+ python -m lidar_slam --no-model /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/f6ff7049-3691-46cb-9346-0bb2680f4f62 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 0.000418555 Adjusted end_distance from 9.223372036854776e+18 to 66.294418555 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000418555 meters 0.1753324323258633 Centerline is valid? [0, False] SLAMing on 0.060418555 meters 0.18208461932984757 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-0.00 [[ 9.99977686e-01 6.52493903e-03 1.43267182e-03 -5.09866338e-02] [-6.51427413e-03 9.99951941e-01 -7.32664351e-03 -1.93094501e-02] [-1.48040887e-03 7.31714720e-03 9.99972133e-01 -1.16662970e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120418555 meters 0.16267473662783447 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.01, Z:0.02 [[ 9.99797914e-01 -1.90977915e-02 -6.27736758e-03 -1.59881764e-02] [ 1.91032590e-02 9.99817186e-01 8.12192307e-04 7.22198469e-03] [ 6.26070891e-03 -9.31946354e-04 9.99979967e-01 1.97618808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18041855499999998 meters 0.15615251143051145 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:0.04 [[ 0.99989937 -0.01383342 -0.00314512 -0.05806954] [ 0.01384116 0.9999012 0.00245324 -0.01664783] [ 0.00311088 -0.00249652 0.99999204 0.03980045] [ 0. 0. 0. 1. ]] SLAMing on 0.24041855499999998 meters 0.14686071228354838 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.03, Z:0.04 [[ 0.99989198 -0.00897085 -0.01164236 -0.1041207 ] [ 0.00892904 0.99995352 -0.00363803 -0.02943508] [ 0.01167445 0.00353368 0.99992561 0.04385639] [ 0. 0. 0. 1. ]] SLAMing on 0.300418555 meters 0.13536826413503736 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.03, Z:0.04 [[ 0.99989813 0.01392674 0.00312521 -0.175056 ] [-0.013919 0.99990003 -0.00248628 -0.02986411] [-0.00315952 0.00244253 0.99999203 0.04056116] [ 0. 0. 0. 1. ]] SLAMing on 0.360418555 meters 0.13992876854271408 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.03, Z:0.03 [[ 0.99950666 0.02996809 0.0093991 -0.22357069] [-0.029927 0.99954204 -0.00448261 -0.03208161] [-0.00952913 0.00419911 0.99994578 0.03335108] [ 0. 0. 0. 1. ]] SLAMing on 0.42041855499999997 meters 0.1585524231159293 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.05, Z:0.04 [[ 0.99986912 0.01509096 0.00583127 -0.28129992] [-0.01507882 0.99988406 -0.00211955 -0.0491843 ] [-0.00586258 0.00203134 0.99998075 0.03563861] [ 0. 0. 0. 1. ]] SLAMing on 0.48041855499999997 meters 0.1355064118041214 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.07, Z:0.05 [[ 9.99986831e-01 9.30292215e-04 5.04696920e-03 -3.30939447e-01] [-8.98643471e-04 9.99979943e-01 -6.26948912e-03 -6.80426371e-02] [-5.05270042e-03 6.26487114e-03 9.99967610e-01 5.17307814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.540418555 meters 0.13404398740831674 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.07, Z:0.05 [[ 0.99991102 0.00395564 0.01274014 -0.39097803] [-0.00392241 0.99998884 -0.00263166 -0.07420176] [-0.01275041 0.00258145 0.99991538 0.05324045] [ 0. 0. 0. 1. ]] SLAMing on 0.600418555 meters 0.13587687519417102 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.02, Z:0.04 [[ 0.999782 0.00532415 0.02018922 -0.36714433] [-0.00513785 0.99994385 -0.0092683 -0.01988839] [-0.02023743 0.00916255 0.99975322 0.04266426] [ 0. 0. 0. 1. ]] SLAMing on 0.6604185549999999 meters 0.14417273286852508 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.01, Z:0.05 [[ 0.99995317 -0.00122107 0.00959995 -0.38808668] [ 0.00130174 0.99996385 -0.00840204 -0.0109768 ] [-0.00958934 0.00841415 0.99991862 0.05143728] [ 0. 0. 0. 1. ]] SLAMing on 0.720418555 meters 0.11627430449951166 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.00, Z:0.07 [[ 0.99971436 -0.02186299 0.00965402 -0.42661169] [ 0.02188048 0.99975913 -0.00171031 -0.00231102] [-0.0096143 0.00192106 0.99995194 0.06503829] [ 0. 0. 0. 1. ]] SLAMing on 0.780418555 meters 0.11099645390297395 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.01, Z:0.06 [[ 0.99967538 0.00414495 0.02513881 -0.42602748] [-0.00399026 0.99997282 -0.0062003 -0.00610919] [-0.02516383 0.00609797 0.99966474 0.06203966] [ 0. 0. 0. 1. ]] SLAMing on 0.840418555 meters 0.13751727595194888 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.00, Z:0.06 [[ 0.99947242 0.02213121 0.02377146 -0.44307242] [-0.0221976 0.99975039 0.0025327 -0.00453894] [-0.02370947 -0.00305903 0.99971421 0.06182797] [ 0. 0. 0. 1. ]] SLAMing on 0.9004185549999999 meters 0.11691286892641649 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.00, Z:0.07 [[ 9.99204585e-01 3.27892523e-02 2.26949842e-02 -4.64722021e-01] [-3.28964880e-02 9.99449220e-01 4.36788525e-03 -8.67561000e-04] [-2.25392646e-02 -5.11099625e-03 9.99732894e-01 6.90493253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.960418555 meters 0.13078412860477998 Centerline is valid? [False, False] Translation: X:-0.49, Y:0.00, Z:0.07 [[ 0.99927054 0.02586767 0.02809375 -0.48758782] [-0.02609974 0.99962793 0.00792538 0.00420914] [-0.02787828 -0.00865283 0.99957387 0.07079478] [ 0. 0. 0. 1. ]] SLAMing on 1.020418555 meters 0.0888589995268095 Centerline is valid? [False, True] Translation: X:-0.54, Y:0.01, Z:0.08 [[ 0.998976 0.00750862 0.04461584 -0.54264909] [-0.00810368 0.99988041 0.01317169 0.00994043] [-0.04451161 -0.01351975 0.99891738 0.0793395 ] [ 0. 0. 0. 1. ]] SLAMing on 1.080418555 meters 0.12427188253575133 Centerline is valid? [True, False] Translation: X:-0.58, Y:0.01, Z:0.08 [[ 0.99930575 -0.02372226 0.02872771 -0.57689217] [ 0.02348192 0.99968662 0.00867477 0.00956804] [-0.02892449 -0.00799416 0.99954963 0.08314453] [ 0. 0. 0. 1. ]] SLAMing on 1.140418555 meters 0.10762772604022393 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.08 [[ 0.99938655 -0.01971237 0.02894747 -0.576765 ] [ 0.01934025 0.99972741 0.01307921 0.00780469] [-0.0291974 -0.01251134 0.99949536 0.08225856] [ 0. 0. 0. 1. ]] SLAMing on 1.200418555 meters 0.1051702039611745 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:0.09 [[ 0.99967413 -0.00635353 0.02472392 -0.57719849] [ 0.00616947 0.99995274 0.00751403 0.00415 ] [-0.0247705 -0.00735905 0.99966608 0.08599239] [ 0. 0. 0. 1. ]] SLAMing on 1.260418555 meters 0.10811571842101407 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:0.09 [[ 0.9998742 0.00474351 0.01513534 -0.57962076] [-0.00478766 0.99998439 0.00288217 0.00298551] [-0.01512143 -0.00295427 0.9998813 0.08972076] [ 0. 0. 0. 1. ]] SLAMing on 1.3204185549999998 meters 0.1324862811773945 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:0.09 [[ 9.99890098e-01 5.51470925e-04 1.48151476e-02 -5.79825966e-01] [-5.29758255e-04 9.99998780e-01 -1.46945680e-03 3.18674783e-03] [-1.48159399e-02 1.46144685e-03 9.99889170e-01 9.05709344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3804185549999999 meters 0.11963493160210915 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.00, Z:0.09 [[ 9.99890311e-01 2.50346688e-05 1.48109623e-02 -5.77735339e-01] [ 7.42518315e-07 9.99998485e-01 -1.74040465e-03 7.18889080e-04] [-1.48109835e-02 1.74022475e-03 9.99888797e-01 8.76098504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440418555 meters 0.15003891147206838 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.01, Z:0.09 [[ 0.99906508 -0.04238139 -0.00853111 -0.57776066] [ 0.04239393 0.99910014 0.0012941 0.00736298] [ 0.00846859 -0.00165456 0.99996277 0.08988241] [ 0. 0. 0. 1. ]] SLAMing on 1.500418555 meters 0.08112625609789595 Centerline is valid? [False, True] Translation: X:-0.68, Y:0.09, Z:0.09 [[ 0.99571443 0.0202185 0.09024401 -0.67758181] [-0.01767874 0.99942728 -0.02885443 0.09055617] [-0.09077572 0.02713537 0.9955016 0.08839674] [ 0. 0. 0. 1. ]] SLAMing on 1.560418555 meters 0.09689646512977676 Centerline is valid? [True, True] Translation: X:-0.79, Y:0.22, Z:0.09 [[ 0.99910551 0.02945033 0.03034576 -0.79274143] [-0.02981928 0.99948591 0.01177814 0.21950261] [-0.02998329 -0.0126725 0.99947006 0.08932052] [ 0. 0. 0. 1. ]] SLAMing on 1.6204185549999999 meters 0.09337792157030417 Centerline is valid? [True, True] Translation: X:-0.84, Y:0.19, Z:0.09 [[ 0.99902241 0.02278508 0.03788227 -0.8445967 ] [-0.02335626 0.99961906 0.01470427 0.18528269] [-0.0375328 -0.01557469 0.99917402 0.09422166] [ 0. 0. 0. 1. ]] SLAMing on 1.680418555 meters 0.0934718301849559 Centerline is valid? [True, True] Translation: X:-0.90, Y:0.17, Z:0.09 [[ 0.99895653 0.02457631 0.03849491 -0.902903 ] [-0.02516725 0.99957158 0.01494233 0.16749253] [-0.03811119 -0.01589555 0.99914707 0.09489684] [ 0. 0. 0. 1. ]] SLAMing on 1.740418555 meters 0.11109256260474418 Centerline is valid? [True, False] Translation: X:-0.90, Y:0.17, Z:0.10 [[ 0.99942465 0.0097985 0.03247099 -0.90203598] [-0.01038624 0.99978437 0.01798153 0.16859418] [-0.03228779 -0.01830844 0.99931091 0.0954575 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8004185549999998 meters 0.11790926520380976 Centerline is valid? [False, False] Translation: X:-0.90, Y:0.19, Z:0.11 [[ 0.99871494 -0.05013781 0.00739367 -0.9041854 ] [ 0.05001843 0.9986275 0.01553286 0.19212973] [-0.0081623 -0.01514308 0.99985202 0.11319063] [ 0. 0. 0. 1. ]] SLAMing on 1.8604185549999999 meters 0.1180115882901938 Centerline is valid? [False, False] Translation: X:-0.92, Y:0.18, Z:0.11 [[ 0.9981098 -0.05030853 0.03529693 -0.92094928] [ 0.0491123 0.99821519 0.03397664 0.18176776] [-0.03694325 -0.03217891 0.99879914 0.10838985] [ 0. 0. 0. 1. ]] SLAMing on 1.920418555 meters 0.12473369438978985 Centerline is valid? [False, False] Translation: X:-0.94, Y:0.15, Z:0.11 [[ 0.99886222 0.01698473 0.04456221 -0.93556758] [-0.01753704 0.99977381 0.01203259 0.14607024] [-0.04434776 -0.01280039 0.99893414 0.10515705] [ 0. 0. 0. 1. ]] SLAMing on 1.980418555 meters 0.0875216741315519 Centerline is valid? [False, True] Translation: X:-0.96, Y:0.16, Z:0.12 [[ 0.99870762 0.03221084 0.03931359 -0.96277411] [-0.03208293 0.99947768 -0.00388038 0.15850948] [-0.03941805 0.00261407 0.99921939 0.12328732] [ 0. 0. 0. 1. ]] SLAMing on 2.040418555 meters 0.08210810581805526 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.16, Z:0.14 [[ 0.99853859 0.05096087 0.01799115 -1.02592193] [-0.05108949 0.99867118 0.00676266 0.1572537 ] [-0.01762262 -0.00767194 0.99981528 0.14181846] [ 0. 0. 0. 1. ]] SLAMing on 2.100418555 meters 0.087767248976113 Centerline is valid? [True, True] Translation: X:-1.09, Y:0.15, Z:0.14 [[ 0.99897339 0.04507538 0.00451512 -1.08769724] [-0.04508343 0.99898178 0.00169708 0.14780587] [-0.00443403 -0.0018989 0.99998837 0.13530187] [ 0. 0. 0. 1. ]] SLAMing on 2.160418555 meters 0.11454574087673741 Centerline is valid? [True, False] Translation: X:-1.10, Y:0.15, Z:0.14 [[ 0.99939669 0.03446481 -0.00429293 -1.10201151] [-0.03447479 0.99940298 -0.00227242 0.15455728] [ 0.00421204 0.00241905 0.9999882 0.13595496] [ 0. 0. 0. 1. ]] SLAMing on 2.2204185549999997 meters 0.0971986651756461 Centerline is valid? [False, True] Translation: X:-1.12, Y:0.16, Z:0.14 [[ 0.99940607 0.03343878 -0.00832812 -1.12294694] [-0.03354577 0.99935189 -0.01305715 0.16049366] [ 0.0078861 0.01332876 0.99988007 0.1414124 ] [ 0. 0. 0. 1. ]] SLAMing on 2.280418555 meters 0.11395415502531837 Centerline is valid? [True, False] Translation: X:-1.14, Y:0.19, Z:0.15 [[ 0.99973785 0.01577887 -0.01659065 -1.14327159] [-0.01634385 0.99927144 -0.03448873 0.19406435] [ 0.01603437 0.03475084 0.99926737 0.14507157] [ 0. 0. 0. 1. ]] SLAMing on 2.340418555 meters 0.1287810583435327 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.24, Z:0.14 [[ 0.99944445 -0.00351506 -0.03314267 -1.14663542] [ 0.00176122 0.9986036 -0.05279913 0.23635153] [ 0.03328198 0.05271142 0.99805502 0.14096 ] [ 0. 0. 0. 1. ]] SLAMing on 2.400418555 meters 0.14531063191573054 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.31, Z:0.14 [[ 0.9964661 -0.0050677 -0.08384292 -1.06559697] [-0.00162115 0.99683207 -0.07951851 0.30780109] [ 0.08398029 0.07937342 0.99330115 0.14171752] [ 0. 0. 0. 1. ]] SLAMing on 2.460418555 meters 0.23241709837725508 Centerline is valid? [False, False] Translation: X:-1.00, Y:0.39, Z:0.15 [[ 0.98673475 -0.0345804 -0.15861503 -0.99627542] [ 0.0161215 0.9930929 -0.11621785 0.38872075] [ 0.16153832 0.11211908 0.98047676 0.15287902] [ 0. 0. 0. 1. ]] SLAMing on 2.520418555 meters 0.15495298361465715 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.31, Z:0.15 [[ 0.99648447 -0.05073903 -0.06666528 -1.08710822] [ 0.05046251 0.99870896 -0.00582643 0.31224397] [ 0.06687484 0.00244185 0.99775838 0.14944076] [ 0. 0. 0. 1. ]] SLAMing on 2.580418555 meters 0.12510214042129056 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.25, Z:0.11 [[ 9.98643457e-01 -5.20646546e-02 -7.19843056e-04 -1.10674562e+00] [ 5.20335684e-02 9.97342019e-01 5.10039657e-02 2.52625800e-01] [-1.93757413e-03 -5.09722326e-02 9.98698191e-01 1.13511807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6404185549999997 meters 0.114183076544077 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.22, Z:0.11 [[ 0.99902639 -0.03268059 0.02963522 -1.12296116] [ 0.03111272 0.99816717 0.05190658 0.2185146 ] [-0.03127724 -0.05093401 0.99821213 0.10751349] [ 0. 0. 0. 1. ]] SLAMing on 2.7004185549999997 meters 0.10393656844590904 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.24, Z:0.13 [[ 0.99860668 -0.02854775 0.04438153 -1.15527877] [ 0.02774474 0.99944188 0.01860542 0.24452082] [-0.0448879 -0.01734814 0.99884139 0.13050749] [ 0. 0. 0. 1. ]] SLAMing on 2.7604185549999998 meters 0.09160718754834696 Centerline is valid? [False, True] Translation: X:-1.20, Y:0.23, Z:0.11 [[ 0.99891498 -0.02067685 0.04172932 -1.19719158] [ 0.0202709 0.99974322 0.01012806 0.22925173] [-0.04192802 -0.00927118 0.99907762 0.10507476] [ 0. 0. 0. 1. ]] SLAMing on 2.820418555 meters 0.10518357950251019 Centerline is valid? [True, False] Translation: X:-1.15, Y:0.23, Z:0.10 [[ 0.99907241 -0.00542922 0.04271816 -1.15435014] [ 0.00514059 0.99996323 0.0068635 0.22695355] [-0.04275385 -0.00663754 0.99906359 0.09736317] [ 0. 0. 0. 1. ]] SLAMing on 2.880418555 meters 0.09730351259600484 Centerline is valid? [False, True] Translation: X:-1.19, Y:0.21, Z:0.10 [[ 0.99935599 -0.00624048 0.03533645 -1.18693717] [ 0.00607797 0.99997046 0.00470443 0.2113139 ] [-0.03536477 -0.00448663 0.9993644 0.10227717] [ 0. 0. 0. 1. ]] SLAMing on 2.940418555 meters 0.10602725357408531 Centerline is valid? [True, False] Translation: X:-1.21, Y:0.18, Z:0.11 [[ 9.99889367e-01 -2.30619487e-03 1.46947628e-02 -1.20855087e+00] [ 2.29871232e-03 9.99997220e-01 5.26069042e-04 1.84403547e-01] [-1.46959351e-02 -4.92231809e-04 9.99891888e-01 1.10258619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000418555 meters 0.12261014915498701 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.17, Z:0.11 [[ 0.99953464 0.02227271 0.02084304 -1.24590904] [-0.02251995 0.99967789 0.01170316 0.16854755] [-0.02057566 -0.0121671 0.99971426 0.1083031 ] [ 0. 0. 0. 1. ]] SLAMing on 3.060418555 meters 0.10873006044881502 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.19, Z:0.11 [[ 0.99947323 0.02417476 0.02165301 -1.24826046] [-0.02440662 0.99964688 0.01050841 0.18900337] [-0.02139132 -0.01103135 0.99971032 0.10913827] [ 0. 0. 0. 1. ]] SLAMing on 3.120418555 meters 0.12130355928467441 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.23, Z:0.11 [[ 0.99972497 -0.0132918 0.01932129 -1.2138087 ] [ 0.01306191 0.99984296 0.01197651 0.23454815] [-0.01947744 -0.01172084 0.99974159 0.10717329] [ 0. 0. 0. 1. ]] SLAMing on 3.1804185549999997 meters 0.12188909712406082 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.25, Z:0.12 [[ 0.9996986 -0.02051382 0.01348675 -1.19699673] [ 0.02036121 0.99972818 0.01135723 0.25091459] [-0.01371606 -0.0110792 0.99984455 0.11728357] [ 0. 0. 0. 1. ]] SLAMing on 3.2404185549999998 meters 0.13397252477844296 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.27, Z:0.14 [[ 0.99980492 -0.01716869 0.00976535 -1.20420589] [ 0.01709454 0.99982479 0.00762648 0.265037 ] [-0.00989457 -0.00745806 0.99992323 0.13741422] [ 0. 0. 0. 1. ]] SLAMing on 3.300418555 meters 0.10689227273865307 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.25, Z:0.15 [[ 0.99985708 0.00310878 0.01661803 -1.25761775] [-0.00303185 0.99998458 -0.00465266 0.25359331] [-0.01663224 0.00460161 0.99985109 0.14709082] [ 0. 0. 0. 1. ]] SLAMing on 3.360418555 meters 0.11568425646506535 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.26, Z:0.16 [[ 0.99987395 -0.01350451 0.00834973 -1.28691815] [ 0.01359823 0.99984401 -0.01127103 0.25723356] [-0.00819622 0.01138316 0.99990162 0.15701099] [ 0. 0. 0. 1. ]] SLAMing on 3.420418555 meters 0.11414464639642537 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.27, Z:0.17 [[ 0.99942377 -0.03377254 -0.00339715 -1.2712636 ] [ 0.03375958 0.99942275 -0.00380304 0.27141399] [ 0.00352363 0.00368616 0.999987 0.17157958] [ 0. 0. 0. 1. ]] SLAMing on 3.480418555 meters 0.1145017957451577 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.27, Z:0.18 [[ 9.99718892e-01 -2.36865473e-02 1.04153214e-03 -1.28702590e+00] [ 2.36959660e-02 9.99666953e-01 -1.02217838e-02 2.67522318e-01] [-7.99066492e-04 1.02435905e-02 9.99947214e-01 1.83738339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540418555 meters 0.1126950436378213 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.27, Z:0.19 [[ 9.99744132e-01 9.04771884e-04 2.26020522e-02 -1.34165611e+00] [-4.26811182e-04 9.99776378e-01 -2.11426634e-02 2.74399735e-01] [-2.26161272e-02 2.11276069e-02 9.99520953e-01 1.93180769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6004185549999996 meters 0.08671142771050927 Centerline is valid? [False, True] Translation: X:-1.40, Y:0.29, Z:0.21 [[ 0.99937749 0.01395266 0.03240289 -1.40466707] [-0.01300654 0.99948814 -0.02922825 0.29310612] [-0.03279411 0.0287886 0.99904743 0.21069288] [ 0. 0. 0. 1. ]] SLAMing on 3.6604185549999997 meters 0.08134557683573548 Centerline is valid? [True, True] Translation: X:-1.48, Y:0.34, Z:0.22 [[ 0.99928084 0.01991855 0.0322653 -1.47940254] [-0.02020612 0.99975875 0.00861125 0.33868286] [-0.03208599 -0.00925702 0.99944224 0.22486331] [ 0. 0. 0. 1. ]] SLAMing on 3.7204185549999997 meters 0.07774799659883694 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.34, Z:0.23 [[ 0.99873511 0.03231005 0.03852581 -1.54285936] [-0.03272857 0.99941138 0.01028252 0.3409165 ] [-0.0381709 -0.01153041 0.9992047 0.23002243] [ 0. 0. 0. 1. ]] SLAMing on 3.780418555 meters 0.10964149856323521 Centerline is valid? [True, False] Translation: X:-1.58, Y:0.35, Z:0.22 [[ 0.99783835 0.02724295 0.05980342 -1.58108525] [-0.0276118 0.99960441 0.00534977 0.35114909] [-0.05963402 -0.00698949 0.99819584 0.22499659] [ 0. 0. 0. 1. ]] SLAMing on 3.840418555 meters 0.08469117921274402 Centerline is valid? [False, True] Translation: X:-1.54, Y:0.38, Z:0.22 [[ 0.99848384 0.0079975 0.05446149 -1.53940836] [-0.00819147 0.99996087 0.00333923 0.38481865] [-0.05443266 -0.00378029 0.99851029 0.22094009] [ 0. 0. 0. 1. ]] SLAMing on 3.900418555 meters 0.08755621941433749 Centerline is valid? [True, True] Translation: X:-1.61, Y:0.39, Z:0.22 [[ 0.99851055 -0.0176392 0.05162887 -1.6052111 ] [ 0.01688517 0.99974484 0.01500478 0.39336344] [-0.05188037 -0.01411067 0.99855361 0.21937163] [ 0. 0. 0. 1. ]] SLAMing on 3.960418555 meters 0.08665949549514332 Centerline is valid? [True, True] Translation: X:-1.67, Y:0.38, Z:0.22 [[ 0.9982805 -0.02590946 0.05258089 -1.66518454] [ 0.02513791 0.99956718 0.01528224 0.38086315] [-0.05295409 -0.01393418 0.99849973 0.22071338] [ 0. 0. 0. 1. ]] SLAMing on 4.020418555 meters 0.07564340789248775 Centerline is valid? [True, True] Translation: X:-1.72, Y:0.35, Z:0.22 [[ 9.98270737e-01 -2.69856143e-03 5.87218333e-02 -1.71942809e+00] [ 1.69884349e-03 9.99852889e-01 1.70679056e-02 3.54751413e-01] [-5.87592535e-02 -1.69386315e-02 9.98128465e-01 2.22431764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0804185550000005 meters 0.08361855302043618 Centerline is valid? [True, True] Translation: X:-1.79, Y:0.36, Z:0.23 [[ 0.99819309 0.01436043 0.05834672 -1.78513209] [-0.01537399 0.99973797 0.01695981 0.36364667] [-0.05808788 -0.01782619 0.99815231 0.230432 ] [ 0. 0. 0. 1. ]] SLAMing on 4.140418555 meters 0.0661607358207316 Centerline is valid? [True, True] Translation: X:-1.83, Y:0.31, Z:0.23 [[ 0.99786183 0.01744937 0.06298637 -1.83352085] [-0.01863651 0.99965867 0.01830933 0.31428868] [-0.06264539 -0.01944403 0.99784642 0.22773028] [ 0. 0. 0. 1. ]] SLAMing on 4.200418555000001 meters 0.07835380371456022 Centerline is valid? [True, True] Translation: X:-1.90, Y:0.33, Z:0.24 [[ 9.98211555e-01 3.16476167e-04 5.97795238e-02 -1.90085777e+00] [-1.35772170e-03 9.99848064e-01 1.73782817e-02 3.29181717e-01] [-5.97649414e-02 -1.74283656e-02 9.98060321e-01 2.37084648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260418555 meters 0.08092761832693757 Centerline is valid? [True, True] Translation: X:-1.96, Y:0.33, Z:0.25 [[ 9.97916525e-01 -1.00863906e-03 6.45103987e-02 -1.96393499e+00] [-2.02408545e-04 9.99823927e-01 1.87636152e-02 3.25317982e-01] [-6.45179659e-02 -1.87375792e-02 9.97740615e-01 2.45255869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320418555000001 meters 0.0735156694423854 Centerline is valid? [True, True] Translation: X:-2.02, Y:0.31, Z:0.25 [[ 0.99776087 0.00864049 0.06632191 -2.02129708] [-0.00994034 0.99976443 0.01929419 0.30663674] [-0.06613958 -0.01991025 0.99761172 0.2475894 ] [ 0. 0. 0. 1. ]] SLAMing on 4.380418555 meters 0.06284028442470856 Centerline is valid? [True, True] Translation: X:-2.07, Y:0.28, Z:0.25 [[ 0.99752388 0.01650514 0.06836438 -2.07442008] [-0.01790329 0.99964187 0.01988957 0.276159 ] [-0.06801162 -0.02106427 0.99746214 0.24559143] [ 0. 0. 0. 1. ]] SLAMing on 4.440418555 meters 0.07151403497178267 Centerline is valid? [True, True] Translation: X:-2.14, Y:0.29, Z:0.26 [[ 0.99733105 0.01750397 0.07088293 -2.14216112] [-0.0190097 0.99960657 0.02062383 0.29060903] [-0.07049404 -0.02191625 0.99727141 0.25863609] [ 0. 0. 0. 1. ]] SLAMing on 4.500418555 meters 0.0798464430859261 Centerline is valid? [True, True] Translation: X:-2.21, Y:0.31, Z:0.27 [[ 0.99711966 0.01656325 0.07401385 -2.21225365] [-0.01820391 0.99960208 0.02154756 0.30781528] [-0.0736275 -0.02283283 0.9970244 0.26967739] [ 0. 0. 0. 1. ]] SLAMing on 4.560418555 meters 0.06268028494841375 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.27, Z:0.27 [[ 0.99684203 0.0189969 0.07710432 -2.26388095] [-0.02078475 0.99953185 0.02245145 0.27092643] [-0.07664171 -0.02398315 0.99677021 0.26899156] [ 0. 0. 0. 1. ]] SLAMing on 4.6204185550000005 meters 0.0646785616778365 Centerline is valid? [True, True] Translation: X:-2.33, Y:0.28, Z:0.27 [[ 0.99673175 0.02040437 0.07816316 -2.32860504] [-0.02224586 0.99949338 0.02276171 0.27544799] [-0.07765913 -0.02442612 0.9966807 0.2731775 ] [ 0. 0. 0. 1. ]] SLAMing on 4.680418555 meters 0.06989917444675335 Centerline is valid? [True, True] Translation: X:-2.40, Y:0.29, Z:0.28 [[ 0.9970512 0.00529524 0.07655629 -2.39503947] [-0.00702138 0.99972676 0.02229582 0.28749486] [-0.07641731 -0.0227676 0.99681595 0.28095785] [ 0. 0. 0. 1. ]] SLAMing on 4.740418555000001 meters 0.0682934970431674 Centerline is valid? [True, True] Translation: X:-2.45, Y:0.27, Z:0.28 [[ 9.96903370e-01 -3.50271981e-03 7.85582727e-02 -2.45402847e+00] [ 1.70961864e-03 9.99736739e-01 2.28807614e-02 2.70340936e-01] [-7.86177363e-02 -2.26756035e-02 9.96646913e-01 2.81825366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.800418555 meters 0.07668793001719684 Centerline is valid? [True, True] Translation: X:-2.52, Y:0.28, Z:0.29 [[ 9.96652215e-01 -2.45239109e-03 8.17211586e-02 -2.52047581e+00] [ 5.08112787e-04 9.99716517e-01 2.38039227e-02 2.81103969e-01] [-8.17563686e-02 -2.36827087e-02 9.96370928e-01 2.90500067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860418555 meters 0.06286095249487483 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.24, Z:0.29 [[ 9.96599372e-01 -2.74133262e-03 8.23539764e-02 -2.57319302e+00] [ 7.66494285e-04 9.99711618e-01 2.40019297e-02 2.42930124e-01] [-8.23960243e-02 -2.38571842e-02 9.96314072e-01 2.92983854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.920418555 meters 0.06654706460852278 Centerline is valid? [True, True] Translation: X:-2.64, Y:0.24, Z:0.30 [[ 0.99643684 -0.01000839 0.08374644 -2.63751296] [ 0.00798911 0.99967005 0.02441233 0.24481357] [-0.08396313 -0.02365629 0.99618802 0.30153066] [ 0. 0. 0. 1. ]] SLAMing on 4.980418555 meters 0.07428108612138339 Centerline is valid? [True, True] Translation: X:-2.70, Y:0.24, Z:0.31 [[ 0.99634628 -0.01914552 0.08323178 -2.69888417] [ 0.01718025 0.99955794 0.02426443 0.23940285] [-0.08365954 -0.02274583 0.99623477 0.31267866] [ 0. 0. 0. 1. ]] SLAMing on 5.0404185550000005 meters 0.07098809532306839 Centerline is valid? [True, True] Translation: X:-2.75, Y:0.21, Z:0.31 [[ 0.99652924 -0.01901407 0.08104283 -2.75358878] [ 0.01715051 0.99957367 0.02362913 0.21113703] [-0.08145757 -0.0221572 0.99643049 0.31210928] [ 0. 0. 0. 1. ]] SLAMing on 5.100418555 meters 0.06933499632643629 Centerline is valid? [True, True] Translation: X:-2.81, Y:0.19, Z:0.32 [[ 0.99639214 -0.01808565 0.08291935 -2.81148355] [ 0.01613139 0.99957752 0.02417784 0.1930089 ] [-0.08332158 -0.022753 0.99626292 0.31527746] [ 0. 0. 0. 1. ]] SLAMing on 5.160418555000001 meters 0.06583595922623436 Centerline is valid? [True, True] Translation: X:-2.87, Y:0.18, Z:0.32 [[ 0.99620856 -0.01306856 0.08600999 -2.87110498] [ 0.01094795 0.99962547 0.02508101 0.17973868] [-0.08630555 -0.02404428 0.99597853 0.31774942] [ 0. 0. 0. 1. ]] SLAMing on 5.220418555 meters 0.06886202050284226 Centerline is valid? [True, True] Translation: X:-2.94, Y:0.19, Z:0.33 [[ 0.99588944 -0.01943626 0.08846726 -2.93778136] [ 0.01721523 0.99951889 0.02579988 0.19168046] [-0.08892615 -0.02417085 0.9957449 0.32631177] [ 0. 0. 0. 1. ]] SLAMing on 5.280418555 meters 0.06477236953646463 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.18, Z:0.33 [[ 0.99537333 -0.02776297 0.09198454 -2.99858472] [ 0.02539374 0.99931747 0.02682805 0.1821794 ] [-0.09266659 -0.0243681 0.99539896 0.33405185] [ 0. 0. 0. 1. ]] SLAMing on 5.340418555 meters 0.07160744747438141 Centerline is valid? [True, True] Translation: X:-3.07, Y:0.20, Z:0.34 [[ 0.99535096 -0.03410064 0.09007559 -3.06708004] [ 0.03185303 0.99914718 0.02627369 0.19833431] [-0.09089472 -0.02328236 0.99558831 0.34452564] [ 0. 0. 0. 1. ]] SLAMing on 5.400418555 meters 0.0647091146314415 Centerline is valid? [True, True] Translation: X:-3.12, Y:0.17, Z:0.34 [[ 0.99529191 -0.04334258 0.08669163 -3.12133646] [ 0.04129379 0.99882695 0.0252891 0.16981674] [-0.08768604 -0.02159021 0.99591416 0.33885584] [ 0. 0. 0. 1. ]] SLAMing on 5.460418555 meters 0.06776264068698501 Centerline is valid? [True, True] Translation: X:-3.18, Y:0.16, Z:0.34 [[ 0.99536087 -0.04519402 0.08493674 -3.18108727] [ 0.04323376 0.99875764 0.02477931 0.15581312] [-0.08595109 -0.02099222 0.99607818 0.34291889] [ 0. 0. 0. 1. ]] SLAMing on 5.520418555 meters 0.06691505962600483 Centerline is valid? [True, True] Translation: X:-3.24, Y:0.13, Z:0.34 [[ 0.99541613 -0.04313821 0.08535702 -3.23861862] [ 0.0411512 0.99884252 0.02490381 0.13456858] [-0.08633253 -0.02127711 0.99603915 0.33859656] [ 0. 0. 0. 1. ]] SLAMing on 5.5804185550000005 meters 0.0784389991906936 Centerline is valid? [True, True] Translation: X:-3.31, Y:0.15, Z:0.35 [[ 0.9951084 -0.04843875 0.0860985 -3.30673023] [ 0.04643536 0.99860534 0.02512217 0.15046532] [-0.08719531 -0.02100127 0.99596984 0.3506652 ] [ 0. 0. 0. 1. ]] SLAMing on 5.640418555 meters 0.07036486292910923 Centerline is valid? [True, True] Translation: X:-3.36, Y:0.11, Z:0.35 [[ 0.99449377 -0.06344688 0.08340649 -3.35813715] [ 0.06161677 0.99780309 0.0243386 0.11160468] [-0.08476746 -0.01906535 0.99621834 0.34549512] [ 0. 0. 0. 1. ]] SLAMing on 5.700418555000001 meters 0.06887212162634813 Centerline is valid? [True, True] Translation: X:-3.41, Y:0.08, Z:0.34 [[ 0.99273032 -0.09610913 0.07245378 -3.41313967] [ 0.09481188 0.99527064 0.02114397 0.08335121] [-0.07414325 -0.01412078 0.99714762 0.34354216] [ 0. 0. 0. 1. ]] SLAMing on 5.760418555 meters 0.06517268386064656 Centerline is valid? [True, True] Translation: X:-3.47, Y:0.06, Z:0.34 [[ 0.99226075 -0.10295223 0.06942218 -3.46745252] [ 0.10177743 0.99460083 0.02026186 0.0569353 ] [-0.07113336 -0.01303944 0.99738158 0.34321239] [ 0. 0. 0. 1. ]] SLAMing on 5.820418555 meters 0.06557887786645782 Centerline is valid? [True, True] Translation: X:-3.53, Y:0.05, Z:0.34 [[ 0.99400279 -0.07989163 0.07467111 -3.52871258] [ 0.07846938 0.99667825 0.02179512 0.05114685] [-0.07616432 -0.01580502 0.99697001 0.34383613] [ 0. 0. 0. 1. ]] SLAMing on 5.880418555 meters 0.06638206971122107 Centerline is valid? [True, True] Translation: X:-3.59, Y:0.04, Z:0.34 [[ 0.994972 -0.06663619 0.07476851 -3.58970533] [ 0.06517451 0.99763519 0.02182457 0.04326854] [-0.076046 -0.01684183 0.99696206 0.33930134] [ 0. 0. 0. 1. ]] SLAMing on 5.940418555 meters 0.060994103574356175 Centerline is valid? [True, True] Translation: X:-3.65, Y:0.03, Z:0.33 [[ 0.99394595 -0.08069775 0.07456082 -3.64942858] [ 0.07928168 0.99661461 0.02176548 0.03467474] [-0.07606483 -0.0157224 0.99697891 0.33392476] [ 0. 0. 0. 1. ]] SLAMing on 6.000418555 meters 0.07023454510221304 Centerline is valid? [True, True] Translation: X:-3.72, Y:0.05, Z:0.33 [[ 0.99369139 -0.08665011 0.07119821 -3.71654364] [ 0.08537369 0.99613218 0.02078507 0.04648551] [-0.07272386 -0.01457549 0.9972456 0.33287062] [ 0. 0. 0. 1. ]] SLAMing on 6.060418555 meters 0.06325042321946632 Centerline is valid? [True, True] Translation: X:-3.77, Y:0.02, Z:0.32 [[ 0.99358036 -0.09149094 0.06653935 -3.76967085] [ 0.09038666 0.99571724 0.01942746 0.01556199] [-0.06803181 -0.01328847 0.99759465 0.31510902] [ 0. 0. 0. 1. ]] SLAMing on 6.1204185550000005 meters 0.06272451489496136 Centerline is valid? [True, True] Translation: X:-3.83, Y:-0.01, Z:0.31 [[ 0.99363876 -0.0950624 0.0603751 -3.82630195] [ 0.09415984 0.995401 0.01762886 -0.00801179] [-0.06177328 -0.01183181 0.99802008 0.30633878] [ 0. 0. 0. 1. ]] SLAMing on 6.180418555 meters 0.07425969762482021 Centerline is valid? [True, True] Translation: X:-3.89, Y:-0.02, Z:0.30 [[ 0.9955074 -0.07445495 0.0584933 -3.88731451] [ 0.07357375 0.99714351 0.01707994 -0.01542544] [-0.05959791 -0.01269964 0.99814168 0.30185674] [ 0. 0. 0. 1. ]] SLAMing on 6.240418555000001 meters 0.06282881510739903 Centerline is valid? [True, True] Translation: X:-3.94, Y:-0.07, Z:0.28 [[ 0.99578519 -0.07359237 0.05473581 -3.93515512] [ 0.07281919 0.99721695 0.01599104 -0.07226204] [-0.0557603 -0.01193782 0.99837281 0.28473919] [ 0. 0. 0. 1. ]] SLAMing on 6.300418555 meters 0.06608886840407152 Centerline is valid? [True, True] Translation: X:-3.99, Y:-0.10, Z:0.28 [[ 0.99371667 -0.10194908 0.04619063 -3.99083203] [ 0.10142784 0.99475133 0.01349723 -0.0973941 ] [-0.04732422 -0.00872741 0.99884145 0.27817022] [ 0. 0. 0. 1. ]] SLAMing on 6.360418555 meters 0.06294371627055881 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.13, Z:0.27 [[ 0.99215343 -0.11872706 0.03918498 -4.04263827] [ 0.11836466 0.99290417 0.01145055 -0.13144722] [-0.04026642 -0.00672259 0.99916636 0.27075768] [ 0. 0. 0. 1. ]] SLAMing on 6.420418555 meters 0.05956009323523041 Centerline is valid? [True, True] Translation: X:-4.09, Y:-0.17, Z:0.26 [[ 0.9928244 -0.11371732 0.03698759 -4.09370387] [ 0.11339109 0.99349164 0.01080811 -0.16812628] [-0.03797593 -0.00653649 0.99925728 0.26128386] [ 0. 0. 0. 1. ]] SLAMing on 6.480418555 meters 0.07190529067075097 Centerline is valid? [True, True] Translation: X:-4.15, Y:-0.18, Z:0.26 [[ 0.995185 -0.09111596 0.03612062 -4.15391047] [ 0.09079048 0.99581409 0.01055428 -0.17881369] [-0.03693109 -0.00722406 0.9992917 0.25606622] [ 0. 0. 0. 1. ]] SLAMing on 6.5404185550000005 meters 0.06432682293968503 Centerline is valid? [True, True] Translation: X:-4.20, Y:-0.22, Z:0.25 [[ 0.99719941 -0.06761079 0.0319705 -4.20259731] [ 0.06734429 0.99768606 0.00934165 -0.22496764] [-0.03252812 -0.00716245 0.99944516 0.24516152] [ 0. 0. 0. 1. ]] SLAMing on 6.600418555 meters 0.079581766621655 Centerline is valid? [True, True] Translation: X:-4.27, Y:-0.22, Z:0.24 [[ 0.9967157 -0.07793767 0.02198943 -4.26613764] [ 0.07781401 0.99694719 0.00642531 -0.22246604] [-0.02242307 -0.00469312 0.99973756 0.23893058] [ 0. 0. 0. 1. ]] SLAMing on 6.660418555000001 meters 0.07403179744947899 Centerline is valid? [True, True] Translation: X:-4.32, Y:-0.25, Z:0.24 [[ 9.94847693e-01 -9.92396473e-02 2.07258483e-02 -4.32055615e+00] [ 9.91342231e-02 9.95055641e-01 6.05609804e-03 -2.52817945e-01] [-2.12243773e-02 -3.97025429e-03 9.99766854e-01 2.38635336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720418555 meters 0.08184286087950253 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.26, Z:0.24 [[ 0.99480192 -0.09906648 0.02355792 -4.38055911] [ 0.09893024 0.99507057 0.00688294 -0.25694939] [-0.02412366 -0.00451657 0.99969878 0.24141844] [ 0. 0. 0. 1. ]] SLAMing on 6.780418555 meters 0.07360979701783829 Centerline is valid? [True, True] Translation: X:-4.43, Y:-0.28, Z:0.24 [[ 0.99517989 -0.09496734 0.02445792 -4.43474587] [ 0.09481932 0.99546886 0.00714472 -0.28240757] [-0.02502561 -0.00479119 0.99967533 0.24194633] [ 0. 0. 0. 1. ]] SLAMing on 6.840418555 meters 0.0696770445884209 Centerline is valid? [True, True] Translation: X:-4.49, Y:-0.29, Z:0.24 [[ 9.94492812e-01 -1.02117827e-01 2.35795621e-02 -4.49359994e+00] [ 1.01982195e-01 9.94762378e-01 6.88785975e-03 -2.91058042e-01] [-2.41594346e-02 -4.44523152e-03 9.99698235e-01 2.42224765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900418555 meters 0.0709941573108882 Centerline is valid? [True, True] Translation: X:-4.56, Y:-0.30, Z:0.25 [[ 9.92700259e-01 -1.18488860e-01 2.25074828e-02 -4.55526498e+00] [ 1.18369345e-01 9.92947869e-01 6.57475324e-03 -2.95862085e-01] [-2.31277921e-02 -3.86256324e-03 9.99725055e-01 2.47060714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960418555 meters 0.06804567661753094 Centerline is valid? [True, True] Translation: X:-4.61, Y:-0.31, Z:0.25 [[ 9.92148170e-01 -1.22336810e-01 2.59944914e-02 -4.61429992e+00] [ 1.22178671e-01 9.92479076e-01 7.59309837e-03 -3.08382307e-01] [-2.67279042e-02 -4.35750623e-03 9.99633248e-01 2.52237522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020418555 meters 0.06715706389033327 Centerline is valid? [True, True] Translation: X:-4.67, Y:-0.32, Z:0.26 [[ 0.99323715 -0.11290506 0.02706325 -4.67419481] [ 0.11273026 0.99359418 0.00790503 -0.31855065] [-0.0277824 -0.00480073 0.99960247 0.25509981] [ 0. 0. 0. 1. ]] SLAMing on 7.0804185550000005 meters 0.07033771858740226 Centerline is valid? [True, True] Translation: X:-4.74, Y:-0.32, Z:0.26 [[ 0.99442672 -0.10160967 0.02812414 -4.7355204 ] [ 0.10141652 0.99481014 0.00821476 -0.32323946] [-0.02881288 -0.00531672 0.99957068 0.25889123] [ 0. 0. 0. 1. ]] SLAMing on 7.140418555 meters 0.06810160168483098 Centerline is valid? [True, True] Translation: X:-4.79, Y:-0.34, Z:0.26 [[ 0.99467358 -0.09759282 0.03316783 -4.7929758 ] [ 0.09732199 0.9952058 0.0096879 -0.34144482] [-0.03395429 -0.00640834 0.99940284 0.2615379 ] [ 0. 0. 0. 1. ]] SLAMing on 7.200418555 meters 0.07507835341393902 Centerline is valid? [True, True] Translation: X:-4.85, Y:-0.35, Z:0.27 [[ 0.99582468 -0.08518076 0.03282456 -4.85494401] [ 0.08490904 0.99634258 0.00958755 -0.34535652] [-0.03352118 -0.00676042 0.99941514 0.26564329] [ 0. 0. 0. 1. ]] SLAMing on 7.260418555 meters 0.07791955550811111 Centerline is valid? [True, True] Translation: X:-4.91, Y:-0.36, Z:0.26 [[ 0.99745349 -0.06522865 0.02884026 -4.91293458] [ 0.06501094 0.99784899 0.00842385 -0.36169231] [-0.0293277 -0.00652746 0.99954854 0.26278349] [ 0. 0. 0. 1. ]] SLAMing on 7.320418555 meters 0.07572879812881073 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.38, Z:0.26 [[ 0.9982658 -0.0497592 0.03145488 -4.969829 ] [ 0.04949295 0.99873221 0.00918777 -0.38423104] [-0.03187218 -0.00761504 0.99946294 0.26248917] [ 0. 0. 0. 1. ]] SLAMing on 7.380418555 meters 0.07156005315434226 Centerline is valid? [True, True] Translation: X:-5.02, Y:-0.41, Z:0.26 [[ 0.99873437 -0.036389 0.03472018 -5.02418387] [ 0.03605698 0.99929827 0.01014175 -0.4118386 ] [-0.03506486 -0.00887701 0.99934561 0.26487181] [ 0. 0. 0. 1. ]] SLAMing on 7.440418555 meters 0.0701580501085594 Centerline is valid? [True, True] Translation: X:-5.08, Y:-0.43, Z:0.27 [[ 0.99831816 -0.04640558 0.03474727 -5.0827392 ] [ 0.04607871 0.99888625 0.01014987 -0.42629531] [-0.03517958 -0.00853169 0.99934459 0.26907312] [ 0. 0. 0. 1. ]] SLAMing on 7.500418555 meters 0.07371495407011876 Centerline is valid? [True, True] Translation: X:-5.14, Y:-0.44, Z:0.28 [[ 0.99790165 -0.05157075 0.03915051 -5.14325031] [ 0.05115946 0.99862501 0.01143635 -0.4358457 ] [-0.03968646 -0.00940943 0.99916788 0.27866351] [ 0. 0. 0. 1. ]] SLAMing on 7.560418555 meters 0.06624301686043131 Centerline is valid? [True, True] Translation: X:-5.20, Y:-0.47, Z:0.28 [[ 0.99838012 -0.03136761 0.04746799 -5.19508407] [ 0.03074136 0.99943119 0.01386632 -0.47172749] [-0.04787594 -0.01238463 0.99877651 0.28445709] [ 0. 0. 0. 1. ]] SLAMing on 7.6204185550000005 meters 0.06668402178990591 Centerline is valid? [True, True] Translation: X:-5.25, Y:-0.49, Z:0.29 [[ 9.98839099e-01 3.95568737e-04 4.81694621e-02 -5.25132845e+00] [-1.07460460e-03 9.99900411e-01 1.40717317e-02 -4.94216428e-01] [-4.81590986e-02 -1.41071589e-02 9.98740051e-01 2.85047358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680418555 meters 0.06963805214266328 Centerline is valid? [True, True] Translation: X:-5.31, Y:-0.51, Z:0.29 [[ 0.9986419 0.01964823 0.04825259 -5.30963353] [-0.02035005 0.99969353 0.0140967 -0.51058747] [-0.04796082 -0.0150595 0.99873569 0.29031677] [ 0. 0. 0. 1. ]] SLAMing on 7.740418555 meters 0.060045605886217254 Centerline is valid? [True, True] Translation: X:-5.36, Y:-0.55, Z:0.29 [[ 0.99863692 0.01460586 0.05010968 -5.36026859] [-0.01535713 0.99977488 0.01464042 -0.54887282] [-0.04988456 -0.01539 0.99863641 0.28962416] [ 0. 0. 0. 1. ]] SLAMing on 7.800418555 meters 0.061547077122968474 Centerline is valid? [True, True] Translation: X:-5.42, Y:-0.56, Z:0.30 [[ 0.99845249 0.00611655 0.05527404 -5.41956373] [-0.00701916 0.99984493 0.01615048 -0.56140296] [-0.05516668 -0.01651347 0.99834059 0.29883591] [ 0. 0. 0. 1. ]] SLAMing on 7.860418555 meters 0.05760902090135653 Centerline is valid? [True, True] Translation: X:-5.48, Y:-0.58, Z:0.30 [[ 0.99831735 0.00689485 0.05757535 -5.47773134] [-0.00787555 0.99982745 0.01682385 -0.57994154] [-0.05744942 -0.01724898 0.9981994 0.30382838] [ 0. 0. 0. 1. ]] SLAMing on 7.920418555 meters 0.08524512857954039 Centerline is valid? [True, True] Translation: X:-5.55, Y:-0.54, Z:0.32 [[ 0.99807426 0.01242749 0.06077272 -5.55348678] [-0.01352972 0.99975075 0.01775917 -0.53661312] [-0.06053688 -0.01854721 0.99799363 0.31739369] [ 0. 0. 0. 1. ]] SLAMing on 7.980418555 meters 0.08299397409520468 Centerline is valid? [True, True] Translation: X:-5.61, Y:-0.56, Z:0.31 [[ 0.99840936 0.00646578 0.0560085 -5.6105527 ] [-0.00739324 0.9998387 0.016368 -0.55989591] [-0.05589364 -0.01675604 0.99829612 0.31487993] [ 0. 0. 0. 1. ]] SLAMing on 8.040418554999999 meters 0.053138976290301364 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.63, Z:0.31 [[ 0.99798668 0.00926373 0.06274367 -5.65215658] [-0.01043323 0.99977742 0.01833745 -0.6321405 ] [-0.06255983 -0.01895515 0.9978612 0.31442079] [ 0. 0. 0. 1. ]] SLAMing on 8.100418555 meters 0.048886168918287065 Centerline is valid? [True, True] Translation: X:-5.71, Y:-0.64, Z:0.32 [[ 0.99744664 0.01842091 0.06899899 -5.71174104] [-0.01985571 0.99959945 0.0201667 -0.64110755] [-0.06859987 -0.02148523 0.99741287 0.32015004] [ 0. 0. 0. 1. ]] SLAMing on 8.160418555 meters 0.06021287138903146 Centerline is valid? [True, True] Translation: X:-5.79, Y:-0.61, Z:0.33 [[ 0.99682154 0.01624109 0.07799383 -5.78527954] [-0.01807071 0.99957648 0.02281038 -0.61189242] [-0.07759034 -0.02414728 0.99669286 0.33260193] [ 0. 0. 0. 1. ]] SLAMing on 8.220418554999998 meters 0.05224218960606963 Centerline is valid? [True, True] Translation: X:-5.84, Y:-0.64, Z:0.33 [[ 0.99679695 0.01427773 0.0786892 -5.83889328] [-0.01613512 0.99960481 0.02301911 -0.64238761] [-0.07832945 -0.02421504 0.9966334 0.33388268] [ 0. 0. 0. 1. ]] SLAMing on 8.280418554999999 meters 0.062178001884803887 Centerline is valid? [True, True] Translation: X:-5.90, Y:-0.64, Z:0.34 [[ 0.99620917 0.0336065 0.08023653 -5.90432053] [-0.03559435 0.99909059 0.02347404 -0.63675968] [-0.07937468 -0.02624102 0.99649941 0.33957945] [ 0. 0. 0. 1. ]] SLAMing on 8.340418555 meters 0.05064860314810812 Centerline is valid? [True, True] Translation: X:-5.96, Y:-0.68, Z:0.34 [[ 0.99554356 0.04890902 0.08062829 -5.95506651] [-0.05096105 0.99842197 0.02359096 -0.67727805] [-0.07934725 -0.02759473 0.99646502 0.33604443] [ 0. 0. 0. 1. ]] SLAMing on 8.400418555 meters 0.047472303782271075 Centerline is valid? [True, True] Translation: X:-6.01, Y:-0.69, Z:0.35 [[ 0.99531034 0.02243006 0.0940969 -6.01396497] [-0.02512323 0.99930509 0.02753484 -0.68958567] [-0.09341391 -0.02976973 0.9951822 0.34669177] [ 0. 0. 0. 1. ]] SLAMing on 8.460418554999999 meters 0.04948765148731432 Centerline is valid? [True, True] Translation: X:-6.07, Y:-0.70, Z:0.35 [[ 0.99465462 0.03581435 0.09684787 -6.07391633] [-0.03872505 0.99884786 0.02834306 -0.70320467] [-0.0957212 -0.031942 0.99489555 0.35171483] [ 0. 0. 0. 1. ]] SLAMing on 8.520418555 meters 0.04628517151551642 Centerline is valid? [True, True] Translation: X:-6.13, Y:-0.73, Z:0.35 [[ 0.99332687 0.06409225 0.09588494 -6.13067822] [-0.06706115 0.99735409 0.02806455 -0.72664079] [-0.09383252 -0.03430742 0.99499671 0.34984204] [ 0. 0. 0. 1. ]] SLAMing on 8.580418555 meters 0.04162318136861403 Centerline is valid? [True, True] Translation: X:-6.18, Y:-0.76, Z:0.35 [[ 0.99316448 0.06877443 0.09431004 -6.18473755] [-0.07166475 0.99704666 0.02760654 -0.75808169] [-0.09213289 -0.03417654 0.99516003 0.3455911 ] [ 0. 0. 0. 1. ]] SLAMing on 8.640418555 meters 0.04216100317897665 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.78, Z:0.35 [[ 0.99411982 0.05769018 0.09163855 -6.240178 ] [-0.06037764 0.99781501 0.02682794 -0.78184721] [-0.08989061 -0.03220311 0.99543088 0.34802614] [ 0. 0. 0. 1. ]] SLAMing on 8.700418554999999 meters 0.04833082762007951 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.78, Z:0.36 [[ 0.99457279 0.04039618 0.09588073 -6.30370902] [-0.04326893 0.99866896 0.02807333 -0.78237637] [-0.09461906 -0.03206963 0.99499687 0.36083288] [ 0. 0. 0. 1. ]] SLAMing on 8.760418555 meters 0.04742061956448441 Centerline is valid? [True, True] Translation: X:-6.36, Y:-0.80, Z:0.36 [[ 0.99351074 0.05456177 0.09979694 -6.36086768] [-0.0577385 0.99790393 0.02922345 -0.80476101] [-0.09799327 -0.03479594 0.99457858 0.35937012] [ 0. 0. 0. 1. ]] SLAMing on 8.820418555 meters 0.03259856233897514 Centerline is valid? [True, True] Translation: X:-6.40, Y:-0.88, Z:0.34 [[ 0.99234331 0.06124102 0.10725804 -6.40127235] [-0.0649479 0.99739414 0.03141194 -0.88269444] [-0.10505484 -0.03813761 0.99373488 0.34406177] [ 0. 0. 0. 1. ]] SLAMing on 8.880418554999999 meters 0.04626106638511841 Centerline is valid? [True, True] Translation: X:-6.47, Y:-0.86, Z:0.36 [[ 0.99297229 0.04842221 0.1079876 -6.47174686] [-0.05211403 0.99814011 0.0316299 -0.85982886] [-0.10625516 -0.03703528 0.99364895 0.36385299] [ 0. 0. 0. 1. ]] SLAMing on 8.940418554999999 meters 0.038059847427687116 Centerline is valid? [True, True] Translation: X:-6.52, Y:-0.91, Z:0.36 [[ 0.99305784 0.04969796 0.10661255 -6.52003419] [-0.05330239 0.99809 0.03122821 -0.90840788] [-0.10485694 -0.03669412 0.99381012 0.36168217] [ 0. 0. 0. 1. ]] SLAMing on 9.000418555 meters 0.034806276377831666 Centerline is valid? [True, True] Translation: X:-6.57, Y:-0.95, Z:0.36 [[ 0.99219517 0.06372713 0.10718022 -6.57161108] [-0.06744214 0.99722903 0.0313978 -0.94729219] [-0.10488234 -0.03838121 0.99374372 0.35842869] [ 0. 0. 0. 1. ]] SLAMing on 9.060418555 meters 0.04356761184376166 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.93, Z:0.37 [[ 0.99190114 0.06874032 0.10680306 -6.63946938] [-0.07245476 0.9968807 0.03129174 -0.93410938] [-0.10431891 -0.0387767 0.99378767 0.37269007] [ 0. 0. 0. 1. ]] SLAMing on 9.120418554999999 meters 0.03397052451857324 Centerline is valid? [True, True] Translation: X:-6.69, Y:-0.98, Z:0.37 [[ 0.99133549 0.05740077 0.11814866 -6.68877599] [-0.06188291 0.99748277 0.03462117 -0.97819702] [-0.11586397 -0.04163258 0.9923922 0.36969456] [ 0. 0. 0. 1. ]] SLAMing on 9.180418555 meters 0.05712876807273203 Centerline is valid? [True, True] Translation: X:-6.77, Y:-0.91, Z:0.40 [[ 0.99133581 0.04955693 0.12164463 -6.77208281] [-0.05425926 0.99789024 0.03565114 -0.9090896 ] [-0.11962123 -0.0419426 0.99193325 0.40416915] [ 0. 0. 0. 1. ]] SLAMing on 9.240418555 meters 0.044924618764507686 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.96, Z:0.39 [[ 0.99091443 0.07266377 0.11317498 -6.82001958] [-0.07686146 0.99648975 0.0331736 -0.96125418] [-0.11036719 -0.04157099 0.99302112 0.39348143] [ 0. 0. 0. 1. ]] SLAMing on 9.300418554999998 meters 0.05746915079253639 Centerline is valid? [True, True] Translation: X:-6.89, Y:-0.94, Z:0.41 [[ 0.99097794 0.08070859 0.10699925 -6.89003251] [-0.08449876 0.99592973 0.0313677 -0.93823057] [-0.10403209 -0.040126 0.99376417 0.40583325] [ 0. 0. 0. 1. ]] SLAMing on 9.360418554999999 meters 0.057206028093363344 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.94, Z:0.42 [[ 0.99152079 0.0633111 0.1134823 -6.95352691] [-0.06747972 0.99716568 0.03327292 -0.93928863] [-0.11105411 -0.04064855 0.99298272 0.41777668] [ 0. 0. 0. 1. ]] SLAMing on 9.420418555 meters 0.04442050959772491 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.96, Z:0.42 [[ 0.99022534 0.04150986 0.13315667 -7.01009898] [-0.04709185 0.99812707 0.03904745 -0.95873099] [-0.13128643 -0.04493637 0.9903255 0.42495369] [ 0. 0. 0. 1. ]] SLAMing on 9.480418555 meters 0.04499450197455159 Centerline is valid? [True, True] Translation: X:-7.07, Y:-0.96, Z:0.42 [[ 0.99041205 0.07548352 0.11569876 -7.07402209] [-0.07989066 0.99622589 0.03393324 -0.96031203] [-0.1127007 -0.04285114 0.99270455 0.4196988 ] [ 0. 0. 0. 