429015 42.14275735] [ 0. 0. 0. 1. ]] SLAMing on 238.88925976399995 meters 0.30430943223162576 Centerline is valid? [False, False] Translation: X:-73.97, Y:-32.23, Z:42.26 [[ 0.88526496 0.32815173 0.32957911 -73.97466231] [ -0.38641957 0.91331653 0.12858009 -32.23360784] [ -0.25881627 -0.24118327 0.93533137 42.25940374] [ 0. 0. 0. 1. ]] SLAMing on 238.94925976399995 meters 0.3011809384100377 Centerline is valid? [False, False] Translation: X:-74.21, Y:-32.39, Z:42.37 [[ 0.8879314 0.32389594 0.32660259 -74.20815866] [ -0.38025309 0.91639835 0.12498663 -32.39349696] [ -0.25881541 -0.2351712 0.9368613 42.36935061] [ 0. 0. 0. 1. ]] SLAMing on 239.00925976399995 meters 0.289806798278995 Centerline is valid? [False, False] Translation: X:-74.44, Y:-32.56, Z:42.48 [[ 0.88867598 0.32300955 0.32545329 -74.44359113] [ -0.37889354 0.91703424 0.12445033 -32.5554251 ] [ -0.25825317 -0.23390816 0.93733253 42.48130736] [ 0. 0. 0. 1. ]] SLAMing on 239.06925976399995 meters 0.2916876161736863 Centerline is valid? [False, False] Translation: X:-74.67, Y:-32.71, Z:42.59 [[ 0.88998093 0.3228021 0.32207569 -74.67489258] [ -0.37764081 0.91763667 0.12381584 -32.71492122] [ -0.25558045 -0.23182267 0.93858238 42.59070547] [ 0. 0. 0. 1. ]] SLAMing on 239.12925976399995 meters 0.27957732697186083 Centerline is valid? [False, False] Translation: X:-74.90, Y:-32.87, Z:42.69 [[ 0.89363247 0.31823472 0.31646116 -74.8995625 ] [ -0.37058179 0.92097279 0.12032567 -32.87109699] [ -0.25316031 -0.22480167 0.94094318 42.69190823] [ 0. 0. 0. 1. ]] SLAMing on 239.18925976399996 meters 0.2840806406220602 Centerline is valid? [False, False] Translation: X:-75.12, Y:-33.03, Z:42.79 [[ 0.89682163 0.31121148 0.31441753 -75.12144722] [ -0.36281786 0.92407194 0.12022583 -33.0289152 ] [ -0.25312876 -0.22189742 0.94164078 42.79476228] [ 0. 0. 0. 1. ]] SLAMing on 239.24925976399996 meters 0.28199853162371713 Centerline is valid? [False, False] Translation: X:-75.34, Y:-33.19, Z:42.90 [[ 0.90172896 0.29818193 0.31300545 -75.33812777] [ -0.34921102 0.92922281 0.12081656 -33.18603274] [ -0.25482649 -0.21824874 0.94203553 42.89734206] [ 0. 0. 0. 1. ]] SLAMing on 239.30925976399996 meters 0.2896598829632509 Centerline is valid? [False, False] Translation: X:-75.54, Y:-33.33, Z:42.99 [[ 0.90545693 0.29212298 0.30791542 -75.54307647] [ -0.34059157 0.93297584 0.11641936 -33.33212638] [ -0.25326888 -0.21028611 0.94426407 42.99274923] [ 0. 0. 0. 1. ]] SLAMing on 239.36925976399996 meters 0.3282448014613703 Centerline is valid? [False, False] Translation: X:-75.74, Y:-33.47, Z:43.09 [[ 0.90811823 0.28718105 0.30471024 -75.74349852] [ -0.33359368 0.93603934 0.1120072 -33.47432407] [ -0.25305442 -0.20336519 0.94583617 43.08556253] [ 0. 0. 0. 1. ]] SLAMing on 239.42925976399997 meters 0.32832547738585105 Centerline is valid? [False, False] Translation: X:-75.94, Y:-33.61, Z:43.17 [[ 0.91013385 0.28298414 0.30261585 -75.93728031] [ -0.32798494 0.93838204 0.10892675 -33.61179305] [ -0.25314473 -0.19839136 0.94686779 43.1748938 ] [ 0. 0. 0. 1. ]] SLAMing on 239.48925976399994 meters 0.32331500585032824 Centerline is valid? [False, False] Translation: X:-76.13, Y:-33.75, Z:43.26 [[ 0.9133853 0.27620228 0.29906454 -76.12587639] [ -0.31909014 0.941932 0.10462116 -33.74854335] [ -0.25280186 -0.19098797 0.94848027 43.26167647] [ 0. 0. 0. 1. ]] SLAMing on 239.54925976399994 meters 0.3171051024323453 Centerline is valid? [False, False] Translation: X:-76.31, Y:-33.88, Z:43.34 [[ 0.91664417 0.27089157 0.29390681 -76.30897225] [ -0.31122125 0.9451096 0.0995449 -33.87761953] [ -0.25080828 -0.1827173 0.95063642 43.34303213] [ 0. 0. 0. 1. ]] SLAMing on 239.60925976399994 meters 0.3137809990376985 Centerline is valid? [False, False] Translation: X:-76.49, Y:-34.00, Z:43.42 [[ 0.91896061 0.26591084 0.29120923 -76.48954574] [ -0.30463812 0.94761308 0.09604724 -34.00429362] [ -0.25041367 -0.17697706 0.95182567 43.42056414] [ 0. 0. 0. 1. ]] SLAMing on 239.66925976399995 meters 0.30313478757789364 Centerline is valid? [False, False] Translation: X:-76.67, Y:-34.13, Z:43.50 [[ 0.91910134 0.26735866 0.28943405 -76.67166512] [ -0.30563586 0.9473517 0.09545404 -34.1296258 ] [ -0.24867538 -0.17619336 0.95242661 43.49519026] [ 0. 0. 0. 1. ]] SLAMing on 239.72925976399995 meters 0.2981234878149037 Centerline is valid? [False, False] Translation: X:-76.85, Y:-34.25, Z:43.57 [[ 0.92216872 0.25984156 0.28650866 -76.84864945] [ -0.29658812 0.95050822 0.09257221 -34.25197822] [ -0.24827473 -0.17034226 0.95359487 43.56910072] [ 0. 0. 0. 1. ]] SLAMing on 239.78925976399995 meters 0.2910262342698683 Centerline is valid? [False, False] Translation: X:-77.02, Y:-34.37, Z:43.64 [[ 0.92329363 0.25977533 0.28292341 -77.02314459] [ -0.29544508 0.95102105 0.09094598 -34.37319908] [ -0.2454406 -0.16755817 0.95482102 43.63870365] [ 0. 0. 0. 1. ]] SLAMing on 239.84925976399995 meters 0.29029380355256335 Centerline is valid? [False, False] Translation: X:-77.20, Y:-34.49, Z:43.71 [[ 0.9237218 0.26166902 0.27976303 -77.19910721] [ -0.29687969 0.95055346 0.09116231 -34.49385834] [ -0.24207536 -0.16726458 0.95573118 43.70807303] [ 0. 0. 0. 1. ]] SLAMing on 239.90925976399996 meters 0.287431364362575 Centerline is valid? [False, False] Translation: X:-77.37, Y:-34.61, Z:43.77 [[ 0.9244063 0.26282557 0.27639774 -77.37270389] [ -0.2971502 0.95058908 0.08990089 -34.6114695 ] [ -0.23911242 -0.16523659 0.9568292 43.77423449] [ 0. 0. 0. 1. ]] SLAMing on 239.96925976399996 meters 0.3178072379657209 Centerline is valid? [False, False] Translation: X:-77.55, Y:-34.73, Z:43.84 [[ 0.92386616 0.26683557 0.27435396 -77.54926508] [ -0.30080834 0.94947642 0.08949228 -34.72914275] [ -0.23661289 -0.16520685 0.9574555 43.84117616] [ 0. 0. 0. 1. ]] SLAMing on 240.02925976399996 meters 0.3102208121264679 Centerline is valid? [False, False] Translation: X:-77.73, Y:-34.85, Z:43.91 [[ 0.922326 0.27253058 0.27393765 -77.73001579] [ -0.30694594 0.94737049 0.0909579 -34.84970087] [ -0.23473164 -0.16797689 0.95743659 43.91029707] [ 0. 0. 0. 1. ]] SLAMing on 240.08925976399996 meters 0.2954964215989135 Centerline is valid? [False, False] Translation: X:-77.92, Y:-34.97, Z:43.98 [[ 0.92079166 0.27736588 0.27424602 -77.91780749] [ -0.31153116 0.94604255 0.08917309 -34.97322456] [ -0.23471483 -0.16754602 0.9575162 43.97834846] [ 0. 0. 0. 1. ]] SLAMing on 240.14925976399996 meters 0.2861129019880404 Centerline is valid? [False, False] Translation: X:-78.11, Y:-35.10, Z:44.05 [[ 0.9183592 0.28433192 0.27526667 -78.10769454] [ -0.31906639 0.94345287 0.08996291 -35.09986933] [ -0.2341218 -0.17044661 0.95714938 44.04578883] [ 0. 0. 0. 1. ]] SLAMing on 240.20925976399994 meters 0.2780326354550436 Centerline is valid? [False, False] Translation: X:-78.30, Y:-35.22, Z:44.11 [[ 0.91705414 0.2892049 0.27454003 -78.29944396] [ -0.32404317 0.9417138 0.09039442 -35.2238445 ] [ -0.23239563 -0.1718594 0.95731741 44.11372263] [ 0. 0. 0. 1. ]] SLAMing on 240.26925976399994 meters 0.30239971643704855 Centerline is valid? [False, False] Translation: X:-78.50, Y:-35.36, Z:44.19 [[ 0.91489438 0.29465229 0.27594983 -78.49888741] [ -0.33024052 0.93942209 0.09180049 -35.35540527] [ -0.23218414 -0.17511757 0.95677812 44.18523161] [ 0. 0. 0. 1. ]] SLAMing on 240.32925976399994 meters 0.2717588605488454 Centerline is valid? [False, False] Translation: X:-78.71, Y:-35.49, Z:44.26 [[ 0.90852568 0.31049894 0.27959166 -78.70747763] [ -0.34813799 0.93255357 0.09562306 -35.49002279] [ -0.23104334 -0.18421249 0.95534535 44.2615525 ] [ 0. 0. 0. 1. ]] SLAMing on 240.38925976399995 meters 0.27532424785170456 Centerline is valid? [False, False] Translation: X:-78.93, Y:-35.64, Z:44.34 [[ 0.90542334 0.31905481 0.28002251 -78.92809753] [ -0.35815647 0.92824457 0.10042885 -35.63751245] [ -0.22788707 -0.1912225 0.95472585 44.34045144] [ 0. 0. 0. 1. ]] SLAMing on 240.44925976399995 meters 0.2967003372790788 Centerline is valid? [False, False] Translation: X:-79.15, Y:-35.79, Z:44.42 [[ 0.90210859 0.32862705 0.27965041 -79.15104667] [ -0.36842097 0.92397154 0.10267706 -35.78519519] [ -0.22464656 -0.19565493 0.95459576 44.41925685] [ 0. 0. 0. 1. ]] SLAMing on 240.50925976399995 meters 0.2839085353222727 Centerline is valid? [False, False] Translation: X:-79.38, Y:-35.94, Z:44.50 [[ 0.89971857 0.33439668 0.28050909 -79.3809974 ] [ -0.37573911 0.92041952 0.10792601 -35.94282072] [ -0.22209594 -0.20250127 0.95376445 44.50361965] [ 0. 0. 0. 1. ]] SLAMing on 240.56925976399995 meters 0.286245214294722 Centerline is valid? [False, False] Translation: X:-79.62, Y:-36.10, Z:44.59 [[ 0.89786138 0.33861989 0.2813921 -79.6153268 ] [ -0.3811506 0.91772829 0.11179898 -36.10261758] [ -0.22038413 -0.20763275 0.95305796 44.59149203] [ 0. 0. 0. 1. ]] SLAMing on 240.62925976399995 meters 0.2900212488593018 Centerline is valid? [False, False] Translation: X:-79.85, Y:-36.27, Z:44.68 [[ 0.89734159 0.33955964 0.28191722 -79.84829744] [ -0.38264422 0.9168854 0.11359823 -36.26780107] [ -0.21991241 -0.20981041 0.95268994 44.67894129] [ 0. 0. 0. 1. ]] SLAMing on 240.68925976399996 meters 0.2822220421412881 Centerline is valid? [False, False] Translation: X:-80.08, Y:-36.43, Z:44.77 [[ 0.89938725 0.33350889 0.2826206 -80.08049737] [ -0.37737797 0.91865545 0.11686756 -36.43186647] [ -0.22065459 -0.21176398 0.9520859 44.77183055] [ 0. 0. 0. 1. ]] SLAMing on 240.74925976399996 meters 0.28025237914944223 Centerline is valid? [False, False] Translation: X:-80.30, Y:-36.59, Z:44.86 [[ 0.90118107 0.32898314 0.28221051 -80.30490484] [ -0.37320538 0.92005814 0.11920888 -36.59310583] [ -0.22043237 -0.21275127 0.95191726 44.86088121] [ 0. 0. 0. 1. ]] SLAMing on 240.80925976399996 meters 0.29004023746191887 Centerline is valid? [False, False] Translation: X:-80.52, Y:-36.76, Z:44.95 [[ 0.90251983 0.32467371 0.28292214 -80.52307288] [ -0.36909265 0.92164588 0.11974758 -36.75573064] [ -0.22187513 -0.21249905 0.95163837 44.95062362] [ 0. 0. 0. 1. ]] SLAMing on 240.86925976399996 meters 0.2816370932216969 Centerline is valid? [False, False] Translation: X:-80.74, Y:-36.91, Z:45.04 [[ 0.90609824 0.31300946 0.28462443 -80.73626514] [ -0.35672238 0.9269524 0.11622561 -36.91232679] [ -0.22745358 -0.20684373 0.95156741 45.03850903] [ 0. 0. 0. 1. ]] SLAMing on 240.92925976399997 meters 0.2931781851651854 Centerline is valid? [False, False] Translation: X:-80.95, Y:-37.07, Z:45.13 [[ 0.90818404 0.30671607 0.28482802 -80.94715614] [ -0.35013169 0.92956355 0.11540974 -37.06723923] [ -0.22936773 -0.2045406 0.95160579 45.12648392] [ 0. 0. 0. 1. ]] SLAMing on 240.98925976399994 meters 0.2931532881726694 Centerline is valid? [False, False] Translation: X:-81.15, Y:-37.22, Z:45.21 [[ 0.91155646 0.29836354 0.28292052 -81.14772163] [ -0.34073121 0.9332716 0.11360619 -37.21658744] [ -0.23014574 -0.19995831 0.95239152 45.21043144] [ 0. 0. 0. 1. ]] SLAMing on 241.04925976399994 meters 0.2796630709248448 Centerline is valid? [False, False] Translation: X:-81.34, Y:-37.36, Z:45.29 [[ 0.91456517 0.29071452 0.28116831 -81.34295696] [ -0.33180722 0.93683711 0.11063543 -37.36124073] [ -0.23124558 -0.19447699 0.95325977 45.29174953] [ 0. 0. 0. 1. ]] SLAMing on 241.10925976399994 meters 0.29041346863494794 Centerline is valid? [False, False] Translation: X:-81.53, Y:-37.50, Z:45.37 [[ 0.91733727 0.28300936 0.2799965 -81.53492623] [ -0.32302404 0.94021069 0.10797836 -37.5044835 ] [ -0.23269681 -0.18949818 0.95390913 45.36999488] [ 0. 0. 0. 1. ]] SLAMing on 241.16925976399995 meters 0.29180057246820085 Centerline is valid? [False, False] Translation: X:-81.72, Y:-37.64, Z:45.45 [[ 0.91823553 0.28160575 0.27846313 -81.72320093] [ -0.32140886 0.94070023 0.10853302 -37.64307305] [ -0.23138681 -0.18915939 0.95429496 45.44830697] [ 0. 0. 0. 1. ]] SLAMing on 241.22925976399995 meters 0.3047138517585113 Centerline is valid? [False, False] Translation: X:-81.91, Y:-37.78, Z:45.52 [[ 0.91778861 0.2845256 0.27696435 -81.91314152] [ -0.32371129 0.94009325 0.10693774 -37.7804036 ] [ -0.22994579 -0.18780273 0.95491103 45.52409702] [ 0. 0. 0. 1. ]] SLAMing on 241.28925976399995 meters 0.2881016010206415 Centerline is valid? [False, False] Translation: X:-82.10, Y:-37.92, Z:45.60 [[ 0.91720583 0.28641423 0.27694829 -82.10492194] [ -0.32559083 0.93946839 0.10672276 -37.91945007] [ -0.22961725 -0.18805856 0.95493973 45.59902231] [ 0. 0. 0. 1. ]] SLAMing on 241.34925976399995 meters 0.2734674226897972 Centerline is valid? [False, False] Translation: X:-82.30, Y:-38.06, Z:45.67 [[ 0.91584667 0.29017375 0.2775321 -82.29999612] [ -0.32942252 0.93819646 0.10615181 -38.0590064 ] [ -0.22957716 -0.18864411 0.95483387 45.67397924] [ 0. 0. 0. 1. ]] SLAMing on 241.40925976399996 meters 0.3228599194887562 Centerline is valid? [False, False] Translation: X:-82.50, Y:-38.20, Z:45.75 [[ 0.91320907 0.29775033 0.27819765 -82.50134546] [ -0.33747866 0.93525286 0.10681873 -38.20252908] [ -0.22837984 -0.1914336 0.95456578 45.75150347] [ 0. 0. 0. 1. ]] SLAMing on 241.46925976399996 meters 0.27626747324770146 Centerline is valid? [False, False] Translation: X:-82.70, Y:-38.35, Z:45.83 [[ 0.91250577 0.29919605 0.27895329 -82.70320289] [ -0.33921651 0.93457537 0.10724292 -38.34645963] [ -0.22861621 -0.19248535 0.95429766 45.82947794] [ 0. 0. 0. 1. ]] SLAMing on 241.52925976399996 meters 0.2978957334842657 Centerline is valid? [False, False] Translation: X:-82.91, Y:-38.50, Z:45.91 [[ 0.91013706 0.30837625 0.27668506 -82.91071041] [ -0.34874157 0.93076645 0.10978677 -38.49771958] [ -0.22367354 -0.19641259 0.95466866 45.90841302] [ 0. 0. 0. 1. ]] SLAMing on 241.58925976399996 meters 0.29062029204928247 Centerline is valid? [False, False] Translation: X:-83.12, Y:-38.65, Z:45.99 [[ 0.91074681 0.30670055 0.27654118 -83.11905876] [ -0.34686369 0.931535 0.10921594 -38.65193224] [ -0.2241112 -0.19539016 0.95477581 45.9917193 ] [ 0. 0. 0. 1. ]] SLAMing on 241.64925976399996 meters 0.30028649209418473 Centerline is valid? [False, False] Translation: X:-83.33, Y:-38.81, Z:46.07 [[ 0.90979693 0.30524367 0.28123983 -83.3302719 ] [ -0.34683206 0.93131408 0.11118274 -38.80800731] [ -0.22798479 -0.19869671 0.95317499 46.07477132] [ 0. 0. 0. 1. ]] SLAMing on 241.70925976399994 meters 0.29061275131665043 Centerline is valid? [False, False] Translation: X:-83.54, Y:-38.96, Z:46.16 [[ 0.91048025 0.30145881 0.28310475 -83.53852453] [ -0.34383026 0.93218954 0.11315216 -38.96289156] [ -0.22979657 -0.20036279 0.95239083 46.16080824] [ 0. 0. 0. 1. ]] SLAMing on 241.76925976399994 meters 0.29784936802013934 Centerline is valid? [False, False] Translation: X:-83.74, Y:-39.12, Z:46.24 [[ 0.91055092 0.30245218 0.28181503 -83.74288328] [ -0.34421193 0.9322284 0.11166183 -39.11680076] [ -0.22894361 -0.19867788 0.95294907 46.24304832] [ 0. 0. 0. 1. ]] SLAMing on 241.82925976399994 meters 0.28369075301371877 Centerline is valid? [False, False] Translation: X:-83.94, Y:-39.27, Z:46.33 [[ 0.91269195 0.29805172 0.27956856 -83.94367701] [ -0.33933265 0.93396439 0.11208872 -39.27160015] [ -0.22769884 -0.19716922 0.95356045 46.32657538] [ 0. 0. 0. 1. ]] SLAMing on 241.88925976399995 meters 0.28878230227377716 Centerline is valid? [False, False] Translation: X:-84.14, Y:-39.43, Z:46.41 [[ 0.91382964 0.29405844 0.28008038 -84.14375275] [ -0.33595355 0.93488202 0.11458983 -39.42561542] [ -0.22814601 -0.19880958 0.95311287 46.4104952 ] [ 0. 0. 0. 1. ]] SLAMing on 241.94925976399995 meters 0.30713551305425296 Centerline is valid? [False, False] Translation: X:-84.34, Y:-39.57, Z:46.49 [[ 0.91592231 0.28977994 0.2776939 -84.3352465 ] [ -0.33098706 0.93669492 0.11423744 -39.57220699] [ -0.22701075 -0.19654571 0.95385319 46.49085513] [ 0. 0. 0. 1. ]] SLAMing on 242.00925976399995 meters 0.28780601260032224 Centerline is valid? [False, False] Translation: X:-84.53, Y:-39.72, Z:46.57 [[ 0.9163804 0.29172478 0.27412337 -84.52555207] [ -0.33142982 0.9369458 0.110846 -39.71903239] [ -0.22450221 -0.19242976 0.95528506 46.56641913] [ 0. 0. 0. 1. ]] SLAMing on 242.06925976399995 meters 0.2930100033464733 Centerline is valid? [False, False] Translation: X:-84.72, Y:-39.86, Z:46.64 [[ 0.91888665 0.28693867 0.2707647 -84.71715229] [ -0.3252116 0.93944199 0.10810255 -39.86364365] [ -0.22334893 -0.18738982 0.95655649 46.64307967] [ 0. 0. 0. 1. ]] SLAMing on 242.12925976399995 meters 0.28179122536839785 Centerline is valid? [False, False] Translation: X:-84.91, Y:-40.01, Z:46.72 [[ 0.91746442 0.29039086 0.27190473 -84.91130608] [ -0.32950623 0.93767702 0.11039679 -40.01244215] [ -0.2229006 -0.19087943 0.9559709 46.72046736] [ 0. 0. 0. 1. ]] SLAMing on 242.18925976399996 meters 0.2925162771290996 Centerline is valid? [False, False] Translation: X:-85.11, Y:-40.16, Z:46.80 [[ 0.91675692 0.29400665 0.27040127 -85.10551382] [ -0.3326719 0.93667131 0.10943615 -40.15972575] [ -0.22110216 -0.19028126 0.95650765 46.79666581] [ 0. 0. 0. 1. ]] SLAMing on 242.24925976399996 meters 0.2760238738892308 Centerline is valid? [False, False] Translation: X:-85.30, Y:-40.31, Z:46.87 [[ 0.91712981 0.29494774 0.26810211 -85.30018093] [ -0.33317377 0.93648938 0.10946638 -40.30731034] [ -0.21878791 -0.18971947 0.95715118 46.87147513] [ 0. 0. 0. 1. ]] SLAMing on 242.30925976399996 meters 0.30432477817635745 Centerline is valid? [False, False] Translation: X:-85.49, Y:-40.46, Z:46.95 [[ 0.91705631 0.29649897 0.26663848 -85.49487674] [ -0.33496857 0.93558413 0.11170672 -40.45849485] [ -0.2163418 -0.19175686 0.95730117 46.94738557] [ 0. 0. 0. 1. ]] SLAMing on 242.36925976399996 meters 0.29437083722757224 Centerline is valid? [False, False] Translation: X:-85.69, Y:-40.61, Z:47.02 [[ 0.91709876 0.29666854 0.26630366 -85.68949791] [ -0.33551648 0.93515067 0.11367463 -40.60958198] [ -0.21531036 -0.19360013 0.9571627 47.023872 ] [ 0. 0. 0. 1. ]] SLAMing on 242.42925976399994 meters 0.2954112596775325 Centerline is valid? [False, False] Translation: X:-85.88, Y:-40.76, Z:47.10 [[ 0.91728208 0.29670339 0.26563262 -85.88470869] [ -0.33558649 0.93503151 0.11444551 -40.76038744] [ -0.2144185 -0.19412153 0.9572573 47.10034944] [ 0. 