+ python -m lidar_slam --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62 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 0.004860624 Adjusted end_distance from 9.223372036854776e+18 to 160.964860624 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004860624 meters 0.11104501032663303 Centerline is valid? [0, False] SLAMing on 0.06486062399999999 meters 0.1224361281295303 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999980e-01 1.86982104e-04 -6.96251817e-05 1.00047937e-03] [-1.86972429e-04 9.99999973e-01 1.38946067e-04 1.23501802e-03] [ 6.96511603e-05 -1.38933046e-04 9.99999988e-01 -1.15751373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12486062399999998 meters 0.13620777180611118 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 5.26447623e-05 1.52784573e-04 1.02481348e-03] [-5.26443713e-05 9.99999999e-01 -2.56319826e-06 2.76218404e-03] [-1.52784707e-04 2.55515498e-06 9.99999988e-01 -1.79956924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18486062399999997 meters 0.14159215609355497 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999873e-01 5.74540849e-05 5.00482853e-04 1.01050778e-03] [-5.75832213e-05 9.99999965e-01 2.58013058e-04 3.02647229e-03] [-5.00468012e-04 -2.58041844e-04 9.99999841e-01 -2.83770488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24486062399999997 meters 0.14558126101314584 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999789e-01 -1.22084630e-04 6.38618046e-04 1.48147744e-03] [ 1.22114977e-04 9.99999991e-01 -4.74808667e-05 4.62826772e-03] [-6.38612244e-04 4.75588415e-05 9.99999795e-01 -3.79665336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3048606239999999 meters 0.15405871180773975 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.01 [[ 9.99999420e-01 -1.40356284e-04 1.06756985e-03 2.53690740e-03] [ 1.40229857e-04 9.99999983e-01 1.18498880e-04 5.52582176e-03] [-1.06758646e-03 -1.18349106e-04 9.99999423e-01 -6.45328867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3648606239999999 meters 0.16179682054907824 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.01 [[ 9.99999380e-01 1.97355970e-04 1.09578231e-03 4.38605332e-03] [-1.97998681e-04 9.99999808e-01 5.86454380e-04 6.28071400e-03] [-1.09566636e-03 -5.86670979e-04 9.99999228e-01 -9.02479112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4248606239999999 meters 0.1824574450450626 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.03 [[ 0.99999032 0.00389836 0.00204124 0.05771176] [-0.00393861 0.99979027 0.02009732 -0.00214803] [-0.00196247 -0.02010516 0.99979594 -0.02703843] [ 0. 0. 0. 1. ]] SLAMing on 0.4848606239999999 meters 0.2131188408331774 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.05 [[ 0.99992103 0.00921233 0.00854792 0.07626121] [-0.00958487 0.99895815 0.04461773 -0.01240355] [-0.00812798 -0.04469614 0.99896756 -0.05042566] [ 0. 0. 0. 1. ]] SLAMing on 0.5448606239999999 meters 0.20576153502757197 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.05 [[ 0.99991473 0.0108545 0.00726037 0.08171938] [-0.01116412 0.99896652 0.04405962 -0.00752369] [-0.00677462 -0.04413692 0.99900252 -0.05108043] [ 0. 0. 0. 1. ]] SLAMing on 0.6048606239999998 meters 0.19658170496690303 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99961792e-01 8.68832403e-03 -9.62876228e-04 5.45643103e-02] [-8.67377631e-03 9.99861509e-01 1.42031450e-02 1.85083543e-02] [ 1.08614440e-03 -1.41942506e-02 9.99898667e-01 -3.49614616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6648606239999999 meters 0.23648050231773998 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.08 [[ 0.99993214 0.01160587 -0.00101383 0.12032607] [-0.01147977 0.99640221 0.08396931 -0.02036016] [ 0.00198472 -0.08395197 0.99646783 -0.08027191] [ 0. 0. 0. 1. ]] SLAMing on 0.7248606239999998 meters 0.20954711111177265 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.02 [[ 9.99969309e-01 -2.64663940e-04 -7.83018799e-03 1.32944353e-01] [ 5.68880385e-05 9.99648187e-01 -2.65235695e-02 3.95797267e-02] [ 7.83445306e-03 2.65223100e-02 9.99617521e-01 -1.66032526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7848606239999999 meters 0.18980624607359994 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.00 [[ 9.99810962e-01 -1.07461977e-02 -1.62036900e-02 1.01206752e-01] [ 1.00249489e-02 9.98983254e-01 -4.39540424e-02 5.22051892e-02] [ 1.66595538e-02 4.37832923e-02 9.98902139e-01 6.71874930e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8448606239999998 meters 0.18266435511640736 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.00 [[ 9.99787173e-01 -1.29033003e-02 -1.60970176e-02 9.97145182e-02] [ 1.21717536e-02 9.98924299e-01 -4.47447580e-02 5.05712716e-02] [ 1.66570571e-02 4.45393062e-02 9.98868756e-01 7.53969559e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9048606239999999 meters 0.1685151799147109 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:0.00 [[ 9.99777640e-01 -1.42785979e-02 -1.55175038e-02 9.74542400e-02] [ 1.35700772e-02 9.98901857e-01 -4.48434338e-02 4.98757283e-02] [ 1.61407648e-02 4.46228887e-02 9.98873502e-01 7.92425425e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9648606239999998 meters 0.15473526732004206 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.01 [[ 0.99966345 -0.02245159 -0.01299649 0.0992403 ] [ 0.02205917 0.99931872 -0.02958857 0.04401178] [ 0.01365195 0.02929192 0.99947767 -0.00859631] [ 0. 0. 0. 1. ]] SLAMing on 1.0248606239999998 meters 0.149526090927108 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.01 [[ 0.99965116 -0.02318009 -0.01265836 0.09902585] [ 0.02279909 0.99930602 -0.02945635 0.04411243] [ 0.01333238 0.02915748 0.99948591 -0.01013149] [ 0. 0. 0. 1. ]] SLAMing on 1.0848606239999998 meters 0.14400617823933803 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:-0.01 [[ 0.99973121 -0.01982277 -0.01202375 0.09820362] [ 0.01950827 0.9994785 -0.02573238 0.04684918] [ 0.01252756 0.0254909 0.99959656 -0.01174988] [ 0. 0. 0. 1. ]] SLAMing on 1.1448606239999999 meters 0.13409426495856214 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:-0.01 [[ 0.99979695 -0.01636398 -0.01175898 0.09777901] [ 0.01609131 0.9996078 -0.02291993 0.0523835 ] [ 0.01212942 0.02272606 0.99966815 -0.01206847] [ 0. 0. 0. 1. ]] SLAMing on 1.2048606239999997 meters 0.13293354221519127 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99985251 -0.0128704 -0.01137156 0.09802722] [ 0.0126381 0.99971468 -0.02026921 0.06035843] [ 0.01162919 0.02012251 0.99972989 -0.0136563 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2648606239999998 meters 0.12613612632462248 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99983232 -0.01451729 -0.01116162 0.09638787] [ 0.01427499 0.99966714 -0.02149013 0.0625013 ] [ 0.01146988 0.0213272 0.99970675 -0.01281904] [ 0. 0. 0. 1. ]] SLAMing on 1.3248606239999998 meters 0.11811546904992197 Centerline is valid? [False, False] Translation: X:0.10, Y:0.06, Z:-0.01 [[ 0.99982302 -0.01508867 -0.01123664 0.09679821] [ 0.01484704 0.9996632 -0.02128516 0.06258403] [ 0.01155402 0.02111456 0.9997103 -0.01418068] [ 0. 0. 0. 1. ]] SLAMing on 1.3848606239999999 meters 0.17110285778460524 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.02 [[ 0.99965732 -0.02228814 -0.01372869 0.16456118] [ 0.02214589 0.99970036 -0.01042807 0.05787293] [ 0.013957 0.01012046 0.99985138 -0.02070976] [ 0. 0. 0. 1. ]] SLAMing on 1.4448606239999997 meters 0.11383240553985398 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.02 [[ 0.99966177 -0.02217442 -0.01358821 0.11222185] [ 0.02200467 0.99967951 -0.01251717 0.05955546] [ 0.01386142 0.01221393 0.99982933 -0.02239437] [ 0. 0. 0. 1. ]] SLAMing on 1.5048606239999998 meters 0.11089728062134743 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.02 [[ 0.9996719 -0.02165971 -0.01367315 0.11371007] [ 0.02150565 0.99970469 -0.0113152 0.05810677] [ 0.0139142 0.01101744 0.99984249 -0.02482232] [ 0. 0. 0. 1. ]] SLAMing on 1.5648606239999998 meters 0.10828489283489795 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.03 [[ 0.99974575 -0.01794483 -0.01365341 0.11392215] [ 0.01785546 0.99981854 -0.00663907 0.0576909 ] [ 0.01377007 0.0063936 0.99988475 -0.02667726] [ 0. 0. 0. 1. ]] SLAMing on 1.6248606239999996 meters 0.10517386770871372 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.03 [[ 0.99981398 -0.01399637 -0.01327021 0.11306431] [ 0.01396399 0.9998993 -0.00252944 0.05860125] [ 0.01330428 0.00234366 0.99990875 -0.02703829] [ 0. 0. 0. 1. ]] SLAMing on 1.6848606239999997 meters 0.10230449841776312 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:-0.03 [[ 9.99850704e-01 -1.14991984e-02 -1.28972455e-02 1.14252413e-01] [ 1.14854577e-02 9.99933391e-01 -1.13896903e-03 6.13126463e-02] [ 1.29094836e-02 9.90668217e-04 9.99916178e-01 -2.85318913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7448606239999997 meters 0.09847408523939884 Centerline is valid? [False, True] Translation: X:0.11, Y:0.06, Z:-0.03 [[ 0.9998915 -0.00741011 -0.01273122 0.11426499] [ 0.00744663 0.99996829 0.00282326 0.06271534] [ 0.0127099 -0.00291775 0.99991497 -0.02937033] [ 0. 0. 0. 1. ]] SLAMing on 1.8048606239999998 meters 0.09599428406292113 Centerline is valid? [True, True] Translation: X:0.18, Y:0.07, Z:-0.03 [[ 9.99867353e-01 -4.52644639e-03 -1.56456820e-02 1.75119346e-01] [ 4.52776892e-03 9.99989748e-01 4.91087984e-05 7.02398065e-02] [ 1.56452993e-02 -1.19942317e-04 9.99877598e-01 -2.56822223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8648606239999996 meters 0.09445319930703594 Centerline is valid? [True, True] Translation: X:0.23, Y:0.08, Z:-0.03 [[ 9.99804104e-01 5.51569866e-04 -1.97851006e-02 2.34343116e-01] [-5.50473200e-04 9.99999847e-01 6.08749687e-05 7.96704787e-02] [ 1.97851311e-02 -4.99718759e-05 9.99804254e-01 -3.14694683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9248606239999997 meters 0.09535904829126904 Centerline is valid? [True, True] Translation: X:0.29, Y:0.09, Z:-0.03 [[ 9.99739555e-01 5.06485836e-03 -2.22524223e-02 2.94276610e-01] [-5.06459121e-03 9.99987173e-01 6.83622238e-05 9.07870165e-02] [ 2.22524831e-02 4.43550032e-05 9.99752382e-01 -3.15146965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9848606239999997 meters 0.09533253921999 Centerline is valid? [True, True] Translation: X:0.35, Y:0.10, Z:-0.04 [[ 9.99708452e-01 6.88183307e-03 -2.31441635e-02 3.51460235e-01] [-6.88216125e-03 9.99976316e-01 6.54725373e-05 9.70603795e-02] [ 2.31440659e-02 9.38284164e-05 9.99732136e-01 -3.77405112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0448606239999996 meters 0.09268592135149707 Centerline is valid? [True, True] Translation: X:0.41, Y:0.10, Z:-0.03 [[ 9.99690516e-01 5.78209217e-03 -2.41958592e-02 4.10205506e-01] [-5.78239501e-03 9.99983280e-01 5.74496235e-05 9.97895597e-02] [ 2.41957868e-02 8.24781718e-05 9.99707236e-01 -3.46695212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1048606239999996 meters 0.09074334881883979 Centerline is valid? [True, True] Translation: X:0.47, Y:0.10, Z:-0.04 [[ 9.99733170e-01 -1.53202459e-03 -2.30486741e-02 4.68759887e-01] [ 1.53381491e-03 9.99998822e-01 5.99972210e-05 9.67054017e-02] [ 2.30485550e-02 -9.53336119e-05 9.99734342e-01 -3.61754010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1648606239999997 meters 0.09176332397803684 Centerline is valid? [True, True] Translation: X:0.53, Y:0.09, Z:-0.05 [[ 9.99713748e-01 -9.49480389e-03 -2.19606524e-02 5.25789116e-01] [ 9.49829350e-03 9.99954889e-01 5.45992048e-05 8.78819675e-02] [ 2.19591433e-02 -2.63172297e-04 9.99758834e-01 -4.78885917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2248606239999997 meters 0.08846406379392478 Centerline is valid? [True, True] Translation: X:0.59, Y:0.08, Z:-0.03 [[ 9.99552383e-01 -2.19141159e-02 -2.03667875e-02 5.85443537e-01] [ 2.19196934e-02 9.99759733e-01 5.06232456e-05 7.89502555e-02] [ 2.03607847e-02 -4.97034324e-04 9.99792574e-01 -3.40367041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284860624 meters 0.09065487461510217 Centerline is valid? [True, True] Translation: X:0.65, Y:0.07, Z:-0.04 [[ 9.99407908e-01 -2.83878854e-02 -1.94412173e-02 6.45646199e-01] [ 2.83942550e-02 9.99596801e-01 5.16213709e-05 7.14574422e-02] [ 1.94319132e-02 -6.03609687e-04 9.99811000e-01 -3.86804341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344860624 meters 0.09158410744868292 Centerline is valid? [True, True] Translation: X:0.71, Y:0.06, Z:-0.04 [[ 9.99191979e-01 -3.57703141e-02 -1.83268778e-02 7.06714109e-01] [ 3.57772208e-02 9.99359789e-01 4.90250703e-05 6.11829930e-02] [ 1.83133911e-02 -7.04670211e-04 9.99832047e-01 -3.82304843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4048606239999994 meters 0.09163424355691982 Centerline is valid? [True, True] Translation: X:0.77, Y:0.06, Z:-0.04 [[ 9.99069767e-01 -3.89478559e-02 -1.85112077e-02 7.68147401e-01] [ 3.89554725e-02 9.99240946e-01 5.09101492e-05 5.62859763e-02] [ 1.84951739e-02 -7.71975634e-04 9.99828652e-01 -3.96150632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4648606239999995 meters 0.09344702779356304 Centerline is valid? [True, True] Translation: X:0.83, Y:0.05, Z:-0.05 [[ 9.98990292e-01 -4.06350392e-02 -1.91622150e-02 8.28374474e-01] [ 4.06435008e-02 9.99173710e-01 5.21794737e-05 4.83155848e-02] [ 1.91442611e-02 -8.30946287e-04 9.99816387e-01 -4.64144662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5248606239999996 meters 0.09132159285582322 Centerline is valid? [True, True] Translation: X:0.89, Y:0.04, Z:-0.04 [[ 9.98979070e-01 -4.07309321e-02 -1.95399357e-02 8.91011769e-01] [ 4.07398216e-02 9.99169787e-01 5.69221005e-05 4.48677875e-02] [ 1.95213949e-02 -8.52917481e-04 9.99809076e-01 -4.31936179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5848606239999996 meters 0.08750778177584674 Centerline is valid? [True, True] Translation: X:0.95, Y:0.04, Z:-0.04 [[ 9.99021259e-01 -4.19435107e-02 -1.40451632e-02 9.51547474e-01] [ 4.19481912e-02 9.99119786e-01 3.86833331e-05 3.89090291e-02] [ 1.40311780e-02 -6.27814665e-04 9.99901361e-01 -4.33176594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6448606239999997 meters 0.08893366948373653 Centerline is valid? [True, True] Translation: X:1.01, Y:0.03, Z:-0.05 [[ 9.99222927e-01 -3.52462572e-02 -1.76420895e-02 1.01282214e+00] [ 3.52526747e-02 9.99378430e-01 5.28049235e-05 3.36961556e-02] [ 1.76292625e-02 -6.74694732e-04 9.99844365e-01 -5.23099028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7048606239999997 meters 0.08179578767418655 Centerline is valid? [True, True] Translation: X:1.07, Y:0.04, Z:-0.04 [[ 9.99373502e-01 -3.32572893e-02 -1.21060023e-02 1.07369293e+00] [ 3.32601384e-02 9.99446728e-01 3.40367174e-05 3.55572344e-02] [ 1.20981724e-02 -4.36662705e-04 9.99926719e-01 -4.43846329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7648606239999998 meters 0.08054056486837222 Centerline is valid? [True, True] Translation: X:1.13, Y:0.03, Z:-0.05 [[ 9.99563231e-01 -2.76436123e-02 -1.04488092e-02 1.13317683e+00] [ 2.76454197e-02 9.99617792e-01 2.85490959e-05 3.39529129e-02] [ 1.04440264e-02 -3.17398343e-04 9.99945409e-01 -4.64828030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8248606239999994 meters 0.07653152751881204 Centerline is valid? [True, True] Translation: X:1.19, Y:0.04, Z:-0.04 [[ 9.99725037e-01 -2.05229576e-02 -1.13427603e-02 1.19463523e+00] [ 2.05246599e-02 9.99789346e-01 3.36757981e-05 3.71062332e-02] [ 1.13396798e-02 -2.66472836e-04 9.99935668e-01 -4.17012904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8848606239999994 meters 0.07409459318752276 Centerline is valid? [True, True] Translation: X:1.26, Y:0.04, Z:-0.04 [[ 9.99862372e-01 -1.45461747e-02 -7.97788392e-03 1.25551209e+00] [ 1.45468178e-02 9.99894189e-01 2.25850655e-05 3.57569376e-02] [ 7.97671125e-03 -1.38634781e-04 9.99968176e-01 -4.10121852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9448606239999995 meters 0.07325706193643824 Centerline is valid? [True, True] Translation: X:1.32, Y:0.03, Z:-0.04 [[ 9.99914178e-01 -1.24158060e-02 -4.18132444e-03 1.31600822e+00] [ 1.24159653e-02 9.99922919e-01 1.21422611e-05 3.21443662e-02] [ 4.18085138e-03 -6.40563984e-05 9.99991258e-01 -4.23513280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0048606239999995 meters 0.07205069225012177 Centerline is valid? [True, True] Translation: X:1.38, Y:0.03, Z:-0.04 [[ 9.99914171e-01 -1.30920932e-02 -4.97960155e-04 1.37697457e+00] [ 1.30920959e-02 9.99914295e-01 2.14868079e-06 2.92597074e-02] [ 4.97889347e-04 -8.66783850e-06 9.99999876e-01 -4.40882685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0648606239999996 meters 0.0721904853708361 Centerline is valid? [True, True] Translation: X:1.44, Y:0.02, Z:-0.05 [[ 9.99885264e-01 -1.51425422e-02 4.02531842e-04 1.43925992e+00] [ 1.51425410e-02 9.99885345e-01 5.98542681e-06 1.92010070e-02] [-4.02576324e-04 1.10614870e-07 9.99999919e-01 -4.85720643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1248606239999996 meters 0.07209788865538962 Centerline is valid? [True, True] Translation: X:1.50, Y:0.01, Z:-0.05 [[ 9.99858632e-01 -1.64789816e-02 3.34040509e-03 1.50074854e+00] [ 1.64791028e-02 9.99864210e-01 -8.74322376e-06 1.31080332e-02] [-3.33980742e-03 6.37888666e-05 9.99994421e-01 -5.06543942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1848606239999997 meters 0.07193307549903187 Centerline is valid? [True, True] Translation: X:1.56, Y:0.01, Z:-0.05 [[ 9.99793485e-01 -1.82075205e-02 9.02624238e-03 1.56180197e+00] [ 1.82085052e-02 9.99834211e-01 -2.69165627e-05 6.90689869e-03] [-9.02425584e-03 1.91265385e-04 9.99959262e-01 -5.02998894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2448606239999993 meters 0.07228924880111612 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.00, Z:-0.05 [[ 9.99695948e-01 -2.09353434e-02 1.30277467e-02 1.62359669e+00] [ 2.09375497e-02 9.99780785e-01 -3.29708823e-05 -2.58894666e-03] [-1.30242006e-02 3.05729951e-04 9.99915135e-01 -5.02993404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3048606239999994 meters 0.07209216847814308 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.01, Z:-0.05 [[ 9.99489045e-01 -2.29724253e-02 2.22242470e-02 1.68457756e+00] [ 2.29797101e-02 9.99735929e-01 -7.24212759e-05 -9.46556592e-03] [-2.22167145e-02 5.83091026e-04 9.99753008e-01 -4.98330237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3648606239999994 meters 0.07302364448852988 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.02, Z:-0.05 [[ 9.99454266e-01 -2.50416964e-02 2.15426221e-02 1.74668108e+00] [ 2.50490006e-02 9.99686222e-01 -6.92431870e-05 -1.87874029e-02] [-2.15341285e-02 6.08826553e-04 9.99767928e-01 -5.49108931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4248606239999995 meters 0.07379832899938203 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.02, Z:-0.06 [[ 9.99458910e-01 -2.48673409e-02 2.15291209e-02 1.80866487e+00] [ 2.48745401e-02 9.99690579e-01 -6.66194337e-05 -2.49604570e-02] [-2.15208027e-02 6.02110368e-04 9.99768219e-01 -5.88996143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4848606239999995 meters 0.07362099372895818 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.02, Z:-0.06 [[ 9.99517579e-01 -2.21683789e-02 2.17525082e-02 1.87056179e+00] [ 2.21752779e-02 9.99754095e-01 -7.59698211e-05 -2.37985769e-02] [-2.17454751e-02 5.58301087e-04 9.99763383e-01 -6.10446170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5448606239999996 meters 0.07273088707410301 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.02, Z:-0.06 [[ 9.99655445e-01 -1.43329492e-02 2.19899263e-02 1.93082422e+00] [ 1.43381635e-02 9.99897200e-01 -7.94649362e-05 -1.81675792e-02] [-2.19865268e-02 3.94732716e-04 9.99758189e-01 -6.30499684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6048606239999996 meters 0.07200930951448825 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.01, Z:-0.07 [[ 9.99700983e-01 -7.70390998e-03 2.32076302e-02 1.99277967e+00] [ 7.70791080e-03 9.99970290e-01 -8.29430035e-05 -1.28153107e-02] [-2.32063017e-02 2.61800546e-04 9.99730663e-01 -6.63366501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6648606239999992 meters 0.07172428265147829 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.00, Z:-0.07 [[ 9.99699909e-01 3.36605997e-03 2.42644065e-02 2.05347084e+00] [-3.36491332e-03 9.99994335e-01 -8.80864467e-05 -9.20173077e-04] [-2.42645655e-02 6.41238838e-06 9.99705572e-01 -6.77573204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7248606239999993 meters 0.07243396671399721 Centerline is valid? [True, True] Translation: X:2.11, Y:0.01, Z:-0.07 [[ 9.99674434e-01 1.02733488e-02 2.33556021e-02 2.11407260e+00] [-1.02741573e-02 9.99947216e-01 -8.53834223e-05 5.88130859e-03] [-2.33552465e-02 -1.54603504e-04 9.99727217e-01 -7.15207608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7848606239999993 meters 0.07402672260453162 Centerline is valid? [True, True] Translation: X:2.17, Y:0.02, Z:-0.07 [[ 9.99494254e-01 2.06668395e-02 2.41685246e-02 2.17454472e+00] [-2.06707185e-02 9.99786334e-01 -8.93448384e-05 1.65087134e-02] [-2.41652070e-02 -4.10281115e-04 9.99707895e-01 -7.33176191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8448606239999994 meters 0.07553324631282636 Centerline is valid? [True, True] Translation: X:2.23, Y:0.02, Z:-0.08 [[ 9.99351187e-01 2.65904761e-02 2.42930236e-02 2.23441497e+00] [-2.65961227e-02 9.99646256e-01 -9.06907847e-05 2.26267216e-02] [-2.42868416e-02 -5.55468292e-04 9.99704877e-01 -7.53434385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9048606239999994 meters 0.07598976910565804 Centerline is valid? [True, True] Translation: X:2.30, Y:0.02, Z:-0.07 [[ 9.99225176e-01 3.18127443e-02 2.31731868e-02 2.29518153e+00] [-3.18192982e-02 9.99493634e-01 -8.59405361e-05 2.20616501e-02] [-2.31641867e-02 -6.51480596e-04 9.99731462e-01 -7.49648583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9648606239999995 meters 0.07638873031071929 Centerline is valid? [True, True] Translation: X:2.35, Y:0.02, Z:-0.08 [[ 9.99230095e-01 3.15015459e-02 2.33852421e-02 2.35420912e+00] [-3.15081065e-02 9.99503492e-01 -8.79561046e-05 1.78448460e-02] [-2.33764019e-02 -6.48936314e-04 9.99726524e-01 -7.85661662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0248606239999996 meters 0.07500204199492264 Centerline is valid? [True, True] Translation: X:2.41, Y:0.00, Z:-0.08 [[ 9.99492233e-01 2.26145898e-02 2.24467598e-02 2.41363965e+00] [-2.26184391e-02 9.99744167e-01 -8.24169351e-05 3.60842991e-03] [-2.24428810e-02 -4.25335584e-04 9.99748036e-01 -8.14891801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084860623999999 meters 0.07404112758578936 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.01, Z:-0.08 [[ 9.99646221e-01 1.46372200e-02 2.22077412e-02 2.47413276e+00] [-1.46390368e-02 9.99892840e-01 -8.07651320e-05 -1.01107297e-02] [-2.22065436e-02 -2.44363383e-04 9.99753374e-01 -8.44670427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144860624 meters 0.07361829552674623 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.03, Z:-0.09 [[ 9.99737388e-01 1.66781135e-03 2.28554793e-02 2.53466617e+00] [-1.66636080e-03 9.99998608e-01 -8.25113872e-05 -3.29258289e-02] [-2.28555851e-02 4.44042440e-05 9.99738776e-01 -8.73533685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204860623999999 meters 0.07394405894609159 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.05, Z:-0.09 [[ 9.99706532e-01 -6.04131143e-03 2.34595775e-02 2.59676906e+00] [ 6.04489508e-03 9.99981726e-01 -8.18456859e-05 -4.83715981e-02] [-2.34586544e-02 2.23632352e-04 9.99724783e-01 -8.95659546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264860624 meters 0.07535569612542631 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.06, Z:-0.09 [[ 9.99626529e-01 -1.42379942e-02 2.33255806e-02 2.65650194e+00] [ 1.42439621e-02 9.99898546e-01 -8.97168362e-05 -6.40725302e-02] [-2.33219367e-02 4.21932016e-04 9.99727918e-01 -9.20153971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324860623999999 meters 0.07625964750478986 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.07, Z:-0.10 [[ 9.99614954e-01 -1.66553434e-02 2.21933058e-02 2.71829145e+00] [ 1.66613144e-02 9.99861187e-01 -8.41520110e-05 -6.98316983e-02] [-2.21888235e-02 4.53889253e-04 9.99753695e-01 -9.59723840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384860623999999 meters 0.07741100300229499 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.08, Z:-0.10 [[ 9.99610715e-01 -1.93559074e-02 2.00939442e-02 2.77828653e+00] [ 1.93613833e-02 9.99812548e-01 -7.79902860e-05 -7.81016468e-02] [-2.00886680e-02 4.67006481e-04 9.99798093e-01 -1.00902649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4448606239999995 meters 0.07720208392578405 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.08, Z:-0.10 [[ 9.99582875e-01 -2.03707193e-02 2.04721761e-02 2.84015185e+00] [ 2.03766010e-02 9.99792372e-01 -7.87242684e-05 -7.86604051e-02] [-2.04663218e-02 4.95844794e-04 9.99790420e-01 -1.02112460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504860623999999 meters 0.07788071159162528 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.08, Z:-0.10 [[ 9.99476704e-01 -2.55625075e-02 1.98210896e-02 2.90128108e+00] [ 2.55690798e-02 9.99673055e-01 -7.81839813e-05 -8.31665807e-02] [-1.98126106e-02 5.84950088e-04 9.99803540e-01 -1.04825952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564860624 meters 0.08355655294122165 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.10, Z:-0.11 [[ 9.99266383e-01 -3.40501145e-02 1.75295706e-02 2.96025952e+00] [ 3.40565526e-02 9.99419905e-01 -6.87906203e-05 -9.84023769e-02] [-1.75170594e-02 6.65736896e-04 9.99846343e-01 -1.14950053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624860623999999 meters 0.07919101317999229 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.08, Z:-0.11 [[ 9.99091408e-01 -3.92842980e-02 1.65258030e-02 3.02163105e+00] [ 3.92907553e-02 9.99227818e-01 -6.61193609e-05 -8.46522168e-02] [-1.65104446e-02 7.15370569e-04 9.99863437e-01 -1.06781734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684860624 meters 0.0784692131571288 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.08, Z:-0.11 [[ 9.98940386e-01 -4.26411296e-02 1.73158862e-02 3.08246341e+00] [ 4.26487178e-02 9.99090127e-01 -6.90108378e-05 -8.04390194e-02] [-1.72971883e-02 8.07438057e-04 9.99850066e-01 -1.05755659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744860623999999 meters 0.0878523682442254 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.10, Z:-0.12 [[ 9.98783984e-01 -4.62078194e-02 1.71869450e-02 3.14213082e+00] [ 4.62158264e-02 9.98931475e-01 -6.87725296e-05 -1.00669790e-01] [-1.71654025e-02 8.62997769e-04 9.99852291e-01 -1.20909292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804860623999999 meters 0.0800630361832298 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.08, Z:-0.11 [[ 9.98706049e-01 -4.78066773e-02 1.73421328e-02 3.20473174e+00] [ 4.78150516e-02 9.98856204e-01 -6.83321734e-05 -7.71300170e-02] [-1.73190302e-02 8.97458729e-04 9.99849612e-01 -1.11950378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864860623999999 meters 0.08065073645021366 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.07, Z:-0.12 [[ 9.98675001e-01 -4.81240555e-02 1.82295732e-02 3.26739590e+00] [ 4.81332923e-02 9.98840919e-01 -6.80159881e-05 -7.45961080e-02] [-1.82051705e-02 9.45375243e-04 9.99833825e-01 -1.15604509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924860623999999 meters 0.08026358326415525 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.07, Z:-0.12 [[ 9.98673570e-01 -4.83244889e-02 1.77720194e-02 3.32928963e+00] [ 4.83333859e-02 9.98831256e-01 -7.11852255e-05 -6.98425823e-02] [-1.77478085e-02 9.30072677e-04 9.99842063e-01 -1.18822086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9848606239999995 meters 0.0799468254549104 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.06, Z:-0.12 [[ 9.98656070e-01 -4.82248446e-02 1.89846638e-02 3.39114145e+00] [ 4.82350713e-02 9.98836008e-01 -8.08773906e-05 -6.16851749e-02] [-1.89586656e-02 9.96495311e-04 9.99819772e-01 -1.21805141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044860623999999 meters 0.0808007189123752 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.06, Z:-0.13 [[ 9.98631935e-01 -4.86789468e-02 1.90949926e-02 3.45331987e+00] [ 4.86894581e-02 9.98813961e-01 -8.56813153e-05 -5.85798123e-02] [-1.90681744e-02 1.01528894e-03 9.99817670e-01 -1.25730723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104860624 meters 0.0823938393411103 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.06, Z:-0.13 [[ 9.98551274e-01 -4.96982408e-02 2.06261715e-02 3.51448030e+00] [ 4.97108413e-02 9.98763647e-01 -9.83078556e-05 -5.63184865e-02] [-2.05957845e-02 1.12350977e-03 9.99787253e-01 -1.30054044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164860623999999 meters 0.08275342258572638 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.05, Z:-0.13 [[ 9.98485907e-01 -5.06174400e-02 2.15352840e-02 3.57669344e+00] [ 5.06314858e-02 9.98717398e-01 -1.07128523e-04 -5.18557163e-02] [-2.15022402e-02 1.19732975e-03 9.99768083e-01 -1.33127880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224860623999999 meters 0.08534393854314104 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.05, Z:-0.14 [[ 9.98349252e-01 -5.35996523e-02 2.06361048e-02 3.63617758e+00] [ 5.36133799e-02 9.98561762e-01 -1.12152989e-04 -4.98095401e-02] [-2.06004138e-02 1.21833918e-03 9.99787047e-01 -1.38831885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284860623999999 meters 0.08599470484783424 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.04, Z:-0.14 [[ 9.98193654e-01 -5.67540133e-02 1.97081609e-02 3.69715369e+00] [ 5.67671415e-02 9.98387440e-01 -1.06876142e-04 -4.30201722e-02] [-1.96703146e-02 1.22545904e-03 9.99805770e-01 -1.42726663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344860623999999 meters 0.08698878151309979 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.04, Z:-0.15 [[ 9.98114304e-01 -5.79964021e-02 2.01060729e-02 3.75895502e+00] [ 5.80102197e-02 9.98315984e-01 -1.04188013e-04 -4.12601304e-02] [-2.00661714e-02 1.27034925e-03 9.99797847e-01 -1.46706064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4048606239999994 meters 0.0889879780103279 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.04, Z:-0.15 [[ 9.98099390e-01 -5.81421879e-02 2.04228519e-02 3.81989053e+00] [ 5.81565634e-02 9.98307469e-01 -1.10173456e-04 -4.07275800e-02] [-2.03818799e-02 1.29768694e-03 9.99791426e-01 -1.51460949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464860623999999 meters 0.08381828434202554 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:-0.15 [[ 9.98109833e-01 -5.79978244e-02 2.03227124e-02 3.88372245e+00] [ 5.80120759e-02 9.98315875e-01 -1.11924987e-04 -2.23477351e-02] [-2.02819950e-02 1.29067617e-03 9.99793466e-01 -1.49109744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5248606239999996 meters 0.08726288157780622 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.03, Z:-0.16 [[ 9.98146710e-01 -5.74337651e-02 2.01124066e-02 3.94472020e+00] [ 5.74477430e-02 9.98348508e-01 -1.17436951e-04 -2.65337199e-02] [-2.00724463e-02 1.27263167e-03 9.99797718e-01 -1.56704098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584860623999999 meters 0.09037285878908943 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.03, Z:-0.16 [[ 9.98319283e-01 -5.42402919e-02 2.04107748e-02 4.00406751e+00] [ 5.42542269e-02 9.98527146e-01 -1.29196476e-04 -2.68117755e-02] [-2.03737051e-02 1.23635014e-03 9.99791670e-01 -1.62925354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644860623999999 meters 0.08873329579117607 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.02, Z:-0.17 [[ 9.98512691e-01 -5.06794639e-02 2.00997163e-02 4.06420053e+00] [ 5.06922591e-02 9.98714313e-01 -1.27270105e-04 -1.79092280e-02] [-2.00674244e-02 1.14598084e-03 9.99797972e-01 -1.65113027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704860623999999 meters 0.07991289930319923 Centerline is valid? [True, True] Translation: X:4.12, Y:0.01, Z:-0.16 [[ 9.98893237e-01 -4.17059085e-02 2.17466970e-02 4.12483584e+00] [ 4.17187613e-02 9.99129384e-01 -1.37484152e-04 9.08491536e-03] [-2.17220301e-02 1.04457725e-03 9.99763503e-01 -1.61936891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764860623999999 meters 0.07721219587549694 Centerline is valid? [True, True] Translation: X:4.19, Y:0.02, Z:-0.16 [[ 9.99098578e-01 -3.57832699e-02 2.28383186e-02 4.18566904e+00] [ 3.57959060e-02 9.99359111e-01 -1.44579099e-04 2.11070591e-02] [-2.28185082e-02 9.61967075e-04 9.99739161e-01 -1.63849049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824860623999999 meters 0.07578031675565267 Centerline is valid? [True, True] Translation: X:4.25, Y:0.03, Z:-0.17 [[ 9.99370849e-01 -2.72374880e-02 2.27161821e-02 4.24557316e+00] [ 2.72477867e-02 9.99628700e-01 -1.43907303e-04 3.41028831e-02] [-2.27038279e-02 7.62782448e-04 9.99741944e-01 -1.67386050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884860623999999 meters 0.07407965513217381 Centerline is valid? [True, True] Translation: X:4.31, Y:0.04, Z:-0.17 [[ 9.99491167e-01 -2.24706351e-02 2.26379618e-02 4.30711101e+00] [ 2.24796237e-02 9.99747291e-01 -1.42624608e-04 4.43394127e-02] [-2.26290361e-02 6.51444898e-04 9.99743718e-01 -1.69142159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9448606239999995 meters 0.07449548693993649 Centerline is valid? [True, True] Translation: X:4.37, Y:0.05, Z:-0.18 [[ 9.99552989e-01 -2.12742799e-02 2.10054047e-02 4.36864255e+00] [ 2.12816738e-02 9.99773511e-01 -1.28501985e-04 4.53656245e-02] [-2.09979134e-02 5.75474715e-04 9.99779354e-01 -1.75541539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004860623999999 meters 0.07474132127049114 Centerline is valid? [True, True] Translation: X:4.43, Y:0.05, Z:-0.18 [[ 9.99551680e-01 -2.29141150e-02 1.92713020e-02 4.43073859e+00] [ 2.29207807e-02 9.99737277e-01 -1.25054037e-04 4.50329998e-02] [-1.92633735e-02 5.66711261e-04 9.99814283e-01 -1.79220169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064860623999999 meters 0.07518500228684023 Centerline is valid? [True, True] Translation: X:4.49, Y:0.04, Z:-0.18 [[ 9.99508963e-01 -2.53921662e-02 1.83594780e-02 4.49308897e+00] [ 2.53986517e-02 9.99677395e-01 -1.20128000e-04 4.35634409e-02] [-1.83505048e-02 5.86374999e-04 9.99831443e-01 -1.82998517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124860623999999 meters 0.07464607276248705 Centerline is valid? [True, True] Translation: X:4.56, Y:0.05, Z:-0.18 [[ 9.99482929e-01 -2.55808011e-02 1.94806681e-02 4.55585624e+00] [ 2.55880798e-02 9.99672564e-01 -1.24429482e-04 4.62421682e-02] [-1.94711064e-02 6.22838034e-04 9.99810226e-01 -1.82809854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184860623999999 meters 0.0755253807079771 Centerline is valid? [True, True] Translation: X:4.62, Y:0.04, Z:-0.19 [[ 9.99485462e-01 -2.51047508e-02 1.99640487e-02 4.61702868e+00] [ 2.51124541e-02 9.99684623e-01 -1.35217781e-04 4.47660457e-02] [-1.99543579e-02 6.36494464e-04 9.99800689e-01 -1.85922453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244860623999999 meters 0.0747798893937524 Centerline is valid? [True, True] Translation: X:4.68, Y:0.05, Z:-0.19 [[ 9.99459587e-01 -2.41935345e-02 2.22532645e-02 4.67915347e+00] [ 2.42029120e-02 9.99707055e-01 -1.52124686e-04 4.66164761e-02] [-2.22430651e-02 6.90636279e-04 9.99752354e-01 -1.85760073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304860623999999 meters 0.07479149844141007 Centerline is valid? [True, True] Translation: X:4.74, Y:0.05, Z:-0.19 [[ 9.99428810e-01 -2.41497777e-02 2.36398572e-02 4.74142840e+00] [ 2.41604917e-02 9.99708079e-01 -1.67668453e-04 4.67397928e-02] [-2.36289071e-02 7.38723257e-04 9.99720525e-01 -1.87219184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364860623999999 meters 0.07504483336597094 Centerline is valid? [True, True] Translation: X:4.80, Y:0.05, Z:-0.19 [[ 9.99390804e-01 -2.43132443e-02 2.50376965e-02 4.80230634e+00] [ 2.43255244e-02 9.99704073e-01 -1.85962285e-04 4.52393766e-02] [-2.50257659e-02 7.94904096e-04 9.99686490e-01 -1.89548303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424860623999999 meters 0.07524713405056746 Centerline is valid? [True, True] Translation: X:4.86, Y:0.04, Z:-0.19 [[ 9.99401628e-01 -2.49998577e-02 2.39038315e-02 4.86459856e+00] [ 2.50112639e-02 9.99687154e-01 -1.78267068e-04 4.36591710e-02] [-2.38918966e-02 7.76025434e-04 9.99714247e-01 -1.93245320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484860623999999 meters 0.07641603583652314 Centerline is valid? [True, True] Translation: X:4.93, Y:0.04, Z:-0.20 [[ 9.99382699e-01 -2.70511220e-02 2.24155661e-02 4.92580481e+00] [ 2.70617765e-02 9.99633748e-01 -1.72060381e-04 3.94339718e-02] [-2.24027019e-02 7.78559208e-04 9.99748725e-01 -1.98563470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544860623999999 meters 0.07806313090907668 Centerline is valid? [True, True] Translation: X:4.99, Y:0.03, Z:-0.21 [[ 9.99349070e-01 -2.96849859e-02 2.04996943e-02 4.98585729e+00] [ 2.96946186e-02 9.99559004e-01 -1.65585850e-04 3.23592104e-02] [-2.04857386e-02 7.74208669e-04 9.99789845e-01 -2.05184499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604860623999999 meters 0.07779323830882824 Centerline is valid? [True, True] Translation: X:5.05, Y:0.03, Z:-0.21 [[ 9.99310270e-01 -3.14855882e-02 1.96886373e-02 5.04792842e+00] [ 3.14948030e-02 9.99503903e-01 -1.58048352e-04 3.12041453e-02] [-1.96738936e-02 7.78029093e-04 9.99806148e-01 -2.06387013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664860623999999 meters 0.07962840827430318 Centerline is valid? [True, True] Translation: X:5.11, Y:0.02, Z:-0.21 [[ 9.99272161e-01 -3.19947489e-02 2.07722110e-02 5.10991990e+00] [ 3.20050569e-02 9.99487694e-01 -1.63903948e-04 2.40011415e-02] [-2.07563252e-02 8.28600447e-04 9.99784221e-01 -2.10443070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724860623999999 meters 0.07611295605642639 Centerline is valid? [True, True] Translation: X:5.17, Y:0.03, Z:-0.21 [[ 9.99286248e-01 -3.09876239e-02 2.16046496e-02 5.17244575e+00] [ 3.09986603e-02 9.99519411e-01 -1.76044210e-04 3.25456913e-02] [-2.15888114e-02 8.45633750e-04 9.99766577e-01 -2.06424976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784860623999999 meters 0.07669370964729773 Centerline is valid? [True, True] Translation: X:5.23, Y:0.03, Z:-0.21 [[ 9.99283161e-01 -3.04762593e-02 2.24579778e-02 5.23340587e+00] [ 3.04882383e-02 9.99535107e-01 -1.91116757e-04 2.94165338e-02] [-2.24417128e-02 8.75683937e-04 9.99747770e-01 -2.09865708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844860623999999 meters 0.07538847446859999 Centerline is valid? [True, True] Translation: X:5.30, Y:0.03, Z:-0.21 [[ 9.99297839e-01 -2.97271103e-02 2.28063248e-02 5.29548601e+00] [ 2.97392857e-02 9.99557671e-01 -1.94807024e-04 3.27719199e-02] [-2.27904458e-02 8.72914047e-04 9.99739883e-01 -2.10165631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904860623999999 meters 0.07598051310055197 Centerline is valid? [True, True] Translation: X:5.36, Y:0.03, Z:-0.22 [[ 9.99396017e-01 -2.67321144e-02 2.22034790e-02 5.35629425e+00] [ 2.67431346e-02 9.99642319e-01 -1.99490010e-04 3.18359059e-02] [-2.21902045e-02 7.93160148e-04 9.99753452e-01 -2.15851278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964860623999999 meters 0.07559147826983535 Centerline is valid? [True, True] Translation: X:5.42, Y:0.03, Z:-0.22 [[ 9.99441045e-01 -2.63873464e-02 2.05257359e-02 5.41816232e+00] [ 2.63966001e-02 9.99651533e-01 -1.79983260e-04 3.17286479e-02] [-2.05138340e-02 7.21692300e-04 9.99789309e-01 -2.19673591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024860623999999 meters 0.07716528054574866 Centerline is valid? [True, True] Translation: X:5.48, Y:0.03, Z:-0.22 [[ 9.99432888e-01 -2.78748871e-02 1.88916381e-02 5.47927597e+00] [ 2.78830675e-02 9.99611177e-01 -1.69701947e-04 2.54433684e-02] [-1.88795622e-02 6.96362529e-04 9.99821523e-01 -2.24972381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084860623999999 meters 0.07794915654113048 Centerline is valid? [True, True] Translation: X:5.54, Y:0.02, Z:-0.23 [[ 9.99368752e-01 -2.99121982e-02 1.91666053e-02 5.54160216e+00] [ 2.99211494e-02 9.99552246e-01 -1.80353783e-04 2.16741094e-02] [-1.91526286e-02 7.53726795e-04 9.99816287e-01 -2.27154364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144860623999999 meters 0.07867729135108763 Centerline is valid? [True, True] Translation: X:5.60, Y:0.02, Z:-0.23 [[ 9.99205759e-01 -3.43856845e-02 2.01364332e-02 5.60250398e+00] [ 3.43965238e-02 9.99408246e-01 -1.92091242e-04 1.69721898e-02] [-2.01179122e-02 8.84561978e-04 9.99797223e-01 -2.27022958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204860623999999 meters 0.07873919928680172 Centerline is valid? [True, True] Translation: X:5.66, Y:0.01, Z:-0.23 [[ 9.99043363e-01 -3.77062106e-02 2.21495148e-02 5.66478640e+00] [ 3.77201234e-02 9.99288321e-01 -2.10526705e-04 1.22959132e-02] [-2.21258132e-02 1.04580774e-03 9.99754647e-01 -2.27524850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264860623999999 meters 0.08006394760406291 Centerline is valid? [True, True] Translation: X:5.73, Y:0.01, Z:-0.23 [[ 9.98762330e-01 -4.33173705e-02 2.44420554e-02 5.72573446e+00] [ 4.33360665e-02 9.99060524e-01 -2.35492498e-04 5.73086630e-03] [-2.44088918e-02 1.29442358e-03 9.99701221e-01 -2.27968288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3248606239999985 meters 0.08310056562681002 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.00, Z:-0.23 [[ 9.98629543e-01 -4.63635707e-02 2.42786943e-02 5.78535564e+00] [ 4.63828894e-02 9.98923707e-01 -2.32865874e-04 -4.07193053e-03] [-2.42417668e-02 1.35866273e-03 9.99705202e-01 -2.31907077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384860623999999 meters 0.08540964008772298 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.01, Z:-0.23 [[ 9.98444554e-01 -4.97381550e-02 2.51910316e-02 5.84527291e+00] [ 4.97601073e-02 9.98761169e-01 -2.44944523e-04 -1.19077932e-02] [-2.51476410e-02 1.49807196e-03 9.99682626e-01 -2.34748427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444860623999999 meters 0.08692964070703678 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.02, Z:-0.24 [[ 9.98402981e-01 -5.13271996e-02 2.36009728e-02 5.90659760e+00] [ 5.13468926e-02 9.98680852e-01 -2.28768055e-04 -1.65105646e-02] [-2.35580976e-02 1.44023932e-03 9.99721432e-01 -2.39700442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504860623999999 meters 0.0891504345636097 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.02, Z:-0.24 [[ 9.98232282e-01 -5.54553041e-02 2.13780484e-02 5.96764527e+00] [ 5.54724220e-02 9.98460198e-01 -2.08083154e-04 -2.30191901e-02] [-2.13335911e-02 1.39360744e-03 9.99771442e-01 -2.44738481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564860623999999 meters 0.09032826027326694 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.03, Z:-0.25 [[ 9.98161764e-01 -5.69322939e-02 2.07799395e-02 6.02836659e+00] [ 5.69487801e-02 9.98377081e-01 -2.01998204e-04 -2.56816380e-02] [-2.07347151e-02 1.38501909e-03 9.99784053e-01 -2.48183482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624860623999999 meters 0.09203806399581262 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.03, Z:-0.25 [[ 9.98102907e-01 -5.80660810e-02 2.04674762e-02 6.08952231e+00] [ 5.80822465e-02 9.98311782e-01 -1.95735882e-04 -2.88902042e-02] [-2.04215570e-02 1.38416155e-03 9.99790500e-01 -2.52097193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684860623999999 meters 0.09297381889265843 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.03, Z:-0.25 [[ 9.97945459e-01 -5.99284643e-02 2.26592278e-02 6.15189219e+00] [ 5.99489604e-02 9.98201418e-01 -2.25720914e-04 -3.30607300e-02] [-2.26049462e-02 1.58365431e-03 9.99743221e-01 -2.52873357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744860623999998 meters 0.09516737160755663 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.04, Z:-0.26 [[ 9.97795766e-01 -6.19446152e-02 2.38007200e-02 6.21281545e+00] [ 6.19678647e-02 9.98078116e-01 -2.39832062e-04 -3.89338142e-02] [-2.37401215e-02 1.71418321e-03 9.99716694e-01 -2.55791866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804860623999999 meters 0.0965267966051848 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.04, Z:-0.26 [[ 9.97535791e-01 -6.56699960e-02 2.46940653e-02 6.27303436e+00] [ 6.56961739e-02 9.97839642e-01 -2.49431288e-04 -4.30636713e-02] [-2.46243371e-02 1.87112224e-03 9.99695024e-01 -2.56677934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8648606239999985 meters 0.10014697988695634 Centerline is valid? [True, False] Translation: X:6.27, Y:-0.04, Z:-0.26 [[ 9.97525822e-01 -6.57415027e-02 2.49055927e-02 6.27259905e+00] [ 6.57609465e-02 9.97835405e-01 3.84154481e-05 -4.38293119e-02] [-2.48542076e-02 1.59949495e-03 9.99689807e-01 -2.56837610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924860623999999 meters 0.10353214712314826 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.04, Z:-0.26 [[ 9.97511441e-01 -6.58438471e-02 2.52093786e-02 6.27204604e+00] [ 6.58545967e-02 9.97829148e-01 4.04457380e-04 -4.48486940e-02] [-2.51812838e-02 1.25670260e-03 9.99682111e-01 -2.57144884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984860623999999 meters 0.10544739945256353 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.05, Z:-0.26 [[ 9.97502452e-01 -6.58952298e-02 2.54298610e-02 6.27174541e+00] [ 6.59018200e-02 9.97825944e-01 5.79745106e-04 -4.54038029e-02] [-2.54127775e-02 1.09757696e-03 9.99676441e-01 -2.57448209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044860624 meters 0.09795142644858199 Centerline is valid? [False, True] Translation: X:6.26, Y:-0.05, Z:-0.26 [[ 9.97605710e-01 -6.02089728e-02 3.40253921e-02 6.26267817e+00] [ 6.02846530e-02 9.98180503e-01 -1.20178640e-03 -4.90916441e-02] [-3.38911247e-02 3.25011793e-03 9.99420246e-01 -2.64501201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104860624 meters 0.09721605826549043 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.05, Z:-0.27 [[ 9.97640786e-01 -5.99215732e-02 3.35002655e-02 6.32592051e+00] [ 5.99767347e-02 9.98199568e-01 -6.43228561e-04 -4.89227878e-02] [-3.34014073e-02 2.65094759e-03 9.99438502e-01 -2.67478344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164860624 meters 0.09607258057225282 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.05, Z:-0.27 [[ 9.97686520e-01 -5.84967641e-02 3.46372060e-02 6.38796746e+00] [ 5.85553907e-02 9.98283930e-01 -6.79744373e-04 -4.70655243e-02] [-3.45380032e-02 2.70636693e-03 9.99399721e-01 -2.69500008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224860624 meters 0.0956940013978241 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.05, Z:-0.27 [[ 9.97682973e-01 -5.66347932e-02 3.76986125e-02 6.44875687e+00] [ 5.67030312e-02 9.98390813e-01 -7.42508776e-04 -4.63763300e-02] [-3.75958965e-02 2.87841397e-03 9.99288879e-01 -2.69444994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284860624 meters 0.09484999849668707 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.04, Z:-0.27 [[ 9.97678461e-01 -5.66779457e-02 3.77531264e-02 6.51081234e+00] [ 5.67462828e-02 9.98388357e-01 -7.40151630e-04 -4.48510908e-02] [-3.76503315e-02 2.88078292e-03 9.99286823e-01 -2.73198228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344860623999999 meters 0.0981292236185145 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.05, Z:-0.28 [[ 9.97610786e-01 -5.82335705e-02 3.71694880e-02 6.57061109e+00] [ 5.83013614e-02 9.98298754e-01 -7.41633895e-04 -5.27758834e-02] [-3.70630656e-02 2.90689373e-03 9.99308701e-01 -2.78840050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404860624 meters 0.0993295183360646 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97553374e-01 -5.96518241e-02 3.64544288e-02 6.63197261e+00] [ 5.97179784e-02 9.98215024e-01 -7.27589504e-04 -5.61883167e-02] [-3.63459565e-02 2.90279416e-03 9.99335052e-01 -2.83959659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464860624 meters 0.10198474345821362 Centerline is valid? [True, False] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97514149e-01 -6.01237063e-02 3.67513519e-02 6.63100963e+00] [ 6.02016857e-02 9.98185715e-01 -1.01788272e-03 -5.53118011e-02] [-3.66234756e-02 3.22784575e-03 9.99323922e-01 -2.83707049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524860624 meters 0.10387585539154114 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97472837e-01 -6.05941970e-02 3.70982952e-02 6.62972202e+00] [ 6.06842498e-02 9.98156159e-01 -1.30517764e-03 -5.51561398e-02] [-3.69508056e-02 3.55316146e-03 9.99310769e-01 -2.82971881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584860624 meters 0.10219892186362432 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97429643e-01 -6.10207248e-02 3.75576686e-02 6.62836680e+00] [ 6.11157557e-02 9.98129722e-01 -1.38632973e-03 -5.58011608e-02] [-3.74028305e-02 3.67813166e-03 9.99293500e-01 -2.82416033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644860624 meters 0.10962382298324873 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97376010e-01 -6.15489349e-02 3.81159197e-02 6.62698108e+00] [ 6.16523471e-02 9.98096493e-01 -1.54255518e-03 -5.55115565e-02] [-3.79484232e-02 3.88844344e-03 9.99272134e-01 -2.82358143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704860624 meters 0.1482175603319264 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.06, Z:-0.29 [[ 9.97239206e-01 -6.38618341e-02 3.78897414e-02 6.71590184e+00] [ 6.40725316e-02 9.97935669e-01 -4.37159032e-03 -5.82965648e-02] [-3.75323467e-02 6.78721291e-03 9.99272364e-01 -2.85878477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764860623999999 meters 0.10812590609637492 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.06, Z:-0.28 [[ 9.97181341e-01 -6.36197876e-02 3.97730573e-02 6.62717071e+00] [ 6.37470601e-02 9.97964205e-01 -1.93870269e-03 -5.85207232e-02] [-3.95687477e-02 4.46865362e-03 9.99206858e-01 -2.84329839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824860624 meters 0.1062146032947745 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.06, Z:-0.29 [[ 9.97217601e-01 -5.69724990e-02 4.80748535e-02 6.61732986e+00] [ 5.71654032e-02 9.98361214e-01 -2.64614147e-03 -6.29411918e-02] [-4.78453119e-02 5.38699724e-03 9.98840231e-01 -2.90219584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884860624 meters 0.10852074415696517 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.07, Z:-0.29 [[ 9.97255025e-01 -5.63305230e-02 4.80550523e-02 6.61814714e+00] [ 5.64583373e-02 9.98404102e-01 -1.30548806e-03 -6.60632410e-02] [-4.79048226e-02 4.01501288e-03 9.98843835e-01 -2.91515772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944860624 meters 0.11183464748583086 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.07, Z:-0.29 [[ 9.97239700e-01 -5.61880129e-02 4.85374844e-02 6.61752556e+00] [ 5.62328302e-02 9.98417584e-01 4.42737394e-04 -7.25023309e-02] [-4.84855544e-02 2.28788481e-03 9.98821264e-01 -2.92086511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004860623999999 meters 0.11529119467926231 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.07, Z:-0.29 [[ 9.97791665e-01 -5.81943506e-02 3.20188993e-02 6.62098849e+00] [ 5.83492716e-02 9.98288515e-01 -3.92471716e-03 -7.43657670e-02] [-3.17357030e-02 5.78432952e-03 9.99479558e-01 -2.85598953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064860624 meters 0.12350688407258649 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.08, Z:-0.29 [[ 9.97584535e-01 -6.15334340e-02 3.22293799e-02 6.62138263e+00] [ 6.17655896e-02 9.98071071e-01 -6.25691728e-03 -8.05757562e-02] [-3.17822021e-02 8.23247056e-03 9.99460914e-01 -2.85935244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124860624 meters 0.12760890935908503 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.09, Z:-0.29 [[ 9.97570157e-01 -6.14531302e-02 3.28221619e-02 6.62024149e+00] [ 6.16450718e-02 9.98086266e-01 -4.86740554e-03 -8.65549058e-02] [-3.24602317e-02 6.87890304e-03 9.99449355e-01 -2.85890359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184860623999999 meters 0.13270014256876086 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.10, Z:-0.29 [[ 9.97518902e-01 -5.77650776e-02 4.02397354e-02 6.61113087e+00] [ 5.80525567e-02 9.98295427e-01 -6.01171397e-03 -9.74347530e-02] [-3.98238767e-02 8.33281784e-03 9.99171969e-01 -2.90061318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244860624 meters 0.1277230747251393 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.10, Z:-0.28 [[ 0.99785295 -0.05583626 0.0342316 6.60184341] [ 0.05641188 0.99827798 -0.01608621 -0.10197242] [-0.03327446 0.01798274 0.99928446 -0.28460067] [ 0. 0. 0. 1. ]] SLAMing on 9.304860624 meters 0.12878146661591616 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.11, Z:-0.29 [[ 0.99808927 -0.05137764 0.03432425 6.60179177] [ 0.05173414 0.99861495 -0.00957957 -0.1099597 ] [-0.03378454 0.011337 0.99936484 -0.28595024] [ 0. 0. 0. 1. ]] SLAMing on 9.364860624 meters 0.13010866807126895 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.12, Z:-0.29 [[ 9.98193326e-01 -4.95707441e-02 3.39532720e-02 6.60311542e+00] [ 4.98200717e-02 9.98736819e-01 -6.53650641e-03 -1.19289878e-01] [-3.35863634e-02 8.21625152e-03 9.99402046e-01 -2.86450440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424860623999999 meters 0.1295220984371568 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.12, Z:-0.28 [[ 0.99862676 -0.04519353 0.02649796 6.59858881] [ 0.04562973 0.99882876 -0.0160944 -0.12265887] [-0.02573956 0.01728139 0.9995193 -0.28193963] [ 0. 0. 0. 1. ]] SLAMing on 9.484860624 meters 0.12879997288507278 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.13, Z:-0.28 [[ 0.99909068 -0.03873068 0.01782529 6.59473301] [ 0.03905544 0.99907044 -0.0182466 -0.13203599] [-0.01710201 0.01892618 0.99967461 -0.28367332] [ 0. 0. 0. 1. ]] SLAMing on 9.544860624 meters 0.11484621268132801 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.14, Z:-0.28 [[ 0.99927534 -0.03354437 0.01798804 6.59487155] [ 0.03375233 0.99936538 -0.0113846 -0.14018543] [-0.01759473 0.01198349 0.99977339 -0.28494527] [ 0. 0. 0. 1. ]] SLAMing on 9.604860623999999 meters 0.11190309121227957 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.15, Z:-0.29 [[ 9.99444143e-01 -2.80543623e-02 1.80099158e-02 6.59500441e+00] [ 2.81380086e-02 9.99594329e-01 -4.40792675e-03 -1.49656975e-01] [-1.78789482e-02 4.91223975e-03 9.99828092e-01 -2.85206869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664860624 meters 0.10544945988952921 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.15, Z:-0.28 [[ 0.99969651 -0.02216008 0.0107619 6.58953533] [ 0.0222862 0.99968265 -0.01174398 -0.15264781] [-0.01049824 0.01198025 0.99987312 -0.28107953] [ 0. 0. 0. 1. ]] SLAMing on 9.724860624 meters 0.1038751404474496 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.16, Z:-0.28 [[ 9.99801203e-01 -1.67571820e-02 1.08051280e-02 6.58988227e+00] [ 1.68123164e-02 9.99846000e-01 -5.03212756e-03 -1.61118487e-01] [-1.07191397e-02 5.21278642e-03 9.99928961e-01 -2.81849312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784860624 meters 0.10296068394659955 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.17, Z:-0.28 [[ 9.99822475e-01 -1.55577308e-02 1.06289507e-02 6.59090318e+00] [ 1.55919429e-02 9.99873497e-01 -3.14351283e-03 -1.66325594e-01] [-1.05787002e-02 3.30868077e-03 9.99938570e-01 -2.82657009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844860623999999 meters 0.10402374632076496 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.17, Z:-0.28 [[ 9.99839116e-01 -1.44448261e-02 1.06342980e-02 6.59090714e+00] [ 1.44570658e-02 9.99894913e-01 -1.07498433e-03 -1.73465793e-01] [-1.06176525e-02 1.22855213e-03 9.99942876e-01 -2.82438503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904860624 meters 0.10328103370099763 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.18, Z:-0.28 [[ 9.99864384e-01 -1.28863490e-02 1.02545365e-02 6.59230987e+00] [ 1.28744599e-02 9.99916371e-01 1.22456490e-03 -1.79963887e-01] [-1.02694591e-02 -1.09237721e-03 9.99946671e-01 -2.83082947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964860624 meters 0.09956143277313745 Centerline is valid? [False, True] Translation: X:6.59, Y:-0.18, Z:-0.28 [[ 9.99974367e-01 -6.59417894e-03 2.78963736e-03 6.58757303e+00] [ 6.61027292e-03 9.99961332e-01 -5.79986282e-03 -1.81971678e-01] [-2.75128416e-03 5.81815441e-03 9.99979290e-01 -2.79718297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024860623999999 meters 0.09543884430110831 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.19, Z:-0.28 [[ 9.99996725e-01 1.14669238e-04 2.55688559e-03 6.64843115e+00] [-1.14101476e-04 9.99999969e-01 -2.22196879e-04 -1.85989664e-01] [-2.55691099e-03 2.21904406e-04 9.99996706e-01 -2.82324366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084860624 meters 0.09749660739252615 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.20, Z:-0.29 [[ 9.99986767e-01 4.89392367e-03 1.58577882e-03 6.70762671e+00] [-4.89371074e-03 9.99988016e-01 -1.38130928e-04 -1.96209520e-01] [-1.58643581e-03 1.30368758e-04 9.99998733e-01 -2.86875355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144860624 meters 0.08874730200543435 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.18, Z:-0.28 [[ 9.99937813e-01 1.11394145e-02 -5.32443946e-04 6.76923478e+00] [-1.11393915e-02 9.99937954e-01 4.61122374e-05 -1.82942528e-01] [ 5.32924573e-04 -4.01782682e-05 9.99999857e-01 -2.83884485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204860624 meters 0.09133280225633875 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.20, Z:-0.29 [[ 9.99887349e-01 1.49991401e-02 5.60833531e-04 6.82738437e+00] [-1.49991144e-02 9.99887506e-01 -5.00424314e-05 -1.95570572e-01] [-5.61521033e-04 4.16247878e-05 9.99999841e-01 -2.88943589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264860623999999 meters 0.08934344207446715 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.20, Z:-0.29 [[ 9.99884006e-01 1.51501699e-02 1.56454079e-03 6.88610665e+00] [-1.51499724e-02 9.99885223e-01 -1.38000797e-04 -1.96713790e-01] [-1.56645195e-03 1.14282040e-04 9.99998767e-01 -2.88366084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324860624 meters 0.0910815053724666 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.21, Z:-0.29 [[ 9.99927164e-01 1.18850107e-02 2.10065098e-03 6.94574159e+00] [-1.18846526e-02 9.99929358e-01 -1.82861604e-04 -2.06611465e-01] [-2.10267590e-03 1.57882778e-04 9.99997777e-01 -2.89912028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384860624 meters 0.09233716805764265 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.21, Z:-0.29 [[ 9.99959590e-01 8.92221042e-03 1.10139255e-03 7.00607284e+00] [-8.92211027e-03 9.99960193e-01 -9.58115614e-05 -2.14665659e-01] [-1.10220356e-03 8.59809439e-05 9.99999389e-01 -2.93161656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444860623999999 meters 0.09424851626278073 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.22, Z:-0.30 [[ 9.99993399e-01 3.57220431e-03 -6.64320297e-04 7.06637890e+00] [-3.57216677e-03 9.99993618e-01 5.76867490e-05 -2.23550090e-01] [ 6.64522127e-04 -5.53133053e-05 9.99999778e-01 -2.95710903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504860623999999 meters 0.09793006873907002 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99998134e-01 -1.87155953e-03 -4.77785552e-04 7.12550756e+00] [ 1.87157953e-03 9.99998248e-01 4.14052361e-05 -2.35604294e-01] [ 4.77707222e-04 -4.22993725e-05 9.99999885e-01 -2.97503485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564860624 meters 0.1026616410012576 Centerline is valid? [True, False] Translation: X:7.12, Y:-0.24, Z:-0.30 [[ 9.99996585e-01 -2.59708801e-03 2.90646659e-04 7.12380184e+00] [ 2.59709275e-03 9.99996627e-01 -1.59163220e-05 -2.36408008e-01] [-2.90604342e-04 1.66711040e-05 9.99999958e-01 -2.97324432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624860624 meters 0.10157486934226555 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.24, Z:-0.30 [[ 9.99996817e-01 -2.49811108e-03 3.54386222e-04 7.12398181e+00] [ 2.49803231e-03 9.99996855e-01 2.22542253e-04 -2.36658845e-01] [-3.54941042e-04 -2.21656276e-04 9.99999912e-01 -2.97781187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684860623999999 meters 0.10625020675954414 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.24, Z:-0.30 [[ 9.99995432e-01 -2.95651945e-03 6.28227934e-04 7.12351514e+00] [ 2.95662999e-03 9.99995614e-01 -1.75096868e-04 -2.35264403e-01] [-6.27707501e-04 1.76953505e-04 9.99999787e-01 -2.98016712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744860624 meters 0.11248043907193428 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.23, Z:-0.30 [[ 9.99994655e-01 -3.17417727e-03 7.84143013e-04 7.12321033e+00] [ 3.17445897e-03 9.99994897e-01 -3.58253544e-04 -2.34641155e-01] [-7.83001852e-04 3.60740859e-04 9.99999628e-01 -2.98052894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804860624 meters 0.11843766519691931 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.24, Z:-0.30 [[ 9.99992814e-01 -3.49507061e-03 1.46813871e-03 7.12193249e+00] [ 3.49508275e-03 9.99993892e-01 -5.70770211e-06 -2.36202941e-01] [-1.46810979e-03 1.08389274e-05 9.99998922e-01 -2.98209847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864860623999999 meters 0.11861251081076565 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.24, Z:-0.30 [[ 9.99992087e-01 -3.60018164e-03 1.69249550e-03 7.12137460e+00] [ 3.60003733e-03 9.99993516e-01 8.83022467e-05 -2.36708853e-01] [-1.69280243e-03 -8.22085010e-05 9.99998564e-01 -2.98071146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924860623999999 meters 0.11213536609772118 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.23, Z:-0.30 [[ 9.99991860e-01 -3.78654703e-03 1.39376470e-03 7.12230140e+00] [ 3.78730471e-03 9.99992682e-01 -5.41378268e-04 -2.33778783e-01] [-1.39170454e-03 5.46652472e-04 9.99998882e-01 -2.98529994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984860624 meters 0.11265292516740529 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.23, Z:-0.30 [[ 9.99993816e-01 -3.42446061e-03 8.01182821e-04 7.12424313e+00] [ 3.42507669e-03 9.99993839e-01 -7.68860306e-04 -2.31252377e-01] [-7.98544953e-04 7.71599663e-04 9.99999383e-01 -2.99641081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044860624 meters 0.11327693751819388 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99994333e-01 -3.34991922e-03 3.34520813e-04 7.12545126e+00] [ 3.35034328e-03 9.99993574e-01 -1.27527287e-03 -2.28696874e-01] [-3.30246602e-04 1.27638640e-03 9.99999131e-01 -3.00018503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104860623999999 meters 0.11390787078528625 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99993426e-01 -3.62521194e-03 -7.42484205e-05 7.12620377e+00] [ 3.62503602e-03 9.99990907e-01 -2.24633695e-03 -2.25074572e-01] [ 8.23911928e-05 2.24605303e-03 9.99997474e-01 -2.99837552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164860624 meters 0.11480267405915874 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99993062e-01 -3.71991554e-03 -1.94615950e-04 7.12649516e+00] [ 3.71940332e-03 9.99989783e-01 -2.56922485e-03 -2.23793141e-01] [ 2.04171261e-04 2.56848317e-03 9.99996681e-01 -2.99913243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224860624 meters 0.11755779189269606 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99992954e-01 -3.74847557e-03 -2.02226320e-04 7.12692629e+00] [ 3.74792669e-03 9.99989466e-01 -2.64954550e-03 -2.22862778e-01] [ 2.12155946e-04 2.64876891e-03 9.99996470e-01 -3.00520440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284860623999998 meters 0.10546435996467934 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999856e-01 -1.60831826e-04 5.12290796e-04 7.12516589e+00] [ 1.60154316e-04 9.99999113e-01 1.32227827e-03 -2.22813939e-01] [-5.12503006e-04 -1.32219603e-03 9.99998995e-01 -3.00163504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344860623999999 meters 0.11976028428973191 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999858e-01 -2.03451328e-04 4.93311184e-04 7.12519654e+00] [ 2.02851094e-04 9.99999240e-01 1.21648878e-03 -2.22439427e-01] [-4.93558305e-04 -1.21638854e-03 9.99999138e-01 -3.00166769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404860624 meters 0.12302793133968007 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999798e-01 -2.33325687e-04 5.91550622e-04 7.12501207e+00] [ 2.32612190e-04 9.99999246e-01 1.20592902e-03 -2.22769861e-01] [-5.91831550e-04 -1.20579118e-03 9.99999098e-01 -3.00129877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464860624 meters 0.1100421152670648 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999762e-01 -2.62220546e-04 6.38040460e-04 7.12515744e+00] [ 2.61383281e-04 9.99999105e-01 1.31197375e-03 -2.22928045e-01] [-6.38383916e-04 -1.31180666e-03 9.99998936e-01 -3.00491976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524860623999999 meters 0.10897402497627003 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999789e-01 -1.36604162e-04 6.35154337e-04 7.12533964e+00] [ 1.35613676e-04 9.99998775e-01 1.55922221e-03 -2.23569516e-01] [-6.35366555e-04 -1.55913575e-03 9.99998583e-01 -3.00733671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584860624 meters 0.11253493418394245 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.22, Z:-0.30 [[ 9.99999303e-01 -6.01587636e-04 1.01633134e-03 7.12386911e+00] [ 6.00223828e-04 9.99998920e-01 1.34166623e-03 -2.24353419e-01] [-1.01713737e-03 -1.34105527e-03 9.99998584e-01 -2.99768270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644860624 meters 0.11163149527141049 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.22, Z:-0.30 [[ 9.99999244e-01 -7.82082954e-04 9.48494431e-04 7.12377692e+00] [ 7.81097688e-04 9.99999155e-01 1.03869435e-03 -2.23585499e-01] [-9.49305975e-04 -1.03795270e-03 9.99999011e-01 -2.99409465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704860623999998 meters 0.10885689862296569 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.22, Z:-0.30 [[ 9.99999448e-01 -8.85360508e-04 5.65366705e-04 7.12418224e+00] [ 8.85141488e-04 9.99999533e-01 3.87528647e-04 -2.21727086e-01] [-5.65709544e-04 -3.87028004e-04 9.99999765e-01 -2.98806921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764860623999999 meters 0.10785247143925351 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999790e-01 -6.23920239e-04 1.77003680e-04 7.12550359e+00] [ 6.23863169e-04 9.99999753e-01 3.22295028e-04 -2.20580828e-01] [-1.77204723e-04 -3.22184534e-04 9.99999932e-01 -2.99487029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824860624 meters 0.10956619860752964 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999750e-01 -7.07469791e-04 7.43396078e-06 7.12597088e+00] [ 7.07469652e-04 9.99999750e-01 1.86848252e-05 -2.19306550e-01] [-7.44717787e-06 -1.86795612e-05 1.00000000e+00 -2.99685909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884860624 meters 0.10591974447825464 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999751e-01 -6.98661358e-04 -9.51971654e-05 7.12611126e+00] [ 6.98657010e-04 9.99999755e-01 -4.57041449e-05 -2.19267509e-01] [ 9.52290738e-05 4.56376234e-05 9.99999994e-01 -2.99576583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944860623999999 meters 0.1039076413728506 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999792e-01 -5.57813517e-04 -3.23086743e-04 7.12667634e+00] [ 5.57817583e-04 9.99999844e-01 1.24937744e-05 -2.18930335e-01] [ 3.23079723e-04 -1.26739953e-05 9.99999948e-01 -2.99709500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004860623999999 meters 0.10597902653769954 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999825e-01 -3.78825282e-04 -4.54042875e-04 7.12700033e+00] [ 3.78913716e-04 9.99999909e-01 1.94698980e-04 -2.19559670e-01] [ 4.53969077e-04 -1.94870989e-04 9.99999878e-01 -2.99746476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064860624 meters 0.10375934813905091 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999900e-01 1.61597089e-04 -4.17626640e-04 7.12723979e+00] [-1.61117689e-04 9.99999328e-01 1.14769425e-03 -2.22405759e-01] [ 4.17811823e-04 -1.14762685e-03 9.99999254e-01 -3.00124752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124860623999998 meters 0.10684609576221553 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999859e-01 4.32967682e-04 -3.07407694e-04 7.12703906e+00] [-4.32414569e-04 9.99998292e-01 1.79707390e-03 -2.24724200e-01] [ 3.08185244e-04 -1.79694071e-03 9.99998338e-01 -3.00142789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184860623999999 meters 0.10909737313079645 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99999737e-01 5.95206044e-04 -4.15583756e-04 7.12728668e+00] [-5.94371200e-04 9.99997811e-01 2.00608721e-03 -2.25409151e-01] [ 4.16776882e-04 -2.00583967e-03 9.99997901e-01 -3.00148079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244860624 meters 0.10341763173898279 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.22, Z:-0.30 [[ 9.99999611e-01 5.51423837e-04 -6.87760636e-04 7.12740100e+00] [-5.50277871e-04 9.99998462e-01 1.66530619e-03 -2.24990373e-01] [ 6.88677868e-04 -1.66492709e-03 9.99998377e-01 -2.99395918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304860624 meters 0.10266359082410485 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99999260e-01 7.77441145e-04 -9.36229633e-04 7.12788974e+00] [-7.75777727e-04 9.99998122e-01 1.77577485e-03 -2.25187379e-01] [ 9.37608435e-04 -1.77504723e-03 9.99997985e-01 -2.99326618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364860623999999 meters 0.11005844543868877 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99998724e-01 1.14491458e-03 -1.11448567e-03 7.12876864e+00] [-1.14243149e-03 9.99996870e-01 2.22610665e-03 -2.25862725e-01] [ 1.11703089e-03 -2.22483058e-03 9.99996901e-01 -3.00016589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424860623999999 meters 0.10287767940021192 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99998729e-01 1.16767685e-03 -1.08604782e-03 7.12873712e+00] [-1.16521082e-03 9.99996748e-01 2.26851075e-03 -2.26186119e-01] [ 1.08869318e-03 -2.26724239e-03 9.99996837e-01 -3.00037681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484860624 meters 0.10332192289166632 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99998504e-01 1.30004879e-03 -1.14079409e-03 7.12881152e+00] [-1.29722259e-03 9.99996097e-01 2.47464997e-03 -2.26866040e-01] [ 1.14400681e-03 -2.47316641e-03 9.99996287e-01 -2.99973383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544860623999998 meters 0.10498781325348056 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99995258e-01 -2.41219364e-03 -1.91438400e-03 7.13047036e+00] [ 2.40924256e-03 9.99995908e-01 -1.54234334e-03 -2.26768268e-01] [ 1.91809660e-03 1.53772381e-03 9.99996978e-01 -2.99961854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604860623999999 meters 0.10180692621424585 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99996315e-01 -2.23447750e-03 -1.54201087e-03 7.12955552e+00] [ 2.23333193e-03 9.99997229e-01 -7.44226346e-04 -2.29624047e-01] [ 1.54366956e-03 7.40779781e-04 9.99998534e-01 -2.99736178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664860624 meters 0.11012008868443687 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.23, Z:-0.30 [[ 9.99997527e-01 -1.55454190e-03 -1.59027281e-03 7.13018740e+00] [ 1.55509429e-03 9.99998731e-01 3.46176729e-04 -2.32424941e-01] [ 1.58973264e-03 -3.48648897e-04 9.99998676e-01 -3.00474300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724860624 meters 0.10146559187046371 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99998155e-01 -1.04998232e-03 -1.60887827e-03 7.13050965e+00] [ 1.05207250e-03 9.99998603e-01 1.29886062e-03 -2.35051521e-01] [ 1.60751224e-03 -1.30055087e-03 9.99997862e-01 -3.00865942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784860623999998 meters 0.10371121451380488 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99998181e-01 -7.52163631e-04 -1.75302209e-03 7.13070735e+00] [ 7.55192039e-04 9.99998223e-01 1.72751421e-03 -2.36469649e-01] [ 1.75171960e-03 -1.72883493e-03 9.99996971e-01 -3.00681023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844860623999999 meters 0.10031447139871909 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99998410e-01 -6.92978399e-05 -1.78175964e-03 7.13100037e+00] [ 7.44230079e-05 9.99995860e-01 2.87655895e-03 -2.39941811e-01] [ 1.78155293e-03 -2.87668698e-03 9.99994275e-01 -3.00961303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904860624 meters 0.10094408072245249 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99998216e-01 4.27548443e-04 -1.83985506e-03 7.13114434e+00] [-4.20819949e-04 9.99993229e-01 3.65591282e-03 -2.42428467e-01] [ 1.84140568e-03 -3.65513205e-03 9.99991625e-01 -3.00964867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964860623999998 meters 0.09998615013103868 Centerline is valid? [False, True] Translation: X:7.13, Y:-0.24, Z:-0.30 [[ 9.99997819e-01 6.90573511e-04 -1.97122779e-03 7.13138433e+00] [-6.82712265e-04 9.99991823e-01 3.98588541e-03 -2.43560109e-01] [ 1.97396422e-03 -3.98453093e-03 9.99990113e-01 -3.00876176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024860623999999 meters 0.09824140527096867 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.25, Z:-0.30 [[ 9.99994094e-01 1.67066571e-03 -3.00334816e-03 7.19088906e+00] [-1.66973527e-03 9.99998557e-01 3.12281117e-04 -2.47692880e-01] [ 3.00386554e-03 -3.07264476e-04 9.99995441e-01 -3.01224488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084860624 meters 0.09817772901919247 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.26, Z:-0.30 [[ 9.99990710e-01 3.49147813e-03 -2.52766101e-03 7.25020306e+00] [-3.49082428e-03 9.99993872e-01 2.63043336e-04 -2.55282558e-01] [ 2.52856393e-03 -2.54217272e-04 9.99996771e-01 -3.01871488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144860624 meters 0.0975060519290813 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.26, Z:-0.30 [[ 9.99974040e-01 6.99532929e-03 -1.72743460e-03 7.31004560e+00] [-6.99502911e-03 9.99975518e-01 1.79754334e-04 -2.62291829e-01] [ 1.72864975e-03 -1.67666213e-04 9.99998492e-01 -3.02713122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204860623999998 meters 0.09410849469851931 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.26, Z:-0.30 [[ 9.99953279e-01 9.60623660e-03 -1.07677834e-03 7.37126749e+00] [-9.60612094e-03 9.99953854e-01 1.12536375e-04 -2.62823945e-01] [ 1.07780970e-03 -1.02187454e-04 9.99999414e-01 -3.02045585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264860623999999 meters 0.09464027561827637 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.27, Z:-0.30 [[ 9.99937796e-01 1.11101682e-02 -9.83922118e-04 7.43062428e+00] [-1.11100730e-02 9.99938276e-01 1.02155631e-04 -2.71293034e-01] [ 9.84996353e-04 -9.12178300e-05 9.99999511e-01 -3.04094605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324860624 meters 0.09179424626010435 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.27, Z:-0.31 [[ 9.99928606e-01 1.18770509e-02 -1.31072145e-03 7.48973438e+00] [-1.18768840e-02 9.99929458e-01 1.34984523e-04 -2.73832549e-01] [ 1.31223221e-03 -1.19407599e-04 9.99999132e-01 -3.05047598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384860623999998 meters 0.09309002328745003 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.28, Z:-0.31 [[ 9.99914345e-01 1.30419017e-02 -1.10105353e-03 7.54889536e+00] [-1.30417842e-02 9.99914946e-01 1.13881373e-04 -2.81568819e-01] [ 1.10244511e-03 -9.95119163e-05 9.99999387e-01 -3.06577654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444860623999999 meters 0.09628845436610405 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.29, Z:-0.31 [[ 9.99886551e-01 1.50368886e-02 -8.81825442e-04 7.60670418e+00] [-1.50368141e-02 9.99886937e-01 9.10376444e-05 -2.93264639e-01] [ 8.83094662e-04 -7.77674710e-05 9.99999607e-01 -3.09710044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504860623999999 meters 0.09126332375160683 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.29, Z:-0.31 [[ 9.99800946e-01 1.99408899e-02 -6.55456676e-04 7.66834329e+00] [-1.99408494e-02 9.99801159e-01 6.82075967e-05 -2.88815713e-01] [ 6.56686465e-04 -5.51236568e-05 9.99999783e-01 -3.10089570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564860624 meters 0.08714603091762696 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.28, Z:-0.31 [[ 9.99657459e-01 2.61555404e-02 9.23020087e-04 7.73008982e+00] [-2.61554631e-02 9.99657883e-01 -9.57890048e-05 -2.83743483e-01] [-9.25209719e-04 7.16141754e-05 9.99999569e-01 -3.09608558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624860623999998 meters 0.08717564929548031 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.29, Z:-0.31 [[ 9.99583659e-01 2.88482457e-02 5.36725001e-04 7.78931419e+00] [-2.88482195e-02 9.99583802e-01 -5.65675522e-05 -2.87040323e-01] [-5.38133492e-04 4.10604402e-05 9.99999854e-01 -3.11613998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684860623999999 meters 0.08518084544829425 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.29, Z:-0.32 [[ 9.99474983e-01 3.23952755e-02 5.51843607e-04 7.85035967e+00] [-3.23952487e-02 9.99475135e-01 -5.74805075e-05 -2.86401052e-01] [-5.53416060e-04 3.95732184e-05 9.99999846e-01 -3.15201274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744860624 meters 0.08475160633653672 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.29, Z:-0.32 [[ 9.99405272e-01 3.44833307e-02 3.46942318e-05 7.91005068e+00] [-3.44833306e-02 9.99405273e-01 -4.32759227e-06 -2.88906045e-01] [-3.48228280e-05 3.12864587e-06 9.99999999e-01 -3.16509369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804860623999998 meters 0.08275391364596359 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.29, Z:-0.32 [[ 9.99302152e-01 3.73461490e-02 -6.88596694e-04 7.97067560e+00] [-3.73461088e-02 9.99302388e-01 7.12497189e-05 -2.85428458e-01] [ 6.90777224e-04 -4.54835904e-05 9.99999760e-01 -3.17780337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864860623999999 meters 0.08117770736539365 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.28, Z:-0.32 [[ 9.99136474e-01 4.15242716e-02 -1.42857762e-03 8.03188692e+00] [-4.15241015e-02 9.99137492e-01 1.48510003e-04 -2.83658437e-01] [ 1.43351223e-03 -8.90613587e-05 9.99998969e-01 -3.19779440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924860623999999 meters 0.0803998152099134 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.28, Z:-0.32 [[ 9.98992113e-01 4.48411257e-02 -2.00796353e-03 8.09202540e+00] [-4.48407971e-02 9.98994124e-01 2.08429798e-04 -2.84273101e-01] [ 2.01528999e-03 -1.18181039e-04 9.99997962e-01 -3.20494955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984860624 meters 0.07874740762076585 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.28, Z:-0.32 [[ 9.98774809e-01 4.94162848e-02 -2.62905784e-03 8.15320536e+00] [-4.94157361e-02 9.98778259e-01 2.73279634e-04 -2.81043946e-01] [ 2.63935028e-03 -1.43027986e-04 9.99996507e-01 -3.20609662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044860623999998 meters 0.07808954819442591 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.28, Z:-0.32 [[ 9.98567320e-01 5.33617234e-02 -3.97930870e-03 8.21304114e+00] [-5.33605006e-02 9.98575228e-01 4.12918602e-04 -2.80705090e-01] [ 3.99567314e-03 -1.99989117e-04 9.99991997e-01 -3.22548907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104860623999999 meters 0.07640874119762348 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.28, Z:-0.32 [[ 9.98192628e-01 5.99632281e-02 -3.98594348e-03 8.27423807e+00] [-5.99620515e-02 9.98200571e-01 4.14144377e-04 -2.75745010e-01] [ 4.00360450e-03 -1.74390516e-04 9.99991970e-01 -3.24662995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164860624 meters 0.07546774644240002 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.27, Z:-0.33 [[ 9.97876977e-01 6.50643159e-02 -2.85911240e-03 8.33411397e+00] [-6.50637326e-02 9.97881066e-01 2.96640254e-04 -2.72056549e-01] [ 2.87235482e-03 -1.09985956e-04 9.99995869e-01 -3.25998991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224860623999998 meters 0.0756825472579588 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.27, Z:-0.33 [[ 9.97856240e-01 6.53539983e-02 -3.43199450e-03 8.39284289e+00] [-6.53531802e-02 9.97862134e-01 3.50100978e-04 -2.71278334e-01] [ 3.44753785e-03 -1.25058691e-04 9.99994049e-01 -3.27113118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284860623999998 meters 0.07633305591911965 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.28, Z:-0.33 [[ 9.97989704e-01 6.32782124e-02 -3.52411443e-03 8.45223065e+00] [-6.32773190e-02 9.97995916e-01 3.64533007e-04 -2.76700870e-01] [ 3.54011880e-03 -1.40803674e-04 9.99993724e-01 -3.30148707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344860623999999 meters 0.07852863675170849 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.29, Z:-0.33 [[ 9.98292532e-01 5.83160656e-02 -3.35516210e-03 8.51091365e+00] [-5.83152271e-02 9.98298159e-01 3.47272974e-04 -2.85349463e-01] [ 3.36970374e-03 -1.51022976e-04 9.99994311e-01 -3.34785339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404860624 meters 0.07993741666771192 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.29, Z:-0.34 [[ 9.98395194e-01 5.65124942e-02 -3.65704326e-03 8.56850787e+00] [-5.65114903e-02 9.98401878e-01 3.77347048e-04 -2.93128360e-01] [ 3.67252368e-03 -1.70076515e-04 9.99993242e-01 -3.37380477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464860623999998 meters 0.07958356406327606 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.29, Z:-0.34 [[ 9.98666526e-01 5.15091080e-02 -3.46154937e-03 8.62955299e+00] [-5.15081744e-02 9.98672509e-01 3.58354985e-04 -2.92775859e-01] [ 3.47541274e-03 -1.79579039e-04 9.99993945e-01 -3.37407691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524860623999999 meters 0.08095489150936087 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.30, Z:-0.34 [[ 9.98848927e-01 4.79398982e-02 -1.60870564e-03 8.68856760e+00] [-4.79396931e-02 9.98850218e-01 1.65823285e-04 -3.01734439e-01] [ 1.61480554e-03 -8.85115549e-05 9.99998692e-01 -3.39438158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584860624 meters 0.08205123761430771 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.31, Z:-0.34 [[ 9.99057230e-01 4.34116137e-02 -2.89637006e-04 8.74870846e+00] [-4.34116069e-02 9.99057271e-01 2.97680810e-05 -3.07352290e-01] [ 2.90656237e-04 -1.71664087e-05 9.99999958e-01 -3.39792878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644860623999998 meters 0.08806113420840096 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.32, Z:-0.35 [[ 9.99179403e-01 4.04996558e-02 -5.46732070e-04 8.80633013e+00] [-4.04996310e-02 9.99179552e-01 5.62653308e-05 -3.23799482e-01] [ 5.48562231e-04 -3.40767126e-05 9.99999849e-01 -3.45232038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704860623999998 meters 0.0867448743671427 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.32, Z:-0.35 [[ 9.99283498e-01 3.78009061e-02 -1.89275178e-03 8.86694207e+00] [-3.78006033e-02 9.99285283e-01 1.95511557e-04 -3.24646967e-01] [ 1.89878951e-03 -1.23824313e-04 9.99998190e-01 -3.47249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764860623999999 meters 0.0903422102482747 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.34, Z:-0.35 [[ 9.99304595e-01 3.72113933e-02 -2.37447945e-03 8.92367631e+00] [-3.72109211e-02 9.99307404e-01 2.42726896e-04 -3.35666383e-01] [ 2.38186710e-03 -1.54201535e-04 9.99997151e-01 -3.52561878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824860624 meters 0.08732125666216341 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.33, Z:-0.35 [[ 9.99209173e-01 3.96776409e-02 -2.59090885e-03 8.98509139e+00] [-3.96770803e-02 9.99212519e-01 2.67416842e-04 -3.28659124e-01] [ 2.59947902e-03 -1.64405663e-04 9.99996608e-01 -3.51971828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884860623999998 meters 0.08320631046477171 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.32, Z:-0.35 [[ 9.99043393e-01 4.37050691e-02 1.47150892e-03 9.04660721e+00] [-4.37048912e-02 9.99044473e-01 -1.52880591e-04 -3.20914707e-01] [-1.47678451e-03 8.84222072e-05 9.99998906e-01 -3.49348663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944860623999999 meters 0.08613871464470134 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.33, Z:-0.35 [[ 9.98981813e-01 4.50517695e-02 2.38244820e-03 9.10432388e+00] [-4.50513069e-02 9.98984644e-01 -2.47483300e-04 -3.27646806e-01] [-2.39117873e-03 1.39898910e-04 9.99997131e-01 -3.53067734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004860623999999 meters 0.08371721304632378 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.33, Z:-0.35 [[ 9.99052500e-01 4.34419845e-02 2.62619365e-03 9.16408270e+00] [-4.34414186e-02 9.99055939e-01 -2.72172536e-04 -3.25550200e-01] [-2.63553808e-03 1.57829074e-04 9.99996515e-01 -3.51880138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064860623999998 meters 0.08595390175423924 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.33, Z:-0.35 [[ 9.99311882e-01 3.70331493e-02 2.07559100e-03 9.22370691e+00] [-3.70327833e-02 9.99314028e-01 -2.14525229e-04 -3.34987523e-01] [-2.08211175e-03 1.37512698e-04 9.99997823e-01 -3.54218134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124860623999998 meters 0.0915951942800366 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.35, Z:-0.36 [[ 9.99519835e-01 3.08609533e-02 2.77493837e-03 9.28081032e+00] [-3.08602749e-02 9.99523667e-01 -2.86974838e-04 -3.53618124e-01] [-2.78247289e-03 2.01201682e-04 9.99996109e-01 -3.58452938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184860623999999 meters 0.11841850936889452 Centerline is valid? [True, False] Translation: X:9.37, Y:-0.36, Z:-0.36 [[ 9.99820660e-01 1.89287608e-02 5.91113787e-04 9.37084694e+00] [-1.89305844e-02 9.99815521e-01 3.24900196e-03 -3.62428450e-01] [-5.29505159e-04 -3.25960942e-03 9.99994547e-01 -3.58955773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244860624 meters 0.09843147684928111 Centerline is valid? [False, True] Translation: X:9.31, Y:-0.36, Z:-0.35 [[ 9.99943422e-01 8.56328965e-03 -6.31061497e-03 9.31352849e+00] [-8.51866681e-03 9.99938762e-01 7.06435271e-03 -3.57617281e-01] [ 6.37072261e-03 -7.01019499e-03 9.99955135e-01 -3.54599937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304860623999998 meters 0.09999195932998657 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.36, Z:-0.35 [[ 9.99965915e-01 4.20610077e-03 -7.10478945e-03 9.37395069e+00] [-4.20134252e-03 9.99990940e-01 6.84516518e-04 -3.63947698e-01] [ 7.10760423e-03 -6.54643532e-04 9.99974526e-01 -3.50869389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364860623999999 meters 0.10351218858846517 Centerline is valid? [True, False] Translation: X:9.37, Y:-0.36, Z:-0.35 [[ 9.99971195e-01 3.73323878e-03 -6.60850566e-03 9.37235510e+00] [-3.72889124e-03 9.99992823e-01 6.70070000e-04 -3.64911693e-01] [ 6.61095977e-03 -6.45408300e-04 9.99977939e-01 -3.50198685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424860623999999 meters 0.10517314964526962 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:-0.35 [[ 9.99971781e-01 3.65369759e-03 -6.56408538e-03 9.37201332e+00] [-3.64942892e-03 9.99993122e-01 6.62165655e-04 -3.65344610e-01] [ 6.56645958e-03 -6.38191807e-04 9.99978237e-01 -3.49855844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484860623999998 meters 0.10464325799939492 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:-0.35 [[ 9.99973437e-01 3.68354234e-03 -6.28949797e-03 9.37140911e+00] [-3.67729167e-03 9.99992734e-01 1.00510057e-03 -3.66896054e-01] [ 6.29315460e-03 -9.81945557e-04 9.99979716e-01 -3.49860847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544860623999998 meters 0.10549860229795163 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:-0.35 [[ 9.99977259e-01 -2.01724672e-04 -6.74103430e-03 9.37240259e+00] [ 1.82347241e-04 9.99995850e-01 -2.87503967e-03 -3.67725868e-01] [ 6.74158630e-03 2.87374508e-03 9.99973146e-01 -3.49856208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604860623999999 meters 0.10694328424390923 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:-0.35 [[ 9.99979267e-01 -1.87069647e-04 -6.43665659e-03 9.37170079e+00] [ 1.72016357e-04 9.99997249e-01 -2.33915564e-03 -3.69526451e-01] [ 6.43707647e-03 2.33799993e-03 9.99976549e-01 -3.49889496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664860624 meters 0.11038314411458222 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:-0.35 [[ 9.99982154e-01 -8.74716259e-06 -5.97427936e-03 9.37066338e+00] [ 1.69138323e-06 9.99999303e-01 -1.18103005e-03 -3.73996015e-01] [ 5.97428552e-03 1.18099887e-03 9.99981456e-01 -3.49742428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724860623999998 meters 0.11744140694603346 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.38, Z:-0.35 [[ 9.99986027e-01 3.03415062e-06 -5.28644730e-03 9.36912395e+00] [-3.03601359e-06 1.00000000e+00 -3.44379393e-07 -3.79065638e-01] [ 5.28644730e-03 3.60424307e-07 9.99986027e-01 -3.49633864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784860623999998 meters 0.11966966784223969 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.38, Z:-0.35 [[ 9.99987022e-01 3.50914880e-04 -5.08262779e-03 9.36878925e+00] [-3.46085018e-04 9.99999488e-01 9.51117017e-04 -3.82088503e-01] [ 5.08295895e-03 -9.49345652e-04 9.99986631e-01 -3.49841303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844860623999999 meters 0.11167495160481425 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.38, Z:-0.35 [[ 9.99986535e-01 6.72580759e-04 -5.14560231e-03 9.36853525e+00] [-6.64516599e-04 9.99998549e-01 1.56874365e-03 -3.84643296e-01] [ 5.14664995e-03 -1.56530319e-03 9.99985531e-01 -3.49257409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904860623999998 meters 0.11182006600399529 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.39, Z:-0.35 [[ 9.99985452e-01 1.38754659e-03 -5.21253014e-03 9.36874220e+00] [-1.37329738e-03 9.99995314e-01 2.73623166e-03 -3.88705221e-01] [ 5.21630236e-03 -2.72903350e-03 9.99982671e-01 -3.49261373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964860623999998 meters 0.1254685416827336 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.39, Z:-0.35 [[ 9.99984874e-01 1.72646828e-03 -5.22218157e-03 9.36871199e+00] [-1.70901906e-03 9.99992948e-01 3.34398468e-03 -3.90832393e-01] [ 5.22791803e-03 -3.33500929e-03 9.99980773e-01 -3.49188746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024860623999995 meters 0.12597163314268237 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.39, Z:-0.35 [[ 9.99979310e-01 -1.76888430e-03 -6.18464235e-03 9.37061052e+00] [ 1.76561663e-03 9.99998299e-01 -5.33771596e-04 -3.91742432e-01] [ 6.18557601e-03 5.22840845e-04 9.99980732e-01 -3.48837989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084860623999997 meters 0.11104480548292064 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.40, Z:-0.35 [[ 9.99979298e-01 -1.20800380e-03 -6.32008116e-03 9.37039813e+00] [ 1.21017051e-03 9.99999210e-01 3.39016390e-04 -3.95385885e-01] [ 6.31966664e-03 -3.46657747e-04 9.99979971e-01 -3.48056027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144860623999996 meters 0.10843035051692952 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.40, Z:-0.35 [[ 9.99975671e-01 -3.77850707e-04 -6.96522703e-03 9.37151398e+00] [ 3.85401851e-04 9.99999339e-01 1.08280986e-03 -3.97878071e-01] [ 6.96481328e-03 -1.08546793e-03 9.99975156e-01 -3.47539863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204860624 meters 0.10538336171035118 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.40, Z:-0.35 [[ 9.99971980e-01 1.21683369e-04 -7.48495452e-03 9.37251634e+00] [-1.11431520e-04 9.99999055e-01 1.37006249e-03 -3.98809771e-01] [ 7.48511416e-03 -1.36919004e-03 9.99971049e-01 -3.47282890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264860623999997 meters 0.10587665655311082 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.40, Z:-0.35 [[ 9.99965656e-01 1.46196182e-03 -8.15784539e-03 9.37432867e+00] [-1.43920895e-03 9.99995060e-01 2.79425224e-03 -4.02995329e-01] [ 8.16189019e-03 -2.78241542e-03 9.99962820e-01 -3.47612648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324860623999996 meters 0.10005224710360197 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.40, Z:-0.35 [[ 9.99964486e-01 1.70170673e-03 -8.25418795e-03 9.37443873e+00] [-1.67608087e-03 9.99993758e-01 3.11051292e-03 -4.04234607e-01] [ 8.25942960e-03 -3.09656776e-03 9.99961096e-01 -3.47439231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384860623999998 meters 0.09784753579365515 Centerline is valid? [False, True] Translation: X:9.37, Y:-0.41, Z:-0.35 [[ 9.99964049e-01 -1.12415877e-04 -8.47869581e-03 9.37477749e+00] [ 1.17284332e-04 9.99999829e-01 5.73703492e-04 -4.06213398e-01] [ 8.47862986e-03 -5.74677285e-04 9.99963891e-01 -3.46309973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444860623999997 meters 0.09449678623975853 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.41, Z:-0.35 [[ 9.99958263e-01 4.77718729e-03 -7.78783179e-03 9.43513135e+00] [-4.77174918e-03 9.99988358e-01 7.16714507e-04 -4.09089093e-01] [ 7.79116501e-03 -6.79523014e-04 9.99969418e-01 -3.45596911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504860623999996 meters 0.10308322017089523 Centerline is valid? [True, False] Translation: X:9.44, Y:-0.41, Z:-0.35 [[ 9.99954546e-01 5.17499432e-03 -8.00781144e-03 9.43542888e+00] [-5.16579318e-03 9.99985974e-01 1.16927872e-03 -4.10708837e-01] [ 8.01375013e-03 -1.12785888e-03 9.99967253e-01 -3.45290383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564860623999998 meters 0.09311698323415282 Centerline is valid? [False, True] Translation: X:9.44, Y:-0.41, Z:-0.34 [[ 9.99961408e-01 1.56952578e-03 -8.64399487e-03 9.43649228e+00] [-1.59169958e-03 9.99995459e-01 -2.55894415e-03 -4.12200026e-01] [ 8.63993929e-03 2.57260403e-03 9.99959366e-01 -3.44828184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624860623999997 meters 0.09584231142064303 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.43, Z:-0.35 [[ 9.99964213e-01 -1.49749687e-03 -8.32646637e-03 9.49528744e+00] [ 1.50352338e-03 9.99998612e-01 7.17565266e-04 -4.28315797e-01] [ 8.32538026e-03 -7.30058623e-04 9.99965077e-01 -3.49291150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684860623999995 meters 0.09568826996054629 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.44, Z:-0.35 [[ 9.99942607e-01 -5.58645126e-03 -9.14188559e-03 9.55476715e+00] [ 5.59388348e-03 9.99984044e-01 7.87616853e-04 -4.35207398e-01] [ 9.13733973e-03 -8.38710292e-04 9.99957902e-01 -3.50149359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744860623999998 meters 0.10188352140921757 Centerline is valid? [True, False] Translation: X:9.56, Y:-0.44, Z:-0.35 [[ 9.99915996e-01 -9.19301401e-03 -9.13723016e-03 9.55517316e+00] [ 9.17328641e-03 9.99955507e-01 -2.19860619e-03 -4.38650919e-01] [ 9.15703544e-03 2.11460307e-03 9.99955838e-01 -3.50586522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804860623999996 meters 0.10055485202000873 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.44, Z:-0.35 [[ 9.99918487e-01 -9.44603817e-03 -8.59022296e-03 9.55348699e+00] [ 9.43071712e-03 9.99953869e-01 -1.82230722e-03 -4.41110147e-01] [ 8.60704027e-03 1.74114672e-03 9.99961443e-01 -3.49771230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864860623999995 meters 0.09953981828256452 Centerline is valid? [False, True] Translation: X:9.55, Y:-0.44, Z:-0.35 [[ 9.99924386e-01 -8.95071766e-03 -8.43244570e-03 9.55355558e+00] [ 