1. ]] SLAMing on 9.540418554999999 meters 0.03841584561308188 Centerline is valid? [True, True] Translation: X:-7.12, Y:-1.01, Z:0.40 [[ 0.98970872 0.10133272 0.10103627 -7.1232143 ] [-0.10480291 0.9940513 0.0296372 -1.00883766] [-0.09743202 -0.03992109 0.9944412 0.40455161] [ 0. 0. 0. 1. ]] SLAMing on 9.600418555 meters 0.04929716137627569 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.97, Z:0.42 [[ 0.99258723 0.06806167 0.10068863 -7.19633908] [-0.07136168 0.997013 0.02953973 -0.97464701] [-0.09837735 -0.03650607 0.99447936 0.42268869] [ 0. 0. 0. 1. ]] SLAMing on 9.660418555 meters 0.057428858558349144 Centerline is valid? [True, True] Translation: X:-7.26, Y:-0.97, Z:0.43 [[ 0.99375134 0.0495511 0.10001477 -7.26103283] [-0.05272532 0.99817776 0.02934619 -0.97012691] [-0.09837838 -0.03443613 0.99455309 0.43444348] [ 0. 0. 0. 1. ]] SLAMing on 9.720418554999998 meters 0.054236621751075444 Centerline is valid? [True, True] Translation: X:-7.32, Y:-1.00, Z:0.43 [[ 0.99304134 0.05848212 0.10221906 -7.31654979] [-0.0618404 0.99763518 0.02999689 -0.99819475] [-0.10022305 -0.03610942 0.99430953 0.43414181] [ 0. 0. 0. 1. ]] SLAMing on 9.780418554999999 meters 0.053011258435818116 Centerline is valid? [True, True] Translation: X:-7.38, Y:-1.02, Z:0.43 [[ 0.99276298 0.06524534 0.10082019 -7.37561844] [-0.06854261 0.99720926 0.02959041 -1.0157958 ] [-0.09860819 -0.03628675 0.99446453 0.43302135] [ 0. 0. 0. 1. ]] SLAMing on 9.840418555 meters 0.05124011476238939 Centerline is valid? [True, True] Translation: X:-7.43, Y:-1.03, Z:0.44 [[ 0.99355917 0.05363354 0.09981791 -7.43367824] [-0.05681447 0.99795471 0.02930031 -1.03232206] [-0.09804228 -0.03478269 0.99457422 0.4389458 ] [ 0. 0. 0. 1. ]] SLAMing on 9.900418555 meters 0.04817850000571884 Centerline is valid? [True, True] Translation: X:-7.49, Y:-1.06, Z:0.44 [[ 0.99337944 0.04969098 0.10357648 -7.48882962] [-0.05309895 0.99812618 0.03040786 -1.06011385] [-0.10187139 -0.03570635 0.99415656 0.43841134] [ 0. 0. 0. 1. ]] SLAMing on 9.960418554999999 meters 0.0481363062831154 Centerline is valid? [True, True] Translation: X:-7.55, Y:-1.07, Z:0.44 [[ 0.99319793 0.04961544 0.10533842 -7.54952257] [-0.05314095 0.99810796 0.03092808 -1.07050422] [-0.10360461 -0.03631549 0.99395537 0.44147896] [ 0. 0. 0. 1. ]] SLAMing on 10.020418555 meters 0.050874518497499126 Centerline is valid? [True, True] Translation: X:-7.62, Y:-1.06, Z:0.45 [[ 0.99375577 0.04393221 0.10256429 -7.61565564] [-0.04724722 0.99842908 0.03011769 -1.0610641 ] [-0.10108004 -0.0347755 0.99427033 0.4520171 ] [ 0. 0. 0. 1. ]] SLAMing on 10.080418555 meters 0.044259394943510076 Centerline is valid? [True, True] Translation: X:-7.67, Y:-1.09, Z:0.45 [[ 0.9935143 0.04806383 0.10304956 -7.6701023 ] [-0.05143038 0.99821793 0.03026349 -1.08874966] [-0.10141134 -0.03536709 0.99421573 0.44755746] [ 0. 0. 0. 1. ]] SLAMing on 10.140418554999998 meters 0.0434534252764108 Centerline is valid? [True, True] Translation: X:-7.73, Y:-1.10, Z:0.44 [[ 0.99220138 0.06397553 0.10697455 -7.73006192] [-0.0676862 0.99721178 0.03142038 -1.10119614] [-0.10466615 -0.03841605 0.99376517 0.43834253] [ 0. 0. 0. 1. ]] SLAMing on 10.200418554999999 meters 0.04316076882405687 Centerline is valid? [True, True] Translation: X:-7.79, Y:-1.11, Z:0.44 [[ 0.99254143 0.0564964 0.10802626 -7.79109538] [-0.06024276 0.99767917 0.03173443 -1.108769 ] [-0.10598267 -0.03800554 0.99364141 0.43648301] [ 0. 0. 0. 1. ]] SLAMing on 10.260418555 meters 0.047756466350488566 Centerline is valid? [True, True] Translation: X:-7.86, Y:-1.09, Z:0.44 [[ 0.99338298 0.05132412 0.10274283 -7.86133611] [-0.05468724 0.99804712 0.03018685 -1.08725536] [-0.10099287 -0.03560583 0.9942498 0.44420814] [ 0. 0. 0. 1. ]] SLAMing on 10.320418555 meters 0.05332138683706875 Centerline is valid? [True, True] Translation: X:-7.93, Y:-1.08, Z:0.45 [[ 0.99345308 0.05398623 0.10068002 -7.92782067] [-0.0572274 0.99792271 0.02958538 -1.07941266] [-0.09887368 -0.03515334 0.99447888 0.44726399] [ 0. 0. 0. 1. ]] SLAMing on 10.380418554999999 meters 0.05364346290800744 Centerline is valid? [True, True] Translation: X:-7.99, Y:-1.08, Z:0.45 [[ 0.99391613 0.05026225 0.09800221 -7.99047451] [-0.05331694 0.99816218 0.02880229 -1.08428074] [-0.09637443 -0.03385224 0.99476932 0.44788084] [ 0. 0. 0. 1. ]] SLAMing on 10.440418554999999 meters 0.049537822936504425 Centerline is valid? [True, True] Translation: X:-8.05, Y:-1.09, Z:0.44 [[ 0.99401479 0.02898931 0.10532907 -8.05035517] [-0.03241518 0.99899486 0.03096013 -1.09297246] [-0.10432569 -0.03418909 0.99395536 0.44467813] [ 0. 0. 0. 1. ]] SLAMing on 10.500418555 meters 0.047692450866391886 Centerline is valid? [True, True] Translation: X:-8.11, Y:-1.11, Z:0.44 [[ 0.99384601 0.01980347 0.10898594 -8.10851863] [-0.02342385 0.99921209 0.03203928 -1.11401516] [-0.10826558 -0.03439498 0.99352682 0.44307249] [ 0. 0. 0. 1. ]] SLAMing on 10.560418554999998 meters 0.05075179244650524 Centerline is valid? [True, True] Translation: X:-8.17, Y:-1.11, Z:0.44 [[ 0.99363235 0.02522517 0.10981093 -8.17423202] [-0.02893102 0.99905987 0.0322859 -1.10686819] [-0.10889328 -0.03525725 0.99342799 0.44147452] [ 0. 0. 0. 1. ]] SLAMing on 10.620418554999999 meters 0.051652707388445095 Centerline is valid? [True, True] Translation: X:-8.24, Y:-1.12, Z:0.44 [[ 0.99402005 0.02611005 0.10603019 -8.23604403] [-0.02957019 0.99907586 0.03119339 -1.11632691] [-0.10511774 -0.03414219 0.99387352 0.43500138] [ 0. 0. 0. 1. ]] SLAMing on 10.680418555 meters 0.05360694391987686 Centerline is valid? [True, True] Translation: X:-8.30, Y:-1.12, Z:0.44 [[ 0.99438625 0.02119962 0.10366567 -8.29796823] [-0.02448309 0.99923474 0.0305043 -1.12191742] [-0.10293966 -0.03287112 0.99414431 0.44304762] [ 0. 0. 0. 1. ]] SLAMing on 10.740418555 meters 0.05301709802878142 Centerline is valid? [True, True] Translation: X:-8.36, Y:-1.13, Z:0.44 [[ 0.99427912 0.02451257 0.10396235 -8.35919575] [-0.0278316 0.99914429 0.03059552 -1.13041544] [-0.10312341 -0.03331393 0.99411053 0.44083 ] [ 0. 0. 0. 1. ]] SLAMing on 10.800418554999998 meters 0.058280463564273764 Centerline is valid? [True, True] Translation: X:-8.43, Y:-1.12, Z:0.44 [[ 0.99454453 0.03442785 0.09846772 -8.42531683] [-0.03744732 0.99887824 0.02898213 -1.12211722] [-0.09735947 -0.03251137 0.99471812 0.43644212] [ 0. 0. 0. 1. ]] SLAMing on 10.860418554999999 meters 0.048543438906288365 Centerline is valid? [True, True] Translation: X:-8.47, Y:-1.17, Z:0.42 [[ 0.99502347 0.03681232 0.0925913 -8.47283777] [-0.03948989 0.99884823 0.02725361 -1.17246566] [-0.09148139 -0.0307744 0.99533115 0.42458018] [ 0. 0. 0. 1. ]] SLAMing on 10.920418555 meters 0.05187542764949811 Centerline is valid? [True, True] Translation: X:-8.54, Y:-1.17, Z:0.43 [[ 0.99568179 0.03568468 0.08569937 -8.53734398] [-0.03797355 0.99896025 0.02522761 -1.17012059] [-0.08471003 -0.02837298 0.9960016 0.42697989] [ 0. 0. 0. 1. ]] SLAMing on 10.980418555 meters 0.049302372685077075 Centerline is valid? [True, True] Translation: X:-8.59, Y:-1.19, Z:0.42 [[ 0.99636835 0.04081338 0.07472872 -8.594802 ] [-0.04256513 0.99885144 0.0220002 -1.18782462] [-0.07374498 -0.02510114 0.99696119 0.41873503] [ 0. 0. 0. 1. ]] SLAMing on 11.040418554999999 meters 0.06331255073183324 Centerline is valid? [True, True] Translation: X:-8.67, Y:-1.14, Z:0.41 [[ 0.99671267 0.05002203 0.06373114 -8.67172454] [-0.05131187 0.99850638 0.01876447 -1.14260145] [-0.06269731 -0.02197295 0.99779068 0.40502433] [ 0. 0. 0. 1. ]] SLAMing on 11.100418555 meters 0.07510626178055327 Centerline is valid? [True, True] Translation: X:-8.75, Y:-1.11, Z:0.38 [[ 0.99761143 0.051451 0.0460894 -8.74576334] [-0.0521263 0.99854828 0.01357103 -1.10764862] [-0.04532425 -0.01594108 0.99884513 0.37858565] [ 0. 0. 0. 1. ]] SLAMing on 11.160418555 meters 0.0750691154375489 Centerline is valid? [True, True] Translation: X:-8.81, Y:-1.09, Z:0.31 [[ 9.98261185e-01 5.44696981e-02 2.25313002e-02 -8.81369775e+00] [-5.46316282e-02 9.98484536e-01 6.63444293e-03 -1.09213708e+00] [-2.21357787e-02 -7.85382847e-03 9.99724124e-01 3.05910113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220418554999998 meters 0.061440359894323456 Centerline is valid? [True, True] Translation: X:-8.86, Y:-1.14, Z:0.34 [[ 0.99759415 0.01189371 0.06829684 -8.86157117] [-0.01329577 0.99970934 0.02011127 -1.14125975] [-0.06803779 -0.02097095 0.99746232 0.33669112] [ 0. 0. 0. 1. ]] SLAMing on 11.280418554999999 meters 0.057958502118630226 Centerline is valid? [True, True] Translation: X:-8.91, Y:-1.19, Z:0.40 [[ 0.99682867 -0.01730641 0.07767302 -8.90997139] [ 0.01557246 0.99961706 0.02287421 -1.1868363 ] [-0.07803915 -0.02159211 0.99671645 0.39742536] [ 0. 0. 0. 1. ]] SLAMing on 11.340418555 meters 0.05736536371663142 Centerline is valid? [True, True] Translation: X:-8.97, Y:-1.20, Z:0.40 [[ 9.97154080e-01 -7.98118981e-03 7.49669411e-02 -8.96859134e+00] [ 6.34193665e-03 9.99736114e-01 2.20790079e-02 -1.20409337e+00] [-7.51233751e-02 -2.15407372e-02 9.96941561e-01 3.98496129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400418555 meters 0.051274261081760315 Centerline is valid? [True, True] Translation: X:-9.03, Y:-1.22, Z:0.40 [[ 9.95405990e-01 -9.65240931e-03 9.52562108e-02 -9.02706996e+00] [ 7.00801342e-03 9.99581773e-01 2.80564790e-02 -1.22067045e+00] [-9.54871848e-02 -2.72600305e-02 9.95057329e-01 3.99593158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460418554999999 meters 0.047011675906993754 Centerline is valid? [True, True] Translation: X:-9.09, Y:-1.22, Z:0.40 [[ 0.99335645 -0.02997309 0.11110611 -9.08886997] [ 0.02648616 0.99911328 0.03272826 -1.22260845] [-0.11198856 -0.02956806 0.9932695 0.3971061 ] [ 0. 0. 0. 1. ]] SLAMing on 11.520418555 meters 0.043213489604315404 Centerline is valid? [True, True] Translation: X:-9.15, Y:-1.22, Z:0.38 [[ 0.99321532 -0.0382425 0.10982184 -9.15398284] [ 0.03488276 0.99886758 0.03235338 -1.21616075] [-0.11093475 -0.02830298 0.99342459 0.38023543] [ 0. 0. 0. 1. ]] SLAMing on 11.580418555 meters 0.04597934183798726 Centerline is valid? [True, True] Translation: X:-9.22, Y:-1.22, Z:0.38 [[ 0.99390233 -0.03331595 0.10511045 -9.21595778] [ 0.03021389 0.9990636 0.03096837 -1.22040457] [-0.10604377 -0.02760374 0.99397825 0.37534249] [ 0. 0. 0. 1. ]] SLAMing on 11.640418554999998 meters 0.0482393780955059 Centerline is valid? [True, True] Translation: X:-9.28, Y:-1.23, Z:0.38 [[ 0.99359061 -0.0491012 0.10181735 -9.27723711] [ 0.04626842 0.99847843 0.03000095 -1.2277935 ] [-0.10313551 -0.02509774 0.99435063 0.37808877] [ 0. 0. 0. 1. ]] SLAMing on 11.700418554999999 meters 0.04625455702323476 Centerline is valid? [True, True] Translation: X:-9.34, Y:-1.23, Z:0.37 [[ 0.99301837 -0.05756444 0.10296042 -9.33839768] [ 0.05470974 0.99804122 0.03034083 -1.23228898] [-0.1045053 -0.02449606 0.9942226 0.37073583] [ 0. 0. 0. 1. ]] SLAMing on 11.760418555 meters 0.05868436048067878 Centerline is valid? [True, True] Translation: X:-9.41, Y:-1.22, Z:0.37 [[ 0.99403882 -0.06079567 0.09050257 -9.4070584 ] [ 0.05860501 0.99792488 0.02667169 -1.21531646] [-0.09193629 -0.02120879 0.995539 0.3736327 ] [ 0. 0. 0. 1. ]] SLAMing on 11.820418555 meters 0.05132673288131646 Centerline is valid? [True, True] Translation: X:-9.46, Y:-1.25, Z:0.37 [[ 0.99413742 -0.0616683 0.08881335 -9.45808067] [ 0.05956226 0.99788139 0.02617373 -1.25379622] [-0.09023927 -0.02073036 0.99570434 0.3697604 ] [ 0. 0. 0. 1. ]] SLAMing on 11.880418554999999 meters 0.06359500975671264 Centerline is valid? [True, True] Translation: X:-9.53, Y:-1.24, Z:0.37 [[ 0.9946627 -0.05471325 0.08747898 -9.52608417] [ 0.05264482 0.99828044 0.02578138 -1.23898724] [-0.08873913 -0.02103846 0.99583269 0.37446456] [ 0. 0. 0. 1. ]] SLAMing on 11.940418554999999 meters 0.04792101297924454 Centerline is valid? [True, True] Translation: X:-9.57, Y:-1.29, Z:0.36 [[ 0.99443311 -0.06095993 0.08594581 -9.57452751] [ 0.05898545 0.9979374 0.0253312 -1.28758488] [-0.08731272 -0.02012063 0.99597774 0.36199614] [ 0. 0. 0. 1. ]] SLAMing on 12.000418555 meters 0.06630301418470858 Centerline is valid? [True, True] Translation: X:-9.65, Y:-1.25, Z:0.37 [[ 0.99443015 -0.0558244 0.08939973 -9.64838485] [ 0.05366773 0.99821111 0.02635049 -1.25188533] [-0.09071081 -0.02140584 0.9956472 0.3661199 ] [ 0. 0. 0. 1. ]] SLAMing on 12.060418554999998 meters 0.04961746750202799 Centerline is valid? [True, True] Translation: X:-9.70, Y:-1.31, Z:0.36 [[ 0.99428179 -0.05651491 0.0906079 -9.6969695 ] [ 0.05430018 0.99816691 0.02672651 -1.30697425] [-0.09195226 -0.02165366 0.99552795 0.35752642] [ 0. 0. 0. 1. ]] SLAMing on 12.120418554999999 meters 0.06372719350146948 Centerline is valid? [True, True] Translation: X:-9.77, Y:-1.28, Z:0.37 [[ 0.99405883 -0.0551689 0.09382666 -9.76687975] [ 0.05278721 0.99822205 0.02768104 -1.28428423] [-0.09518697 -0.02256373 0.99520366 0.36618062] [ 0. 0. 0. 1. ]] SLAMing on 12.180418555 meters 0.05430408249445153 Centerline is valid? [True, True] Translation: X:-9.82, Y:-1.32, Z:0.36 [[ 0.99414866 -0.05695177 0.0917875 -9.81885068] [ 0.0546801 0.99813667 0.02707895 -1.31933836] [-0.09315866 -0.02190155 0.99541036 0.35776789] [ 0. 0. 0. 1. ]] SLAMing on 12.240418555 meters 0.06010180192130397 Centerline is valid? [True, True] Translation: X:-9.88, Y:-1.32, Z:0.36 [[ 0.99427228 -0.06404299 0.08556361 -9.88129822] [ 0.06209466 0.99775097 0.02524383 -1.32230104] [-0.08698787 -0.0197862 0.99601286 0.36141721] [ 0. 0. 0. 1. ]] SLAMing on 12.300418554999998 meters 0.059388754444935146 Centerline is valid? [True, True] Translation: X:-9.94, Y:-1.33, Z:0.36 [[ 0.99426405 -0.06846994 0.08216362 -9.94032444] [ 0.06668806 0.99747934 0.02424203 -1.33497623] [-0.08361637 -0.01862365 0.99632398 0.36315453] [ 0. 0. 0. 1. ]] SLAMing on 12.360418554999999 meters 0.07085750845533037 Centerline is valid? [True, True] Translation: X:-10.01, Y:-1.31, Z:0.35 [[ 0.99590645 -0.05733906 0.06987538 -10.01033937] [ 0.05602552 0.99821645 0.02061703 -1.31138394] [ -0.07093291 -0.01661783 0.99734265 0.34812407] [ 0. 0. 0. 1. ]] SLAMing on 12.420418555 meters 0.06723102541205143 Centerline is valid? [True, True] Translation: X:-10.07, Y:-1.33, Z:0.34 [[ 0.9963384 -0.0541772 0.06614088 -10.06660247] [ 0.05299409 0.99840413 0.01951441 -1.33276208] [ -0.06709256 -0.01593788 0.99761945 0.34091437] [ 0. 0. 0. 1. ]] SLAMing on 12.480418555 meters 0.07015706970750202 Centerline is valid? [True, True] Translation: X:-10.13, Y:-1.34, Z:0.34 [[ 0.99655632 -0.04984897 0.0662615 -10.12619136] [ 0.04865253 0.99862442 0.01955012 -1.34435217] [ -0.06714491 -0.01625901 0.99761075 0.34298686] [ 0. 0. 0. 1. ]] SLAMing on 12.540418554999999 meters 0.1209669386919449 Centerline is valid? [True, False] Translation: X:-10.10, Y:-1.34, Z:0.34 [[ 9.98728839e-01 -2.13148749e-02 4.56769436e-02 -1.01019303e+01] [ 2.09490244e-02 9.99744638e-01 8.47335798e-03 -1.33816727e+00] [-4.58458880e-02 -7.50569957e-03 9.98920327e-01 3.42347857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600418555 meters 0.1313934066450448 Centerline is valid? [False, False] Translation: X:-10.13, Y:-1.35, Z:0.35 [[ 9.99150668e-01 -3.22273259e-03 4.10798923e-02 -1.01305263e+01] [ 3.11849621e-03 9.99991754e-01 2.60123481e-03 -1.35421845e+00] [-4.10879366e-02 -2.47091801e-03 9.99152479e-01 3.47346059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660418555 meters 0.13067388048340678 Centerline is valid? [False, False] Translation: X:-10.17, Y:-1.36, Z:0.35 [[ 9.99255795e-01 -3.40931080e-03 3.84217771e-02 -1.01740387e+01] [ 3.36595516e-03 9.99993623e-01 1.19304362e-03 -1.36466157e+00] [-3.84255995e-02 -1.06282977e-03 9.99260899e-01 3.45946983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720418554999998 meters 0.13489150759642657 Centerline is valid? [False, False] Translation: X:-10.19, Y:-1.37, Z:0.35 [[ 9.99220642e-01 8.61067539e-03 3.85222603e-02 -1.01944071e+01] [-8.69329871e-03 9.99960257e-01 1.97782653e-03 -1.37298649e+00] [-3.85036989e-02 -2.31117061e-03 9.99255785e-01 3.46888072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780418554999999 meters 0.11051420822207521 Centerline is valid? [False, False] Translation: X:-10.19, Y:-1.36, Z:0.34 [[ 9.98926281e-01 -2.57660048e-02 3.85019225e-02 -1.01909225e+01] [ 2.56293707e-02 9.99663357e-01 4.03821224e-03 -1.36018314e+00] [-3.85930097e-02 -3.04709629e-03 9.99250366e-01 3.42130536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840418555 meters 0.09583274865939032 Centerline is valid? [False, True] Translation: X:-10.17, Y:-1.36, Z:0.37 [[ 9.99660827e-01 -9.18322216e-03 2.43700321e-02 -1.01671743e+01] [ 9.02166507e-03 9.99936649e-01 6.73102197e-03 -1.35762048e+00] [-2.44303007e-02 -6.50888073e-03 9.99680346e-01 3.71937900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900418555 meters 0.09648027603648465 Centerline is valid? [True, True] Translation: X:-10.23, Y:-1.36, Z:0.36 [[ 9.99749612e-01 -1.27882472e-03 2.23400410e-02 -1.02279724e+01] [ 1.17007140e-03 9.99987406e-01 4.88048251e-03 -1.36213903e+00] [-2.23460009e-02 -4.85312105e-03 9.99738518e-01 3.56838670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960418554999999 meters 0.09876176401938702 Centerline is valid? [True, True] Translation: X:-10.29, Y:-1.37, Z:0.35 [[ 9.99778348e-01 5.56350831e-03 2.03052311e-02 -1.02889087e+01] [-5.65469673e-03 9.99974172e-01 4.43623346e-03 -1.36730468e+00] [-2.02800256e-02 -4.55007008e-03 9.99783985e-01 3.54280539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020418555 meters 0.1087801815532592 Centerline is valid? [True, False] Translation: X:-10.33, Y:-1.37, Z:0.35 [[ 9.99594417e-01 -4.88194327e-03 2.80565179e-02 -1.03284040e+01] [ 4.71794793e-03 9.99971415e-01 5.90840620e-03 -1.36787988e+00] [-2.80845604e-02 -5.77364066e-03 9.99588877e-01 3.51632342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080418555 meters 0.09131386085463715 Centerline is valid? [False, True] Translation: X:-10.28, Y:-1.37, Z:0.38 [[ 9.99813761e-01 1.68856636e-02 9.34437903e-03 -1.02834673e+01] [-1.69472403e-02 9.99834929e-01 6.55022735e-03 -1.36724508e+00] [-9.23223161e-03 -6.70736888e-03 9.99934886e-01 3.83514112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140418554999998 meters 0.0943381581223679 Centerline is valid? [True, True] Translation: X:-10.35, Y:-1.37, Z:0.39 [[ 9.99852392e-01 1.31203085e-02 1.10928763e-02 -1.03461383e+01] [-1.31459509e-02 9.99911075e-01 2.24185491e-03 -1.36841046e+00] [-1.10624760e-02 -2.38735040e-03 9.99935959e-01 3.93039309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200418554999999 meters 0.08969927363388648 Centerline is valid? [True, True] Translation: X:-10.40, Y:-1.39, Z:0.39 [[ 9.99845362e-01 1.56395321e-02 8.04095710e-03 -1.04025310e+01] [-1.56530856e-02 9.99876162e-01 1.62539271e-03 -1.39189138e+00] [-8.01454094e-03 -1.75100716e-03 9.99966350e-01 3.90810766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260418555 meters 0.09351178200490029 Centerline is valid? [True, True] Translation: X:-10.46, Y:-1.40, Z:0.39 [[ 9.99747917e-01 2.13439001e-02 6.96714319e-03 -1.04630594e+01] [-2.13542065e-02 9.99770981e-01 1.40824927e-03 -1.39780954e+00] [-6.93549005e-03 -1.55667208e-03 9.99974738e-01 3.88020369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320418555 meters 0.09457741702403091 Centerline is valid? [True, True] Translation: X:-10.53, Y:-1.39, Z:0.37 [[ 9.99578561e-01 2.86122423e-02 4.90310348e-03 -1.05266502e+01] [-2.86174306e-02 9.99589946e-01 9.91287929e-04 -1.38512778e+00] [-4.87272997e-03 -1.13118438e-03 9.99987488e-01 3.74365813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380418554999999 meters 0.09140094908216102 Centerline is valid? [True, True] Translation: X:-10.59, Y:-1.40, Z:0.38 [[ 9.99465937e-01 3.05706698e-02 1.15444916e-02 -1.05861074e+01] [-3.05995521e-02 9.99529000e-01 2.33348773e-03 -1.39962474e+00] [-1.14677178e-02 -2.68549777e-03 9.99930637e-01 3.76686023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440418554999999 meters 0.09440729624408073 Centerline is valid? [True, True] Translation: X:-10.65, Y:-1.40, Z:0.37 [[ 9.99333146e-01 3.54791488e-02 8.63100548e-03 -1.06479468e+01] [-3.54954678e-02 9.99368314e-01 1.74491134e-03 -1.39899093e+00] [-8.56364543e-03 -2.05010931e-03 9.99961230e-01 3.70278237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500418555 meters 0.09108853347828491 Centerline is valid? [True, True] Translation: X:-10.70, Y:-1.42, Z:0.36 [[ 9.99201887e-01 3.93832637e-02 6.67439859e-03 -1.07046080e+01] [-3.93930941e-02 9.99222882e-01 1.34780126e-03 -1.41617794e+00] [-6.61613098e-03 -1.60965078e-03 9.99976818e-01 3.63169481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560418554999998 meters 0.09000317739843382 Centerline is valid? [True, True] Translation: X:-10.77, Y:-1.42, Z:0.35 [[ 9.99010149e-01 4.41820146e-02 5.16450512e-03 -1.07660675e+01] [-4.41879693e-02 9.99022689e-01 1.04458756e-03 -1.41732315e+00] [-5.11330581e-03 -1.27176257e-03 9.99986118e-01 3.52465041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620418554999999 meters 0.08915761900256922 Centerline is valid? [True, True] Translation: X:-10.83, Y:-1.42, Z:0.34 [[ 9.98677068e-01 5.13375075e-02 2.92814311e-03 -1.08258479e+01] [-5.13394513e-02 9.98681085e-01 5.92506776e-04 -1.42357216e+00] [-2.89386332e-03 -7.42052190e-04 9.99995537e-01 3.40989469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680418555 meters 0.08971677258575336 Centerline is valid? [True, True] Translation: X:-10.89, Y:-1.43, Z:0.32 [[ 9.98324413e-01 5.77703517e-02 -3.30962079e-03 -1.08855708e+01] [-5.77728622e-02 9.98329530e-01 -6.67958237e-04 -1.42903103e+00] [ 3.26550398e-03 8.58045280e-04 9.99994300e-01 3.24108215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740418555 meters 0.09396772913390598 Centerline is valid? [True, True] Translation: X:-10.95, Y:-1.43, Z:0.30 [[ 9.95708716e-01 8.96842513e-02 -2.28229566e-02 -1.09450536e+01] [-8.98115389e-02 9.95948097e-01 -4.61258180e-03 -1.43410442e+00] [ 2.23168043e-02 6.64255276e-03 9.99728882e-01 3.00605851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800418554999998 meters 0.10315221367866555 Centerline is valid? [True, False] Translation: X:-10.98, Y:-1.43, Z:0.24 [[ 0.99642586 0.08236062 0.01876795 -10.98075307] [ -0.08207575 0.99650593 -0.01547579 -1.42942511] [ -0.01997697 0.01388009 0.99970409 0.24413856] [ 0. 0. 0. 1. ]] SLAMing on 13.860418554999999 meters 0.09268581326870567 Centerline is valid? [False, True] Translation: X:-11.03, Y:-1.40, Z:0.26 [[ 0.99950338 -0.01606694 0.02710797 -11.0255681 ] [ 0.01553235 0.99968295 0.01981758 -1.4002265 ] [ -0.02741779 -0.01938669 0.99943605 0.26063849] [ 0. 0. 0. 1. ]] SLAMing on 13.920418555 meters 0.08028640641327393 Centerline is valid? [True, True] Translation: X:-11.07, Y:-1.46, Z:0.28 [[ 9.99128169e-01 2.20739031e-02 3.54350641e-02 -1.10730370e+01] [-2.23965046e-02 9.99711024e-01 8.73299852e-03 -1.45723979e+00] [-3.52320528e-02 -9.51900640e-03 9.99333824e-01 2.80413927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980418554999998 meters 0.09265906535251897 Centerline is valid? [True, True] Translation: X:-11.14, Y:-1.44, Z:0.22 [[ 9.95005349e-01 9.97364311e-02 4.12318140e-03 -1.11381676e+01] [-9.97413979e-02 9.95012874e-01 1.01655819e-03 -1.44237350e+00] [-4.00123069e-03 -1.42273271e-03 9.99990983e-01 2.24669214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040418554999999 meters 0.08731972296990848 Centerline is valid? [True, True] Translation: X:-11.20, Y:-1.44, Z:0.20 [[ 9.98868713e-01 4.52647934e-02 1.45736714e-02 -1.11999758e+01] [-4.53216232e-02 9.98965986e-01 3.59295119e-03 -1.44187442e+00] [-1.43959678e-02 -4.24938897e-03 9.99887343e-01 1.95634383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100418555 meters 0.0779927110418982 Centerline is valid? [True, True] Translation: X:-11.25, Y:-1.48, Z:0.25 [[ 9.99265959e-01 -1.23747952e-02 3.62547721e-02 -1.12532164e+01] [ 1.20582129e-02 9.99887351e-01 8.93784536e-03 -1.47915689e+00] [-3.63612920e-02 -8.49411685e-03 9.99302610e-01 2.45961912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160418555 meters 0.06614697846228308 Centerline is valid? [True, True] Translation: X:-11.30, Y:-1.55, Z:0.31 [[ 0.99801118 -0.01803939 0.06040082 -11.29861935] [ 0.0171696 0.99974173 0.01488862 -1.54754971] [ -0.0606538 -0.01382196 0.99806316 0.31040009] [ 0. 0. 0. 1. ]] SLAMing on 14.220418554999998 meters 0.06552523252529503 Centerline is valid? [True, True] Translation: X:-11.36, Y:-1.54, Z:0.30 [[ 9.98007202e-01 -1.15569815e-02 6.20327479e-02 -1.13616067e+01] [ 1.06275388e-02 9.99826587e-01 1.52921986e-02 -1.54391289e+00] [-6.21987222e-02 -1.46024689e-02 9.97956956e-01 2.98031571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280418554999999 meters 0.06356174750309962 Centerline is valid? [True, True] Translation: X:-11.42, Y:-1.55, Z:0.30 [[ 9.97682850e-01 -9.52233364e-04 6.80295863e-02 -1.14226179e+01] [-1.89315855e-04 9.99859326e-01 1.67717703e-02 -1.54717155e+00] [-6.80359869e-02 -1.67457866e-02 9.97542321e-01 2.96507578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340418555 meters 0.06862508489752572 Centerline is valid? [True, True] Translation: X:-11.49, Y:-1.55, Z:0.29 [[ 0.99765478 0.03087489 0.0610875 -11.48558761] [ -0.03185051 0.99937915 0.01506181 -1.54513279] [ -0.06058454 -0.01697216 0.99801877 0.28600244] [ 0. 0. 0. 1. ]] SLAMing on 14.400418554999998 meters 0.07130407179184747 Centerline is valid? [True, True] Translation: X:-11.55, Y:-1.54, Z:0.27 [[ 0.99824886 0.03139345 0.05013651 -11.55090416] [ -0.03205091 0.99940977 0.01236345 -1.53577691] [ -0.04971879 -0.01394872 0.99866585 0.26798541] [ 0. 0. 0. 1. ]] SLAMing on 14.460418554999999 meters 0.07258431524929536 Centerline is valid? [True, True] Translation: X:-11.60, Y:-1.58, Z:0.27 [[ 9.92393658e-01 1.23104707e-01 -2.40787969e-04 -1.16029389e+01] [-1.23104725e-01 9.92393684e-01 -5.88991821e-05 -1.57507559e+00] [ 2.31705693e-04 8.80933114e-05 9.99999969e-01 2.65140221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520418555 meters 0.0830568995060898 Centerline is valid? [True, True] Translation: X:-11.68, Y:-1.49, Z:0.05 [[ 9.97337608e-01 7.28075479e-02 -4.09349015e-03 -1.16841946e+01] [-7.28122404e-02 9.97345156e-01 -1.00902416e-03 -1.48810550e+00] [ 4.00915799e-03 1.30439393e-03 9.99991113e-01 5.09412401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580418555 meters 0.07085462188009514 Centerline is valid? [True, True] Translation: X:-11.73, Y:-1.57, Z:0.21 [[ 9.97637812e-01 3.52742026e-03 6.86028638e-02 -1.17284358e+01] [-4.69898924e-03 9.99845742e-01 1.69236843e-02 -1.56955820e+00] [-6.85325844e-02 -1.72060715e-02 9.97500494e-01 2.07817446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640418554999998 meters 0.06562280765626435 Centerline is valid? [True, True] Translation: X:-11.77, Y:-1.66, Z:0.27 [[ 0.99843824 -0.01998003 0.0521716 -11.76888152] [ 0.01933327 0.99973023 0.01287219 -1.65819919] [ -0.05241471 -0.01184344 0.99855517 0.27000347] [ 0. 0. 0. 1. ]] SLAMing on 14.700418554999999 meters 0.07907359686309888 Centerline is valid? [True, True] Translation: X:-11.84, Y:-1.62, Z:0.25 [[ 9.99042496e-01 -1.25204711e-02 4.19204976e-02 -1.18401215e+01] [ 1.20968745e-02 9.99873334e-01 1.03432347e-02 -1.62156254e+00] [-4.20446899e-02 -9.82622404e-03 9.99067410e-01 2.50620561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760418555 meters 0.0778601593575318 Centerline is valid? [True, True] Translation: X:-11.90, Y:-1.63, Z:0.23 [[ 9.99580505e-01 -5.33451802e-03 2.84667787e-02 -1.18988486e+01] [ 5.13655856e-03 9.99962148e-01 7.02265283e-03 -1.62889354e+00] [-2.85031637e-02 -6.87348558e-03 9.99570070e-01 2.27595684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820418555 meters 0.10141702906913576 Centerline is valid? [True, False] Translation: X:-11.81, Y:-1.59, Z:0.16 [[ 0.99958804 0.0199192 -0.02066318 -11.81003015] [ -0.02048172 0.99941528 -0.02737883 -1.58708843] [ 0.02010573 0.02779077 0.99941154 0.15993726] [ 0. 0. 0. 1. ]] SLAMing on 14.880418554999999 meters 0.21490972014290408 Centerline is valid? [False, False] Translation: X:-11.85, Y:-1.57, Z:0.00 [[ 9.97862368e-01 6.51278892e-02 -5.39009945e-03 -1.18522704e+01] [-6.53431608e-02 9.93109093e-01 -9.72861763e-02 -1.56713897e+00] [-9.83086528e-04 9.74304203e-02 9.95241853e-01 8.28993576e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940418554999999 meters 0.43504468883860875 Centerline is valid? [False, False] Translation: X:-11.87, Y:-1.52, Z:-0.29 [[ 9.98996342e-01 -4.47301577e-02 -2.34973339e-03 -1.18653082e+01] [ 4.16295805e-02 9.46551014e-01 -3.19856462e-01 -1.52191521e+00] [ 1.65313725e-02 3.19437617e-01 9.47463098e-01 -2.86291368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000418555 meters 0.3462690318996717 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.51, Z:-0.30 [[ 9.97165065e-01 -7.51112329e-02 -4.48727236e-03 -1.18954965e+01] [ 7.29698654e-02 9.79845651e-01 -1.85951335e-01 -1.50782212e+00] [ 1.83638683e-02 1.85096739e-01 9.82548709e-01 -3.02927785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060418554999998 meters 0.11759516080584648 Centerline is valid? [False, False] Translation: X:-11.94, Y:-1.51, Z:-0.08 [[ 9.99229184e-01 -3.84296281e-02 8.01257959e-03 -1.19432323e+01] [ 3.80571875e-02 9.98377306e-01 4.23604109e-02 -1.51050035e+00] [-9.62747246e-03 -4.20228225e-02 9.99070265e-01 -8.38339260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120418554999999 meters 0.12442258848463408 Centerline is valid? [False, False] Translation: X:-11.95, Y:-1.52, Z:-0.02 [[ 9.99661567e-01 -2.59483602e-02 1.85301760e-03 -1.19459714e+01] [ 2.58330528e-02 9.98566707e-01 4.68741369e-02 -1.52321367e+00] [-3.06666867e-03 -4.68104041e-02 9.98899085e-01 -2.47622699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180418555 meters 0.13721824547055284 Centerline is valid? [False, False] Translation: X:-11.97, Y:-1.53, Z:-0.04 [[ 9.99454765e-01 -2.08095184e-02 -2.56346936e-02 -1.19682590e+01] [ 2.10558237e-02 9.99734335e-01 9.37609416e-03 -1.52744474e+00] [ 2.54327713e-02 -9.91074157e-03 9.99627406e-01 -4.47033980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240418555 meters 0.1690964977404873 Centerline is valid? [False, False] Translation: X:-11.90, Y:-1.51, Z:-0.09 [[ 0.99450061 -0.03608068 -0.09831946 -11.9012589 ] [ 0.03304241 0.99893002 -0.03235758 -1.50892066] [ 0.09938174 0.02893092 0.99462871 -0.08501596] [ 0. 0. 0. 1. ]] SLAMing on 15.300418554999998 meters 0.19313023207985028 Centerline is valid? [False, False] Translation: X:-11.94, Y:-1.50, Z:-0.13 [[ 0.9933271 -0.05879995 -0.09921611 -11.94385262] [ 0.05404385 0.99728774 -0.04996415 -1.49776676] [ 0.1018849 0.04426872 0.99381072 -0.12941583] [ 0. 0. 0. 1. ]] SLAMing on 15.360418554999999 meters 0.16831471643899876 Centerline is valid? [False, False] Translation: X:-11.99, Y:-1.51, Z:-0.13 [[ 0.99278936 -0.07378025 -0.09447628 -11.99254998] [ 0.07111773 0.99697829 -0.03125 -1.51259874] [ 0.09649643 0.02430573 0.99503652 -0.13074329] [ 0. 0. 0. 1. ]] SLAMing on 15.420418555 meters 0.13696472358608378 Centerline is valid? [False, False] Translation: X:-12.06, Y:-1.53, Z:-0.07 [[ 0.99574175 -0.06599876 -0.06436256 -12.06233823] [ 0.06710577 0.99763024 0.0151898 -1.52636505] [ 0.06320752 -0.01944422 0.99781097 -0.07326347] [ 0. 0. 0. 1. ]] SLAMing on 15.480418554999998 meters 0.13897380700279025 Centerline is valid? [False, False] Translation: X:-12.04, Y:-1.52, Z:-0.04 [[ 0.99380464 -0.06055557 -0.09319532 -12.03813646] [ 0.06453999 0.99709911 0.04034789 -1.51987404] [ 0.09048169 -0.04611275 0.99482998 -0.04052545] [ 0. 0. 0. 1. ]] SLAMing on 15.540418554999999 meters 0.1076972861298449 Centerline is valid? [False, False] Translation: X:-12.17, Y:-1.60, Z:0.15 [[ 9.99190028e-01 -4.02384656e-02 -3.91933061e-04 -1.21718159e+01] [ 4.00639062e-02 9.93849894e-01 1.03234066e-01 -1.60053615e+00] [-3.76445776e-03 -1.03166151e-01 9.94657013e-01 1.51723929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600418555 meters 0.10900927912807439 Centerline is valid? [False, False] Translation: X:-12.19, Y:-1.61, Z:0.16 [[ 9.99940038e-01 -3.14230062e-03 -1.04902647e-02 -1.21861873e+01] [ 3.75737004e-03 9.98242788e-01 5.91372887e-02 -1.61158776e+00] [ 1.02860039e-02 -5.91731585e-02 9.98194738e-01 1.60139863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660418555 meters 0.11749319544083343 Centerline is valid? [False, False] Translation: X:-12.24, Y:-1.61, Z:0.18 [[ 9.99743353e-01 -2.13972620e-02 7.44212977e-03 -1.22404458e+01] [ 2.11403367e-02 9.99230442e-01 3.30395318e-02 -1.60868178e+00] [-8.14335813e-03 -3.28737231e-02 9.99426337e-01 1.82049350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720418554999998 meters 0.11501558738856506 Centerline is valid? [False, False] Translation: X:-12.32, Y:-1.60, Z:0.20 [[ 9.98285597e-01 -5.80604297e-02 7.40623910e-03 -1.23151704e+01] [ 5.77993986e-02 9.97828056e-01 3.15974842e-02 -1.59626201e+00] [-9.22471667e-03 -3.11152372e-02 9.99473235e-01 1.99512676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780418554999999 meters 0.10038987909614028 Centerline is valid? [False, False] Translation: X:-12.33, Y:-1.60, Z:0.17 [[ 9.98510704e-01 -5.43253215e-02 5.01332058e-03 -1.23252321e+01] [ 5.40065518e-02 9.97280163e-01 5.01554518e-02 -1.59926505e+00] [-7.72439621e-03 -4.98100034e-02 9.98728841e-01 1.69728410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840418555 meters 0.07216449453167154 Centerline is valid? [False, True] Translation: X:-12.31, Y:-1.63, Z:0.18 [[ 9.99661422e-01 -2.47848102e-02 -7.92171602e-03 -1.23115790e+01] [ 2.51149886e-02 9.98683568e-01 4.47254813e-02 -1.62590487e+00] [ 6.80277505e-03 -4.49092921e-02 9.98967906e-01 1.78639408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900418554999998 meters 0.03759200625482052 Centerline is valid? [True, True] Translation: X:-12.37, Y:-1.67, Z:0.24 [[ 9.99361471e-01 -3.56347411e-02 -2.61065247e-03 -1.23738040e+01] [ 3.56350794e-02 9.99364865e-01 8.31438260e-05 -1.66915206e+00] [ 2.60603154e-03 -1.76121544e-04 9.99996589e-01 2.38065482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960418554999999 meters 0.03529995931593381 Centerline is valid? [True, True] Translation: X:-12.43, Y:-1.66, Z:0.23 [[ 9.99728378e-01 -1.01180178e-02 -2.09951554e-02 -1.24335251e+01] [ 1.01344405e-02 9.99948417e-01 6.75960788e-04 -1.65555357e+00] [ 2.09872330e-02 -8.88551334e-04 9.99779349e-01 2.26318395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020418555 meters 0.03174967280876306 Centerline is valid? [True, True] Translation: X:-12.49, Y:-1.65, Z:0.23 [[ 9.99768195e-01 1.35078328e-02 -1.67658653e-02 -1.24930096e+01] [-1.35006738e-02 9.99908716e-01 5.40114817e-04 -1.65351779e+00] [ 1.67716307e-02 -3.13639137e-04 9.99859297e-01 2.29792912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080418554999998 meters 0.032374371127626346 Centerline is valid? [True, True] Translation: X:-12.55, Y:-1.65, Z:0.23 [[ 9.98226209e-01 4.33155721e-02 -4.08435550e-02 -1.25541037e+01] [-4.32979732e-02 9.99061337e-01 1.31579551e-03 -1.65310810e+00] [ 4.08622111e-02 4.54981583e-04 9.99164687e-01 2.27148571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140418555 meters 0.029394387100962587 Centerline is valid? [True, True] Translation: X:-12.61, Y:-1.64, Z:0.21 [[ 9.97123380e-01 6.02463374e-02 -4.59928748e-02 -1.26124417e+01] [-6.02420250e-02 9.98182701e-01 1.48110224e-03 -1.63991476e+00] [ 4.59985230e-02 1.29386224e-03 9.98940670e-01 2.09364475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200418555 meters 0.028987085050533597 Centerline is valid? [True, True] Translation: X:-12.67, Y:-1.64, Z:0.20 [[ 9.96254597e-01 6.99256905e-02 -5.08642885e-02 -1.26725733e+01] [-6.99329741e-02 9.97550347e-01 1.63867045e-03 -1.64004625e+00] [ 5.08542738e-02 1.92455800e-03 9.98704230e-01 2.04707025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260418554999998 meters 0.025602030570410626 Centerline is valid? [True, True] Translation: X:-12.73, Y:-1.66, Z:0.21 [[ 9.95994150e-01 7.72091051e-02 -4.51044128e-02 -1.27329440e+01] [-7.72222671e-02 9.97012843e-01 1.45314317e-03 -1.65548010e+00] [ 4.50818748e-02 2.03574292e-03 9.98981221e-01 2.10944581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320418555 meters 0.02489136896237817 Centerline is valid? [True, True] Translation: X:-12.80, Y:-1.67, Z:0.21 [[ 9.95732391e-01 7.57587228e-02 -5.27031385e-02 -1.27961437e+01] [-7.57749399e-02 9.97123509e-01 1.69328288e-03 -1.67403737e+00] [ 5.26798194e-02 2.30752055e-03 9.98608788e-01 2.10064684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380418555 meters 0.022889895023418372 Centerline is valid? [True, True] Translation: X:-12.86, Y:-1.69, Z:0.20 [[ 9.96442222e-01 6.75064325e-02 -5.04557114e-02 -1.28558353e+01] [-6.75111901e-02 9.97717215e-01 1.61189771e-03 -1.68769874e+00] [ 5.04493453e-02 1.80016219e-03 9.98724999e-01 1.96228010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440418554999997 meters 0.01984217908627125 Centerline is valid? [True, True] Translation: X:-12.92, Y:-1.71, Z:0.20 [[ 9.97066630e-01 5.40206062e-02 -5.42209335e-02 -1.29176259e+01] [-5.40063585e-02 9.98539095e-01 1.72902553e-03 -1.71205300e+00] [ 5.42351248e-02 1.20432151e-03 9.98527466e-01 2.00467339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500418555 meters 0.02039572353807682 Centerline is valid? [True, True] Translation: X:-12.98, Y:-1.73, Z:0.19 [[ 9.97707736e-01 3.89683768e-02 -5.53239554e-02 -1.29793114e+01] [-3.89304704e-02 9.99240366e-01 1.76313652e-03 -1.73326161e+00] [ 5.53506360e-02 3.94692664e-04 9.98466900e-01 1.93369499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560418555 meters 0.02051179858463214 Centerline is valid? [True, True] Translation: X:-13.04, Y:-1.75, Z:0.19 [[ 9.97770497e-01 2.62281260e-02 -6.13687257e-02 -1.30409070e+01] [-2.61574601e-02 9.99655924e-01 1.95473548e-03 -1.75445536e+00] [ 6.13988793e-02 -3.45127403e-04 9.98113249e-01 1.85617667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620418555 meters 0.02559314610228367 Centerline is valid? [True, True] Translation: X:-13.10, Y:-1.77, Z:0.18 [[ 9.97906823e-01 1.63437354e-02 -6.25687990e-02 -1.31012236e+01] [-1.62508689e-02 9.99865960e-01 1.99287382e-03 -1.77044070e+00] [ 6.25929833e-02 -9.71905035e-04 9.98038664e-01 1.80972064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680418555 meters 0.03325270572196942 Centerline is valid? [True, True] Translation: X:-13.16, Y:-1.78, Z:0.19 [[ 9.98728065e-01 -1.45842608e-02 -4.82654335e-02 -1.31617399e+01] [ 1.46755719e-02 9.99891125e-01 1.53800660e-03 -1.78296339e+00] [ 4.82377480e-02 -2.24437319e-03 9.98833361e-01 1.87628034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740418554999998 meters 0.0399921621618095 Centerline is valid? [True, True] Translation: X:-13.22, Y:-1.79, Z:0.19 [[ 9.98493840e-01 -4.53629676e-02 -3.08585889e-02 -1.32222431e+01] [ 4.54148976e-02 9.98967727e-01 9.83677354e-04 -1.78703350e+00] [ 3.07821119e-02 -2.38363543e-03 9.99523276e-01 1.90749731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800418555 meters 0.04462423621850634 Centerline is valid? [True, True] Translation: X:-13.28, Y:-1.81, Z:0.20 [[ 9.97928801e-01 -5.91224730e-02 -2.53503899e-02 -1.32833111e+01] [ 5.91619324e-02 9.98248071e-01 8.08727996e-04 -1.80507707e+00] [ 2.52581638e-02 -2.30683101e-03 9.99678300e-01 1.95572145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860418555 meters 0.03908853626225622 Centerline is valid? [True, True] Translation: X:-13.34, Y:-1.81, Z:0.18 [[ 9.98306639e-01 -3.45625271e-02 -4.67898076e-02 -1.33425722e+01] [ 3.46703507e-02 9.99397685e-01 1.49459263e-03 -1.81082547e+00] [ 4.67099685e-02 -3.11428079e-03 9.98903639e-01 1.80859069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920418554999998 meters 0.03130861909537093 Centerline is valid? [True, True] Translation: X:-13.40, Y:-1.83, Z:0.17 [[ 9.97936081e-01 -2.69706287e-03 -6.41584227e-02 -1.34027302e+01] [ 2.83450478e-03 9.99993879e-01 2.05130097e-03 -1.83254291e+00] [ 6.41524975e-02 -2.22892460e-03 9.97937618e-01 1.73739768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980418555 meters 0.030208228323592722 Centerline is valid? [True, True] Translation: X:-13.46, Y:-1.86, Z:0.17 [[ 9.97894036e-01 7.46238108e-03 -6.44345064e-02 -1.34633947e+01] [-7.34479477e-03 9.99970902e-01 2.06158238e-03 -1.86083273e+00] [ 6.44480158e-02 -1.58398253e-03 9.97919809e-01 1.72342796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040418555 meters 0.032932114542263316 Centerline is valid? [True, True] Translation: X:-13.52, Y:-1.93, Z:0.17 [[ 9.98145775e-01 2.11866127e-03 -6.08319294e-02 -1.35242962e+01] [-2.00355569e-03 9.99996086e-01 1.95312440e-03 -1.92518487e+00] [ 6.08358293e-02 -1.82762271e-03 9.98146112e-01 1.72476265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100418554999997 meters 0.027788093293498902 Centerline is valid? [True, True] Translation: X:-13.59, Y:-1.97, Z:0.16 [[ 9.97617811e-01 1.60428165e-03 -6.89646927e-02 -1.35857438e+01] [-1.45442179e-03 9.99996471e-01 2.22315078e-03 -1.97381194e+00] [ 6.89680159e-02 -2.11755106e-03 9.97616624e-01 1.62042168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160418555 meters 0.02682026491962966 Centerline is valid? [True, True] Translation: X:-13.65, Y:-2.03, Z:0.16 [[ 9.97549241e-01 1.11253375e-04 -6.99678496e-02 -1.36458407e+01] [ 4.68653135e-05 9.99997449e-01 2.25823074e-03 -2.02744739e+00] [ 6.99679224e-02 -2.25597543e-03 9.97546691e-01 1.57721546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220418555 meters 0.021880441819386066 Centerline is valid? [True, True] Translation: X:-13.71, Y:-2.07, Z:0.16 [[ 9.97835852e-01 -2.96145597e-03 -6.56874515e-02 -1.37062163e+01] [ 3.10803071e-03 9.99992903e-01 2.12931883e-03 -2.07012751e+00] [ 6.56806795e-02 -2.32886929e-03 9.97837975e-01 1.60889772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280418555 meters 0.018683990267765953 Centerline is valid? [True, True] Translation: X:-13.77, Y:-2.10, Z:0.16 [[ 9.97330260e-01 6.75030307e-03 -7.27102870e-02 -1.37654503e+01] [-6.59553252e-03 9.99975444e-01 2.36848387e-03 -2.09837507e+00] [ 7.27244895e-02 -1.88259757e-03 9.97350292e-01 1.60419608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340418555 meters 0.016977237690704503 Centerline is valid? [True, True] Translation: X:-13.83, Y:-2.13, Z:0.15 [[ 9.97290806e-01 9.70865238e-03 -7.29163245e-02 -1.38250682e+01] [-9.56000140e-03 9.99951452e-01 2.38738786e-03 -2.13258130e+00] [ 7.29359629e-02 -1.68383980e-03 9.97335204e-01 1.52988371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400418554999998 meters 0.021901831115044467 Centerline is valid? [True, True] Translation: X:-13.88, Y:-2.17, Z:0.16 [[ 9.97588339e-01 4.85895544e-03 -6.92379753e-02 -1.38843269e+01] [-4.71255698e-03 9.99986302e-01 2.27760851e-03 -2.16654446e+00] [ 6.92480937e-02 -1.94582778e-03 9.97597572e-01 1.59536545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460418555 meters 0.021431768841253515 Centerline is valid? [True, True] Translation: X:-13.95, Y:-2.21, Z:0.16 [[ 9.97612663e-01 -3.92192182e-03 -6.89463076e-02 -1.39457376e+01] [ 4.08823428e-03 9.99989064e-01 2.27126540e-03 -2.20584021e+00] [ 6.89366459e-02 -2.54771178e-03 9.97617787e-01 1.57052418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520418555 meters 0.019904100056003154 Centerline is valid? [True, True] Translation: X:-14.00, Y:-2.23, Z:0.16 [[ 9.97845100e-01 -3.24747044e-03 -6.55332758e-02 -1.40049170e+01] [ 3.39642559e-03 9.99991896e-01 2.16168816e-03 -2.22924308e+00] [ 6.55257247e-02 -2.37960884e-03 9.97848043e-01 1.60314849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580418554999998 meters 0.017970202732398202 Centerline is valid? [True, True] Translation: X:-14.06, Y:-2.24, Z:0.15 [[ 9.97561145e-01 3.59096031e-03 -6.97055739e-02 -1.40642337e+01] [-3.43872690e-03 9.99991434e-01 2.30382167e-03 -2.24254164e+00] [ 6.97132498e-02 -2.05850455e-03 9.97564948e-01 1.53960163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640418555 meters 0.021104961501594768 Centerline is valid? [True, True] Translation: X:-14.12, Y:-2.26, Z:0.15 [[ 9.97629436e-01 7.31208043e-03 -6.84254510e-02 -1.41237935e+01] [-7.17390832e-03 9.99971702e-01 2.26482105e-03 -2.25714481e+00] [ 6.84400753e-02 -1.76857424e-03 9.97653661e-01 1.51110024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700418555 meters 0.019452925486417718 Centerline is valid? [True, True] Translation: X:-14.18, Y:-2.27, Z:0.15 [[ 9.97663539e-01 -1.86417088e-03 -6.82933920e-02 -1.41847335e+01] [ 2.02340861e-03 9.99995393e-01 2.26257178e-03 -2.27318312e+00] [ 6.82888595e-02 -2.39547080e-03 9.97662715e-01 1.51592818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760418554999998 meters 0.023629502120378412 Centerline is valid? [True, True] Translation: X:-14.25, Y:-2.30, Z:0.15 [[ 9.97600467e-01 -1.46368519e-02 -6.76688340e-02 -1.42457230e+01] [ 1.48225399e-02 9.99887625e-01 2.24277030e-03 -2.29753621e+00] [ 6.76284026e-02 -3.24041269e-03 9.97705317e-01 1.49313443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820418555 meters 0.027829218606649248 Centerline is valid? [True, True] Translation: X:-14.31, Y:-2.31, Z:0.15 [[ 9.98054161e-01 -1.63908767e-02 -6.01600421e-02 -1.43060084e+01] [ 1.65408146e-02 9.99861201e-01 1.99513108e-03 -2.30612934e+00] [ 6.01189900e-02 -2.98634498e-03 9.98186750e-01 1.52462119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880418555 meters 0.022655954817981466 Centerline is valid? [True, True] Translation: X:-14.37, Y:-2.30, Z:0.15 [[ 9.97628048e-01 -8.59230702e-03 -6.82967739e-02 -1.43652371e+01] [ 8.76760240e-03 9.99958993e-01 2.26733096e-03 -2.30451182e+00] [ 6.82744916e-02 -2.86075192e-03 9.97662473e-01 1.45212882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940418554999997 meters 0.019436961380790964 Centerline is valid? [True, True] Translation: X:-14.42, Y:-2.30, Z:0.14 [[ 9.97514449e-01 -4.00634658e-03 -7.03482280e-02 -1.44236704e+01] [ 4.18119395e-03 9.99988525e-01 2.33837836e-03 -2.29781019e+00] [ 7.03380524e-02 -2.62670579e-03 9.97519754e-01 1.44950272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000418555 meters 0.020589016539100197 Centerline is valid? [True, True] Translation: X:-14.48, Y:-2.30, Z:0.14 [[ 9.97919528e-01 -3.05953551e-03 -6.43991765e-02 -1.44837429e+01] [ 3.20415964e-03 9.99992571e-01 2.14258477e-03 -2.30192085e+00] [ 6.43921428e-02 -2.34447242e-03 9.97921918e-01 1.44124395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060418555 meters 0.01905871514845842 Centerline is valid? [True, True] Translation: X:-14.54, Y:-2.30, Z:0.14 [[ 9.97752490e-01 -2.47970791e-03 -6.69613277e-02 -1.45412729e+01] [ 2.63500681e-03 9.99994040e-01 2.23101133e-03 -2.29786790e+00] [ 6.69553963e-02 -2.40244067e-03 9.97753077e-01 1.41368723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120418555 meters 0.019184890236556933 Centerline is valid? [True, True] Translation: X:-14.60, Y:-2.30, Z:0.14 [[ 9.97761585e-01 -2.37340378e-03 -6.68295386e-02 -1.45987724e+01] [ 2.52861985e-03 9.99994299e-01 2.23807470e-03 -2.29896036e+00] [ 6.68238457e-02 -2.40205146e-03 9.97761897e-01 1.40949024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180418555 meters 0.017329921675603637 Centerline is valid? [True, True] Translation: X:-14.66, Y:-2.30, Z:0.14 [[ 9.97738082e-01 1.34509437e-04 -6.72212885e-02 -1.46567474e+01] [ 1.76479373e-05 9.99997439e-01 2.26293061e-03 -2.29823525e+00] [ 6.72214208e-02 -2.25899836e-03 9.97735525e-01 1.40645521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240418554999998 meters 0.017934003430404546 Centerline is valid? [True, True] Translation: X:-14.72, Y:-2.31, Z:0.14 [[ 9.97659422e-01 -1.31806573e-03 -6.83662196e-02 -1.47163212e+01] [ 1.47959064e-03 9.99996233e-01 2.31205970e-03 -2.30625369e+00] [ 6.83629146e-02 -2.40780217e-03 9.97657614e-01 1.38997711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300418555 meters 0.02155305362735538 Centerline is valid? [True, True] Translation: X:-14.78, Y:-2.32, Z:0.14 [[ 9.97978529e-01 -6.95479894e-03 -6.31703047e-02 -1.47753686e+01] [ 7.10480065e-03 9.99972449e-01 2.15023785e-03 -2.31527084e+00] [ 6.31536099e-02 -2.59470362e-03 9.98000445e-01 1.35635079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360418555 meters 0.01917354139774966 Centerline is valid? [True, True] Translation: X:-14.83, Y:-2.32, Z:0.14 [[ 9.98039474e-01 -7.24214056e-03 -6.21671880e-02 -1.48334113e+01] [ 7.38859814e-03 9.99970443e-01 2.12629996e-03 -2.31707339e+00] [ 6.21499516e-02 -2.58145966e-03 9.98063485e-01 1.38887230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420418554999998 meters 0.01768452342947033 Centerline is valid? [True, True] Translation: X:-14.89, Y:-2.32, Z:0.13 [[ 9.97813810e-01 9.14388660e-04 -6.60814927e-02 -1.48935320e+01] [-7.66473745e-04 9.99997144e-01 2.26368918e-03 -2.31971992e+00] [ 6.60833739e-02 -2.20809059e-03 9.97811662e-01 1.34257021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480418555 meters 0.01592740521286507 Centerline is valid? [True, True] Translation: X:-14.95, Y:-2.32, Z:0.13 [[ 9.97709072e-01 6.93981667e-03 -6.72937369e-02 -1.49525990e+01] [-6.79988455e-03 9.99974216e-01 2.30825691e-03 -2.31705842e+00] [ 6.73080207e-02 -1.84537922e-03 9.97730537e-01 1.29936493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540418555 meters 0.02073322803747208 Centerline is valid? [True, True] Translation: X:-15.01, Y:-2.32, Z:0.13 [[ 9.97946895e-01 9.79981269e-03 -6.32926426e-02 -1.50126354e+01] [-9.68162055e-03 9.99950769e-01 2.17382410e-03 -2.32309757e+00] [ 6.33108297e-02 -1.55658567e-03 9.97992643e-01 1.31628696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600418554999997 meters 0.01564455286461907 Centerline is valid? [True, True] Translation: X:-15.07, Y:-2.33, Z:0.13 [[ 9.98043167e-01 5.39563207e-03 -6.22954507e-02 -1.50705747e+01] [-5.27239212e-03 9.99983806e-01 2.14252818e-03 -2.33046593e+00] [ 6.23060021e-02 -1.80988957e-03 9.98055453e-01 1.33814079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660418555 meters 0.017948893622257597 Centerline is valid? [True, True] Translation: X:-15.13, Y:-2.34, Z:0.13 [[ 9.98025277e-01 -2.25246010e-03 -6.27731785e-02 -1.51309039e+01] [ 2.39289555e-03 9.99994800e-01 2.16209957e-03 -2.33972826e+00] [ 6.27679820e-02 -2.30803968e-03 9.98025477e-01 1.30362676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720418555 meters 0.018229909009732793 Centerline is valid? [True, True] Translation: X:-15.19, Y:-2.35, Z:0.13 [[ 9.97802789e-01 -5.10751065e-03 -6.60568537e-02 -1.51902317e+01] [ 5.26939429e-03 9.99983525e-01 2.27667234e-03 -2.34627568e+00] [ 6.60441372e-02 -2.61974962e-03 9.97813264e-01 1.29888916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780418554999997 meters 0.020191541966573797 Centerline is valid? [True, True] Translation: X:-15.25, Y:-2.36, Z:0.12 [[ 9.98098607e-01 -4.75839163e-03 -6.14534650e-02 -1.52496580e+01] [ 4.89795158e-03 9.99985757e-01 2.12054439e-03 -2.35558316e+00] [ 6.14424993e-02 -2.41750850e-03 9.98107697e-01 1.24794909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840418555 meters 0.016862261842112047 Centerline is valid? [True, True] Translation: X:-15.31, Y:-2.35, Z:0.12 [[ 9.97738107e-01 2.87277452e-03 -6.71596355e-02 -1.53079402e+01] [-2.72299589e-03 9.99993598e-01 2.32162312e-03 -2.35067141e+00] [ 6.71658750e-02 -2.13349645e-03 9.97739542e-01 1.21096620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900418554999998 meters 0.01309621462258803 Centerline is valid? [True, True] Translation: X:-15.37, Y:-2.35, Z:0.13 [[ 9.98141104e-01 1.19263825e-02 -5.97670345e-02 -1.53672914e+01] [-1.18238855e-02 9.99927956e-01 2.06831589e-03 -2.34837063e+00] [ 5.97873962e-02 -1.35779254e-03 9.98210210e-01 1.29148414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960418555 meters 0.012412159720970348 Centerline is valid? [True, True] Translation: X:-15.43, Y:-2.35, Z:0.12 [[ 9.97624028e-01 1.84520285e-02 -6.63763683e-02 -1.54262120e+01] [-1.83396810e-02 9.99829165e-01 2.30156883e-03 -2.34705084e+00] [ 6.64074975e-02 -1.07877894e-03 9.97792003e-01 1.17993674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020418555 meters 0.011519049238433379 Centerline is valid? [True, True] Translation: X:-15.49, Y:-2.35, Z:0.12 [[ 9.97808847e-01 2.38285004e-02 -6.17228213e-02 -1.54855006e+01] [-2.37413417e-02 9.99715833e-01 2.14520878e-03 -2.35014955e+00] [ 6.17563988e-02 -6.75125712e-04 9.98091024e-01 1.21511274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080418554999998 meters 0.01114775125521043 Centerline is valid? [True, True] Translation: X:-15.54, Y:-2.36, Z:0.12 [[ 9.97590142e-01 2.48435108e-02 -6.47820106e-02 -1.55449289e+01] [-2.47490714e-02 9.99691140e-01 2.26000940e-03 -2.35674032e+00] [ 6.48181486e-02 -6.51268495e-04 9.97896880e-01 1.16804010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140418555 meters 0.011835872340602209 Centerline is valid? [True, True] Translation: X:-15.60, Y:-2.37, Z:0.11 [[ 9.97655563e-01 2.11069541e-02 -6.50989494e-02 -1.56038005e+01] [-2.10026170e-02 9.99776806e-01 2.28675649e-03 -2.36679293e+00] [ 6.51326861e-02 -9.14147035e-04 9.97876193e-01 1.12483071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200418555 meters 0.013170717405175638 Centerline is valid? [True, True] Translation: X:-15.66, Y:-2.38, Z:0.11 [[ 9.97673665e-01 1.44833075e-02 -6.66145089e-02 -1.56639167e+01] [-1.43586520e-02 9.99894148e-01 2.34972101e-03 -2.38263160e+00] [ 6.66414893e-02 -1.38776022e-03 9.97776020e-01 1.11770747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260418554999998 meters 0.013515638051768043 Centerline is valid? [True, True] Translation: X:-15.72, Y:-2.39, Z:0.11 [[ 9.98094226e-01 1.05764256e-02 -6.07951915e-02 -1.57218190e+01] [-1.04651077e-02 9.99942930e-01 2.14915762e-03 -2.39048212e+00] [ 6.08144523e-02 -1.50883359e-03 9.98147948e-01 1.13785983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320418555 meters 0.016567442126755864 Centerline is valid? [True, True] Translation: X:-15.78, Y:-2.40, Z:0.11 [[ 9.98056438e-01 1.09194110e-02 -6.13523698e-02 -1.57808766e+01] [-1.08059831e-02 9.99939237e-01 2.18029903e-03 -2.40224498e+00] [ 6.13724494e-02 -1.51308881e-03 9.98113788e-01 1.10263829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380418555 meters 0.015345248218206159 Centerline is valid? [True, True] Translation: X:-15.84, Y:-2.42, Z:0.11 [[ 9.98079358e-01 8.93066840e-03 -6.13012095e-02 -1.58397803e+01] [-8.81275315e-03 9.99958761e-01 2.19364500e-03 -2.41622384e+00] [ 6.13182722e-02 -1.64919937e-03 9.98116902e-01 1.07531583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440418554999997 meters 0.015395061853527327 Centerline is valid? [True, True] Translation: X:-15.90, Y:-2.42, Z:0.10 [[ 9.98045290e-01 9.45288741e-03 -6.17757427e-02 -1.58972376e+01] [-9.33315388e-03 9.99953966e-01 2.22647248e-03 -2.41796264e+00] [ 6.17939455e-02 -1.64555786e-03 9.98087572e-01 1.01401656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500418555 meters 0.01582404802693401 Centerline is valid? [True, True] Translation: X:-15.96, Y:-2.43, Z:0.10 [[ 9.97783301e-01 6.28489513e-03 -6.62494167e-02 -1.59566511e+01] [-6.13948292e-03 9.99978277e-01 2.39828634e-03 -2.43148309e+00] [ 6.62630505e-02 -1.98623290e-03 9.97800212e-01 9.94937283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560418555 meters 0.017596789469424237 Centerline is valid? [True, True] Translation: X:-16.02, Y:-2.44, Z:0.10 [[ 9.97932447e-01 -7.85953214e-04 -6.42667399e-02 -1.60164797e+01] [ 9.37534403e-04 9.99996850e-01 2.32850247e-03 -2.44127359e+00] [ 6.42647074e-02 -2.38394045e-03 9.97930040e-01 9.96343502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620418555 meters 0.01877152564715237 Centerline is valid? [True, True] Translation: X:-16.08, Y:-2.45, Z:0.10 [[ 9.97662042e-01 -6.01575003e-03 -6.80754046e-02 -1.60764272e+01] [ 6.19815486e-03 9.99977744e-01 2.46855221e-03 -2.44686511e+00] [ 6.80590393e-02 -2.88472274e-03 9.97677125e-01 9.52693755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680418555 meters 0.020803451789990636 Centerline is valid? [True, True] Translation: X:-16.14, Y:-2.45, Z:0.10 [[ 9.98004936e-01 -9.93816431e-03 -6.23488649e-02 -1.61350941e+01] [ 1.00992949e-02 9.99946425e-01 2.26971664e-03 -2.45451282e+00] [ 6.23229677e-02 -2.89486798e-03 9.98051836e-01 9.91444050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740418554999998 meters 0.02040861902440261 Centerline is valid? [True, True] Translation: X:-16.19, Y:-2.45, Z:0.09 [[ 9.97826473e-01 -1.06440886e-02 -6.50310226e-02 -1.61944244e+01] [ 1.08216230e-02 9.99938616e-01 2.37835124e-03 -2.45407452e+00] [ 6.50017154e-02 -3.07692304e-03 9.97880408e-01 9.47138577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800418555 meters 0.017871934191157457 Centerline is valid? [True, True] Translation: X:-16.25, Y:-2.45, Z:0.10 [[ 9.97984167e-01 -3.36792817e-03 -6.33739652e-02 -1.62547520e+01] [ 3.52196308e-03 9.99991109e-01 2.31901475e-03 -2.44802543e+00] [ 6.33655915e-02 -2.53754077e-03 9.97987156e-01 9.53105950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860418555 meters 0.015461033063893976 Centerline is valid? [True, True] Translation: X:-16.31, Y:-2.44, Z:0.09 [[ 9.97576692e-01 5.59466496e-03 -6.93501558e-02 -1.63135601e+01] [-5.43153424e-03 9.99982022e-01 2.54062040e-03 -2.44234047e+00] [ 6.93631229e-02 -2.15778595e-03 9.97589144e-01 8.87039454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920418554999998 meters 0.018730979163288836 Centerline is valid? [True, True] Translation: X:-16.37, Y:-2.44, Z:0.09 [[ 9.98101050e-01 1.43913517e-02 -5.98930881e-02 -1.63740779e+01] [-1.42853925e-02 9.99895545e-01 2.19696782e-03 -2.43918032e+00] [ 5.99184493e-02 -1.33719962e-03 9.98202380e-01 9.13739035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980418555 meters 0.020162368745931195 Centerline is valid? [True, True] Translation: X:-16.43, Y:-2.44, Z:0.08 [[ 9.97527849e-01 1.36207786e-02 -6.89395684e-02 -1.64333003e+01] [-1.34783595e-02 9.99905961e-01 2.53060491e-03 -2.44131009e+00] [ 6.89675542e-02 -1.59515659e-03 9.97617628e-01 8.49272082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040418555 meters 0.0203063180543727 Centerline is valid? [True, True] Translation: X:-16.49, Y:-2.45, Z:0.09 [[ 9.97850491e-01 1.33200849e-02 -6.41636387e-02 -1.64931980e+01] [-1.31960007e-02 9.99910150e-01 2.35729147e-03 -2.44505294e+00] [ 6.41892729e-02 -1.50552103e-03 9.97936607e-01 8.76185841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100418554999997 meters 0.014920269163236521 Centerline is valid? [True, True] Translation: X:-16.55, Y:-2.45, Z:0.08 [[ 9.97482533e-01 1.16295945e-02 -6.99524749e-02 -1.65530050e+01] [-1.14777355e-02 9.99930820e-01 2.57245045e-03 -2.45324558e+00] [ 6.99775521e-02 -1.76307839e-03 9.97547008e-01 8.01688724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160418555 meters 0.015986459611107978 Centerline is valid? [True, True] Translation: X:-16.61, Y:-2.46, Z:0.08 [[ 9.97828913e-01 5.93567886e-03 -6.55913695e-02 -1.66111827e+01] [-5.78956629e-03 9.99980318e-01 2.41747343e-03 -2.46233074e+00] [ 6.56044279e-02 -2.03247930e-03 9.97843639e-01 8.43776842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220418555 meters 0.017387853406644643 Centerline is valid? [True, True] Translation: X:-16.67, Y:-2.48, Z:0.08 [[ 9.97523197e-01 3.54719721e-03 -7.02487595e-02 -1.66716804e+01] [-3.37324166e-03 9.99990944e-01 2.59475453e-03 -2.47859226e+00] [ 7.02573274e-02 -2.35136179e-03 9.97526130e-01 7.64125146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280418554999997 meters 0.017768130961614174 Centerline is valid? [True, True] Translation: X:-16.73, Y:-2.48, Z:0.07 [[ 9.97717130e-01 3.62957434e-03 -6.74340731e-02 -1.67317781e+01] [-3.46937824e-03 9.99990875e-01 2.49255484e-03 -2.48437436e+00] [ 6.74425047e-02 -2.25291036e-03 9.97720619e-01 7.49286755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340418555 meters 0.017081499696260632 Centerline is valid? [True, True] Translation: X:-16.79, Y:-2.49, Z:0.07 [[ 9.97538578e-01 5.90142225e-03 -6.98710072e-02 -1.67907336e+01] [-5.73427367e-03 9.99980198e-01 2.59258018e-03 -2.49463186e+00] [ 6.98849236e-02 -2.18553927e-03 9.97552666e-01 7.24679466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400418554999998 meters 0.01936106493153923 Centerline is valid? [True, True] Translation: X:-16.85, Y:-2.51, Z:0.07 [[ 9.97339294e-01 1.37996280e-03 -7.28864041e-02 -1.68510414e+01] [-1.18534104e-03 9.99995616e-01 2.71339437e-03 -2.50635858e+00] [ 7.28898290e-02 -2.61977958e-03 9.97336558e-01 6.78726029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460418555 meters 0.022235220233139487 Centerline is valid? [True, True] Translation: X:-16.91, Y:-2.52, Z:0.07 [[ 9.97480646e-01 -5.88175668e-03 -7.06948814e-02 -1.69112631e+01] [ 6.08312605e-03 9.99978030e-01 2.63347280e-03 -2.52263435e+00] [ 7.06778388e-02 -3.05688402e-03 9.97494511e-01 6.85741435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520418555 meters 0.024877778317226106 Centerline is valid? [True, True] Translation: X:-16.97, Y:-2.53, Z:0.06 [[ 9.97413931e-01 -8.88852279e-03 -7.13193140e-02 -1.69717660e+01] [ 9.10126465e-03 9.99955049e-01 2.65853533e-03 -2.53260231e+00] [ 7.12924776e-02 -3.30075613e-03 9.97449993e-01 6.42898203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580418554999998 meters 0.028645189409149938 Centerline is valid? [True, True] Translation: X:-17.03, Y:-2.54, Z:0.06 [[ 9.97049771e-01 -1.61779893e-02 -7.50335041e-02 -1.70322321e+01] [ 1.64341792e-02 9.99861034e-01 2.79812982e-03 -2.54493208e+00] [ 7.49778090e-02 -4.02298875e-03 9.97177087e-01 6.08808745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640418555 meters 0.028791971091905358 Centerline is valid? [True, True] Translation: X:-17.09, Y:-2.54, Z:0.06 [[ 9.97275003e-01 -1.47925358e-02 -7.22755044e-02 -1.70925691e+01] [ 1.50266385e-02 9.99883458e-01 2.69633731e-03 -2.54300398e+00] [ 7.22271956e-02 -3.77504768e-03 9.97381061e-01 6.42599363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700418555 meters 0.028945675222672596 Centerline is valid? [True, True] Translation: X:-17.15, Y:-2.54, Z:0.06 [[ 9.97310923e-01 -1.14707816e-02 -7.23833112e-02 -1.71523132e+01] [ 1.16969634e-02 9.99927938e-01 2.70164916e-03 -2.54156622e+00] [ 7.23471051e-02 -3.54104916e-03 9.97373229e-01 6.11388315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760418554999998 meters 0.028552111947766166 Centerline is valid? [True, True] Translation: X:-17.21, Y:-2.53, Z:0.06 [[ 9.97111915e-01 -8.62357937e-03 -7.54550384e-02 -1.72096455e+01] [ 8.86160834e-03 9.99956758e-01 2.82033912e-03 -2.53290121e+00] [ 7.54274541e-02 -3.48084673e-03 9.97145217e-01 6.30011742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820418555 meters 0.02960627619047882 Centerline is valid? [True, True] Translation: X:-17.27, Y:-2.53, Z:0.06 [[ 9.96950038e-01 -6.98185198e-03 -7.77295032e-02 -1.72679964e+01] [ 7.23052550e-03 9.99969601e-01 2.91823458e-03 -2.52887733e+00] [ 7.77067656e-02 -3.47135923e-03 9.96970214e-01 6.04114843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880418555 meters 0.03774723392093395 Centerline is valid? [True, True] Translation: X:-17.33, Y:-2.53, Z:0.05 [[ 9.96538190e-01 -1.21645537e-02 -8.22414691e-02 -1.73285166e+01] [ 1.24613880e-02 9.99917558e-01 3.09695547e-03 -2.53498146e+00] [ 8.21970158e-02 -4.11107725e-03 9.96607621e-01 5.49546256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940418554999997 meters 0.0418676818483991 Centerline is valid? [True, True] Translation: X:-17.39, Y:-2.53, Z:0.06 [[ 9.96306333e-01 -1.43223968e-02 -8.46673432e-02 -1.73886746e+01] [ 1.46449581e-02 9.99887669e-01 3.18985493e-03 -2.53366933e+00] [ 8.46121460e-02 -4.41802236e-03 9.96404168e-01 5.98620056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000418555 meters 0.051167701114463775 Centerline is valid? [True, True] Translation: X:-17.45, Y:-2.53, Z:0.05 [[ 9.94653108e-01 -1.26660435e-02 -1.02492765e-01 -1.74488779e+01] [ 1.31311606e-02 9.99906314e-01 3.86459300e-03 -2.53116710e+00] [ 1.02434214e-01 -5.18977839e-03 9.94726243e-01 4.89171679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060418555 meters 0.05626898806204657 Centerline is valid? [True, True] Translation: X:-17.51, Y:-2.53, Z:0.05 [[ 9.93782000e-01 -1.16750951e-02 -1.10729532e-01 -1.75091864e+01] [ 1.22125920e-02 9.99916699e-01 4.17712888e-03 -2.53162320e+00] [ 1.10671540e-01 -5.50345009e-03 9.93841799e-01 4.62131412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120418554999997 meters 0.06784433108382519 Centerline is valid? [True, True] Translation: X:-17.57, Y:-2.53, Z:0.01 [[ 9.89536798e-01 -6.68016902e-03 -1.44125987e-01 -1.75674209e+01] [ 7.54285528e-03 9.99956755e-01 5.44005104e-03 -2.52541031e+00] [ 1.44083414e-01 -6.47025216e-03 9.89544393e-01 6.08400351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180418555 meters 0.0731530106543447 Centerline is valid? [True, True] Translation: X:-17.63, Y:-2.52, Z:-0.01 [[ 9.86132746e-01 -4.02883783e-03 -1.65909538e-01 -1.76272562e+01] [ 5.13978908e-03 9.99967151e-01 6.26732401e-03 -2.52265534e+00] [ 1.65878838e-01 -7.03315347e-03 9.86121060e-01 -7.11571135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240418554999998 meters 0.07841475639086855 Centerline is valid? [True, True] Translation: X:-17.69, Y:-2.52, Z:-0.02 [[ 9.83862580e-01 -9.82475538e-03 -1.78655811e-01 -1.76862277e+01] [ 1.12115530e-02 9.99914336e-01 6.75440487e-03 -2.51835279e+00] [ 1.78574146e-01 -8.64841529e-03 9.83888449e-01 -2.21290781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300418555 meters 0.0858272525574087 Centerline is valid? [True, True] Translation: X:-17.75, Y:-2.52, Z:-0.04 [[ 9.80260016e-01 -1.17825345e-02 -1.97361275e-01 -1.77454229e+01] [ 1.35219801e-02 9.99880684e-01 7.46817093e-03 -2.52215162e+00] [ 1.97249733e-01 -9.98946459e-03 9.80302379e-01 -3.75838281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360418555 meters 0.09535976506576241 Centerline is valid? [True, True] Translation: X:-17.80, Y:-2.52, Z:-0.05 [[ 9.76672262e-01 -1.57381063e-02 -2.14157895e-01 -1.78044605e+01] [ 1.78894980e-02 9.99807067e-01 8.11133566e-03 -2.52458058e+00] [ 2.13988920e-01 -1.17532938e-02 9.76765377e-01 -5.34369848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420418554999998 meters 0.11528355747215874 Centerline is valid? [True, False] Translation: X:-17.81, Y:-2.53, Z:-0.06 [[ 9.76189108e-01 -9.66122659e-03 -2.16705988e-01 -1.78149981e+01] [ 1.10213580e-02 9.99926416e-01 5.06868307e-03 -2.52941503e+00] [ 2.16641073e-01 -7.33638748e-03 9.76223757e-01 -5.79874343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480418555 meters 0.1257183793732391 Centerline is valid? [False, False] Translation: X:-17.83, Y:-2.53, Z:-0.06 [[ 9.75638309e-01 -1.65212047e-02 -2.18762293e-01 -1.78273711e+01] [ 1.83552351e-02 9.99811339e-01 6.35384972e-03 -2.52994549e+00] [ 2.18616048e-01 -1.02144925e-02 9.75757494e-01 -6.23113896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540418555 meters 0.15419385070690378 Centerline is valid? [False, False] Translation: X:-17.86, Y:-2.54, Z:-0.07 [[ 9.77109801e-01 -1.49563830e-02 -2.12209199e-01 -1.78582822e+01] [ 1.66956894e-02 9.99840092e-01 6.40655741e-03 -2.53545001e+00] [ 2.12079446e-01 -9.80288890e-03 9.77203260e-01 -7.09151795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600418554999997 meters 0.16667136655666195 Centerline is valid? [False, False] Translation: X:-17.90, Y:-2.54, Z:-0.08 [[ 9.74653919e-01 -1.46634810e-02 -2.23236914e-01 -1.79024693e+01] [ 1.43393212e-02 9.99892464e-01 -3.07309664e-03 -2.54386163e+00] [ 2.23257970e-01 -2.05860118e-04 9.74759374e-01 -7.84968306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660418555 meters 0.177755843080415 Centerline is valid? [False, False] Translation: X:-17.97, Y:-2.55, Z:-0.09 [[ 9.73496873e-01 -1.30604838e-02 -2.28327093e-01 -1.79702002e+01] [ 1.19346745e-02 9.99908865e-01 -6.31079383e-03 -2.54709882e+00] [ 2.28388706e-01 3.41852852e-03 9.73564026e-01 -9.09066107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720418555 meters 0.20590670304240558 Centerline is valid? [False, False] Translation: X:-18.05, Y:-2.55, Z:-0.11 [[ 9.73348420e-01 -1.32222792e-02 -2.28949828e-01 -1.80461701e+01] [ 1.21416352e-02 9.99907510e-01 -6.12804488e-03 -2.54681532e+00] [ 2.29009679e-01 3.18489751e-03 9.73418935e-01 -1.09603435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780418554999997 meters 0.21547549144007414 Centerline is valid? [False, False] Translation: X:-18.13, Y:-2.54, Z:-0.12 [[ 9.74509703e-01 -1.35662430e-02 -2.23934801e-01 -1.81279738e+01] [ 1.24491634e-02 9.99902027e-01 -6.39955608e-03 -2.54496950e+00] [ 2.23999679e-01 3.44862858e-03 9.74583116e-01 -1.24799189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840418555 meters 0.21819087053098793 Centerline is valid? [False, False] Translation: X:-18.21, Y:-2.54, Z:-0.14 [[ 9.76544623e-01 -1.31091936e-02 -2.14915678e-01 -1.82145421e+01] [ 1.22153665e-02 9.99910337e-01 -5.48665287e-03 -2.54228608e+00] [ 2.14968334e-01 2.73268759e-03 9.76617196e-01 -1.38526533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900418554999998 meters 0.23783356096291738 Centerline is valid? [False, False] Translation: X:-18.30, Y:-2.54, Z:-0.15 [[ 9.78352750e-01 -1.26887230e-02 -2.06554819e-01 -1.82954440e+01] [ 1.18594530e-02 9.99915879e-01 -5.25248976e-03 -2.54122298e+00] [ 2.06604090e-01 2.68916063e-03 9.78420931e-01 -1.53147355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960418555 meters 0.23594881943575943 Centerline is valid? [False, False] Translation: X:-18.37, Y:-2.54, Z:-0.16 [[ 9.81688796e-01 -1.10807034e-02 -1.90169203e-01 -1.83709713e+01] [ 9.75252214e-03 9.99921088e-01 -7.91867079e-03 -2.54387404e+00] [ 1.90241941e-01 5.91904103e-03 9.81719394e-01 -1.59800597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020418555 meters 0.2562106936891122 Centerline is valid? [False, False] Translation: X:-18.44, Y:-2.54, Z:-0.17 [[ 9.82686612e-01 -9.74971122e-03 -1.85018823e-01 -1.84382474e+01] [ 7.83717437e-03 9.99908062e-01 -1.10655148e-02 -2.54468202e+00] [ 1.85109698e-01 9.42390848e-03 9.82672677e-01 -1.70190347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080418554999998 meters 0.2463712840834764 Centerline is valid? [False, False] Translation: X:-18.51, Y:-2.55, Z:-0.18 [[ 9.83866252e-01 -7.90796520e-03 -1.78730695e-01 -1.85059288e+01] [ 5.76166742e-03 9.99904966e-01 -1.25244494e-02 -2.54882932e+00] [ 1.78812752e-01 1.12925963e-02 9.83818315e-01 -1.80753598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140418555 meters 0.2542588323283584 Centerline is valid? [False, False] Translation: X:-18.56, Y:-2.55, Z:-0.19 [[ 9.84492103e-01 -9.40535272e-03 -1.75176595e-01 -1.85587910e+01] [ 7.65265428e-03 9.99913703e-01 -1.06781581e-02 -2.54527809e+00] [ 1.75261909e-01 9.17199636e-03 9.84479120e-01 -1.87772073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200418555 meters 0.2594493379216043 Centerline is valid? [False, False] Translation: X:-18.62, Y:-2.55, Z:-0.20 [[ 9.85712624e-01 -6.38355609e-03 -1.68314804e-01 -1.86187694e+01] [ 4.53837386e-03 9.99925343e-01 -1.13450930e-02 -2.55054307e+00] [ 1.68374660e-01 1.04191259e-02 9.85668005e-01 -1.98839359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260418554999998 meters 0.2653542672728092 Centerline is valid? [False, False] Translation: X:-18.67, Y:-2.55, Z:-0.21 [[ 9.87324994e-01 -9.86831633e-03 -1.58404458e-01 -1.86664784e+01] [ 8.10556676e-03 9.99897874e-01 -1.17703750e-02 -2.54682017e+00] [ 1.58504434e-01 1.03372275e-02 9.87304151e-01 -2.08598009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320418555 meters 0.28591360637665514 Centerline is valid? [False, False] Translation: X:-18.70, Y:-2.56, Z:-0.23 [[ 9.88197167e-01 1.38422978e-03 -1.53181079e-01 -1.87034830e+01] [-2.95488601e-03 9.99945368e-01 -1.00264069e-02 -2.55931782e+00] [ 1.53158831e-01 1.03606995e-02 9.88147271e-01 -2.27797538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380418555 meters 0.2784609167879002 Centerline is valid? [False, False] Translation: X:-18.75, Y:-2.55, Z:-0.25 [[ 9.88574196e-01 -3.27049938e-03 -1.50699580e-01 -1.87507045e+01] [ 2.39002857e-03 9.99979004e-01 -6.02330904e-03 -2.54913614e+00] [ 1.50716115e-01 5.59431158e-03 9.88561256e-01 -2.51467376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440418554999997 meters 0.30261584825662163 Centerline is valid? [False, False] Translation: X:-18.79, Y:-2.55, Z:-0.28 [[ 9.90411025e-01 -3.98386114e-03 -1.38094646e-01 -1.87885351e+01] [ 2.96773075e-03 9.99966994e-01 -7.56333734e-03 -2.54624470e+00] [ 1.38120219e-01 7.08098496e-03 9.90390158e-01 -2.83950575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500418555 meters 0.30110789884558864 Centerline is valid? [False, False] Translation: X:-18.81, Y:-2.55, Z:-0.31 [[ 9.90475903e-01 -5.41699840e-03 -1.37579586e-01 -1.88113866e+01] [ 4.82289161e-03 9.99977552e-01 -4.65126328e-03 -2.54575135e+00] [ 1.37601693e-01 3.94343277e-03 9.90479795e-01 -3.14443878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560418555 meters 0.3103525057601512 Centerline is valid? [False, False] Translation: X:-18.83, Y:-2.55, Z:-0.34 [[ 9.91695867e-01 -4.83547170e-03 -1.28514305e-01 -1.88293336e+01] [ 4.23481128e-03 9.99978798e-01 -4.94672043e-03 -2.54978415e+00] [ 1.28535500e-01 4.36140838e-03 9.91695318e-01 -3.38564215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620418554999997 meters 0.3124591441232046 Centerline is valid? [False, False] Translation: X:-18.86, Y:-2.55, Z:-0.35 [[ 9.92357360e-01 -3.70784157e-03 -1.23341489e-01 -1.88603802e+01] [ 3.09837063e-03 9.99982027e-01 -5.13277433e-03 -2.55408878e+00] [ 1.23358304e-01 4.71138873e-03 9.92351012e-01 -3.51406711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680418555 meters 0.317469643175686 Centerline is valid? [False, False] Translation: X:-18.86, Y:-2.56, Z:-0.37 [[ 9.92699061e-01 -6.48032738e-03 -1.20443267e-01 -1.88647009e+01] [ 6.48468758e-03 9.99978911e-01 -3.55747931e-04 -2.55549928e+00] [ 1.20443032e-01 -4.27886321e-04 9.92720148e-01 -3.68036121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740418554999998 meters 0.31294783697851836 Centerline is valid? [False, False] Translation: X:-18.88, Y:-2.56, Z:-0.40 [[ 9.93895900e-01 -5.25778128e-03 -1.10196619e-01 -1.88786184e+01] [ 5.38761595e-03 9.99985099e-01 8.80485009e-04 -2.56393345e+00] [ 1.10190348e-01 -1.46880751e-03 9.93909417e-01 -3.95774730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800418555 meters 0.31400654777202186 Centerline is valid? [False, False] Translation: X:-18.90, Y:-2.57, Z:-0.44 [[ 9.95561927e-01 -6.39436134e-03 -9.38912204e-02 -1.89036150e+01] [ 6.22730217e-03 9.99978463e-01 -2.07217112e-03 -2.56929389e+00] [ 9.39024485e-02 1.47828568e-03 9.95580306e-01 -4.36830351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860418555 meters 0.3285325028204204 Centerline is valid? [False, False] Translation: X:-18.94, Y:-2.58, Z:-0.49 [[ 9.97597617e-01 -3.43458831e-03 -6.91895859e-02 -1.89352782e+01] [ 3.50512584e-03 9.99993454e-01 8.98102792e-04 -2.57661567e+00] [ 6.91860483e-02 -1.13846341e-03 9.97603125e-01 -4.85983148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920418554999998 meters 0.2842902539726607 Centerline is valid? [False, False] Translation: X:-18.98, Y:-2.58, Z:-0.57 [[ 9.99460414e-01 -2.50020015e-03 -3.27510387e-02 -1.89801259e+01] [ 2.51622087e-03 9.99996734e-01 4.47960473e-04 -2.58425459e+00] [ 3.27498117e-02 -5.30127607e-04 9.99463440e-01 -5.68508362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980418555 meters 0.7100775929294973 Centerline is valid? [False, False] Translation: X:-19.03, Y:-2.59, Z:-0.65 [[ 9.99986008e-01 1.31912052e-03 5.12289882e-03 -1.90341301e+01] [-1.32842996e-03 9.99997472e-01 1.81424423e-03 -2.59259926e+00] [-5.12049266e-03 -1.82102425e-03 9.99985232e-01 -6.48783544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040418555 meters 0.4088878903781565 Centerline is valid? [False, False] Translation: X:-19.09, Y:-2.60, Z:-0.69 [[ 9.99658874e-01 4.01009422e-04 2.61146462e-02 -1.90935817e+01] [-5.07986612e-04 9.99991507e-01 4.08993894e-03 -2.59666984e+00] [-2.61127843e-02 -4.10180964e-03 9.99650588e-01 -6.91182082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100418554999997 meters 0.36873119453818687 Centerline is valid? [False, False] Translation: X:-19.16, Y:-2.60, Z:-0.73 [[ 9.99360938e-01 7.56809035e-04 3.57371247e-02 -1.91637485e+01] [-1.03591579e-03 9.99969104e-01 7.79212444e-03 -2.60149042e+00] [-3.57301234e-02 -7.82416545e-03 9.99330846e-01 -7.25822973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160418555 meters 0.5292137678077253 Centerline is valid? [False, False] Translation: X:-19.22, Y:-2.61, Z:-0.75 [[ 9.99041862e-01 5.05835508e-03 4.34714962e-02 -1.92204933e+01] [-5.46884226e-03 9.99941530e-01 9.32894132e-03 -2.60858418e+00] [-4.34217653e-02 -9.55774166e-03 9.99011111e-01 -7.54177380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220418555 meters 0.5100130764410817 Centerline is valid? [False, False] Translation: X:-19.24, Y:-2.61, Z:-0.77 [[ 9.99185700e-01 5.19718303e-03 4.00115636e-02 -1.92449395e+01] [-5.53436560e-03 9.99950065e-01 8.32098111e-03 -2.60863789e+00] [-3.99663199e-02 -8.53564396e-03 9.99164569e-01 -7.72706279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280418554999997 meters 0.5060857535142662 Centerline is valid? [False, False] Translation: X:-19.28, Y:-2.61, Z:-0.79 [[ 9.99280934e-01 5.86965721e-03 3.74588003e-02 -1.92755138e+01] [-6.17541980e-03 9.99948512e-01 8.05216052e-03 -2.60978865e+00] [-3.74096082e-02 -8.27769430e-03 9.99265731e-01 -7.85403275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340418555 meters 0.5113826012008983 Centerline is valid? [False, False] Translation: X:-19.31, Y:-2.61, Z:-0.80 [[ 9.99369423e-01 5.38631778e-03 3.50962180e-02 -1.93080979e+01] [-5.62957226e-03 9.99960788e-01 6.83594462e-03 -2.61258988e+00] [-3.50580213e-02 -7.02921073e-03 9.99360558e-01 -7.97410427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400418554999998 meters 0.5100007517794319 Centerline is valid? [False, False] Translation: X:-19.34, Y:-2.61, Z:-0.81 [[ 9.99438033e-01 6.13753023e-03 3.29537430e-02 -1.93422151e+01] [-6.35927462e-03 9.99957811e-01 6.62837058e-03 -2.61282888e+00] [-3.29116709e-02 -6.83420756e-03 9.99434898e-01 -8.08364656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460418555 meters 0.5216891128551516 Centerline is valid? [False, False] Translation: X:-19.38, Y:-2.61, Z:-0.82 [[ 9.99513622e-01 6.32777096e-03 3.05365112e-02 -1.93758699e+01] [-6.51173758e-03 9.99961223e-01 5.92879892e-03 -2.61356560e+00] [-3.04978109e-02 -6.12476103e-03 9.99516068e-01 -8.18335397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520418555 meters 0.3269651485694086 Centerline is valid? [False, False] Translation: X:-19.41, Y:-2.62, Z:-0.83 [[ 9.99586760e-01 5.35046775e-03 2.82432585e-02 -1.94111499e+01] [-5.47037858e-03 9.99976342e-01 4.17008630e-03 -2.61576663e+00] [-2.82202784e-02 -4.32286437e-03 9.99592381e-01 -8.27203556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580418554999998 meters 0.3204927571220977 Centerline is valid? [False, False] Translation: X:-19.43, Y:-2.62, Z:-0.83 [[ 9.99699982e-01 -2.40767867e-03 2.43751838e-02 -1.94307714e+01] [ 2.25631039e-03 9.99978013e-01 6.23553361e-03 -2.61826854e+00] [-2.43896611e-02 -6.17866485e-03 9.99683434e-01 -8.28436940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640418555 meters 0.31888540676676796 Centerline is valid? [False, False] Translation: X:-19.45, Y:-2.62, Z:-0.83 [[ 9.99764853e-01 2.05198043e-03 2.15876800e-02 -1.94519207e+01] [-2.06804294e-03 9.99997601e-01 7.21760521e-04 -2.62428141e+00] [-2.15861472e-02 -7.66235051e-04 9.99766698e-01 -8.25642702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700418555 meters 0.3147428284352148 Centerline is valid? [False, False] Translation: X:-19.45, Y:-2.63, Z:-0.83 [[ 9.99752358e-01 2.18114641e-03 2.21464393e-02 -1.94528221e+01] [-2.20667173e-03 9.99996929e-01 1.12819752e-03 -2.62630118e+00] [-2.21439106e-02 -1.17678805e-03 9.99754101e-01 -8.27217411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760418554999998 meters 0.3132841627033489 Centerline is valid? [False, False] Translation: X:-19.47, Y:-2.63, Z:-0.82 [[ 9.99852973e-01 -3.59182369e-03 1.67669637e-02 -1.94732397e+01] [ 3.51695485e-03 9.99983724e-01 4.49261210e-03 -2.62830212e+00] [-1.67828275e-02 -4.43298291e-03 9.99849331e-01 -8.24961870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820418555 meters 0.3047026499891152 Centerline is valid? [False, False] Translation: X:-19.49, Y:-2.63, Z:-0.82 [[ 9.99915430e-01 2.28935407e-03 1.28020423e-02 -1.94936662e+01] [-2.29263974e-03 9.99997343e-01 2.41981820e-04 -2.63078951e+00] [-1.28014543e-02 -2.71311826e-04 9.99918021e-01 -8.21569406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880418555 meters 0.3023730022453052 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.64, Z:-0.82 [[ 9.99951240e-01 -4.33546471e-03 8.87249317e-03 -1.95182824e+01] [ 4.30895478e-03 9.99986202e-01 3.00481635e-03 -2.63544865e+00] [-8.88539802e-03 -2.96643867e-03 9.99956124e-01 -8.19395916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940418554999997 meters 0.32842211282933625 Centerline is valid? [False, False] Translation: X:-19.52, Y:-2.64, Z:-0.82 [[ 9.99940735e-01 -4.15149971e-03 1.00643660e-02 -1.95200625e+01] [ 4.11507324e-03 9.99984918e-01 3.63736176e-03 -2.63938463e+00] [-1.00793147e-02 -3.59573059e-03 9.99942737e-01 -8.22916276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000418555 meters 0.3242262376166623 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.64, Z:-0.82 [[ 9.99968074e-01 8.16266392e-04 7.94883583e-03 -1.95453702e+01] [-8.04503496e-04 9.99998577e-01 -1.48291139e-03 -2.64389626e+00] [-7.95003496e-03 1.47646918e-03 9.99967308e-01 -8.21610678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060418555 meters 0.3112966197545441 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.64, Z:-0.82 [[ 9.99961002e-01 9.73462935e-04 8.77765704e-03 -1.95475155e+01] [-9.61443180e-04 9.99998595e-01 -1.37347368e-03 -2.64342833e+00] [-8.77898173e-03 1.36498090e-03 9.99960532e-01 -8.22561100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120418554999997 meters 0.3340324316401962 Centerline is valid? [False, False] Translation: X:-19.55, Y:-2.65, Z:-0.82 [[ 9.99953303e-01 6.93519193e-04 9.63900929e-03 -1.95494985e+01] [-6.80206632e-04 9.99998810e-01 -1.38432271e-03 -2.64639993e+00] [-9.63995788e-03 1.37770155e-03 9.99952585e-01 -8.23938991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180418555 meters 0.4410569062623015 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.65, Z:-0.82 [[ 9.99977645e-01 -1.74374999e-03 6.45512925e-03 -1.95752750e+01] [ 1.70646846e-03 9.99981860e-01 5.77649848e-03 -2.64516703e+00] [-6.46508492e-03 -5.76535387e-03 9.99962481e-01 -8.20705693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240418554999998 meters 0.26177585414218485 Centerline is valid? [False, False] Translation: X:-19.58, Y:-2.65, Z:-0.82 [[ 9.99957202e-01 -6.02996094e-03 7.01665717e-03 -1.95763289e+01] [ 6.02038750e-03 9.99980919e-01 1.38471018e-03 -2.64527767e+00] [-7.02487303e-03 -1.34240793e-03 9.99974424e-01 -8.22136844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300418555 meters 0.25981995092255966 Centerline is valid? [False, False] Translation: X:-19.60, Y:-2.64, Z:-0.82 [[ 9.99992502e-01 1.88805151e-03 3.38105106e-03 -1.96032188e+01] [-1.88600608e-03 9.99998037e-01 -6.08055129e-04 -2.64316555e+00] [-3.38219246e-03 6.01673887e-04 9.99994099e-01 -8.16499188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360418555 meters 0.25916821918041777 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.64, Z:-0.82 [[ 9.99990090e-01 1.72985534e-03 4.10221640e-03 -1.96052936e+01] [-1.72722315e-03 9.99998300e-01 -6.45107382e-04 -2.64405382e+00] [-4.10332537e-03 6.38015545e-04 9.99991378e-01 -8.16955895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420418554999998 meters 0.2586672696478743 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.64, Z:-0.82 [[ 9.99974523e-01 5.68019977e-03 4.32304928e-03 -1.96052481e+01] [-5.69440022e-03 9.99978409e-01 3.27963450e-03 -2.64336407e+00] [-4.30432696e-03 -3.30416812e-03 9.99985278e-01 -8.18219808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480418555 meters 0.2595337324056363 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.64, Z:-0.82 [[ 9.99973424e-01 5.53683508e-03 4.74279797e-03 -1.96065189e+01] [-5.55204478e-03 9.99979468e-01 3.19976324e-03 -2.64392637e+00] [-4.72498403e-03 -3.22601043e-03 9.99983634e-01 -8.18402253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540418555 meters 0.2652728320564034 Centerline is valid? [False, False] Translation: X:-19.61, Y:-2.64, Z:-0.82 [[ 9.99973220e-01 5.37292289e-03 4.96902447e-03 -1.96068901e+01] [-5.38680051e-03 9.99981617e-01 2.78367117e-03 -2.64142385e+00] [-4.95397668e-03 -2.81036377e-03 9.99983780e-01 -8.19228947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600418554999997 meters 0.2582547062931851 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.64, Z:-0.82 [[ 9.99999799e-01 -1.33917517e-04 6.20097611e-04 -1.96307202e+01] [ 1.30037942e-04 9.99980446e-01 6.25221423e-03 -2.63934957e+00] [-6.20922767e-04 -6.25213234e-03 9.99980262e-01 -8.16169163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660418555 meters 0.25977110157746613 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.64, Z:-0.81 [[ 9.99991449e-01 2.58986133e-03 -3.22394522e-03 -1.96593791e+01] [-2.59303600e-03 9.99996157e-01 -9.80925490e-04 -2.63517955e+00] [ 3.22139237e-03 9.89276908e-04 9.99994322e-01 -8.08434789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720418555 meters 0.25794490940937514 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.63, Z:-0.81 [[ 9.99993075e-01 2.37488680e-03 -2.86525095e-03 -1.96612825e+01] [-2.37853302e-03 9.99996365e-01 -1.26982987e-03 -2.63434767e+00] [ 2.86222483e-03 1.27663617e-03 9.99995089e-01 -8.06952556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780418554999997 meters 0.2604246263702233 Centerline is valid? [False, False] Translation: X:-19.63, Y:-2.64, Z:-0.82 [[ 9.99992787e-01 -3.79048272e-03 2.40028364e-04 -1.96310437e+01] [ 3.78983257e-03 9.99989298e-01 2.65350967e-03 -2.63616916e+00] [-2.50083877e-04 -2.65258087e-03 9.99996451e-01 -8.16801999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840418555 meters 0.2592596393480164 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.63, Z:-0.81 [[ 9.99989409e-01 3.08038782e-03 -3.41960517e-03 -1.96565961e+01] [-3.08224510e-03 9.99995105e-01 -5.37990794e-04 -2.63459685e+00] [ 3.41793121e-03 5.48525157e-04 9.99994008e-01 -8.12106584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900418554999998 meters 0.2545114952082905 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.64, Z:-0.81 [[ 9.99965786e-01 -3.96512281e-03 -7.25979385e-03 -1.96839340e+01] [ 3.97936448e-03 9.99990184e-01 1.94832546e-03 -2.63966157e+00] [ 7.25199724e-03 -1.97714816e-03 9.99971749e-01 -8.06417687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960418555 meters 0.2607193989477284 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.64, Z:-0.81 [[ 9.99993920e-01 2.58479759e-03 -2.34074278e-03 -1.96581070e+01] [-2.58617037e-03 9.99996486e-01 -5.83634198e-04 -2.63546380e+00] [ 2.33922598e-03 5.89684209e-04 9.99997090e-01 -8.12290003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020418555 meters 0.257208554043123 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.82 [[ 9.99993639e-01 1.60069814e-03 -3.18731516e-03 -1.97024533e+01] [-1.60571276e-03 9.99997476e-01 -1.57136959e-03 -2.64142899e+00] [ 3.18479183e-03 1.57647751e-03 9.99993686e-01 -8.16419613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080418554999998 meters 0.25892453464291665 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.64, Z:-0.82 [[ 9.99990612e-01 -4.33300801e-03 -2.79267320e-05 -1.96760877e+01] [ 4.33306816e-03 9.99986876e-01 2.73353935e-03 -2.64264357e+00] [ 1.60819176e-05 -2.73363469e-03 9.99996263e-01 -8.21679348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140418555 meters 0.2595144055555064 Centerline is valid? [False, False] Translation: X:-19.66, Y:-2.64, Z:-0.82 [[ 9.99990262e-01 1.25488442e-03 4.23107604e-03 -1.96553130e+01] [-1.24901450e-03 9.99998254e-01 -1.38969122e-03 -2.64189355e+00] [-4.23281255e-03 1.38439301e-03 9.99990083e-01 -8.22418318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200418555 meters 0.2551144346549746 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99993210e-01 1.54881934e-03 3.34384044e-03 -1.97002757e+01] [-1.54312688e-03 9.99997357e-01 -1.70428359e-03 -2.64192348e+00] [-3.34647123e-03 1.69911205e-03 9.99992957e-01 -8.25463079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260418554999998 meters 0.2536633476950304 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99993348e-01 1.60498496e-03 3.27546625e-03 -1.96997025e+01] [-1.60016303e-03 9.99997633e-01 -1.47422732e-03 -2.64353539e+00] [-3.27782461e-03 1.46897624e-03 9.99993549e-01 -8.26279018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320418555 meters 0.25684427580055 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.64, Z:-0.83 [[ 9.99973695e-01 -3.38619294e-03 6.41432393e-03 -1.96719025e+01] [ 3.36298129e-03 9.99987771e-01 3.62605826e-03 -2.64423674e+00] [-6.42652402e-03 -3.60439163e-03 9.99972854e-01 -8.32333785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380418555 meters 0.25800215631360374 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.65, Z:-0.84 [[ 9.99962693e-01 1.40957533e-03 8.52210399e-03 -1.96462780e+01] [-1.39855902e-03 9.99998179e-01 -1.29849598e-03 -2.64572623e+00] [-8.52391880e-03 1.28652887e-03 9.99962843e-01 -8.35317205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440418554999997 meters 0.2575280443801627 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.64, Z:-0.84 [[ 9.99962467e-01 1.44142732e-03 8.54328577e-03 -1.96463092e+01] [-1.42992754e-03 9.99998064e-01 -1.35201511e-03 -2.64467201e+00] [-8.54521806e-03 1.33974808e-03 9.99962591e-01 -8.35343505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500418555 meters 0.25613872138582755 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.65, Z:-0.83 [[ 9.99985906e-01 -4.39654883e-03 2.97639152e-03 -1.96686998e+01] [ 4.39050640e-03 9.99988294e-01 2.03361729e-03 -2.64901309e+00] [-2.98529758e-03 -2.02052076e-03 9.99993503e-01 -8.31971936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560418555 meters 0.25759295053049924 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.65, Z:-0.83 [[ 9.99985768e-01 -4.26761460e-03 3.20168296e-03 -1.96701658e+01] [ 4.26071535e-03 9.99988593e-01 2.15861516e-03 -2.64858142e+00] [-3.21085858e-03 -2.14494298e-03 9.99992545e-01 -8.30362068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620418554999997 meters 0.2579071975146207 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.65, Z:-0.83 [[ 9.99987335e-01 -4.13440637e-03 2.86979487e-03 -1.96676436e+01] [ 4.12841597e-03 9.99989294e-01 2.09019181e-03 -2.64776143e+00] [-2.87840585e-03 -2.07831763e-03 9.99993698e-01 -8.33534829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680418555 meters 0.256017291242836 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.65, Z:-0.82 [[ 9.99998048e-01 1.97440425e-03 8.11202562e-05 -1.96976214e+01] [-1.97424105e-03 9.99996121e-01 -1.96496650e-03 -2.64523341e+00] [-8.49995797e-05 1.96480252e-03 9.99998066e-01 -8.24755475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740418554999998 meters 0.25794013060438853 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.65, Z:-0.83 [[ 9.99987911e-01 -3.90610955e-03 2.98661570e-03 -1.96689095e+01] [ 3.89973159e-03 9.99990110e-01 2.13836607e-03 -2.64751369e+00] [-2.99493885e-03 -2.12669322e-03 9.99993254e-01 -8.32172108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800418555 meters 0.26018681631178436 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.64, Z:-0.83 [[ 9.99988976e-01 -3.61020259e-03 3.00245369e-03 -1.96692840e+01] [ 3.60440656e-03 9.99991635e-01 1.93360527e-03 -2.64365782e+00] [-3.00940928e-03 -1.92276189e-03 9.99993623e-01 -8.31722089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860418555 meters 0.2626400804416576 Centerline is valid? [False, False] Translation: X:-19.67, Y:-2.64, Z:-0.83 [[ 9.99988626e-01 -3.66858951e-03 3.04783660e-03 -1.96689961e+01] [ 3.66276542e-03 9.99991460e-01 1.91428164e-03 -2.64459846e+00] [-3.05483328e-03 -1.90309635e-03 9.99993523e-01 -8.32534466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920418554999998 meters 0.2597340874435755 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99993120e-01 3.42459900e-03 -1.42546879e-03 -1.96962478e+01] [-3.42586873e-03 9.99993736e-01 -8.89259532e-04 -2.63854521e+00] [ 1.42241450e-03 8.94136882e-04 9.99998589e-01 -8.25162058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980418555 meters 0.26210585016862686 