0. 0. 1. ]] SLAMing on 242.48925976399994 meters 0.28796031641992176 Centerline is valid? [False, False] Translation: X:-86.07, Y:-40.91, Z:47.18 [[ 0.91987357 0.28994242 0.26413255 -86.07382404] [ -0.32841132 0.9375623 0.11455541 -40.90793326] [ -0.21442625 -0.19212061 0.95765915 47.17510075] [ 0. 0. 0. 1. ]] SLAMing on 242.54925976399994 meters 0.2819320204842599 Centerline is valid? [False, False] Translation: X:-86.26, Y:-41.06, Z:47.25 [[ 0.92124862 0.28490842 0.26481726 -86.25935984] [ -0.32383022 0.93893027 0.11637839 -41.05624251] [ -0.21548776 -0.19296926 0.95725017 47.2504245 ] [ 0. 0. 0. 1. ]] SLAMing on 242.60925976399994 meters 0.3140620906537335 Centerline is valid? [False, False] Translation: X:-86.44, Y:-41.20, Z:47.32 [[ 0.92297887 0.28262217 0.26121774 -86.4421584 ] [ -0.32033606 0.94036531 0.11444601 -41.20158045] [ -0.21329513 -0.18930871 0.95847139 47.32254665] [ 0. 0. 0. 1. ]] SLAMing on 242.66925976399995 meters 0.30316248258689765 Centerline is valid? [False, False] Translation: X:-86.62, Y:-41.35, Z:47.40 [[ 0.92599513 0.27432775 0.25937868 -86.62196811] [ -0.3123189 0.94261344 0.11805428 -41.34731776] [ -0.21210826 -0.19032655 0.9585332 47.39579455] [ 0. 0. 0. 1. ]] SLAMing on 242.72925976399995 meters 0.2990910224816386 Centerline is valid? [False, False] Translation: X:-86.79, Y:-41.48, Z:47.47 [[ 0.92811888 0.26993654 0.25637787 -86.78996742] [ -0.3056596 0.94566663 0.11084601 -41.48433203] [ -0.21252661 -0.18124263 0.96019974 47.46676269] [ 0. 0. 0. 1. ]] SLAMing on 242.78925976399995 meters 0.28824840717511213 Centerline is valid? [False, False] Translation: X:-86.95, Y:-41.62, Z:47.53 [[ 0.92958493 0.26670188 0.25444441 -86.95470167] [ -0.30069112 0.9479298 0.10494737 -41.61617607] [ -0.21320578 -0.17406667 0.96137614 47.53170693] [ 0. 0. 0. 1. ]] SLAMing on 242.84925976399995 meters 0.28907029452662014 Centerline is valid? [False, False] Translation: X:-87.12, Y:-41.75, Z:47.60 [[ 0.93095295 0.26397372 0.25227859 -87.11707367] [ -0.29665247 0.94962382 0.10105397 -41.74650815] [ -0.21289417 -0.16891556 0.96236355 47.59651411] [ 0. 0. 0. 1. ]] SLAMing on 242.90925976399996 meters 0.3194517009745787 Centerline is valid? [False, False] Translation: X:-87.28, Y:-41.88, Z:47.66 [[ 0.93346561 0.2546828 0.25254431 -87.2789845 ] [ -0.2869342 0.95274054 0.09977091 -41.8763214 ] [ -0.21519926 -0.16559631 0.96242773 47.65941025] [ 0. 0. 0. 1. ]] SLAMing on 242.96925976399996 meters 0.31164204735411244 Centerline is valid? [False, False] Translation: X:-87.44, Y:-42.00, Z:47.72 [[ 0.93423782 0.25404272 0.25032378 -87.43618688] [ -0.28496756 0.95375733 0.09560563 -42.00255334] [ -0.21446023 -0.16065255 0.96343011 47.71945018] [ 0. 0. 0. 1. ]] SLAMing on 243.02925976399996 meters 0.2888671595211875 Centerline is valid? [False, False] Translation: X:-87.59, Y:-42.13, Z:47.78 [[ 0.93431561 0.25530773 0.24874143 -87.59221812] [ -0.28568053 0.95368326 0.09420655 -42.12579991] [ -0.21316888 -0.15907923 0.96397761 47.7778563 ] [ 0. 0. 0. 1. ]] SLAMing on 243.08925976399996 meters 0.3062975597986473 Centerline is valid? [False, False] Translation: X:-87.75, Y:-42.25, Z:47.84 [[ 0.93354627 0.25777711 0.24908298 -87.75407047] [ -0.28794967 0.95313765 0.09280953 -42.25236852] [ -0.21348619 -0.15836535 0.96402493 47.83665234] [ 0. 0. 0. 1. ]] SLAMing on 243.14925976399996 meters 0.30160650009483403 Centerline is valid? [False, False] Translation: X:-87.92, Y:-42.38, Z:47.89 [[ 0.93335548 0.26261387 0.24470697 -87.91742462] [ -0.29229123 0.95175241 0.09345154 -42.38142065] [ -0.20835878 -0.15874921 0.96508306 47.89302636] [ 0. 0. 0. 1. ]] SLAMing on 243.20925976399994 meters 0.2929903816009492 Centerline is valid? [False, False] Translation: X:-88.08, Y:-42.51, Z:47.95 [[ 0.93467732 0.26074816 0.24163756 -88.07900307] [ -0.29026048 0.95219519 0.09525318 -42.50895271] [ -0.20524903 -0.15916882 0.96568014 47.94892781] [ 0. 0. 0. 1. ]] SLAMing on 243.26925976399994 meters 0.2847621737795264 Centerline is valid? [False, False] Translation: X:-88.24, Y:-42.63, Z:48.01 [[ 0.93525349 0.25683026 0.24359623 -88.24018893] [ -0.28648094 0.95339276 0.09471488 -42.63472307] [ -0.20791723 -0.1583681 0.96524089 48.00635833] [ 0. 0. 0. 1. ]] SLAMing on 243.32925976399994 meters 0.2856462338389002 Centerline is valid? [False, False] Translation: X:-88.40, Y:-42.76, Z:48.06 [[ 0.93640342 0.25166032 0.24457251 -88.39884716] [ -0.28119123 0.95504867 0.09388042 -42.75953474] [ -0.20995268 -0.15668159 0.96507552 48.06289535] [ 0. 0. 0. 1. ]] SLAMing on 243.38925976399995 meters 0.29692948091124777 Centerline is valid? [False, False] Translation: X:-88.55, Y:-42.88, Z:48.12 [[ 0.93665866 0.25063618 0.24464682 -88.55219056] [ -0.28021186 0.95531258 0.09412331 -42.88131057] [ -0.21012348 -0.15671436 0.96503302 48.11918696] [ 0. 0. 0. 1. ]] SLAMing on 243.44925976399995 meters 0.2968809141201971 Centerline is valid? [False, False] Translation: X:-88.70, Y:-43.00, Z:48.17 [[ 0.93746536 0.24977322 0.24242944 -88.70482757] [ -0.27845523 0.956056 0.09175846 -43.00354808] [ -0.20885731 -0.15352613 0.96582004 48.17348858] [ 0. 0. 0. 1. ]] SLAMing on 243.50925976399995 meters 0.28455323691436146 Centerline is valid? [False, False] Translation: X:-88.86, Y:-43.12, Z:48.22 [[ 0.93811337 0.24938721 0.24031088 -88.85558297] [ -0.27721921 0.95663594 0.08942702 -43.12414753] [ -0.20758807 -0.15051148 0.96656789 48.22452464] [ 0. 0. 0. 1. ]] SLAMing on 243.56925976399995 meters 0.27796844771035883 Centerline is valid? [False, False] Translation: X:-89.01, Y:-43.25, Z:48.28 [[ 9.39372198e-01 2.44693474e-01 2.40218602e-01 -8.90094706e+01] [-2.72081164e-01 9.58254418e-01 8.78652952e-02 -4.32464317e+01] [-2.08690473e-01 -1.47897173e-01 9.66734045e-01 4.82784936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62925976399995 meters 0.2683638433309247 Centerline is valid? [False, False] Translation: X:-89.16, Y:-43.37, Z:48.33 [[ 9.40144246e-01 2.42397925e-01 2.39524619e-01 -8.91606829e+01] [-2.69418564e-01 9.59096404e-01 8.68776438e-02 -4.33670842e+01] [-2.08668240e-01 -1.46209896e-01 9.66995466e-01 4.83326972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68925976399996 meters 0.27029863614524424 Centerline is valid? [False, False] Translation: X:-89.31, Y:-43.48, Z:48.38 [[ 9.41434915e-01 2.39661256e-01 2.37197774e-01 -8.93065086e+01] [-2.66237470e-01 9.59998151e-01 8.67246206e-02 -4.34835364e+01] [-2.06924893e-01 -1.44796521e-01 9.67582584e-01 4.83827642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74925976399996 meters 0.3043861805064346 Centerline is valid? [False, False] Translation: X:-89.45, Y:-43.60, Z:48.43 [[ 9.42514047e-01 2.37364271e-01 2.35213678e-01 -8.94538772e+01] [-2.63290248e-01 9.60938727e-01 8.52936645e-02 -4.36015906e+01] [-2.05780264e-01 -1.42319945e-01 9.68193946e-01 4.84318990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80925976399996 meters 0.302233134799018 Centerline is valid? [False, False] Translation: X:-89.60, Y:-43.72, Z:48.48 [[ 9.43234593e-01 2.35380533e-01 2.34317106e-01 -8.96002706e+01] [-2.60948329e-01 9.61654544e-01 8.44186402e-02 -4.37181462e+01] [-2.05461605e-01 -1.40771239e-01 9.68487990e-01 4.84813436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86925976399996 meters 0.2927542421657795 Centerline is valid? [False, False] Translation: X:-89.75, Y:-43.84, Z:48.53 [[ 9.42933229e-01 2.35404127e-01 2.35503337e-01 -8.97470529e+01] [-2.61390678e-01 9.61433980e-01 8.55547482e-02 -4.38362964e+01] [-2.06280970e-01 -1.42230792e-01 9.68100492e-01 4.85295749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92925976399994 meters 0.27768774329078466 Centerline is valid? [False, False] Translation: X:-89.89, Y:-43.95, Z:48.58 [[ 9.43848879e-01 2.32749389e-01 2.34471781e-01 -8.98915175e+01] [-2.58319576e-01 9.62351206e-01 8.45644934e-02 -4.39503882e+01] [-2.05961867e-01 -1.40384753e-01 9.68437830e-01 4.85775709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98925976399994 meters 0.2791744697495139 Centerline is valid? [False, False] Translation: X:-90.04, Y:-44.07, Z:48.63 [[ 9.43046305e-01 2.36070663e-01 2.34380691e-01 -9.00373529e+01] [-2.62063152e-01 9.61182919e-01 8.63151226e-02 -4.40658562e+01] [-2.04906249e-01 -1.42821700e-01 9.68305422e-01 4.86262509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04925976399994 meters 0.30651408068366015 Centerline is valid? [False, False] Translation: X:-90.18, Y:-44.18, Z:48.68 [[ 9.43337924e-01 2.35359049e-01 2.33922379e-01 -9.01849941e+01] [-2.61338299e-01 9.61350764e-01 8.66429579e-02 -4.41824477e+01] [-2.04489254e-01 -1.42866465e-01 9.68386967e-01 4.86770561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10925976399994 meters 0.2943200697434786 Centerline is valid? [False, False] Translation: X:-90.33, Y:-44.30, Z:48.73 [[ 9.43805658e-01 2.32990042e-01 2.34406742e-01 -9.03301355e+01] [-2.58931113e-01 9.62029670e-01 8.63341883e-02 -4.42981538e+01] [-2.05391235e-01 -1.42177894e-01 9.68297417e-01 4.87254227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16925976399995 meters 0.28214163077244864 Centerline is valid? [False, False] Translation: X:-90.47, Y:-44.41, Z:48.77 [[ 9.44604561e-01 2.31352668e-01 2.32804999e-01 -9.04695728e+01] [-2.56773724e-01 9.62713208e-01 8.51500685e-02 -4.44092010e+01] [-2.04424751e-01 -1.40211349e-01 9.68788573e-01 4.87724673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22925976399995 meters 0.2802348906402703 Centerline is valid? [False, False] Translation: X:-90.61, Y:-44.52, Z:48.82 [[ 9.45001522e-01 2.31325003e-01 2.31216060e-01 -9.06098283e+01] [-2.56565469e-01 9.62745940e-01 8.54073525e-02 -4.45208743e+01] [-2.02845467e-01 -1.40032135e-01 9.69146386e-01 4.88205737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28925976399995 meters 0.28665467643350945 Centerline is valid? [False, False] Translation: X:-90.75, Y:-44.63, Z:48.87 [[ 9.46069827e-01 2.30190135e-01 2.27956978e-01 -9.07472626e+01] [-2.54407788e-01 9.63540223e-01 8.28668536e-02 -4.46327197e+01] [-2.00570585e-01 -1.36391860e-01 9.70138496e-01 4.88662727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34925976399995 meters 0.27839068213993173 Centerline is valid? [False, False] Translation: X:-90.87, Y:-44.74, Z:48.90 [[ 9.50315311e-01 2.21315557e-01 2.18906906e-01 -9.08745409e+01] [-2.42673694e-01 9.67149950e-01 7.56997462e-02 -4.47400171e+01] [-1.94962272e-01 -1.25061575e-01 9.72804870e-01 4.89039626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40925976399996 meters 0.30711992601721744 Centerline is valid? [False, False] Translation: X:-91.00, Y:-44.84, Z:48.94 [[ 9.54608348e-01 2.10049781e-01 2.11191834e-01 -9.09955152e+01] [-2.30055834e-01 9.70296543e-01 7.48260138e-02 -4.48439888e+01] [-1.89201519e-01 -1.20015451e-01 9.74576358e-01 4.89407386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46925976399996 meters 0.31172184907269773 Centerline is valid? [False, False] Translation: X:-91.10, Y:-44.94, Z:48.97 [[ 9.59130314e-01 2.00526733e-01 1.99644862e-01 -9.11041395e+01] [-2.17921169e-01 9.73515905e-01 6.91169065e-02 -4.49397549e+01] [-1.80497662e-01 -1.09798962e-01 9.77427635e-01 4.89726326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52925976399996 meters 0.30049430531958066 Centerline is valid? [False, False] Translation: X:-91.23, Y:-45.03, Z:49.01 [[ 9.52289776e-01 2.36964178e-01 1.92333462e-01 -9.12349322e+01] [-2.52838993e-01 9.65498795e-01 6.23259213e-02 -4.50325171e+01] [-1.70928715e-01 -1.07981737e-01 9.79348415e-01 4.90064406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58925976399996 meters 0.29690719315930625 Centerline is valid? [False, False] Translation: X:-91.39, Y:-45.15, Z:49.05 [[ 9.43924095e-01 2.69279072e-01 1.91039482e-01 -9.13903779e+01] [-2.87007070e-01 9.55246254e-01 7.16347445e-02 -4.51466722e+01] [-1.63200012e-01 -1.22447443e-01 9.78964953e-01 4.90502804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64925976399996 meters 0.31518041139121244 Centerline is valid? [False, False] Translation: X:-91.58, Y:-45.29, Z:49.11 [[ 9.28552386e-01 3.20089874e-01 1.87970579e-01 -9.15807750e+01] [-3.39181160e-01 9.37373849e-01 7.92868670e-02 -4.52865216e+01] [-1.50819782e-01 -1.37378089e-01 9.78969179e-01 4.91080121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70925976399994 meters 0.32685752410059155 Centerline is valid? [False, False] Translation: X:-91.79, Y:-45.45, Z:49.18 [[ 9.15488969e-01 3.58039927e-01 1.83541163e-01 -9.17897729e+01] [-3.77807846e-01 9.21866399e-01 8.61601651e-02 -4.54503037e+01] [-1.38351651e-01 -1.48221972e-01 9.79228813e-01 4.91756095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76925976399994 meters 0.37157558734955937 Centerline is valid? [False, False] Translation: X:-92.03, Y:-45.65, Z:49.26 [[ 0.89869067 0.4025578 0.17407553 -92.03371822] [ -0.42263013 0.90094257 0.09841875 -45.64631791] [ -0.11721282 -0.16201758 0.97980174 49.25667967] [ 0. 0. 0. 1. ]] SLAMing on 244.82925976399994 meters 0.4645775377592863 Centerline is valid? [False, False] Translation: X:-92.31, Y:-45.87, Z:49.35 [[ 8.62884943e-01 4.79559830e-01 1.59536654e-01 -9.23080322e+01] [-4.98200366e-01 8.60195250e-01 1.08906050e-01 -4.58667447e+01] [-8.50057054e-02 -1.73454610e-01 9.81166412e-01 4.93509742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88925976399995 meters 0.5767439894871292 Centerline is valid? [False, False] Translation: X:-92.60, Y:-46.11, Z:49.45 [[ 8.07079689e-01 5.74210334e-01 1.37494976e-01 -9.25952101e+01] [-5.89319729e-01 7.97753446e-01 1.27638930e-01 -4.61146358e+01] [-3.63954982e-02 -1.84043289e-01 9.82244081e-01 4.94546455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94925976399995 meters 0.641689232627955 Centerline is valid? [False, False] Translation: X:-92.79, Y:-46.30, Z:49.52 [[ 7.62046608e-01 6.37132335e-01 1.15530754e-01 -9.27872748e+01] [-6.47347982e-01 7.45479195e-01 1.58749362e-01 -4.62971488e+01] [ 1.50185782e-02 -1.95763013e-01 9.80536223e-01 4.95212163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00925976399995 meters 0.7121607355765424 Centerline is valid? [False, False] Translation: X:-92.81, Y:-46.34, Z:49.52 [[ 6.95642414e-01 7.10568090e-01 1.05710086e-01 -9.28139520e+01] [-7.13655846e-01 6.66674980e-01 2.15034426e-01 -4.63362174e+01] [ 8.23223314e-02 -2.25027688e-01 9.70868463e-01 4.95193228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06925976399995 meters 0.6855836961675366 Centerline is valid? [False, False] Translation: X:-92.96, Y:-46.49, Z:49.59 [[ 6.53352393e-01 7.51960114e-01 8.76734683e-02 -9.29563881e+01] [-7.44480213e-01 6.17158888e-01 2.54684354e-01 -4.64899427e+01] [ 1.37404016e-01 -2.31669795e-01 9.63041662e-01 4.95853907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12925976399995 meters 0.6706179309735325 Centerline is valid? [False, False] Translation: X:-93.17, Y:-46.70, Z:49.69 [[ 6.28712408e-01 7.74971487e-01 6.43420722e-02 -9.31690222e+01] [-7.55246199e-01 5.88802895e-01 2.87948485e-01 -4.67003208e+01] [ 1.85267067e-01 -2.29630891e-01 9.55481956e-01 4.96878344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18925976399996 meters 0.6807382693111648 Centerline is valid? [False, False] Translation: X:-93.44, Y:-46.95, Z:49.81 [[ 6.09035903e-01 7.91770587e-01 4.66326619e-02 -9.34389059e+01] [-7.58735782e-01 5.64478513e-01 3.25090789e-01 -4.69520141e+01] [ 2.31074190e-01 -2.33373832e-01 9.44532357e-01 4.98109107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24925976399996 meters 0.6793338390872591 Centerline is valid? [False, False] Translation: X:-93.64, Y:-47.14, Z:49.90 [[ 6.24808483e-01 7.80481272e-01 2.15254087e-02 -9.36400750e+01] [-7.37562201e-01 5.80956293e-01 3.44226359e-01 -4.71403217e+01] [ 2.56156905e-01 -2.30951877e-01 9.38639905e-01 4.98988990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30925976399996 meters 0.6795687350862257 Centerline is valid? [False, False] Translation: X:-93.78, Y:-47.26, Z:49.95 [[ 6.56029750e-01 7.54700663e-01 7.20257259e-03 -9.37774062e+01] [-7.04132781e-01 6.08581949e-01 3.65821046e-01 -4.72630142e+01] [ 2.71702030e-01 -2.45061057e-01 9.30657340e-01 4.99507439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36925976399996 meters 0.7284240121068933 Centerline is valid? [False, False] Translation: X:-93.69, Y:-47.14, Z:49.86 [[ 7.49422021e-01 6.62090166e-01 1.80162247e-03 -9.36896679e+01] [-6.08172323e-01 6.87311544e-01 3.97151442e-01 -4.71419754e+01] [ 2.61711788e-01 -2.98729733e-01 9.17751320e-01 4.98569454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42925976399994 meters 0.6854607763655668 Centerline is valid? [False, False] Translation: X:-93.55, Y:-47.00, Z:49.75 [[ 8.16957969e-01 5.76629445e-01 -8.84079047e-03 -9.35549013e+01] [-5.19873683e-01 7.43009920e-01 4.21506362e-01 -4.69974391e+01] [ 2.49621775e-01 -3.39756887e-01 9.06782348e-01 4.97482365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48925976399994 meters 0.5890257542950825 Centerline is valid? [False, False] Translation: X:-93.55, Y:-47.00, Z:49.74 [[ 8.97474812e-01 4.41065061e-01 -7.57299320e-04 -9.35536354e+01] [-3.99476788e-01 8.13576840e-01 4.22505647e-01 -4.70014896e+01] [ 1.86968600e-01 -3.78885652e-01 9.06359975e-01 4.97426180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54925976399994 meters 0.5165282577404636 Centerline is valid? [False, False] Translation: X:-93.60, Y:-47.06, Z:49.81 [[ 9.33999915e-01 3.57123840e-01 1.03306268e-02 -9.36021999e+01] [-3.33009179e-01 8.59729527e-01 3.87259639e-01 -4.70596942e+01] [ 1.29418104e-01 -3.65140664e-01 9.21912821e-01 4.98065128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60925976399994 meters 0.38882875298241576 Centerline is valid? [False, False] Translation: X:-93.66, Y:-47.15, Z:49.91 [[ 9.65780788e-01 2.56882741e-01 3.57592997e-02 -9.36640091e+01] [-2.52992687e-01 9.02712108e-01 3.48002226e-01 -4.71497971e+01] [ 5.71154129e-02 -3.45140705e-01 9.36811466e-01 4.99102704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66925976399995 