8.94389442e-03 9.99959644e-01 -8.46528176e-04 -4.43826263e-01] [ 8.43968244e-03 7.71045263e-04 9.99964088e-01 -3.50297722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924860623999997 meters 0.1075524986402999 Centerline is valid? [True, False] Translation: X:9.55, Y:-0.45, Z:-0.35 [[ 9.99929323e-01 -8.60754340e-03 -8.20121359e-03 9.55304889e+00] [ 8.60719988e-03 9.99962954e-01 -7.71803831e-05 -4.46536176e-01] [ 8.20157411e-03 6.58544346e-06 9.99966367e-01 -3.50159035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984860623999996 meters 0.10216600816260275 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.45, Z:-0.35 [[ 9.99930250e-01 -8.46842685e-03 -8.23290690e-03 9.55288849e+00] [ 8.47015676e-03 9.99964112e-01 1.75275480e-04 -4.47644041e-01] [ 8.23112714e-03 -2.44997267e-04 9.99966094e-01 -3.49805661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044860624 meters 0.10062748465637539 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.45, Z:-0.35 [[ 9.99932824e-01 -8.02236007e-03 -8.36597148e-03 9.55362939e+00] [ 8.02893842e-03 9.99967484e-01 7.53032933e-04 -4.48675437e-01] [ 8.35965835e-03 -8.20152217e-04 9.99964721e-01 -3.50428869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104860623999997 meters 0.1000393085550768 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.45, Z:-0.35 [[ 9.99960409e-01 -3.73780576e-03 -8.07528399e-03 9.55277539e+00] [ 3.78007490e-03 9.99979202e-01 5.22547778e-03 -4.50257950e-01] [ 8.05558422e-03 -5.25579608e-03 9.99953741e-01 -3.50099109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164860623999996 meters 0.09910466754337063 Centerline is valid? [False, True] Translation: X:9.55, Y:-0.45, Z:-0.35 [[ 9.99957034e-01 -3.40762214e-03 -8.62076285e-03 9.55413352e+00] [ 3.45241237e-03 9.99980592e-01 5.18608733e-03 -4.49268795e-01] [ 8.60292332e-03 -5.21562693e-03 9.99949392e-01 -3.50375598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224860623999998 meters 0.09714797273812766 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.45, Z:-0.35 [[ 9.99950711e-01 2.49444005e-03 -9.61003936e-03 9.61524980e+00] [-2.48615818e-03 9.99996528e-01 8.73642960e-04 -4.47990883e-01] [ 9.61218525e-03 -8.49707821e-04 9.99953441e-01 -3.50271028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284860623999997 meters 0.09331103483547301 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.44, Z:-0.35 [[ 9.99899966e-01 8.50872193e-03 -1.12986295e-02 9.67657888e+00] [-8.49765524e-03 9.99963367e-01 1.02711935e-03 -4.43137529e-01] [ 1.13069551e-02 -9.31004750e-04 9.99935641e-01 -3.51650898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344860623999995 meters 0.09371609154915282 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.45, Z:-0.35 [[ 9.99855357e-01 1.23291489e-02 -1.17156438e-02 9.73559522e+00] [-1.23175139e-02 9.99923570e-01 1.06475562e-03 -4.47327052e-01] [ 1.17278759e-02 -9.20294002e-04 9.99930803e-01 -3.50541565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404860623999998 meters 0.09376299914465033 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.45, Z:-0.35 [[ 9.99808579e-01 1.65628296e-02 -1.04153155e-02 9.79469673e+00] [-1.65538656e-02 9.99862528e-01 9.46282523e-04 -4.51630096e-01] [ 1.04295568e-02 -7.73687652e-04 9.99945311e-01 -3.51084932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464860623999996 meters 0.11674644498963226 Centerline is valid? [True, False] Translation: X:9.89, Y:-0.46, Z:-0.35 [[ 9.99812167e-01 1.48230279e-02 -1.24863429e-02 9.89460081e+00] [-1.48053862e-02 9.99889263e-01 1.50413276e-03 -4.57100439e-01] [ 1.25072560e-02 -1.31898511e-03 9.99920911e-01 -3.46593768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524860623999995 meters 0.09403501066243801 Centerline is valid? [False, True] Translation: X:9.80, Y:-0.45, Z:-0.35 [[ 9.99834992e-01 1.37055307e-02 -1.19225603e-02 9.80482472e+00] [-1.36419541e-02 9.99892376e-01 5.39754697e-03 -4.48170150e-01] [ 1.19952534e-02 -5.23400931e-03 9.99914356e-01 -3.47165736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584860623999997 meters 0.0891966786255099 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.44, Z:-0.35 [[ 9.99781020e-01 1.49218539e-02 -1.46713872e-02 9.86467723e+00] [-1.49047765e-02 9.99888108e-01 1.27265478e-03 -4.38186749e-01] [ 1.46887359e-02 -1.05370235e-03 9.99891559e-01 -3.47899862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644860623999996 meters 0.09190228116164534 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.45, Z:-0.35 [[ 9.99757127e-01 1.70948132e-02 -1.39087893e-02 9.92267618e+00] [-1.70796834e-02 9.99853404e-01 1.20585251e-03 -4.45746594e-01] [ 1.39273641e-02 -9.68001918e-04 9.99902541e-01 -3.48878378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704860623999995 meters 0.08892015086274042 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.44, Z:-0.35 [[ 9.99767635e-01 1.75247268e-02 -1.25523211e-02 9.98161927e+00] [-1.75124481e-02 9.99846054e-01 1.08745542e-03 -4.42879314e-01] [ 1.25694461e-02 -8.67380858e-04 9.99920625e-01 -3.46939241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764860623999997 meters 0.08773361408850851 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.44, Z:-0.35 [[ 9.99777785e-01 1.81984155e-02 -1.06395057e-02 1.00403787e+01] [-1.81896393e-02 9.99834131e-01 9.21061017e-04 -4.44614412e-01] [ 1.06545028e-02 -7.27327572e-04 9.99942975e-01 -3.46826912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824860623999996 meters 0.08808854977163365 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.45, Z:-0.35 [[ 9.99791903e-01 1.75392554e-02 -1.04175195e-02 1.00994489e+01] [-1.75308130e-02 9.99845917e-01 9.01176113e-04 -4.48366792e-01] [ 1.04317203e-02 -7.18360994e-04 9.99945330e-01 -3.47112182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884860623999998 meters 0.089659898821826 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.45, Z:-0.35 [[ 9.99786491e-01 1.59319253e-02 -1.31584800e-02 1.01590555e+01] [-1.59183222e-02 9.99872648e-01 1.13788240e-03 -4.53366915e-01] [ 1.31749329e-02 -9.28178532e-04 9.99912776e-01 -3.49565009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944860623999997 meters 0.09035933682139975 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.46, Z:-0.35 [[ 9.99805338e-01 1.36030273e-02 -1.42913662e-02 1.02188729e+01] [-1.35867474e-02 9.99906932e-01 1.23562369e-03 -4.59399859e-01] [ 1.43068443e-02 -1.04120998e-03 9.99897110e-01 -3.51085616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004860623999996 meters 0.09157021240647739 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.47, Z:-0.35 [[ 9.99848253e-01 1.20375008e-02 -1.25924043e-02 1.02778204e+01] [-1.20247434e-02 9.99927108e-01 1.08833117e-03 -4.67044819e-01] [ 1.26045872e-02 -9.36745589e-04 9.99920120e-01 -3.51293272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064860623999998 meters 0.09339339130395702 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.47, Z:-0.35 [[ 9.99855089e-01 9.07061325e-03 -1.44056982e-02 1.03380689e+01] [-9.05361090e-03 9.99958240e-01 1.24503029e-03 -4.72532720e-01] [ 1.44163898e-02 -1.11442628e-03 9.99895457e-01 -3.53054339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124860623999997 meters 0.09256443698710094 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.47, Z:-0.36 [[ 9.99847216e-01 8.81929324e-03 -1.50919001e-02 1.03968329e+01] [-8.80061873e-03 9.99960424e-01 1.30335374e-03 -4.74190724e-01] [ 1.51027974e-02 -1.17033655e-03 9.99885261e-01 -3.55360721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184860623999995 meters 0.09213380840642255 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.48, Z:-0.35 [[ 9.99840178e-01 1.02800924e-02 -1.46266086e-02 1.04567119e+01] [-1.02627139e-02 9.99946540e-01 1.26270497e-03 -4.75509475e-01] [ 1.46388073e-02 -1.11239446e-03 9.99892228e-01 -3.54107056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244860623999998 meters 0.09194445730141387 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.48, Z:-0.35 [[ 9.99853732e-01 1.07889734e-02 -1.32707236e-02 1.05160612e+01] [-1.07747324e-02 9.99941296e-01 1.14414506e-03 -4.78328088e-01] [ 1.32822887e-02 -1.00098921e-03 9.99911285e-01 -3.52866367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304860623999996 meters 0.09413483608043709 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.49, Z:-0.35 [[ 9.99887941e-01 8.11988890e-03 -1.25766594e-02 1.05762932e+01] [-8.10688859e-03 9.99966551e-01 1.08432227e-03 -4.85145256e-01] [ 1.25850433e-02 -9.82243180e-04 9.99920323e-01 -3.52617784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364860623999995 meters 0.09530150410224182 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.49, Z:-0.35 [[ 9.99912379e-01 4.82107892e-03 -1.23284868e-02 1.06359491e+01] [-4.80834028e-03 9.99987875e-01 1.06270095e-03 -4.91099042e-01] [ 1.23334607e-02 -1.00332828e-03 9.99923437e-01 -3.54621555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424860623999997 meters 0.09872830596438935 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.50, Z:-0.36 [[ 9.99921142e-01 1.56464167e-03 -1.24603974e-02 1.06947215e+01] [-1.55138040e-03 9.99998220e-01 1.07386800e-03 -5.02384463e-01] [ 1.24620555e-02 -1.05445251e-03 9.99921790e-01 -3.56758800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484860623999996 meters 0.09992357837275372 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.51, Z:-0.36 [[ 9.99906904e-01 -2.66967572e-03 -1.33812194e-02 1.07541580e+01] [ 2.68534325e-03 9.99995730e-01 1.15302902e-03 -5.09973437e-01] [ 1.33780841e-02 -1.18885484e-03 9.99909803e-01 -3.58601790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544860623999995 meters 0.09739514291587323 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.51, Z:-0.35 [[ 9.99926404e-01 -3.66813139e-03 -1.15642133e-02 1.08131405e+01] [ 3.67986722e-03 9.99992736e-01 9.93725572e-04 -5.08975132e-01] [ 1.15604841e-02 -1.03620721e-03 9.99932638e-01 -3.54876950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604860623999997 meters 0.09888242609186754 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.52, Z:-0.35 [[ 9.99927676e-01 -4.30012944e-03 -1.12317606e-02 1.08712304e+01] [ 4.31121072e-03 9.99990243e-01 9.62576318e-04 -5.15273421e-01] [ 1.12275118e-02 -1.01092919e-03 9.99936458e-01 -3.54022303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664860623999996 meters 0.10144740041651876 Centerline is valid? [True, False] Translation: X:10.87, Y:-0.52, Z:-0.35 [[ 9.99931506e-01 -4.52779050e-03 -1.07926640e-02 1.08706436e+01] [ 4.53840119e-03 9.99989242e-01 9.58849669e-04 -5.15173898e-01] [ 1.07882065e-02 -1.00776543e-03 9.99941298e-01 -3.54597997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724860623999998 meters 0.10184569122809016 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99933498e-01 -4.79837724e-03 -1.04868975e-02 1.08702314e+01] [ 4.80779749e-03 9.99988061e-01 8.73262432e-04 -5.14652215e-01] [ 1.04825821e-02 -9.23623238e-04 9.99944630e-01 -3.55048590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784860623999997 meters 0.10491356477804673 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99931143e-01 -5.14903948e-03 -1.05450086e-02 1.08703018e+01] [ 5.15311968e-03 9.99986658e-01 3.59797468e-04 -5.12577805e-01] [ 1.05430153e-02 -4.14112385e-04 9.99944335e-01 -3.55091063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844860623999995 meters 0.10089302865147257 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.35 [[ 9.99929663e-01 -5.41591227e-03 -1.05515954e-02 1.08701942e+01] [ 5.41539622e-03 9.99985334e-01 -7.74776955e-05 -5.11181259e-01] [ 1.05518603e-02 2.03311761e-05 9.99944327e-01 -3.54938016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904860623999998 meters 0.10502504267308997 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99930064e-01 -5.45179286e-03 -1.04949904e-02 1.08703201e+01] [ 5.45020305e-03 9.99985131e-01 -1.80077289e-04 -5.10523051e-01] [ 1.04958161e-02 1.22864867e-04 9.99944910e-01 -3.55285923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964860623999996 meters 0.10339037325628404 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99926589e-01 -5.35520925e-03 -1.08691059e-02 1.08716419e+01] [ 5.35057032e-03 9.99985582e-01 -4.55834017e-04 -5.08332948e-01] [ 1.08713903e-02 3.97644638e-04 9.99940826e-01 -3.56053367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024860623999995 meters 0.10167297350738184 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99921629e-01 -4.79827834e-03 -1.15634005e-02 1.08737454e+01] [ 4.79474649e-03 9.99988450e-01 -3.33137312e-04 -5.07084872e-01] [ 1.15648654e-02 2.77667630e-04 9.99933086e-01 -3.56984481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084860623999997 meters 0.09780951035176934 Centerline is valid? [False, True] Translation: X:10.87, Y:-0.51, Z:-0.36 [[ 9.99936671e-01 -6.27226915e-04 -1.12365930e-02 1.08733822e+01] [ 6.71254004e-04 9.99992112e-01 3.91484563e-03 -5.06937291e-01] [ 1.12340489e-02 -3.92214031e-03 9.99929204e-01 -3.57511399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144860623999996 meters 0.09820088672357176 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.51, Z:-0.36 [[ 9.99915426e-01 4.88457058e-03 -1.20532534e-02 1.09329791e+01] [-4.87219304e-03 9.99987573e-01 1.05605470e-03 -5.08312501e-01] [ 1.20582620e-02 -9.97239606e-04 9.99926799e-01 -3.56162525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204860623999995 meters 0.09541920851293559 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.51, Z:-0.36 [[ 9.99870412e-01 1.17629983e-02 -1.09905376e-02 1.09942534e+01] [-1.17531198e-02 9.99930466e-01 9.62973666e-04 -5.06641880e-01] [ 1.10011009e-02 -8.33675769e-04 9.99939139e-01 -3.56715204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264860623999997 meters 0.08580923111341555 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.49, Z:-0.36 [[ 9.99655204e-01 2.34484257e-02 -1.18171371e-02 1.10570268e+01] [-2.34378154e-02 9.99724760e-01 1.03558246e-03 -4.87402618e-01] [ 1.18381673e-02 -7.58257513e-04 9.99929639e-01 -3.56515467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324860623999996 meters 0.08226424882215225 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.48, Z:-0.36 [[ 9.99360855e-01 3.39989200e-02 -1.10433542e-02 1.11181290e+01] [-3.39902973e-02 9.99421694e-01 9.67610933e-04 -4.78689444e-01] [ 1.10698655e-02 -5.91625596e-04 9.99938552e-01 -3.55984034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384860623999995 meters 0.07946007519998576 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.47, Z:-0.36 [[ 9.99122918e-01 4.05816303e-02 -1.03211191e-02 1.11790163e+01] [-4.05744536e-02 9.99176109e-01 9.03866301e-04 -4.74193485e-01] [ 1.03492960e-02 -4.84299766e-04 9.99946327e-01 -3.56508689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444860623999997 meters 0.07881859929514586 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.48, Z:-0.36 [[ 9.99020330e-01 4.28370756e-02 -1.11069514e-02 1.12380807e+01] [-4.28289126e-02 9.99081948e-01 9.71873182e-04 -4.76049164e-01] [ 1.11383869e-02 -4.95222416e-04 9.99937844e-01 -3.57645724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504860623999996 meters 0.07888031933875675 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.48, Z:-0.36 [[ 9.98903730e-01 4.52440114e-02 -1.20132048e-02 1.12955360e+01] [-4.52346477e-02 9.98975837e-01 1.05016602e-03 -4.80157607e-01] [ 1.20484151e-02 -5.05601666e-04 9.99927287e-01 -3.60632814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564860623999998 meters 0.07862911077702736 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.48, Z:-0.36 [[ 9.98754551e-01 4.83719535e-02 -1.22270705e-02 1.13545573e+01] [-4.83624903e-02 9.98829278e-01 1.06861943e-03 -4.83700143e-01] [ 1.22644472e-02 -4.75956938e-04 9.99924676e-01 -3.61046759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624860623999997 meters 0.07840674568339631 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.49, Z:-0.36 [[ 9.98683842e-01 4.99167017e-02 -1.17858777e-02 1.14121259e+01] [-4.99080291e-02 9.98753288e-01 1.02899582e-03 -4.89059715e-01] [ 1.18225482e-02 -4.39431569e-04 9.99930015e-01 -3.60439020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684860623999995 meters 0.07819979119521868 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.49, Z:-0.36 [[ 9.98561017e-01 5.24064730e-02 -1.13779164e-02 1.14708574e+01] [-5.23985593e-02 9.98625758e-01 9.92725678e-04 -4.94656115e-01] [ 1.14143057e-02 -3.95110733e-04 9.99934777e-01 -3.61476522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744860623999998 meters 0.07757559830563987 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.50, Z:-0.36 [[ 9.98327888e-01 5.63823771e-02 -1.27458433e-02 1.15304928e+01] [-5.63727732e-02 9.98409172e-01 1.11180088e-03 -4.98111710e-01] [ 1.27882528e-02 -3.91423290e-04 9.99918150e-01 -3.62872417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804860623999996 meters 0.07694089382570757 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.50, Z:-0.36 [[ 9.98171639e-01 5.89871703e-02 -1.31868602e-02 1.15893425e+01] [-5.89771291e-02 9.98258672e-01 1.14938353e-03 -5.01302880e-01] [ 1.32316964e-02 -3.69558889e-04 9.99912389e-01 -3.62920834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864860623999995 meters 0.07627496535608215 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.50, Z:-0.36 [[ 9.97912737e-01 6.29022016e-02 -1.46110557e-02 1.16485917e+01] [-6.28903412e-02 9.98019635e-01 1.27025420e-03 -5.04545285e-01] [ 1.46620223e-02 -3.48708569e-04 9.99892446e-01 -3.63084293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924860623999997 meters 0.07593843504152406 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.51, Z:-0.36 [[ 9.97726443e-01 6.54956040e-02 -1.58830550e-02 1.17061122e+01] [-6.54819292e-02 9.97852801e-01 1.38006327e-03 -5.11646290e-01] [ 1.59393390e-02 -3.36872533e-04 9.99872904e-01 -3.64141263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984860623999996 meters 0.07517660652738968 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.52, Z:-0.36 [[ 9.97642773e-01 6.68020629e-02 -1.56965825e-02 1.17649298e+01] [-6.67889302e-02 9.97766200e-01 1.35996879e-03 -5.15733193e-01] [ 1.57523682e-02 -3.08405085e-04 9.99875876e-01 -3.61265974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044860623999995 meters 0.07497735497733601 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.52, Z:-0.36 [[ 9.97492483e-01 6.84835613e-02 -1.78535464e-02 1.18224322e+01] [-6.84669198e-02 9.97652195e-01 1.54240563e-03 -5.22187059e-01] [ 1.79172592e-02 -3.16160692e-04 9.99839423e-01 -3.62250012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104860623999997 meters 0.07480270484803485 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.53, Z:-0.36 [[ 9.97478052e-01 6.85150208e-02 -1.85264251e-02 1.18807567e+01] [-6.84971794e-02 9.97650032e-01 1.59662466e-03 -5.27527548e-01] [ 1.85922814e-02 -3.23590193e-04 9.99827096e-01 -3.62495152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164860623999996 meters 0.07487152552184685 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.54, Z:-0.36 [[ 9.97631322e-01 6.61595904e-02 -1.88322624e-02 1.19388931e+01] [-6.61408123e-02 9.97808986e-01 1.61891488e-03 -5.38516536e-01] [ 1.88981074e-02 -3.69499057e-04 9.99821347e-01 -3.63436439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224860623999994 meters 0.0760984881837585 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.55, Z:-0.36 [[ 9.98103935e-01 5.86404999e-02 -1.87036747e-02 1.19970080e+01] [-5.86206580e-02 9.98279036e-01 1.60782568e-03 -5.54770467e-01] [ 1.87657701e-02 -5.08355420e-04 9.99823778e-01 -3.64766165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284860623999997 meters 0.07624876393772362 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.56, Z:-0.36 [[ 9.98452319e-01 5.27303897e-02 -1.76768781e-02 1.20569139e+01] [-5.27117467e-02 9.98608614e-01 1.51925326e-03 -5.62528298e-01] [ 1.77323935e-02 -5.85122820e-04 9.99842598e-01 -3.62540204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344860623999995 meters 0.0780302694640319 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.58, Z:-0.36 [[ 9.98846123e-01 4.43913807e-02 -1.83255972e-02 1.21160848e+01] [-4.43699408e-02 9.99013928e-01 1.57507756e-03 -5.78045210e-01] [ 1.83774467e-02 -7.60154458e-04 9.99830832e-01 -3.64234575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404860623999998 meters 0.07901012384950233 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.59, Z:-0.36 [[ 9.99154546e-01 3.76477701e-02 -1.65178014e-02 1.21762973e+01] [-3.76294331e-02 9.99290754e-01 1.41964345e-03 -5.88181880e-01] [ 1.65595326e-02 -7.96887704e-04 9.99862564e-01 -3.62469019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464860623999996 meters 0.0801328190037762 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.60, Z:-0.36 [[ 9.99305813e-01 3.24611259e-02 -1.82802395e-02 1.22364303e+01] [-3.24378006e-02 9.99472521e-01 1.57112973e-03 -5.96266479e-01] [ 1.83215977e-02 -9.77068305e-04 9.99831668e-01 -3.63847150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524860623999995 meters 0.08151174611656989 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.61, Z:-0.37 [[ 9.99370071e-01 3.03003559e-02 -1.84756492e-02 1.22952371e+01] [-3.02761803e-02 9.99540312e-01 1.58688419e-03 -6.05082599e-01] [ 1.85152393e-02 -1.02651248e-03 9.99828051e-01 -3.65877847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584860623999997 meters 0.08353121891126883 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.61, Z:-0.37 [[ 9.99465158e-01 2.71303250e-02 -1.82576793e-02 1.23534922e+01] [-2.71061920e-02 9.99631330e-01 1.56802200e-03 -6.14171943e-01] [ 1.82934892e-02 -1.07228720e-03 9.99832085e-01 -3.67984956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644860623999996 meters 0.08494269495807481 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.62, Z:-0.37 [[ 9.99488685e-01 2.54601751e-02 -1.93429241e-02 1.24122983e+01] [-2.54327953e-02 9.99675156e-01 1.66021294e-03 -6.20569545e-01] [ 1.93789099e-02 -1.16741942e-03 9.99811530e-01 -3.69910131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704860623999995 meters 0.0854924683736989 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.62, Z:-0.37 [[ 9.99537019e-01 2.33716471e-02 -1.94811334e-02 1.24721954e+01] [-2.33434906e-02 9.99726106e-01 1.67150202e-03 -6.22824632e-01] [ 1.95148634e-02 -1.21597049e-03 9.99808827e-01 -3.68830094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764860623999997 meters 0.08468661851791408 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.62, Z:-0.37 [[ 9.99587919e-01 2.19528606e-02 -1.84949942e-02 1.25316188e+01] [-2.19273303e-02 9.99758315e-01 1.58207149e-03 -6.19906370e-01] [ 1.85252553e-02 -1.17587370e-03 9.99827701e-01 -3.66131240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824860623999996 meters 0.08549845439794872 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.62, Z:-0.37 [[ 9.99636482e-01 2.08341220e-02 -1.71126365e-02 1.25899499e+01] [-2.08121705e-02 9.99782337e-01 1.45987122e-03 -6.22527473e-01] [ 1.71393269e-02 -1.10318942e-03 9.99852502e-01 -3.66079536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884860623999995 meters 0.08594762114464394 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.62, Z:-0.37 [[ 9.99698254e-01 1.89266935e-02 -1.56582826e-02 1.26500822e+01] [-1.89080822e-02 9.99820334e-01 1.33579466e-03 -6.23177055e-01] [ 1.56807515e-02 -1.03932350e-03 9.99876509e-01 -3.68121429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944860623999997 meters 0.0881101638898927 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.63, Z:-0.37 [[ 9.99768317e-01 1.53988018e-02 -1.50395598e-02 1.27102458e+01] [-1.53812361e-02 9.99880879e-01 1.28294213e-03 -6.26089749e-01] [ 1.50575241e-02 -1.05131788e-03 9.99886076e-01 -3.68221607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004860623999996 meters 0.09159139171450628 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.63, Z:-0.37 [[ 9.99792563e-01 1.31834902e-02 -1.55250469e-02 1.27685938e+01] [-1.31645084e-02 9.99912467e-01 1.32421882e-03 -6.34608520e-01] [ 1.55411458e-02 -1.11956451e-03 9.99878602e-01 -3.69862860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064860623999994 meters 0.0920364878265343 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.63, Z:-0.37 [[ 9.99832115e-01 9.83775517e-03 -1.54583355e-02 1.28296235e+01] [-9.81853909e-03 9.99950928e-01 1.31849272e-03 -6.34120907e-01] [ 1.54705480e-02 -1.16649310e-03 9.99879643e-01 -3.70509792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124860623999997 meters 0.09142372364861066 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.63, Z:-0.37 [[ 9.99824965e-01 8.87708522e-03 -1.64692624e-02 1.28895253e+01] [-8.85515423e-03 9.99959807e-01 1.40407943e-03 -6.31573350e-01] [ 1.64810645e-02 -1.25799581e-03 9.99863387e-01 -3.71297417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184860623999995 meters 0.09505414429800461 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.64, Z:-0.37 [[ 9.99842136e-01 9.44925572e-03 -1.50470864e-02 1.29473359e+01] [-9.43103471e-03 9.99954706e-01 1.28143306e-03 -6.35836298e-01] [ 1.50585134e-02 -1.13932118e-03 9.99885965e-01 -3.71752958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244860623999998 meters 0.09768668749623734 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.64, Z:-0.37 [[ 9.99851833e-01 1.04946873e-02 -1.36445185e-02 1.30057557e+01] [-1.04798096e-02 9.99944411e-01 1.16141926e-03 -6.41298647e-01] [ 1.36559487e-02 -1.01825522e-03 9.99906235e-01 -3.71875476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304860623999996 meters 0.09098384865603587 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.62, Z:-0.37 [[ 9.99816259e-01 1.19893010e-02 -1.49567861e-02 1.30663487e+01] [-1.19716058e-02 9.99927529e-01 1.27205908e-03 -6.24693170e-01] [ 1.49709533e-02 -1.09276860e-03 9.99887332e-01 -3.69886992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364860623999995 meters 0.09074204117891162 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.62, Z:-0.37 [[ 9.99765837e-01 1.51494071e-02 -1.54520538e-02 1.31258001e+01] [-1.51308998e-02 9.99884658e-01 1.31393412e-03 -6.24072398e-01] [ 1.54701769e-02 -1.07982297e-03 9.99879747e-01 -3.72904782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424860623999997 meters 0.09180491231013321 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.62, Z:-0.37 [[ 9.99709831e-01 1.72407862e-02 -1.68228771e-02 1.31850195e+01] [-1.72191589e-02 9.99850717e-01 1.42960494e-03 -6.21576546e-01] [ 1.68450132e-02 -1.13951432e-03 9.99857463e-01 -3.74749662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484860623999996 meters 0.09192415453886364 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.62, Z:-0.38 [[ 9.99674803e-01 1.80941535e-02 -1.79691636e-02 1.32442941e+01] [-1.80696978e-02 9.99835571e-01 1.52242206e-03 -6.21034097e-01] [ 1.79937559e-02 -1.19722962e-03 9.99837382e-01 -3.76257502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544860623999995 meters 0.09266165086581887 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.62, Z:-0.37 [[ 9.99719765e-01 1.74224252e-02 -1.60265797e-02 1.33024449e+01] [-1.74029061e-02 9.99847638e-01 1.35658998e-03 -6.20523676e-01] [ 1.60477729e-02 -1.07730075e-03 9.99870646e-01 -3.74832436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604860623999997 meters 0.09176556323963413 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.62, Z:-0.37 [[ 9.99796054e-01 1.43715344e-02 -1.41883544e-02 1.33633185e+01] [-1.43559272e-02 9.99896227e-01 1.20124049e-03 -6.18708714e-01] [ 1.42041457e-02 -9.97308523e-04 9.99898619e-01 -3.70977178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664860623999996 meters 0.09362694508332961 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.62, Z:-0.37 [[ 9.99869048e-01 9.10968971e-03 -1.33754005e-02 1.34238913e+01] [-9.09535348e-03 9.99957995e-01 1.13227564e-03 -6.24476380e-01] [ 1.33851533e-02 -1.01047337e-03 9.99909904e-01 -3.70591750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724860623999994 meters 0.10188962324577953 Centerline is valid? [True, False] Translation: X:13.42, Y:-0.62, Z:-0.37 [[ 9.99885090e-01 8.28808947e-03 -1.26931000e-02 1.34221948e+01] [-8.27982628e-03 9.99965474e-01 7.03411914e-04 -6.23305288e-01] [ 1.26984917e-02 -5.98234423e-04 9.99919192e-01 -3.70643465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784860623999997 meters 0.10147720823682951 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.62, Z:-0.37 [[ 9.99912972e-01 3.55451883e-03 -1.27049123e-02 1.34223890e+01] [-3.60697738e-03 9.99985055e-01 -4.10847105e-03 -6.20778913e-01] [ 1.26901188e-02 4.15393983e-03 9.99910849e-01 -3.71075048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844860623999995 meters 0.09974222721494155 Centerline is valid? [False, True] Translation: X:13.42, Y:-0.62, Z:-0.37 [[ 9.99904498e-01 3.65430080e-03 -1.33281915e-02 1.34240770e+01] [-3.71828128e-03 9.99981669e-01 -4.77877030e-03 -6.17556627e-01] [ 1.33104841e-02 4.82787188e-03 9.99899756e-01 -3.71383035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904860623999994 meters 0.0976463049624094 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.62, Z:-0.38 [[ 9.99870657e-01 9.21440661e-03 -1.31819326e-02 1.34848888e+01] [-9.20029729e-03 9.99957037e-01 1.13059497e-03 -6.20688856e-01] [ 1.31917840e-02 -1.00917104e-03 9.99912475e-01 -3.75301671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964860623999996 meters 0.09318385690338728 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.62, Z:-0.38 [[ 9.99851632e-01 1.10654495e-02 -1.32011637e-02 1.35456144e+01] [-1.10514705e-02 9.99938291e-01 1.13140459e-03 -6.17101584e-01] [ 1.32128685e-02 -9.85344456e-04 9.99912221e-01 -3.75210463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024860623999995 meters 0.09258206260092296 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.62, Z:-0.38 [[ 9.99850358e-01 1.15128027e-02 -1.29118893e-02 1.36038794e+01] [-1.14994804e-02 9.99933268e-01 1.10555486e-03 -6.20753530e-01] [ 1.29237557e-02 -9.56909408e-04 9.99916027e-01 -3.75038061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084860623999997 meters 0.09384321893210905 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.63, Z:-0.37 [[ 9.99883693e-01 1.14214454e-02 -1.01069633e-02 1.36616256e+01] [-1.14132889e-02 9.99934493e-01 8.64329061e-04 -6.28133344e-01] [ 1.01161731e-02 -7.48874841e-04 9.99948550e-01 -3.73370861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144860623999996 meters 0.0974774687841825 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.64, Z:-0.37 [[ 9.99913083e-01 9.30275141e-03 -9.34263411e-03 1.37190033e+01] [-9.29569518e-03 9.99956475e-01 7.98413536e-04 -6.41246228e-01] [ 9.34965491e-03 -7.11497862e-04 9.99956038e-01 -3.74439333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204860623999995 meters 0.10059533370192025 Centerline is valid? [True, False] Translation: X:13.72, Y:-0.64, Z:-0.37 [[ 9.99942019e-01 5.02239814e-03 -9.52544374e-03 1.37190997e+01] [-5.05470606e-03 9.99981544e-01 -3.37071330e-03 -6.41953502e-01] [ 9.50833888e-03 3.41866618e-03 9.99948951e-01 -3.74116555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264860623999997 meters 0.10120059647613093 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.64, Z:-0.37 [[ 9.99944646e-01 5.11674373e-03 -9.19363247e-03 1.37186256e+01] [-5.14190865e-03 9.99983093e-01 -2.71566224e-03 -6.43654936e-01] [ 9.17958168e-03 2.76278474e-03 9.99954050e-01 -3.74683808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324860623999996 meters 0.10520040265924177 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.65, Z:-0.38 [[ 9.99947900e-01 5.36485977e-03 -8.68419466e-03 1.37176872e+01] [-5.37856161e-03 9.99984326e-01 -1.55520608e-03 -6.47871160e-01] [ 8.67571508e-03 1.60183353e-03 9.99961082e-01 -3.75102118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384860623999995 meters 0.10659248284997963 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.65, Z:-0.38 [[ 9.99953001e-01 5.35460161e-03 -8.08238798e-03 1.37163572e+01] [-5.36054035e-03 9.99985378e-01 -7.13289710e-04 -6.51156143e-01] [ 8.07845042e-03 7.56582153e-04 9.99967083e-01 -3.75268195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444860623999997 meters 0.10151698685434785 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.65, Z:-0.37 [[ 9.99963733e-01 1.64067902e-03 -8.35705858e-03 1.37167298e+01] [-1.67441049e-03 9.99990474e-01 -4.03088968e-03 -6.54617140e-01] [ 8.35036557e-03 4.04473664e-03 9.99956955e-01 -3.74954668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504860623999996 meters 0.10599236525224244 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.66, Z:-0.38 [[ 9.99967057e-01 2.20253400e-03 -7.81235661e-03 1.37159743e+01] [-2.22005168e-03 9.99995040e-01 -2.23434184e-03 -6.60785563e-01] [ 7.80739664e-03 2.25161207e-03 9.99966987e-01 -3.75681391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564860623999994 meters 0.10963453989082501 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.67, Z:-0.38 [[ 9.99967601e-01 -1.34866909e-03 -7.93584631e-03 1.37162091e+01] [ 1.30841146e-03 9.99986262e-01 -5.07589216e-03 -6.65458951e-01] [ 7.94258298e-03 5.06534436e-03 9.99955628e-01 -3.75708684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624860623999997 meters 0.10951069867398093 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.67, Z:-0.38 [[ 9.99969620e-01 -7.86978617e-04 -7.75494696e-03 1.37159794e+01] [ 7.57109404e-04 9.99992287e-01 -3.85381666e-03 -6.69561088e-01] [ 7.75792002e-03 3.84782824e-03 9.99962504e-01 -3.76006494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684860623999995 meters 0.10795684319442873 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.67, Z:-0.38 [[ 9.99967305e-01 5.58076463e-05 -8.08614945e-03 1.37168943e+01] [-7.79816074e-05 9.99996238e-01 -2.74192576e-03 -6.72788426e-01] [ 8.08596600e-03 2.74246669e-03 9.99963547e-01 -3.76189571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744860623999994 meters 0.1053488869077547 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.68, Z:-0.38 [[ 9.99965414e-01 9.71466998e-04 -8.25994398e-03 1.37173590e+01] [-9.83145014e-04 9.99998523e-01 -1.40987007e-03 -6.77348106e-01] [ 8.25856213e-03 1.41794203e-03 9.99964892e-01 -3.76194764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804860623999996 meters 0.10499489602818966 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.68, Z:-0.38 [[ 9.99961911e-01 2.00117776e-03 -8.49534624e-03 1.37184409e+01] [-2.00045933e-03 9.99997995e-01 9.30647688e-05 -6.81494350e-01] [ 8.49551544e-03 -7.60666295e-05 9.99963910e-01 -3.76906364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864860623999995 meters 0.10648653985072493 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.68, Z:-0.38 [[ 9.99960641e-01 2.54220763e-03 -8.50024801e-03 1.37186921e+01] [-2.53318034e-03 9.99996216e-01 1.07260068e-03 -6.84453662e-01] [ 8.50294262e-03 -1.05102581e-03 9.99963297e-01 -3.77261999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924860623999997 meters 0.10708676314921414 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.69, Z:-0.38 [[ 9.99958685e-01 -7.55096924e-04 -9.05853943e-03 1.37197773e+01] [ 7.36978369e-04 9.99997722e-01 -2.00333434e-03 -6.88539563e-01] [ 9.06003150e-03 1.99657562e-03 9.99956964e-01 -3.76910399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984860623999996 meters 0.0999384286722305 Centerline is valid? [False, True] Translation: X:13.72, Y:-0.69, Z:-0.38 [[ 9.99958024e-01 1.87583228e-05 -9.16238581e-03 1.37205507e+01] [-2.54278250e-05 9.99999735e-01 -7.27806043e-04 -6.91661266e-01] [ 9.16236973e-03 7.28008473e-04 9.99957760e-01 -3.77701783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044860623999995 meters 0.10728013619820197 Centerline is valid? [True, False] Translation: X:13.72, Y:-0.70, Z:-0.38 [[ 9.99958620e-01 6.59927232e-04 -9.07321467e-03 1.37204734e+01] [-6.55227610e-04 9.99999650e-01 5.20929406e-04 -6.96133812e-01] [ 9.07355527e-03 -5.14962829e-04 9.99958702e-01 -3.77816113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104860623999997 meters 0.10219813131446175 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.70, Z:-0.38 [[ 9.99951887e-01 -2.80127422e-03 -9.40087460e-03 1.37212630e+01] [ 2.77840380e-03 9.99993151e-01 -2.44497608e-03 -7.00172851e-01] [ 9.40765926e-03 2.41873902e-03 9.99952822e-01 -3.77876281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164860623999996 meters 0.10476965940294562 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.70, Z:-0.38 [[ 9.99957504e-01 -2.63760921e-03 -8.83362420e-03 1.37199289e+01] [ 2.62615737e-03 9.99995697e-01 -1.30774015e-03 -7.04724786e-01] [ 8.83703549e-03 1.28448609e-03 9.99960128e-01 -3.77700027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224860623999994 meters 0.10615021426267103 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.71, Z:-0.38 [[ 9.99962421e-01 -2.41219201e-03 -8.32690420e-03 1.37189798e+01] [ 2.40980558e-03 9.99997052e-01 -2.96614147e-04 -7.08476235e-01] [ 8.32759515e-03 2.76536780e-04 9.99965287e-01 -3.77913510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284860623999997 meters 0.10819236150078429 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.71, Z:-0.38 [[ 9.99964258e-01 -1.85015932e-03 -8.24981126e-03 1.37191510e+01] [ 1.85640153e-03 9.99997996e-01 7.49055402e-04 -7.11611313e-01] [ 8.24840885e-03 -7.64343591e-04 9.99965689e-01 -3.78353949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344860623999995 meters 0.11059565640431099 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.71, Z:-0.38 [[ 9.99964374e-01 -1.28890121e-03 -8.34202621e-03 1.37195919e+01] [ 1.30247997e-03 9.99997835e-01 1.62252519e-03 -7.14059516e-01] [ 8.33991688e-03 -1.63333271e-03 9.99963888e-01 -3.78647035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404860623999994 meters 0.1027857068324093 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.72, Z:-0.38 [[ 9.99965851e-01 -1.06613900e-03 -8.19511472e-03 1.37192832e+01] [ 1.08398089e-03 9.99997052e-01 2.17300345e-03 -7.16112295e-01] [ 8.19277384e-03 -2.18181259e-03 9.99964058e-01 -3.78670359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464860623999996 meters 0.1016961735528058 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.72, Z:-0.38 [[ 9.99966616e-01 -7.70938621e-04 -8.13467052e-03 1.37188896e+01] [ 7.93443952e-04 9.99995866e-01 2.76372949e-03 -7.18660783e-01] [ 8.13250623e-03 -2.77009164e-03 9.99963094e-01 -3.78237991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524860623999995 meters 0.10685217785652106 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.72, Z:-0.38 [[ 9.99966197e-01 -1.77245891e-04 -8.22036186e-03 1.37193549e+01] [ 2.07523229e-04 9.99993198e-01 3.68250562e-03 -7.21531015e-01] [ 8.21965324e-03 -3.68408705e-03 9.99959432e-01 -3.78564236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584860623999994 meters 0.10276852099112534 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.72, Z:-0.38 [[ 9.99965239e-01 1.24558510e-04 -8.33700678e-03 1.37198523e+01] [-9.04359404e-05 9.99991619e-01 4.09315600e-03 -7.22439047e-01] [ 8.33744674e-03 -4.09225975e-03 9.99956869e-01 -3.78850906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644860623999996 meters 0.1033286486793527 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.73, Z:-0.38 [[ 9.99966849e-01 3.89639364e-04 -8.13315246e-03 1.37190193e+01] [-3.49639067e-04 9.99987840e-01 4.91902121e-03 -7.26431532e-01] [ 8.13497021e-03 -4.91601448e-03 9.99954827e-01 -3.78178889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704860623999995 meters 0.10288533899988483 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.73, Z:-0.38 [[ 9.99970673e-01 4.79384509e-04 -7.64348880e-03 1.37179124e+01] [-4.34911442e-04 9.99982975e-01 5.81902597e-03 -7.30425033e-01] [ 7.64614822e-03 -5.81553107e-03 9.99953857e-01 -3.78059065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764860623999997 meters 0.10486942052174718 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.73, Z:-0.38 [[ 9.99959770e-01 -3.01784710e-03 -8.44696818e-03 1.37198842e+01] [ 3.03532370e-03 9.99993278e-01 2.05692463e-03 -7.31142895e-01] [ 8.44070391e-03 -2.08248116e-03 9.99962208e-01 -3.78270613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824860623999996 meters 0.10558693856421553 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.73, Z:-0.38 [[ 9.99961088e-01 -2.64120157e-03 -8.41706988e-03 1.37199318e+01] [ 2.66397396e-03 9.99992819e-01 2.69543827e-03 -7.33300311e-01] [ 8.40989024e-03 -2.71775624e-03 9.99960943e-01 -3.78364416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884860623999995 meters 0.10390567122195561 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.73, Z:-0.38 [[ 9.99964293e-01 -2.89293081e-03 -7.93996407e-03 1.37184819e+01] [ 2.91599018e-03 9.99991560e-01 2.89417753e-03 -7.34860520e-01] [ 7.93152440e-03 -2.91722705e-03 9.99964290e-01 -3.77794802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944860623999997 meters 0.10572940683880827 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99967174e-01 -2.87588150e-03 -7.57498059e-03 1.37177181e+01] [ 2.90155365e-03 9.99990077e-01 3.38026489e-03 -7.36871228e-01] [ 7.56518418e-03 -3.40213314e-03 9.99965596e-01 -3.77805298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004860623999996 meters 0.10867083222105368 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99971281e-01 -2.79726427e-03 -7.04355279e-03 1.37169667e+01] [ 2.82618393e-03 9.99987604e-01 4.09923317e-03 -7.39398005e-01] [ 7.03199885e-03 -4.11902182e-03 9.99966792e-01 -3.78344388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064860623999994 meters 0.11086543725429426 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99972783e-01 -2.98536110e-03 -6.74693574e-03 1.37159564e+01] [ 3.01375907e-03 9.99986627e-01 4.20277635e-03 -7.40628058e-01] [ 6.73429871e-03 -4.22299560e-03 9.99968407e-01 -3.77838594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124860623999997 meters 0.10951103905592767 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99973250e-01 -2.83856841e-03 -6.74107615e-03 1.37159451e+01] [ 2.86846084e-03 9.99986079e-01 4.42884987e-03 -7.41490670e-01] [ 6.72841071e-03 -4.44806791e-03 9.99967471e-01 -3.77783617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184860623999995 meters 0.10682177629591658 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99973633e-01 -2.50701309e-03 -6.81524692e-03 1.37160759e+01] [ 2.53982753e-03 9.99985204e-01 4.81047381e-03 -7.43029701e-01] [ 6.80308616e-03 -4.82765652e-03 9.99965205e-01 -3.77620878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244860623999994 meters 0.10864581898109638 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99973747e-01 -2.29600562e-03 -6.87261692e-03 1.37159710e+01] [ 2.33104583e-03 9.99984304e-01 5.09486400e-03 -7.44610124e-01] [ 6.86081121e-03 -5.11075063e-03 9.99963404e-01 -3.77197540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304860623999996 meters 0.10832490476269181 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.74, Z:-0.38 [[ 9.99973043e-01 -2.10177315e-03 -7.03529147e-03 1.37163685e+01] [ 2.13837224e-03 9.99984200e-01 5.19873994e-03 -7.44971170e-01] [ 7.02425374e-03 -5.21364387e-03 9.99961738e-01 -3.77198395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364860623999995 meters 0.10665950950001125 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.75, Z:-0.38 [[ 9.99953063e-01 -5.07914776e-03 -8.25071113e-03 1.37194675e+01] [ 5.09381904e-03 9.99985481e-01 1.75814397e-03 -7.45585519e-01] [ 8.24166147e-03 -1.80008907e-03 9.99964417e-01 -3.77838589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424860623999994 meters 0.10810285649985953 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.75, Z:-0.38 [[ 9.99999964e-01 -4.40087317e-05 -2.64150520e-04 1.37094534e+01] [ 4.39637161e-05 9.99999985e-01 -1.70419932e-04 -7.50098432e-01] [ 2.64158016e-04 1.70408313e-04 9.99999951e-01 -3.82884580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484860623999996 meters 0.1021785893566799 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.75, Z:-0.38 [[ 9.99999784e-01 3.39659824e-04 -5.62048189e-04 1.37101618e+01] [-3.39588682e-04 9.99999934e-01 1.26666030e-04 -7.51058817e-01] [ 5.62091175e-04 -1.26475137e-04 9.99999834e-01 -3.82902321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544860623999995 meters 0.10656869870811225 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.75, Z:-0.38 [[ 9.99999124e-01 7.31670916e-04 -1.10306326e-03 1.37111023e+01] [-7.31523949e-04 9.99999724e-01 1.33632854e-04 -7.51405224e-01] [ 1.10316074e-03 -1.32825820e-04 9.99999383e-01 -3.82440399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604860623999997 meters 0.10529562172195728 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.75, Z:-0.38 [[ 9.99996929e-01 1.39558011e-03 -2.04812947e-03 1.37131011e+01] [-1.39541745e-03 9.99999023e-01 8.08453688e-05 -7.50655846e-01] [ 2.04824030e-03 -7.79871249e-05 9.99997899e-01 -3.82396300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664860623999996 meters 0.09410560829259823 Centerline is valid? [False, True] Translation: X:13.71, Y:-0.75, Z:-0.38 [[ 9.99992650e-01 2.94301747e-03 -2.45728502e-03 1.37148404e+01] [-2.94195339e-03 9.99995577e-01 4.36534140e-04 -7.48051649e-01] [ 2.45855888e-03 -4.29301714e-04 9.99996886e-01 -3.82734322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724860623999994 meters 0.088656066763269 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.74, Z:-0.38 [[ 9.99938164e-01 1.08860003e-02 -2.27226016e-03 1.37756458e+01] [-1.08855620e-02 9.99940729e-01 2.05186254e-04 -7.41870936e-01] [ 2.27435914e-03 -1.80438737e-04 9.99997397e-01 -3.82422836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784860623999997 meters 0.08565120540832867 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.74, Z:-0.38 [[ 9.99869496e-01 1.61249216e-02 -9.88946289e-04 1.38367555e+01] [-1.61248409e-02 9.99869982e-01 8.94960826e-05 -7.40264531e-01] [ 9.90260826e-04 -7.35378014e-05 9.99999507e-01 -3.82112388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844860623999995 meters 0.08263011528895664 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.74, Z:-0.38 [[ 9.99697660e-01 2.45465313e-02 -1.43385172e-03 1.38982517e+01] [-2.45463704e-02 9.99698684e-01 1.29704150e-04 -7.35143251e-01] [ 1.43660346e-03 -9.44690803e-05 9.99998964e-01 -3.81658558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904860623999994 meters 0.08149959806739192 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.74, Z:-0.38 [[ 9.99548443e-01 2.99953055e-02 -1.78635164e-03 1.39585304e+01] [-2.99950663e-02 9.99550034e-01 1.60519419e-04 -7.35799700e-01] [ 1.79036267e-03 -1.06865200e-04 9.99998392e-01 -3.84267661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964860623999996 meters 0.0801522086851485 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.74, Z:-0.39 [[ 9.99520647e-01 3.08804696e-02 -2.20745380e-03 1.40175908e+01] [-3.08801083e-02 9.99523076e-01 1.97586629e-04 -7.37415176e-01] [ 2.21250258e-03 -1.29325502e-04 9.99997544e-01 -3.85777292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024860623999995 meters 0.08355901179312254 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.75, Z:-0.39 [[ 9.99560383e-01 2.96177817e-02 -1.35168027e-03 1.40747538e+01] [-2.96176468e-02 9.99561294e-01 1.19686024e-04 -7.49330878e-01] [ 1.35463211e-03 -7.95998193e-05 9.99999079e-01 -3.89444039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084860623999994 meters 0.08325067025421506 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.75, Z:-0.39 [[ 9.99643687e-01 2.66921350e-02 -1.67755910e-04 1.41340148e+01] [-2.66921331e-02 9.99643701e-01 1.37478360e-05 -7.53610580e-01] [ 1.68063098e-04 -9.26517437e-06 9.99999986e-01 -3.88553756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144860623999996 meters 0.08481430140905864 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.76, Z:-0.39 [[ 9.99719392e-01 2.36871600e-02 2.36879426e-04 1.41932117e+01] [-2.36871555e-02 9.99719420e-01 -2.18463217e-05 -7.62207821e-01] [-2.37330439e-04 1.62291917e-05 9.99999972e-01 -3.90678796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204860623999995 meters 0.08915115915940318 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.78, Z:-0.39 [[ 9.99829032e-01 1.83722966e-02 2.08958459e-03 1.42517758e+01] [-1.83719416e-02 9.99831204e-01 -1.88983053e-04 -7.75776753e-01] [-2.09270393e-03 1.50561016e-04 9.99997799e-01 -3.91960107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264860623999994 meters 0.09352201785402671 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.79, Z:-0.40 [[ 9.99912257e-01 1.28004556e-02 3.40985129e-03 1.43106641e+01] [-1.27994792e-02 9.99918036e-01 -3.08019596e-04 -7.90096218e-01] [-3.41351459e-03 2.64348249e-04 9.99994139e-01 -3.95961431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324860623999996 meters 0.09247215055025497 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.79, Z:-0.40 [[ 9.99962933e-01 7.61762763e-03 4.01300714e-03 1.43704618e+01] [-7.61623405e-03 9.99970930e-01 -3.62433253e-04 -7.93155759e-01] [-4.01565136e-03 3.31855817e-04 9.99991882e-01 -3.96666603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384860623999995 meters 0.09318256090089339 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.80, Z:-0.40 [[ 9.99968550e-01 6.38130528e-03 4.70941504e-03 1.44300365e+01] [-6.37937102e-03 9.99979561e-01 -4.25631154e-04 -7.99502409e-01] [-4.71203487e-03 3.95574662e-04 9.99988820e-01 -3.99257802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444860623999997 meters 0.09528736672367102 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.81, Z:-0.40 [[ 9.99957852e-01 6.36757335e-03 6.61417885e-03 1.44887449e+01] [-6.36377120e-03 9.99979574e-01 -5.95735972e-04 -8.07325876e-01] [-6.61783714e-03 5.53619742e-04 9.99977949e-01 -4.01321903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504860623999996 meters 0.09703162554758321 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.81, Z:-0.40 [[ 9.99951849e-01 6.60573864e-03 7.25701901e-03 1.45483067e+01] [-6.60116072e-03 9.99977998e-01 -6.54598813e-04 -8.14284000e-01] [-7.26118345e-03 6.06662544e-04 9.99973453e-01 -4.03634580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564860623999994 meters 0.09696275456617834 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.82, Z:-0.41 [[ 9.99948537e-01 7.78554424e-03 6.50452349e-03 1.46086634e+01] [-7.78189129e-03 9.99969548e-01 -5.86722089e-04 -8.18352365e-01] [-6.50889336e-03 5.36074400e-04 9.99978673e-01 -4.06591102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624860623999997 meters 0.08952902588521822 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.81, Z:-0.41 [[ 9.99881863e-01 1.28554056e-02 8.42607178e-03 1.46707753e+01] [-1.28494531e-02 9.99917153e-01 -7.60201023e-04 -8.07267179e-01] [-8.43514641e-03 6.51840801e-04 9.99964211e-01 -4.05214696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684860623999995 meters 0.08563906573665563 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.80, Z:-0.41 [[ 9.99778117e-01 1.81316739e-02 1.07219439e-02 1.47321093e+01] [-1.81223405e-02 9.99835309e-01 -9.67020222e-04 -8.01022099e-01] [-1.07377118e-02 7.72498938e-04 9.99942051e-01 -4.05001954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744860623999994 meters 0.08515498166155715 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.80, Z:-0.41 [[ 9.99699647e-01 2.16848215e-02 1.14185832e-02 1.47925479e+01] [-2.16744649e-02 9.99764551e-01 -1.02998535e-03 -8.00972019e-01] [-1.14382298e-02 7.82184308e-04 9.99934275e-01 -4.08154332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804860623999996 meters 0.08627649727307458 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.81, Z:-0.41 [[ 9.99694578e-01 2.14759583e-02 1.22283732e-02 1.48505512e+01] [-2.14640520e-02 9.99769011e-01 -1.10408240e-03 -8.07195715e-01] [-1.22492598e-02 8.41274752e-04 9.99924621e-01 -4.11036582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864860623999995 meters 0.0868697983819237 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.81, Z:-0.41 [[ 9.99711466e-01 2.07499169e-02 1.21006130e-02 1.49084989e+01] [-2.07382084e-02 9.99784344e-01 -1.09229060e-03 -8.12962063e-01] [-1.21206684e-02 8.41030404e-04 9.99926188e-01 -4.12957198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924860623999994 meters 0.08762795073525223 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.82, Z:-0.41 [[ 9.99784477e-01 1.69676555e-02 1.19623851e-02 1.49692235e+01] [-1.69559754e-02 9.99855657e-01 -1.07715885e-03 -8.17329789e-01] [-1.19789353e-02 8.74092794e-04 9.99927868e-01 -4.14560273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984860623999996 meters 0.09271888273678563 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.83, Z:-0.42 [[ 9.99842783e-01 1.28579728e-02 1.22098743e-02 1.50274212e+01] [-1.28455007e-02 9.99916889e-01 -1.09935493e-03 -8.30783444e-01] [-1.22229950e-02 9.42340150e-04 9.99924852e-01 -4.17239416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044860623999995 meters 0.09284887758669579 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.84, Z:-0.42 [[ 9.99890567e-01 8.74777848e-03 1.19302186e-02 1.50880610e+01] [-8.73558205e-03 9.99961267e-01 -1.07404203e-03 -8.35112829e-01] [-1.19391520e-02 9.69707088e-04 9.99928256e-01 -4.19116236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104860623999993 meters 0.09687160061079068 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.85, Z:-0.42 [[ 9.99910682e-01 5.92448366e-03 1.19803551e-02 1.51467149e+01] [-5.91197946e-03 9.99981942e-01 -1.07887107e-03 -8.46557078e-01] [-1.19865305e-02 1.00794709e-03 9.99927651e-01 -4.21234402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164860623999996 meters 0.09532018832434484 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.85, Z:-0.42 [[ 9.99907624e-01 3.46519973e-03 1.31428973e-02 1.52075699e+01] [-3.44994936e-03 9.99993349e-01 -1.18284532e-03 -8.50220244e-01] [-1.31469087e-02 1.13739372e-03 9.99912929e-01 -4.21206753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224860623999994 meters 0.10075104457569514 Centerline is valid? [True, False] Translation: X:15.22, Y:-0.85, Z:-0.42 [[ 9.99985846e-01 -2.80897426e-03 4.51862070e-03 1.52183707e+01] [ 2.80796151e-03 9.99996031e-01 2.30455391e-04 -8.50143747e-01] [-4.51925011e-03 -2.17764016e-04 9.99989764e-01 -4.16350538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284860623999997 meters 0.09955707019094555 Centerline is valid? [False, True] Translation: X:15.22, Y:-0.85, Z:-0.42 [[ 9.99984914e-01 -2.77919470e-03 4.73800041e-03 1.52178789e+01] [ 2.77646433e-03 9.99995976e-01 5.82750989e-04 -8.51424068e-01] [-4.73960092e-03 -5.69587308e-04 9.99988606e-01 -4.16345843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344860623999995 meters 0.0976835253660056 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.86, Z:-0.42 [[ 9.99964365e-01 -6.40822755e-03 5.49574050e-03 1.52779719e+01] [ 6.41097403e-03 9.99979333e-01 -4.82276955e-04 -8.56093780e-01] [-5.49253638e-03 5.17492818e-04 9.99984782e-01 -4.16707773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404860623999994 meters 0.10053062892382068 Centerline is valid? [True, False] Translation: X:15.28, Y:-0.86, Z:-0.42 [[ 9.99964691e-01 -5.99525314e-03 5.88848292e-03 1.52779689e+01] [ 5.99070255e-03 9.99981743e-01 7.90130719e-04 -8.59169671e-01] [-5.89311245e-03 -7.54826670e-04 9.99982351e-01 -4.18066742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464860623999996 meters 0.10279638928360457 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.86, Z:-0.42 [[ 9.99969699e-01 -5.31728924e-03 5.68579760e-03 1.52790952e+01] [ 5.30745164e-03 9.99984395e-01 1.74389624e-03 -8.61048201e-01] [-5.69498167e-03 -1.71366630e-03 9.99982315e-01 -4.19052241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524860623999995 meters 0.10210932448960484 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.86, Z:-0.42 [[ 9.99971107e-01 -4.81532661e-03 5.88196144e-03 1.52791164e+01] [ 4.79854348e-03 9.99984385e-01 2.86410930e-03 -8.64604587e-01] [-5.89566122e-03 -2.83580170e-03 9.99978599e-01 -4.19620381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584860623999994 meters 0.10272523118688207 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.87, Z:-0.42 [[ 9.99972657e-01 -4.38506948e-03 5.95451756e-03 1.52792805e+01] [ 4.36314543e-03 9.99983674e-01 3.68993059e-03 -8.66974242e-01] [-5.97060095e-03 -3.66384927e-03 9.99975464e-01 -4.20064069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644860623999996 meters 0.10966943085914715 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.87, Z:-0.42 [[ 9.99972282e-01 -4.23973973e-03 6.12049929e-03 1.52784451e+01] [ 4.21438711e-03 9.99982511e-01 4.14921733e-03 -8.69691746e-01] [-6.13798385e-03 -4.12330816e-03 9.99972661e-01 -4.19262941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704860623999995 meters 0.10272892213245288 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.87, Z:-0.42 [[ 9.99974596e-01 -3.67600076e-03 6.10697846e-03 1.52786556e+01] [ 3.64475878e-03 9.99980255e-01 5.11905942e-03 -8.72705558e-01] [-6.12567555e-03 -5.09667091e-03 9.99968250e-01 -4.19433213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764860623999994 meters 0.10305864230991607 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.88, Z:-0.42 [[ 9.99960455e-01 -7.00019842e-03 5.48511912e-03 1.52803111e+01] [ 6.99057013e-03 9.99973995e-01 1.77255804e-03 -8.75081313e-01] [-5.49738473e-03 -1.73414384e-03 9.99983386e-01 -4.19699088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824860623999996 meters 0.10482898932182948 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.88, Z:-0.42 [[ 9.99963196e-01 -6.48995473e-03 5.61130561e-03 1.52800539e+01] [ 6.47425916e-03 9.99975091e-01 2.81078725e-03 -8.78882510e-01] [-5.62940772e-03 -2.77435476e-03 9.99980306e-01 -4.19577311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884860623999995 meters 0.10343997742644837 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.88, Z:-0.42 [[ 9.99966886e-01 -5.93393756e-03 5.56915247e-03 1.52805257e+01] [ 5.91314868e-03 9.99975516e-01 3.74193426e-03 -8.81341433e-01] [-5.59122052e-03 -3.70887912e-03 9.99977491e-01 -4.20078080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944860623999993 meters 0.11471864984959498 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.88, Z:-0.42 [[ 9.99968391e-01 -5.51030100e-03 5.73181852e-03 1.52804514e+01] [ 5.48394604e-03 9.99974366e-01 4.60361000e-03 -8.84684227e-01] [-5.75703887e-03 -4.57203150e-03 9.99972976e-01 -4.20341619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004860623999996 meters 0.10282987759606223 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.89, Z:-0.42 [[ 9.99972846e-01 -4.91573202e-03 5.49028720e-03 1.52815952e+01] [ 4.88641139e-03 9.99973797e-01 5.34116144e-03 -8.86128006e-01] [-5.51639906e-03 -5.31418861e-03 9.99970664e-01 -4.21194107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064860623999994 meters 0.1016397014616194 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.89, Z:-0.42 [[ 9.99978557e-01 -4.40348033e-03 4.84723228e-03 1.52834207e+01] [ 4.37746975e-03 9.99976034e-01 5.36365998e-03 -8.85300011e-01] [-4.87073488e-03 -5.34232635e-03 9.99973867e-01 -4.21801885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124860623999997 meters 0.10121282924681015 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.88, Z:-0.42 [[ 9.99981448e-01 -4.11754232e-03 4.48874243e-03 1.52842905e+01] [ 4.09358380e-03 9.99977397e-01 5.33365296e-03 -8.84969819e-01] [-4.51060251e-03 -5.31517897e-03 9.99975701e-01 -4.21875555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184860623999995 meters 0.09906541468903708 Centerline is valid? [False, True] Translation: X:15.29, Y:-0.88, Z:-0.42 [[ 9.99987685e-01 -3.52314119e-03 3.49545729e-03 1.52865516e+01] [ 3.50591801e-03 9.99981745e-01 4.92125677e-03 -8.81840373e-01] [-3.51273176e-03 -4.90894137e-03 9.99981781e-01 -4.22054590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244860623999994 meters 0.09786370573393521 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.88, Z:-0.42 [[ 9.99991844e-01 -2.59507403e-03 3.09468421e-03 1.53491920e+01] [ 2.59596151e-03 9.99996590e-01 -2.82793874e-04 -8.82785309e-01] [-3.09393978e-03 2.90825248e-04 9.99995171e-01 -4.21313472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304860623999996 meters 0.09814413258510878 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.89, Z:-0.42 [[ 9.99989001e-01 -3.06254175e-03 3.55225472e-03 1.54104594e+01] [ 3.06371553e-03 9.99995254e-01 -3.25039327e-04 -8.91251425e-01] [-3.55124241e-03 3.35918850e-04 9.99993638e-01 -4.24522063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364860623999995 meters 0.10105158183779801 Centerline is valid? [True, False] Translation: X:15.41, Y:-0.89, Z:-0.43 [[ 9.99989903e-01 -2.67409806e-03 3.61155685e-03 1.54107862e+01] [ 2.67245155e-03 9.99996323e-01 4.60649338e-04 -8.93328959e-01] [-3.61277539e-03 -4.50992976e-04 9.99993372e-01 -4.25195025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424860623999994 meters 0.1024636256948221 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.89, Z:-0.43 [[ 9.99991706e-01 -2.23207243e-03 3.40685092e-03 1.54115722e+01] [ 2.22869800e-03 9.99997022e-01 9.93959036e-04 -8.94371477e-01] [-3.40905937e-03 -9.86357950e-04 9.99993703e-01 -4.25677506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484860623999996 meters 0.10267116886108979 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.90, Z:-0.43 [[ 9.99993198e-01 -1.74155659e-03 3.25126162e-03 1.54118753e+01] [ 1.73616152e-03 9.99997113e-01 1.66146315e-03 -8.96671782e-01] [-3.25414576e-03 -1.65580713e-03 9.99993334e-01 -4.25574311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544860623999995 meters 0.09708342157516192 Centerline is valid? [False, True] Translation: X:15.41, Y:-0.90, Z:-0.42 [[ 9.99994341e-01 -1.68263301e-03 2.91302946e-03 1.54121895e+01] [ 1.67843673e-03 9.99997551e-01 1.44236742e-03 -8.96483683e-01] [-2.91544930e-03 -1.43746993e-03 9.99994717e-01 -4.24902444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604860623999993 meters 0.09679779044581871 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.90, Z:-0.43 [[ 9.99996584e-01 8.91632241e-04 2.45692714e-03 1.54731614e+01] [-8.91070073e-04 9.99999577e-01 -2.29894319e-04 -9.00347431e-01] [-2.45713108e-03 2.27704239e-04 9.99996955e-01 -4.25884777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664860623999996 meters 0.09503998321927777 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.90, Z:-0.43 [[ 9.99990268e-01 4.32919287e-03 8.50009198e-04 1.55339825e+01] [-4.32912678e-03 9.99990626e-01 -7.95799705e-05 -9.01710077e-01] [-8.50345747e-04 7.58993984e-05 9.99999636e-01 -4.29991112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724860623999994 meters 0.09575027940637103 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.91, Z:-0.43 [[ 9.99983956e-01 5.66254395e-03 1.51675908e-04 1.55935118e+01] [-5.66254176e-03 9.99983968e-01 -1.48415697e-05 -9.07581968e-01] [-1.51757517e-04 1.39824604e-05 9.99999988e-01 -4.31557030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784860623999993 meters 0.09245749491411474 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.90, Z:-0.43 [[ 9.99927370e-01 1.20482924e-02 -3.06963436e-04 1.56550176e+01] [-1.20482841e-02 9.99927416e-01 2.89864535e-05 -9.04051895e-01] [ 3.07290393e-04 -2.52859655e-05 9.99999952e-01 -4.30680946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844860623999995 meters 0.09103613011759232 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.90, Z:-0.43 [[ 9.99816104e-01 1.91769754e-02 -3.29665268e-05 1.57148988e+01] [-1.91769753e-02 9.99816105e-01 2.96589516e-06 -9.03597666e-01] [ 3.30173413e-05 -2.33315147e-06 9.99999999e-01 -4.30818472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904860623999994 meters 0.08449552071836193 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.89, Z:-0.43 [[ 9.99674319e-01 2.54991621e-02 1.02392096e-03 1.57761763e+01] [-2.54990769e-02 9.99674841e-01 -9.61986305e-05 -8.92982268e-01] [-1.02604101e-03 7.00582611e-05 9.99999471e-01 -4.29311190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964860623999996 meters 0.08246429346915939 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.89, Z:-0.43 [[ 9.99445836e-01 3.32869430e-02 -7.38839690e-06 1.58361373e+01] [-3.32869430e-02 9.99445836e-01 3.13958072e-07 -8.90706381e-01] [ 7.39475322e-06 -6.78469419e-08 1.00000000e+00 -4.30925613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024860623999995 meters 0.08003738453458635 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.89, Z:-0.43 [[ 9.99266930e-01 3.82695152e-02 -1.02265508e-03 1.58967408e+01] [-3.82694373e-02 9.99267452e-01 9.56251302e-05 -8.88037808e-01] [ 1.02556547e-03 -5.64185958e-05 9.99999473e-01 -4.32485452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084860623999994 meters 0.0799129131368675 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.89, Z:-0.43 [[ 9.99183360e-01 4.03715693e-02 -1.65835390e-03 1.59551291e+01] [-4.03713695e-02 9.99184732e-01 1.53795325e-04 -8.91373678e-01] [ 1.66321085e-03 -8.67197111e-05 9.99998613e-01 -4.34112969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144860623999996 meters 0.08173744314667704 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.90, Z:-0.44 [[ 9.99178660e-01 4.05101791e-02 -9.64720342e-04 1.60124725e+01] [-4.05101124e-02 9.99179125e-01 8.85739460e-05 -9.00107891e-01] [ 9.67516573e-04 -4.94202672e-05 9.99999531e-01 -4.36585069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204860623999995 meters 0.08082029300490992 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.90, Z:-0.44 [[ 9.99274463e-01 3.80859776e-02 8.17190144e-05 1.60723724e+01] [-3.80859770e-02 9.99274466e-01 -8.26196075e-06 -9.02635187e-01] [-8.19743893e-05 5.14361788e-06 9.99999997e-01 -4.35965917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264860623999994 meters 0.08348927880267167 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.91, Z:-0.44 [[ 9.99522830e-01 3.08878785e-02 2.26932923e-04 1.61317385e+01] [-3.08878744e-02 9.99522856e-01 -2.14713217e-05 -9.14710897e-01] [-2.27487847e-04 1.44516006e-05 9.99999974e-01 -4.37154970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324860623999996 meters 0.08854215015397625 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.93, Z:-0.44 [[ 9.99694879e-01 2.47010623e-02 -8.25250388e-05 1.61900270e+01] [-2.47010617e-02 9.99694882e-01 7.42111489e-06 -9.31638257e-01] [ 8.26831684e-05 -5.38039447e-06 9.99999997e-01 -4.40122520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384860623999995 meters 0.09340916527862393 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.95, Z:-0.44 [[ 9.99880440e-01 1.54326851e-02 -9.68360335e-04 1.62489664e+01] [-1.54326049e-02 9.99880906e-01 9.02756051e-05 -9.47272824e-01] [ 9.69638204e-04 -7.53204894e-05 9.99999527e-01 -4.41580741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444860623999993 meters 0.09467554602073457 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.96, Z:-0.44 [[ 9.99971001e-01 7.32610729e-03 -2.07951643e-03 1.63085076e+01] [-7.32571990e-03 9.99973148e-01 1.93847443e-04 -9.56022445e-01] [ 2.08088074e-03 -1.78607867e-04 9.99997819e-01 -4.42038059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504860623999996 meters 0.09615046501087932 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.96, Z:-0.44 [[ 9.99984257e-01 4.84665342e-03 -2.82778794e-03 1.63686349e+01] [-4.84592666e-03 9.99988224e-01 2.63803031e-04 -9.64792274e-01] [ 2.82903320e-03 -2.50095625e-04 9.99995967e-01 -4.44517035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564860623999994 meters 0.09877293185273611 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.97, Z:-0.45 [[ 9.99994181e-01 1.92233217e-03 -2.81829143e-03 1.64287338e+01] [-1.92159849e-03 9.99998119e-01 2.63009961e-04 -9.74658324e-01] [ 2.81879173e-03 -2.57592806e-04 9.99995994e-01 -4.45270079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624860623999993 meters 0.09743155428391401 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.98, Z:-0.44 [[ 9.99998683e-01 1.25490170e-03 -1.02873122e-03 1.64877445e+01] [-1.25480502e-03 9.99999208e-01 9.46221363e-05 -9.79584417e-01] [ 1.02884914e-03 -9.33311546e-05 9.99999466e-01 -4.43397887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684860623999995 meters 0.10077817663770203 Centerline is valid? [True, False] Translation: X:16.49, Y:-0.98, Z:-0.44 [[ 9.99999061e-01 9.49607664e-04 -9.87914419e-04 1.64871064e+01] [-9.49907020e-04 9.99999503e-01 -3.02593098e-04 -9.79065655e-01] [ 9.87626583e-04 3.03531241e-04 9.99999466e-01 -4.42641391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744860623999994 meters 0.0979437675528702 Centerline is valid? [False, True] Translation: X:16.49, Y:-0.98, Z:-0.44 [[ 9.99998443e-01 1.09039582e-03 -1.38763401e-03 1.64880918e+01] [-1.09119204e-03 9.99999240e-01 -5.73165357e-04 -9.77858777e-01] [ 1.38700798e-03 5.74678640e-04 9.99998873e-01 -4.42856394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804860623999996 meters 0.09452178170393406 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.98, Z:-0.45 [[ 9.99991569e-01 3.48120092e-03 -2.17787270e-03 1.65487135e+01] [-3.48078871e-03 9.99993923e-01 1.93037582e-04 -9.77655773e-01] [ 2.17853146e-03 -1.85455239e-04 9.99997610e-01 -4.45756309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864860623999995 meters 0.09337582434735031 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.98, Z:-0.45 [[ 9.99983482e-01 5.19356843e-03 -2.46230338e-03 1.66086741e+01] [-5.19304541e-03 9.99986492e-01 2.18759184e-04 -9.79183664e-01] [ 2.46340626e-03 -2.05968718e-04 9.99996945e-01 -4.45011924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924860623999994 meters 0.09277511729520735 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.98, Z:-0.45 [[ 9.99976617e-01 6.53156905e-03 -2.02569901e-03 1.66681290e+01] [-6.53121873e-03 9.99978655e-01 1.79501857e-04 -9.82788936e-01] [ 2.02682820e-03 -1.66267376e-04 9.99997932e-01 -4.45774291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984860623999996 meters 0.09184048293215988 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.99, Z:-0.45 [[ 9.99985504e-01 5.00177037e-03 -1.99361535e-03 1.67272413e+01] [-5.00142898e-03 9.99987477e-01 1.76192627e-04 -9.87208044e-01] [ 1.99447166e-03 -1.66219147e-04 9.99997997e-01 -4.46419627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044860623999995 meters 0.09522488249247893 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.00, Z:-0.45 [[ 9.99994085e-01 2.10584062e-03 -2.71961307e-03 1.67859998e+01] [-2.10519072e-03 9.99997755e-01 2.41807425e-04 -9.98393196e-01] [ 2.72011617e-03 -2.36080691e-04 9.99996273e-01 -4.47663148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104860623999993 meters 0.09900551988102219 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.01, Z:-0.45 [[ 9.99997169e-01 7.73730911e-04 -2.25023133e-03 1.68440297e+01] [-7.73285195e-04 9.99999681e-01 1.98938880e-04 -1.00999634e+00] [ 2.25038454e-03 -1.97198246e-04 9.99997448e-01 -4.50073823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164860623999996 meters 0.09543776039122363 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.01, Z:-0.45 [[ 9.99994339e-01 -2.41829034e-03 -2.33951993e-03 1.69049809e+01] [ 2.41878300e-03 9.99997053e-01 2.07774707e-04 -1.01090217e+00] [ 2.33901057e-03 -2.13432322e-04 9.99997242e-01 -4.49851359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224860623999994 meters 0.0969037570721182 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.02, Z:-0.45 [[ 9.99986856e-01 -4.78046762e-03 -1.85314175e-03 1.69651678e+01] [ 4.78078083e-03 9.99988558e-01 1.64622676e-04 -1.01870190e+00] [ 1.85233358e-03 -1.73479977e-04 9.99998269e-01 -4.50184354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284860623999993 meters 0.10105501709119317 Centerline is valid? [True, False] Translation: X:16.97, Y:-1.02, Z:-0.45 [[ 9.99988206e-01 -4.55394681e-03 -1.68779063e-03 1.69651524e+01] [ 4.55519713e-03 9.99989353e-01 7.37699172e-04 -1.02008962e+00] [ 1.68441321e-03 -7.45378691e-04 9.99998304e-01 -4.50690399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344860623999995 meters 0.0973382469098856 Centerline is valid? [False, True] Translation: X:16.96, Y:-1.02, Z:-0.45 [[ 9.99987931e-01 -4.64041044e-03 -1.61398542e-03 1.69649290e+01] [ 4.64170412e-03 9.99988908e-01 7.98722474e-04 -1.02027441e+00] [ 1.61026111e-03 -8.06204477e-04 9.99998379e-01 -4.50658926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404860623999994 meters 0.09717096423293684 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.03, Z:-0.45 [[ 9.99986164e-01 -5.20712813e-03 -7.46847937e-04 1.70263033e+01] [ 5.20718159e-03 9.99986440e-01 6.96575750e-05 -1.02645525e+00] [ 7.46475094e-04 -7.35455840e-05 9.99999719e-01 -4.51187622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464860623999993 meters 0.09659115007878548 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.03, Z:-0.45 [[ 9.99979068e-01 -6.45804230e-03 -3.97353610e-04 1.70873715e+01] [ 6.45805767e-03 9.99979146e-01 3.74308532e-05 -1.03357576e+00] [ 3.97103594e-04 -3.99962022e-05 9.99999920e-01 -4.52747518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524860623999995 meters 0.10162226023876 Centerline is valid? [True, False] Translation: X:17.09, Y:-1.03, Z:-0.45 [[ 9.99981020e-01 -6.14583450e-03 -4.33648150e-04 1.70876647e+01] [ 6.14607007e-03 9.99980965e-01 5.44003252e-04 -1.03480372e+00] [ 4.30296541e-04 -5.46658159e-04 9.99999758e-01 -4.53060320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584860623999994 meters 0.10386400426439023 Centerline is valid? [False, False] Translation: X:17.09, Y:-1.04, Z:-0.45 [[ 9.99982798e-01 -5.82373628e-03 -6.99012187e-04 1.70881682e+01] [ 5.82434342e-03 9.99982660e-01 8.69690501e-04 -1.03575886e+00] [ 6.93935219e-04 -8.73746827e-04 9.99999378e-01 -4.52898273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644860623999996 meters 0.10060122471536227 Centerline is valid? [False, False] Translation: X:17.09, Y:-1.04, Z:-0.45 [[ 9.99984860e-01 -5.43075177e-03 -8.86479730e-04 1.70889112e+01] [ 5.43193027e-03 9.99984359e-01 1.33247224e-03 -1.03661191e+00] [ 8.79229539e-04 -1.33726736e-03 9.99998719e-01 -4.53351659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704860623999995 meters 0.1017748557629957 Centerline is valid? [False, False] Translation: X:17.09, Y:-1.04, Z:-0.45 [[ 9.99986340e-01 -5.14912125e-03 -8.98070001e-04 1.70887731e+01] [ 5.15079847e-03 9.99984976e-01 1.87537197e-03 -1.03901494e+00] [ 8.88399991e-04 -1.87997213e-03 9.99997838e-01 -4.53044325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764860623999994 meters 0.09765379151286327 Centerline is valid? [False, True] Translation: X:17.09, Y:-1.04, Z:-0.45 [[ 9.99988053e-01 -4.76389478e-03 -1.09536683e-03 1.70894794e+01] [ 4.76641662e-03 9.99985969e-01 2.31131290e-03 -1.03988116e+00] [ 1.08434061e-03 -2.31650626e-03 9.99996729e-01 -4.53407791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824860623999996 meters 0.09855760716736131 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.05, Z:-0.45 [[ 9.99987846e-01 -4.89619998e-03 -5.78973306e-04 1.71503016e+01] [ 4.89623245e-03 9.99988012e-01 5.46797846e-05 -1.04777706e+00] [ 5.78698642e-04 -5.75139079e-05 9.99999831e-01 -4.54052423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884860623999995 meters 0.09985011507948606 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.06, Z:-0.46 [[ 9.99984275e-01 -5.59715215e-03 3.48024664e-04 1.72118657e+01] [ 5.59716335e-03 9.99984335e-01 -3.12322275e-05 -1.05731952e+00] [-3.47844401e-04 3.31796873e-05 9.99999939e-01 -4.55126457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944860623999993 meters 0.1009757596045394 Centerline is valid? [True, False] Translation: X:17.21, Y:-1.06, Z:-0.45 [[ 9.99985392e-01 -5.38794885e-03 4.31791126e-04 1.72114407e+01] [ 5.38773142e-03 9.99985359e-01 5.03136730e-04 -1.05944331e+00] [-4.34495679e-04 -5.00803005e-04 9.99999780e-01 -4.54730184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004860623999996 meters 0.09962901646041585 Centerline is valid? [False, True] Translation: X:17.21, Y:-1.06, Z:-0.46 [[ 9.99987602e-01 -4.93415498e-03 6.71139925e-04 1.72112048e+01] [ 4.93306340e-03 9.99986523e-01 1.61850187e-03 -1.06297491e+00] [-6.79116819e-04 -1.61517103e-03 9.99998465e-01 -4.55057031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064860623999994 meters 0.10352190647659854 Centerline is valid? [True, False] Translation: X:17.21, Y:-1.06, Z:-0.45 [[ 9.99988140e-01 -4.80393200e-03 8.00733800e-04 1.72108199e+01] [ 4.80227331e-03 9.99986346e-01 2.06067300e-03 -1.06463046e+00] [-8.10622199e-04 -2.05680322e-03 9.99997556e-01 -4.54889024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124860623999993 meters 0.10404587736705505 Centerline is valid? [False, False] Translation: X:17.21, Y:-1.07, Z:-0.46 [[ 9.99991380e-01 -4.08840370e-03 7.24335588e-04 1.72113649e+01] [ 4.08605166e-03 9.99986470e-01 3.21942895e-03 -1.06768090e+00] [-7.37488113e-04 -3.21644152e-03 9.99994555e-01 -4.55385285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184860623999995 meters 0.10441878932133243 Centerline is valid? [False, False] Translation: X:17.21, Y:-1.07, Z:-0.46 [[ 9.99991985e-01 -3.89631090e-03 9.21664140e-04 1.72108229e+01] [ 3.89281158e-03 9.99985322e-01 3.76853789e-03 -1.07006757e+00] [-9.36334007e-04 -3.76491982e-03 9.99992474e-01 -4.55152401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244860623999994 meters 0.10681815279855154 Centerline is valid? [False, False] Translation: X:17.21, Y:-1.07, Z:-0.46 [[ 9.99994187e-01 -3.31626870e-03 7.92253217e-04 1.72115528e+01] [ 3.31263394e-03 9.99984180e-01 4.54596349e-03 -1.07210886e+00] [-8.07316320e-04 -4.54331262e-03 9.99989353e-01 -4.55736286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304860623999993 meters 0.10738098712305581 Centerline is valid? [False, False] Translation: X:17.21, Y:-1.07, Z:-0.46 [[ 9.99996158e-01 -2.73115627e-03 4.73297415e-04 1.72125801e+01] [ 2.72868302e-03 9.99983017e-01 5.14971501e-03 -1.07349063e+00] [-4.87354054e-04 -5.14840375e-03 9.99986628e-01 -4.56160360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364860623999995 meters 0.09818886946572966 Centerline is valid? [False, True] Translation: X:17.21, Y:-1.08, Z:-0.46 [[ 9.99997026e-01 -2.41300287e-03 3.53290304e-04 1.72126063e+01] [ 2.41101771e-03 9.99981882e-01 5.51561140e-03 -1.07516720e+00] [-3.66593089e-04 -5.51474321e-03 9.99984726e-01 -4.55721625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424860623999994 meters 0.09941371751272134 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.08, Z:-0.45 [[ 9.99998902e-01 -1.38036640e-03 -5.38822331e-04 1.72725610e+01] [ 1.38039528e-03 9.99999046e-01 5.32255722e-05 -1.08177389e+00] [ 5.38748346e-04 -5.39693016e-05 9.99999853e-01 -4.53630863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484860623999996 meters 0.09723011709861232 Centerline is valid? [True, True] Translation: X:17.33, Y:-1.09, Z:-0.45 [[ 9.99999969e-01 -1.77031481e-04 1.73475483e-04 1.73332575e+01] [ 1.77034395e-04 9.99999984e-01 -1.67857445e-05 -1.08618147e+00] [-1.73472509e-04 1.68164551e-05 9.99999985e-01 -4.54021984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544860623999995 meters 0.09835734341828674 Centerline is valid? [True, True] Translation: X:17.39, Y:-1.09, Z:-0.46 [[ 9.99999959e-01 2.25800151e-05 -2.85502304e-04 1.73930247e+01] [-2.25720032e-05 9.99999999e-01 2.80654453e-05 -1.09442927e+00] [ 2.85502937e-04 -2.80589998e-05 9.99999959e-01 -4.55300214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604860623999993 meters 0.09650762131275031 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.10, Z:-0.46 [[ 9.99998186e-01 7.00011388e-04 -1.77120924e-03 1.74537146e+01] [-6.99704083e-04 9.99999740e-01 1.74113398e-04 -1.09838336e+00] [ 1.77133067e-03 -1.72873760e-04 9.99998416e-01 -4.57181683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664860623999996 meters 0.09960701251911208 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.11, Z:-0.46 [[ 9.99996754e-01 2.05196832e-03 -1.51035059e-03 1.75112332e+01] [-2.05174770e-03 9.99997884e-01 1.47606763e-04 -1.10994624e+00] [ 1.51065028e-03 -1.44507425e-04 9.99998849e-01 -4.57685544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724860623999994 meters 0.09784698577306607 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.11, Z:-0.46 [[ 9.99996385e-01 8.67494198e-04 -2.54515179e-03 1.75710855e+01] [-8.66862084e-04 9.99999593e-01 2.49452769e-04 -1.11348151e+00] [ 2.54536716e-03 -2.47245572e-04 9.99996730e-01 -4.58738646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784860623999993 meters 0.09959068403382408 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.12, Z:-0.46 [[ 9.99996703e-01 -9.13303587e-04 -2.39982396e-03 1.76310015e+01] [ 9.13871852e-04 9.99999555e-01 2.35708352e-04 -1.12367121e+00] [ 2.39960762e-03 -2.37900707e-04 9.99997093e-01 -4.60732498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844860623999995 meters 0.09885188472259317 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.13, Z:-0.46 [[ 9.99993445e-01 -2.89671484e-03 -2.17236104e-03 1.76907416e+01] [ 2.89718446e-03 9.99995780e-01 2.13064671e-04 -1.12955997e+00] [ 2.17173469e-03 -2.19357005e-04 9.99997618e-01 -4.60434535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904860623999994 meters 0.1020096834649881 Centerline is valid? [True, False] Translation: X:17.69, Y:-1.13, Z:-0.46 [[ 9.99994892e-01 -2.41428994e-03 -2.09437520e-03 1.76910257e+01] [ 2.41667798e-03 9.99996432e-01 1.13843482e-03 -1.13187133e+00] [ 2.09161921e-03 -1.14349044e-03 9.99997159e-01 -4.61093406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964860623999993 meters 0.10476255313766909 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.13, Z:-0.46 [[ 9.99995712e-01 -2.41559989e-03 -1.65558451e-03 1.76901130e+01] [ 2.41849073e-03 9.99995551e-01 1.74634277e-03 -1.13389755e+00] [ 1.65135868e-03 -1.75033930e-03 9.99997105e-01 -4.61012148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024860623999995 meters 0.1070804261893568 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.14, Z:-0.46 [[ 9.99995337e-01 -2.93286277e-03 -8.51326754e-04 1.76880789e+01] [ 2.93481101e-03 9.99993057e-01 2.29631867e-03 -1.13864967e+00] [ 8.44586056e-04 -2.29880644e-03 9.99997001e-01 -4.60511362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084860623999994 meters 0.10985039966789381 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.14, Z:-0.46 [[ 9.99978720e-01 -6.46698161e-03 -8.59181579e-04 1.76885929e+01] [ 6.46646647e-03 9.99978912e-01 -6.00993824e-04 -1.14228473e+00] [ 8.63050076e-04 5.95425166e-04 9.99999450e-01 -4.61152443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144860623999996 meters 0.10998476646296453 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.14, Z:-0.46 [[ 9.99981039e-01 -6.11467343e-03 -7.29591368e-04 1.76885978e+01] [ 6.11487828e-03 9.99981265e-01 2.78874879e-04 -1.14444226e+00] [ 7.27872470e-04 -2.83330953e-04 9.99999695e-01 -4.61575374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204860623999995 meters 0.11351737305470773 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.15, Z:-0.46 [[ 9.99983195e-01 -5.78989789e-03 -2.95259326e-04 1.76877448e+01] [ 5.79039396e-03 9.99981777e-01 1.70787051e-03 -1.15010613e+00] [ 2.85365550e-04 -1.70955147e-03 9.99998498e-01 -4.61557656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264860623999994 meters 0.11110355259244072 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.15, Z:-0.46 [[ 9.99985360e-01 -5.41038876e-03 -8.05671235e-05 1.76869248e+01] [ 5.41058927e-03 9.99981607e-01 2.74073438e-03 -1.15440979e+00] [ 6.57372031e-05 -2.74113017e-03 9.99996241e-01 -4.60868273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324860623999996 meters 0.11175170225141658 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.16, Z:-0.46 [[ 9.99987820e-01 -4.93538112e-03 3.56195238e-05 1.76862945e+01] [ 4.93521391e-03 9.99980864e-01 3.73035154e-03 -1.15852574e+00] [-5.40295487e-05 -3.73013032e-03 9.99993042e-01 -4.60153612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384860623999995 meters 0.11080194639816898 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.16, Z:-0.46 [[ 9.99989021e-01 -4.68263117e-03 -1.73218523e-04 1.76864372e+01] [ 4.68328516e-03 9.99981072e-01 3.99037125e-03 -1.15968714e+00] [ 1.54529807e-04 -3.99113867e-03 9.99992023e-01 -4.59694728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444860623999993 meters 0.109823830052867 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.16, Z:-0.46 [[ 9.99992075e-01 -3.90816425e-03 -7.59565947e-04 1.76874566e+01] [ 3.91176745e-03 9.99980821e-01 4.80162532e-03 -1.16217124e+00] [ 7.40785839e-04 -4.80455851e-03 9.99988184e-01 -4.59385679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504860623999996 meters 0.10839558016112515 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.16, Z:-0.46 [[ 9.99993497e-01 -3.45599229e-03 -1.03084204e-03 1.76878490e+01] [ 3.46145566e-03 9.99979719e-01 5.34607011e-03 -1.16408346e+00] [ 1.01234515e-03 -5.34960355e-03 9.99985178e-01 -4.59080994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564860623999994 meters 0.10979026315115474 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99994515e-01 -3.08388075e-03 -1.20800319e-03 1.76880589e+01] [ 3.09090290e-03 9.99978083e-01 5.85493489e-03 -1.16581285e+00] [ 1.18992079e-03 -5.85863660e-03 9.99982130e-01 -4.58819220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624860623999993 meters 0.10156399596178355 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99995356e-01 -2.69992600e-03 -1.41366682e-03 1.76884774e+01] [ 2.70879934e-03 9.99976404e-01 6.31299375e-03 -1.16723022e+00] [ 1.39658885e-03 -6.31679377e-03 9.99979074e-01 -4.58782638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684860623999995 meters 0.10312723414870295 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99996426e-01 -2.13084527e-03 -1.61492358e-03 1.76889064e+01] [ 2.14228634e-03 9.99972384e-01 7.11628848e-03 -1.16972994e+00] [ 1.59971527e-03 -7.11972267e-03 9.99973375e-01 -4.58745479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744860623999994 meters 0.1013409881467306 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99980651e-01 -5.86006221e-03 -2.08735574e-03 1.76897573e+01] [ 5.86723278e-03 9.99976851e-01 3.44584039e-03 -1.17137090e+00] [ 2.06711458e-03 -3.45802072e-03 9.99991885e-01 -4.58457030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804860623999993 meters 0.10369240599769558 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99982699e-01 -5.58436423e-03 -1.84865383e-03 1.76892761e+01] [ 5.59215931e-03 9.99975380e-01 4.23865860e-03 -1.17399454e+00] [ 1.82493811e-03 -4.24892323e-03 9.99989308e-01 -4.58401951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864860623999995 meters 0.10248896676462528 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.18, Z:-0.46 [[ 9.99983627e-01 -5.54594142e-03 -1.41032435e-03 1.76881107e+01] [ 5.55273229e-03 9.99972785e-01 4.85767259e-03 -1.17704366e+00] [ 1.38334560e-03 -4.86542421e-03 9.99987207e-01 -4.57842975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924860623999994 meters 0.10638334696370105 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.18, Z:-0.46 [[ 9.99984070e-01 -5.58296501e-03 -8.31008217e-04 1.76868099e+01] [ 5.58757504e-03 9.99968413e-01 5.65261295e-03 -1.18110912e+00] [ 7.99423628e-04 -5.65716623e-03 9.99983679e-01 -4.57516059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984860623999996 meters 0.11020365497966367 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.18, Z:-0.46 [[ 9.99986036e-01 -5.24100785e-03 -6.78657787e-04 1.76868169e+01] [ 5.24528151e-03 9.99965400e-01 6.45649723e-03 -1.18321666e+00] [ 6.44795752e-04 -6.45996682e-03 9.99978926e-01 -4.57940694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044860623999995 meters 0.10582196462868745 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.19, Z:-0.46 [[ 9.99985722e-01 -5.34029181e-03 -1.94794445e-04 1.76854620e+01] [ 5.34152099e-03 9.99961394e-01 6.97694878e-03 -1.18599439e+00] [ 1.57527983e-04 -6.97788966e-03 9.99975642e-01 -4.57260159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104860624 meters 0.10983896298010386 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99987218e-01 -5.04986708e-03 2.52184856e-04 1.76848374e+01] [ 5.04770798e-03 9.99955799e-01 7.93228806e-03 -1.18938749e+00] [-2.92230709e-04 -7.93091371e-03 9.99968507e-01 -4.57578904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164860624 meters 0.11082825547519148 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99987240e-01 -5.04298601e-03 2.96045303e-04 1.76846749e+01] [ 5.04043603e-03 9.99954807e-01 8.06086412e-03 -1.18992965e+00] [-3.36682749e-04 -8.05926907e-03 9.99967467e-01 -4.57471933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224860623999994 meters 0.11436679270062604 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99986922e-01 -5.08698427e-03 5.26812739e-04 1.76838308e+01] [ 5.08247490e-03 9.99953185e-01 8.23384245e-03 -1.19110143e+00] [-5.68673504e-04 -8.23105726e-03 9.99965963e-01 -4.56908321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284860624 meters 0.11631456993199422 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99987802e-01 -4.90628123e-03 5.69472844e-04 1.76837624e+01] [ 4.90121926e-03 9.99951234e-01 8.57370779e-03 -1.19244370e+00] [-6.11510094e-04 -8.57081210e-03 9.99963083e-01 -4.56910662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344860624 meters 0.11959202979842076 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99986667e-01 -5.12870074e-03 6.01157692e-04 1.76834080e+01] [ 5.12357744e-03 9.99952968e-01 8.23476610e-03 -1.19193402e+00] [-6.43363069e-04 -8.23157624e-03 9.99965913e-01 -4.56455178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404860624 meters 0.12216995611577597 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99987023e-01 -5.05777977e-03 6.10031426e-04 1.76835823e+01] [ 5.05248813e-03 9.99952085e-01 8.38457137e-03 -1.19241412e+00] [-6.52409511e-04 -8.38138039e-03 9.99964663e-01 -4.56705003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464860623999996 meters 0.12289505878108012 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99986720e-01 -5.13313220e-03 4.58294031e-04 1.76837024e+01] [ 5.12923486e-03 9.99953758e-01 8.13468670e-03 -1.19193247e+00] [-5.00029261e-04 -8.13222798e-03 9.99966808e-01 -4.56416922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524860624 meters 0.11016612865692063 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99984890e-01 -5.48284871e-03 3.97240834e-04 1.76835248e+01] [ 5.47969939e-03 9.99956581e-01 7.53714285e-03 -1.19048424e+00] [-4.38548600e-04 -7.53485220e-03 9.99971516e-01 -4.55991145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584860624 meters 0.10870336054300482 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.19, Z:-0.46 [[ 9.99983854e-01 -5.67502301e-03 2.94304220e-04 1.76834730e+01] [ 5.67277411e-03 9.99958351e-01 7.14952470e-03 -1.18964497e+00] [-3.34865679e-04 -7.14773974e-03 9.99974399e-01 -4.55612669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644860623999996 meters 0.10657955964757676 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.19, Z:-0.46 [[ 9.99957363e-01 -9.22284040e-03 -4.60731209e-04 1.76858663e+01] [ 9.22426127e-03 9.99952388e-01 3.18339208e-03 -1.18846181e+00] [ 4.31349356e-04 -3.18750626e-03 9.99994827e-01 -4.56879619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704860624 meters 0.11094453421646276 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.19, Z:-0.46 [[ 9.99985525e-01 -5.36496422e-03 -4.09283324e-04 1.76857229e+01] [ 5.36758680e-03 9.99963142e-01 6.70102657e-03 -1.18642024e+00] [ 3.73317471e-04 -6.70312643e-03 9.99977464e-01 -4.56904917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764860624 meters 0.10654691228804118 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.18, Z:-0.46 [[ 9.99998802e-01 -1.40837908e-03 -6.42559385e-04 1.76861901e+01] [ 1.41474896e-03 9.99948768e-01 1.00229466e-02 -1.18358045e+00] [ 6.28410358e-04 -1.00238436e-02 9.99949563e-01 -4.57015441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824860623999996 meters 0.1011501743937524 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.18, Z:-0.46 [[ 9.99992945e-01 3.43202337e-03 -1.52698412e-03 1.76884870e+01] [-3.41212747e-03 9.99911655e-01 1.28467431e-02 -1.17728558e+00] [ 1.57093954e-03 -1.28414422e-02 9.99916311e-01 -4.57545961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884860624 meters 0.08959243207227582 Centerline is valid? [False, True] Translation: X:17.69, Y:-1.17, Z:-0.46 [[ 9.99927887e-01 1.18113436e-02 -2.17112042e-03 1.76903138e+01] [-1.17668870e-02 9.99741386e-01 1.94602462e-02 -1.17127031e+00] [ 2.40041059e-03 -1.94332955e-02 9.99808274e-01 -4.58148403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944860624 meters 0.0853624850935307 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.15, Z:-0.45 [[ 9.99790547e-01 2.00305464e-02 -4.19981481e-03 1.77533756e+01] [-2.00289326e-02 9.99799310e-01 4.25961833e-04 -1.15422949e+00] [ 4.20750419e-03 -3.41754806e-04 9.99991090e-01 -4.51294280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004860623999996 meters 0.08530565187586164 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.16, Z:-0.45 [[ 9.99626543e-01 2.71372818e-02 -3.21584819e-03 1.78132562e+01] [-2.71363723e-02 9.99631688e-01 3.26112640e-04 -1.15558660e+00] [ 3.22351357e-03 -2.38724397e-04 9.99994776e-01 -4.53899698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064860624 meters 0.08300825931830545 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.15, Z:-0.46 [[ 9.99468827e-01 3.22438321e-02 -4.73286030e-03 1.78742434e+01] [-3.22419223e-02 9.99479979e-01 4.79272232e-04 -1.15003228e+00] [ 4.74585269e-03 -3.26421142e-04 9.99988685e-01 -4.55843112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124860624 meters 0.08468840092792879 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.15, Z:-0.46 [[ 9.99402161e-01 3.43388322e-02 -4.02063989e-03 1.79325288e+01] [-3.43374729e-02 9.99410212e-01 4.06649512e-04 -1.15397880e+00] [ 4.03223244e-03 -2.68347788e-04 9.99991835e-01 -4.58483016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184860623999995 meters 0.09913138187981331 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.18, Z:-0.47 [[ 9.99412149e-01 3.42362102e-02 -1.79955976e-03 1.79872429e+01] [-3.42359397e-02 9.99413762e-01 1.80917424e-04 -1.18405911e+00] [ 1.80469872e-03 -1.19201452e-04 9.99998364e-01 -4.66404421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244860624 meters 0.08324860689779295 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.15, Z:-0.46 [[ 9.99425890e-01 3.37506569e-02 -2.96355757e-03 1.80497644e+01] [-3.37499185e-02 9.99430265e-01 2.98835252e-04 -1.15496685e+00] [ 2.97195501e-03 -1.98643861e-04 9.99995564e-01 -4.60910180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304860624 meters 0.08441724604353681 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.16, Z:-0.46 [[ 9.99476229e-01 3.23111144e-02 -1.80529443e-03 1.81079274e+01] [-3.23108395e-02 9.99477852e-01 1.81196961e-04 -1.15788847e+00] [ 1.81020647e-03 -1.22771477e-04 9.99998354e-01 -4.62120542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364860623999995 meters 0.08936108594097147 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.17, Z:-0.47 [[ 9.99534615e-01 3.04080235e-02 -2.43018600e-03 