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.82 [[ 9.99993885e-01 3.26525879e-03 -1.25208665e-03 -1.96968499e+01] [-3.26649090e-03 9.99994182e-01 -9.83265257e-04 -2.63954428e+00] [ 1.24886875e-03 9.87349174e-04 9.99998733e-01 -8.24916455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040418555 meters 0.2584761418033382 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.64, Z:-0.82 [[ 9.99982380e-01 -2.89844501e-03 -5.18070440e-03 -1.97204888e+01] [ 2.91038925e-03 9.99993121e-01 2.29947287e-03 -2.63953574e+00] [ 5.17400386e-03 -2.31451022e-03 9.99983936e-01 -8.22902299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100418554999997 meters 0.26216439801234726 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99996813e-01 2.49955316e-03 3.55616175e-04 -1.96965777e+01] [-2.49910447e-03 9.99996088e-01 -1.25662633e-03 -2.63588614e+00] [-3.58755788e-04 1.25573360e-03 9.99999147e-01 -8.27672834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160418555 meters 0.2620908009358089 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99996936e-01 2.42793145e-03 4.82726117e-04 -1.96972621e+01] [-2.42739368e-03 9.99996436e-01 -1.11151562e-03 -2.63752788e+00] [-4.85423081e-04 1.11034044e-03 9.99999266e-01 -8.27159935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220418555 meters 0.2578869473456743 Centerline is valid? [False, False] Translation: X:-19.72, Y:-2.64, Z:-0.83 [[ 9.99986030e-01 -3.45300881e-03 -4.00201157e-03 -1.97203765e+01] [ 3.46272756e-03 9.99991067e-01 2.42408842e-03 -2.63939515e+00] [ 3.99360542e-03 -2.43791243e-03 9.99989054e-01 -8.25225127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280418554999997 meters 0.26087259359924686 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.63, Z:-0.83 [[ 9.99996217e-01 2.09686684e-03 1.78019302e-03 -1.96978909e+01] [-2.09510088e-03 9.99997312e-01 -9.93290354e-04 -2.63422793e+00] [-1.78227104e-03 9.89556912e-04 9.99997922e-01 -8.28596930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340418555 meters 0.26268798679012806 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99996690e-01 1.88330499e-03 1.75287395e-03 -1.96969224e+01] [-1.88158520e-03 9.99997747e-01 -9.82254699e-04 -2.63630415e+00] [-1.75471989e-03 9.78953266e-04 9.99997981e-01 -8.30170793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400418554999998 meters 0.2600075564760291 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.63, Z:-0.83 [[ 9.99996912e-01 1.72532913e-03 1.78851778e-03 -1.96974566e+01] [-1.72278645e-03 9.99997505e-01 -1.42223762e-03 -2.63388902e+00] [-1.79096715e-03 1.41915200e-03 9.99997389e-01 -8.29573062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460418554999997 meters 0.2594966442586632 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.63, Z:-0.83 [[ 9.99996934e-01 1.67691984e-03 1.82188348e-03 -1.96976728e+01] [-1.67403949e-03 9.99997348e-01 -1.58134787e-03 -2.63283173e+00] [-1.82453045e-03 1.57829312e-03 9.99997090e-01 -8.29373872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520418555 meters 0.25865869734692937 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.63, Z:-0.83 [[ 9.99996767e-01 1.59962634e-03 1.97672345e-03 -1.96987563e+01] [-1.59641749e-03 9.99997407e-01 -1.62383256e-03 -2.63273838e+00] [-1.97931585e-03 1.62067164e-03 9.99996728e-01 -8.28278943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580418554999998 meters 0.2587142695556266 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99997612e-01 1.08604787e-03 1.89646408e-03 -1.96980555e+01] [-1.08342055e-03 9.99998453e-01 -1.38585770e-03 -2.63788826e+00] [-1.89796625e-03 1.38379972e-03 9.99997241e-01 -8.29142266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640418555 meters 0.6180532643161551 Centerline is valid? [False, False] Translation: X:-19.68, Y:-2.64, Z:-0.83 [[ 9.99962993e-01 -6.64367192e-03 5.46577663e-03 -1.96758517e+01] [ 6.63422911e-03 9.99976473e-01 1.74394618e-03 -2.64089443e+00] [-5.47723424e-03 -1.70762042e-03 9.99983542e-01 -8.30561442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700418555 meters 0.2610302431018357 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.64, Z:-0.83 [[ 9.99995467e-01 -1.41302466e-03 2.65894379e-03 -1.97456531e+01] [ 1.42032536e-03 9.99995222e-01 -2.74582945e-03 -2.64483785e+00] [-2.65505116e-03 2.74959356e-03 9.99992695e-01 -8.29270608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760418554999998 meters 0.2658572070764208 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.65, Z:-0.83 [[ 9.99992870e-01 1.64219712e-04 3.77274191e-03 -1.96996170e+01] [-1.62418198e-04 9.99999873e-01 -4.77809333e-04 -2.64508194e+00] [-3.77281990e-03 4.77193164e-04 9.99992769e-01 -8.28133894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820418555 meters 0.2670679366974996 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99992351e-01 2.08757044e-04 3.90570006e-03 -1.97007384e+01] [-2.05705373e-04 9.99999673e-01 -7.81723270e-04 -2.64276041e+00] [-3.90586197e-03 7.80913867e-04 9.99992067e-01 -8.26554390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880418555 meters 0.26666460494105526 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99983067e-01 4.42333937e-03 3.78152748e-03 -1.96993988e+01] [-4.43525002e-03 9.99985212e-01 3.14712947e-03 -2.64074518e+00] [-3.76755074e-03 -3.16384820e-03 9.99987898e-01 -8.28513933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940418554999997 meters 0.2637770018103182 Centerline is valid? [False, False] Translation: X:-19.75, Y:-2.64, Z:-0.83 [[ 9.99987909e-01 3.01067235e-03 3.88807427e-03 -1.97495556e+01] [-3.01234479e-03 9.99995373e-01 4.24359671e-04 -2.63921973e+00] [-3.88677867e-03 -4.36066761e-04 9.99992351e-01 -8.27840492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000418555 meters 0.26541072129500753 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99979610e-01 4.24871371e-03 4.76733913e-03 -1.97029373e+01] [-4.25832403e-03 9.99988918e-01 2.00753063e-03 -2.63623493e+00] [-4.75875687e-03 -2.02779057e-03 9.99986621e-01 -8.26479101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060418555 meters 0.26563738331624165 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99978865e-01 4.16140038e-03 4.99517422e-03 -1.97041738e+01] [-4.17149687e-03 9.99989274e-01 2.01253454e-03 -2.63676819e+00] [-4.98674568e-03 -2.03332936e-03 9.99985499e-01 -8.25598646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120418554999997 meters 0.266163840209048 Centerline is valid? [False, False] Translation: X:-19.70, Y:-2.64, Z:-0.83 [[ 9.99979986e-01 3.94485855e-03 4.94629982e-03 -1.97039437e+01] [-3.95315302e-03 9.99990795e-01 1.66824916e-03 -2.63628971e+00] [-4.93967329e-03 -1.68776925e-03 9.99986375e-01 -8.25709298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180418555 meters 0.2661292674060044 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.63, Z:-0.82 [[ 9.99977326e-01 4.31761398e-03 5.16779870e-03 -1.97056841e+01] [-4.32622474e-03 9.99989270e-01 1.65621630e-03 -2.63226017e+00] [-5.16059234e-03 -1.67853581e-03 9.99985275e-01 -8.23999215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240418554999998 meters 0.2645743545489301 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.64, Z:-0.82 [[ 9.99995833e-01 -2.87684756e-03 2.39706093e-04 -1.97315086e+01] [ 2.87600701e-03 9.99989961e-01 3.43609768e-03 -2.63596247e+00] [-2.49588816e-04 -3.43539397e-03 9.99994068e-01 -8.18392529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300418555 meters 0.265132217067363 Centerline is valid? [False, False] Translation: X:-19.73, Y:-2.63, Z:-0.82 [[ 9.99995813e-01 -2.89347132e-03 4.10553351e-05 -1.97303271e+01] [ 2.89333823e-03 9.99991500e-01 2.93750365e-03 -2.63230559e+00] [-4.95545687e-05 -2.93737257e-03 9.99995685e-01 -8.19596070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360418555 meters 0.26762037664927946 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.63, Z:-0.82 [[ 9.99988324e-01 3.06815255e-03 3.73334305e-03 -1.97064719e+01] [-3.06528720e-03 9.99995003e-01 -7.72982829e-04 -2.63020415e+00] [-3.73569602e-03 7.61530035e-04 9.99992732e-01 -8.21544676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420418554999998 meters 0.2661881995251223 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.63, Z:-0.82 [[ 9.99987781e-01 1.83944366e-03 4.58851005e-03 -1.97120872e+01] [-1.82999913e-03 9.99996200e-01 -2.06165031e-03 -2.62843011e+00] [-4.59228491e-03 2.05322815e-03 9.99987348e-01 -8.17002756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480418555 meters 0.2648451302498044 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.63, Z:-0.82 [[ 9.99988446e-01 1.78106369e-03 4.46486181e-03 -1.97112921e+01] [-1.77081789e-03 9.99995792e-01 -2.29766638e-03 -2.62720757e+00] [-4.46893531e-03 2.28973338e-03 9.99987393e-01 -8.17984905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540418555 meters 0.26524633618892884 Centerline is valid? [False, False] Translation: X:-19.71, Y:-2.63, Z:-0.82 [[ 9.99987763e-01 1.73372934e-03 4.63334213e-03 -1.97127608e+01] [-1.72191047e-03 9.99995257e-01 -2.55360169e-03 -2.62532936e+00] [-4.63774741e-03 2.54559225e-03 9.99986006e-01 -8.16205331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600418554999997 meters 0.2654366120390855 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.63, Z:-0.81 [[ 9.99995985e-01 -2.80665611e-03 -3.91368844e-04 -1.97356936e+01] [ 2.80752240e-03 9.99993571e-01 2.23077431e-03 -2.62754170e+00] [ 3.85105311e-04 -2.23186413e-03 9.99997435e-01 -8.13554376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660418555 meters 0.264084778975711 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.63, Z:-0.81 [[ 9.99993941e-01 6.46874285e-04 -3.42057612e-03 -1.97618657e+01] [-6.62218676e-04 9.99989716e-01 -4.48668003e-03 -2.62797793e+00] [ 3.41763863e-03 4.48891801e-03 9.99984085e-01 -8.09366218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720418555 meters 0.26568020154114325 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.63, Z:-0.81 [[ 9.99999668e-01 -7.61072895e-04 -2.92571567e-04 -1.97408634e+01] [ 7.62426327e-04 9.99988879e-01 4.65404756e-03 -2.62541117e+00] [ 2.89026244e-04 -4.65426908e-03 9.99989127e-01 -8.08004411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780418554999997 meters 0.2662132869409361 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.63, Z:-0.81 [[ 9.99987395e-01 -5.00663599e-03 -3.80013637e-04 -1.97403988e+01] [ 5.00689248e-03 9.99987236e-01 6.77026491e-04 -2.62844040e+00] [ 3.76619162e-04 -6.78920644e-04 9.99999699e-01 -8.08342906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840418555 meters 0.263004160776563 Centerline is valid? [False, False] Translation: X:-19.78, Y:-2.63, Z:-0.81 [[ 9.99992365e-01 -3.28970576e-03 -2.10901166e-03 -1.97821277e+01] [ 3.29369085e-03 9.99992792e-01 1.88887126e-03 -2.62810970e+00] [ 2.10278263e-03 -1.89580327e-03 9.99995992e-01 -8.13756358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900418554999998 meters 0.26579174804243655 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.63, Z:-0.81 [[ 9.99964351e-01 -8.35355674e-03 -1.23060221e-03 -1.97378295e+01] [ 8.35186170e-03 9.99964176e-01 -1.37616672e-03 -2.63134570e+00] [ 1.24205401e-03 1.36583984e-03 9.99998296e-01 -8.09253695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960418554999997 meters 0.2637947685175302 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.63, Z:-0.81 [[ 9.99995940e-01 -1.55773635e-03 -2.38622598e-03 -1.97659771e+01] [ 1.54632647e-03 9.99987399e-01 -4.77596224e-03 -2.63439730e+00] [ 2.39363560e-03 4.77225297e-03 9.99985748e-01 -8.05029293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020418555 meters 0.26313803335534985 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.81 [[ 9.99995842e-01 -1.57082438e-03 -2.41837251e-03 -1.97654963e+01] [ 1.56038404e-03 9.99989482e-01 -4.31294466e-03 -2.63770182e+00] [ 2.42512195e-03 4.30915314e-03 9.99987775e-01 -8.05782820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080418554999998 meters 0.2670664254991039 Centerline is valid? [False, False] Translation: X:-19.74, Y:-2.64, Z:-0.81 [[ 9.99974123e-01 -7.02539978e-03 1.54842710e-03 -1.97437177e+01] [ 7.02394102e-03 9.99974885e-01 9.45522758e-04 -2.63989329e+00] [-1.55503089e-03 -9.34622230e-04 9.99998354e-01 -8.06801957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140418555 meters 0.2630967028717548 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.64, Z:-0.81 [[ 9.99989453e-01 -3.35150892e-03 -3.14018478e-03 -1.97635729e+01] [ 3.33558219e-03 9.99981617e-01 -5.06349165e-03 -2.64376594e+00] [ 3.15709739e-03 5.05296390e-03 9.99982250e-01 -8.06835002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200418555 meters 0.26464201044851876 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.64, Z:-0.81 [[ 9.99990096e-01 -3.24563419e-03 -3.04529030e-03 -1.97646540e+01] [ 3.23105671e-03 9.99983357e-01 -4.77966412e-03 -2.64488395e+00] [ 3.06075266e-03 4.76977727e-03 9.99983940e-01 -8.05369023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260418554999998 meters 0.269475012315545 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.65, Z:-0.80 [[ 9.99990061e-01 -3.04386819e-03 -3.25785851e-03 -1.97642721e+01] [ 3.02954731e-03 9.99985767e-01 -4.39174113e-03 -2.64628051e+00] [ 3.27118003e-03 4.38182764e-03 9.99985049e-01 -8.04986699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320418555 meters 0.27279150100764055 Centerline is valid? [False, False] Translation: X:-19.76, Y:-2.65, Z:-0.80 [[ 9.99989990e-01 -3.00203430e-03 -3.31786620e-03 -1.97641655e+01] [ 2.98813256e-03 9.99986770e-01 -4.18701034e-03 -2.64844591e+00] [ 3.33039185e-03 4.17705421e-03 9.99985730e-01 -8.04981300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380418555 meters 0.4020575932585472 Centerline is valid? [False, False] Translation: X:-19.79, Y:-2.65, Z:-0.80 [[ 9.99973663e-01 -4.87531473e-03 -5.37633223e-03 -1.97904920e+01] [ 4.89433617e-03 9.99981790e-01 3.53053101e-03 -2.64568650e+00] [ 5.35902188e-03 -3.55675160e-03 9.99979315e-01 -8.02122795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440418554999997 meters 0.2690283981974927 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.65, Z:-0.80 [[ 9.99959783e-01 -4.81502186e-04 -8.95544890e-03 -1.98109507e+01] [ 4.59785880e-04 9.99996950e-01 -2.42682739e-03 -2.64873245e+00] [ 8.95659010e-03 2.42261220e-03 9.99956954e-01 -8.02770779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500418555 meters 0.38784190441577937 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.64, Z:-0.80 [[ 9.99953337e-01 3.78056879e-03 -8.88989128e-03 -1.98124544e+01] [-3.76797423e-03 9.99991874e-01 1.43305106e-03 -2.64471993e+00] [ 8.89523679e-03 -1.39948731e-03 9.99959457e-01 -8.00502757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560418555 meters 0.26498531421403687 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.80 [[ 9.99971602e-01 2.34296805e-04 -7.53267545e-03 -1.97683642e+01] [-2.49695218e-04 9.99997881e-01 -2.04334018e-03 -2.64389481e+00] [ 7.53218074e-03 2.04516302e-03 9.99969541e-01 -7.97943388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620418554999997 meters 0.26403751086565835 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.80 [[ 9.99960935e-01 4.40253230e-03 -7.66454448e-03 -1.97678226e+01] [-4.38883063e-03 9.99988743e-01 1.80357271e-03 -2.64110171e+00] [ 7.67239849e-03 -1.76986387e-03 9.99969000e-01 -7.98301882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680418555 meters 0.2619762341334233 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.64, Z:-0.79 [[ 9.99947876e-01 -2.17959248e-03 -9.97470687e-03 -1.97954818e+01] [ 2.22619543e-03 9.99986648e-01 4.66339566e-03 -2.64058507e+00] [ 9.96440939e-03 -4.68535824e-03 9.99939377e-01 -7.94022468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740418554999998 meters 0.26345190836780596 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.80 [[ 9.99975782e-01 1.93995114e-03 -6.68378505e-03 -1.97666154e+01] [-1.94486200e-03 9.99997844e-01 -7.28320961e-04 -2.63723966e+00] [ 6.68235772e-03 7.41302362e-04 9.99977398e-01 -8.00909128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800418554999997 meters 0.26494758160694476 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.80 [[ 9.99976650e-01 1.93763181e-03 -6.55332224e-03 -1.97674166e+01] [-1.94215187e-03 9.99997880e-01 -6.83441319e-04 -2.63795623e+00] [ 6.55198409e-03 6.96152908e-04 9.99978293e-01 -8.00062569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860418555 meters 0.26300535413840714 Centerline is valid? [False, False] Translation: X:-19.77, Y:-2.64, Z:-0.80 [[ 9.99975758e-01 2.10781850e-03 -6.63630525e-03 -1.97677594e+01] [-2.11211166e-03 9.99997565e-01 -6.39977964e-04 -2.63640404e+00] [ 6.63494013e-03 6.53979068e-04 9.99977775e-01 -7.99148324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920418554999998 meters 0.2602853274189887 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.64, Z:-0.81 [[ 9.99963319e-01 -1.52215213e-04 -8.56371880e-03 -1.98073259e+01] [ 1.24933434e-04 9.99994916e-01 -3.18618445e-03 -2.64218086e+00] [ 8.56416025e-03 3.18499769e-03 9.99958255e-01 -8.06521003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980418555 meters 0.26062835396651574 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.64, Z:-0.81 [[ 9.99963621e-01 1.52091988e-04 -8.52836195e-03 -1.98073396e+01] [-1.73686286e-04 9.99996781e-01 -2.53137348e-03 -2.64478375e+00] [ 8.52794950e-03 2.53276265e-03 9.99960429e-01 -8.06713189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040418555 meters 0.26284352711934955 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.65, Z:-0.81 [[ 9.99958792e-01 -3.76923155e-03 -8.25876846e-03 -1.98084433e+01] [ 3.72299301e-03 9.99977350e-01 -5.60695991e-03 -2.65221430e+00] [ 8.27971533e-03 5.57598152e-03 9.99950176e-01 -8.06115561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100418554999997 meters 0.26241348402689474 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.65, Z:-0.81 [[ 9.99958412e-01 -3.47539953e-03 -8.43182211e-03 -1.98081277e+01] [ 3.43361642e-03 9.99981780e-01 -4.96483220e-03 -2.65481538e+00] [ 8.44892326e-03 4.93567408e-03 9.99952126e-01 -8.05813897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160418555 meters 0.2637427748836131 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.66, Z:-0.82 [[ 9.99981099e-01 -1.29176985e-03 6.01100953e-03 -1.98023547e+01] [ 1.29608852e-03 9.99998905e-01 -7.14619581e-04 -2.66297714e+00] [-6.01007983e-03 7.22396875e-04 9.99981678e-01 -8.15664260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220418555 meters 0.26206783329762584 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.66, Z:-0.81 [[ 9.99980258e-01 6.01365633e-03 1.82203628e-03 -1.98248496e+01] [-6.00694526e-03 9.99975236e-01 -3.66663507e-03 -2.66292565e+00] [-1.84404104e-03 3.65561781e-03 9.99991618e-01 -8.13145547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280418554999997 meters 0.2628460746702887 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.66, Z:-0.81 [[ 9.99977167e-01 6.51936835e-03 1.77856757e-03 -1.98246140e+01] [-6.51271319e-03 9.99971864e-01 -3.72233905e-03 -2.65959674e+00] [-1.80278483e-03 3.71067075e-03 9.99991490e-01 -8.13500043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340418555 meters 0.26347110365285914 Centerline is valid? [False, False] Translation: X:-19.83, Y:-2.66, Z:-0.81 [[ 9.99977104e-01 6.40646502e-03 2.17925871e-03 -1.98268148e+01] [-6.39726347e-03 9.99970703e-01 -4.20341454e-03 -2.65761451e+00] [-2.20612389e-03 4.18937701e-03 9.99988791e-01 -8.11523586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400418554999998 meters 0.263773615527658 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.66, Z:-0.81 [[ 9.99999256e-01 1.21933536e-03 -4.29051341e-05 -1.98005046e+01] [-1.21930070e-03 9.99998938e-01 7.98713831e-04 -2.65609986e+00] [ 4.38789885e-05 -7.98660922e-04 9.99999680e-01 -8.11014440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460418554999997 meters 0.2638379054840762 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.66, Z:-0.81 [[ 9.99999335e-01 1.13409370e-03 2.07185846e-04 -1.98018715e+01] [-1.13422463e-03 9.99999156e-01 6.32938175e-04 -2.65566843e+00] [-2.06467860e-04 -6.33172750e-04 9.99999778e-01 -8.09933099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520418555 meters 0.26369674057217335 Centerline is valid? [False, False] Translation: X:-19.80, Y:-2.66, Z:-0.81 [[ 9.99999291e-01 1.18969929e-03 4.12310387e-05 -1.98007890e+01] [-1.18972966e-03 9.99999015e-01 7.44543469e-04 -2.65609018e+00] [-4.03452152e-05 -7.44591996e-04 9.99999722e-01 -8.11071030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580418554999998 meters 0.262217445513105 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.66, Z:-0.82 [[ 9.99998289e-01 2.70801799e-04 -1.83016924e-03 -1.98412165e+01] [-2.71295857e-04 9.99999927e-01 -2.69709400e-04 -2.66163788e+00] [ 1.83009607e-03 2.70205456e-04 9.99998289e-01 -8.17290277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640418555 meters 0.26330769685121863 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.67, Z:-0.82 [[ 9.99999081e-01 3.30475443e-04 -1.31511622e-03 -1.98435440e+01] [-3.29815343e-04 9.99999820e-01 5.02117738e-04 -2.66659639e+00] [ 1.31528192e-03 -5.01683531e-04 9.99999009e-01 -8.15304669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700418555 meters 0.26285624007862246 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.67, Z:-0.81 [[ 9.99992828e-01 -3.61675830e-03 -1.12374757e-03 -1.98447119e+01] [ 3.61374140e-03 9.99989892e-01 -2.67520939e-03 -2.67278354e+00] [ 1.13341180e-03 2.67112927e-03 9.99995790e-01 -8.14095833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760418554999998 meters 0.2651234168510204 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.82 [[ 9.99993992e-01 -3.13567373e-03 -1.47782564e-03 -1.98430413e+01] [ 3.13375799e-03 9.99994249e-01 -1.29686308e-03 -2.67858284e+00] [ 1.48188368e-03 1.29222414e-03 9.99998067e-01 -8.15259912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820418555 meters 0.2624346654196766 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.82 [[ 9.99973625e-01 -7.12542363e-03 -1.40631853e-03 -1.98432998e+01] [ 7.11877633e-03 9.99963726e-01 -4.67646018e-03 -2.68392275e+00] [ 1.43958928e-03 4.66632557e-03 9.99988076e-01 -8.15132786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880418555 meters 0.2636546015341917 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.69, Z:-0.82 [[ 9.99995116e-01 -2.66903996e-03 -1.62580756e-03 -1.98422183e+01] [ 2.66899200e-03 9.99996438e-01 -3.16687423e-05 -2.68514454e+00] [ 1.62588630e-03 2.73293202e-05 9.99998678e-01 -8.16028073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940418554999997 meters 0.26395068765087 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.81 [[ 9.99994898e-01 -2.78570905e-03 -1.56320354e-03 -1.98431503e+01] [ 2.78512013e-03 9.99996050e-01 -3.78784669e-04 -2.68347977e+00] [ 1.56425255e-03 3.74429027e-04 9.99998706e-01 -8.14670543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000418555 meters 0.2564401682534453 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.68, Z:-0.81 [[ 9.99976156e-01 3.88885175e-03 -5.70650171e-03 -1.98674122e+01] [-3.91107410e-03 9.99984792e-01 -3.88823720e-03 -2.67947577e+00] [ 5.69129415e-03 3.91046304e-03 9.99976158e-01 -8.10997590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060418555 meters 0.25673658836772084 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.81 [[ 9.99989478e-01 -3.35133295e-03 -3.13261459e-03 -1.98420312e+01] [ 3.34818728e-03 9.99993886e-01 -1.00887293e-03 -2.67773454e+00] [ 3.13597650e-03 9.98373735e-04 9.99994584e-01 -8.14087861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120418554999997 meters 0.25619599525905506 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.82 [[ 9.99989590e-01 -2.43188818e-03 -3.86090258e-03 -1.98367264e+01] [ 2.43060803e-03 9.99996990e-01 -3.36223988e-04 -2.67511729e+00] [ 3.86170862e-03 3.26836147e-04 9.99992490e-01 -8.18684119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180418555 meters 0.25767097132937244 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.67, Z:-0.82 [[ 9.99991047e-01 -2.52568078e-03 -3.39506574e-03 -1.98393996e+01] [ 2.52225824e-03 9.99996307e-01 -1.01199449e-03 -2.67077438e+00] [ 3.39760918e-03 1.00342220e-03 9.99993725e-01 -8.16324706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240418554999998 meters 0.2571506786198959 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.66, Z:-0.82 [[ 9.99988732e-01 -2.43951333e-03 -4.07244493e-03 -1.98365824e+01] [ 2.43209240e-03 9.99995375e-01 -1.82618914e-03 -2.66476163e+00] [ 4.07688110e-03 1.81626400e-03 9.99990040e-01 -8.18283437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300418554999997 meters 0.25583941220000533 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.66, Z:-0.81 [[ 9.99993419e-01 1.09647244e-03 -3.45837755e-03 -1.98409818e+01] [-1.09397779e-03 9.99999140e-01 7.23146740e-04 -2.65606143e+00] [ 3.45916748e-03 -7.19358592e-04 9.99993758e-01 -8.14257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360418555 meters 0.25498944466503815 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.66, Z:-0.82 [[ 9.99985859e-01 -1.08327934e-03 -5.20647057e-03 -1.98814385e+01] [ 1.07242849e-03 9.99997248e-01 -2.08644878e-03 -2.65576020e+00] [ 5.20871645e-03 2.08083571e-03 9.99984270e-01 -8.20919049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420418554999998 meters 0.25612368748177744 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.82 [[ 9.99991536e-01 -1.50582629e-03 -3.82893862e-03 -1.98379837e+01] [ 1.49816532e-03 9.99996872e-01 -2.00288915e-03 -2.65127678e+00] [ 3.83194265e-03 1.99713581e-03 9.99990664e-01 -8.17358643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480418555 meters 0.25499615102381656 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.82 [[ 9.99990044e-01 -1.43116752e-03 -4.22651415e-03 -1.98351732e+01] [ 1.42108415e-03 9.99996140e-01 -2.38777987e-03 -2.64766149e+00] [ 4.22991514e-03 2.38174987e-03 9.99988217e-01 -8.20472147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540418555 meters 0.25449348372407815 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.81 [[ 9.99993776e-01 4.73948663e-04 -3.49614178e-03 -1.98413186e+01] [-4.75816769e-04 9.99999744e-01 -5.33521125e-04 -2.64781166e+00] [ 3.49588803e-03 5.35181327e-04 9.99993746e-01 -8.14562957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600418554999997 meters 0.25402110985211673 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.81 [[ 9.99994082e-01 4.36637546e-04 -3.41244200e-03 -1.98415485e+01] [-4.39697194e-04 9.99999502e-01 -8.95916488e-04 -2.64547582e+00] [ 3.41204911e-03 8.97411628e-04 9.99993776e-01 -8.14726883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660418555 meters 0.25523850959473754 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.64, Z:-0.81 [[ 9.99995027e-01 3.25232347e-04 -3.13695849e-03 -1.98431709e+01] [-3.29017301e-04 9.99999219e-01 -1.20612767e-03 -2.64434607e+00] [ 3.13656377e-03 1.20715378e-03 9.99994352e-01 -8.13197545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720418555 meters 0.2579169045068428 Centerline is valid? [False, False] Translation: X:-19.82, Y:-2.64, Z:-0.82 [[ 9.99977977e-01 6.20434056e-03 2.35630587e-03 -1.98208956e+01] [-6.19302351e-03 9.99969398e-01 -4.78018376e-03 -2.63850473e+00] [-2.38589165e-03 4.76548583e-03 9.99985799e-01 -8.16401317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780418554999997 meters 0.2558840010409661 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.64, Z:-0.82 [[ 9.99997132e-01 -4.31449175e-04 -2.35592610e-03 -1.98385685e+01] [ 4.27583414e-04 9.99998562e-01 -1.64112392e-03 -2.63894670e+00] [ 2.35663077e-03 1.64011186e-03 9.99995878e-01 -8.19169775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840418555 meters 0.2553514386368312 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.64, Z:-0.82 [[ 9.99997019e-01 -4.07374172e-04 -2.40761611e-03 -1.98379805e+01] [ 4.03836868e-04 9.99998839e-01 -1.46951783e-03 -2.64020337e+00] [ 2.40821196e-03 1.46854116e-03 9.99996022e-01 -8.20054427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900418554999998 meters 0.2535578050235432 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.64, Z:-0.83 [[ 9.99989406e-01 2.02932475e-03 -4.13150749e-03 -1.98788295e+01] [-2.02979829e-03 9.99997934e-01 -1.10426504e-04 -2.63820843e+00] [ 4.13127486e-03 1.18811461e-04 9.99991459e-01 -8.26341460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960418554999997 meters 0.2558184754447866 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.83 [[ 9.99998095e-01 -1.89078503e-03 4.85092816e-04 -1.98548098e+01] [ 1.88804240e-03 9.99982575e-01 5.59331428e-03 -2.63879631e+00] [-4.95660118e-04 -5.59238775e-03 9.99984240e-01 -8.31261762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020418555 meters 0.2563302426653092 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.64, Z:-0.83 [[ 9.99997810e-01 -1.85207177e-03 9.74661174e-04 -1.98573887e+01] [ 1.84694765e-03 9.99984606e-01 5.23223537e-03 -2.63616309e+00] [-9.84336646e-04 -5.23042376e-03 9.99985837e-01 -8.28897007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080418554999998 meters 0.2560550687990771 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.64, Z:-0.83 [[ 9.99997971e-01 -1.79471101e-03 9.14878619e-04 -1.98561963e+01] [ 1.78988310e-03 9.99984612e-01 5.25088673e-03 -2.63587902e+00] [-9.24288366e-04 -5.24923855e-03 9.99985795e-01 -8.30747091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140418555 meters 0.2559098151725268 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.64, Z:-0.83 [[ 9.99998000e-01 -1.77897923e-03 9.14148216e-04 -1.98555975e+01] [ 1.77408388e-03 9.99984231e-01 5.32827933e-03 -2.63675709e+00] [-9.23612699e-04 -5.32664690e-03 9.99985387e-01 -8.31724267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200418555 meters 0.25242849851945326 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.84 [[ 9.99999452e-01 3.82706800e-04 -9.74634624e-04 -1.98949651e+01] [-3.75925972e-04 9.99975792e-01 6.94800856e-03 -2.63817069e+00] [ 9.77270079e-04 -6.94763836e-03 9.99975387e-01 -8.39328134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260418554999998 meters 0.2545480438863259 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.64, Z:-0.84 [[ 9.99999560e-01 3.73220981e-04 -8.61069321e-04 -1.98960299e+01] [-3.66991313e-04 9.99973842e-01 7.22365350e-03 -2.64057502e+00] [ 8.63742816e-04 -7.22333431e-03 9.99973538e-01 -8.37856943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320418555 meters 0.25737168563021834 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.64, Z:-0.84 [[ 9.99988258e-01 2.89302204e-03 3.88769612e-03 -1.98721916e+01] [-2.89406575e-03 9.99995778e-01 2.62866031e-04 -2.63732546e+00] [-3.88691922e-03 -2.74114192e-04 9.99992408e-01 -8.41381115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380418555 meters 0.2541138937290822 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.84 [[ 9.99996560e-01 -2.51628453e-03 -7.40829238e-04 -1.98941667e+01] [ 2.51958873e-03 9.99986730e-01 4.49350660e-03 -2.63986914e+00] [ 7.29512466e-04 -4.49535773e-03 9.99989630e-01 -8.39793665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440418554999997 meters 0.2550822153274353 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.84 [[ 9.99996670e-01 -2.46717242e-03 -7.56517037e-04 -1.98937144e+01] [ 2.47063710e-03 9.99986305e-01 4.61355750e-03 -2.64054339e+00] [ 7.45124235e-04 -4.61541122e-03 9.99989071e-01 -8.40473555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500418555 meters 0.25465493906061876 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.84 [[ 9.99996438e-01 -2.58484208e-03 -6.65786766e-04 -1.98945684e+01] [ 2.58777326e-03 9.99986795e-01 4.43998776e-03 -2.63992816e+00] [ 6.54301307e-04 -4.44169485e-03 9.99989922e-01 -8.39359874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560418555 meters 0.2549995195629978 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.64, Z:-0.84 [[ 9.99995827e-01 -2.84149643e-03 -5.21066680e-04 -1.98954041e+01] [ 2.84347227e-03 9.99988618e-01 3.83122294e-03 -2.63680556e+00] [ 5.10174343e-04 -3.83268859e-03 9.99992525e-01 -8.38662538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620418554999997 meters 0.2559125328501812 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.63, Z:-0.85 [[ 9.99996450e-01 2.42825137e-03 1.09687662e-03 -1.98635170e+01] [-2.42711068e-03 9.99996514e-01 -1.04008807e-03 -2.63169007e+00] [-1.09939839e-03 1.03742214e-03 9.99998858e-01 -8.47280609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680418555 meters 0.25404748033424607 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.63, Z:-0.84 [[ 9.99985842e-01 4.74955082e-03 2.39945060e-03 -1.99170488e+01] [-4.74839038e-03 9.99988607e-01 -4.89090397e-04 -2.62850487e+00] [-2.40174623e-03 4.77689945e-04 9.99997002e-01 -8.43797690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740418554999998 meters 0.2557554927416357 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.63, Z:-0.84 [[ 9.99985017e-01 3.83702005e-03 3.90412073e-03 -1.98757224e+01] [-3.83614254e-03 9.99992615e-01 -2.32230345e-04 -2.63020179e+00] [-3.90498297e-03 2.17250102e-04 9.99992352e-01 -8.37962708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800418554999997 meters 0.25395267914458 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.63, Z:-0.83 [[ 9.99996588e-01 -2.38350507e-03 -1.06862546e-03 -1.98995753e+01] [ 2.38636160e-03 9.99993562e-01 2.67982599e-03 -2.63403822e+00] [ 1.06223121e-03 -2.68236698e-03 9.99995838e-01 -8.34517799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860418555 meters 0.2545493841633976 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.63, Z:-0.84 [[ 9.99994711e-01 2.97498751e-03 1.31432640e-03 -1.98676681e+01] [-2.97347770e-03 9.99994919e-01 -1.14919903e-03 -2.63125956e+00] [-1.31773857e-03 1.14528483e-03 9.99998476e-01 -8.43864089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920418554999998 meters 0.25318287474185974 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.64, Z:-0.83 [[ 9.99993535e-01 -2.66949074e-03 -2.40916115e-03 -1.98987768e+01] [ 2.67526596e-03 9.99993548e-01 2.39716228e-03 -2.63516790e+00] [ 2.40274640e-03 -2.40359193e-03 9.99994225e-01 -8.33540151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980418555 meters 0.2642877151180706 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.63, Z:-0.83 [[ 9.99993903e-01 -2.72930999e-03 -2.17847271e-03 -1.99001926e+01] [ 2.73352716e-03 9.99994391e-01 1.93521453e-03 -2.63208787e+00] [ 2.17317869e-03 -1.94115764e-03 9.99995755e-01 -8.32007846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040418555 meters 0.2572054528340886 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.63, Z:-0.84 [[ 9.99996100e-01 2.64796536e-03 8.87647199e-04 -1.98711719e+01] [-2.64598193e-03 9.99994017e-01 -2.22826516e-03 -2.63044755e+00] [-8.93542257e-04 2.22590777e-03 9.99997123e-01 -8.38909436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100418555000005 meters 0.25522468317883207 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.63, Z:-0.84 [[ 9.99995430e-01 2.80759496e-03 1.12161507e-03 -1.98720439e+01] [-2.80596775e-03 9.99995012e-01 -1.44972698e-03 -2.63455109e+00] [-1.12567973e-03 1.44657314e-03 9.99998320e-01 -8.38322052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160418555 meters 0.2533727161449259 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99999033e-01 1.21506481e-03 -6.77105504e-04 -1.99114247e+01] [-1.21749083e-03 9.99992800e-01 -3.59411403e-03 -2.63601210e+00] [ 6.72733547e-04 3.59493492e-03 9.99993312e-01 -8.46139354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220418555 meters 0.25234692666461844 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.63, Z:-0.85 [[ 9.99998502e-01 1.36060583e-03 -1.07006266e-03 -1.99097928e+01] [-1.36460496e-03 9.99992055e-01 -3.74548079e-03 -2.63398657e+00] [ 1.06495803e-03 3.74693540e-03 9.99992413e-01 -8.47396834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280418555000004 meters 0.25354746443462284 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.63, Z:-0.84 [[ 9.99998521e-01 1.58500956e-03 -6.68345138e-04 -1.99126227e+01] [-1.58741469e-03 9.99992211e-01 -3.61359585e-03 -2.63385116e+00] [ 6.62612348e-04 3.61465144e-03 9.99993248e-01 -8.43767683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340418555 meters 0.25459948449936276 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.85 [[ 9.99988870e-01 -4.29852677e-03 1.94489686e-03 -1.98855003e+01] [ 4.29625063e-03 9.99990083e-01 1.17297959e-03 -2.63685659e+00] [-1.94991966e-03 -1.16461077e-03 9.99997421e-01 -8.49433743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400418555 meters 0.25464258403328743 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99998663e-01 -5.02053660e-04 -1.55624564e-03 -1.99092491e+01] [ 4.93748593e-04 9.99985661e-01 -5.33240239e-03 -2.63743531e+00] [ 1.55890048e-03 5.33162687e-03 9.99984572e-01 -8.47265439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460418555000004 meters 0.25450696599654427 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.64, Z:-0.85 [[ 9.99993830e-01 -2.98758843e-03 1.84777776e-03 -1.98855428e+01] [ 2.98313854e-03 9.99992655e-01 2.40632084e-03 -2.63745814e+00] [-1.85495329e-03 -2.40079382e-03 9.99995398e-01 -8.49524575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520418555 meters 0.25305863906065107 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.64, Z:-0.85 [[ 9.99994234e-01 -2.90371294e-03 1.76068483e-03 -1.98844979e+01] [ 2.89849219e-03 9.99991417e-01 2.96051999e-03 -2.64128267e+00] [-1.76926621e-03 -2.95539959e-03 9.99994068e-01 -8.51056681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580418555 meters 0.2552200443766525 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.64, Z:-0.85 [[ 9.99994138e-01 -3.02521493e-03 1.60384880e-03 -1.98843247e+01] [ 3.02106027e-03 9.99992091e-01 2.58655637e-03 -2.63918979e+00] [-1.61166101e-03 -2.58169588e-03 9.99995369e-01 -8.50551322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640418555000004 meters 0.2534619991504144 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99993342e-01 3.64915372e-03 2.50403953e-05 -1.99115517e+01] [-3.64910774e-03 9.99991997e-01 -1.64028169e-03 -2.63674124e+00] [-3.10258349e-05 1.64017939e-03 9.99998654e-01 -8.46352891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700418555 meters 0.25449111271127783 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99993334e-01 3.64934498e-03 1.21510082e-04 -1.99116449e+01] [-3.64912078e-03 9.99991728e-01 -1.79684299e-03 -2.63548880e+00] [-1.28066377e-04 1.79638760e-03 9.99998378e-01 -8.46698764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760418555 meters 0.25417086922589016 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99992966e-01 3.75055234e-03 1.84623514e-05 -1.99107413e+01] [-3.75052079e-03 9.99991864e-01 -1.48484766e-03 -2.63722202e+00] [-2.40312000e-05 1.48476797e-03 9.99998897e-01 -8.47916226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820418555 meters 0.25476262573392716 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99992840e-01 3.77294854e-03 2.92389369e-04 -1.99118889e+01] [-3.77252645e-03 9.99991860e-01 -1.43091779e-03 -2.63754011e+00] [-2.97785768e-04 1.42980450e-03 9.99998933e-01 -8.47208389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880418555 meters 0.25556274084072694 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.64, Z:-0.85 [[ 9.99993198e-01 3.68806695e-03 -3.66576969e-05 -1.99103569e+01] [-3.68812696e-03 9.99991579e-01 -1.80007974e-03 -2.63570535e+00] [ 3.00185736e-05 1.80020269e-03 9.99998379e-01 -8.48600617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940418555 meters 0.2537459988612875 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.63, Z:-0.85 [[ 9.99993694e-01 3.54931336e-03 1.18914292e-04 -1.99116672e+01] [-3.54904498e-03 9.99991313e-01 -2.18582344e-03 -2.63409455e+00] [-1.26671431e-04 2.18538762e-03 9.99997604e-01 -8.46921216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000418555 meters 0.2565890901613113 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.63, Z:-0.85 [[ 9.99993450e-01 3.61434113e-03 1.89847530e-04 -1.99123560e+01] [-3.61389881e-03 9.99990869e-01 -2.28070116e-03 -2.63269204e+00] [-1.98089028e-04 2.28000013e-03 9.99997381e-01 -8.46043480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060418555000005 meters 0.25499203322718444 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.64, Z:-0.84 [[ 9.99983477e-01 -3.40146667e-03 -4.63428734e-03 -1.99344479e+01] [ 3.40344122e-03 9.99994121e-01 4.18253897e-04 -2.63853869e+00] [ 4.63283742e-03 -4.34019511e-04 9.99989174e-01 -8.44149615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120418555 meters 0.25466172207526827 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.64, Z:-0.85 [[ 9.99982282e-01 -3.30465807e-03 -4.95129145e-03 -1.99325887e+01] [ 3.30704022e-03 9.99994420e-01 4.73007525e-04 -2.63820921e+00] [ 4.94970069e-03 -4.89373264e-04 9.99987630e-01 -8.46175494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180418555 meters 0.255012695808818 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.64, Z:-0.84 [[ 9.99978517e-01 -5.34276227e-03 -3.79755392e-03 -1.99402418e+01] [ 5.33886210e-03 9.99985211e-01 -1.03641860e-03 -2.64240583e+00] [ 3.80303510e-03 1.01612171e-03 9.99992252e-01 -8.39091008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240418555000005 meters 0.2535579717669481 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.64, Z:-0.84 [[ 9.99978921e-01 -5.19549647e-03 -3.89407750e-03 -1.99393908e+01] [ 5.19288426e-03 9.99986285e-01 -6.80627474e-04 -2.64399104e+00] [ 3.89756030e-03 6.60391634e-04 9.99992186e-01 -8.40165514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300418555 meters 0.2561584446882607 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.65, Z:-0.84 [[ 9.99997610e-01 1.80986337e-04 -2.17900758e-03 -1.99132751e+01] [-1.90973418e-04 9.99989475e-01 -4.58398084e-03 -2.64893529e+00] [ 2.17815501e-03 4.58438602e-03 9.99987119e-01 -8.42246480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360418555 meters 0.2563615864132442 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.65, Z:-0.84 [[ 9.99997807e-01 2.55011246e-04 -2.07852200e-03 -1.99140059e+01] [-2.63997410e-04 9.99990616e-01 -4.32421610e-03 -2.65021025e+00] [ 2.07739977e-03 4.32475534e-03 9.99988490e-01 -8.41529068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420418555000005 meters 0.25689624159284524 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99969985e-01 -7.34270563e-03 2.47252780e-03 -1.98907963e+01] [ 7.34667992e-03 9.99971729e-01 -1.60215343e-03 -2.65588548e+00] [-2.46069376e-03 1.62027021e-03 9.99995660e-01 -8.44705449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480418555 meters 0.25613656212093705 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.85 [[ 9.99993117e-01 -3.01351733e-03 2.16429985e-03 -1.98891822e+01] [ 3.00695744e-03 9.99990895e-01 3.02783610e-03 -2.65788028e+00] [-2.17340458e-03 -3.02130730e-03 9.99993074e-01 -8.46399203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540418555 meters 0.25527929655137843 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.85 [[ 9.99992674e-01 -3.11406699e-03 2.22594612e-03 -1.98895272e+01] [ 3.10771401e-03 9.99991105e-01 2.85184590e-03 -2.65776628e+00] [-2.23480716e-03 -2.84490740e-03 9.99993456e-01 -8.46315161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600418555000005 meters 0.2563418576611305 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.65, Z:-0.85 [[ 9.99972663e-01 3.75609126e-03 6.36900837e-03 -1.98626452e+01] [-3.75565447e-03 9.99992944e-01 -8.05406053e-05 -2.65046787e+00] [-6.36926595e-03 5.66186088e-05 9.99979714e-01 -8.52119860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660418555 meters 0.2572796304935607 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.85 [[ 9.99970049e-01 3.54918672e-03 6.87786269e-03 -1.98652838e+01] [-3.54449915e-03 9.99993478e-01 -6.93614576e-04 -2.64794012e+00] [-6.88027960e-03 6.69215223e-04 9.99976107e-01 -8.50124608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720418555 meters 0.25617837496830703 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.86 [[ 9.99977381e-01 4.05715135e-03 5.36445442e-03 -1.98547188e+01] [-4.05397549e-03 9.99991601e-01 -6.02759783e-04 -2.64372098e+00] [-5.36685485e-03 5.80998783e-04 9.99985430e-01 -8.59459590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780418555000004 meters 0.2549412409529246 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.64, Z:-0.85 [[ 9.99978398e-01 2.33415531e-03 6.14455953e-03 -1.98612906e+01] [-2.31952472e-03 9.99994461e-01 -2.38711462e-03 -2.64242330e+00] [-6.15009739e-03 2.37281060e-03 9.99978273e-01 -8.53195517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840418555 meters 0.25577400186638505 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.64, Z:-0.85 [[ 9.99968605e-01 2.62840347e-03 7.47536916e-03 -1.98691505e+01] [-2.61594780e-03 9.99995175e-01 -1.67551910e-03 -2.64489340e+00] [-7.47973703e-03 1.65591132e-03 9.99970655e-01 -8.46742646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900418555 meters 0.2557133670562216 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.64, Z:-0.85 [[ 9.99979083e-01 7.25209481e-04 6.42715066e-03 -1.98620863e+01] [-7.00711019e-04 9.99992484e-01 -3.81314661e-03 -2.64217371e+00] [-6.42986768e-03 3.80856328e-03 9.99972075e-01 -8.52912873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960418555000004 meters 0.2558770642373373 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.64, Z:-0.85 [[ 9.99971795e-01 -2.63288364e-05 -7.51050952e-03 -1.98658501e+01] [ 1.78052192e-05 9.99999356e-01 -1.13495662e-03 -2.64462636e+00] [ 7.51053456e-03 1.13479088e-03 9.99971152e-01 -8.45916698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020418555 meters 0.2550928515498868 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.85 [[ 9.99987189e-01 -3.84910238e-03 -3.28723102e-03 -1.98458420e+01] [ 3.86729882e-03 9.99977136e-01 5.54719190e-03 -2.64584253e+00] [ 3.26580415e-03 -5.55983354e-03 9.99979211e-01 -8.45299814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080418555 meters 0.2548661553656736 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.84 [[ 9.99972331e-01 -3.68697695e-03 -6.46093819e-03 -1.98682973e+01] [ 3.66055540e-03 9.99984909e-01 -4.09649399e-03 -2.65108095e+00] [ 6.47594437e-03 4.07273003e-03 9.99970737e-01 -8.43642442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140418555000004 meters 0.25431861312469695 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.85 [[ 9.99996089e-01 1.07049864e-03 -2.58365370e-03 -1.98425784e+01] [-1.09305575e-03 9.99961163e-01 -8.74513815e-03 -2.65035079e+00] [ 2.57419170e-03 8.74792803e-03 9.99958423e-01 -8.48240437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200418555 meters 0.25657421732072655 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.85 [[ 9.99996386e-01 1.27529529e-03 -2.36673208e-03 -1.98441810e+01] [-1.29449815e-03 9.99966114e-01 -8.12994407e-03 -2.65311526e+00] [ 2.35628380e-03 8.13297842e-03 9.99964151e-01 -8.46401416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260418555 meters 0.25421434536327914 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.66, Z:-0.84 [[ 9.99973587e-01 -1.42094558e-03 -7.12788624e-03 -1.98681465e+01] [ 1.41330117e-03 9.99998421e-01 -1.07738797e-03 -2.66066019e+00] [ 7.12940590e-03 1.06728566e-03 9.99974016e-01 -8.43409023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320418555 meters 0.2549142366969283 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99960560e-01 -1.31620208e-03 -8.78331977e-03 -1.98573419e+01] [ 1.30685650e-03 9.99998574e-01 -1.06966981e-03 -2.65941361e+00] [ 8.78471514e-03 1.05814908e-03 9.99960854e-01 -8.52316494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380418555 meters 0.2556544026192139 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.84 [[ 9.99986205e-01 4.32235175e-03 -2.98438976e-03 -1.98499786e+01] [-4.33947655e-03 9.99974020e-01 -5.75569441e-03 -2.65544489e+00] [ 2.95943409e-03 5.76856570e-03 9.99978982e-01 -8.40378565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440418555 meters 0.25505217937068475 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.65, Z:-0.85 [[ 9.99949632e-01 3.01959473e-03 -9.57155876e-03 -1.98588687e+01] [-3.00164219e-03 9.99993710e-01 1.88942346e-03 -2.65304728e+00] [ 9.57720384e-03 -1.86059790e-03 9.99952407e-01 -8.50228066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500418555 meters 0.2556140935760368 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.65, Z:-0.85 [[ 9.99950091e-01 2.98236462e-03 -9.53522886e-03 -1.98592485e+01] [-2.96499716e-03 9.99993921e-01 1.83501713e-03 -2.65242246e+00] [ 9.54064358e-03 -1.80665362e-03 9.99952855e-01 -8.49836643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560418555000005 meters 0.25369130897370534 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.84 [[ 9.99962392e-01 1.16368399e-03 -8.59423062e-03 -1.98655035e+01] [-1.16384801e-03 9.99999323e-01 -1.40830774e-05 -2.65045803e+00] [ 8.59420841e-03 2.40849259e-05 9.99963069e-01 -8.44652886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620418555 meters 0.25455336374263215 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.65, Z:-0.85 [[ 9.99956134e-01 -3.19823916e-03 -8.80353586e-03 -1.98645458e+01] [ 3.15668558e-03 9.99983831e-01 -4.72995623e-03 -2.64834399e+00] [ 8.81852105e-03 4.70195875e-03 9.99950061e-01 -8.45487002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680418555 meters 0.25065208274647566 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.84 [[ 9.99963523e-01 9.95978182e-04 -8.48296508e-03 -1.98658943e+01] [-9.98100344e-04 9.99999472e-01 -2.45937631e-04 -2.64946828e+00] [ 8.48271565e-03 2.54395510e-04 9.99963989e-01 -8.44483912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740418555000005 meters 0.2566855710173887 Centerline is valid? [False, False] Translation: X:-19.83, Y:-2.65, Z:-0.84 [[ 9.99978011e-01 -1.86757601e-03 -6.36312128e-03 -1.98272354e+01] [ 1.85399357e-03 9.99995992e-01 -2.13978543e-03 -2.65450324e+00] [ 6.36709199e-03 2.12794119e-03 9.99977466e-01 -8.36717281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800418555 meters 0.2551373734893694 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99954682e-01 1.39703756e-03 -9.41709918e-03 -1.98584822e+01] [-1.38905582e-03 9.99998671e-01 8.54065844e-04 -2.65525084e+00] [ 9.41827982e-03 -8.40946264e-04 9.99955293e-01 -8.51730551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860418555 meters 0.2529067207000406 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99955760e-01 8.50353852e-04 -9.36779710e-03 -1.98589412e+01] [-8.45639171e-04 9.99999514e-01 5.07235405e-04 -2.65911531e+00] [ 9.36822387e-03 -4.99291189e-04 9.99955993e-01 -8.51187926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920418555000005 meters 0.25428474123755673 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99953641e-01 4.22262062e-03 -8.65360429e-03 -1.98644315e+01] [-4.19144515e-03 9.99984672e-01 3.61757422e-03 -2.65521997e+00] [ 8.66874729e-03 -3.58113541e-03 9.99956013e-01 -8.45926717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980418555 meters 0.25380480580698483 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99963930e-01 1.34347261e-04 -8.49240981e-03 -1.98645902e+01] [-1.34978511e-04 9.99999988e-01 -7.37578784e-05 -2.65914837e+00] [ 8.49239980e-03 7.49015108e-05 9.99963936e-01 -8.46525118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040418555 meters 0.25251948437024035 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.85 [[ 9.99952707e-01 4.70476281e-03 -8.51166579e-03 -1.98629158e+01] [-4.66958069e-03 9.99980492e-01 4.14856193e-03 -2.65607042e+00] [ 8.53101774e-03 -4.10861983e-03 9.99955169e-01 -8.49313413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100418555000005 meters 0.25513172782402277 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.85 [[ 9.99969202e-01 6.79356688e-03 -3.92971031e-03 -1.98408753e+01] [-6.80798360e-03 9.99970102e-01 -3.66697755e-03 -2.65286450e+00] [ 3.90468096e-03 3.69361802e-03 9.99985555e-01 -8.50995692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160418555 meters 0.25397475400943903 Centerline is valid? [False, False] Translation: X:-19.81, Y:-2.65, Z:-0.85 [[ 9.99985202e-01 1.42806240e-03 -5.24936072e-03 -1.98148678e+01] [-1.42423402e-03 9.99998717e-01 7.32969035e-04 -2.64690150e+00] [ 5.25040071e-03 -7.25481871e-04 9.99985953e-01 -8.50848213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220418555 meters 0.252545028363079 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.65, Z:-0.84 [[ 9.99997134e-01 -4.40698811e-04 2.35310610e-03 -1.98825022e+01] [ 4.44130350e-04 9.99998839e-01 -1.45797851e-03 -2.64979335e+00] [-2.35246083e-03 1.45901942e-03 9.99996169e-01 -8.39199900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280418555000004 meters 0.25381017916007625 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.65, Z:-0.84 [[ 9.99997096e-01 -3.13603350e-04 2.38968739e-03 -1.98824873e+01] [ 3.16347206e-04 9.99999291e-01 -1.14791580e-03 -2.65136608e+00] [-2.38932571e-03 1.14866844e-03 9.99996486e-01 -8.39306184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340418555 meters 0.2530834816392801 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.85 [[ 9.99998571e-01 1.22190201e-03 1.16821659e-03 -1.98740720e+01] [-1.22242960e-03 9.99999151e-01 4.51014274e-04 -2.65014682e+00] [-1.16766450e-03 -4.52441692e-04 9.99999216e-01 -8.47275164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400418555 meters 0.2559728299439108 Centerline is valid? [False, False] Translation: X:-19.83, Y:-2.65, Z:-0.85 [[ 9.99986983e-01 -4.82016556e-03 1.67351793e-03 -1.98268879e+01] [ 4.82815346e-03 9.99976813e-01 -4.80234910e-03 -2.65308928e+00] [-1.65033101e-03 4.81036659e-03 9.99987068e-01 -8.45957816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460418555000004 meters 0.2515811187549494 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.65, Z:-0.83 [[ 9.99991871e-01 -1.01436355e-03 3.90241730e-03 -1.98893533e+01] [ 1.02080964e-03 9.99998117e-01 -1.65018185e-03 -2.65142190e+00] [-3.90073607e-03 1.65415206e-03 9.99991024e-01 -8.33808564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520418555 meters 0.2519611316290063 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99992695e-01 -8.47204395e-04 3.72721298e-03 -1.98876065e+01] [ 8.51281904e-04 9.99999041e-01 -1.09253291e-03 -2.65518380e+00] [-3.72628381e-03 1.09569784e-03 9.99992457e-01 -8.36186645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580418555 meters 0.25420395196327816 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.82 [[ 9.99979795e-01 -1.80417419e-05 6.35686304e-03 -1.98532011e+01] [ 1.51987524e-05 9.99999900e-01 4.47279535e-04 -2.65571705e+00] [-6.35687048e-03 -4.47173881e-04 9.99979695e-01 -8.24090952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640418555000004 meters 0.2556234152162205 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.84 [[ 9.99988514e-01 8.32417994e-04 4.72005699e-03 -1.98414427e+01] [-8.36290456e-04 9.99999315e-01 8.18512664e-04 -2.65237558e+00] [-4.71937241e-03 -8.22450601e-04 9.99988525e-01 -8.35612548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700418555 meters 0.2533815811628273 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.83 [[ 9.99994549e-01 -3.06867428e-03 1.21901918e-03 -1.98692171e+01] [ 3.06076330e-03 9.99974583e-01 6.43932966e-03 -2.65303047e+00] [-1.23874840e-03 -6.43556343e-03 9.99978524e-01 -8.29255223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760418555 meters 0.5776335605455707 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.83 [[ 9.99984751e-01 -2.25909037e-03 5.03932992e-03 -1.98455001e+01] [ 2.27330444e-03 9.99993449e-01 -2.81668383e-03 -2.64907482e+00] [-5.03293377e-03 2.82809681e-03 9.99983336e-01 -8.31582600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820418555 meters 0.2550778362034041 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.83 [[ 9.99983124e-01 5.36153880e-04 5.78477737e-03 -1.98517908e+01] [-5.34310526e-04 9.99999806e-01 -3.20196687e-04 -2.64489624e+00] [-5.78494792e-03 3.17100416e-04 9.99983217e-01 -8.25404167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880418555 meters 0.25627814914627295 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.83 [[ 9.99985364e-01 3.62498201e-04 5.39816959e-03 -1.98494790e+01] [-3.62619095e-04 9.99999934e-01 2.14167396e-05 -2.64797460e+00] [-5.39816147e-03 -2.33739055e-05 9.99985430e-01 -8.27501376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940418555 meters 0.2524795941762104 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.83 [[ 9.99969785e-01 -7.77333101e-03 -6.92791030e-05 -1.98691354e+01] [ 7.77341195e-03 9.99968997e-01 1.25673923e-03 -2.64984576e+00] [ 5.95079051e-05 -1.25723979e-03 9.99999208e-01 -8.27219842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000418555 meters 0.2549882707988101 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.83 [[ 9.99967767e-01 -4.48211390e-03 6.66157393e-03 -1.98519391e+01] [ 4.50967716e-03 9.99981309e-01 -4.12840474e-03 -2.64720654e+00] [-6.64294544e-03 4.15831322e-03 9.99969289e-01 -8.27504971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060418555 meters 0.2543063560335878 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.65, Z:-0.84 [[ 9.99969660e-01 -5.88970012e-03 5.09810632e-03 -1.98415330e+01] [ 5.91489805e-03 9.99970296e-01 -4.94172073e-03 -2.65278591e+00] [-5.06884963e-03 4.97172558e-03 9.99974794e-01 -8.36963156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120418555 meters 0.24893402380117646 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99979634e-01 -4.18663168e-03 4.81694321e-03 -1.98909460e+01] [ 4.19964939e-03 9.99987548e-01 -2.69554998e-03 -2.65919702e+00] [-4.80559796e-03 2.71572455e-03 9.99984765e-01 -8.35662831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180418555 meters 0.25483512978683526 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.82 [[ 9.99963207e-01 -3.91519584e-03 7.63257204e-03 -1.98576177e+01] [ 3.92541685e-03 9.99991418e-01 -1.32460924e-03 -2.66218325e+00] [-7.62732044e-03 1.35452153e-03 9.99969994e-01 -8.22783219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240418555000005 meters 0.2532662594699226 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.83 [[ 9.99963864e-01 -4.09445709e-03 7.45027101e-03 -1.98555292e+01] [ 4.10660819e-03 9.99990261e-01 -1.61639472e-03 -2.66232909e+00] [-7.44358020e-03 1.64693166e-03 9.99970940e-01 -8.25678047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300418555 meters 0.2532292361124053 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.66, Z:-0.82 [[ 9.99981978e-01 4.84011326e-03 3.55192557e-03 -1.98771180e+01] [-4.82812007e-03 9.99982641e-01 -3.37737532e-03 -2.65894707e+00] [-3.56821079e-03 3.36016533e-03 9.99987989e-01 -8.24943176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360418555 meters 0.2544862601338439 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.83 [[ 9.99972281e-01 6.51813021e-03 3.59877075e-03 -1.98476710e+01] [-6.54922367e-03 9.99940734e-01 8.69692257e-03 -2.65580644e+00] [-3.54186979e-03 -8.72025065e-03 9.99955705e-01 -8.29237750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420418555000005 meters 0.2546486011057436 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.82 [[ 9.99990156e-01 3.60200346e-04 4.42235062e-03 -1.98546705e+01] [-3.71370371e-04 9.99996743e-01 2.52525041e-03 -2.65690542e+00] [-4.42142662e-03 -2.52686788e-03 9.99987033e-01 -8.21797577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480418555 meters 0.2509004122991991 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.65, Z:-0.82 [[ 9.99946279e-01 1.03652401e-02 -2.50301817e-05 -1.98765751e+01] [-1.03651804e-02 9.99944748e-01 1.75055415e-03 -2.64866129e+00] [ 4.31737128e-05 -1.75020067e-03 9.99998467e-01 -8.20163737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540418555 meters 0.2521787682544219 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.83 [[ 9.99996652e-01 2.53291922e-03 -5.28888868e-04 -1.98452713e+01] [-2.53080391e-03 9.99988946e-01 3.96262017e-03 -2.64346255e+00] [ 5.38920019e-04 -3.96126839e-03 9.99992009e-01 -8.26280131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600418555000005 meters 0.255141350693645 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.82 [[ 9.99998440e-01 -1.75625027e-03 -1.89872258e-04 -1.98475154e+01] [ 1.75618700e-03 9.99998402e-01 -3.32902909e-04 -2.64463237e+00] [ 1.90456616e-04 3.32568938e-04 9.99999927e-01 -8.24043662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660418555 meters 0.255826127714786 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.82 [[ 9.99996271e-01 2.73060217e-03 -4.26273786e-05 -1.98483607e+01] [-2.73040662e-03 9.99988031e-01 4.05978839e-03 -2.64238055e+00] [ 5.37125354e-05 -4.05965686e-03 9.99991758e-01 -8.23377106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720418555 meters 0.2532563397974449 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.83 [[ 9.99998943e-01 -1.44692691e-03 -1.39538951e-04 -1.98468020e+01] [ 1.44694372e-03 9.99998946e-01 1.20449872e-04 -2.64450304e+00] [ 1.39364521e-04 -1.20651649e-04 9.99999983e-01 -8.25812062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780418555000004 meters 0.6077710026738892 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.82 [[ 9.99998574e-01 -1.68755352e-03 6.24559034e-05 -1.98483081e+01] [ 1.68754859e-03 9.99998573e-01 7.88147479e-05 -2.64575852e+00] [-6.25888184e-05 -7.87092382e-05 9.99999995e-01 -8.24020735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840418555 meters 0.2533751941540283 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.82 [[ 9.99998569e-01 -1.64691055e-03 3.87863230e-04 -1.98505289e+01] [ 1.64702971e-03 9.99998596e-01 -3.07101345e-04 -2.64227393e+00] [-3.87356917e-04 3.07739727e-04 9.99999878e-01 -8.21627991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900418555 meters 0.2495950863853835 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.83 [[ 9.99999037e-01 -1.37339755e-03 1.99632859e-04 -1.98480281e+01] [ 1.37340716e-03 9.99999056e-01 -4.80202834e-05 -2.64121218e+00] [-1.99566719e-04 4.82944143e-05 9.99999979e-01 -8.25128157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960418555000004 meters 0.2540880798253038 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.82 [[ 9.99983847e-01 -5.67877509e-03 2.37966182e-04 -1.98483539e+01] [ 5.67969568e-03 9.99975607e-01 -4.06515766e-03 -2.64383424e+00] [-2.14875262e-04 4.06644357e-03 9.99991709e-01 -8.24586331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020418555 meters 0.2537083548825541 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.64, Z:-0.82 [[ 9.99998751e-01 -1.46214990e-03 5.99563251e-04 -1.98503174e+01] [ 1.46204432e-03 9.99998916e-01 1.76488395e-04 -2.64261278e+00] [-5.99820654e-04 -1.75611587e-04 9.99999805e-01 -8.22754875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080418555 meters 0.25238176139596924 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.65, Z:-0.83 [[ 9.99989120e-01 -2.91147947e-03 -3.64454181e-03 -1.98657461e+01] [ 2.86979579e-03 9.99931005e-01 -1.13907410e-02 -2.64654003e+00] [ 3.67745427e-03 1.13801580e-02 9.99928482e-01 -8.28225820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140418555000004 meters 0.253223500137698 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.65, Z:-0.82 [[ 9.99977412e-01 -6.58234648e-03 1.35975430e-03 -1.98533954e+01] [ 6.58735735e-03 9.99971406e-01 -3.71411572e-03 -2.65080247e+00] [-1.33526783e-03 3.72298901e-03 9.99992178e-01 -8.21096858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200418555 meters 0.2530861225547953 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.82 [[ 9.99978786e-01 -6.38941372e-03 1.26599183e-03 -1.98526616e+01] [ 6.39288097e-03 9.99975773e-01 -2.75391064e-03 -2.65655613e+00] [-1.24836528e-03 2.76194555e-03 9.99995407e-01 -8.21944643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260418555 meters 0.25431268648680927 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.83 [[ 9.99954662e-01 -9.51799235e-03 2.87101635e-04 -1.98461838e+01] [ 9.51931020e-03 9.99942169e-01 -5.00413135e-03 -2.66334704e+00] [-2.39455748e-04 5.00663748e-03 9.99987438e-01 -8.28146925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320418555 meters 0.25265273490604323 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.67, Z:-0.82 [[ 9.99957720e-01 -9.04323005e-03 1.66651509e-03 -1.98534134e+01] [ 9.04925612e-03 9.99952413e-01 -3.64461636e-03 -2.66948616e+00] [-1.63347669e-03 3.65954299e-03 9.99991970e-01 -8.22406005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380418555 meters 0.2527886073723535 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.67, Z:-0.82 [[ 9.99949663e-01 -9.34565828e-03 -3.65095102e-03 -1.98719215e+01] [ 9.29710468e-03 9.99871009e-01 -1.30968849e-02 -2.67371445e+00] [ 3.77287910e-03 1.30622824e-02 9.99907567e-01 -8.23101903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440418555 meters 0.2518133734308038 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.68, Z:-0.81 [[ 9.99972192e-01 -7.42205808e-03 -7.26977536e-04 -1.98878090e+01] [ 7.41396317e-03 9.99916673e-01 -1.05678973e-02 -2.67730464e+00] [ 8.05352507e-04 1.05622137e-02 9.99943894e-01 -8.10227110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500418555 meters 0.2570567452811158 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.68, Z:-0.81 [[ 9.99941623e-01 -1.07994295e-02 3.50118288e-04 -1.98418287e+01] [ 1.08030741e-02 9.99856810e-01 -1.30251288e-02 -2.68135185e+00] [-2.09404194e-04 1.30281508e-02 9.99915108e-01 -8.09141018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560418555 meters 0.2519234033744365 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.68, Z:-0.83 [[ 9.99991766e-01 -2.60958756e-03 -3.10778427e-03 -1.98718685e+01] [ 2.59246206e-03 9.99981504e-01 -5.50185556e-03 -2.67890921e+00] [ 3.12208436e-03 5.49375344e-03 9.99980035e-01 -8.25012702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620418555 meters 0.25490062639574146 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.68, Z:-0.83 [[ 9.99982463e-01 -5.08169740e-03 3.04136985e-03 -1.98519287e+01] [ 5.07901463e-03 9.99986706e-01 8.89166911e-04 -2.67877901e+00] [-3.04584790e-03 -8.73704156e-04 9.99994980e-01 -8.26725346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680418555 meters 0.2541214372436253 Centerline is valid? [False, False] Translation: X:-19.88, Y:-2.67, Z:-0.82 [[ 9.99932863e-01 1.15841683e-02 2.77780920e-04 -1.98780866e+01] [-1.15856114e-02 9.99915323e-01 5.92632156e-03 -2.66965873e+00] [-2.09105892e-04 -5.92914194e-03 9.99982401e-01 -8.22426561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740418555000005 meters 0.2566766445622323 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.67, Z:-0.83 [[ 9.99955578e-01 6.33552318e-03 6.97877707e-03 -1.98565577e+01] [-6.39335116e-03 9.99945155e-01 8.29535844e-03 -2.66527362e+00] [-6.92583888e-03 -8.33960772e-03 9.99941240e-01 -8.28498924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800418555 meters 0.2541880884830006 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.66, Z:-0.83 [[ 9.99851701e-01 1.71585562e-02 1.46963146e-03 -1.98745305e+01] [-1.71706617e-02 9.99815035e-01 8.66398649e-03 -2.65863572e+00] [-1.32069813e-03 -8.68793617e-03 9.99961387e-01 -8.29225160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860418555 meters 0.2562346853644147 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.83 [[ 9.99936320e-01 9.06875826e-03 6.71661205e-03 -1.98542253e+01] [-9.13660321e-03 9.99906845e-01 1.01402220e-02 -2.65922916e+00] [-6.62402714e-03 -1.02009433e-02 9.99926029e-01 -8.30837256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920418555000005 meters 0.25529479337854954 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.65, Z:-0.83 [[ 9.99963330e-01 5.26751725e-03 6.75217965e-03 -1.98554210e+01] [-5.30686891e-03 9.99968962e-01 5.82338624e-03 -2.65465227e+00] [-6.72129529e-03 -5.85900563e-03 9.99960247e-01 -8.29103171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980418555 meters 0.2538965229924276 Centerline is valid? [False, False] Translation: X:-19.85, Y:-2.66, Z:-0.83 [[ 9.99957506e-01 1.89096620e-05 -9.21873310e-03 -1.98485205e+01] [ 3.50263276e-06 9.99997045e-01 2.43114643e-03 -2.65509388e+00] [ 9.21875183e-03 -2.43107541e-03 9.99954551e-01 -8.33511916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040418555 meters 0.25512483480175496 Centerline is valid? [False, False] Translation: X:-19.86, Y:-2.66, Z:-0.83 [[ 9.99965521e-01 -1.71720990e-03 -8.12450222e-03 -1.98565348e+01] [ 1.72636782e-03 9.99997882e-01 1.12031908e-03 -2.65890205e+00] [ 8.12256119e-03 -1.13430634e-03 9.99966368e-01 -8.25964952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100418555000005 meters 0.24991822786882253 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99938758e-01 1.89481005e-03 -1.09036975e-02 -1.98905995e+01] [-1.84657994e-03 9.99988475e-01 4.43164875e-03 -2.65921482e+00] [ 1.09119690e-02 -4.41124279e-03 9.99930733e-01 -8.38227898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160418555 meters 0.2552719415028406 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.66, Z:-0.84 [[ 9.99976701e-01 1.06471385e-03 -6.74264070e-03 -1.98721888e+01] [-1.10655203e-03 9.99980141e-01 -6.20432530e-03 -2.66201893e+00] [ 6.73590097e-03 6.21164183e-03 9.99958021e-01 -8.35754505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220418555 meters 0.2539086340013325 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.66, Z:-0.84 [[ 9.99963795e-01 5.35306436e-03 -6.61461932e-03 -1.98728540e+01] [-5.36805777e-03 9.99983058e-01 -2.25103729e-03 -2.65838022e+00] [ 6.60245731e-03 2.28646345e-03 9.99975590e-01 -8.35232534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280418555000004 meters 0.2569730187295223 Centerline is valid? [False, False] Translation: X:-19.87, Y:-2.66, Z:-0.84 [[ 9.99967246e-01 4.82139327e-03 -6.50081384e-03 -1.98732458e+01] [-4.83898258e-03 9.99984667e-01 -2.69269960e-03 -2.66028241e+00] [ 6.48773160e-03 2.72406872e-03 9.99975244e-01 -8.35127291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340418555 meters 0.2556039131901674 Centerline is valid? [False, False] Translation: X:-19.84, Y:-2.66, Z:-0.84 [[ 9.99981496e-01 1.90672271e-03 -5.77680941e-03 -1.98440708e+01] [-1.88065283e-03 9.99988039e-01 4.51492600e-03 -2.65659301e+00] [ 5.78534903e-03 -4.50397828e-03 9.99973122e-01 -8.40654435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400418555 meters 0.25870578573346087 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99977442e-01 -1.81226038e-03 -6.46776954e-03 -1.98913267e+01] [ 1.81450960e-03 9.99998295e-01 3.41906829e-04 -2.65832521e+00] [ 6.46713889e-03 -3.53634946e-04 9.99979025e-01 -8.42143184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460418555000004 meters 0.25149267678686615 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99976605e-01 -1.78431564e-03 -6.60350867e-03 -1.98910121e+01] [ 1.78548763e-03 9.99998391e-01 1.71590155e-04 -2.65614696e+00] [ 6.60319187e-03 -1.83376623e-04 9.99978182e-01 -8.41998726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520418555 meters 0.255945492443594 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.66, Z:-0.84 [[ 9.99914015e-01 -9.78144616e-03 8.73420994e-03 -1.98939324e+01] [ 9.82431425e-03 9.99939839e-01 -4.87872607e-03 -2.66211741e+00] [-8.68596348e-03 4.96411419e-03 9.99949955e-01 -8.41869273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580418555 meters 0.25358270843408953 Centerline is valid? [False, False] Translation: X:-19.91, Y:-2.67, Z:-0.85 [[ 9.99891317e-01 -1.44358639e-02 2.99333423e-03 -1.99085386e+01] [ 1.44331957e-02 9.99895421e-01 9.11061452e-04 -2.66886301e+00] [-3.00617315e-03 -8.67759057e-04 9.99995105e-01 -8.46284381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640418555000004 meters 0.2562874963745555 Centerline is valid? [False, False] Translation: X:-19.89, Y:-2.67, Z:-0.85 [[ 9.99869406e-01 -1.40838025e-02 7.92580075e-03 -1.98870604e+01] [ 1.41421307e-02 9.99872966e-01 -7.35199402e-03 -2.67408635e+00] [-7.82124987e-03 7.46312160e-03 9.99941563e-01 -8.47895533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700418555 meters 0.24993474117999487 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.68, Z:-0.85 [[ 9.99906352e-01 -1.21117244e-02 6.37126824e-03 -1.99288592e+01] [ 1.21481838e-02 9.99909875e-01 -5.71524835e-03 -2.67511695e+00] [-6.30147251e-03 5.79211246e-03 9.99963371e-01 -8.53542346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760418555 meters 0.254747514092917 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.68, Z:-0.86 [[ 9.99971672e-01 -5.11437805e-03 5.52254481e-03 -1.98963094e+01] [ 5.15803544e-03 9.99955331e-01 -7.92021338e-03 -2.67986914e+00] [-5.48179116e-03 7.94847449e-03 9.99953385e-01 -8.60364089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820418555 meters 0.2547375390812111 Centerline is valid? [False, False] Translation: X:-19.90, Y:-2.68, Z:-0.86 [[ 9.99982373e-01 -7.61301892e-04 5.88851930e-03 -1.98984219e+01] [ 7.85935099e-04 9.99990946e-01 -4.18207784e-03 -2.67636026e+00] [-5.88528217e-03 4.18663211e-03 9.99973917e-01 -8.58279651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880418555 meters 0.25345534409086656 Centerline is valid? [False, False] Translation: X:-19.95, Y:-2.67, Z:-0.86 [[ 9.99971476e-01 4.28856880e-03 6.21729263e-03 -1.99490024e+01] [-4.28139491e-03 9.99990154e-01 -1.16671199e-03 -2.66775836e+00] [-6.22223494e-03 1.14006003e-03 9.99979992e-01 -8.56120882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940418555 meters 0.2508189030092723 Centerline is valid? [False, False] Translation: X:-19.95, Y:-2.66, Z:-0.86 [[ 9.99974465e-01 4.28164709e-03 5.72156420e-03 -1.99466733e+01] [-4.26833238e-03 9.99988159e-01 -2.33729760e-03 -2.66112190e+00] [-5.73150393e-03 2.31281638e-03 9.99980900e-01 -8.58212884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000418555 meters 0.2510074336405305 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.65, Z:-0.86 [[ 9.99926847e-01 1.10693101e-02 4.87561997e-03 -1.99400453e+01] [-1.10864616e-02 9.99932401e-01 3.50493625e-03 -2.65241375e+00] [-4.83649315e-03 -3.55873322e-03 9.99981972e-01 -8.64625535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060418555 meters 0.2538579979118262 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.65, Z:-0.86 [[ 9.99963212e-01 6.98840505e-03 4.97365483e-03 -1.99410604e+01] [-6.98101002e-03 9.99974503e-01 -1.50264964e-03 -2.64678180e+00] [-4.98402915e-03 1.46787323e-03 9.99986502e-01 -8.63368816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120418555 meters 0.25387719864412805 Centerline is valid? [False, False] Translation: X:-19.95, Y:-2.64, Z:-0.86 [[ 9.99919940e-01 1.09183145e-02 6.39554973e-03 -1.99480153e+01] [-1.09274331e-02 9.99939324e-01 1.39255743e-03 -2.63881063e+00] [-6.37995730e-03 -1.46233289e-03 9.99978579e-01 -8.58261467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180418555 meters 0.2554309930241957 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.64, Z:-0.86 [[ 9.99998771e-01 1.20772384e-03 9.99373473e-04 -1.99613623e+01] [-1.20890631e-03 9.99998569e-01 1.18345105e-03 -2.63632043e+00] [-9.97942761e-04 -1.18465775e-03 9.99998800e-01 -8.63857645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240418555000005 meters 0.2533939565390871 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.64, Z:-0.87 [[ 9.99999193e-01 1.07076239e-03 6.83838447e-04 -1.99597236e+01] [-1.07163589e-03 9.99998609e-01 1.27825395e-03 -2.63792553e+00] [-6.82468790e-04 -1.27898574e-03 9.99998949e-01 -8.65414601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300418555 meters 0.251153205247706 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.64, Z:-0.86 [[ 9.99997762e-01 -1.09170317e-03 1.81204190e-03 -1.99677091e+01] [ 1.09287048e-03 9.99999196e-01 -6.43328569e-04 -2.63942140e+00] [-1.81133812e-03 6.45307457e-04 9.99998151e-01 -8.57445532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360418555 meters 0.24993930340149823 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.64, Z:-0.86 [[ 9.99998356e-01 -1.03402661e-03 1.48951591e-03 -1.99653074e+01] [ 1.03426757e-03 9.99999452e-01 -1.61009422e-04 -2.64246945e+00] [-1.48934860e-03 1.62549715e-04 9.99998878e-01 -8.60566762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420418555000005 meters 0.2520708752364833 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.65, Z:-0.86 [[ 9.99990522e-01 -3.50033721e-03 2.58903218e-03 -1.99213529e+01] [ 3.50093236e-03 9.99993846e-01 -2.25376154e-04 -2.64947965e+00] [-2.58822735e-03 2.34438044e-04 9.99996623e-01 -8.58368010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480418555 meters 0.24877386089501086 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.65, Z:-0.86 [[ 9.99981542e-01 -6.02208877e-03 8.06641694e-04 -1.99629766e+01] [ 6.02459307e-03 9.99976925e-01 -3.13900885e-03 -2.65180912e+00] [-7.87719691e-04 3.14381060e-03 9.99994748e-01 -8.63762386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540418555 meters 0.2510600303678095 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.66, Z:-0.86 [[ 9.99984275e-01 -5.42262920e-03 1.43024482e-03 -1.99164099e+01] [ 5.42370194e-03 9.99985012e-01 -7.47230790e-04 -2.65565309e+00] [-1.42617143e-03 7.54976261e-04 9.99998698e-01 -8.62458000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600418555000005 meters 0.2552809718304604 Centerline is valid? [False, False] Translation: X:-19.92, Y:-2.66, Z:-0.86 [[ 9.99965926e-01 -7.92420893e-03 2.31376039e-03 -1.99226476e+01] [ 7.93063940e-03 9.99964678e-01 -2.78340559e-03 -2.66097952e+00] [-2.29162238e-03 2.80166035e-03 9.99993450e-01 -8.56961761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660418555 meters 0.2552855127596344 Centerline is valid? [False, False] Translation: X:-19.95, Y:-2.66, Z:-0.87 [[ 9.99981114e-01 -6.06145247e-03 -1.01493814e-03 -1.99539472e+01] [ 6.06005008e-03 9.99980687e-01 -1.37916730e-03 -2.66051505e+00] [ 1.02327830e-03 1.37299068e-03 9.99998534e-01 -8.71037108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720418555 meters 0.25071892954457076 Centerline is valid? [False, False] Translation: X:-19.94, Y:-2.66, Z:-0.87 [[ 9.99989768e-01 -1.82207984e-03 4.14050864e-03 -1.99370854e+01] [ 1.85107681e-03 9.99973715e-01 -7.01023170e-03 -2.65906676e+00] [-4.12762660e-03 7.01782438e-03 9.99966856e-01 -8.68137479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780418555000004 meters 0.2549136279512807 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.66, Z:-0.87 [[ 9.99987200e-01 3.99201899e-03 3.10856195e-03 -1.99300706e+01] [-3.98730835e-03 9.99990895e-01 -1.52010379e-03 -2.65696241e+00] [-3.11460194e-03 1.50768953e-03 9.99994013e-01 -8.74241673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840418555 meters 0.2538484962467102 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.66, Z:-0.87 [[ 9.99986815e-01 4.03490574e-03 3.17632042e-03 -1.99305259e+01] [-4.03076369e-03 9.99991019e-01 -1.30936239e-03 -2.65856769e+00] [-3.18157505e-03 1.29654213e-03 9.99994098e-01 -8.73913855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900418555 meters 0.2533757129658233 Centerline is valid? [False, False] Translation: X:-20.01, Y:-2.65, Z:-0.87 [[ 9.99990964e-01 5.59098960e-04 4.21418963e-03 -2.00121967e+01] [-5.66394078e-04 9.99998343e-01 1.73008970e-03 -2.65300065e+00] [-4.21321535e-03 -1.73246096e-03 9.99989624e-01 -8.65005644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960418555000004 meters 0.25566202530238663 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.65, Z:-0.87 [[ 9.99964958e-01 6.66274148e-03 5.06852979e-03 -1.99334705e+01] [-6.65639333e-03 9.99977042e-01 -1.26830414e-03 -2.64816625e+00] [-5.07686380e-03 1.23452157e-03 9.99986351e-01 -8.72213875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020418555 meters 0.24872123505128627 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.64, Z:-0.88 [[ 9.99935255e-01 1.10929343e-02 2.53611854e-03 -1.99696820e+01] [-1.10977049e-02 9.99936661e-01 1.87481489e-03 -2.64382417e+00] [-2.51516071e-03 -1.90283860e-03 9.99995027e-01 -8.81975225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080418555 meters 0.25296245924236954 Centerline is valid? [False, False] Translation: X:-19.93, Y:-2.64, Z:-0.88 [[ 9.99947318e-01 9.44903432e-03 4.00951637e-03 -1.99271962e+01] [-9.44970281e-03 9.99955340e-01 1.47812310e-04 -2.64016419e+00] [-4.00794062e-03 -1.85693261e-04 9.99991951e-01 -8.77771751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140418555000004 meters 0.25339054771803887 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.63, Z:-0.87 [[ 9.99961853e-01 7.98630629e-03 3.53724487e-03 -1.99551780e+01] [-8.01370203e-03 9.99937471e-01 7.79969338e-03 -2.63318085e+00] [-3.47473295e-03 -7.82774227e-03 9.99963326e-01 -8.73801883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200418555 meters 0.2502474624746127 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.63, Z:-0.87 [[ 9.99985460e-01 3.88476411e-03 3.74001420e-03 -1.99564419e+01] [-3.89498792e-03 9.99988687e-01 2.73023778e-03 -2.62667708e+00] [-3.72936556e-03 -2.74476539e-03 9.99989279e-01 -8.72845586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260418555 meters 0.2528697330078239 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.62, Z:-0.87 [[ 9.99984117e-01 3.93637183e-03 4.03363932e-03 -1.99575679e+01] [-3.94341584e-03 9.99990711e-01 1.73985419e-03 -2.61981532e+00] [-4.02675314e-03 -1.75573287e-03 9.99990351e-01 -8.72489525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320418555 meters 0.25368288395364086 Centerline is valid? [False, False] Translation: X:-19.95, Y:-2.61, Z:-0.88 [[ 9.99986039e-01 4.01157163e-03 3.43933187e-03 -1.99545413e+01] [-4.01418098e-03 9.99991660e-01 7.52113596e-04 -2.61168006e+00] [-3.43628602e-03 -7.65909196e-04 9.99993803e-01 -8.75105140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380418555 meters 0.24812131042027674 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.61, Z:-0.88 [[ 9.99996375e-01 2.23109372e-03 1.50759694e-03 -1.99941189e+01] [-2.22745843e-03 9.99994618e-01 -2.40870650e-03 -2.60974493e+00] [-1.51296288e-03 2.40533966e-03 9.99995963e-01 -8.82452043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440418555 meters 0.24841164460228052 Centerline is valid? [False, False] Translation: X:-20.00, Y:-2.61, Z:-0.88 [[ 9.99994704e-01 2.84121181e-03 1.58749893e-03 -1.99961353e+01] [-2.83797012e-03 9.99993891e-01 -2.04054707e-03 -2.60562956e+00] [-1.59328686e-03 2.03603099e-03 9.99996658e-01 -8.79565784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500418555 meters 0.2512202960547208 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.61, Z:-0.89 [[ 9.99966845e-01 -7.20158512e-03 3.80076960e-03 -1.99631759e+01] [ 7.20780256e-03 9.99972704e-01 -1.62468213e-03 -2.61156501e+00] [-3.78896557e-03 1.65202346e-03 9.99991457e-01 -8.90777251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560418555 meters 0.25434079506594437 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.62, Z:-0.89 [[ 9.99921642e-01 -1.16744544e-02 4.51843667e-03 -2.00157570e+01] [ 1.16982485e-02 9.99917655e-01 -5.27588671e-03 -2.62050425e+00] [-4.45647150e-03 5.32833110e-03 9.99975874e-01 -8.86732147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620418555 meters 0.2525729047901215 Centerline is valid? [False, False] Translation: X:-19.97, Y:-2.62, Z:-0.88 [[ 9.99935832e-01 -9.64642448e-03 5.93953805e-03 -1.99739065e+01] [ 9.65636475e-03 9.99952020e-01 -1.64717911e-03 -2.62307038e+00] [-5.92336368e-03 1.70442776e-03 9.99981004e-01 -8.81879976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680418555 meters 0.2509331450434525 Centerline is valid? [False, False] Translation: X:-19.96, Y:-2.63, Z:-0.89 [[ 9.99893751e-01 -1.39395195e-02 4.26329709e-03 -1.99633025e+01] [ 1.39620102e-02 9.99888522e-01 -5.29196255e-03 -2.62710212e+00] [-4.18905442e-03 5.35092448e-03 9.99976909e-01 -8.90550377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740418555000005 meters 0.24926988775029907 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.63, Z:-0.89 [[ 9.99969431e-01 -6.69487285e-03 4.03924138e-03 -1.99919267e+01] [ 6.72584882e-03 9.99947700e-01 -7.70454216e-03 -2.63490478e+00] [-3.98744920e-03 7.73147397e-03 9.99962162e-01 -8.85764507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800418555 meters 0.2506163279730656 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.64, Z:-0.88 [[ 9.99966554e-01 -6.82295041e-03 4.50979849e-03 -1.99936959e+01] [ 6.85551975e-03 9.99950245e-01 -7.24633824e-03 -2.63953389e+00] [-4.46013270e-03 7.27701290e-03 9.99963575e-01 -8.84869587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860418555 meters 0.25323995168914337 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.65, Z:-0.90 [[ 9.99972184e-01 -7.32193194e-03 1.42150357e-03 -2.00269328e+01] [ 7.33291648e-03 9.99942046e-01 -7.88242810e-03 -2.64618788e+00] [-1.36370659e-03 7.89263261e-03 9.99967923e-01 -8.97117383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920418555000005 meters 0.2539760445362459 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.65, Z:-0.88 [[ 9.99984174e-01 -3.49813274e-03 4.40624602e-03 -1.99943713e+01] [ 3.50826810e-03 9.99991213e-01 -2.29460105e-03 -2.65295198e+00] [-4.39818048e-03 2.31002303e-03 9.99987660e-01 -8.83834085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980418555 meters 0.25622647786148744 Centerline is valid? [False, False] Translation: X:-19.99, Y:-2.66, Z:-0.88 [[ 9.99984032e-01 -3.28492498e-03 4.59829754e-03 -1.99949436e+01] [ 3.29247081e-03 9.99993244e-01 -1.63439809e-03 -2.65676893e+00] [-4.59289760e-03 1.64951175e-03 9.99988092e-01 -8.83747309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040418555 meters 0.24917201317269827 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.89 [[ 9.99985054e-01 -5.15201227e-03 1.83008264e-03 -2.00303947e+01] [ 5.15928276e-03 9.99978729e-01 -3.99051357e-03 -2.65948259e+00] [-1.80948453e-03 3.99989584e-03 9.99990363e-01 -8.94575601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100418555000005 meters 0.25362784369770525 Centerline is valid? [False, False] Translation: X:-19.98, Y:-2.66, Z:-0.90 [[ 9.99993797e-01 -3.08129417e-03 1.70643527e-03 -1.99788100e+01] [ 3.08329433e-03 9.99994561e-01 -1.17074253e-03 -2.65853161e+00] [-1.70281859e-03 1.17599671e-03 9.99997859e-01 -8.96499686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160418555 meters 0.25243290906345256 Centerline is valid? [False, False] Translation: X:-20.01, Y:-2.66, Z:-0.89 [[ 9.99990079e-01 4.34201699e-03 9.94165343e-04 -2.00087989e+01] [-4.33782220e-03 9.99981841e-01 -4.18338990e-03 -2.66108403e+00] [-1.01231164e-03 4.17903588e-03 9.99990755e-01 -8.90451915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220418555 meters 0.25041660047321246 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.89 [[ 9.99993536e-01 3.59166547e-03 1.65195958e-04 -2.00344990e+01] [-3.59243270e-03 9.99981514e-01 4.90577721e-03 -2.65855982e+00] [-1.47572994e-04 -4.90633895e-03 9.99987953e-01 -8.89320372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280418555000004 meters 0.25158952564968334 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.66, Z:-0.91 [[ 9.99992816e-01 1.77049812e-03 -3.35149365e-03 -2.00636535e+01] [-1.76290643e-03 9.99995877e-01 2.26676626e-03 -2.65870628e+00] [ 3.35549313e-03 -2.26084161e-03 9.99991815e-01 -9.05973219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340418555 meters 0.2546272534462776 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.66, Z:-0.90 [[ 9.99992024e-01 3.49386124e-03 -1.93538440e-03 -2.00217492e+01] [-3.48508172e-03 9.99983706e-01 4.52126485e-03 -2.65858155e+00] [ 1.95114954e-03 -4.51448381e-03 9.99987906e-01 -8.99653816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400418555 meters 0.25358541695164244 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.89 [[ 9.99992749e-01 3.80362609e-03 1.84027119e-04 -2.00348525e+01] [-3.80446950e-03 9.99981131e-01 4.82316461e-03 -2.66244149e+00] [-1.65678131e-04 -4.82382976e-03 9.99988352e-01 -8.88773075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460418555000004 meters 0.24985819363742015 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.90 [[ 9.99976996e-01 6.74380977e-03 -7.27229770e-04 -2.00280663e+01] [-6.73784552e-03 9.99945987e-01 7.91358517e-03 -2.66077909e+00] [ 7.80558203e-04 -7.90850316e-03 9.99968423e-01 -8.95175685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520418555 meters 0.253136849061895 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99999964e-01 3.43277048e-06 2.69214180e-04 -2.00346499e+01] [-3.80937511e-06 9.99999022e-01 1.39891536e-03 -2.66508589e+00] [-2.69209115e-04 -1.39891633e-03 9.99998985e-01 -8.89705215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580418555 meters 0.2579677155738464 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.89 [[ 9.99999979e-01 1.09296116e-04 -1.71200136e-04 -2.00319203e+01] [-1.09109828e-04 9.99999402e-01 1.08776251e-03 -2.66220981e+00] [ 1.71318922e-04 -1.08774381e-03 9.99999394e-01 -8.92459279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640418555000004 meters 0.2529066261326674 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.66, Z:-0.89 [[ 9.99999987e-01 1.53943843e-04 -4.47438243e-05 -2.00326966e+01] [-1.53902262e-04 9.99999558e-01 9.27838437e-04 -2.66064762e+00] [ 4.48866395e-05 -9.27831539e-04 9.99999569e-01 -8.91702979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700418555 meters 0.2513113836291469 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99999961e-01 2.80070171e-04 7.95689803e-06 -2.00329354e+01] [-2.80085057e-04 9.99998085e-01 1.93685734e-03 -2.66678968e+00] [-7.41442683e-06 -1.93685949e-03 9.99998124e-01 -8.91241444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760418555 meters 0.2510273198132915 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99999938e-01 3.51050333e-04 -1.73264521e-05 -2.00329160e+01] [-3.51011241e-04 9.99997503e-01 2.20689004e-03 -2.66855958e+00] [ 1.81011383e-05 -2.20688382e-03 9.99997565e-01 -8.91233629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820418555 meters 0.25378505500066584 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99999917e-01 3.78093582e-04 1.49611481e-04 -2.00337626e+01] [-3.78444425e-04 9.99997162e-01 2.35199386e-03 -2.66948547e+00] [-1.48721783e-04 -2.35205028e-03 9.99997223e-01 -8.90640936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880418555 meters 0.25148230251702525 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.90 [[ 9.99999816e-01 -4.32731847e-04 -4.24438708e-04 -2.00286674e+01] [ 4.33356595e-04 9.99998821e-01 1.47295405e-03 -2.66811384e+00] [ 4.23800813e-04 -1.47313771e-03 9.99998825e-01 -8.96003994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940418555 meters 0.2514200633800199 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99998834e-01 -1.49612401e-03 3.07408350e-04 -2.00337839e+01] [ 1.49590509e-03 9.99998628e-01 7.11127028e-04 -2.66975866e+00] [-3.08471862e-04 -7.10666345e-04 9.99999700e-01 -8.91739009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000418555 meters 0.2545341548654691 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.67, Z:-0.89 [[ 9.99999503e-01 -1.66731117e-04 9.82575293e-04 -2.00392240e+01] [ 1.64571205e-04 9.99997571e-01 2.19788595e-03 -2.67194181e+00] [-9.82939363e-04 -2.19772315e-03 9.99997102e-01 -8.86755167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060418555 meters 0.2547439235240637 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.68, Z:-0.89 [[ 9.99995397e-01 -3.03019479e-03 1.52701130e-04 -2.00334646e+01] [ 3.03023995e-03 9.99995365e-01 -2.96411235e-04 -2.67720302e+00] [-1.51802238e-04 2.96872592e-04 9.99999944e-01 -8.91724472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120418555 meters 0.25148340533515556 Centerline is valid? [False, False] Translation: X:-20.03, Y:-2.67, Z:-0.89 [[ 9.99997301e-01 -2.31286148e-03 2.21588119e-04 -2.00347152e+01] [ 2.31283704e-03 9.99997319e-01 1.10474338e-04 -2.67416543e+00] [-2.21843037e-04 -1.09961543e-04 9.99999969e-01 -8.90043559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180418555 meters 0.25240891670800936 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.68, Z:-0.89 [[ 9.99997453e-01 -2.20399658e-03 4.85846003e-04 -2.00353204e+01] [ 2.20350763e-03 9.99997068e-01 1.00462345e-03 -2.68078820e+00] [-4.88058765e-04 -1.00355032e-03 9.99999377e-01 -8.90301349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240418555 meters 0.24949953450565698 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.68, Z:-0.89 [[ 9.99985853e-01 4.58600601e-03 -2.69498688e-03 -2.00596331e+01] [-4.59234657e-03 9.99986691e-01 -2.35126127e-03 -2.68091919e+00] [ 2.68416811e-03 2.36360432e-03 9.99993604e-01 -8.87794161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300418555 meters 0.25648286425364236 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.68, Z:-0.89 [[ 9.99999943e-01 -1.24794568e-04 3.14326505e-04 -2.00367934e+01] [ 1.23783088e-04 9.99994821e-01 3.21589660e-03 -2.68054650e+00] [-3.14726204e-04 -3.21585751e-03 9.99994780e-01 -8.89036255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360418555 meters 0.25100019254003275 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.69, Z:-0.89 [[ 9.99999919e-01 -1.22036327e-04 3.84135704e-04 -2.00369064e+01] [ 1.20603088e-04 9.99993040e-01 3.72888725e-03 -2.68525828e+00] [-3.84588090e-04 -3.72884062e-03 9.99992974e-01 -8.89100780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420418555000005 meters 0.2581944186825676 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.68, Z:-0.89 [[ 9.99999943e-01 1.44375274e-05 3.36825740e-04 -2.00369395e+01] [-1.56238187e-05 9.99993797e-01 3.52223678e-03 -2.68231520e+00] [-3.36772798e-04 -3.52224184e-03 9.99993740e-01 -8.88940470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480418555 meters 0.25951204057829963 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.69, Z:-0.89 [[ 9.99999886e-01 7.54258190e-05 4.72282025e-04 -2.00375737e+01] [-7.73254411e-05 9.99991903e-01 4.02349414e-03 -2.68617311e+00] [-4.71974725e-04 -4.02353020e-03 9.99991794e-01 -8.88422742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540418555 meters 0.2517916844912997 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.68, Z:-0.88 [[ 9.99998935e-01 -6.23044264e-04 1.32010999e-03 -2.00429875e+01] [ 6.19311804e-04 9.99995815e-01 2.82591016e-03 -2.68159292e+00] [-1.32186514e-03 -2.82508959e-03 9.99995136e-01 -8.83653977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600418555000005 meters 0.2551338206035222 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.68, Z:-0.89 [[ 9.99999322e-01 -5.07916150e-04 1.04743176e-03 -2.00400885e+01] [ 5.05063931e-04 9.99996169e-01 2.72152857e-03 -2.68023455e+00] [-1.04881006e-03 -2.72099771e-03 9.99995748e-01 -8.87681769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660418555 meters 0.2552429163382605 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.68, Z:-0.89 [[ 9.99972018e-01 4.08810790e-03 6.26507452e-03 -2.00225406e+01] [-4.07381089e-03 9.99989073e-01 -2.29308209e-03 -2.68092162e+00] [-6.27438043e-03 2.26749520e-03 9.99977745e-01 -8.85489404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720418555 meters 0.2590338416835169 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.68, Z:-0.89 [[ 9.99974055e-01 4.10987920e-03 5.91591288e-03 -2.00207368e+01] [-4.09391882e-03 9.99987955e-01 -2.70745740e-03 -2.67694355e+00] [-5.92696894e-03 2.68316789e-03 9.99978836e-01 -8.86992556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780418555000004 meters 0.2527395938345523 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.68, Z:-0.89 [[ 9.99972867e-01 4.11273379e-03 6.11148910e-03 -2.00218301e+01] [-4.09613018e-03 9.99987893e-01 -2.72682397e-03 -2.67696781e+00] [-6.12262981e-03 2.70171653e-03 9.99977607e-01 -8.86172461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840418555 meters 0.2506346783475408 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.69, Z:-0.88 [[ 9.99994295e-01 -3.02945485e-03 1.49429309e-03 -2.00493429e+01] [ 3.02971980e-03 9.99995395e-01 -1.75073140e-04 -2.68599541e+00] [-1.49375583e-03 1.79599431e-04 9.99998868e-01 -8.78507379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900418555 meters 0.25091095115300893 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.69, Z:-0.88 [[ 9.99994504e-01 -2.94703058e-03 1.51881196e-03 -2.00494898e+01] [ 2.94709792e-03 9.99995656e-01 -4.20974792e-05 -2.68607751e+00] [-1.51868130e-03 4.65733354e-05 9.99998846e-01 -8.78444477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960418555000004 meters 0.25115194466814134 Centerline is valid? [False, False] Translation: X:-20.04, Y:-2.70, Z:-0.88 [[ 9.99997203e-01 -2.35487328e-03 -2.21374636e-04 -2.00406644e+01] [ 2.35530993e-03 9.99995240e-01 1.99331006e-03 -2.69545067e+00] [ 2.16679589e-04 -1.99382589e-03 9.99997989e-01 -8.84964165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020418555 meters 0.25980192573977967 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.71, Z:-0.88 [[ 9.99979673e-01 -6.24454369e-03 1.28827735e-03 -2.00481535e+01] [ 6.24504602e-03 9.99980425e-01 -3.86269100e-04 -2.70568861e+00] [-1.28584006e-03 3.94306599e-04 9.99999096e-01 -8.79141113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080418555 meters 0.2545131175036618 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.71, Z:-0.88 [[ 9.99989042e-01 -1.93960304e-03 -4.26082965e-03 -2.00677515e+01] [ 1.91902699e-03 9.99986504e-01 -4.82791134e-03 -2.71000945e+00] [ 4.27013638e-03 4.81968178e-03 9.99979268e-01 -8.78887464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140418555000004 meters 0.24818420466037588 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.72, Z:-0.88 [[ 9.99990127e-01 -2.00222340e-03 -3.96704314e-03 -2.00690459e+01] [ 1.98842532e-03 9.99991971e-01 -3.47907391e-03 -2.71889624e+00] [ 3.97397718e-03 3.47115139e-03 9.99986079e-01 -8.78150252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200418555 meters 0.2496820762022186 Centerline is valid? [False, False] Translation: X:-20.05, Y:-2.73, Z:-0.88 [[ 9.99919101e-01 -1.26740949e-02 1.07615453e-03 -2.00465704e+01] [ 1.26778730e-02 9.99913225e-01 -3.57968382e-03 -2.72864572e+00] [-1.03069189e-03 3.59303758e-03 9.99993014e-01 -8.80935572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260418555 meters 0.2528908384091754 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.74, Z:-0.88 [[ 9.99994251e-01 -3.04809545e-03 1.48532129e-03 -2.00200321e+01] [ 3.05284788e-03 9.99990195e-01 -3.20790820e-03 -2.73764344e+00] [-1.47552871e-03 3.21242422e-03 9.99993752e-01 -8.83612751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320418555 meters 0.2538733330274738 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.74, Z:-0.88 [[ 9.99994189e-01 -2.77251272e-03 1.98360716e-03 -2.00224131e+01] [ 2.77681606e-03 9.99993790e-01 -2.17000023e-03 -2.74348966e+00] [-1.97757849e-03 2.17549574e-03 9.99995678e-01 -8.82045532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380418555 meters 0.2516978014525491 Centerline is valid? [False, False] Translation: X:-20.02, Y:-2.75, Z:-0.89 [[ 9.99998897e-01 -9.60463078e-04 1.13313459e-03 -2.00162526e+01] [ 9.60260707e-04 9.99999523e-01 1.79123852e-04 -2.74862658e+00] [-1.13330609e-03 -1.78035549e-04 9.99999342e-01 -8.87643012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440418555 meters 0.2552156614125441 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.75, Z:-0.89 [[ 9.99997705e-01 -2.13595271e-03 1.67539646e-04 -2.00631293e+01] [ 2.13609939e-03 9.99997331e-01 -8.80268409e-04 -2.75154313e+00] [-1.65658988e-04 8.80624270e-04 9.99999599e-01 -8.88733771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500418555 meters 0.2501190088795976 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.75, Z:-0.89 [[ 9.99998060e-01 -1.96683418e-03 1.03103319e-04 -2.00631502e+01] [ 1.96691941e-03 9.99997718e-01 -8.33242262e-04 -2.75089916e+00] [-1.01464234e-04 8.33443442e-04 9.99999648e-01 -8.88204370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560418555 meters 0.25063214931544886 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.75, Z:-0.89 [[ 9.99998689e-01 -1.55737500e-03 -4.42941386e-04 -2.00608395e+01] [ 1.55711351e-03 9.99998614e-01 -5.90100921e-04 -2.75028707e+00] [ 4.43859781e-04 5.89410438e-04 9.99999728e-01 -8.89605507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620418555 meters 0.2493004346044198 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.75, Z:-0.89 [[ 9.99998418e-01 -1.64587387e-03 -6.74502300e-04 -2.01097085e+01] [ 1.64545303e-03 9.99998452e-01 -6.24007919e-04 -2.75155747e+00] [ 6.75528294e-04 6.22897070e-04 9.99999578e-01 -8.89464879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680418555 meters 0.2506504250546969 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.75, Z:-0.89 [[ 9.99979334e-01 6.23161515e-03 1.58076178e-03 -2.00821093e+01] [-6.22681020e-03 9.99976033e-01 -3.02656588e-03 -2.75234507e+00] [-1.59958428e-03 3.01666023e-03 9.99994171e-01 -8.94219460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740418555 meters 0.25891199369018647 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.75, Z:-0.89 [[ 9.99978817e-01 6.30618206e-03 1.61149718e-03 -2.00823471e+01] [-6.30137924e-03 9.99975741e-01 -2.96824621e-03 -2.75188767e+00] [-1.63017639e-03 2.95802868e-03 9.99994296e-01 -8.93957550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800418555 meters 0.25617715727409196 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.75, Z:-0.90 [[ 9.99994468e-01 3.28328970e-03 5.33473534e-04 -2.00775358e+01] [-3.27999391e-03 9.99976224e-01 -6.06566458e-03 -2.75466106e+00] [-5.53376184e-04 6.06388123e-03 9.99981461e-01 -8.96744135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860418555 meters 0.2566412805912001 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.75, Z:-0.90 [[ 9.99970798e-01 7.60326494e-03 7.70809688e-04 -2.00789799e+01] [-7.60186113e-03 9.99969471e-01 -1.80807361e-03 -2.75373400e+00] [-7.84533419e-04 1.80216122e-03 9.99998068e-01 -8.95253586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920418555000005 meters 0.25632781730867515 Centerline is valid? [False, False] Translation: X:-20.10, Y:-2.76, Z:-0.89 [[ 9.99991826e-01 7.21459123e-04 -3.97844672e-03 -2.01048756e+01] [-7.17784819e-04 9.99999315e-01 9.24902821e-04 -2.75814180e+00] [ 3.97911127e-03 -9.22039592e-04 9.99991658e-01 -8.89119864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980418555 meters 0.25525186072783357 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.76, Z:-0.89 [[ 9.99993001e-01 -2.37046107e-03 -2.89468957e-03 -2.00602269e+01] [ 2.36333132e-03 9.99994172e-01 -2.46398696e-03 -2.75886339e+00] [ 2.90051348e-03 2.45712861e-03 9.99992775e-01 -8.85678392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040418555 meters 0.25243949696852885 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.75, Z:-0.89 [[ 9.99993090e-01 2.21186836e-03 -2.98801929e-03 -2.00598408e+01] [-2.20691656e-03 9.99996188e-01 1.65949940e-03 -2.75461211e+00] [ 2.99167849e-03 -1.65289363e-03 9.99994159e-01 -8.85922291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100418555000005 meters 0.25600863276419256 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.76, Z:-0.89 [[ 9.99986122e-01 -3.36141107e-03 -4.05665297e-03 -2.01061297e+01] [ 3.34740144e-03 9.99988428e-01 -3.45535708e-03 -2.76096272e+00] [ 4.06822090e-03 3.44172988e-03 9.99985802e-01 -8.86767259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160418555 meters 0.25298987607110557 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.76, Z:-0.88 [[ 9.99990245e-01 3.95863617e-03 -1.95940267e-03 -2.00663264e+01] [-3.95102220e-03 9.99984688e-01 3.87460113e-03 -2.75718001e+00] [ 1.97471081e-03 -3.86682169e-03 9.99990574e-01 -8.80890082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220418555 meters 0.2538447355501715 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.76, Z:-0.88 [[ 9.99987472e-01 -4.43919466e-03 -2.31278647e-03 -2.00644959e+01] [ 4.42897703e-03 9.99980492e-01 -4.40443247e-03 -2.76025110e+00] [ 2.33229349e-03 4.39413402e-03 9.99987626e-01 -8.82217512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280418555000004 meters 0.2505217203620959 Centerline is valid? [False, False] Translation: X:-20.06, Y:-2.76, Z:-0.89 [[ 9.99991688e-01 -2.25834649e-03 -3.39462015e-03 -2.00569560e+01] [ 2.25161704e-03 9.99995495e-01 -1.98490473e-03 -2.76197451e+00] [ 3.39908746e-03 1.97724485e-03 9.99992268e-01 -8.88882562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340418555 meters 0.253579025839261 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.77, Z:-0.88 [[ 9.99997561e-01 -6.70083132e-04 -2.10439875e-03 -2.00657672e+01] [ 6.70380307e-04 9.99999765e-01 1.40513832e-04 -2.76626988e+00] [ 2.10430410e-03 -1.41924237e-04 9.99997776e-01 -8.80517679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400418555 meters 0.25445477734977173 Centerline is valid? [False, False] Translation: X:-20.10, Y:-2.77, Z:-0.89 [[ 9.99985096e-01 -3.86341744e-03 -3.85780986e-03 -2.01048837e+01] [ 3.85529273e-03 9.99990340e-01 -2.11126177e-03 -2.77280684e+00] [ 3.86592928e-03 2.09635732e-03 9.99990330e-01 -8.88594673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460418555000004 meters 0.25247468205071955 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.77, Z:-0.89 [[ 9.99992495e-01 2.80108735e-03 2.67642180e-03 -2.00860236e+01] [-2.78907641e-03 9.99986071e-01 -4.48092802e-03 -2.77029232e+00] [-2.68893599e-03 4.47342964e-03 9.99986379e-01 -8.90583322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520418555 meters 0.2498794542497546 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.78, Z:-0.90 [[ 9.99998107e-01 -5.20725753e-04 1.87484329e-03 -2.00802327e+01] [ 5.34059035e-04 9.99974523e-01 -7.11821516e-03 -2.77853998e+00] [-1.87108888e-03 7.11920296e-03 9.99972908e-01 -8.96259690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580418555 meters 0.2510126526817053 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.78, Z:-0.90 [[ 9.99986105e-01 5.17134712e-03 1.02342323e-03 -2.00747445e+01] [-5.17034051e-03 9.99986150e-01 -9.83781483e-04 -2.78277269e+00] [-1.02849653e-03 9.78476367e-04 9.99998992e-01 -9.00872965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640418555000004 meters 0.25189714223129483 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.79, Z:-0.89 [[ 9.99986617e-01 3.83783298e-03 3.46951159e-03 -2.00881075e+01] [-3.83265703e-03 9.99991534e-01 -1.49725909e-03 -2.78789721e+00] [-3.47522845e-03 1.48394160e-03 9.99992860e-01 -8.89827789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700418555 meters 0.2523291662573346 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.79, Z:-0.90 [[ 9.99997055e-01 6.49491172e-04 2.33849773e-03 -2.00814601e+01] [-6.38926285e-04 9.99989600e-01 -4.51572548e-03 -2.79279669e+00] [-2.34140634e-03 4.51421805e-03 9.99987070e-01 -8.95406936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760418555 meters 0.24987239188333393 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.79, Z:-0.90 [[ 9.99997235e-01 7.38218062e-04 2.23284189e-03 -2.00808169e+01] [-7.27782312e-04 9.99988826e-01 -4.67095943e-03 -2.79066737e+00] [-2.23626513e-03 4.66932150e-03 9.99986598e-01 -8.95999420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820418555 meters 0.2536572509658836 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.79, Z:-0.90 [[ 9.99997182e-01 9.02785781e-04 2.19551002e-03 -2.00810985e+01] [-8.93643570e-04 9.99990942e-01 -4.16147089e-03 -2.79374566e+00] [-2.19924705e-03 4.15949716e-03 9.99988931e-01 -8.95278469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880418555 meters 0.5719807465027049 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.80, Z:-0.89 [[ 9.99996182e-01 -2.19594573e-03 -1.67728512e-03 -2.01067751e+01] [ 2.20051987e-03 9.99993852e-01 2.73014582e-03 -2.79621026e+00] [ 1.67127956e-03 -2.73382629e-03 9.99994866e-01 -8.90230574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940418555 meters 0.25548623610847515 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.79, Z:-0.89 [[ 9.99983205e-01 4.35717608e-03 3.82172557e-03 -2.00887992e+01] [-4.35515978e-03 9.99990373e-01 -5.35753911e-04 -2.79378222e+00] [-3.82402315e-03 5.19100687e-04 9.99992554e-01 -8.89058266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000418555 meters 0.2506609002396317 Centerline is valid? [False, False] Translation: X:-20.08, Y:-2.80, Z:-0.90 [[ 9.99993789e-01 2.32426082e-03 2.64944517e-03 -2.00802340e+01] [-2.31659061e-03 9.99993128e-01 -2.89442748e-03 -2.79690627e+00] [-2.65615437e-03 2.88827182e-03 9.99992301e-01 -8.97918455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060418555 meters 0.2500517119388139 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.79, Z:-0.89 [[ 9.99964720e-01 6.63199245e-03 5.15509509e-03 -2.01174569e+01] [-6.68823272e-03 9.99917459e-01 1.09700624e-02 -2.79107407e+00] [-5.08191621e-03 -1.10041539e-02 9.99926539e-01 -8.88030433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120418555 meters 0.25325826660805556 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.79, Z:-0.89 [[ 9.99993366e-01 -5.97753910e-04 3.59309086e-03 -2.01102520e+01] [ 5.85413683e-04 9.99993931e-01 3.43450309e-03 -2.79287244e+00] [-3.59512204e-03 -3.43237686e-03 9.99987647e-01 -8.93040665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180418555 meters 0.25089134955095627 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.79, Z:-0.89 [[ 9.99984892e-01 3.83605086e-03 3.93709686e-03 -2.01123683e+01] [-3.86460047e-03 9.99966108e-01 7.26962982e-03 -2.78742904e+00] [-3.90907676e-03 -7.28473530e-03 9.99965825e-01 -8.91163484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240418555 meters 0.2505746751462359 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.78, Z:-0.89 [[ 9.99991378e-01 -5.93880576e-04 4.10993943e-03 -2.01132392e+01] [ 5.85938221e-04 9.99997959e-01 1.93340914e-03 -2.78267812e+00] [-4.11107926e-03 -1.93098430e-03 9.99989685e-01 -8.90594117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300418555 meters 0.2543569116200812 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.78, Z:-0.89 [[ 9.99978497e-01 4.49014200e-03 4.77959365e-03 -2.00670101e+01] [-4.51771612e-03 9.99973125e-01 5.77405823e-03 -2.77559473e+00] [-4.75353886e-03 -5.79552691e-03 9.99971907e-01 -8.89321517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360418555 meters 0.2544736946141138 Centerline is valid? [False, False] Translation: X:-20.09, Y:-2.77, Z:-0.89 [[ 9.99965611e-01 8.20268087e-03 1.22202385e-03 -2.00921289e+01] [-8.20176718e-03 9.99966083e-01 -7.50829088e-04 -2.77374260e+00] [-1.22814121e-03 7.40780512e-04 9.99998971e-01 -8.85397162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420418555000005 meters 0.25466136378417625 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.77, Z:-0.88 [[ 9.99987127e-01 5.05120126e-03 -4.80885497e-04 -2.01197440e+01] [-5.04785332e-03 9.99964641e-01 6.72574651e-03 -2.77253255e+00] [ 5.14841593e-04 -6.72323249e-03 9.99977266e-01 -8.81185569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480418555 meters 0.25095736200332663 Centerline is valid? [False, False] Translation: X:-20.14, Y:-2.77, Z:-0.88 [[ 9.99971768e-01 5.67796128e-03 -4.92168521e-03 -2.01371120e+01] [-5.69248937e-03 9.99979467e-01 -2.94288789e-03 -2.77213325e+00] [ 4.90487455e-03 2.97082145e-03 9.99983558e-01 -8.84792480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540418555 meters 0.2535368657486264 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.77, Z:-0.88 [[ 9.99999972e-01 -6.22742064e-05 -2.28385354e-04 -2.01211528e+01] [ 6.26266725e-05 9.99998807e-01 1.54361310e-03 -2.77257174e+00] [ 2.28288954e-04 -1.54362736e-03 9.99998783e-01 -8.79991291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600418555000005 meters 0.25444576620319 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.78, Z:-0.88 [[ 9.99999923e-01 2.15311030e-05 -3.92389570e-04 -2.01200875e+01] [-2.07299546e-05 9.99997916e-01 2.04160654e-03 -2.77605982e+00] [ 3.92432710e-04 -2.04159825e-03 9.99997839e-01 -8.80974879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660418555 meters 0.2540150597435616 Centerline is valid? [False, False] Translation: X:-20.11, Y:-2.78, Z:-0.89 [[ 9.99996031e-01 -2.58637318e-03 -1.11749863e-03 -2.01146218e+01] [ 2.58658804e-03 9.99996637e-01 1.90863791e-04 -2.78310589e+00] [ 1.11700123e-03 -1.93753542e-04 9.99999357e-01 -8.85744580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720418555 meters 0.24970531210897062 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.79, Z:-0.89 [[ 9.99997304e-01 -1.71321357e-03 -1.56754234e-03 -2.01629149e+01] [ 1.71692180e-03 9.99995724e-01 2.36735522e-03 -2.78720517e+00] [ 1.56347985e-03 -2.37004018e-03 9.99995969e-01 -8.85729591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780418555000004 meters 0.25507783616628854 Centerline is valid? [False, False] Translation: X:-20.14, Y:-2.79, Z:-0.88 [[ 9.99994579e-01 -2.70803578e-03 1.87324050e-03 -2.01430585e+01] [ 2.72434609e-03 9.99957920e-01 -8.75994860e-03 -2.79280307e+00] [-1.84943942e-03 8.76500446e-03 9.99959876e-01 -8.84322597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840418555 meters 0.2542856600298089 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.80, Z:-0.88 [[ 9.99992551e-01 2.25749858e-03 3.13074797e-03 -2.01490303e+01] [-2.24816718e-03 9.99993030e-01 -2.98088929e-03 -2.79754525e+00] [-3.13745550e-03 2.97382864e-03 9.99990656e-01 -8.80262440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900418555 meters 0.25176211589391007 Centerline is valid? [False, False] Translation: X:-20.14, Y:-2.80, Z:-0.89 [[ 9.99997958e-01 2.64855781e-04 2.00331512e-03 -2.01416337e+01] [-2.56028644e-04 9.99990264e-01 -4.40523872e-03 -2.80433873e+00] [-2.00446237e-03 4.40471682e-03 9.99988290e-01 -8.87005211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960418555000004 meters 0.2541733334169217 Centerline is valid? [False, False] Translation: X:-20.12, Y:-2.81, Z:-0.89 [[ 9.99975985e-01 -2.95145589e-03 6.27036157e-03 -2.01194248e+01] [ 2.93654699e-03 9.99992843e-01 2.38555586e-03 -2.80797596e+00] [-6.27735755e-03 -2.36708536e-03 9.99977496e-01 -8.87911404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020418555 meters 0.2535493882155474 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.81, Z:-0.88 [[ 9.99983810e-01 2.67529405e-03 5.02218980e-03 -2.01466314e+01] [-2.66793897e-03 9.99995360e-01 -1.47064573e-03 -2.81417661e+00] [-5.02610091e-03 1.45722303e-03 9.99986307e-01 -8.84331986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080418555 meters 0.2519098646325445 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.82, Z:-0.88 [[ 9.99995199e-01 -3.04359667e-03 -5.82291717e-04 -2.01684537e+01] [ 3.04511692e-03 9.99991910e-01 2.62798008e-03 -2.81910684e+00] [ 5.74288495e-04 -2.62974061e-03 9.99996377e-01 -8.80505329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140418555000004 meters 0.2531235288852323 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.82, Z:-0.88 [[ 9.99996130e-01 -2.64401612e-03 -8.65457897e-04 -2.01667158e+01] [ 2.64642384e-03 9.99992598e-01 2.79279603e-03 -2.81770239e+00] [ 8.58067293e-04 -2.79507559e-03 9.99995726e-01 -8.82597212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200418555 meters 0.6782806170731406 Centerline is valid? [False, False] Translation: X:-20.17, Y:-2.82, Z:-0.88 [[ 9.99985766e-01 -5.32656369e-03 3.07919669e-04 -2.01727602e+01] [ 5.32638262e-03 9.99985643e-01 5.85895230e-04 -2.82336438e+00] [-3.11036056e-04 -5.84246793e-04 9.99999781e-01 -8.78193137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260418555 meters 0.2525940292562274 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.83, Z:-0.87 [[ 9.99994426e-01 1.64326175e-03 -2.90639341e-03 -2.01997879e+01] [-1.64743092e-03 9.99997617e-01 -1.43266779e-03 -2.82680619e+00] [ 2.90403223e-03 1.43744789e-03 9.99994750e-01 -8.73266104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320418555 meters 0.2536635718025501 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.83, Z:-0.87 [[ 9.99994997e-01 1.14384043e-03 -2.94921661e-03 -2.01995186e+01] [-1.14782952e-03 9.99998428e-01 -1.35125551e-03 -2.83405546e+00] [ 2.94766635e-03 1.35463395e-03 9.99994738e-01 -8.73338572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380418555 meters 0.25316332441322226 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.84, Z:-0.87 [[ 9.99997440e-01 8.93208269e-04 2.07900788e-03 -2.01820853e+01] [-9.10691505e-04 9.99964105e-01 8.42371325e-03 -2.83751115e+00] [-2.07140913e-03 -8.42558502e-03 9.99962359e-01 -8.70877872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440418555 meters 0.25354090498845877 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.85, Z:-0.88 [[ 9.99997453e-01 -2.03421720e-03 9.77935600e-04 -2.01756355e+01] [ 2.02797621e-03 9.99977839e-01 6.34098099e-03 -2.84515790e+00] [-9.90812861e-04 -6.33898161e-03 9.99979418e-01 -8.76428861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500418555 meters 0.2540758780638691 Centerline is valid? [False, False] Translation: X:-20.18, Y:-2.85, Z:-0.87 [[ 9.99985515e-01 -5.09570424e-03 1.73296474e-03 -2.01808337e+01] [ 5.08918317e-03 9.99980031e-01 3.74677038e-03 -2.85047698e+00] [-1.75202256e-03 -3.73789674e-03 9.99991479e-01 -8.71261495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560418555 meters 0.25516437505246986 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.85, Z:-0.87 [[ 9.99984727e-01 1.72891115e-03 5.24947533e-03 -2.01582503e+01] [-1.72888628e-03 9.99998505e-01 -9.27496863e-06 -2.84929440e+00] [-5.24948352e-03 1.99081100e-07 9.99986221e-01 -8.72933177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620418555 meters 0.25794400281019203 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.86, Z:-0.88 [[ 9.99992372e-01 1.66139684e-03 3.53505068e-03 -2.01993305e+01] [-1.66717087e-03 9.99997280e-01 1.63104796e-03 -2.85629352e+00] [-3.53233125e-03 -1.63692905e-03 9.99992422e-01 -8.78608806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680418555 meters 0.2543419217344014 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.86, Z:-0.88 [[ 9.99994284e-01 5.91570456e-04 3.32901466e-03 -2.01493974e+01] [-5.89793482e-04 9.99999683e-01 -5.34739979e-04 -2.85506919e+00] [-3.32932994e-03 5.32773491e-04 9.99994316e-01 -8.78954033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740418555 meters 0.2556860185489928 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.86, Z:-0.88 [[ 9.99992655e-01 8.62508977e-04 3.73453981e-03 -2.01520349e+01] [-8.63058523e-04 9.99999617e-01 1.45543035e-04 -2.85710465e+00] [-3.73441285e-03 -1.48765092e-04 9.99993016e-01 -8.76112690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800418555 meters 0.25655235915279584 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.86, Z:-0.88 [[ 9.99987191e-01 -3.66048830e-03 3.49562623e-03 -2.01506118e+01] [ 3.67403367e-03 9.99985737e-01 -3.87642018e-03 -2.86324009e+00] [-3.48138679e-03 3.88921357e-03 9.99986377e-01 -8.77098491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860418555 meters 0.25137983843018 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.86, Z:-0.88 [[ 9.99997743e-01 1.51718061e-03 1.48711206e-03 -2.01902604e+01] [-1.52097238e-03 9.99995587e-01 2.55194960e-03 -2.86373199e+00] [-1.48323373e-03 -2.55420570e-03 9.99995638e-01 -8.84267965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920418555000005 meters 0.2549099784473463 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.87, Z:-0.88 [[ 9.99995570e-01 -2.62053958e-03 1.41141166e-03 -2.01906346e+01] [ 2.62192465e-03 9.99996082e-01 -9.80386375e-04 -2.86997300e+00] [-1.40883699e-03 9.84082647e-04 9.99998523e-01 -8.82958228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980418555 meters 0.2552595101596014 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.87, Z:-0.88 [[ 9.99997248e-01 1.92493145e-03 1.34108676e-03 -2.01903608e+01] [-1.93032570e-03 9.99990006e-01 4.03268024e-03 -2.87353951e+00] [-1.33331072e-03 -4.03525788e-03 9.99990969e-01 -8.83083134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040418555 meters 0.2544922654324054 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.88, Z:-0.89 [[ 9.99999657e-01 -3.25273794e-04 7.61465912e-04 -2.01862304e+01] [ 3.23843154e-04 9.99998184e-01 1.87816588e-03 -2.87520050e+00] [-7.62075447e-04 -1.87791864e-03 9.99997946e-01 -8.86293513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100418555000005 meters 0.256334158778491 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.88, Z:-0.89 [[ 9.99999716e-01 -2.42141180e-04 7.13809384e-04 -2.01860956e+01] [ 2.40466587e-04 9.99997221e-01 2.34514775e-03 -2.87912711e+00] [-7.14375257e-04 -2.34497544e-03 9.99996995e-01 -8.86179012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160418555 meters 0.25200187271055946 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.89, Z:-0.89 [[ 9.99998761e-01 -3.28504871e-04 -1.53971953e-03 -2.02251305e+01] [ 3.34508978e-04 9.99992336e-01 3.90084676e-03 -2.88645059e+00] [ 1.53842628e-03 -3.90135698e-03 9.99991206e-01 -8.93097442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220418555 meters 0.2553770443085352 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.89, Z:-0.90 [[ 9.99990402e-01 3.46086611e-03 2.68684201e-03 -2.02016090e+01] [-3.45556333e-03 9.99992078e-01 -1.97575060e-03 -2.89062260e+00] [-2.69365853e-03 1.96644708e-03 9.99994439e-01 -8.96475428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280418555000004 meters 0.2545721321123986 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.90, Z:-0.89 [[ 9.99995213e-01 3.07430404e-04 3.07888435e-03 -2.02046397e+01] [-2.94861392e-04 9.99991625e-01 -4.08194923e-03 -2.89979789e+00] [-3.08011348e-03 4.08102185e-03 9.99986929e-01 -8.93490826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340418555 meters 0.2540468035394203 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.91, Z:-0.89 [[ 9.99995413e-01 6.92485767e-04 2.94852636e-03 -2.02038679e+01] [-6.83552285e-04 9.99995177e-01 -3.02974325e-03 -2.90544519e+00] [-2.95061020e-03 3.02771388e-03 9.99991063e-01 -8.94326880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400418555 meters 0.25018693360607525 Centerline is valid? [False, False] Translation: X:-20.25, Y:-2.91, Z:-0.90 [[ 9.99997818e-01 -1.19977764e-03 1.70994462e-03 -2.02469918e+01] [ 1.20419821e-03 9.99995930e-01 -2.58653426e-03 -2.91431162e+00] [-1.70683439e-03 2.58858773e-03 9.99995193e-01 -8.98169672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460418555000004 meters 0.24904535260461327 Centerline is valid? [False, False] Translation: X:-20.25, Y:-2.92, Z:-0.90 [[ 9.99997976e-01 -6.98387578e-04 1.88666641e-03 -2.02482951e+01] [ 7.01333419e-04 9.99998535e-01 -1.56118985e-03 -2.91829971e+00] [-1.88557333e-03 1.56250988e-03 9.99997002e-01 -8.96685945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520418555 meters 0.2548723923333805 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.92, Z:-0.90 [[ 9.99993716e-01 -2.45650431e-03 2.55590512e-03 -2.02009906e+01] [ 2.46769311e-03 9.99987347e-01 -4.38372087e-03 -2.92198544e+00] [-2.54510415e-03 4.39000051e-03 9.99987125e-01 -8.96043076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580418555 meters 0.2520514995170662 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.92, Z:-0.90 [[ 9.99994217e-01 -2.31444515e-03 2.49198368e-03 -2.02003305e+01] [ 2.32478311e-03 9.99988671e-01 -4.15361145e-03 -2.92239801e+00] [-2.48234215e-03 4.15938075e-03 9.99988269e-01 -8.97056745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640418555000004 meters 0.2520348628193421 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.93, Z:-0.89 [[ 9.99987211e-01 -2.88508823e-03 4.15372351e-03 -2.02114985e+01] [ 2.90393413e-03 9.99985486e-01 -4.53825027e-03 -2.92717483e+00] [-4.14056997e-03 4.55025437e-03 9.99981075e-01 -8.87021388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700418555 meters 0.2553039973525814 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.93, Z:-0.90 [[ 9.99992127e-01 3.86410693e-03 9.02011734e-04 -2.01510426e+01] [-3.86530098e-03 9.99991651e-01 1.32579421e-03 -2.92734881e+00] [-8.96881192e-04 -1.32927032e-03 9.99998714e-01 -8.95881478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760418555 meters 0.2560368961963114 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.93, Z:-0.89 [[ 9.99997499e-01 1.08289935e-03 1.95702174e-03 -2.01574890e+01] [-1.08098440e-03 9.99998936e-01 -9.79296902e-04 -2.93424342e+00] [-1.95808014e-03 9.77178943e-04 9.99997606e-01 -8.90196183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820418555 meters 0.2514488661247462 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.94, Z:-0.90 [[ 9.99998777e-01 1.35129643e-03 -7.87964385e-04 -2.01929948e+01] [-1.35047309e-03 9.99998543e-01 1.04448898e-03 -2.94013698e+00] [ 7.89374651e-04 -1.04342358e-03 9.99999144e-01 -8.99895288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880418555 meters 0.25611385102854295 Centerline is valid? [False, False] Translation: X:-20.16, Y:-2.94, Z:-0.89 [[ 9.99993710e-01 2.67921530e-03 2.32402873e-03 -2.01595586e+01] [-2.68186718e-03 9.99995755e-01 1.13870209e-03 -2.94079271e+00] [-2.32096804e-03 -1.14492767e-03 9.99996651e-01 -8.88155251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940418555 meters 0.2522353336845252 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.95, Z:-0.90 [[ 9.99997848e-01 2.06558796e-03 -1.92885178e-04 -2.01964344e+01] [-2.06517331e-03 9.99995608e-01 2.12573300e-03 -2.94541075e+00] [ 1.97275220e-04 -2.12533009e-03 9.99997722e-01 -8.96744626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000418555 meters 0.2534565043793976 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.95, Z:-0.90 [[ 9.99997732e-01 2.08427957e-03 -4.39033959e-04 -2.01954345e+01] [-2.08325919e-03 9.99995158e-01 2.31191533e-03 -2.94720136e+00] [ 4.43850511e-04 -2.31099547e-03 9.99997231e-01 -8.97082660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060418555 meters 0.2532171579798868 Centerline is valid? [False, False] Translation: X:-20.20, Y:-2.95, Z:-0.89 [[ 9.99997150e-01 2.38724377e-03 2.45075026e-05 -2.01980701e+01] [-2.38730151e-03 9.99993465e-01 2.71486566e-03 -2.94801269e+00] [-1.80262963e-05 -2.71491643e-03 9.99996314e-01 -8.94600572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120418555 meters 0.25440627680039485 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.95, Z:-0.90 [[ 9.99999485e-01 9.82545273e-05 -1.01048303e-03 -2.01911972e+01] [-9.75579875e-05 9.99999758e-01 6.89339842e-04 -2.95166399e+00] [ 1.01055051e-03 -6.89240906e-04 9.99999252e-01 -9.00269528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180418555 meters 0.2532421126204814 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.95, Z:-0.90 [[ 9.99999369e-01 3.03360219e-04 -1.08141138e-03 -2.01910122e+01] [-3.02011497e-04 9.99999177e-01 1.24713161e-03 -2.95438499e+00] [ 1.08178882e-03 -1.24680423e-03 9.99998638e-01 -9.00278078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240418555 meters 0.25494391367907293 Centerline is valid? [False, False] Translation: X:-20.15, Y:-2.96, Z:-0.89 [[ 9.99999376e-01 -6.87274733e-04 8.81065474e-04 -2.01512787e+01] [ 6.87954502e-04 9.99999466e-01 -7.71459752e-04 -2.95722109e+00] [-8.80534798e-04 7.72065404e-04 9.99999314e-01 -8.93265924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300418555 meters 0.2535115632680402 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.96, Z:-0.90 [[ 9.99999187e-01 -8.57837063e-04 -9.43177010e-04 -2.01929931e+01] [ 8.59099681e-04 9.99998734e-01 1.33909638e-03 -2.96248998e+00] [ 9.42027090e-04 -1.33990557e-03 9.99998659e-01 -8.97420562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360418555 meters 0.2535923108546682 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.97, Z:-0.90 [[ 9.99999092e-01 -8.25276204e-04 -1.06570084e-03 -2.01924915e+01] [ 8.27116395e-04 9.99998166e-01 1.72745755e-03 -2.96544441e+00] [ 1.06427326e-03 -1.72833744e-03 9.99997940e-01 -8.97542995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420418555000005 meters 0.25393723175461047 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.97, Z:-0.90 [[ 9.99998466e-01 -9.48370143e-04 -1.47281855e-03 -2.01910812e+01] [ 9.51579617e-04 9.99997171e-01 2.17996791e-03 -2.96966059e+00] [ 1.47074697e-03 -2.18136607e-03 9.99996539e-01 -8.97933241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480418555 meters 0.2534100246974353 Centerline is valid? [False, False] Translation: X:-20.19, Y:-2.97, Z:-0.90 [[ 9.99998357e-01 -8.72261594e-04 -1.58889051e-03 -2.01906859e+01] [ 8.76305065e-04 9.99996375e-01 2.54592331e-03 -2.97175118e+00] [ 1.58666404e-03 -2.54731148e-03 9.99995497e-01 -8.98009140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540418555 meters 0.2604393917574596 Centerline is valid? [False, False] Translation: X:-20.27, Y:-2.98, Z:-0.89 [[ 9.99996147e-01 2.07718532e-03 -1.84132034e-03 -2.02689095e+01] [-2.07631421e-03 9.99997732e-01 4.74874201e-04 -2.97853925e+00] [ 1.84230256e-03 -4.71049211e-04 9.99998192e-01 -8.91328364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600418555000005 meters 0.25446131282167295 Centerline is valid? [False, False] Translation: X:-20.22, Y:-2.98, Z:-0.89 [[ 9.99998576e-01 1.18103813e-03 -1.20514508e-03 -2.02217532e+01] [-1.18371018e-03 9.99996838e-01 -2.21889457e-03 -2.97702915e+00] [ 1.20252067e-03 2.22031796e-03 9.99996812e-01 -8.90409726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660418555 meters 0.25459424106672035 Centerline is valid? [False, False] Translation: X:-20.22, Y:-2.98, Z:-0.89 [[ 9.99997778e-01 1.02466262e-03 -1.84228877e-03 -2.02188682e+01] [-1.02856738e-03 9.99997224e-01 -2.11982415e-03 -2.97899601e+00] [ 1.84011155e-03 2.12171436e-03 9.99996056e-01 -8.92400083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720418555 meters 0.2619368891558656 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99991328e-01 4.16379421e-03 -7.65437892e-05 -2.02304747e+01] [-4.16370049e-03 9.99990628e-01 1.18622219e-03 -2.97937727e+00] [ 8.14822569e-05 -1.18589320e-03 9.99999294e-01 -8.82392378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780418555000004 meters 0.25118674178502837 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99999941e-01 -4.27699995e-05 -3.41343772e-04 -2.02285929e+01] [ 4.18513467e-05 9.99996379e-01 -2.69083700e-03 -2.98270419e+00] [ 3.41457623e-04 2.69082256e-03 9.99996321e-01 -8.84471639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840418555 meters 0.25189795728065273 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99999120e-01 1.25669135e-03 4.25824026e-04 -2.02333146e+01] [-1.25603540e-03 9.99998030e-01 -1.53721998e-03 -2.98130392e+00] [-4.27754998e-04 1.53668377e-03 9.99998728e-01 -8.81033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900418555 meters 0.2518113758117947 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99999220e-01 1.17144133e-03 4.33158632e-04 -2.02336854e+01] [-1.17066216e-03 9.99997704e-01 -1.79470797e-03 -2.98058043e+00] [-4.35260032e-04 1.79419948e-03 9.99998296e-01 -8.80328777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960418555000004 meters 0.25315234673586445 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99999043e-01 1.24501633e-03 6.02586320e-04 -2.02345177e+01] [-1.24384188e-03 9.99997334e-01 -1.94548561e-03 -2.97855842e+00] [-6.05006875e-04 1.94473423e-03 9.99997926e-01 -8.79804373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020418555 meters 0.254780216404925 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.98, Z:-0.89 [[ 9.99975883e-01 -3.94946772e-03 5.71266213e-03 -2.02096328e+01] [ 3.94197473e-03 9.99991356e-01 1.32231233e-03 -2.97953894e+00] [-5.71783518e-03 -1.29976127e-03 9.99982808e-01 -8.85375862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080418555 meters 0.2532657169902399 Centerline is valid? [False, False] Translation: X:-20.21, Y:-2.98, Z:-0.89 [[ 9.99976538e-01 -3.94354097e-03 5.60098030e-03 -2.02080750e+01] [ 3.93776198e-03 9.99991704e-01 1.04243481e-03 -2.97725119e+00] [-5.60504471e-03 -1.02035503e-03 9.99983771e-01 -8.87764435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140418555000004 meters 0.25336500482280505 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99996103e-01 1.90153793e-03 2.04408952e-03 -2.02330408e+01] [-1.89704821e-03 9.99995789e-01 -2.19613947e-03 -2.97877976e+00] [-2.04825696e-03 2.19225318e-03 9.99995499e-01 -8.83682703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200418555 meters 0.2537311508549042 Centerline is valid? [False, False] Translation: X:-20.23, Y:-2.98, Z:-0.88 [[ 9.99979165e-01 6.03716200e-03 2.28537647e-03 -2.02347893e+01] [-6.04169968e-03 9.99979781e-01 1.98385782e-03 -2.97849966e+00] [-2.27335339e-03 -1.99762404e-03 9.99995421e-01 -8.81526630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260418555 meters 0.252732989784866 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.98, Z:-0.88 [[ 9.99993340e-01 -2.77015634e-03 -2.37634033e-03 -2.02585244e+01] [ 2.77824333e-03 9.99990338e-01 3.40660315e-03 -2.97990539e+00] [ 2.36688055e-03 -3.41318251e-03 9.99991374e-01 -8.77187364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320418555 meters 0.25281203388276485 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.98, Z:-0.88 [[ 9.99993088e-01 -2.88662230e-03 -2.34348649e-03 -2.02583224e+01] [ 2.89406410e-03 9.99990761e-01 3.17836877e-03 -2.97797886e+00] [ 2.33429009e-03 -3.18512900e-03 9.99992203e-01 -8.77855209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380418555 meters 0.25147569568580813 Centerline is valid? [False, False] Translation: X:-20.28, Y:-2.98, Z:-0.88 [[ 9.99973445e-01 -1.63316780e-05 -7.28753721e-03 -2.02785090e+01] [-2.33754295e-06 9.99996719e-01 -2.56178525e-03 -2.98101485e+00] [ 7.28755513e-03 2.56173426e-03 9.99970164e-01 -8.77176542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440418555 meters 0.2530656075271538 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.99, Z:-0.88 [[ 9.99981333e-01 -5.95585919e-03 -1.36465846e-03 -2.02613650e+01] [ 5.95723370e-03 9.99981750e-01 1.00537626e-03 -2.98711866e+00] [ 1.35864567e-03 -1.01348708e-03 9.99998563e-01 -8.75301886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500418555 meters 0.25404181758053507 Centerline is valid? [False, False] Translation: X:-20.26, Y:-2.99, Z:-0.88 [[ 9.99982043e-01 -5.82334754e-03 -1.41477262e-03 -2.02611440e+01] [ 5.82633170e-03 9.99980791e-01 2.11440636e-03 -2.99351190e+00] [ 1.40243253e-03 -2.12261133e-03 9.99996764e-01 -8.75381628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560418555 meters 0.25105924681535047 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.00, Z:-0.89 [[ 9.99943653e-01 -1.00810477e-02 -3.32625568e-03 -2.02487895e+01] [ 1.00770166e-02 9.99948473e-01 -1.22645205e-03 -2.99928585e+00] [ 3.33844821e-03 1.19286421e-03 9.99993716e-01 -8.86505052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620418555 meters 0.2515585098790285 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.00, Z:-0.88 [[ 9.99957901e-01 -8.10617712e-03 4.29957357e-03 -2.02398769e+01] [ 8.14201109e-03 9.99931711e-01 -8.38333291e-03 -3.00384349e+00] [-4.23132318e-03 8.41798715e-03 9.99955616e-01 -8.79939032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680418555 meters 0.25038587737360324 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.01, Z:-0.88 [[ 9.99929027e-01 -1.12206315e-02 4.00491974e-03 -2.02871666e+01] [ 1.12544566e-02 9.99900320e-01 -8.52572506e-03 -3.00995520e+00] [-3.90885651e-03 8.57019316e-03 9.99955635e-01 -8.80278158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740418555 meters 0.2509132666583029 Centerline is valid? [False, False] Translation: X:-20.25, Y:-3.02, Z:-0.89 [[ 9.99979569e-01 -6.18166521e-03 1.62745484e-03 -2.02534403e+01] [ 6.20279156e-03 9.99892138e-01 -1.33130519e-02 -3.01779672e+00] [-1.54498247e-03 1.33228747e-02 9.99910053e-01 -8.88221860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800418555 meters 0.25233500956422866 Centerline is valid? [False, False] Translation: X:-20.24, Y:-3.03, Z:-0.88 [[ 9.99987248e-01 -3.82964290e-03 -3.29220273e-03 -2.02398502e+01] [ 3.81052466e-03 9.99975955e-01 -5.79391795e-03 -3.02685588e+00] [ 3.31431220e-03 5.78129905e-03 9.99977796e-01 -8.80481870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860418555 meters 0.24985213966348196 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.03, Z:-0.88 [[ 9.99927926e-01 -1.13980792e-02 -3.77190953e-03 -2.02869586e+01] [ 1.13555347e-02 9.99873749e-01 -1.11147551e-02 -3.02999056e+00] [ 3.89812018e-03 1.10711220e-02 9.99931115e-01 -8.81346959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920418555000005 meters 0.24940691654759028 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.03, Z:-0.88 [[ 9.99964749e-01 -7.68244670e-03 -3.38843476e-03 -2.02890791e+01] [ 7.65943717e-03 9.99947870e-01 -6.75209986e-03 -3.03362214e+00] [ 3.44013077e-03 6.72590834e-03 9.99971463e-01 -8.79474549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980418555 meters 0.25322705820668595 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.04, Z:-0.89 [[ 9.99978144e-01 -5.04785872e-03 -4.26973643e-03 -2.02827629e+01] [ 5.03180691e-03 9.99980264e-01 -3.76186409e-03 -3.03574341e+00] [ 4.28864152e-03 3.74029738e-03 9.99983809e-01 -8.85322836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040418555 meters 0.25782220506355374 Centerline is valid? [False, False] Translation: X:-20.28, Y:-3.04, Z:-0.89 [[ 9.99975339e-01 -5.19075546e-03 -4.73044406e-03 -2.02806435e+01] [ 5.17457137e-03 9.99980739e-01 -3.42710344e-03 -3.03915952e+00] [ 4.74814220e-03 3.40254090e-03 9.99982939e-01 -8.86716550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100418555000005 meters 0.25184686844986953 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.04, Z:-0.88 [[ 9.99987735e-01 -3.32339508e-03 -3.67209539e-03 -2.02880610e+01] [ 3.31752404e-03 9.99993211e-01 -1.60375963e-03 -3.03922569e+00] [ 3.67740038e-03 1.59155770e-03 9.99991972e-01 -8.80548385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160418555 meters 0.24899235446464849 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99978116e-01 -3.10830066e-03 -5.83999808e-03 -2.03277797e+01] [ 3.11068486e-03 9.99995082e-01 3.99213371e-04 -3.04118468e+00] [ 5.83872849e-03 -4.17371028e-04 9.99982867e-01 -8.86838079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220418555 meters 0.25015309284095455 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99978203e-01 -2.98259272e-03 -5.89042737e-03 -2.03276362e+01] [ 2.98662148e-03 9.99995312e-01 6.75272445e-04 -3.04249587e+00] [ 5.88838569e-03 -6.92850204e-04 9.99982423e-01 -8.86774716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280418555000004 meters 0.2484676793766213 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99977647e-01 -2.87585547e-03 -6.03617593e-03 -2.03266796e+01] [ 2.88056046e-03 9.99995554e-01 7.70917310e-04 -3.04248299e+00] [ 6.03393205e-03 -7.88287648e-04 9.99981485e-01 -8.87759469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340418555 meters 0.25155580146387724 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.04, Z:-0.89 [[ 9.99993107e-01 3.19938828e-03 -1.88414963e-03 -2.03057510e+01] [-3.20683632e-03 9.99987004e-01 -3.96333377e-03 -3.04230307e+00] [ 1.87144490e-03 3.96934861e-03 9.99990371e-01 -8.88767017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400418555 meters 0.24995077446584676 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.04, Z:-0.89 [[ 9.99992591e-01 3.39998830e-03 -1.80486187e-03 -2.03059492e+01] [-3.40672336e-03 9.99987197e-01 -3.74175525e-03 -3.04249301e+00] [ 1.79211684e-03 3.74787620e-03 9.99991371e-01 -8.88707416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460418555000004 meters 0.25341785318694665 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.04, Z:-0.89 [[ 9.99992382e-01 3.45302140e-03 -1.81983633e-03 -2.03057755e+01] [-3.45976159e-03 9.99987119e-01 -3.71369342e-03 -3.04269285e+00] [ 1.80698942e-03 3.71996133e-03 9.99991448e-01 -8.88795246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520418555 meters 0.2501549283551307 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99984884e-01 9.73738650e-04 -5.41135242e-03 -2.03269641e+01] [-9.47559270e-04 9.99987846e-01 4.83832252e-03 -3.04267506e+00] [ 5.41599792e-03 -4.83312181e-03 9.99973654e-01 -8.87589378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580418555 meters 0.2508782887101073 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.89 [[ 9.99977647e-01 -1.83271143e-03 -6.43010421e-03 -2.03212088e+01] [ 1.84809470e-03 9.99995443e-01 2.38725849e-03 -3.04809618e+00] [ 6.42569975e-03 -2.39908857e-03 9.99976477e-01 -8.91589520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640418555000004 meters 0.25627602767987756 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.05, Z:-0.88 [[ 9.99984670e-01 -2.88756783e-04 -5.52965748e-03 -2.03285633e+01] [ 3.09516886e-04 9.99992906e-01 3.75383216e-03 -3.04725850e+00] [ 5.52853431e-03 -3.75548613e-03 9.99977666e-01 -8.84430542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700418555 meters 0.2500222500385875 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.05, Z:-0.89 [[ 9.99983566e-01 -5.07238120e-04 -5.71058662e-03 -2.03266881e+01] [ 5.26127008e-04 9.99994395e-01 3.30668034e-03 -3.04529083e+00] [ 5.70887733e-03 -3.30963049e-03 9.99978227e-01 -8.86800106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760418555 meters 0.25142905912573343 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99983209e-01 -6.26323173e-04 -5.76109532e-03 -2.03265391e+01] [ 6.43693153e-04 9.99995252e-01 3.01368818e-03 -3.04378358e+00] [ 5.75918042e-03 -3.01734596e-03 9.99978864e-01 -8.86692517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820418555 meters 0.25115489696283866 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99984000e-01 -7.31508344e-04 -5.60938643e-03 -2.03267633e+01] [ 7.45564760e-04 9.99996587e-01 2.50419252e-03 -3.04032142e+00] [ 5.60753544e-03 -2.50833461e-03 9.99981132e-01 -8.87064782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880418555 meters 0.25403164899394975 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.04, Z:-0.89 [[ 9.99984194e-01 -9.01500071e-04 -5.54972297e-03 -2.03275266e+01] [ 9.15016092e-04 9.99996621e-01 2.43338341e-03 -3.04153877e+00] [ 5.54751052e-03 -2.43842303e-03 9.99981639e-01 -8.85933613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940418555 meters 0.2506063884601665 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.04, Z:-0.89 [[ 9.99916474e-01 7.40346439e-03 -1.05940805e-02 -2.03472345e+01] [-7.38687066e-03 9.99971429e-01 1.60459417e-03 -3.04004147e+00] [ 1.06056574e-02 -1.52620304e-03 9.99942594e-01 -8.86225735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000418555 meters 0.25148928185033637 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.04, Z:-0.89 [[ 9.99938489e-01 3.32695372e-03 -1.05806336e-02 -2.03472956e+01] [-3.34891147e-03 9.99992274e-01 -2.05823766e-03 -3.04280369e+00] [ 1.05737042e-02 2.09354466e-03 9.99941905e-01 -8.86372410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060418555 meters 0.25608113359557116 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.05, Z:-0.89 [[ 9.99935637e-01 3.54259207e-03 -1.07782859e-02 -2.03469054e+01] [-3.55895908e-03 9.99992542e-01 -1.49971563e-03 -3.04588684e+00] [ 1.07728926e-02 1.53797858e-03 9.99940788e-01 -8.86172033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120418555 meters 0.24986543745285586 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.05, Z:-0.88 [[ 9.99939506e-01 -3.05090208e-03 -1.05676713e-02 -2.03820522e+01] [ 3.08620538e-03 9.99989706e-01 3.32599410e-03 -3.04863772e+00] [ 1.05574152e-02 -3.35840691e-03 9.99938629e-01 -8.76169229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180418555 meters 0.2531417285301429 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.05, Z:-0.90 [[ 9.99934591e-01 -4.00024189e-03 -1.07150676e-02 -2.03105100e+01] [ 3.99656172e-03 9.99991947e-01 -3.64848097e-04 -3.05168251e+00] [ 1.07164408e-02 3.22000804e-04 9.99942525e-01 -8.99108111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240418555 meters 0.2528233255862166 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.89 [[ 9.99947448e-01 -2.47350519e-03 -9.94901363e-03 -2.03169745e+01] [ 2.48502163e-03 9.99996256e-01 1.14534977e-03 -3.05006689e+00] [ 9.94614336e-03 -1.17001309e-03 9.99949851e-01 -8.93406947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300418555 meters 0.2508733610788577 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.05, Z:-0.89 [[ 9.99886885e-01 -1.11068198e-02 -1.01418006e-02 -2.03158905e+01] [ 1.10346067e-02 9.99913563e-01 -7.14876056e-03 -3.05318448e+00] [ 1.02203239e-02 7.03604115e-03 9.99923017e-01 -8.93779932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360418555 meters 0.25475688957785414 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.05, Z:-0.89 [[ 9.99940479e-01 -1.04231061e-02 -3.22452756e-03 -2.03075169e+01] [ 1.04320610e-02 9.99941740e-01 2.77290162e-03 -3.05159638e+00] [ 3.19543745e-03 -2.80637504e-03 9.99990957e-01 -8.85814615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420418555 meters 0.24937431712213726 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.06, Z:-0.90 [[ 9.99864122e-01 -1.27247980e-02 -1.04793651e-02 -2.03109942e+01] [ 1.26456750e-02 9.99891292e-01 -7.58232574e-03 -3.05792822e+00] [ 1.05747094e-02 7.44877682e-03 9.99916342e-01 -9.00316232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480418555 meters 0.256211952272744 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.06, Z:-0.89 [[ 9.99859836e-01 -1.63699854e-02 -3.51182062e-03 -2.03013890e+01] [ 1.63631971e-02 9.99864206e-01 -1.95308593e-03 -3.06259117e+00] [ 3.54331572e-03 1.89534756e-03 9.99991926e-01 -8.92097745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540418555 meters 0.2534921349044483 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.07, Z:-0.90 [[ 9.99799563e-01 -1.66468937e-02 -1.11227182e-02 -2.03077072e+01] [ 1.65398923e-02 9.99816698e-01 -9.64379636e-03 -3.06943060e+00] [ 1.12812187e-02 9.45789483e-03 9.99891635e-01 -9.03392897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600418555000005 meters 0.2498749673520361 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.08, Z:-0.89 [[ 9.99935970e-01 -9.15386831e-03 -6.65304067e-03 -2.03493264e+01] [ 9.09365201e-03 9.99917919e-01 -9.02552845e-03 -3.07892336e+00] [ 6.73511309e-03 8.96445011e-03 9.99937136e-01 -8.90207567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660418555 meters 0.2499931419204188 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.09, Z:-0.89 [[ 9.99939047e-01 -8.83469830e-03 -6.62192257e-03 -2.03497763e+01] [ 8.78566090e-03 9.99934037e-01 -7.39817637e-03 -3.08755990e+00] [ 6.68684642e-03 7.33954747e-03 9.99950707e-01 -8.90420639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720418555 meters 0.26029313883640565 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.10, Z:-0.89 [[ 9.99867785e-01 -1.53496455e-02 -5.36660708e-03 -2.03036732e+01] [ 1.52684689e-02 9.99773099e-01 -1.48534314e-02 -3.09862801e+00] [ 5.59338430e-03 1.47695277e-02 9.99875280e-01 -8.89750005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780418555000004 meters 0.25231561221351767 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.11, Z:-0.89 [[ 9.99962650e-01 -6.80669112e-03 -5.32611602e-03 -2.03039997e+01] [ 6.77902457e-03 9.99963525e-01 -5.19543212e-03 -3.10534175e+00] [ 5.36128546e-03 5.15913220e-03 9.99972320e-01 -8.90529261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840418555 meters 0.25187459284989333 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.12, Z:-0.90 [[ 9.99879875e-01 -1.40144783e-02 -6.62044496e-03 -2.02963222e+01] [ 1.39396489e-02 9.99839921e-01 -1.12168445e-02 -3.11597677e+00] [ 6.77658339e-03 1.11232104e-02 9.99915172e-01 -8.96613455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900418555 meters 0.2573694247691822 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.12, Z:-0.88 [[ 9.99859952e-01 -1.25105117e-02 1.11158870e-02 -2.03134872e+01] [ 1.26145690e-02 9.99876803e-01 -9.34086116e-03 -3.12140184e+00] [-1.09976586e-02 9.47977512e-03 9.99894587e-01 -8.84707268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960418555000004 meters 0.2606335947706678 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.14, Z:-0.89 [[ 9.99876161e-01 -1.48206438e-02 -5.29264052e-03 -2.03023844e+01] [ 1.47700393e-02 9.99846017e-01 -9.47569218e-03 -3.13565049e+00] [ 5.43226140e-03 9.39634621e-03 9.99941098e-01 -8.93299633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020418555 meters 0.26063821746982885 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.15, Z:-0.89 [[ 9.99932120e-01 -1.02922524e-02 -5.46123285e-03 -2.03027985e+01] [ 1.02742546e-02 9.99941729e-01 -3.31344484e-03 -3.14769182e+00] [ 5.49501742e-03 3.25710983e-03 9.99979598e-01 -8.92346040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080418555 meters 0.2618443853578132 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.16, Z:-0.89 [[ 9.99899922e-01 -1.33551182e-02 -4.66760048e-03 -2.03080928e+01] [ 1.33307349e-02 9.99897534e-01 -5.21658623e-03 -3.15719415e+00] [ 4.73679034e-03 5.15384162e-03 9.99975500e-01 -8.87996141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140418555000004 meters 0.2611330247182236 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.17, Z:-0.89 [[ 9.99837310e-01 -1.73493695e-02 -4.93494384e-03 -2.03072023e+01] [ 1.73082308e-02 9.99816080e-01 -8.26020635e-03 -3.16519060e+00] [ 5.07734558e-03 8.17344735e-03 9.99953707e-01 -8.88016432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200418555 meters 0.2629296373233162 Centerline is valid? [False, False] Translation: X:-20.30, Y:-3.17, Z:-0.88 [[ 9.99979373e-01 -6.39113824e-03 -6.38149811e-04 -2.02958582e+01] [ 6.38554924e-03 9.99944277e-01 -8.40645773e-03 -3.17012225e+00] [ 6.91841084e-04 8.40220939e-03 9.99964461e-01 -8.81114274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260418555 meters 0.26714192239159995 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.18, Z:-0.89 [[ 9.99987877e-01 -4.58928768e-03 -1.78452036e-03 -2.02878317e+01] [ 4.57998104e-03 9.99976071e-01 -5.18477971e-03 -3.17842819e+00] [ 1.80827210e-03 5.17654378e-03 9.99984967e-01 -8.89678807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320418555 meters 0.26459905076537393 Centerline is valid? [False, False] Translation: X:-20.27, Y:-3.19, Z:-0.89 [[ 9.99985602e-01 -5.28503352e-03 -9.29845225e-04 -2.02694371e+01] [ 5.26833798e-03 9.99839486e-01 -1.71244391e-02 -3.19055602e+00] [ 1.02019921e-03 1.71192938e-02 9.99852934e-01 -8.85118222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380418555 meters 0.2546919083259563 Centerline is valid? [False, False] Translation: X:-20.29, Y:-3.20, Z:-0.89 [[ 9.99988746e-01 -4.41110800e-03 -1.74636302e-03 -2.02924773e+01] [ 4.40520606e-03 9.99984622e-01 -3.36910378e-03 -3.19519164e+00] [ 1.76119764e-03 3.36137277e-03 9.99992800e-01 -8.86280158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440418555 meters 0.2621544090914288 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.20, Z:-0.88 [[ 9.99975271e-01 -1.43878104e-03 -6.88390797e-03 -2.03150485e+01] [ 1.38311452e-03 9.99966364e-01 -8.08440888e-03 -3.19825819e+00] [ 6.89530811e-03 8.07468772e-03 9.99943625e-01 -8.83644627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500418555 meters 0.260836806265501 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.20, Z:-0.88 [[ 9.99937542e-01 -8.99877911e-03 -6.62823792e-03 -2.03185426e+01] [ 8.89580303e-03 9.99841763e-01 -1.54049626e-02 -3.20450768e+00] [ 6.76581495e-03 1.53450369e-02 9.99859367e-01 -8.79180987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560418555 meters 0.2642742682580593 Centerline is valid? [False, False] Translation: X:-20.31, Y:-3.21, Z:-0.88 [[ 9.99974881e-01 5.23149743e-04 -7.06848903e-03 -2.03149013e+01] [-5.53748315e-04 9.99990483e-01 -4.32760679e-03 -3.21467536e+00] [ 7.06615777e-03 4.33141225e-03 9.99965654e-01 -8.84136804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620418555 meters 0.2673195688877048 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.22, Z:-0.88 [[ 9.99973903e-01 1.79533861e-04 -7.22223219e-03 -2.03168417e+01] [-2.10253499e-04 9.99990934e-01 -4.25294816e-03 -3.22088130e+00] [ 7.22140316e-03 4.25435567e-03 9.99964875e-01 -8.80375201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680418555 meters 0.26221638693714167 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.21, Z:-0.89 [[ 9.99944307e-01 4.93427075e-03 -9.32931764e-03 -2.03552412e+01] [-4.91596267e-03 9.99985948e-01 1.98433894e-03 -3.21164008e+00] [ 9.33897781e-03 -1.93836585e-03 9.99954512e-01 -8.87115492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740418555 meters 0.2618778263319635 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.21, Z:-0.89 [[ 9.99834372e-01 1.64682086e-02 -7.74774943e-03 -2.03330963e+01] [-1.64601015e-02 9.99863908e-01 1.10898053e-03 -3.21174336e+00] [ 7.76495795e-03 -9.81268110e-04 9.99969371e-01 -8.85855496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800418555 meters 0.2525061996545885 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.20, Z:-0.89 [[ 9.99718565e-01 1.96457696e-02 -1.32979101e-02 -2.03492871e+01] [-1.94587471e-02 9.99711932e-01 1.40502930e-02 -3.20327785e+00] [ 1.35701082e-02 -1.37875781e-02 9.99812860e-01 -8.85924882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860418555 meters 0.251810583210892 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.20, Z:-0.88 [[ 9.99501014e-01 3.00773263e-02 -9.64768172e-03 -2.03313954e+01] [-2.99655355e-02 9.99484432e-01 1.15298437e-02 -3.19508891e+00] [ 9.98949455e-03 -1.12349925e-02 9.99886986e-01 -8.83065458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920418555 meters 0.24916437684659984 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.18, Z:-0.88 [[ 9.99579822e-01 2.36704862e-02 -1.67298547e-02 -2.03484171e+01] [-2.34483398e-02 9.99635881e-01 1.33521809e-02 -3.18488480e+00] [ 1.70398156e-02 -1.29542832e-02 9.99770889e-01 -8.81109093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980418555 meters 0.2504640851015759 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.17, Z:-0.88 [[ 9.99516470e-01 2.95414197e-02 -9.70214148e-03 -2.03356164e+01] [-2.92828299e-02 9.99238327e-01 2.57930697e-02 -3.17393743e+00] [ 1.04567155e-02 -2.54964918e-02 9.99620221e-01 -8.76006639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040418555 meters 0.2539834875557746 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.17, Z:-0.88 [[ 9.99372979e-01 3.05575039e-02 -1.78853805e-02 -2.03433416e+01] [-3.02496422e-02 9.99393727e-01 1.72376880e-02 -3.16587062e+00] [ 1.84012777e-02 -1.66858533e-02 9.99691440e-01 -8.83670947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100418555000005 meters 0.25448899117046375 Centerline is valid? [False, False] Translation: X:-20.32, Y:-3.16, Z:-0.88 [[ 9.99474237e-01 3.23560876e-02 2.08144982e-03 -2.03216972e+01] [-3.23945587e-02 9.99225446e-01 2.23405730e-02 -3.15852357e+00] [-1.35698409e-03 -2.23962548e-02 9.99748251e-01 -8.80757328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160418555 meters 0.2512710258793684 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.15, Z:-0.89 [[ 9.99682808e-01 2.50905307e-02 -2.17922923e-03 -2.03363166e+01] [-2.50251166e-02 9.99345443e-01 2.61233551e-02 -3.15438278e+00] [ 2.83325164e-03 -2.60605336e-02 9.99656352e-01 -8.85826737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220418555 meters 0.2512617196720265 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.15, Z:-0.89 [[ 9.99801075e-01 1.96646033e-02 -3.33378550e-03 -2.03298691e+01] [-1.95933731e-02 9.99603967e-01 2.01992415e-02 -3.15099739e+00] [ 3.72967528e-03 -2.01299033e-02 9.99790416e-01 -8.91215751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280418555000004 meters 0.2510473894641759 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.15, Z:-0.88 [[ 9.99903396e-01 1.33062494e-02 -4.01787612e-03 -2.03619332e+01] [-1.31997448e-02 9.99588625e-01 2.54626810e-02 -3.14758246e+00] [ 4.35503605e-03 -2.54071863e-02 9.99667699e-01 -8.82332047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340418555 meters 0.2509306096677183 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.16, Z:-0.89 [[ 9.99982348e-01 -2.37106165e-03 -5.44817056e-03 -2.03538183e+01] [ 2.43149125e-03 9.99935304e-01 1.11120009e-02 -3.15734981e+00] [ 5.42147085e-03 -1.11250519e-02 9.99923418e-01 -8.89717240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400418555 meters 0.24994585134792474 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.17, Z:-0.88 [[ 9.99980891e-01 -5.10449211e-03 -3.48735533e-03 -2.03633921e+01] [ 5.14115260e-03 9.99930755e-01 1.05855896e-02 -3.16977559e+00] [ 3.43307979e-03 -1.06033164e-02 9.99937890e-01 -8.82071788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460418555000004 meters 0.2511846005355613 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.19, Z:-0.88 [[ 9.99920346e-01 -1.23249087e-02 -2.72013179e-03 -2.03638491e+01] [ 1.23463080e-02 9.99891813e-01 7.99565262e-03 -3.19298473e+00] [ 2.62129181e-03 -8.02859931e-03 9.99964335e-01 -8.84058572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520418555 meters 0.25807088030747877 Centerline is valid? [False, False] Translation: X:-20.38, Y:-3.20, Z:-0.88 [[ 9.99784371e-01 -1.84145313e-02 -9.59770866e-03 -2.03814948e+01] [ 1.83727375e-02 9.99821416e-01 -4.42469345e-03 -3.19758323e+00] [ 9.67747332e-03 4.24740318e-03 9.99944151e-01 -8.84829266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580418555 meters 0.2603068781461659 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.21, Z:-0.88 [[ 9.99550974e-01 -2.97685656e-02 -3.41806792e-03 -2.03639211e+01] [ 2.97508480e-02 9.99544220e-01 -5.12238953e-03 -3.21322823e+00] [ 3.56899622e-03 5.01839903e-03 9.99981039e-01 -8.84160023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640418555000004 meters 0.2648296691891165 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.23, Z:-0.90 [[ 9.99798754e-01 -1.99595465e-02 -2.01674600e-03 -2.03548095e+01] [ 1.99356875e-02 9.99738207e-01 -1.12288365e-02 -3.22621655e+00] [ 2.24034051e-03 1.11863715e-02 9.99934921e-01 -8.95127209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700418555 meters 0.26001475172018196 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.24, Z:-0.89 [[ 9.99831279e-01 -1.77879721e-02 4.58267111e-03 -2.03443117e+01] [ 1.78727278e-02 9.99656475e-01 -1.91702350e-02 -3.23557148e+00] [-4.24009725e-03 1.92489055e-02 9.99805732e-01 -8.91525777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760418555 meters 0.2685103348376456 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.25, Z:-0.90 [[ 9.99817199e-01 -1.56968397e-02 -1.09169018e-02 -2.03363542e+01] [ 1.55712877e-02 9.99812715e-01 -1.14921515e-02 -3.24826246e+00] [ 1.10952477e-02 1.13200605e-02 9.99874368e-01 -9.00765340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820418555 meters 0.2717896839677695 Centerline is valid? [False, False] Translation: X:-20.36, Y:-3.26, Z:-0.90 [[ 9.99832247e-01 -1.60088118e-02 8.89919865e-03 -2.03599727e+01] [ 1.61467213e-02 9.99747191e-01 -1.56472559e-02 -3.25891898e+00] [-8.64645488e-03 1.57883239e-02 9.99837971e-01 -8.97758633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880418555 meters 0.2701865980937873 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.27, Z:-0.91 [[ 9.99913516e-01 -1.11683859e-02 6.94462608e-03 -2.03492390e+01] [ 1.12366395e-02 9.99888172e-01 -9.86817194e-03 -3.26774985e+00] [-6.83363792e-03 9.94535276e-03 9.99927193e-01 -9.06182565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940418555 meters 0.27712456993265716 Centerline is valid? [False, False] Translation: X:-20.34, Y:-3.27, Z:-0.90 [[ 9.99939979e-01 -4.03749109e-03 1.01850910e-02 -2.03366481e+01] [ 4.18177942e-03 9.99890639e-01 -1.41853305e-02 -3.27497176e+00] [-1.01267040e-02 1.42270709e-02 9.99847509e-01 -8.99337802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000418555 meters 0.2673573857727671 Centerline is valid? [False, False] Translation: X:-20.33, Y:-3.28, Z:-0.90 [[ 9.99952979e-01 2.41562467e-03 9.39175990e-03 -2.03315290e+01] [-2.35015322e-03 9.99972906e-01 -6.97595619e-03 -3.28188564e+00] [-9.40835673e-03 6.95355609e-03 9.99931563e-01 -9.03760391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060418555 meters 0.26172258394461434 Centerline is valid? [False, False] Translation: X:-20.35, Y:-3.28, Z:-0.90 [[ 9.99982792e-01 5.38831791e-03 2.31972552e-03 -2.03473990e+01] [-5.36103679e-03 9.99918227e-01 -1.16103169e-02 -3.28488789e+00] [-2.38209591e-03 1.15976810e-02 9.99929907e-01 -9.04241238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120418555 meters 0.26163207158903484 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.28, Z:-0.90 [[ 9.99989667e-01 1.84090753e-03 4.15645807e-03 -2.03736014e+01] [-1.82546410e-03 9.99991428e-01 -3.71626785e-03 -3.28376726e+00] [-4.16326374e-03 3.70864199e-03 9.99984456e-01 -9.00746199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180418555 meters 0.2636898593654234 Centerline is valid? [False, False] Translation: X:-20.37, Y:-3.29, Z:-0.90 [[ 9.99989102e-01 2.20878712e-03 4.11293292e-03 -2.03740409e+01] [-2.19676807e-03 9.99993311e-01 -2.92448454e-03 -3.28693277e+00] [-4.11936497e-03 2.91541751e-03 9.99987266e-01 -8.99937997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240418555 meters 0.25899635057236287 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.29, Z:-0.91 [[ 9.99999726e-01 5.26791320e-04 -5.20003234e-04 -2.04008738e+01] [-5.27534500e-04 9.99998838e-01 -1.43008116e-03 -3.29302969e+00] [ 5.19249275e-04 1.43035508e-03 9.99998842e-01 -9.12609355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300418555 meters 0.25746200109903344 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.29, Z:-0.92 [[ 9.99991811e-01 3.92095069e-03 -1.00171701e-03 -2.03962270e+01] [-3.91914447e-03 9.99990702e-01 1.79876763e-03 -3.28913665e+00] [ 1.00876057e-03 -1.79482703e-03 9.99997880e-01 -9.17624526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360418555 meters 0.26001569070812514 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.90 [[ 9.99999096e-01 -1.30914268e-03 3.05599241e-04 -2.04089461e+01] [ 1.31023114e-03 9.99992701e-01 -3.58912013e-03 -3.29777675e+00] [-3.00898340e-04 3.58951729e-03 9.99993512e-01 -9.04013182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420418555 meters 0.2594700670382027 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.29, Z:-0.91 [[ 9.99979020e-01 6.46141682e-03 -4.57461938e-04 -2.04018732e+01] [-6.45948790e-03 9.99970734e-01 4.09944133e-03 -3.29463525e+00] [ 4.83936749e-04 -4.09640036e-03 9.99991493e-01 -9.11616680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480418555 meters 0.2591071751569294 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.90 [[ 9.99994013e-01 3.45559197e-03 1.79232002e-04 -2.04080261e+01] [-3.45576150e-03 9.99993573e-01 9.54333040e-04 -3.29677269e+00] [-1.75933065e-04 -9.54946709e-04 9.99999529e-01 -9.04673426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540418555 meters 0.25941250800319654 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.91 [[ 9.99994305e-01 3.37000806e-03 -1.80015282e-04 -2.04055239e+01] [-3.36983322e-03 9.99993859e-01 9.62901926e-04 -3.29730067e+00] [ 1.83259164e-04 -9.62289821e-04 9.99999520e-01 -9.07021409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600418555000005 meters 0.25931409125932725 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.91 [[ 9.99993685e-01 3.54582856e-03 -2.40022672e-04 -2.04058865e+01] [-3.54543331e-03 9.99992390e-01 1.62760089e-03 -3.30114406e+00] [ 2.45792040e-04 -1.62673963e-03 9.99998647e-01 -9.06186165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660418555 meters 0.2588486151900375 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.91 [[ 9.99999870e-01 -4.77693619e-04 -1.77745224e-04 -2.04057281e+01] [ 4.77284544e-04 9.99997254e-01 -2.29443810e-03 -3.30164981e+00] [ 1.78840774e-04 2.29435297e-03 9.99997352e-01 -9.07070581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720418555 meters 0.2590212577172183 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.31, Z:-0.90 [[ 9.99988999e-01 -4.67898476e-03 -3.29437957e-04 -2.04069737e+01] [ 4.67704554e-03 9.99973046e-01 -5.65980241e-03 -3.30981743e+00] [ 3.55911207e-04 5.65819935e-03 9.99983929e-01 -9.04545601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780418555000004 meters 0.2614519611129819 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.30, Z:-0.91 [[ 9.99999982e-01 -1.05643627e-04 1.56883443e-04 -2.04075619e+01] [ 1.05906028e-04 9.99998594e-01 -1.67352487e-03 -3.30254663e+00] [-1.56706425e-04 1.67354146e-03 9.99998587e-01 -9.05866614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840418555 meters 0.26007894700998585 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.31, Z:-0.91 [[ 9.99990152e-01 -4.43312076e-03 -2.09323070e-04 -2.04058145e+01] [ 4.43194218e-03 9.99975974e-01 -5.33009322e-03 -3.30802139e+00] [ 2.32946988e-04 5.32911302e-03 9.99985773e-01 -9.06945833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900418555 meters 0.25678819492790955 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.31, Z:-0.90 [[ 9.99994884e-01 -3.15965832e-03 4.98923868e-04 -2.04109099e+01] [ 3.16175901e-03 9.99985896e-01 -4.26733829e-03 -3.30748608e+00] [-4.85433500e-04 4.26889393e-03 9.99990770e-01 -9.02744011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960418555000004 meters 0.259726326902082 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.31, Z:-0.90 [[ 9.99995122e-01 -3.06785195e-03 5.87318574e-04 -2.04120412e+01] [ 3.07005112e-03 9.99988140e-01 -3.78086679e-03 -3.31037949e+00] [-5.75712469e-04 3.78265144e-03 9.99992680e-01 -9.01363540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020418555 meters 0.26190951989239725 Centerline is valid? [False, False] Translation: X:-20.40, Y:-3.31, Z:-0.91 [[ 9.99998286e-01 -1.59464027e-03 -9.40534427e-04 -2.04013991e+01] [ 1.59297024e-03 9.99997158e-01 -1.77369835e-03 -3.31366137e+00] [ 9.43360165e-04 1.77219707e-03 9.99997985e-01 -9.10960533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080418555 meters 0.2639491067394074 Centerline is valid? [False, False] Translation: X:-20.41, Y:-3.31, Z:-0.91 [[ 9.99999585e-01 -8.52619848e-04 -3.21340143e-04 -2.04058083e+01] [ 8.52262405e-04 9.99999020e-01 -1.11085040e-03 -3.31429157e+00] [ 3.22286962e-04 1.11057608e-03 9.99999331e-01 -9.06992463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140418555000004 meters 0.2557241561596565 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.31, Z:-0.91 [[ 9.99987396e-01 -4.18418610e-03 -2.77508983e-03 -2.04430386e+01] [ 4.18083732e-03 9.99990526e-01 -1.21143483e-03 -3.31115270e+00] [ 2.78013240e-03 1.19981736e-03 9.99995416e-01 -9.13765112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200418555 meters 0.2639849971291088 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.31, Z:-0.92 [[ 9.99994795e-01 2.84596445e-03 1.51979515e-03 -2.04220388e+01] [-2.83729819e-03 9.99979876e-01 -5.67429040e-03 -3.31034417e+00] [-1.53591340e-03 5.66994875e-03 9.99982746e-01 -9.17736425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260418555 meters 0.2587472155339898 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.31, Z:-0.92 [[ 9.99998099e-01 -1.54523981e-03 1.18942939e-03 -2.04202414e+01] [ 1.55655852e-03 9.99952950e-01 -9.57471962e-03 -3.31438065e+00] [-1.17457819e-03 9.57655284e-03 9.99953454e-01 -9.19296659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320418555 meters 0.2642116412430486 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.32, Z:-0.92 [[ 9.99994528e-01 2.63600080e-03 1.99898031e-03 -2.04229941e+01] [-2.62642686e-03 9.99985141e-01 -4.77701120e-03 -3.31643052e+00] [-2.01154281e-03 4.77173488e-03 9.99986592e-01 -9.19099013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380418555 meters 0.2630997118802862 Centerline is valid? [False, False] Translation: X:-20.42, Y:-3.32, Z:-0.92 [[ 9.99981471e-01 -5.93691583e-03 1.34591968e-03 -2.04215101e+01] [ 5.95372530e-03 9.99899715e-01 -1.28496051e-02 -3.32445468e+00] [-1.26949768e-03 1.28573802e-02 9.99916535e-01 -9.18355985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440418555 meters 0.2635064099978757 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.32, Z:-0.92 [[ 9.99992636e-01 -3.67677327e-03 1.09941632e-03 -2.04402753e+01] [ 3.67367351e-03 9.99989309e-01 2.80831183e-03 -3.32139202e+00] [-1.10973009e-03 -2.80425226e-03 9.99995452e-01 -9.22423444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500418555 meters 0.26683339167078707 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.33, Z:-0.92 [[ 9.99927874e-01 -1.19976931e-02 5.49193085e-04 -2.04392311e+01] [ 1.20005925e-02 9.99912188e-01 -5.62158008e-03 -3.32568544e+00] [-4.81698866e-04 5.62776526e-03 9.99984048e-01 -9.20846819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560418555 meters 0.2626239680450587 Centerline is valid? [False, False] Translation: X:-20.44, Y:-3.32, Z:-0.92 [[ 9.99992742e-01 -3.68619691e-03 9.63272114e-04 -2.04393835e+01] [ 3.68443866e-03 9.99991555e-01 1.82073479e-03 -3.31586212e+00] [-9.69975566e-04 -1.81717246e-03 9.99997879e-01 -9.22607344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620418555 meters 0.2563756087729507 Centerline is valid? [False, False] Translation: X:-20.46, Y:-3.30, Z:-0.92 [[ 9.99979833e-01 4.23152788e-03 -4.73575264e-03 -2.04556424e+01] [-4.23697767e-03 9.99990373e-01 -1.14133511e-03 -3.30267763e+00] [ 4.73087746e-03 1.16137737e-03 9.99988135e-01 -9.23003457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680418555 meters 0.2548438090864171 Centerline is valid? [False, False] Translation: X:-20.43, Y:-3.29, Z:-0.92 [[ 9.99632048e-01 2.70560199e-02 -1.93407317e-03 -2.04348031e+01] [-2.70420558e-02 9.99610384e-01 6.91433565e-03 -3.29075038e+00] [ 2.12039402e-03 -6.85949019e-03 9.99974225e-01 -9.23931535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740418555 meters 0.2520440498768867 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.28, Z:-0.93 [[ 9.99099125e-01 4.14554158e-02 -9.07671055e-03 -2.04472601e+01] [-4.13650252e-02 9.99094759e-01 9.92961562e-03 -3.27827466e+00] [ 9.48013028e-03 -9.54521192e-03 9.99909504e-01 -9.26232032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800418555 meters 0.2529788628739287 Centerline is valid? [False, False] Translation: X:-20.45, Y:-3.28, Z:-0.93 [[ 9.99510489e-01 3.12842065e-02 -2.82658374e-04 -2.04496884e+01] [-3.12755985e-02 9.99381003e-01 1.61073899e-02 -3.27720513e+00] [ 7.86390321e-04 -1.60906649e-02 9.99870228e-01 -9.28803725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860418555 meters 0.25217538383818616 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.28, Z:-0.92 [[ 9.99911017e-01 1.32831102e-02 -1.23170404e-03 -2.04801345e+01] [-1.32690661e-02 9.99853807e-01 1.07841226e-02 -3.28307069e+00] [ 1.37477067e-03 -1.07668194e-02 9.99941091e-01 -9.19152881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920418555 meters 0.2514205182455204 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.28, Z:-0.93 [[ 9.99863621e-01 1.63980411e-02 -1.96054694e-03 -2.04737484e+01] [-1.63696941e-02 9.99772248e-01 1.36925288e-02 -3.27889181e+00] [ 2.18463108e-03 -1.36585679e-02 9.99904331e-01 -9.26081732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980418555 meters 0.2539201734049715 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.27, Z:-0.93 [[ 9.99987481e-01 4.63193041e-03 -1.89278975e-03 -2.04746290e+01] [-4.63098121e-03 9.99989149e-01 5.05557591e-04 -3.27321442e+00] [ 1.89511092e-03 -4.96785788e-04 9.99998081e-01 -9.26182366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040418555 meters 0.2511479234119564 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.28, Z:-0.92 [[ 9.99974797e-01 -5.59958095e-03 -4.36462797e-03 -2.04989485e+01] [ 5.61224229e-03 9.99980063e-01 2.89406754e-03 -3.27917537e+00] [ 4.34833539e-03 -2.91848995e-03 9.99986287e-01 -9.22236623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100418555000005 meters 0.2519763946139548 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.28, Z:-0.92 [[ 9.99976573e-01 -5.59579901e-03 -3.94211398e-03 -2.04998165e+01] [ 5.60909572e-03 9.99978590e-01 3.37004690e-03 -3.28019742e+00] [ 3.92317147e-03 -3.39207965e-03 9.99986551e-01 -9.23311199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160418555 meters 0.2531065550969128 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.27, Z:-0.93 [[ 9.99986950e-01 -2.63273959e-03 -4.37809693e-03 -2.04956280e+01] [ 2.65704713e-03 9.99981038e-01 5.55556144e-03 -3.27284837e+00] [ 4.36338756e-03 -5.56712175e-03 9.99974984e-01 -9.27816627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220418555 meters 0.25284664220492953 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.27, Z:-0.93 [[ 9.99985979e-01 -2.78511502e-03 -4.50379105e-03 -2.04950426e+01] [ 2.80845187e-03 9.99982621e-01 5.18360519e-03 -3.27188880e+00] [ 4.48927584e-03 -5.19618119e-03 9.99976423e-01 -9.27780120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280418555000004 meters 0.2527362083060648 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.26, Z:-0.93 [[ 9.99991136e-01 1.16931911e-03 -4.04487249e-03 -2.04965408e+01] [-1.13852700e-03 9.99970421e-01 7.60657302e-03 -3.26003302e+00] [ 4.05364736e-03 -7.60190040e-03 9.99962889e-01 -9.27459623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340418555 meters 0.2532351284875067 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.25, Z:-0.92 [[ 9.99995157e-01 -6.68899266e-04 -3.03933534e-03 -2.05017325e+01] [ 6.82480016e-04 9.99989779e-01 4.46949076e-03 -3.24654368e+00] [ 3.03631464e-03 -4.47154340e-03 9.99985393e-01 -9.24312886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400418555 meters 0.25376056109540257 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.24, Z:-0.93 [[ 9.99988452e-01 -2.95073071e-03 -3.79319177e-03 -2.04961179e+01] [ 2.95627374e-03 9.99994569e-01 1.45653357e-03 -3.23986639e+00] [ 3.78887334e-03 -1.46773046e-03 9.99991745e-01 -9.29019009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460418555000004 meters 0.2501867205060009 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.23, Z:-0.93 [[ 9.99980890e-01 5.26062990e-03 -3.24731240e-03 -2.04985720e+01] [-5.23201345e-03 9.99947953e-01 8.75882417e-03 -3.23014446e+00] [ 3.29322032e-03 -8.74166680e-03 9.99956368e-01 -9.27976459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520418555 meters 0.2529246677156664 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.22, Z:-0.93 [[ 9.99982929e-01 3.94449743e-03 -4.31066083e-03 -2.04921718e+01] [-3.92026915e-03 9.99976553e-01 5.61461905e-03 -3.21702757e+00] [ 4.33270661e-03 -5.59762426e-03 9.99974947e-01 -9.33886158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580418555 meters 0.25586508358362575 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.20, Z:-0.93 [[ 9.99955926e-01 9.01319752e-03 -2.62824750e-03 -2.05015196e+01] [-8.98908114e-03 9.99918665e-01 9.04765227e-03 -3.19917022e+00] [ 2.70958200e-03 -9.02362797e-03 9.99955615e-01 -9.27270427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640418555000004 meters 0.2552868735033257 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.19, Z:-0.93 [[ 9.99990072e-01 3.52625702e-03 -2.72428182e-03 -2.04995858e+01] [-3.52103182e-03 9.99991957e-01 1.92043081e-03 -3.18562544e+00] [ 2.73103185e-03 -1.91081946e-03 9.99994445e-01 -9.29891898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700418555 meters 0.25122434064625127 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.17, Z:-0.93 [[ 9.99981173e-01 5.86261467e-03 -1.81194904e-03 -2.05027099e+01] [-5.85707934e-03 9.99978210e-01 3.04525868e-03 -3.17110207e+00] [ 1.82976274e-03 -3.03458862e-03 9.99993722e-01 -9.29339656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760418555 meters 0.25458857375523436 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.16, Z:-0.93 [[ 9.99986887e-01 4.75523122e-03 -1.90115332e-03 -2.05006035e+01] [-4.75355305e-03 9.99988309e-01 8.86258087e-04 -3.16079433e+00] [ 1.90534546e-03 -8.77209232e-04 9.99997800e-01 -9.32378982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820418555 meters 0.25017476667588096 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.15, Z:-0.93 [[ 9.99992053e-01 3.61461033e-03 -1.68182697e-03 -2.05021279e+01] [-3.61765788e-03 9.99991814e-01 -1.81254308e-03 -3.14863613e+00] [ 1.67526157e-03 1.81861295e-03 9.99996943e-01 -9.30948521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880418555 meters 0.2522027292207314 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.14, Z:-0.93 [[ 9.99933923e-01 1.14373460e-02 -1.15612756e-03 -2.05043358e+01] [-1.14317633e-02 9.99923490e-01 4.72528225e-03 -3.13505892e+00] [ 1.21008379e-03 -4.71175344e-03 9.99988167e-01 -9.29730605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940418555 meters 0.25410315604348865 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.12, Z:-0.94 [[ 9.99934444e-01 1.09260014e-02 -3.42489475e-03 -2.05431511e+01] [-1.09095091e-02 9.99928980e-01 4.79767476e-03 -3.12265008e+00] [ 3.47707091e-03 -4.75999632e-03 9.99982626e-01 -9.36126899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000418555 meters 0.24872713323926654 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.11, Z:-0.94 [[ 9.99942561e-01 1.02906507e-02 -2.99627547e-03 -2.05444104e+01] [-1.02839838e-02 9.99944627e-01 2.23200580e-03 -3.10792988e+00] [ 3.01907835e-03 -2.20106395e-03 9.99993020e-01 -9.35601862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060418555 meters 0.25151672862843627 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.09, Z:-0.94 [[ 9.99982145e-01 5.95578149e-03 4.88201291e-04 -2.05206101e+01] [-5.95820077e-03 9.99969175e-01 5.11363052e-03 -3.09365716e+00] [-4.57730576e-04 -5.11644802e-03 9.99986806e-01 -9.38906418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120418555 meters 0.25110165745524765 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.09, Z:-0.94 [[ 9.99983707e-01 5.65597448e-03 7.71891344e-04 -2.05217826e+01] [-5.65903578e-03 9.99975894e-01 4.02315607e-03 -3.08635103e+00] [-7.49117869e-04 -4.02745869e-03 9.99991609e-01 -9.38475386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180418555 meters 0.25573659071335003 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.08, Z:-0.94 [[ 9.99984428e-01 5.51496130e-03 8.54310176e-04 -2.05226077e+01] [-5.51788335e-03 9.99978802e-01 3.45662507e-03 -3.08301527e+00] [-8.35228913e-04 -3.46128523e-03 9.99993661e-01 -9.37348889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240418555 meters 0.25588868763227013 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.08, Z:-0.94 [[ 9.99998264e-01 1.83955204e-03 2.96357899e-04 -2.05196601e+01] [-1.83920050e-03 9.99997610e-01 -1.18212508e-03 -3.07759774e+00] [-2.98531771e-04 1.18157797e-03 9.99999257e-01 -9.40226933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300418555 meters 0.25050721901232004 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.07, Z:-0.94 [[ 9.99989723e-01 -9.91401683e-04 4.42388848e-03 -2.04998743e+01] [ 9.70934355e-04 9.99988827e-01 4.62629860e-03 -3.07164287e+00] [-4.42842557e-03 -4.62195575e-03 9.99979513e-01 -9.39661015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360418555 meters 0.24976795308613825 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.07, Z:-0.93 [[ 9.99997439e-01 2.20716768e-03 -4.99481343e-04 -2.05259215e+01] [-2.20743769e-03 9.99997417e-01 -5.40683522e-04 -3.06990794e+00] [ 4.98286674e-04 5.41784712e-04 9.99999729e-01 -9.33680711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420418555 meters 0.2560124320811671 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.08, Z:-0.93 [[ 9.99998521e-01 1.26426898e-03 -1.16572862e-03 -2.05230714e+01] [-1.26514801e-03 9.99998916e-01 -7.53625419e-04 -3.07563403e+00] [ 1.16477457e-03 7.55099124e-04 9.99999037e-01 -9.34939814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480418555 meters 0.2485083567998319 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.08, Z:-0.93 [[ 9.99994752e-01 -3.03587916e-03 -1.13148467e-03 -2.05233369e+01] [ 3.03017047e-03 9.99982842e-01 -5.01332714e-03 -3.07545672e+00] [ 1.14668511e-03 5.00987223e-03 9.99986793e-01 -9.34943114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540418555 meters 0.2501748547246175 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.08, Z:-0.94 [[ 9.99966302e-01 -7.79287256e-03 2.58185569e-03 -2.04944845e+01] [ 7.79390657e-03 9.99969551e-01 -3.90672802e-04 -3.07930138e+00] [-2.57873261e-03 4.10782379e-04 9.99996591e-01 -9.43432540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600418555 meters 0.25496334953224936 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.08, Z:-0.94 [[ 9.99932707e-01 -1.10839125e-02 3.42479084e-03 -2.04991987e+01] [ 1.10970137e-02 9.99931090e-01 -3.83038162e-03 -3.08029403e+00] [-3.38209923e-03 3.86812881e-03 9.99986799e-01 -9.39557595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660418555 meters 0.25552718301640537 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.08, Z:-0.94 [[ 9.99970669e-01 -6.79020079e-03 3.54322265e-03 -2.05001865e+01] [ 6.78958456e-03 9.99976933e-01 1.85916478e-04 -3.07785851e+00] [-3.54440333e-03 -1.61854015e-04 9.99993705e-01 -9.38671521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720418555 meters 0.25098998052631805 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.08, Z:-0.94 [[ 9.99988867e-01 1.13078297e-03 4.58122836e-03 -2.04744113e+01] [-1.11682839e-03 9.99994733e-01 -3.04744888e-03 -3.07972334e+00] [-4.58465023e-03 3.04229851e-03 9.99984863e-01 -9.41797197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780418555000004 meters 0.25530716740997456 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.08, Z:-0.94 [[ 9.99988262e-01 1.24865788e-03 4.68154280e-03 -2.04753920e+01] [-1.23564254e-03 9.99995367e-01 -2.78200102e-03 -3.08112532e+00] [-4.68499488e-03 2.77618366e-03 9.99985172e-01 -9.40577827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840418555 meters 0.24860845165287992 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.08, Z:-0.94 [[ 9.99987900e-01 1.14896331e-03 4.78324741e-03 -2.04756642e+01] [-1.13381819e-03 9.99994340e-01 -3.16779379e-03 -3.07824198e+00] [-4.78686002e-03 3.16233213e-03 9.99983543e-01 -9.40833237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900418555 meters 0.25541691797017146 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.08, Z:-0.94 [[ 9.99984445e-01 -3.33303044e-03 4.47224198e-03 -2.04742715e+01] [ 3.36643119e-03 9.99966344e-01 -7.48183293e-03 -3.08093767e+00] [-4.44715428e-03 7.49677204e-03 9.99962010e-01 -9.41309347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960418555000004 meters 0.2546181585203568 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.08, Z:-0.94 [[ 9.99976081e-01 5.08046632e-03 4.69324372e-03 -2.04746949e+01] [-5.08466994e-03 9.99986682e-01 8.84177334e-04 -3.07743538e+00] [-4.68868919e-03 -9.08019781e-04 9.99988596e-01 -9.42009204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020418555 meters 0.24968828652715347 Centerline is valid? [False, False] Translation: X:-20.48, Y:-3.08, Z:-0.94 [[ 9.99989096e-01 6.86546075e-04 4.61918545e-03 -2.04750144e+01] [-6.70413814e-04 9.99993674e-01 -3.49308960e-03 -3.07880241e+00] [-4.62155439e-03 3.48995474e-03 9.99983231e-01 -9.40941377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080418555 meters 0.2549589501607629 Centerline is valid? [False, False] Translation: X:-20.47, Y:-3.07, Z:-0.94 [[ 9.99989704e-01 6.28990199e-04 4.49409559e-03 -2.04731859e+01] [-6.09580758e-04 9.99990488e-01 -4.31894115e-03 -3.07263667e+00] [-4.49676942e-03 4.31615716e-03 9.99980575e-01 -9.43321304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140418555000004 meters 0.2530969950442855 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.08, Z:-0.94 [[ 9.99988616e-01 -4.77152520e-03 2.95654745e-05 -2.04995407e+01] [ 4.77149759e-03 9.99988236e-01 8.72396956e-04 -3.07621924e+00] [-3.37277908e-05 -8.72245953e-04 9.99999619e-01 -9.35336502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200418555 meters 0.2510115401648747 Centerline is valid? [False, False] Translation: X:-20.49, Y:-3.07, Z:-0.93 [[ 9.99952172e-01 -3.40670362e-03 9.16775825e-03 -2.04917779e+01] [ 3.32014339e-03 9.99949925e-01 9.44052319e-03 -3.07047571e+00] [-9.19946024e-03 -9.40963340e-03 9.99913411e-01 -9.29134119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260418555 meters 0.25149286502668916 Centerline is valid? [False, False] Translation: X:-20.55, Y:-3.06, Z:-0.93 [[ 9.99997021e-01 -2.36532087e-03 6.03197369e-04 -2.05488499e+01] [ 2.36306962e-03 9.99990341e-01 3.70598964e-03 -3.06401846e+00] [-6.11957397e-04 -3.70455320e-03 9.99992951e-01 -9.33490986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320418555 meters 0.254192849861772 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.06, Z:-0.93 [[ 9.99991681e-01 -3.58730328e-03 1.94161987e-03 -2.05070147e+01] [ 3.58835475e-03 9.99993417e-01 -5.38331117e-04 -3.05571178e+00] [-1.93967593e-03 5.45293860e-04 9.99997970e-01 -9.28350148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380418555 meters 0.2542073904011835 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.05, Z:-0.93 [[ 9.99999199e-01 -2.64774329e-04 1.23742884e-03 -2.05011663e+01] [ 2.62575774e-04 9.99998387e-01 1.77653677e-03 -3.04569375e+00] [-1.23789723e-03 -1.77621042e-03 9.99997656e-01 -9.34692640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440418555 meters 0.2548069172891729 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.04, Z:-0.93 [[ 9.99998846e-01 -2.74144758e-04 1.49459406e-03 -2.05021235e+01] [ 2.72298571e-04 9.99999200e-01 1.23530657e-03 -3.04242657e+00] [-1.49493152e-03 -1.23489817e-03 9.99998120e-01 -9.33763974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500418555 meters 0.2546228695009063 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.03, Z:-0.95 [[ 9.99961872e-01 6.81911977e-03 5.45474928e-03 -2.05132798e+01] [-6.82422926e-03 9.99976293e-01 9.18641571e-04 -3.03336318e+00] [-5.44835563e-03 -9.55831005e-04 9.99984701e-01 -9.48409445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560418555 meters 0.24994182563398526 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.04, Z:-0.94 [[ 9.99969104e-01 4.40218368e-03 6.51241937e-03 -2.05207534e+01] [-4.39650741e-03 9.99989943e-01 -8.85666443e-04 -3.03993753e+00] [-6.51625274e-03 8.57007180e-04 9.99978402e-01 -9.41037800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620418555 meters 0.24933540547085611 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.05, Z:-0.94 [[ 9.99980611e-01 1.12663346e-03 6.12440299e-03 -2.05186503e+01] [-1.11461542e-03 9.99997447e-01 -1.96538019e-03 -3.05462413e+00] [-6.12660162e-03 1.95851573e-03 9.99979314e-01 -9.42801703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680418555 meters 0.2501700723696775 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.06, Z:-0.94 [[ 9.99980027e-01 -2.99939417e-03 5.56328297e-03 -2.05160553e+01] [ 3.02623448e-03 9.99983793e-01 -4.82241785e-03 -3.06258907e+00] [-5.54872847e-03 4.83915733e-03 9.99972897e-01 -9.44929846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740418555 meters 0.25455314527685685 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.07, Z:-0.94 [[ 9.99960838e-01 -6.35334677e-03 6.16092589e-03 -2.05207447e+01] [ 6.39827851e-03 9.99952878e-01 -7.30094052e-03 -3.07111032e+00] [-6.11425017e-03 7.34007392e-03 9.99954369e-01 -9.40083952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800418555 meters 0.253653561063395 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.07, Z:-0.95 [[ 9.99990586e-01 -1.04590468e-03 4.21110605e-03 -2.05079855e+01] [ 1.05294899e-03 9.99998050e-01 -1.67092457e-03 -3.07355403e+00] [-4.20935021e-03 1.67534292e-03 9.99989737e-01 -9.51312277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860418555 meters 0.2556579463772808 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.07, Z:-0.95 [[ 9.99985821e-01 3.88583508e-04 5.31092908e-03 -2.05149831e+01] [-3.86323717e-04 9.99999834e-01 -4.26517552e-04 -3.07325523e+00] [-5.31109393e-03 4.24459767e-04 9.99985806e-01 -9.45360177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920418555 meters 0.24949878186224603 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.08, Z:-0.94 [[ 9.99987108e-01 3.37632287e-04 5.06644876e-03 -2.05148089e+01] [-3.36658890e-04 9.99999925e-01 -1.92977751e-04 -3.07570128e+00] [-5.06651353e-03 1.91269598e-04 9.99987147e-01 -9.44316633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980418555 meters 0.2538537724561921 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.08, Z:-0.94 [[ 9.99972010e-01 -7.47054557e-03 4.12993517e-04 -2.05340680e+01] [ 7.46918697e-03 9.99966989e-01 3.19873176e-03 -3.07618018e+00] [-4.36876155e-04 -3.19555750e-03 9.99994799e-01 -9.44029841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040418555 meters 0.2530953577749233 Centerline is valid? [False, False] Translation: X:-20.54, Y:-3.07, Z:-0.94 [[ 9.99973042e-01 -7.11878100e-03 1.79958773e-03 -2.05412033e+01] [ 7.11255479e-03 9.99968779e-01 3.44283741e-03 -3.07457475e+00] [-1.82404035e-03 -3.42994493e-03 9.99992454e-01 -9.38959591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100418555 meters 0.2541511828534877 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.06, Z:-0.95 [[ 9.99988030e-01 4.15660315e-04 4.87510709e-03 -2.05128993e+01] [-4.09968438e-04 9.99999233e-01 -1.16848003e-03 -3.06155793e+00] [-4.87558904e-03 1.16646740e-03 9.99987434e-01 -9.47005501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160418555 meters 0.24873702561949923 Centerline is valid? [False, False] Translation: X:-20.52, Y:-3.05, Z:-0.94 [[ 9.99976093e-01 4.13474295e-03 5.54223225e-03 -2.05159352e+01] [-4.14021228e-03 9.99990953e-01 9.75736809e-04 -3.05084766e+00] [-5.53814769e-03 -9.98659500e-04 9.99984166e-01 -9.44788728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220418555 meters 0.2531049862884818 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.04, Z:-0.95 [[ 9.99999540e-01 6.50101580e-04 -7.05930575e-04 -2.05307360e+01] [-6.45192174e-04 9.99975761e-01 6.93261536e-03 -3.04344052e+00] [ 7.10420368e-04 -6.93215671e-03 9.99975720e-01 -9.46326044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280418555000004 meters 0.2547935623182446 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.03, Z:-0.95 [[ 9.99948415e-01 8.69463404e-03 5.25082114e-03 -2.05129198e+01] [-8.71381858e-03 9.99955402e-01 3.64186722e-03 -3.03154895e+00] [-5.21892226e-03 -3.68743406e-03 9.99979583e-01 -9.47292022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340418555 meters 0.2550236263584416 Centerline is valid? [False, False] Translation: X:-20.51, Y:-3.03, Z:-0.95 [[ 9.99976458e-01 4.18082227e-03 5.44092955e-03 -2.05137004e+01] [-4.17361433e-03 9.99990399e-01 -1.33544291e-03 -3.02788441e+00] [-5.44646056e-03 1.31270313e-03 9.99984306e-01 -9.47035713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400418555 meters 0.2534365451508819 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.02, Z:-0.96 [[ 9.99993112e-01 9.45257974e-04 3.58920729e-03 -2.05012494e+01] [-9.28393409e-04 9.99988536e-01 -4.69745018e-03 -3.02387025e+00] [-3.59360644e-03 4.69408563e-03 9.99982526e-01 -9.58616239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460418555000004 meters 0.2544543106293634 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.02, Z:-0.96 [[ 9.99992870e-01 7.32358761e-04 3.70459335e-03 -2.05022689e+01] [-7.12028391e-04 9.99984697e-01 -5.48622695e-03 -3.01921597e+00] [-3.70855454e-03 5.48355005e-03 9.99978088e-01 -9.57315407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520418555 meters 0.2549486868492793 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.01, Z:-0.96 [[ 9.99992478e-01 5.40594484e-04 3.84088993e-03 -2.05036469e+01] [-5.16368689e-04 9.99979987e-01 -6.30553348e-03 -3.01457049e+00] [-3.84422179e-03 6.30350273e-03 9.99972744e-01 -9.55245933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580418555 meters 0.25407508999778017 Centerline is valid? [False, False] Translation: X:-20.53, Y:-3.00, Z:-0.95 [[ 9.99991729e-01 1.18066654e-03 3.89214633e-03 -2.05322384e+01] [-1.19741681e-03 9.99990020e-01 4.30409231e-03 -3.00397453e+00] [-3.88702579e-03 -4.30871723e-03 9.99983163e-01 -9.51282494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640418555000004 meters 0.24986218111502592 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.00, Z:-0.96 [[ 9.99973316e-01 5.16260982e-03 5.16857596e-03 -2.05045443e+01] [-5.14678469e-03 9.99982041e-01 -3.07043016e-03 -3.00203743e+00] [-5.18433457e-03 3.04374668e-03 9.99981929e-01 -9.55993128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700418555 meters 0.2546847959091755 Centerline is valid? [False, False] Translation: X:-20.53, Y:-2.99, Z:-0.95 [[ 9.99989606e-01 -1.59249407e-03 4.27215756e-03 -2.05300229e+01] [ 1.59247148e-03 9.99998732e-01 8.68949375e-06 -2.99194769e+00] [-4.27216598e-03 -1.88611435e-06 9.99990874e-01 -9.53489768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760418555 meters 0.255560353811076 Centerline is valid? [False, False] Translation: X:-20.53, Y:-2.99, Z:-0.96 [[ 9.99969024e-01 6.52313985e-03 4.40458254e-03 -2.05295835e+01] [-6.55642884e-03 9.99949731e-01 7.58614620e-03 -2.98568243e+00] [-4.35487563e-03 -7.61478954e-03 9.99961524e-01 -9.55081975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820418555 meters 0.25400750039673897 Centerline is valid? [False, False] Translation: X:-20.53, Y:-2.99, Z:-0.96 [[ 9.99990598e-01 1.51214579e-03 4.06410483e-03 -2.05278854e+01] [-1.52317831e-03 9.99995160e-01 2.71290341e-03 -2.98784728e+00] [-4.05998285e-03 -2.71906826e-03 9.99988062e-01 -9.56167078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880418555 meters 0.25295405037263335 Centerline is valid? [False, False] Translation: X:-20.55, Y:-2.97, Z:-0.95 [[ 9.99962769e-01 8.04986256e-03 -3.10823223e-03 -2.05471962e+01] [-8.04824191e-03 9.99967470e-01 5.33562993e-04 -2.97299788e+00] [ 3.11242623e-03 -5.08527323e-04 9.99995027e-01 -9.52685880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940418555 meters 0.25640039908813805 Centerline is valid? [False, False] Translation: X:-20.52, Y:-2.97, Z:-0.94 [[ 9.99988285e-01 4.82722226e-03 3.56118470e-04 -2.05160361e+01] [-4.82572387e-03 9.99979972e-01 -4.09481055e-03 -2.97191668e+00] [-3.75877899e-04 4.09304405e-03 9.99991553e-01 -9.38649639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000418555 meters 0.2544239450163852 Centerline is valid? [False, False] Translation: X:-20.53, Y:-2.97, Z:-0.94 [[ 9.99991924e-01 1.54118270e-03 -3.71170288e-03 -2.05341281e+01] [-1.52967017e-03 9.99994017e-01 3.10252689e-03 -2.96799997e+00] [ 3.71646223e-03 -3.09682415e-03 9.99988299e-01 -9.40912611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060418555 meters 0.252764219999739 Centerline is valid? [False, False] Translation: X:-20.58, Y:-2.97, Z:-0.94 [[ 9.99986938e-01 -1.11357788e-03 -4.98829540e-03 -2.05793915e+01] [ 1.12074676e-03 9.99998343e-01 1.43457581e-03 -2.96886674e+00] [ 4.98668962e-03 -1.44014769e-03 9.99986529e-01 -9.42668531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120418555 meters 0.25325406652505095 Centerline is valid? [False, False] Translation: X:-20.55, Y:-2.97, Z:-0.95 [[ 9.99986257e-01 -4.86091096e-03 -1.96425138e-03 -2.05503572e+01] [ 4.87491409e-03 9.99962282e-01 7.18822370e-03 -2.97049696e+00] [ 1.92923597e-03 -7.19770047e-03 9.99972235e-01 -9.49778086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180418555 meters 0.2564455048710852 Centerline is valid? [False, False] Translation: X:-20.52, Y:-2.98, Z:-0.94 [[ 9.99936414e-01 -1.12309154e-02 1.01672353e-03 -2.05153808e+01] [ 1.12302614e-02 9.99936730e-01 6.46650121e-04 -2.97822752e+00] [-1.02392167e-03 -6.35190932e-04 9.99999274e-01 -9.39142908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240418555 meters 0.24948785076484703 Centerline is valid? [False, False] Translation: X:-20.54, Y:-2.98, Z:-0.93 [[ 9.99969022e-01 -6.69224519e-03 -4.14364780e-03 -2.05406845e+01] [ 6.67957742e-03 9.99972999e-01 -3.06348206e-03 -2.97839224e+00] [ 4.16403749e-03 3.03570934e-03 9.99986723e-01 -9.33443335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300418555 meters 0.2546824381344912 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.98, Z:-0.93 [[ 9.99979109e-01 -5.83088828e-03 -2.78954758e-03 -2.05954028e+01] [ 5.82913639e-03 9.99982808e-01 -6.35735813e-04 -2.97798940e+00] [ 2.79320653e-03 6.19461879e-04 9.99995907e-01 -9.29356752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360418555 meters 0.2546467931674787 Centerline is valid? [False, False] Translation: X:-20.57, Y:-2.97, Z:-0.94 [[ 9.99991733e-01 3.67206556e-03 -1.74632899e-03 -2.05656711e+01] [-3.67678938e-03 9.99989570e-01 -2.70952405e-03 -2.97395011e+00] [ 1.73636123e-03 2.71592253e-03 9.99994804e-01 -9.35601996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420418555 meters 0.2542523558907421 Centerline is valid? [False, False] Translation: X:-20.57, Y:-2.97, Z:-0.93 [[ 9.99968929e-01 7.74847476e-03 -1.44960320e-03 -2.05667628e+01] [-7.74783534e-03 9.99969886e-01 4.46195224e-04 -2.96688960e+00] [ 1.45301688e-03 -4.34950073e-04 9.99998850e-01 -9.34752750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480418555 meters 0.2503183516518213 Centerline is valid? [False, False] Translation: X:-20.57, Y:-2.96, Z:-0.93 [[ 9.99972449e-01 7.26263903e-03 -1.53447622e-03 -2.05664434e+01] [-7.26392589e-03 9.99973269e-01 -8.34728566e-04 -2.96208511e+00] [ 1.52837287e-03 8.45851890e-04 9.99998474e-01 -9.34698836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540418555 meters 0.2573051593693971 Centerline is valid? [False, False] Translation: X:-20.57, Y:-2.96, Z:-0.93 [[ 9.99933328e-01 1.15107985e-02 -9.16681825e-04 -2.05686096e+01] [-1.15082525e-02 9.99930035e-01 2.73588423e-03 -2.95652395e+00] [ 9.48109901e-04 -2.72515242e-03 9.99995837e-01 -9.33911172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600418555 meters 0.25471151008882076 Centerline is valid? [False, False] Translation: X:-20.58, Y:-2.95, Z:-0.94 [[ 9.99971560e-01 4.14358470e-03 -6.30164205e-03 -2.05839427e+01] [-4.10883231e-03 9.99976335e-01 5.51779883e-03 -2.95401910e+00] [ 6.32435639e-03 -5.49174951e-03 9.99964921e-01 -9.37084809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660418555 meters 0.25617199432862486 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.95, Z:-0.93 [[ 9.99982269e-01 3.10532686e-03 -5.08112303e-03 -2.05914406e+01] [-3.08764434e-03 9.99989163e-01 3.48419190e-03 -2.94621168e+00] [ 5.09188753e-03 -3.46844142e-03 9.99981021e-01 -9.30764740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720418555 meters 0.25718054666521445 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.94, Z:-0.93 [[ 9.99983605e-01 2.69307582e-03 -5.05344642e-03 -2.05913724e+01] [-2.68089056e-03 9.99993487e-01 2.41650468e-03 -2.94044242e+00] [ 5.05992133e-03 -2.40291732e-03 9.99984311e-01 -9.30882885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780418555000004 meters 0.25062017475813636 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.94, Z:-0.93 [[ 9.99985377e-01 2.66018164e-03 -4.70832503e-03 -2.05931897e+01] [-2.64924606e-03 9.99993783e-01 2.32731844e-03 -2.93939823e+00] [ 4.71448685e-03 -2.31481090e-03 9.99986208e-01 -9.29568615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840418555 meters 0.2559243952267842 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.94, Z:-0.94 [[ 9.99985098e-01 -1.52901062e-05 -5.45920071e-03 -2.05869637e+01] [ 1.55355077e-05 9.99999999e-01 4.49095138e-05 -2.94263918e+00] [ 5.45920002e-03 -4.49936560e-05 9.99985097e-01 -9.35772988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900418555 meters 0.2504819474476712 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.95, Z:-0.93 [[ 9.99976411e-01 -4.15483357e-03 -5.46936461e-03 -2.05874888e+01] [ 4.13487885e-03 9.99984773e-01 -3.65471840e-03 -2.94592867e+00] [ 5.48446607e-03 3.63201703e-03 9.99978364e-01 -9.34806414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960418555000004 meters 0.2493476301787605 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.94, Z:-0.93 [[ 9.99992955e-01 7.73225778e-04 -3.67307805e-03 -2.06430907e+01] [-7.63529660e-04 9.99996223e-01 2.64044906e-03 -2.94499534e+00] [ 3.67510583e-03 -2.63762596e-03 9.99989768e-01 -9.30258670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020418555 meters 0.25660271349540437 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.94, Z:-0.94 [[ 9.99990659e-01 2.87356673e-04 -4.31269922e-03 -2.05889841e+01] [-2.89097271e-04 9.99999877e-01 -4.02980260e-04 -2.93923963e+00] [ 4.31258289e-03 4.04223285e-04 9.99990619e-01 -9.35423541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080418555 meters 0.25104709536953174 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.93, Z:-0.93 [[ 9.99993659e-01 3.88798600e-04 -3.53984925e-03 -2.05932023e+01] [-3.95472141e-04 9.99998146e-01 -1.88475661e-03 -2.92847007e+00] [ 3.53910990e-03 1.88614457e-03 9.99991959e-01 -9.32093540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140418555000004 meters 0.2508612271544884 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.92, Z:-0.93 [[ 9.99995181e-01 3.22284355e-04 -3.08757975e-03 -2.05950376e+01] [-3.30028244e-04 9.99996801e-01 -2.50789621e-03 -2.92439512e+00] [ 3.08676161e-03 2.50890312e-03 9.99992089e-01 -9.30995051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200418555 meters 0.2507499802924605 Centerline is valid? [False, False] Translation: X:-20.59, Y:-2.92, Z:-0.94 [[ 9.99990245e-01 -1.25640000e-03 -4.23454974e-03 -2.05879211e+01] [ 1.23882438e-03 9.99990619e-01 -4.15060002e-03 -2.92201785e+00] [ 4.23972483e-03 4.14531367e-03 9.99982420e-01 -9.36984995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260418555 meters 0.24921649498903892 Centerline is valid? [False, False] Translation: X:-20.65, Y:-2.93, Z:-0.93 [[ 9.99984598e-01 -5.05107195e-03 -2.29989324e-03 -2.06461514e+01] [ 5.03927828e-03 9.99974271e-01 -5.10516273e-03 -2.92842223e+00] [ 2.32562061e-03 5.09349430e-03 9.99984324e-01 -9.29027531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320418555 meters 0.2505798520224366 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.93, Z:-0.93 [[ 9.99905237e-01 -1.35925701e-02 -2.18134194e-03 -2.05950893e+01] [ 1.35618406e-02 9.99816452e-01 -1.35328582e-02 -2.93393683e+00] [ 2.36488788e-03 1.35019928e-02 9.99906047e-01 -9.31385416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380418555 meters 0.2506923441665321 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.94, Z:-0.93 [[ 9.99984419e-01 -5.14639139e-03 -2.16238615e-03 -2.05956785e+01] [ 5.13656915e-03 9.99976576e-01 -4.52357647e-03 -2.93695750e+00] [ 2.18561559e-03 4.51239874e-03 9.99987431e-01 -9.31094897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440418555 meters 0.24819458803954314 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.94, Z:-0.93 [[ 9.99933612e-01 -1.09871243e-02 -3.47207339e-03 -2.06394158e+01] [ 1.09543390e-02 9.99896522e-01 -9.32457527e-03 -2.93952335e+00] [ 3.57416437e-03 9.28592196e-03 9.99950497e-01 -9.34537056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500418555 meters 0.5641612547629649 Centerline is valid? [False, False] Translation: X:-20.60, Y:-2.94, Z:-0.93 [[ 9.99990435e-01 -3.97566400e-03 -1.82329877e-03 -2.05987153e+01] [ 3.96938450e-03 9.99986223e-01 -3.43481245e-03 -2.93823940e+00] [ 1.83692931e-03 3.42754222e-03 9.99992439e-01 -9.27858076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560418555 meters 0.25493025583508705 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.94, Z:-0.94 [[ 9.99980505e-01 -4.71294897e-03 -4.09616024e-03 -2.06375120e+01] [ 4.70038168e-03 9.99984234e-01 -3.07229675e-03 -2.94148824e+00] [ 4.11057523e-03 3.05298334e-03 9.99986891e-01 -9.35230190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620418555 meters 0.2587439010190066 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.94, Z:-0.93 [[ 9.99982170e-01 -4.52571467e-03 -3.89592581e-03 -2.06389676e+01] [ 4.51491868e-03 9.99985956e-01 -2.77544642e-03 -2.94216660e+00] [ 3.90843197e-03 2.75780714e-03 9.99988559e-01 -9.33698187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680418555 meters 0.2540277025967065 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.95, Z:-0.94 [[ 9.99981205e-01 -4.39859158e-03 -4.27106074e-03 -2.06370705e+01] [ 4.39019450e-03 9.99988416e-01 -1.97343002e-03 -2.94711771e+00] [ 4.27969158e-03 1.95464214e-03 9.99988932e-01 -9.35559702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740418555 meters 0.2505645511850557 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.95, Z:-0.93 [[ 9.99925497e-01 -4.79439939e-03 1.12256271e-02 -2.06405858e+01] [ 4.82196213e-03 9.99985423e-01 -2.42956440e-03 -2.94867810e+00] [-1.12138151e-02 2.48351294e-03 9.99934039e-01 -9.33545144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800418555 meters 0.25274953016680046 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.95, Z:-0.94 [[ 9.99947161e-01 -4.39841759e-03 9.29129409e-03 -2.06790417e+01] [ 4.40681307e-03 9.99989900e-01 -8.83305877e-04 -2.94935958e+00] [-9.28731510e-03 9.24204201e-04 9.99956445e-01 -9.41848181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860418555 meters 0.24850576110042147 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.95, Z:-0.94 [[ 9.99947490e-01 -4.49987706e-03 9.20694724e-03 -2.06788841e+01] [ 4.51010608e-03 9.99989235e-01 -1.09054954e-03 -2.94899397e+00] [-9.20194079e-03 1.13201658e-03 9.99957020e-01 -9.41503811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920418555 meters 0.25352208731099474 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.95, Z:-0.94 [[ 9.99959589e-01 -3.96041663e-04 8.98129712e-03 -2.06776273e+01] [ 3.70460226e-04 9.99995871e-01 2.84978567e-03 -2.94728797e+00] [-8.98238866e-03 -2.84634329e-03 9.99955607e-01 -9.42864408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980418555 meters 0.2493173908252513 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.94, Z:-0.94 [[ 9.99958012e-01 -5.82240773e-04 9.14528123e-03 -2.06794100e+01] [ 5.62460721e-04 9.99997498e-01 2.16529277e-03 -2.94426758e+00] [-9.14651907e-03 -2.16005799e-03 9.99955837e-01 -9.39901070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040418555 meters 0.2497784277183549 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.94, Z:-0.94 [[ 9.99933088e-01 7.27062119e-03 8.99763040e-03 -2.06777307e+01] [-7.35158375e-03 9.99932492e-01 8.99808786e-03 -2.93564667e+00] [-8.93160130e-03 -9.06363262e-03 9.99919035e-01 -9.41948150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100418555 meters 0.25691033449658124 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.93, Z:-0.95 [[ 9.99967526e-01 1.49836911e-03 7.91845845e-03 -2.06722784e+01] [-1.51835872e-03 9.99995675e-01 2.51902305e-03 -2.93160699e+00] [-7.91464977e-03 -2.53096431e-03 9.99965476e-01 -9.45695881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160418555 meters 0.25621699278981847 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.93, Z:-0.94 [[ 9.99866723e-01 1.40536375e-02 8.30854509e-03 -2.06739179e+01] [-1.41732011e-02 9.99794253e-01 1.45111065e-02 -2.92561529e+00] [-8.10290180e-03 -1.46269311e-02 9.99860188e-01 -9.44310691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220418555 meters 0.2571471205973995 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.92, Z:-0.95 [[ 9.99953488e-01 5.66149279e-03 7.80826475e-03 -2.06722010e+01] [-5.69722385e-03 9.99973367e-01 4.56143016e-03 -2.91744968e+00] [-7.78223229e-03 -4.60570343e-03 9.99959111e-01 -9.45866488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280418555000004 meters 0.25642049029917746 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.91, Z:-0.94 [[ 9.99921712e-01 9.62839536e-03 7.99154520e-03 -2.06731541e+01] [-9.68909437e-03 9.99924240e-01 7.59176142e-03 -2.91083070e+00] [-7.91784328e-03 -7.66859791e-03 9.99939248e-01 -9.44535800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340418555 meters 0.2596598264047412 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.91, Z:-0.94 [[ 9.99915311e-01 9.71200880e-03 8.66300946e-03 -2.06754537e+01] [-9.77282157e-03 9.99927706e-01 7.00532979e-03 -2.90586548e+00] [-8.59434735e-03 -7.08939856e-03 9.99937937e-01 -9.43932606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400418555 meters 0.2584400055450106 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.90, Z:-0.95 [[ 9.99953327e-01 6.90930764e-03 6.75322979e-03 -2.06651110e+01] [-6.93377368e-03 9.99969459e-01 3.60619044e-03 -2.90316486e+00] [-6.72810726e-03 -3.65284749e-03 9.99970694e-01 -9.52436669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460418555000004 meters 0.25814707332394876 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.90, Z:-0.95 [[ 9.99927266e-01 8.99906126e-03 8.02994109e-03 -2.06732795e+01] [-9.04469389e-03 9.99943051e-01 5.66470786e-03 -2.90167858e+00] [-7.97850674e-03 -5.73692420e-03 9.99951714e-01 -9.45035886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520418555 meters 0.2513045580196352 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.90, Z:-0.95 [[ 9.99972583e-01 2.86017084e-03 6.83033010e-03 -2.06653374e+01] [-2.85673603e-03 9.99995788e-01 -5.12579196e-04 -2.90261046e+00] [-6.83176739e-03 4.93052692e-04 9.99976542e-01 -9.52511204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580418555 meters 0.2588382466448295 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.90, Z:-0.95 [[ 9.99970598e-01 3.02525001e-03 7.04640376e-03 -2.06668183e+01] [-3.02559653e-03 9.99995422e-01 3.85182526e-05 -2.90493333e+00] [-7.04625498e-03 -5.98366948e-05 9.99975173e-01 -9.50813969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640418555000004 meters 0.25780209652955294 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.91, Z:-0.95 [[ 9.99905952e-01 -8.88912997e-03 1.04436846e-02 -2.06441995e+01] [ 8.89579978e-03 9.99960256e-01 -5.92364039e-04 -2.91273462e+00] [-1.04380040e-02 6.85213256e-04 9.99945288e-01 -9.52431635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700418555 meters 0.2550848760455786 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.92, Z:-0.95 [[ 9.99883421e-01 -1.35114510e-02 7.11227720e-03 -2.06653062e+01] [ 1.36101149e-02 9.99809200e-01 -1.40117198e-02 -2.92115784e+00] [-6.92160151e-03 1.41068852e-02 9.99876536e-01 -9.51957811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760418555 meters 0.25388606864100316 Centerline is valid? [False, False] Translation: X:-20.64, Y:-2.93, Z:-0.95 [[ 9.99922445e-01 -1.24526972e-02 1.84768778e-04 -2.06433950e+01] [ 1.24535982e-02 9.99903533e-01 -6.15084992e-03 -2.93110864e+00] [-1.08156283e-04 6.15267393e-03 9.99981066e-01 -9.47024523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820418555 meters 0.26087737723088716 Centerline is valid? [False, False] Translation: X:-20.62, Y:-2.94, Z:-0.95 [[ 9.99919729e-01 -1.09036119e-02 6.45350290e-03 -2.06228942e+01] [ 1.09809066e-02 9.99866914e-01 -1.20654337e-02 -2.94124053e+00] [-6.32108722e-03 1.21353305e-02 9.99906384e-01 -9.50742349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880418555 meters 0.25666787302799665 Centerline is valid? [False, False] Translation: X:-20.62, Y:-2.95, Z:-0.95 [[ 9.99916673e-01 -1.14296856e-02 6.00071842e-03 -2.06210442e+01] [ 1.14980633e-02 9.99867915e-01 -1.14868391e-02 -2.94830576e+00] [-5.86863486e-03 1.15548785e-02 9.99916018e-01 -9.52094205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940418555 meters 0.25628844310583776 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.96, Z:-0.95 [[ 9.99934623e-01 -9.33966757e-03 6.59692282e-03 -2.06726792e+01] [ 9.38349379e-03 9.99933901e-01 -6.64402122e-03 -2.95655516e+00] [-6.53443383e-03 6.70548904e-03 9.99956168e-01 -9.49007574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000418555 meters 0.255303227492382 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.97, Z:-0.95 [[ 9.99968505e-01 -5.20322507e-03 5.99290600e-03 -2.06704476e+01] [ 5.21109378e-03 9.99985580e-01 -1.29813812e-03 -2.96596641e+00] [-5.98606507e-03 1.32932683e-03 9.99981200e-01 -9.50580015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060418555 meters 0.2548853942497074 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.97, Z:-0.95 [[ 9.99970545e-01 -5.13787668e-03 5.70185077e-03 -2.06692411e+01] [ 5.14443912e-03 9.99986121e-01 -1.13686197e-03 -2.96719753e+00] [-5.69593057e-03 1.16616131e-03 9.99983098e-01 -9.51066985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120418555 meters 0.25269170694054427 Centerline is valid? [False, False] Translation: X:-20.70, Y:-2.96, Z:-0.94 [[ 9.99987664e-01 4.52593070e-03 2.04617296e-03 -2.06990916e+01] [-4.52437405e-03 9.99989473e-01 -7.64754072e-04 -2.96351657e+00] [-2.04961264e-03 7.55486986e-04 9.99997614e-01 -9.42212425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180418555 meters 0.24976039350906232 Centerline is valid? [False, False] Translation: X:-20.65, Y:-2.97, Z:-0.94 [[ 9.99987423e-01 4.42055321e-03 2.36904988e-03 -2.06514151e+01] [-4.41433404e-03 9.99986814e-01 -2.62400217e-03 -2.96525727e+00] [-2.38061818e-03 2.61351139e-03 9.99993751e-01 -9.41821799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240418555 meters 0.2534059565640339 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.96, Z:-0.95 [[ 9.99957918e-01 9.14396327e-03 7.41282302e-04 -2.06934758e+01] [-9.14624062e-03 9.99953276e-01 3.12931425e-03 -2.96230003e+00] [-7.12633331e-04 -3.13596251e-03 9.99994829e-01 -9.46837885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300418555 meters 0.25433742139388055 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.96, Z:-0.95 [[ 9.99989159e-01 4.64618882e-03 3.08901657e-04 -2.06918570e+01] [-4.64577769e-03 9.99988339e-01 -1.31858102e-03 -2.96469429e+00] [-3.15024431e-04 1.31713163e-03 9.99999083e-01 -9.47510993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360418555 meters 0.2549827508664987 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.96, Z:-0.95 [[ 9.99985031e-01 5.45461078e-03 4.31003925e-04 -2.06918729e+01] [-5.45422117e-03 9.99984721e-01 -9.00031130e-04 -2.96087846e+00] [-4.35906659e-04 8.97666866e-04 9.99999502e-01 -9.48108037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420418555 meters 0.254711656175044 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.96, Z:-0.95 [[ 9.99985449e-01 5.38532273e-03 -3.14945630e-04 -2.06886394e+01] [-5.38570115e-03 9.99984761e-01 -1.21330759e-03 -2.96032940e+00] [ 3.08406778e-04 1.21498614e-03 9.99999214e-01 -9.50220005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480418555 meters 0.25566807909958816 Centerline is valid? [False, False] Translation: X:-20.70, Y:-2.96, Z:-0.94 [[ 9.99968117e-01 7.95870654e-03 6.51180133e-04 -2.06955581e+01] [-7.95928420e-03 9.99967929e-01 8.89366122e-04 -2.95685094e+00] [-6.44081045e-04 -8.94520694e-04 9.99999392e-01 -9.43337535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540418555 meters 0.2546671253304622 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.96, Z:-0.94 [[ 9.99976241e-01 4.68529314e-03 -5.05630157e-03 -2.07119957e+01] [-4.64764830e-03 9.99961586e-01 7.43137807e-03 -2.95527344e+00] [ 5.09092552e-03 -7.40770159e-03 9.99959603e-01 -9.44898123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600418555 meters 0.2565441166081731 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.95, Z:-0.94 [[ 9.99989423e-01 6.64962487e-04 -4.55107874e-03 -2.07141838e+01] [-6.51581889e-04 9.99995463e-01 2.94094511e-03 -2.95267982e+00] [ 4.55301371e-03 -2.93794860e-03 9.99985319e-01 -9.43307019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660418555 meters 0.24874303050859406 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.95, Z:-0.94 [[ 9.99990093e-01 7.12027070e-04 -4.39389808e-03 -2.07144669e+01] [-6.99252175e-04 9.99995526e-01 2.90826894e-03 -2.95138675e+00] [ 4.39594919e-03 -2.90516769e-03 9.99986118e-01 -9.43677616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720418555 meters 0.2603483025113948 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.95, Z:-0.94 [[ 9.99983041e-01 -3.45891463e-03 -4.68545551e-03 -2.07129010e+01] [ 3.45490732e-03 9.99993659e-01 -8.63090085e-04 -2.95478824e+00] [ 4.68841116e-03 8.46887633e-04 9.99988651e-01 -9.44948023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780418555000004 meters 0.2562871508840333 Centerline is valid? [False, False] Translation: X:-20.72, Y:-2.96, Z:-0.94 [[ 9.99986295e-01 -3.25951811e-03 -4.09703342e-03 -2.07153815e+01] [ 3.26033368e-03 9.99994667e-01 1.92399904e-04 -2.96074248e+00] [ 4.09638444e-03 -2.05754963e-04 9.99991589e-01 -9.43110695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840418555 meters 0.25563507880594266 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.96, Z:-0.94 [[ 9.99985927e-01 -3.14278826e-03 -4.27424338e-03 -2.07143915e+01] [ 3.14588991e-03 9.99994793e-01 7.19130976e-04 -2.96407905e+00] [ 4.27196105e-03 -7.32567155e-04 9.99990607e-01 -9.44056956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900418555 meters 0.24887970762876716 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.97, Z:-0.95 [[ 9.99983532e-01 -3.51306801e-03 -4.53808418e-03 -2.07616436e+01] [ 3.52598838e-03 9.99989744e-01 2.84224214e-03 -2.96939716e+00] [ 4.52805265e-03 -2.85819656e-03 9.99985664e-01 -9.45237793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960418555000004 meters 0.25332021363431023 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.97, Z:-0.94 [[ 9.99962995e-01 -7.46635453e-03 -4.27351303e-03 -2.07628465e+01] [ 7.46437962e-03 9.99972027e-01 -4.77891321e-04 -2.97417035e+00] [ 4.27696159e-03 4.45974513e-04 9.99990754e-01 -9.44504109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02041855499999 meters 0.2518560835991673 Centerline is valid? [False, False] Translation: X:-20.76, Y:-2.98, Z:-0.95 [[ 9.99970831e-01 -5.84778401e-03 -4.91335871e-03 -2.07582774e+01] [ 5.85539310e-03 9.99981678e-01 1.53569886e-03 -2.97841995e+00] [ 4.90428826e-03 -1.56442371e-03 9.99986750e-01 -9.48343043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080418555 meters 0.25456434732469535 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.98, Z:-0.95 [[ 9.99966069e-01 -7.09792279e-03 -4.18100505e-03 -2.07119520e+01] [ 7.09288872e-03 9.99974104e-01 -1.21763326e-03 -2.97869440e+00] [ 4.18953945e-03 1.18793654e-03 9.99990518e-01 -9.46550210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140418555 meters 0.24943580489503123 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.98, Z:-0.95 [[ 9.99988504e-01 -2.57554948e-03 -4.04466474e-03 -2.07130745e+01] [ 2.59019249e-03 9.99990096e-01 3.61927193e-03 -2.98171896e+00] [ 4.03530307e-03 -3.62970678e-03 9.99985271e-01 -9.45308805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200418555 meters 0.25499419536501355 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.98, Z:-0.95 [[ 9.99990165e-01 -2.25762904e-03 -3.81743666e-03 -2.07135088e+01] [ 2.27032534e-03 9.99991896e-01 3.32481316e-03 -2.97689707e+00] [ 3.80989953e-03 -3.33344728e-03 9.99987186e-01 -9.45840652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26041855499999 meters 0.2581612045764968 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.98, Z:-0.94 [[ 9.99992738e-01 3.54118584e-03 -1.40853719e-03 -2.06920092e+01] [-3.54411990e-03 9.99991544e-01 -2.08604571e-03 -2.97751350e+00] [ 1.40113820e-03 2.09102259e-03 9.99996832e-01 -9.44979567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32041855499999 meters 0.25474328818695496 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.97, Z:-0.95 [[ 9.99993313e-01 3.47424858e-03 -1.14170058e-03 -2.06925631e+01] [-3.47721221e-03 9.99990564e-01 -2.60415144e-03 -2.97341544e+00] [ 1.13264234e-03 2.60810396e-03 9.99995957e-01 -9.45543155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38041855499999 meters 0.25002457956425644 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.97, Z:-0.94 [[ 9.99993375e-01 3.46480836e-03 -1.11595456e-03 -2.06932949e+01] [-3.46774428e-03 9.99990503e-01 -2.63975740e-03 -2.97361650e+00] [ 1.10679770e-03 2.64360976e-03 9.99995893e-01 -9.44295155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440418555 meters 0.2549855164980381 Centerline is valid? [False, False] Translation: X:-20.69, Y:-2.97, Z:-0.95 [[ 9.99993800e-01 3.41487012e-03 -8.59975695e-04 -2.06936190e+01] [-3.41762074e-03 9.99988983e-01 -3.21759772e-03 -2.96851298e+00] [ 8.48978542e-04 3.22051684e-03 9.99994454e-01 -9.45080728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500418555 meters 0.25610031520391346 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.98, Z:-0.95 [[ 9.99987355e-01 -2.84460635e-03 4.14707651e-03 -2.06678809e+01] [ 2.84728133e-03 9.99995742e-01 -6.39265357e-04 -2.97512744e+00] [-4.14524040e-03 6.51065167e-04 9.99991197e-01 -9.51141021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560418555 meters 0.2536715940669452 Centerline is valid? [False, False] Translation: X:-20.71, Y:-2.98, Z:-0.95 [[ 9.99994563e-01 1.44950970e-04 3.29428102e-03 -2.07149891e+01] [-1.59102916e-04 9.99990759e-01 4.29605750e-03 -2.97563881e+00] [-3.29362786e-03 -4.29655827e-03 9.99985346e-01 -9.51841627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620418555 meters 0.25044027935377006 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.98, Z:-0.95 [[ 9.99977008e-01 -3.96286037e-03 5.50257041e-03 -2.06747581e+01] [ 3.96612462e-03 9.99991965e-01 -5.82437102e-04 -2.97953954e+00] [-5.50021808e-03 6.04247591e-04 9.99984691e-01 -9.46033534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68041855499999 meters 0.24983786281567744 Centerline is valid? [False, False] Translation: X:-20.67, Y:-2.99, Z:-0.95 [[ 9.99954266e-01 -8.01418104e-03 5.21917566e-03 -2.06737433e+01] [ 8.03369739e-03 9.99960776e-01 -3.72918661e-03 -2.98670893e+00] [-5.18908457e-03 3.77094533e-03 9.99979426e-01 -9.46233309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74041855499999 meters 0.2500192137683761 Centerline is valid? [False, False] Translation: X:-20.68, Y:-2.99, Z:-0.94 [[ 9.99957720e-01 -7.03492710e-03 5.92183927e-03 -2.06782506e+01] [ 7.04816497e-03 9.99972703e-01 -2.21753763e-03 -2.99029458e+00] [-5.90607740e-03 2.25918197e-03 9.99980007e-01 -9.42633057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800418555 meters 0.25526204938412694 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.00, Z:-0.94 [[ 9.99921706e-01 -1.13110534e-02 5.35175726e-03 -2.06755526e+01] [ 1.13398414e-02 9.99921230e-01 -5.37975263e-03 -2.99888066e+00] [-5.29048504e-03 5.44001950e-03 9.99971208e-01 -9.44552029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860418555 meters 0.25092794110142846 Centerline is valid? [False, False] Translation: X:-20.68, Y:-3.00, Z:-0.94 [[ 9.99960439e-01 -6.85102907e-03 5.67304304e-03 -2.06774744e+01] [ 6.85206850e-03 9.99976511e-01 -1.63807503e-04 -3.00387772e+00] [-5.67178753e-03 2.02673102e-04 9.99983895e-01 -9.42990682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920418555 meters 0.25512620326661073 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.01, Z:-0.94 [[ 9.99994233e-01 -3.24127533e-03 1.01391101e-03 -2.06965127e+01] [ 3.24701776e-03 9.99978402e-01 -5.71421029e-03 -3.00653899e+00] [-9.95367781e-04 5.71746952e-03 9.99983160e-01 -9.44045627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980418555 meters 0.2533887171128735 Centerline is valid? [False, False] Translation: X:-20.70, Y:-3.00, Z:-0.94 [[ 9.99998857e-01 9.50161792e-04 1.17632604e-03 -2.06979420e+01] [-9.48125526e-04 9.99998053e-01 -1.73038820e-03 -3.00464593e+00] [-1.17796790e-03 1.72927092e-03 9.99997811e-01 -9.42420667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04041855499999 meters 0.2541888393496245 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.01, Z:-0.95 [[ 9.99998752e-01 1.73225967e-05 -1.57948201e-03 -2.07359375e+01] [-1.94595502e-05 9.99999085e-01 -1.35294042e-03 -3.00744884e+00] [ 1.57945713e-03 1.35296947e-03 9.99997837e-01 -9.49206399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10041855499999 meters 0.2544093961733428 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.00, Z:-0.95 [[ 9.99964112e-01 8.33522897e-03 -1.51630859e-03 -2.07361106e+01] [-8.32554643e-03 9.99945599e-01 6.28360483e-03 -3.00167378e+00] [ 1.56860138e-03 -6.27075522e-03 9.99979108e-01 -9.48888258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16041855499999 meters 0.25463061116070806 Centerline is valid? [False, False] Translation: X:-20.74, Y:-3.00, Z:-0.95 [[ 9.99990027e-01 4.34865736e-03 -1.01704748e-03 -2.07384349e+01] [-4.34730114e-03 9.99989663e-01 1.33192040e-03 -2.99571576e+00] [ 1.02282903e-03 -1.32748571e-03 9.99998596e-01 -9.47430020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220418555 meters 0.2542337768049229 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.99, Z:-0.95 [[ 9.99988784e-01 4.51827146e-03 -1.42025630e-03 -2.07367484e+01] [-4.51756137e-03 9.99989669e-01 5.02781989e-04 -2.98983266e+00] [ 1.42251333e-03 -4.96360255e-04 9.99998865e-01 -9.48321701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280418555 meters 0.25812034632140457 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.98, Z:-0.95 [[ 9.99983687e-01 5.47288068e-03 -1.63484274e-03 -2.07361186e+01] [-5.47226705e-03 9.99984955e-01 3.79581212e-04 -2.98304036e+00] [ 1.63689554e-03 -3.70628724e-04 9.99998592e-01 -9.48509828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340418555 meters 0.25048965456576155 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.98, Z:-0.95 [[ 9.99983085e-01 5.59947521e-03 -1.57329996e-03 -2.07361398e+01] [-5.59927081e-03 9.99984315e-01 1.34291432e-04 -2.98030756e+00] [ 1.57402724e-03 -1.25479828e-04 9.99998753e-01 -9.48832126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40041855499999 meters 0.2585270949388238 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.98, Z:-0.94 [[ 9.99995136e-01 3.02997970e-03 -7.39963823e-04 -2.07421466e+01] [-3.03156254e-03 9.99993099e-01 -2.14741004e-03 -2.98179447e+00] [ 7.33452107e-04 2.14964284e-03 9.99997421e-01 -9.44053567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46041855499999 meters 0.24907565358160716 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.99, Z:-0.95 [[ 9.99997883e-01 -1.54758296e-03 -1.35572418e-03 -2.07383318e+01] [ 1.53897403e-03 9.99978792e-01 -6.32825296e-03 -2.98680170e+00] [ 1.36548893e-03 6.32615314e-03 9.99979057e-01 -9.47206113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52041855499999 meters 0.2569689676160424 Centerline is valid? [False, False] Translation: X:-20.74, Y:-2.99, Z:-0.95 [[ 9.99995588e-01 2.75318013e-03 -1.11560452e-03 -2.07400135e+01] [-2.75525866e-03 9.99994463e-01 -1.86590344e-03 -2.98654691e+00] [ 1.11046118e-03 1.86896899e-03 9.99997637e-01 -9.45661511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580418555 meters 0.2475168851430487 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.94 [[ 9.99993897e-01 -3.41027513e-03 -7.58336388e-04 -2.07905020e+01] [ 3.40724635e-03 9.99986354e-01 -3.96003390e-03 -3.00101953e+00] [ 7.71830845e-04 3.95742590e-03 9.99991871e-01 -9.43184852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640418555 meters 0.2538527108420163 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.01, Z:-0.95 [[ 9.99997306e-01 -1.90488440e-03 -1.32605766e-03 -2.07854638e+01] [ 1.90223903e-03 9.99996204e-01 -1.99332299e-03 -3.00560156e+00] [ 1.32984968e-03 1.99079514e-03 9.99997134e-01 -9.48223758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700418555 meters 0.2539069973958633 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.01, Z:-0.95 [[ 9.99997446e-01 -1.85200437e-03 -1.29547032e-03 -2.07857500e+01] [ 1.84944589e-03 9.99996343e-01 -1.97336538e-03 -3.00607678e+00] [ 1.29912026e-03 1.97096444e-03 9.99997214e-01 -9.47655736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76041855499999 meters 0.24703609822323574 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.95 [[ 9.99997774e-01 -1.75613298e-03 -1.16947868e-03 -2.07858966e+01] [ 1.75365322e-03 9.99996219e-01 -2.11806069e-03 -3.00409521e+00] [ 1.17319386e-03 2.11600511e-03 9.99997073e-01 -9.48126210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82041855499999 meters 0.25351410751961984 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.95 [[ 9.99997942e-01 -1.69506117e-03 -1.11501694e-03 -2.07855594e+01] [ 1.69258198e-03 9.99996102e-01 -2.22065421e-03 -3.00244783e+00] [ 1.11877674e-03 2.21876238e-03 9.99996913e-01 -9.48962842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88041855499999 meters 0.2553181655782986 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.95 [[ 9.99996064e-01 2.59715304e-03 -1.06187187e-03 -2.07864460e+01] [-2.59487242e-03 9.99994336e-01 2.14350537e-03 -3.00367947e+00] [ 1.06743286e-03 -2.14074151e-03 9.99997139e-01 -9.47587145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940418555 meters 0.2556969839413241 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.95 [[ 9.99996424e-01 2.56898153e-03 -7.43504508e-04 -2.07880033e+01] [-2.56778522e-03 9.99995414e-01 1.60552132e-03 -3.00071634e+00] [ 7.47625653e-04 -1.60360642e-03 9.99998435e-01 -9.46316453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000418555 meters 0.25737759258000104 Centerline is valid? [False, False] Translation: X:-20.79, Y:-3.00, Z:-0.95 [[ 9.99977937e-01 6.59289200e-03 -8.11450871e-04 -2.07867379e+01] [-6.58869309e-03 9.99965427e-01 5.07280475e-03 -2.99596041e+00] [ 8.44867271e-04 -5.06734643e-03 9.99986804e-01 -9.48084114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060418555 meters 0.2582933319536113 Centerline is valid? [False, False] Translation: X:-20.83, Y:-3.00, Z:-0.95 [[ 9.99991583e-01 3.03634181e-03 -2.75941344e-03 -2.08290074e+01] [-3.02888522e-03 9.99991761e-01 2.70241035e-03 -2.99503408e+00] [ 2.76759615e-03 -2.69402966e-03 9.99992541e-01 -9.52374769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120418555 meters 0.25759678581521633 Centerline is valid? [False, False] Translation: X:-20.83, Y:-2.99, Z:-0.95 [[ 9.99992090e-01 2.91610370e-03 -2.70480302e-03 -2.08298561e+01] [-2.90985681e-03 9.99993097e-01 2.31062402e-03 -2.99324377e+00] [ 2.71152237e-03 -2.30273515e-03 9.99993673e-01 -9.51000823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18041855499999 meters 0.25489368716904887 Centerline is valid? [False, False] Translation: X:-20.83, Y:-2.99, Z:-0.95 [[ 9.99992212e-01 3.01824657e-03 -2.54291601e-03 -2.08301004e+01] [-3.01365278e-03 9.99993824e-01 1.80840672e-03 -2.98817026e+00] [ 2.54835852e-03 -1.80072917e-03 9.99995132e-01 -9.51614382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24041855499999 meters 0.24772215893901758 Centerline is valid? [False, False] Translation: X:-20.81, Y:-2.99, Z:-0.96 [[ 9.99990819e-01 -3.28192779e-03 2.75520191e-03 -2.08055802e+01] [ 3.27117830e-03 9.99987056e-01 3.89701024e-03 -2.98826975e+00] [-2.76795595e-03 -3.88796170e-03 9.99988611e-01 -9.57237573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1846.98 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%| | 0/2210 [00:00