meters 0.34556436380347244 Centerline is valid? [False, False] Translation: X:-93.72, Y:-47.21, Z:50.02 [[ 9.71760622e-01 2.27021481e-01 6.43625695e-02 -9.37154851e+01] [-2.35854234e-01 9.25959814e-01 2.94908806e-01 -4.72141004e+01] [ 7.35348120e-03 -3.01760949e-01 9.53355262e-01 5.00180247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72925976399995 meters 0.31856438297293505 Centerline is valid? [False, False] Translation: X:-93.74, Y:-47.28, Z:50.10 [[ 9.74154405e-01 2.11357538e-01 7.96943283e-02 -9.37438798e+01] [-2.24457592e-01 9.45333121e-01 2.36567283e-01 -4.72825283e+01] [-2.53374095e-02 -2.48341058e-01 9.68341228e-01 5.01013970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78925976399995 meters 0.32304555822275005 Centerline is valid? [False, False] Translation: X:-93.79, Y:-47.37, Z:50.16 [[ 9.70132082e-01 2.26215849e-01 8.75793001e-02 -9.37853449e+01] [-2.38975789e-01 9.53248296e-01 1.84954745e-01 -4.73683875e+01] [-4.16451239e-02 -2.00359864e-01 9.78836865e-01 5.01621708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84925976399995 meters 0.3406470659194628 Centerline is valid? [False, False] Translation: X:-93.86, Y:-47.47, Z:50.21 [[ 9.61817591e-01 2.56831399e-01 9.45756512e-02 -9.38595810e+01] [-2.68969079e-01 9.50908857e-01 1.53062016e-01 -4.74686441e+01] [-5.06216926e-02 -1.72655666e-01 9.83680571e-01 5.02133980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90925976399996 meters 0.35852923590616886 Centerline is valid? [False, False] Translation: X:-93.97, Y:-47.57, Z:50.26 [[ 9.54507357e-01 2.81573707e-01 9.81425178e-02 -9.39719603e+01] [-2.92960438e-01 9.46882150e-01 1.32621178e-01 -4.75737776e+01] [-5.55867614e-02 -1.55339765e-01 9.86295934e-01 5.02620982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96925976399996 meters 0.3790393004491401 Centerline is valid? [False, False] Translation: X:-94.11, Y:-47.70, Z:50.31 [[ 9.46291525e-01 3.06444963e-01 1.03071988e-01 -9.41071395e+01] [-3.17718129e-01 9.40450525e-01 1.20863558e-01 -4.77038303e+01] [-5.98960766e-02 -1.47119999e-01 9.87303482e-01 5.03132624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02925976399996 meters 0.40338550096064113 Centerline is valid? [False, False] Translation: X:-94.26, Y:-47.85, Z:50.37 [[ 9.37419336e-01 3.31020567e-01 1.08029500e-01 -9.42575433e+01] [-3.43211673e-01 9.30729593e-01 1.26286074e-01 -4.78540028e+01] [-5.87429643e-02 -1.55459993e-01 9.86094039e-01 5.03698459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08925976399996 meters 0.4208383484231611 Centerline is valid? [False, False] Translation: X:-94.42, Y:-48.02, Z:50.43 [[ 9.30997925e-01 3.45066274e-01 1.19046757e-01 -9.44244708e+01] [-3.59664628e-01 9.22854866e-01 1.37768832e-01 -4.80242450e+01] [-6.23235016e-02 -1.71079404e-01 9.83284099e-01 5.04335709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14925976399996 meters 0.4218034374720629 Centerline is valid? [False, False] Translation: X:-94.58, Y:-48.19, Z:50.49 [[ 9.30050776e-01 3.46199868e-01 1.23090234e-01 -9.45821936e+01] [-3.61030421e-01 9.23301362e-01 1.31040569e-01 -4.81882264e+01] [-6.82831533e-02 -1.66313702e-01 9.83705832e-01 5.04883632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20925976399994 meters 0.4238411268550017 Centerline is valid? [False, False] Translation: X:-94.74, Y:-48.36, Z:50.54 [[ 9.29989889e-01 3.45706820e-01 1.24922382e-01 -9.47449676e+01] [-3.60850948e-01 9.23367774e-01 1.31066956e-01 -4.83572447e+01] [-7.00385611e-02 -1.66969304e-01 9.83471327e-01 5.05418235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26925976399994 meters 0.42761920918220525 Centerline is valid? [False, False] Translation: X:-94.91, Y:-48.53, Z:50.60 [[ 9.28813070e-01 3.45004316e-01 1.35197271e-01 -9.49125809e+01] [-3.62363979e-01 9.21943903e-01 1.36791032e-01 -4.85292150e+01] [-7.74508034e-02 -1.76043920e-01 9.81330684e-01 5.06036373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32925976399994 meters 0.42295132400068125 Centerline is valid? [False, False] Translation: X:-95.07, Y:-48.70, Z:50.66 [[ 9.30392477e-01 3.41267929e-01 1.33813449e-01 -9.50695496e+01] [-3.58220412e-01 9.23914038e-01 1.34391171e-01 -4.87004255e+01] [-7.77687273e-02 -1.72971243e-01 9.81851809e-01 5.06573289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38925976399995 meters 0.4111670498886314 Centerline is valid? [False, False] Translation: X:-95.23, Y:-48.88, Z:50.71 [[ 9.35429595e-01 3.27502504e-01 1.33092386e-01 -9.52273149e+01] [-3.44376000e-01 9.29247575e-01 1.33806258e-01 -4.88752774e+01] [-7.98538925e-02 -1.71000157e-01 9.82029685e-01 5.07122886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44925976399995 meters 0.40132245580055137 Centerline is valid? [False, False] Translation: X:-95.38, Y:-49.04, Z:50.77 [[ 9.36923607e-01 3.19101307e-01 1.42648205e-01 -9.53840490e+01] [-3.37521147e-01 9.32025368e-01 1.31940098e-01 -4.90386216e+01] [-9.08494885e-02 -1.71764578e-01 9.80940008e-01 5.07702985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50925976399995 meters 0.3888093301701662 Centerline is valid? [False, False] Translation: X:-95.53, Y:-49.19, Z:50.82 [[ 9.41514528e-01 3.06270277e-01 1.40530818e-01 -9.55303176e+01] [-3.24167164e-01 9.37086698e-01 1.29553734e-01 -4.91939304e+01] [-9.20111020e-02 -1.67532200e-01 9.81563507e-01 5.08228555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56925976399995 meters 0.37555313072747953 Centerline is valid? [False, False] Translation: X:-95.68, Y:-49.35, Z:50.88 [[ 0.9452876 0.29345819 0.14252596 -95.68018299] [ -0.31164842 0.94146701 0.12851119 -49.35426239] [ -0.09647082 -0.16589803 0.98141287 50.87582289] [ 0. 0. 0. 1. ]] SLAMing on 246.62925976399995 meters 0.3673227226887126 Centerline is valid? [False, False] Translation: X:-95.82, Y:-49.51, Z:50.93 [[ 0.94891085 0.28066717 0.14420174 -95.8241643 ] [ -0.29897758 0.94584363 0.12646039 -49.51137569] [ -0.10089902 -0.16311272 0.98143447 50.92601791] [ 0. 0. 0. 1. ]] SLAMing on 246.68925976399996 meters 0.3587684306882119 Centerline is valid? [False, False] Translation: X:-95.95, Y:-49.65, Z:50.97 [[ 0.95078527 0.27690261 0.13904072 -95.95226502] [ -0.29333762 0.94893714 0.11606612 -49.64547991] [ -0.09980189 -0.15113983 0.9834614 50.96684183] [ 0. 0. 0. 1. ]] SLAMing on 246.74925976399996 meters 0.35291087592707787 Centerline is valid? [False, False] Translation: X:-96.09, Y:-49.78, Z:51.01 [[ 0.95248563 0.27055796 0.13989107 -96.08639747] [ -0.28696191 0.95108699 0.11439576 -49.78460017] [ -0.10209789 -0.14910372 0.98353653 51.00909283] [ 0. 0. 0. 1. ]] SLAMing on 246.80925976399996 meters 0.35126428692308337 Centerline is valid? [False, False] Translation: X:-96.22, Y:-49.93, Z:51.06 [[ 0.95299671 0.26520263 0.14650884 -96.21795082] [ -0.28207317 0.95312234 0.10951046 -49.9267164 ] [ -0.11059838 -0.14568932 0.983129 51.05519622] [ 0. 0. 0. 1. ]] SLAMing on 246.86925976399996 meters 0.3549069565494294 Centerline is valid? [False, False] Translation: X:-96.35, Y:-50.07, Z:51.10 [[ 0.95113387 0.27083773 0.14829456 -96.35336091] [ -0.28785578 0.95151225 0.10845959 -50.06877483] [ -0.11172914 -0.14584703 0.98297774 51.0963973 ] [ 0. 0. 0. 1. ]] SLAMing on 246.92925976399994 meters 0.35882585633032443 Centerline is valid? [False, False] Translation: X:-96.50, Y:-50.22, Z:51.14 [[ 0.94913653 0.27587486 0.15176596 -96.49789783] [ -0.29337307 0.94986582 0.10810718 -50.21896217] [ -0.11433325 -0.14713252 0.98248661 51.14104754] [ 0. 0. 0. 1. ]] SLAMing on 246.98925976399994 meters 0.36199567212150435 Centerline is valid? [False, False] Translation: X:-96.64, Y:-50.37, Z:51.18 [[ 0.94826746 0.27778031 0.1537105 -96.63935143] [ -0.29562573 0.94911559 0.10855886 -50.36723146] [ -0.11573352 -0.14838361 0.98213444 51.18387497] [ 0. 0. 0. 1. ]] SLAMing on 247.04925976399994 meters 0.37816724926628403 Centerline is valid? [False, False] Translation: X:-96.79, Y:-50.52, Z:51.23 [[ 0.94345846 0.29333515 0.15440411 -96.78761527] [ -0.31116086 0.9442719 0.10737546 -50.52040985] [ -0.11430247 -0.14934881 0.98215573 51.22940388] [ 0. 0. 0. 1. ]] SLAMing on 247.10925976399994 meters 0.3889512064819247 Centerline is valid? [False, False] Translation: X:-96.94, Y:-50.68, Z:51.28 [[ 0.94002823 0.30277861 0.15707335 -96.94424873] [ -0.32147206 0.94036395 0.11122657 -50.68406755] [ -0.11402909 -0.15505081 0.98130353 51.28018221] [ 0. 0. 0. 1. ]] SLAMing on 247.16925976399995 meters 0.39732350315539466 Centerline is valid? [False, False] Translation: X:-97.11, Y:-50.85, Z:51.34 [[ 0.93673687 0.31246866 0.15775731 -97.10720083] [ -0.33127394 0.93695545 0.11122973 -50.85499051] [ -0.11305577 -0.15645387 0.98119345 51.33511031] [ 0. 0. 0. 1. ]] SLAMing on 247.22925976399995 meters 0.40620529795585114 Centerline is valid? [False, False] Translation: X:-97.27, Y:-51.04, Z:51.39 [[ 0.93573409 0.31677306 0.15510172 -97.27476615] [ -0.33600501 0.93432432 0.11890626 -51.0389816 ] [ -0.10724901 -0.1633796 0.98071645 51.38803541] [ 0. 0. 0. 1. ]] SLAMing on 247.28925976399995 meters 0.41810913565135704 Centerline is valid? [False, False] Translation: X:-97.44, Y:-51.22, Z:51.44 [[ 0.93245936 0.32576995 0.15618412 -97.43672531] [ -0.34538067 0.93064767 0.12085988 -51.22101536] [ -0.10597987 -0.1666399 0.98030577 51.44393586] [ 0. 0. 0. 1. ]] SLAMing on 247.34925976399995 meters 0.4198367833105902 Centerline is valid? [False, False] Translation: X:-97.60, Y:-51.39, Z:51.50 [[ 0.93284341 0.32410571 0.15734888 -97.59882975] [ -0.34399266 0.93107195 0.12154866 -51.39443916] [ -0.10710851 -0.16751272 0.98003431 51.49788423] [ 0. 0. 0. 1. ]] SLAMing on 247.40925976399996 meters 0.4218506268539724 Centerline is valid? [False, False] Translation: X:-97.76, Y:-51.57, Z:51.55 [[ 0.9338548 0.32542463 0.14837125 -97.7581934 ] [ -0.34397886 0.93083205 0.12341088 -51.56983878] [ -0.09794778 -0.16628441 0.98120117 51.54735398] [ 0. 0. 0. 1. ]] SLAMing on 247.46925976399996 meters 0.4200229344110998 Centerline is valid? [False, False] Translation: X:-97.92, Y:-51.74, Z:51.60 [[ 0.93564797 0.31987668 0.14913683 -97.91672855] [ -0.33902185 0.93205507 0.12781835 -51.74357137] [ -0.09811763 -0.17015362 0.98052061 51.60355284] [ 0. 0. 0. 1. ]] SLAMing on 247.52925976399996 meters 0.40358042757143975 Centerline is valid? [False, False] Translation: X:-98.07, Y:-51.92, Z:51.66 [[ 0.94044732 0.30106612 0.15785446 -98.07499761] [ -0.32280315 0.93649142 0.13704726 -51.91973621] [ -0.10656906 -0.17984165 0.97790593 51.66140902] [ 0. 0. 0. 1. ]] SLAMing on 247.58925976399996 meters 0.3878708211949265 Centerline is valid? [False, False] Translation: X:-98.21, Y:-52.07, Z:51.71 [[ 0.94601796 0.28423494 0.15575789 -98.21304188] [ -0.30466295 0.94380517 0.12811047 -52.07326516] [ -0.11059163 -0.16864846 0.97945249 51.70905104] [ 0. 0. 0. 1. ]] SLAMing on 247.64925976399996 meters 0.38130799593120596 Centerline is valid? [False, False] Translation: X:-98.34, Y:-52.22, Z:51.75 [[ 0.94844534 0.27690122 0.15419844 -98.34458555] [ -0.29657264 0.94697312 0.12363894 -52.21932685] [ -0.11178601 -0.16299581 0.98027356 51.75448942] [ 0. 0. 0. 1. ]] SLAMing on 247.70925976399994 meters 0.3680628727137423 Centerline is valid? [False, False] Translation: X:-98.48, Y:-52.37, Z:51.80 [[ 0.95235553 0.26173177 0.15657405 -98.47994579] [ -0.2821325 0.95102384 0.12631271 -52.37200616] [ -0.1158456 -0.16446924 0.97955585 51.80498723] [ 0. 0. 0. 1. ]] SLAMing on 247.76925976399994 meters 0.3607342742523278 Centerline is valid? [False, False] Translation: X:-98.61, Y:-52.52, Z:51.85 [[ 0.95409462 0.25530859 0.15659175 -98.60670542] [ -0.27499041 0.95389888 0.12023808 -52.51631824] [ -0.11867488 -0.15777973 0.98031721 51.8534554 ] [ 0. 0. 0. 1. ]] SLAMing on 247.82925976399994 meters 0.3554388102926217 Centerline is valid? [False, False] Translation: X:-98.73, Y:-52.65, Z:51.90 [[ 0.95436163 0.25102064 0.16181014 -98.72992905] [ -0.27114346 0.95539075 0.11708858 -52.65391938] [ -0.12520026 -0.15561861 0.97985088 51.9019365 ] [ 0. 0. 0. 1. ]] SLAMing on 247.88925976399995 meters 0.3572904523605993 Centerline is valid? [False, False] Translation: X:-98.86, Y:-52.79, Z:51.95 [[ 0.95416911 0.25176781 0.16178465 -98.85699247] [ -0.27154851 0.95559653 0.11444072 -52.79241827] [ -0.12578836 -0.15312818 0.98016787 51.94728319] [ 0. 0. 0. 1. ]] SLAMing on 247.94925976399995 meters 0.3555745877518047 Centerline is valid? [False, False] Translation: X:-98.98, Y:-52.93, Z:51.99 [[ 0.95450137 0.25162385 0.16003929 -98.98451154] [ -0.27035371 0.95664638 0.1083355 -52.92803324] [ -0.12584121 -0.1466736 0.98114772 51.98857501] [ 0. 0. 0. 1. ]] SLAMing on 248.00925976399995 meters 0.3652263822419297 Centerline is valid? [False, False] Translation: X:-99.11, Y:-53.07, Z:52.03 [[ 0.95291751 0.25710928 0.16075772 -99.1137952 ] [ -0.27616211 0.95480468 0.10992046 -53.07164018] [ -0.12523065 -0.14914032 0.98085394 52.03164402] [ 0. 0. 0. 1. ]] SLAMing on 248.06925976399995 meters 0.3676612560937176 Centerline is valid? [False, False] Translation: X:-99.25, Y:-53.22, Z:52.08 [[ 0.9521944 0.25881258 0.16230182 -99.24637674] [ -0.27838123 0.95390997 0.11206989 -53.21770405] [ -0.12581622 -0.1518941 0.98035629 52.0774301 ] [ 0. 0. 0. 1. ]] SLAMing on 248.12925976399995 meters 0.370790684736476 Centerline is valid? [False, False] Translation: X:-99.38, Y:-53.37, Z:52.12 [[ 0.95140348 0.26142336 0.16275514 -99.37876655] [ -0.28091941 0.95330009 0.11091991 -53.36561594] [ -0.12615743 -0.15125067 0.98041192 52.12104198] [ 0. 0. 0. 1. ]] SLAMing on 248.18925976399996 meters 0.37459087983871736 Centerline is valid? [False, False] Translation: X:-99.51, Y:-53.51, Z:52.17 [[ 0.95120133 0.26123693 0.1642294 -99.51184272] [ -0.28120871 0.9529908 0.1128282 -53.51472254] [ -0.12703422 -0.15350507 0.97994821 52.16675231] [ 0. 0. 0. 1. ]] SLAMing on 248.24925976399996 meters 0.3758387573872322 Centerline is valid? [False, False] Translation: X:-99.65, Y:-53.67, Z:52.21 [[ 0.95053656 0.26261171 0.16587749 -99.64715668] [ -0.28300056 0.95231909 0.11401327 -53.66677772] [ -0.12802708 -0.1553172 0.97953337 52.21339963] [ 0. 0. 0. 1. ]] SLAMing on 248.30925976399996 meters 0.3814499048868087 Centerline is valid? [False, False] Translation: X:-99.78, Y:-53.81, Z:52.26 [[ 0.94872089 0.2687752 0.16639881 -99.78298336] [ -0.28938501 0.95028127 0.1149862 -53.81427288] [ -0.12722023 -0.15724313 0.97933121 52.25916203] [ 0. 0. 0. 1. ]] SLAMing on 248.36925976399996 meters 0.386502447211393 Centerline is valid? [False, False] Translation: X:-99.92, Y:-53.97, Z:52.31 [[ 0.94794744 0.27150793 0.16637038 -99.92105755] [ -0.29231027 0.94920369 0.11647771 -53.96897189] [ -0.12629475 -0.15904652 0.97915976 52.30640596] [ 0. 0. 0. 1. ]] SLAMing on 248.42925976399994 meters 0.38750120914481845 Centerline is valid? [False, False] Translation: X:-100.06, Y:-54.13, Z:52.36 [[ 0.94822929 0.26986501 0.16743383 -100.06005004] [ -0.29121491 0.94917994 0.11937884 -54.1286821 ] [ -0.12670866 -0.16195774 0.97862894 52.35575339] [ 0. 0. 0. 1. ]] SLAMing on 248.48925976399994 meters 0.38613388234074925 Centerline is valid? [False, False] Translation: X:-100.20, Y:-54.28, Z:52.40 [[ 0.94850202 0.26757331 0.16955367 -100.19511364] [ -0.28945189 0.94954663 0.12074267 -54.28358343] [ -0.1286916 -0.1636023 0.9780965 52.40186764] [ 0. 0. 0. 1. ]] SLAMing on 248.54925976399994 meters 0.39351646898080395 Centerline is valid? [False, False] Translation: X:-100.34, Y:-54.44, Z:52.45 [[ 0.946333 0.27453913 0.17053479 -100.33528761] [ -0.29647349 0.94749052 0.11985488 -54.44433399] [ -0.12867524 -0.16398167 0.97803512 52.45235908] [ 0. 0. 0. 1. ]] SLAMing on 248.60925976399994 meters 0.3984077305882265 Centerline is valid? [False, False] Translation: X:-100.48, Y:-54.61, Z:52.51 [[ 0.94492383 0.27953449 0.17023344 -100.47762371] [ -0.30143635 0.9459112 0.11995052 -54.60615211] [ -0.12749541 -0.16465865 0.97807589 52.50545056] [ 0. 0. 0. 1. ]] SLAMing on 248.66925976399995 meters 0.39826871297814004 Centerline is valid? [False, False] Translation: X:-100.62, Y:-54.77, Z:52.56 [[ 0.94506243 0.27997429 0.16873473 -100.62146295] [ -0.3015305 0.94597324 0.11922244 -54.77335212] [ -0.12623932 -0.16355131 0.97842455 52.55632346] [ 0. 0. 0. 1. ]] SLAMing on 248.72925976399995 meters 0.3967131510458413 Centerline is valid? [False, False] Translation: X:-100.76, Y:-54.94, Z:52.61 [[ 0.94636812 0.27429123 0.17073871 -100.76355608] [ -0.29689451 0.94673329 0.12469851 -54.93581089] [ -0.12744031 -0.16870208 0.97739377 52.6107323 ] [ 0. 0. 0. 1. ]] SLAMing on 248.78925976399995 meters 0.3926837300355007 Centerline is valid? [False, False] Translation: X:-100.90, Y:-55.10, Z:52.66 [[ 0.94747267 0.26981887 0.17173617 -100.90204595] [ -0.29281556 0.94777837 0.12639307 -55.10032556] [ -0.1286646 -0.170041 0.97700127 52.66401133] [ 0. 0. 0. 1. ]] SLAMing on 248.84925976399995 meters 0.38782862473079793 Centerline is valid? [False, False] Translation: X:-101.03, Y:-55.25, Z:52.71 [[ 0.94981235 0.26342583 0.16871077 -101.02932372] [ -0.2855125 0.9503923 0.12343857 -55.2547762 ] [ -0.12782451 -0.16541252 0.97790572 52.71377209] [ 0. 0. 0. 1. ]] SLAMing on 248.90925976399996 meters 0.38603185527342354 Centerline is valid? [False, False] Translation: X:-101.16, Y:-55.41, Z:52.76 [[ 0.95085475 0.26032482 0.16764914 -101.15922227] [ -0.28207343 0.95157413 0.12223445 -55.40939312] [ -0.12770992 -0.16351658 0.97823949 52.7632847 ] [ 0. 0. 0. 1. ]] SLAMing on 248.96925976399996 meters 0.3762812377779943 Centerline is valid? [False, False] Translation: X:-101.28, Y:-55.56, Z:52.81 [[ 0.95343459 0.25168413 0.16618539 -101.28469985] [ -0.27293283 0.95447849 0.12032655 -55.55919034] [ -0.1283361 -0.16008094 0.97872567 52.81137854] [ 0. 0. 0. 1. ]] SLAMing on 249.02925976399996 meters 0.3740844730531632 Centerline is valid? [False, False] Translation: X:-101.41, Y:-55.70, Z:52.86 [[ 0.95420094 0.24915057 0.16560363 -101.40820877] [ -0.27006938 0.95551373 0.11855816 -55.70430398] [ -0.12869771 -0.15785277 0.97904004 52.85716516] [ 0. 