1.81656791e+01] [-3.04075186e-02 9.99537555e-01 2.44426031e-04 -1.16971140e+00] [ 2.43649469e-03 -1.70416353e-04 9.99997017e-01 -4.66421659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424860624 meters 0.0903432075304211 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.17, Z:-0.47 [[ 9.99541198e-01 3.01416746e-02 -2.97860654e-03 1.82239748e+01] [-3.01409144e-02 9.99545614e-01 2.99801601e-04 -1.17465764e+00] [ 2.98628962e-03 -2.09886127e-04 9.99995519e-01 -4.68366252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484860624 meters 0.08387222274240784 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.16, Z:-0.47 [[ 9.99545630e-01 3.00158642e-02 -2.75335643e-03 1.82832895e+01] [-3.00152170e-02 9.99549404e-01 2.76119112e-04 -1.16368584e+00] [ 2.76040373e-03 -1.93351061e-04 9.99996171e-01 -4.65184789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544860623999995 meters 0.08993148199409333 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.18, Z:-0.47 [[ 9.99534759e-01 3.03405155e-02 -3.11755790e-03 1.83401934e+01] [-3.03396863e-02 9.99539597e-01 3.12931671e-04 -1.17756833e+00] [ 3.12561708e-03 -2.18200353e-04 9.99995091e-01 -4.69437745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604860624 meters 0.09209287151728529 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.18, Z:-0.47 [[ 9.99501804e-01 3.13506049e-02 -3.64474535e-03 1.83977583e+01] [-3.13494780e-02 9.99508417e-01 3.65919635e-04 -1.18297972e+00] [ 3.65442546e-03 -2.51476471e-04 9.99993291e-01 -4.74239536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664860624 meters 0.09307172150061722 Centerline is valid? [True, True] Translation: X:18.46, Y:-1.19, Z:-0.47 [[ 9.99498335e-01 3.14895041e-02 -3.38973126e-03 1.84558930e+01] [-3.14885336e-02 9.99504056e-01 3.39314570e-04 -1.18588207e+00] [ 3.39873499e-03 -2.32406681e-04 9.99994197e-01 -4.74755036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724860623999994 meters 0.09426252975179004 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.19, Z:-0.48 [[ 9.99530050e-01 3.05620467e-02 -2.37509262e-03 1.85140301e+01] [-3.05615679e-02 9.99532858e-01 2.37636702e-04 -1.19073226e+00] [ 2.38124578e-03 -1.64938470e-04 9.99997151e-01 -4.75269629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784860624 meters 0.08587960943492297 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.18, Z:-0.47 [[ 9.99588634e-01 2.85498359e-02 -2.73309688e-03 1.85762154e+01] [-2.85491905e-02 9.99592351e-01 2.74883160e-04 -1.17845021e+00] [ 2.73983060e-03 -1.96742379e-04 9.99996227e-01 -4.71826308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844860624 meters 0.08444841570911835 Centerline is valid? [True, True] Translation: X:18.64, Y:-1.18, Z:-0.47 [[ 9.99611018e-01 2.77754850e-02 -2.51698574e-03 1.86356915e+01] [-2.77749385e-02 9.99614170e-01 2.51840721e-04 -1.17888010e+00] [ 2.52300961e-03 -1.81833635e-04 9.99996801e-01 -4.71180102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904860623999994 meters 0.0896568451773297 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.19, Z:-0.47 [[ 9.99686269e-01 2.48913643e-02 -2.78985483e-03 1.86940724e+01] [-2.48906800e-02 9.99690140e-01 2.79766336e-04 -1.19216405e+00] [ 2.79595413e-03 -2.10237181e-04 9.99996069e-01 -4.74260390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964860623999996 meters 0.09077764379982657 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.20, Z:-0.48 [[ 9.99796631e-01 1.96936899e-02 -4.34229631e-03 1.87541765e+01] [-1.96919808e-02 9.99805999e-01 4.35992411e-04 -1.19764586e+00] [ 4.35004020e-03 -3.50395328e-04 9.99990477e-01 -4.76263338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024860624 meters 0.09367050113733662 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.21, Z:-0.48 [[ 9.99860078e-01 1.59553286e-02 -5.02508112e-03 1.88139802e+01] [-1.59529913e-02 9.99872615e-01 5.04862794e-04 -1.20714664e+00] [ 5.03249626e-03 -4.24627077e-04 9.99987247e-01 -4.77984448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084860624 meters 0.09687310411347644 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.22, Z:-0.48 [[ 9.99907329e-01 1.25950962e-02 -5.16700691e-03 1.88725609e+01] [-1.25925825e-02 9.99920576e-01 5.18745965e-04 -1.21651753e+00] [ 5.17313018e-03 -4.53631931e-04 9.99986516e-01 -4.79740761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144860623999996 meters 0.09938155703371615 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.22, Z:-0.48 [[ 9.99921583e-01 1.15337245e-02 -4.87866885e-03 1.89307232e+01] [-1.15314748e-02 9.99933391e-01 4.89008135e-04 -1.22375374e+00] [ 4.88398397e-03 -4.32711541e-04 9.99987980e-01 -4.79781906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204860624 meters 0.09088512136179881 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.21, Z:-0.48 [[ 9.99899549e-01 1.33968282e-02 -4.62774885e-03 1.89929363e+01] [-1.33948219e-02 9.99910178e-01 4.64264871e-04 -1.20890483e+00] [ 4.63355285e-03 -4.02230364e-04 9.99989184e-01 -4.75576101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264860624 meters 0.09427905074635108 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.22, Z:-0.48 [[ 9.99869191e-01 1.56533949e-02 -4.07091252e-03 1.90511806e+01] [-1.56518628e-02 9.99877419e-01 4.07951555e-04 -1.21743101e+00] [ 4.07679933e-03 -3.44180828e-04 9.99991631e-01 -4.79401511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324860623999996 meters 0.09228134395540828 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.22, Z:-0.48 [[ 9.99885190e-01 1.48795206e-02 -2.86488567e-03 1.91102186e+01] [-1.48787613e-02 9.99889264e-01 2.86153346e-04 -1.21719739e+00] [ 2.86882625e-03 -2.43494542e-04 9.99995855e-01 -4.77904178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384860624 meters 0.09482806456337342 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.22, Z:-0.48 [[ 9.99897450e-01 1.38002903e-02 -3.82637120e-03 1.91689775e+01] [-1.37989261e-02 9.99904717e-01 3.82686953e-04 -1.22301658e+00] [ 3.83128780e-03 -3.29847895e-04 9.99992606e-01 -4.80685476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444860624 meters 0.09907980945616314 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.23, Z:-0.48 [[ 9.99924693e-01 1.15498308e-02 -4.14844697e-03 1.92270959e+01] [-1.15482071e-02 9.99933231e-01 4.15126966e-04 -1.23490284e+00] [ 4.15296463e-03 -3.67188579e-04 9.99991309e-01 -4.84080468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504860623999996 meters 0.0999612525849287 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.24, Z:-0.48 [[ 9.99946744e-01 9.71246354e-03 -3.48944426e-03 1.92874011e+01] [-9.71130201e-03 9.99952783e-01 3.49660641e-04 -1.24094770e+00] [ 3.49267557e-03 -3.15754973e-04 9.99993851e-01 -4.84295723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564860624 meters 0.0980906550599222 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.24, Z:-0.48 [[ 9.99956277e-01 8.40024097e-03 -4.10863364e-03 1.93473011e+01] [-8.39862260e-03 9.99964646e-01 4.10990178e-04 -1.24234340e+00] [ 4.11194080e-03 -3.76465345e-04 9.99991475e-01 -4.83272094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624860624 meters 0.09765053968499623 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.25, Z:-0.48 [[ 9.99971543e-01 6.54946015e-03 -3.74402047e-03 1.94070007e+01] [-6.54810277e-03 9.99978491e-01 3.74689517e-04 -1.24799816e+00] [ 3.74639395e-03 -3.50162624e-04 9.99992921e-01 -4.84255958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684860623999995 meters 0.0996945116642047 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.26, Z:-0.49 [[ 9.99982582e-01 4.98539620e-03 -3.15932242e-03 1.94662000e+01] [-4.98442335e-03 9.99987528e-01 3.15731368e-04 -1.25806724e+00] [ 3.16085707e-03 -2.99978468e-04 9.99994959e-01 -4.85616362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744860624 meters 0.09934532795945976 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.26, Z:-0.48 [[ 9.99988055e-01 3.62030657e-03 -3.28393000e-03 1.95250708e+01] [-3.61924968e-03 9.99993397e-01 3.27721464e-04 -1.26196505e+00] [ 3.28509477e-03 -3.15832186e-04 9.99994554e-01 -4.84399551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804860624 meters 0.11251622804994553 Centerline is valid? [True, False] Translation: X:19.52, Y:-1.26, Z:-0.49 [[ 9.99988186e-01 3.85313023e-03 -2.96331006e-03 1.95247711e+01] [-3.85005805e-03 9.99992046e-01 1.04174566e-03 -1.26398494e+00] [ 2.96730047e-03 -1.03032444e-03 9.99995067e-01 -4.85013275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864860623999995 meters 0.10525800772079354 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.26, Z:-0.48 [[ 9.99994017e-01 -2.02633967e-05 -3.45911566e-03 1.95258250e+01] [ 9.99121491e-06 9.99995591e-01 -2.96958913e-03 -1.26463909e+00] [ 3.45916058e-03 2.96953680e-03 9.99989608e-01 -4.84940843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924860624 meters 0.10293820209976748 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.27, Z:-0.48 [[ 9.99993924e-01 7.61601088e-05 -3.48517061e-03 1.95257191e+01] [-8.54636605e-05 9.99996434e-01 -2.66939701e-03 -1.26560746e+00] [ 3.48495488e-03 2.66967864e-03 9.99990364e-01 -4.84722996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984860624 meters 0.108255723194642 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.27, Z:-0.48 [[ 9.99994147e-01 2.66332117e-04 -3.41090903e-03 1.95250887e+01] [-2.73867121e-04 9.99997523e-01 -2.20881301e-03 -1.26790596e+00] [ 3.41031230e-03 2.20973422e-03 9.99991743e-01 -4.84036008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044860623999995 meters 0.1016847090006899 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.27, Z:-0.48 [[ 9.99994809e-01 6.41880683e-04 -3.15743937e-03 1.95247038e+01] [-6.45868818e-04 9.99998995e-01 -1.26223428e-03 -1.27091336e+00] [ 3.15662600e-03 1.26426702e-03 9.99994219e-01 -4.84274606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104860624 meters 0.10374115467014082 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.27, Z:-0.48 [[ 9.99996252e-01 8.31746809e-04 -2.60845649e-03 1.95236780e+01] [-8.32197856e-04 9.99999639e-01 -1.71836428e-04 -1.27480251e+00] [ 2.60831263e-03 1.74006536e-04 9.99996583e-01 -4.84454811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164860624 meters 0.10848115623462759 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.28, Z:-0.49 [[ 9.99993571e-01 -2.45351198e-03 -2.61498039e-03 1.95240903e+01] [ 2.44663862e-03 9.99993553e-01 -2.62841993e-03 -1.28022497e+00] [ 2.62141239e-03 2.62200512e-03 9.99993127e-01 -4.85000511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224860623999994 meters 0.10854749040469729 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.28, Z:-0.48 [[ 9.99995226e-01 -2.07120839e-03 -2.29311787e-03 1.95233894e+01] [ 2.06790539e-03 9.99996822e-01 -1.44183180e-03 -1.28476419e+00] [ 2.29609691e-03 1.43708297e-03 9.99996331e-01 -4.84947725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284860624 meters 0.10956417877014174 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.29, Z:-0.48 [[ 9.99995891e-01 -1.71810954e-03 -2.29499077e-03 1.95233571e+01] [ 1.71634940e-03 9.99998232e-01 -7.68696020e-04 -1.28684516e+00] [ 2.29630742e-03 7.64753855e-04 9.99997071e-01 -4.84895979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344860624 meters 0.10788282664131546 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.29, Z:-0.49 [[ 9.99996663e-01 -1.23713269e-03 -2.26805133e-03 1.95236359e+01] [ 1.23718027e-03 9.99999235e-01 1.95742897e-05 -1.28908597e+00] [ 2.26802538e-03 -2.23802127e-05 9.99997428e-01 -4.85334369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404860623999994 meters 0.10604938775319805 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.29, Z:-0.49 [[ 9.99997526e-01 -3.44010823e-04 -2.19742525e-03 1.95236447e+01] [ 3.47130721e-04 9.99998932e-01 1.41957382e-03 -1.29458521e+00] [ 2.19693455e-03 -1.42033310e-03 9.99996578e-01 -4.85336945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464860623999996 meters 0.10773048829651913 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.30, Z:-0.49 [[ 9.99997500e-01 -2.52808783e-06 -2.23591438e-03 1.95235957e+01] [ 7.21179607e-06 9.99997806e-01 2.09475631e-03 -1.29700270e+00] [ 2.23590418e-03 -2.09476720e-03 9.99995306e-01 -4.85088678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524860624 meters 0.10696553923890341 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.30, Z:-0.49 [[ 9.99996916e-01 6.41319365e-04 -2.39911882e-03 1.95241964e+01] [-6.34346589e-04 9.99995576e-01 2.90602316e-03 -1.29968964e+00] [ 2.40097190e-03 -2.90449233e-03 9.99992900e-01 -4.85300201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584860623999994 meters 0.10638606705776874 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.30, Z:-0.49 [[ 9.99996163e-01 1.15938972e-03 -2.51595139e-03 1.95246172e+01] [-1.15031704e-03 9.99992842e-01 3.60451801e-03 -1.30201921e+00] [ 2.52011242e-03 -3.60161004e-03 9.99990339e-01 -4.85466153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644860623999996 meters 0.10311041994349335 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.30, Z:-0.48 [[ 9.99995001e-01 1.32003607e-03 -2.87327269e-03 1.95248530e+01] [-1.30979505e-03 9.99992794e-01 3.56320593e-03 -1.30240789e+00] [ 2.87795554e-03 -3.55942472e-03 9.99989524e-01 -4.84643537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704860624 meters 0.10618757887076731 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.30, Z:-0.48 [[ 9.99992640e-01 1.81191948e-03 -3.38173052e-03 1.95258107e+01] [-1.79890719e-03 9.99990983e-01 3.84690347e-03 -1.30325710e+00] [ 3.38867030e-03 -3.84079174e-03 9.99986883e-01 -4.84422061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764860624 meters 0.09947067904836421 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.31, Z:-0.48 [[ 9.99990697e-01 2.35881560e-03 -3.61141634e-03 1.95264719e+01] [-2.34267962e-03 9.99987284e-01 4.46577654e-03 -1.30511607e+00] [ 3.62190436e-03 -4.45727461e-03 9.99983507e-01 -4.84574293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824860623999996 meters 0.10434195813420596 Centerline is valid? [True, False] Translation: X:19.53, Y:-1.31, Z:-0.48 [[ 9.99990365e-01 2.62101369e-03 -3.52144752e-03 1.95261695e+01] [-2.60313311e-03 9.99983746e-01 5.07264575e-03 -1.30729717e+00] [ 3.53468575e-03 -5.06343007e-03 9.99980934e-01 -4.84378123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884860624 meters 0.10398765743050166 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.31, Z:-0.48 [[ 9.99993106e-01 -8.75449166e-04 -3.60859868e-03 1.95266659e+01] [ 8.83220696e-04 9.99997293e-01 2.15258355e-03 -1.31175093e+00] [ 3.60670444e-03 -2.15575590e-03 9.99991172e-01 -4.84690856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944860624 meters 0.10445313127385548 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.31, Z:-0.49 [[ 9.99993021e-01 -5.99801191e-04 -3.68745953e-03 1.95271213e+01] [ 6.09316153e-04 9.99996487e-01 2.57977518e-03 -1.31249725e+00] [ 3.68589922e-03 -2.58200401e-03 9.99989874e-01 -4.85105368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004860623999996 meters 0.0982162216853135 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.31, Z:-0.49 [[ 9.99993382e-01 -6.62193025e-04 -3.57724547e-03 1.95268731e+01] [ 6.71314247e-04 9.99996525e-01 2.54919048e-03 -1.31264489e+00] [ 3.57554499e-03 -2.55157506e-03 9.99990352e-01 -4.85028619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064860624 meters 0.10022026018871547 Centerline is valid? [True, False] Translation: X:19.53, Y:-1.32, Z:-0.48 [[ 9.99994231e-01 -4.69857451e-04 -3.36402833e-03 1.95263669e+01] [ 4.80351836e-04 9.99995019e-01 3.11946077e-03 -1.31502767e+00] [ 3.36254587e-03 -3.12105869e-03 9.99989476e-01 -4.84858642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124860624 meters 0.10247660015912734 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.32, Z:-0.48 [[ 9.99995861e-01 -5.28931088e-04 -2.82806728e-03 1.95247804e+01] [ 5.39184170e-04 9.99993281e-01 3.62594099e-03 -1.31846369e+00] [ 2.82613041e-03 -3.62745083e-03 9.99989427e-01 -4.83993722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184860623999995 meters 0.1029015327317012 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.32, Z:-0.48 [[ 9.99997002e-01 -6.57852188e-04 -2.35876413e-03 1.95233514e+01] [ 6.67356792e-04 9.99991653e-01 4.03096447e-03 -1.32104505e+00] [ 2.35609266e-03 -4.03252652e-03 9.99989094e-01 -4.83268222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244860624 meters 0.10219085434040741 Centerline is valid? [False, False] Translation: X:19.52, Y:-1.32, Z:-0.48 [[ 9.99987337e-01 -4.09981332e-03 -2.91835046e-03 1.95248774e+01] [ 4.10176183e-03 9.99991369e-01 6.62001388e-04 -1.32294295e+00] [ 2.91561119e-03 -6.73963384e-04 9.99995522e-01 -4.83718792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304860624 meters 0.10187760439565068 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.32, Z:-0.48 [[ 9.99988557e-01 -3.69235935e-03 -3.04192057e-03 1.95252783e+01] [ 3.69600400e-03 9.99992458e-01 1.19339008e-03 -1.32450409e+00] [ 3.03749120e-03 -1.20461938e-03 9.99994661e-01 -4.83868883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364860623999995 meters 0.10058693136169007 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.33, Z:-0.48 [[ 9.99989305e-01 -2.75905636e-03 -3.71188044e-03 1.95271516e+01] [ 2.76629995e-03 9.99994277e-01 1.94774469e-03 -1.32577089e+00] [ 3.70648526e-03 -1.95799203e-03 9.99991214e-01 -4.84503079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424860624 meters 0.09863422672379477 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.32, Z:-0.48 [[ 9.99987923e-01 -2.36138348e-03 -4.31028757e-03 1.95285474e+01] [ 2.36948873e-03 9.99995432e-01 1.87630510e-03 -1.32478430e+00] [ 4.30583720e-03 -1.88649561e-03 9.99988950e-01 -4.84809341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484860624 meters 0.09396998203159647 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.32, Z:-0.48 [[ 9.99977246e-01 4.53979596e-03 -4.98976374e-03 1.95895893e+01] [-4.53748567e-03 9.99989593e-01 4.74227796e-04 -1.32104410e+00] [ 4.99186471e-03 -4.51576024e-04 9.99987439e-01 -4.84866118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544860623999995 meters 0.12847818185619475 Centerline is valid? [True, False] Translation: X:19.67, Y:-1.33, Z:-0.48 [[ 9.99984885e-01 3.00104484e-03 -4.60683860e-03 1.96685121e+01] [-3.01164420e-03 9.99992830e-01 -2.29557843e-03 -1.32962318e+00] [ 4.59991644e-03 2.30941789e-03 9.99986754e-01 -4.81355700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604860624 meters 0.09673416943307019 Centerline is valid? [False, True] Translation: X:19.59, Y:-1.33, Z:-0.49 [[ 9.99999324e-01 1.03129394e-03 -5.36978631e-04 1.95860235e+01] [-1.03165399e-03 9.99999243e-01 -6.70665247e-04 -1.32812773e+00] [ 5.36286571e-04 6.71218770e-04 9.99999631e-01 -4.85952758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664860624 meters 0.09978110330458556 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.35, Z:-0.49 [[ 9.99959442e-01 -8.99645627e-03 -4.21083338e-04 1.96451176e+01] [ 8.99647449e-03 9.99959530e-01 4.13869300e-05 -1.34657209e+00] [ 4.20693961e-04 -4.51735169e-05 9.99999910e-01 -4.87930888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724860623999994 meters 0.10144517298630301 Centerline is valid? [True, False] Translation: X:19.64, Y:-1.35, Z:-0.49 [[ 9.99964157e-01 -8.46643932e-03 -5.79079459e-05 1.96448848e+01] [ 8.46652165e-03 9.99962860e-01 1.61155390e-03 -1.35141844e+00] [ 4.42616719e-05 -1.61198641e-03 9.99998700e-01 -4.88663195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784860624 meters 0.10666681448535645 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.36, Z:-0.49 [[ 9.99966536e-01 -8.17097077e-03 4.03829821e-04 1.96438579e+01] [ 8.16978029e-03 9.99962518e-01 2.86658099e-03 -1.35683754e+00] [-4.27237435e-04 -2.86318586e-03 9.99995810e-01 -4.88334465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844860624 meters 0.10488131942488167 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.36, Z:-0.49 [[ 9.99969773e-01 -7.75165687e-03 6.03887508e-04 1.96433221e+01] [ 7.74923322e-03 9.99962301e-01 3.91738029e-03 -1.36059849e+00] [-6.34230930e-04 -3.91258222e-03 9.99992145e-01 -4.88042510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904860623999994 meters 0.10766848478717572 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.37, Z:-0.49 [[ 9.99938431e-01 -1.10891939e-02 4.03870602e-04 1.96434698e+01] [ 1.10887152e-02 9.99937835e-01 1.16886188e-03 -1.36558177e+00] [-4.16807232e-04 -1.16431151e-03 9.99999235e-01 -4.87445588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964860623999996 meters 0.10913899991456749 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.37, Z:-0.49 [[ 9.99950547e-01 -9.94159597e-03 2.61615308e-04 1.96440785e+01] [ 9.94075191e-03 9.99945935e-01 3.05094968e-03 -1.37103119e+00] [-2.91932473e-04 -3.04819815e-03 9.99995312e-01 -4.87766953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024860624 meters 0.10482400647634114 Centerline is valid? [False, False] Translation: X:19.63, Y:-1.38, Z:-0.49 [[ 9.99972858e-01 -3.17283849e-03 6.64955016e-03 1.96343143e+01] [ 3.16638639e-03 9.99994506e-01 9.80608979e-04 -1.37665959e+00] [-6.65262494e-03 -9.59527318e-04 9.99977411e-01 -4.91365188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084860623999994 meters 0.10339569050682017 Centerline is valid? [False, False] Translation: X:19.63, Y:-1.38, Z:-0.49 [[ 9.99976504e-01 -2.77303788e-03 6.26909589e-03 1.96349011e+01] [ 2.76444014e-03 9.99995227e-01 1.37969815e-03 -1.37791858e+00] [-6.27289192e-03 -1.36233520e-03 9.99979397e-01 -4.91098404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144860623999996 meters 0.1012280862002004 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.38, Z:-0.49 [[ 9.99981103e-01 -2.05791135e-03 5.79306361e-03 1.96356486e+01] [ 2.04518166e-03 9.99995483e-01 2.20246932e-03 -1.38023704e+00] [-5.79756993e-03 -2.19057984e-03 9.99980795e-01 -4.90822340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204860624 meters 0.10278141012180297 Centerline is valid? [False, False] Translation: X:19.64, Y:-1.38, Z:-0.49 [[ 9.99982489e-01 -1.59042340e-03 5.70025269e-03 1.96358166e+01] [ 1.57368967e-03 9.99994443e-01 2.93889662e-03 -1.38255214e+00] [-5.70489510e-03 -2.92987473e-03 9.99979435e-01 -4.90769586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26486062399999 meters 0.09253628200941534 Centerline is valid? [False, True] Translation: X:19.64, Y:-1.38, Z:-0.49 [[ 9.99983375e-01 -1.14380032e-03 5.65159220e-03 1.96361055e+01] [ 1.12322299e-03 9.99992734e-01 3.64281280e-03 -1.38449849e+00] [-5.65571778e-03 -3.63640425e-03 9.99977394e-01 -4.91048769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324860623999996 meters 0.09362263213873841 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.39, Z:-0.49 [[ 9.99990833e-01 -4.77437674e-04 4.25520817e-03 1.96975385e+01] [ 4.79263541e-04 9.99999794e-01 -4.28080501e-04 -1.39230211e+00] [-4.25500290e-03 4.30115942e-04 9.99990855e-01 -4.92611158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384860624 meters 0.09527275165270659 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.40, Z:-0.50 [[ 9.99993390e-01 2.44217123e-04 3.62783830e-03 1.97582689e+01] [-2.42880008e-04 9.99999902e-01 -3.69006855e-04 -1.40453302e+00] [-3.62792806e-03 3.68123287e-04 9.99993351e-01 -4.96233543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444860624 meters 0.09490151871912143 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.41, Z:-0.50 [[ 9.99989542e-01 -7.97702399e-04 4.50326599e-03 1.98188270e+01] [ 7.99780085e-04 9.99999575e-01 -4.59591257e-04 -1.41285934e+00] [-4.50289746e-03 4.63188073e-04 9.99989755e-01 -4.97010271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504860623999996 meters 0.0990027403957546 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.43, Z:-0.50 [[ 9.99985929e-01 -1.63861321e-03 5.04543788e-03 1.98780436e+01] [ 1.64123334e-03 9.99998520e-01 -5.15209729e-04 -1.42886322e+00] [-5.04458619e-03 5.23483220e-04 9.99987139e-01 -5.00320877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564860624 meters 0.0940139803306722 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.43, Z:-0.50 [[ 9.99986327e-01 -2.27178782e-03 4.71016569e-03 1.99408011e+01] [ 2.27407483e-03 9.99997299e-01 -4.80249630e-04 -1.42923427e+00] [-4.70906194e-03 4.90954333e-04 9.99988792e-01 -5.00322651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624860624 meters 0.0974607357932545 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.45, Z:-0.50 [[ 9.99983469e-01 -4.23194912e-03 3.89255930e-03 1.99985248e+01] [ 4.23352974e-03 9.99990959e-01 -3.97911496e-04 -1.44578223e+00] [-3.89084016e-03 4.14384184e-04 9.99992345e-01 -5.03878010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684860623999995 meters 0.10143349163881031 Centerline is valid? [True, False] Translation: X:20.00, Y:-1.45, Z:-0.50 [[ 9.99985879e-01 -3.51749052e-03 3.98360128e-03 1.99989444e+01] [ 3.51387635e-03 9.99993409e-01 9.13897808e-04 -1.44901804e+00] [-3.98678965e-03 -8.99887020e-04 9.99991648e-01 -5.04780020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744860624 meters 0.09527775747959913 Centerline is valid? [False, True] Translation: X:20.00, Y:-1.45, Z:-0.51 [[ 9.99988405e-01 -2.90041186e-03 3.84411549e-03 1.99995457e+01] [ 2.89334187e-03 9.99994115e-01 1.84346065e-03 -1.45127833e+00] [-3.84943966e-03 -1.83231693e-03 9.99990912e-01 -5.05255416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804860624 meters 0.0992571777006342 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.46, Z:-0.51 [[ 9.99990702e-01 -1.66602192e-03 3.97739030e-03 2.00589839e+01] [ 1.66770006e-03 9.99998522e-01 -4.18640914e-04 -1.46471090e+00] [-3.97668696e-03 4.25270115e-04 9.99992003e-01 -5.07983979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864860623999995 meters 0.09540537488176468 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.46, Z:-0.51 [[ 9.99994440e-01 -9.92608402e-04 3.18353056e-03 2.01213240e+01] [ 9.93677060e-04 9.99999450e-01 -3.34119047e-04 -1.46409070e+00] [-3.18319716e-03 3.37280591e-04 9.99994877e-01 -5.08881074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924860624 meters 0.09388808653470217 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.47, Z:-0.51 [[ 9.99995930e-01 1.93395345e-04 2.84659553e-03 2.01823378e+01] [-1.92543241e-04 9.99999937e-01 -2.99612322e-04 -1.46789856e+00] [-2.84665330e-03 2.99063010e-04 9.99995904e-01 -5.09459022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984860624 meters 0.09549606113486561 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.48, Z:-0.51 [[ 9.99993992e-01 3.45443355e-04 3.44909122e-03 2.02427075e+01] [-3.44192077e-04 9.99999875e-01 -3.63371761e-04 -1.47713314e+00] [-3.44921631e-03 3.62182428e-04 9.99993986e-01 -5.12346629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044860623999995 meters 0.09767034890054388 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.49, Z:-0.51 [[ 9.99991111e-01 7.73317022e-04 4.14491016e-03 2.03035770e+01] [-7.71521879e-04 9.99999608e-01 -4.34677244e-04 -1.48562657e+00] [-4.14524467e-03 4.31475491e-04 9.99991315e-01 -5.14406733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104860624 meters 0.0977988098624623 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.49, Z:-0.52 [[ 9.99992761e-01 2.66958816e-03 2.71129098e-03 2.03641558e+01] [-2.66882157e-03 9.99996398e-01 -2.86317259e-04 -1.48908154e+00] [-2.71204557e-03 2.79079235e-04 9.99996283e-01 -5.18737316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164860624 meters 0.09827862135261145 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.49, Z:-0.52 [[ 9.99985717e-01 5.20759652e-03 1.20243790e-03 2.04234716e+01] [-5.20744712e-03 9.99986433e-01 -1.27342170e-04 -1.49351510e+00] [-1.20308473e-03 1.21078719e-04 9.99999269e-01 -5.22492403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224860623999994 meters 0.09373058184862375 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.49, Z:-0.52 [[ 9.99929494e-01 1.18370541e-02 9.43851452e-04 2.04850125e+01] [-1.18369653e-02 9.99929936e-01 -9.96915726e-05 -1.48575206e+00] [-9.44965376e-04 8.85122069e-05 9.99999550e-01 -5.22961421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284860624 meters 0.09070587992199737 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.48, Z:-0.52 [[ 9.99863657e-01 1.65115116e-02 1.93669767e-04 2.05467727e+01] [-1.65115079e-02 9.99863676e-01 -2.05556727e-05 -1.48046151e+00] [-1.93982771e-04 1.73550901e-05 9.99999981e-01 -5.22544688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344860624 meters 0.0895757118190487 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.48, Z:-0.52 [[ 9.99693496e-01 2.47340058e-02 1.06915055e-03 2.06066449e+01] [-2.47338983e-02 9.99694064e-01 -1.13628461e-04 -1.47692335e+00] [-1.07163395e-03 8.71493726e-05 9.99999422e-01 -5.24202876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404860623999994 meters 0.08412823637735539 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.46, Z:-0.52 [[ 9.99450269e-01 3.31127526e-02 1.64486775e-03 2.06688127e+01] [-3.31125107e-02 9.99451615e-01 -1.74089796e-04 -1.46268982e+00] [-1.64973033e-03 1.19528393e-04 9.99998632e-01 -5.22500307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464860623999996 meters 0.08068546776017206 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.45, Z:-0.52 [[ 9.99242726e-01 3.89059821e-02 -5.46168446e-04 2.07301720e+01] [-3.89059568e-02 9.99242875e-01 5.68572379e-05 -1.45390806e+00] [ 5.47967015e-04 -3.55649755e-05 9.99999849e-01 -5.23218694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524860624 meters 0.07932749229789007 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.45, Z:-0.53 [[ 9.98859767e-01 4.76940320e-02 -2.10839656e-03 2.07910188e+01] [-4.76936687e-02 9.98861985e-01 2.22281597e-04 -1.44703441e+00] [ 2.11659868e-03 -1.21470977e-04 9.99997753e-01 -5.26305848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584860623999994 meters 0.07864170007938884 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.44, Z:-0.53 [[ 9.98588231e-01 5.30924043e-02 -1.65570805e-03 2.08510154e+01] [-5.30921881e-02 9.98589600e-01 1.74289280e-04 -1.44364857e+00] [ 1.66262627e-03 -8.61380604e-05 9.99998614e-01 -5.28648527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644860623999996 meters 0.07828732373145843 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.44, Z:-0.53 [[ 9.98458957e-01 5.54938121e-02 -3.85335982e-04 2.09115900e+01] [-5.54938009e-02 9.98459031e-01 3.96306189e-05 -1.44183323e+00] [ 3.86941446e-04 -1.81857881e-05 9.99999925e-01 -5.30527824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704860624 meters 0.07682371684412484 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.44, Z:-0.53 [[ 9.98321369e-01 5.79175655e-02 9.87312300e-06 2.09720849e+01] [-5.79175655e-02 9.98321369e-01 -1.51297287e-06 -1.43908754e+00] [-9.94417738e-06 9.38605894e-07 1.00000000e+00 -5.30574233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76486062399999 meters 0.07621595365226827 Centerline is valid? [True, True] Translation: X:21.03, Y:-1.44, Z:-0.53 [[ 9.98219453e-01 5.96398807e-02 1.00379680e-03 2.10319537e+01] [-5.96398033e-02 9.98219957e-01 -1.06927982e-04 -1.44026198e+00] [-1.00838717e-03 4.68713481e-05 9.99999490e-01 -5.31956775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824860623999996 meters 0.07577119565116432 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.44, Z:-0.53 [[ 9.98020695e-01 6.28722679e-02 1.33033585e-03 2.10911049e+01] [-6.28721353e-02 9.98021580e-01 -1.41351174e-04 -1.44012917e+00] [-1.33659096e-03 5.74303407e-05 9.99999105e-01 -5.34527874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884860624 meters 0.07455469294582971 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.44, Z:-0.53 [[ 9.97890596e-01 6.48795248e-02 2.23721241e-03 2.11515789e+01] [-6.48791562e-02 9.97893100e-01 -2.37026644e-04 -1.43715578e+00] [-2.24787700e-03 9.13782060e-05 9.99997469e-01 -5.34051219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94486062399999 meters 0.07453271744875793 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.44, Z:-0.54 [[ 9.97817333e-01 6.60070637e-02 1.90720779e-03 2.12090388e+01] [-6.60067933e-02 9.97819153e-01 -2.04451019e-04 -1.44075486e+00] [-1.91654367e-03 7.81161005e-05 9.99998160e-01 -5.37837502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004860623999996 meters 0.07480051070821815 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.45, Z:-0.54 [[ 9.97848880e-01 6.55359580e-02 1.62789942e-03 2.12672741e+01] [-6.55357553e-02 9.97850206e-01 -1.77638698e-04 -1.44528813e+00] [-1.63604149e-03 7.05709579e-05 9.99998659e-01 -5.39606759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064860624 meters 0.07426560472122003 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.45, Z:-0.54 [[ 9.97966147e-01 6.37399741e-02 8.86213476e-04 2.13271186e+01] [-6.37399156e-02 9.97966540e-01 -9.41339221e-05 -1.44740057e+00] [-8.90411490e-04 3.74552953e-05 9.99999603e-01 -5.40334098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124860624 meters 0.07544675192470095 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.46, Z:-0.54 [[ 9.98253692e-01 5.90074531e-02 2.77258088e-03 2.13866696e+01] [-5.90068692e-02 9.98257534e-01 -2.92013337e-04 -1.45652000e+00] [-2.78498072e-03 1.27902074e-04 9.99996114e-01 -5.41969893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184860623999995 meters 0.07593221984596128 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.46, Z:-0.54 [[ 9.98400026e-01 5.64597883e-02 3.11135645e-03 2.14453802e+01] [-5.64590385e-02 9.98404862e-01 -3.28389527e-04 -1.46369425e+00] [-3.12493421e-03 1.52199918e-04 9.99995106e-01 -5.43940331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244860624 meters 0.07846938181396892 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.48, Z:-0.55 [[ 9.98667598e-01 5.14869548e-02 3.48166442e-03 2.15037088e+01] [-5.14859895e-02 9.98673650e-01 -3.66398049e-04 -1.47735149e+00] [-3.49591123e-03 1.86652922e-04 9.99993872e-01 -5.47303504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304860624 meters 0.08123169577179125 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.49, Z:-0.55 [[ 9.99088227e-01 4.26300495e-02 2.32247981e-03 2.15632175e+01] [-4.26295970e-02 9.99090916e-01 -2.44010537e-04 -1.48904046e+00] [-2.33077066e-03 1.44781676e-04 9.99997273e-01 -5.50257849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364860623999995 meters 0.08201180513526582 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.50, Z:-0.55 [[ 9.99359942e-01 3.57700845e-02 4.55701909e-04 2.16236106e+01] [-3.57700663e-02 9.99360045e-01 -4.80228311e-05 -1.49588473e+00] [-4.57128061e-04 3.16916062e-05 9.99999895e-01 -5.52205269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424860624 meters 0.08470770662851979 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.51, Z:-0.55 [[ 9.99504614e-01 3.14016854e-02 2.11202447e-03 2.16829719e+01] [-3.14012861e-02 9.99506833e-01 -2.21953602e-04 -1.50687404e+00] [-2.11795261e-03 1.55523365e-04 9.99997745e-01 -5.54164959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484860624 meters 0.08512814612746505 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.51, Z:-0.56 [[ 9.99474860e-01 3.21117679e-02 4.34042676e-03 2.17420409e+01] [-3.21100851e-02 9.99484234e-01 -4.56857396e-04 -1.51229703e+00] [-4.35285861e-03 3.17246010e-04 9.99990476e-01 -5.55656301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544860623999995 meters 0.08203952255353958 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.51, Z:-0.56 [[ 9.99250235e-01 3.85012093e-02 4.07722882e-03 2.18032614e+01] [-3.84997799e-02 9.99258517e-01 -4.28503299e-04 -1.50755831e+00] [-4.09070352e-03 2.71209610e-04 9.99991596e-01 -5.56844916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604860624 meters 0.0797866407075342 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.50, Z:-0.56 [[ 9.98943575e-01 4.55207126e-02 6.29272208e-03 2.18647349e+01] [-4.55174487e-02 9.98963325e-01 -6.60991538e-04 -1.50340466e+00] [-6.31628738e-03 3.73864596e-04 9.99979982e-01 -5.56608109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664860624 meters 0.07809338415000819 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.50, Z:-0.56 [[ 9.98726431e-01 5.00813780e-02 6.11323737e-03 2.19253558e+01] [-5.00783829e-02 9.98745084e-01 -6.42120916e-04 -1.50248458e+00] [-6.13772407e-03 3.35162089e-04 9.99981108e-01 -5.57535639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724860623999994 meters 0.07596458546791666 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.50, Z:-0.56 [[ 9.98526555e-01 5.38318533e-02 6.84467455e-03 2.19863254e+01] [-5.38281849e-02 9.98549953e-01 -7.19187984e-04 -1.49938428e+00] [-6.87346468e-03 3.49691894e-04 9.99976316e-01 -5.59038179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784860624 meters 0.07652174936007328 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.50, Z:-0.56 [[ 9.98536147e-01 5.37170736e-02 6.32762406e-03 2.20444931e+01] [-5.37139016e-02 9.98556141e-01 -6.70303333e-04 -1.50321136e+00] [-6.35449460e-03 3.29440732e-04 9.99979756e-01 -5.61432881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844860624 meters 0.07761123954686641 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.51, Z:-0.57 [[ 9.98589979e-01 5.28683747e-02 4.79473468e-03 2.21037817e+01] [-5.28665672e-02 9.98601459e-01 -5.03030897e-04 -1.51009680e+00] [-4.81462347e-03 2.48840450e-04 9.99988379e-01 -5.66221161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904860623999994 meters 0.0782807109872538 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.52, Z:-0.57 [[ 9.98730259e-01 5.01678732e-02 4.58843301e-03 2.21628625e+01] [-5.01661881e-02 9.98740768e-01 -4.81666558e-04 -1.51538636e+00] [-4.60681930e-03 2.50870773e-04 9.99989357e-01 -5.68696408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964860623999996 meters 0.07894485393180334 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.52, Z:-0.57 [[ 9.98892338e-01 4.68434006e-02 4.44891482e-03 2.22231635e+01] [-4.68417895e-02 9.98902212e-01 -4.65679231e-04 -1.52009417e+00] [-4.46584485e-03 2.56768285e-04 9.99989995e-01 -5.70037563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024860624 meters 0.08012789015356875 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.53, Z:-0.57 [[ 9.99035060e-01 4.36006365e-02 5.28526839e-03 2.22825228e+01] [-4.35983156e-02 9.99048988e-01 -5.53611607e-04 -1.52795453e+00] [-5.30437985e-03 3.22648606e-04 9.99985880e-01 -5.71175699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084860623999994 meters 0.08406468345148865 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.54, Z:-0.57 [[ 9.99260459e-01 3.78922484e-02 6.53551152e-03 2.23409310e+01] [-3.78885795e-02 9.99281736e-01 -6.84321425e-04 -1.54101338e+00] [-6.55674777e-03 4.36194093e-04 9.99978409e-01 -5.73398126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144860623999996 meters 0.09006993965957469 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.56, Z:-0.58 [[ 9.99496104e-01 3.04297765e-02 9.03138987e-03 2.23990896e+01] [-3.04224687e-02 9.99536682e-01 -9.45466308e-04 -1.55974094e+00] [-9.05597579e-03 6.70232716e-04 9.99958769e-01 -5.75310447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204860624 meters 0.08927190504363196 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.56, Z:-0.58 [[ 9.99649477e-01 2.45899366e-02 9.81115550e-03 2.24595463e+01] [-2.45810393e-02 9.99697314e-01 -1.02642432e-03 -1.56455415e+00] [-9.83342551e-03 7.84896134e-04 9.99951343e-01 -5.75543533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26486062399999 meters 0.09589663276764267 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.58, Z:-0.58 [[ 9.99818026e-01 1.64785022e-02 9.61117647e-03 2.25171563e+01] [-1.64695905e-02 9.99863861e-01 -1.00563586e-03 -1.58362944e+00] [-9.62643939e-03 8.47160714e-04 9.99953306e-01 -5.79056393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324860623999996 meters 0.09847778909079893 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.60, Z:-0.58 [[ 9.99927844e-01 8.95019721e-03 8.01249340e-03 2.25761540e+01] [-8.94376349e-03 9.99959652e-01 -8.38433942e-04 -1.59529383e+00] [-8.01967427e-03 7.66711599e-04 9.99967548e-01 -5.81610628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384860624 meters 0.10593090142819085 Centerline is valid? [True, False] Translation: X:22.58, Y:-1.59, Z:-0.58 [[ 9.99995610e-01 2.89416664e-03 6.35683057e-04 2.25849548e+01] [-2.89380805e-03 9.99995654e-01 -5.64294357e-04 -1.59320509e+00] [-6.37313456e-04 5.62452335e-04 9.99999639e-01 -5.76308220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44486062399999 meters 0.10481048927072163 Centerline is valid? [False, False] Translation: X:22.58, Y:-1.59, Z:-0.58 [[ 9.99996612e-01 2.49546165e-03 7.40316511e-04 2.25845746e+01] [-2.49468630e-03 9.99996341e-01 -1.04639317e-03 -1.59184895e+00] [-7.42925036e-04 1.04454277e-03 9.99999178e-01 -5.76131010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504860623999996 meters 0.10239814704915359 Centerline is valid? [False, False] Translation: X:22.58, Y:-1.59, Z:-0.58 [[ 9.99997105e-01 2.32843502e-03 6.06280737e-04 2.25848205e+01] [-2.32752695e-03 9.99996175e-01 -1.49419654e-03 -1.59033954e+00] [-6.09757557e-04 1.49278108e-03 9.99998700e-01 -5.76075210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564860624 meters 0.10726170429528764 Centerline is valid? [False, False] Translation: X:22.59, Y:-1.59, Z:-0.58 [[ 9.99997490e-01 2.22488398e-03 2.63377006e-04 2.25856174e+01] [-2.22430425e-03 9.99995147e-01 -2.18137214e-03 -1.58752232e+00] [-2.68229028e-04 2.18078084e-03 9.99997586e-01 -5.76144188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62486062399999 meters 0.09778984053695744 Centerline is valid? [False, True] Translation: X:22.59, Y:-1.58, Z:-0.58 [[ 9.99982535e-01 5.89903108e-03 3.61583653e-04 2.25852624e+01] [-5.89940075e-03 9.99982068e-01 1.02996871e-03 -1.58428640e+00] [-3.55501352e-04 -1.03208384e-03 9.99999404e-01 -5.75861509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684860623999995 meters 0.09693256217433334 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.59, Z:-0.58 [[ 9.99964197e-01 8.34538243e-03 1.39964879e-03 2.26461730e+01] [-8.34519886e-03 9.99965169e-01 -1.36941553e-04 -1.58588481e+00] [-1.40074287e-03 1.25256302e-04 9.99999011e-01 -5.76866686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744860624 meters 0.09738261027271784 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.59, Z:-0.58 [[ 9.99969090e-01 7.82985292e-03 -7.16205822e-04 2.27057344e+01] [-7.82980517e-03 9.99969344e-01 6.94451584e-05 -1.59106834e+00] [ 7.16727612e-04 -6.38352598e-05 9.99999741e-01 -5.79379431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804860624 meters 0.09943115165273644 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.60, Z:-0.58 [[ 9.99989855e-01 3.57000487e-03 -2.74673949e-03 2.27657590e+01] [-3.56928129e-03 9.99993594e-01 2.68287968e-04 -1.59981801e+00] [ 2.74767968e-03 -2.58481360e-04 9.99996192e-01 -5.82234853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864860623999995 meters 0.10421520759400446 Centerline is valid? [True, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99992853e-01 3.19245859e-03 -2.02543666e-03 2.27643751e+01] [-3.19134759e-03 9.99994756e-01 5.51519912e-04 -1.60100677e+00] [ 2.02718674e-03 -5.45052098e-04 9.99997797e-01 -5.82609425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924860624 meters 0.10487957730526347 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99995544e-01 2.61468205e-03 -1.44040607e-03 2.27628694e+01] [-2.61408498e-03 9.99996497e-01 4.16242165e-04 -1.60119501e+00] [ 1.44148936e-03 -4.12474967e-04 9.99998876e-01 -5.82294665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984860624 meters 0.10845221086383462 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99996618e-01 2.32326349e-03 -1.16926750e-03 2.27621350e+01] [-2.32291556e-03 9.99997257e-01 2.98838120e-04 -1.60107079e+00] [ 1.16995857e-03 -2.96121000e-04 9.99999272e-01 -5.82140417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044860623999995 meters 0.10945410712321565 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99997471e-01 2.01756004e-03 -9.93831724e-04 2.27614715e+01] [-2.01755428e-03 9.99997965e-01 6.79822587e-06 -1.60066042e+00] [ 9.93843417e-04 -4.79309923e-06 9.99999506e-01 -5.81759886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104860624 meters 0.10788560488509323 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99997394e-01 1.98346920e-03 -1.13019816e-03 2.27618245e+01] [-1.98366398e-03 9.99998018e-01 -1.71248949e-04 -1.59980345e+00] [ 1.12985626e-03 1.73490436e-04 9.99999347e-01 -5.81820606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164860624 meters 0.10372259780498692 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99995493e-01 2.33061637e-03 -1.89243629e-03 2.27638255e+01] [-2.33180522e-03 9.99997085e-01 -6.26244729e-04 -1.59716210e+00] [ 1.89097124e-03 6.30654700e-04 9.99998013e-01 -5.82329600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224860623999994 meters 0.10308240560504382 Centerline is valid? [False, False] Translation: X:22.76, Y:-1.60, Z:-0.58 [[ 9.99994471e-01 2.35547249e-03 -2.34720910e-03 2.27646891e+01] [-2.35831977e-03 9.99996486e-01 -1.21101791e-03 -1.59520780e+00] [ 2.34434833e-03 1.21654669e-03 9.99996512e-01 -5.82087912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284860624 meters 0.09864605907377018 Centerline is valid? [False, True] Translation: X:22.77, Y:-1.59, Z:-0.58 [[ 9.99989036e-01 3.42170992e-03 -3.19685856e-03 2.27671484e+01] [-3.42652589e-03 9.99993001e-01 -1.50220672e-03 -1.59189090e+00] [ 3.19169607e-03 1.51314437e-03 9.99993762e-01 -5.82511129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344860624 meters 0.09278998226413955 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.58, Z:-0.58 [[ 9.99920360e-01 1.23564716e-02 -2.56749367e-03 2.28283526e+01] [-1.23558865e-02 9.99923633e-01 2.43630149e-04 -1.58460167e+00] [ 2.57030800e-03 -2.11887086e-04 9.99996674e-01 -5.83669632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404860623999994 meters 0.08994563719578608 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.58, Z:-0.58 [[ 9.99848482e-01 1.72551354e-02 -2.29643066e-03 2.28887357e+01] [-1.72546805e-02 9.99851103e-01 2.17749442e-04 -1.58300934e+00] [ 2.29984603e-03 -1.78092272e-04 9.99997339e-01 -5.83838190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464860623999996 meters 0.08704248621542864 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.58, Z:-0.58 [[ 9.99752068e-01 2.21919177e-02 -1.82217713e-03 2.29491410e+01] [-2.21916400e-02 9.99753720e-01 1.72440339e-04 -1.58116648e+00] [ 1.82555515e-03 -1.31960486e-04 9.99998325e-01 -5.82825520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524860624 meters 0.08583934016637071 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.58, Z:-0.58 [[ 9.99732269e-01 2.30308390e-02 -2.22964541e-03 2.30079945e+01] [-2.30304268e-02 9.99734742e-01 2.10345027e-04 -1.58374019e+00] [ 2.23389840e-03 -1.58939026e-04 9.99997492e-01 -5.83435386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584860623999994 meters 0.0883467988842044 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.60, Z:-0.59 [[ 9.99758466e-01 2.17726775e-02 -2.99343572e-03 2.30656322e+01] [-2.17719287e-02 9.99762924e-01 2.82495377e-04 -1.59535259e+00] [ 2.99887673e-03 -2.17254276e-04 9.99995480e-01 -5.86849960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644860623999996 meters 0.08999969780776128 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.61, Z:-0.59 [[ 9.99829411e-01 1.79615777e-02 -4.30471018e-03 2.31248701e+01] [-1.79599888e-02 9.99838623e-01 4.07485374e-04 -1.60548184e+00] [ 4.31133458e-03 -3.30103315e-04 9.99990652e-01 -5.88400445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704860624 meters 0.09666348564347164 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.63, Z:-0.59 [[ 9.99914249e-01 1.18953305e-02 -5.47678769e-03 2.31820882e+01] [-1.18926685e-02 9.99929145e-01 5.18363871e-04 -1.62627876e+00] [ 5.48256574e-03 -4.53185801e-04 9.99984868e-01 -5.92168244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76486062399999 meters 0.0972722288028872 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.63, Z:-0.59 [[ 9.99945805e-01 8.67177366e-03 -5.76091540e-03 2.32421433e+01] [-8.66877349e-03 9.99962277e-01 5.45547409e-04 -1.63389086e+00] [ 5.76542895e-03 -4.95577772e-04 9.99983257e-01 -5.92471519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824860623999996 meters 0.09803479573111865 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.64, Z:-0.59 [[ 9.99966392e-01 5.97838779e-03 -5.61010458e-03 2.33019916e+01] [-5.97550190e-03 9.99982006e-01 5.31030211e-04 -1.64206792e+00] [ 5.61317834e-03 -4.97489174e-04 9.99984122e-01 -5.91320584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884860624 meters 0.09774618898314452 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.65, Z:-0.59 [[ 9.99969276e-01 6.18475902e-03 -4.81626119e-03 2.33607501e+01] [-6.18264013e-03 9.99980784e-01 4.54710537e-04 -1.64920183e+00] [ 4.81898092e-03 -4.24919357e-04 9.99988298e-01 -5.91717110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94486062399999 meters 0.09881257009899562 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.66, Z:-0.59 [[ 9.99966451e-01 7.05210566e-03 -4.16703004e-03 2.34184926e+01] [-7.05052863e-03 9.99975067e-01 3.93021987e-04 -1.65701585e+00] [ 4.16969778e-03 -3.63629037e-04 9.99991241e-01 -5.92888413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004860623999996 meters 0.096651376485605 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.66, Z:-0.59 [[ 9.99962055e-01 7.46816627e-03 -4.48490188e-03 2.34767965e+01] [-7.46634466e-03 9.99972037e-01 4.22771620e-04 -1.66098074e+00] [ 4.48793380e-03 -3.89269755e-04 9.99989853e-01 -5.92988293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064860624 meters 0.09318940477329894 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.66, Z:-0.59 [[ 9.99961784e-01 7.72207143e-03 -4.09883017e-03 2.35359080e+01] [-7.72055366e-03 9.99970122e-01 3.85987758e-04 -1.66278353e+00] [ 4.10168832e-03 -3.54327769e-04 9.99991525e-01 -5.91890523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12486062399999 meters 0.09977151384689308 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.68, Z:-0.59 [[ 9.99973411e-01 6.26487403e-03 -3.73199086e-03 2.35927861e+01] [-6.26360572e-03 9.99980322e-01 3.51441431e-04 -1.68257476e+00] [ 3.73411916e-03 -3.28056367e-04 9.99992974e-01 -5.94969337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184860623999995 meters 0.09650394930096505 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.69, Z:-0.59 [[ 9.99983741e-01 3.07269700e-03 -4.80379864e-03 2.36533294e+01] [-3.07055425e-03 9.99995183e-01 4.53365481e-04 -1.68843705e+00] [ 4.80516855e-03 -4.38607786e-04 9.99988359e-01 -5.93971925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244860624 meters 0.0975342792972095 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.70, Z:-0.60 [[ 9.99979262e-01 5.02034815e-05 -6.43988614e-03 2.37125401e+01] [-4.62908681e-05 9.99999814e-01 6.07707017e-04 -1.69968224e+00] [ 6.43991545e-03 -6.07396307e-04 9.99979079e-01 -5.95091932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30486062399999 meters 0.10083107060523581 Centerline is valid? [True, False] Translation: X:23.71, Y:-1.70, Z:-0.60 [[ 9.99970435e-01 -3.64038978e-03 -6.77319551e-03 2.37132754e+01] [ 3.62130155e-03 9.99989443e-01 -2.82833449e-03 -1.70222324e+00] [ 6.78342025e-03 2.80372309e-03 9.99973062e-01 -5.95053244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364860623999995 meters 0.10171567874443348 Centerline is valid? [False, False] Translation: X:23.71, Y:-1.71, Z:-0.59 [[ 9.99975341e-01 -3.68286637e-03 -5.97949131e-03 2.37115758e+01] [ 3.67312896e-03 9.99991911e-01 -1.63863259e-03 -1.70848271e+00] [ 5.98547781e-03 1.61662874e-03 9.99980780e-01 -5.94732807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424860624 meters 0.09961030046432352 Centerline is valid? [False, True] Translation: X:23.71, Y:-1.71, Z:-0.59 [[ 9.99977817e-01 -3.68360347e-03 -5.54949806e-03 2.37103082e+01] [ 3.67799242e-03 9.99992715e-01 -1.02095738e-03 -1.71141843e+00] [ 5.55321843e-03 1.00052372e-03 9.99984080e-01 -5.94223063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484860624 meters 0.10754762904082045 Centerline is valid? [True, False] Translation: X:23.71, Y:-1.72, Z:-0.59 [[ 9.99980820e-01 -2.98864105e-03 -5.42474211e-03 2.37103636e+01] [ 2.99065313e-03 9.99995462e-01 3.62834894e-04 -1.71602036e+00] [ 5.42363311e-03 -3.79051457e-04 9.99985220e-01 -5.94582572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544860623999995 meters 0.10277203469681773 Centerline is valid? [False, False] Translation: X:23.71, Y:-1.72, Z:-0.59 [[ 9.99982775e-01 -2.22148501e-03 -5.43266890e-03 2.37105317e+01] [ 2.23064989e-03 9.99996098e-01 1.68151766e-03 -1.72043648e+00] [ 5.42891224e-03 -1.69360708e-03 9.99983829e-01 -5.94683653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604860624 meters 0.10468679745343033 Centerline is valid? [False, False] Translation: X:23.71, Y:-1.72, Z:-0.59 [[ 9.99983306e-01 -1.64413938e-03 -5.53928680e-03 2.37108853e+01] [ 1.65812771e-03 9.99995446e-01 2.52164955e-03 -1.72303831e+00] [ 5.53511563e-03 -2.53079230e-03 9.99981479e-01 -5.94737961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664860624 meters 0.10117764441288563 Centerline is valid? [False, False] Translation: X:23.71, Y:-1.73, Z:-0.59 [[ 9.99982503e-01 -9.91756760e-04 -5.83181228e-03 2.37112088e+01] [ 1.01068404e-03 9.99994229e-01 3.24347130e-03 -1.72593888e+00] [ 5.82856189e-03 -3.24930867e-03 9.99977735e-01 -5.94142531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724860623999994 meters 0.09876994598364314 Centerline is valid? [False, True] Translation: X:23.71, Y:-1.73, Z:-0.59 [[ 9.99977639e-01 2.31294749e-04 -6.68337530e-03 2.37134785e+01] [-2.03479868e-04 9.99991317e-01 4.16218171e-03 -1.72803024e+00] [ 6.68427996e-03 -4.16072871e-03 9.99969004e-01 -5.94637651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784860624 meters 0.09610021964332356 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.73, Z:-0.59 [[ 9.99959009e-01 3.59795926e-03 -8.30876762e-03 2.37741327e+01] [-3.59152844e-03 9.99993239e-01 7.88771591e-04 -1.72824623e+00] [ 8.31154942e-03 -7.58898083e-04 9.99965171e-01 -5.93969828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844860624 meters 0.09514634749003531 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.73, Z:-0.59 [[ 9.99942437e-01 7.48542084e-03 -7.68703780e-03 2.38332472e+01] [-7.48003441e-03 9.99971758e-01 7.29227824e-04 -1.73434337e+00] [ 7.69227929e-03 -6.71686540e-04 9.99970188e-01 -5.94481265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904860623999994 meters 0.09444422298736777 Centerline is valid? [True, True] Translation: X:23.89, Y:-1.74, Z:-0.59 [[ 9.99946635e-01 7.96417872e-03 -6.58022956e-03 2.38917490e+01] [-7.96024839e-03 9.99968122e-01 6.23269212e-04 -1.74281174e+00] [ 6.58498362e-03 -5.70855689e-04 9.99978156e-01 -5.94797175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964860623999996 meters 0.09434044424596669 Centerline is valid? [True, True] Translation: X:23.95, Y:-1.75, Z:-0.60 [[ 9.99942893e-01 7.35443836e-03 -7.75391899e-03 2.39495710e+01] [-7.34897142e-03 9.99972727e-01 7.33312064e-04 -1.74933766e+00] [ 7.75910062e-03 -6.76286857e-04 9.99969669e-01 -5.95635488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024860624 meters 0.09753493482900087 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.77, Z:-0.60 [[ 9.99952204e-01 4.67409709e-03 -8.58739994e-03 2.40089967e+01] [-4.66728134e-03 9.99988777e-01 8.13560047e-04 -1.76548439e+00] [ 8.59110622e-03 -7.73441350e-04 9.99962797e-01 -5.98314778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084860623999994 meters 0.09675639232333277 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.77, Z:-0.60 [[ 9.99959161e-01 3.00715210e-03 -8.52252525e-03 2.40677418e+01] [-3.00038751e-03 9.99995174e-01 8.06405388e-04 -1.77277363e+00] [ 8.52490910e-03 -7.80801577e-04 9.99963357e-01 -5.98853142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144860623999996 meters 0.09686218592928007 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.78, Z:-0.60 [[ 9.99960724e-01 4.87050635e-04 -8.84943838e-03 2.41279479e+01] [-4.79654563e-04 9.99999534e-01 8.37870612e-04 -1.78149712e+00] [ 8.84984234e-03 -8.33593031e-04 9.99960492e-01 -5.97894390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204860624 meters 0.09746678302211473 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.79, Z:-0.60 [[ 9.99960119e-01 -9.58065605e-04 -8.87935713e-03 2.41870804e+01] [ 9.65562421e-04 9.99999181e-01 8.40048677e-04 -1.79148052e+00] [ 8.87854504e-03 -8.48588749e-04 9.99960225e-01 -5.98879592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26486062399999 meters 0.10015430469124367 Centerline is valid? [True, False] Translation: X:24.19, Y:-1.79, Z:-0.60 [[ 9.99964190e-01 -8.88625220e-04 -8.41600627e-03 2.41860531e+01] [ 9.01656687e-04 9.99998400e-01 1.54474704e-03 -1.79448637e+00] [ 8.41462010e-03 -1.55228007e-03 9.99963392e-01 -5.98734493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324860623999996 meters 0.1044632279546465 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.80, Z:-0.60 [[ 9.99969154e-01 -1.10388287e-03 -7.77643357e-03 2.41841794e+01] [ 1.12073718e-03 9.99997032e-01 2.16333236e-03 -1.79849306e+00] [ 7.77402242e-03 -2.17198097e-03 9.99967423e-01 -5.97797586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384860624 meters 0.10746834408352739 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.80, Z:-0.60 [[ 9.99971684e-01 -9.08125642e-04 -7.47043653e-03 2.41835366e+01] [ 9.29677795e-04 9.99995415e-01 2.88202589e-03 -1.80119072e+00] [ 7.46778504e-03 -2.88888938e-03 9.99967943e-01 -5.97700943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44486062399999 meters 0.10482172025659926 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.80, Z:-0.60 [[ 9.99972731e-01 -4.76641785e-04 -7.36954699e-03 2.41836125e+01] [ 5.03806950e-04 9.99993084e-01 3.68472078e-03 -1.80364042e+00] [ 7.36773974e-03 -3.68833313e-03 9.99966056e-01 -5.98002632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504860623999996 meters 0.1011973723721603 Centerline is valid? [False, False] Translation: X:24.18, Y:-1.80, Z:-0.60 [[ 9.99970856e-01 -5.44163531e-04 -7.61522365e-03 2.41835733e+01] [ 5.69666636e-04 9.99994236e-01 3.34719512e-03 -1.80301996e+00] [ 7.61335833e-03 -3.35143571e-03 9.99965402e-01 -5.97208296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564860624 meters 0.09446599000139248 Centerline is valid? [False, True] Translation: X:24.18, Y:-1.80, Z:-0.60 [[ 9.99968705e-01 -2.49293848e-04 -7.90739625e-03 2.41843638e+01] [ 2.76450150e-04 9.99994068e-01 3.43338415e-03 -1.80301280e+00] [ 7.90649342e-03 -3.43546271e-03 9.99962842e-01 -5.97438842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62486062399999 meters 0.09439287630436834 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.81, Z:-0.60 [[ 9.99922415e-01 7.84338094e-03 -9.67703135e-03 2.42434540e+01] [-7.83492177e-03 9.99968891e-01 9.11750320e-04 -1.80720157e+00] [ 9.68388151e-03 -8.35860798e-04 9.99952761e-01 -5.99762175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684860623999995 meters 0.0922554764951957 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.81, Z:-0.60 [[ 9.99854137e-01 1.35374133e-02 -1.04135760e-02 2.43037475e+01] [-1.35279238e-02 9.99908012e-01 9.81158007e-04 -1.80757316e+00] [ 1.04259004e-02 -8.40140830e-04 9.99945296e-01 -6.01562557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744860624 meters 0.08836220556414154 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.80, Z:-0.60 [[ 9.99718556e-01 2.18960228e-02 -9.13085844e-03 2.43648730e+01] [-2.18890732e-02 9.99760035e-01 8.60361298e-04 -1.80412409e+00] [ 9.14750585e-03 -6.60253126e-04 9.99957943e-01 -6.01300329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80486062399999 meters 0.08515935484269042 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.80, Z:-0.60 [[ 9.99573798e-01 2.81644038e-02 -7.68040416e-03 2.44254760e+01] [-2.81596718e-02 9.99603176e-01 7.23584888e-04 -1.80241383e+00] [ 7.69773573e-03 -5.06998834e-04 9.99970243e-01 -6.01152698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864860623999995 meters 0.08340307599978955 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.80, Z:-0.60 [[ 9.99283383e-01 3.68392969e-02 -8.69410567e-03 2.44856812e+01] [-3.68335603e-02 9.99321079e-01 8.19081526e-04 -1.80225100e+00] [ 8.71837744e-03 -4.98259693e-04 9.99961870e-01 -6.03311591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924860624 meters 0.08032295839843036 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.80, Z:-0.60 [[ 9.98984332e-01 4.36654840e-02 -1.11189153e-02 2.45460352e+01] [-4.36565271e-02 9.99046051e-01 1.04711621e-03 -1.79750122e+00] [ 1.11540312e-02 -5.60639466e-04 9.99937635e-01 -6.04614482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98486062399999 meters 0.07961287757841765 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.80, Z:-0.61 [[ 9.98757853e-01 4.86139654e-02 -1.09285648e-02 2.46067455e+01] [-4.86056071e-02 9.98817519e-01 1.02927442e-03 -1.80071256e+00] [ 1.09656791e-02 -4.96806385e-04 9.99939752e-01 -6.05534353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044860623999995 meters 0.07857447301491839 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.80, Z:-0.61 [[ 9.98472065e-01 5.42401543e-02 -1.05612603e-02 2.46674001e+01] [-5.42326634e-02 9.98527831e-01 9.94590869e-04 -1.80306458e+00] [ 1.05996591e-02 -4.20305923e-04 9.99943734e-01 -6.06682733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104860624 meters 0.07645945024127081 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.80, Z:-0.60 [[ 9.97971396e-01 6.28859296e-02 -9.92235210e-03 2.47286398e+01] [-6.28797500e-02 9.98020674e-01 9.33844824e-04 -1.79744526e+00] [ 9.96143823e-03 -3.08035402e-04 9.99950336e-01 -6.04778882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164860624 meters 0.07569506605008836 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.80, Z:-0.61 [[ 9.97336731e-01 7.19905301e-02 -1.16965038e-02 2.47884894e+01] [-7.19825707e-02 9.97405283e-01 1.10061175e-03 -1.79746442e+00] [ 1.17453883e-02 -2.55736110e-04 9.99930988e-01 -6.08208317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224860623999994 meters 0.0752882181661171 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.80, Z:-0.61 [[ 9.96844678e-01 7.82805515e-02 -1.31469543e-02 2.48479765e+01] [-7.82710670e-02 9.96931349e-01 1.23520278e-03 -1.79850299e+00] [ 1.32033032e-02 -2.02279177e-04 9.99912812e-01 -6.09834262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284860624 meters 0.07482846667515797 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.80, Z:-0.61 [[ 9.96272968e-01 8.52549702e-02 -1.31058416e-02 2.49064732e+01] [-8.52461550e-02 9.96359161e-01 1.23080546e-03 -1.79764117e+00] [ 1.31630576e-02 -1.08995609e-04 9.99913357e-01 -6.10969763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344860624 meters 0.0747659967249638 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.80, Z:-0.61 [[ 9.95956873e-01 8.89622234e-02 -1.24751824e-02 2.49646079e+01] [-8.89545405e-02 9.96034999e-01 1.17049996e-03 -1.80014515e+00] [ 1.25298485e-02 -5.60433651e-05 9.99921497e-01 -6.12224548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404860623999994 meters 0.07489839889083487 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.80, Z:-0.61 [[ 9.95776024e-01 9.07484723e-02 -1.39579559e-02 2.50232516e+01] [-9.07390874e-02 9.95873844e-01 1.30551182e-03 -1.80483758e+00] [ 1.40188364e-02 -3.34651915e-05 9.99901731e-01 -6.12217128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464860623999996 meters 0.07519268836355084 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.81, Z:-0.62 [[ 9.95933460e-01 8.87167901e-02 -1.56803599e-02 2.50800769e+01] [-8.87047164e-02 9.96056889e-01 1.46520113e-03 -1.81264565e+00] [ 1.57485185e-02 -6.83209559e-05 9.99875982e-01 -6.16173060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524860624 meters 0.0755384657602182 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.82, Z:-0.62 [[ 9.96403716e-01 8.31091866e-02 -1.65075269e-02 2.51381111e+01] [-8.30951036e-02 9.96540434e-01 1.53838291e-03 -1.82473659e+00] [ 1.65782717e-02 -1.61155792e-04 9.99862558e-01 -6.16821958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584860623999994 meters 0.07636966202831634 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.84, Z:-0.62 [[ 9.97134213e-01 7.37063898e-02 -1.70507899e-02 2.51970394e+01] [-7.36899693e-02 9.97279930e-01 1.59017878e-03 -1.84173821e+00] [ 1.71216169e-02 -3.29149484e-04 9.99853360e-01 -6.17788729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644860623999996 meters 0.07749369512407721 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.86, Z:-0.62 [[ 9.97541694e-01 6.74347564e-02 -1.90557844e-02 2.52566114e+01] [-6.74131002e-02 9.97723567e-01 1.77728452e-03 -1.85544959e+00] [ 1.91322560e-02 -4.88305906e-04 9.99816842e-01 -6.20554568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704860624 meters 0.07915481145902668 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.87, Z:-0.62 [[ 9.97990745e-01 5.98307624e-02 -2.08507090e-02 2.53148900e+01] [-5.98031846e-02 9.98208294e-01 1.94422705e-03 -1.87285643e+00] [ 2.09296753e-02 -6.93381799e-04 9.99780710e-01 -6.22996010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76486062399999 meters 0.08044225000105316 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.88, Z:-0.62 [[ 9.98174448e-01 5.61834572e-02 -2.21628108e-02 2.53733550e+01] [-5.61514060e-02 9.98420127e-01 2.06633581e-03 -1.88416897e+00] [ 2.22438903e-02 -8.18090620e-04 9.99752239e-01 -6.23863871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824860623999996 meters 0.07881062409295704 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.88, Z:-0.62 [[ 9.98213629e-01 5.58287089e-02 -2.12768785e-02 2.54320016e+01] [-5.57992218e-02 9.98440051e-01 1.97751166e-03 -1.88322463e+00] [ 2.13540896e-02 -7.86745827e-04 9.99771666e-01 -6.18425641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884860624 meters 0.07942684093635671 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.89, Z:-0.62 [[ 9.98176133e-01 5.59791691e-02 -2.25995444e-02 2.54890502e+01] [-5.59459557e-02 9.98431591e-01 2.09973995e-03 -1.89048560e+00] [ 2.26816407e-02 -8.31557192e-04 9.99742393e-01 -6.20261214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94486062399999 meters 0.07789084600105012 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.89, Z:-0.62 [[ 9.98078554e-01 5.81727030e-02 -2.13339447e-02 2.55488780e+01] [-5.81436154e-02 9.98306262e-01 1.98173255e-03 -1.88951866e+00] [ 2.14130933e-02 -7.37492086e-04 9.99770441e-01 -6.16912011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004860623999996 meters 0.0778375898852903 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.89, Z:-0.62 [[ 9.97980723e-01 5.95446414e-02 -2.21113646e-02 2.56081667e+01] [-5.95138053e-02 9.98225376e-01 2.05060643e-03 -1.89230526e+00] [ 2.21942279e-02 -7.30534239e-04 9.99753411e-01 -6.17681513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064860624 meters 0.07807896606978561 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.90, Z:-0.62 [[ 9.97985318e-01 5.97136651e-02 -2.14378812e-02 2.56658691e+01] [-5.96847495e-02 9.98215299e-01 1.98668926e-03 -1.89799836e+00] [ 2.15182535e-02 -7.03172144e-04 9.99768208e-01 -6.19572730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12486062399999 meters 0.07903409971110781 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.91, Z:-0.62 [[ 9.98244088e-01 5.50239825e-02 -2.19340601e-02 2.57243498e+01] [-5.49925780e-02 9.98484694e-01 2.03284070e-03 -1.90776833e+00] [ 2.20126783e-02 -8.23060695e-04 9.99757353e-01 -6.22118077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184860623999995 meters 0.08014239589665949 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.92, Z:-0.62 [[ 9.98493506e-01 5.06017278e-02 -2.12175128e-02 2.57841449e+01] [-5.05713525e-02 9.98718515e-01 1.96608387e-03 -1.91645619e+00] [ 2.12898101e-02 -8.90123655e-04 9.99772950e-01 -6.21695445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244860624 meters 0.08056841395795597 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.92, Z:-0.62 [[ 9.98841877e-01 4.35577514e-02 -2.04359439e-02 2.58445346e+01] [-4.35280998e-02 9.99050408e-01 1.89374351e-03 -1.92206685e+00] [ 2.04990253e-02 -1.00201252e-03 9.99789371e-01 -6.19219501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30486062399999 meters 0.08270529114366597 Centerline is valid? [True, True] Translation: X:25.90, Y:-1.93, Z:-0.62 [[ 9.99045162e-01 3.89794531e-02 -1.97323495e-02 2.59029945e+01] [-3.89509275e-02 9.99239453e-01 1.82804824e-03 -1.93456421e+00] [ 1.97885984e-02 -1.05770943e-03 9.99803627e-01 -6.22825372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364860623999995 meters 0.0877253568036787 Centerline is valid? [True, True] Translation: X:25.96, Y:-1.95, Z:-0.63 [[ 9.99322944e-01 3.15795324e-02 -1.88782320e-02 2.59611877e+01] [-3.15521064e-02 9.99500578e-01 1.74894701e-03 -1.95006077e+00] [ 1.89240347e-02 -1.15211489e-03 9.99820261e-01 -6.25515159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424860624 meters 0.08561620225839485 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.95, Z:-0.62 [[ 9.99450618e-01 2.64202561e-02 -2.00108216e-02 2.60221316e+01] [-2.63884088e-02 9.99650046e-01 1.85393401e-03 -1.94740545e+00] [ 2.00528001e-02 -1.32486176e-03 9.99798045e-01 -6.21650015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48486062399999 meters 0.08846837039274899 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.96, Z:-0.62 [[ 9.99543255e-01 2.30860060e-02 -1.95017304e-02 2.60805305e+01] [-2.30551435e-02 9.99732564e-01 1.80593479e-03 -1.95710491e+00] [ 1.95382067e-02 -1.35549474e-03 9.99808192e-01 -6.24125408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544860623999995 meters 0.0890443832868066 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.96, Z:-0.62 [[ 9.99622553e-01 2.12824458e-02 -1.73726605e-02 2.61396695e+01] [-2.12577733e-02 9.99772742e-01 1.60364329e-03 -1.95803797e+00] [ 1.74028419e-02 -1.23373392e-03 9.99847798e-01 -6.23972219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604860624 meters 0.08859957033884862 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.96, Z:-0.62 [[ 9.99647633e-01 2.05273602e-02 -1.68296601e-02 2.61981994e+01] [-2.05041645e-02 9.99788567e-01 1.54967672e-03 -1.95798144e+00] [ 1.68579125e-02 -1.20405255e-03 9.99857170e-01 -6.24652195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66486062399999 meters 0.09167255443124846 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.96, Z:-0.63 [[ 9.99675641e-01 1.84532639e-02 -1.75524873e-02 2.62571932e+01] [-1.84276905e-02 9.99828887e-01 1.61760196e-03 -1.96301826e+00] [ 1.75793339e-02 -1.29362547e-03 9.99844635e-01 -6.27371575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724860623999994 meters 0.09036921864707251 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.96, Z:-0.63 [[ 9.99736805e-01 1.66895809e-02 -1.57409720e-02 2.63179157e+01] [-1.66688076e-02 9.99860014e-01 1.44998600e-03 -1.95729511e+00] [ 1.57629682e-02 -1.18722114e-03 9.99875052e-01 -6.25302307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784860624 meters 0.09009290768870017 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.96, Z:-0.63 [[ 9.99776860e-01 1.51330936e-02 -1.47383554e-02 2.63778153e+01] [-1.51147218e-02 9.99884845e-01 1.35712561e-03 -1.95731366e+00] [ 1.47571957e-02 -1.13405664e-03 9.99890464e-01 -6.25150036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844860624 meters 0.09247733062971798 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.96, Z:-0.63 [[ 9.99794906e-01 1.24386287e-02 -1.59820503e-02 2.64374960e+01] [-1.24166872e-02 9.99921827e-01 1.47138337e-03 -1.96108705e+00] [ 1.59991029e-02 -1.27263748e-03 9.99871196e-01 -6.27373885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904860623999994 meters 0.09365496497868392 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.96, Z:-0.63 [[ 9.99796846e-01 1.13387153e-02 -1.66643627e-02 2.64967186e+01] [-1.13147248e-02 9.99934811e-01 1.53320905e-03 -1.96316400e+00] [ 1.66806610e-02 -1.34434490e-03 9.99859964e-01 -6.29092702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964860623999996 meters 0.09374236822794163 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.96, Z:-0.63 [[ 9.99814289e-01 1.08631490e-02 -1.59179106e-02 2.65555729e+01] [-1.08412186e-02 9.99940161e-01 1.46336357e-03 -1.96097692e+00] [ 1.59328548e-02 -1.29052226e-03 9.99872231e-01 -6.30128202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024860624 meters 0.09471775338136289 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.96, Z:-0.63 [[ 9.99847673e-01 1.04797967e-02 -1.39572698e-02 2.66148008e+01] [-1.04629128e-02 9.99944440e-01 1.28215883e-03 -1.96025371e+00] [ 1.39699311e-02 -1.13592982e-03 9.99901771e-01 -6.29264997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084860623999994 meters 0.09409807789369111 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.95, Z:-0.63 [[ 9.99828479e-01 1.18662575e-02 -1.42198301e-02 2.66752541e+01] [-1.18488751e-02 9.99928947e-01 1.30603772e-03 -1.95270633e+00] [ 1.42343175e-02 -1.13732472e-03 9.99898040e-01 -6.30911718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144860623999996 meters 0.0971748952652667 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.95, Z:-0.63 [[ 9.99841370e-01 9.85614673e-03 -1.48354388e-02 2.67353381e+01] [-9.83700849e-03 9.99950687e-01 1.36245746e-03 -1.95311938e+00] [ 1.48481358e-02 -1.21630500e-03 9.99889021e-01 -6.33039477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204860624 meters 0.09903207921121947 Centerline is valid? [True, True] Translation: X:26.79, Y:-1.96, Z:-0.63 [[ 9.99855314e-01 8.26609063e-03 -1.48668361e-02 2.67938857e+01] [-8.24671096e-03 9.99965064e-01 1.36438377e-03 -1.96022213e+00] [ 1.48775948e-02 -1.24158386e-03 9.99888552e-01 -6.33925663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26486062399999 meters 0.10354735248258085 Centerline is valid? [True, False] Translation: X:26.79, Y:-1.96, Z:-0.63 [[ 9.99863355e-01 7.75125834e-03 -1.46010133e-02 2.67931978e+01] [-7.74017006e-03 9.99969712e-01 8.15776251e-04 -1.95862860e+00] [ 1.46068943e-02 -7.02650453e-04 9.99893067e-01 -6.33853644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324860623999996 meters 0.10651705466909873 Centerline is valid? [False, False] Translation: X:26.79, Y:-1.96, Z:-0.63 [[ 9.99886386e-01 6.28940125e-03 -1.36988275e-02 2.67907825e+01] [-6.29657383e-03 9.99980061e-01 -4.80523373e-04 -1.95541142e+00] [ 1.36955321e-02 5.66724458e-04 9.99906051e-01 -6.33516761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384860624 meters 0.11053629034083179 Centerline is valid? [False, False] Translation: X:26.79, Y:-1.95, Z:-0.64 [[ 9.99985457e-01 4.04505045e-03 3.56697869e-03 2.67850081e+01] [-4.05599251e-03 9.99987075e-01 3.06572091e-03 -1.95489302e+00] [-3.55453159e-03 -3.08014396e-03 9.99988939e-01 -6.41158422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44486062399999 meters 0.11355159516671691 Centerline is valid? [False, False] Translation: X:26.78, Y:-1.95, Z:-0.64 [[ 9.99986652e-01 3.51179940e-03 3.78988042e-03 2.67841572e+01] [-3.52102083e-03 9.99990851e-01 2.42924709e-03 -1.95348134e+00] [-3.78131472e-03 -2.44255892e-03 9.99989868e-01 -6.40664133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504860623999996 meters 0.10954836600975203 Centerline is valid? [False, False] Translation: X:26.78, Y:-1.95, Z:-0.64 [[ 9.99988038e-01 3.24314516e-03 3.66143908e-03 2.67845850e+01] [-3.25001914e-03 9.99992965e-01 1.87301074e-03 -1.95106978e+00] [-3.65533888e-03 -1.88488808e-03 9.99991543e-01 -6.40910357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564860624 meters 0.10841207404335623 Centerline is valid? [False, False] Translation: X:26.79, Y:-1.95, Z:-0.64 [[ 9.99990030e-01 3.16437280e-03 3.15053895e-03 2.67856045e+01] [-3.16776460e-03 9.99994408e-01 1.07217121e-03 -1.94835585e+00] [-3.14712859e-03 -1.08214069e-03 9.99994462e-01 -6.40692849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62486062399999 meters 0.10333626108355438 Centerline is valid? [False, False] Translation: X:26.79, Y:-1.95, Z:-0.64 [[ 9.99969675e-01 7.21307927e-03 2.93607129e-03 2.67862225e+01] [-7.22575639e-03 9.99964518e-01 4.33025217e-03 -1.94515350e+00] [-2.90473266e-03 -4.35133619e-03 9.99986314e-01 -6.40726545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684860623999995 meters 0.09814002447980785 Centerline is valid? [False, True] Translation: X:26.79, Y:-1.94, Z:-0.64 [[ 9.99963437e-01 8.33517053e-03 1.91036116e-03 2.67887317e+01] [-8.34029793e-03 9.99961596e-01 2.69193378e-03 -1.93835813e+00] [-1.88785006e-03 -2.70776834e-03 9.99994552e-01 -6.39799091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744860624 meters 0.0976374902115991 Centerline is valid? [True, True] Translation: X:26.85, Y:-1.94, Z:-0.64 [[ 9.99919280e-01 1.26133696e-02 1.52860946e-03 2.68478546e+01] [-1.26131756e-02 9.99920441e-01 -1.36519912e-04 -1.93659555e+00] [-1.53020982e-03 1.17228273e-04 9.99998822e-01 -6.39802337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80486062399999 meters 0.09246565797487397 Centerline is valid? [True, True] Translation: X:26.91, Y:-1.93, Z:-0.64 [[ 9.99909599e-01 1.32905669e-02 2.03841228e-03 2.69080772e+01] [-1.32902236e-02 9.99911665e-01 -1.81853351e-04 -1.93086212e+00] [-2.04064915e-03 1.54745956e-04 9.99997906e-01 -6.37396899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864860623999995 meters 0.09986240366017354 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.95, Z:-0.64 [[ 9.99958998e-01 8.82900652e-03 2.01285690e-03 2.69660353e+01] [-8.82866469e-03 9.99961011e-01 -1.78642950e-04 -1.94802777e+00] [-2.01435566e-03 1.60864786e-04 9.99997958e-01 -6.40860914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924860624 meters 0.10601973411560513 Centerline is valid? [True, False] Translation: X:26.98, Y:-1.95, Z:-0.64 [[ 9.99980692e-01 -2.80349126e-03 -5.54572861e-03 2.69766137e+01] [ 2.81319591e-03 9.99994524e-01 1.74290619e-03 -1.94887138e+00] [ 5.54081202e-03 -1.75847376e-03 9.99983103e-01 -6.38870295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98486062399999 meters 0.10619778884582806 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.95, Z:-0.64 [[ 9.99982741e-01 -3.98643197e-03 -4.31586833e-03 2.69736441e+01] [ 3.99591184e-03 9.99989618e-01 2.19012464e-03 -1.95311746e+00] [ 4.30709274e-03 -2.20733267e-03 9.99988288e-01 -6.38831249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044860623999995 meters 0.11430866299651712 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.95, Z:-0.64 [[ 9.99953666e-01 -8.94569902e-03 -3.55543380e-03 2.69713505e+01] [ 8.93897636e-03 9.99958237e-01 -1.90222579e-03 -1.95447367e+00] [ 3.57230206e-03 1.87035571e-03 9.99991870e-01 -6.38036998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104860624 meters 0.11753345895811639 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.96, Z:-0.64 [[ 9.99955606e-01 -9.06520008e-03 -2.57068732e-03 2.69697167e+01] [ 9.06397171e-03 9.99958802e-01 -4.89086458e-04 -1.95857508e+00] [ 2.57501508e-03 4.65764108e-04 9.99996576e-01 -6.38997840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16486062399999 meters 0.12207491871528844 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.96, Z:-0.64 [[ 9.99911139e-01 -1.32084767e-02 -1.80257687e-03 2.69682274e+01] [ 1.32025593e-02 9.99907541e-01 -3.25608621e-03 -1.96398745e+00] [ 1.84541814e-03 3.23199825e-03 9.99993074e-01 -6.39067337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224860623999994 meters 0.12210185812256218 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.97, Z:-0.64 [[ 9.99908313e-01 -1.35149075e-02 -8.44860309e-04 2.69660049e+01] [ 1.35129734e-02 9.99906154e-01 -2.25452612e-03 -1.96803250e+00] [ 8.75250734e-04 2.24290284e-03 9.99997102e-01 -6.38794094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284860624 meters 0.1271223419373056 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.97, Z:-0.64 [[ 9.99916714e-01 -1.28937366e-02 -5.62185096e-04 2.69660601e+01] [ 1.28932726e-02 9.99916541e-01 -8.21194218e-04 -1.97180192e+00] [ 5.72726438e-04 8.13877418e-04 9.99999505e-01 -6.39849799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344860624 meters 0.13298671040724633 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.98, Z:-0.64 [[ 9.99925643e-01 -1.21891574e-02 -3.63405316e-04 2.69659020e+01] [ 1.21893833e-02 9.99925511e-01 6.26017272e-04 -1.97645895e+00] [ 3.55747623e-04 -6.30400410e-04 9.99999738e-01 -6.40214714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404860623999994 meters 0.1243791425506836 Centerline is valid? [False, False] Translation: X:26.97, Y:-1.98, Z:-0.64 [[ 9.99932818e-01 -1.15724928e-02 -6.60853821e-04 2.69667732e+01] [ 1.15733946e-02 9.99932077e-01 1.37743179e-03 -1.97826636e+00] [ 6.44868614e-04 -1.38498757e-03 9.99998833e-01 -6.40465625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464860623999996 meters 0.12953858733214635 Centerline is valid? [False, False] Translation: X:26.96, Y:-1.99, Z:-0.65 [[ 9.99969075e-01 -4.11015808e-03 6.70491761e-03 2.69586053e+01] [ 4.10264163e-03 9.99990941e-01 1.13440474e-03 -1.98502099e+00] [-6.70951945e-03 -1.10686178e-03 9.99976878e-01 -6.46808920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524860624 meters 0.1238022038743638 Centerline is valid? [False, False] Translation: X:26.96, Y:-1.99, Z:-0.65 [[ 9.99977808e-01 -2.83237737e-03 6.03007850e-03 2.69604118e+01] [ 2.81785919e-03 9.99993114e-01 2.41476301e-03 -1.98890295e+00] [-6.03687650e-03 -2.39771751e-03 9.99978903e-01 -6.46998671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584860623999994 meters 0.11828096423533604 Centerline is valid? [False, False] Translation: X:26.96, Y:-1.99, Z:-0.65 [[ 9.99984268e-01 -2.00411500e-03 5.23899487e-03 2.69618102e+01] [ 1.98868637e-03 9.99993676e-01 2.94851335e-03 -1.99076704e+00] [-5.24487090e-03 -2.93804825e-03 9.99981929e-01 -6.46343728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644860623999996 meters 0.11184825613335557 Centerline is valid? [False, False] Translation: X:26.96, Y:-1.99, Z:-0.65 [[ 9.99987480e-01 -1.21756507e-03 4.85355547e-03 2.69625766e+01] [ 1.19923945e-03 9.99992149e-01 3.77683418e-03 -1.99390046e+00] [-4.85811590e-03 -3.77096632e-03 9.99981089e-01 -6.46033571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704860624 meters 0.11357316106820729 Centerline is valid? [False, False] Translation: X:26.96, Y:-2.00, Z:-0.65 [[ 9.99990386e-01 4.89591415e-05 4.38463738e-03 2.69639023e+01] [-7.22883772e-05 9.99985842e-01 5.32067577e-03 -1.99886075e+00] [-4.38431481e-03 -5.32094157e-03 9.99976232e-01 -6.46233863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76486062399999 meters 0.11035305824895451 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.00, Z:-0.65 [[ 9.99992029e-01 1.22573545e-03 3.79988659e-03 2.69657062e+01] [-1.25105077e-03 9.99976993e-01 6.66692115e-03 -2.00234426e+00] [-3.79162729e-03 -6.67162186e-03 9.99970556e-01 -6.46867040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824860623999996 meters 0.11100186814507965 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.00, Z:-0.65 [[ 9.99994283e-01 -2.04310184e-03 2.69450645e-03 2.69678361e+01] [ 2.03540916e-03 9.99993854e-01 2.85461015e-03 -2.00365824e+00] [-2.70032215e-03 -2.84910940e-03 9.99992295e-01 -6.46405697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884860624 meters 0.10622486751083983 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.01, Z:-0.65 [[ 9.99996216e-01 -1.17748544e-03 2.48611386e-03 2.69683304e+01] [ 1.16738536e-03 9.99991076e-01 4.06014691e-03 -2.00772633e+00] [-2.49087243e-03 -4.05722930e-03 9.99988667e-01 -6.46317802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94486062399999 meters 0.10401191327975849 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.01, Z:-0.65 [[ 9.99996882e-01 -8.44585768e-04 2.34989616e-03 2.69685229e+01] [ 8.33939011e-04 9.99989401e-01 4.52803208e-03 -2.00945919e+00] [-2.35369556e-03 -4.52605829e-03 9.99986987e-01 -6.46115573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004860623999996 meters 0.1065810363189521 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.01, Z:-0.65 [[ 9.99997830e-01 -9.66694720e-05 2.08092408e-03 2.69693479e+01] [ 8.53618299e-05 9.99985236e-01 5.43335537e-03 -2.01230588e+00] [-2.08141860e-03 -5.43316595e-03 9.99983074e-01 -6.46307445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064860624 meters 0.10101459016629744 Centerline is valid? [False, False] Translation: X:26.97, Y:-2.01, Z:-0.65 [[ 9.99997965e-01 1.96255958e-04 2.00799949e-03 2.69695131e+01] [-2.07921977e-04 9.99983093e-01 5.81121336e-03 -2.01375817e+00] [-2.00682506e-03 -5.81161904e-03 9.99981099e-01 -6.46254485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12486062399999 meters 0.0998575646041802 Centerline is valid? [False, True] Translation: X:26.97, Y:-2.01, Z:-0.65 [[ 9.99998209e-01 3.75642353e-04 1.85520937e-03 2.69695419e+01] [-3.86519771e-04 9.99982718e-01 5.86630134e-03 -2.01447695e+00] [-1.85297368e-03 -5.86700790e-03 9.99981072e-01 -6.45732827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184860623999995 meters 0.09849479874546338 Centerline is valid? [True, True] Translation: X:27.03, Y:-2.02, Z:-0.64 [[ 9.99988785e-01 3.85552189e-03 2.75037204e-03 2.70304427e+01] [-3.85480554e-03 9.99992535e-01 -2.65710200e-04 -2.01720166e+00] [-2.75137596e-03 2.55105071e-04 9.99996182e-01 -6.44321856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244860624 meters 0.09833506977870436 Centerline is valid? [True, True] Translation: X:27.09, Y:-2.03, Z:-0.65 [[ 9.99968787e-01 6.57218253e-03 4.38526993e-03 2.70890127e+01] [-6.57038344e-03 9.99978325e-01 -4.24536809e-04 -2.02511803e+00] [-4.38796501e-03 3.95710653e-04 9.99990295e-01 -6.45562909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30486062399999 meters 0.09978897341266497 Centerline is valid? [True, True] Translation: X:27.15, Y:-2.03, Z:-0.65 [[ 9.99960692e-01 6.96374832e-03 5.48821683e-03 2.71480049e+01] [-6.96093579e-03 9.99975631e-01 -5.31402159e-04 -2.03463952e+00] [-5.49178364e-03 4.93178146e-04 9.99984798e-01 -6.47811214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364860623999995 meters 0.09738200516488636 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.04, Z:-0.65 [[ 9.99975063e-01 4.96416164e-03 5.02296642e-03 2.72079086e+01] [-4.96178311e-03 9.99987572e-01 -4.85881795e-04 -2.03971047e+00] [-5.02531599e-03 4.60946809e-04 9.99987267e-01 -6.49537103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424860624 meters 0.09728482350411541 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.05, Z:-0.65 [[ 9.99981580e-01 3.16917926e-03 5.17650851e-03 2.72682309e+01] [-3.16663248e-03 9.99994861e-01 -5.00110989e-04 -2.04744839e+00] [-5.17806685e-03 4.83709677e-04 9.99986477e-01 -6.51606887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48486062399999 meters 0.10191327154171427 Centerline is valid? [True, False] Translation: X:27.27, Y:-2.05, Z:-0.65 [[ 9.99985662e-01 -1.06650208e-03 5.24767478e-03 2.72677861e+01] [ 1.08980193e-03 9.99989553e-01 -4.43917796e-03 -2.04901941e+00] [-5.24288557e-03 4.44483324e-03 9.99976378e-01 -6.51215796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544860623999995 meters 0.102080568004121 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.05, Z:-0.65 [[ 9.99982093e-01 -1.00676322e-03 5.89915282e-03 2.72665374e+01] [ 1.02674356e-03 9.99993744e-01 -3.38493620e-03 -2.05298300e+00] [-5.89570808e-03 3.39093251e-03 9.99976871e-01 -6.51266080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604860624 meters 0.10737797448879505 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.06, Z:-0.65 [[ 9.99965667e-01 -5.21909296e-03 6.43622071e-03 2.72653013e+01] [ 5.26245274e-03 9.99963450e-01 -6.73840517e-03 -2.05632462e+00] [-6.40081710e-03 6.77204413e-03 9.99956584e-01 -6.51010821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66486062399999 meters 0.12045553878042792 Centerline is valid? [False, False] Translation: X:27.26, Y:-2.06, Z:-0.65 [[ 9.99962915e-01 -4.96366538e-03 7.03780112e-03 2.72645079e+01] [ 5.00052458e-03 9.99973824e-01 -5.22943012e-03 -2.06096821e+00] [-7.01165975e-03 5.26442889e-03 9.99961560e-01 -6.51816191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724860623999994 meters 0.10834222184718151 Centerline is valid? [False, False] Translation: X:27.26, Y:-2.06, Z:-0.65 [[ 9.99965106e-01 -4.44722969e-03 7.07163657e-03 2.72649767e+01] [ 4.47800453e-03 9.99980547e-01 -4.34200666e-03 -2.06301286e+00] [-7.05218911e-03 4.37352198e-03 9.99965569e-01 -6.52624190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784860624 meters 0.11254296614706658 Centerline is valid? [False, False] Translation: X:27.26, Y:-2.07, Z:-0.65 [[ 9.99964649e-01 -3.89092017e-03 7.45397721e-03 2.72646118e+01] [ 3.91276518e-03 9.99988087e-01 -2.91831313e-03 -2.06738801e+00] [-7.44253348e-03 2.94737562e-03 9.99967960e-01 -6.53156393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84486062399999 meters 0.11301395432124893 Centerline is valid? [False, False] Translation: X:27.26, Y:-2.07, Z:-0.65 [[ 9.99966186e-01 -3.43942237e-03 7.46973834e-03 2.72646640e+01] [ 3.45505222e-03 9.99991867e-01 -2.08052664e-03 -2.06983899e+00] [-7.46252178e-03 2.10626463e-03 9.99969937e-01 -6.53246628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904860623999994 meters 0.11274117006080425 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.07, Z:-0.65 [[ 9.99970004e-01 -2.48924813e-03 7.33455237e-03 2.72650762e+01] [ 2.49382845e-03 9.99996701e-01 -6.15405619e-04 -2.07465950e+00] [-7.33299627e-03 6.33678275e-04 9.99972912e-01 -6.53278239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964860623999996 meters 0.1153059788275207 Centerline is valid? [False, False] Translation: X:27.26, Y:-2.08, Z:-0.65 [[ 9.99970657e-01 -1.59982022e-03 7.49164705e-03 2.72649795e+01] [ 1.59240585e-03 9.99998237e-01 9.95544891e-04 -2.08043015e+00] [-7.49322653e-03 -9.83585936e-04 9.99971442e-01 -6.53389726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024860624 meters 0.10594022889629029 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.08, Z:-0.65 [[ 9.99968932e-01 -4.33517769e-03 6.58347874e-03 2.72670493e+01] [ 4.34575596e-03 9.99989288e-01 -1.59333569e-03 -2.08465367e+00] [-6.57650082e-03 1.62189637e-03 9.99977059e-01 -6.53535387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084860623999994 meters 0.10567810558613021 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.09, Z:-0.65 [[ 9.99972650e-01 -3.69480952e-03 6.40686077e-03 2.72673860e+01] [ 3.69925891e-03 9.99992925e-01 -6.82762254e-04 -2.08772268e+00] [-6.40429276e-03 7.06444217e-04 9.99979243e-01 -6.53412407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144860623999996 meters 0.1073863684847409 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.09, Z:-0.65 [[ 9.99978686e-01 -2.48339736e-03 6.03827846e-03 2.72688575e+01] [ 2.47787912e-03 9.99996506e-01 9.21185268e-04 -2.09177065e+00] [-6.04054503e-03 -9.06203509e-04 9.99981345e-01 -6.54337233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204860624 meters 0.1014558548286734 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.09, Z:-0.65 [[ 9.99982444e-01 -1.88236438e-03 5.61862895e-03 2.72698405e+01] [ 1.87378910e-03 9.99997072e-01 1.53109773e-03 -2.09337251e+00] [-5.62149459e-03 -1.52054272e-03 9.99983043e-01 -6.54484713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26486062399999 meters 0.10440681297748748 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.10, Z:-0.65 [[ 9.99985315e-01 -1.28728615e-03 5.26424371e-03 2.72705955e+01] [ 1.27612638e-03 9.99996933e-01 2.12272801e-03 -2.09514268e+00] [-5.26696012e-03 -2.11597900e-03 9.99983891e-01 -6.54478435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324860623999996 meters 0.10233133192557213 Centerline is valid? [False, False] Translation: X:27.27, Y:-2.10, Z:-0.65 [[ 9.99988030e-01 -7.03212860e-04 4.84203841e-03 2.72714187e+01] [ 6.90504811e-04 9.99996314e-01 2.62569626e-03 -2.09667591e+00] [-4.84386699e-03 -2.62232138e-03 9.99984830e-01 -6.54312718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384860624 meters 0.09910701017388551 Centerline is valid? [False, True] Translation: X:27.27, Y:-2.10, Z:-0.65 [[ 9.99989111e-01 -5.10397104e-04 4.63859086e-03 2.72716837e+01] [ 4.97603565e-04 9.99996071e-01 2.75880147e-03 -2.09738857e+00] [-4.63998072e-03 -2.75646325e-03 9.99985436e-01 -6.54037187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44486062399999 meters 0.0998698108961438 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.11, Z:-0.66 [[ 9.99991372e-01 2.59988192e-04 4.14582637e-03 2.73328470e+01] [-2.58193188e-04 9.99999873e-01 -4.33495807e-04 -2.10558334e+00] [-4.14593854e-03 4.32421643e-04 9.99991312e-01 -6.55996234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504860623999996 meters 0.09992839867157244 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.11, Z:-0.66 [[ 9.99990641e-01 1.50544698e-03 4.05601668e-03 2.73934647e+01] [-1.50373523e-03 9.99998779e-01 -4.25044463e-04 -2.11342941e+00] [-4.05665161e-03 4.18941310e-04 9.99991684e-01 -6.57586605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564860624 meters 0.10028762272295447 Centerline is valid? [True, False] Translation: X:27.39, Y:-2.11, Z:-0.66 [[ 9.99991577e-01 1.59153903e-03 3.78313727e-03 2.73937964e+01] [-1.58961784e-03 9.99998606e-01 -5.10783625e-04 -2.11329658e+00] [-3.78394493e-03 5.04765580e-04 9.99992713e-01 -6.57256578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62486062399999 meters 0.09679707360367111 Centerline is valid? [False, True] Translation: X:27.39, Y:-2.11, Z:-0.66 [[ 9.99991604e-01 1.65377436e-03 3.74917086e-03 2.73936043e+01] [-1.65222702e-03 9.99998549e-01 -4.15775056e-04 -2.11408858e+00] [-3.74985302e-03 4.09577084e-04 9.99992885e-01 -6.56820320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684860623999995 meters 0.09743216859005022 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.12, Z:-0.66 [[ 9.99994154e-01 1.31887922e-03 3.15461752e-03 2.74546795e+01] [-1.31787519e-03 9.99999080e-01 -3.20331331e-04 -2.12253795e+00] [-3.15503710e-03 3.16172066e-04 9.99994973e-01 -6.60209114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744860624 meters 0.09362847749359539 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.12, Z:-0.66 [[ 9.99993297e-01 1.98640629e-03 3.07563715e-03 2.75160688e+01] [-1.98544774e-03 9.99997979e-01 -3.14678914e-04 -2.12206531e+00] [-3.07625601e-03 3.08570288e-04 9.99995221e-01 -6.60393464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80486062399999 meters 0.09607460622432085 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.13, Z:-0.66 [[ 9.99990101e-01 8.51675664e-04 4.36716048e-03 2.75765005e+01] [-8.49732658e-04 9.99999539e-01 -4.46749123e-04 -2.13449140e+00] [-4.36753896e-03 4.43033781e-04 9.99990364e-01 -6.62286658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864860623999995 meters 0.097141929203503 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.14, Z:-0.67 [[ 9.99995056e-01 3.71072597e-04 3.12244363e-03 2.76383712e+01] [-3.70079477e-04 9.99999881e-01 -3.18630402e-04 -2.14335919e+00] [-3.12256149e-03 3.17473275e-04 9.99995074e-01 -6.65073168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924860624 