0. 0. 1. ]] SLAMing on 249.08925976399996 meters 0.3795560360609907 Centerline is valid? [False, False] Translation: X:-101.53, Y:-55.85, Z:52.90 [[ 0.95265857 0.25505667 0.16549244 -101.53112064] [ -0.27565184 0.95421321 0.11616031 -55.84627954] [ -0.12828761 -0.15627941 0.97934623 52.90338902] [ 0. 0. 0. 1. ]] SLAMing on 249.14925976399996 meters 0.38810064007580386 Centerline is valid? [False, False] Translation: X:-101.65, Y:-55.99, Z:52.95 [[ 0.95159427 0.26206664 0.16059085 -101.65436115] [ -0.28142587 0.95296886 0.11247151 -55.99071307] [ -0.12356305 -0.15222166 0.98059204 52.9459941 ] [ 0. 0. 0. 1. ]] SLAMing on 249.20925976399994 meters 0.38128065832144103 Centerline is valid? [False, False] Translation: X:-101.78, Y:-56.14, Z:52.99 [[ 0.95231223 0.25991728 0.15982623 -101.78108123] [ -0.27932716 0.95342302 0.11384586 -56.13773301] [ -0.1227915 -0.15306061 0.98055836 52.98815385] [ 0. 0. 0. 1. ]] SLAMing on 249.26925976399994 meters 0.383745148743182 Centerline is valid? [False, False] Translation: X:-101.91, Y:-56.29, Z:53.03 [[ 0.95208034 0.25969307 0.16156281 -101.91207461] [ -0.27967272 0.95303761 0.11620022 -56.29119193] [ -0.12379904 -0.15581665 0.97999743 53.03204406] [ 0. 0. 0. 1. ]] SLAMing on 249.32925976399994 meters 0.3895464859128545 Centerline is valid? [False, False] Translation: X:-102.04, Y:-56.44, Z:53.08 [[ 0.9511018 0.26336338 0.16138493 -102.03939432] [ -0.28322081 0.9520835 0.11542525 -56.43976434] [ -0.12325314 -0.15548874 0.98011832 53.07618127] [ 0. 0. 0. 1. ]] SLAMing on 249.38925976399995 meters 0.3973177478945476 Centerline is valid? [False, False] Translation: X:-102.17, Y:-56.59, Z:53.12 [[ 0.94937829 0.27064085 0.15948163 -102.17218119] [ -0.29019432 0.94998862 0.11536413 -56.59206023] [ -0.12028349 -0.15580486 0.98043701 53.12280093] [ 0. 0. 0. 1. ]] SLAMing on 249.44925976399995 meters 0.4053756059499099 Centerline is valid? [False, False] Translation: X:-102.31, Y:-56.75, Z:53.17 [[ 0.94783014 0.27552993 0.1603162 -102.30699772] [ -0.29578141 0.94769241 0.11996857 -56.74995719] [ -0.11887552 -0.16112838 0.97974806 53.16960363] [ 0. 0. 0. 1. ]] SLAMing on 249.50925976399995 meters 0.40919413297118934 Centerline is valid? [False, False] Translation: X:-102.44, Y:-56.91, Z:53.22 [[ 0.94785186 0.27542042 0.16037595 -102.44275228] [ -0.29605896 0.94720567 0.12308737 -56.91197729] [ -0.11800823 -0.16414933 0.97935134 53.21776092] [ 0. 0. 0. 1. ]] SLAMing on 249.56925976399995 meters 0.3990147846864606 Centerline is valid? [False, False] Translation: X:-102.57, Y:-57.07, Z:53.26 [[ 0.94992975 0.26885132 0.15922449 -102.57408106] [ -0.2892964 0.94929912 0.12303971 -57.06723334] [ -0.11807228 -0.16294215 0.9795452 53.26359475] [ 0. 0. 0. 1. ]] SLAMing on 249.62925976399995 meters 0.3943827710079004 Centerline is valid? [False, False] Translation: X:-102.70, Y:-57.22, Z:53.31 [[ 0.95206678 0.26247112 0.15709158 -102.69834721] [ -0.28243701 0.95150321 0.12194659 -57.21654785] [ -0.11746568 -0.16046977 0.98002616 53.30846427] [ 0. 0. 0. 1. ]] SLAMing on 249.68925976399996 meters 0.3863306419681589 Centerline is valid? [False, False] Translation: X:-102.82, Y:-57.36, Z:53.35 [[ 0.95476416 0.25463979 0.15357073 -102.8182689 ] [ -0.27378802 0.95429718 0.11982076 -57.3624198 ] [ -0.11604098 -0.1564464 0.98084607 53.35225028] [ 0. 0. 0. 1. ]] SLAMing on 249.74925976399996 meters 0.3746753524373063 Centerline is valid? [False, False] Translation: X:-102.94, Y:-57.51, Z:53.40 [[ 0.95835793 0.24121875 0.15285156 -102.93711322] [ -0.260683 0.95750821 0.12337908 -57.50871819] [ -0.11659527 -0.15808712 0.98051721 53.39687975] [ 0. 0. 0. 1. ]] SLAMing on 249.80925976399996 meters 0.3695557967532185 Centerline is valid? [False, False] Translation: X:-103.05, Y:-57.64, Z:53.44 [[ 0.95891753 0.23789947 0.15453484 -103.04576485] [ -0.25688017 0.95931451 0.1171676 -57.6381097 ] [ -0.1203734 -0.152051 0.98101516 53.44043691] [ 0. 0. 0. 1. ]] SLAMing on 249.86925976399996 meters 0.36281473215424515 Centerline is valid? [False, False] Translation: X:-103.15, Y:-57.77, Z:53.48 [[ 0.96149961 0.23033661 0.14987844 -103.15312883] [ -0.24796875 0.96228246 0.11191054 -57.77092092] [ -0.1184483 -0.14476711 0.98235049 53.47771514] [ 0. 0. 0. 1. ]] SLAMing on 249.92925976399994 meters 0.3586807244142962 Centerline is valid? [False, False] Translation: X:-103.26, Y:-57.89, Z:53.52 [[ 0.96190776 0.22740898 0.15171886 -103.25789896] [ -0.24457711 0.96382068 0.1059799 -57.89465807] [ -0.122129 -0.13904985 0.98272562 53.51626433] [ 0. 0. 0. 1. ]] SLAMing on 249.98925976399994 meters 0.35849411795863906 Centerline is valid? [False, False] Translation: X:-103.37, Y:-58.03, Z:53.56 [[ 0.96143306 0.22840026 0.15323115 -103.36597942] [ -0.24552901 0.96380037 0.10394394 -58.02530176] [ -0.12394341 -0.13755784 0.98270844 53.55585145] [ 0. 0. 0. 1. ]] SLAMing on 250.04925976399994 meters 0.3615284549851503 Centerline is valid? [False, False] Translation: X:-103.48, Y:-58.16, Z:53.59 [[ 0.96174838 0.22767302 0.15233207 -103.48447015] [ -0.2449427 0.96371549 0.10609209 -58.16031341] [ -0.12265046 -0.13934652 0.98261865 53.59390447] [ 0. 0. 0. 1. ]] SLAMing on 250.10925976399994 meters 0.3635204974039386 Centerline is valid? [False, False] Translation: X:-103.59, Y:-58.29, Z:53.63 [[ 9.61062217e-01 2.32645356e-01 1.49115906e-01 -1.03594099e+02] [-2.48983222e-01 9.63110809e-01 1.02102523e-01 -5.82902330e+01] [-1.19861463e-01 -1.35254236e-01 9.83534199e-01 5.36303151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16925976399995 meters 0.3687352662275373 Centerline is valid? [False, False] Translation: X:-103.71, Y:-58.42, Z:53.67 [[ 0.96121201 0.23267243 0.1481047 -103.70966044] [ -0.24917354 0.96279235 0.10461086 -58.42437811] [ -0.11825401 -0.13745699 0.98342339 53.66728282] [ 0. 0. 0. 1. ]] SLAMing on 250.22925976399995 meters 0.3675031570499231 Centerline is valid? [False, False] Translation: X:-103.82, Y:-58.56, Z:53.71 [[ 0.96070831 0.23545733 0.14696731 -103.82404346] [ -0.25183439 0.96207147 0.10487101 -58.56006473] [ -0.1167004 -0.13776188 0.98356631 53.70553446] [ 0. 0. 0. 1. ]] SLAMing on 250.28925976399995 meters 0.3679614729126379 Centerline is valid? [False, False] Translation: X:-103.94, Y:-58.70, Z:53.74 [[ 0.96080697 0.23580149 0.14576563 -103.93918677] [ -0.25202403 0.96200937 0.10498501 -58.69623414] [ -0.11547228 -0.13760678 0.98373296 53.7424274 ] [ 0. 0. 0. 1. ]] SLAMing on 250.34925976399995 meters 0.36846815272105926 Centerline is valid? [False, False] Translation: X:-104.05, Y:-58.83, Z:53.78 [[ 0.96175353 0.23282626 0.14429857 -104.05020487] [ -0.24876668 0.96292564 0.10435204 -58.82999754] [ -0.1146529 -0.13625762 0.98401655 53.7782219 ] [ 0. 0. 0. 1. ]] SLAMing on 250.40925976399996 meters 0.3673204874735267 Centerline is valid? [False, False] Translation: X:-104.16, Y:-58.96, Z:53.81 [[ 9.62178095e-01 2.33459087e-01 1.40392909e-01 -1.04158576e+02] [-2.48587148e-01 9.63231625e-01 1.01927746e-01 -5.89575744e+01] [-1.11434931e-01 -1.32972517e-01 9.84835299e-01 5.38094983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46925976399996 meters 0.36933032756274364 Centerline is valid? [False, False] Translation: X:-104.27, Y:-59.09, Z:53.85 [[ 9.61659397e-01 2.35072503e-01 1.41251985e-01 -1.04270785e+02] [-2.50537419e-01 9.62520291e-01 1.03854182e-01 -5.90910188e+01] [-1.11544639e-01 -1.35261258e-01 9.84511140e-01 5.38466809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52925976399996 meters 0.3732538744149675 Centerline is valid? [False, False] Translation: X:-104.38, Y:-59.22, Z:53.89 [[ 9.60534931e-01 2.37817199e-01 1.44276213e-01 -1.04382693e+02] [-2.53725117e-01 9.61664003e-01 1.04047631e-01 -5.92228985e+01] [-1.14000924e-01 -1.36547884e-01 9.84052064e-01 5.38851468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58925976399996 meters 0.3792597592001535 Centerline is valid? [False, False] Translation: X:-104.51, Y:-59.37, Z:53.92 [[ 0.95890614 0.24502966 0.14303664 -104.50581994] [ -0.26095695 0.95954912 0.10567381 -59.3664914 ] [ -0.11135747 -0.13865767 0.98405974 53.92396032] [ 0. 0. 0. 1. ]] SLAMing on 250.64925976399994 meters 0.3874401820747112 Centerline is valid? [False, False] Translation: X:-104.63, Y:-59.51, Z:53.96 [[ 0.95826308 0.2475932 0.14293169 -104.62850383] [ -0.26382659 0.9584465 0.1085165 -59.51102246] [ -0.11012443 -0.14169654 0.98376557 53.96330852] [ 0. 0. 0. 1. ]] SLAMing on 250.70925976399994 meters 0.38222238711943246 Centerline is valid? [False, False] Translation: X:-104.74, Y:-59.65, Z:54.00 [[ 0.95916909 0.24382231 0.14333646 -104.7449479 ] [ -0.26021837 0.95932631 0.10945056 -59.65263705] [ -0.11081995 -0.14228037 0.98360319 54.00160613] [ 0. 0. 0. 1. ]] SLAMing on 250.76925976399994 meters 0.3803106166443422 Centerline is valid? [False, False] Translation: X:-104.86, Y:-59.79, Z:54.04 [[ 0.95976216 0.24119439 0.14381189 -104.86238572] [ -0.25779535 0.95984202 0.1106565 -59.79309421] [ -0.11134697 -0.14327796 0.98339884 54.04161315] [ 0. 0. 0. 1. ]] SLAMing on 250.82925976399994 meters 0.38068800770821987 Centerline is valid? [False, False] Translation: X:-104.98, Y:-59.93, Z:54.08 [[ 0.9601632 0.24100453 0.14143355 -104.97804309] [ -0.25721943 0.96003843 0.11029224 -59.93178378] [ -0.10920072 -0.14227801 0.98378462 54.08018161] [ 0. 0. 0. 1. ]] SLAMing on 250.88925976399995 meters 0.3816439886759266 Centerline is valid? [False, False] Translation: X:-105.09, Y:-60.06, Z:54.11 [[ 0.96113068 0.23984285 0.1367597 -105.08595303] [ -0.25514209 0.96085187 0.10801014 -60.0613446 ] [ -0.10550036 -0.13870502 0.98469822 54.11496578] [ 0. 0. 0. 1. ]] SLAMing on 250.94925976399995 meters 0.37880908942349273 Centerline is valid? [False, False] Translation: X:-105.19, Y:-60.19, Z:54.15 [[ 9.61713709e-01 2.38071923e-01 1.35751618e-01 -1.05193203e+02] [-2.52870324e-01 9.61824555e-01 1.04642842e-01 -6.01911662e+01] [-1.05656717e-01 -1.34964011e-01 9.85201184e-01 5.41518210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00925976399995 meters 0.3800566889175184 Centerline is valid? [False, False] Translation: X:-105.30, Y:-60.32, Z:54.19 [[ 9.61740444e-01 2.36652837e-01 1.38024464e-01 -1.05301109e+02] [-2.51731660e-01 9.62154080e-01 1.04358501e-01 -6.03216498e+01] [-1.08104066e-01 -1.35110918e-01 9.84915504e-01 5.41899157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06925976399995 meters 0.38012250287672367 Centerline is valid? [False, False] Translation: X:-105.41, Y:-60.45, Z:54.22 [[ 9.62772301e-01 2.33704120e-01 1.35837698e-01 -1.05407977e+02] [-2.48546833e-01 9.62917356e-01 1.04950643e-01 -6.04496387e+01] [-1.06273079e-01 -1.34805602e-01 9.85156578e-01 5.42245254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12925976399995 meters 0.3793940545216843 Centerline is valid? [False, False] Translation: X:-105.51, Y:-60.57, Z:54.26 [[ 9.63258124e-01 2.30643370e-01 1.37613306e-01 -1.05510057e+02] [-2.45357997e-01 9.64094076e-01 1.01597565e-01 -6.05744607e+01] [-1.09239368e-01 -1.31629205e-01 9.85261647e-01 5.42583602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18925976399996 meters 0.3723564265262222 Centerline is valid? [False, False] Translation: X:-105.61, Y:-60.70, Z:54.29 [[ 9.63499025e-01 2.28711398e-01 1.39142824e-01 -1.05609599e+02] [-2.43558768e-01 9.64615453e-01 1.00976006e-01 -6.07000049e+01] [-1.11124955e-01 -1.31179738e-01 9.85110715e-01 5.42930980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24925976399996 meters 0.3673551236823664 Centerline is valid? [False, False] Translation: X:-105.71, Y:-60.82, Z:54.33 [[ 9.64429422e-01 2.24969560e-01 1.38796928e-01 -1.05706958e+02] [-2.39288952e-01 9.66114335e-01 9.67671933e-02 -6.08223687e+01] [-1.12324029e-01 -1.26537700e-01 9.85581820e-01 5.43254723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30925976399996 meters 0.3671934068581898 Centerline is valid? [False, False] Translation: X:-105.81, Y:-60.95, Z:54.35 [[ 9.65900116e-01 2.21779430e-01 1.33607072e-01 -1.05808316e+02] [-2.35216914e-01 9.67307795e-01 9.48083991e-02 -6.09463707e+01] [-1.08212609e-01 -1.23002087e-01 9.86488985e-01 5.43530683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36925976399996 meters 0.3658783020564698 Centerline is valid? [False, False] Translation: X:-105.91, Y:-61.07, Z:54.39 [[ 9.65623462e-01 2.20805643e-01 1.37172144e-01 -1.05911308e+02] [-2.35033969e-01 9.67047507e-01 9.78680375e-02 -6.10737571e+01] [-1.11042164e-01 -1.26743787e-01 9.85700589e-01 5.43889909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42925976399994 meters 0.3687356936077397 Centerline is valid? [False, False] Translation: X:-106.02, Y:-61.20, Z:54.43 [[ 9.64868700e-01 2.22930314e-01 1.39034046e-01 -1.06016100e+02] [-2.37603885e-01 9.66238724e-01 9.96349417e-02 -6.11987911e+01] [-1.12128431e-01 -1.29169666e-01 9.85262611e-01 5.44255905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48925976399994 meters 0.37171220155621226 Centerline is valid? [False, False] Translation: X:-106.12, Y:-61.33, Z:54.46 [[ 9.64784771e-01 2.26132130e-01 1.34367428e-01 -1.06121222e+02] [-2.40004960e-01 9.65827059e-01 9.78555603e-02 -6.13265804e+01] [-1.07647412e-01 -1.26658404e-01 9.86088071e-01 5.44572280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54925976399994 meters 0.36952131210826644 Centerline is valid? [False, False] Translation: X:-106.23, Y:-61.47, Z:54.49 [[ 9.64769078e-01 2.26047833e-01 1.34621705e-01 -1.06232810e+02] [-2.40461961e-01 9.65228537e-01 1.02527635e-01 -6.14657802e+01] [-1.06764561e-01 -1.31286891e-01 9.85578551e-01 5.44942995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60925976399994 meters 0.375442433792847 Centerline is valid? [False, False] Translation: X:-106.33, Y:-61.59, Z:54.53 [[ 9.64094785e-01 2.26238674e-01 1.39058649e-01 -1.06334470e+02] [-2.41416540e-01 9.64829021e-01 1.04033720e-01 -6.15892267e+01] [-1.10631369e-01 -1.33869425e-01 9.84804385e-01 5.45299947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66925976399995 meters 0.37614086405421304 Centerline is valid? [False, False] Translation: X:-106.44, Y:-61.71, Z:54.56 [[ 9.63317565e-01 2.29493015e-01 1.39112277e-01 -1.06438845e+02] [-2.44136795e-01 9.64653556e-01 9.92005136e-02 -6.17146209e+01] [-1.11429328e-01 -1.29524023e-01 9.85295404e-01 5.45632312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72925976399995 meters 0.3821524371929072 Centerline is valid? [False, False] Translation: X:-106.55, Y:-61.85, Z:54.60 [[ 9.62008656e-01 2.36668322e-01 1.36115582e-01 -1.06549034e+02] [-2.51097194e-01 9.62702070e-01 1.00771637e-01 -6.18510543e+01] [-1.07189298e-01 -1.31121428e-01 9.85554476e-01 5.45964960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78925976399995 meters 0.39089816223374313 Centerline is valid? [False, False] Translation: X:-106.66, Y:-61.99, Z:54.63 [[ 9.61102571e-01 2.40842342e-01 1.35191768e-01 -1.06662469e+02] [-2.55461138e-01 9.61244598e-01 1.03674636e-01 -6.19901336e+01] [-1.04983114e-01 -1.34178202e-01 9.85380513e-01 5.46301918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84925976399995 meters 0.3910487007174237 Centerline is valid? [False, False] Translation: X:-106.77, Y:-62.12, Z:54.66 [[ 9.61363809e-01 2.41092624e-01 1.32868253e-01 -1.06772028e+02] [-2.55495680e-01 9.61131401e-01 1.04634541e-01 -6.21228812e+01] [-1.02477235e-01 -1.34539125e-01 9.85595069e-01 5.46604924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90925976399996 meters 0.3983850628624586 Centerline is valid? [False, False] Translation: X:-106.88, Y:-62.26, Z:54.69 [[ 9.60509389e-01 2.46037604e-01 1.29950799e-01 -1.06882997e+02] [-2.60027094e-01 9.59930322e-01 1.04497307e-01 -6.22603017e+01] [-9.90334450e-02 -1.34161373e-01 9.85998531e-01 5.46919755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96925976399996 meters 0.4026614739036267 Centerline is valid? [False, False] Translation: X:-107.00, Y:-62.41, Z:54.73 [[ 9.58332725e-01 2.51158383e-01 1.36080326e-01 -1.07003286e+02] [-2.66613064e-01 9.57452614e-01 1.10462508e-01 -6.24088722e+01] [-1.02546879e-01 -1.42140629e-01 9.84520279e-01 5.47347900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02925976399996 meters 0.4057654389920386 Centerline is valid? [False, False] Translation: X:-107.12, Y:-62.55, Z:54.78 [[ 0.95821361 0.24842779 0.14181085 -107.11782894] [ -0.26491754 0.95770884 0.11230523 -62.55336374] [ -0.10791376 -0.14518058 0.98350253 54.77503308] [ 0. 0. 0. 1. ]] SLAMing on 252.08925976399996 meters 0.393211998528344 Centerline is valid? [False, False] Translation: X:-107.22, Y:-62.68, Z:54.80 [[ 9.61388354e-01 2.40367427e-01 1.33999746e-01 -1.07221042e+02] [-2.55147484e-01 9.60990896e-01 1.06753267e-01 -6.26849580e+01] [-1.03112528e-01 -1.36821046e-01 9.85214600e-01 5.48034584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14925976399994 meters 0.3896264421131099 Centerline is valid? [False, False] Translation: X:-107.33, Y:-62.82, Z:54.84 [[ 9.62668668e-01 2.36388439e-01 1.31869412e-01 -1.07329725e+02] [-2.50976463e-01 9.61979770e-01 1.07729924e-01 -6.28203659e+01] [-1.01389599e-01 -1.36804341e-01 9.85395718e-01 5.48378294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20925976399994 meters 0.389136934484126 Centerline is valid? [False, False] Translation: X:-107.43, Y:-62.95, Z:54.88 [[ 9.62320777e-01 2.35742949e-01 1.35513781e-01 -1.07434276e+02] [-2.50956076e-01 9.61860976e-01 1.08832490e-01 -6.29523434e+01] [-1.04688926e-01 -1.38739773e-01 9.84779927e-01 5.48756430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26925976399994 meters 0.3928206490442543 Centerline is valid? [False, False] Translation: X:-107.54, Y:-63.08, Z:54.91 [[ 9.61124058e-01 2.41035501e-01 1.34693847e-01 -1.07541140e+02] [-2.55724855e-01 9.61032643e-01 1.04981228e-01 -6.30809276e+01] [-1.04140981e-01 -1.35344548e-01 9.85310362e-01 5.49094144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32925976399994 meters 0.40100735555019695 Centerline is valid? [False, False] Translation: X:-107.65, Y:-63.22, Z:54.95 [[ 9.59777040e-01 2.47038623e-01 1.33416460e-01 -1.07649217e+02] [-2.61590349e-01 9.59411109e-01 1.05360397e-01 -6.32167398e+01] [-1.01973147e-01 -1.36022948e-01 9.85443674e-01 5.49451472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38925976399995 meters 0.4078352989698039 Centerline is valid? [False, False] Translation: X:-107.76, Y:-63.36, Z:54.98 [[ 9.59423388e-01 2.49301999e-01 1.31739428e-01 -1.07763841e+02] [-2.63941650e-01 9.58413556e-01 1.08527700e-01 -6.33589976e+01] [-9.92046806e-02 -1.38895536e-01 9.85325561e-01 5.49824274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44925976399995 meters 0.40685664155310686 Centerline is valid? [False, False] Translation: X:-107.88, Y:-63.50, Z:55.02 [[ 9.57795762e-01 2.51628173e-01 1.38962372e-01 -1.07882570e+02] [-2.67747890e-01 9.56864200e-01 1.12791712e-01 -6.35037868e+01] [-1.04586546e-01 -1.45238306e-01 9.83853388e-01 5.50228726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50925976399995 meters 0.4161623034272349 Centerline is valid? [False, False] Translation: X:-108.00, Y:-63.65, Z:55.06 [[ 0.95707538 0.2521708 0.14288664 -107.99910043] [ -0.26890452 0.95650424 0.11309284 -63.64866108] [ -0.10815297 -0.14666124 0.98325654 55.06312991] [ 0. 0. 0. 1. ]] SLAMing on 252.56925976399995 meters 0.407784080178682 Centerline is valid? [False, False] Translation: X:-108.11, Y:-63.79, Z:55.10 [[ 9.58591473e-01 2.48218429e-01 1.39606590e-01 -1.08109000e+02] [-2.64275544e-01 9.58003584e-01 1.11299459e-01 -6.37898667e+01] [-1.06117037e-01 -1.43585320e-01 9.83932127e-01 5.50998678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62925976399995 meters 0.40585809342096435 Centerline is valid? [False, False] Translation: X:-108.22, Y:-63.93, Z:55.14 [[ 0.95969842 0.24260253 0.14185538 -108.21692636] [ -0.25888081 0.95958917 0.11031479 -63.92900787] [ -0.10936024 -0.14259257 0.98372135 55.13927975] [ 0. 0. 0. 1. ]] SLAMing on 252.68925976399996 meters 0.39416704247231615 Centerline is valid? [False, False] Translation: X:-108.32, Y:-64.07, Z:55.17 [[ 9.63879593e-01 2.29311219e-01 1.35471379e-01 -1.08316451e+02] [-2.44872934e-01 9.63049819e-01 1.12126238e-01 -6.40655238e+01] [-1.04753882e-01 -1.41249466e-01 9.84416178e-01 5.51738620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74925976399996 meters 0.391964899582011 Centerline is valid? [False, False] Translation: X:-108.42, Y:-64.20, Z:55.21 [[ 9.64871103e-01 2.25058219e-01 1.35545391e-01 -1.08422540e+02] [-2.40383078e-01 9.64449183e-01 1.09789570e-01 -6.42049996e+01] [-1.06017597e-01 -1.38515601e-01 9.84669334e-01 5.52147442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80925976399996 meters 0.3725563785782848 Centerline is valid? [False, False] Translation: X:-108.52, Y:-64.33, Z:55.25 [[ 9.68609355e-01 2.06277349e-01 1.38728417e-01 -1.08521561e+02] [-2.21905118e-01 9.69010951e-01 1.08516799e-01 -6.43325333e+01] [-1.12044797e-01 -1.35894932e-01 9.84367071e-01 5.52515468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86925976399996 meters 0.3680875876580917 Centerline is valid? [False, False] Translation: X:-108.61, Y:-64.45, Z:55.29 [[ 9.70728819e-01 1.97312331e-01 1.36943071e-01 -1.08610960e+02] [-2.11834537e-01 9.72071942e-01 1.01006276e-01 -6.44474792e+01] [-1.13188733e-01 -1.27058975e-01 9.85415815e-01 5.52855602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92925976399994 meters 0.3604295803360422 Centerline is valid? [False, False] Translation: X:-108.70, Y:-64.57, Z:55.32 [[ 9.72467201e-01 1.88661859e-01 1.36800018e-01 -1.08701464e+02] [-2.02664605e-01 9.74451637e-01 9.68042566e-02 -6.45656212e+01] [-1.15041731e-01 -1.21863486e-01 9.85857338e-01 5.53187340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98925976399994 meters 0.34688914296878104 Centerline is valid? [False, False] Translation: X:-108.78, Y:-64.67, Z:55.35 [[ 9.72973372e-01 1.87259058e-01 1.35117961e-01 -1.08784339e+02] [-2.00402968e-01 9.75459194e-01 9.12031367e-02 -6.46710484e+01] [-1.14723443e-01 -1.15816264e-01 9.86623091e-01 5.53477046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04925976399994 meters 0.3516311206142789 Centerline is valid? [False, False] Translation: X:-108.87, Y:-64.78, Z:55.38 [[ 9.73571344e-01 1.85171050e-01 1.33680664e-01 -1.08869779e+02] [-1.97626915e-01 9.76431051e-01 8.67525469e-02 -6.47792253e+01] [-1.14465891e-01 -1.10878691e-01 9.87220075e-01 5.53750963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10925976399994 meters 0.34477591131152696 Centerline is valid? [False, False] Translation: X:-108.96, Y:-64.89, Z:55.40 [[ 9.74151777e-01 1.81110591e-01 1.35008401e-01 -1.08959662e+02] [-1.93870618e-01 9.77056652e-01 8.81730221e-02 -6.48882379e+01] [-1.15941788e-01 -1.12068068e-01 9.86913497e-01 5.54048582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16925976399995 meters 0.35023689173683287 Centerline is valid? [False, False] Translation: X:-109.05, Y:-65.00, Z:55.43 [[ 9.72689313e-01 1.90982183e-01 1.31914011e-01 -1.09045089e+02] [-2.02973464e-01 9.75550696e-01 8.42770020e-02 -6.49952745e+01] [-1.12593400e-01 -1.08750383e-01 9.87672051e-01 5.54302881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22925976399995 meters 0.3563781363027735 Centerline is valid? [False, False] Translation: X:-109.14, Y:-65.11, Z:55.46 [[ 9.71842730e-01 1.98990006e-01 1.26193047e-01 -1.09140107e+02] [-2.10600980e-01 9.73744771e-01 8.64196106e-02 -6.51095909e+01] [-1.05683181e-01 -1.10562650e-01 9.88234267e-01 5.54554178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28925976399995 meters 0.3599910634005123 Centerline is valid? [False, False] Translation: X:-109.24, Y:-65.22, Z:55.48 [[ 9.71425820e-01 2.01856492e-01 1.24843229e-01 -1.09235881e+02] [-2.13529201e-01 9.72929267e-01 8.83963855e-02 -6.52228726e+01] [-1.03620247e-01 -1.12528206e-01 9.88230867e-01 5.54798084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34925976399995 meters 0.37555377791935335 Centerline is valid? [False, False] Translation: X:-109.33, Y:-65.34, Z:55.51 [[ 9.68299803e-01 2.14722585e-01 1.27631118e-01 -1.09330860e+02] [-2.26880151e-01 9.69778698e-01 8.97478316e-02 -6.53357939e+01] [-1.04503053e-01 -1.15859775e-01 9.87752815e-01 5.55067285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40925976399996 meters 0.38465060396209555 Centerline is valid? [False, False] Translation: X:-109.43, Y:-65.46, Z:55.54 [[ 9.65816678e-01 2.23566758e-01 1.31209947e-01 -1.09430128e+02] [-2.36620446e-01 9.67044993e-01 9.39933295e-02 -6.54561579e+01] [-1.05872138e-01 -1.21827281e-01 9.86888648e-01 5.55389404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46925976399996 meters 0.3958718135269192 Centerline is valid? [False, False] Translation: X:-109.53, Y:-65.58, Z:55.57 [[ 9.63034305e-01 2.34147305e-01 1.33191467e-01 -1.09530683e+02] [-2.47647705e-01 9.64109776e-01 9.57233229e-02 -6.55847475e+01] [-1.05997837e-01 -1.25169405e-01 9.86456831e-01 5.55697269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52925976399996 meters 0.4009960455706153 Centerline is valid? [False, False] Translation: X:-109.64, Y:-65.73, Z:55.60 [[ 9.62720221e-01 2.37665874e-01 1.29169300e-01 -1.09640185e+02] [-2.51003704e-01 9.62902707e-01 9.90732930e-02 -6.57288052e+01] [-1.00831128e-01 -1.27801835e-01 9.86660922e-01 5.56011424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58925976399996 meters 0.4016114246131603 Centerline is valid? [False, False] Translation: X:-109.75, Y:-65.87, Z:55.63 [[ 9.63624457e-01 2.36254385e-01 1.24947072e-01 -1.09751427e+02] [-2.49212032e-01 9.63194509e-01 1.00745726e-01 -6.58700217e+01] [-9.65467144e-02 -1.28219359e-01 9.87035221e-01 5.56317736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64925976399994 meters 0.40380378576277437 Centerline is valid? [False, False] Translation: X:-109.85, Y:-66.00, Z:55.66 [[ 9.62767093e-01 2.38385140e-01 1.27483530e-01 -1.09854029e+02] [-2.51795196e-01 9.62393197e-01 1.01973105e-01 -6.59987028e+01] [-9.83804092e-02 -1.30276090e-01 9.86584733e-01 5.56647125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70925976399994 meters 0.4039912004925675 Centerline is valid? [False, False] Translation: X:-109.96, Y:-66.14, Z:55.70 [[ 9.63317202e-01 2.36620714e-01 1.26612027e-01 -1.09960554e+02] [-2.50235264e-01 9.62452634e-01 1.05200947e-01 -6.61357743e+01] [-9.69653554e-02 -1.33024675e-01 9.86358026e-01 5.57002192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76925976399994 meters 0.3975275648046558 Centerline is valid? [False, False] Translation: X:-110.06, Y:-66.27, Z:55.73 [[ 9.65117206e-01 2.29226231e-01 1.26507364e-01 -1.10059277e+02] [-2.42602865e-01 9.64654252e-01 1.02888406e-01 -6.62652252e+01] [-9.84511448e-02 -1.29990419e-01 9.86615357e-01 5.57344022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82925976399994 meters 0.3868307427539382 Centerline is valid? [False, False] Translation: X:-110.16, Y:-66.39, Z:55.77 [[ 9.67860975e-01 2.16984241e-01 1.27133681e-01 -1.10155283e+02] [-2.30083394e-01 9.68087811e-01 9.93359091e-02 -6.63930967e+01] [-1.01522240e-01 -1.25394699e-01 9.86898883e-01 5.57657210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88925976399995 meters 0.38207409280716703 Centerline is valid? [False, False] Translation: X:-110.25, Y:-66.51, Z:55.80 [[ 9.68705673e-01 2.12917747e-01 1.27574891e-01 -1.10247341e+02] [-2.25970283e-01 9.69155701e-01 9.83598435e-02 -6.65119149e+01] [-1.02697376e-01 -1.24109872e-01 9.86939709e-01 5.57967575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94925976399995 meters 0.37883423589652865 Centerline is valid? [False, False] Translation: X:-110.34, Y:-66.64, Z:55.83 [[ 9.69938499e-01 2.06356420e-01 1.28981923e-01 -1.10339697e+02] [-2.19623353e-01 9.70574076e-01 9.87499129e-02 -6.66353017e+01] [-1.04808832e-01 -1.24108785e-01 9.86717851e-01 5.58303292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00925976399995 meters 0.37267791611321105 Centerline is valid? [False, False] Translation: X:-110.43, Y:-66.75, Z:55.86 [[ 9.70781267e-01 2.02353184e-01 1.28984187e-01 -1.10427760e+02] [-2.15262897e-01 9.71881501e-01 9.54370626e-02 -6.67484005e+01] [-1.06045352e-01 -1.20414022e-01 9.87043488e-01 5.58598116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06925976399995 meters 0.37693223528360464 Centerline is valid? [False, False] Translation: X:-110.52, Y:-66.86, Z:55.89 [[ 9.70876308e-01 2.03878064e-01 1.25828972e-01 -1.10516592e+02] [-2.16121803e-01 9.71953356e-01 9.27256221e-02 -6.68623532e+01] [-1.03395172e-01 -1.17219494e-01 9.87708980e-01 5.58909823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12925976399995 meters 0.3735344162677684 Centerline is valid? [False, False] Translation: X:-110.61, Y:-66.98, Z:55.92 [[ 9.70524755e-01 2.05240985e-01 1.26324334e-01 -1.10605856e+02] [-2.17459451e-01 9.71732454e-01 9.19098780e-02 -6.69760207e+01] [-1.03889781e-01 -1.16671232e-01 9.87721994e-01 5.59198376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18925976399996 meters 0.374982923871234 Centerline is valid? [False, False] Translation: X:-110.70, Y:-67.09, Z:55.95 [[ 9.70152979e-01 2.05463016e-01 1.28794977e-01 -1.10696831e+02] [-2.18118477e-01 9.71457326e-01 9.32469458e-02 -6.70923834e+01] [-1.05960025e-01 -1.18556366e-01 9.87277500e-01 5.59486448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24925976399996 meters 0.37659247487369585 Centerline is valid? [False, False] Translation: X:-110.79, Y:-67.21, Z:55.97 [[ 9.69978801e-01 2.05963049e-01 1.29307187e-01 -1.10786233e+02] [-2.18354850e-01 9.71688983e-01 9.02312586e-02 -6.72071269e+01] [-1.07062064e-01 -1.15757259e-01 9.87490745e-01 5.59747611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30925976399996 meters 0.3802297116667634 Centerline is valid? [False, False] Translation: X:-110.88, Y:-67.33, Z:56.00 [[ 9.70087064e-01 2.09959652e-01 1.21852501e-01 -1.10876048e+02] [-2.21461471e-01 9.71009046e-01 8.99791661e-02 -6.73290581e+01] [-9.94278867e-02 -1.14273259e-01 9.88461288e-01 5.59984339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36925976399996 meters 0.38075621730771836 Centerline is valid? [False, False] Translation: X:-110.97, Y:-67.45, Z:56.03 [[ 9.70300180e-01 2.07545252e-01 1.24267973e-01 -1.10967039e+02] [-2.19638864e-01 9.71135135e-01 9.30339711e-02 -6.74481803e+01] [-1.01372236e-01 -1.17564955e-01 9.87877599e-01 5.60278692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42925976399994 meters 0.3813925584842844 Centerline is valid? [False, False] Translation: X:-111.06, Y:-67.57, Z:56.06 [[ 9.69752151e-01 2.06409510e-01 1.30291519e-01 -1.11061145e+02] [-2.19950810e-01 9.70395857e-01 9.97673370e-02 -6.75747423e+01] [-1.05841423e-01 -1.25407315e-01 9.86443409e-01 5.60613313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48925976399994 meters 0.38544799911157185 Centerline is valid? [False, False] Translation: X:-111.15, Y:-67.69, Z:56.09 [[ 9.68731660e-01 2.10917923e-01 1.30662164e-01 -1.11153588e+02] [-2.23815878e-01 9.70152314e-01 9.33324165e-02 -6.76923999e+01] [-1.07076721e-01 -1.19658334e-01 9.87024042e-01 5.60876408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54925976399994 meters 0.3873487083055501 Centerline is valid? [False, False] Translation: X:-111.25, Y:-67.82, Z:56.12 [[ 9.68643527e-01 2.14248233e-01 1.25807045e-01 -1.11251343e+02] [-2.26668898e-01 9.69390160e-01 9.43606333e-02 -6.78224951e+01] [-1.01739512e-01 -1.19918361e-01 9.87556914e-01 5.61159524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60925976399994 meters 0.3930067430953686 Centerline is valid? [False, False] Translation: X:-111.35, Y:-67.95, Z:56.15 [[ 9.68266135e-01 2.16021932e-01 1.25679022e-01 -1.11347316e+02] [-2.28525911e-01 9.68860975e-01 9.53116935e-02 -6.79489608e+01] [-1.01176084e-01 -1.21007998e-01 9.87481881e-01 5.61469230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66925976399995 meters 0.38762558102944766 Centerline is valid? [False, False] Translation: X:-111.44, Y:-68.07, Z:56.18 [[ 9.68745371e-01 2.13936574e-01 1.25552974e-01 -1.11443232e+02] [-2.26476610e-01 9.69291297e-01 9.58265490e-02 -6.80749320e+01] [-1.01196601e-01 -1.21266338e-01 9.87448086e-01 5.61776237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72925976399995 meters 0.38268999522478053 Centerline is valid? [False, False] Translation: X:-111.54, Y:-68.20, Z:56.20 [[ 9.69829960e-01 2.08451589e-01 1.26403259e-01 -1.11536154e+02] [-2.20862368e-01 9.70801272e-01 9.36200038e-02 -6.81956881e+01] [-1.03197206e-01 -1.18713208e-01 9.87551270e-01 5.62048161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78925976399995 meters 0.3765536480813564 Centerline is valid? [False, False] Translation: X:-111.63, Y:-68.32, Z:56.23 [[ 9.71203782e-01 2.01459932e-01 1.27189268e-01 -1.11626696e+02] [-2.13920900e-01 9.72387526e-01 9.32756559e-02 -6.83170264e+01] [-1.04885951e-01 -1.17798113e-01 9.87482933e-01 5.62332229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84925976399995 meters 0.37324049127175096 Centerline is valid? [False, False] Translation: X:-111.71, Y:-68.43, Z:56.26 [[ 9.72467640e-01 1.95876900e-01 1.26249472e-01 -1.11709058e+02] [-2.08011811e-01 9.73853948e-01 9.13212724e-02 -6.84323337e+01] [-1.05060819e-01 -1.15068363e-01 9.87786159e-01 5.62587707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90925976399996 meters 0.3685053029355205 Centerline is valid? [False, False] Translation: X:-111.79, Y:-68.54, Z:56.28 [[ 9.74427650e-01 1.88700194e-01 1.21995870e-01 -1.11788360e+02] [-1.99961445e-01 9.75869348e-01 8.77179352e-02 -6.85414939e+01] [-1.02499639e-01 -1.09869252e-01 9.88646839e-01 5.62834266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96925976399996 meters 0.35874779745878815 Centerline is valid? [False, False] Translation: X:-111.86, Y:-68.65, Z:56.31 [[ 9.76648726e-01 1.78220915e-01 1.19977376e-01 -1.11864806e+02] [-1.89287033e-01 9.77958325e-01 8.81358858e-02 -6.86476970e+01] [-1.01625215e-01 -1.08787962e-01 9.88856660e-01 5.63075332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02925976399996 meters 0.3517654554458703 Centerline is valid? [False, False] Translation: X:-111.93, Y:-68.75, Z:56.33 [[ 9.78276743e-01 1.71132995e-01 1.16996206e-01 -1.11934459e+02] [-1.81625992e-01 9.79619740e-01 8.57739178e-02 -6.87452975e+01] [-9.99330457e-02 -1.05160181e-01 9.89421408e-01 5.63320809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08925976399996 meters 0.34504050095516137 Centerline is valid? [False, False] Translation: X:-112.01, Y:-68.84, Z:56.36 [[ 9.79464907e-01 1.65745630e-01 1.14790605e-01 -1.12006013e+02] [-1.75799575e-01 9.80854416e-01 8.37802112e-02 -6.88432784e+01] [-9.87066676e-02 -1.02239916e-01 9.89850490e-01 5.63568288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14925976399994 meters 0.344042071246522 Centerline is valid? [False, False] Translation: X:-112.07, Y:-68.93, Z:56.38 [[ 9.79931180e-01 1.64661615e-01 1.12345157e-01 -1.12073955e+02] [-1.74301653e-01 9.81260669e-01 8.21366782e-02 -6.89348005e+01] [-9.67151257e-02 -1.00070239e-01 9.90268717e-01 5.63782017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20925976399994 meters 0.3518493387802025 Centerline is valid? [False, False] Translation: X:-112.15, Y:-69.03, Z:56.40 [[ 9.78619974e-01 1.73511727e-01 1.10438338e-01 -1.12148329e+02] [-1.82744887e-01 9.79918302e-01 7.97773693e-02 -6.90309477e+01] [-9.43782393e-02 -9.82537687e-02 9.90676004e-01 5.63982153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26925976399994 meters 0.3568599284265399 Centerline is valid? [False, False] Translation: X:-112.23, Y:-69.13, Z:56.42 [[ 9.77623321e-01 1.80125145e-01 1.08662668e-01 -1.12226862e+02] [-1.88965644e-01 9.78931062e-01 7.73689968e-02 -6.91315941e+01] [-9.24371594e-02 -9.61712466e-02 9.91063299e-01 5.64201923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32925976399994 meters 0.3674845081111731 Centerline is valid? [False, False] Translation: X:-112.31, Y:-69.24, Z:56.44 [[ 9.76607748e-01 1.86152840e-01 1.07630976e-01 -1.12307373e+02] [-1.94940344e-01 