meters 0.0973520565245631 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.15, Z:-0.67 [[ 9.99996693e-01 -2.25390890e-03 1.23821402e-03 2.76984291e+01] [ 2.25406775e-03 9.99997452e-01 -1.26905054e-04 -2.15062052e+00] [-1.23792483e-03 1.29695653e-04 9.99999225e-01 -6.67759870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98486062399999 meters 0.10469528430367243 Centerline is valid? [True, False] Translation: X:27.70, Y:-2.15, Z:-0.67 [[ 9.99996864e-01 -2.02450976e-03 1.47434447e-03 2.76979309e+01] [ 2.02362347e-03 9.99997771e-01 6.02384116e-04 -2.15319397e+00] [-1.47556072e-03 -5.99398708e-04 9.99998732e-01 -6.67633047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044860623999995 meters 0.09802505145969038 Centerline is valid? [False, True] Translation: X:27.70, Y:-2.15, Z:-0.67 [[ 9.99997060e-01 -1.84007751e-03 1.57957873e-03 2.76977114e+01] [ 1.83830646e-03 9.99997681e-01 1.12193614e-03 -2.15466890e+00] [-1.58163952e-03 -1.11902909e-03 9.99998123e-01 -6.67608559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104860624 meters 0.10260552149285501 Centerline is valid? [True, False] Translation: X:27.70, Y:-2.16, Z:-0.67 [[ 9.99997279e-01 -1.58786435e-03 1.70925773e-03 2.76975864e+01] [ 1.58490986e-03 9.99997250e-01 1.72849238e-03 -2.15649712e+00] [-1.71199764e-03 -1.72577865e-03 9.99997045e-01 -6.67826155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16486062399999 meters 0.1053661826628075 Centerline is valid? [False, False] Translation: X:27.70, Y:-2.16, Z:-0.67 [[ 9.99997932e-01 -1.10337358e-03 1.70816910e-03 2.76979024e+01] [ 1.09898732e-03 9.99996102e-01 2.56662367e-03 -2.15873302e+00] [-1.71099439e-03 -2.56474111e-03 9.99995247e-01 -6.68254361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224860623999994 meters 0.09923051834707709 Centerline is valid? [False, True] Translation: X:27.70, Y:-2.16, Z:-0.67 [[ 9.99997953e-01 -9.60854041e-04 1.78062093e-03 2.76977217e+01] [ 9.55695539e-04 9.99995351e-01 2.89561408e-03 -2.16001810e+00] [-1.78339492e-03 -2.89390643e-03 9.99994222e-01 -6.68200535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284860624 meters 0.09680559977711686 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.16, Z:-0.67 [[ 9.99997415e-01 2.19315999e-03 5.99720287e-04 2.77590918e+01] [-2.19312037e-03 9.99997593e-01 -6.67154609e-05 -2.16059749e+00] [-5.99865161e-04 6.54000297e-05 9.99999818e-01 -6.67177567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34486062399999 meters 0.09475920055937365 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.16, Z:-0.67 [[ 9.99976675e-01 6.73253040e-03 -1.15028114e-03 2.78200195e+01] [-6.73238653e-03 9.99977329e-01 1.28900117e-04 -2.16227858e+00] [ 1.15112288e-03 -1.21152973e-04 9.99999330e-01 -6.68224770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404860623999994 meters 0.09463601598490218 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.17, Z:-0.67 [[ 9.99951631e-01 9.70287605e-03 -1.60940852e-03 2.78791369e+01] [-9.70259937e-03 9.99952913e-01 1.79634082e-04 -2.16887624e+00] [ 1.61107570e-03 -1.64009947e-04 9.99998689e-01 -6.69939039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464860623999996 meters 0.09556694551012554 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.18, Z:-0.67 [[ 9.99925751e-01 1.18217491e-02 -2.95599278e-03 2.79381926e+01] [-1.18208249e-02 9.99930077e-01 3.29913376e-04 -2.17535893e+00] [ 2.95968624e-03 -2.94946608e-04 9.99995577e-01 -6.71657194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52486062399999 meters 0.09654751503181072 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.18, Z:-0.67 [[ 9.99912075e-01 1.27636627e-02 -3.59595548e-03 2.79970783e+01] [-1.27623024e-02 9.99918478e-01 4.00960540e-04 -2.18250532e+00] [ 3.60078005e-03 -3.55032615e-04 9.99993454e-01 -6.74375343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584860623999994 meters 0.09217148123421942 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.18, Z:-0.67 [[ 9.99913133e-01 1.25500590e-02 -4.02775167e-03 2.80563614e+01] [-1.25483531e-02 9.99921166e-01 4.48520900e-04 -2.18029562e+00] [ 4.03306311e-03 -3.97940288e-04 9.99991788e-01 -6.73333512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644860623999996 meters 0.10049758655334522 Centerline is valid? [True, False] Translation: X:28.06, Y:-2.18, Z:-0.67 [[ 9.99954290e-01 8.29698188e-03 -4.75170610e-03 2.80575166e+01] [-8.31852189e-03 9.99955133e-01 -4.53143100e-03 -2.17730334e+00] [ 4.71389571e-03 4.57075104e-03 9.99978443e-01 -6.73005724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704860624 meters 0.09767481623569345 Centerline is valid? [False, True] Translation: X:28.06, Y:-2.18, Z:-0.67 [[ 9.99956269e-01 8.07393829e-03 -4.71927966e-03 2.80572927e+01] [-8.09659509e-03 9.99955694e-01 -4.80167571e-03 -2.17663732e+00] [ 4.68030213e-03 4.83967582e-03 9.99977336e-01 -6.72821141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76486062399999 meters 0.09806963032590088 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.19, Z:-0.68 [[ 9.99959173e-01 7.20609476e-03 -5.45195886e-03 2.81162000e+01] [-7.20299515e-03 9.99973885e-01 5.87954087e-04 -2.18534530e+00] [ 5.45605333e-03 -5.48659649e-04 9.99984965e-01 -6.75624280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824860623999996 meters 0.09905239598345919 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.19, Z:-0.68 [[ 9.99948734e-01 7.87559775e-03 -6.36429569e-03 2.81742376e+01] [-7.87139402e-03 9.99968785e-01 6.85295633e-04 -2.19263419e+00] [ 6.36949414e-03 -6.35164622e-04 9.99979513e-01 -6.78540652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884860624 meters 0.09429513558911798 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.19, Z:-0.68 [[ 9.99927408e-01 1.04332566e-02 -6.02701647e-03 2.82357552e+01] [-1.04295212e-02 9.99945399e-01 6.50878619e-04 -2.19078047e+00] [ 6.03347817e-03 -5.87972475e-04 9.99981626e-01 -6.77368110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94486062399999 meters 0.09016528775035805 Centerline is valid? [True, True] Translation: X:28.30, Y:-2.19, Z:-0.67 [[ 9.99909295e-01 1.23474378e-02 -5.37986708e-03 2.82965092e+01] [-1.23444932e-02 9.99923636e-01 5.80197613e-04 -2.18801343e+00] [ 5.38662020e-03 -5.13733253e-04 9.99985360e-01 -6.74858637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004860623999996 meters 0.0917073336263235 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.20, Z:-0.68 [[ 9.99911675e-01 1.19730840e-02 -5.76950661e-03 2.83536641e+01] [-1.19697082e-02 9.99928169e-01 6.19285039e-04 -2.19761381e+00] [ 5.77650693e-03 -5.50171030e-04 9.99983164e-01 -6.77303340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064860624 meters 0.09523093451112002 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.21, Z:-0.68 [[ 9.99933872e-01 9.30034915e-03 -6.76421806e-03 2.84119271e+01] [-9.29563007e-03 9.99956529e-01 7.28758492e-04 -2.21140294e+00] [ 6.77070172e-03 -6.65832633e-04 9.99976857e-01 -6.81063517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12486062399999 meters 0.09542806957162168 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.22, Z:-0.68 [[ 9.99962536e-01 4.57204041e-03 -7.35002910e-03 2.84716738e+01] [-4.56633973e-03 9.99989260e-01 7.92194663e-04 -2.21895978e+00] [ 7.35357211e-03 -7.58602255e-04 9.99972674e-01 -6.81732790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184860623999995 meters 0.09786878062731852 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.23, Z:-0.68 [[ 9.99959900e-01 1.62449085e-03 -8.80673990e-03 2.85310577e+01] [-1.61619217e-03 9.99998243e-01 9.49344746e-04 -2.23039300e+00] [ 8.80826663e-03 -9.35073294e-04 9.99960769e-01 -6.84409167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244860624 meters 0.09753746220696305 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99955331e-01 -9.85097336e-04 -9.40024663e-03 2.85911816e+01] [ 9.94666007e-04 9.99998992e-01 1.01329621e-03 -2.23629135e+00] [ 9.39923895e-03 -1.02260105e-03 9.99955303e-01 -6.85548594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30486062399999 meters 0.10461156271885641 Centerline is valid? [True, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99957471e-01 -1.13974052e-03 -9.15192617e-03 2.85904194e+01] [ 1.14925793e-03 9.99998804e-01 1.03474332e-03 -2.23688000e+00] [ 9.15073589e-03 -1.04521724e-03 9.99957585e-01 -6.85169976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364860623999995 meters 0.10091036709754889 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.68 [[ 9.99959381e-01 -1.29472696e-03 -8.91961982e-03 2.85897980e+01] [ 1.30389653e-03 9.99998627e-01 1.02228403e-03 -2.23718983e+00] [ 8.91828400e-03 -1.03387277e-03 9.99959697e-01 -6.84967790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424860624 meters 0.10335153209743853 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.68 [[ 9.99963501e-01 -1.40497736e-03 -8.42749542e-03 2.85884481e+01] [ 1.41776302e-03 9.99997853e-01 1.51135310e-03 -2.23954902e+00] [ 8.42535390e-03 -1.52324613e-03 9.99963346e-01 -6.84405068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48486062399999 meters 0.10577208380574273 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.68 [[ 9.99965716e-01 -1.49908622e-03 -8.14368700e-03 2.85876065e+01] [ 1.51300607e-03 9.99997405e-01 1.70338859e-03 -2.24070412e+00] [ 8.14111234e-03 -1.71565164e-03 9.99965389e-01 -6.84015436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544860623999995 meters 0.10718309114109797 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.68 [[ 9.99950695e-01 -5.16705776e-03 -8.47996224e-03 2.85887987e+01] [ 5.15242693e-03 9.99985201e-01 -1.74628190e-03 -2.24208743e+00] [ 8.48885988e-03 1.70250342e-03 9.99962520e-01 -6.84664875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604860624 meters 0.10592271418544862 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99953463e-01 -4.77779625e-03 -8.38125308e-03 2.85889391e+01] [ 4.76973042e-03 9.99988143e-01 -9.82090013e-04 -2.24399816e+00] [ 8.38584593e-03 9.42067991e-04 9.99964394e-01 -6.85190358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66486062399999 meters 0.10400439584974833 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99952611e-01 -4.64212670e-03 -8.55722308e-03 2.85894558e+01] [ 4.63461457e-03 9.99988857e-01 -8.97490371e-04 -2.24387252e+00] [ 8.56129399e-03 8.57788409e-04 9.99962984e-01 -6.85438305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724860623999994 meters 0.10314725992204016 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99950173e-01 -4.51584960e-03 -8.90270834e-03 2.85903592e+01] [ 4.50706130e-03 9.99989336e-01 -1.00696488e-03 -2.24292661e+00] [ 8.90716070e-03 9.66789658e-04 9.99959863e-01 -6.85711202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784860624 meters 0.102174501366561 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99949104e-01 -4.25424944e-03 -9.14831291e-03 2.85909283e+01] [ 4.24620259e-03 9.99990581e-01 -8.98843112e-04 -2.24280750e+00] [ 9.15205064e-03 8.59951774e-04 9.99957749e-01 -6.85793330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84486062399999 meters 0.10548814829504062 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99947110e-01 -4.25425041e-03 -9.36368472e-03 2.85915504e+01] [ 4.24346968e-03 9.99990311e-01 -1.17090128e-03 -2.24161875e+00] [ 9.36857530e-03 1.13110484e-03 9.99955474e-01 -6.86024887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904860623999994 meters 0.1053222950914594 Centerline is valid? [False, False] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99958251e-01 -1.17661065e-04 -9.13691712e-03 2.85914181e+01] [ 1.44461850e-04 9.99995689e-01 2.93263700e-03 -2.24111159e+00] [ 9.13653267e-03 -2.93383450e-03 9.99953957e-01 -6.86537638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964860623999996 meters 0.0972735213630009 Centerline is valid? [False, True] Translation: X:28.59, Y:-2.24, Z:-0.69 [[ 9.99957121e-01 -2.83768788e-04 -9.25607166e-03 2.85918151e+01] [ 3.06531160e-04 9.99996932e-01 2.45785675e-03 -2.23953935e+00] [ 9.25534580e-03 -2.46058864e-03 9.99954141e-01 -6.86757641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02486062399999 meters 0.09920348098878529 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.25, Z:-0.69 [[ 9.99965469e-01 7.97710480e-04 -8.27193976e-03 2.86496891e+01] [-7.90281790e-04 9.99999282e-01 9.01288735e-04 -2.24721469e+00] [ 8.27265279e-03 -8.94720449e-04 9.99965381e-01 -6.88022616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084860623999994 meters 0.10179932031541104 Centerline is valid? [True, False] Translation: X:28.65, Y:-2.25, Z:-0.69 [[ 9.99964126e-01 8.16362447e-04 -8.43089472e-03 2.86501418e+01] [-8.09965534e-04 9.99999382e-01 7.62133238e-04 -2.24630180e+00] [ 8.43151168e-03 -7.55277164e-04 9.99964169e-01 -6.88203359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144860623999996 meters 0.09783612383097097 Centerline is valid? [False, True] Translation: X:28.65, Y:-2.25, Z:-0.69 [[ 9.99963596e-01 7.31601658e-04 -8.50126473e-03 2.86503422e+01] [-7.26705120e-04 9.99999568e-01 5.79052357e-04 -2.24535316e+00] [ 8.50168470e-03 -5.72853365e-04 9.99963696e-01 -6.88288567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20486062399999 meters 0.09901124746079347 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99960551e-01 -1.79643738e-05 -8.88234280e-03 2.87095959e+01] [ 2.64894941e-05 9.99999539e-01 9.59666134e-04 -2.25327708e+00] [ 8.88232147e-03 -9.59863565e-04 9.99960091e-01 -6.89700122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26486062399999 meters 0.10391591448971735 Centerline is valid? [True, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99963548e-01 -1.05405527e-04 -8.53762304e-03 2.87093639e+01] [ 1.15409639e-04 9.99999307e-01 1.17128360e-03 -2.25378296e+00] [ 8.53749367e-03 -1.17222623e-03 9.99962868e-01 -6.90410581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324860623999996 meters 0.10508242782294643 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99966876e-01 -3.24628654e-04 -8.13268586e-03 2.87085766e+01] [ 3.34346193e-04 9.99999232e-01 1.19354344e-03 -2.25409266e+00] [ 8.13229216e-03 -1.19622304e-03 9.99966217e-01 -6.90457400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384860624 meters 0.10512077650668623 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99970971e-01 -8.01766296e-04 -7.57720183e-03 2.87073283e+01] [ 8.09958855e-04 9.99999091e-01 1.07820479e-03 -2.25424213e+00] [ 7.57633047e-03 -1.08431071e-03 9.99970711e-01 -6.90269325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44486062399999 meters 0.1137992613822543 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99971716e-01 -9.00866067e-04 -7.46701635e-03 2.87073255e+01] [ 9.08781950e-04 9.99999029e-01 1.05678796e-03 -2.25391731e+00] [ 7.46605707e-03 -1.06354396e-03 9.99971563e-01 -6.90605154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504860623999996 meters 0.10823539061952155 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99971694e-01 -1.11580177e-03 -7.44086282e-03 2.87070257e+01] [ 1.12143162e-03 9.99999088e-01 7.52484164e-04 -2.25334671e+00] [ 7.44001642e-03 -7.60807283e-04 9.99972033e-01 -6.90284595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564860624 meters 0.11142418336392093 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99971159e-01 -1.23797258e-03 -7.49322669e-03 2.87072699e+01] [ 1.24164062e-03 9.99999112e-01 4.84880809e-04 -2.25225490e+00] [ 7.49261976e-03 -4.94170719e-04 9.99971808e-01 -6.90470902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62486062399999 meters 0.11019614727876226 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99969359e-01 -1.14531389e-03 -7.74403096e-03 2.87079624e+01] [ 1.14859991e-03 9.99999252e-01 4.19894655e-04 -2.25132653e+00] [ 7.74354426e-03 -4.28776582e-04 9.99969926e-01 -6.90740608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684860623999995 meters 0.10458134411837317 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99968670e-01 -9.69410850e-04 -7.85614384e-03 2.87084878e+01] [ 9.73549174e-04 9.99999389e-01 5.22955679e-04 -2.25132495e+00] [ 7.85563208e-03 -5.30587637e-04 9.99969003e-01 -6.91115447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744860624 meters 0.10677817973911415 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99967139e-01 -6.77540829e-04 -8.07850008e-03 2.87094879e+01] [ 6.83558228e-04 9.99999491e-01 7.42127971e-04 -2.25102594e+00] [ 8.07799314e-03 -7.47625709e-04 9.99967093e-01 -6.91850612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80486062399999 meters 0.10625887375564032 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99966481e-01 -5.79144031e-04 -8.16709142e-03 2.87097352e+01] [ 5.86023495e-04 9.99999476e-01 8.39971638e-04 -2.25117989e+00] [ 8.16660068e-03 -8.44729590e-04 9.99966296e-01 -6.91918603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864860623999995 meters 0.104742195095442 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99966753e-01 -4.35288859e-04 -8.14273895e-03 2.87096569e+01] [ 4.44547759e-04 9.99999257e-01 1.13529900e-03 -2.25203558e+00] [ 8.14223872e-03 -1.13888109e-03 9.99966203e-01 -6.91860343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924860624 meters 0.10601045169374665 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99968034e-01 -5.60440606e-04 -7.97598408e-03 2.87093497e+01] [ 5.68987749e-04 9.99999266e-01 1.06938110e-03 -2.25206322e+00] [ 7.97537890e-03 -1.07388515e-03 9.99967620e-01 -6.91898346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98486062399999 meters 0.1124182825377782 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99968622e-01 -7.97631465e-04 -7.88153716e-03 2.87092735e+01] [ 8.03913131e-04 9.99999362e-01 7.93874313e-04 -2.25091412e+00] [ 7.88089891e-03 -8.00185474e-04 9.99968625e-01 -6.92102571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044860623999995 meters 0.10936873449249913 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99966865e-01 -7.93447333e-04 -8.10180618e-03 2.87102445e+01] [ 7.97361316e-04 9.99999567e-01 4.79881297e-04 -2.24903315e+00] [ 8.10142191e-03 -4.86325463e-04 9.99967065e-01 -6.92865572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104860624 meters 0.10557518494321572 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.69 [[ 9.99963571e-01 -7.08315778e-04 -8.50611583e-03 2.87116485e+01] [ 7.09407566e-04 9.99999741e-01 1.25336754e-04 -2.24653135e+00] [ 8.50602485e-03 -1.31366492e-04 9.99963814e-01 -6.93696446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16486062399999 meters 0.10837790623201261 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.69 [[ 9.99962460e-01 -1.09953664e-03 -8.59468752e-03 2.87116095e+01] [ 1.09454630e-03 9.99999230e-01 -5.85312868e-04 -2.24412731e+00] [ 8.59532447e-03 5.75883612e-04 9.99962894e-01 -6.93425741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224860623999994 meters 0.10535813126103476 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.69 [[ 9.99960716e-01 -1.13793884e-03 -8.79044422e-03 2.87119533e+01] [ 1.12961099e-03 9.99998909e-01 -9.52282736e-04 -2.24271895e+00] [ 8.79151826e-03 9.42315544e-04 9.99960910e-01 -6.93329686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284860624 meters 0.10459002005759561 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.69 [[ 9.99961282e-01 -1.29748753e-03 -8.70355126e-03 2.87118850e+01] [ 1.28716041e-03 9.99998461e-01 -1.19203839e-03 -2.24202215e+00] [ 8.70508452e-03 1.18078937e-03 9.99961413e-01 -6.93471593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34486062399999 meters 0.10774901190821495 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.69 [[ 9.99960725e-01 -1.06076817e-03 -8.79899623e-03 2.87127322e+01] [ 1.05275420e-03 9.99999027e-01 -9.15363505e-04 -2.24189445e+00] [ 8.79995866e-03 9.06064375e-04 9.99960869e-01 -6.94391656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404860623999994 meters 0.10860131335149234 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.69 [[ 9.99962171e-01 -1.17469746e-03 -8.61844717e-03 2.87121840e+01] [ 1.16659698e-03 9.99998873e-01 -9.44867005e-04 -2.24226344e+00] [ 8.61954740e-03 9.34777007e-04 9.99962414e-01 -6.94154002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464860623999996 meters 0.11264624759279478 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.70 [[ 9.99966082e-01 -9.48461623e-04 -8.18140322e-03 2.87119436e+01] [ 9.48216124e-04 9.99999550e-01 -3.38858482e-05 -2.24442259e+00] [ 8.18143168e-03 2.61269604e-05 9.99966531e-01 -6.95144959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52486062399999 meters 0.11560884554227532 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.70 [[ 9.99969801e-01 -1.09735584e-03 -7.69374086e-03 2.87110208e+01] [ 1.09969042e-03 9.99999351e-01 2.99215029e-04 -2.24597058e+00] [ 7.69340752e-03 -3.07666726e-04 9.99970358e-01 -6.95220541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584860623999994 meters 0.11527995968647103 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.70 [[ 9.99971918e-01 -1.08561982e-03 -7.41521626e-03 2.87104263e+01] [ 1.08999680e-03 9.99999234e-01 5.86254093e-04 -2.24716848e+00] [ 7.41457413e-03 -5.94320191e-04 9.99972335e-01 -6.95186420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644860623999996 meters 0.11116128359871309 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.25, Z:-0.70 [[ 9.99970752e-01 -1.19009871e-03 -7.55505425e-03 2.87107190e+01] [ 1.19254320e-03 9.99999238e-01 3.19060676e-04 -2.24620218e+00] [ 7.55466878e-03 -3.28061072e-04 9.99971409e-01 -6.95199367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70486062399999 meters 0.10450155307398547 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.70 [[ 9.99965933e-01 -7.66185761e-04 -8.21867710e-03 2.87124910e+01] [ 7.68012823e-04 9.99999681e-01 2.19152267e-04 -2.24439214e+00] [ 8.21850657e-03 -2.25456851e-04 9.99966202e-01 -6.95816059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76486062399999 meters 0.10706868401599316 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.70 [[ 9.99961387e-01 -4.56880790e-04 -8.77590948e-03 2.87137019e+01] [ 4.57710526e-04 9.99999891e-01 9.25387711e-05 -2.24332248e+00] [ 8.77586625e-03 -9.65520240e-05 9.99961487e-01 -6.95895512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824860623999996 meters 0.11059263576517914 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.70 [[ 9.99952803e-01 3.80606562e-03 -8.93902636e-03 2.87141873e+01] [-3.77113227e-03 9.99985200e-01 3.92156859e-03 -2.24181694e+00] [ 8.95381981e-03 -3.88767325e-03 9.99952356e-01 -6.96072527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88486062399999 meters 0.10194362297310763 Centerline is valid? [False, False] Translation: X:28.71, Y:-2.24, Z:-0.70 [[ 9.99949657e-01 3.87423586e-03 -9.25606366e-03 2.87148827e+01] [-3.84098752e-03 9.99986118e-01 3.60714008e-03 -2.24056736e+00] [ 9.26991008e-03 -3.57140606e-03 9.99950656e-01 -6.96144138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94486062399999 meters 0.09999819718690915 Centerline is valid? [False, True] Translation: X:28.72, Y:-2.24, Z:-0.70 [[ 9.99945149e-01 3.97227066e-03 -9.69127448e-03 2.87155383e+01] [-3.94064991e-03 9.99986857e-01 3.27972274e-03 -2.23957760e+00] [ 9.70417506e-03 -3.24135292e-03 9.99947660e-01 -6.95795965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004860623999996 meters 0.0983939145310955 Centerline is valid? [True, True] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99925651e-01 5.85402029e-03 -1.06968809e-02 2.87760026e+01] [-5.84213813e-03 9.99982283e-01 1.14171677e-03 -2.24256459e+00] [ 1.07033750e-02 -1.07913923e-03 9.99942135e-01 -6.96278920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064860624 meters 0.10025373776393369 Centerline is valid? [True, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99926783e-01 5.74819424e-03 -1.06483716e-02 2.87756683e+01] [-5.73778804e-03 9.99983031e-01 1.00754950e-03 -2.24259378e+00] [ 1.06539825e-02 -9.46377634e-04 9.99942797e-01 -6.95963793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12486062399999 meters 0.10027278851355374 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99931988e-01 2.14257401e-03 -1.14642030e-02 2.87776832e+01] [-2.17637821e-03 9.99993319e-01 -2.93701152e-03 -2.24194232e+00] [ 1.14578336e-02 2.96176222e-03 9.99929971e-01 -6.96502346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184860623999995 meters 0.09642079846345356 Centerline is valid? [False, True] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99931629e-01 2.22706029e-03 -1.14794581e-02 2.87780171e+01] [-2.25876142e-03 9.99993670e-01 -2.74932842e-03 -2.24210512e+00] [ 1.14732625e-02 2.77506981e-03 9.99930329e-01 -6.96961031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244860624 meters 0.10030786433493556 Centerline is valid? [True, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99933664e-01 2.01523791e-03 -1.13404900e-02 2.87777071e+01] [-2.04877047e-03 9.99993562e-01 -2.94604822e-03 -2.24158180e+00] [ 1.13344800e-02 2.96908685e-03 9.99931355e-01 -6.96944623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30486062399999 meters 0.09969381748161044 Centerline is valid? [False, True] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99937417e-01 1.62316316e-03 -1.10691942e-02 2.87768420e+01] [-1.65879551e-03 9.99993470e-01 -3.21063484e-03 -2.24111355e+00] [ 1.10639105e-02 3.22879544e-03 9.99933580e-01 -6.96589262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364860623999995 meters 0.10299775683505208 Centerline is valid? [True, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99940600e-01 1.42472158e-03 -1.08058675e-02 2.87764525e+01] [-1.45989220e-03 9.99993661e-01 -3.24758143e-03 -2.24101590e+00] [ 1.08011721e-02 3.26316393e-03 9.99936341e-01 -6.96839129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424860624 meters 0.10412509340817279 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99940741e-01 1.63866229e-03 -1.07624273e-02 2.87768763e+01] [-1.66956518e-03 9.99994508e-01 -2.86301165e-03 -2.24137011e+00] [ 1.07576767e-02 2.88081056e-03 9.99937985e-01 -6.97586068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48486062399999 meters 0.10615873350174151 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99942836e-01 1.45167537e-03 -1.05932385e-02 2.87766551e+01] [-1.48342262e-03 9.99994431e-01 -2.98969372e-03 -2.24102701e+00] [ 1.05888395e-02 3.00523707e-03 9.99939421e-01 -6.97803477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544860623999995 meters 0.10331713017366846 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99941017e-01 1.66816206e-03 -1.07321678e-02 2.87771401e+01] [-1.69836321e-03 9.99994622e-01 -2.80557920e-03 -2.24105801e+00] [ 1.07274299e-02 2.82364083e-03 9.99938473e-01 -6.98072892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604860624 meters 0.10261403809019169 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99941149e-01 1.57923374e-03 -1.07333823e-02 2.87767846e+01] [-1.61077538e-03 9.99994408e-01 -2.93063954e-03 -2.24078998e+00] [ 1.07286941e-02 2.94775613e-03 9.99938101e-01 -6.97571881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66486062399999 meters 0.1028977455463658 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99939614e-01 2.13736522e-03 -1.07796312e-02 2.87775641e+01] [-2.16046206e-03 9.99995395e-01 -2.13144717e-03 -2.24232086e+00] [ 1.07750259e-02 2.15460745e-03 9.99939626e-01 -6.98515672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724860623999994 meters 0.10438074886343 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99940429e-01 2.18212921e-03 -1.06947118e-02 2.87775473e+01] [-2.20339547e-03 9.99995618e-01 -1.97710495e-03 -2.24277326e+00] [ 1.06903506e-02 2.00055185e-03 9.99940855e-01 -6.98749494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784860624 meters 0.10057187904617858 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99939418e-01 2.57661082e-03 -1.07015060e-02 2.87781327e+01] [-2.59137441e-03 9.99995709e-01 -1.36594356e-03 -2.24378845e+00] [ 1.06979406e-02 1.39359242e-03 9.99941804e-01 -6.99529276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84486062399999 meters 0.10347190386289594 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99941790e-01 2.68885051e-03 -1.04492049e-02 2.87779809e+01] [-2.69887102e-03 9.99995912e-01 -9.44990260e-04 -2.24499074e+00] [ 1.04466212e-02 9.73136309e-04 9.99944959e-01 -7.00037451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904860623999994 meters 0.11159351849808224 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99944000e-01 2.58016945e-03 -1.02635499e-02 2.87777307e+01] [-2.59023700e-03 9.99996177e-01 -9.67731435e-04 -2.24491626e+00] [ 1.02610138e-02 9.94262269e-04 9.99946860e-01 -7.00220403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964860623999996 meters 0.10611846590764894 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99944593e-01 2.39797879e-03 -1.02498612e-02 2.87776933e+01] [-2.41057174e-03 9.99996355e-01 -1.21641864e-03 -2.24405413e+00] [ 1.02469069e-02 1.24105927e-03 9.99946729e-01 -7.00231045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02486062399999 meters 0.10450222119123755 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99942157e-01 2.23149758e-03 -1.05215807e-02 2.87781781e+01] [-2.25023639e-03 9.99995903e-01 -1.76948600e-03 -2.24199480e+00] [ 1.05175889e-02 1.79305969e-03 9.99943081e-01 -7.00148398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084860623999994 meters 0.10151223187551767 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99940160e-01 2.30419192e-03 -1.06942879e-02 2.87787297e+01] [-2.32441078e-03 9.99995534e-01 -1.87857864e-03 -2.24119505e+00] [ 1.06899115e-02 1.90332414e-03 9.99941050e-01 -7.00429783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144860623999996 meters 0.10330545436002343 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99938000e-01 2.39242678e-03 -1.08753046e-02 2.87791806e+01] [-2.41405881e-03 9.99995133e-01 -1.97640468e-03 -2.24049442e+00] [ 1.08705233e-02 2.00253576e-03 9.99938909e-01 -7.00528934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20486062399999 meters 0.09943936533908462 Centerline is valid? [False, True] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99935919e-01 2.73109919e-03 -1.09862960e-02 2.87798081e+01] [-2.74883833e-03 9.99994942e-01 -1.59988535e-03 -2.24110867e+00] [ 1.09818710e-02 1.62998238e-03 9.99938369e-01 -7.01044009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26486062399999 meters 0.10211169471861536 Centerline is valid? [True, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99934130e-01 2.83547717e-03 -1.11218164e-02 2.87802520e+01] [-2.85357821e-03 9.99994629e-01 -1.61199456e-03 -2.24090590e+00] [ 1.11171859e-02 1.64362535e-03 9.99936851e-01 -7.01227701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324860623999996 meters 0.10024198488681652 Centerline is valid? [False, False] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99931184e-01 3.17791825e-03 -1.12927903e-02 2.87810778e+01] [-3.19275939e-03 9.99994063e-01 -1.29642820e-03 -2.24126350e+00] [ 1.12886034e-02 1.33239415e-03 9.99935394e-01 -7.01843900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38486062399999 meters 0.09980493315497276 Centerline is valid? [False, True] Translation: X:28.78, Y:-2.24, Z:-0.70 [[ 9.99927818e-01 3.34695695e-03 -1.15393220e-02 2.87818798e+01] [-3.36247317e-03 9.99993468e-01 -1.32550030e-03 -2.24066183e+00] [ 1.15348102e-02 1.36420528e-03 9.99932541e-01 -7.02241793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44486062399999 meters 0.09568257197553803 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.24, Z:-0.70 [[ 9.99925890e-01 4.05670440e-03 -1.14785734e-02 2.88410789e+01] [-4.04363929e-03 9.99991150e-01 1.16119615e-03 -2.23898369e+00] [ 1.14831825e-02 -1.11469488e-03 9.99933445e-01 -7.01758037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504860623999996 meters 0.09564576336965247 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.25, Z:-0.70 [[ 9.99927815e-01 5.87606935e-03 -1.04802987e-02 2.89006060e+01] [-5.86527443e-03 9.99982237e-01 1.06045881e-03 -2.24506023e+00] [ 1.04863438e-02 -9.98912436e-04 9.99944518e-01 -7.02901833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56486062399999 meters 0.09484329733943347 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.25, Z:-0.70 [[ 9.99892159e-01 1.01650719e-02 -1.05991139e-02 2.89603946e+01] [-1.01542711e-02 9.99947869e-01 1.07235204e-03 -2.24738351e+00] [ 1.06094618e-02 -9.64610117e-04 9.99943253e-01 -7.04184277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62486062399999 meters 0.0917190543530122 Centerline is valid? [True, True] Translation: X:29.02, Y:-2.24, Z:-0.70 [[ 9.99842554e-01 1.45164608e-02 -1.02049149e-02 2.90215025e+01] [-1.45066719e-02 9.99894240e-01 1.03260538e-03 -2.24443529e+00] [ 1.02188254e-02 -8.84403447e-04 9.99947395e-01 -7.03657068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684860623999995 meters 0.08895902148790501 Centerline is valid? [True, True] Translation: X:29.08, Y:-2.24, Z:-0.70 [[ 9.99733544e-01 2.06076558e-02 -1.04003010e-02 2.90823910e+01] [-2.05978164e-02 9.99787289e-01 1.05231096e-03 -2.24183976e+00] [ 1.04197744e-02 -8.37807070e-04 9.99945362e-01 -7.03846946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744860624 meters 0.08864526344041773 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.24, Z:-0.70 [[ 9.99643329e-01 2.48766692e-02 -9.71426411e-03 2.91412267e+01] [-2.48682931e-02 9.99690254e-01 9.82108413e-04 -2.24439198e+00] [ 9.73568674e-03 -7.40180956e-04 9.99952333e-01 -7.04059570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80486062399999 meters 0.08613862450013245 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.24, Z:-0.70 [[ 9.99550116e-01 2.81303057e-02 -1.04043914e-02 2.92023054e+01] [-2.81208686e-02 9.99603976e-01 1.05224249e-03 -2.24138712e+00] [ 1.04298709e-02 -7.59188584e-04 9.99945319e-01 -7.04902737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864860623999995 meters 0.08459106773033194 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.24, Z:-0.71 [[ 9.99478123e-01 3.04400497e-02 -1.08112932e-02 2.92621923e+01] [-3.04300012e-02 9.99536303e-01 1.09277104e-03 -2.24281938e+00] [ 1.08395440e-02 -7.63213083e-04 9.99940959e-01 -7.06039862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924860624 meters 0.0862146833374867 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.25, Z:-0.70 [[ 9.99593909e-01 2.72002509e-02 -8.49496087e-03 2.93209154e+01] [-2.71939335e-02 9.99629808e-01 8.58310496e-04 -2.25207260e+00] [ 8.51516236e-03 -6.26950543e-04 9.99963549e-01 -7.04551075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98486062399999 meters 0.08839815367079026 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.26, Z:-0.71 [[ 9.99657444e-01 2.45165714e-02 -9.16148181e-03 2.93806878e+01] [-2.45091113e-02 9.99699178e-01 9.25696952e-04 -2.26221835e+00] [ 9.18142075e-03 -7.00840071e-04 9.99957604e-01 -7.06375173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044860623999995 meters 0.09092873695211003 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.27, Z:-0.71 [[ 9.99788190e-01 1.86703837e-02 -8.65973034e-03 2.94401925e+01] [-1.86635010e-02 9.99825439e-01 8.74932919e-04 -2.27424784e+00] [ 8.67455402e-03 -7.13126714e-04 9.99962121e-01 -7.07853955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104860624 meters 0.09572368225728893 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.29, Z:-0.71 [[ 9.99882415e-01 1.14290904e-02 -1.02241174e-02 2.94994331e+01] [-1.14191211e-02 9.99934266e-01 1.03292186e-03 -2.29067306e+00] [ 1.02352507e-02 -9.16049970e-04 9.99947199e-01 -7.10960335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16486062399999 meters 0.1016605519124045 Centerline is valid? [True, False] Translation: X:29.50, Y:-2.29, Z:-0.71 [[ 9.99932292e-01 6.37658673e-03 -9.73397950e-03 2.94982419e+01] [-6.41275124e-03 9.99972635e-01 -3.68860511e-03 -2.28987982e+00] [ 9.71019242e-03 3.75077695e-03 9.99945820e-01 -7.10914801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224860623999994 meters 0.1030366087249509 Centerline is valid? [False, False] Translation: X:29.50, Y:-2.29, Z:-0.71 [[ 9.99935864e-01 6.14574466e-03 -9.51303540e-03 2.94979048e+01] [-6.18179531e-03 9.99973805e-01 -3.76485153e-03 -2.28945343e+00] [ 9.48964839e-03 3.82341771e-03 9.99947663e-01 -7.11131583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284860624 meters 0.10108488634430328 Centerline is valid? [False, False] Translation: X:29.50, Y:-2.29, Z:-0.71 [[ 9.99939327e-01 5.88281066e-03 -9.31316521e-03 2.94977585e+01] [-5.92009160e-03 9.99974554e-01 -3.98054196e-03 -2.28862770e+00] [ 9.28951145e-03 4.03543524e-03 9.99948709e-01 -7.11542364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34486062399999 meters 0.10278391661706407 Centerline is valid? [False, False] Translation: X:29.50, Y:-2.29, Z:-0.71 [[ 9.99940191e-01 5.70311549e-03 -9.33215041e-03 2.94977323e+01] [-5.74348741e-03 9.99974239e-01 -4.30504505e-03 -2.28776848e+00] [ 9.30735783e-03 4.35838666e-03 9.99947187e-01 -7.11437704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404860623999994 meters 0.10143064620135034 Centerline is valid? [False, False] Translation: X:29.50, Y:-2.29, Z:-0.72 [[ 9.99940797e-01 8.33226687e-03 6.99829138e-03 2.94956044e+01] [-8.32760634e-03 9.99965083e-01 -6.94829859e-04 -2.28545763e+00] [-7.00383653e-03 6.36509707e-04 9.99975270e-01 -7.17784120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464860623999996 meters 0.09835104400389513 Centerline is valid? [False, True] Translation: X:29.50, Y:-2.28, Z:-0.72 [[ 9.99946354e-01 8.06748648e-03 6.49655757e-03 2.94961403e+01] [-8.05533916e-03 9.99965762e-01 -1.89380987e-03 -2.28221813e+00] [-6.51161342e-03 1.84137630e-03 9.99977104e-01 -7.16960334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52486062399999 meters 0.09400904757016441 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.28, Z:-0.72 [[ 9.99907310e-01 1.12445418e-02 7.67663977e-03 2.95572150e+01] [-1.12387292e-02 9.99936524e-01 -7.99897504e-04 -2.27998621e+00] [-7.68514696e-03 7.13547687e-04 9.99970214e-01 -7.17586300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584860623999994 meters 0.09531564352055194 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.29, Z:-0.72 [[ 9.99906177e-01 1.09156261e-02 8.27561216e-03 2.96164038e+01] [-1.09088547e-02 9.99940124e-01 -8.62932394e-04 -2.28692998e+00] [-8.28453610e-03 7.72573981e-04 9.99965384e-01 -7.18057415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644860623999996 meters 0.09772743677748043 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.30, Z:-0.72 [[ 9.99946658e-01 7.42754611e-03 7.17724213e-03 2.96762358e+01] [-7.42237026e-03 9.99972174e-01 -7.47515350e-04 -2.29776491e+00] [-7.18259462e-03 6.94203328e-04 9.99973964e-01 -7.21754496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70486062399999 meters 0.10122206702784775 Centerline is valid? [True, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99944374e-01 6.99801819e-03 7.89154747e-03 2.96748403e+01] [-6.99372527e-03 9.99975380e-01 -5.71455537e-04 -2.29886138e+00] [-7.89535224e-03 5.16232434e-04 9.99968698e-01 -7.21939590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76486062399999 meters 0.10397267430724673 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99966033e-01 2.49262410e-03 7.85620181e-03 2.96748822e+01] [-2.45295516e-03 9.99984215e-01 -5.05497634e-03 -2.29777787e+00] [-7.86867796e-03 5.03553372e-03 9.99956363e-01 -7.22013951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824860623999996 meters 0.1119601828153824 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99963162e-01 2.26532191e-03 8.27904181e-03 2.96742263e+01] [-2.22539559e-03 9.99985866e-01 -4.82861198e-03 -2.29835134e+00] [-8.28986315e-03 4.81000996e-03 9.99954070e-01 -7.22385702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88486062399999 meters 0.1104933400700581 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99959521e-01 2.29598578e-03 8.69965082e-03 2.96737865e+01] [-2.25864599e-03 9.99988206e-01 -4.29949899e-03 -2.29991056e+00] [-8.70941981e-03 4.27967552e-03 9.99952914e-01 -7.23066914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94486062399999 meters 0.11485779500823826 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99958553e-01 2.07407203e-03 8.86514063e-03 2.96731861e+01] [-2.03446913e-03 9.99987922e-01 -4.47394739e-03 -2.29979711e+00] [-8.87431284e-03 4.45572611e-03 9.99950695e-01 -7.22713253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004860623999996 meters 0.11123220183533453 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99960050e-01 1.58385206e-03 8.79715217e-03 2.96727251e+01] [-1.53695078e-03 9.99984584e-01 -5.33562047e-03 -2.29749015e+00] [-8.80546739e-03 5.32188652e-03 9.99947069e-01 -7.21814455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06486062399999 meters 0.11230317723121885 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99961489e-01 1.85008638e-03 8.57886681e-03 2.96733441e+01] [-1.80619820e-03 9.99985258e-01 -5.12077735e-03 -2.29768076e+00] [-8.58821421e-03 5.10508502e-03 9.99950089e-01 -7.22038504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12486062399999 meters 0.1143013845508219 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99961424e-01 2.39065516e-03 8.45193109e-03 2.96740944e+01] [-2.35352539e-03 9.99987549e-01 -4.40027212e-03 -2.29921494e+00] [-8.46234539e-03 4.38021054e-03 9.99954600e-01 -7.22713383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184860623999995 meters 0.11418555872380572 Centerline is valid? [False, False] Translation: X:29.67, Y:-2.30, Z:-0.72 [[ 9.99961242e-01 2.42532755e-03 8.46352746e-03 2.96738136e+01] [-2.38968357e-03 9.99988244e-01 -4.21905532e-03 -2.30005352e+00] [-8.47366056e-03 4.19866665e-03 9.99955283e-01 -7.22346806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24486062399999 meters 0.11210575186782132 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.30, Z:-0.72 [[ 9.99961699e-01 3.08549551e-03 8.19022218e-03 2.96750923e+01] [-3.05787024e-03 9.99989601e-01 -3.38333938e-03 -2.30153106e+00] [-8.20057629e-03 3.35816516e-03 9.99960736e-01 -7.23384019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30486062399999 meters 0.10996554072213424 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.30, Z:-0.72 [[ 9.99961417e-01 3.83393520e-03 7.90353029e-03 2.96763601e+01] [-3.81408899e-03 9.99989540e-01 -2.52460070e-03 -2.30351784e+00] [-7.91312677e-03 2.49435853e-03 9.99965580e-01 -7.24316057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364860623999995 meters 0.10975897593809819 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.30, Z:-0.72 [[ 9.99962982e-01 4.07336325e-03 7.57901872e-03 2.96768617e+01] [-4.05510649e-03 9.99988843e-01 -2.42266472e-03 -2.30403494e+00] [-7.58880255e-03 2.39184131e-03 9.99968344e-01 -7.24003702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424860624 meters 0.1079135806063301 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.30, Z:-0.72 [[ 9.99964885e-01 4.20533163e-03 7.24872383e-03 2.96772017e+01] [-4.18717459e-03 9.99988063e-01 -2.51821906e-03 -2.30404452e+00] [-7.25922725e-03 2.48777896e-03 9.99970557e-01 -7.23415526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48486062399999 meters 0.10588890518095166 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.31, Z:-0.72 [[ 9.99965749e-01 4.67890172e-03 6.82709255e-03 2.96779431e+01] [-4.66412062e-03 9.99986748e-01 -2.17938296e-03 -2.30502657e+00] [-6.83719919e-03 2.14746593e-03 9.99974320e-01 -7.23134012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544860623999995 meters 0.10634938163999792 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.31, Z:-0.72 [[ 9.99964200e-01 5.15807643e-03 6.70774954e-03 2.96784677e+01] [-5.14758883e-03 9.99985503e-01 -1.57983073e-03 -2.30676301e+00] [-6.71580118e-03 1.54524544e-03 9.99976255e-01 -7.23465424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604860624 meters 0.10576810235831509 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.31, Z:-0.72 [[ 9.99961794e-01 5.35800010e-03 6.90671842e-03 2.96782265e+01] [-5.35154756e-03 9.99985227e-01 -9.52383083e-04 -2.30886224e+00] [-6.91171925e-03 9.15385064e-04 9.99975695e-01 -7.23711525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66486062399999 meters 0.10880555407727611 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.31, Z:-0.72 [[ 9.99958607e-01 5.72767143e-03 7.06949734e-03 2.96782298e+01] [-5.72702536e-03 9.99983594e-01 -1.11628023e-04 -2.31131011e+00] [-7.07002073e-03 7.11362123e-05 9.99975005e-01 -7.24209676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724860623999994 meters 0.10567879895180776 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.31, Z:-0.72 [[ 9.99955119e-01 5.90937542e-03 7.40532724e-03 2.96774993e+01] [-5.91419890e-03 9.99982313e-01 6.29623267e-04 -2.31434022e+00] [-7.40147558e-03 -6.73391588e-04 9.99972382e-01 -7.24168700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784860624 meters 0.10966484717305147 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.32, Z:-0.72 [[ 9.99974012e-01 2.06160768e-03 6.90836749e-03 2.96778190e+01] [-2.03899664e-03 9.99992547e-01 -3.27843986e-03 -2.31617926e+00] [-6.91507486e-03 3.26426852e-03 9.99970763e-01 -7.23099276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84486062399999 meters 0.10919603670464027 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.32, Z:-0.72 [[ 9.99974361e-01 2.28511781e-03 6.78648178e-03 2.96777258e+01] [-2.26515248e-03 9.99993089e-01 -2.94815796e-03 -2.31774365e+00] [-6.79317176e-03 2.93270995e-03 9.99972626e-01 -7.22528396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904860623999994 meters 0.10501764420344811 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.32, Z:-0.72 [[ 9.99972796e-01 3.11212215e-03 6.68744556e-03 2.96778089e+01] [-3.10038698e-03 9.99993637e-01 -1.76445798e-03 -2.32222067e+00] [-6.69289422e-03 1.74367631e-03 9.99976082e-01 -7.22243984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964860623999996 meters 0.10487368966431439 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.32, Z:-0.72 [[ 9.99972851e-01 3.36212221e-03 6.55697831e-03 2.96777862e+01] [-3.35281663e-03 9.99993357e-01 -1.42966443e-03 -2.32373602e+00] [-6.56174146e-03 1.40764127e-03 9.99977481e-01 -7.21766318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02486062399999 meters 0.10591636892601933 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.33, Z:-0.72 [[ 9.99972877e-01 3.88582264e-03 6.25665766e-03 2.96782935e+01] [-3.88073562e-03 9.99992130e-01 -8.24992433e-04 -2.32575557e+00] [-6.25981419e-03 8.00689623e-04 9.99980087e-01 -7.21514391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084860623999994 meters 0.10413285884248248 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.33, Z:-0.72 [[ 9.99969904e-01 4.44714770e-03 6.35718708e-03 2.96782968e+01] [-4.44890580e-03 9.99990069e-01 2.62438962e-04 -2.32942110e+00] [-6.35595684e-03 -2.90713591e-04 9.99979758e-01 -7.21803217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144860623999996 meters 0.10445247225949139 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.33, Z:-0.72 [[ 9.99981715e-01 1.01617867e-03 5.96129143e-03 2.96793841e+01] [-9.98852469e-04 9.99995271e-01 -2.90870813e-03 -2.33223874e+00] [-5.96421900e-03 2.90270049e-03 9.99978001e-01 -7.22182161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20486062399999 meters 0.10467494863372537 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.33, Z:-0.72 [[ 9.99981528e-01 9.16432615e-04 6.00857841e-03 2.96788694e+01] [-8.98767474e-04 9.99995268e-01 -2.94202806e-03 -2.33280301e+00] [-6.01124615e-03 2.93657340e-03 9.99977620e-01 -7.21556823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26486062399999 meters 0.10759023580503112 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99980744e-01 1.20800479e-03 6.08712415e-03 2.96785150e+01] [-1.19453572e-03 9.99996832e-01 -2.21586488e-03 -2.33520442e+00] [-6.08978164e-03 2.20855092e-03 9.99979018e-01 -7.21258979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324860623999996 meters 0.10878484741966446 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99980342e-01 1.70826723e-03 6.03299411e-03 2.96788807e+01] [-1.69967739e-03 9.99997535e-01 -1.42864916e-03 -2.33754033e+00] [-6.03541975e-03 1.41836693e-03 9.99980781e-01 -7.21621357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38486062399999 meters 0.10927494710453349 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99980671e-01 2.02682541e-03 5.87782437e-03 2.96792627e+01] [-2.02098189e-03 9.99997458e-01 -9.99932836e-04 -2.33883644e+00] [-5.87983612e-03 9.88034532e-04 9.99982225e-01 -7.21677330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44486062399999 meters 0.11075689574598893 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99980920e-01 2.09508187e-03 5.81126835e-03 2.96790217e+01] [-2.08981962e-03 9.99997401e-01 -9.11449753e-04 -2.33961150e+00] [-5.81316281e-03 8.99287860e-04 9.99982699e-01 -7.21076713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504860623999996 meters 0.10138907878094688 Centerline is valid? [False, False] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99981111e-01 2.37965615e-03 5.66704454e-03 2.96792754e+01] [-2.37657149e-03 9.99997024e-01 -5.50987403e-04 -2.34082667e+00] [-5.66833883e-03 5.37508859e-04 9.99983790e-01 -7.20975578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56486062399999 meters 0.09971018921529172 Centerline is valid? [False, True] Translation: X:29.68, Y:-2.34, Z:-0.72 [[ 9.99981037e-01 2.82014012e-03 5.47476375e-03 2.96797374e+01] [-2.82022566e-03 9.99996023e-01 7.90336254e-06 -2.34255934e+00] [-5.47471969e-03 -2.33432819e-05 9.99985013e-01 -7.21060581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62486062399999 meters 0.09864249208776277 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.35, Z:-0.72 [[ 9.99961616e-01 7.67630957e-03 4.22386654e-03 2.97386683e+01] [-7.67429142e-03 9.99970430e-01 -4.93796515e-04 -2.34798970e+00] [-4.22753218e-03 4.61362378e-04 9.99990958e-01 -7.23019217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684860623999995 meters 0.09717293473469585 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.35, Z:-0.73 [[ 9.99936096e-01 1.09415652e-02 2.84349802e-03 2.97989573e+01] [-1.09406643e-02 9.99940094e-01 -3.32211777e-04 -2.35322455e+00] [-2.84696259e-03 3.01080790e-04 9.99995902e-01 -7.25205781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74486062399999 meters 0.09953539738288422 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.37, Z:-0.73 [[ 9.99898253e-01 1.38942764e-02 3.22998009e-03 2.98569752e+01] [-1.38931273e-02 9.99903414e-01 -3.77930857e-04 -2.36708229e+00] [-3.23491920e-03 3.33017879e-04 9.99994712e-01 -7.28930168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80486062399999 meters 0.09762871911373865 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.37, Z:-0.73 [[ 9.99887649e-01 1.46426125e-02 3.20675324e-03 2.99159342e+01] [-1.46414817e-02 9.99892737e-01 -3.75822526e-04 -2.37208311e+00] [-3.21191230e-03 3.28828683e-04 9.99994788e-01 -7.30114622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864860623999995 meters 0.09300139053774972 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.37, Z:-0.73 [[ 9.99894810e-01 1.43296358e-02 2.24270204e-03 2.99749058e+01] [-1.43290789e-02 9.99897299e-01 -2.64186961e-04 -2.37110046e+00] [-2.24625741e-03 2.32023317e-04 9.99997450e-01 -7.28760636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92486062399999 meters 0.09608407713366351 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.39, Z:-0.73 [[ 9.99923902e-01 1.21965455e-02 1.85305188e-03 3.00336447e+01] [-1.21961650e-02 9.99925601e-01 -2.16483708e-04 -2.38524201e+00] [-1.85555437e-03 1.93867107e-04 9.99998260e-01 -7.31475688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98486062399999 meters 0.10076534058012954 Centerline is valid? [True, False] Translation: X:30.03, Y:-2.39, Z:-0.73 [[ 9.99966104e-01 7.96926306e-03 2.06937664e-03 3.00324523e+01] [-7.96113191e-03 9.99960672e-01 -3.90822706e-03 -2.38812933e+00] [-2.10044095e-03 3.89162001e-03 9.99990222e-01 -7.30381534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044860623999995 meters 0.09973255841236568 Centerline is valid? [False, True] Translation: X:30.03, Y:-2.39, Z:-0.73 [[ 9.99989155e-01 3.97694265e-03 2.42374835e-03 3.00314750e+01] [-3.96010425e-03 9.99968264e-01 -6.91290282e-03 -2.39251490e+00] [-2.45116365e-03 6.90322955e-03 9.99973168e-01 -7.30014654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104860624 meters 0.10316842414488193 Centerline is valid? [True, False] Translation: X:30.03, Y:-2.40, Z:-0.73 [[ 9.99986616e-01 4.21395072e-03 3.00185886e-03 3.00305673e+01] [-4.19699285e-03 9.99975326e-01 -5.63319986e-03 -2.39655962e+00] [-3.02552282e-03 5.62052568e-03 9.99979628e-01 -7.30447061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16486062399999 meters 0.10513656467252254 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.40, Z:-0.73 [[ 9.99989452e-01 3.42830970e-03 3.05670057e-03 3.00295115e+01] [-3.41201489e-03 9.99980027e-01 -5.32022104e-03 -2.40157263e+00] [-3.07487888e-03 5.30973541e-03 9.99981176e-01 -7.29737535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224860623999994 meters 0.10781792430466351 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.41, Z:-0.73 [[ 9.99987559e-01 3.58581848e-03 3.46758826e-03 3.00281300e+01] [-3.57028826e-03 9.99983616e-01 -4.47454726e-03 -2.40535625e+00] [-3.48357636e-03 4.46211130e-03 9.99983977e-01 -7.28888713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284860624 meters 0.10935055605365451 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.41, Z:-0.73 [[ 9.99986166e-01 4.05732996e-03 3.34762626e-03 3.00283733e+01] [-4.04496934e-03 9.99985008e-01 -3.69089965e-03 -2.40739118e+00] [-3.36255127e-03 3.67730754e-03 9.99987585e-01 -7.28893583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34486062399999 meters 0.11093052041036487 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.41, Z:-0.73 [[ 9.99982807e-01 4.78432670e-03 3.39060089e-03 3.00283561e+01] [-4.77600503e-03 9.99985573e-01 -2.45819528e-03 -2.41111500e+00] [-3.40231278e-03 2.44195948e-03 9.99991231e-01 -7.29017045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404860623999994 meters 0.11245293701057733 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.41, Z:-0.73 [[ 9.99980251e-01 5.30157074e-03 3.37494832e-03 3.00285737e+01] [-5.29620772e-03 9.99984701e-01 -1.59602760e-03 -2.41349628e+00] [-3.38335814e-03 1.57812166e-03 9.99993031e-01 -7.29292906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464860623999996 meters 0.11178768600300899 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.41, Z:-0.73 [[ 9.99978307e-01 5.82565702e-03 3.07351417e-03 3.00292587e+01] [-5.82262536e-03 9.99982554e-01 -9.94411774e-04 -2.41495742e+00] [-3.07925365e-03 9.76494281e-04 9.99994782e-01 -7.29431357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52486062399999 meters 0.11187185276625143 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99975668e-01 6.41720272e-03 2.73545058e-03 3.00299672e+01] [-6.41646085e-03 9.99979375e-01 -2.79896626e-04 -2.41677086e+00] [-2.73719032e-03 2.62337904e-04 9.99996219e-01 -7.29518814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584860623999994 meters 0.1117826389109877 Centerline is valid? [False, False] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99974240e-01 6.73325970e-03 2.48641046e-03 3.00307923e+01] [-6.73330200e-03 9.99977331e-01 8.63943276e-06 -2.41724047e+00] [-2.48629593e-03 -2.53809627e-05 9.99996909e-01 -7.29968316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644860623999996 meters 0.09796824661185553 Centerline is valid? [False, True] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99971366e-01 7.21052615e-03 2.29676674e-03 3.00313526e+01] [-7.21201101e-03 9.99973789e-01 6.38876415e-04 -2.41900844e+00] [-2.29209990e-03 -6.55422428e-04 9.99997158e-01 -7.30227029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70486062399999 meters 0.11527979800911399 Centerline is valid? [True, False] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99970487e-01 7.33822757e-03 2.27506339e-03 3.00310081e+01] [-7.34029668e-03 9.99972652e-01 9.02464586e-04 -2.42034403e+00] [-2.26837869e-03 -9.19137591e-04 9.99997005e-01 -7.29682232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76486062399999 meters 0.09525123128170068 Centerline is valid? [False, True] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99992187e-01 3.62534423e-03 1.57562222e-03 3.00323986e+01] [-3.62042002e-03 9.99988589e-01 -3.11694386e-03 -2.42024597e+00] [-1.58690423e-03 3.11121509e-03 9.99993901e-01 -7.29791671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824860623999996 meters 0.11950190641267479 Centerline is valid? [True, False] Translation: X:30.03, Y:-2.42, Z:-0.73 [[ 9.99990867e-01 3.94201901e-03 1.65093421e-03 3.00322022e+01] [-3.93787544e-03 9.99989107e-01 -2.50560714e-03 -2.42202890e+00] [-1.66079338e-03 2.49908308e-03 9.99995498e-01 -7.29688438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88486062399999 meters 0.09916324514562187 Centerline is valid? [False, True] Translation: X:30.03, Y:-2.43, Z:-0.73 [[ 9.99989083e-01 4.23836590e-03 1.96738680e-03 3.00315516e+01] [-4.23514654e-03 9.99989691e-01 -1.63765494e-03 -2.42528365e+00] [-1.97430750e-03 1.62930489e-03 9.99996724e-01 -7.29639522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94486062399999 meters 0.09941692309227217 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99990777e-01 3.82222629e-03 1.95863543e-03 3.00907028e+01] [-3.82178323e-03 9.99992671e-01 -2.29904559e-04 -2.43755640e+00] [-1.95949983e-03 2.22416958e-04 9.99998055e-01 -7.32657997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004860623999996 meters 0.10401837763426497 Centerline is valid? [True, False] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99989114e-01 4.18680886e-03 2.05957803e-03 3.00907699e+01] [-4.18780013e-03 9.99991117e-01 4.77221749e-04 -2.43935508e+00] [-2.05756170e-03 -4.85841655e-04 9.99997765e-01 -7.33046442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06486062399999 meters 0.10320315922665099 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99987262e-01 4.60270391e-03 2.07166717e-03 3.00906873e+01] [-4.60529173e-03 9.99988619e-01 1.24611549e-03 -2.44187465e+00] [-2.06590809e-03 -1.25564025e-03 9.99997078e-01 -7.32986821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12486062399999 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99994534e-01 2.76858291e-03 1.80730277e-03 3.00927982e+01] [-2.76697531e-03 9.99995775e-01 -8.91397111e-04 -2.44104566e+00] [-1.80976304e-03 8.86391476e-04 9.99997970e-01 -7.34825976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184860623999995 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99994534e-01 2.76858291e-03 1.80730277e-03 3.00927982e+01] [-2.76697531e-03 9.99995775e-01 -8.91397111e-04 -2.44104566e+00] [-1.80976304e-03 8.86391476e-04 9.99997970e-01 -7.34825976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24486062399999 meters 0.09914316657811388 Centerline is valid? [False, True] Translation: X:30.09, Y:-2.44, Z:-0.73 [[ 9.99993945e-01 2.89510313e-03 1.93112784e-03 3.00925930e+01] [-2.89407091e-03 9.99995668e-01 -5.37092619e-04 -2.44224565e+00] [-1.93267442e-03 5.31500545e-04 9.99997991e-01 -7.34884284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30486062399999 meters 0.10161030462896005 Centerline is valid? [True, False] Translation: X:30.09, Y:-2.44, Z:-0.74 [[ 9.99993316e-01 2.99191856e-03 2.10153796e-03 3.00923596e+01] [-2.99148741e-03 9.99995504e-01 -2.08269342e-04 -2.44343408e+00] [-2.10215164e-03 2.01981226e-04 9.99997770e-01 -7.35057422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364860623999995 meters 0.1016493876262228 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.74 [[ 9.99993458e-01 3.03294921e-03 1.97113031e-03 3.00927090e+01] [-3.03255765e-03 9.99995381e-01 -2.01607135e-04 -2.44332423e+00] [-1.97173267e-03 1.95628249e-04 9.99998037e-01 -7.35178285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42486062399999 meters 0.10445634225501049 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.74 [[ 9.99994250e-01 2.99610237e-03 1.58836826e-03 3.00935660e+01] [-2.99497258e-03 9.99995261e-01 -7.13194687e-04 -2.44134334e+00] [-1.59049753e-03 7.08433467e-04 9.99998484e-01 -7.35332346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48486062399999 meters 0.10522695042438732 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.44, Z:-0.74 [[ 9.99994756e-01 2.89227883e-03 1.45663389e-03 3.00936675e+01] [-2.89076778e-03 9.99995283e-01 -1.03839529e-03 -2.44061857e+00] [-1.45963035e-03 1.03417906e-03 9.99998400e-01 -7.35123755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544860623999995 meters 0.09520542076705113 Centerline is valid? [False, True] Translation: X:30.09, Y:-2.44, Z:-0.74 [[ 9.99995898e-01 2.63305614e-03 1.12700988e-03 3.00942582e+01] [-2.63096176e-03 9.99994817e-01 -1.85581091e-03 -2.43816857e+00] [-1.13189049e-03 1.85283817e-03 9.99997643e-01 -7.35115196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60486062399999 meters 0.09313321415166485 Centerline is valid? [True, True] Translation: X:30.16, Y:-2.44, Z:-0.74 [[ 9.99962641e-01 8.55168671e-03 1.25881756e-03 3.01554103e+01] [-8.55152230e-03 9.99963426e-01 -1.35926809e-04 -2.43839094e+00] [-1.25993392e-03 1.25156924e-04 9.99999198e-01 -7.36487543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66486062399999 meters 0.09089717157287105 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.44, Z:-0.74 [[ 9.99900518e-01 1.40941873e-02 5.54610041e-04 3.02162994e+01] [-1.40941562e-02 9.99900671e-01 -5.99577501e-05 -2.43794267e+00] [-5.55400008e-04 5.21350248e-05 9.99999844e-01 -7.38562564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724860623999994 meters 0.09609877732842527 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.45, Z:-0.74 [[ 9.99935305e-01 1.13435820e-02 -8.42188478e-04 3.02750739e+01] [-1.13435094e-02 9.99935656e-01 9.09258469e-05 -2.45109087e+00] [ 8.43165713e-04 -8.13665915e-05 9.99999641e-01 -7.40972050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784860624 meters 0.09146675831794789 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.45, Z:-0.74 [[ 9.99967679e-01 7.13747489e-03 -3.70093148e-03 3.03363623e+01] [-7.13604485e-03 9.99974458e-01 3.99459004e-04 -2.44811406e+00] [ 3.70368808e-03 -3.73036080e-04 9.99993072e-01 -7.40527954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84486062399999 meters 0.09700560584662062 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.46, Z:-0.74 [[ 9.99993423e-01 -4.94626132e-04 -3.59282177e-03 3.03946197e+01] [ 4.96023098e-04 9.99999802e-01 3.87940718e-04 -2.46446345e+00] [ 3.59262917e-03 -3.89720289e-04 9.99993471e-01 -7.42374201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904860623999994 meters 0.09911362781770229 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.47, Z:-0.74 [[ 9.99982890e-01 -4.27372675e-03 -3.99440287e-03 3.04540218e+01] [ 4.27548201e-03 9.99990767e-01 4.30994462e-04 -2.47303229e+00] [ 3.99252404e-03 -4.48065085e-04 9.99991929e-01 -7.42353286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964860623999996 meters 0.0962966139667331 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.47, Z:-0.74 [[ 9.99967283e-01 -6.51028317e-03 -4.80092256e-03 3.05145697e+01] [ 6.51284567e-03 9.99978657e-01 5.18310005e-04 -2.47474273e+00] [ 4.79744575e-03 -5.49560715e-04 9.99988341e-01 -7.42498015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02486062399999 meters 0.09812409190972517 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.48, Z:-0.74 [[ 9.99937618e-01 -8.96415589e-03 -6.66360558e-03 3.05741628e+01] [ 8.96914700e-03 9.99959518e-01 7.19502773e-04 -2.48268150e+00] [ 6.65688609e-03 -7.79224747e-04 9.99977539e-01 -7.44931013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084860623999994 meters 0.09926805799634428 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.49, Z:-0.74 [[ 9.99931785e-01 -9.87862977e-03 -6.23194206e-03 3.06347856e+01] [ 9.88301243e-03 9.99950935e-01 6.72853029e-04 -2.48816493e+00] [ 6.22498942e-03 -7.34397492e-04 9.99980355e-01 -7.43610024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144860623999996 meters 0.10359547500037516 Centerline is valid? [True, False] Translation: X:30.63, Y:-2.49, Z:-0.74 [[ 9.99964808e-01 -5.80271316e-03 -6.05906600e-03 3.06344640e+01] [ 5.83111202e-03 9.99972048e-01 4.67990446e-03 -2.48759487e+00] [ 6.03174049e-03 -4.71507086e-03 9.99970693e-01 -7.43784012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20486062399999 meters 0.09513914582937771 Centerline is valid? [False, True] Translation: X:30.63, Y:-2.48, Z:-0.74 [[ 9.99979016e-01 -1.99115683e-03 -6.16460420e-03 3.06346850e+01] [ 2.03962345e-03 9.99966984e-01 7.86580281e-03 -2.48459276e+00] [ 6.14873862e-03 -7.87821123e-03 9.99950062e-01 -7.43963567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26486062399999 meters 0.09354798562086873 Centerline is valid? [True, True] Translation: X:30.69, Y:-2.48, Z:-0.74 [[ 9.99966205e-01 1.90699014e-03 -7.99704469e-03 3.06949116e+01] [-1.90008843e-03 9.99997816e-01 8.70540696e-04 -2.48249974e+00] [ 7.99868733e-03 -8.55316184e-04 9.99967644e-01 -7.43351986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324860623999996 meters 0.09063152539637997 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.48, Z:-0.74 [[ 9.99941185e-01 6.90626686e-03 -8.36247017e-03 3.07557641e+01] [-6.89888899e-03 9.99975788e-01 9.10784532e-04 -2.48104358e+00] [ 8.36855781e-03 -8.53039210e-04 9.99964619e-01 -7.43000766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38486062399999 meters 0.09049288692611511 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.49, Z:-0.74 [[ 9.99920088e-01 9.48294288e-03 -8.36013333e-03 3.08165337e+01] [-9.47565798e-03 9.99954690e-01 9.10566096e-04 -2.48560371e+00] [ 8.36838938e-03 -8.31275567e-04 9.99964639e-01 -7.43682863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44486062399999 meters 0.09052987120883164 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.49, Z:-0.75 [[ 9.99891943e-01 1.12224820e-02 -9.49515001e-03 3.08768287e+01] [-1.12131665e-02 9.99936596e-01 1.03374779e-03 -2.48837291e+00] [ 9.50614920e-03 -9.27165391e-04 9.99954386e-01 -7.45045379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504860623999996 meters 0.09204686215478934 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.49, Z:-0.75 [[ 9.99879576e-01 9.92986819e-03 -1.19261120e-02 3.09366854e+01] [-9.91508194e-03 9.99950002e-01 1.29831034e-03 -2.49424375e+00] [ 1.19384078e-02 -1.17990562e-03 9.99928039e-01 -7.47644520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56486062399999 meters 0.09293690113536382 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.50, Z:-0.75 [[ 9.99883276e-01 7.22090957e-03 -1.34644816e-02 3.09969526e+01] [-7.20181682e-03 9.99972992e-01 1.46595688e-03 -2.50157294e+00] [ 1.34747035e-02 -1.36881704e-03 9.99908275e-01 -7.48853529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62486062399999 meters 0.0939091489841568 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.51, Z:-0.75 [[ 9.99922439e-01 1.49197512e-03 -1.23649016e-02 3.10569902e+01] [-1.47543876e-03 9.99998005e-01 1.34637740e-03 -2.50676535e+00] [ 1.23668857e-02 -1.32802932e-03 9.99922645e-01 -7.46824800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684860623999995 meters 0.09847466200473888 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.52, Z:-0.75 [[ 9.99922552e-01 6.73664889e-04 -1.24272577e-02 3.11145384e+01] [-6.56920165e-04 9.99998871e-01 1.35145184e-03 -2.52017653e+00] [ 1.24281541e-02 -1.34318345e-03 9.99921865e-01 -7.49966534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74486062399999 meters 0.0942685954380518 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.52, Z:-0.75 [[ 9.99925173e-01 4.53074804e-04 -1.22247293e-02 3.11743412e+01] [-4.36870157e-04 9.99999023e-01 1.32820074e-03 -2.51841905e+00] [ 1.22253192e-02 -1.32276073e-03 9.99924393e-01 -7.48457076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80486062399999 meters 0.09654691732738194 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.53, Z:-0.75 [[ 9.99900930e-01 8.46102872e-04 -1.40503892e-02 3.12303233e+01] [-8.24802685e-04 9.99998502e-01 1.52171103e-03 -2.52610084e+00] [ 1.40516557e-02 -1.50997147e-03 9.99900130e-01 -7.50157437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864860623999995 meters 0.09654432511085154 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.53, Z:-0.75 [[ 9.99925664e-01 2.08320340e-03 -1.20135687e-02 3.12904455e+01] [-2.06769147e-03 9.99997013e-01 1.30347675e-03 -2.53221712e+00] [ 1.20162482e-02 -1.27853950e-03 9.99926985e-01 -7.49096725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92486062399999 meters 0.09737287133598807 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.54, Z:-0.75 [[ 9.99935495e-01 3.05737983e-03 -1.09388338e-02 3.13494601e+01] [-3.04458187e-03 9.99994661e-01 1.18641800e-03 -2.53909381e+00] [ 1.09424028e-02 -1.15303729e-03 9.99939465e-01 -7.51285060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98486062399999 meters 0.09884702230137797 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.55, Z:-0.75 [[ 9.99915533e-01 3.00477681e-03 -1.26450806e-02 3.14063695e+01] [-2.98770236e-03 9.99994600e-01 1.36895843e-03 -2.54544814e+00] [ 1.26491257e-02 -1.33106306e-03 9.99919111e-01 -7.53858936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044860623999995 meters 0.09929770904537312 Centerline is valid? [True, True] Translation: X:31.47, Y:-2.55, Z:-0.76 [[ 9.99912191e-01 3.60184888e-03 -1.27528877e-02 3.14651890e+01] [-3.58455185e-03 9.99992625e-01 1.37892052e-03 -2.55199926e+00] [ 1.27577604e-02 -1.33308606e-03 9.99917728e-01 -7.56300078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10486062399999 meters 0.09884452073369611 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.56, Z:-0.76 [[ 9.99901132e-01 4.33614058e-03 -1.33762792e-02 3.15244018e+01] [-4.31716438e-03 9.99989634e-01 1.44719450e-03 -2.55606212e+00] [ 1.33824158e-02 -1.38930383e-03 9.99909486e-01 -7.58785088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16486062399999 meters 0.09926322439866085 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.56, Z:-0.76 [[ 9.99912972e-01 4.54882697e-03 -1.23836975e-02 3.15835091e+01] [-4.53259397e-03 9.99988832e-01 1.33858733e-03 -2.55946417e+00] [ 1.23896482e-02 -1.28234056e-03 9.99922423e-01 -7.57765997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224860623999994 meters 0.09793922664835744 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.56, Z:-0.76 [[ 9.99921930e-01 3.94418997e-03 -1.18565047e-02 3.16422117e+01] [-3.92927784e-03 9.99991460e-01 1.28074887e-03 -2.56071979e+00] [ 1.18614549e-02 -1.23406138e-03 9.99928889e-01 -7.57732174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284860624 meters 0.09901590567447287 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.57, Z:-0.76 [[ 9.99933092e-01 3.93044502e-03 -1.08795154e-02 3.17004801e+01] [-3.91789721e-03 9.99991635e-01 1.17441626e-03 -2.56798939e+00] [ 1.08840403e-02 -1.13171286e-03 9.99940127e-01 -7.59368001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34486062399999 meters 0.10224710674425606 Centerline is valid? [True, False] Translation: X:31.70, Y:-2.57, Z:-0.76 [[ 9.99936758e-01 3.30740924e-03 -1.07490288e-02 3.16998424e+01] [-3.30509147e-03 9.99994511e-01 2.33383391e-04 -2.56588806e+00] [ 1.07497417e-02 -1.97842108e-04 9.99942200e-01 -7.58865942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404860623999994 meters 0.10048137300519916 Centerline is valid? [False, False] Translation: X:31.70, Y:-2.56, Z:-0.76 [[ 9.99936239e-01 3.21884610e-03 -1.08238935e-02 3.17000858e+01] [-3.21907641e-03 9.99994819e-01 -3.85572460e-06 -2.56486790e+00] [ 1.08238250e-02 3.86984190e-05 9.99941420e-01 -7.58980928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464860623999996 meters 0.10650128096457975 Centerline is valid? [False, False] Translation: X:31.70, Y:-2.56, Z:-0.76 [[ 9.99937945e-01 3.06964447e-03 -1.07090267e-02 3.16996598e+01] [-3.07124444e-03 9.99995275e-01 -1.32962014e-04 -2.56466840e+00] [ 1.07085679e-02 1.65843801e-04 9.99942648e-01 -7.58708705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52486062399999 meters 0.0958250901718736 Centerline is valid? [False, True] Translation: X:31.70, Y:-2.56, Z:-0.76 [[ 9.99942665e-01 2.73927468e-03 -1.03519216e-02 3.16987023e+01] [-2.74265368e-03 9.99996190e-01 -3.12231278e-04 -2.56474672e+00] [ 1.03510269e-02 3.40605112e-04 9.99946369e-01 -7.58375112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584860623999994 meters 0.09871780422310218 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.58, Z:-0.76 [[ 9.99944346e-01 1.56937943e-03 -1.04327000e-02 3.17565774e+01] [-1.55768499e-03 9.99998150e-01 1.12897192e-03 -2.57711868e+00] [ 1.04344525e-02 -1.11265823e-03 9.99944941e-01 -7.61821940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644860623999996 meters 0.11647303989072538 Centerline is valid? [True, False] Translation: X:31.76, Y:-2.58, Z:-0.76 [[ 9.99950837e-01 1.32118065e-03 -9.82743344e-03 3.17555695e+01] [-1.30790494e-03 9.99998224e-01 1.35718696e-03 -2.57832967e+00] [ 9.82920907e-03 -1.34426689e-03 9.99950789e-01 -7.62147849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70486062399999 meters 0.10364084723437852 Centerline is valid? [False, False] Translation: X:31.76, Y:-2.58, Z:-0.76 [[ 9.99953498e-01 9.70152667e-04 -9.59480771e-03 3.17550347e+01] [-9.60404754e-04 9.99999018e-01 1.02051253e-03 -2.57750869e+00] [ 9.59578834e-03 -1.01125018e-03 9.99953448e-01 -7.62048328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76486062399999 meters 0.09964331848359517 Centerline is valid? [False, True] Translation: X:31.75, Y:-2.58, Z:-0.76 [[ 9.99955042e-01 5.35070788e-04 -9.46722497e-03 3.17546940e+01] [-5.31808860e-04 9.99999798e-01 3.47063593e-04 -2.57560462e+00] [ 9.46740877e-03 -3.42013235e-04 9.99955125e-01 -7.61942366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824860623999996 meters 0.09809092188180105 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99964767e-01 1.54793509e-03 -8.25041747e-03 3.18145838e+01] [-1.54027433e-03 9.99998377e-01 9.34804047e-04 -2.57729498e+00] [ 8.25185109e-03 -9.22063204e-04 9.99965528e-01 -7.61211966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88486062399999 meters 0.10436926988243288 Centerline is valid? [True, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99964099e-01 1.38723498e-03 -8.35917314e-03 3.18149881e+01] [-1.38276004e-03 9.99998898e-01 5.41087978e-04 -2.57574407e+00] [ 8.35991454e-03 -5.29509822e-04 9.99964915e-01 -7.61474622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94486062399999 meters 0.10540608197086945 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.58, Z:-0.76 [[ 9.99964695e-01 1.37142373e-03 -8.29026838e-03 3.18151317e+01] [-1.36705927e-03 9.99998924e-01 5.32099678e-04 -2.57537171e+00] [ 8.29098919e-03 -5.20747604e-04 9.99965494e-01 -7.61901794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004860623999996 meters 0.1039138120865488 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99966097e-01 8.07478488e-04 -8.19470484e-03 3.18144090e+01] [-8.09833755e-04 9.99999632e-01 -2.84099125e-04 -2.57376230e+00] [ 8.19447242e-03 2.90725842e-04 9.99966382e-01 -7.61147004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06486062399999 meters 0.10566367517975063 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99964257e-01 7.91414598e-04 -8.41771767e-03 3.18150103e+01] [-7.95913218e-04 9.99999542e-01 -5.31086254e-04 -2.57256349e+00] [ 8.41729350e-03 5.37767044e-04 9.99964429e-01 -7.61325594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12486062399999 meters 0.09854731072237828 Centerline is valid? [False, True] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99963542e-01 9.17955455e-04 -8.48954110e-03 3.18156332e+01] [-9.22198459e-04 9.99999452e-01 -4.95890905e-04 -2.57212165e+00] [ 8.48908124e-03 5.03701867e-04 9.99963840e-01 -7.62058276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184860623999995 meters 0.10622847098829184 Centerline is valid? [True, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99961714e-01 9.33171137e-04 -8.70055478e-03 3.18161677e+01] [-9.39169218e-04 9.99999324e-01 -6.85330421e-04 -2.57110154e+00] [ 8.69990936e-03 6.93475476e-04 9.99961915e-01 -7.62165298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24486062399999 meters 0.10438848962543128 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99960666e-01 1.04461709e-03 -8.80767725e-03 3.18166237e+01] [-1.05049785e-03 9.99999228e-01 -6.63085284e-04 -2.57068669e+00] [ 8.80697778e-03 6.72311649e-04 9.99960992e-01 -7.62469610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30486062399999 meters 0.10239139398099542 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99964935e-01 6.98898082e-04 -8.34511516e-03 3.18155678e+01] [-7.05652028e-04 9.99999426e-01 -8.06412304e-04 -2.57078043e+00] [ 8.34454676e-03 8.12272774e-04 9.99964854e-01 -7.62318358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364860623999995 meters 0.10527623504451286 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99966496e-01 4.26764154e-04 -8.17462132e-03 3.18151457e+01] [-4.35640602e-04 9.99999317e-01 -1.08410437e-03 -2.57010072e+00] [ 8.17415309e-03 1.08762925e-03 9.99966000e-01 -7.62245016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42486062399999 meters 0.10424279896071256 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99968899e-01 4.86043573e-04 -7.87180354e-03 3.18150008e+01] [-4.91472659e-04 9.99999643e-01 -6.87767968e-04 -2.57092530e+00] [ 7.87146645e-03 6.91615354e-04 9.99968780e-01 -7.62963859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48486062399999 meters 0.10610492207192336 Centerline is valid? [False, False] Translation: X:31.82, Y:-2.57, Z:-0.76 [[ 9.99968594e-01 8.91868792e-04 -7.87505012e-03 3.18156530e+01] [-8.92232362e-04 9.99999601e-01 -4.26541465e-05 -2.57198986e+00] [ 7.87500894e-03 4.96791814e-05 9.99968990e-01 -7.63898256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544860623999995 meters 0.10726123487608484 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99971702e-01 4.75210433e-04 -7.50793206e-03 3.18145968e+01] [-4.77553301e-04 9.99999838e-01 -3.10262638e-04 -2.57175513e+00] [ 7.50778340e-03 3.13839296e-04 9.99971767e-01 -7.63495016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60486062399999 meters 0.10232601184129284 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99972509e-01 4.89884434e-04 -7.39879013e-03 3.18144413e+01] [-4.91515370e-04 9.99999855e-01 -2.18616014e-04 -2.57192316e+00] [ 7.39868196e-03 2.22246623e-04 9.99972605e-01 -7.63576455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66486062399999 meters 0.10938077819979351 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99972980e-01 5.59152849e-04 -7.32988573e-03 3.18142392e+01] [-5.59573553e-04 9.99999842e-01 -5.53450035e-05 -2.57261320e+00] [ 7.32985363e-03 5.94451182e-05 9.99973134e-01 -7.63448533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724860623999994 meters 0.10453942513333249 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99972747e-01 6.71909920e-04 -7.35215447e-03 3.18143653e+01] [-6.70908583e-04 9.99999765e-01 1.38661842e-04 -2.57301704e+00] [ 7.35224591e-03 -1.33725440e-04 9.99972963e-01 -7.63541425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78486062399999 meters 0.10567130831818274 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99973303e-01 6.97884983e-04 -7.27365462e-03 3.18144560e+01] [-6.96294306e-04 9.99999733e-01 2.21220287e-04 -2.57295467e+00] [ 7.27380706e-03 -2.16149777e-04 9.99973522e-01 -7.63880225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84486062399999 meters 0.10389063694931874 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99973127e-01 8.75398480e-04 -7.27872371e-03 3.18146319e+01] [-8.71877327e-04 9.99999501e-01 4.86918784e-04 -2.57345466e+00] [ 7.27914632e-03 -4.80559544e-04 9.99973391e-01 -7.64109247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904860623999994 meters 0.10233810669227567 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99973629e-01 8.70589258e-04 -7.21000825e-03 3.18145574e+01] [-8.66799225e-04 9.99999485e-01 5.28770956e-04 -2.57343646e+00] [ 7.21046487e-03 -5.22507382e-04 9.99973868e-01 -7.64212636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964860623999996 meters 0.10834931829335104 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.57, Z:-0.76 [[ 9.99974834e-01 8.50531702e-04 -7.04328853e-03 3.18142452e+01] [-8.45609972e-04 9.99999396e-01 7.01731439e-04 -2.57413439e+00] [ 7.04388112e-03 -6.95757904e-04 9.99974950e-01 -7.64287550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024860624 meters 0.10409433140994753 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99975684e-01 1.12245466e-03 -6.88275243e-03 3.18144042e+01] [-1.11355894e-03 9.99998540e-01 1.29616151e-03 -2.57556383e+00] [ 6.88419726e-03 -1.28846564e-03 9.99975474e-01 -7.64964907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08486062399999 meters 0.10613889234009682 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99978920e-01 9.32838001e-04 -6.42568127e-03 3.18131988e+01] [-9.22955242e-04 9.99998387e-01 1.54080321e-03 -2.57727399e+00] [ 6.42710822e-03 -1.53484011e-03 9.99978168e-01 -7.64532669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14486062399999 meters 0.11095626918666703 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99980179e-01 9.42028767e-04 -6.22529525e-03 3.18127387e+01] [-9.31065618e-04 9.99998011e-01 1.76372843e-03 -2.57823204e+00] [ 6.22694435e-03 -1.75789731e-03 9.99979067e-01 -7.64448837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20486062399999 meters 0.10970292035113463 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99982985e-01 9.00157619e-04 -5.76362134e-03 3.18113433e+01] [-8.87279853e-04 9.99997105e-01 2.23648579e-03 -2.58102192e+00] [ 5.76561785e-03 -2.23133380e-03 9.99980889e-01 -7.63709093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264860624 meters 0.11188104443659216 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99983815e-01 1.04093001e-03 -5.59334955e-03 3.18108341e+01] [-1.02574154e-03 9.99995781e-01 2.71763441e-03 -2.58302838e+00] [ 5.59615482e-03 -2.71185310e-03 9.99980664e-01 -7.63472515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324860624 meters 0.10654500580481999 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.58, Z:-0.76 [[ 9.99978367e-01 -2.70908333e-03 -5.99390752e-03 3.18117706e+01] [ 2.70366213e-03 9.99995929e-01 -9.12371149e-04 -2.58419400e+00] [ 5.99635481e-03 8.96145911e-04 9.99981620e-01 -7.63603758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384860624 meters 0.11571566297719586 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99979569e-01 -2.09034768e-03 -6.04078214e-03 3.18121588e+01] [ 2.09094934e-03 9.99997810e-01 9.32853740e-05 -2.58686724e+00] [ 6.04057391e-03 -1.05914438e-04 9.99981750e-01 -7.64015556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44486062399999 meters 0.10483444131027203 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99979332e-01 -1.62496359e-03 -6.22055429e-03 3.18129295e+01] [ 1.62923076e-03 9.99998441e-01 6.80972935e-04 -2.58788261e+00] [ 6.21943803e-03 -6.91093579e-04 9.99980420e-01 -7.64576103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50486062399999 meters 0.10439368920779707 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99977986e-01 -1.65480535e-03 -6.42568353e-03 3.18129611e+01] [ 1.65790691e-03 9.99998512e-01 4.77384845e-04 -2.58753004e+00] [ 6.42488399e-03 -4.88027521e-04 9.99979241e-01 -7.64019647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56486062399999 meters 0.10351192477782471 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99977994e-01 -1.53210257e-03 -6.45483561e-03 3.18130265e+01] [ 1.53633836e-03 9.99998608e-01 6.51312021e-04 -2.58804691e+00] [ 6.45382874e-03 -6.61214499e-04 9.99978955e-01 -7.64029423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624860624 meters 0.104385065275212 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99977904e-01 -1.35636326e-03 -6.50787819e-03 3.18130844e+01] [ 1.36217689e-03 9.99998677e-01 8.88972977e-04 -2.58876659e+00] [ 6.50666382e-03 -8.97818215e-04 9.99978428e-01 -7.63979478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684860624 meters 0.10344842608322756 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99977409e-01 -1.00891929e-03 -6.64561777e-03 3.18136424e+01] [ 1.01813189e-03 9.99998525e-01 1.38303018e-03 -2.58960332e+00] [ 6.64421260e-03 -1.38976505e-03 9.99976961e-01 -7.64360003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744860624 meters 0.10594741459047699 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99978768e-01 -7.92163307e-04 -6.46802755e-03 3.18131267e+01] [ 8.05199800e-04 9.99997649e-01 2.01317307e-03 -2.59217774e+00] [ 6.46641759e-03 -2.01833838e-03 9.99977056e-01 -7.64107332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804860624 meters 0.10700888761984914 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.59, Z:-0.76 [[ 9.99980746e-01 -7.35099577e-04 -6.16181543e-03 3.18124100e+01] [ 7.50381501e-04 9.99996648e-01 2.47815602e-03 -2.59405041e+00] [ 6.15997308e-03 -2.48273202e-03 9.99977945e-01 -7.63955881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86486062399999 meters 0.10609315918776686 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99982734e-01 -6.75703062e-04 -5.83739483e-03 3.18117912e+01] [ 6.93494930e-04 9.99995119e-01 3.04642605e-03 -2.59597026e+00] [ 5.83530786e-03 -3.05042165e-03 9.99978322e-01 -7.63989192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92486062399999 meters 0.10323908177662126 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99983730e-01 -4.92980978e-04 -5.68297837e-03 3.18114354e+01] [ 5.13110062e-04 9.99993599e-01 3.54108175e-03 -2.59776910e+00] [ 5.68119630e-03 -3.54394013e-03 9.99977582e-01 -7.63914627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98486062399999 meters 0.11386328880132467 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99974867e-01 -4.00559081e-03 -5.84979384e-03 3.18120718e+01] [ 4.00858816e-03 9.99991840e-01 5.00752047e-04 -2.60058117e+00] [ 5.84774030e-03 -5.24188876e-04 9.99982764e-01 -7.64262894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044860624 meters 0.1068667616117482 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99977528e-01 -3.99085984e-03 -5.38671159e-03 3.18107647e+01] [ 3.99747671e-03 9.99991268e-01 1.21816127e-03 -2.60348567e+00] [ 5.38180305e-03 -1.23966715e-03 9.99984750e-01 -7.63642269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104860624 meters 0.10599142076346489 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99978528e-01 -3.79434515e-03 -5.34287718e-03 3.18106492e+01] [ 3.80324048e-03 9.99991397e-01 1.65571989e-03 -2.60483239e+00] [ 5.33654884e-03 -1.67600458e-03 9.99984356e-01 -7.63620065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164860624 meters 0.1072854228801259 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.61, Z:-0.76 [[ 9.99979936e-01 -3.42149130e-03 -5.33106086e-03 3.18106444e+01] [ 3.43387782e-03 9.99991422e-01 2.31604461e-03 -2.60690090e+00] [ 5.32309081e-03 -2.33430436e-03 9.99983108e-01 -7.63641744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22486062399999 meters 0.1099658971528717 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.61, Z:-0.76 [[ 9.99978097e-01 -3.34360064e-03 -5.71194442e-03 3.18113786e+01] [ 3.35599224e-03 9.99992033e-01 2.16121250e-03 -2.60598706e+00] [ 5.70467268e-03 -2.18033441e-03 9.99981351e-01 -7.63600735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28486062399999 meters 0.10828904262829524 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99975040e-01 -3.08585662e-03 -6.35578406e-03 3.18125862e+01] [ 3.09572468e-03 9.99994017e-01 1.54335846e-03 -2.60282548e+00] [ 6.35098345e-03 -1.56299570e-03 9.99978611e-01 -7.63464261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34486062399999 meters 0.10494975893272813 Centerline is valid? [False, False] Translation: X:31.81, Y:-2.60, Z:-0.76 [[ 9.99972286e-01 -2.53100453e-03 -7.00144888e-03 3.18144812e+01] [ 2.54271433e-03 9.99995383e-01 1.66408753e-03 -2.60161554e+00] [ 6.99720474e-03 -1.68184410e-03 9.99974105e-01 -7.64391997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404860624 meters 0.09853040880069455 Centerline is valid? [False, True] Translation: X:31.82, Y:-2.60, Z:-0.77 [[ 9.99968211e-01 -2.19382943e-03 -7.66583757e-03 3.18162125e+01] [ 2.20457523e-03 9.99996599e-01 1.39360847e-03 -2.59946723e+00] [ 7.66275416e-03 -1.41046408e-03 9.99969646e-01 -7.65001602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464860624 meters 0.09928260573222628 Centerline is valid? [True, True] Translation: X:31.88, Y:-2.61, Z:-0.77 [[ 9.99965037e-01 -9.60936745e-04 -8.30669671e-03 3.18754008e+01] [ 9.68648974e-04 9.99999104e-01 9.24461740e-04 -2.60592534e+00] [ 8.30580091e-03 -9.32475691e-04 9.99965071e-01 -7.66730827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524860624 meters 0.09914295033913874 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.61, Z:-0.77 [[ 9.99974297e-01 -7.03992817e-04 -7.13516590e-03 3.19341807e+01] [ 7.09632403e-04 9.99999438e-01 7.87892269e-04 -2.61169007e+00] [ 7.13460722e-03 -7.92935363e-04 9.99974234e-01 -7.67927210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58486062399999 meters 0.0989206491557466 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.62, Z:-0.77 [[ 9.99974134e-01 -1.68797265e-03 -6.99152997e-03 3.19935061e+01] [ 1.69344022e-03 9.99998265e-01 7.76180560e-04 -2.61917833e+00] [ 6.99020767e-03 -7.88000221e-04 9.99975258e-01 -7.70463685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64486062399999 meters 0.0991692802854616 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.63, Z:-0.77 [[ 9.99972334e-01 -3.29372204e-03 -6.66955359e-03 3.20537968e+01] [ 3.29873806e-03 9.99994284e-01 7.41216225e-04 -2.62523591e+00] [ 6.66707411e-03 -7.63196828e-04 9.99977484e-01 -7.70909090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70486062399999 meters 0.10051243939340032 Centerline is valid? [True, False] Translation: X:32.05, Y:-2.62, Z:-0.77 [[ 9.99972318e-01 -3.55431290e-03 -6.53678345e-03 3.20533939e+01] [ 3.55760000e-03 9.99993551e-01 4.91303579e-04 -2.62462263e+00] [ 6.53499505e-03 -5.14545240e-04 9.99978514e-01 -7.70729246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764860624 meters 0.10569805101757335 Centerline is valid? [False, False] Translation: X:32.05, Y:-2.63, Z:-0.77 [[ 9.99976138e-01 -3.49590348e-03 -5.95828804e-03 3.20525474e+01] [ 3.50353289e-03 9.99993056e-01 1.27051330e-03 -2.62731188e+00] [ 5.95380507e-03 -1.29135804e-03 9.99981442e-01 -7.71138100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824860624 meters 0.10555841617076185 Centerline is valid? [False, False] Translation: X:32.05, Y:-2.63, Z:-0.77 [[ 9.99976964e-01 -3.43460622e-03 -5.85452337e-03 3.20525243e+01] [ 3.44315813e-03 9.99993019e-01 1.45128237e-03 -2.62763395e+00] [ 5.84949792e-03 -1.47140699e-03 9.99981809e-01 -7.71392479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884860624 meters 0.11123911364302883 Centerline is valid? [False, False] Translation: X:32.05, Y:-2.63, Z:-0.77 [[ 9.99976153e-01 -3.81812491e-03 -5.75467007e-03 3.20521929e+01] [ 3.82399904e-03 9.99992178e-01 1.01010124e-03 -2.62631512e+00] [ 5.75076837e-03 -1.03208300e-03 9.99982932e-01 -7.71215166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94486062399999 meters 0.113324671099139 Centerline is valid? [False, False] Translation: X:32.05, Y:-2.63, Z:-0.77 [[ 9.99976178e-01 -3.80109881e-03 -5.76151681e-03 3.20525836e+01] [ 3.80698076e-03 9.99992243e-01 1.01027851e-03 -2.62586311e+00] [ 5.75763195e-03 -1.03218843e-03 9.99982892e-01 -7.71745969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00486062399999 meters 0.10900150511640866 Centerline is valid? [False, False] Translation: X:32.05, Y:-2.62, Z:-0.77 [[ 9.99973989e-01 -3.53074811e-03 -6.28921214e-03 3.20541745e+01] [ 3.53524270e-03 9.99993503e-01 7.03676572e-04 -2.62355123e+00] [ 6.28668678e-03 -7.25892160e-04 9.99979975e-01 -7.72579216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06486062399999 meters 0.10867502677182089 Centerline is valid? [False, False] Translation: X:32.06, Y:-2.62, Z:-0.77 [[ 9.99970378e-01 -3.35623442e-03 -6.92674441e-03 3.20556605e+01] [ 3.35790311e-03 9.99994336e-01 2.29290732e-04 -2.62073357e+00] [ 6.92593562e-03 -2.52543277e-04 9.99975984e-01 -7.72889810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124860624 meters 0.10315486396556538 Centerline is valid? [False, False] Translation: X:32.06, Y:-2.62, Z:-0.77 [[ 9.99976167e-01 7.20710257e-04 -6.86635907e-03 3.20554715e+01] [-6.93242300e-04 9.99991752e-01 4.00190762e-03 -2.61936740e+00] [ 6.86918665e-03 -3.99705219e-03 9.99968418e-01 -7.72826407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184860624 meters 0.1038647971204974 Centerline is valid? [False, False] Translation: X:32.06, Y:-2.62, Z:-0.77 [[ 9.99973487e-01 8.30854988e-04 -7.23432093e-03 3.20565812e+01] [-8.05027192e-04 9.99993295e-01 3.57235580e-03 -2.61756876e+00] [ 7.23724053e-03 -3.56643726e-03 9.99967451e-01 -7.73427501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244860624 meters 0.09662608164887788 Centerline is valid? [False, True] Translation: X:32.06, Y:-2.61, Z:-0.77 [[ 9.99970548e-01 1.26759619e-03 -7.56945544e-03 3.20577858e+01] [-1.24598487e-03 9.99995137e-01 2.85910299e-03 -2.61319887e+00] [ 7.57304281e-03 -2.84958736e-03 9.99967264e-01 -7.73954494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30486062399999 meters 0.09331329112110884 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.61, Z:-0.77 [[ 9.99955602e-01 7.18356154e-03 -6.09842032e-03 3.21189413e+01] [-7.17971919e-03 9.99974013e-01 6.51715904e-04 -2.61014063e+00] [ 6.10294349e-03 -6.07902023e-04 9.99981192e-01 -7.73611177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36486062399999 meters 0.09449007823827797 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.62, Z:-0.78 [[ 9.99941179e-01 9.19854372e-03 -5.74682106e-03 3.21771565e+01] [-9.19516964e-03 9.99957535e-01 6.13268527e-04 -2.61802397e+00] [ 5.75221820e-03 -5.60389459e-04 9.99983299e-01 -7.76020391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42486062399999 meters 0.09817480458263192 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.63, Z:-0.78 [[ 9.99956181e-01 8.04491604e-03 -4.78705550e-03 3.22349562e+01] [-8.04256482e-03 9.99967528e-01 5.10209236e-04 -2.62991635e+00] [ 4.79100465e-03 -4.71686675e-04 9.99988412e-01 -7.78987705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48486062399999 meters 0.0953322231714095 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99968791e-01 6.26146877e-03 -4.81768099e-03 3.22958158e+01] [-6.25906248e-03 9.99980280e-01 5.14386235e-04 -2.63012562e+00] [ 4.82080680e-03 -4.84216016e-04 9.99988263e-01 -7.79750547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544860624 meters 0.10392816745195292 Centerline is valid? [True, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99982747e-01 2.34467711e-03 -5.38597349e-03 3.22975595e+01] [-2.36467848e-03 9.99990321e-01 -3.71024134e-03 -2.62867024e+00] [ 5.37722204e-03 3.72291342e-03 9.99978612e-01 -7.80681202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604860624 meters 0.09754678203532081 Centerline is valid? [False, True] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99984461e-01 