9.77724318e-01 7.78037326e-02 -6.92360180e+01] [-9.07500368e-02 -9.69653475e-02 9.91141843e-01 5.64412228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38925976399995 meters 0.36827695477013817 Centerline is valid? [False, False] Translation: X:-112.39, Y:-69.35, Z:56.46 [[ 9.75867653e-01 1.89214640e-01 1.08996073e-01 -1.12393214e+02] [-1.98360620e-01 9.76842946e-01 8.01930396e-02 -6.93479243e+01] [-9.12983481e-02 -9.98783220e-02 9.90802166e-01 5.64642665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44925976399995 meters 0.3694269280128125 Centerline is valid? [False, False] Translation: X:-112.48, Y:-69.46, Z:56.49 [[ 9.75134795e-01 1.90720141e-01 1.12862568e-01 -1.12482343e+02] [-2.00791693e-01 9.75871753e-01 8.57730610e-02 -6.94646575e+01] [-9.37807421e-02 -1.06302162e-01 9.89901522e-01 5.64907042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50925976399995 meters 0.371203482398858 Centerline is valid? [False, False] Translation: X:-112.56, Y:-69.58, Z:56.51 [[ 9.75214833e-01 1.90377339e-01 1.12749716e-01 -1.12563667e+02] [-2.00335825e-01 9.76058230e-01 8.47106237e-02 -6.95763418e+01] [-9.39233049e-02 -1.05198864e-01 9.90005865e-01 5.65126216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56925976399995 meters 0.37309392553593546 Centerline is valid? [False, False] Translation: X:-112.65, Y:-69.68, Z:56.53 [[ 9.75094663e-01 1.91262452e-01 1.12290131e-01 -1.12645077e+02] [-2.00922998e-01 9.76163189e-01 8.20693481e-02 -6.96822013e+01] [-9.39167072e-02 -1.02587053e-01 9.90280540e-01 5.65329189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62925976399995 meters 0.3766923801534618 Centerline is valid? [False, False] Translation: X:-112.73, Y:-69.79, Z:56.55 [[ 9.74873764e-01 1.92623182e-01 1.11881428e-01 -1.12728028e+02] [-2.02080220e-01 9.76067487e-01 8.03482767e-02 -6.97895316e+01] [-9.37268839e-02 -1.00938451e-01 9.90467920e-01 5.65544885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68925976399996 meters 0.38349215860910774 Centerline is valid? [False, False] Translation: X:-112.81, Y:-69.90, Z:56.58 [[ 9.74145111e-01 1.95411136e-01 1.13383382e-01 -1.12812771e+02] [-2.05435418e-01 9.75003284e-01 8.46456435e-02 -6.99017066e+01] [-9.40084685e-02 -1.05750102e-01 9.89939051e-01 5.65783006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74925976399996 meters 0.38215035481544823 Centerline is valid? [False, False] Translation: X:-112.90, Y:-70.01, Z:56.60 [[ 9.73793125e-01 1.96270421e-01 1.14912449e-01 -1.12896936e+02] [-2.06648346e-01 9.74574304e-01 8.66105447e-02 -7.00146600e+01] [-9.49916324e-02 -1.08087221e-01 9.89592715e-01 5.66008996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80925976399996 meters 0.38598309844716944 Centerline is valid? [False, False] Translation: X:-112.98, Y:-70.12, Z:56.62 [[ 9.73985053e-01 1.96384216e-01 1.13076772e-01 -1.12976049e+02] [-2.06189452e-01 9.75013543e-01 8.26710386e-02 -7.01216280e+01] [-9.40160974e-02 -1.03835594e-01 9.90140971e-01 5.66216726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86925976399996 meters 0.38449715114091226 Centerline is valid? [False, False] Translation: X:-113.06, Y:-70.24, Z:56.65 [[ 9.73904795e-01 1.96443641e-01 1.13663298e-01 -1.13060930e+02] [-2.06596736e-01 9.74667815e-01 8.56763617e-02 -7.02380504e+01] [-9.39533816e-02 -1.06923086e-01 9.89818274e-01 5.66453554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92925976399994 meters 0.3858678675029578 Centerline is valid? [False, False] Translation: X:-113.14, Y:-70.35, Z:56.67 [[ 9.74632907e-01 1.93663632e-01 1.12183304e-01 -1.13141265e+02] [-2.03631020e-01 9.75314313e-01 8.54189617e-02 -7.03482173e+01] [-9.28714356e-02 -1.06096132e-01 9.90009347e-01 5.66666680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98925976399994 meters 0.3837157424955209 Centerline is valid? [False, False] Translation: X:-113.22, Y:-70.46, Z:56.69 [[ 9.75149074e-01 1.91171725e-01 1.11971671e-01 -1.13223460e+02] [-2.01205103e-01 9.75732794e-01 8.63829922e-02 -7.04606040e+01] [-9.27404454e-02 -1.06765566e-01 9.89949657e-01 5.66880374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.049259764 meters 0.38364437098318105 Centerline is valid? [False, False] Translation: X:-113.30, Y:-70.57, Z:56.71 [[ 9.75796075e-01 1.87856468e-01 1.11946268e-01 -1.13303474e+02] [-1.98001354e-01 9.76277607e-01 8.76213288e-02 -7.05705507e+01] [-9.28304016e-02 -1.07666061e-01 9.89843693e-01 5.67092994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.109259764 meters 0.3810161560424752 Centerline is valid? [False, False] Translation: X:-113.38, Y:-70.68, Z:56.73 [[ 9.76244005e-01 1.86140099e-01 1.10903135e-01 -1.13382985e+02] [-1.96010286e-01 9.76832537e-01 8.58962300e-02 -7.06787278e+01] [-9.23450582e-02 -1.05593835e-01 9.90112283e-01 5.67312203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.169259764 meters 0.37752048747269124 Centerline is valid? [False, False] Translation: X:-113.46, Y:-70.78, Z:56.75 [[ 9.77586508e-01 1.79646687e-01 1.09780177e-01 -1.13459908e+02] [-1.89273038e-01 9.78273421e-01 8.45980534e-02 -7.07842739e+01] [-9.21972690e-02 -1.03480343e-01 9.90349172e-01 5.67506300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.229259764 meters 0.3696324216034034 Centerline is valid? [False, False] Translation: X:-113.54, Y:-70.89, Z:56.77 [[ 9.78857474e-01 1.72957879e-01 1.09195317e-01 -1.13535422e+02] [-1.82345977e-01 9.79746075e-01 8.27500650e-02 -7.08894100e+01] [-9.26714074e-02 -1.00911846e-01 9.90569942e-01 5.67691301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28925976399995 meters 0.3602275773405736 Centerline is valid? [False, False] Translation: X:-113.61, Y:-70.99, Z:56.79 [[ 9.80862721e-01 1.61766832e-01 1.08350423e-01 -1.13608829e+02] [-1.70917581e-01 9.81929903e-01 8.12455904e-02 -7.09925730e+01] [-9.32496791e-02 -9.82097632e-02 9.90787232e-01 5.67880352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34925976399995 meters 0.36106380295481744 Centerline is valid? [False, False] Translation: X:-113.68, Y:-71.09, Z:56.81 [[ 9.80701959e-01 1.62670722e-01 1.08452311e-01 -1.13681592e+02] [-1.71962370e-01 9.81632235e-01 8.26262625e-02 -7.10934289e+01] [-9.30194102e-02 -9.96814539e-02 9.90661898e-01 5.68102376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40925976399996 meters 0.36373311752697424 Centerline is valid? [False, False] Translation: X:-113.75, Y:-71.19, Z:56.83 [[ 9.80088975e-01 1.67125006e-01 1.07213957e-01 -1.13754721e+02] [-1.76381282e-01 9.80769163e-01 8.35553307e-02 -7.11926798e+01] [-9.11879581e-02 -1.00802194e-01 9.90718766e-01 5.68314779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46925976399996 meters 0.36763558464941415 Centerline is valid? [False, False] Translation: X:-113.83, Y:-71.29, Z:56.85 [[ 9.79700472e-01 1.70389551e-01 1.05614331e-01 -1.13826688e+02] [-1.79307837e-01 9.80403588e-01 8.15935291e-02 -7.12914991e+01] [-8.96419845e-02 -9.88746962e-02 9.91054039e-01 5.68499684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52925976399996 meters 0.36698516615391535 Centerline is valid? [False, False] Translation: X:-113.90, Y:-71.39, Z:56.87 [[ 9.79830832e-01 1.70536695e-01 1.04157461e-01 -1.13898433e+02] [-1.79128279e-01 9.80603737e-01 7.95573413e-02 -7.13904977e+01] [-8.85697494e-02 -9.66102826e-02 9.91373720e-01 5.68682755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58925976399996 meters 0.36492379551707205 Centerline is valid? [False, False] Translation: X:-113.97, Y:-71.49, Z:56.89 [[ 9.80625443e-01 1.66805381e-01 1.02711759e-01 -1.13968360e+02] [-1.75317002e-01 9.81233816e-01 8.02754498e-02 -7.14886006e+01] [-8.73938743e-02 -9.67272662e-02 9.91466664e-01 5.68868926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64925976399996 meters 0.3636210233747635 Centerline is valid? [False, False] Translation: X:-114.03, Y:-71.58, Z:56.90 [[ 9.81289791e-01 1.64135360e-01 1.00647551e-01 -1.14034809e+02] [-1.72222314e-01 9.81988366e-01 7.77066496e-02 -7.15844559e+01] [-8.60803149e-02 -9.35864960e-02 9.91882930e-01 5.69028305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70925976399997 meters 0.3616379057931178 Centerline is valid? [False, False] Translation: X:-114.10, Y:-71.67, Z:56.91 [[ 9.82357040e-01 1.60275321e-01 9.63663229e-02 -1.14098028e+02] [-1.67458265e-01 9.83267867e-01 7.17079595e-02 -7.16710031e+01] [-8.32608925e-02 -8.65801561e-02 9.92759538e-01 5.69146445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76925976399997 meters 0.362076603857285 Centerline is valid? [False, False] Translation: X:-114.16, Y:-71.76, Z:56.93 [[ 9.82741746e-01 1.59262172e-01 9.40968716e-02 -1.14162038e+02] [-1.66324564e-01 9.83390281e-01 7.26615047e-02 -7.17603305e+01] [-8.09617199e-02 -8.70581152e-02 9.92907893e-01 5.69287555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82925976399997 meters 0.3691802475923515 Centerline is valid? [False, False] Translation: X:-114.24, Y:-71.86, Z:56.95 [[ 9.81324682e-01 1.66248147e-01 9.67647814e-02 -1.14236289e+02] [-1.73985106e-01 9.81663795e-01 7.78805247e-02 -7.18633763e+01] [-8.20429897e-02 -9.32617119e-02 9.92255613e-01 5.69476165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.889259764 meters 0.37910416053907636 Centerline is valid? [False, False] Translation: X:-114.30, Y:-71.95, Z:56.96 [[ 9.80671892e-01 1.72018782e-01 9.32318531e-02 -1.14302583e+02] [-1.79216425e-01 9.80928681e-01 7.52356008e-02 -7.19496038e+01] [-7.85118623e-02 -9.04901184e-02 9.92797777e-01 5.69610231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.949259764 meters 0.381114375030351 Centerline is valid? [False, False] Translation: X:-114.37, Y:-72.05, Z:56.98 [[ 9.80587282e-01 1.72728746e-01 9.28082087e-02 -1.14372161e+02] [-1.80032765e-01 9.80635793e-01 7.70820691e-02 -7.20450971e+01] [-7.76967622e-02 -9.22942150e-02 9.92695820e-01 5.69767864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.009259764 meters 0.3858645945093389 Centerline is valid? [False, False] Translation: X:-114.44, Y:-72.14, Z:57.00 [[ 9.79935580e-01 1.75307364e-01 9.48345235e-02 -1.14444115e+02] [-1.82955169e-01 9.79940746e-01 7.90160706e-02 -7.21433369e+01] [-7.90801147e-02 -9.47811254e-02 9.92352192e-01 5.69961683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.069259764 meters 0.39313526615440086 Centerline is valid? [False, False] Translation: X:-114.52, Y:-72.24, Z:57.01 [[ 9.79249622e-01 1.79721932e-01 9.36493724e-02 -1.14515028e+02] [-1.87254662e-01 9.79129864e-01 7.89962068e-02 -7.22370078e+01] [-7.74975464e-02 -9.48932872e-02 9.92466319e-01 5.70112193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.129259764 meters 0.4025253436119433 Centerline is valid? [False, False] Translation: X:-114.59, Y:-72.33, Z:57.03 [[ 9.78310732e-01 1.85331392e-01 9.25223555e-02 -1.14586304e+02] [-1.92827849e-01 9.77970218e-01 7.99479425e-02 -7.23335008e+01] [-7.56672447e-02 -9.60548170e-02 9.92495814e-01 5.70265343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.189259764 meters 0.394323437136889 Centerline is valid? [False, False] Translation: X:-114.66, Y:-72.44, Z:57.04 [[ 9.78360040e-01 1.85326655e-01 9.20090423e-02 -1.14663877e+02] [-1.92851901e-01 9.77880159e-01 8.09848119e-02 -7.24435648e+01] [-7.49651726e-02 -9.69764225e-02 9.92459468e-01 5.70445702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.249259764 meters 0.3971419525452675 Centerline is valid? [False, False] Translation: X:-114.74, Y:-72.55, Z:57.06 [[ 9.77768634e-01 1.88715612e-01 9.14052350e-02 -1.14738643e+02] [-1.96403269e-01 9.76919480e-01 8.39886031e-02 -7.25537001e+01] [-7.34455940e-02 -1.00073709e-01 9.92265588e-01 5.70625272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.309259764 meters 0.39865622780128623 Centerline is valid? [False, False] Translation: X:-114.81, Y:-72.65, Z:57.08 [[ 9.78129840e-01 1.87622676e-01 8.97760941e-02 -1.14810372e+02] [-1.95243570e-01 9.77036979e-01 8.53152375e-02 -7.26547541e+01] [-7.17074906e-02 -1.00977585e-01 9.92301145e-01 5.70797186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.369259764 meters 0.3894693231245423 Centerline is valid? [False, False] Translation: X:-114.88, Y:-72.75, Z:57.10 [[ 9.80592852e-01 1.74944547e-01 8.84989515e-02 -1.14878934e+02] [-1.82520289e-01 9.79408906e-01 8.62817384e-02 -7.27468610e+01] [-7.15821416e-02 -1.00760110e-01 9.92332302e-01 5.70954163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.429259764 meters 0.3816294315071119 Centerline is valid? [False, False] Translation: X:-114.94, Y:-72.84, Z:57.11 [[ 9.80890823e-01 1.69908080e-01 9.47862725e-02 -1.14943398e+02] [-1.77826809e-01 9.80600191e-01 8.24675203e-02 -7.28357288e+01] [-7.89355388e-02 -9.77471743e-02 9.92075940e-01 5.71142105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.489259764 meters 0.3744242653801404 Centerline is valid? [False, False] Translation: X:-115.01, Y:-72.93, Z:57.13 [[ 9.82416672e-01 1.62434991e-01 9.20454034e-02 -1.15006243e+02] [-1.70224751e-01 9.81798588e-01 8.42322198e-02 -7.29283763e+01] [-7.66877872e-02 -9.84195430e-02 9.92185757e-01 5.71330279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.549259764 meters 0.3704998216256223 Centerline is valid? [False, False] Translation: X:-115.06, Y:-73.00, Z:57.15 [[ 9.83310199e-01 1.54413641e-01 9.62157950e-02 -1.15061331e+02] [-1.62065052e-01 9.83730273e-01 7.75220519e-02 -7.30040445e+01] [-8.26799280e-02 -9.18214422e-02 9.92337066e-01 5.71493550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.609259764 meters 0.363691500970227 Centerline is valid? [False, False] Translation: X:-115.11, Y:-73.08, Z:57.16 [[ 9.83508644e-01 1.52286646e-01 9.75680538e-02 -1.15114497e+02] [-1.59539292e-01 9.84606522e-01 7.13947619e-02 -7.30799514e+01] [-8.51936733e-02 -8.57833037e-02 9.92664728e-01 5.71648078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.669259764 meters 0.36416883153242785 Centerline is valid? [False, False] Translation: X:-115.17, Y:-73.16, Z:57.18 [[ 9.84835216e-01 1.47602120e-01 9.11768139e-02 -1.15166534e+02] [-1.54307300e-01 9.85435812e-01 7.14529043e-02 -7.31568952e+01] [-7.93022975e-02 -8.44385844e-02 9.93267975e-01 5.71767321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.729259764 meters 0.3612830309830625 Centerline is valid? [False, False] Translation: X:-115.22, Y:-73.23, Z:57.19 [[ 9.84741390e-01 1.46128678e-01 9.45029368e-02 -1.15217947e+02] [-1.52874381e-01 9.85864964e-01 6.85543370e-02 -7.32321501e+01] [-8.31493797e-02 -8.19553711e-02 9.93161365e-01 5.71916876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78925976399995 meters 0.36067456770736867 Centerline is valid? [False, False] Translation: X:-115.27, Y:-73.31, Z:57.20 [[ 9.84949103e-01 1.46522368e-01 9.16867522e-02 -1.15274845e+02] [-1.53093342e-01 9.85781779e-01 6.92583079e-02 -7.33121735e+01] [-8.02352384e-02 -8.22525396e-02 9.93376478e-01 5.72034499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84925976399995 meters 0.3693779163580077 Centerline is valid? [False, False] Translation: X:-115.33, Y:-73.39, Z:57.21 [[ 9.84010717e-01 1.55191649e-01 8.73982863e-02 -1.15333028e+02] [-1.61168176e-01 9.84715046e-01 6.60386025e-02 -7.33899280e+01] [-7.58137679e-02 -7.90685150e-02 9.93982114e-01 5.72132879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90925976399996 meters 0.5477354719560712 Centerline is valid? [False, False] Translation: X:-115.40, Y:-73.48, Z:57.23 [[ 9.83371745e-01 1.59506958e-01 8.68190120e-02 -1.15400208e+02] [-1.65820068e-01 9.83589064e-01 7.11073632e-02 -7.34847916e+01] [-7.40521116e-02 -8.43213064e-02 9.93683150e-01 5.72288895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96925976399996 meters 0.5366765741409442 Centerline is valid? [False, False] Translation: X:-115.47, Y:-73.58, Z:57.24 [[ 9.83441366e-01 1.59506493e-01 8.60276584e-02 -1.15467078e+02] [-1.65931197e-01 9.83391623e-01 7.35374367e-02 -7.35792913e+01] [-7.28691800e-02 -8.65944295e-02 9.93575104e-01 5.72433418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02925976399996 meters 0.5372306382132587 Centerline is valid? [False, False] Translation: X:-115.53, Y:-73.67, Z:57.26 [[ 9.83697715e-01 1.58926387e-01 8.41499227e-02 -1.15532563e+02] [-1.65104298e-01 9.83617347e-01 7.23704700e-02 -7.36712091e+01] [-7.12697464e-02 -8.50841798e-02 9.93821566e-01 5.72552689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08925976399996 meters 0.5224982572666009 Centerline is valid? [False, False] Translation: X:-115.60, Y:-73.76, Z:57.27 [[ 9.84075955e-01 1.57466245e-01 8.24554143e-02 -1.15596193e+02] [-1.63589016e-01 9.83775819e-01 7.36462618e-02 -7.37635773e+01] [-6.95208424e-02 -8.59623156e-02 9.93869877e-01 5.72684629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14925976399996 meters 0.513193387309883 Centerline is valid? [False, False] Translation: X:-115.66, Y:-73.86, Z:57.28 [[ 9.83866463e-01 1.58979125e-01 8.20513274e-02 -1.15660383e+02] [-1.65248158e-01 9.83298350e-01 7.62718915e-02 -7.38587528e+01] [-6.85552963e-02 -8.86001869e-02 9.93705277e-01 5.72837125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20925976399997 meters 0.506262216150718 Centerline is valid? [False, False] Translation: X:-115.73, Y:-73.95, Z:57.30 [[ 9.83125061e-01 1.64085167e-01 8.08775182e-02 -1.15726253e+02] [-1.70353947e-01 9.82301003e-01 7.78734415e-02 -7.39513785e+01] [-6.66681906e-02 -9.03371363e-02 9.93677289e-01 5.72985265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26925976399997 meters 0.5051479551582256 Centerline is valid? [False, False] Translation: X:-115.79, Y:-74.04, Z:57.31 [[ 9.82607439e-01 1.68739517e-01 7.75215875e-02 -1.15791442e+02] [-1.74617294e-01 9.81654043e-01 7.65776738e-02 -7.40422785e+01] [-6.31777001e-02 -8.87824018e-02 9.94045403e-01 5.73123800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32925976399997 meters 0.48424777923394785 Centerline is valid? [False, False] Translation: X:-115.86, Y:-74.14, Z:57.33 [[ 9.82613472e-01 1.70029077e-01 7.45712942e-02 -1.15858455e+02] [-1.75724121e-01 9.81350711e-01 7.79218487e-02 -7.41354699e+01] [-5.99316126e-02 -8.96710334e-02 9.94166640e-01 5.73284298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.389259764 meters 0.4835860123967577 Centerline is valid? [False, False] Translation: X:-115.93, Y:-74.23, Z:57.35 [[ 9.83260879e-01 1.66064903e-01 7.49699395e-02 -1.15925568e+02] [-1.71962281e-01 9.81802615e-01 8.05766648e-02 -7.42309893e+01] [-6.02247266e-02 -9.21198841e-02 9.93925002e-01 5.73457430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.449259764 meters 0.4799185486021713 Centerline is valid? [False, False] Translation: X:-115.99, Y:-74.32, Z:57.36 [[ 9.83121468e-01 1.64222022e-01 8.06430826e-02 -1.15986212e+02] [-1.70535637e-01 9.82190312e-01 7.88656237e-02 -7.43175845e+01] [-6.62553823e-02 -9.12870072e-02 9.93618089e-01 5.73614745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.509259764 meters 0.473853663583338 Centerline is valid? [False, False] Translation: X:-116.05, Y:-74.41, Z:57.38 [[ 9.83263814e-01 1.64123127e-01 7.90940687e-02 -1.16051241e+02] [-1.70223844e-01 9.82331223e-01 7.77766779e-02 -7.44106679e+01] [-6.49316216e-02 -8.99386893e-02 9.93828414e-01 5.73762793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.569259764 meters 0.5298646788611556 Centerline is valid? [False, False] Translation: X:-116.11, Y:-74.49, Z:57.39 [[ 9.82478399e-01 1.66419158e-01 8.39098296e-02 -1.16113058e+02] [-1.72911681e-01 9.81911634e-01 7.71433375e-02 -7.44942507e+01] [-6.95539086e-02 -9.03006524e-02 9.93482786e-01 5.73938321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.629259764 meters 0.5318520827894113 Centerline is valid? [False, False] Translation: X:-116.18, Y:-74.60, Z:57.41 [[ 9.82060639e-01 1.68384063e-01 8.48746682e-02 -1.16183716e+02] [-1.75132153e-01 9.81327072e-01 7.95355635e-02 -7.45969005e+01] [-6.98972883e-02 -9.29730297e-02 9.93212155e-01 5.74118025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.689259764 meters 0.5191990259171263 Centerline is valid? [False, False] Translation: X:-116.25, Y:-74.69, Z:57.43 [[ 9.82323126e-01 1.68061105e-01 8.24423466e-02 -1.16248349e+02] [-1.74478945e-01 9.81565478e-01 7.80148018e-02 -7.46898913e+01] [-6.78113076e-02 -9.10201976e-02 9.93537594e-01 5.74250038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.749259764 meters 0.5204207418029482 Centerline is valid? [False, False] Translation: X:-116.31, Y:-74.77, Z:57.44 [[ 9.81707376e-01 1.69930095e-01 8.58742723e-02 -1.16307643e+02] [-1.76622962e-01 9.81225435e-01 7.74659620e-02 -7.47727724e+01] [-7.10982219e-02 -9.12162746e-02 9.93289804e-01 5.74433705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.809259764 meters 0.5119241165930273 Centerline is valid? [False, False] Translation: X:-116.38, Y:-74.87, Z:57.46 [[ 9.81536898e-01 1.71761144e-01 8.41630975e-02 -1.16376730e+02] [-1.78491049e-01 9.80661647e-01 8.02725311e-02 -7.48723210e+01] [-6.87478201e-02 -9.38128108e-02 9.93213418e-01 5.74619017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.869259764 meters 0.5090367462798887 Centerline is valid? [False, False] Translation: X:-116.44, Y:-74.96, Z:57.48 [[ 9.81627037e-01 1.68735463e-01 8.90881785e-02 -1.16435923e+02] [-1.75922486e-01 9.81138447e-01 8.01163367e-02 -7.49559804e+01] [-7.38893700e-02 -9.43169761e-02 9.92796389e-01 5.74795844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.929259764 meters 0.4839817764325996 Centerline is valid? [False, False] Translation: X:-116.49, Y:-75.05, Z:57.49 [[ 9.83274620e-01 1.61372666e-01 8.44386377e-02 -1.16494092e+02] [-1.67965622e-01 9.82714507e-01 7.78443833e-02 -7.50453093e+01] [-7.04171185e-02 -9.07251948e-02 9.93383294e-01 5.74924451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.989259764 meters 0.48900754966314 Centerline is valid? [False, False] Translation: X:-116.54, Y:-75.12, Z:57.51 [[ 9.84337345e-01 1.52931073e-01 8.77044964e-02 -1.16544916e+02] [-1.59657112e-01 9.84273460e-01 7.56000223e-02 -7.51187401e+01] [-7.47636156e-02 -8.84185718e-02 9.93273657e-01 5.75070100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.049259764 meters 0.4925526617241535 Centerline is valid? [False, False] Translation: X:-116.59, Y:-75.19, Z:57.52 [[ 9.86633999e-01 1.36522787e-01 8.89656119e-02 -1.16587917e+02] [-1.43265711e-01 9.86884099e-01 7.43956362e-02 -7.51876988e+01] [-7.76420482e-02 -8.61469857e-02 9.93252440e-01 5.75198581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.109259764 meters 0.4886568449907071 Centerline is valid? [False, False] Translation: X:-116.63, Y:-75.25, Z:57.53 [[ 9.87865221e-01 1.27085693e-01 8.92834363e-02 -1.16629741e+02] [-1.33303263e-01 9.88773984e-01 6.74999897e-02 -7.52490631e+01] [-7.97028561e-02 -7.85826657e-02 9.93716368e-01 5.75332199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.169259764 meters 0.4848487984771397 Centerline is valid? [False, False] Translation: X:-116.67, Y:-75.31, Z:57.55 [[ 9.89637048e-01 1.11929076e-01 8.99466227e-02 -1.16668747e+02] [-1.18020163e-01 9.90847940e-01 6.55103134e-02 -7.53065834e+01] [-8.17909170e-02 -7.54469482e-02 9.93789718e-01 5.75454487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.229259764 meters 0.4789450600838533 Centerline is valid? [False, False] Translation: X:-116.70, Y:-75.36, Z:57.55 [[ 9.90377474e-01 1.07158275e-01 8.75760465e-02 -1.16700084e+02] [-1.12392797e-01 9.92016701e-01 5.71902471e-02 -7.53550730e+01] [-8.07484925e-02 -6.64828492e-02 9.94514812e-01 5.75544834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28925976399995 meters 0.4713353375255782 Centerline is valid? [False, False] Translation: X:-116.74, Y:-75.41, Z:57.57 [[ 9.90321013e-01 1.07100117e-01 8.82828207e-02 -1.16740240e+02] [-1.12185219e-01 9.92175498e-01 5.47928626e-02 -7.54113047e+01] [-8.17237296e-02 -6.41665508e-02 9.94587294e-01 5.75657831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34925976399995 meters 0.46833632162854555 Centerline is valid? [False, False] Translation: X:-116.77, Y:-75.46, Z:57.57 [[ 9.89903296e-01 1.11197612e-01 8.79008253e-02 -1.16773374e+02] [-1.16216049e-01 9.91744776e-01 5.41860550e-02 -7.54581802e+01] [-8.11498244e-02 -6.38544410e-02 9.94654370e-01 5.75723732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40925976399996 meters 0.4535468009985034 Centerline is valid? [False, False] Translation: X:-116.80, Y:-75.50, Z:57.58 [[ 9.90218929e-01 1.09890255e-01 8.59686305e-02 -1.16804406e+02] [-1.14450373e-01 9.92168214e-01 5.00334576e-02 -7.55020271e+01] [-7.97971532e-02 -5.93832187e-02 9.95040727e-01 5.75785529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46925976399996 meters 0.4523586429830744 Centerline is valid? [False, False] Translation: X:-116.84, Y:-75.55, Z:57.58 [[ 9.90266177e-01 1.10578169e-01 8.45302743e-02 -1.16835395e+02] [-1.14909570e-01 9.92205662e-01 4.82049185e-02 -7.55482682e+01] [-7.85410052e-02 -5.74490378e-02 9.95254198e-01 5.75847328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52925976399996 meters 0.4398315861333378 Centerline is valid? [False, False] Translation: X:-116.87, Y:-75.60, Z:57.59 [[ 9.89987544e-01 1.13961846e-01 8.32908197e-02 -1.16867429e+02] [-1.18284258e-01 9.91773391e-01 4.89323532e-02 -7.56011404e+01] [-7.70291974e-02 -5.82944130e-02 9.95323196e-01 5.75915084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58925976399996 meters 0.4361484575583599 Centerline is valid? [False, False] Translation: X:-116.90, Y:-75.64, Z:57.60 [[ 9.90611129e-01 1.10184310e-01 8.09259430e-02 -1.16897716e+02] [-1.13985799e-01 9.92509823e-01 4.39487094e-02 -7.56449441e+01] [-7.54773351e-02 -5.27604889e-02 9.95750723e-01 5.75982156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64925976399996 meters 0.43305482316065286 Centerline is valid? [False, False] Translation: X:-116.93, Y:-75.70, Z:57.60 [[ 9.91196372e-01 1.04169481e-01 8.17219170e-02 -1.16934802e+02] [-1.08165139e-01 9.93064331e-01 4.60818588e-02 -7.56958330e+01] [-7.63547975e-02 -5.45156338e-02 9.95589268e-01 5.76042011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70925976399997 meters 0.4256767711713321 Centerline is valid? [False, False] Translation: X:-116.97, Y:-75.74, Z:57.61 [[ 9.91715110e-01 1.00207497e-01 8.03716254e-02 -1.16965702e+02] [-1.04198819e-01 9.93440682e-01 4.70979508e-02 -7.57407085e+01] [-7.51248747e-02 -5.50823779e-02 9.95651638e-01 5.76089968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76925976399997 meters 0.415121223157019 Centerline is valid? [False, False] Translation: X:-117.00, Y:-75.79, Z:57.62 [[ 9.91124540e-01 1.05870162e-01 8.03968572e-02 -1.17000504e+02] [-1.10105200e-01 9.92651484e-01 5.01983758e-02 -7.57884344e+01] [-7.44915494e-02 -5.86049541e-02 9.95498101e-01 5.76183045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82925976399997 meters 0.4069232222475159 Centerline is valid? [False, False] Translation: X:-117.04, Y:-75.84, Z:57.62 [[ 9.89680498e-01 1.17052467e-01 8.26512713e-02 -1.17040701e+02] [-1.21486797e-01 9.91291426e-01 5.08160047e-02 -7.58364586e+01] [-7.59833579e-02 -6.03326471e-02 9.95282121e-01 5.76226077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.889259764 meters 0.4049795612682723 Centerline is valid? [False, False] Translation: X:-117.08, Y:-75.89, Z:57.63 [[ 9.87898429e-01 1.30197033e-01 8.42936876e-02 -1.17083218e+02] [-1.34907148e-01 9.89450231e-01 5.28043767e-02 -7.58919643e+01] [-7.65294354e-02 -6.35371818e-02 9.95040839e-01 5.76292874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.949259764 meters 0.4028980141975045 Centerline is valid? [False, False] Translation: X:-117.13, Y:-75.95, Z:57.64 [[ 9.85648606e-01 1.44857032e-01 8.66790908e-02 -1.17128220e+02] [-1.50039597e-01 9.87060066e-01 5.65733653e-02 -7.59503742e+01] [-7.73624193e-02 -6.87667545e-02 9.94628669e-01 5.76366864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.009259764 meters 0.4112527501440233 Centerline is valid? [False, False] Translation: X:-117.18, Y:-76.02, Z:57.64 [[ 9.83045516e-01 1.64371673e-01 8.12617218e-02 -1.17182823e+02] [-1.69393805e-01 9.83762578e-01 5.93036958e-02 -7.60224796e+01] [-7.01943933e-02 -7.20634645e-02 9.94926934e-01 5.76401843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.069259764 meters 0.4175428708601192 Centerline is valid? [False, False] Translation: X:-117.24, Y:-76.10, Z:57.65 [[ 9.81534918e-01 1.75817997e-01 7.53474328e-02 -1.17235587e+02] [-1.80607727e-01 9.81580933e-01 6.22874132e-02 -7.60964925e+01] [-6.30083551e-02 -7.47455996e-02 9.95210049e-01 5.76473595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.129259764 meters 0.41722545870827127 Centerline is valid? [False, False] Translation: X:-117.29, Y:-76.17, Z:57.66 [[ 9.79648497e-01 1.85697794e-01 7.61915381e-02 -1.17286510e+02] [-1.90679432e-01 9.79543696e-01 6.43078622e-02 -7.61725633e+01] [-6.26911127e-02 -7.75272598e-02 9.95017260e-01 5.76602393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.189259764 meters 0.4192528798001386 Centerline is valid? [False, False] Translation: X:-117.34, Y:-76.25, Z:57.67 [[ 9.80009268e-01 1.82377085e-01 7.95011553e-02 -1.17337225e+02] [-1.87913531e-01 9.79773824e-01 6.87877752e-02 -7.62510405e+01] [-6.53478370e-02 -8.23520001e-02 9.94458550e-01 5.76730449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.249259764 meters 0.40241591118198017 Centerline is valid? [False, False] Translation: X:-117.38, Y:-76.32, Z:57.68 [[ 9.82706631e-01 1.66195527e-01 8.16500095e-02 -1.17383985e+02] [-1.72082428e-01 9.82500927e-01 7.12710715e-02 -7.63223556e+01] [-6.83762768e-02 -8.40890865e-02 9.94109506e-01 5.76846973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.309259764 meters 0.39503919462123155 Centerline is valid? [False, False] Translation: X:-117.42, Y:-76.39, Z:57.69 [[ 9.83890731e-01 1.59656314e-01 8.04294136e-02 -1.17422088e+02] [-1.65043596e-01 9.84111266e-01 6.54646974e-02 -7.63854992e+01] [-6.86996398e-02 -7.76844687e-02 9.94608206e-01 5.76938136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.369259764 meters 0.39095746605793064 Centerline is valid? [False, False] Translation: X:-117.47, Y:-76.45, Z:57.70 [[ 9.84365849e-01 1.55696050e-01 8.23566373e-02 -1.17467377e+02] [-1.61179882e-01 9.84800423e-01 6.47238107e-02 -7.64501187e+01] [-7.10276096e-02 -7.69861419e-02 9.94498976e-01 5.77042876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.429259764 meters 0.3896319081173081 Centerline is valid? [False, False] Translation: X:-117.51, Y:-76.51, Z:57.71 [[ 9.85681929e-01 1.47070141e-01 8.24712590e-02 -1.17506391e+02] [-1.52625856e-01 9.86100868e-01 6.56538354e-02 -7.65080682e+01] [-7.16692613e-02 -7.73010456e-02 9.94428512e-01 5.77119481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.489259764 meters 0.3779201876576677 Centerline is valid? [False, False] Translation: X:-117.54, Y:-76.57, Z:57.72 [[ 9.87342841e-01 1.36042882e-01 8.15257552e-02 -1.17542022e+02] [-1.41545760e-01 9.87729132e-01 6.59996929e-02 -7.65654236e+01] [-7.15465750e-02 -7.67039492e-02 9.94483580e-01 5.77200250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.549259764 meters 0.37165008872504235 Centerline is valid? [False, False] Translation: X:-117.57, Y:-76.61, Z:57.73 [[ 9.88307966e-01 1.30705920e-01 7.85068612e-02 -1.17573733e+02] [-1.35430446e-01 9.89076177e-01 5.81971714e-02 -7.66132661e+01] [-7.00425513e-02 -6.81489473e-02 9.95213425e-01 5.77279175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.609259764 meters 0.3674220902350187 Centerline is valid? [False, False] Translation: X:-117.61, Y:-76.68, Z:57.74 [[ 9.88685745e-01 1.26962453e-01 7.98813634e-02 -1.17614134e+02] [-1.31875172e-01 9.89476100e-01 5.95481798e-02 -7.66773458e+01] [-7.14803170e-02 -6.94088051e-02 9.95024111e-01 5.77382129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.669259764 meters 0.36708305949851555 Centerline is valid? [False, False] Translation: X:-117.65, Y:-76.73, Z:57.75 [[ 9.88534466e-01 1.27962652e-01 8.01571596e-02 -1.17652693e+02] [-1.32806069e-01 9.89425396e-01 5.83089469e-02 -7.67321107e+01] [-7.18481619e-02 -6.82857609e-02 9.95075322e-01 5.77472766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72925976399995 meters 0.36840707059010686 Centerline is valid? [False, False] Translation: X:-117.69, Y:-76.79, Z:57.76 [[ 9.88078630e-01 1.30953886e-01 8.09425733e-02 -1.17692832e+02] [-1.35860041e-01 9.89005892e-01 5.83900247e-02 -7.67926946e+01] [-7.24062813e-02 -6.86907970e-02 9.95006987e-01 5.77566188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78925976399995 meters 0.3710040631459323 Centerline is valid? [False, False] Translation: X:-117.74, Y:-76.86, Z:57.77 [[ 9.87836939e-01 1.31322662e-01 8.32618822e-02 -1.17736269e+02] [-1.36466701e-01 9.88861359e-01 5.94142479e-02 -7.68573460e+01] [-7.45320208e-02 -7.00540632e-02 9.94754948e-01 5.77680677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84925976399995 meters 0.3739726154974276 Centerline is valid? [False, False] Translation: X:-117.78, Y:-76.92, Z:57.78 [[ 9.87154900e-01 1.34851737e-01 8.56750444e-02 -1.17779519e+02] [-1.40379637e-01 9.88146302e-01 6.21324606e-02 -7.69210248e+01] [-7.62808081e-02 -7.33613945e-02 9.94383902e-01 5.77791291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90925976399996 meters 0.37484429600111746 Centerline is valid? [False, False] Translation: X:-117.82, Y:-76.98, Z:57.79 [[ 9.86968463e-01 1.36831598e-01 8.46780193e-02 -1.17817991e+02] [-1.42071883e-01 9.88079501e-01 5.92830453e-02 -7.69800408e+01] [-7.55568213e-02 -7.05408618e-02 9.94643229e-01 5.77882225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96925976399996 meters 0.3740886968314 Centerline is valid? [False, False] Translation: X:-117.86, Y:-77.04, Z:57.79 [[ 9.88192511e-01 1.33357511e-01 7.54409433e-02 -1.17859636e+02] [-1.37855212e-01 9.88757651e-01 5.79158775e-02 -7.70437520e+01] [-6.68692926e-02 -6.76319637e-02 9.95466933e-01 5.77931513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02925976399996 meters 0.4034364247372608 Centerline is valid? [False, False] Translation: X:-117.91, Y:-77.13, Z:57.80 [[ 9.89090331e-01 1.29738542e-01 6.97726904e-02 -1.17912385e+02] [-1.34037462e-01 9.89102015e-01 6.09193062e-02 -7.71254642e+01] [-6.11087267e-02 -6.96068510e-02 9.95701064e-01 5.78018245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08925976399996 meters 0.3950010173276312 Centerline is valid? [False, False] Translation: X:-117.96, Y:-77.20, Z:57.81 [[ 9.89427560e-01 1.29756242e-01 6.47797960e-02 -1.17964272e+02] [-1.33717229e-01 9.89135163e-01 6.10846327e-02 -7.72029523e+01] [-5.61498616e-02 -6.91009939e-02 9.96028235e-01 5.78112164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14925976399996 meters 0.39483485229912035 Centerline is valid? [False, False] Translation: X:-118.02, Y:-77.28, Z:57.82 [[ 9.88877406e-01 1.31723017e-01 6.90689672e-02 -1.18016517e+02] [-1.35963821e-01 9.88848085e-01 6.07725627e-02 -7.72809455e+01] [-6.02935706e-02 -6.94874949e-02 9.95759094e-01 5.78228218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20925976399997 meters 0.3803245441514687 Centerline is valid? [False, False] Translation: X:-118.06, Y:-77.35, Z:57.83 [[ 9.87800500e-01 1.38865564e-01 7.04735866e-02 -1.18058166e+02] [-1.43239523e-01 9.87785467e-01 6.13376810e-02 -7.73451311e+01] [-6.10950929e-02 -7.06839950e-02 9.95626015e-01 5.78310061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26925976399997 meters 0.3921858109293058 Centerline is valid? [False, False] Translation: X:-118.11, Y:-77.44, Z:57.84 [[ 9.87774068e-01 1.40899300e-01 6.67066523e-02 -1.18114944e+02] [-1.45239508e-01 9.87231720e-01 6.54141873e-02 -7.74366337e+01] [-5.66381099e-02 -7.43028792e-02 9.95626038e-01 5.78439218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32925976399997 meters 0.3856124167235202 Centerline is valid? [False, False] Translation: X:-118.17, Y:-77.52, Z:57.85 [[ 9.88244554e-01 1.40248576e-01 6.08526034e-02 -1.18167001e+02] [-1.44111488e-01 9.87453435e-01 6.45569011e-02 -7.75175603e+01] [-5.10350988e-02 -7.25675652e-02 9.96056910e-01 5.78529051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.389259764 