2.06383842e-03 -5.17858539e-03 3.22973438e+01] [-2.08438649e-03 9.99989964e-01 -3.96563875e-03 -2.62773893e+00] [ 5.17034898e-03 3.97637131e-03 9.99978728e-01 -7.81001554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664860624 meters 0.10122756979350438 Centerline is valid? [True, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99985716e-01 1.69744258e-03 -5.06827401e-03 3.22971436e+01] [-1.71977986e-03 9.99988814e-01 -4.40617456e-03 -2.62619375e+00] [ 5.06073809e-03 4.41482794e-03 9.99977449e-01 -7.81072797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72486062399999 meters 0.10203025569209935 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99985970e-01 1.61230606e-03 -5.04576134e-03 3.22971285e+01] [-1.63512482e-03 9.99988441e-01 -4.52151035e-03 -2.62568599e+00] [ 5.03841296e-03 4.52969736e-03 9.99977048e-01 -7.81129486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78486062399999 meters 0.1074218233786759 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99987900e-01 1.28789742e-03 -4.74771002e-03 3.22964556e+01] [-1.31041273e-03 9.99987897e-01 -4.74229620e-03 -2.62532879e+00] [ 4.74154497e-03 4.74846027e-03 9.99977485e-01 -7.81047295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84486062399999 meters 0.103956311323222 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.78 [[ 9.99988517e-01 1.21105542e-03 -4.63662053e-03 3.22965713e+01] [-1.23290111e-03 9.99988140e-01 -4.71160085e-03 -2.62482486e+00] [ 4.63085953e-03 4.71726325e-03 9.99978151e-01 -7.81553868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904860624 meters 0.1054987870465294 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.78 [[ 9.99988613e-01 1.27154547e-03 -4.59969596e-03 3.22967581e+01] [-1.29253512e-03 9.99988753e-01 -4.56317828e-03 -2.62488704e+00] [ 4.59384194e-03 4.56907159e-03 9.99979010e-01 -7.81940432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964860624 meters 0.11219780933577399 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99989531e-01 1.41816325e-03 -4.35050648e-03 3.22967411e+01] [-1.43598271e-03 9.99990582e-01 -4.09556482e-03 -2.62589292e+00] [ 4.34465733e-03 4.10176920e-03 9.99982150e-01 -7.82676363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024860624 meters 0.1130207895786616 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99989329e-01 1.57076362e-03 -4.34448714e-03 3.22971881e+01] [-1.58743823e-03 9.99991377e-01 -3.83732631e-03 -2.62604429e+00] [ 4.33842214e-03 3.84418196e-03 9.99983200e-01 -7.83336675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08486062399999 meters 0.10978187550098183 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.78 [[ 9.99988972e-01 1.55723874e-03 -4.43060572e-03 3.22976495e+01] [-1.57464288e-03 9.99991048e-01 -3.92739033e-03 -2.62511805e+00] [ 4.42445017e-03 3.93432364e-03 9.99982473e-01 -7.83736045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14486062399999 meters 0.1071789041877829 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.78 [[ 9.99988333e-01 1.67502897e-03 -4.53075056e-03 3.22982577e+01] [-1.69276994e-03 9.99990905e-01 -3.91468277e-03 -2.62442561e+00] [ 4.52415215e-03 3.92230662e-03 9.99982074e-01 -7.84308441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20486062399999 meters 0.10880615070140073 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.78 [[ 9.99987558e-01 1.71213447e-03 -4.68541693e-03 3.22988653e+01] [-1.73115371e-03 9.99990267e-01 -4.05820224e-03 -2.62333896e+00] [ 4.67842314e-03 4.06626292e-03 9.99980789e-01 -7.84701975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264860624 meters 0.11017502452474999 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.78 [[ 9.99988205e-01 1.70457227e-03 -4.54807756e-03 3.22987124e+01] [-1.72254707e-03 9.99990710e-01 -3.95119002e-03 -2.62348049e+00] [ 4.54130022e-03 3.95897769e-03 9.99981851e-01 -7.84901131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324860624 meters 0.10740258602417686 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99987338e-01 2.28889280e-03 -4.48150674e-03 3.22993600e+01] [-2.30223297e-03 9.99992928e-01 -2.97382336e-03 -2.62547359e+00] [ 4.47466828e-03 2.98410318e-03 9.99985536e-01 -7.86094889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384860624 meters 0.1140855054676608 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99986646e-01 2.46397279e-03 -4.54278081e-03 3.22997097e+01] [-2.47625585e-03 9.99993288e-01 -2.70022367e-03 -2.62581822e+00] [ 4.53609704e-03 2.71143670e-03 9.99986036e-01 -7.86427558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44486062399999 meters 0.10835143799137148 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99986575e-01 2.56021893e-03 -4.50500986e-03 3.22994874e+01] [-2.57120361e-03 9.99993732e-01 -2.43422587e-03 -2.62678587e+00] [ 4.49874947e-03 2.44577649e-03 9.99986890e-01 -7.86227230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50486062399999 meters 0.1099922722502544 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99986284e-01 2.82331969e-03 -4.41139429e-03 3.22995325e+01] [-2.83176185e-03 9.99994169e-01 -1.90864481e-03 -2.62821588e+00] [ 4.40597985e-03 1.92111065e-03 9.99988448e-01 -7.86567306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56486062399999 meters 0.11150037312003565 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99985632e-01 3.11020219e-03 -4.36597584e-03 3.22995357e+01] [-3.11616817e-03 9.99994219e-01 -1.36033456e-03 -2.62980726e+00] [ 4.36171969e-03 1.37392013e-03 9.99989544e-01 -7.86700561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624860624 meters 0.10794382364880015 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99986160e-01 3.07321182e-03 -4.27030188e-03 3.22991303e+01] [-3.07897696e-03 9.99994357e-01 -1.34413590e-03 -2.63018674e+00] [ 4.26614697e-03 1.35726546e-03 9.99989979e-01 -7.86386094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684860624 meters 0.10812573481019132 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99983512e-01 3.47306984e-03 -4.57318831e-03 3.23003363e+01] [-3.47784617e-03 9.99993415e-01 -1.03688162e-03 -2.63009350e+00] [ 4.56955703e-03 1.05276937e-03 9.99989005e-01 -7.87233654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744860624 meters 0.10836991670636024 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99983002e-01 3.45415746e-03 -4.69718379e-03 3.23005297e+01] [-3.45961496e-03 9.99993349e-01 -1.15423986e-03 -2.62988297e+00] [ 4.69316563e-03 1.17047069e-03 9.99988302e-01 -7.87136930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80486062399999 meters 0.10694511446859455 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99980680e-01 3.53719714e-03 -5.11148993e-03 3.23014549e+01] [-3.54477999e-03 9.99992629e-01 -1.47519430e-03 -2.62834968e+00] [ 5.10623420e-03 1.49328491e-03 9.99985848e-01 -7.87279516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86486062399999 meters 0.10252579497250427 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99980402e-01 3.45514348e-03 -5.22096179e-03 3.23015702e+01] [-3.46428026e-03 9.99992482e-01 -1.74198965e-03 -2.62769399e+00] [ 5.21490371e-03 1.76004238e-03 9.99984853e-01 -7.87130113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92486062399999 meters 0.10091846687527332 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99979744e-01 3.36400495e-03 -5.40331834e-03 3.23020027e+01] [-3.37577115e-03 9.99991948e-01 -2.16994490e-03 -2.62611016e+00] [ 5.39597513e-03 2.18814131e-03 9.99983048e-01 -7.87211356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98486062399999 meters 0.10178290856332528 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99977486e-01 3.41183978e-03 -5.77812922e-03 3.23028504e+01] [-3.42656222e-03 9.99990904e-01 -2.53997906e-03 -2.62425135e+00] [ 5.76941066e-03 2.55972099e-03 9.99980081e-01 -7.87332755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044860624 meters 0.1032371952236953 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99976692e-01 3.54214837e-03 -5.83676177e-03 3.23032109e+01] [-3.55647499e-03 9.99990684e-01 -2.44600042e-03 -2.62414105e+00] [ 5.82804330e-03 2.46670170e-03 9.99979974e-01 -7.87684100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104860624 meters 0.1042542754305364 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99978423e-01 3.23171931e-03 -5.71927659e-03 3.23028341e+01] [-3.24773907e-03 9.99990823e-01 -2.79394465e-03 -2.62317023e+00] [ 5.71019486e-03 2.81245908e-03 9.99979742e-01 -7.87522815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164860624 meters 0.1052436688986058 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99978204e-01 3.40995080e-03 -5.65360833e-03 3.23031747e+01] [-3.42346476e-03 9.99991302e-01 -2.38237222e-03 -2.62365733e+00] [ 5.64543538e-03 2.40167522e-03 9.99981180e-01 -7.88221393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22486062399999 meters 0.11012076334937451 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99982998e-01 3.18733268e-03 -4.88303550e-03 3.23019100e+01] [-3.19591818e-03 9.99993359e-01 -1.75143642e-03 -2.62639586e+00] [ 4.87742066e-03 1.76701242e-03 9.99986544e-01 -7.88676527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28486062399999 meters 0.10735828241755396 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99986079e-01 2.98468453e-03 -4.35118999e-03 3.23009511e+01] [-2.99098016e-03 9.99994489e-01 -1.44108634e-03 -2.62752228e+00] [ 4.34686482e-03 1.45408060e-03 9.99989495e-01 -7.88851861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34486062399999 meters 0.11177561607087784 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99989850e-01 2.38280758e-03 -3.82391979e-03 3.22993866e+01] [-2.38954052e-03 9.99995601e-01 -1.75714175e-03 -2.62755670e+00] [ 3.81971604e-03 1.76626133e-03 9.99991145e-01 -7.88166395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404860624 meters 0.1091269880159757 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99992603e-01 2.12902973e-03 -3.20316746e-03 3.22979743e+01] [-2.13364704e-03 9.99996689e-01 -1.43875607e-03 -2.62964421e+00] [ 3.20009370e-03 1.44557986e-03 9.99993835e-01 -7.87855005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464860624 meters 0.11082314342808494 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99993784e-01 1.94520773e-03 -2.94079698e-03 3.22976379e+01] [-1.94949529e-03 9.99997040e-01 -1.45579402e-03 -2.62938129e+00] [ 2.93795646e-03 1.46151804e-03 9.99994616e-01 -7.88179499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524860624 meters 0.10925798621409925 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.63, Z:-0.79 [[ 9.99991442e-01 2.10631289e-03 -3.56082608e-03 3.22994456e+01] [-2.11275108e-03 9.99996139e-01 -1.80526776e-03 -2.62643929e+00] [ 3.55700987e-03 1.81277545e-03 9.99992031e-01 -7.89013858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58486062399999 meters 0.10709081988240583 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99986381e-01 2.63317589e-03 -4.50595670e-03 3.23016881e+01] [-2.64280600e-03 9.99994234e-01 -2.13257615e-03 -2.62331642e+00] [ 4.50031527e-03 2.14445548e-03 9.99987574e-01 -7.89522173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64486062399999 meters 0.10616740667492408 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99967034e-01 6.75734493e-03 -4.50204419e-03 3.23020858e+01] [-6.74969431e-03 9.99975754e-01 1.71239694e-03 -2.62146300e+00] [ 4.51350629e-03 -1.68195307e-03 9.99988400e-01 -7.90048755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70486062399999 meters 0.10616788107910599 Centerline is valid? [False, False] Translation: X:32.30, Y:-2.62, Z:-0.79 [[ 9.99923367e-01 1.12513100e-02 -5.16409754e-03 3.23040578e+01] [-1.12247684e-02 9.99923789e-01 5.14017528e-03 -2.61759831e+00] [ 5.22153769e-03 -5.08181557e-03 9.99973455e-01 -7.90858273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764860624 meters 0.10284815226016052 Centerline is valid? [False, False] Translation: X:32.31, Y:-2.61, Z:-0.79 [[ 9.99920398e-01 1.11794062e-02 -5.84959848e-03 3.23053009e+01] [-1.11561585e-02 9.99929800e-01 3.99188242e-03 -2.61364818e+00] [ 5.89381471e-03 -3.92630562e-03 9.99974923e-01 -7.90645900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824860624 meters 0.09595935674993038 Centerline is valid? [False, True] Translation: X:32.31, Y:-2.61, Z:-0.79 [[ 9.99915022e-01 1.12802017e-02 -6.53503825e-03 3.23068361e+01] [-1.12613408e-02 9.99932338e-01 2.91576614e-03 -2.60911213e+00] [ 6.56748651e-03 -2.84192507e-03 9.99974395e-01 -7.90819821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884860624 meters 0.09652142091354483 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.61, Z:-0.79 [[ 9.99896134e-01 1.31159387e-02 -5.97443433e-03 3.23664867e+01] [-1.31123255e-02 9.99913823e-01 6.43533192e-04 -2.61423633e+00] [ 5.98236001e-03 -5.65127623e-04 9.99981946e-01 -7.91083274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94486062399999 meters 0.09689122248432964 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.62, Z:-0.79 [[ 9.99893961e-01 1.19722723e-02 -8.29042300e-03 3.24256273e+01] [-1.19652812e-02 9.99928015e-01 8.92358854e-04 -2.61962210e+00] [ 8.30050978e-03 -7.93066987e-04 9.99965236e-01 -7.92741838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00486062399999 meters 0.09849538551625057 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.63, Z:-0.79 [[ 9.99913102e-01 1.00189584e-02 -8.56795410e-03 3.24848113e+01] [-1.00114190e-02 9.99949459e-01 9.22393290e-04 -2.62779545e+00] [ 8.57676249e-03 -8.36535757e-04 9.99962869e-01 -7.94646358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06486062399999 meters 0.10191461368322913 Centerline is valid? [True, False] Translation: X:32.49, Y:-2.63, Z:-0.80 [[ 9.99946517e-01 5.63159550e-03 -8.67460320e-03 3.24853649e+01] [-5.66168476e-03 9.99978028e-01 -3.44801822e-03 -2.62655082e+00] [ 8.65499475e-03 3.49694668e-03 9.99956430e-01 -7.95250393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124860624 meters 0.10310812618448896 Centerline is valid? [False, False] Translation: X:32.48, Y:-2.63, Z:-0.80 [[ 9.99952904e-01 5.25567034e-03 -8.15889620e-03 3.24842995e+01] [-5.28476382e-03 9.99979740e-01 -3.54840549e-03 -2.62668845e+00] [ 8.14008165e-03 3.59135621e-03 9.99960420e-01 -7.95317039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184860624 meters 0.10366144940613627 Centerline is valid? [False, False] Translation: X:32.48, Y:-2.62, Z:-0.80 [[ 9.99956537e-01 4.72295967e-03 -8.03850855e-03 3.24840683e+01] [-4.75688411e-03 9.99979839e-01 -4.20636595e-03 -2.62426061e+00] [ 8.01847999e-03 4.24442138e-03 9.99958844e-01 -7.95463884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244860624 meters 0.10468403173435763 Centerline is valid? [False, False] Translation: X:32.48, Y:-2.62, Z:-0.80 [[ 9.99954374e-01 4.66013059e-03 -8.33864944e-03 3.24847734e+01] [-4.69980933e-03 9.99977697e-01 -4.74516125e-03 -2.62211539e+00] [ 8.31635040e-03 4.78413481e-03 9.99953974e-01 -7.95559918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30486062399999 meters 0.10397190775572475 Centerline is valid? [False, False] Translation: X:32.49, Y:-2.62, Z:-0.80 [[ 9.99948964e-01 4.98530825e-03 -8.78728940e-03 3.24862633e+01] [-5.02741158e-03 9.99975958e-01 -4.77583097e-03 -2.62063459e+00] [ 8.76326914e-03 4.81976455e-03 9.99949986e-01 -7.96355356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36486062399999 meters 0.09645438529692922 Centerline is valid? [False, True] Translation: X:32.49, Y:-2.62, Z:-0.80 [[ 9.99938880e-01 5.46271708e-03 -9.61220966e-03 3.24884199e+01] [-5.51136768e-03 9.99972100e-01 -5.04214433e-03 -2.61812482e+00] [ 9.58439768e-03 5.09481257e-03 9.99941089e-01 -7.97008503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42486062399999 meters 0.10064071401728886 Centerline is valid? [True, False] Translation: X:32.49, Y:-2.62, Z:-0.80 [[ 9.99898407e-01 1.00354084e-02 -1.01225128e-02 3.24901831e+01] [-1.00484958e-02 9.99948740e-01 -1.24287096e-03 -2.61542267e+00] [ 1.01095212e-02 1.34446072e-03 9.99947994e-01 -7.97883751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48486062399999 meters 0.09005209117316845 Centerline is valid? [False, True] Translation: X:32.49, Y:-2.61, Z:-0.80 [[ 9.99836498e-01 1.46577115e-02 -1.05891172e-02 3.24921310e+01] [-1.46319174e-02 9.99889799e-01 2.50928205e-03 -2.61245311e+00] [ 1.06247306e-02 -2.35393269e-03 9.99940785e-01 -7.99201536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544860624 meters 0.08890691773981631 Centerline is valid? [True, True] Translation: X:32.55, Y:-2.61, Z:-0.80 [[ 9.99751054e-01 1.90740409e-02 -1.15763023e-02 3.25529265e+01] [-1.90625356e-02 9.99817685e-01 1.10339735e-03 -2.61118387e+00] [ 1.15952380e-02 -8.82448988e-04 9.99932384e-01 -8.00175525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604860624 meters 0.08609561472454265 Centerline is valid? [True, True] Translation: X:32.61, Y:-2.61, Z:-0.80 [[ 9.99657892e-01 2.35619486e-02 -1.13548485e-02 3.26132273e+01] [-2.35511724e-02 9.99722047e-01 1.08184376e-03 -2.60778720e+00] [ 1.13771827e-02 -8.14053657e-04 9.99934946e-01 -7.99864955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66486062399999 meters 0.08659155289772541 Centerline is valid? [True, True] Translation: X:32.67, Y:-2.61, Z:-0.80 [[ 9.99593258e-01 2.63095744e-02 -1.10057021e-02 3.26725427e+01] [-2.62996209e-02 9.99653556e-01 1.04817545e-03 -2.61251318e+00] [ 1.10294662e-02 -7.58303318e-04 9.99938886e-01 -8.01462671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72486062399999 meters 0.08425988953131443 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.61, Z:-0.80 [[ 9.99585337e-01 2.63304738e-02 -1.16558816e-02 3.27322117e+01] [-2.63193232e-02 9.99652971e-01 1.10903875e-03 -2.61035776e+00] [ 1.16810382e-02 -8.01803957e-04 9.99931453e-01 -8.01398749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78486062399999 meters 0.08767354538886082 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.62, Z:-0.80 [[ 9.99627120e-01 2.42215093e-02 -1.26071345e-02 3.27904867e+01] [-2.42082915e-02 9.99706216e-01 1.20001081e-03 -2.61968105e+00] [ 1.26324968e-02 -8.94366161e-04 9.99919807e-01 -8.04122179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84486062399999 meters 0.08718159141921172 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.62, Z:-0.80 [[ 9.99668388e-01 2.19944692e-02 -1.33924174e-02 3.28505493e+01] [-2.19793582e-02 9.99757612e-01 1.27448065e-03 -2.62242056e+00] [ 1.34172028e-02 -9.79701277e-04 9.99909505e-01 -8.04977692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904860624 meters 0.08959773809568572 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.63, Z:-0.81 [[ 9.99757270e-01 1.76169162e-02 -1.32304762e-02 3.29106504e+01] [-1.76017851e-02 9.99844284e-01 1.25924006e-03 -2.63214663e+00] [ 1.32506000e-02 -1.02605440e-03 9.99911681e-01 -8.07069214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964860624 meters 0.0923491315984744 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.64, Z:-0.81 [[ 9.99807519e-01 1.46522760e-02 -1.30474261e-02 3.29695789e+01] [-1.46373165e-02 9.99892098e-01 1.24130775e-03 -2.64173161e+00] [ 1.30642063e-02 -1.05008951e-03 9.99914108e-01 -8.08616986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024860624 meters 0.09379376779855238 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.65, Z:-0.81 [[ 9.99865402e-01 9.96085020e-03 -1.30368100e-02 3.30291979e+01] [-9.94552053e-03 9.99949773e-01 1.24018144e-03 -2.64990175e+00] [ 1.30485085e-02 -1.11035665e-03 9.99914248e-01 -8.08346048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08486062399999 meters 0.09590916034884892 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.66, Z:-0.81 [[ 9.99904960e-01 5.78911991e-03 -1.25123090e-02 3.30885047e+01] [-5.77467741e-03 9.99982618e-01 1.19008395e-03 -2.66034303e+00] [ 1.25189810e-02 -1.11771630e-03 9.99921010e-01 -8.09328902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14486062399999 meters 0.1003000119156246 Centerline is valid? [True, False] Translation: X:33.09, Y:-2.66, Z:-0.81 [[ 9.99924625e-01 4.48832786e-03 -1.14279693e-02 3.30855199e+01] [-4.48328212e-03 9.99989841e-01 4.67105844e-04 -2.66028878e+00] [ 1.14299497e-02 -4.15835825e-04 9.99934590e-01 -8.08350682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20486062399999 meters 0.10103461088891826 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99932952e-01 4.06645486e-03 -1.08422653e-02 3.30842668e+01] [-4.06182346e-03 9.99991650e-01 4.49148211e-04 -2.66066046e+00] [ 1.08440012e-02 -4.05078729e-04 9.99941120e-01 -8.08394525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264860624 meters 0.10356185968101088 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99941676e-01 -1.14224077e-04 -1.07995775e-02 3.30844563e+01] [ 7.70687216e-05 9.99994077e-01 -3.44079891e-03 -2.66152270e+00] [ 1.07999065e-02 3.43976592e-03 9.99935763e-01 -8.08884239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324860624 meters 0.10717009127671355 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99945519e-01 -1.43335750e-04 -1.04373995e-02 3.30840439e+01] [ 1.11517458e-04 9.99995346e-01 -3.04900666e-03 -2.66235736e+00] [ 1.04377879e-02 3.04767659e-03 9.99940880e-01 -8.09471682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384860624 meters 0.10883715000846009 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99948141e-01 -3.42324657e-04 -1.01783315e-02 3.30833372e+01] [ 3.11406568e-04 9.99995334e-01 -3.03906786e-03 -2.66266213e+00] [ 1.01793243e-02 3.03574066e-03 9.99943581e-01 -8.09313037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44486062399999 meters 0.1067676902038158 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99950113e-01 -2.30380580e-04 -9.98592569e-03 3.30830252e+01] [ 2.03766855e-04 9.99996425e-01 -2.66605902e-03 -2.66384088e+00] [ 9.98650420e-03 2.66389121e-03 9.99946585e-01 -8.09459387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50486062399999 meters 0.11245056967618546 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.66, Z:-0.81 [[ 9.99951514e-01 -1.96609103e-04 -9.84539704e-03 3.30826129e+01] [ 1.72800132e-04 9.99997059e-01 -2.41907671e-03 -2.66480431e+00] [ 9.84584370e-03 2.41725813e-03 9.99948607e-01 -8.09311215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56486062399999 meters 0.11051137134675054 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.67, Z:-0.81 [[ 9.99952087e-01 1.09824435e-04 -9.78837786e-03 3.30827966e+01] [-1.28084003e-04 9.99998253e-01 -1.86482618e-03 -2.66612496e+00] [ 9.78815596e-03 1.86599057e-03 9.99950354e-01 -8.09733509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624860624 meters 0.1192866682065995 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.67, Z:-0.81 [[ 9.99957192e-01 1.10965882e-04 -9.25217554e-03 3.30814671e+01] [-1.21889525e-04 9.99999296e-01 -1.18010125e-03 -2.66997730e+00] [ 9.25203807e-03 1.18117847e-03 9.99956501e-01 -8.09365853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684860624 meters 0.11244251735111908 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.67, Z:-0.81 [[ 9.99955974e-01 -1.78196828e-03 -9.21272757e-03 3.30804449e+01] [ 1.75945817e-03 9.99995449e-01 -2.45089810e-03 -2.67357844e+00] [ 9.21705306e-03 2.43458079e-03 9.99954558e-01 -8.08449075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744860624 meters 0.11363018831205869 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.68, Z:-0.81 [[ 9.99958714e-01 -1.24559431e-03 -9.00109666e-03 3.30802864e+01] [ 1.23395446e-03 9.99998396e-01 -1.29859655e-03 -2.67705016e+00] [ 9.00269974e-03 1.28743599e-03 9.99958646e-01 -8.08834765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80486062399999 meters 0.11442926198822125 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.68, Z:-0.81 [[ 9.99963673e-01 -1.26298372e-03 -8.42954924e-03 3.30784649e+01] [ 1.25857486e-03 9.99999068e-01 -5.28308518e-04 -2.68197958e+00] [ 8.43020863e-03 5.17680107e-04 9.99964331e-01 -8.07764206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86486062399999 meters 0.11566306407295085 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.69, Z:-0.81 [[ 9.99966311e-01 -1.15524670e-03 -8.12662078e-03 3.30774555e+01] [ 1.15607081e-03 9.99999327e-01 9.67115246e-05 -2.68507383e+00] [ 8.12650359e-03 -1.06103216e-04 9.99966974e-01 -8.07127778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92486062399999 meters 0.11059905075892382 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.69, Z:-0.81 [[ 9.99968581e-01 -8.60370259e-04 -7.88012225e-03 3.30767692e+01] [ 8.67933629e-04 9.99999166e-01 9.56434212e-04 -2.68866633e+00] [ 7.87929279e-03 -9.63243585e-04 9.99968494e-01 -8.06835965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98486062399999 meters 0.11235408792363485 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.69, Z:-0.81 [[ 9.99955436e-01 -4.15014346e-03 -8.47952648e-03 3.30778350e+01] [ 4.13217438e-03 9.99989182e-01 -2.13553543e-03 -2.69248233e+00] [ 8.48829753e-03 2.10040138e-03 9.99961768e-01 -8.06392797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044860624 meters 0.11309252932795516 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.70, Z:-0.81 [[ 9.99957666e-01 -3.51186313e-03 -8.50484260e-03 3.30777813e+01] [ 3.50315093e-03 9.99993324e-01 -1.03906216e-03 -2.69612961e+00] [ 8.50843487e-03 1.00922442e-03 9.99963293e-01 -8.06174989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104860624 meters 0.11500569579434188 Centerline is valid? [False, False] Translation: X:33.08, Y:-2.70, Z:-0.81 [[ 9.99961630e-01 -2.69868648e-03 -8.33404302e-03 3.30773093e+01] [ 2.70367621e-03 9.99996172e-01 5.87509106e-04 -2.70234485e+00] [ 8.33242561e-03 -6.10019117e-04 9.99965099e-01 -8.05846376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16486062399999 meters 0.11604832808507747 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.71, Z:-0.81 [[ 9.99998027e-01 1.45500869e-03 -1.35205318e-03 3.30666782e+01] [-1.45866500e-03 9.99995272e-01 -2.70721917e-03 -2.71039226e+00] [ 1.34810776e-03 2.70918603e-03 9.99995421e-01 -8.08953775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22486062399999 meters 0.11111653424340312 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.71, Z:-0.81 [[ 9.99997664e-01 1.86091535e-03 -1.09983635e-03 3.30659090e+01] [-1.86274856e-03 9.99996874e-01 -1.66812710e-03 -2.71463480e+00] [ 1.09672866e-03 1.67017192e-03 9.99998004e-01 -8.08535218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28486062399999 meters 0.1130733604321873 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.72, Z:-0.81 [[ 9.99996461e-01 2.50034769e-03 -9.09435627e-04 3.30651697e+01] [-2.50061374e-03 9.99996831e-01 -2.91526113e-04 -2.72034997e+00] [ 9.08703829e-04 2.93799229e-04 9.99999544e-01 -8.07921986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34486062399999 meters 0.11186272042483116 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.72, Z:-0.81 [[ 9.99994985e-01 3.02443468e-03 -9.39844535e-04 3.30650117e+01] [-3.02389974e-03 9.99995266e-01 5.70076245e-04 -2.72362769e+00] [ 9.41564243e-04 -5.67231390e-04 9.99999396e-01 -8.07525745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404860624 meters 0.11255772243693417 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.73, Z:-0.81 [[ 9.99992234e-01 3.81328969e-03 -9.95398171e-04 3.30646222e+01] [-3.81139322e-03 9.99990931e-01 1.90023304e-03 -2.72873462e+00] [ 1.00263528e-03 -1.89642442e-03 9.99997699e-01 -8.06697734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464860624 meters 0.11361124386655869 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.73, Z:-0.81 [[ 9.99998673e-01 2.21306741e-04 -1.61421776e-03 3.30656108e+01] [-2.24095769e-04 9.99998482e-01 -1.72781279e-03 -2.73046216e+00] [ 1.61383294e-03 1.72817224e-03 9.99997204e-01 -8.06290988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524860624 meters 0.11392569888254617 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.73, Z:-0.81 [[ 9.99998135e-01 9.18108416e-04 -1.69902111e-03 3.30656357e+01] [-9.19041388e-04 9.99999427e-01 -5.48423756e-04 -2.73432615e+00] [ 1.69851662e-03 5.49984204e-04 9.99998406e-01 -8.06009185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58486062399999 meters 0.10537932024294414 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.74, Z:-0.81 [[ 9.99997995e-01 1.20639965e-03 -1.59807375e-03 3.30654922e+01] [-1.20636942e-03 9.99999272e-01 1.98795013e-05 -2.73613118e+00] [ 1.59809656e-03 -1.79515941e-05 9.99998723e-01 -8.06096714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64486062399999 meters 0.10175877572403297 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.74, Z:-0.81 [[ 9.99996160e-01 -2.01045835e-03 -1.90730394e-03 3.30662180e+01] [ 2.00531732e-03 9.99994362e-01 -2.69353891e-03 -2.74065053e+00] [ 1.91270843e-03 2.68970382e-03 9.99994554e-01 -8.06170767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70486062399999 meters 0.10499158592575221 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.74, Z:-0.81 [[ 9.99997030e-01 -1.27285210e-03 -2.07832309e-03 3.30669102e+01] [ 1.26961372e-03 9.99997979e-01 -1.55874728e-03 -2.74338104e+00] [ 2.08030295e-03 1.55610399e-03 9.99996625e-01 -8.06649753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764860624 meters 0.10420662010338369 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.75, Z:-0.81 [[ 9.99997480e-01 -8.01997333e-04 -2.09699642e-03 3.30670730e+01] [ 8.00303044e-04 9.99999353e-01 -8.08674108e-04 -2.74560056e+00] [ 2.09764362e-03 8.06993837e-04 9.99997474e-01 -8.06791784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824860624 meters 0.10049294817199615 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.75, Z:-0.81 [[ 9.99997661e-01 -2.46214918e-04 -2.14888126e-03 3.30670504e+01] [ 2.46328048e-04 9.99999968e-01 5.23818408e-05 -2.74838670e+00] [ 2.14886830e-03 -5.29110480e-05 9.99997690e-01 -8.06545503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884860624 meters 0.10236579641373324 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.75, Z:-0.81 [[ 9.99997805e-01 5.42938692e-06 -2.09509463e-03 3.30668141e+01] [-4.31353088e-06 9.99999858e-01 5.32608277e-04 -2.75016130e+00] [ 2.09509723e-03 -5.32598071e-04 9.99997663e-01 -8.06326362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94486062399999 meters 0.10151708285005331 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.75, Z:-0.81 [[ 9.99998597e-01 3.82939623e-05 -1.67490115e-03 3.30656870e+01] [-3.63731928e-05 9.99999342e-01 1.14681120e-03 -2.75295056e+00] [ 1.67494396e-03 -1.14674866e-03 9.99997940e-01 -8.05857659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00486062399999 meters 0.11277447375694392 Centerline is valid? [False, False] Translation: X:33.07, Y:-2.76, Z:-0.81 [[ 9.99998839e-01 4.85548759e-04 -1.44466583e-03 3.30654413e+01] [-4.82380822e-04 9.99997480e-01 2.19239236e-03 -2.75600145e+00] [ 1.44572671e-03 -2.19169293e-03 9.99996553e-01 -8.06106639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06486062399999 meters 0.1075996187188703 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.81 [[ 9.99999558e-01 3.48320053e-04 -8.73506528e-04 3.30638637e+01] [-3.46005176e-04 9.99996432e-01 2.64884878e-03 -2.75896184e+00] [ 8.74426059e-04 -2.64854537e-03 9.99996110e-01 -8.05329170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124860624 meters 0.1056674665897507 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.81 [[ 9.99999586e-01 4.54559845e-04 -7.88445594e-04 3.30636663e+01] [-4.52230034e-04 9.99995539e-01 2.95260799e-03 -2.76017034e+00] [ 7.89784214e-04 -2.95225020e-03 9.99995330e-01 -8.05258449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184860624 meters 0.10682835332570875 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.81 [[ 9.99999611e-01 4.00562570e-04 -7.86162534e-04 3.30637378e+01] [-3.98352123e-04 9.99995973e-01 2.80983737e-03 -2.75994725e+00] [ 7.87284884e-04 -2.80952311e-03 9.99995743e-01 -8.05354312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244860624 meters 0.12203080485707082 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.81 [[ 9.99999283e-01 4.77393467e-04 -1.09808454e-03 3.30643808e+01] [-4.74529030e-04 9.99996488e-01 2.60735918e-03 -2.75891402e+00] [ 1.09932542e-03 -2.60683623e-03 9.99995998e-01 -8.05425182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30486062399999 meters 0.12351120958584945 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.81 [[ 9.99999192e-01 4.50664183e-04 -1.18861063e-03 3.30646501e+01] [-4.47763728e-04 9.99996925e-01 2.43934421e-03 -2.75812011e+00] [ 1.18970630e-03 -2.43881003e-03 9.99996318e-01 -8.05529816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36486062399999 meters 0.10244041333419962 Centerline is valid? [False, False] Translation: X:33.06, Y:-2.76, Z:-0.80 [[ 9.99999148e-01 2.70484769e-07 -1.30558727e-03 3.30644811e+01] [ 1.78430563e-06 9.99998762e-01 1.57384236e-03 -2.75615855e+00] [ 1.30558607e-03 -1.57384335e-03 9.99997909e-01 -8.04958396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42486062399999 meters 0.09856179166270643 Centerline is valid? [False, True] Translation: X:33.07, Y:-2.76, Z:-0.81 [[ 9.99998884e-01 7.91355774e-05 -1.49175093e-03 3.30651591e+01] [-7.68994369e-05 9.99998874e-01 1.49900163e-03 -2.75558131e+00] [ 1.49186787e-03 -1.49888525e-03 9.99997764e-01 -8.05390124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48486062399999 meters 0.09956585006339107 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.76, Z:-0.81 [[ 9.99997556e-01 1.24409992e-03 -1.82782401e-03 3.31241970e+01] [-1.24371314e-03 9.99999204e-01 2.12727207e-04 -2.76341080e+00] [ 1.82808721e-03 -2.10453398e-04 9.99998307e-01 -8.06361470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544860624 meters 0.09895004626825331 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.77, Z:-0.81 [[ 9.99997648e-01 2.15757659e-03 -2.20828503e-04 3.31834139e+01] [-2.15757111e-03 9.99997672e-01 2.50253280e-05 -2.76941884e+00] [ 2.20881983e-04 -2.45488160e-05 9.99999975e-01 -8.07062710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604860624 meters 0.09819073827724105 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.78, Z:-0.81 [[ 9.99994789e-01 3.06788420e-03 -1.00530633e-03 3.32428582e+01] [-3.06776852e-03 9.99995288e-01 1.16588738e-04 -2.77537140e+00] [ 1.00565928e-03 -1.13504083e-04 9.99999488e-01 -8.07483413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66486062399999 meters 0.09902996888671747 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.78, Z:-0.81 [[ 9.99992912e-01 3.42242123e-03 -1.56924897e-03 3.33014626e+01] [-3.42213920e-03 9.99994128e-01 1.82370622e-04 -2.78368219e+00] [ 1.56986390e-03 -1.76999141e-04 9.99998752e-01 -8.09408008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72486062399999 meters 0.09763107085611612 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.79, Z:-0.81 [[ 9.99992008e-01 3.16335934e-03 -2.44481707e-03 3.33596639e+01] [-3.16267530e-03 9.99994959e-01 2.83605806e-04 -2.78896300e+00] [ 2.44570189e-03 -2.75871377e-04 9.99996971e-01 -8.10622490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78486062399999 meters 0.09869986350641355 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.80, Z:-0.81 [[ 9.99992100e-01 3.03280161e-03 -2.56961144e-03 3.34175866e+01] [-3.03204574e-03 9.99995359e-01 2.98000215e-04 -2.79777266e+00] [ 2.57050329e-03 -2.90206682e-04 9.99996654e-01 -8.11947652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84486062399999 meters 0.10588445196182837 Centerline is valid? [True, False] Translation: X:33.42, Y:-2.80, Z:-0.81 [[ 9.99992395e-01 2.75475979e-03 -2.76056021e-03 3.34175273e+01] [-2.75565346e-03 9.99996152e-01 -3.19973698e-04 -2.79635716e+00] [ 2.75966814e-03 3.27578412e-04 9.99996138e-01 -8.11306404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904860624 meters 0.09803742182443778 Centerline is valid? [False, True] Translation: X:33.42, Y:-2.80, Z:-0.81 [[ 9.99992359e-01 2.70180709e-03 -2.82519043e-03 3.34176592e+01] [-2.70320285e-03 9.99996226e-01 -4.90337640e-04 -2.79593859e+00] [ 2.82385497e-03 4.97970956e-04 9.99995889e-01 -8.11294282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964860624 meters 0.09889435337324849 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99980431e-01 4.93169216e-03 -3.84918156e-03 3.34760708e+01] [-4.93006292e-03 9.99987754e-01 4.32643918e-04 -2.80398893e+00] [ 3.85126809e-03 -4.13658744e-04 9.99992498e-01 -8.13021257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02486062399998 meters 0.10037293404507283 Centerline is valid? [True, False] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99981260e-01 4.66039088e-03 -3.96989975e-03 3.34759912e+01] [-4.66072808e-03 9.99989136e-01 -7.56934007e-05 -2.80291615e+00] [ 3.96950386e-03 9.41946055e-05 9.99992117e-01 -8.12580003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08486062399999 meters 0.1008320681731395 Centerline is valid? [False, False] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99980763e-01 4.50634304e-03 -4.26213368e-03 3.34764877e+01] [-4.50929887e-03 9.99989599e-01 -6.84152660e-04 -2.80078100e+00] [ 4.25900632e-03 7.03358733e-04 9.99990683e-01 -8.12478998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14486062399999 meters 0.10257627076539823 Centerline is valid? [False, False] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99981097e-01 4.39076298e-03 -4.30421205e-03 3.34764019e+01] [-4.39462658e-03 9.99989949e-01 -8.88587742e-04 -2.80056686e+00] [ 4.30026720e-03 9.07486350e-04 9.99990342e-01 -8.12231205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20486062399999 meters 0.10351705644167167 Centerline is valid? [False, False] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99978547e-01 4.81662660e-03 -4.43917199e-03 3.34773022e+01] [-4.81807914e-03 9.99988343e-01 -3.16572824e-04 -2.80139598e+00] [ 4.43759543e-03 3.37954314e-04 9.99990097e-01 -8.13120346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264860624 meters 0.09445625689867061 Centerline is valid? [False, True] Translation: X:33.48, Y:-2.80, Z:-0.81 [[ 9.99980764e-01 4.27751891e-03 -4.49169109e-03 3.34770725e+01] [-4.28295962e-03 9.99990105e-01 -1.20236426e-03 -2.79924040e+00] [ 4.48650351e-03 1.22157887e-03 9.99989189e-01 -8.12678840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324860624 meters 0.09524426572679424 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.81, Z:-0.81 [[ 9.99986048e-01 3.84961889e-03 -3.61716569e-03 3.35357169e+01] [-3.84824735e-03 9.99992521e-01 3.86059332e-04 -2.80652511e+00] [ 3.61862482e-03 -3.72134197e-04 9.99993384e-01 -8.13624732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384860624 meters 0.09336814752319318 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.81, Z:-0.81 [[ 9.99986967e-01 3.82928863e-03 -3.37666388e-03 3.35945622e+01] [-3.82809452e-03 9.99992608e-01 3.60028041e-04 -2.80747921e+00] [ 3.37801757e-03 -3.47097160e-04 9.99994234e-01 -8.14105341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44486062399999 meters 0.09817370297016265 Centerline is valid? [True, True] Translation: X:33.65, Y:-2.82, Z:-0.82 [[ 9.99985290e-01 4.79415454e-03 -2.53693621e-03 3.36518285e+01] [-4.79348384e-03 9.99988475e-01 2.70387787e-04 -2.82222435e+00] [ 2.53820326e-03 -2.58223047e-04 9.99996745e-01 -8.17744424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50486062399999 meters 0.09485422020834995 Centerline is valid? [True, True] Translation: X:33.71, Y:-2.82, Z:-0.82 [[ 9.99982813e-01 4.64409336e-03 -3.57854738e-03 3.37109133e+01] [-4.64275840e-03 9.99989150e-01 3.81261089e-04 -2.81988838e+00] [ 3.58027917e-03 -3.64640205e-04 9.99993524e-01 -8.18046515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56486062399999 meters 0.09620320942104982 Centerline is valid? [True, True] Translation: X:33.77, Y:-2.83, Z:-0.82 [[ 9.99984103e-01 4.50802541e-03 -3.38701563e-03 3.37694391e+01] [-4.50682977e-03 9.99989779e-01 3.60558163e-04 -2.82656042e+00] [ 3.38860642e-03 -3.45287729e-04 9.99994199e-01 -8.21127235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624860624 meters 0.09841617439208727 Centerline is valid? [True, True] Translation: X:33.83, Y:-2.84, Z:-0.82 [[ 9.99984902e-01 4.69962053e-03 -2.84761731e-03 3.38267416e+01] [-4.69877863e-03 9.99988915e-01 3.02268745e-04 -2.83596894e+00] [ 2.84900629e-03 -2.88883858e-04 9.99995900e-01 -8.22949641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684860624 meters 0.09445509281614828 Centerline is valid? [True, True] Translation: X:33.89, Y:-2.83, Z:-0.82 [[ 9.99976053e-01 6.45566015e-03 -2.49350581e-03 3.38875368e+01] [-6.45501795e-03 9.99979131e-01 2.65510803e-04 -2.83098413e+00] [ 2.49516782e-03 -2.49408820e-04 9.99996856e-01 -8.22317124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744860624 meters 0.09360415262256343 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.83, Z:-0.82 [[ 9.99960424e-01 8.62452088e-03 -2.18370351e-03 3.39484278e+01] [-8.62403213e-03 9.99962785e-01 2.33135497e-04 -2.83316993e+00] [ 2.18563293e-03 -2.14293941e-04 9.99997589e-01 -8.23674554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80486062399999 meters 0.09401673957752733 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.84, Z:-0.83 [[ 9.99943789e-01 1.05873978e-02 -5.71395613e-04 3.40090038e+01] [-1.05873647e-02 9.99943950e-01 6.09522466e-05 -2.83788777e+00] [ 5.72008912e-04 -5.48992466e-05 9.99999835e-01 -8.25761290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86486062399999 meters 0.09273823916945372 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.84, Z:-0.83 [[ 9.99926247e-01 1.21430477e-02 2.14716293e-04 3.40688151e+01] [-1.21430429e-02 9.99926270e-01 -2.37315526e-05 -2.83986661e+00] [-2.14988635e-04 2.11224932e-05 9.99999977e-01 -8.27493461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92486062399999 meters 0.0899373189685928 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.84, Z:-0.83 [[ 9.99924582e-01 1.22798641e-02 -1.86697460e-04 3.41287079e+01] [-1.22798609e-02 9.99924599e-01 1.82646906e-05 -2.83514432e+00] [ 1.86907671e-04 -1.59706943e-05 9.99999982e-01 -8.27179141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98486062399999 meters 0.09200275107377451 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.84, Z:-0.83 [[ 9.99921196e-01 1.24828551e-02 1.33388407e-03 3.41864930e+01] [-1.24826742e-02 9.99922078e-01 -1.43882032e-04 -2.84259729e+00] [-1.33557619e-03 1.27220254e-04 9.99999100e-01 -8.30994949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044860624 meters 0.09469476150105992 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.85, Z:-0.83 [[ 9.99933021e-01 1.15391493e-02 8.95747031e-04 3.42440815e+01] [-1.15390669e-02 9.99933418e-01 -9.70619205e-05 -2.85204502e+00] [-8.96807402e-04 8.67193344e-05 9.99999594e-01 -8.34558336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104860624 meters 0.0944279278399299 Centerline is valid? [True, True] Translation: X:34.30, Y:-2.85, Z:-0.84 [[ 9.99939322e-01 1.09314342e-02 1.36212113e-03 3.43028838e+01] [-1.09312444e-02 9.99940241e-01 -1.46680884e-04 -2.85449531e+00] [-1.36364317e-03 1.31782305e-04 9.99999062e-01 -8.35031030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16486062399999 meters 0.09665714071783221 Centerline is valid? [True, True] Translation: X:34.36, Y:-2.86, Z:-0.84 [[ 9.99934426e-01 1.11743795e-02 2.50526302e-03 3.43600588e+01] [-1.11737414e-02 9.99937536e-01 -2.68552244e-04 -2.86055963e+00] [-2.50810744e-03 2.40541473e-04 9.99996826e-01 -8.35357195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22486062399999 meters 0.09386028878182784 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.86, Z:-0.84 [[ 9.99949538e-01 9.88282704e-03 1.80321303e-03 3.44197309e+01] [-9.88249484e-03 9.99951148e-01 -1.93040829e-04 -2.86031766e+00] [-1.80503273e-03 1.75210844e-04 9.99998356e-01 -8.37189981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28486062399999 meters 0.09872748454079291 Centerline is valid? [True, True] Translation: X:34.48, Y:-2.87, Z:-0.84 [[ 9.99969912e-01 7.56085001e-03 1.73434511e-03 3.44781519e+01] [-7.56054115e-03 9.99971402e-01 -1.84572511e-04 -2.87327688e+00] [-1.73569104e-03 1.71454370e-04 9.99998479e-01 -8.40037919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34486062399999 meters 0.09892281324582573 Centerline is valid? [True, True] Translation: X:34.54, Y:-2.88, Z:-0.84 [[ 9.99982139e-01 4.86535428e-03 3.47143316e-03 3.45379198e+01] [-4.86410059e-03 9.99988102e-01 -3.69498125e-04 -2.87774867e+00] [-3.47318959e-03 3.52606126e-04 9.99993906e-01 -8.40410721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404860624 meters 0.09843844736868103 Centerline is valid? [True, True] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992334e-01 2.86294775e-03 2.67140235e-03 3.45985918e+01] [-2.86219861e-03 9.99995864e-01 -2.84210065e-04 -2.88276486e+00] [-2.67220498e-03 2.76561802e-04 9.99996391e-01 -8.41419737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464860624 meters 0.10060708605299781 Centerline is valid? [True, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991901e-01 2.69811194e-03 2.98623682e-03 3.45982584e+01] [-2.69749953e-03 9.99996340e-01 -2.09085611e-04 -2.88272143e+00] [-2.98679003e-03 2.01028546e-04 9.99995519e-01 -8.41876745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52486062399998 meters 0.10381910634793892 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991969e-01 2.55594605e-03 3.08677622e-03 3.45981579e+01] [-2.55507726e-03 9.99996695e-01 -2.85367240e-04 -2.88231276e+00] [-3.08749541e-03 2.77477996e-04 9.99995195e-01 -8.42048352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58486062399999 meters 0.10796696642781628 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991720e-01 2.15591510e-03 3.45142393e-03 3.45971734e+01] [-2.15429553e-03 9.99997568e-01 -4.72894739e-04 -2.88270806e+00] [-3.45243505e-03 4.65455436e-04 9.99993932e-01 -8.41680664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64486062399999 meters 0.11048805957995424 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991160e-01 2.32666745e-03 3.50231938e-03 3.45975205e+01] [-2.32618169e-03 9.99997284e-01 -1.42761846e-04 -2.88307732e+00] [-3.50264203e-03 1.34613553e-04 9.99993857e-01 -8.42337401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70486062399999 meters 0.10896341212117128 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992091e-01 1.82710015e-03 3.53259817e-03 3.45971422e+01] [-1.82419902e-03 9.99997996e-01 -8.24292904e-04 -2.88102410e+00] [-3.53409716e-03 8.17842223e-04 9.99993421e-01 -8.41957333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764860624 meters 0.10453119793387596 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991937e-01 2.13425217e-03 3.40173840e-03 3.45978152e+01] [-2.13258507e-03 9.99997604e-01 -4.93625694e-04 -2.88131158e+00] [-3.40278377e-03 4.86367217e-04 9.99994092e-01 -8.42514463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824860624 meters 0.10610412494998236 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991771e-01 2.19423527e-03 3.41210887e-03 3.45979319e+01] [-2.19276010e-03 9.99997501e-01 -4.36016507e-04 -2.88159586e+00] [-3.41305707e-03 4.28530983e-04 9.99994084e-01 -8.42686327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884860624 meters 0.10877341852812125 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992068e-01 2.22950452e-03 3.30060752e-03 3.45982501e+01] [-2.22800043e-03 9.99997413e-01 -4.59307954e-04 -2.88109312e+00] [-3.30162301e-03 4.51950556e-04 9.99994447e-01 -8.42823958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94486062399999 meters 0.10648626013229953 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992457e-01 2.03000679e-03 3.31121798e-03 3.45978158e+01] [-2.02760576e-03 9.99997679e-01 -7.28316933e-04 -2.88096936e+00] [-3.31268878e-03 7.21597595e-04 9.99994253e-01 -8.42246259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00486062399999 meters 0.10744429726024998 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992718e-01 2.22683275e-03 3.09934460e-03 3.45985440e+01] [-2.22495333e-03 9.99997339e-01 -6.09706716e-04 -2.88091311e+00] [-3.10069407e-03 6.02806378e-04 9.99995011e-01 -8.42631031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06486062399999 meters 0.10361173462711962 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99992616e-01 2.45275597e-03 2.95852087e-03 3.45991173e+01] [-2.45155016e-03 9.99996910e-01 -4.11128817e-04 -2.88107309e+00] [-2.95952013e-03 4.03872818e-04 9.99995539e-01 -8.43011256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124860624 meters 0.10803201594991595 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991979e-01 2.58787805e-03 3.05695024e-03 3.45988476e+01] [-2.58770877e-03 9.99996650e-01 -5.93269699e-05 -2.88245912e+00] [-3.05709353e-03 5.14159971e-05 9.99995326e-01 -8.42870692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184860624 meters 0.10415549534120368 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.88, Z:-0.84 [[ 9.99991367e-01 2.75548234e-03 3.11010571e-03 3.45987720e+01] [-2.75630747e-03 9.99996167e-01 2.61050218e-04 -2.88360330e+00] [-3.10937447e-03 -2.69620372e-04 9.99995130e-01 -8.42878308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244860624 meters 0.10862912904648467 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.89, Z:-0.84 [[ 9.99990230e-01 2.81000919e-03 3.41229572e-03 3.45980102e+01] [-2.81253733e-03 9.99995774e-01 7.36318647e-04 -2.88561614e+00] [-3.41021224e-03 -7.45908663e-04 9.99993907e-01 -8.42591631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30486062399999 meters 0.10376768280506773 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.89, Z:-0.84 [[ 9.99995651e-01 -7.88877880e-04 2.84167687e-03 3.45995613e+01] [ 7.97149830e-04 9.99995445e-01 -2.91098421e-03 -2.88623727e+00] [-2.83936752e-03 2.91323680e-03 9.99991725e-01 -8.43130798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36486062399999 meters 0.10938084676585404 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.89, Z:-0.84 [[ 9.99995208e-01 -5.99221200e-04 3.03734779e-03 3.45990058e+01] [ 6.06396759e-04 9.99997026e-01 -2.36207233e-03 -2.88849697e+00] [-3.03592335e-03 2.36390285e-03 9.99992598e-01 -8.42886755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42486062399999 meters 0.11005352022016808 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.89, Z:-0.84 [[ 9.99994784e-01 -2.97483719e-04 3.21599741e-03 3.45985493e+01] [ 3.02735977e-04 9.99998621e-01 -1.63280265e-03 -2.89128082e+00] [-3.21550724e-03 1.63376774e-03 9.99993496e-01 -8.42708124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48486062399999 meters 0.10856729045096206 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.89, Z:-0.84 [[ 9.99994946e-01 1.65726696e-04 3.17484359e-03 3.45987807e+01] [-1.63083742e-04 9.99999640e-01 -8.32708304e-04 -2.89342794e+00] [-3.17498044e-03 8.32186330e-04 9.99994613e-01 -8.42895656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544860624 meters 0.10602045598228715 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99995310e-01 5.86746540e-04 3.00609547e-03 3.45989990e+01] [-5.86030081e-04 9.99999800e-01 -2.39210566e-04 -2.89534513e+00] [-3.00623523e-03 2.37447781e-04 9.99995453e-01 -8.42675055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604860624 meters 0.10364251954635763 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99994672e-01 1.13098392e-03 3.06215667e-03 3.45988005e+01] [-1.13329919e-03 9.99999073e-01 7.54459894e-04 -2.89877979e+00] [-3.06130055e-03 -7.57926214e-04 9.99995027e-01 -8.42520910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66486062399999 meters 0.10648724680561206 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99994431e-01 1.35911791e-03 3.04812851e-03 3.45987226e+01] [-1.36259595e-03 9.99998423e-01 1.13925325e-03 -2.90017280e+00] [-3.04657532e-03 -1.14340027e-03 9.99994705e-01 -8.42352404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72486062399999 meters 0.1133430900110959 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99994496e-01 1.78161665e-03 2.79888256e-03 3.45993970e+01] [-1.78625128e-03 9.99997036e-01 1.65426281e-03 -2.90143517e+00] [-2.79592700e-03 -1.65925322e-03 9.99994715e-01 -8.42551735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78486062399999 meters 0.10259085991889792 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99993944e-01 2.20894719e-03 2.68933092e-03 3.45995832e+01] [-2.21510624e-03 9.99994926e-01 2.28936141e-03 -2.90349684e+00] [-2.68426020e-03 -2.29530470e-03 9.99993763e-01 -8.42472604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84486062399999 meters 0.10597143229155176 Centerline is valid? [False, False] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99994073e-01 2.29318215e-03 2.56818120e-03 3.45994012e+01] [-2.29917386e-03 9.99994637e-01 2.33254026e-03 -2.90425766e+00] [-2.56281848e-03 -2.33843113e-03 9.99993982e-01 -8.41783927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904860624 meters 0.09855033603620743 Centerline is valid? [False, True] Translation: X:34.60, Y:-2.90, Z:-0.84 [[ 9.99994183e-01 2.39053511e-03 2.43315941e-03 3.45994799e+01] [-2.39638427e-03 9.99994239e-01 2.40386454e-03 -2.90472910e+00] [-2.42739887e-03 -2.40968134e-03 9.99994151e-01 -8.41502473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964860624 meters 0.10123725566906691 Centerline is valid? [True, False] Translation: X:34.60, Y:-2.91, Z:-0.84 [[ 9.99993402e-01 2.66966451e-03 2.46366208e-03 3.45991681e+01] [-2.67688531e-03 9.99992118e-01 2.93229199e-03 -2.90680002e+00] [-2.45581443e-03 -2.93886759e-03 9.99992666e-01 -8.41115756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02486062399998 meters 0.09812181042826054 Centerline is valid? [False, True] Translation: X:34.60, Y:-2.91, Z:-0.84 [[ 9.99993491e-01 2.63742827e-03 2.46202393e-03 3.45988860e+01] [-2.64470280e-03 9.99992133e-01 2.95613349e-03 -2.90726136e+00] [-2.45420797e-03 -2.96262557e-03 9.99992600e-01 -8.40708716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08486062399999 meters 0.10349302231630414 Centerline is valid? [True, False] Translation: X:34.60, Y:-2.91, Z:-0.84 [[ 9.99998234e-01 -7.34307948e-04 1.73001048e-03 3.46005098e+01] [ 7.35137137e-04 9.99999615e-01 -4.78709970e-04 -2.90865370e+00] [-1.72965830e-03 4.79980919e-04 9.99998389e-01 -8.40946111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14486062399999 meters 0.09777502146816765 Centerline is valid? [False, True] Translation: X:34.60, Y:-2.91, Z:-0.84 [[ 9.99997797e-01 -4.62173501e-04 2.04752560e-03 3.45998219e+01] [ 4.61379541e-04 9.99999818e-01 3.88220953e-04 -2.91175585e+00] [-2.04770466e-03 -3.87275411e-04 9.99997828e-01 -8.40859229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20486062399999 meters 0.10091094194220564 Centerline is valid? [True, False] Translation: X:34.60, Y:-2.91, Z:-0.84 [[ 9.99997294e-01 -2.40732643e-04 2.31377403e-03 3.45991146e+01] [ 2.38153530e-04 9.99999350e-01 1.11488885e-03 -2.91453607e+00] [-2.31404092e-03 -1.11433480e-03 9.99996702e-01 -8.40539395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264860624 meters 0.09890716388178929 Centerline is valid? [False, True] Translation: X:34.60, Y:-2.92, Z:-0.84 [[ 9.99997234e-01 -2.89659789e-05 2.35187506e-03 3.45989259e+01] [ 2.51893320e-05 9.99998710e-01 1.60581627e-03 -2.91610302e+00] [-2.35191854e-03 -1.60575259e-03 9.99995945e-01 -8.40386337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324860624 meters 0.09903299419513843 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99997368e-01 -1.04444740e-03 2.04290969e-03 3.46591864e+01] [ 1.04492734e-03 9.99999427e-01 -2.33874289e-04 -2.92530815e+00] [-2.04266425e-03 2.36008366e-04 9.99997886e-01 -8.41479769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38486062399998 meters 0.10159326854238822 Centerline is valid? [True, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99997346e-01 -8.35849178e-04 2.14682798e-03 3.46592029e+01] [ 8.35291055e-04 9.99999617e-01 2.60859527e-04 -2.92647208e+00] [-2.14704520e-03 -2.59065609e-04 9.99997662e-01 -8.41785462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44486062399999 meters 0.10052864939357077 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99996203e-01 -1.18135676e-03 2.48978113e-03 3.46582065e+01] [ 1.18111355e-03 9.99999298e-01 9.91545063e-05 -2.92677998e+00] [-2.48989651e-03 -9.62134156e-05 9.99996896e-01 -8.41306259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50486062399999 meters 0.10320437407738145 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99995590e-01 -1.08862390e-03 2.76303734e-03 3.46577642e+01] [ 1.08686882e-03 9.99999207e-01 6.36622566e-04 -2.92876508e+00] [-2.76372819e-03 -6.33616700e-04 9.99995980e-01 -8.41392166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56486062399999 meters 0.10428687211305569 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99995833e-01 -9.24985611e-04 2.73462470e-03 3.46580414e+01] [ 9.22533462e-04 9.99999171e-01 8.97829289e-04 -2.92912314e+00] [-2.73545292e-03 -8.95302765e-04 9.99995858e-01 -8.41694555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624860624 meters 0.10178074412454588 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99996345e-01 -1.00346653e-03 2.51075620e-03 3.46583903e+01] [ 1.00201978e-03 9.99999331e-01 5.77413164e-04 -2.92786829e+00] [-2.51133393e-03 -5.74895226e-04 9.99996681e-01 -8.41560651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684860624 meters 0.10369465828328601 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99997069e-01 -8.42188256e-04 2.26994935e-03 3.46590153e+01] [ 8.40748176e-04 9.99999445e-01 6.35289890e-04 -2.92755706e+00] [-2.27048312e-03 -6.33379572e-04 9.99997222e-01 -8.41770963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744860624 meters 0.10114393350449337 Centerline is valid? [False, False] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99997372e-01 -8.28395556e-04 2.13767966e-03 3.46591521e+01] [ 8.27201475e-04 9.99999501e-01 5.59411144e-04 -2.92754199e+00] [-2.13814201e-03 -5.57641382e-04 9.99997559e-01 -8.41593314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80486062399999 meters 0.09895661371569471 Centerline is valid? [False, True] Translation: X:34.66, Y:-2.93, Z:-0.84 [[ 9.99998930e-01 -4.76984954e-04 1.38300992e-03 3.46609654e+01] [ 4.76609523e-04 9.99999849e-01 2.71776496e-04 -2.92524135e+00] [-1.38313935e-03 -2.71117049e-04 9.99999007e-01 -8.42154900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86486062399999 meters 0.09844321700902332 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.93, Z:-0.85 [[ 9.99976791e-01 6.74829402e-03 9.37239854e-04 3.47207677e+01] [-6.74819259e-03 9.99977224e-01 -1.11343279e-04 -2.92838133e+00] [-9.37969885e-04 1.05016020e-04 9.99999555e-01 -8.45311274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92486062399999 meters 0.09499753811845582 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.93, Z:-0.85 [[ 9.99921450e-01 1.25336738e-02 2.08770494e-06 3.47822420e+01] [-1.25336738e-02 9.99921450e-01 1.25857669e-07 -2.92645369e+00] [-2.08596349e-06 -1.52014395e-07 1.00000000e+00 -8.47131081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98486062399999 meters 0.09396546591646901 Centerline is valid? [True, True] Translation: X:34.84, Y:-2.93, Z:-0.85 [[ 9.99881736e-01 1.53646769e-02 6.64305840e-04 3.48434358e+01] [-1.53646280e-02 9.99881954e-01 -7.86386668e-05 -2.92645402e+00] [-6.65435679e-04 6.84225546e-05 9.99999776e-01 -8.46831069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044860624 meters 0.09759688251161658 Centerline is valid? [True, True] Translation: X:34.90, Y:-2.94, Z:-0.85 [[ 9.99878588e-01 1.55817014e-02 -1.37601308e-04 3.49003297e+01] [-1.55816997e-02 9.99878598e-01 1.38231421e-05 -2.93681084e+00] [ 1.37799991e-04 -1.16774016e-05 9.99999990e-01 -8.50624027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104860624 meters 0.09955936488908745 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.94, Z:-0.85 [[ 9.99908120e-01 1.35481272e-02 4.47566027e-04 3.49602951e+01] [-1.35481049e-02 9.99908219e-01 -5.28862151e-05 -2.94422103e+00] [-4.48241458e-04 4.68176844e-05 9.99999898e-01 -8.53881505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16486062399999 meters 0.09350535194036233 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.94, Z:-0.85 [[ 9.99920254e-01 1.25399904e-02 1.49467605e-03 3.50200357e+01] [-1.25397363e-02 9.99921358e-01 -1.79259285e-04 -2.93654287e+00] [-1.49680641e-03 1.60502146e-04 9.99998867e-01 -8.51592421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22486062399999 meters 0.0957670075063548 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.94, Z:-0.85 [[ 9.99943567e-01 1.04251373e-02 2.04425991e-03 3.50802989e+01] [-1.04246654e-02 9.99945633e-01 -2.41366213e-04 -2.94220278e+00] [-2.04666505e-03 2.20041866e-04 9.99997881e-01 -8.51775274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28486062399999 meters 0.10168859737913367 Centerline is valid? [True, False] Translation: X:35.09, Y:-2.94, Z:-0.85 [[ 9.99977452e-01 4.04649076e-03 -5.35932807e-03 3.50899239e+01] [-4.04641582e-03 9.99991813e-01 2.48264003e-05 -2.93915712e+00] [ 5.35938465e-03 -3.13977063e-06 9.99985638e-01 -8.47069695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34486062399999 meters 0.10402106781248911 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.94, Z:-0.85 [[ 9.99980123e-01 3.61323850e-03 -5.16707184e-03 3.50895939e+01] [-3.61593761e-03 9.99993331e-01 -5.13121541e-04 -2.93750156e+00] [ 5.16518335e-03 5.31795151e-04 9.99986519e-01 -8.47213180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404860624 meters 0.1014575287893555 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99984398e-01 2.84366518e-03 -4.80807604e-03 3.50888032e+01] [-2.85048636e-03 9.99994940e-01 -1.41243553e-03 -2.93485161e+00] [ 4.80403522e-03 1.42611884e-03 9.99987444e-01 -8.47167357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464860624 meters 0.1038977328847041 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99986158e-01 2.54174376e-03 -4.60690603e-03 3.50885099e+01] [-2.54972849e-03 9.99995256e-01 -1.72816405e-03 -2.93375924e+00] [ 4.60249163e-03 1.73988649e-03 9.99987895e-01 -8.47357279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52486062399998 meters 0.10741459253934708 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99986850e-01 2.60409222e-03 -4.41799720e-03 3.50885702e+01] [-2.61066877e-03 9.99995492e-01 -1.48346740e-03 -2.93426421e+00] [ 4.41411420e-03 1.49498182e-03 9.99989140e-01 -8.47993892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58486062399999 meters 0.10862829935572287 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99987357e-01 2.51583228e-03 -4.35398286e-03 3.50887437e+01] [-2.52266867e-03 9.99995593e-01 -1.56536887e-03 -2.93347984e+00] [ 4.35002547e-03 1.57633273e-03 9.99989296e-01 -8.48434335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64486062399999 meters 0.10328506531118235 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99987997e-01 2.28067648e-03 -4.33646618e-03 3.50886534e+01] [-2.28884824e-03 9.99995613e-01 -1.88040108e-03 -2.93261923e+00] [ 4.33215857e-03 1.89030403e-03 9.99988830e-01 -8.48381205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70486062399999 meters 0.1037703652338723 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99986398e-01 2.55512761e-03 -4.54703335e-03 3.50893496e+01] [-2.56260721e-03 9.99995372e-01 -1.63987636e-03 -2.93281051e+00] [ 4.54282221e-03 1.65150631e-03 9.99988318e-01 -8.48745290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764860624 meters 0.1030235329317658 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99985535e-01 2.31694943e-03 -4.85395064e-03 3.50898102e+01] [-2.32850378e-03 9.99994466e-01 -2.37610320e-03 -2.93021916e+00] [ 4.84841846e-03 2.38737127e-03 9.99985397e-01 -8.48544423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824860624 meters 0.10463286193556007 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99982587e-01 2.51475669e-03 -5.33872364e-03 3.50910265e+01] [-2.52884591e-03 9.99993334e-01 -2.63395328e-03 -2.92852185e+00] [ 5.33206430e-03 2.64740822e-03 9.99982280e-01 -8.48891965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88486062399998 meters 0.10507274402488555 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99979391e-01 2.67518057e-03 -5.83621629e-03 3.50921051e+01] [-2.69313589e-03 9.99991658e-01 -3.07084788e-03 -2.92638549e+00] [ 5.82795254e-03 3.08650232e-03 9.99978254e-01 -8.49063537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94486062399999 meters 0.10422746233653178 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.93, Z:-0.85 [[ 9.99974823e-01 3.06628542e-03 -6.39927020e-03 3.50936384e+01] [-3.08609644e-03 9.99990469e-01 -3.08824972e-03 -2.92507605e+00] [ 6.38973975e-03 3.10792073e-03 9.99974756e-01 -8.49644592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00486062399999 meters 0.10182853294368466 Centerline is valid? [False, False] Translation: X:35.09, Y:-2.92, Z:-0.85 [[ 9.99971284e-01 3.37365832e-03 -6.78603262e-03 3.50949478e+01] [-3.39448369e-03 9.99989558e-01 -3.05968362e-03 -2.92385059e+00] [ 6.77563943e-03 3.08263084e-03 9.99972294e-01 -8.50397899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06486062399999 meters 0.09813012782549328 Centerline is valid? [False, True] Translation: X:35.10, Y:-2.92, Z:-0.85 [[ 9.99969715e-01 3.39069811e-03 -7.00514591e-03 3.50952847e+01] [-3.41349389e-03 9.99988910e-01 -3.24475882e-03 -2.92322551e+00] [ 6.99406622e-03 3.26857258e-03 9.99970199e-01 -8.50246306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124860624 meters 0.09819338928641143 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.93, Z:-0.85 [[ 9.99975820e-01 3.80374015e-03 -5.82165486e-03 3.51540499e+01] [-3.80031845e-03 9.99992600e-01 5.98704473e-04 -2.93175451e+00] [ 5.82388910e-03 -5.76565854e-04 9.99982875e-01 -8.52732039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184860624 meters 0.09386045717312379 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.93, Z:-0.85 [[ 9.99976976e-01 4.16498228e-03 -5.35735301e-03 3.52134038e+01] [-4.16209371e-03 9.99991187e-01 5.50215224e-04 -2.93070694e+00] [ 5.35959743e-03 -5.27904750e-04 9.99985498e-01 -8.52286501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244860624 meters 0.09551741482400773 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.94, Z:-0.85 [[ 9.99980548e-01 3.32187573e-03 -5.27904135e-03 3.52714388e+01] [-3.31906113e-03 9.99994345e-01 5.41836811e-04 -2.94090669e+00] [ 5.28081141e-03 -5.24304811e-04 9.99985919e-01 -8.53452406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30486062399999 meters 0.09528933185256479 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.95, Z:-0.85 [[ 9.99983783e-01 2.31973828e-03 -5.20111912e-03 3.53305362e+01] [-2.31699089e-03 9.99997173e-01 5.34193825e-04 -2.94921459e+00] [ 5.20234361e-03 -5.22134217e-04 9.99986331e-01 -8.54369582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36486062399999 meters 0.09958686022627838 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.97, Z:-0.86 [[ 9.99989022e-01 3.16479874e-04 -4.67506282e-03 3.53880108e+01] [-3.14239413e-04 9.99999835e-01 4.79963345e-04 -2.96516225e+00] [ 4.67521395e-03 -4.78488987e-04 9.99988957e-01 -8.56901469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42486062399999 meters 0.10037892742459174 Centerline is valid? [True, False] Translation: X:35.39, Y:-2.97, Z:-0.86 [[ 9.99991338e-01 -6.52334757e-05 -4.16165077e-03 3.53862658e+01] [ 6.78771487e-05 9.99999796e-01 6.35108158e-04 -2.96742037e+00] [ 4.16160849e-03 -6.35385138e-04 9.99991139e-01 -8.55822100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48486062399999 meters 0.09610656798189261 Centerline is valid? [False, True] Translation: X:35.39, Y:-2.97, Z:-0.86 [[ 9.99992120e-01 2.89025095e-04 -3.95940742e-03 3.53861092e+01] [-2.83340835e-04 9.99998929e-01 1.43611965e-03 -2.96985631e+00] [ 3.95981825e-03 -1.43498647e-03 9.99991130e-01 -8.56125532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544860624 meters 0.09727469361465096 Centerline is valid? [True, True] Translation: X:35.45, Y:-2.98, Z:-0.86 [[ 9.99983669e-01 -1.86819321e-03 -5.40103859e-03 3.54462128e+01] [ 1.87135015e-03 9.99998081e-01 5.79510218e-04 -2.98043167e+00] [ 5.39994559e-03 -5.89607989e-04 9.99985246e-01 -8.57564063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604860624 meters 0.10014348594278506 Centerline is valid? [True, False] Translation: X:35.45, Y:-2.98, Z:-0.86 [[ 9.99985581e-01 -1.69190353e-03 -5.09655177e-03 3.54453209e+01] [ 1.69895367e-03 9.99997606e-01 1.37930240e-03 -2.98372559e+00] [ 5.09420592e-03 -1.38794132e-03 9.99986061e-01 -8.57100355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66486062399999 meters 0.10167474775994673 Centerline is valid? [False, False] Translation: X:35.45, Y:-2.99, Z:-0.86 [[ 9.99986720e-01 -1.15287460e-03 -5.02295910e-03 3.54454903e+01] [ 1.16488360e-03 9.99996469e-01 2.38855291e-03 -2.98645391e+00] [ 5.02018766e-03 -2.39437235e-03 9.99984532e-01 -8.57499926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72486062399999 meters 0.11021032508009695 Centerline is valid? [False, False] Translation: X:35.44, Y:-2.99, Z:-0.86 [[ 9.99988313e-01 -9.75632403e-04 -4.73525514e-03 3.54443605e+01] [ 9.90257213e-04 9.99994744e-01 3.08713318e-03 -2.99015503e+00] [ 4.73221834e-03 -3.09178622e-03 9.99984023e-01 -8.56619859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78486062399999 meters 0.09817222159963919 Centerline is valid? [False, True] Translation: X:35.44, Y:-2.99, Z:-0.86 [[ 9.99989091e-01 -8.12062796e-04 -4.59986957e-03 3.54436459e+01] [ 8.28642970e-04 9.99993163e-01 3.60372942e-03 -2.99264405e+00] [ 4.59691166e-03 -3.60750175e-03 9.99982927e-01 -8.55926770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84486062399999 meters 0.09855720336837784 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.00, Z:-0.86 [[ 9.99975559e-01 -1.65317909e-03 -6.79330452e-03 3.55029612e+01] [ 1.65839569e-03 9.99998334e-01 7.62341556e-04 -3.00078692e+00] [ 6.79203291e-03 -7.73588910e-04 9.99976635e-01 -8.56244316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904860624 meters 0.09733479078447241 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.01, Z:-0.86 [[ 9.99954795e-01 -2.02472007e-03 -9.29027407e-03 3.55618523e+01] [ 2.03448716e-03 9.99997388e-01 1.04199365e-03 -3.00879024e+00] [ 9.28814006e-03 -1.06084748e-03 9.99956302e-01 -8.56783705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964860624 meters 0.09891054054237154 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.02, Z:-0.86 [[ 9.99946555e-01 -2.48005480e-03 -1.00367623e-02 3.56190794e+01] [ 2.49145844e-03 9.99996265e-01 1.12384369e-03 -3.02182945e+00] [ 1.00339376e-02 -1.14878980e-03 9.99948999e-01 -8.58640814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02486062399998 meters 0.09897850167655173 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.03, Z:-0.86 [[ 9.99952406e-01 -1.85066773e-03 -9.57915099e-03 3.56771403e+01] [ 1.86102322e-03 9.99997693e-01 1.07224430e-03 -3.02957189e+00] [ 9.57714453e-03 -1.09002029e-03 9.99953544e-01 -8.59723211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08486062399999 meters 0.09727366182545322 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.03, Z:-0.86 [[ 9.99949900e-01 -1.08379312e-03 -9.95106873e-03 3.57362609e+01] [ 1.09487693e-03 9.99998786e-01 1.10845092e-03 -3.03450954e+00] [ 9.94985532e-03 -1.11929058e-03 9.99949873e-01 -8.60199921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14486062399999 meters 0.09586374884556842 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.04, Z:-0.86 [[ 9.99963660e-01 4.46234414e-04 -8.51349353e-03 3.57963520e+01] [-4.38146825e-04 9.99999451e-01 9.51814419e-04 -3.04021316e+00] [ 8.51391358e-03 -9.48049670e-04 9.99963307e-01 -8.61128416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20486062399999 meters 0.09564807873991815 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.05, Z:-0.86 [[ 9.99965122e-01 1.25047908e-03 -8.25779528e-03 3.58545799e+01] [-1.24291044e-03 9.99998803e-01 9.21612486e-04 -3.04686645e+00] [ 8.25893786e-03 -9.11316642e-04 9.99965479e-01 -8.62044116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264860624 meters 0.09618306323555847 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.05, Z:-0.86 [[ 9.99965766e-01 3.23755837e-03 -7.61485523e-03 3.59146165e+01] [-3.23116988e-03 9.99994418e-01 8.51104817e-04 -3.05472581e+00] [ 7.61756822e-03 -8.26470789e-04 9.99970644e-01 -8.63504789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324860624 meters 0.10186923452960284 Centerline is valid? [True, False] Translation: X:35.92, Y:-3.05, Z:-0.86 [[ 9.99965057e-01 3.41232134e-03 -7.63156312e-03 3.59150626e+01] [-3.40449220e-03 9.99993665e-01 1.03864458e-03 -3.05487307e+00] [ 7.63505897e-03 -1.01262669e-03 9.99970340e-01 -8.64050721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38486062399998 meters 0.09748320945197267 Centerline is valid? [False, True] Translation: X:35.91, Y:-3.05, Z:-0.86 [[ 9.99965292e-01 3.26715157e-03 -7.66429794e-03 3.59148641e+01] [-3.26127918e-03 9.99994379e-01 7.78574387e-04 -3.05455632e+00] [ 7.66679858e-03 -7.53551948e-04 9.99970326e-01 -8.63668829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44486062399999 meters 0.10002820821226545 Centerline is valid? [True, False] Translation: X:35.91, Y:-3.05, Z:-0.86 [[ 9.99965143e-01 3.29981925e-03 -7.66967809e-03 3.59148546e+01] [-3.29384595e-03 9.99994262e-01 7.91320636e-04 -3.05473617e+00] [ 7.67224529e-03 -7.66030315e-04 9.99970274e-01 -8.63634716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50486062399999 meters 0.10113931595699194 Centerline is valid? [False, False] Translation: X:35.91, Y:-3.06, Z:-0.86 [[ 9.99966306e-01 3.36410368e-03 -7.48802179e-03 3.59147025e+01] [-3.35642520e-03 9.99993829e-01 1.03776538e-03 -3.05531072e+00] [ 7.49146673e-03 -1.01259743e-03 9.99971426e-01 -8.63930743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56486062399999 meters 0.09298830065420556 Centerline is valid? [False, True] Translation: X:35.91, Y:-3.06, Z:-0.86 [[ 9.99969072e-01 3.23703011e-03 -7.16773528e-03 3.59136723e+01] [-3.22846668e-03 9.99994061e-01 1.20596643e-03 -3.05668244e+00] [ 7.17159646e-03 -1.18278834e-03 9.99973584e-01 -8.63354526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624860624 meters 0.09435826253541135 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.07, Z:-0.87 [[ 9.99971956e-01 8.13234722e-04 -7.44488220e-03 3.59738270e+01] [-8.07234337e-04 9.99999347e-01 8.08943924e-04 -3.06638225e+00] [ 7.44553520e-03 -8.02911473e-04 9.99971959e-01 -8.65051619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684860624 meters 0.09770522489137817 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.08, Z:-0.87 [[ 9.99977951e-01 -2.20318018e-03 -6.26452795e-03 3.60322224e+01] [ 2.20748721e-03 9.99997332e-01 6.80695601e-04 -3.08037080e+00] [ 6.26301154e-03 -6.94509457e-04 9.99980146e-01 -8.67599813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744860624 meters 0.1025995419419491 Centerline is valid? [True, False] Translation: X:36.03, Y:-3.08, Z:-0.87 [[ 9.99981012e-01 -2.10933890e-03 -5.79020121e-03 3.60316867e+01] [ 2.11874453e-03 9.99996445e-01 1.61875200e-03 -3.08342243e+00] [ 5.78676613e-03 -1.63098922e-03 9.99981926e-01 -8.68159304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80486062399999 meters 0.09968008094444988 Centerline is valid? [False, True] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99983528e-01 -1.96128502e-03 -5.39418230e-03 3.60311790e+01] [ 1.97404079e-03 9.99995266e-01 2.36041996e-03 -3.08575810e+00] [ 5.38952731e-03 -2.37102942e-03 9.99982665e-01 -8.68518037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86486062399999 meters 0.1009376694194718 Centerline is valid? [True, False] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99985416e-01 -2.30394450e-03 -4.88456584e-03 3.60297215e+01] [ 2.31602776e-03 9.99994269e-01 2.46955101e-03 -3.08733798e+00] [ 4.87884813e-03 -2.48082779e-03 9.99985021e-01 -8.67791997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92486062399999 meters 0.10129716372915473 Centerline is valid? [False, False] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99986286e-01 -2.25995084e-03 -4.72440696e-03 3.60293401e+01] [ 2.27284498e-03 9.99993702e-01 2.72567537e-03 -3.08861140e+00] [ 4.71821732e-03 -2.73637584e-03 9.99985125e-01 -8.67639417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98486062399999 meters 0.10059251664538307 Centerline is valid? [False, False] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99986459e-01 -1.98969957e-03 -4.80854131e-03 3.60298219e+01] [ 2.00436607e-03 9.99993349e-01 3.04720155e-03 -3.08918982e+00] [ 4.80244631e-03 -3.05679836e-03 9.99983796e-01 -8.68055073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044860624 meters 0.10114493288765665 Centerline is valid? [False, False] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99985984e-01 -2.03635538e-03 -4.88718717e-03 3.60299279e+01] [ 2.05044794e-03 9.99993750e-01 2.88029616e-03 -3.08879539e+00] [ 4.88129132e-03 -2.89027672e-03 9.99983910e-01 -8.67979780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104860624 meters 0.09834581352306863 Centerline is valid? [False, True] Translation: X:36.03, Y:-3.09, Z:-0.87 [[ 9.99984283e-01 -1.91773692e-03 -5.26843839e-03 3.60304364e+01] [ 1.93157607e-03 9.99994695e-01 2.62297089e-03 -3.08786926e+00] [ 5.26338027e-03 -2.63310605e-03 9.99982682e-01 -8.67698038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16486062399999 meters 0.09837427032807064 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.09, Z:-0.87 [[ 9.99985167e-01 1.97926035e-03 -5.07429661e-03 3.60910605e+01] [-1.97637631e-03 9.99997883e-01 5.73314766e-04 -3.09335765e+00] [ 5.07542061e-03 -5.63277542e-04 9.99986961e-01 -8.69315991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22486062399999 meters 0.09894543681187255 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.10, Z:-0.87 [[ 9.99961650e-01 6.55082780e-03 -5.81250409e-03 3.61500368e+01] [-6.54712186e-03 9.99978352e-01 6.56379930e-04 -3.10005832e+00] [ 5.81667809e-03 -6.18299586e-04 9.99982892e-01 -8.71395162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28486062399999 meters 0.09563245944682502 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.10, Z:-0.87 [[ 9.99937890e-01 9.01661299e-03 -6.55109417e-03 3.62107497e+01] [-9.01195576e-03 9.99959118e-01 7.40081803e-04 -3.09876490e+00] [ 6.55749938e-03 -6.80997666e-04 9.99978267e-01 -8.71671822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34486062399999 meters 0.0921960533553431 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.10, Z:-0.87 [[ 9.99897084e-01 1.18184166e-02 -8.13306079e-03 3.62716657e+01] [-1.18113311e-02 9.99929822e-01 9.18685346e-04 -3.09764854e+00] [ 8.14334743e-03 -8.22528525e-04 9.99966504e-01 -8.72907638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404860624 meters 0.09435488111034424 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.11, Z:-0.88 [[ 9.99879921e-01 1.26859694e-02 -8.90002330e-03 3.63288010e+01] [-1.26775367e-02 9.99919133e-01 1.00327038e-03 -3.10720349e+00] [ 8.91203104e-03 -8.90319536e-04 9.99959891e-01 -8.75909298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464860624 meters 0.0980857191697798 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.12, Z:-0.88 [[ 9.99877856e-01 1.17730375e-02 -1.02795621e-02 3.63862003e+01] [-1.17617429e-02 9.99930157e-01 1.15850688e-03 -3.11797453e+00] [ 1.02924833e-02 -1.03745981e-03 9.99946493e-01 -8.79036666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52486062399998 meters 0.09295676992600542 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.11, Z:-0.88 [[ 9.99909373e-01 9.69254555e-03 -9.34344065e-03 3.64472707e+01] [-9.68311848e-03 9.99952562e-01 1.05366209e-03 -3.11463482e+00] [ 9.35321009e-03 -9.63092958e-04 9.99955794e-01 -8.77066836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58486062399999 meters 0.09450144306079364 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.12, Z:-0.88 [[ 9.99936051e-01 7.77025406e-03 -8.21691597e-03 3.65068175e+01] [-7.76290045e-03 9.99969439e-01 9.26452206e-04 -3.12494601e+00] [ 8.22386363e-03 -8.62605859e-04 9.99965811e-01 -8.78282971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64486062399999 meters 0.09597161160648889 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.13, Z:-0.88 [[ 9.99951609e-01 3.87187845e-03 -9.04363929e-03 3.65662716e+01] [-3.86281368e-03 9.99992020e-01 1.01958891e-03 -3.13439400e+00] [ 9.04751484e-03 -9.84605673e-04 9.99958586e-01 -8.79207663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70486062399999 meters 0.0979960289943067 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.14, Z:-0.88 [[ 9.99959664e-01 1.27871481e-03 -8.89014969e-03 3.66256138e+01] [-1.26985178e-03 9.99998691e-01 1.00252242e-03 -3.14431763e+00] [ 8.89142000e-03 -9.91192805e-04 9.99959979e-01 -8.80028245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764860624 meters 0.09695985535606579 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.15, Z:-0.88 [[ 9.99931077e-01 -4.41760067e-05 -1.17405050e-02 3.66861730e+01] [ 5.97185533e-05 9.99999122e-01 1.32349242e-03 -3.14748269e+00] [ 1.17404362e-02 -1.32410233e-03 9.99930202e-01 -8.80221831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824860624 meters 0.09709496456107612 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.15, Z:-0.88 [[ 9.99932265e-01 1.71573890e-03 -1.15117898e-02 3.67454616e+01] [-1.70091916e-03 9.99997712e-01 1.29702021e-03 -3.15278206e+00] [ 1.15139888e-02 -1.27735174e-03 9.99932896e-01 -8.81105856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88486062399998 meters 0.09689125887014315 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.16, Z:-0.88 [[ 9.99905077e-01 5.43286610e-03 -1.26618196e-02 3.68043645e+01] [-5.41524057e-03 9.99984321e-01 1.42589086e-03 -3.15625264e+00] [ 1.26693678e-02 -1.35718871e-03 9.99918819e-01 -8.82345301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94486062399999 meters 0.0932526033330679 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.15, Z:-0.88 [[ 9.99781978e-01 1.53888094e-02 -1.41131543e-02 3.68663559e+01] [-1.53678833e-02 9.99880643e-01 1.58999354e-03 -3.14959558e+00] [ 1.41359379e-02 -1.37275758e-03 9.99899140e-01 -8.82524589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00486062399999 meters 0.08663334103865723 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.14, Z:-0.88 [[ 9.99629157e-01 2.35293931e-02 -1.37082489e-02 3.69282523e+01] [-2.35104104e-02 9.99722399e-01 1.54429810e-03 -3.13774299e+00] [ 1.37407799e-02 -1.22143885e-03 9.99904845e-01 -8.80643888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06486062399999 meters 0.08915882808906443 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.15, Z:-0.88 [[ 9.99506867e-01 2.83155694e-02 -1.35739460e-02 3.69866716e+01] [-2.82974018e-02 9.99598379e-01 1.52865764e-03 -3.14741030e+00] [ 1.36117793e-02 -1.14379640e-03 9.99906701e-01 -8.84714749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124860624 meters 0.08608187188278708 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.14, Z:-0.89 [[ 9.99145357e-01 3.93238376e-02 -1.27354651e-02 3.70476694e+01] [-3.93087327e-02 9.99226084e-01 1.43429643e-03 -3.13928254e+00] [ 1.27820109e-02 -9.32455626e-04 9.99917872e-01 -8.86874136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184860624 meters 0.08384572208223354 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.13, Z:-0.89 [[ 9.98946208e-01 4.44397461e-02 -1.14709202e-02 3.71086711e+01] [-4.44278278e-02 9.99011761e-01 1.29186841e-03 -3.13465983e+00] [ 1.15169945e-02 -7.80878987e-04 9.99933372e-01 -8.85949994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24486062399998 meters 0.0815469441707858 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.13, Z:-0.89 [[ 9.98837724e-01 4.70198800e-02 -1.05986810e-02 3.71699189e+01] [-4.70098540e-02 9.98893713e-01 1.19325665e-03 -3.12894536e+00] [ 1.06430626e-02 -6.93627313e-04 9.99943120e-01 -8.86226698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30486062399999 meters 0.08317289987143721 Centerline is valid? [True, True] Translation: X:37.23, Y:-3.14, Z:-0.89 [[ 9.98890779e-01 4.59804488e-02 -1.01493853e-02 3.72270676e+01] [-4.59712213e-02 9.98942113e-01 1.14071692e-03 -3.13595079e+00] [ 1.01910990e-02 -6.72871979e-04 9.99947843e-01 -8.89653160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36486062399999 meters 0.08473096225638763 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.14, Z:-0.89 [[ 9.99133393e-01 4.04237209e-02 -9.91900019e-03 3.72867684e+01] [-4.04146244e-02 9.99182372e-01 1.11589547e-03 -3.14214770e+00] [ 9.95599878e-03 -7.14055756e-04 9.99950183e-01 -8.90221513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42486062399999 meters 0.08614841003753883 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.15, Z:-0.89 [[ 9.99302166e-01 3.62060994e-02 -9.18150572e-03 3.73465772e+01] [-3.61981266e-02 9.99344099e-01 1.03310425e-03 -3.15032870e+00] [ 9.21288824e-03 -7.00030013e-04 9.99957315e-01 -8.90873311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48486062399999 meters 0.08964458368018202 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.16, Z:-0.89 [[ 9.99545936e-01 2.90744738e-02 -7.91179337e-03 3.74060540e+01] [-2.90683326e-02 9.99577030e-01 8.90122995e-04 -3.16282113e+00] [ 7.93432678e-03 -6.59736181e-04 9.99968305e-01 -8.92487430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544860624 meters 0.09186161116415156 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.17, Z:-0.89 [[ 9.99681259e-01 2.37859019e-02 -8.46232736e-03 3.74662214e+01] [-2.37786851e-02 9.99716793e-01 9.52428498e-04 -3.17237952e+00] [ 8.48258514e-03 -7.50901902e-04 9.99963740e-01 -8.93477680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604860624 meters 0.0949121218086787 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.18, Z:-0.90 [[ 9.99818588e-01 1.72085651e-02 -8.16438314e-03 3.75252789e+01] [-1.72016345e-02 9.99851619e-01 9.18347498e-04 -3.18348964e+00] [ 8.17897515e-03 -7.77740164e-04 9.99966249e-01 -8.96198718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66486062399999 meters 0.09755946559828954 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.19, Z:-0.90 [[ 9.99872239e-01 1.38851999e-02 -7.91877819e-03 3.75844476e+01] [-1.38785780e-02 9.99903291e-01 8.90567098e-04 -3.19427144e+00] [ 7.93037808e-03 -7.80551938e-04 9.99968249e-01 -8.97621417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72486062399999 meters 0.09897602630405562 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.20, Z:-0.90 [[ 9.99918043e-01 1.09953286e-02 -6.55819259e-03 3.76444269e+01] [-1.09907241e-02 9.99939328e-01 7.37732446e-04 -3.20106749e+00] [ 6.56590631e-03 -6.65592698e-04 9.99978223e-01 -8.97872903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78486062399999 meters 0.09810612499173134 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.21, Z:-0.90 [[ 9.99940988e-01 9.33701400e-03 -5.55340787e-03 3.77032598e+01] [-9.33369323e-03 9.99956246e-01 6.23588696e-04 -3.20578591e+00] [ 5.55898735e-03 -5.71718091e-04 9.99984385e-01 -8.97681127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84486062399999 meters 0.09884825961385622 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.21, Z:-0.90 [[ 9.99958358e-01 7.47390843e-03 -5.23666246e-03 3.77632756e+01] [-7.47092612e-03 9.99971919e-01 5.88836788e-04 -3.21441504e+00] [ 5.24091632e-03 -5.49689550e-04 9.99986115e-01 -8.98622155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904860624 meters 0.1039360477491651 Centerline is valid? [True, False] Translation: X:37.76, Y:-3.21, Z:-0.90 [[ 9.99966739e-01 6.79561334e-03 -4.50996580e-03 3.77615326e+01] [-6.79420317e-03 9.99976865e-01 3.27926457e-04 -3.21473456e+00] [ 4.51208992e-03 -2.97273926e-04 9.99989776e-01 -8.98247788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964860624 meters 0.1066384017450625 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.21, Z:-0.90 [[ 9.99985491e-01 2.54411409e-03 -4.74827333e-03 3.77618832e+01] [-2.56298675e-03 9.99988824e-01 -3.97279361e-03 -3.21466909e+00] [ 4.73811302e-03 3.98490573e-03 9.99980835e-01 -8.98082031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02486062399998 meters 0.11030155489504394 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.22, Z:-0.90 [[ 9.99989048e-01 2.36791587e-03 -4.03681631e-03 3.77604246e+01] [-2.38143726e-03 9.99991560e-01 -3.34800818e-03 -3.21773747e+00] [ 4.02885444e-03 3.35758494e-03 9.99986247e-01 -8.98048258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08486062399999 meters 0.10708012782345162 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.22, Z:-0.90 [[ 9.99990126e-01 2.28996348e-03 -3.80835587e-03 3.77597225e+01] [-2.30198146e-03 9.99992376e-01 -3.15430370e-03 -3.21885665e+00] [ 3.80110360e-03 3.16303932e-03 9.99987773e-01 -8.97717284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14486062399999 meters 0.11567918698089563 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.22, Z:-0.90 [[ 9.99990216e-01 2.44519893e-03 -3.68638595e-03 3.77593932e+01] [-2.45522716e-03 9.99993291e-01 -2.71827397e-03 -3.22048148e+00] [ 3.67971450e-03 2.72729829e-03 9.99989511e-01 -8.97616402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20486062399999 meters 0.1115234661667155 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.22, Z:-0.90 [[ 9.99990360e-01 2.67964237e-03 -3.47846735e-03 3.77586801e+01] [-2.68702828e-03 9.99994142e-01 -2.12038896e-03 -3.22327730e+00] [ 3.47276509e-03 2.12971526e-03 9.99991702e-01 -8.97154320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264860624 meters 0.10733099827923186 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.22, Z:-0.90 [[ 9.99990525e-01 2.75879833e-03 -3.36727086e-03 3.77581108e+01] [-2.76497765e-03 9.99994500e-01 -1.83184063e-03 -3.22475643e+00] [ 3.36219866e-03 1.84113370e-03 9.99992653e-01 -8.96642658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324860624 meters 0.12054860586347128 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99989884e-01 3.00244851e-03 -3.34921663e-03 3.77581692e+01] [-3.00724733e-03 9.99994458e-01 -1.42870431e-03 -3.22594640e+00] [ 3.34490846e-03 1.43876178e-03 9.99993371e-01 -8.96749425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38486062399998 meters 0.12154904568783842 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99989403e-01 3.14888121e-03 -3.35847380e-03 3.77582281e+01] [-3.15313714e-03 9.99994232e-01 -1.26268145e-03 -3.22666906e+00] [ 3.35447839e-03 1.27325779e-03 9.99993563e-01 -8.96786168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44486062399999 meters 0.10881286199177663 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99987714e-01 3.44297069e-03 -3.56630062e-03 3.77586807e+01] [-3.44643722e-03 9.99993594e-01 -9.66334183e-04 -3.22755120e+00] [ 3.56295072e-03 9.78613341e-04 9.99993174e-01 -8.96821607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50486062399999 meters 0.10955133027922007 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99986907e-01 3.57355130e-03 -3.66268998e-03 3.77587507e+01] [-3.57652234e-03 9.99993280e-01 -8.04934843e-04 -3.22829256e+00] [ 3.65978890e-03 8.18023996e-04 9.99992968e-01 -8.96636258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56486062399999 meters 0.10568934700335783 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99985767e-01 3.84793124e-03 -3.69570998e-03 3.77586835e+01] [-3.84932896e-03 9.99992522e-01 -3.71161875e-04 -3.22993513e+00] [ 3.69425414e-03 3.85382596e-04 9.99993102e-01 -8.96409613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624860624 meters 0.11282590506102423 Centerline is valid? [False, False] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99986459e-01 3.84563007e-03 -3.50617376e-03 3.77579036e+01] [-3.84612671e-03 9.99992595e-01 -1.34915799e-04 -3.23146131e+00] [ 3.50562896e-03 1.48399161e-04 9.99993844e-01 -8.95849936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684860624 meters 0.09943529763685212 Centerline is valid? [False, True] Translation: X:37.76, Y:-3.23, Z:-0.90 [[ 9.99992827e-01 1.89316411e-04 -3.78281282e-03 3.77580978e+01] [-2.02741496e-04 9.99993682e-01 -3.54890068e-03 -3.23421658e+00] [ 3.78211705e-03 3.54964216e-03 9.99986548e-01 -8.95322274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74486062399998 meters 0.10011374930353245 Centerline is valid? [True, False] Translation: X:37.76, Y:-3.24, Z:-0.90 [[ 9.99993476e-01 5.09819179e-04 -3.57604858e-03 3.77576367e+01] [-5.19677884e-04 9.99996066e-01 -2.75648402e-03 -3.23711153e+00] [ 3.57462920e-03 2.75832443e-03 9.99989807e-01 -8.95243587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80486062399999 meters 0.09857037398318286 Centerline is valid? [False, True] Translation: X:37.76, Y:-3.24, Z:-0.90 [[ 9.99994471e-01 9.36687104e-04 -3.19079773e-03 3.77568307e+01] [-9.41506026e-04 9.99998418e-01 -1.50908893e-03 -3.24171047e+00] [ 3.18937914e-03 1.51208474e-03 9.99993771e-01 -8.95189080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86486062399999 meters 0.10291500570042048 Centerline is valid? [True, False] Translation: X:37.76, Y:-3.24, Z:-0.90 [[ 9.99994752e-01 1.25385231e-03 -2.98715720e-03 3.77563672e+01] [-1.25594920e-03 9.99998966e-01 -7.00196591e-04 -3.24458878e+00] [ 2.98627617e-03 7.03944634e-04 9.99995293e-01 -8.95060956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92486062399999 meters 0.09789964361067524 Centerline is valid? [False, True] Translation: X:37.76, Y:-3.25, Z:-0.89 [[ 9.99995352e-01 1.58237522e-03 -2.60630160e-03 3.77551935e+01] [-1.58149942e-03 9.99998692e-01 3.38056967e-04 -3.24923392e+00] [ 2.60683312e-03 -3.33933531e-04 9.99996546e-01 -8.94377337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98486062399999 meters 0.09806127748111389 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.26, Z:-0.90 [[ 9.99994931e-01 1.64732209e-03 -2.72471023e-03 3.78137696e+01] [-1.64647092e-03 9.99998595e-01 3.14601942e-04 -3.25778725e+00] [ 2.72522466e-03 -3.10114191e-04 9.99996238e-01 -8.95113169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044860624 meters 0.09714980341460826 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.27, Z:-0.90 [[ 9.99992699e-01 2.35688005e-03 -3.00789089e-03 3.78726836e+01] [-2.35585709e-03 9.99997166e-01 3.43588777e-04 -3.26525961e+00] [ 3.00869216e-03 -3.36500107e-04 9.99995417e-01 -8.96494905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104860624 meters 0.09492342490674616 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.27, Z:-0.90 [[ 9.99972146e-01 6.60629983e-03 -3.47337375e-03 3.79333527e+01] [-6.60494261e-03 9.99978106e-01 4.02074934e-04 -3.26960774e+00] [ 3.47595393e-03 -3.79122300e-04 9.99993887e-01 -8.96830646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16486062399999 meters 0.09282452985567684 Centerline is valid? [True, True] Translation: X:37.99, Y:-3.27, Z:-0.90 [[ 9.99951614e-01 9.00383582e-03 -3.96233784e-03 3.79939854e+01] [-9.00208854e-03 9.99959375e-01 4.58587060e-04 -3.27438426e+00] [ 3.96630591e-03 -4.22895555e-04 9.99992045e-01 -8.97753578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22486062399999 meters 0.0935892007101178 Centerline is valid? [True, True] Translation: X:38.05, Y:-3.28, Z:-0.90 [[ 9.99925924e-01 1.14718847e-02 -4.06715473e-03 3.80522129e+01] [-1.14700656e-02 9.99934106e-01 4.70293969e-04 -3.28400728e+00] [ 4.07228189e-03 -4.23608600e-04 9.99991619e-01 -8.98724328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28486062399999 meters 0.09536928191409116 Centerline is valid? [True, True] Translation: X:38.11, Y:-3.29, Z:-0.90 [[ 9.99902271e-01 1.32908834e-02 -4.33598334e-03 3.81104434e+01] [-1.32888345e-02 9.99911574e-01 5.00996235e-04 -3.29474397e+00] [ 4.34225861e-03 -4.43327108e-04 9.99990474e-01 -9.01545823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34486062399999 meters 0.09194939804231847 Centerline is valid? [True, True] Translation: X:38.17, Y:-3.30, Z:-0.90 [[ 9.99888810e-01 1.38971056e-02 -5.40724848e-03 3.81699713e+01] [-1.38939306e-02 9.99903280e-01 6.24303105e-04 -3.29608424e+00] [ 5.41540150e-03 -5.49105753e-04 9.99985186e-01 -9.01478385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404860624 meters 0.09104482870622203 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.30, Z:-0.90 [[ 9.99881659e-01 1.44824561e-02 -5.18907720e-03 3.82284105e+01] [-1.44795438e-02 9.99894987e-01 5.98362054e-04 -3.30217675e+00] [ 5.19719803e-03 -5.23155773e-04 9.99986358e-01 -9.03684550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464860624 meters 0.09255863582752054 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.31, Z:-0.91 [[ 9.99876778e-01 1.45520791e-02 -5.88773068e-03 3.82862547e+01] [-1.45483321e-02 9.99893937e-01 6.78742446e-04 -3.31144170e+00] [ 5.89698332e-03 -5.93002149e-04 9.99982437e-01 -9.05007061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52486062399998 meters 0.09274824102254897 Centerline is valid? [True, True] Translation: X:38.34, Y:-3.32, Z:-0.91 [[ 9.99884346e-01 1.40742787e-02 -5.76271969e-03 3.83446643e+01] [-1.40706837e-02 9.99900783e-01 6.63912395e-04 -3.31824328e+00] [ 5.77149201e-03 -5.82750205e-04 9.99983175e-01 -9.06297587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58486062399999 meters 0.09500470764008188 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.33, Z:-0.91 [[ 9.99902002e-01 1.30500059e-02 -5.06791355e-03 3.84018215e+01] [-1.30472149e-02 9.99914711e-01 5.83380541e-04 -3.32896922e+00] [ 5.07509443e-03 -5.17201213e-04 9.99986988e-01 -9.08693467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64486062399999 meters 0.09349972918727827 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.33, Z:-0.91 [[ 9.99919983e-01 1.11806611e-02 -5.91783248e-03 3.84623031e+01] [-1.11768136e-02 9.99937304e-01 6.82825703e-04 -3.33313086e+00] [ 5.92509590e-03 -6.16628555e-04 9.99982256e-01 -9.09359071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70486062399999 meters 0.0955400730697355 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.34, Z:-0.91 [[ 9.99919723e-01 1.01645746e-02 -7.56503216e-03 3.85217725e+01] [-1.01582619e-02 9.99948023e-01 8.72415499e-04 -3.34260806e+00] [ 7.57350668e-03 -7.95497886e-04 9.99971004e-01 -9.11454256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764860624 meters 0.0971800327975035 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.35, Z:-0.91 [[ 9.99935357e-01 7.80245086e-03 -8.27065878e-03 3.85814491e+01] [-7.79482276e-03 9.99969165e-01 9.54142366e-04 -3.35038545e+00] [ 8.27784840e-03 -8.89612368e-04 9.99965342e-01 -9.12729157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824860624 meters 0.10029154563389915 Centerline is valid? [True, False] Translation: X:38.58, Y:-3.35, Z:-0.91 [[ 9.99939710e-01 7.37304990e-03 -8.13728755e-03 3.85809441e+01] [-7.37025347e-03 9.99972770e-01 3.73590901e-04 -3.34925290e+00] [ 8.13982047e-03 -3.13594506e-04 9.99966822e-01 -9.12377251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88486062399998 meters 0.10169799864436947 Centerline is valid? [False, False] Translation: X:38.58, Y:-3.35, Z:-0.91 [[ 9.99941631e-01 7.02365066e-03 -8.20988718e-03 3.85810193e+01] [-7.02587618e-03 9.99975289e-01 -2.42268134e-04 -3.34740245e+00] [ 8.20798270e-03 2.99935644e-04 9.99966269e-01 -9.12282973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94486062399999 meters 0.09603201433337598 Centerline is valid? [False, True] Translation: X:38.58, Y:-3.35, Z:-0.91 [[ 9.99944794e-01 6.57589191e-03 -8.19556227e-03 3.85809966e+01] [-6.58437990e-03 9.99977814e-01 -1.00912897e-03 -3.34505247e+00] [ 8.18874451e-03 1.06303595e-03 9.99965907e-01 -9.12316986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00486062399999 meters 0.0945512410936043 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.35, Z:-0.91 [[ 9.99944373e-01 6.49355295e-03 -8.31170529e-03 3.86402801e+01] [-6.48580251e-03 9.99978507e-01 9.59088643e-04 -3.34754544e+00] [ 8.31775454e-03 -9.05127212e-04 9.99964997e-01 -9.13040587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06486062399999 meters 0.0952997186551753 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.36, Z:-0.91 [[ 9.99952055e-01 6.53145009e-03 -7.29580751e-03 3.86982777e+01] [-6.52548418e-03 9.99978355e-01 8.41223605e-04 -3.35563716e+00] [ 7.30114400e-03 -7.93574596e-04 9.99973031e-01 -9.14991650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124860624 meters 0.09591556099136679 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.36, Z:-0.92 [[ 9.99959468e-01 5.92769513e-03 -6.77673253e-03 3.87567579e+01] [-5.92253799e-03 9.99982157e-01 7.80822259e-04 -3.36177021e+00] [ 6.78124008e-03 -7.40655155e-04 9.99976733e-01 -9.15987703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184860624 meters 0.09529151079657444 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.37, Z:-0.92 [[ 9.99975300e-01 4.70559678e-03 -5.22079655e-03 3.88164654e+01] [-4.70251865e-03 9.99988762e-01 6.01709463e-04 -3.36538524e+00] [ 5.22356928e-03 -5.77143707e-04 9.99986191e-01 -9.16762654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24486062399998 meters 0.09887898620925024 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.38, Z:-0.92 [[ 9.99976230e-01 3.45569364e-03 -5.96645540e-03 3.88747062e+01] [-3.45164953e-03 9.99993806e-01 6.87973401e-04 -3.37849960e+00] [ 5.96879587e-03 -6.67362935e-04 9.99981964e-01 -9.20155475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30486062399999 meters 0.09905697056617871 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.38, Z:-0.92 [[ 9.99988044e-01 2.11577973e-03 -4.40860778e-03 3.89344141e+01] [-2.11356136e-03 9.99997638e-01 5.07787288e-04 -3.38321652e+00] [ 4.40967173e-03 -4.98463354e-04 9.99990153e-01 -9.19109280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36486062399999 meters 0.09871200338150686 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.39, Z:-0.92 [[ 9.99991671e-01 1.56565761e-03 -3.76906587e-03 3.89934272e+01] [-1.56403612e-03 9.99998683e-01 4.33118384e-04 -3.38810063e+00] [ 3.76973902e-03 -4.27219821e-04 9.99992803e-01 -9.19560043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42486062399999 meters 0.1040387913311878 Centerline is valid? [True, False] Translation: X:38.99, Y:-3.39, Z:-0.92 [[ 9.99991713e-01 1.30261737e-03 -3.85715249e-03 3.89938882e+01] [-1.30334014e-03 9.99999134e-01 -1.84875073e-04 -3.38575073e+00] [ 3.85690833e-03 1.89900723e-04 9.99992544e-01 -9.19992683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48486062399999 meters 0.10510103022991811 Centerline is valid? [False, False] Translation: X:38.99, Y:-3.38, Z:-0.92 [[ 9.99991929e-01 1.08231724e-03 -3.86913521e-03 3.89942112e+01] [-1.08470254e-03 9.99999223e-01 -6.14449756e-04 -3.38404240e+00] [ 3.86846717e-03 6.18641658e-04 9.99992326e-01 -9.20444970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544860624 meters 0.09970337010009846 Centerline is valid? [False, True] Translation: X:39.00, Y:-3.38, Z:-0.92 [[ 9.99990728e-01 1.18762123e-03 -4.13922555e-03 3.89951314e+01] [-1.19075917e-03 9.99999005e-01 -7.55715181e-04 -3.38284175e+00] [ 4.13832393e-03 7.60636995e-04 9.99991148e-01 -9.20987983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60486062399998 meters 0.09900245424357737 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.39, Z:-0.92 [[ 9.99992040e-01 2.96271696e-03 -2.67254780e-03 3.90550576e+01] [-2.96191452e-03 9.99995567e-01 3.04157623e-04 -3.38726668e+00] [ 2.67343709e-03 -2.96239343e-04 9.99996382e-01 -9.21197358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66486062399999 meters 0.09891158749790359 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.39, Z:-0.92 [[ 9.99995737e-01 2.75610456e-03 -9.64528904e-04 3.91135642e+01] [-2.75600119e-03 9.99996196e-01 1.08490534e-04 -3.39279934e+00] [ 9.64824246e-04 -1.05831829e-04 9.99999529e-01 -9.21473607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72486062399999 meters 0.0990027427805047 Centerline is valid? [True, True] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99998984e-01 1.18783036e-03 -7.88068141e-04 3.91737829e+01] [-1.18776004e-03 9.99999291e-01 8.96900880e-05 -3.40003742e+00] [ 7.88174119e-04 -8.87539610e-05 9.99999685e-01 -9.22833859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78486062399999 meters 0.1053817110397184 Centerline is valid? [True, False] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99999360e-01 9.39130456e-04 -6.30965237e-04 3.91734097e+01] [-9.39201882e-04 9.99999553e-01 -1.12915008e-04 -3.39962348e+00] [ 6.30858912e-04 1.13507539e-04 9.99999795e-01 -9.22777154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84486062399999 meters 0.10012933143576014 Centerline is valid? [False, False] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99999624e-01 7.59777779e-04 -4.18202210e-04 3.91731755e+01] [-7.59849834e-04 9.99999696e-01 -1.72165977e-04 -3.39917988e+00] [ 4.18071275e-04 1.72483684e-04 9.99999898e-01 -9.23089361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904860624 meters 0.1039809210474326 Centerline is valid? [False, False] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99999741e-01 6.11502838e-04 -3.80440175e-04 3.91730518e+01] [-6.11643713e-04 9.99999744e-01 -3.70287689e-04 -3.39882717e+00] [ 3.80213646e-04 3.70520287e-04 9.99999859e-01 -9.23003646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964860624 meters 0.10576922809301177 Centerline is valid? [False, False] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99999714e-01 6.54540518e-04 -3.78837255e-04 3.91733365e+01] [-6.54653741e-04 9.99999741e-01 -2.98823890e-04 -3.39859128e+00] [ 3.78641565e-04 2.99071811e-04 9.99999884e-01 -9.23409113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02486062399998 meters 0.10160973580311282 Centerline is valid? [False, False] Translation: X:39.17, Y:-3.40, Z:-0.92 [[ 9.99999719e-01 4.82264458e-04 -5.73807883e-04 3.91738566e+01] [-4.82702542e-04 9.99999592e-01 -7.63575329e-04 -3.39658191e+00] [ 5.73439404e-04 7.63852093e-04 9.99999544e-01 -9.23611972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08486062399999 meters 0.10781453362419678 Centerline is valid? [False, False] Translation: X:39.18, Y:-3.39, Z:-0.92 [[ 9.99999258e-01 6.24752776e-04 -1.04585015e-03 3.91752263e+01] [-6.25904472e-04 9.99999198e-01 -1.10124085e-03 -3.39437595e+00] [ 1.04516131e-03 1.10189464e-03 9.99998847e-01 -9.24250846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14486062399999 meters 0.09878801064745131 Centerline is valid? [False, True] Translation: X:39.18, Y:-3.39, Z:-0.92 [[ 9.99998847e-01 6.55143630e-04 -1.37001555e-03 3.91761541e+01] [-6.57101948e-04 9.99998762e-01 -1.42945134e-03 -3.39250867e+00] [ 1.36907736e-03 1.43034993e-03 9.99998040e-01 -9.24667590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20486062399999 meters 0.09999233315940338 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.40, Z:-0.93 [[ 9.99994361e-01 3.35814701e-03 -3.61077486e-05 3.92356989e+01] [-3.35814688e-03 9.99994361e-01 3.62172378e-06 -3.39835903e+00] [ 3.61197073e-05 -3.50044824e-06 9.99999999e-01 -9.26602277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264860624 meters 0.09767078659721214 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99986530e-01 5.11568936e-03 -8.77020010e-04 3.92955078e+01] [-5.11560272e-03 9.99986910e-01 1.01000551e-04 -3.39961443e+00] [ 8.77525217e-04 -9.65127050e-05 9.99999610e-01 -9.27250661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324860624 meters 0.10034413689259757 Centerline is valid? [True, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99985989e-01 5.20408914e-03 -9.69208671e-04 3.92961277e+01] [-5.20401653e-03 9.99986456e-01 7.74208684e-05 -3.39890647e+00] [ 9.69598449e-04 -7.23760057e-05 9.99999527e-01 -9.27850076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38486062399998 meters 0.10021717066017456 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99987281e-01 4.94445436e-03 -9.94947710e-04 3.92961425e+01] [-4.94480992e-03 9.99987711e-01 -3.55218631e-04 -3.39742371e+00] [ 9.93179121e-04 3.60133940e-04 9.99999442e-01 -9.27811387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44486062399999 meters 0.10016821372520779 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99989008e-01 4.59739374e-03 -9.21153709e-04 3.92958501e+01] [-4.59819244e-03 9.99989053e-01 -8.66828168e-04 -3.39610738e+00] [ 9.17158475e-04 8.71054281e-04 9.99999200e-01 -9.27615241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50486062399999 meters 0.10084374753906739 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99988635e-01 4.67597385e-03 -9.30267887e-04 3.92962756e+01] [-4.67673517e-03 9.99988730e-01 -8.17899008e-04 -3.39571406e+00] [ 9.26432928e-04 8.22240329e-04 9.99999233e-01 -9.28177873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56486062399999 meters 0.10466471481502142 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99989992e-01 4.40126538e-03 -8.03094285e-04 3.92962907e+01] [-4.40223170e-03 9.99989584e-01 -1.20547124e-03 -3.39409666e+00] [ 7.97780321e-04 1.20899459e-03 9.99998951e-01 -9.28592791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624860624 meters 0.10009193639169311 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99992205e-01 3.91446707e-03 -5.16104459e-04 3.92955932e+01] [-3.91534641e-03 9.99990866e-01 -1.71393175e-03 -3.39309827e+00] [ 5.09390616e-04 1.71593912e-03 9.99998398e-01 -9.28460030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684860624 meters 0.10622221134028023 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.39, Z:-0.93 [[ 9.99993425e-01 3.62610632e-03 -3.35286095e-05 3.92949162e+01] [-3.62615915e-03 9.99991913e-01 -1.73909570e-03 -3.39312084e+00] [ 2.72221925e-05 1.73920585e-03 9.99998487e-01 -9.28907459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74486062399998 meters 0.11139577627217039 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.39, Z:-0.93 [[ 9.99994671e-01 3.25323289e-03 2.72421488e-04 3.92945499e+01] [-3.25266612e-03 9.99992597e-01 -2.05571992e-03 -3.39187991e+00] [-2.79107207e-04 2.05482287e-03 9.99997850e-01 -9.29283379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80486062399999 meters 0.1117583477716987 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.39, Z:-0.93 [[ 9.99995061e-01 3.12953448e-03 2.89971165e-04 3.92946245e+01] [-3.12888125e-03 9.99992626e-01 -2.22645091e-03 -3.39101207e+00] [-2.96936782e-04 2.22553263e-03 9.99997479e-01 -9.29456643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86486062399999 meters 0.10638472462984637 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.39, Z:-0.93 [[ 9.99995608e-01 2.94068729e-03 3.69438729e-04 3.92944178e+01] [-2.93977828e-03 9.99992708e-01 -2.43743119e-03 -3.39032933e+00] [-3.76603758e-04 2.43633441e-03 9.99996961e-01 -9.29421177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92486062399999 meters 0.10937466057137817 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99995481e-01 2.99765592e-03 2.29111963e-04 3.92950909e+01] [-2.99707767e-03 9.99992424e-01 -2.48385032e-03 -3.38938623e+00] [-2.36555956e-04 2.48315243e-03 9.99996889e-01 -9.29981578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98486062399999 meters 0.10334302081169315 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.39, Z:-0.93 [[ 9.99996096e-01 2.78389933e-03 2.41177067e-04 3.92949664e+01] [-2.78319921e-03 9.99992048e-01 -2.85616219e-03 -3.38846993e+00] [-2.49126417e-04 2.85547980e-03 9.99995892e-01 -9.29824545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044860624 meters 0.10617232675761087 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99994335e-01 3.36237012e-03 1.55803522e-04 3.92957897e+01] [-3.36203684e-03 9.99992160e-01 -2.09213856e-03 -3.38998700e+00] [-1.62836845e-04 2.09160289e-03 9.99997799e-01 -9.30708731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10486062399998 meters 0.10801371739673364 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99994410e-01 3.34200209e-03 1.03101886e-04 3.92958339e+01] [-3.34177124e-03 9.99992076e-01 -2.16337103e-03 -3.39006143e+00] [-1.10331059e-04 2.16301439e-03 9.99997655e-01 -9.30587692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16486062399999 meters 0.10538348509378827 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99993668e-01 3.55523206e-03 1.55657682e-04 3.92960564e+01] [-3.55494577e-03 9.99992057e-01 -1.80242656e-03 -3.39094785e+00] [-1.62064491e-04 1.80186179e-03 9.99998364e-01 -9.31018128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22486062399999 meters 0.1071135649353787 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99993057e-01 3.72072293e-03 2.05672377e-04 3.92961666e+01] [-3.72041119e-03 9.99991960e-01 -1.49582159e-03 -3.39194131e+00] [-2.11236261e-04 1.49504602e-03 9.99998860e-01 -9.31300342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28486062399999 meters 0.1056720953265037 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99993346e-01 3.64223121e-03 2.05484406e-04 3.92961608e+01] [-3.64190577e-03 9.99992147e-01 -1.56252668e-03 -3.39161649e+00] [-2.11173876e-04 1.56176793e-03 9.99998758e-01 -9.31305012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34486062399999 meters 0.10506668952421588 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99992807e-01 3.78740851e-03 2.02231249e-04 3.92962544e+01] [-3.78713120e-03 9.99991912e-01 -1.35444633e-03 -3.39229194e+00] [-2.07359455e-04 1.35367071e-03 9.99999062e-01 -9.31382668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404860624 meters 0.1046279461132467 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99993135e-01 3.66336698e-03 5.56142124e-04 3.92953862e+01] [-3.66268118e-03 9.99992537e-01 -1.22917568e-03 -3.39337099e+00] [-5.60640895e-04 1.22713027e-03 9.99999090e-01 -9.31174692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464860624 meters 0.11238133014093676 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99992937e-01 3.71763451e-03 5.51786140e-04 3.92955708e+01] [-3.71701182e-03 9.99992459e-01 -1.12526973e-03 -3.39332998e+00] [-5.55965320e-04 1.12321079e-03 9.99999215e-01 -9.31410888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52486062399998 meters 0.10847172117015255 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99992879e-01 3.74395766e-03 4.73403395e-04 3.92956621e+01] [-3.74341998e-03 9.99992353e-01 -1.13161912e-03 -3.39349386e+00] [-4.77636509e-04 1.12983891e-03 9.99999248e-01 -9.31304241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58486062399999 meters 0.10915815835229775 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.39, Z:-0.93 [[ 9.99991603e-01 4.08051991e-03 3.78104979e-04 3.92960594e+01] [-4.08024789e-03 9.99991418e-01 -7.17433708e-04 -3.39447710e+00] [-3.81029236e-04 7.15884922e-04 9.99999671e-01 -9.31557738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64486062399999 meters 0.11115764785550579 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99991580e-01 4.08074836e-03 4.32289101e-04 3.92956474e+01] [-4.08047585e-03 9.99991477e-01 -6.29402011e-04 -3.39530983e+00] [-4.34853848e-04 6.27632766e-04 9.99999708e-01 -9.31120459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70486062399999 meters 0.11157491487248844 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99991009e-01 4.21910794e-03 4.26459269e-04 3.92955696e+01] [-4.21894731e-03 9.99991029e-01 -3.76849957e-04 -3.39645796e+00] [-4.28045414e-04 3.75047359e-04 9.99999838e-01 -9.30992729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764860624 meters 0.10286754231574685 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99989909e-01 4.46105512e-03 5.30577875e-04 3.92955206e+01] [-4.46110087e-03 9.99990046e-01 8.50602388e-05 -3.39814417e+00] [-5.30193135e-04 -8.74263418e-05 9.99999856e-01 -9.31210315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824860624 meters 0.10427130660729941 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99989128e-01 4.62338353e-03 6.06496383e-04 3.92952863e+01] [-4.62366578e-03 9.99989203e-01 4.64792246e-04 -3.39967555e+00] [-6.04340922e-04 -4.67591430e-04 9.99999708e-01 -9.31104834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88486062399998 meters 0.1057714485585456 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.40, Z:-0.93 [[ 9.99989188e-01 4.59136826e-03 7.37008746e-04 3.92947984e+01] [-4.59180900e-03 9.99989279e-01 5.97440720e-04 -3.40064482e+00] [-7.34257774e-04 -6.00818463e-04 9.99999550e-01 -9.30769488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94486062399999 meters 0.10921720647168318 Centerline is valid? [False, False] Translation: X:39.29, Y:-3.40, Z:-0.93 [[ 9.99989241e-01 4.56509907e-03 8.23530173e-04 3.92944472e+01] [-4.56563776e-03 9.99989364e-01 6.53432706e-04 -3.40132087e+00] [-8.20538429e-04 -6.57185616e-04 9.99999447e-01 -9.30471064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00486062399999 meters 0.10257844388130728 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99999342e-01 1.14676876e-03 -1.80642334e-05 3.92968070e+01] [-1.14681887e-03 9.99994619e-01 -3.07368859e-03 -3.40093098e+00] [ 1.45393262e-05 3.07370728e-03 9.99995276e-01 -9.31463071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06486062399999 meters 0.10911024979818747 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99998946e-01 1.44213415e-03 -1.66161250e-04 3.92974838e+01] [-1.44258205e-03 9.99995239e-01 -2.72772891e-03 -3.40119065e+00] [ 1.62226708e-04 2.72796574e-03 9.99996266e-01 -9.31999228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124860624 meters 0.1033005844675862 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99998603e-01 1.65867684e-03 -2.04637095e-04 3.92980469e+01] [-1.65917359e-03 9.99995618e-01 -2.45164047e-03 -3.40120366e+00] [ 2.00569719e-04 2.45197657e-03 9.99996974e-01 -9.32677565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184860624 meters 0.10426858189781728 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99997772e-01 2.08891684e-03 -3.05250787e-04 3.92988296e+01] [-2.08947779e-03 9.99996108e-01 -1.84906804e-03 -3.40225223e+00] [ 3.01387049e-04 1.84970173e-03 9.99998244e-01 -9.33493325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24486062399998 meters 0.1036036604442117 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99997088e-01 2.38369507e-03 -3.78012303e-04 3.92994143e+01] [-2.38424393e-03 9.99996094e-01 -1.45823104e-03 -3.40273592e+00] [ 3.74534849e-04 1.45912807e-03 9.99998865e-01 -9.34091950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30486062399999 meters 0.10306474297352822 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.40, Z:-0.93 [[ 9.99997120e-01 2.39830926e-03 -9.29824729e-05 3.92986921e+01] [-2.39841196e-03 9.99996496e-01 -1.12063248e-03 -3.40416492e+00] [ 9.02945239e-05 1.12085226e-03 9.99999368e-01 -9.33865091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36486062399999 meters 0.10489516869385293 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.41, Z:-0.93 [[ 9.99996500e-01 2.63455076e-03 2.42898928e-04 3.92981216e+01] [-2.63447942e-03 9.99996487e-01 -2.93554696e-04 -3.40702519e+00] [-2.43671460e-04 2.92913756e-04 9.99999927e-01 -9.33986472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42486062399999 meters 0.10628964872864188 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.41, Z:-0.93 [[ 9.99996131e-01 2.69157271e-03 7.02729425e-04 3.92971039e+01] [-2.69179725e-03 9.99996326e-01 3.18767742e-04 -3.40976377e+00] [-7.01868857e-04 -3.20658114e-04 9.99999702e-01 -9.33785270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48486062399999 meters 0.11081094652615903 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.41, Z:-0.93 [[ 9.99999325e-01 -1.00702717e-03 5.79186641e-04 3.92974367e+01] [ 1.00875872e-03 9.99995000e-01 -2.99715838e-03 -3.41236605e+00] [-5.76165525e-04 2.99774062e-03 9.99995341e-01 -9.33902062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544860624 meters 0.11156795255642186 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.42, Z:-0.93 [[ 9.99999648e-01 -4.29267572e-04 7.20552719e-04 3.92974770e+01] [ 4.30527753e-04 9.99998377e-01 -1.74966622e-03 -3.41581653e+00] [-7.19800474e-04 1.74997582e-03 9.99998210e-01 -9.34357329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60486062399998 meters 0.11728122094411368 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.42, Z:-0.93 [[ 9.99999589e-01 8.81070484e-05 9.02634475e-04 3.92972760e+01] [-8.75005033e-05 9.99999770e-01 -6.71989368e-04 -3.41926803e+00] [-9.02693475e-04 6.71910110e-04 9.99999367e-01 -9.34527878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66486062399999 meters 0.11659189477449852 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.42, Z:-0.93 [[ 9.99999242e-01 2.62570103e-04 1.20302743e-03 3.92962809e+01] [-2.62553855e-04 9.99999965e-01 -1.36641478e-05 -3.42216508e+00] [-1.20303097e-03 1.33482780e-05 9.99999276e-01 -9.33946013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72486062399999 meters 0.11041641813615774 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.42, Z:-0.93 [[ 9.99999078e-01 7.64788393e-04 1.12222601e-03 3.92967690e+01] [-7.65603811e-04 9.99999443e-01 7.26357916e-04 -3.42399389e+00] [-1.12166988e-03 -7.27216426e-04 9.99999107e-01 -9.34355956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78486062399999 meters 0.10943160042510473 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.42, Z:-0.93 [[ 9.99998938e-01 8.27370647e-04 1.19995364e-03 3.92965087e+01] [-8.28427073e-04 9.99999270e-01 8.80158773e-04 -3.42494184e+00] [-1.19922454e-03 -8.81151913e-04 9.99998893e-01 -9.34165735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84486062399999 meters 0.10673780715998017 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.43, Z:-0.93 [[ 9.99998843e-01 1.16344893e-03 9.79971149e-04 3.92969027e+01] [-1.16465258e-03 9.99998567e-01 1.22857860e-03 -3.42628060e+00] [-9.78540357e-04 -1.22971850e-03 9.99998765e-01 -9.34049653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904860624 meters 0.10927551706668788 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.43, Z:-0.93 [[ 9.99999201e-01 1.05389129e-03 6.97464234e-04 3.92970339e+01] [-1.05444787e-03 9.99999126e-01 7.98121632e-04 -3.42535332e+00] [-6.96622491e-04 -7.98856434e-04 9.99999438e-01 -9.33426673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96486062399998 meters 0.10518333417831391 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.43, Z:-0.93 [[ 9.99998932e-01 1.45100976e-03 1.76412802e-04 3.92981548e+01] [-1.45116994e-03 9.99998532e-01 9.11277813e-04 -3.42534081e+00] [-1.75090270e-04 -9.11532844e-04 9.99999569e-01 -9.33491790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02486062399998 meters 0.10248946903141094 Centerline is valid? [False, False] Translation: X:39.30, Y:-3.43, Z:-0.93 [[ 9.99997647e-01 2.10579313e-03 -5.20419986e-04 3.92996171e+01] [-2.10519156e-03 9.99997118e-01 1.15378225e-03 -3.42544813e+00] [ 5.22848113e-04 -1.15268395e-03 9.99999199e-01 -9.33635807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08486062399999 meters 0.09813837403752629 Centerline is valid? [False, True] Translation: X:39.30, Y:-3.43, Z:-0.93 [[ 9.99996891e-01 2.32117403e-03 -9.11654811e-04 3.93003523e+01] [-2.32014415e-03 9.99996671e-01 1.12912516e-03 -3.42515205e+00] [ 9.14272672e-04 -1.12700648e-03 9.99998947e-01 -9.33584659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14486062399999 meters 0.09562871939994472 Centerline is valid? [True, True] Translation: X:39.36, Y:-3.43, Z:-0.93 [[ 9.99975085e-01 7.05505491e-03 -2.37625357e-04 3.93611701e+01] [-7.05504852e-03 9.99975112e-01 2.77162619e-05 -3.42767484e+00] [ 2.37814983e-04 -2.60391129e-05 9.99999971e-01 -9.34407232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20486062399999 meters 0.09862394529859254 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.44, Z:-0.94 [[ 9.99954363e-01 9.47556166e-03 -1.21859124e-03 3.94188638e+01] [-9.47539546e-03 9.99955097e-01 1.42082453e-04 -3.44161620e+00] [ 1.21988284e-03 -1.30529335e-04 9.99999247e-01 -9.37631760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264860624 meters 0.09624726648768861 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.45, Z:-0.94 [[ 9.99943713e-01 1.03301361e-02 -2.42061259e-03 3.94778989e+01] [-1.03294845e-02 9.99946610e-01 2.81560103e-04 -3.44515464e+00] [ 2.42339191e-03 -2.56540575e-04 9.99997031e-01 -9.39409913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324860624 meters 0.10160158693270215 Centerline is valid? [True, False] Translation: X:39.48, Y:-3.44, Z:-0.94 [[ 9.99976265e-01 6.20759468e-03 -2.98931790e-03 3.94789377e+01] [-6.22007700e-03 9.99971899e-01 -4.18460812e-03 -3.44395815e+00] [ 2.96325755e-03 4.20310259e-03 9.99986776e-01 -9.39412188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38486062399998 meters 0.0970192727735052 Centerline is valid? [False, True] Translation: X:39.48, Y:-3.44, Z:-0.94 [[ 9.99974922e-01 6.41295084e-03 -3.00482612e-03 3.94793704e+01] [-6.42447154e-03 9.99971989e-01 -3.84023041e-03 -3.44449842e+00] [ 2.98011474e-03 3.85943853e-03 9.99988112e-01 -9.40003610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44486062399999 meters 0.09779250438504943 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.45, Z:-0.94 [[ 9.99981618e-01 5.46720510e-03 -2.62177785e-03 3.95385296e+01] [-5.46644524e-03 9.99985015e-01 2.96905113e-04 -3.45400528e+00] [ 2.62336181e-03 -2.82567850e-04 9.99996519e-01 -9.42101285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50486062399999 meters 0.09815165940143973 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.46, Z:-0.94 [[ 9.99991784e-01 3.16996081e-03 -2.52650905e-03 3.95980149e+01] [-3.16924646e-03 9.99994937e-01 2.86697373e-04 -3.46109186e+00] [ 2.52740508e-03 -2.78687887e-04 9.99996767e-01 -9.43001492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56486062399999 meters 0.10366161532051389 Centerline is valid? [True, False] Translation: X:39.60, Y:-3.46, Z:-0.94 [[ 9.99991949e-01 3.22065339e-03 -2.39367374e-03 3.95979977e+01] [-3.21943883e-03 9.99994687e-01 5.11083821e-04 -3.46173667e+00] [ 2.39530705e-03 -5.03373420e-04 9.99997005e-01 -9.43353959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624860624 meters 0.09944806476985509 Centerline is valid? [False, True] Translation: X:39.60, Y:-3.46, Z:-0.94 [[ 9.99991656e-01 3.29344853e-03 -2.41687579e-03 3.95983128e+01] [-3.29197238e-03 9.99994393e-01 6.14494598e-04 -3.46181109e+00] [ 2.41888604e-03 -6.06533183e-04 9.99996891e-01 -9.43695124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684860624 meters 0.09841535958500923 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.47, Z:-0.94 [[ 9.99991544e-01 3.87730761e-03 -1.37064624e-03 3.96575340e+01] [-3.87709334e-03 9.99992471e-01 1.58945907e-04 -3.46678622e+00] [ 1.37125220e-03 -1.53630439e-04 9.99999048e-01 -9.44441836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74486062399998 meters 0.09769230399029062 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.47, Z:-0.95 [[ 9.99983029e-01 5.35683270e-03 -2.29020952e-03 3.97169444e+01] [-5.35623590e-03 9.99985620e-01 2.66637904e-04 -3.47154692e+00] [ 2.29160492e-03 -2.54366477e-04 9.99997342e-01 -9.45427609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80486062399999 meters 0.09864183118947474 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.48, Z:-0.95 [[ 9.99973526e-01 6.99653889e-03 -1.99873333e-03 3.97761767e+01] [-6.99608788e-03 9.99975500e-01 2.32551164e-04 -3.47821457e+00] [ 2.00031141e-03 -2.18561694e-04 9.99997975e-01 -9.47074886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86486062399999 meters 0.09760536602012153 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.48, Z:-0.95 [[ 9.99955156e-01 9.23520678e-03 -2.09704025e-03 3.98366683e+01] [-9.23471373e-03 9.99957329e-01 2.44681553e-04 -3.48207839e+00] [ 2.09921045e-03 -2.25305014e-04 9.99997771e-01 -9.48193832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92486062399999 meters 0.09910796187660292 Centerline is valid? [True, True] Translation: X:39.90, Y:-3.49, Z:-0.95 [[ 9.99930500e-01 1.15404066e-02 -2.41109435e-03 3.98955675e+01] [-1.15397624e-02 9.99933375e-01 2.80925777e-04 -3.48829494e+00] [ 2.41417571e-03 -2.53082797e-04 9.99997054e-01 -9.51236190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98486062399999 meters 0.09596609435483523 Centerline is valid? [True, True] Translation: X:39.96, Y:-3.49, Z:-0.95 [[ 9.99912672e-01 1.28851369e-02 -2.93633201e-03 3.99562263e+01] [-1.28841890e-02 9.99916937e-01 3.41526819e-04 -3.48725886e+00] [ 2.94048873e-03 -3.03664737e-04 9.99995631e-01 -9.51771704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044860624 meters 0.09818308032028268 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.49, Z:-0.95 [[ 9.99909493e-01 1.25686555e-02 -4.79941846e-03 4.00136085e+01] [-1.25661241e-02 9.99920888e-01 5.57222446e-04 -3.49334154e+00] [ 4.80604231e-03 -4.96861925e-04 9.99988327e-01 -9.54313161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10486062399998 meters 0.09982934614678479 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99921183e-01 1.12678796e-02 -5.53743598e-03 4.00732717e+01] [-1.12644788e-02 9.99936346e-01 6.44961909e-04 -3.49936318e+00] [ 5.54435085e-03 -5.82534744e-04 9.99984460e-01 -9.56254442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16486062399999 meters 0.10212714783644006 Centerline is valid? [True, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99931560e-01 1.03301915e-02 -5.49204564e-03 4.00731945e+01] [-1.03351105e-02 9.99946215e-01 -8.68040198e-04 -3.49463740e+00] [ 5.48278323e-03 9.24741688e-04 9.99984542e-01 -9.56315814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22486062399999 meters 0.13559262852314463 Centerline is valid? [False, False] Translation: X:40.15, Y:-3.50, Z:-0.96 [[ 9.99940540e-01 9.90192173e-03 -4.56829838e-03 4.01520076e+01] [-9.91517967e-03 9.99946671e-01 -2.88869831e-03 -3.49948723e+00] [ 4.53945110e-03 2.93382205e-03 9.99985393e-01 -9.55564205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28486062399999 meters 0.11643394685843636 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.49, Z:-0.96 [[ 9.99960669e-01 7.74220715e-03 -4.32651240e-03 4.00620673e+01] [-7.73470028e-03 9.99968557e-01 1.74913443e-03 -3.48505536e+00] [ 4.33991852e-03 -1.71560135e-03 9.99989111e-01 -9.55278719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34486062399999 meters 0.10411744967797079 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99965132e-01 7.22882735e-03 -4.18067856e-03 4.00618291e+01] [-7.22459824e-03 9.99973376e-01 1.02580289e-03 -3.48283033e+00] [ 4.18798261e-03 -9.95563397e-04 9.99990735e-01 -9.55372846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404860624 meters 0.1093097810877423 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.95 [[ 9.99971916e-01 6.44415580e-03 -3.82632845e-03 4.00607857e+01] [-6.44378913e-03 9.99979233e-01 1.08149783e-04 -3.48077612e+00] [ 3.82694592e-03 -8.34906921e-05 9.99992674e-01 -9.54966504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46486062399998 meters 0.11025208620658623 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99989171e-01 2.06542800e-03 -4.17031969e-03 4.00618792e+01] [-2.08467882e-03 9.99987168e-01 -4.61709259e-03 -3.47815938e+00] [ 4.16072990e-03 4.62573637e-03 9.99980645e-01 -9.55584010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52486062399998 meters 0.1133702729026547 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99990154e-01 2.13983531e-03 -3.88753191e-03 4.00620049e+01] [-2.15651092e-03 9.99988471e-01 -4.29039412e-03 -3.47842820e+00] [ 3.87830635e-03 4.29873539e-03 9.99983240e-01 -9.56611190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58486062399999 meters 0.10872144735742581 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99992007e-01 1.76587196e-03 -3.58703539e-03 4.00615269e+01] [-1.78211881e-03 9.99988146e-01 -4.53119224e-03 -3.47740591e+00] [ 3.57899137e-03 4.53754855e-03 9.99983301e-01 -9.56895931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64486062399999 meters 0.11703313426893763 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99992555e-01 1.76730628e-03 -3.43019366e-03 4.00615585e+01] [-1.78250984e-03 9.99988580e-01 -4.43428848e-03 -3.47730267e+00] [ 3.42231774e-03 4.44036982e-03 9.99984285e-01 -9.57398651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70486062399999 meters 0.11569986450269294 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99993220e-01 1.61558883e-03 -3.30898537e-03 4.00614314e+01] [-1.63079859e-03 9.99988095e-01 -4.59897675e-03 -3.47660120e+00] [ 3.30151592e-03 4.60434186e-03 9.99983950e-01 -9.57571792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764860624 meters 0.11744272082300372 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-0.96 [[ 9.99992415e-01 1.61106761e-03 -3.54590006e-03 4.00620441e+01] [-1.62809118e-03 9.99987139e-01 -4.80327763e-03 -3.47536446e+00] [ 3.53811605e-03 4.80901425e-03 9.99982177e-01 -9.57751934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824860624 meters 0.11360431783964525 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.47, Z:-0.96 [[ 9.99990268e-01 1.79384727e-03 -4.03075383e-03 4.00632307e+01] [-1.81420373e-03 9.99985591e-01 -5.05231871e-03 -3.47380665e+00] [ 4.02163267e-03 5.05958215e-03 9.99979113e-01 -9.58016405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88486062399998 meters 0.11087980786188209 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99986080e-01 2.32034809e-03 -4.73883428e-03 4.00653106e+01] [-2.34419226e-03 9.99984590e-01 -5.03231285e-03 -3.47212480e+00] [ 4.72708454e-03 5.04335154e-03 9.99976109e-01 -9.58981541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94486062399999 meters 0.11060657892637983 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99980448e-01 2.91985743e-03 -5.52973530e-03 4.00673496e+01] [-2.94791813e-03 9.99982786e-01 -5.07317600e-03 -3.46990101e+00] [ 5.51482716e-03 5.08937802e-03 9.99971842e-01 -9.59701733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00486062399999 meters 0.11042364696729753 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99974272e-01 3.48450028e-03 -6.27000845e-03 4.00693597e+01] [-3.51586514e-03 9.99981328e-01 -4.99831467e-03 -3.46832150e+00] [ 6.25247475e-03 5.02023058e-03 9.99967851e-01 -9.60452990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06486062399999 meters 0.10983725514458623 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99969994e-01 3.79115224e-03 -6.75563147e-03 4.00705676e+01] [-3.82530696e-03 9.99979932e-01 -5.05001183e-03 -3.46717080e+00] [ 6.73635053e-03 5.07570266e-03 9.99964429e-01 -9.60809320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124860624 meters 0.10130328767240146 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99965398e-01 4.21997903e-03 -7.16899744e-03 4.00716899e+01] [-4.25484022e-03 9.99979165e-01 -4.85449930e-03 -3.46653862e+00] [ 7.14836219e-03 4.88483427e-03 9.99962519e-01 -9.61222761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184860624 meters 0.10242206953706857 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99965197e-01 4.27132439e-03 -7.16666765e-03 4.00717113e+01] [-4.30565442e-03 9.99979298e-01 -4.78166552e-03 -3.46664863e+00] [ 7.14609525e-03 4.81235629e-03 9.99962887e-01 -9.61265296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24486062399998 meters 0.10149347323223779 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99967142e-01 4.32508392e-03 -6.85633173e-03 4.00712492e+01] [-4.35531005e-03 9.99980837e-01 -4.39971580e-03 -3.46793503e+00] [ 6.83717120e-03 4.42943268e-03 9.99966816e-01 -9.61532776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30486062399999 meters 0.10277299901195 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99967760e-01 4.56489472e-03 -6.60610687e-03 4.00711631e+01] [-4.58976849e-03 9.99982417e-01 -3.75501983e-03 -3.46942977e+00] [ 6.58884944e-03 3.78521926e-03 9.99971129e-01 -9.62167989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36486062399999 meters 0.10476971699722977 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99972147e-01 4.41637166e-03 -6.01674406e-03 4.00699679e+01] [-4.43631609e-03 9.99984696e-01 -3.30551710e-03 -3.47150415e+00] [ 6.00205359e-03 3.33211720e-03 9.99976436e-01 -9.62168963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42486062399999 meters 0.10450692269904689 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-0.96 [[ 9.99975440e-01 4.24795968e-03 -5.57439001e-03 4.00689768e+01] [-4.26518398e-03 9.99986156e-01 -3.08165728e-03 -3.47267892e+00] [ 5.56122208e-03 3.10535740e-03 9.99979715e-01 -9.62074619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48486062399999 meters 0.1107835909962458 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99978464e-01 4.23537365e-03 -5.01339619e-03 4.00679494e+01] [-4.24774729e-03 9.99987952e-01 -2.46004497e-03 -3.47508922e+00] [ 5.00291658e-03 2.48128763e-03 9.99984407e-01 -9.62238271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544860624 meters 0.11053717184070004 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99979534e-01 4.19982668e-03 -4.82636637e-03 4.00674180e+01] [-4.21079599e-03 9.99988570e-01 -2.26488024e-03 -3.47608936e+00] [ 4.81679910e-03 2.28515673e-03 9.99985788e-01 -9.62028613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60486062399998 meters 0.11034092711256384 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99980459e-01 4.15506869e-03 -4.67089101e-03 4.00671070e+01] [-4.16547828e-03 9.99988858e-01 -2.22109449e-03 -3.47646263e+00] [ 4.66161017e-03 2.24050758e-03 9.99986625e-01 -9.62020526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66486062399999 meters 0.10681191907617252 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99985668e-01 7.66259519e-04 -5.29871427e-03 4.00687928e+01] [-7.95837794e-04 9.99984102e-01 -5.58230719e-03 -3.47769737e+00] [ 5.29435253e-03 5.58644411e-03 9.99970380e-01 -9.62629314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72486062399999 meters 0.10824973724324781 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99985491e-01 1.08473773e-03 -5.27638510e-03 4.00687507e+01] [-1.11117037e-03 9.99986836e-01 -5.00926193e-03 -3.47938349e+00] [ 5.27088190e-03 5.01505222e-03 9.99973533e-01 -9.62609673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78486062399999 meters 0.1082210839162589 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99983945e-01 1.79090985e-03 -5.37618411e-03 4.00691995e+01] [-1.81204032e-03 9.99990643e-01 -3.92808845e-03 -3.48244162e+00] [ 5.36909895e-03 3.93776724e-03 9.99977833e-01 -9.62932498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84486062399999 meters 0.11006651170457593 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-0.96 [[ 9.99982835e-01 2.32488975e-03 -5.37815934e-03 4.00695275e+01] [-2.34122406e-03 9.99992660e-01 -3.03285700e-03 -3.48483453e+00] [ 5.37106881e-03 3.04539642e-03 9.99980938e-01 -9.63387475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904860624 meters 0.1011658462890069 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99981107e-01 2.83739094e-03 -5.45296642e-03 4.00698858e+01] [-2.84958946e-03 9.99993452e-01 -2.23057801e-03 -3.48718540e+00] [ 5.44660169e-03 2.24607459e-03 9.99982645e-01 -9.63638888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96486062399998 meters 0.10129062052806535 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99980841e-01 2.96318712e-03 -5.43488653e-03 4.00697884e+01] [-2.97405871e-03 9.99993591e-01 -1.99334471e-03 -3.48815939e+00] [ 5.42894504e-03 2.00947019e-03 9.99983244e-01 -9.63541375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02486062399998 meters 0.10093412414426566 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99979993e-01 3.24692392e-03 -5.42863979e-03 4.00698627e+01] [-3.25504530e-03 9.99993595e-01 -1.48785928e-03 -3.48967213e+00] [ 5.42377406e-03 1.50549998e-03 9.99984158e-01 -9.63639021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08486062399999 meters 0.09958833798547563 Centerline is valid? [False, True] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99981098e-01 3.27130252e-03 -5.20595567e-03 4.00693733e+01] [-3.27777088e-03 9.99993866e-01 -1.23444462e-03 -3.49069046e+00] [ 5.20188550e-03 1.25148522e-03 9.99985687e-01 -9.63573996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14486062399999 meters 0.1062046512023618 Centerline is valid? [True, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99984156e-01 3.02551626e-03 -4.74696317e-03 4.00682399e+01] [-3.03095074e-03 9.99994759e-01 -1.13805638e-03 -3.49186112e+00] [ 4.74349508e-03 1.15242616e-03 9.99988086e-01 -9.63248874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20486062399999 meters 0.10219908194352806 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99984263e-01 3.15392948e-03 -4.63972202e-03 4.00681108e+01] [-3.15783584e-03 9.99994666e-01 -8.34853895e-04 -3.49271512e+00] [ 4.63706420e-03 8.49492237e-04 9.99988888e-01 -9.63359237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264860624 meters 0.10355559842690766 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99985214e-01 3.17123866e-03 -4.41751349e-03 4.00676871e+01] [-3.17388882e-03 9.99994787e-01 -5.93038686e-04 -3.49354942e+00] [ 4.41560979e-03 6.07050614e-04 9.99990067e-01 -9.63374154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32486062399998 meters 0.10446486399823092 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99986411e-01 3.05402071e-03 -4.22500096e-03 4.00670867e+01] [-3.05654365e-03 9.99995154e-01 -5.90816393e-04 -3.49393972e+00] [ 4.22317612e-03 6.03722264e-04 9.99990900e-01 -9.63107962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38486062399998 meters 0.10672022321427475 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-0.96 [[ 9.99986566e-01 3.11643687e-03 -4.14184830e-03 4.00668259e+01] [-3.11813819e-03 9.99995057e-01 -4.04369619e-04 -3.49487340e+00] [ 4.14056763e-03 4.17279043e-04 9.99991341e-01 -9.62952954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44486062399999 meters 0.10617686617634056 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99985870e-01 3.29446043e-03 -4.17199046e-03 4.00670346e+01] [-3.29517099e-03 9.99994558e-01 -1.63455145e-04 -3.49558109e+00] [ 4.17142925e-03 1.77200257e-04 9.99991284e-01 -9.63131321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50486062399999 meters 0.09768949150987641 Centerline is valid? [False, True] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99984503e-01 3.53855435e-03 -4.29790468e-03 4.00673464e+01] [-3.53812606e-03 9.99993735e-01 1.07250033e-04 -3.49630826e+00] [ 4.29825726e-03 -9.20418424e-05 9.99990758e-01 -9.63215799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56486062399999 meters 0.10649941363753657 Centerline is valid? [True, False] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99984380e-01 3.54776070e-03 -4.31888199e-03 4.00673861e+01] [-3.54722449e-03 9.99993700e-01 1.31808147e-04 -3.49648986e+00] [ 4.31932241e-03 -1.16486045e-04 9.99990665e-01 -9.63215166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624860624 meters 0.09868606118110593 Centerline is valid? [False, True] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99984357e-01 3.48846115e-03 -4.37229552e-03 4.00672389e+01] [-3.48838630e-03 9.99993915e-01 2.47456984e-05 -3.49659842e+00] [ 4.37235524e-03 -9.49305551e-06 9.99990441e-01 -9.62844845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684860624 meters 0.10060842713039471 Centerline is valid? [True, False] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99985461e-01 3.50363479e-03 -4.09897503e-03 4.00664946e+01] [-3.50236297e-03 9.99993816e-01 3.17415415e-04 -3.49809053e+00] [ 4.10006179e-03 -3.03054702e-04 9.99991549e-01 -9.62524059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74486062399998 meters 0.10565525891226277 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.50, Z:-0.96 [[ 9.99988256e-01 3.17845279e-03 -3.65850550e-03 4.00652865e+01] [-3.17721960e-03 9.99994894e-01 3.42839175e-04 -3.49913853e+00] [ 3.65957652e-03 -3.31211273e-04 9.99993249e-01 -9.62057746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80486062399999 meters 0.1053489524136848 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.50, Z:-0.96 [[ 9.99990660e-01 2.90255417e-03 -3.20238308e-03 4.00640495e+01] [-2.90111120e-03 9.99995688e-01 4.55147029e-04 -3.50063305e+00] [ 3.20369036e-03 -4.45852309e-04 9.99994769e-01 -9.61551730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86486062399999 meters 0.10310427218635007 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.50, Z:-0.96 [[ 9.99994570e-01 -1.05506397e-03 -3.12200151e-03 4.00640361e+01] [ 1.04534105e-03 9.99994604e-01 -3.11431905e-03 -3.50228784e+00] [ 3.12527047e-03 3.11103859e-03 9.99990277e-01 -9.61765585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92486062399999 meters 0.1063647557782266 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.50, Z:-0.96 [[ 9.99995453e-01 -7.54205307e-04 -2.91978877e-03 4.00637875e+01] [ 7.47375649e-04 9.99996984e-01 -2.33947805e-03 -3.50452204e+00] [ 2.92154441e-03 2.33728523e-03 9.99993001e-01 -9.61951476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98486062399999 meters 0.1057437206844396 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99997018e-01 -4.45168524e-04 -2.40104797e-03 4.00629229e+01] [ 4.42436550e-04 9.99999254e-01 -1.13823671e-03 -3.50842007e+00] [ 2.40155289e-03 1.13717100e-03 9.99996470e-01 -9.62118753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044860624 meters 0.10818169198574966 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99997793e-01 -1.05366180e-04 -2.09811066e-03 4.00625189e+01] [ 1.04800149e-04 9.99999958e-01 -2.69889297e-04 -3.51121638e+00] [ 2.09813901e-03 2.69668819e-04 9.99997763e-01 -9.62345162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10486062399998 meters 0.11066190176765599 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99997876e-01 1.17784295e-04 -2.05755472e-03 4.00621809e+01] [-1.17412947e-04 9.99999977e-01 1.80600151e-04 -3.51302231e+00] [ 2.05757595e-03 -1.80358184e-04 9.99997867e-01 -9.61955946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16486062399999 meters 0.10835293375823847 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99997532e-01 1.72336626e-04 -2.21514205e-03 4.00624034e+01] [-1.72098159e-04 9.99999979e-01 1.07843263e-04 -3.51291982e+00] [ 2.21516059e-03 -1.07461775e-04 9.99997541e-01 -9.61824199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22486062399999 meters 0.10323124227723826 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99996733e-01 2.94969533e-04 -2.53924239e-03 4.00630426e+01] [-2.95084485e-04 9.99999955e-01 -4.48957185e-05 -3.51227114e+00] [ 2.53922903e-03 4.56448629e-05 9.99996775e-01 -9.61880550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28486062399999 meters 0.09957053587940955 Centerline is valid? [False, True] Translation: X:40.06, Y:-3.51, Z:-0.96 [[ 9.99994715e-01 8.79078687e-04 -3.13004099e-03 4.00645777e+01] [-8.78437447e-04 9.99999593e-01 2.06235248e-04 -3.51200052e+00] [ 3.13022101e-03 -2.03484613e-04 9.99995080e-01 -9.62482287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34486062399999 meters 0.0971163808032313 Centerline is valid? [True, True] Translation: X:40.13, Y:-3.52, Z:-0.96 [[ 9.99982927e-01 5.15164193e-03 -2.75794461e-03 4.01251048e+01] [-5.15078833e-03 9.99986685e-01 3.16518708e-04 -3.51511670e+00] [ 2.75953848e-03 -3.02307715e-04 9.99996147e-01 -9.64919244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404860624 meters 0.09676964492348747 Centerline is valid? [True, True] Translation: X:40.18, Y:-3.52, Z:-0.97 [[ 9.99978594e-01 6.15217754e-03 -2.22769836e-03 4.01847228e+01] [-6.15162370e-03 9.99981046e-01 2.55381922e-04 -3.52155940e+00] [ 2.22922729e-03 -2.41672493e-04 9.99997486e-01 -9.65743239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46486062399998 meters 0.09727773277908076 Centerline is valid? [True, True] Translation: X:40.24, Y:-3.53, Z:-0.97 [[ 9.99973135e-01 6.56274393e-03 -3.26491252e-03 4.02433286e+01] [-6.56156006e-03 9.99978403e-01 3.73182379e-04 -3.52940553e+00] [ 3.26729111e-03 -3.51749434e-04 9.99994601e-01 -9.67986676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52486062399998 meters 0.09721366290658023 Centerline is valid? [True, True] Translation: X:40.30, Y:-3.54, Z:-0.97 [[ 9.99971573e-01 6.19223540e-03 -4.30235088e-03 4.03015117e+01] [-6.19017557e-03 9.99980720e-01 4.91918406e-04 -3.53654848e+00] [ 4.30531400e-03 -4.65272115e-04 9.99990624e-01 -9.70639108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58486062399999 meters 0.09883417666428626 Centerline is valid? [True, True] Translation: X:40.36, Y:-3.55, Z:-0.97 [[ 9.99972300e-01 4.69535770e-03 -5.77525923e-03 4.03610425e+01] [-4.69161305e-03 9.99988775e-01 6.61771670e-04 -3.54626703e+00] [ 5.77830166e-03 -6.34658057e-04 9.99983104e-01 -9.72905398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64486062399999 meters 0.09907791274246272 Centerline is valid? [True, True] Translation: X:40.42, Y:-3.55, Z:-0.97 [[ 9.99980272e-01 3.21339077e-03 -5.39726772e-03 4.04202317e+01] [-3.21010183e-03 9.99994657e-01 6.17924340e-04 -3.55421676e+00] [ 5.39922451e-03 -6.00586370e-04 9.99985244e-01 -9.73998375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70486062399999 meters 0.09763996502593683 Centerline is valid? [True, True] Translation: X:40.48, Y:-3.56, Z:-0.97 [[ 9.99984339e-01 2.60234994e-03 -4.95471550e-03 4.04792396e+01] [-2.59957643e-03 9.99996461e-01 5.66129717e-04 -3.55886810e+00] [ 4.95617124e-03 -5.53240690e-04 9.99987565e-01 -9.74936412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764860624 meters 0.10387745336974125 Centerline is valid? [True, False] Translation: X:40.48, Y:-3.56, Z:-0.97 [[ 9.99985756e-01 2.34551344e-03 -4.79448080e-03 4.04787520e+01] [-2.34420521e-03 9.99997214e-01 2.78462248e-04 -3.55829836e+00] [ 4.79512058e-03 -2.67219035e-04 9.99988468e-01 -9.74696424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82486062399998 meters 0.10425824050269222 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.56, Z:-0.97 [[ 9.99986708e-01 2.07895908e-03 -4.71831732e-03 4.04785330e+01] [-2.07940054e-03 9.99997834e-01 -8.86604519e-05 -3.55729905e+00] [ 4.71812278e-03 9.84705450e-05 9.99988865e-01 -9.74598038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88486062399998 meters 0.09854833010965657 Centerline is valid? [False, True] Translation: X:40.48, Y:-3.56, Z:-0.98 [[ 9.99985582e-01 2.27109382e-03 -4.86598701e-03 4.04793298e+01] [-2.27104135e-03 9.99997421e-01 1.63093934e-05 -3.55672047e+00] [ 4.86601150e-03 -5.25830061e-06 9.99988161e-01 -9.75295866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94486062399999 meters 0.10013468695587815 Centerline is valid? [True, False] Translation: X:40.48, Y:-3.56, Z:-0.98 [[ 9.99986392e-01 2.08258671e-03 -4.78307819e-03 4.04791479e+01] [-2.08368274e-03 9.99997804e-01 -2.24177000e-04 -3.55628388e+00] [ 4.78260082e-03 2.34140367e-04 9.99988536e-01 -9.75288705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00486062399999 meters 0.1021652795365001 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99985997e-01 1.85638247e-03 -4.95573344e-03 4.04797300e+01] [-1.86029928e-03 9.99997961e-01 -7.85865612e-04 -3.55417284e+00] [ 4.95426447e-03 7.95073755e-04 9.99987411e-01 -9.75625824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06486062399999 meters 0.10288515959820929 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99986157e-01 1.77095447e-03 -4.95466072e-03 4.04801348e+01] [-1.77572486e-03 9.99997964e-01 -9.58576616e-04 -3.55316935e+00] [ 4.95295304e-03 9.67361461e-04 9.99987266e-01 -9.76169236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124860624 meters 0.10301093631855973 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99985557e-01 1.89367567e-03 -5.02981475e-03 4.04809286e+01] [-1.89815552e-03 9.99997806e-01 -8.86035676e-04 -3.55256351e+00] [ 5.02812585e-03 8.95570250e-04 9.99986958e-01 -9.77069564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184860624 meters 0.10566186766517381 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99985899e-01 1.84325876e-03 -4.98044376e-03 4.04810252e+01] [-1.84780952e-03 9.99997879e-01 -9.09279233e-04 -3.55233775e+00] [ 4.97875716e-03 9.18469322e-04 9.99987184e-01 -9.77341954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24486062399998 meters 0.10267523928842891 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99986617e-01 1.83248312e-03 -4.83824828e-03 4.04809836e+01] [-1.83620206e-03 9.99998022e-01 -7.64323967e-04 -3.55256488e+00] [ 4.83683810e-03 7.73197740e-04 9.99988004e-01 -9.77690686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30486062399999 meters 0.11228458622765862 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99988207e-01 1.68513206e-03 -4.55471558e-03 4.04802586e+01] [-1.68871158e-03 9.99998268e-01 -7.82161586e-04 -3.55297708e+00] [ 4.55338964e-03 7.89843963e-04 9.99989321e-01 -9.77441331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36486062399999 meters 0.11304865657668192 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99988815e-01 1.77812203e-03 -4.38277895e-03 4.04799116e+01] [-1.78018391e-03 9.99998307e-01 -4.66595297e-04 -3.55400286e+00] [ 4.38194186e-03 4.74392230e-04 9.99990287e-01 -9.77411234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42486062399999 meters 0.10294008171601006 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99989426e-01 1.79316668e-03 -4.23465222e-03 4.04795152e+01] [-1.79432240e-03 9.99998354e-01 -2.69136989e-04 -3.55489076e+00] [ 4.23416264e-03 2.76732475e-04 9.99990998e-01 -9.77254284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48486062399999 meters 0.10368519482355955 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.56, Z:-0.98 [[ 9.99989508e-01 1.97557457e-03 -4.13286135e-03 4.04794110e+01] [-1.97481215e-03 9.99998032e-01 1.88550494e-04 -3.55644269e+00] [ 4.13322571e-03 -1.80386891e-04 9.99991442e-01 -9.77386135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544860624 meters 0.10725339052446498 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.56, Z:-0.98 [[ 9.99988263e-01 2.32506782e-03 -4.25067259e-03 4.04801671e+01] [-2.32264306e-03 9.99997137e-01 5.75289475e-04 -3.55693036e+00] [ 4.25199800e-03 -5.65409928e-04 9.99990800e-01 -9.78082247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60486062399998 meters 0.10065038181213372 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.56, Z:-0.98 [[ 9.99987931e-01 2.08210745e-03 -4.45007874e-03 4.04800565e+01] [-2.08270327e-03 9.99997823e-01 -1.29260837e-04 -3.55525486e+00] [ 4.44979992e-03 1.38527471e-04 9.99990090e-01 -9.77299925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66486062399999 meters 0.11002903979920747 Centerline is valid? [False, False] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99986733e-01 2.03398924e-03 -4.73251575e-03 4.04806129e+01] [-2.03654867e-03 9.99997783e-01 -5.36062201e-04 -3.55379532e+00] [ 4.73141491e-03 5.45693088e-04 9.99988658e-01 -9.77307229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72486062399999 meters 0.09534325003641962 Centerline is valid? [False, True] Translation: X:40.48, Y:-3.55, Z:-0.98 [[ 9.99985667e-01 2.15395508e-03 -4.90172462e-03 4.04812453e+01] [-2.15722175e-03 9.99997455e-01 -6.61241638e-04 -3.55297610e+00] [ 4.90028786e-03 6.71806267e-04 9.99987768e-01 -9.77758341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78486062399999 meters 0.0960934371268293 Centerline is valid? [True, True] Translation: X:40.54, Y:-3.56, Z:-0.98 [[ 9.99985186e-01 2.87717041e-03 -4.62046317e-03 4.05396767e+01] [-2.87491725e-03 9.99995745e-01 4.94216475e-04 -3.56049728e+00] [ 4.62186545e-03 -4.80925704e-04 9.99989203e-01 -9.79974536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84486062399999 meters 0.09674839035467155 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.57, Z:-0.98 [[ 9.99978532e-01 2.99636312e-03 -5.82721992e-03 4.05976574e+01] [-2.99278147e-03 9.99995327e-01 6.23264808e-04 -3.56771382e+00] [ 5.82906022e-03 -6.05811833e-04 9.99982827e-01 -9.81629326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904860624 meters 0.10009938245523065 Centerline is valid? [True, False] Translation: X:40.60, Y:-3.57, Z:-0.98 [[ 9.99980091e-01 2.99887289e-03 -5.55197480e-03 4.05971678e+01] [-2.99392999e-03 9.99995115e-01 8.98394272e-04 -3.56895688e+00] [ 5.55464185e-03 -8.81754162e-04 9.99984184e-01 -9.81707494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96486062399998 meters 0.09641159445934626 Centerline is valid? [False, True] Translation: X:40.60, Y:-3.57, Z:-0.98 [[ 9.99981736e-01 -8.25997065e-04 -5.98710399e-03 4.05984696e+01] [ 8.08520064e-04 9.99995407e-01 -2.92094040e-03 -3.56895047e+00] [ 5.98948919e-03 2.91604636e-03 9.99977811e-01 -9.82288252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02486062399998 meters 0.09697263909629127 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.58, Z:-0.98 [[ 9.99978509e-01 -2.58731622e-03 -6.02382057e-03 4.06575707e+01] [ 2.59124354e-03 9.99996435e-01 6.44251457e-04 -3.57909275e+00] [ 6.02213222e-03 -6.59846798e-04 9.99981649e-01 -9.84341015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08486062399999 meters 0.09755831653342274 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.59, Z:-0.99 [[ 9.99975080e-01 -4.03483532e-03 -5.79308381e-03 4.07166185e+01] [ 4.03848844e-03 9.99991654e-01 6.19040341e-04 -3.58851085e+00] [ 5.79053773e-03 -6.42420216e-04 9.99983028e-01 -9.85971778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14486062399999 meters 0.09863417319585077 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.60, Z:-0.99 [[ 9.99961149e-01 -6.92313838e-03 -5.45619633e-03 4.07761462e+01] [ 6.92642491e-03 9.99975842e-01 5.83682506e-04 -3.59995613e+00] [ 5.45202361e-03 -6.21451764e-04 9.99984945e-01 -9.86416294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20486062399999 meters 0.09870490146008425 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.61, Z:-0.99 [[ 9.99949107e-01 -8.82286029e-03 -4.89281947e-03 4.08360751e+01] [ 8.82552556e-03 9.99960917e-01 5.23405947e-04 -3.60970921e+00] [ 4.88801030e-03 -5.66561013e-04 9.99987893e-01 -9.86686020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264860624 meters 0.10658474646021712 Centerline is valid? [True, False] Translation: X:40.84, Y:-3.61, Z:-0.99 [[ 9.99954026e-01 -8.16078288e-03 -5.03464833e-03 4.08368496e+01] [ 8.16863663e-03 9.99965448e-01 1.54135329e-03 -3.61192913e+00] [ 5.02189572e-03 -1.58240864e-03 9.99986138e-01 -9.87367613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32486062399998 meters 0.09854584961645128 Centerline is valid? [False, True] Translation: X:40.84, Y:-3.61, Z:-0.99 [[ 9.99956438e-01 -7.81899875e-03 -5.09765374e-03 4.08371914e+01] [ 7.82973214e-03 9.99967165e-01 2.08900874e-03 -3.61306604e+00] [ 5.08115241e-03 -2.12883100e-03 9.99984825e-01 -9.87714643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38486062399998 meters 0.09664573682267402 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.62, Z:-0.99 [[ 9.99968483e-01 -5.46339229e-03 -5.76064110e-03 4.08979737e+01] [ 5.46704351e-03 9.99984864e-01 6.18265931e-04 -3.61624249e+00] [ 5.75717608e-03 -6.49740121e-04 9.99983216e-01 -9.89000475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44486062399999 meters 0.09840859308840104 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.63, Z:-0.99 [[ 9.99976127e-01 -4.00701503e-03 -5.62926210e-03 4.09560280e+01] [ 4.01047435e-03 9.99991776e-01 6.03369622e-04 -3.62592045e+00] [ 5.62679810e-03 -6.25931229e-04 9.99983974e-01 -9.90945008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50486062399999 meters 0.0964345910168849 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.63, Z:-0.99 [[ 9.99979969e-01 -3.99222282e-04 -6.31683588e-03 4.10161560e+01] [ 4.03510811e-04 9.99999689e-01 6.77644715e-04 -3.62927368e+00] [ 6.31656338e-03 -6.80180053e-04 9.99979819e-01 -9.92493902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56486062399999 meters 0.09527695739327 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.63, Z:-0.99 [[ 9.99980519e-01 2.63510446e-03 -5.65839072e-03 4.10757503e+01] [-2.63171410e-03 9.99996353e-01 6.06535018e-04 -3.63363905e+00] [ 5.65996837e-03 -5.91631935e-04 9.99983807e-01 -9.93328393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624860624 meters 0.09422389670838766 Centerline is valid? [True, True] Translation: X:41.14, Y:-3.64, Z:-0.99 [[ 9.99962339e-01 6.30274332e-03 -5.96629998e-03 4.11360456e+01] [-6.29904063e-03 9.99979957e-01 6.39188982e-04 -3.63853171e+00] [ 5.97020904e-03 -6.01582944e-04 9.99981997e-01 -9.94181666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684860624 meters 0.09749650170248056 Centerline is valid? [True, True] Translation: X:41.19, Y:-3.65, Z:-1.00 [[ 9.99949297e-01 7.73471933e-03 -6.44810311e-03 4.11936276e+01] [-7.73042437e-03 9.99969881e-01 6.90739232e-04 -3.65156238e+00] [ 6.45325158e-03 -6.40857636e-04 9.99978972e-01 -9.98084722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74486062399998 meters 0.09360394309840632 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.65, Z:-1.00 [[ 9.99948178e-01 7.20527241e-03 -7.19203292e-03 4.12529670e+01] [-7.19992387e-03 9.99973784e-01 7.69290669e-04 -3.65238405e+00] [ 7.19738733e-03 -7.17468713e-04 9.99973841e-01 -9.97270429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80486062399999 meters 0.09622649685871386 Centerline is valid? [True, True] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99965539e-01 5.14268591e-03 -6.51716601e-03 4.13108031e+01] [-5.13824841e-03 9.99986556e-01 6.97455343e-04 -3.66514912e+00] [ 6.52066518e-03 -6.63944490e-04 9.99978520e-01 -9.98573081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86486062399999 meters 0.10056738651326992 Centerline is valid? [True, False] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99979038e-01 9.36004736e-04 -6.40682110e-03 4.13102625e+01] [-9.56221318e-04 9.99994572e-01 -3.15314226e-03 -3.66679116e+00] [ 6.40383497e-03 3.15920251e-03 9.99974505e-01 -9.98117863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92486062399999 meters 0.10274739527609598 Centerline is valid? [False, False] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99981481e-01 1.24827883e-03 -5.95653248e-03 4.13098592e+01] [-1.26093756e-03 9.99996954e-01 -2.12190242e-03 -3.66953172e+00] [ 5.95386561e-03 2.12937394e-03 9.99980008e-01 -9.98821846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98486062399999 meters 0.10716663635264759 Centerline is valid? [False, False] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99982812e-01 1.47250227e-03 -5.67523910e-03 4.13097421e+01] [-1.47952680e-03 9.99998144e-01 -1.23375193e-03 -3.67203161e+00] [ 5.67341187e-03 1.24212740e-03 9.99983135e-01 -9.99464173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044860624 meters 0.11089383267806159 Centerline is valid? [False, False] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99984650e-01 1.38189098e-03 -5.36555955e-03 4.13091558e+01] [-1.38751423e-03 9.99998492e-01 -1.04444561e-03 -3.67296963e+00] [ 5.36410814e-03 1.05187436e-03 9.99985060e-01 -9.99479777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10486062399998 meters 0.09984912058320707 Centerline is valid? [False, True] Translation: X:41.31, Y:-3.67, Z:-1.00 [[ 9.99985580e-01 1.34111213e-03 -5.20008243e-03 4.13089371e+01] [-1.34608463e-03 9.99998640e-01 -9.52854224e-04 -3.67329297e+00] [ 5.19879748e-03 9.59840235e-04 9.99986026e-01 -9.99620224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16486062399999 meters 0.09807685506710247 Centerline is valid? [True, True] Translation: X:41.37, Y:-3.68, Z:-1.00 [[ 9.99990051e-01 1.28163430e-03 -4.27264361e-03 4.13680512e+01] [-1.27947529e-03 9.99999052e-01 5.08007249e-04 -3.67715546e+00] [ 4.27329064e-03 -5.02535452e-04 9.99990743e-01 -1.00048250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22486062399999 meters 0.09719331896927126 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.68, Z:-1.00 [[ 9.99983540e-01 4.03321314e-03 -4.08084873e-03 4.14288129e+01] [-4.03126026e-03 9.99991756e-01 4.86658442e-04 -3.68245782e+00] [ 4.08277789e-03 -4.70199468e-04 9.99991555e-01 -1.00124360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28486062399999 meters 0.09779752823211021 Centerline is valid? [True, True] Translation: X:41.49, Y:-3.69, Z:-1.00 [[ 9.99971163e-01 5.90413304e-03 -4.77637349e-03 4.14881165e+01] [-5.90148070e-03 9.99982424e-01 5.69208102e-04 -3.69022158e+00] [ 4.77965022e-03 -5.41004012e-04 9.99988431e-01 -1.00364982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34486062399999 meters 0.09585033116093122 Centerline is valid? [True, True] Translation: X:41.55, Y:-3.69, Z:-1.01 [[ 9.99943913e-01 9.01899251e-03 -5.55243779e-03 4.15485365e+01] [-9.01545282e-03 9.99959141e-01 6.62201849e-04 -3.69330376e+00] [ 5.55818331e-03 -6.12106967e-04 9.99984366e-01 -1.00542437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404860624 meters 0.09706243550386597 Centerline is valid? [True, True] Translation: X:41.61, Y:-3.70, Z:-1.01 [[ 9.99927005e-01 1.05685666e-02 -5.85570113e-03 4.16064826e+01] [-1.05646648e-02 9.99943950e-01 6.96860265e-04 -3.70186115e+00] [ 5.86273773e-03 -6.34945879e-04 9.99982612e-01 -1.00718543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46486062399998 meters 0.1016185391000782 Centerline is valid? [True, False] Translation: X:41.61, Y:-3.70, Z:-1.01 [[ 9.99928152e-01 1.03469294e-02 -6.05238653e-03 4.16065775e+01] [-1.03461280e-02 9.99946464e-01 1.63708543e-04 -3.70066937e+00] [ 6.05375639e-03 -1.01078016e-04 9.99981671e-01 -1.00676643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52486062399998 meters 0.09859289579399609 Centerline is valid? [False, True] Translation: X:41.61, Y:-3.70, Z:-1.01 [[ 9.99952811e-01 6.91770280e-03 -6.82063837e-03 4.16087909e+01] [-6.94354056e-03 9.99968780e-01 -3.77179807e-03 -3.69865055e+00] [ 6.79433325e-03 3.81897947e-03 9.99969626e-01 -1.00787729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58486062399999 meters 0.09866607229864734 Centerline is valid? [True, True] Translation: X:41.67, Y:-3.70, Z:-1.01 [[ 9.99961577e-01 6.99770540e-03 -5.27982319e-03 4.16669741e+01] [-6.99463834e-03 9.99975358e-01 5.99143357e-04 -3.70414281e+00] [ 5.28388571e-03 -5.62189883e-04 9.99985882e-01 -1.00972723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64486062399999 meters 0.10203198509695056 Centerline is valid? [True, False] Translation: X:41.67, Y:-3.70, Z:-1.01 [[ 9.99965661e-01 6.35792454e-03 -5.31547714e-03 4.16667453e+01] [-6.36069030e-03 9.99979644e-01 -5.03579135e-04 -3.70143635e+00] [ 5.31216722e-03 5.37371947e-04 9.99985746e-01 -1.00930614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70486062399999 meters 0.09535675950786922 Centerline is valid? [False, True] Translation: X:41.67, Y:-3.70, Z:-1.01 [[ 9.99965142e-01 6.04933779e-03 -5.75506568e-03 4.16679867e+01] [-6.05873702e-03 9.99980338e-01 -1.61717964e-03 -3.69722024e+00] [ 5.74516966e-03 1.65199170e-03 9.99982132e-01 -1.00982578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764860624 meters 0.09518803256711784 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.70, Z:-1.01 [[ 9.99969892e-01 6.54058154e-03 -4.17555494e-03 4.17268939e+01] [-6.53869481e-03 9.99978514e-01 4.65345321e-04 -3.70093252e+00] [ 4.17850885e-03 -4.38028631e-04 9.99991174e-01 -1.01158374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82486062399998 meters 0.09409692466440413 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.70, Z:-1.01 [[ 9.99968529e-01 6.86404863e-03 -3.97825077e-03 4.17861027e+01] [-6.86233996e-03 9.99976356e-01 4.42991981e-04 -3.70187336e+00] [ 3.98119743e-03 -4.15677930e-04 9.99991989e-01 -1.01277307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88486062399998 meters 0.09368310682338872 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.70, Z:-1.01 [[ 9.99964359e-01 7.18605417e-03 -4.43191039e-03 4.18448531e+01] [-7.18393722e-03 9.99974073e-01 4.93395530e-04 -3.70341026e+00] [ 4.43534105e-03 -4.61539379e-04 9.99990057e-01 -1.01418888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94486062399999 meters 0.09448508995000289 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.71, Z:-1.02 [[ 9.99965561e-01 7.14426651e-03 -4.22327071e-03 4.19031610e+01] [-7.14234530e-03 9.99974383e-01 4.69817933e-04 -3.70825830e+00] [ 4.22651903e-03 -4.39637696e-04 9.99990972e-01 -1.01612468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00486062399999 meters 0.09947929033257454 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.72, Z:-1.02 [[ 9.99969834e-01 6.88722457e-03 -3.59134520e-03 4.19602093e+01] [-6.88583697e-03 9.99976213e-01 3.98593208e-04 -3.71848996e+00] [ 3.59400498e-03 -3.73851766e-04 9.99993472e-01 -1.01895583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06486062399999 meters 0.09808887174067561 Centerline is valid? [True, True] Translation: X:42.02, Y:-3.72, Z:-1.02 [[ 9.99972064e-01 6.70225369e-03 -3.30926091e-03 4.20194027e+01] [-6.70107434e-03 9.99977480e-01 3.67339513e-04 -3.72001522e+00] [ 3.31164839e-03 -3.45153647e-04 9.99994457e-01 -1.01998067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124860624 meters 0.103474517842006 Centerline is valid? [True, False] Translation: X:42.02, Y:-3.72, Z:-1.02 [[ 9.99974843e-01 6.21911755e-03 -3.41125756e-03 4.20199038e+01] [-6.22133027e-03 9.99980444e-01 -6.38423405e-04 -3.71651778e+00] [ 3.40722042e-03 6.59629904e-04 9.99993978e-01 -1.02040357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18486062399998 meters 0.09669555470857585 Centerline is valid? [False, True] Translation: X:42.02, Y:-3.71, Z:-1.02 [[ 9.99976127e-01 5.75143221e-03 -3.82960076e-03 4.20209976e+01] [-5.75888686e-03 9.99981539e-01 -1.93841470e-03 -3.71125372e+00] [ 3.81838140e-03 1.96042266e-03 9.99990788e-01 -1.02084135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24486062399998 meters 0.09758832337915649 Centerline is valid? [True, True] Translation: X:42.08, Y:-3.72, Z:-1.02 [[ 9.99977358e-01 6.35833145e-03 -2.20322593e-03 4.20806788e+01] [-6.35781042e-03 9.99979759e-01 2.43407096e-04 -3.71674411e+00] [ 2.20472900e-03 -2.29393892e-04 9.99997543e-01 -1.02311140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30486062399999 meters 0.09856645133189265 Centerline is valid? [True, True] Translation: X:42.14, Y:-3.72, Z:-1.02 [[ 9.99973944e-01 6.94624145e-03 -1.96479241e-03 4.21394387e+01] [-6.94583009e-03 9.99975854e-01 2.16112039e-04 -3.72367294e+00] [ 1.96624613e-03 -2.02459294e-04 9.99998046e-01 -1.02483886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36486062399999 meters 0.09834652591368503 Centerline is valid? [True, True] Translation: X:42.20, Y:-3.72, Z:-1.03 [[ 9.99968547e-01 7.85273355e-03 -1.11310958e-03 4.21995814e+01] [-7.85260225e-03 9.99969160e-01 1.22271738e-04 -3.72419630e+00] [ 1.11403542e-03 -1.13527086e-04 9.99999373e-01 -1.02621332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42486062399999 meters 0.09907208003169406 Centerline is valid? [True, True] Translation: X:42.26, Y:-3.73, Z:-1.03 [[ 9.99958834e-01 9.03396517e-03 -8.47081873e-04 4.22597217e+01] [-9.03388938e-03 9.99959189e-01 9.32522660e-05 -3.72680956e+00] [ 8.47889741e-04 -8.55959832e-05 9.99999637e-01 -1.02772509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48486062399999 meters 0.09970011778906288 Centerline is valid? [True, True] Translation: X:42.32, Y:-3.73, Z:-1.03 [[ 9.99942705e-01 1.05807260e-02 -1.62307237e-03 4.23192084e+01] [-1.05804499e-02 9.99944010e-01 1.78597177e-04 -3.73072032e+00] [ 1.62487118e-03 -1.61414109e-04 9.99998667e-01 -1.03055663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544860624 meters 0.09909718054730185 Centerline is valid? [True, True] Translation: X:42.38, Y:-3.73, Z:-1.03 [[ 9.99931108e-01 1.17070037e-02 -8.51252265e-04 4.23797580e+01] [-1.17069287e-02 9.99931467e-01 9.30170963e-05 -3.73081601e+00] [ 8.52282878e-04 -8.30451386e-05 9.99999633e-01 -1.03195141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60486062399998 meters 0.09904037762313432 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.73, Z:-1.03 [[ 9.99931838e-01 1.16628199e-02 -5.46507360e-04 4.24389059e+01] [-1.16627895e-02 9.99931986e-01 5.87364649e-05 -3.73288342e+00] [ 5.47155223e-04 -5.23586609e-05 9.99999849e-01 -1.03164395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66486062399999 meters 0.10092845439043492 Centerline is valid? [True, False] Translation: X:42.44, Y:-3.73, Z:-1.03 [[ 9.99943085e-01 1.06514363e-02 -6.11240316e-04 4.24385755e+01] [-1.06524268e-02 9.99941915e-01 -1.64084304e-03 -3.72812380e+00] [ 5.93727478e-04 1.64726084e-03 9.99998467e-01 -1.03102599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72486062399999 meters 0.09754350441090387 Centerline is valid? [False, True] Translation: X:42.45, Y:-3.72, Z:-1.03 [[ 9.99956905e-01 4.64456675e-03 -8.03842514e-03 4.24486947e+01] [-4.64618191e-03 9.99989190e-01 -1.82266596e-04 -3.72360303e+00] [ 8.03749170e-03 2.19606726e-04 9.99967675e-01 -1.02653278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78486062399999 meters 0.09998107226806198 Centerline is valid? [True, True] Translation: X:42.51, Y:-3.73, Z:-1.03 [[ 9.99960841e-01 4.14358842e-03 -7.81963778e-03 4.25059088e+01] [-4.13735049e-03 9.99991110e-01 8.13734249e-04 -3.73060044e+00] [ 7.82294005e-03 -7.81349802e-04 9.99969095e-01 -1.02912505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84486062399999 meters 0.09991030897537759 Centerline is valid? [True, True] Translation: X:42.57, Y:-3.73, Z:-1.03 [[ 9.99961308e-01 2.78985773e-03 -8.34265830e-03 4.25651606e+01] [-2.78270544e-03 9.99995751e-01 8.68799643e-04 -3.73414933e+00] [ 8.34504668e-03 -8.45550866e-04 9.99964822e-01 -1.02936612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904860624 meters 0.10144022934279118 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99963181e-01 2.08584004e-03 -8.32376431e-03 4.25649475e+01] [-2.08810595e-03 9.99997785e-01 -2.63540977e-04 -3.73073050e+00] [ 8.32319617e-03 2.80912175e-04 9.99965322e-01 -1.02917505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96486062399998 meters 0.0980669636313093 Centerline is valid? [False, True] Translation: X:42.57, Y:-3.73, Z:-1.03 [[ 9.99962493e-01 1.84323463e-03 -8.46256471e-03 4.25654000e+01] [-1.85026399e-03 9.99997950e-01 -8.22887165e-04 -3.72846372e+00] [ 8.46103058e-03 8.38514279e-04 9.99963853e-01 -1.02941440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02486062399998 meters 0.10035727150153735 Centerline is valid? [True, False] Translation: X:42.57, Y:-3.73, Z:-1.03 [[ 9.99964166e-01 1.32892447e-03 -8.36064918e-03 4.25652895e+01] [-1.34226516e-03 9.99997835e-01 -1.59024324e-03 -3.72569963e+00] [ 8.35851776e-03 1.60140846e-03 9.99963785e-01 -1.02965518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08486062399999 meters 0.09893537610687807 Centerline is valid? [False, True] Translation: X:42.57, Y:-3.72, Z:-1.03 [[ 9.99963973e-01 1.18404070e-03 -8.40536085e-03 4.25655232e+01] [-1.20010724e-03 9.99997462e-01 -1.90667738e-03 -3.72439294e+00] [ 8.40308193e-03 1.91669603e-03 9.99962857e-01 -1.02984497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14486062399999 meters 0.10074705961432927 Centerline is valid? [True, False] Translation: X:42.57, Y:-3.72, Z:-1.03 [[ 9.99965494e-01 9.05799597e-04 -8.25777100e-03 4.25651984e+01] [-9.23935897e-04 9.99997169e-01 -2.19272037e-03 -3.72335795e+00] [ 8.25576146e-03 2.20027436e-03 9.99963500e-01 -1.02987138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20486062399999 meters 0.10501638417442825 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.72, Z:-1.03 [[ 9.99968764e-01 6.64258086e-04 -7.87589044e-03 4.25645128e+01] [-6.81808524e-04 9.99997290e-01 -2.22589967e-03 -3.72332000e+00] [ 7.87439053e-03 2.23119999e-03 9.99966507e-01 -1.03005866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264860624 meters 0.10347387270740603 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.72, Z:-1.03 [[ 9.99969198e-01 8.02255247e-04 -7.80764650e-03 4.25646786e+01] [-8.17172791e-04 9.99997847e-01 -1.90763009e-03 -3.72393752e+00] [ 7.80609928e-03 1.91395153e-03 9.99967700e-01 -1.03049845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32486062399998 meters 0.1050283687561753 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99970918e-01 1.04948148e-03 -7.55389199e-03 4.25646071e+01] [-1.05862260e-03 9.99998712e-01 -1.20622374e-03 -3.72566915e+00] [ 7.55261635e-03 1.21418538e-03 9.99970741e-01 -1.03115482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38486062399998 meters 0.10428511634930496 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99973759e-01 1.02617452e-03 -7.17138862e-03 4.25635792e+01] [-1.03112184e-03 9.99999233e-01 -6.86206638e-04 -3.72804821e+00] [ 7.17067895e-03 6.93583207e-04 9.99974050e-01 -1.03079015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44486062399999 meters 0.10757067019101758 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99975907e-01 1.02253570e-03 -6.86579681e-03 4.25628638e+01] [-1.02455354e-03 9.99999433e-01 -2.90386166e-04 -3.72976534e+00] [ 6.86549599e-03 2.97413546e-04 9.99976388e-01 -1.03067474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50486062399999 meters 0.11057465178502958 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99978238e-01 9.43137083e-04 -6.52946665e-03 4.25619379e+01] [-9.43454953e-04 9.99999554e-01 -4.56023965e-05 -3.73127056e+00] [ 6.52942073e-03 5.17616618e-05 9.99978682e-01 -1.03034900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56486062399999 meters 0.10665172083040306 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99978766e-01 9.58390333e-04 -6.44588667e-03 4.25613614e+01] [-9.57543400e-04 9.99999533e-01 1.34476104e-04 -3.73262868e+00] [ 6.44601254e-03 -1.28301032e-04 9.99979216e-01 -1.02976244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624860624 meters 0.11402596639873805 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99977645e-01 1.29846811e-03 -6.55918308e-03 4.25619692e+01] [-1.29490433e-03 9.99999012e-01 5.47545043e-04 -3.73334983e+00] [ 6.55988757e-03 -5.39039288e-04 9.99978338e-01 -1.03022636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68486062399998 meters 0.10301814749362176 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.73, Z:-1.03 [[ 9.99977313e-01 1.54366569e-03 -6.55671082e-03 4.25618451e+01] [-1.53743645e-03 9.99998362e-01 9.54990686e-04 -3.73491838e+00] [ 6.55817427e-03 -9.44888494e-04 9.99978049e-01 -1.03001679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74486062399998 meters 0.10786132469186915 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.74, Z:-1.03 [[ 9.99976869e-01 1.68474432e-03 -6.58963969e-03 4.25617581e+01] [-1.67698545e-03 9.99997894e-01 1.18278313e-03 -3.73596321e+00] [ 6.59161851e-03 -1.17170504e-03 9.99977589e-01 -1.02975705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80486062399999 meters 0.10494048774593075 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.74, Z:-1.03 [[ 9.99976268e-01 1.95411568e-03 -6.60648938e-03 4.25615733e+01] [-1.94345202e-03 9.99996799e-01 1.62015313e-03 -3.73788405e+00] [ 6.60963420e-03 -1.60727529e-03 9.99976864e-01 -1.02939391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86486062399999 meters 0.10568223109951086 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.74, Z:-1.03 [[ 9.99975171e-01 2.25847333e-03 -6.67502853e-03 4.25617953e+01] [-2.24472455e-03 9.99995345e-01 2.06650869e-03 -3.73920732e+00] [ 6.67966461e-03 -2.05147378e-03 9.99975586e-01 -1.02946550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92486062399999 meters 0.10615086109278733 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.74, Z:-1.03 [[ 9.99973018e-01 2.69794141e-03 -6.83262534e-03 4.25620339e+01] [-2.67993467e-03 9.99992916e-01 2.64319088e-03 -3.74117397e+00] [ 6.83970811e-03 -2.62480857e-03 9.99973164e-01 -1.02927438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98486062399999 meters 0.10365167914631643 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.74, Z:-1.03 [[ 9.99972379e-01 2.90799410e-03 -6.83990096e-03 4.25618724e+01] [-2.88762522e-03 9.99991373e-01 2.98594270e-03 -3.74259226e+00] [ 6.84852506e-03 -2.96610915e-03 9.99972150e-01 -1.02897498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044860624 meters 0.10878762472967521 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.75, Z:-1.03 [[ 9.99971025e-01 3.44504775e-03 -6.78826673e-03 4.25618616e+01] [-3.41862548e-03 9.99986551e-01 3.90011139e-03 -3.74558694e+00] [ 6.80161150e-03 -3.87679184e-03 9.99969354e-01 -1.02903151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10486062399998 meters 0.10110083670922185 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.75, Z:-1.03 [[ 9.99972239e-01 -3.70923056e-04 -7.44201468e-03 4.25631038e+01] [ 3.69720184e-04 9.99999918e-01 -1.63007643e-04 -3.74569682e+00] [ 7.44207453e-03 1.60251654e-04 9.99972295e-01 -1.02890973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16486062399999 meters 0.09819434429340206 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.75, Z:-1.03 [[ 9.99973860e-01 3.15469340e-05 -7.23040584e-03 4.25626238e+01] [-2.59564237e-05 9.99999701e-01 7.73287077e-04 -3.74910963e+00] [ 7.23042807e-03 -7.73079188e-04 9.99973561e-01 -1.02880286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22486062399999 meters 0.09968555680994526 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.76, Z:-1.03 [[ 9.99972917e-01 -3.42597560e-04 -7.35171600e-03 4.26209344e+01] [ 3.48252761e-04 9.99999644e-01 7.67969204e-04 -3.75916609e+00] [ 7.35145028e-03 -7.70508661e-04 9.99972681e-01 -1.03086913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28486062399999 meters 0.10527407011713205 Centerline is valid? [True, False] Translation: X:42.62, Y:-3.76, Z:-1.03 [[ 9.99973428e-01 -1.25204163e-04 -7.28883863e-03 4.26206352e+01] [ 1.34157695e-04 9.99999237e-01 1.22791346e-03 -3.76104244e+00] [ 7.28867933e-03 -1.22885868e-03 9.99972682e-01 -1.03059972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34486062399999 meters 0.09564876497530708 Centerline is valid? [False, True] Translation: X:42.62, Y:-3.76, Z:-1.03 [[ 9.99973465e-01 3.52357177e-06 -7.28489860e-03 4.26202652e+01] [ 7.75297336e-06 9.99998802e-01 1.54790558e-03 -3.76254243e+00] [ 7.28489532e-03 -1.54792098e-03 9.99972267e-01 -1.03009244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404860624 meters 0.09938731167501647 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.78, Z:-1.03 [[ 9.99982610e-01 -5.95723559e-04 -5.86730482e-03 4.26764906e+01] [ 5.99323123e-04 9.99999633e-01 6.11756231e-04 -3.77682923e+00] [ 5.86693824e-03 -6.15262004e-04 9.99982600e-01 -1.03175465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46486062399998 meters 0.09972717617382472 Centerline is valid? [True, True] Translation: X:42.73, Y:-3.79, Z:-1.03 [[ 9.99984110e-01 -1.86257736e-03 -5.32083800e-03 4.27348022e+01] [ 1.86555678e-03 9.99998106e-01 5.55044856e-04 -3.78642038e+00] [ 5.31979410e-03 -5.64962361e-04 9.99985690e-01 -1.03177115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52486062399998 meters 0.09779192511083444 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.79, Z:-1.03 [[ 9.99980408e-01 -3.13927905e-03 -5.41549869e-03 4.27937164e+01] [ 3.14238245e-03 9.99994903e-01 5.64645363e-04 -3.79199147e+00] [ 5.41369851e-03 -5.81651869e-04 9.99985177e-01 -1.03251443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58486062399999 meters 0.10233815888697234 Centerline is valid? [True, False] Translation: X:42.79, Y:-3.80, Z:-1.03 [[ 9.99982797e-01 -3.06499558e-03 -5.00106324e-03 4.27926218e+01] [ 3.07212635e-03 9.99994275e-01 1.41879345e-03 -3.79633891e+00] [ 4.99668601e-03 -1.43413295e-03 9.99986488e-01 -1.03202283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64486062399999 meters 0.09671194846582389 Centerline is valid? [False, True] Translation: X:42.79, Y:-3.80, Z:-1.03 [[ 9.99984711e-01 -2.97527646e-03 -4.66096298e-03 4.27916475e+01] [ 2.98496422e-03 9.99993396e-01 2.07291302e-03 -3.79907074e+00] [ 4.65476471e-03 -2.08679414e-03 9.99986989e-01 -1.03158786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70486062399999 meters 0.10373741957627779 Centerline is valid? [True, False] Translation: X:42.79, Y:-3.80, Z:-1.03 [[ 9.99986184e-01 -2.64736428e-03 -4.54127927e-03 4.27913313e+01] [ 2.66029957e-03 9.99992415e-01 2.84470776e-03 -3.80188216e+00] [ 4.53371385e-03 -2.85674962e-03 9.99985642e-01 -1.03142998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764860624 meters 0.10296169819172206 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.81, Z:-1.03 [[ 9.99988507e-01 -2.45751025e-03 -4.11649854e-03 4.27903039e+01] [ 2.47301822e-03 9.99989849e-01 3.76642867e-03 -3.80559337e+00] [ 4.10720072e-03 -3.77656556e-03 9.99984434e-01 -1.03108769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82486062399998 meters 0.103765722693707 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.81, Z:-1.03 [[ 9.99989787e-01 -2.15174730e-03 -3.97429233e-03 4.27899452e+01] [ 2.16971423e-03 9.99987422e-01 4.52202228e-03 -3.80811338e+00] [ 3.96451209e-03 -4.53059918e-03 9.99981878e-01 -1.03094870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88486062399998 meters 0.09824084153430664 Centerline is valid? [False, True] Translation: X:42.79, Y:-3.81, Z:-1.03 [[ 9.99991864e-01 -2.07775305e-03 -3.45771416e-03 4.27884938e+01] [ 2.09621376e-03 9.99983524e-01 5.34395922e-03 -3.81220166e+00] [ 3.44655377e-03 -5.35116385e-03 9.99979743e-01 -1.03023503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94486062399999 meters 0.13060511731134983 Centerline is valid? [True, False] Translation: X:42.79, Y:-3.81, Z:-1.03 [[ 9.99992559e-01 -2.05211475e-03 -3.26663210e-03 4.27878385e+01] [ 2.07065075e-03 9.99981719e-01 5.68111311e-03 -3.81380393e+00] [ 3.25491408e-03 -5.68783489e-03 9.99978527e-01 -1.02982438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00486062399999 meters 0.10054993780580826 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.82, Z:-1.03 [[ 9.99993619e-01 -1.73529647e-03 -3.12257227e-03 4.27875058e+01] [ 1.75529527e-03 9.99977894e-01 6.41328914e-03 -3.81629177e+00] [ 3.11137429e-03 -6.41872925e-03 9.99974559e-01 -1.02971700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06486062399999 meters 0.10302656181438863 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.82, Z:-1.03 [[ 9.99994053e-01 -1.62360199e-03 -3.04277234e-03 4.27871646e+01] [ 1.64413218e-03 9.99975820e-01 6.75688696e-03 -3.81769625e+00] [ 3.03172828e-03 -6.76184950e-03 9.99972543e-01 -1.02945401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124860624 meters 0.10509131550745641 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.82, Z:-1.03 [[ 9.99995150e-01 -1.37458676e-03 -2.79480137e-03 4.27866034e+01] [ 1.39559947e-03 9.99970672e-01 7.53050020e-03 -3.82035780e+00] [ 2.78436808e-03 -7.53436410e-03 9.99967740e-01 -1.02932745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18486062399998 meters 0.10661503854081279 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.82, Z:-1.03 [[ 9.99980459e-01 -5.40422371e-03 -3.14246011e-03 4.27872169e+01] [ 5.41510348e-03 9.99979338e-01 3.46404319e-03 -3.82054200e+00] [ 3.12367472e-03 -3.48099225e-03 9.99989063e-01 -1.02916951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24486062399998 meters 0.10860604883579841 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.82, Z:-1.03 [[ 9.99982685e-01 -5.05133414e-03 -3.01882040e-03 4.27870044e+01] [ 5.06420129e-03 9.99978060e-01 4.26997436e-03 -3.82293758e+00] [ 2.99718510e-03 -4.28518834e-03 9.99986327e-01 -1.02916736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30486062399999 meters 0.09909576505064238 Centerline is valid? [False, True] Translation: X:42.79, Y:-3.83, Z:-1.03 [[ 9.99984193e-01 -4.85130330e-03 -2.84222068e-03 4.27863651e+01] [ 4.86527702e-03 9.99976010e-01 4.93036981e-03 -3.82541690e+00] [ 2.81823378e-03 -4.94412007e-03 9.99983806e-01 -1.02871025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36486062399999 meters 0.09990220536209504 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.83, Z:-1.03 [[ 9.99979588e-01 -4.88404576e-03 -4.11945513e-03 4.28464635e+01] [ 4.88606935e-03 9.99987947e-01 4.81305795e-04 -3.83306699e+00] [ 4.11705476e-03 -5.01423914e-04 9.99991399e-01 -1.02996084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42486062399999 meters 0.1003649628841463 Centerline is valid? [True, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99982347e-01 -4.23525307e-03 -4.16753524e-03 4.28468537e+01] [ 4.24175799e-03 9.99989797e-01 1.55325679e-03 -3.83566494e+00] [ 4.16091428e-03 -1.57090705e-03 9.99990109e-01 -1.03037702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48486062399999 meters 0.1013204065692647 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99983426e-01 -3.87101455e-03 -4.26171878e-03 4.28472102e+01] [ 3.87985883e-03 9.99990333e-01 2.06897777e-03 -3.83682722e+00] [ 4.25366854e-03 -2.08547834e-03 9.99988778e-01 -1.03058655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54486062399998 meters 0.10398009265175903 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99984442e-01 -3.52358868e-03 -4.32435638e-03 4.28474267e+01] [ 3.53489383e-03 9.99990348e-01 2.60944520e-03 -3.83819871e+00] [ 4.31512003e-03 -2.62469074e-03 9.99987245e-01 -1.03072534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60486062399998 meters 0.10507125574866669 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99985169e-01 -3.27791860e-03 -4.34945509e-03 4.28476637e+01] [ 3.29084677e-03 9.99990179e-01 2.96854514e-03 -3.83904978e+00] [ 4.33968173e-03 -2.98281450e-03 9.99986135e-01 -1.03098479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66486062399999 meters 0.10641649902766097 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99985390e-01 -3.04347675e-03 -4.46722439e-03 4.28481217e+01] [ 3.05812499e-03 9.99989958e-01 3.27588886e-03 -3.83968036e+00] [ 4.45720944e-03 -3.28950234e-03 9.99984656e-01 -1.03130931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72486062399999 meters 0.10930084927679788 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99985670e-01 -3.01995786e-03 -4.42042808e-03 4.28478811e+01] [ 3.03494229e-03 9.99989658e-01 3.38704037e-03 -3.84030620e+00] [ 4.41015365e-03 -3.40040758e-03 9.99984494e-01 -1.03106855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78486062399999 meters 0.10394961998547181 Centerline is valid? [False, False] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99980225e-01 -4.04886167e-03 -4.81219186e-03 4.28507352e+01] [ 4.06024236e-03 9.99988978e-01 2.35755838e-03 -3.84101968e+00] [ 4.80259339e-03 -2.37705043e-03 9.99985642e-01 -1.03358311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84486062399999 meters 0.09803229689963687 Centerline is valid? [False, True] Translation: X:42.85, Y:-3.84, Z:-1.03 [[ 9.99981178e-01 -4.14948421e-03 -4.51942409e-03 4.28498211e+01] [ 4.16133428e-03 9.99987920e-01 2.61579143e-03 -3.84248447e+00] [ 4.50851531e-03 -2.63454903e-03 9.99986366e-01 -1.03306855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904860624 meters 0.09863160243870016 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.85, Z:-1.03 [[ 9.99974980e-01 -5.45092324e-03 -4.50844226e-03 4.29095396e+01] [ 5.45328573e-03 9.99985000e-01 5.11887115e-04 -3.85072179e+00] [ 4.50558437e-03 -5.36460131e-04 9.99989706e-01 -1.03403372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96486062399998 meters 0.10251853122122856 Centerline is valid? [True, False] Translation: X:42.91, Y:-3.85, Z:-1.03 [[ 9.99978664e-01 -5.00520357e-03 -4.19759346e-03 