meters 0.3920838965038464 Centerline is valid? [False, False] Translation: X:-118.22, Y:-77.60, Z:57.87 [[ 9.88400680e-01 1.37104141e-01 6.53188410e-02 -1.18220296e+02] [-1.41234402e-01 9.87939702e-01 6.34664446e-02 -7.75962688e+01] [-5.58295639e-02 -7.19555445e-02 9.95844094e-01 5.78655847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.449259764 meters 0.38193090735187385 Centerline is valid? [False, False] Translation: X:-118.27, Y:-77.68, Z:57.88 [[ 9.88989336e-01 1.30677386e-01 6.94515194e-02 -1.18271395e+02] [-1.35150624e-01 9.88745751e-01 6.41572138e-02 -7.76757513e+01] [-6.02859978e-02 -7.28372165e-02 9.95520135e-01 5.78807551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.509259764 meters 0.3736564449664661 Centerline is valid? [False, False] Translation: X:-118.32, Y:-77.75, Z:57.89 [[ 9.89194550e-01 1.27378718e-01 7.25865294e-02 -1.18318918e+02] [-1.31968126e-01 9.89289398e-01 6.23770812e-02 -7.77478883e+01] [-6.38635713e-02 -7.12821770e-02 9.95409612e-01 5.78936226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.569259764 meters 0.36707404719864944 Centerline is valid? [False, False] Translation: X:-118.36, Y:-77.80, Z:57.90 [[ 9.90352590e-01 1.18922405e-01 7.11281154e-02 -1.18356080e+02] [-1.22704132e-01 9.91112144e-01 5.13849522e-02 -7.78047093e+01] [-6.43851169e-02 -5.96169342e-02 9.96142750e-01 5.79008476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.629259764 meters 0.36007130637902196 Centerline is valid? [False, False] Translation: X:-118.39, Y:-77.87, Z:57.91 [[ 9.91381620e-01 1.09362864e-01 7.21266042e-02 -1.18394905e+02] [-1.13091855e-01 9.92335270e-01 4.98090751e-02 -7.78696234e+01] [-6.61265102e-02 -5.75367330e-02 9.96150997e-01 5.79074591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.689259764 meters 0.3594890565678898 Centerline is valid? [False, False] Translation: X:-118.43, Y:-77.93, Z:57.92 [[ 9.91598162e-01 1.06709399e-01 7.31176403e-02 -1.18434430e+02] [-1.10450343e-01 9.92664234e-01 4.91776438e-02 -7.79304147e+01] [-6.73335496e-02 -5.68403297e-02 9.96110119e-01 5.79165493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.749259764 meters 0.3544151919542832 Centerline is valid? [False, False] Translation: X:-118.47, Y:-77.99, Z:57.92 [[ 9.92010918e-01 1.02563830e-01 7.34506644e-02 -1.18471218e+02] [-1.06281309e-01 9.93146622e-01 4.86217098e-02 -7.79886935e+01] [-6.79604504e-02 -5.60396997e-02 9.96112910e-01 5.79249856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.809259764 meters 0.3453458584811134 Centerline is valid? [False, False] Translation: X:-118.50, Y:-78.04, Z:57.93 [[ 9.93092218e-01 9.22470660e-02 7.25143056e-02 -1.18504120e+02] [-9.56744541e-02 9.94381441e-01 4.52984488e-02 -7.80408466e+01] [-6.79282307e-02 -5.19233036e-02 9.96338158e-01 5.79293629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.869259764 meters 0.341878677294466 Centerline is valid? [False, False] Translation: X:-118.54, Y:-78.10, Z:57.93 [[ 9.94330078e-01 8.67938903e-02 6.14370991e-02 -1.18535944e+02] [-8.98468558e-02 9.94759088e-01 4.88047121e-02 -7.80981036e+01] [-5.68791618e-02 -5.40479234e-02 9.96917039e-01 5.79335518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.929259764 meters 0.3387497766327496 Centerline is valid? [False, False] Translation: X:-118.56, Y:-78.14, Z:57.94 [[ 9.94530576e-01 8.61420381e-02 5.90633807e-02 -1.18564689e+02] [-8.89832609e-02 9.94909947e-01 4.72882363e-02 -7.81449724e+01] [-5.46892398e-02 -5.22852491e-02 9.97133562e-01 5.79420590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.989259764 meters 0.33626859167022516 Centerline is valid? [False, False] Translation: X:-118.59, Y:-78.19, Z:57.95 [[ 9.94872412e-01 8.38744501e-02 5.65151345e-02 -1.18591547e+02] [-8.63757588e-02 9.95318148e-01 4.33706332e-02 -7.81852248e+01] [-5.26128510e-02 -4.80297841e-02 9.97459286e-01 5.79468671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.049259764 meters 0.3319380030761838 Centerline is valid? [False, False] Translation: X:-118.61, Y:-78.22, Z:57.95 [[ 9.95658013e-01 7.73451085e-02 5.17962907e-02 -1.18613809e+02] [-7.92227055e-02 9.96234146e-01 3.52319329e-02 -7.82206898e+01] [-4.88762157e-02 -3.91823986e-02 9.98035999e-01 5.79504775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.109259764 meters 0.33332303487831433 Centerline is valid? [False, False] Translation: X:-118.63, Y:-78.26, Z:57.95 [[ 9.96356764e-01 7.12864298e-02 4.68128556e-02 -1.18633371e+02] [-7.31153167e-02 9.96576584e-01 3.85909737e-02 -7.82561766e+01] [-4.39015830e-02 -4.18731144e-02 9.98157950e-01 5.79531511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.169259764 meters 0.3254796221036193 Centerline is valid? [False, False] Translation: X:-118.65, Y:-78.29, Z:57.96 [[ 9.97064674e-01 6.38303573e-02 4.22814534e-02 -1.18653909e+02] [-6.56310824e-02 9.96931414e-01 4.26651701e-02 -7.82885769e+01] [-3.94283761e-02 -4.53149115e-02 9.98194351e-01 5.79597768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22925976399995 meters 0.32511714112452006 Centerline is valid? [False, False] Translation: X:-118.67, Y:-78.31, Z:57.96 [[ 9.97310438e-01 6.49256729e-02 3.40080536e-02 -1.18665049e+02] [-6.62330634e-02 9.97047908e-01 3.88413619e-02 -7.83083719e+01] [-3.13858571e-02 -4.09893532e-02 9.98666511e-01 5.79588485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28925976399995 meters 0.3279737811045807 Centerline is valid? [False, False] Translation: X:-118.68, Y:-78.33, Z:57.96 [[ 9.97282658e-01 6.85366984e-02 2.70189170e-02 -1.18678475e+02] [-6.95294517e-02 9.96867413e-01 3.76963724e-02 -7.83326442e+01] [-2.43506930e-02 -3.94725490e-02 9.98923902e-01 5.79575339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34925976399995 meters 0.3288538751540415 Centerline is valid? [False, False] Translation: X:-118.70, Y:-78.36, Z:57.96 [[ 9.97412231e-01 6.77174706e-02 2.41492194e-02 -1.18701723e+02] [-6.86888185e-02 9.96755306e-01 4.19607590e-02 -7.83612715e+01] [-2.12293861e-02 -4.35109556e-02 9.98827367e-01 5.79581379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40925976399996 meters 0.3376062618012778 Centerline is valid? [False, False] Translation: X:-118.72, Y:-78.38, Z:57.96 [[ 9.96873706e-01 7.34138348e-02 2.92099928e-02 -1.18720056e+02] [-7.46068338e-02 9.96324129e-01 4.20957255e-02 -7.83833645e+01] [-2.60122120e-02 -4.41433870e-02 9.98686500e-01 5.79596646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46925976399996 meters 0.34181271533141877 Centerline is valid? [False, False] Translation: X:-118.74, Y:-78.40, Z:57.96 [[ 9.96629959e-01 7.43484733e-02 3.46558760e-02 -1.18739727e+02] [-7.56338250e-02 9.96434663e-01 3.73829816e-02 -7.84041330e+01] [-3.17529485e-02 -3.98781559e-02 9.98699896e-01 5.79613268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52925976399996 meters 0.3479565687449457 Centerline is valid? [False, False] Translation: X:-118.77, Y:-78.45, Z:57.96 [[ 9.95685669e-01 8.65779890e-02 3.33811505e-02 -1.18770056e+02] [-8.78657315e-02 9.95358386e-01 3.92593480e-02 -7.84504395e+01] [-2.98272127e-02 -4.20230294e-02 9.98671318e-01 5.79609274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58925976399996 meters 0.3499418513885707 Centerline is valid? [False, False] Translation: X:-118.81, Y:-78.50, Z:57.97 [[ 9.95530280e-01 8.79988837e-02 3.42878589e-02 -1.18805735e+02] [-8.93663478e-02 9.95169815e-01 4.06287373e-02 -7.85029279e+01] [-3.05469587e-02 -4.35113189e-02 9.98585824e-01 5.79669827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64925976399996 meters 0.3504006595189347 Centerline is valid? [False, False] Translation: X:-118.82, Y:-78.53, Z:57.97 [[ 9.95765860e-01 8.33259680e-02 3.88218288e-02 -1.18822811e+02] [-8.45981465e-02 9.95889354e-01 3.23658567e-02 -7.85260441e+01] [-3.59653296e-02 -3.55130699e-02 9.98721842e-01 5.79688523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70925976399997 meters 0.35186546913824757 Centerline is valid? [False, False] Translation: X:-118.86, Y:-78.57, Z:57.97 [[ 9.96173503e-01 7.79910146e-02 3.94430397e-02 -1.18855637e+02] [-7.94455069e-02 9.96161228e-01 3.67589343e-02 -7.85740864e+01] [-3.64247603e-02 -3.97518486e-02 9.98545456e-01 5.79692858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76925976399997 meters 0.3560998723602021 Centerline is valid? [False, False] Translation: X:-118.88, Y:-78.60, Z:57.97 [[ 9.95740602e-01 8.09605267e-02 4.41140270e-02 -1.18876649e+02] [-8.25269205e-02 9.95976745e-01 3.49232147e-02 -7.86009526e+01] [-4.11091431e-02 -3.84150576e-02 9.98415906e-01 5.79746730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82925976399997 meters 0.35430803744620554 Centerline is valid? [False, False] Translation: X:-118.91, Y:-78.65, Z:57.98 [[ 9.95916605e-01 7.77737351e-02 4.58406121e-02 -1.18912425e+02] [-7.97859819e-02 9.95847762e-01 4.38341494e-02 -7.86514553e+01] [-4.22411254e-02 -4.73125955e-02 9.97986576e-01 5.79801556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.889259764 meters 0.35483959843923674 Centerline is valid? [False, False] Translation: X:-118.93, Y:-78.68, Z:57.99 [[ 9.95726200e-01 7.70489888e-02 5.09194225e-02 -1.18933706e+02] [-7.91160110e-02 9.96066356e-01 3.99057863e-02 -7.86827278e+01] [-4.76444231e-02 -4.37637785e-02 9.97905176e-01 5.79862290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.949259764 meters 0.36013906176072763 Centerline is valid? [False, False] Translation: X:-118.96, Y:-78.72, Z:57.99 [[ 9.95481127e-01 8.11100179e-02 4.93810773e-02 -1.18963801e+02] [-8.29558360e-02 9.95882718e-01 3.65505187e-02 -7.87229554e+01] [-4.62131483e-02 -4.04818001e-02 9.98111000e-01 5.79879283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.009259764 meters 0.37866242927197885 Centerline is valid? [False, False] Translation: X:-118.99, Y:-78.76, Z:57.99 [[ 9.95215585e-01 8.62894003e-02 4.58266169e-02 -1.18988041e+02] [-8.80000716e-02 9.95443371e-01 3.67217010e-02 -7.87631651e+01] [-4.24491084e-02 -4.05787547e-02 9.98274230e-01 5.79909109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.069259764 meters 0.3729798460613025 Centerline is valid? [False, False] Translation: X:-119.03, Y:-78.81, Z:58.00 [[ 9.94964581e-01 8.82859668e-02 4.74454393e-02 -1.19025637e+02] [-9.01325985e-02 9.95193058e-01 3.83000331e-02 -7.88148329e+01] [-4.38360163e-02 -4.23835571e-02 9.98139288e-01 5.79972324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.129259764 meters 0.37686349833745586 Centerline is valid? [False, False] Translation: X:-119.05, Y:-78.86, Z:58.00 [[ 9.94824827e-01 9.15892943e-02 4.39882307e-02 -1.19050815e+02] [-9.32098887e-02 9.94983811e-01 3.63198584e-02 -7.88563296e+01] [-4.04410672e-02 -4.02320350e-02 9.98371626e-01 5.79987791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.189259764 meters 0.3814804289689073 Centerline is valid? [False, False] Translation: X:-119.08, Y:-78.91, Z:58.01 [[ 9.94563708e-01 9.50182472e-02 4.25976996e-02 -1.19084769e+02] [-9.65722916e-02 9.94673301e-01 3.60391010e-02 -7.89097827e+01] [-3.89464222e-02 -3.99569394e-02 9.98442096e-01 5.80050898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.249259764 meters 0.38511735419649207 Centerline is valid? [False, False] Translation: X:-119.11, Y:-78.95, Z:58.01 [[ 9.94412595e-01 9.77410130e-02 3.98783845e-02 -1.19111531e+02] [-9.91837157e-02 9.94419188e-01 3.59592614e-02 -7.89530975e+01] [-3.61411361e-02 -3.97136288e-02 9.98557282e-01 5.80091906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.309259764 meters 0.3884277702276807 Centerline is valid? [False, False] Translation: X:-119.15, Y:-79.01, Z:58.01 [[ 9.94204829e-01 1.00190218e-01 3.89702251e-02 -1.19146792e+02] [-1.01535905e-01 9.94242684e-01 3.42336977e-02 -7.90096639e+01] [-3.53159795e-02 -3.79921846e-02 9.98653782e-01 5.80140364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.369259764 meters 0.39205635078514567 Centerline is valid? [False, False] Translation: X:-119.17, Y:-79.06, Z:58.02 [[ 9.94245581e-01 1.00957008e-01 3.58246775e-02 -1.19174596e+02] [-1.02113275e-01 9.94256001e-01 3.20606260e-02 -7.90568477e+01] [-3.23821557e-02 -3.55343108e-02 9.98843686e-01 5.80179576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.429259764 meters 0.39174907552428917 Centerline is valid? [False, False] Translation: X:-119.21, Y:-79.12, Z:58.02 [[ 9.94852467e-01 9.49280930e-02 3.54573719e-02 -1.19209851e+02] [-9.61731520e-02 9.94740877e-01 3.52322518e-02 -7.91160182e+01] [-3.19263668e-02 -3.84609399e-02 9.98749950e-01 5.80219119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.489259764 meters 0.3874306308655789 Centerline is valid? [False, False] Translation: X:-119.24, Y:-79.17, Z:58.03 [[ 9.96083177e-01 8.18425359e-02 3.34679525e-02 -1.19236959e+02] [-8.30935003e-02 9.95821921e-01 3.78704495e-02 -7.91682262e+01] [-3.02287071e-02 -4.05030870e-02 9.98722046e-01 5.80261401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.549259764 meters 0.3878399892215793 Centerline is valid? [False, False] Translation: X:-119.24, Y:-79.18, Z:58.03 [[ 9.96728600e-01 7.30615143e-02 3.45559349e-02 -1.19244310e+02] [-7.40901319e-02 9.96815558e-01 2.94855106e-02 -7.91803671e+01] [-3.22916375e-02 -3.19493055e-02 9.98967713e-01 5.80295146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.609259764 meters 0.3861359641775652 Centerline is valid? [False, False] Translation: X:-119.27, Y:-79.22, Z:58.03 [[ 9.97592221e-01 6.25717820e-02 2.99087311e-02 -1.19266414e+02] [-6.35460224e-02 9.97439248e-01 3.28153806e-02 -7.92229778e+01] [-2.77788254e-02 -3.46369493e-02 9.99013823e-01 5.80332684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.669259764 meters 0.3831193583188916 Centerline is valid? [False, False] Translation: X:-119.29, Y:-79.26, Z:58.04 [[ 9.97720063e-01 5.62216528e-02 3.73336421e-02 -1.19288360e+02] [-5.74989787e-02 9.97764068e-01 3.40695318e-02 -7.92557124e+01] [-3.53347212e-02 -3.61385017e-02 9.98721916e-01 5.80382166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72925976399995 meters 0.38733886837477827 Centerline is valid? [False, False] Translation: X:-119.31, Y:-79.30, Z:58.04 [[ 9.98633720e-01 4.12375960e-02 3.20960212e-02 -1.19308735e+02] [-4.23732950e-02 9.98469273e-01 3.55473571e-02 -7.92979176e+01] [-3.05810034e-02 -3.68588037e-02 9.98852457e-01 5.80440256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78925976399995 meters 0.3763824092677317 Centerline is valid? [False, False] Translation: X:-119.29, Y:-79.30, Z:58.05 [[ 9.99580285e-01 1.37158598e-02 2.55172221e-02 -1.19293222e+02] [-1.41246098e-02 9.99773691e-01 1.59079124e-02 -7.92962803e+01] [-2.52932567e-02 -1.62616564e-02 9.99547803e-01 5.80496513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84925976399995 meters 0.37175412362560295 Centerline is valid? [False, False] Translation: X:-119.30, Y:-79.33, Z:58.06 [[ 9.99868061e-01 6.82061649e-03 1.47424586e-02 -1.19302404e+02] [-7.00534667e-03 9.99897140e-01 1.25153802e-02 -7.93250784e+01] [-1.46555796e-02 -1.26170050e-02 9.99812995e-01 5.80561638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90925976399996 meters 0.3820530794611231 Centerline is valid? [False, False] Translation: X:-119.28, Y:-79.31, Z:58.06 [[ 9.99870356e-01 -1.47971508e-02 6.34937284e-03 -1.19281312e+02] [ 1.47889884e-02 9.99889752e-01 1.33057989e-03 -7.93132767e+01] [-6.36836162e-03 -1.23650659e-03 9.99978957e-01 5.80640623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96925976399996 meters 0.39065013042352503 Centerline is valid? [False, False] Translation: X:-119.27, Y:-79.31, Z:58.07 [[ 9.99390966e-01 -3.48870290e-02 7.69193007e-04 -1.19267127e+02] [ 3.48934817e-02 9.99327656e-01 -1.12552286e-02 -7.93087139e+01] [-3.76014359e-04 1.12752136e-02 9.99936362e-01 5.80700847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02925976399996 meters 0.38056677946559525 Centerline is valid? [False, False] Translation: X:-119.26, Y:-79.31, Z:58.08 [[ 9.98639874e-01 -5.18801905e-02 -5.18145371e-03 -1.19255327e+02] [ 5.17612233e-02 9.98440155e-01 -2.09292525e-02 -7.93112270e+01] [ 6.25918505e-03 2.06325877e-02 9.99767532e-01 5.80792921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08925976399996 meters 0.3955720522377339 Centerline is valid? [False, False] Translation: X:-119.26, Y:-79.32, Z:58.08 [[ 9.98610020e-01 -5.24126501e-02 -5.56263331e-03 -1.19257623e+02] [ 5.22900807e-02 9.98426168e-01 -2.02714967e-02 -7.93181079e+01] [ 6.61636152e-03 1.99524491e-02 9.99779037e-01 5.80832673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14925976399996 meters 0.3861409849105213 Centerline is valid? [False, False] Translation: X:-119.26, Y:-79.32, Z:58.08 [[ 9.98173287e-01 -6.02328230e-02 -4.70060071e-03 -1.19258570e+02] [ 6.00809111e-02 9.97811310e-01 -2.76201872e-02 -7.93216305e+01] [ 6.35395440e-03 2.72873167e-02 9.99607438e-01 5.80829916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20925976399997 meters 0.40475099784582597 Centerline is valid? [False, False] Translation: X:-119.26, Y:-79.33, Z:58.08 [[ 9.97704409e-01 -6.76077937e-02 -3.88572872e-03 -1.19259714e+02] [ 6.74366409e-02 9.97139870e-01 -3.41230034e-02 -7.93279657e+01] [ 6.18159601e-03 3.37826304e-02 9.99410087e-01 5.80833574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26925976399997 meters 0.43319694997179786 Centerline is valid? [False, False] Translation: X:-119.26, Y:-79.35, Z:58.09 [[ 9.97486071e-01 -6.83329253e-02 -1.87656312e-02 -1.19256039e+02] [ 6.76154045e-02 9.97042662e-01 -3.65251498e-02 -7.93452355e+01] [ 2.12060052e-02 3.51644824e-02 9.99156527e-01 5.80893494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32925976399997 meters 0.43503780152395854 Centerline is valid? [False, False] Translation: X:-119.27, Y:-79.38, Z:58.09 [[ 9.96933134e-01 -7.45406494e-02 -2.38331268e-02 -1.19273619e+02] [ 7.37626992e-02 9.96762083e-01 -3.20064655e-02 -7.93753286e+01] [ 2.61417399e-02 3.01503102e-02 9.99203467e-01 5.80878944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6934.16 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%| | 0/8812 [00:00