4.29093364e+01] [ 5.01256720e-03 9.99985913e-01 1.74556802e-03 -3.85393681e+00] [ 4.18879741e-03 -1.76657150e-03 9.99989667e-01 -1.03458653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02486062399998 meters 0.10432756216702113 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99980541e-01 -4.66287626e-03 -4.14438292e-03 4.29095560e+01] [ 4.67305297e-03 9.99986082e-01 2.44925996e-03 -3.85538924e+00] [ 4.13290464e-03 -2.46857922e-03 9.99988413e-01 -1.03506587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08486062399999 meters 0.10690787875579158 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.03 [[ 9.99981293e-01 -4.58294808e-03 -4.05104785e-03 4.29092688e+01] [ 4.59394555e-03 9.99985777e-01 2.70959893e-03 -3.85642657e+00] [ 4.03857228e-03 -2.72815853e-03 9.99988123e-01 -1.03491325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14486062399999 meters 0.10808837909403296 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99981949e-01 -4.42075270e-03 -4.06921823e-03 4.29095750e+01] [ 4.43269164e-03 9.99985884e-01 2.92963715e-03 -3.85661156e+00] [ 4.05620959e-03 -2.94762185e-03 9.99987429e-01 -1.03529606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20486062399999 meters 0.10887835833355249 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99981774e-01 -4.44689907e-03 -4.08360711e-03 4.29095789e+01] [ 4.45848642e-03 9.99986048e-01 2.83282355e-03 -3.85631297e+00] [ 4.07095286e-03 -2.85097863e-03 9.99987650e-01 -1.03523351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264860624 meters 0.0998630376046214 Centerline is valid? [False, True] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99981901e-01 -4.31882245e-03 -4.18884232e-03 4.29099341e+01] [ 4.33125949e-03 9.99986226e-01 2.96457377e-03 -3.85633690e+00] [ 4.17598115e-03 -2.98266308e-03 9.99986832e-01 -1.03543163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32486062399998 meters 0.10241139220736271 Centerline is valid? [True, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99983195e-01 -4.18107435e-03 -4.01601337e-03 4.29097033e+01] [ 4.19449644e-03 9.99985627e-01 3.33955406e-03 -3.85747693e+00] [ 4.00199272e-03 -3.35634309e-03 9.99986359e-01 -1.03559983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38486062399998 meters 0.10311068486799291 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99984323e-01 -3.92717368e-03 -3.99132111e-03 4.29099230e+01] [ 3.94227577e-03 9.99985074e-01 3.78293423e-03 -3.85846230e+00] [ 3.97640529e-03 -3.79860982e-03 9.99984879e-01 -1.03597822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44486062399999 meters 0.10820291752361645 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99983770e-01 -4.13880867e-03 -3.91544835e-03 4.29094117e+01] [ 4.15275476e-03 9.99985039e-01 3.56041382e-03 -3.85826850e+00] [ 3.90065390e-03 -3.57661593e-03 9.99985996e-01 -1.03542388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50486062399999 meters 0.10996344757863301 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985023e-01 -3.72769191e-03 -4.00717857e-03 4.29100239e+01] [ 3.74441576e-03 9.99984278e-01 4.17410319e-03 -3.85946157e+00] [ 3.99155580e-03 -4.18904522e-03 9.99983260e-01 -1.03604439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56486062399999 meters 0.1114303495673352 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99986142e-01 -3.40349040e-03 -4.01657980e-03 4.29103981e+01] [ 3.42236820e-03 9.99983087e-01 4.70249243e-03 -3.86064031e+00] [ 4.00050698e-03 -4.71617347e-03 9.99980877e-01 -1.03654863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624860624 meters 0.11351306208225541 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985628e-01 -3.55843752e-03 -4.01015900e-03 4.29100392e+01] [ 3.57650819e-03 9.99983443e-01 4.50809800e-03 -3.86052118e+00] [ 3.99405082e-03 -4.52237558e-03 9.99981798e-01 -1.03603877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68486062399998 meters 0.11514730744867122 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985574e-01 -3.36898986e-03 -4.18341247e-03 4.29104989e+01] [ 3.38859192e-03 9.99983272e-01 4.68744929e-03 -3.86074934e+00] [ 4.16755052e-03 -4.70155755e-03 9.99980263e-01 -1.03618387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74486062399998 meters 0.10078788802705092 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99984899e-01 -3.59995214e-03 -4.15231986e-03 4.29099298e+01] [ 3.61803597e-03 9.99983968e-01 4.35585579e-03 -3.86048911e+00] [ 4.13657242e-03 -4.37081326e-03 9.99981892e-01 -1.03543181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80486062399999 meters 0.11997781637684397 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985028e-01 -3.58935039e-03 -4.13043544e-03 4.29098232e+01] [ 3.60760545e-03 9.99983721e-01 4.42071434e-03 -3.86078110e+00] [ 4.11450071e-03 -4.43554914e-03 9.99981698e-01 -1.03530738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86486062399999 meters 0.10324480887171857 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985679e-01 -3.66253866e-03 -3.90224816e-03 4.29095005e+01] [ 3.68021663e-03 9.99982955e-01 4.53269499e-03 -3.86130570e+00] [ 3.88558048e-03 -4.54699119e-03 9.99982113e-01 -1.03545362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92486062399999 meters 0.11105268086536675 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99986051e-01 -3.76542328e-03 -3.70404809e-03 4.29091256e+01] [ 3.78224032e-03 9.99982525e-01 4.54369793e-03 -3.86155435e+00] [ 3.68687441e-03 -4.55764415e-03 9.99982817e-01 -1.03541729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98486062399999 meters 0.11274816828149836 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99985773e-01 -3.92737067e-03 -3.60958927e-03 4.29090260e+01] [ 3.94295664e-03 9.99982891e-01 4.32100830e-03 -3.86098665e+00] [ 3.59255731e-03 -4.33517928e-03 9.99984150e-01 -1.03548700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04486062399998 meters 0.1048939089975663 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99984661e-01 -4.19753049e-03 -3.61357061e-03 4.29089247e+01] [ 4.21149158e-03 9.99983664e-01 3.86461669e-03 -3.85964405e+00] [ 3.59728973e-03 -3.87977593e-03 9.99986003e-01 -1.03532499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10486062399998 meters 0.10391811165267595 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.03 [[ 9.99983253e-01 -4.59872606e-03 -3.51356778e-03 4.29084648e+01] [ 4.61009943e-03 9.99984138e-01 3.23577368e-03 -3.85828830e+00] [ 3.49863161e-03 -3.25191739e-03 9.99988592e-01 -1.03493583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16486062399999 meters 0.10482518197626026 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.86, Z:-1.04 [[ 9.99981498e-01 -4.80123483e-03 -3.73514088e-03 4.29091048e+01] [ 4.81092027e-03 9.99985077e-01 2.58840918e-03 -3.85593057e+00] [ 3.72265758e-03 -2.60633075e-03 9.99989674e-01 -1.03523890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22486062399999 meters 0.10699900551061219 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.85, Z:-1.04 [[ 9.99979938e-01 -5.01741776e-03 -3.86644567e-03 4.29095096e+01] [ 5.02550333e-03 9.99985200e-01 2.08434540e-03 -3.85407010e+00] [ 3.85593042e-03 -2.10373442e-03 9.99990353e-01 -1.03546595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28486062399999 meters 0.1055125377514921 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.85, Z:-1.04 [[ 9.99978532e-01 -4.93031604e-03 -4.31596974e-03 4.29108955e+01] [ 4.93752572e-03 9.99986430e-01 1.66140565e-03 -3.85170185e+00] [ 4.30771992e-03 -1.68268019e-03 9.99989306e-01 -1.03622247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34486062399999 meters 0.10106227308467791 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.85, Z:-1.04 [[ 9.99976938e-01 -4.90434190e-03 -4.69787843e-03 4.29119401e+01] [ 4.91019517e-03 9.99987182e-01 1.23521490e-03 -3.84971893e+00] [ 4.69176029e-03 -1.25825391e-03 9.99988202e-01 -1.03667116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404860624 meters 0.1014821696215941 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.85, Z:-1.04 [[ 9.99975904e-01 -4.89838341e-03 -4.91907540e-03 4.29127895e+01] [ 4.90292872e-03 9.99987564e-01 9.12382700e-04 -3.84802919e+00] [ 4.91454503e-03 -9.36478592e-04 9.99987485e-01 -1.03726169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46486062399998 meters 0.10163295834934043 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.85, Z:-1.04 [[ 9.99974126e-01 -4.91371037e-03 -5.25386237e-03 4.29136751e+01] [ 4.91627650e-03 9.99987802e-01 4.75623157e-04 -3.84602022e+00] [ 5.25146121e-03 -5.01440291e-04 9.99986085e-01 -1.03761418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52486062399998 meters 0.10181451423248725 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99972615e-01 -4.98072756e-03 -5.47367097e-03 4.29144368e+01] [ 4.98107961e-03 9.99987593e-01 5.06865046e-05 -3.84419033e+00] [ 5.47335061e-03 -7.79499075e-05 9.99985018e-01 -1.03808603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58486062399999 meters 0.10069494253677892 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99987211e-01 -1.14535832e-03 -4.92595768e-03 4.29132556e+01] [ 1.16517077e-03 9.99991237e-01 4.02106373e-03 -3.84421987e+00] [ 4.92130896e-03 -4.02675189e-03 9.99979783e-01 -1.03792373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64486062399999 meters 0.1046698630871371 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99986824e-01 -1.20811318e-03 -4.98923980e-03 4.29134680e+01] [ 1.22725652e-03 9.99991891e-01 3.83564860e-03 -3.84356964e+00] [ 4.98456544e-03 -3.84172114e-03 9.99980197e-01 -1.03802147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70486062399999 meters 0.10523144583470238 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99986634e-01 -1.77263967e-03 -4.85693424e-03 4.29130864e+01] [ 1.78728435e-03 9.99993865e-01 3.01253138e-03 -3.84164558e+00] [ 4.85156431e-03 -3.02117184e-03 9.99983667e-01 -1.03785427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764860624 meters 0.10016335407083589 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99985048e-01 -1.96183668e-03 -5.10448669e-03 4.29138171e+01] [ 1.97431725e-03 9.99995071e-01 2.44113090e-03 -3.83947329e+00] [ 5.09967243e-03 -2.45117228e-03 9.99983992e-01 -1.03820226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82486062399998 meters 0.10132522812092475 Centerline is valid? [False, False] Translation: X:42.91, Y:-3.84, Z:-1.04 [[ 9.99982292e-01 -2.27191125e-03 -5.50042858e-03 4.29146871e+01] [ 2.27956178e-03 9.99996443e-01 1.38502751e-03 -3.83575221e+00] [ 5.49726235e-03 -1.39754155e-03 9.99983913e-01 -1.03836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88486062399998 meters 0.11033142016783394 Centerline is valid? [False, False] Translation: X:42.92, Y:-3.83, Z:-1.04 [[ 9.99979674e-01 -2.35215519e-03 -5.92613744e-03 4.29156187e+01] [ 2.35649830e-03 9.99996960e-01 7.25996788e-04 -3.83323010e+00] [ 5.92441176e-03 -7.39946964e-04 9.99982177e-01 -1.03850047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94486062399999 meters 0.10296287495615851 Centerline is valid? [False, False] Translation: X:42.92, Y:-3.83, Z:-1.04 [[ 9.99976490e-01 -2.54180599e-03 -6.36859577e-03 4.29164710e+01] [ 2.54068294e-03 9.99996755e-01 -1.84425430e-04 -3.83004681e+00] [ 6.36904388e-03 1.68240511e-04 9.99979703e-01 -1.03849218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00486062399999 meters 0.0991191745237112 Centerline is valid? [False, True] Translation: X:42.92, Y:-3.83, Z:-1.04 [[ 9.99979741e-01 -4.39743814e-04 -6.35006974e-03 4.29181240e+01] [ 4.48227539e-04 9.99999009e-01 1.33464373e-03 -3.82713187e+00] [ 6.34947654e-03 -1.33746297e-03 9.99978947e-01 -1.04033128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06486062399999 meters 0.10339348068988562 Centerline is valid? [True, False] Translation: X:42.92, Y:-3.83, Z:-1.04 [[ 9.99979681e-01 -5.33419426e-04 -6.35233199e-03 4.29182683e+01] [ 5.40636352e-04 9.99999210e-01 1.13444358e-03 -3.82636825e+00] [ 6.35172184e-03 -1.13785483e-03 9.99979180e-01 -1.04051653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124860624 meters 0.10207712867682936 Centerline is valid? [False, False] Translation: X:42.92, Y:-3.83, Z:-1.04 [[ 9.99980033e-01 -7.14097878e-04 -6.27888155e-03 4.29183801e+01] [ 7.19003430e-04 9.99999438e-01 7.79055444e-04 -3.82506249e+00] [ 6.27832170e-03 -7.83554426e-04 9.99979984e-01 -1.04088840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18486062399998 meters 0.09860467306848233 Centerline is valid? [False, True] Translation: X:42.92, Y:-3.82, Z:-1.04 [[ 9.99979193e-01 -1.02144734e-03 -6.36952675e-03 4.29186552e+01] [ 1.02250024e-03 9.99999464e-01 1.62048512e-04 -3.82285331e+00] [ 6.36935781e-03 -1.68557983e-04 9.99979701e-01 -1.04103972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24486062399998 meters 0.0990338287078118 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99978571e-01 -1.80515174e-03 -6.29284649e-03 4.29774922e+01] [ 1.80955009e-03 9.99998122e-01 6.93320825e-04 -3.82930310e+00] [ 6.29158313e-03 -7.04693188e-04 9.99979959e-01 -1.04265712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30486062399999 meters 0.10151808994899099 Centerline is valid? [True, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99979943e-01 -1.86867015e-03 -6.05161096e-03 4.29775134e+01] [ 1.87322718e-03 9.99997966e-01 7.47447816e-04 -3.82914488e+00] [ 6.05020192e-03 -7.58768867e-04 9.99981409e-01 -1.04341610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36486062399999 meters 0.10257471825741239 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99979979e-01 -1.91398458e-03 -6.03138411e-03 4.29776733e+01] [ 1.91814661e-03 9.99997926e-01 6.84354162e-04 -3.82857592e+00] [ 6.03006176e-03 -6.95909540e-04 9.99981577e-01 -1.04372492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42486062399999 meters 0.1020947959527427 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99979864e-01 -1.96247440e-03 -6.03498285e-03 4.29777047e+01] [ 1.96641994e-03 9.99997857e-01 6.47913799e-04 -3.82818324e+00] [ 6.03369840e-03 -6.59768063e-04 9.99981579e-01 -1.04375173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48486062399999 meters 0.1038306795120015 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99981826e-01 -2.24795402e-03 -5.59420400e-03 4.29766847e+01] [ 2.25207259e-03 9.99997198e-01 7.30031123e-04 -3.82891583e+00] [ 5.59254725e-03 -7.42616409e-04 9.99984086e-01 -1.04347424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54486062399998 meters 0.10569824837562837 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99983540e-01 -2.03576881e-03 -5.36422302e-03 4.29766139e+01] [ 2.04336550e-03 9.99996917e-01 1.41107739e-03 -3.83057011e+00] [ 5.36133385e-03 -1.42201523e-03 9.99984617e-01 -1.04406983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60486062399998 meters 0.10677002474735495 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99984095e-01 -1.78084178e-03 -5.35147940e-03 4.29770541e+01] [ 1.79131268e-03 9.99996490e-01 1.95248043e-03 -3.83171857e+00] [ 5.34798356e-03 -1.96203555e-03 9.99983775e-01 -1.04474000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66486062399999 meters 0.10683795146726391 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99983259e-01 -1.90873018e-03 -5.46244134e-03 4.29771399e+01] [ 1.91823714e-03 9.99996654e-01 1.73571295e-03 -3.83112484e+00] [ 5.45911005e-03 -1.74616215e-03 9.99983574e-01 -1.04454474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72486062399999 meters 0.10680459020176293 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99981252e-01 -1.62978677e-03 -5.90257456e-03 4.29779932e+01] [ 1.64011625e-03 9.99997131e-01 1.74557699e-03 -3.83065807e+00] [ 5.89971271e-03 -1.75522517e-03 9.99981056e-01 -1.04448316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78486062399999 meters 0.10646719184275623 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99979264e-01 -1.48348310e-03 -6.26666850e-03 4.29786993e+01] [ 1.49384635e-03 9.99997524e-01 1.64935229e-03 -3.82995002e+00] [ 6.26420619e-03 -1.65867953e-03 9.99979004e-01 -1.04444192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84486062399999 meters 0.10301141690304516 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99977029e-01 -1.34093342e-03 -6.64407988e-03 4.29793016e+01] [ 1.35089372e-03 9.99997970e-01 1.49486366e-03 -3.82927087e+00] [ 6.64206188e-03 -1.50380476e-03 9.99976811e-01 -1.04422050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90486062399998 meters 0.1022525430188305 Centerline is valid? [False, False] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99976175e-01 -9.43613277e-04 -6.83805918e-03 4.29801171e+01] [ 9.56833682e-04 9.99997679e-01 1.93034281e-03 -3.82992289e+00] [ 6.83622181e-03 -1.93683971e-03 9.99974757e-01 -1.04477313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96486062399998 meters 0.09946223985426056 Centerline is valid? [False, True] Translation: X:42.98, Y:-3.83, Z:-1.04 [[ 9.99974396e-01 -7.89578368e-04 -7.11225034e-03 4.29808170e+01] [ 8.03663532e-04 9.99997721e-01 1.97776871e-03 -3.82990190e+00] [ 7.11067253e-03 -1.98343392e-03 9.99972752e-01 -1.04497884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02486062399998 meters 0.09871464993230449 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.83, Z:-1.05 [[ 9.99956804e-01 2.54854825e-04 -9.29115838e-03 4.30394984e+01] [-2.45032471e-04 9.99999410e-01 1.05829526e-03 -3.83460018e+00] [ 9.29142261e-03 -1.05597291e-03 9.99956276e-01 -1.04690345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08486062399999 meters 0.09897727331190516 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.84, Z:-1.05 [[ 9.99945199e-01 7.88833450e-04 -1.04392396e-02 4.30978754e+01] [-7.76479149e-04 9.99998994e-01 1.18744848e-03 -3.84203011e+00] [ 1.04401658e-02 -1.17927755e-03 9.99944805e-01 -1.04852845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14486062399999 meters 0.09708949573078729 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99941026e-01 1.42071024e-04 -1.08592673e-02 4.31575657e+01] [-1.28605206e-04 9.99999222e-01 1.24071829e-03 -3.84542082e+00] [ 1.08594351e-02 -1.23924856e-03 9.99940267e-01 -1.04773312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20486062399999 meters 0.10429180708107676 Centerline is valid? [True, False] Translation: X:43.16, Y:-3.84, Z:-1.05 [[ 9.99941059e-01 6.73318521e-05 -1.08569403e-02 4.31575964e+01] [-5.50051935e-05 9.99999354e-01 1.13566593e-03 -3.84497586e+00] [ 1.08570097e-02 -1.13500180e-03 9.99940417e-01 -1.04775785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264860624 meters 0.10083739855298021 Centerline is valid? [False, False] Translation: X:43.16, Y:-3.84, Z:-1.05 [[ 9.99942426e-01 -9.47882559e-05 -1.07301088e-02 4.31572243e+01] [ 1.05230293e-04 9.99999521e-01 9.72592608e-04 -3.84477689e+00] [ 1.07300114e-02 -9.73665745e-04 9.99941958e-01 -1.04761886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32486062399998 meters 0.10212120837570997 Centerline is valid? [False, False] Translation: X:43.16, Y:-3.84, Z:-1.05 [[ 9.99944017e-01 -2.83624919e-04 -1.05774505e-02 4.31567930e+01] [ 2.92326375e-04 9.99999620e-01 8.21105067e-04 -3.84466290e+00] [ 1.05772136e-02 -8.24151167e-04 9.99943720e-01 -1.04743858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38486062399998 meters 0.10101603177572616 Centerline is valid? [False, False] Translation: X:43.16, Y:-3.84, Z:-1.05 [[ 9.99943879e-01 -7.27065920e-06 -1.05942987e-02 4.31572646e+01] [ 1.97897325e-05 9.99999302e-01 1.18157587e-03 -3.84498641e+00] [ 1.05942827e-02 -1.18171922e-03 9.99943181e-01 -1.04805172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44486062399999 meters 0.10241314795841905 Centerline is valid? [False, False] Translation: X:43.16, Y:-3.84, Z:-1.05 [[ 9.99944591e-01 -3.12585480e-05 -1.05268518e-02 4.31573232e+01] [ 4.35715362e-05 9.99999315e-01 1.16944701e-03 -3.84475703e+00] [ 1.05268080e-02 -1.16984088e-03 9.99943907e-01 -1.04831580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50486062399999 meters 0.0998470684953991 Centerline is valid? [False, True] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99944118e-01 4.90912426e-05 -1.05715619e-02 4.31574851e+01] [-3.53596976e-05 9.99999156e-01 1.29909655e-03 -3.84509821e+00] [ 1.05716167e-02 -1.29865015e-03 9.99943276e-01 -1.04843487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56486062399999 meters 0.10301412117621561 Centerline is valid? [True, False] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99945913e-01 4.28726897e-05 -1.04004154e-02 4.31570353e+01] [-2.73541028e-05 9.99998886e-01 1.49224987e-03 -3.84601773e+00] [ 1.04004678e-02 -1.49188467e-03 9.99944801e-01 -1.04830730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624860624 meters 0.09728199089285067 Centerline is valid? [False, True] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99949379e-01 9.42031178e-05 -1.00613854e-02 4.31561994e+01] [-7.42774476e-05 9.99998036e-01 1.98076552e-03 -3.84805908e+00] [ 1.00615522e-02 -1.97991791e-03 9.99947421e-01 -1.04808511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68486062399998 meters 0.10136666969486201 Centerline is valid? [True, False] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99951720e-01 -6.64022627e-05 -9.82610296e-03 4.31553540e+01] [ 8.61285964e-05 9.99997982e-01 2.00713442e-03 -3.84893422e+00] [ 9.82594986e-03 -2.00788383e-03 9.99949708e-01 -1.04754224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74486062399998 meters 0.10077439526726562 Centerline is valid? [False, False] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99952770e-01 2.50357503e-04 -9.71570777e-03 4.31553022e+01] [-2.24560017e-04 9.99996447e-01 2.65623503e-03 -3.85076175e+00] [ 9.71633826e-03 -2.65392781e-03 9.99949273e-01 -1.04777266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80486062399999 meters 0.09858542455036419 Centerline is valid? [False, True] Translation: X:43.16, Y:-3.85, Z:-1.05 [[ 9.99953394e-01 3.44818130e-04 -9.64838023e-03 4.31552243e+01] [-3.16584021e-04 9.99995664e-01 2.92767987e-03 -3.85154927e+00] [ 9.64934792e-03 -2.92448890e-03 9.99949167e-01 -1.04788288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86486062399999 meters 0.10516510662397635 Centerline is valid? [True, False] Translation: X:43.15, Y:-3.85, Z:-1.05 [[ 9.99955234e-01 2.67213349e-04 -9.45826666e-03 4.31545617e+01] [-2.38253279e-04 9.99995281e-01 3.06287354e-03 -3.85265988e+00] [ 9.45904047e-03 -3.06048296e-03 9.99950579e-01 -1.04748215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92486062399999 meters 0.10379247672186243 Centerline is valid? [False, False] Translation: X:43.15, Y:-3.85, Z:-1.05 [[ 9.99955631e-01 2.34402003e-04 -9.41711241e-03 4.31544684e+01] [-2.05541939e-04 9.99995280e-01 3.06549143e-03 -3.85284008e+00] [ 9.41778652e-03 -3.06341981e-03 9.99950959e-01 -1.04745673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98486062399999 meters 0.10109837506442423 Centerline is valid? [False, False] Translation: X:43.15, Y:-3.85, Z:-1.05 [[ 9.99957834e-01 -5.15935244e-05 -9.18295605e-03 4.31535541e+01] [ 7.77524607e-05 9.99995941e-01 2.84830583e-03 -3.85302254e+00] [ 9.18277181e-03 -2.84889973e-03 9.99953779e-01 -1.04680492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04486062399998 meters 0.10290653368412332 Centerline is valid? [False, False] Translation: X:43.15, Y:-3.85, Z:-1.05 [[ 9.99958453e-01 -2.59126717e-04 -9.11185054e-03 4.31529750e+01] [ 2.82999127e-04 9.99996531e-01 2.61873816e-03 -3.85304700e+00] [ 9.11114035e-03 -2.62120801e-03 9.99955057e-01 -1.04617378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10486062399998 meters 0.09844364956777381 Centerline is valid? [False, True] Translation: X:43.15, Y:-3.85, Z:-1.05 [[ 9.99957158e-01 -1.69990013e-04 -9.25490344e-03 4.31534891e+01] [ 1.94139688e-04 9.99996579e-01 2.60855666e-03 -3.85262280e+00] [ 9.25442835e-03 -2.61024165e-03 9.99953770e-01 -1.04649026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16486062399999 meters 0.09722130125959551 Centerline is valid? [True, True] Translation: X:43.21, Y:-3.86, Z:-1.05 [[ 9.99955582e-01 2.98525521e-03 -8.93991588e-03 4.32137423e+01] [-2.97612088e-03 9.99995036e-01 1.03487506e-03 -3.85753616e+00] [ 8.94296087e-03 -1.00822282e-03 9.99959503e-01 -1.04633538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22486062399999 meters 0.09566524500018665 Centerline is valid? [True, True] Translation: X:43.27, Y:-3.86, Z:-1.05 [[ 9.99958750e-01 4.49387440e-03 -7.89325552e-03 4.32736097e+01] [-4.48680248e-03 9.99989517e-01 9.13423897e-04 -3.86247951e+00] [ 7.89727759e-03 -8.77970739e-04 9.99968431e-01 -1.04740502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28486062399999 meters 0.09896534151218897 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.87, Z:-1.05 [[ 9.99947635e-01 5.79277483e-03 -8.43633738e-03 4.33317329e+01] [-5.78474697e-03 9.99982792e-01 9.75671539e-04 -3.87464670e+00] [ 8.44184406e-03 -9.26818370e-04 9.99963937e-01 -1.05059616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34486062399999 meters 0.09606102680639748 Centerline is valid? [True, True] Translation: X:43.39, Y:-3.88, Z:-1.05 [[ 9.99942221e-01 6.85551631e-03 -8.27991508e-03 4.33918835e+01] [-6.84781778e-03 9.99976095e-01 9.57776822e-04 -3.87728257e+00] [ 8.28628320e-03 -9.01022132e-04 9.99965262e-01 -1.05094278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40486062399998 meters 0.0924135079846991 Centerline is valid? [True, True] Translation: X:43.45, Y:-3.88, Z:-1.05 [[ 9.99926857e-01 8.46758815e-03 -8.63603909e-03 4.34518843e+01] [-8.45927808e-03 9.99963721e-01 9.98329167e-04 -3.87686868e+00] [ 8.64417923e-03 -9.25201490e-04 9.99962210e-01 -1.05126242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46486062399998 meters 0.0931395746135175 Centerline is valid? [True, True] Translation: X:43.51, Y:-3.88, Z:-1.05 [[ 9.99923978e-01 9.82297279e-03 -7.45300270e-03 4.35111269e+01] [-9.81682336e-03 9.99951443e-01 8.61229762e-04 -3.88290796e+00] [ 7.46110064e-03 -7.87999479e-04 9.99971855e-01 -1.05282765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52486062399998 meters 0.09418882847274615 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.89, Z:-1.05 [[ 9.99925697e-01 9.28034295e-03 -7.90421894e-03 4.35690921e+01] [-9.27341889e-03 9.99956585e-01 9.12196903e-04 -3.89055768e+00] [ 7.91234127e-03 -8.38829990e-04 9.99968345e-01 -1.05403935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58486062399999 meters 0.09746434455658466 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.90, Z:-1.06 [[ 9.99940735e-01 7.65973880e-03 -7.73663368e-03 4.36274146e+01] [-7.65305403e-03 9.99970316e-01 8.93277854e-04 -3.90154754e+00] [ 7.74324630e-03 -8.34016039e-04 9.99969673e-01 -1.05664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64486062399999 meters 0.09535133142419953 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.90, Z:-1.06 [[ 9.99950734e-01 6.85707396e-03 -7.17708268e-03 4.36859569e+01] [-6.85131798e-03 9.99976188e-01 8.26274130e-04 -3.90322426e+00] [ 7.18257761e-03 -7.77060947e-04 9.99973903e-01 -1.05630334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70486062399999 meters 0.09852725998833002 Centerline is valid? [True, True] Translation: X:43.74, Y:-3.91, Z:-1.06 [[ 9.99966864e-01 5.38087088e-03 -6.10883000e-03 4.37436147e+01] [-5.37667016e-03 9.99985298e-01 7.03862143e-04 -3.91428934e+00] [ 6.11252758e-03 -6.70993656e-04 9.99981093e-01 -1.05827772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764860624 meters 0.09905622631897741 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.92, Z:-1.06 [[ 9.99969608e-01 5.05689281e-03 -5.93383926e-03 4.38016190e+01] [-5.05292821e-03 9.99987001e-01 6.82936050e-04 -3.92097490e+00] [ 5.93721566e-03 -6.52932031e-04 9.99982161e-01 -1.05931669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82486062399998 meters 0.10168692330510073 Centerline is valid? [True, False] Translation: X:43.80, Y:-3.92, Z:-1.06 [[ 9.99971927e-01 4.58729399e-03 -5.92465831e-03 4.38013608e+01] [-4.58795491e-03 9.99989470e-01 -9.79686329e-05 -3.91902609e+00] [ 5.92414651e-03 1.25147948e-04 9.99982444e-01 -1.05894427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88486062399998 meters 0.09446866017291852 Centerline is valid? [False, True] Translation: X:43.80, Y:-3.92, Z:-1.06 [[ 9.99973330e-01 4.36694000e-03 -5.85398041e-03 4.38012132e+01] [-4.36942740e-03 9.99990369e-01 -4.12185675e-04 -3.91822203e+00] [ 5.85212404e-03 4.37753225e-04 9.99982780e-01 -1.05892435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94486062399999 meters 0.1009404594132626 Centerline is valid? [True, False] Translation: X:43.80, Y:-3.92, Z:-1.06 [[ 9.99973451e-01 4.32559825e-03 -5.86407174e-03 4.38015733e+01] [-4.32864315e-03 9.99990503e-01 -5.06653220e-04 -3.91752044e+00] [ 5.86182447e-03 5.32023242e-04 9.99982678e-01 -1.05941454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00486062399999 meters 0.09911904795328445 Centerline is valid? [False, True] Translation: X:43.80, Y:-3.92, Z:-1.06 [[ 9.99975584e-01 4.10068881e-03 -5.65824008e-03 4.38011425e+01] [-4.10462022e-03 9.99991343e-01 -6.83374427e-04 -3.91721246e+00] [ 5.65538879e-03 7.06582669e-04 9.99983759e-01 -1.05940445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06486062399999 meters 0.09559449055225508 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.92, Z:-1.06 [[ 9.99981476e-01 3.08615456e-03 -5.24630966e-03 4.38609020e+01] [-3.08307295e-03 9.99995070e-01 5.95372011e-04 -3.91758556e+00] [ 5.24812120e-03 -5.79186227e-04 9.99986061e-01 -1.06008500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124860624 meters 0.09689962812664557 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.92, Z:-1.06 [[ 9.99983276e-01 2.75851310e-03 -5.08320011e-03 4.39196464e+01] [-2.75562093e-03 9.99996037e-01 5.75883344e-04 -3.92495004e+00] [ 5.08476855e-03 -5.61866340e-04 9.99986915e-01 -1.06202678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18486062399998 meters 0.09697720159590076 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.93, Z:-1.06 [[ 9.99982703e-01 4.26423320e-03 -4.05093460e-03 4.39794981e+01] [-4.26240615e-03 9.99990810e-01 4.59546157e-04 -3.92926195e+00] [ 4.05285699e-03 -4.42271479e-04 9.99991689e-01 -1.06445442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24486062399998 meters 0.09578695885975425 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.93, Z:-1.07 [[ 9.99979170e-01 4.73513714e-03 -4.38610072e-03 4.40387925e+01] [-4.73300497e-03 9.99988676e-01 4.96370675e-04 -3.93150870e+00] [ 4.38840143e-03 -4.75600899e-04 9.99990258e-01 -1.06579071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30486062399999 meters 0.10153830577552815 Centerline is valid? [True, False] Translation: X:44.04, Y:-3.93, Z:-1.07 [[ 9.99980123e-01 4.35011456e-03 -4.56404404e-03 4.40393833e+01] [-4.35257904e-03 9.99990387e-01 -5.30183665e-04 -3.92788717e+00] [ 4.56169380e-03 5.50038489e-04 9.99989444e-01 -1.06616344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36486062399999 meters 0.09802491273884581 Centerline is valid? [False, True] Translation: X:44.04, Y:-3.93, Z:-1.07 [[ 9.99980476e-01 4.15003185e-03 -4.67177743e-03 4.40398096e+01] [-4.15493272e-03 9.99990828e-01 -1.03982239e-03 -3.92584547e+00] [ 4.66741928e-03 1.05921301e-03 9.99988547e-01 -1.06645689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42486062399999 meters 0.09750187486594973 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.93, Z:-1.07 [[ 9.99984796e-01 4.08296547e-03 -3.70639994e-03 4.40988081e+01] [-4.08148292e-03 9.99991588e-01 4.07471483e-04 -3.92955561e+00] [ 3.70803245e-03 -3.92337680e-04 9.99993048e-01 -1.06857450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48486062399999 meters 0.09698859303293403 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99987035e-01 3.83342202e-03 -3.35174271e-03 4.41578215e+01] [-3.83220936e-03 9.99992589e-01 3.68148612e-04 -3.93356868e+00] [ 3.35312914e-03 -3.55299260e-04 9.99994315e-01 -1.06970522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54486062399998 meters 0.10050250735558855 Centerline is valid? [True, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99986778e-01 3.85790189e-03 -3.40006032e-03 4.41585934e+01] [-3.85709150e-03 9.99992531e-01 2.44871799e-04 -3.93227096e+00] [ 3.40097962e-03 -2.31754218e-04 9.99994190e-01 -1.07067018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60486062399998 meters 0.09719829805046572 Centerline is valid? [False, True] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99988789e-01 3.52359449e-03 -3.16314478e-03 4.41580426e+01] [-3.52393358e-03 9.99993786e-01 -1.01633370e-04 -3.93152847e+00] [ 3.16276701e-03 1.12778943e-04 9.99994992e-01 -1.07058694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66486062399999 meters 0.10018413401805755 Centerline is valid? [True, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99990434e-01 3.30052172e-03 -2.87019801e-03 4.41576009e+01] [-3.30125475e-03 9.99994519e-01 -2.50692357e-04 -3.93105114e+00] [ 2.86935487e-03 2.60165214e-04 9.99995850e-01 -1.07081858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72486062399999 meters 0.09801464729043187 Centerline is valid? [False, True] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99991220e-01 3.20941336e-03 -2.69422552e-03 4.41575062e+01] [-3.21005455e-03 9.99994820e-01 -2.33698440e-04 -3.93085368e+00] [ 2.69346153e-03 2.42344999e-04 9.99996343e-01 -1.07122176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78486062399999 meters 0.10103443460223707 Centerline is valid? [True, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99992589e-01 2.95810414e-03 -2.46425170e-03 4.41570650e+01] [-2.95911966e-03 9.99995538e-01 -4.08554647e-04 -3.93042232e+00] [ 2.46303216e-03 4.15843635e-04 9.99996880e-01 -1.07126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84486062399999 meters 0.1041376115353154 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99993244e-01 2.73682203e-03 -2.45399176e-03 4.41568108e+01] [-2.73866721e-03 9.99995969e-01 -7.48865474e-04 -3.92983787e+00] [ 2.45193236e-03 7.55581082e-04 9.99996709e-01 -1.07092159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90486062399998 meters 0.10138886968920108 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99993138e-01 2.75765110e-03 -2.47364589e-03 4.41572035e+01] [-2.75963488e-03 9.99995873e-01 -7.98911197e-04 -3.92921444e+00] [ 2.47143257e-03 8.05732074e-04 9.99996621e-01 -1.07142851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96486062399998 meters 0.10073192398056682 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99993398e-01 2.64372079e-03 -2.49280076e-03 4.41572563e+01] [-2.64625173e-03 9.99995986e-01 -1.01254871e-03 -3.92865664e+00] [ 2.49011386e-03 1.01913860e-03 9.99996380e-01 -1.07144342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02486062399998 meters 0.0997439017082501 Centerline is valid? [False, True] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99993598e-01 2.56608545e-03 -2.49381882e-03 4.41572144e+01] [-2.56894851e-03 9.99996044e-01 -1.14553753e-03 -3.92848895e+00] [ 2.49086941e-03 1.15193669e-03 9.99996234e-01 -1.07138516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08486062399999 meters 0.10064546736083844 Centerline is valid? [True, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99992442e-01 2.87629254e-03 -2.61579277e-03 4.41578049e+01] [-2.87827516e-03 9.99995573e-01 -7.54494285e-04 -3.92901779e+00] [ 2.61361104e-03 7.62017554e-04 9.99996294e-01 -1.07186415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14486062399999 meters 0.10260310194153278 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99992806e-01 2.90325043e-03 -2.44093289e-03 4.41573227e+01] [-2.90456317e-03 9.99995639e-01 -5.34427464e-04 -3.92998700e+00] [ 2.43937067e-03 5.41513463e-04 9.99996878e-01 -1.07168046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20486062399999 meters 0.10666047969551094 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99992180e-01 3.13837775e-03 -2.40654491e-03 4.41572587e+01] [-3.13853408e-03 9.99995073e-01 -6.11873915e-05 -3.93166510e+00] [ 2.40634102e-03 6.87399362e-05 9.99997102e-01 -1.07168290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26486062399998 meters 0.10446152534985162 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99995789e-01 -6.43595128e-04 -2.82970146e-03 4.41582622e+01] [ 6.32722568e-04 9.99992421e-01 -3.84151708e-03 -3.93231327e+00] [ 2.83215239e-03 3.83971049e-03 9.99988618e-01 -1.07190714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32486062399998 meters 0.10203017710032454 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.93, Z:-1.07 [[ 9.99996089e-01 -4.79109308e-04 -2.75559913e-03 4.41580849e+01] [ 4.69792976e-04 9.99994176e-01 -3.38052784e-03 -3.93373033e+00] [ 2.75720272e-03 3.37922005e-03 9.99990489e-01 -1.07189733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38486062399998 meters 0.10256525986602022 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99997124e-01 -1.31538067e-04 -2.39480225e-03 4.41576737e+01] [ 1.25934020e-04 9.99997254e-01 -2.34008829e-03 -3.93685051e+00] [ 2.39510349e-03 2.33977998e-03 9.99994394e-01 -1.07236177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44486062399999 meters 0.10550149162947026 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99997663e-01 1.26227400e-04 -2.15847419e-03 4.41574891e+01] [-1.29830085e-04 9.99998599e-01 -1.66903031e-03 -3.93879104e+00] [ 2.15826049e-03 1.66930664e-03 9.99996278e-01 -1.07276170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50486062399999 meters 0.10125177922619608 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99997249e-01 3.60845394e-04 -2.31770183e-03 4.41582239e+01] [-3.64217204e-04 9.99998876e-01 -1.45455018e-03 -3.93871536e+00] [ 2.31717436e-03 1.45539032e-03 9.99996256e-01 -1.07334408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56486062399999 meters 0.10284246373212169 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99996711e-01 4.15820354e-04 -2.53074930e-03 4.41586904e+01] [-4.19772431e-04 9.99998693e-01 -1.56129261e-03 -3.93824589e+00] [ 2.53009678e-03 1.56234981e-03 9.99995579e-01 -1.07344807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624860624 meters 0.10598799321980189 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99995810e-01 7.37958541e-04 -2.79931594e-03 4.41596481e+01] [-7.41742581e-04 9.99998812e-01 -1.35097592e-03 -3.93801021e+00] [ 2.79831565e-03 1.35304663e-03 9.99995169e-01 -1.07402137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68486062399998 meters 0.10348971270777606 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99995420e-01 7.66691571e-04 -2.92786844e-03 4.41599393e+01] [-7.70837627e-04 9.99998702e-01 -1.41520074e-03 -3.93764245e+00] [ 2.92677962e-03 1.41745117e-03 9.99994712e-01 -1.07406433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74486062399998 meters 0.10287709406733288 Centerline is valid? [False, False] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99995337e-01 9.39481996e-04 -2.90588823e-03 4.41598850e+01] [-9.42743047e-04 9.99998927e-01 -1.12105574e-03 -3.93865432e+00] [ 2.90483190e-03 1.12379002e-03 9.99995150e-01 -1.07404259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80486062399999 meters 0.0970511478210397 Centerline is valid? [False, True] Translation: X:44.16, Y:-3.94, Z:-1.07 [[ 9.99994700e-01 1.40858991e-03 -2.93533828e-03 4.41604465e+01] [-1.40969264e-03 9.99998937e-01 -3.73641202e-04 -3.94033203e+00] [ 2.93480885e-03 3.77777146e-04 9.99995622e-01 -1.07475507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86486062399999 meters 0.09851402272756375 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.95, Z:-1.08 [[ 9.99993829e-01 9.95114567e-04 -3.36920264e-03 4.42186118e+01] [-9.93860402e-04 9.99999436e-01 3.73897669e-04 -3.95147450e+00] [ 3.36957281e-03 -3.70546844e-04 9.99994254e-01 -1.07715213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92486062399999 meters 0.09991130195225842 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.96, Z:-1.08 [[ 9.99992638e-01 -6.87535669e-04 -3.77502160e-03 4.42775874e+01] [ 6.89124210e-04 9.99999675e-01 4.19518321e-04 -3.96328086e+00] [ 3.77473194e-03 -4.22116691e-04 9.99992787e-01 -1.07884980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98486062399999 meters 0.10078436978273804 Centerline is valid? [True, False] Translation: X:44.28, Y:-3.97, Z:-1.08 [[ 9.99993881e-01 -4.46365073e-04 -3.46969054e-03 4.42773917e+01] [ 4.50202956e-04 9.99999288e-01 1.10541455e-03 -3.96517171e+00] [ 3.46919465e-03 -1.10696985e-03 9.99993370e-01 -1.07940849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04486062399998 meters 0.10420975647619951 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.97, Z:-1.08 [[ 9.99994967e-01 -2.88418025e-04 -3.15944268e-03 4.42770847e+01] [ 2.93874166e-04 9.99998466e-01 1.72660349e-03 -3.96702822e+00] [ 3.15893985e-03 -1.72752328e-03 9.99993518e-01 -1.07984139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10486062399998 meters 0.10772377301564502 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.97, Z:-1.08 [[ 9.99996154e-01 -5.49925529e-04 -2.71840350e-03 4.42760433e+01] [ 5.54889439e-04 9.99998180e-01 1.82562199e-03 -3.96822682e+00] [ 2.71739459e-03 -1.82712339e-03 9.99994639e-01 -1.07957999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16486062399999 meters 0.1043231007108484 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.97, Z:-1.08 [[ 9.99996486e-01 -5.76711232e-04 -2.58766431e-03 4.42758274e+01] [ 5.81572229e-04 9.99998067e-01 1.87816769e-03 -3.96867068e+00] [ 2.58657615e-03 -1.87966600e-03 9.99994888e-01 -1.07961874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22486062399999 meters 0.11220628295505064 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.97, Z:-1.08 [[ 9.99996846e-01 -4.58433626e-04 -2.46943571e-03 4.42755221e+01] [ 4.63917063e-04 9.99997427e-01 2.22040738e-03 -3.96980647e+00] [ 2.46841145e-03 -2.22154599e-03 9.99994486e-01 -1.07945918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28486062399999 meters 0.1026969398200136 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.97, Z:-1.08 [[ 9.99997242e-01 -5.24926121e-04 -2.28925259e-03 4.42749408e+01] [ 5.30342780e-04 9.99997060e-01 2.36616079e-03 -3.97081727e+00] [ 2.28800380e-03 -2.36736836e-03 9.99994580e-01 -1.07914705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34486062399999 meters 0.10584404659736077 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.97, Z:-1.08 [[ 9.99998119e-01 -5.05075268e-04 -1.87263220e-03 4.42739020e+01] [ 5.10492071e-04 9.99995684e-01 2.89326565e-03 -3.97343560e+00] [ 1.87116280e-03 -2.89421617e-03 9.99994061e-01 -1.07878374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40486062399998 meters 0.10864192907727752 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99998684e-01 -4.74181245e-04 -1.55152742e-03 4.42730560e+01] [ 4.79373930e-04 9.99994280e-01 3.34816295e-03 -3.97554533e+00] [ 1.54993091e-03 -3.34890231e-03 9.99993191e-01 -1.07843927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46486062399998 meters 0.11268396565112315 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99999142e-01 -3.68398779e-04 -1.25712873e-03 4.42722836e+01] [ 3.73385818e-04 9.99992053e-01 3.96908123e-03 -3.97805781e+00] [ 1.25565654e-03 -3.96954722e-03 9.99991333e-01 -1.07816105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52486062399998 meters 0.11513998075226951 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99999315e-01 -1.16937051e-04 -1.16502123e-03 4.42720548e+01] [ 1.22234879e-04 9.99989649e-01 4.54837655e-03 -3.98019119e+00] [ 1.16447729e-03 -4.54851584e-03 9.99988977e-01 -1.07808661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58486062399999 meters 0.11731690270175799 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99998264e-01 -1.48132389e-03 -1.13027837e-03 4.42736153e+01] [ 1.48445535e-03 9.99995049e-01 2.77473500e-03 -3.98043131e+00] [ 1.12616249e-03 -2.77640804e-03 9.99995512e-01 -1.07957942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64486062399999 meters 0.11262585093974467 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99998064e-01 -1.49626010e-03 -1.27764205e-03 4.42737520e+01] [ 1.49958447e-03 9.99995483e-01 2.60497924e-03 -3.98016653e+00] [ 1.27373855e-03 -2.60689013e-03 9.99995791e-01 -1.07932817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70486062399999 meters 0.10467727032063258 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99997811e-01 -1.47329791e-03 -1.48576456e-03 4.42742237e+01] [ 1.47700786e-03 9.99995787e-01 2.49900290e-03 -3.97974637e+00] [ 1.48207652e-03 -2.50119191e-03 9.99995774e-01 -1.07938428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76486062399998 meters 0.10413600942161043 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99997707e-01 -1.46288087e-03 -1.56413752e-03 4.42743588e+01] [ 1.46671834e-03 9.99995911e-01 2.45508650e-03 -3.97971258e+00] [ 1.56053962e-03 -2.45737502e-03 9.99995763e-01 -1.07933512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82486062399998 meters 0.10242072946279643 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99997552e-01 -1.37716282e-03 -1.73192484e-03 4.42744726e+01] [ 1.38134029e-03 9.99996134e-01 2.41316174e-03 -3.97993285e+00] [ 1.72859483e-03 -2.41554821e-03 9.99995589e-01 -1.07899981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88486062399998 meters 0.10703903232430599 Centerline is valid? [False, False] Translation: X:44.27, Y:-3.98, Z:-1.08 [[ 9.99997105e-01 -1.49986192e-03 -1.88165579e-03 4.42745567e+01] [ 1.50376390e-03 9.99996719e-01 2.07399568e-03 -3.97905542e+00] [ 1.87853891e-03 -2.07681924e-03 9.99996079e-01 -1.07870232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94486062399999 meters 0.10607560664051613 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.98, Z:-1.08 [[ 9.99996929e-01 -1.28017476e-03 -2.12215004e-03 4.42752964e+01] [ 1.28485068e-03 9.99996747e-01 2.20349098e-03 -3.97903325e+00] [ 2.11932228e-03 -2.20621086e-03 9.99995321e-01 -1.07904428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00486062399999 meters 0.10674582987887346 Centerline is valid? [False, False] Translation: X:44.28, Y:-3.98, Z:-1.08 [[ 9.99997027e-01 -8.08192443e-04 -2.30062580e-03 4.42758337e+01] [ 8.14637929e-04 9.99995742e-01 2.80206570e-03 -3.98068163e+00] [ 2.29835139e-03 -2.80393155e-03 9.99993428e-01 -1.07927104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06486062399999 meters 0.0980333987455407 Centerline is valid? [False, True] Translation: X:44.28, Y:-3.98, Z:-1.08 [[ 9.99997068e-01 -7.17342046e-04 -2.31304905e-03 4.42757105e+01] [ 7.24314176e-04 9.99995193e-01 3.01483174e-03 -3.98159370e+00] [ 2.31087526e-03 -3.01649827e-03 9.99992780e-01 -1.07901637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124860624 meters 0.09854103058384797 Centerline is valid? [True, True] Translation: X:44.34, Y:-3.99, Z:-1.08 [[ 9.99994364e-01 -2.20145113e-03 -2.53491471e-03 4.43353402e+01] [ 2.20218186e-03 9.99997534e-01 2.85512263e-04 -3.99062605e+00] [ 2.53427992e-03 -2.91092997e-04 9.99996746e-01 -1.07899971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18486062399998 meters 0.09858793795526749 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.00, Z:-1.08 [[ 9.99985092e-01 -4.78423012e-03 -2.63184848e-03 4.43951986e+01] [ 4.78502740e-03 9.99988508e-01 2.96719249e-04 -4.00202004e+00] [ 2.63039866e-03 -3.09308293e-04 9.99996493e-01 -1.08099704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24486062399998 meters 0.1063819804570831 Centerline is valid? [True, False] Translation: X:44.40, Y:-4.00, Z:-1.08 [[ 9.99987848e-01 -4.23707062e-03 -2.52021621e-03 4.43954005e+01] [ 4.24065987e-03 9.99989999e-01 1.42055000e-03 -4.00472967e+00] [ 2.51417203e-03 -1.43122012e-03 9.99995815e-01 -1.08161058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30486062399999 meters 0.10384815935894956 Centerline is valid? [False, False] Translation: X:44.40, Y:-4.01, Z:-1.08 [[ 9.99990191e-01 -3.78198689e-03 -2.30540887e-03 4.43953015e+01] [ 3.78764895e-03 9.99989809e-01 2.45659292e-03 -4.00777078e+00] [ 2.29609457e-03 -2.46530090e-03 9.99994325e-01 -1.08199548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36486062399999 meters 0.10173231869716952 Centerline is valid? [False, False] Translation: X:44.39, Y:-4.01, Z:-1.08 [[ 9.99991071e-01 -3.64023749e-03 -2.14609864e-03 4.43949891e+01] [ 3.64646536e-03 9.99989131e-01 2.90521551e-03 -4.00933579e+00] [ 2.13549964e-03 -2.91301524e-03 9.99993477e-01 -1.08196950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42486062399999 meters 0.10333241157528363 Centerline is valid? [False, False] Translation: X:44.39, Y:-4.01, Z:-1.08 [[ 9.99992214e-01 -3.47564980e-03 -1.86848279e-03 4.43943318e+01] [ 3.48225285e-03 9.99987663e-01 3.54234746e-03 -4.01172544e+00] [ 1.85614778e-03 -3.54882641e-03 9.99991980e-01 -1.08174146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48486062399999 meters 0.10441910848890334 Centerline is valid? [False, False] Translation: X:44.39, Y:-4.01, Z:-1.08 [[ 9.99992261e-01 -3.41052091e-03 -1.96101795e-03 4.43944961e+01] [ 3.41747763e-03 9.99987841e-01 3.55516591e-03 -4.01185347e+00] [ 1.94886914e-03 -3.56184013e-03 9.99991758e-01 -1.08166758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54486062399998 meters 0.10758731497826611 Centerline is valid? [False, False] Translation: X:44.39, Y:-4.01, Z:-1.08 [[ 9.99992495e-01 -3.34975793e-03 -1.94662700e-03 4.43945332e+01] [ 3.35680066e-03 9.99987792e-01 3.62598023e-03 -4.01219091e+00] [ 1.93445708e-03 -3.63248746e-03 9.99991531e-01 -1.08173935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60486062399998 meters 0.10029649036545722 Centerline is valid? [False, False] Translation: X:44.40, Y:-4.01, Z:-1.08 [[ 9.99992903e-01 -3.08842385e-03 -2.15764955e-03 4.43951724e+01] [ 3.09670158e-03 9.99987818e-01 3.84370994e-03 -4.01256118e+00] [ 2.14575226e-03 -3.85036426e-03 9.99990285e-01 -1.08205331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66486062399999 meters 0.10084715485286976 Centerline is valid? [False, False] Translation: X:44.40, Y:-4.01, Z:-1.08 [[ 9.99992223e-01 -3.05713061e-03 -2.49152995e-03 4.43957140e+01] [ 3.06606781e-03 9.99988851e-01 3.59114162e-03 -4.01178818e+00] [ 2.48052359e-03 -3.59875289e-03 9.99990448e-01 -1.08196945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72486062399999 meters 0.09959997624370977 Centerline is valid? [False, True] Translation: X:44.40, Y:-4.01, Z:-1.08 [[ 9.99991672e-01 -2.78681000e-03 -2.98167714e-03 4.43969686e+01] [ 2.79724552e-03 9.99989958e-01 3.50145575e-03 -4.01078687e+00] [ 2.97188931e-03 -3.50976708e-03 9.99989425e-01 -1.08242097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78486062399999 meters 0.09955797979456481 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.02, Z:-1.08 [[ 9.99993167e-01 1.42704437e-03 -3.41012502e-03 4.44557889e+01] [-1.42574155e-03 9.99998910e-01 3.84445847e-04 -4.01595252e+00] [ 3.41066992e-03 -3.79581263e-04 9.99994112e-01 -1.08392209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84486062399999 meters 0.09556611402913767 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.02, Z:-1.08 [[ 9.99986315e-01 3.81905202e-03 -3.57552174e-03 4.45171944e+01] [-3.81763255e-03 9.99992631e-01 4.03737738e-04 -4.01505772e+00] [ 3.57703729e-03 -3.90082185e-04 9.99993526e-01 -1.08372374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90486062399998 meters 0.09600407739188323 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.02, Z:-1.09 [[ 9.99984459e-01 4.62075587e-03 -3.11936265e-03 4.45757596e+01] [-4.61968446e-03 9.99989268e-01 3.50589075e-04 -4.02120698e+00] [ 3.12094916e-03 -3.36173155e-04 9.99995073e-01 -1.08533760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96486062399998 meters 0.09501680232875973 Centerline is valid? [True, True] Translation: X:44.63, Y:-4.03, Z:-1.09 [[ 9.99983533e-01 4.32381788e-03 -3.77347049e-03 4.46344776e+01] [-4.32224779e-03 9.99990569e-01 4.24142023e-04 -4.02543024e+00] [ 3.77526882e-03 -4.07825164e-04 9.99992790e-01 -1.08658357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02486062399998 meters 0.09643384830328551 Centerline is valid? [True, True] Translation: X:44.69, Y:-4.03, Z:-1.09 [[ 9.99981328e-01 3.76478604e-03 -4.81342481e-03 4.46936257e+01] [-3.76221993e-03 9.99992776e-01 5.42058867e-04 -4.03379127e+00] [ 4.81543078e-03 -5.23939584e-04 9.99988268e-01 -1.08956312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08486062399999 meters 0.09594916515321635 Centerline is valid? [True, True] Translation: X:44.75, Y:-4.04, Z:-1.09 [[ 9.99982171e-01 3.74477841e-03 -4.65118509e-03 4.47524766e+01] [-3.74238725e-03 9.99992861e-01 5.22694346e-04 -4.03707026e+00] [ 4.65310926e-03 -5.05278491e-04 9.99989047e-01 -1.09012137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14486062399999 meters 0.09672934784525634 Centerline is valid? [True, True] Translation: X:44.81, Y:-4.04, Z:-1.09 [[ 9.99982057e-01 3.12247817e-03 -5.11222377e-03 4.48103807e+01] [-3.11958458e-03 9.99994969e-01 5.73889374e-04 -4.04363301e+00] [ 5.11399001e-03 -5.57931063e-04 9.99986768e-01 -1.09185316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20486062399999 meters 0.09444834721549977 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.05, Z:-1.09 [[ 9.99985715e-01 3.46014397e-03 -4.07399657e-03 4.48691279e+01] [-3.45831049e-03 9.99993916e-01 4.57003392e-04 -4.04576812e+00] [ 4.07555308e-03 -4.42907719e-04 9.99991597e-01 -1.09217122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26486062399998 meters 0.09558596115293885 Centerline is valid? [True, True] Translation: X:44.93, Y:-4.05, Z:-1.09 [[ 9.99978791e-01 5.70945661e-03 -3.13373805e-03 4.49281548e+01] [-5.70838062e-03 9.99983645e-01 3.52192031e-04 -4.05306965e+00] [ 3.13569762e-03 -3.34295992e-04 9.99995028e-01 -1.09325370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32486062399998 meters 0.0997479810289407 Centerline is valid? [True, True] Translation: X:44.99, Y:-4.07, Z:-1.10 [[ 9.99958793e-01 8.30899546e-03 -3.65698232e-03 4.49863161e+01] [-8.30754728e-03 9.99965407e-01 4.11019145e-04 -4.06504587e+00] [ 3.66027097e-03 -3.80621655e-04 9.99993229e-01 -1.09652089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38486062399998 meters 0.09564116120060813 Centerline is valid? [True, True] Translation: X:45.05, Y:-4.06, Z:-1.10 [[ 9.99904934e-01 1.26827417e-02 -5.41024617e-03 4.50471110e+01] [-1.26796335e-02 9.99919425e-01 6.08410576e-04 -4.06192813e+00] [ 5.41752656e-03 -5.39752798e-04 9.99985179e-01 -1.09807285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44486062399999 meters 0.10006900835825129 Centerline is valid? [True, False] Translation: X:45.05, Y:-4.06, Z:-1.10 [[ 9.99906213e-01 1.24322619e-02 -5.74499035e-03 4.50477762e+01] [-1.24336963e-02 9.99922676e-01 -2.14025821e-04 -4.05954640e+00] [ 5.74188529e-03 2.85437213e-04 9.99983475e-01 -1.09806962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50486062399999 meters 0.09371727899534237 Centerline is valid? [False, True] Translation: X:45.05, Y:-4.06, Z:-1.10 [[ 9.99912633e-01 1.18170074e-02 -5.92330890e-03 4.50476161e+01] [-1.18254132e-02 9.99929117e-01 -1.38609543e-03 -4.05667644e+00] [ 5.90650954e-03 1.45601990e-03 9.99981496e-01 -1.09732769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56486062399999 meters 0.09395390636401507 Centerline is valid? [True, True] Translation: X:45.11, Y:-4.06, Z:-1.10 [[ 9.99898195e-01 1.31204619e-02 -5.60826974e-03 4.51077731e+01] [-1.31172554e-02 9.99913780e-01 6.08136598e-04 -4.06002051e+00] [ 5.61576523e-03 -5.34509580e-04 9.99984089e-01 -1.09979688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624860624 meters 0.0912592847796005 Centerline is valid? [True, True] Translation: X:45.17, Y:-4.06, Z:-1.10 [[ 9.99895161e-01 1.34905980e-02 -5.26027729e-03 4.51675126e+01] [-1.34877906e-02 9.99908874e-01 5.68825055e-04 -4.05696472e+00] [ 5.26747173e-03 -4.97815902e-04 9.99986003e-01 -1.09972146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68486062399998 meters 0.09632972103944253 Centerline is valid? [True, True] Translation: X:45.23, Y:-4.07, Z:-1.10 [[ 9.99911183e-01 1.22649842e-02 -5.21497479e-03 4.52250333e+01] [-1.22622076e-02 9.99924657e-01 5.64070936e-04 -4.07152653e+00] [ 5.22150020e-03 -5.00073733e-04 9.99986243e-01 -1.10301331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74486062399998 meters 0.09504402512320703 Centerline is valid? [True, True] Translation: X:45.28, Y:-4.07, Z:-1.10 [[ 9.99916199e-01 1.14491408e-02 -6.04258423e-03 4.52847496e+01] [-1.14453988e-02 9.99934286e-01 6.53495052e-04 -4.07016291e+00] [ 6.04966910e-03 -5.84280502e-04 9.99981530e-01 -1.10444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80486062399999 meters 0.0956155645849837 Centerline is valid? [True, True] Translation: X:45.34, Y:-4.07, Z:-1.11 [[ 9.99918558e-01 1.13107582e-02 -5.91140653e-03 4.53426482e+01] [-1.13071848e-02 9.99935868e-01 6.37564743e-04 -4.07372908e+00] [ 5.91823876e-03 -5.70671452e-04 9.99982324e-01 -1.10587525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86486062399999 meters 0.09396784896175872 Centerline is valid? [True, True] Translation: X:45.40, Y:-4.07, Z:-1.11 [[ 9.99925236e-01 1.15010669e-02 -4.15297984e-03 4.54016650e+01] [-1.14993057e-02 9.99933781e-01 4.47699538e-04 -4.07297915e+00] [ 4.15785386e-03 -3.99909682e-04 9.99991276e-01 -1.10652524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92486062399999 meters 0.09461094254847383 Centerline is valid? [True, True] Translation: X:45.46, Y:-4.08, Z:-1.11 [[ 9.99923899e-01 1.16859359e-02 -3.95419594e-03 4.54605147e+01] [-1.16843420e-02 9.99931645e-01 4.25947392e-04 -4.07854707e+00] [ 3.95890325e-03 -3.79712799e-04 9.99992091e-01 -1.10784574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98486062399999 meters 0.09558131587355996 Centerline is valid? [True, True] Translation: X:45.52, Y:-4.08, Z:-1.11 [[ 9.99915277e-01 1.21924327e-02 -4.55880301e-03 4.55194940e+01] [-1.21903196e-02 9.99925575e-01 4.91034577e-04 -4.08299415e+00] [ 4.56445062e-03 -4.35419710e-04 9.99989488e-01 -1.11025949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04486062399998 meters 0.09074962375748691 Centerline is valid? [True, True] Translation: X:45.58, Y:-4.08, Z:-1.11 [[ 9.99904321e-01 1.30529777e-02 -4.57909076e-03 4.55789201e+01] [-1.30508564e-02 9.99914712e-01 4.92846711e-04 -4.07873625e+00] [ 4.58513333e-03 -4.33038500e-04 9.99989394e-01 -1.10900846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10486062399998 meters 0.0931091038213324 Centerline is valid? [True, True] Translation: X:45.64, Y:-4.09, Z:-1.11 [[ 9.99910370e-01 1.25888351e-02 -4.55778491e-03 4.56356481e+01] [-1.25867322e-02 9.99920664e-01 4.89793427e-04 -4.08834225e+00] [ 4.56358925e-03 -4.32381909e-04 9.99989493e-01 -1.11106225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16486062399999 meters 0.09794210132281891 Centerline is valid? [True, True] Translation: X:45.69, Y:-4.10, Z:-1.12 [[ 9.99916840e-01 1.15820390e-02 -5.67174366e-03 4.56930204e+01] [-1.15787606e-02 9.99932778e-01 6.10516191e-04 -4.10333373e+00] [ 5.67843341e-03 -5.44793659e-04 9.99983729e-01 -1.11528665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22486062399999 meters 0.09442778873613991 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.10, Z:-1.12 [[ 9.99947084e-01 8.15570171e-03 -6.27005263e-03 4.57537070e+01] [-8.15162184e-03 9.99966547e-01 6.75973145e-04 -4.10305042e+00] [ 6.27535591e-03 -6.24826278e-04 9.99980115e-01 -1.11538481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28486062399999 meters 0.09656333928530163 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.11, Z:-1.12 [[ 9.99957155e-01 5.96736746e-03 -7.07665462e-03 4.58132657e+01] [-5.96211552e-03 9.99981935e-01 7.63014711e-04 -4.11361624e+00] [ 7.08107997e-03 -7.20790187e-04 9.99974669e-01 -1.11755651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34486062399999 meters 0.10002150601986376 Centerline is valid? [True, False] Translation: X:45.81, Y:-4.11, Z:-1.12 [[ 9.99963443e-01 5.16612101e-03 -6.81350456e-03 4.58119215e+01] [-5.16757550e-03 9.99986629e-01 -1.95883591e-04 -4.11197161e+00] [ 6.81240150e-03 2.31085729e-04 9.99976769e-01 -1.11646487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40486062399998 meters 0.10353426425809159 Centerline is valid? [False, False] Translation: X:45.81, Y:-4.11, Z:-1.12 [[ 9.99964389e-01 4.98698527e-03 -6.80816846e-03 4.58119256e+01] [-4.99037247e-03 9.99987433e-01 -4.80622681e-04 -4.11113331e+00] [ 6.80568604e-03 5.14580862e-04 9.99976709e-01 -1.11651745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46486062399998 meters 0.0965586938048575 Centerline is valid? [False, True] Translation: X:45.81, Y:-4.11, Z:-1.12 [[ 9.99964700e-01 4.81888464e-03 -6.88313381e-03 4.58120826e+01] [-4.82507902e-03 9.99987969e-01 -8.83612937e-04 -4.10986699e+00] [ 6.87879297e-03 9.16793410e-04 9.99975921e-01 -1.11651836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52486062399998 meters 0.09904555486632183 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.12, Z:-1.12 [[ 9.99960618e-01 6.96003567e-03 -5.50644568e-03 4.58706633e+01] [-6.95688298e-03 9.99975626e-01 5.91492168e-04 -4.12025756e+00] [ 5.51042827e-03 -5.53161176e-04 9.99984664e-01 -1.11928481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58486062399999 meters 0.09499903862827727 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.12, Z:-1.12 [[ 9.99951542e-01 8.14584866e-03 -5.52805472e-03 4.59309982e+01] [-8.14269185e-03 9.99966672e-01 5.93319710e-04 -4.11832656e+00] [ 5.53270358e-03 -5.48277713e-04 9.99984544e-01 -1.11839051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64486062399999 meters 0.09534968773920409 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.12, Z:-1.12 [[ 9.99931917e-01 9.71590474e-03 -6.46235920e-03 4.59902101e+01] [-9.71162362e-03 9.99952601e-01 6.93522262e-04 -4.12491383e+00] [ 6.46879109e-03 -6.30715045e-04 9.99978878e-01 -1.12086826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70486062399999 meters 0.09699472960182436 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.13, Z:-1.12 [[ 9.99926456e-01 1.07436422e-02 -5.62636292e-03 4.60484676e+01] [-1.07404148e-02 9.99942138e-01 6.03531432e-04 -4.13373610e+00] [ 5.63252150e-03 -5.43057575e-04 9.99983990e-01 -1.12279310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76486062399998 meters 0.09231873282468596 Centerline is valid? [True, True] Translation: X:46.11, Y:-4.13, Z:-1.12 [[ 9.99907137e-01 1.18370623e-02 -6.75280971e-03 4.61078148e+01] [-1.18324454e-02 9.99929733e-01 7.23249557e-04 -4.13053518e+00] [ 6.76089636e-03 -6.43280142e-04 9.99976938e-01 -1.12182080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82486062399998 meters 0.09675559156081336 Centerline is valid? [True, True] Translation: X:46.16, Y:-4.14, Z:-1.13 [[ 9.99899406e-01 1.26323397e-02 -6.44987701e-03 4.61647494e+01] [-1.26281472e-02 9.99920023e-01 6.90328363e-04 -4.14469070e+00] [ 6.45808164e-03 -6.08808924e-04 9.99978961e-01 -1.12571814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88486062399998 meters 0.09353299032017999 Centerline is valid? [True, True] Translation: X:46.22, Y:-4.14, Z:-1.13 [[ 9.99894112e-01 1.28008750e-02 -6.92111375e-03 4.62242284e+01] [-1.27960539e-02 9.99917853e-01 7.40414702e-04 -4.14380645e+00] [ 6.93002315e-03 -6.51773357e-04 9.99975775e-01 -1.12520069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94486062399999 meters 0.09474740153204518 Centerline is valid? [True, True] Translation: X:46.28, Y:-4.15, Z:-1.13 [[ 9.99907999e-01 1.17765693e-02 -6.73094490e-03 4.62829183e+01] [-1.17719898e-02 9.99930449e-01 7.19588271e-04 -4.15173450e+00] [ 6.73895104e-03 -6.40285454e-04 9.99977088e-01 -1.12727770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00486062399999 meters 0.09568537074781593 Centerline is valid? [True, True] Translation: X:46.34, Y:-4.16, Z:-1.13 [[ 9.99924408e-01 9.70273496e-03 -7.55211200e-03 4.63421051e+01] [-9.69690361e-03 9.99952657e-01 8.08382957e-04 -4.16029745e+00] [ 7.55959798e-03 -7.35089748e-04 9.99971156e-01 -1.12905453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06486062399999 meters 0.09925673203987073 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.17, Z:-1.13 [[ 9.99945266e-01 8.45390753e-03 -6.16406398e-03 4.63989769e+01] [-8.45001132e-03 9.99964082e-01 6.57854210e-04 -4.17369240e+00] [ 6.16940402e-03 -6.05731792e-04 9.99980786e-01 -1.13170155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12486062399998 meters 0.09794515338214266 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.18, Z:-1.13 [[ 9.99960368e-01 5.69362381e-03 -6.84430637e-03 4.64594669e+01] [-5.68874184e-03 9.99983551e-01 7.32545989e-04 -4.17889950e+00] [ 6.84836463e-03 -6.93581465e-04 9.99976309e-01 -1.13226664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18486062399998 meters 0.09877510508587661 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.19, Z:-1.13 [[ 9.99971863e-01 4.48781396e-03 -6.01097123e-03 4.65184850e+01] [-4.48403264e-03 9.99989740e-01 6.42397745e-04 -4.18813661e+00] [ 6.01379252e-03 -6.15426279e-04 9.99981728e-01 -1.13357440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24486062399998 meters 0.10232970382163295 Centerline is valid? [True, False] Translation: X:46.52, Y:-4.19, Z:-1.13 [[ 9.99974733e-01 4.36461949e-03 -5.61107975e-03 4.65171360e+01] [-4.35929163e-03 9.99990036e-01 9.61405634e-04 -4.19049407e+00] [ 5.61522002e-03 -9.36921009e-04 9.99983796e-01 -1.13275068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30486062399999 meters 0.10426257903065812 Centerline is valid? [False, False] Translation: X:46.52, Y:-4.19, Z:-1.13 [[ 9.99977716e-01 4.19798324e-03 -5.19079017e-03 4.65156168e+01] [-4.19110006e-03 9.99990325e-01 1.33620486e-03 -4.19317006e+00] [ 5.19634931e-03 -1.31441997e-03 9.99985635e-01 -1.13172489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36486062399999 meters 0.1005612940842626 Centerline is valid? [False, False] Translation: X:46.52, Y:-4.19, Z:-1.13 [[ 9.99985022e-01 4.09446741e-04 -5.45781855e-03 4.65162634e+01] [-4.21921387e-04 9.99997301e-01 -2.28469160e-03 -4.19472353e+00] [ 5.45686836e-03 2.28696015e-03 9.99982496e-01 -1.13188178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42486062399999 meters 0.09977492708234534 Centerline is valid? [False, True] Translation: X:46.52, Y:-4.20, Z:-1.13 [[ 9.99985040e-01 4.41964200e-04 -5.45204604e-03 4.65161288e+01] [-4.53809548e-04 9.99997539e-01 -2.17159692e-03 -4.19541314e+00] [ 5.45107286e-03 2.17403862e-03 9.99982780e-01 -1.13167766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48486062399999 meters 0.10186835001286323 Centerline is valid? [True, False] Translation: X:46.52, Y:-4.20, Z:-1.13 [[ 9.99985001e-01 7.32717663e-04 -5.42776748e-03 4.65166057e+01] [-7.42115049e-04 9.99998229e-01 -1.72954211e-03 -4.19604461e+00] [ 5.42649060e-03 1.73354419e-03 9.99983774e-01 -1.13239955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54486062399998 meters 0.10186835001286323 Centerline is valid? [False, False] Translation: X:46.52, Y:-4.20, Z:-1.13 [[ 9.99985001e-01 7.32717663e-04 -5.42776748e-03 4.65166057e+01] [-7.42115049e-04 9.99998229e-01 -1.72954211e-03 -4.19604461e+00] [ 5.42649060e-03 1.73354419e-03 9.99983774e-01 -1.13239955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60486062399998 meters 0.09665473999857703 Centerline is valid? [False, True] Translation: X:46.52, Y:-4.20, Z:-1.13 [[ 9.99982813e-01 1.01836055e-03 -5.77385335e-03 4.65175692e+01] [-1.02811333e-03 9.99998049e-01 -1.68641128e-03 -4.19536087e+00] [ 5.77212472e-03 1.69231847e-03 9.99981909e-01 -1.13276963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66486062399999 meters 0.09440623202978932 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.20, Z:-1.13 [[ 9.99978745e-01 3.49024649e-03 -5.50712664e-03 4.65780604e+01] [-3.48709857e-03 9.99993751e-01 5.81106637e-04 -4.19646605e+00] [ 5.50912043e-03 -5.61890392e-04 9.99984667e-01 -1.13331330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72486062399999 meters 0.09446531816305233 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.20, Z:-1.14 [[ 9.99971877e-01 4.68855665e-03 -5.85348444e-03 4.66378343e+01] [-4.68502773e-03 9.99988835e-01 6.16440399e-04 -4.20104392e+00] [ 5.85630930e-03 -5.88999326e-04 9.99982678e-01 -1.13579315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78486062399999 meters 0.1060789607994017 Centerline is valid? [True, False] Translation: X:46.64, Y:-4.20, Z:-1.14 [[ 9.99970642e-01 4.67817413e-03 -6.06879949e-03 4.66386726e+01] [-4.67670569e-03 9.99989031e-01 2.56134374e-04 -4.19919276e+00] [ 6.06993116e-03 -2.27744865e-04 9.99981552e-01 -1.13638345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84486062399999 meters 0.09669756392913557 Centerline is valid? [False, True] Translation: X:46.64, Y:-4.20, Z:-1.14 [[ 9.99970928e-01 4.58391325e-03 -6.09356626e-03 4.66390840e+01] [-4.58411958e-03 9.99989493e-01 -1.98930076e-05 -4.19786529e+00] [ 6.09341105e-03 4.78260657e-05 9.99981434e-01 -1.13687323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90486062399998 meters 0.09931125960629376 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.21, Z:-1.14 [[ 9.99970882e-01 4.43100049e-03 -6.21296069e-03 4.66956635e+01] [-4.42714276e-03 9.99989999e-01 6.34533328e-04 -4.20747779e+00] [ 6.21571017e-03 -6.07009188e-04 9.99980498e-01 -1.13911976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96486062399998 meters 0.09568145389667126 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.21, Z:-1.14 [[ 9.99980354e-01 3.14484709e-03 -5.42233155e-03 4.67549980e+01] [-3.14188745e-03 9.99994911e-01 5.54254931e-04 -4.20722447e+00] [ 5.42404700e-03 -5.37207686e-04 9.99985145e-01 -1.13876954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02486062399998 meters 0.09830545729657895 Centerline is valid? [True, True] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99991299e-01 -1.11884950e-03 -4.01871618e-03 4.68147966e+01] [ 1.12051264e-03 9.99999288e-01 4.11619573e-04 -4.21847491e+00] [ 4.01825277e-03 -4.16119013e-04 9.99991840e-01 -1.13998431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08486062399999 meters 0.10379055989025726 Centerline is valid? [True, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99992811e-01 -1.25277176e-03 -3.57898691e-03 4.68142272e+01] [ 1.25541059e-03 9.99998942e-01 7.35160759e-04 -4.21939487e+00] [ 3.57806213e-03 -7.39648572e-04 9.99993325e-01 -1.14043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14486062399999 meters 0.10565382757293927 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99994277e-01 -1.60431159e-03 -2.97867109e-03 4.68133706e+01] [ 1.60773757e-03 9.99998048e-01 1.14813434e-03 -4.22123560e+00] [ 2.97682331e-03 -1.15291669e-03 9.99994905e-01 -1.14104903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20486062399999 meters 0.11336183066728775 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99995221e-01 -1.71915944e-03 -2.56967152e-03 4.68130179e+01] [ 1.72269558e-03 9.99997571e-01 1.37452462e-03 -4.22179879e+00] [ 2.56730225e-03 -1.37894482e-03 9.99995754e-01 -1.14171949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26486062399998 meters 0.1104472031062164 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99994595e-01 -2.09420418e-03 -2.53456904e-03 4.68129653e+01] [ 2.09632543e-03 9.99997454e-01 8.34561059e-04 -4.21998079e+00] [ 2.53281485e-03 -8.39869830e-04 9.99996440e-01 -1.14175081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32486062399998 meters 0.10914114266161032 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99994039e-01 -2.21686683e-03 -2.64725011e-03 4.68134826e+01] [ 2.21811974e-03 9.99997429e-01 4.70442300e-04 -4.21838326e+00] [ 2.64620040e-03 -4.76311413e-04 9.99996385e-01 -1.14215810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38486062399998 meters 0.10688341282559181 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99993305e-01 -2.33962628e-03 -2.81367420e-03 4.68141087e+01] [ 2.33976837e-03 9.99997262e-01 4.72075507e-05 -4.21644934e+00] [ 2.81355605e-03 -5.37905806e-05 9.99996040e-01 -1.14259692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44486062399999 meters 0.11238010698015538 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.21, Z:-1.14 [[ 9.99992571e-01 -2.45587529e-03 -2.97089564e-03 4.68145486e+01] [ 2.45479496e-03 9.99996920e-01 -3.67229895e-04 -4.21481624e+00] [ 2.97178836e-03 3.59934227e-04 9.99995519e-01 -1.14274547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50486062399999 meters 0.10463246229120875 Centerline is valid? [False, False] Translation: X:46.82, Y:-4.21, Z:-1.14 [[ 9.99991847e-01 -2.46115829e-03 -3.20138514e-03 4.68151724e+01] [ 2.45909085e-03 9.99996765e-01 -6.49571803e-04 -4.21340115e+00] [ 3.20297348e-03 6.41694010e-04 9.99994665e-01 -1.14293627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56486062399999 meters 0.10633945347176156 Centerline is valid? [False, False] Translation: X:46.82, Y:-4.21, Z:-1.14 [[ 9.99992260e-01 -2.22500822e-03 -3.24488193e-03 4.68156259e+01] [ 2.22389529e-03 9.99997467e-01 -3.46548625e-04 -4.21383584e+00] [ 3.24564479e-03 3.39329665e-04 9.99994675e-01 -1.14342220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62486062399998 meters 0.10933371837762983 Centerline is valid? [False, False] Translation: X:46.82, Y:-4.22, Z:-1.14 [[ 9.99993212e-01 -1.95234791e-03 -3.12492984e-03 4.68157477e+01] [ 1.95329084e-03 9.99998048e-01 2.98720145e-04 -4.21547128e+00] [ 3.12434054e-03 -3.04822014e-04 9.99995073e-01 -1.14395799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68486062399998 meters 0.11150156950139645 Centerline is valid? [False, False] Translation: X:46.82, Y:-4.22, Z:-1.14 [[ 9.99994383e-01 -1.60807878e-03 -2.94092364e-03 4.68159210e+01] [ 1.61124734e-03 9.99998124e-01 1.07534881e-03 -4.21718193e+00] [ 2.93918888e-03 -1.08008133e-03 9.99995097e-01 -1.14474871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74486062399998 meters 0.13691230043893943 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99995154e-01 -2.09819995e-03 -2.30001063e-03 4.68141309e+01] [ 2.10078485e-03 9.99997164e-01 1.12202746e-03 -4.21961089e+00] [ 2.29764987e-03 -1.12685385e-03 9.99996725e-01 -1.14391764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80486062399999 meters 0.11788281256899268 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99995887e-01 -2.21549431e-03 -1.82140984e-03 4.68132175e+01] [ 2.21828347e-03 9.99996368e-01 1.53072736e-03 -4.22119503e+00] [ 1.81801191e-03 -1.53476146e-03 9.99997170e-01 -1.14388524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86486062399999 meters 0.1133429399466352 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99996639e-01 -1.92942782e-03 -1.73162919e-03 4.68133174e+01] [ 1.93305383e-03 9.99995938e-01 2.09476195e-03 -4.22257754e+00] [ 1.72758046e-03 -2.09810224e-03 9.99996307e-01 -1.14426729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92486062399999 meters 0.11837468891467721 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99996785e-01 -2.09858939e-03 -1.42330027e-03 4.68124974e+01] [ 2.10162107e-03 9.99995519e-01 2.13188932e-03 -4.22370265e+00] [ 1.41881994e-03 -2.13487371e-03 9.99996715e-01 -1.14391459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98486062399999 meters 0.11547675247912274 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99996975e-01 -1.98783025e-03 -1.44849669e-03 4.68124948e+01] [ 1.99115417e-03 9.99995380e-01 2.29692196e-03 -4.22430487e+00] [ 1.44392411e-03 -2.29979919e-03 9.99996313e-01 -1.14380269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04486062399998 meters 0.12159470700753944 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.22, Z:-1.14 [[ 9.99997015e-01 -1.91673504e-03 -1.51521613e-03 4.68124813e+01] [ 1.92033292e-03 9.99995332e-01 2.37661958e-03 -4.22474625e+00] [ 1.51065371e-03 -2.37952220e-03 9.99996028e-01 -1.14355741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10486062399998 meters 0.12040310022223417 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.23, Z:-1.14 [[ 9.99997564e-01 -1.46318431e-03 -1.65271812e-03 4.68127845e+01] [ 1.46806208e-03 9.99994559e-01 2.95401543e-03 -4.22658032e+00] [ 1.64838686e-03 -2.95643452e-03 9.99994271e-01 -1.14352101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16486062399999 meters 0.11083415186392036 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.23, Z:-1.14 [[ 9.99997828e-01 -1.07421780e-03 -1.78619059e-03 4.68129876e+01] [ 1.08033911e-03 9.99993535e-01 3.42959595e-03 -4.22827326e+00] [ 1.78249491e-03 -3.43151819e-03 9.99992524e-01 -1.14335014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22486062399999 meters 0.11984629723875632 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.23, Z:-1.14 [[ 9.99997775e-01 -8.20880930e-04 -1.94330739e-03 4.68129522e+01] [ 8.28159130e-04 9.99992635e-01 3.74742691e-03 -4.22964545e+00] [ 1.94021689e-03 -3.74902794e-03 9.99991090e-01 -1.14281981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28486062399999 meters 0.11193674274105692 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.23, Z:-1.14 [[ 9.99998015e-01 -3.33834619e-04 -1.96411206e-03 4.68129684e+01] [ 3.42809891e-04 9.99989494e-01 4.57107311e-03 -4.23222429e+00] [ 1.96256544e-03 -4.57173736e-03 9.99987624e-01 -1.14277806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34486062399999 meters 0.11115703360549345 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.24, Z:-1.14 [[ 9.99990277e-01 -3.63616842e-03 -2.49465883e-03 4.68141572e+01] [ 3.63981756e-03 9.99992310e-01 1.45980383e-03 -4.23522069e+00] [ 2.48933155e-03 -1.46886974e-03 9.99995823e-01 -1.14286175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40486062399998 meters 0.1101534068125886 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.24, Z:-1.14 [[ 9.99992139e-01 -3.41863243e-03 -2.00857490e-03 4.68128776e+01] [ 3.42370990e-03 9.99990939e-01 2.52992158e-03 -4.24041077e+00] [ 1.99990783e-03 -2.53677847e-03 9.99994783e-01 -1.14228868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46486062399998 meters 0.10779284735609432 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.24, Z:-1.14 [[ 9.99993251e-01 -3.12323887e-03 -1.93462156e-03 4.68127109e+01] [ 3.12930313e-03 9.99990175e-01 3.13954268e-03 -4.24237339e+00] [ 1.92479701e-03 -3.14557551e-03 9.99993200e-01 -1.14227819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52486062399998 meters 0.1132390311179677 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.25, Z:-1.14 [[ 9.99994832e-01 -2.84087842e-03 -1.50543485e-03 4.68116858e+01] [ 2.84702795e-03 9.99987548e-01 4.09860540e-03 -4.24629324e+00] [ 1.49377246e-03 -4.10287023e-03 9.99990468e-01 -1.14193327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58486062399999 meters 0.10914001595676213 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.25, Z:-1.14 [[ 9.99995588e-01 -2.74577796e-03 -1.13375947e-03 4.68104419e+01] [ 2.75112043e-03 9.99984992e-01 4.73781318e-03 -4.24945112e+00] [ 1.12073347e-03 -4.74091139e-03 9.99988134e-01 -1.14113324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64486062399999 meters 0.1122767842260378 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.25, Z:-1.14 [[ 9.99996928e-01 -2.27516644e-03 -9.83411217e-04 4.68099283e+01] [ 2.28078889e-03 9.99980842e-01 5.75449284e-03 -4.25299976e+00] [ 9.70299948e-04 -5.75671812e-03 9.99982959e-01 -1.14076755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70486062399999 meters 0.11315846246981166 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99998350e-01 -1.55131087e-03 -9.44690607e-04 4.68098571e+01] [ 1.55784098e-03 9.99974625e-01 6.95137688e-03 -4.25688044e+00] [ 9.33882890e-04 -6.95283709e-03 9.99975393e-01 -1.14075814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76486062399998 meters 0.10716347385273722 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99998586e-01 -1.28614826e-03 -1.08338115e-03 4.68099187e+01] [ 1.29404444e-03 9.99972374e-01 7.31956834e-03 -4.25804072e+00] [ 1.07393717e-03 -7.32095994e-03 9.99972625e-01 -1.14045998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82486062399998 meters 0.1056540951042785 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99994146e-01 -3.22521132e-03 -1.14286891e-03 4.68105359e+01] [ 3.23048128e-03 9.99984018e-01 4.63971501e-03 -4.25840924e+00] [ 1.12788658e-03 -4.64337987e-03 9.99988583e-01 -1.14042214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88486062399998 meters 0.10035956616924 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99995249e-01 -2.65242942e-03 -1.57023024e-03 4.68115268e+01] [ 2.66041984e-03 9.99983412e-01 5.10866633e-03 -4.25934141e+00] [ 1.55665381e-03 -5.11281953e-03 9.99985718e-01 -1.14062339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94486062399999 meters 0.10119300539564387 Centerline is valid? [False, False] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99996349e-01 -1.94970998e-03 -1.87114274e-03 4.68123737e+01] [ 1.96069895e-03 9.99980737e-01 5.88911377e-03 -4.26116270e+00] [ 1.85962463e-03 -5.89276101e-03 9.99980908e-01 -1.14103189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00486062399999 meters 0.09774889946317392 Centerline is valid? [False, True] Translation: X:46.81, Y:-4.26, Z:-1.14 [[ 9.99996351e-01 -1.73718389e-03 -2.06909490e-03 4.68128029e+01] [ 1.74962437e-03 9.99980313e-01 6.02596281e-03 -4.26148923e+00] [ 2.05858596e-03 -6.02956096e-03 9.99979703e-01 -1.14109893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06486062399999 meters 0.09522680947990057 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.26, Z:-1.14 [[ 9.99995378e-01 2.10232054e-03 -2.19656397e-03 4.68739827e+01] [-2.10179737e-03 9.99997762e-01 2.40459965e-04 -4.26288579e+00] [ 2.19706458e-03 -2.35842121e-04 9.99997559e-01 -1.14061996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12486062399998 meters 0.0959359927006502 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.27, Z:-1.14 [[ 9.99994708e-01 2.59462782e-03 -1.96270130e-03 4.69322454e+01] [-2.59421436e-03 9.99996612e-01 2.13174740e-04 -4.27171466e+00] [ 1.96324776e-03 -2.08081944e-04 9.99998051e-01 -1.14277121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18486062399998 meters 0.1025070312291147 Centerline is valid? [True, False] Translation: X:46.93, Y:-4.27, Z:-1.14 [[ 9.99994652e-01 2.75942923e-03 -1.75553940e-03 4.69320800e+01] [-2.75824463e-03 9.99995967e-01 6.76840305e-04 -4.27322377e+00] [ 1.75740001e-03 -6.71994478e-04 9.99998230e-01 -1.14308640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24486062399998 meters 0.10049890772084677 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99995974e-01 2.50124757e-03 -1.33994298e-03 4.69313371e+01] [-2.49975588e-03 9.99996255e-01 1.11376862e-03 -4.27526221e+00] [ 1.34272377e-03 -1.11041460e-03 9.99998482e-01 -1.14321113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30486062399999 meters 0.10383377242995777 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99997796e-01 1.89661563e-03 -9.00382904e-04 4.69301662e+01] [-1.89550655e-03 9.99997446e-01 1.23104202e-03 -4.27739916e+00] [ 9.02715417e-04 -1.22933262e-03 9.99998837e-01 -1.14284677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36486062399999 meters 0.10360413808738937 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99998219e-01 1.76109473e-03 -6.78252960e-04 4.69297324e+01] [-1.76022787e-03 9.99997636e-01 1.27656749e-03 -4.27786722e+00] [ 6.80499513e-04 -1.27537134e-03 9.99998955e-01 -1.14281979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42486062399999 meters 0.10548935470008003 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99998725e-01 1.48484884e-03 -5.88043282e-04 4.69294730e+01] [-1.48430600e-03 9.99998473e-01 9.22500859e-04 -4.27714666e+00] [ 5.89412158e-04 -9.21626847e-04 9.99999402e-01 -1.14269374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48486062399998 meters 0.10085849438349458 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99998704e-01 1.46507217e-03 -6.67543790e-04 4.69297604e+01] [-1.46453549e-03 9.99998605e-01 8.03752572e-04 -4.27685237e+00] [ 6.68720414e-04 -8.02773888e-04 9.99999454e-01 -1.14289755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54486062399998 meters 0.10048826035577996 Centerline is valid? [False, False] Translation: X:46.93, Y:-4.28, Z:-1.14 [[ 9.99998595e-01 1.38427660e-03 -9.45741816e-04 4.69302345e+01] [-1.38391444e-03 9.99998969e-01 3.83486416e-04 -4.27557179e+00] [ 9.46271693e-04 -3.82177052e-04 9.99999479e-01 -1.14281709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60486062399998 meters 0.09911128082202664 Centerline is valid? [False, True] Translation: X:46.93, Y:-4.27, Z:-1.14 [[ 9.99997616e-01 1.52129702e-03 -1.56673195e-03 4.69315200e+01] [-1.52149039e-03 9.99998835e-01 -1.22239210e-04 -4.27338462e+00] [ 1.56654416e-03 1.24622686e-04 9.99998765e-01 -1.14298124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66486062399999 meters 0.09736526919891912 Centerline is valid? [True, True] Translation: X:46.99, Y:-4.28, Z:-1.14 [[ 9.99990483e-01 4.31596435e-03 -6.36850806e-04 4.69916711e+01] [-4.31591909e-03 9.99990684e-01 7.24197664e-05 -4.27628950e+00] [ 6.37157434e-04 -6.96704806e-05 9.99999795e-01 -1.14479772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72486062399999 meters 0.10052241904393346 Centerline is valid? [True, False] Translation: X:46.99, Y:-4.27, Z:-1.14 [[ 9.99990976e-01 4.16037330e-03 -8.60054606e-04 4.69921698e+01] [-4.16075798e-03 9.99991245e-01 -4.45974065e-04 -4.27468352e+00] [ 8.58191657e-04 4.49548519e-04 9.99999531e-01 -1.14487253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78486062399999 meters 0.09574808983296446 Centerline is valid? [False, True] Translation: X:46.99, Y:-4.27, Z:-1.15 [[ 9.99991675e-01 3.89118470e-03 -1.22794908e-03 4.69929419e+01] [-3.89286403e-03 9.99991487e-01 -1.36817321e-03 -4.27162378e+00] [ 1.22261481e-03 1.37294206e-03 9.99998310e-01 -1.14503705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84486062399999 meters 0.1005375916695232 Centerline is valid? [True, False] Translation: X:46.99, Y:-4.27, Z:-1.15 [[ 9.99991918e-01 3.71661475e-03 -1.53306602e-03 4.69938642e+01] [-3.71975199e-03 9.99990983e-01 -2.04863334e-03 -4.26893783e+00] [ 1.52543821e-03 2.05431940e-03 9.99996726e-01 -1.14549553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90486062399998 meters 0.10090392970504014 Centerline is valid? [False, False] Translation: X:46.99, Y:-4.27, Z:-1.15 [[ 9.99992871e-01 3.40317932e-03 -1.63623584e-03 4.69943190e+01] [-3.40761816e-03 9.99990501e-01 -2.71774892e-03 -4.26648598e+00] [ 1.62697131e-03 2.72330521e-03 9.99994968e-01 -1.14583690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96486062399998 meters 0.10232703337865344 Centerline is valid? [False, False] Translation: X:46.99, Y:-4.26, Z:-1.15 [[ 9.99994236e-01 2.96603307e-03 -1.65241172e-03 4.69945502e+01] [-2.97179682e-03 9.99989471e-01 -3.49661486e-03 -4.26396165e+00] [ 1.64202324e-03 3.50150534e-03 9.99992522e-01 -1.14612522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02486062399998 meters 0.09968100017382786 Centerline is valid? [False, True] Translation: X:46.99, Y:-4.26, Z:-1.15 [[ 9.99994814e-01 2.73724812e-03 -1.69681644e-03 4.69948352e+01] [-2.74398382e-03 9.99988315e-01 -3.98007583e-03 -4.26227710e+00] [ 1.68590216e-03 3.98471123e-03 9.99990640e-01 -1.14637999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08486062399999 meters 0.10196923937811765 Centerline is valid? [True, False] Translation: X:47.00, Y:-4.26, Z:-1.15 [[ 9.99995657e-01 2.26399944e-03 -1.88713039e-03 4.69951157e+01] [-2.27342840e-03 9.99984869e-01 -5.00937130e-03 -4.25901289e+00] [ 1.87576062e-03 5.01363980e-03 9.99985672e-01 -1.14629477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14486062399999 meters 0.10207039637137139 Centerline is valid? [False, False] Translation: X:47.00, Y:-4.26, Z:-1.15 [[ 9.99995462e-01 2.18032137e-03 -2.07876078e-03 4.69958251e+01] [-2.19156391e-03 9.99982902e-01 -5.42143785e-03 -4.25718686e+00] [ 2.06690476e-03 5.42596899e-03 9.99983143e-01 -1.14677739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20486062399999 meters 0.10397974234135998 Centerline is valid? [False, False] Translation: X:47.00, Y:-4.26, Z:-1.15 [[ 9.99994734e-01 2.23720341e-03 -2.35079891e-03 4.69966629e+01] [-2.25053368e-03 9.99981318e-01 -5.68326299e-03 -4.25558023e+00] [ 2.33804038e-03 5.68852361e-03 9.99981087e-01 -1.14722100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26486062399998 meters 0.10503161837195137 Centerline is valid? [False, False] Translation: X:47.00, Y:-4.25, Z:-1.15 [[ 9.99994414e-01 2.25408898e-03 -2.46797294e-03 4.69970573e+01] [-2.26833006e-03 9.99980707e-01 -5.78284090e-03 -4.25492273e+00] [ 2.45489029e-03 5.78840677e-03 9.99980234e-01 -1.14744215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32486062399998 meters 0.09646063055319551 Centerline is valid? [False, True] Translation: X:47.00, Y:-4.25, Z:-1.15 [[ 9.99993592e-01 2.35563067e-03 -2.69554626e-03 4.69980248e+01] [-2.37134349e-03 9.99980130e-01 -5.84090719e-03 -4.25378763e+00] [ 2.68173368e-03 5.84726183e-03 9.99979309e-01 -1.14819969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38486062399998 meters 0.10520951252979618 Centerline is valid? [True, False] Translation: X:47.00, Y:-4.25, Z:-1.15 [[ 9.99993016e-01 2.48715193e-03 -2.78962137e-03 4.69986975e+01] [-2.50317631e-03 9.99980304e-01 -5.75557770e-03 -4.25335636e+00] [ 2.77525143e-03 5.76252042e-03 9.99979545e-01 -1.14885292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44486062399999 meters 0.09630106347022736 Centerline is valid? [False, True] Translation: X:47.00, Y:-4.25, Z:-1.15 [[ 9.99991296e-01 2.63042043e-03 -3.23867483e-03 4.70003781e+01] [-2.65017334e-03 9.99977822e-01 -6.10996166e-03 -4.25075806e+00] [ 3.22253123e-03 6.11849153e-03 9.99976089e-01 -1.15002537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50486062399999 meters 0.10229575215997021 Centerline is valid? [True, False] Translation: X:47.00, Y:-4.25, Z:-1.15 [[ 9.99989657e-01 2.62495769e-03 -3.71430316e-03 4.70018396e+01] [-2.65008250e-03 9.99973533e-01 -6.77566417e-03 -4.24756803e+00] [ 3.69641902e-03 6.78543730e-03 9.99970147e-01 -1.15076527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56486062399999 meters 0.0968790097641306 Centerline is valid? [False, True] Translation: X:47.00, Y:-4.24, Z:-1.15 [[ 9.99974078e-01 6.13341162e-03 -3.77163376e-03 4.70020260e+01] [-6.14877923e-03 9.99972787e-01 -4.07651669e-03 -4.24275784e+00] [ 3.74652816e-03 4.09960197e-03 9.99984578e-01 -1.15083655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62486062399998 meters 0.09501415039518835 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.24, Z:-1.15 [[ 9.99958073e-01 9.01349424e-03 -1.61515991e-03 4.70626962e+01] [-9.01322648e-03 9.99959365e-01 1.72981592e-04 -4.23976167e+00] [ 1.61665345e-03 -1.58416538e-04 9.99998681e-01 -1.15157156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68486062399998 meters 0.09379115582825938 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.24, Z:-1.15 [[ 9.99945961e-01 1.03803722e-02 -5.68103482e-04 4.71229557e+01] [-1.03803394e-02 9.99946121e-01 6.06584596e-05 -4.23974354e+00] [ 5.68702531e-04 -5.47580748e-05 9.99999837e-01 -1.15273259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74486062399998 meters 0.0957969657898569 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.24, Z:-1.16 [[ 9.99948124e-01 1.01615342e-02 -7.01827513e-04 4.71802788e+01] [-1.01614852e-02 9.99948368e-01 7.34423930e-05 -4.24339374e+00] [ 7.02537564e-04 -6.63069733e-05 9.99999751e-01 -1.15503366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80486062399999 meters 0.09796412357424335 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.25, Z:-1.16 [[ 9.99955221e-01 9.46008885e-03 -2.50158806e-04 4.72371244e+01] [-9.46008286e-03 9.99955252e-01 2.51143389e-05 -4.25026369e+00] [ 2.50385195e-04 -2.27466912e-05 9.99999968e-01 -1.15683389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86486062399999 meters 0.0981606552680584 Centerline is valid? [True, True] Translation: X:47.30, Y:-4.25, Z:-1.16 [[ 9.99968241e-01 7.96225235e-03 -3.44805424e-04 4.72966302e+01] [-7.96224032e-03 9.99968300e-01 3.62417258e-05 -4.25376702e+00] [ 3.45083059e-04 -3.34951511e-05 9.99999940e-01 -1.15913715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92486062399999 meters 0.1009874790858379 Centerline is valid? [True, False] Translation: X:47.30, Y:-4.25, Z:-1.16 [[ 9.99970800e-01 7.63925276e-03 -2.01711532e-04 4.72968085e+01] [-7.63932735e-03 9.99970751e-01 -3.71648911e-04 -4.25201251e+00] [ 1.98866512e-04 3.73178999e-04 9.99999911e-01 -1.15983842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98486062399998 meters 0.09982088227522942 Centerline is valid? [False, True] Translation: X:47.30, Y:-4.25, Z:-1.16 [[ 9.99972662e-01 7.39391467e-03 -7.69165352e-05 4.72967617e+01] [-7.39396370e-03 9.99972448e-01 -6.58034708e-04 -4.25097551e+00] [ 7.20489635e-05 6.58585436e-04 9.99999781e-01 -1.16012298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04486062399998 meters 0.09964662533253678 Centerline is valid? [True, True] Translation: X:47.36, Y:-4.26, Z:-1.16 [[ 9.99990203e-01 4.42608893e-03 5.42933641e-05 4.73572646e+01] [-4.42608860e-03 9.99990205e-01 -6.06209768e-06 -4.25553565e+00] [-5.43196637e-05 5.82173105e-06 9.99999999e-01 -1.16109390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10486062399998 meters 0.10302359948602384 Centerline is valid? [True, False] Translation: X:47.36, Y:-4.25, Z:-1.16 [[ 9.99991882e-01 4.02767022e-03 1.15976804e-04 4.73571692e+01] [-4.02759749e-03 9.99991697e-01 -6.20620784e-04 -4.25355190e+00] [-1.18475496e-04 6.20148638e-04 9.99999801e-01 -1.16114479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16486062399999 meters 0.10183256724956315 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.25, Z:-1.16 [[ 9.99994481e-01 3.32215689e-03 4.65976839e-05 4.73572105e+01] [-3.32206221e-03 9.99992671e-01 -1.90291144e-03 -4.24952347e+00] [-5.29191127e-05 1.90274614e-03 9.99998188e-01 -1.16106178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22486062399999 meters 0.10402847119423789 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.25, Z:-1.16 [[ 9.99994256e-01 3.36454279e-03 -4.10756235e-04 4.73587198e+01] [-3.36556407e-03 9.99991183e-01 -2.51149143e-03 -4.24617364e+00] [ 4.02302593e-04 2.51285943e-03 9.99996762e-01 -1.16193795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28486062399999 meters 0.10496628281333258 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.24, Z:-1.16 [[ 9.99993745e-01 3.42880207e-03 -8.68374982e-04 4.73601309e+01] [-3.43144824e-03 9.99989417e-01 -3.06433607e-03 -4.24328114e+00] [ 8.57858790e-04 3.06729669e-03 9.99994928e-01 -1.16261509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34486062399999 meters 0.1030980488381449 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.24, Z:-1.16 [[ 9.99975830e-01 6.91775924e-03 -6.96244556e-04 4.73597661e+01] [-6.91778359e-03 9.99976071e-01 -3.25676369e-05 -4.23947334e+00] [ 6.96002601e-04 3.73833189e-05 9.99999757e-01 -1.16258627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40486062399998 meters 0.10222809295641128 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.24, Z:-1.16 [[ 9.99977370e-01 6.66068791e-03 -9.45757323e-04 4.73603449e+01] [-6.66149106e-03 9.99977452e-01 -8.48625534e-04 -4.23661586e+00] [ 9.40083568e-04 8.54906484e-04 9.99999193e-01 -1.16266978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46486062399998 meters 0.10067339877067055 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.23, Z:-1.16 [[ 9.99977453e-01 6.60607891e-03 -1.20519276e-03 4.73613541e+01] [-6.60783344e-03 9.99977106e-01 -1.45768046e-03 -4.23380074e+00] [ 1.19553562e-03 1.46561131e-03 9.99998211e-01 -1.16332190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52486062399998 meters 0.10272187883141125 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.23, Z:-1.16 [[ 9.99980174e-01 6.13791562e-03 -1.40612618e-03 4.73617549e+01] [-6.14145103e-03 9.99977956e-01 -2.52392787e-03 -4.23011727e+00] [ 1.39060352e-03 2.53251349e-03 9.99995826e-01 -1.16336782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58486062399999 meters 0.1038068692859285 Centerline is valid? [False, False] Translation: X:47.36, Y:-4.23, Z:-1.16 [[ 9.99980315e-01 6.08651937e-03 -1.52441168e-03 4.73624141e+01] [-6.09074099e-03 9.99977586e-01 -2.78018221e-03 -4.22846501e+00] [ 1.50745588e-03 2.78941228e-03 9.99994973e-01 -1.16396229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64486062399999 meters 0.09659351888906381 Centerline is valid? [False, True] Translation: X:47.36, Y:-4.23, Z:-1.16 [[ 9.99983419e-01 5.60472246e-03 -1.32244340e-03 4.73620360e+01] [-5.60914301e-03 9.99978614e-01 -3.36302654e-03 -4.22640699e+00] [ 1.30356629e-03 3.37038855e-03 9.99993471e-01 -1.16413361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70486062399999 meters 0.09704038924592745 Centerline is valid? [True, True] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99990372e-01 4.38393868e-03 1.94377312e-04 4.74212974e+01] [-4.38393483e-03 9.99990390e-01 -2.02416830e-05 -4.23311804e+00] [-1.94464182e-04 1.93893507e-05 9.99999981e-01 -1.16617252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76486062399998 meters 0.10097892109929366 Centerline is valid? [True, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99991935e-01 3.97945236e-03 5.41241249e-04 4.74209950e+01] [-3.97927117e-03 9.99992026e-01 -3.35428462e-04 -4.23171775e+00] [-5.42571755e-04 3.33272011e-04 9.99999797e-01 -1.16684244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82486062399998 meters 0.10032970726409095 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99993167e-01 3.63258587e-03 6.86048994e-04 4.74208011e+01] [-3.63208697e-03 9.99993140e-01 -7.27055042e-04 -4.23040637e+00] [-6.88685377e-04 7.24558284e-04 9.99999500e-01 -1.16705668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88486062399998 meters 0.10307032806780815 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99994189e-01 3.30854030e-03 8.22426403e-04 4.74208885e+01] [-3.30759885e-03 9.99993876e-01 -1.14345393e-03 -4.22859620e+00] [-8.26204530e-04 1.14072703e-03 9.99999008e-01 -1.16764164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94486062399999 meters 0.10235573930108458 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99994401e-01 3.25863745e-03 7.60710358e-04 4.74214324e+01] [-3.25763304e-03 9.99993825e-01 -1.31789304e-03 -4.22736542e+00] [-7.65000197e-04 1.31540755e-03 9.99998842e-01 -1.16823564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00486062399999 meters 0.10353765844390499 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99994599e-01 3.17322041e-03 8.55611396e-04 4.74213505e+01] [-3.17207740e-03 9.99994079e-01 -1.33395460e-03 -4.22703035e+00] [-8.59839262e-04 1.33123333e-03 9.99998744e-01 -1.16843152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06486062399999 meters 0.10486120844118395 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99994733e-01 3.08434637e-03 1.01068702e-03 4.74208311e+01] [-3.08307355e-03 9.99994455e-01 -1.25850321e-03 -4.22768183e+00] [-1.01456308e-03 1.25538055e-03 9.99998697e-01 -1.16818086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12486062399998 meters 0.10552055576745777 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99994578e-01 3.04853535e-03 1.24540486e-03 4.74201862e+01] [-3.04729811e-03 9.99994863e-01 -9.94136451e-04 -4.22903546e+00] [-1.24842912e-03 9.90335940e-04 9.99998730e-01 -1.16795764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18486062399998 meters 0.10613198821449124 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99993796e-01 3.22231861e-03 1.42315958e-03 4.74197591e+01] [-3.22164271e-03 9.99994697e-01 -4.76966129e-04 -4.23108087e+00] [-1.42468897e-03 4.72378258e-04 9.99998874e-01 -1.16785768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24486062399998 meters 0.1070971152749606 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99992969e-01 3.49700110e-03 1.35393215e-03 4.74200098e+01] [-3.49687075e-03 9.99993881e-01 -9.86315539e-05 -4.23230114e+00] [-1.35426878e-03 9.38963347e-05 9.99999079e-01 -1.16795394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30486062399999 meters 0.10980848607441251 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99992762e-01 3.59870407e-03 1.23475887e-03 4.74201790e+01] [-3.59866847e-03 9.99993524e-01 -3.10520317e-05 -4.23270859e+00] [-1.23486262e-03 2.66083192e-05 9.99999237e-01 -1.16777503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36486062399999 meters 0.10326617329972705 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99992335e-01 3.72478354e-03 1.20665426e-03 4.74198377e+01] [-3.72503213e-03 9.99993041e-01 2.03838594e-04 -4.23413388e+00] [-1.20588661e-03 -2.08331858e-04 9.99999251e-01 -1.16718103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42486062399999 meters 0.11007224126913515 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99991540e-01 3.98082141e-03 1.03617474e-03 4.74202851e+01] [-3.98131066e-03 9.99991964e-01 4.70532336e-04 -4.23496075e+00] [-1.03429331e-03 -4.74653689e-04 9.99999352e-01 -1.16726208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48486062399998 meters 0.11001726601312656 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.24, Z:-1.17 [[ 9.99991419e-01 4.05714816e-03 8.37421392e-04 4.74205951e+01] [-4.05747926e-03 9.99991691e-01 3.94068198e-04 -4.23500294e+00] [-8.35815640e-04 -3.97462637e-04 9.99999572e-01 -1.16704224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54486062399998 meters 0.10144647005304742 Centerline is valid? [False, False] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99992101e-01 3.90874970e-03 7.20159907e-04 4.74205145e+01] [-3.90878901e-03 9.99992359e-01 5.31886488e-05 -4.23446565e+00] [-7.19946503e-04 -5.60031818e-05 9.99999739e-01 -1.16655140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60486062399998 meters 0.09854544528223855 Centerline is valid? [False, True] Translation: X:47.42, Y:-4.23, Z:-1.17 [[ 9.99992088e-01 3.94153179e-03 5.36847253e-04 4.74208396e+01] [-3.94149501e-03 9.99992230e-01 -6.95564929e-05 -4.23403156e+00] [-5.37117241e-04 6.74399618e-05 9.99999853e-01 -1.16645101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66486062399999 meters 0.09788982001766604 Centerline is valid? [True, True] Translation: X:47.48, Y:-4.24, Z:-1.17 [[ 9.99984799e-01 5.51242430e-03 1.18897742e-04 4.74809068e+01] [-5.51242283e-03 9.99984806e-01 -1.26754226e-05 -4.23880743e+00] [-1.18965808e-04 1.20198153e-05 9.99999993e-01 -1.16821130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72486062399999 meters 0.09589897081522117 Centerline is valid? [True, True] Translation: X:47.54, Y:-4.24, Z:-1.17 [[ 9.99968352e-01 7.95492217e-03 -1.21894599e-04 4.75416694e+01] [-7.95492071e-03 9.99968359e-01 1.24395234e-05 -4.24178073e+00] [ 1.21989697e-04 -1.14694678e-05 9.99999992e-01 -1.16961547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78486062399999 meters 0.10049940582301727 Centerline is valid? [True, False] Translation: X:47.54, Y:-4.24, Z:-1.17 [[ 9.99969352e-01 7.82756285e-03 -1.54993056e-04 4.75416230e+01] [-7.82759711e-03 9.99969339e-01 -2.21692734e-04 -4.24128646e+00] [ 1.53252990e-04 2.22899163e-04 9.99999963e-01 -1.16942828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84486062399998 meters 0.09592296055062852 Centerline is valid? [False, True] Translation: X:47.54, Y:-4.24, Z:-1.17 [[ 9.99991491e-01 4.04624095e-03 -8.04040332e-04 4.75431329e+01] [-4.04967353e-03 9.99982493e-01 -4.31441034e-03 -4.24077730e+00] [ 7.86569112e-04 4.31762973e-03 9.99990370e-01 -1.16969010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90486062399998 meters 0.09862297139169912 Centerline is valid? [True, True] Translation: X:47.60, Y:-4.26, Z:-1.17 [[ 9.99997115e-01 2.40220253e-03 -4.79266547e-06 4.76009138e+01] [-2.40220253e-03 9.99997115e-01 5.83843917e-07 -4.25596451e+00] [ 4.79405415e-06 -5.72329279e-07 1.00000000e+00 -1.17336351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96486062399998 meters 0.09821318957787513 Centerline is valid? [True, True] Translation: X:47.66, Y:-4.26, Z:-1.17 [[ 9.99998602e-01 1.66479073e-03 1.57060121e-04 4.76604828e+01] [-1.66478817e-03 9.99998614e-01 -1.63946382e-05 -4.26181586e+00] [-1.57087197e-04 1.61331434e-05 9.99999988e-01 -1.17469623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02486062399998 meters 0.10174356437057448 Centerline is valid? [True, False] Translation: X:47.66, Y:-4.26, Z:-1.17 [[ 9.99998211e-01 1.88352304e-03 1.72138883e-04 4.76606641e+01] [-1.88358510e-03 9.99998161e-01 3.61110755e-04 -4.26292918e+00] [-1.71458406e-04 -3.61434348e-04 9.99999920e-01 -1.17493713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08486062399999 meters 0.10280484896373913 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.27, Z:-1.18 [[ 9.99997644e-01 2.13963735e-03 3.65130296e-04 4.76604920e+01] [-2.14003959e-03 9.99997100e-01 1.10482537e-03 -4.26533390e+00] [-3.62765311e-04 -1.10560416e-03 9.99999323e-01 -1.17521531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14486062399999 meters 0.09735966661714851 Centerline is valid? [False, True] Translation: X:47.66, Y:-4.27, Z:-1.17 [[ 9.99997809e-01 1.95768976e-03 7.41094456e-04 4.76594580e+01] [-1.95865107e-03 9.99997239e-01 1.29864060e-03 -4.26677269e+00] [-7.38550074e-04 -1.30008930e-03 9.99998882e-01 -1.17481057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20486062399999 meters 0.10825617385454579 Centerline is valid? [True, False] Translation: X:47.66, Y:-4.27, Z:-1.17 [[ 9.99997930e-01 1.64356855e-03 1.19963354e-03 4.76579828e+01] [-1.64530898e-03 9.99997593e-01 1.45126221e-03 -4.26859584e+00] [-1.19724541e-03 -1.45323298e-03 9.99998227e-01 -1.17402000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26486062399998 meters 0.10357522944533486 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.27, Z:-1.17 [[ 9.99997273e-01 1.92570641e-03 1.32088994e-03 4.76578218e+01] [-1.92845405e-03 9.99995973e-01 2.08202769e-03 -4.27078624e+00] [-1.31687525e-03 -2.08456929e-03 9.99996960e-01 -1.17409649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32486062399998 meters 0.10238250994738998 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.27, Z:-1.17 [[ 9.99997087e-01 1.83225873e-03 1.57135170e-03 4.76566975e+01] [-1.83587814e-03 9.99995658e-01 2.30503191e-03 -4.27280474e+00] [-1.56712146e-03 -2.30791001e-03 9.99996109e-01 -1.17317013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38486062399998 meters 0.0980473686250387 Centerline is valid? [False, True] Translation: X:47.66, Y:-4.28, Z:-1.17 [[ 9.99996742e-01 1.99722907e-03 1.58996467e-03 4.76561320e+01] [-2.00156533e-03 9.99994269e-01 2.73036514e-03 -4.27507858e+00] [-1.58450240e-03 -2.73353866e-03 9.99995009e-01 -1.17233728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44486062399999 meters 0.10021348631672691 Centerline is valid? [True, False] Translation: X:47.66, Y:-4.28, Z:-1.17 [[ 9.99996303e-01 2.28554656e-03 1.47333083e-03 4.76561946e+01] [-2.29013419e-03 9.99992512e-01 3.11964970e-03 -4.27677869e+00] [-1.46618969e-03 -3.12301229e-03 9.99994049e-01 -1.17200209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50486062399999 meters 0.09917893563350995 Centerline is valid? [False, True] Translation: X:47.66, Y:-4.28, Z:-1.17 [[ 9.99995245e-01 2.78032079e-03 1.33421394e-03 4.76563834e+01] [-2.78545856e-03 9.99988653e-01 3.86450116e-03 -4.27926753e+00] [-1.32345425e-03 -3.86819918e-03 9.99991643e-01 -1.17179310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56486062399999 meters 0.09816987330701925 Centerline is valid? [True, True] Translation: X:47.72, Y:-4.28, Z:-1.17 [[ 9.99991171e-01 4.01988780e-03 1.22379594e-03 4.77157100e+01] [-4.01972456e-03 9.99991912e-01 -1.35815200e-04 -4.28341302e+00] [-1.22433200e-03 1.30894678e-04 9.99999242e-01 -1.17165878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62486062399998 meters 0.09954994437548795 Centerline is valid? [True, True] Translation: X:47.77, Y:-4.30, Z:-1.17 [[ 9.99988817e-01 4.71227765e-03 -4.00026152e-04 4.77738738e+01] [-4.71226055e-03 9.99988896e-01 4.36872427e-05 -4.29618333e+00] [ 4.00227577e-04 -4.18017267e-05 9.99999919e-01 -1.17450432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68486062399998 meters 0.09781033236625664 Centerline is valid? [True, True] Translation: X:47.83, Y:-4.30, Z:-1.17 [[ 9.99992316e-01 3.90958063e-03 -2.89714824e-04 4.78336040e+01] [-3.90957179e-03 9.99992357e-01 3.10814843e-05 -4.30232587e+00] [ 2.89834125e-04 -2.99485845e-05 9.99999958e-01 -1.17402054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74486062399998 meters 0.09850599314282271 Centerline is valid? [True, True] Translation: X:47.89, Y:-4.31, Z:-1.18 [[ 9.99994385e-01 3.30859343e-03 -5.32689177e-04 4.78928148e+01] [-3.30856308e-03 9.99994525e-01 5.78521120e-05 -4.31238170e+00] [ 5.32877670e-04 -5.60893514e-05 9.99999856e-01 -1.17550033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80486062399999 meters 0.10461275252342225 Centerline is valid? [True, False] Translation: X:47.89, Y:-4.31, Z:-1.18 [[ 9.99994180e-01 3.40329399e-03 -2.40123911e-04 4.78920680e+01] [-3.40315098e-03 9.99994033e-01 5.93498292e-04 -4.31484753e+00] [ 2.42142328e-04 -5.92677660e-04 9.99999795e-01 -1.17522554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86486062399999 meters 0.09739692850560842 Centerline is valid? [False, True] Translation: X:47.89, Y:-4.32, Z:-1.18 [[ 9.99999838e-01 -2.81347157e-04 -4.94585822e-04 4.78927211e+01] [ 2.79934168e-04 9.99995886e-01 -2.85466644e-03 -4.31715775e+00] [ 4.95386940e-04 2.85452752e-03 9.99995803e-01 -1.17539842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92486062399999 meters 0.10600462475811047 Centerline is valid? [True, False] Translation: X:47.89, Y:-4.32, Z:-1.18 [[ 9.99999969e-01 -5.60013221e-05 -2.44449854e-04 4.78921942e+01] [ 5.54807264e-05 9.99997732e-01 -2.12915008e-03 -4.31981064e+00] [ 2.44568535e-04 2.12913645e-03 9.99997703e-01 -1.17531059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98486062399998 meters 0.10178539281522386 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.32, Z:-1.17 [[ 9.99999935e-01 -1.94372316e-04 3.04774769e-04 4.78904876e+01] [ 1.94823242e-04 9.99998886e-01 -1.48020753e-03 -4.32375725e+00] [-3.04486718e-04 1.48026681e-03 9.99998858e-01 -1.17430717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04486062399998 meters 0.10270216380136188 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.33, Z:-1.17 [[ 9.99999773e-01 -8.85277894e-05 6.68042300e-04 4.78895042e+01] [ 8.90879272e-05 9.99999644e-01 -8.38493357e-04 -4.32687403e+00] [-6.67967833e-04 8.38552681e-04 9.99999425e-01 -1.17382643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10486062399998 meters 0.10524768419263919 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.33, Z:-1.17 [[ 9.99999369e-01 -8.87177058e-05 1.11991441e-03 4.78881100e+01] [ 8.89525030e-05 9.99999974e-01 -2.09608310e-04 -4.33050718e+00] [-1.11989579e-03 2.09707797e-04 9.99999351e-01 -1.17304407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16486062399999 meters 0.10524780927987148 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.33, Z:-1.17 [[ 9.99999399e-01 1.67535867e-04 1.08367473e-03 4.78882961e+01] [-1.67757490e-04 9.99999965e-01 2.04423164e-04 -4.33165575e+00] [-1.08364044e-03 -2.04604836e-04 9.99999392e-01 -1.17320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22486062399999 meters 0.1083189167069656 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.33, Z:-1.17 [[ 9.99999115e-01 6.10555698e-04 1.18245720e-03 4.78879524e+01] [-6.11820340e-04 9.99999241e-01 1.06943750e-03 -4.33485122e+00] [-1.18180335e-03 -1.07016000e-03 9.99998729e-01 -1.17292543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28486062399999 meters 0.10859063154215297 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.34, Z:-1.17 [[ 9.99998707e-01 9.98013458e-04 1.26120271e-03 4.78877711e+01] [-1.00028965e-03 9.99997870e-01 1.80543690e-03 -4.33731620e+00] [-1.25939817e-03 -1.80669614e-03 9.99997575e-01 -1.17286659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34486062399998 meters 0.1033472130703771 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.34, Z:-1.17 [[ 9.99998193e-01 1.24454064e-03 1.43710204e-03 4.78870895e+01] [-1.24807201e-03 9.99996198e-01 2.45900530e-03 -4.34004563e+00] [-1.43403624e-03 -2.46079446e-03 9.99995944e-01 -1.17235051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40486062399998 meters 0.10430848395485613 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.34, Z:-1.17 [[ 9.99997510e-01 1.44132034e-03 1.70395184e-03 4.78863645e+01] [-1.44662570e-03 9.99994098e-01 3.11644094e-03 -4.34277398e+00] [-1.69944999e-03 -3.11889816e-03 9.99993692e-01 -1.17204206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46486062399998 meters 0.11084154341107855 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.34, Z:-1.17 [[ 9.99997029e-01 -2.09321971e-03 1.24956034e-03 4.78876566e+01] [ 2.09353388e-03 9.99997777e-01 -2.50165400e-04 -4.34441101e+00] [-1.24903391e-03 2.52780654e-04 9.99999188e-01 -1.17256483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52486062399998 meters 0.10339118935283807 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99997726e-01 -1.79052356e-03 1.15820009e-03 4.78877149e+01] [ 1.79027853e-03 9.99998375e-01 2.12560402e-04 -4.34600933e+00] [-1.15857880e-03 -2.10486418e-04 9.99999307e-01 -1.17236369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58486062399999 meters 0.10235260376511966 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99998652e-01 -1.23695492e-03 1.07956911e-03 4.78882656e+01] [ 1.23584805e-03 9.99998711e-01 1.02534930e-03 -4.34780084e+00] [-1.08083603e-03 -1.02401374e-03 9.99998892e-01 -1.17289794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64486062399999 meters 0.10359930066795225 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99998916e-01 -1.12742444e-03 9.46838284e-04 4.78882044e+01] [ 1.12636924e-03 9.99998745e-01 1.11424326e-03 -4.34847931e+00] [-9.48093320e-04 -1.11317557e-03 9.99998931e-01 -1.17239874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70486062399999 meters 0.09982863260368582 Centerline is valid? [False, True] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99999562e-01 -6.13924176e-04 7.06109102e-04 4.78887889e+01] [ 6.12723169e-04 9.99998368e-01 1.69984080e-03 -4.35029083e+00] [-7.07151523e-04 -1.69940741e-03 9.99998306e-01 -1.17244184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76486062399998 meters 0.10084816737978589 Centerline is valid? [True, False] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99999649e-01 -4.72917228e-04 6.91305016e-04 4.78886127e+01] [ 4.71539305e-04 9.99997905e-01 1.99202655e-03 -4.35151577e+00] [-6.92245631e-04 -1.99169988e-03 9.99997777e-01 -1.17213368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82486062399998 meters 0.1007502118608331 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.35, Z:-1.17 [[ 9.99999599e-01 -2.52601273e-04 8.59292247e-04 4.78879616e+01] [ 2.50399910e-04 9.99996689e-01 2.56097563e-03 -4.35393390e+00] [-8.59936307e-04 -2.56075943e-03 9.99996352e-01 -1.17164886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88486062399998 meters 0.10554759597556314 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.36, Z:-1.17 [[ 9.99999601e-01 1.30527035e-04 8.83817485e-04 4.78880244e+01] [-1.33366660e-04 9.99994827e-01 3.21361216e-03 -4.35598436e+00] [-8.83393450e-04 -3.21372875e-03 9.99994446e-01 -1.17174581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94486062399999 meters 0.1027344157901899 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.36, Z:-1.17 [[ 9.99994668e-01 -3.24204674e-03 3.91220623e-04 4.78894850e+01] [ 3.24204622e-03 9.99994745e-01 1.97896414e-06 -4.35768509e+00] [-3.91224983e-04 -7.10598250e-07 9.99999923e-01 -1.17238463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00486062399999 meters 0.10181212000660131 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.36, Z:-1.17 [[ 9.99995517e-01 -2.87072303e-03 8.51347272e-04 4.78886157e+01] [ 2.86959950e-03 9.99995014e-01 1.31800766e-03 -4.36210895e+00] [-8.55126662e-04 -1.31555873e-03 9.99998769e-01 -1.17236267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06486062399999 meters 0.10110659012167522 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99996134e-01 -2.53531511e-03 1.14159319e-03 4.78880345e+01] [ 2.53260380e-03 9.99993984e-01 2.37024125e-03 -4.36556358e+00] [-1.14759563e-03 -2.36734088e-03 9.99996539e-01 -1.17228729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12486062399998 meters 0.10295043095305006 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99995698e-01 -2.47386160e-03 1.57585777e-03 4.78867947e+01] [ 2.46885346e-03 9.99991921e-01 3.17210370e-03 -4.36977482e+00] [-1.58369238e-03 -3.16819949e-03 9.99993727e-01 -1.17163197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18486062399998 meters 0.10406378563534882 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99995777e-01 -2.29731812e-03 1.78017763e-03 4.78862820e+01] [ 2.29070708e-03 9.99990506e-01 3.70687983e-03 -4.37195770e+00] [-1.78867661e-03 -3.70278631e-03 9.99991545e-01 -1.17143895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24486062399998 meters 0.10230489211608561 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99996441e-01 -2.10074565e-03 1.64467943e-03 4.78863211e+01] [ 2.09415852e-03 9.99989821e-01 3.99664082e-03 -4.37314554e+00] [-1.65305861e-03 -3.99318238e-03 9.99990661e-01 -1.17108940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30486062399999 meters 0.1018400727275344 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99997438e-01 -1.83068889e-03 1.33118394e-03 4.78868681e+01] [ 1.82504390e-03 9.99989390e-01 4.22949549e-03 -4.37381832e+00] [-1.33891271e-03 -4.22705518e-03 9.99990170e-01 -1.17099187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36486062399999 meters 0.10534734435092805 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99998212e-01 -1.59325470e-03 1.01867707e-03 4.78872140e+01] [ 1.58883456e-03 9.99989384e-01 4.32528915e-03 -4.37420863e+00] [-1.02555754e-03 -4.32366290e-03 9.99990127e-01 -1.17058999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42486062399999 meters 0.10580893506102662 Centerline is valid? [False, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99998598e-01 -1.53521372e-03 6.68462327e-04 4.78876317e+01] [ 1.53244999e-03 9.99990357e-01 4.11551458e-03 -4.37369188e+00] [-6.74774075e-04 -4.11448442e-03 9.99991308e-01 -1.17019184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48486062399998 meters 0.09635861587661874 Centerline is valid? [False, True] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99999341e-01 -1.14581089e-03 6.50007864e-05 4.78885844e+01] [ 1.14553000e-03 9.99990657e-01 4.16824859e-03 -4.37352025e+00] [-6.97762036e-05 -4.16817138e-03 9.99991311e-01 -1.16993774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54486062399998 meters 0.10107621253234253 Centerline is valid? [True, False] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99999514e-01 -9.13820867e-04 -3.70865858e-04 4.78896388e+01] [ 9.15337907e-04 9.99991130e-01 4.11118977e-03 -4.37290815e+00] [ 3.67105678e-04 -4.11152724e-03 9.99991480e-01 -1.17028600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60486062399998 meters 0.09726873322699915 Centerline is valid? [False, True] Translation: X:47.89, Y:-4.37, Z:-1.17 [[ 9.99999286e-01 -1.02514239e-03 -6.14049271e-04 4.78900893e+01] [ 1.02740091e-03 9.99992667e-01 3.68913107e-03 -4.37163062e+00] [ 6.10262884e-04 -3.68975931e-03 9.99993007e-01 -1.17025533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66486062399999 meters 0.09722774787916635 Centerline is valid? [True, True] Translation: X:47.95, Y:-4.38, Z:-1.17 [[ 9.99998903e-01 6.24382885e-04 -1.34313065e-03 4.79506415e+01] [-6.24197423e-04 9.99999796e-01 1.38496704e-04 -4.37504970e+00] [ 1.34321685e-03 -1.37658173e-04 9.99999088e-01 -1.17181355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72486062399999 meters 0.0995425931675151 Centerline is valid? [True, True] Translation: X:48.01, Y:-4.38, Z:-1.17 [[ 9.99999194e-01 1.26875660e-03 -3.67639095e-05 4.80090328e+01] [-1.26875650e-03 9.99999195e-01 2.84707034e-06 -4.38239315e+00] [ 3.67674921e-05 -2.80042360e-06 9.99999999e-01 -1.17445726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78486062399999 meters 0.09369966197660272 Centerline is valid? [True, True] Translation: X:48.07, Y:-4.38, Z:-1.17 [[ 9.99999168e-01 9.93636680e-04 8.22114376e-04 4.80709483e+01] [-9.93567341e-04 9.99999503e-01 -8.47457146e-05 -4.37638963e+00] [-8.22198174e-04 8.39288182e-05 9.99999658e-01 -1.17414068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84486062399998 meters 0.09378520340515535 Centerline is valid? [True, True] Translation: X:48.13, Y:-4.38, Z:-1.18 [[ 9.99999100e-01 -3.67585011e-04 1.29012343e-03 4.81315990e+01] [ 3.67756886e-04 9.99999924e-01 -1.32989320e-04 -4.37926029e+00] [-1.29007444e-03 1.33463652e-04 9.99999159e-01 -1.17543365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90486062399998 meters 0.09474947385797886 Centerline is valid? [True, True] Translation: X:48.19, Y:-4.39, Z:-1.18 [[ 9.99995409e-01 -1.94559398e-03 2.32305312e-03 4.81919654e+01] [ 1.94615441e-03 9.99998078e-01 -2.39013218e-04 -4.38535533e+00] [-2.32258363e-03 2.43533141e-04 9.99997273e-01 -1.17838110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96486062399998 meters 0.09681969374730454 Centerline is valid? [True, True] Translation: X:48.25, Y:-4.39, Z:-1.18 [[ 9.99987883e-01 -4.16843734e-03 2.61886846e-03 4.82521828e+01] [ 4.16915829e-03 9.99991273e-01 -2.69891344e-04 -4.39213272e+00] [-2.61772058e-03 2.80806551e-04 9.99996534e-01 -1.18010344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02486062399998 meters 0.09925841975821686 Centerline is valid? [True, True] Translation: X:48.31, Y:-4.40, Z:-1.18 [[ 9.99975532e-01 -6.19565537e-03 3.24799033e-03 4.83131258e+01] [ 6.19677263e-03 9.99980744e-01 -3.34034815e-04 -4.39986216e+00] [-3.24585823e-03 3.54153699e-04 9.99994669e-01 -1.18274242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08486062399999 meters 0.09516079701865293 Centerline is valid? [True, True] Translation: X:48.38, Y:-4.40, Z:-1.18 [[ 9.99971131e-01 -7.10209472e-03 2.70141190e-03 4.83751990e+01] [ 7.10287054e-03 9.99974736e-01 -2.77706242e-04 -4.39771463e+00] [-2.69937135e-03 2.96886004e-04 9.99996313e-01 -1.18235560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14486062399999 meters 0.10245939045455417 Centerline is valid? [True, False] Translation: X:48.38, Y:-4.40, Z:-1.18 [[ 9.99970079e-01 -7.25221275e-03 2.69181508e-03 4.83754511e+01] [ 7.25388146e-03 9.99973504e-01 -6.10675275e-04 -4.39629875e+00] [-2.68731501e-03 6.30183110e-04 9.99996191e-01 -1.18268686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20486062399998 meters 0.09780835924828832 Centerline is valid? [False, True] Translation: X:48.38, Y:-4.40, Z:-1.18 [[ 9.99990143e-01 -3.28934881e-03 2.98238376e-03 4.83750607e+01] [ 3.27921670e-03 9.99988857e-01 3.39586959e-03 -4.39560696e+00] [-2.99352073e-03 -3.38605623e-03 9.99989787e-01 -1.18302007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26486062399998 meters 0.09635154411507812 Centerline is valid? [True, True] Translation: X:48.44, Y:-4.39, Z:-1.18 [[ 9.99993732e-01 -2.29320788e-03 2.69759253e-03 4.84368494e+01] [ 2.29399334e-03 9.99997327e-01 -2.88110908e-04 -4.39495719e+00] [-2.69692462e-03 2.94297362e-04 9.99996320e-01 -1.18371697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32486062399998 meters 0.09778086320953117 Centerline is valid? [True, True] Translation: X:48.50, Y:-4.40, Z:-1.19 [[ 9.99994172e-01 -3.02539864e-03 1.58198609e-03 4.84974277e+01] [ 3.02566986e-03 9.99995408e-01 -1.69079464e-04 -4.40192879e+00] [-1.58146730e-03 1.73865046e-04 9.99998734e-01 -1.18680613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38486062399998 meters 0.09884774642285196 Centerline is valid? [True, True] Translation: X:48.56, Y:-4.41, Z:-1.19 [[ 9.99985033e-01 -5.17765211e-03 1.76796705e-03 4.85582666e+01] [ 5.17799415e-03 9.99986576e-01 -1.88944259e-04 -4.40739075e+00] [-1.76696503e-03 1.98095954e-04 9.99998419e-01 -1.18859799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44486062399999 meters 0.09691735192722452 Centerline is valid? [True, True] Translation: X:48.62, Y:-4.41, Z:-1.19 [[ 9.99976018e-01 -6.71595136e-03 1.69071963e-03 4.86198068e+01] [ 6.71626650e-03 9.99977429e-01 -1.80785738e-04 -4.40797994e+00] [-1.68946732e-03 1.92136727e-04 9.99998554e-01 -1.18883847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50486062399999 meters 0.09847241380508108 Centerline is valid? [True, True] Translation: X:48.68, Y:-4.42, Z:-1.19 [[ 9.99968419e-01 -7.21459416e-03 3.33336715e-03 4.86813137e+01] [ 7.21581935e-03 9.99973902e-01 -3.55674370e-04 -4.41541283e+00] [-3.33071411e-03 3.79716112e-04 9.99994381e-01 -1.19002076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56486062399999 meters 0.1004379861415526 Centerline is valid? [True, False] Translation: X:48.68, Y:-4.41, Z:-1.19 [[ 9.99988084e-01 -3.36914528e-03 3.53278624e-03 4.86808709e+01] [ 3.35717880e-03 9.99988626e-01 3.38774006e-03 -4.41392014e+00] [-3.54415984e-03 -3.37583950e-03 9.99988021e-01 -1.19006590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62486062399998 meters 0.09877072459718364 Centerline is valid? [False, True] Translation: X:48.68, Y:-4.41, Z:-1.19 [[ 9.99990021e-01 -3.22552492e-03 3.09087821e-03 4.86822260e+01] [ 3.21587276e-03 9.99989953e-01 3.12268650e-03 -4.41190157e+00] [-3.10091946e-03 -3.11271547e-03 9.99990348e-01 -1.19080518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68486062399998 meters 0.09740303086164231 Centerline is valid? [True, True] Translation: X:48.74, Y:-4.41, Z:-1.19 [[ 9.99995702e-01 9.08273122e-04 2.78775098e-03 4.87434233e+01] [-9.07427339e-04 9.99999542e-01 -3.04642371e-04 -4.41082441e+00] [-2.78802640e-03 3.02111380e-04 9.99996068e-01 -1.19223492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74486062399998 meters 0.09711915220790775 Centerline is valid? [True, True] Translation: X:48.80, Y:-4.41, Z:-1.19 [[ 9.99991789e-01 3.16513069e-03 2.53055216e-03 4.88043555e+01] [-3.16444068e-03 9.99994955e-01 -2.76631444e-04 -4.41444879e+00] [-2.53141497e-03 2.68621390e-04 9.99996760e-01 -1.19364597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80486062399999 meters 0.0967619374564978 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.42, Z:-1.20 [[ 9.99974226e-01 6.43144675e-03 3.19135861e-03 4.88644032e+01] [-6.43036434e-03 9.99979264e-01 -3.49313128e-04 -4.41807902e+00] [-3.19353902e-03 3.28782526e-04 9.99994847e-01 -1.19636720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86486062399999 meters 0.09560138127886458 Centerline is valid? [True, True] Translation: X:48.92, Y:-4.42, Z:-1.20 [[ 9.99972303e-01 6.84966504e-03 2.91115230e-03 4.89235691e+01] [-6.84876388e-03 9.99976496e-01 -3.19411618e-04 -4.42168090e+00] [-2.91327174e-03 2.99464976e-04 9.99995712e-01 -1.19858271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92486062399999 meters 0.0954199161214328 Centerline is valid? [True, True] Translation: X:48.98, Y:-4.43, Z:-1.20 [[ 9.99983548e-01 5.27078013e-03 2.26331287e-03 4.89834739e+01] [-5.27023207e-03 9.99986081e-01 -2.48044986e-04 -4.42647188e+00] [-2.26458876e-03 2.36112721e-04 9.99997408e-01 -1.19964884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98486062399998 meters 0.09774841748996921 Centerline is valid? [True, True] Translation: X:49.04, Y:-4.44, Z:-1.20 [[ 9.99992491e-01 2.39723497e-03 3.04499938e-03 4.90436401e+01] [-2.39623165e-03 9.99997074e-01 -3.33101806e-04 -4.43575701e+00] [-3.04578899e-03 3.25802781e-04 9.99995308e-01 -1.20227837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04486062399998 meters 0.09694583756745016 Centerline is valid? [True, True] Translation: X:49.10, Y:-4.44, Z:-1.20 [[ 9.99995474e-01 3.21993956e-04 2.99152860e-03 4.91037416e+01] [-3.21017485e-04 9.99999895e-01 -3.26886548e-04 -4.44022869e+00] [-2.99163354e-03 3.25924735e-04 9.99995472e-01 -1.20348467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10486062399998 meters 0.10055325303388382 Centerline is valid? [True, False] Translation: X:49.10, Y:-4.44, Z:-1.20 [[ 9.99995179e-01 -6.64706876e-05 3.10434080e-03 4.91035439e+01] [ 6.91046673e-05 9.99999638e-01 -8.48383224e-04 -4.43835347e+00] [-3.10428329e-03 8.48593659e-04 9.99994822e-01 -1.20357314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16486062399999 meters 0.10062360074330813 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.44, Z:-1.20 [[ 9.99995320e-01 -2.67011812e-04 3.04758257e-03 4.91039695e+01] [ 2.70866403e-04 9.99999164e-01 -1.26446043e-03 -4.43641917e+00] [-3.04724240e-03 1.26528000e-03 9.99994557e-01 -1.20407399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22486062399999 meters 0.10035141264228388 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.44, Z:-1.20 [[ 9.99995382e-01 -2.89198029e-04 3.02520136e-03 4.91043182e+01] [ 2.93423932e-04 9.99998982e-01 -1.39654937e-03 -4.43552093e+00] [-3.02479440e-03 1.39743059e-03 9.99994449e-01 -1.20449613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28486062399999 meters 0.1006051255261261 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.43, Z:-1.20 [[ 9.99995477e-01 -4.37372644e-04 2.97558596e-03 4.91045957e+01] [ 4.42464001e-04 9.99998439e-01 -1.71060054e-03 -4.43406312e+00] [-2.97483314e-03 1.71190939e-03 9.99994110e-01 -1.20475241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34486062399998 meters 0.10227498562573278 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99995760e-01 -3.56455927e-04 2.89000542e-03 4.91050941e+01] [ 3.61319588e-04 9.99998519e-01 -1.68257696e-03 -4.43351849e+00] [-2.88940137e-03 1.68361404e-03 9.99994408e-01 -1.20520780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40486062399998 meters 0.10715839514685056 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99996026e-01 -1.69673974e-04 2.81422072e-03 4.91056583e+01] [ 1.73806167e-04 9.99998907e-01 -1.46814630e-03 -4.43345983e+00] [-2.81396854e-03 1.46862959e-03 9.99994962e-01 -1.20580987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46486062399998 meters 0.10680976327776498 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99996249e-01 1.00761663e-04 2.73709908e-03 4.91062864e+01] [-9.76872311e-05 9.99999364e-01 -1.12335529e-03 -4.43369850e+00] [-2.73721053e-03 1.12308370e-03 9.99995623e-01 -1.20648631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52486062399998 meters 0.10737556438562967 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99996691e-01 1.23738436e-04 2.56972537e-03 4.91067016e+01] [-1.20752884e-04 9.99999318e-01 -1.16194023e-03 -4.43321523e+00] [-2.56986739e-03 1.16162609e-03 9.99996023e-01 -1.20664441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58486062399999 meters 0.10907350113721268 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997161e-01 2.25317277e-04 2.37203829e-03 4.91074756e+01] [-2.22501774e-04 9.99999271e-01 -1.18715249e-03 -4.43226654e+00] [-2.37230405e-03 1.18662134e-03 9.99996482e-01 -1.20718623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64486062399999 meters 0.10485767368906165 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997779e-01 2.08714827e-04 2.09706181e-03 4.91083475e+01] [-2.05471531e-04 9.99998783e-01 -1.54668720e-03 -4.43017408e+00] [-2.09738207e-03 1.54625288e-03 9.99996605e-01 -1.20766886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70486062399998 meters 0.10735347940267714 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998194e-01 3.08064263e-04 1.87519817e-03 4.91091255e+01] [-3.04950720e-04 9.99998575e-01 -1.66044021e-03 -4.42905815e+00] [-1.87570702e-03 1.65986537e-03 9.99996863e-01 -1.20814207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76486062399998 meters 0.10332176122684414 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998427e-01 7.83213173e-05 1.77189233e-03 4.91095359e+01] [-7.44783968e-05 9.99997645e-01 -2.16878487e-03 -4.42674085e+00] [-1.77205802e-03 2.16864949e-03 9.99996078e-01 -1.20850963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82486062399998 meters 0.107992339400265 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998485e-01 1.88133101e-04 1.73060541e-03 4.91100998e+01] [-1.84578365e-04 9.99997874e-01 -2.05397268e-03 -4.42632314e+00] [-1.73098815e-03 2.05365014e-03 9.99996393e-01 -1.20918453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88486062399998 meters 0.10260039531571617 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998453e-01 3.74178849e-04 1.71899454e-03 4.91104939e+01] [-3.71193620e-04 9.99998423e-01 -1.73660436e-03 -4.42668611e+00] [-1.71964163e-03 1.73596359e-03 9.99997015e-01 -1.20976593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94486062399999 meters 0.10410700953314395 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998400e-01 5.35712805e-04 1.70666198e-03 4.91106325e+01] [-5.33138217e-04 9.99998720e-01 -1.50864970e-03 -4.42716166e+00] [-1.70746800e-03 1.50773740e-03 9.99997406e-01 -1.20991880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00486062399999 meters 0.1063087238103289 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998416e-01 5.74939776e-04 1.68445354e-03 4.91105795e+01] [-5.72538500e-04 9.99998820e-01 -1.42568754e-03 -4.42746240e+00] [-1.68527123e-03 1.42472086e-03 9.99997565e-01 -1.20977520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06486062399999 meters 0.1086022130189735 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998285e-01 9.84264564e-04 1.56857410e-03 4.91111155e+01] [-9.82826861e-04 9.99999097e-01 -9.17074647e-04 -4.42864480e+00] [-1.56947532e-03 9.15531438e-04 9.99998349e-01 -1.21016717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12486062399998 meters 0.10810031813041444 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997968e-01 1.48268189e-03 1.36618200e-03 4.91121028e+01] [-1.48216487e-03 9.99998830e-01 -3.79379189e-04 -4.42950514e+00] [-1.36674290e-03 3.77353511e-04 9.99998995e-01 -1.21093027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18486062399998 meters 0.11015860989840025 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99998152e-01 1.48377719e-03 1.22264361e-03 4.91122359e+01] [-1.48318878e-03 9.99998784e-01 -4.82020407e-04 -4.42946189e+00] [-1.22335733e-03 4.80206104e-04 9.99999136e-01 -1.21067424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24486062399998 meters 0.11154105473767693 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997711e-01 1.77465593e-03 1.19552779e-03 4.91126190e+01] [-1.77460968e-03 9.99998425e-01 -3.97420521e-05 -4.43020789e+00] [-1.19559644e-03 3.76203659e-05 9.99999285e-01 -1.21113041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30486062399999 meters 0.10280905892574724 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997366e-01 1.88310505e-03 1.31225068e-03 4.91124096e+01] [-1.88340926e-03 9.99998200e-01 2.30627228e-04 -4.43144557e+00] [-1.31181403e-03 -2.33098125e-04 9.99999112e-01 -1.21109735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36486062399999 meters 0.10866066936679263 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997953e-01 -1.81492935e-03 8.94025204e-04 4.91137568e+01] [ 1.81799059e-03 9.99992447e-01 -3.43528575e-03 -4.43196925e+00] [-8.87783650e-04 3.43690405e-03 9.99993700e-01 -1.21177126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42486062399999 meters 0.1079289771645718 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.43, Z:-1.21 [[ 9.99997524e-01 -1.84734037e-03 1.24088284e-03 4.91128652e+01] [ 1.85111961e-03 9.99993631e-01 -3.05138835e-03 -4.43393002e+00] [-1.23523799e-03 3.05367781e-03 9.99994575e-01 -1.21144842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48486062399998 meters 0.13424608266028742 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.44, Z:-1.21 [[ 9.99997597e-01 -1.55216092e-03 1.54844125e-03 4.91124143e+01] [ 1.55551467e-03 9.99996442e-01 -2.16704153e-03 -4.43699262e+00] [-1.54507214e-03 2.16944494e-03 9.99996453e-01 -1.21165013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54486062399998 meters 0.10877548222287721 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.44, Z:-1.21 [[ 9.99997603e-01 -1.39156851e-03 1.69040929e-03 4.91121270e+01] [ 1.39449663e-03 9.99997527e-01 -1.73225455e-03 -4.43844635e+00] [-1.68799456e-03 1.73460767e-03 9.99997071e-01 -1.21164132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60486062399998 meters 0.1061532356313525 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.44, Z:-1.21 [[ 9.99998484e-01 -9.21389649e-04 1.47722815e-03 4.91128302e+01] [ 9.23126204e-04 9.99998883e-01 -1.17529937e-03 -4.43956431e+00] [-1.47614359e-03 1.17666125e-03 9.99998218e-01 -1.21198649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66486062399999 meters 0.10862459229993034 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.44, Z:-1.21 [[ 9.99999269e-01 -4.90664199e-04 1.10520158e-03 4.91137627e+01] [ 4.91605040e-04 9.99999517e-01 -8.51173496e-04 -4.44004544e+00] [-1.10478341e-03 8.51716196e-04 9.99999027e-01 -1.21224415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72486062399999 meters 0.10899925632321539 Centerline is valid? [False, False] Translation: X:49.12, Y:-4.44, Z:-1.21 [[ 9.99999915e-01 2.51655440e-04 3.26927236e-04 4.91158332e+01] [-2.51500979e-04 9.99999857e-01 -4.72416171e-04 -4.43926051e+00] [-3.27046075e-04 4.72333908e-04 9.99999835e-01 -1.21307222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78486062399999 meters 0.10526657864164428 Centerline is valid? [False, False] Translation: X:49.12, Y:-4.44, Z:-1.21 [[ 9.99999942e-01 2.51964951e-04 2.31136941e-04 4.91156801e+01] [-2.51849469e-04 9.99999844e-01 -4.99517922e-04 -4.43941036e+00] [-2.31262765e-04 4.99459681e-04 9.99999849e-01 -1.21257861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84486062399998 meters 0.10755700533771174 Centerline is valid? [False, False] Translation: X:49.12, Y:-4.44, Z:-1.21 [[ 9.99999736e-01 5.74760677e-04 4.44277862e-04 4.91152365e+01] [-5.74863709e-04 9.99999808e-01 2.31815863e-04 -4.44229705e+00] [-4.44144538e-04 -2.32071201e-04 9.99999874e-01 -1.21251746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90486062399998 meters 0.10657404996228727 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.44, Z:-1.21 [[ 9.99999563e-01 4.91201027e-04 7.95366123e-04 4.91142548e+01] [-4.91595517e-04 9.99999756e-01 4.95865699e-04 -4.44406987e+00] [-7.95122360e-04 -4.96256481e-04 9.99999561e-01 -1.21205648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96486062399998 meters 0.10909846133106907 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.45, Z:-1.21 [[ 9.99999092e-01 3.71387615e-04 1.29518307e-03 4.91129410e+01] [-3.72617901e-04 9.99999480e-01 9.49781588e-04 -4.44700791e+00] [-1.29482965e-03 -9.50263334e-04 9.99998710e-01 -1.21143308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02486062399998 meters 0.10836570528649889 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.45, Z:-1.21 [[ 9.99998409e-01 2.15703326e-04 1.77075438e-03 4.91115927e+01] [-2.18089155e-04 9.99999069e-01 1.34726942e-03 -4.44956781e+00] [-1.77046212e-03 -1.34765346e-03 9.99997525e-01 -1.21081317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08486062399999 meters 0.11083629990631617 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.45, Z:-1.21 [[ 9.99993697e-01 -3.27402792e-03 1.37380494e-03 4.91126426e+01] [ 3.27664804e-03 9.99992809e-01 -1.90930006e-03 -4.45173624e+00] [-1.36754396e-03 1.91378950e-03 9.99997234e-01 -1.21108716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14486062399999 meters 0.1158130112605662 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.46, Z:-1.21 [[ 9.99994239e-01 -2.97074891e-03 1.64183557e-03 4.91118654e+01] [ 2.97244826e-03 9.99995048e-01 -1.03355799e-03 -4.45517837e+00] [-1.63875700e-03 1.03843231e-03 9.99998118e-01 -1.21067963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20486062399998 meters 0.10728763973404339 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.46, Z:-1.21 [[ 9.99995769e-01 -2.35272829e-03 1.71071854e-03 4.91119599e+01] [ 2.35255750e-03 9.99997228e-01 1.01839794e-04 -4.45855458e+00] [-1.71095340e-03 -9.78147995e-05 9.99998532e-01 -1.21094750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26486062399998 meters 0.10827151346712421 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.46, Z:-1.21 [[ 9.99996160e-01 -2.02381857e-03 1.89335608e-03 4.91116188e+01] [ 2.02222055e-03 9.99997598e-01 8.45547543e-04 -4.46113264e+00] [-1.89506277e-03 -8.41715512e-04 9.99997850e-01 -1.21092122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32486062399998 meters 0.10811828337976488 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.46, Z:-1.21 [[ 9.99996593e-01 -1.65715082e-03 2.01682345e-03 4.91111061e+01] [ 1.65373782e-03 9.99997200e-01 1.69276021e-03 -4.46424787e+00] [-2.01962296e-03 -1.68941915e-03 9.99996533e-01 -1.21049859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38486062399998 meters 0.10842682713671195 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.47, Z:-1.21 [[ 9.99997162e-01 -1.29466989e-03 1.99989486e-03 4.91108425e+01] [ 1.28997898e-03 9.99996418e-01 2.34508787e-03 -4.46675888e+00] [-2.00292381e-03 -2.34250139e-03 9.99995250e-01 -1.20999224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44486062399999 meters 0.10915353365991828 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.47, Z:-1.21 [[ 9.99997945e-01 -8.96642674e-04 1.81834913e-03 4.91110719e+01] [ 8.91373126e-04 9.99995407e-01 2.89672703e-03 -4.46854204e+00] [-1.82093810e-03 -2.89510025e-03 9.99994151e-01 -1.20976802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50486062399999 meters 0.10877334263661233 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.47, Z:-1.21 [[ 9.99998211e-01 -6.55727028e-04 1.77412644e-03 4.91108723e+01] [ 6.49923801e-04 9.99994444e-01 3.26963478e-03 -4.46999088e+00] [-1.77626057e-03 -3.26847589e-03 9.99993081e-01 -1.20935251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56486062399999 meters 0.10297769048817937 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.47, Z:-1.21 [[ 9.99998333e-01 -1.73589915e-04 1.81756214e-03 4.91106495e+01] [ 1.66043963e-04 9.99991371e-01 4.15101703e-03 -4.47299023e+00] [-1.81826703e-03 -4.15070832e-03 9.99989733e-01 -1.20910592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62486062399998 meters 0.11302563434240313 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.48, Z:-1.21 [[ 9.99998365e-01 1.73519759e-04 1.80018562e-03 4.91106270e+01] [-1.82095687e-04 9.99988631e-01 4.76484350e-03 -4.47507297e+00] [-1.79933836e-03 -4.76516351e-03 9.99987028e-01 -1.20900873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68486062399998 meters 0.10454030531544213 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.48, Z:-1.21 [[ 9.99994674e-01 -3.05363176e-03 1.15197829e-03 4.91123419e+01] [ 3.05166902e-03 9.99993896e-01 1.70172932e-03 -4.47714043e+00] [-1.15716771e-03 -1.69820480e-03 9.99997889e-01 -1.20965648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74486062399998 meters 0.10431414310456158 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.48, Z:-1.21 [[ 9.99995312e-01 -2.81378091e-03 1.20739541e-03 4.91120157e+01] [ 2.81112726e-03 9.99993642e-01 2.19392903e-03 -4.47906444e+00] [-1.21356097e-03 -2.19052461e-03 9.99996864e-01 -1.20932160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80486062399999 meters 0.10201009062921566 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.48, Z:-1.21 [[ 9.99995902e-01 -2.55475468e-03 1.29187273e-03 4.91117359e+01] [ 2.55113035e-03 9.99992828e-01 2.79939038e-03 -4.48108671e+00] [-1.29901522e-03 -2.79608317e-03 9.99995247e-01 -1.20914631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86486062399999 meters 0.10278482494050785 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.48, Z:-1.21 [[ 9.99997154e-01 -2.01731251e-03 1.27350700e-03 4.91117119e+01] [ 2.01249571e-03 9.99990860e-01 3.77233339e-03 -4.48413842e+00] [-1.28110533e-03 -3.76975973e-03 9.99992074e-01 -1.20900469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92486062399999 meters 0.10426997069385209 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99997706e-01 -1.68210725e-03 1.32632578e-03 4.91119665e+01] [ 1.67632631e-03 9.99989143e-01 4.34774226e-03 -4.48544128e+00] [-1.33362474e-03 -4.34550893e-03 9.99989669e-01 -1.20949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98486062399998 meters 0.1051923730284945 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99996281e-01 -1.94938423e-03 1.90730190e-03 4.91100796e+01] [ 1.94033513e-03 9.99986908e-01 4.73485534e-03 -4.48853295e+00] [-1.91650698e-03 -4.73113692e-03 9.99986972e-01 -1.20824026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04486062399998 meters 0.10202797028619971 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99996055e-01 -1.86554391e-03 2.09991214e-03 4.91095883e+01] [ 1.85484534e-03 9.99985350e-01 5.08524031e-03 -4.49009754e+00] [-2.10936811e-03 -5.08132524e-03 9.99984865e-01 -1.20803392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10486062399998 meters 0.1052913410728265 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99995989e-01 -1.62701336e-03 2.31825295e-03 4.91090391e+01] [ 1.61366269e-03 9.99982171e-01 5.74921622e-03 -4.49265979e+00] [-2.32756567e-03 -5.74545228e-03 9.99980786e-01 -1.20781591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16486062399999 meters 0.1038948747173325 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99996501e-01 -1.43987138e-03 2.21913225e-03 4.91093834e+01] [ 1.42654645e-03 9.99981015e-01 5.99449570e-03 -4.49322231e+00] [-2.22772143e-03 -5.99130903e-03 9.99979571e-01 -1.20798689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22486062399999 meters 0.10476781878532944 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99996845e-01 -1.19812489e-03 2.20767701e-03 4.91091902e+01] [ 1.18397088e-03 9.99978810e-01 6.40146375e-03 -4.49470949e+00] [-2.21529998e-03 -6.39882973e-03 9.99977073e-01 -1.20766726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28486062399999 meters 0.10256050048525946 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.49, Z:-1.21 [[ 9.99988714e-01 -4.49715998e-03 1.53223199e-03 4.91111043e+01] [ 4.49265749e-03 9.99985617e-01 2.92939993e-03 -4.49456707e+00] [-1.54538393e-03 -2.92248307e-03 9.99994535e-01 -1.20857579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34486062399998 meters 0.10252791389943279 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.50, Z:-1.21 [[ 9.99989615e-01 -4.29481199e-03 1.52495109e-03 4.91110843e+01] [ 4.28980471e-03 9.99985446e-01 3.27179883e-03 -4.49571235e+00] [-1.53898066e-03 -3.26522311e-03 9.99993485e-01 -1.20850566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40486062399998 meters 0.10450617693979194 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.50, Z:-1.21 [[ 9.99990776e-01 -3.93054628e-03 1.73187782e-03 4.91108086e+01] [ 3.92324996e-03 9.99983499e-01 4.19640324e-03 -4.49886756e+00] [-1.74834340e-03 -4.18956994e-03 9.99989695e-01 -1.20864292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46486062399998 meters 0.10268766238892858 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.50, Z:-1.21 [[ 9.99992470e-01 -3.46221915e-03 1.75279837e-03 4.91111803e+01] [ 3.45338049e-03 9.99981433e-01 5.02076018e-03 -4.50094168e+00] [-1.77014880e-03 -5.01466930e-03 9.99985860e-01 -1.20923738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52486062399998 meters 0.1047668879761137 Centerline is valid? [False, False] Translation: X:49.11, Y:-4.50, Z:-1.21 [[ 9.99993132e-01 -3.32091560e-03 1.64519937e-03 4.91114812e+01] [ 3.31234012e-03 9.99981056e-01 5.18801883e-03 -4.50142337e+00] [-1.66239717e-03 -5.18253374e-03 9.99985189e-01 -1.20934116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58486062399999 meters 0.10356889591453111 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99966855e-01 2.35734643e-03 7.79303261e-03 4.91012910e+01] [-2.36458525e-03 9.99996781e-01 9.19799775e-04 -4.50197740e+00] [-7.79083924e-03 -9.38196578e-04 9.99969211e-01 -1.21218322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64486062399999 meters 0.10148251338352113 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99967447e-01 2.57667175e-03 7.64627011e-03 4.91016166e+01] [-2.58504241e-03 9.99996070e-01 1.08505625e-03 -4.50222040e+00] [-7.64344423e-03 -1.10478686e-03 9.99970178e-01 -1.21224471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70486062399998 meters 0.10678958096661381 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99968522e-01 2.39964018e-03 7.56279165e-03 4.91015979e+01] [-2.40520461e-03 9.99996843e-01 7.26753693e-04 -4.50150483e+00] [-7.56102383e-03 -7.44920878e-04 9.99971138e-01 -1.21200606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76486062399998 meters 0.10567889708573196 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99970189e-01 2.15805383e-03 7.41379325e-03 4.91018372e+01] [-2.15863337e-03 9.99997668e-01 7.01691302e-05 -4.49955982e+00] [-7.41362453e-03 -8.61706998e-05 9.99972515e-01 -1.21198910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82486062399998 meters 0.10669499368852323 Centerline is valid? [False, False] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99972592e-01 2.24516039e-03 7.05506826e-03 4.91027886e+01] [-2.24399463e-03 9.99997467e-01 -1.73149295e-04 -4.49806483e+00] [-7.05543914e-03 1.57313014e-04 9.99975098e-01 -1.21238134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88486062399998 meters 0.09923604738966939 Centerline is valid? [False, True] Translation: X:49.10, Y:-4.50, Z:-1.21 [[ 9.99975278e-01 1.97525030e-03 6.74847405e-03 4.91033659e+01] [-1.96870239e-03 9.99997585e-01 -9.76785332e-04 -4.49543895e+00] [-6.75038715e-03 9.63475447e-04 9.99976752e-01 -1.21244389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94486062399999 meters 0.09730868501422694 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.50, Z:-1.21 [[ 9.99962169e-01 2.74218058e-03 8.25477165e-03 4.91649637e+01] [-2.73446243e-03 9.99995814e-01 -9.46133321e-04 -4.49583196e+00] [-8.25733156e-03 9.23525165e-04 9.99965481e-01 -1.21360554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00486062399999 meters 0.09961147955710888 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.51, Z:-1.22 [[ 9.99963623e-01 1.99117847e-03 8.29381808e-03 4.92257308e+01] [-1.98337366e-03 9.99997583e-01 -9.49158165e-04 -4.50507335e+00] [-8.29568797e-03 9.32673898e-04 9.99965155e-01 -1.21697105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06486062399998 meters 0.09862355395135787 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.51, Z:-1.22 [[ 9.99957333e-01 7.00029205e-04 9.21092766e-03 4.92866940e+01] [-6.90316843e-04 9.99999202e-01 -1.05757612e-03 -4.50896655e+00] [-9.21166065e-03 1.05117254e-03 9.99957019e-01 -1.21943766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12486062399998 meters 0.09669851908851691 Centerline is valid? [True, True] Translation: X:49.35, Y:-4.51, Z:-1.22 [[ 9.99960165e-01 -7.26551199e-04 8.89610682e-03 4.93474772e+01] [ 7.35667801e-04 9.99999208e-01 -1.02155611e-03 -4.51106661e+00] [-8.89535756e-03 1.02806000e-03 9.99959907e-01 -1.22098715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18486062399998 meters 0.0989285498999856 Centerline is valid? [True, True] Translation: X:49.41, Y:-4.52, Z:-1.22 [[ 9.99954765e-01 -5.92421270e-04 9.49296749e-03 4.94076487e+01] [ 6.02791383e-04 9.99999225e-01 -1.08957560e-03 -4.51895422e+00] [-9.49231464e-03 1.09524859e-03 9.99954347e-01 -1.22385098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24486062399998 meters 0.10130858577849676 Centerline is valid? [True, False] Translation: X:49.41, Y:-4.52, Z:-1.23 [[ 9.99958085e-01 -5.80198901e-04 9.13737639e-03 4.94091005e+01] [ 5.94135074e-04 9.99998664e-01 -1.52254259e-03 -4.51627813e+00] [-9.13648081e-03 1.52790761e-03 9.99957094e-01 -1.22500797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30486062399999 meters 0.10242780605242707 Centerline is valid? [False, False] Translation: X:49.41, Y:-4.51, Z:-1.23 [[ 9.99952824e-01 2.93471010e-03 9.25944485e-03 4.94088907e+01] [-2.94909674e-03 9.99994465e-01 1.54045512e-03 -4.51309400e+00] [-9.25487281e-03 -1.56768944e-03 9.99955944e-01 -1.22504717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36486062399999 meters 0.09784485919678246 Centerline is valid? [False, True] Translation: X:49.41, Y:-4.51, Z:-1.23 [[ 9.99959074e-01 2.84902275e-03 8.58677673e-03 4.94103316e+01] [-2.85147166e-03 9.99995897e-01 2.72966099e-04 -4.50741843e+00] [-8.58596381e-03 -2.97439878e-04 9.99963096e-01 -1.22525833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42486062399999 meters 0.09699972166832203 Centerline is valid? [True, True] Translation: X:49.47, Y:-4.51, Z:-1.23 [[ 9.99943620e-01 5.48627693e-03 9.09164284e-03 4.94709213e+01] [-5.47720389e-03 9.99984477e-01 -1.02255273e-03 -4.50885729e+00] [-9.09711172e-03 9.72698298e-04 9.99958147e-01 -1.22650506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48486062399998 meters 0.09712193334195723 Centerline is valid? [True, True] Translation: X:49.53, Y:-4.51, Z:-1.23 [[ 9.99931803e-01 7.82010563e-03 8.67384687e-03 4.95311464e+01] [-7.81193569e-03 9.99969011e-01 -9.75385661e-04 -4.51312433e+00] [-8.68120569e-03 9.07559608e-04 9.99961906e-01 -1.22932026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54486062399998 meters 0.09675721404854239 Centerline is valid? [True, True] Translation: X:49.59, Y:-4.51, Z:-1.23 [[ 9.99936028e-01 8.62971498e-03 7.31216727e-03 4.95929704e+01] [-8.62393399e-03 9.99962476e-01 -8.21762166e-04 -4.51456003e+00] [-7.31898446e-03 7.58649949e-04 9.99972928e-01 -1.23182980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60486062399998 meters 0.0958689110082426 Centerline is valid? [True, True] Translation: X:49.65, Y:-4.52, Z:-1.23 [[ 9.99942716e-01 7.52683492e-03 7.60999796e-03 4.96543794e+01] [-7.52053965e-03 9.99971354e-01 -8.55515130e-04 -4.51791239e+00] [-7.61621928e-03 7.98234831e-04 9.99970678e-01 -1.23365649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66486062399999 meters 0.09648887532934587 Centerline is valid? [True, True] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99957245e-01 5.95490882e-03 7.07439768e-03 4.97154180e+01] [-5.94942842e-03 9.99981986e-01 -7.95472516e-04 -4.52549714e+00] [-7.07900721e-03 7.53349882e-04 9.99974660e-01 -1.23588332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72486062399999 meters 0.10236214419995869 Centerline is valid? [True, False] Translation: X:49.71, Y:-4.53, Z:-1.24 [[ 9.99956413e-01 5.64333587e-03 7.43809066e-03 4.97149256e+01] [-5.63652789e-03 9.99983677e-01 -9.35931577e-04 -4.52553709e+00] [-7.44325102e-03 8.93965777e-04 9.99971899e-01 -1.23615738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78486062399999 meters 0.09927298314235825 Centerline is valid? [False, True] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99955726e-01 5.70235299e-03 7.48526527e-03 4.97151092e+01] [-5.69633508e-03 9.99983435e-01 -8.25042220e-04 -4.52563541e+00] [-7.48984596e-03 7.82367113e-04 9.99971645e-01 -1.23651947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84486062399998 meters 0.10597267921568107 Centerline is valid? [True, False] Translation: X:49.71, Y:-4.53, Z:-1.24 [[ 9.99955695e-01 5.25294000e-03 7.81117355e-03 4.97143184e+01] [-5.24425199e-03 9.99985608e-01 -1.13232130e-03 -4.52591917e+00] [-7.81700915e-03 1.09130737e-03 9.99968851e-01 -1.23625573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90486062399998 meters 0.10544434089809994 Centerline is valid? [False, False] Translation: X:49.71, Y:-4.53, Z:-1.24 [[ 9.99955569e-01 5.33704861e-03 7.77018727e-03 4.97147812e+01] [-5.32924969e-03 9.99985275e-01 -1.02405677e-03 -4.52598425e+00] [-7.77553829e-03 9.82601999e-04 9.99969287e-01 -1.23677914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96486062399998 meters 0.10050605160056321 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99958902e-01 5.17823851e-03 7.44173909e-03 4.97153576e+01] [-5.16647961e-03 9.99985376e-01 -1.59848466e-03 -4.52392502e+00] [-7.44990760e-03 1.55997138e-03 9.99971032e-01 -1.23667900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02486062399998 meters 0.10321744771548405 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99961559e-01 4.96543919e-03 7.22663187e-03 4.97154039e+01] [-4.95064275e-03 9.99985616e-01 -2.06393916e-03 -4.52265142e+00] [-7.23677628e-03 2.02808335e-03 9.99971758e-01 -1.23613407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08486062399999 meters 0.1076039095275516 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99961334e-01 5.12772499e-03 7.14399128e-03 4.97160673e+01] [-5.11406081e-03 9.99985061e-01 -1.92963875e-03 -4.52263681e+00] [-7.15377921e-03 1.89302933e-03 9.99972620e-01 -1.23679065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14486062399999 meters 0.1044045201871651 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99962843e-01 4.81872907e-03 7.14791017e-03 4.97157592e+01] [-4.80231421e-03 9.99985796e-01 -2.31184520e-03 -4.52179882e+00] [-7.15894880e-03 2.27743279e-03 9.99971781e-01 -1.23642277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20486062399998 meters 0.10015393626875484 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99963498e-01 4.91779849e-03 6.98696544e-03 4.97161877e+01] [-4.90191099e-03 9.99985365e-01 -2.28918491e-03 -4.52167966e+00] [-6.99812094e-03 2.25485187e-03 9.99972971e-01 -1.23655351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26486062399998 meters 0.10157991056898144 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99962577e-01 5.21331610e-03 6.90409479e-03 4.97163649e+01] [-5.20077744e-03 9.99984796e-01 -1.83282973e-03 -4.52314764e+00] [-6.91354495e-03 1.79685448e-03 9.99974487e-01 -1.23654569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32486062399998 meters 0.10341295774983617 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.52, Z:-1.24 [[ 9.99961447e-01 5.31835921e-03 6.98704817e-03 4.97161836e+01] [-5.30749618e-03 9.99984679e-01 -1.57236115e-03 -4.52424315e+00] [-6.99530351e-03 1.53521680e-03 9.99974354e-01 -1.23647660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38486062399998 meters 0.10530988896374167 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99958042e-01 5.65668974e-03 7.20534650e-03 4.97159602e+01] [-5.65144429e-03 9.99983751e-01 -7.48147334e-04 -4.52677790e+00] [-7.20946145e-03 7.07395329e-04 9.99973761e-01 -1.23670493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44486062399999 meters 0.10499428639568173 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99972776e-01 1.91430335e-03 7.12626769e-03 4.97160800e+01] [-1.88531906e-03 9.99989933e-01 -4.07174617e-03 -4.52947251e+00] [-7.13399051e-03 4.05820003e-03 9.99966318e-01 -1.23667649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50486062399999 meters 0.10850383456424546 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99970227e-01 1.91653667e-03 7.47473296e-03 4.97151293e+01] [-1.89238368e-03 9.99992970e-01 -3.23702032e-03 -4.53366667e+00] [-7.48088428e-03 3.22277888e-03 9.99966824e-01 -1.23632839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56486062399998 meters 0.10707066570471534 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.54, Z:-1.24 [[ 9.99969680e-01 2.43732922e-03 7.39582946e-03 4.97156201e+01] [-2.41946539e-03 9.99994137e-01 -2.42337787e-03 -4.53557416e+00] [-7.40169267e-03 2.40541044e-03 9.99969714e-01 -1.23680364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62486062399998 meters 0.10800863258920737 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.54, Z:-1.24 [[ 9.99970032e-01 2.62183419e-03 7.28434275e-03 4.97158251e+01] [-2.60606364e-03 9.99994242e-01 -2.17364170e-03 -4.53638663e+00] [-7.28999973e-03 2.15459310e-03 9.99971106e-01 -1.23678140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68486062399998 meters 0.10315557966237267 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.54, Z:-1.24 [[ 9.99972525e-01 3.15363330e-03 6.70844768e-03 4.97172614e+01] [-3.14125667e-03 9.99993346e-01 -1.85466922e-03 -4.53649759e+00] [-6.71425199e-03 1.83354531e-03 9.99975778e-01 -1.23728462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74486062399998 meters 0.10430041734848997 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.54, Z:-1.24 [[ 9.99975306e-01 3.67792177e-03 5.98831849e-03 4.97191485e+01] [-3.66734882e-03 9.99991699e-01 -1.77562173e-03 -4.53534037e+00] [-5.99479938e-03 1.75361663e-03 9.99980493e-01 -1.23803037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80486062399999 meters 0.10687118410987988 Centerline is valid? [False, False] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99977170e-01 4.02056984e-03 5.43084025e-03 4.97201315e+01] [-4.00687142e-03 9.99988770e-01 -2.53086752e-03 -4.53200515e+00] [-5.44095479e-03 2.50904906e-03 9.99982050e-01 -1.23768122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86486062399999 meters 0.09819939513344503 Centerline is valid? [False, True] Translation: X:49.72, Y:-4.53, Z:-1.24 [[ 9.99975207e-01 4.84296642e-03 5.11185045e-03 4.97211826e+01] [-4.82773004e-03 9.99983880e-01 -2.98874276e-03 -4.52737423e+00] [-5.12624243e-03 2.96399002e-03 9.99982468e-01 -1.23783506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92486062399999 meters 0.09545926421113987 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.53, Z:-1.24 [[ 9.99944456e-01 8.62376868e-03 6.05939522e-03 4.97820223e+01] [-8.61979109e-03 9.99962616e-01 -6.82244002e-04 -4.52789613e+00] [-6.06505221e-03 6.29975386e-04 9.99981409e-01 -1.23885915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98486062399998 meters 0.09546569874028096 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.53, Z:-1.24 [[ 9.99920453e-01 1.12930160e-02 5.61735228e-03 4.98422866e+01] [-1.12896393e-02 9.99936070e-01 -6.32462164e-04 -4.53310310e+00] [-5.62413557e-03 5.68993973e-04 9.99984023e-01 -1.24159938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044860624 meters 0.09780199806417239 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.54, Z:-1.25 [[ 9.99938058e-01 1.05309516e-02 3.60258907e-03 4.99010701e+01] [-1.05295565e-02 9.99944480e-01 -4.06002670e-04 -4.54147991e+00] [-3.60666465e-03 3.68043856e-04 9.99993428e-01 -1.24545258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104860624 meters 0.10240084438719756 Centerline is valid? [True, False] Translation: X:49.91, Y:-4.54, Z:-1.24 [[ 9.99992830e-01 2.34302295e-03 -2.97488653e-03 4.99105278e+01] [-2.34320951e-03 9.99997253e-01 -5.92261564e-05 -4.53828135e+00] [ 2.97473959e-03 6.61965141e-05 9.99995573e-01 -1.24136587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16486062399997 meters 0.10533962292860283 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.54, Z:-1.24 [[ 9.99995196e-01 1.94891311e-03 -2.41041367e-03 4.99095395e+01] [-1.94918081e-03 9.99998094e-01 -1.08717591e-04 -4.53861480e+00] [ 2.41019720e-03 1.13415401e-04 9.99997089e-01 -1.24154007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22486062399997 meters 0.11153790695296714 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.54, Z:-1.24 [[ 9.99996553e-01 1.60044834e-03 -2.08130717e-03 4.99092298e+01] [-1.60124527e-03 9.99998645e-01 -3.81285319e-04 -4.53781277e+00] [ 2.08069412e-03 3.84616688e-04 9.99997761e-01 -1.24201191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28486062399998 meters 0.10291494212236539 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.54, Z:-1.24 [[ 9.99997133e-01 1.13396551e-03 -2.10918793e-03 4.99093156e+01] [-1.13640484e-03 9.99998686e-01 -1.15568611e-03 -4.53521244e+00] [ 2.10787465e-03 1.15807969e-03 9.99997108e-01 -1.24203554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34486062399998 meters 0.11620354186558855 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.24 [[ 9.99997097e-01 7.69607721e-04 -2.28355403e-03 4.99097847e+01] [-7.74265862e-04 9.99997620e-01 -2.03968216e-03 -4.53202953e+00] [ 2.28197884e-03 2.04144432e-03 9.99995313e-01 -1.24218672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40486062399998 meters 0.1184723980594023 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.24 [[ 9.99996929e-01 6.25244700e-04 -2.39829788e-03 4.99102111e+01] [-6.31078860e-04 9.99996842e-01 -2.43264044e-03 -4.53030662e+00] [ 2.39676931e-03 2.43414648e-03 9.99994165e-01 -1.24248996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46486062399998 meters 0.10101021422156796 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.24 [[ 9.99995694e-01 6.56802015e-04 -2.86028766e-03 4.99115244e+01] [-6.65543675e-04 9.99995108e-01 -3.05633821e-03 -4.52700431e+00] [ 2.85826626e-03 3.05822869e-03 9.99991239e-01 -1.24304998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52486062399998 meters 0.10544772914731601 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.24 [[ 9.99995608e-01 6.60957777e-04 -2.88897871e-03 4.99118821e+01] [-6.69966881e-04 9.99994913e-01 -3.11858456e-03 -4.52628052e+00] [ 2.88690276e-03 3.12050639e-03 9.99990964e-01 -1.24349008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584860624 meters 0.10692277153251896 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.24 [[ 9.99995470e-01 8.99270259e-04 -2.87240218e-03 4.99124980e+01] [-9.07155464e-04 9.99995821e-01 -2.74503834e-03 -4.52650113e+00] [ 2.86992165e-03 2.74763162e-03 9.99992107e-01 -1.24442811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644860624 meters 0.1127508968753375 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.25 [[ 9.99995475e-01 9.56965305e-04 -2.85197073e-03 4.99129127e+01] [-9.64617071e-04 9.99995936e-01 -2.68280811e-03 -4.52607832e+00] [ 2.84939178e-03 2.68554704e-03 9.99992334e-01 -1.24505334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704860624 meters 0.11108220697890164 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.25 [[ 9.99995417e-01 9.20927213e-04 -2.88401941e-03 4.99131857e+01] [-9.28743153e-04 9.99995897e-01 -2.70992028e-03 -4.52550934e+00] [ 2.88151194e-03 2.71258638e-03 9.99992169e-01 -1.24537082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764860624 meters 0.10100884269353545 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.25 [[ 9.99995171e-01 1.06633775e-03 -2.91914568e-03 4.99137477e+01] [-1.07373719e-03 9.99996212e-01 -2.53440258e-03 -4.52532473e+00] [ 2.91643209e-03 2.53752474e-03 9.99992528e-01 -1.24609011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824860624 meters 0.1076889467943945 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.53, Z:-1.25 [[ 9.99995037e-01 1.18927594e-03 -2.91757946e-03 4.99142247e+01] [-1.19609704e-03 9.99996553e-01 -2.33730099e-03 -4.52515827e+00] [ 2.91478970e-03 2.34077910e-03 9.99993012e-01 -1.24679207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88486062399997 meters 0.103442323028979 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.52, Z:-1.25 [[ 9.99995153e-01 8.82133692e-04 -2.98582724e-03 4.99145766e+01] [-8.90806341e-04 9.99995385e-01 -2.90452264e-03 -4.52296953e+00] [ 2.98325129e-03 2.90716836e-03 9.99991324e-01 -1.24710602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94486062399997 meters 0.10440036037047254 Centerline is valid? [False, False] Translation: X:49.91, Y:-4.52, Z:-1.25 [[ 9.99994937e-01 8.47906096e-04 -3.06703325e-03 4.99147792e+01] [-8.57171228e-04 9.99995070e-01 -3.02082539e-03 -4.52238095e+00] [ 3.06445675e-03 3.02343907e-03 9.99990734e-01 -1.24713756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00486062399997 meters 0.10568749219591289 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99994572e-01 9.17100638e-04 -3.16464664e-03 4.99152699e+01] [-9.26699623e-04 9.99994971e-01 -3.03306128e-03 -4.52170436e+00] [ 3.16184911e-03 3.03597749e-03 9.99990393e-01 -1.24756856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06486062399998 meters 0.10552917161779508 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99994043e-01 1.03826706e-03 -3.29170971e-03 4.99158961e+01] [-1.04816931e-03 9.99994927e-01 -3.00794403e-03 -4.52114750e+00] [ 3.28856996e-03 3.01137639e-03 9.99990058e-01 -1.24807475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12486062399998 meters 0.10622822918444487 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99993641e-01 1.05035199e-03 -3.40817596e-03 4.99163578e+01] [-1.06094424e-03 9.99994609e-01 -3.10757813e-03 -4.52005334e+00] [ 3.40489354e-03 3.11117425e-03 9.99989364e-01 -1.24846421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18486062399998 meters 0.1013975818431666 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99992545e-01 1.41666999e-03 -3.59201099e-03 4.99171673e+01] [-1.42644488e-03 9.99995283e-01 -2.72018700e-03 -4.52048467e+00] [ 3.58814044e-03 2.72529053e-03 9.99989849e-01 -1.24905358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24486062399998 meters 0.10061178676940007 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99991686e-01 1.61640897e-03 -3.74363640e-03 4.99175356e+01] [-1.62592720e-03 9.99995450e-01 -2.54086184e-03 -4.52068447e+00] [ 3.73951230e-03 2.54692760e-03 9.99989765e-01 -1.24916184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30486062399999 meters 0.10096383151385077 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99990250e-01 2.03485113e-03 -3.91906489e-03 4.99182145e+01] [-2.04295862e-03 9.99995779e-01 -2.06584067e-03 -4.52141787e+00] [ 3.91484467e-03 2.07382701e-03 9.99990187e-01 -1.24959567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364860624 meters 0.10266258805615266 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99990287e-01 2.06907960e-03 -3.89160574e-03 4.99180536e+01] [-2.07681238e-03 9.99995875e-01 -1.98404935e-03 -4.52202719e+00] [ 3.88748453e-03 1.99211221e-03 9.99990459e-01 -1.24944323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424860624 meters 0.10453695263799927 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99989766e-01 2.43596907e-03 -3.81242747e-03 4.99185929e+01] [-2.44106282e-03 9.99996133e-01 -1.33200898e-03 -4.52315200e+00] [ 3.80916800e-03 1.34130172e-03 9.99991846e-01 -1.25044552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484860624 meters 0.1048879047473488 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.52, Z:-1.25 [[ 9.99989374e-01 2.71354913e-03 -3.72681387e-03 4.99187727e+01] [-2.71667724e-03 9.99995962e-01 -8.34546760e-04 -4.52428131e+00] [ 3.72453424e-03 8.44662442e-04 9.99992707e-01 -1.25091103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544860624 meters 0.10087694643224718 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99990293e-01 2.63864821e-03 -3.52877258e-03 4.99179008e+01] [-2.64098473e-03 9.99996296e-01 -6.57638486e-04 -4.52567571e+00] [ 3.52702423e-03 6.66951537e-04 9.99993558e-01 -1.25023401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604860624 meters 0.09843052922786703 Centerline is valid? [False, True] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99990171e-01 2.86551707e-03 -3.38339641e-03 4.99178521e+01] [-2.86599976e-03 9.99995884e-01 -1.37822085e-04 -4.52716031e+00] [ 3.38298755e-03 1.47517543e-04 9.99994267e-01 -1.25055070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66486062399997 meters 0.10536015901820582 Centerline is valid? [True, False] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99990568e-01 2.86100064e-03 -3.26783035e-03 4.99176482e+01] [-2.86099389e-03 9.99995907e-01 6.74057378e-06 -4.52767796e+00] [ 3.26783626e-03 2.60873246e-06 9.99994661e-01 -1.25060482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72486062399997 meters 0.10007150913499639 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99990514e-01 3.00036069e-03 -3.15742229e-03 4.99171133e+01] [-2.99902328e-03 9.99995411e-01 4.28225015e-04 -4.52951937e+00] [ 3.15869263e-03 -4.18751770e-04 9.99994924e-01 -1.25016319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78486062399998 meters 0.10196565974279957 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99993349e-01 -6.26899107e-04 -3.59287133e-03 4.99181278e+01] [ 6.15613760e-04 9.99994877e-01 -3.14128395e-03 -4.53049427e+00] [ 3.59482219e-03 3.13905123e-03 9.99988612e-01 -1.25039851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84486062399998 meters 0.09994213964393783 Centerline is valid? [False, True] Translation: X:49.92, Y:-4.53, Z:-1.25 [[ 9.99994001e-01 -5.06439827e-04 -3.42661231e-03 4.99175469e+01] [ 4.97132296e-04 9.99996187e-01 -2.71655531e-03 -4.53215824e+00] [ 3.42797502e-03 2.71483553e-03 9.99990439e-01 -1.25006716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90486062399998 meters 0.10156742299723319 Centerline is valid? [True, False] Translation: X:49.92, Y:-4.54, Z:-1.25 [[ 9.99995459e-01 -2.09819029e-04 -3.00640123e-03 4.99166258e+01] [ 2.04924712e-04 9.99998654e-01 -1.62818100e-03 -4.53591819e+00] [ 3.00673881e-03 1.62755752e-03 9.99994155e-01 -1.24991591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96486062399998 meters 0.10142389255179372 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.54, Z:-1.25 [[ 9.99995930e-01 -4.62610218e-05 -2.85259998e-03 4.99163914e+01] [ 4.30224179e-05 9.99999355e-01 -1.13536741e-03 -4.53746283e+00] [ 2.85265066e-03 1.13524007e-03 9.99995287e-01 -1.25004721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02486062399998 meters 0.10339178342637034 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.54, Z:-1.25 [[ 9.99995985e-01 3.78509789e-04 -2.80849090e-03 4.99167301e+01] [-3.79462029e-04 9.99999871e-01 -3.38532382e-04 -4.53939462e+00] [ 2.80836240e-03 3.39596738e-04 9.99995999e-01 -1.25063991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084860624 meters 0.10476701276333843 Centerline is valid? [False, False] Translation: X:49.92, Y:-4.54, Z:-1.25 [[ 9.99994996e-01 4.12606409e-04 -3.13656118e-03 4.99175239e+01] [-4.14552487e-04 9.99999722e-01 -6.19824877e-04 -4.53806813e+00] [ 3.13630456e-03 6.21122044e-04 9.99994889e-01 -1.25087801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144860624 meters 0.09927232655604 Centerline is valid? [False, True] Translation: X:49.92, Y:-4.54, Z:-1.25 [[ 9.99993132e-01 7.35314064e-04 -3.63261259e-03 4.99190501e+01] [-7.37765353e-04 9.99999501e-01 -6.73506823e-04 -4.53655165e+00] [ 3.63211553e-03 6.76182213e-04 9.99993175e-01 -1.25168403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204860624 meters 0.0993711333354246 Centerline is valid? [True, True] Translation: X:49.98, Y:-4.54, Z:-1.26 [[ 9.99983191e-01 4.27639737e-03 -3.91524864e-03 4.99779222e+01] [-4.27471369e-03 9.99990767e-01 4.38300093e-04 -4.54253229e+00] [ 3.91708684e-03 -4.21556159e-04 9.99992239e-01 -1.25500167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264860624 meters 0.09673817170665222 Centerline is valid? [True, True] Translation: X:50.04, Y:-4.54, Z:-1.25 [[ 9.99951244e-01 9.18573495e-03 -3.62376874e-03 5.00393286e+01] [-9.18432311e-03 9.99957741e-01 4.06055968e-04 -4.54178389e+00] [ 3.62734553e-03 -3.72754307e-04 9.99993352e-01 -1.25432836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324860624 meters 0.09904429124397637 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.55, Z:-1.26 [[ 9.99927268e-01 1.15078437e-02 -3.60950736e-03 5.00985845e+01] [-1.15064590e-02 9.99933717e-01 4.04148105e-04 -4.55047995e+00] [ 3.61391899e-03 -3.62586062e-04 9.99993404e-01 -1.25656706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38486062399997 meters 0.09921262465170494 Centerline is valid? [True, True] Translation: X:50.16, Y:-4.56, Z:-1.26 [[ 9.99916470e-01 1.23103468e-02 -3.93815868e-03 5.01574453e+01] [-1.23087083e-02 9.99924148e-01 4.40042484e-04 -4.55739918e+00] [ 3.94327703e-03 -3.91532081e-04 9.99992149e-01 -1.25897825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44486062399997 meters 0.09527609595199937 Centerline is valid? [True, True] Translation: X:50.22, Y:-4.56, Z:-1.26 [[ 9.99923372e-01 1.15353968e-02 -4.49276447e-03 5.02171078e+01] [-1.15332590e-02 9.99933364e-01 5.01449965e-04 -4.55715238e+00] [ 4.49824952e-03 -4.49595324e-04 9.99989782e-01 -1.25767880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50486062399997 meters 0.09693296051394769 Centerline is valid? [True, True] Translation: X:50.28, Y:-4.57, Z:-1.26 [[ 9.99929048e-01 1.06186863e-02 -5.39840062e-03 5.02754499e+01] [-1.06155870e-02 9.99943472e-01 6.02443725e-04 -4.56690518e+00] [ 5.40449262e-03 -5.45093789e-04 9.99985247e-01 -1.25955961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56486062399998 meters 0.09442265051940309 Centerline is valid? [True, True] Translation: X:50.34, Y:-4.57, Z:-1.26 [[ 9.99970441e-01 5.85942116e-03 -4.97830169e-03 5.03354011e+01] [-5.85672057e-03 9.99982694e-01 5.56877657e-04 -4.57030926e+00] [ 4.98147852e-03 -5.27704675e-04 9.99987453e-01 -1.25833893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62486062399998 meters 0.09978357380346756 Centerline is valid? [True, True] Translation: X:50.39, Y:-4.59, Z:-1.26 [[ 9.99975441e-01 4.46036268e-03 -5.40572250e-03 5.03928307e+01] [-4.45716234e-03 9.99989884e-01 6.03930261e-04 -4.58731754e+00] [ 5.40836157e-03 -5.79821247e-04 9.99985207e-01 -1.26281679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68486062399998 meters 0.10169988524388021 Centerline is valid? [True, False] Translation: X:50.39, Y:-4.59, Z:-1.26 [[ 9.99978770e-01 4.18463267e-03 -4.99476254e-03 5.03919641e+01] [-4.18146607e-03 9.99991050e-01 6.44257300e-04 -4.58810569e+00] [ 4.99741382e-03 -6.23358192e-04 9.99987319e-01 -1.26271740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74486062399998 meters 0.0983823670034218 Centerline is valid? [False, True] Translation: X:50.39, Y:-4.59, Z:-1.26 [[ 9.99980648e-01 3.96304285e-03 -4.79558130e-03 5.03917095e+01] [-3.96037821e-03 9.99991998e-01 5.65013557e-04 -4.58792848e+00] [ 4.79778210e-03 -5.46010307e-04 9.99988342e-01 -1.26290909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80486062399999 meters 0.10089162438791269 Centerline is valid? [True, False] Translation: X:50.39, Y:-4.59, Z:-1.26 [[ 9.99981999e-01 3.63707179e-03 -4.77222273e-03 5.03915541e+01] [-3.63675608e-03 9.99993384e-01 7.48317123e-05 -4.58665866e+00] [ 4.77246333e-03 -5.74749552e-05 9.99988610e-01 -1.26276694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864860624 meters 0.09972207499935773 Centerline is valid? [False, True] Translation: X:50.39, Y:-4.58, Z:-1.26 [[ 9.99982227e-01 3.26906836e-03 -4.98587984e-03 5.03918703e+01] [-3.27295174e-03 9.99994347e-01 -7.70915650e-04 -4.58387834e+00] [ 4.98333148e-03 7.87220493e-04 9.99987273e-01 -1.26262866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924860624 meters 0.10397937231039354 Centerline is valid? [True, False] Translation: X:50.39, Y:-4.58, Z:-1.26 [[ 9.99980208e-01 3.29705672e-03 -5.35846401e-03 5.03929035e+01] [-3.30370095e-03 9.99993784e-01 -1.23157314e-03 -4.58151495e+00] [ 5.35437014e-03 1.24925153e-03 9.99984885e-01 -1.26307872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984860624 meters 0.09800264681796352 Centerline is valid? [False, True] Translation: X:50.39, Y:-4.58, Z:-1.26 [[ 9.99977392e-01 3.44786690e-03 -5.77305276e-03 5.03940008e+01] [-3.45726017e-03 9.99992715e-01 -1.61790098e-03 -4.57940219e+00] [ 5.76743240e-03 1.63782335e-03 9.99982027e-01 -1.26348122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044860624 meters 0.09487116823393477 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.58, Z:-1.26 [[ 9.99976104e-01 3.75815430e-03 -5.80232133e-03 5.04528669e+01] [-3.75453339e-03 9.99992750e-01 6.34811215e-04 -4.58076724e+00] [ 5.80466498e-03 -6.13011036e-04 9.99982965e-01 -1.26469195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10486062399997 meters 0.09559993939056785 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.59, Z:-1.27 [[ 9.99972944e-01 3.26842024e-03 -6.59007661e-03 5.05113535e+01] [-3.26374016e-03 9.99994414e-01 7.20800270e-04 -4.58864911e+00] [ 6.59239568e-03 -6.99272470e-04 9.99978025e-01 -1.26659705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16486062399997 meters 0.0969068512192098 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99983228e-01 8.30198522e-04 -5.73182081e-03 5.05706440e+01] [-8.26611735e-04 9.99999461e-01 6.28108190e-04 -4.59846822e+00] [ 5.73233917e-03 -6.23359665e-04 9.99983376e-01 -1.26695134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22486062399997 meters 0.10148855188785448 Centerline is valid? [True, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99985753e-01 5.96335055e-04 -5.30449537e-03 5.05694931e+01] [-5.92307885e-04 9.99999535e-01 7.60737950e-04 -4.59979809e+00] [ 5.30494656e-03 -7.57585217e-04 9.99985642e-01 -1.26654428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28486062399998 meters 0.10193784316594935 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99987530e-01 4.27843916e-04 -4.97562658e-03 5.05688359e+01] [-4.23338666e-04 9.99999500e-01 9.06481683e-04 -4.60069669e+00] [ 4.97601192e-03 -9.04364004e-04 9.99987211e-01 -1.26645514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34486062399998 meters 0.10482436867264287 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99987581e-01 3.69780702e-04 -4.97008682e-03 5.05690694e+01] [-3.65750558e-04 9.99999604e-01 8.11764401e-04 -4.60009433e+00] [ 4.97038502e-03 -8.09936508e-04 9.99987320e-01 -1.26679282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40486062399998 meters 0.10080389413692735 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99988513e-01 1.61324462e-04 -4.79045841e-03 5.05684751e+01] [-1.58150818e-04 9.99999768e-01 6.62864373e-04 -4.60006011e+00] [ 4.79056424e-03 -6.62099144e-04 9.99988306e-01 -1.26645075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46486062399998 meters 0.10531685613436802 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99989229e-01 -1.45763571e-05 -4.64129399e-03 5.05682239e+01] [ 1.69082775e-05 9.99999874e-01 5.02390095e-04 -4.59958283e+00] [ 4.64128608e-03 -5.02463160e-04 9.99989103e-01 -1.26649594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52486062399998 meters 0.10420954062856105 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99989112e-01 -2.62674833e-04 -4.65913705e-03 5.05682341e+01] [ 2.62965389e-04 9.99999964e-01 6.17502194e-05 -4.59816642e+00] [ 4.65912066e-03 -6.29747388e-05 9.99989144e-01 -1.26649413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584860624 meters 0.10786789937044931 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99988242e-01 -1.58475415e-04 -4.84671929e-03 5.05688902e+01] [ 1.58528626e-04 9.99999987e-01 1.05946421e-05 -4.59748216e+00] [ 4.84671755e-03 -1.13628612e-05 9.99988255e-01 -1.26687314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644860624 meters 0.10747252154149028 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99988492e-01 -4.30624667e-05 -4.79723777e-03 5.05690038e+01] [ 4.40247235e-05 9.99999979e-01 2.00480181e-04 -4.59773977e+00] [ 4.79722904e-03 -2.00689071e-04 9.99988473e-01 -1.26717675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704860624 meters 0.10783467748235485 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99988276e-01 3.96916050e-04 -4.82610291e-03 5.05694680e+01] [-3.92582759e-04 9.99999519e-01 8.98800219e-04 -4.59916586e+00] [ 4.82645734e-03 -8.96895037e-04 9.99987950e-01 -1.26773487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764860624 meters 0.11148944901375649 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99990182e-01 3.45761086e-04 -4.41784465e-03 5.05682686e+01] [-3.39609356e-04 9.99998972e-01 1.39314764e-03 -4.60178477e+00] [ 4.41832180e-03 -1.39163362e-03 9.99989271e-01 -1.26716582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824860624 meters 0.11294591737685616 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99991136e-01 4.06324038e-04 -4.19073905e-03 5.05677442e+01] [-3.99003500e-04 9.99998393e-01 1.74752525e-03 -4.60340050e+00] [ 4.19144238e-03 -1.74583765e-03 9.99989692e-01 -1.26701537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88486062399997 meters 0.11535453841358909 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.61, Z:-1.27 [[ 9.99990985e-01 6.88963476e-04 -4.18997155e-03 5.05678178e+01] [-6.79369387e-04 9.99997145e-01 2.29076676e-03 -4.60503607e+00] [ 4.19153784e-03 -2.28789957e-03 9.99988598e-01 -1.26707427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94486062399997 meters 0.13065755768958845 Centerline is valid? [False, False] Translation: X:50.65, Y:-4.62, Z:-1.27 [[ 9.99990298e-01 1.00338015e-03 -4.28913931e-03 5.06484153e+01] [-9.95388966e-04 9.99997766e-01 1.86484999e-03 -4.61591967e+00] [ 4.29100088e-03 -1.86056254e-03 9.99989063e-01 -1.26813819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00486062399997 meters 0.11862134488994713 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.61, Z:-1.27 [[ 9.99991748e-01 7.07327297e-05 -4.06194755e-03 5.05657171e+01] [-6.61227563e-05 9.99999354e-01 1.13504010e-03 -4.60597278e+00] [ 4.06202521e-03 -1.13476215e-03 9.99991106e-01 -1.26520640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06486062399998 meters 0.10166481409067069 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.61, Z:-1.27 [[ 9.99990494e-01 4.36917054e-04 -4.33826311e-03 5.05666427e+01] [-4.30767235e-04 9.99998901e-01 1.41840960e-03 -4.60609843e+00] [ 4.33887807e-03 -1.41652734e-03 9.99989584e-01 -1.26570427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12486062399998 meters 0.10410140754275668 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99988235e-01 5.09819825e-04 -4.82379115e-03 5.05674233e+01] [-5.05387254e-04 9.99999449e-01 9.20072010e-04 -4.60431254e+00] [ 4.82425757e-03 -9.17623303e-04 9.99987942e-01 -1.26550667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18486062399998 meters 0.10186185917496818 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99985680e-01 7.38235628e-04 -5.30039872e-03 5.05681501e+01] [-7.34487783e-04 9.99999479e-01 7.08999140e-04 -4.60346147e+00] [ 5.30091937e-03 -7.05095909e-04 9.99985701e-01 -1.26525955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24486062399998 meters 0.10115097913817733 Centerline is valid? [False, False] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99984237e-01 9.95500168e-04 -5.52582637e-03 5.05688927e+01] [-9.90900788e-04 9.99999160e-01 8.35017817e-04 -4.60338193e+00] [ 5.52665299e-03 -8.29529108e-04 9.99984384e-01 -1.26564916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30486062399999 meters 0.09237128033449232 Centerline is valid? [False, True] Translation: X:50.57, Y:-4.60, Z:-1.27 [[ 9.99982338e-01 1.30875587e-03 -5.79745710e-03 5.05695626e+01] [-1.30280424e-03 9.99998621e-01 1.03025100e-03 -4.60340982e+00] [ 5.79879745e-03 -1.02267985e-03 9.99982664e-01 -1.26585466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364860624 meters 0.09262532755853888 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.61, Z:-1.27 [[ 9.99982062e-01 3.67399691e-03 -4.73050038e-03 5.06291788e+01] [-3.67184798e-03 9.99993152e-01 4.62875799e-04 -4.61055070e+00] [ 4.73216859e-03 -4.45497818e-04 9.99988704e-01 -1.26831599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424860624 meters 0.09078286694271298 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.61, Z:-1.27 [[ 9.99971312e-01 5.30756872e-03 -5.40422407e-03 5.06885103e+01] [-5.30479207e-03 9.99985790e-01 5.27997230e-04 -4.61420157e+00] [ 5.40694966e-03 -4.99313798e-04 9.99985258e-01 -1.27006378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484860624 meters 0.09118657851222021 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.62, Z:-1.27 [[ 9.99970206e-01 5.25115521e-03 -5.65800410e-03 5.07468720e+01] [-5.24811686e-03 9.99986076e-01 5.51714424e-04 -4.62055970e+00] [ 5.66082246e-03 -5.22004119e-04 9.99983841e-01 -1.27166222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544860624 meters 0.0913913756535793 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.63, Z:-1.27 [[ 9.99970019e-01 4.60332376e-03 -6.22665647e-03 5.08054277e+01] [-4.59963314e-03 9.99989237e-01 6.06903743e-04 -4.62709416e+00] [ 6.22938323e-03 -5.78245211e-04 9.99980430e-01 -1.27406350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60486062399997 meters 0.0896604013066784 Centerline is valid? [True, True] Translation: X:50.87, Y:-4.63, Z:-1.27 [[ 9.99974070e-01 3.42903242e-03 -6.33257352e-03 5.08651804e+01] [-3.42518841e-03 9.99993943e-01 6.17767655e-04 -4.62980058e+00] [ 6.33465351e-03 -5.96061378e-04 9.99979758e-01 -1.27450400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66486062399997 meters 0.09475672132689322 Centerline is valid? [True, True] Translation: X:50.92, Y:-4.64, Z:-1.28 [[ 9.99983700e-01 8.92960884e-04 -5.63939388e-03 5.09228778e+01] [-8.89873827e-04 9.99999453e-01 5.49894812e-04 -4.64366540e+00] [ 5.63988183e-03 -5.44867499e-04 9.99983947e-01 -1.27657541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72486062399997 meters 0.0910872298871238 Centerline is valid? [True, True] Translation: X:50.98, Y:-4.64, Z:-1.28 [[ 9.99986778e-01 -9.55978568e-04 -5.05270540e-03 5.09833715e+01] [ 9.58481101e-04 9.99999419e-01 4.92887392e-04 -4.64163179e+00] [ 5.05223128e-03 -4.97723798e-04 9.99987114e-01 -1.27523410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78486062399998 meters 0.09322808312062007 Centerline is valid? [True, True] Translation: X:51.04, Y:-4.65, Z:-1.28 [[ 9.99985314e-01 -2.71016228e-03 -4.69328667e-03 5.10432067e+01] [ 2.71234224e-03 9.99996217e-01 4.58180828e-04 -4.65080221e+00] [ 4.69202717e-03 -4.70903899e-04 9.99988882e-01 -1.27805757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84486062399998 meters 0.0987103645857799 Centerline is valid? [True, True] Translation: X:51.10, Y:-4.66, Z:-1.28 [[ 9.99981677e-01 -3.36782842e-03 -5.03029247e-03 5.11011416e+01] [ 3.37034342e-03 9.99994200e-01 4.91578442e-04 -4.66394035e+00] [ 5.02860774e-03 -5.08523248e-04 9.99987227e-01 -1.28181791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90486062399998 meters 0.09690102848579571 Centerline is valid? [True, True] Translation: X:51.16, Y:-4.67, Z:-1.28 [[ 9.99985172e-01 -2.83253820e-03 -4.65102164e-03 5.11605112e+01] [ 2.83465424e-03 9.99995882e-01 4.48432570e-04 -4.66585978e+00] [ 4.64973228e-03 -4.61609959e-04 9.99989083e-01 -1.28237739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96486062399998 meters 0.09614669587830617 Centerline is valid? [True, True] Translation: X:51.22, Y:-4.67, Z:-1.28 [[ 9.99983635e-01 -2.67464533e-03 -5.05726856e-03 5.12198841e+01] [ 2.67716668e-03 9.99996295e-01 4.91854530e-04 -4.66938191e+00] [ 5.05593428e-03 -5.05385632e-04 9.99987091e-01 -1.28293846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02486062399998 meters 0.09558459326134751 Centerline is valid? [True, True] Translation: X:51.28, Y:-4.67, Z:-1.28 [[ 9.99977063e-01 -3.81959231e-03 -5.59321111e-03 5.12787938e+01] [ 3.82269090e-03 9.99992546e-01 5.43406192e-04 -4.67340103e+00] [ 5.59109383e-03 -5.64774845e-04 9.99984210e-01 -1.28397459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084860624 meters 0.09677474427437545 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.68, Z:-1.29 [[ 9.99965337e-01 -4.18766008e-03 -7.19644290e-03 5.13382559e+01] [ 4.19280243e-03 9.99990965e-01 6.99628922e-04 -4.68102931e+00] [ 7.19344808e-03 -7.29777933e-04 9.99973861e-01 -1.28693776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144860624 meters 0.09336146828707906 Centerline is valid? [True, True] Translation: X:51.40, Y:-4.68, Z:-1.29 [[ 9.99971465e-01 -3.64955219e-03 -6.61443144e-03 5.13971845e+01] [ 3.65387625e-03 9.99993119e-01 6.41764679e-04 -4.67913714e+00] [ 6.61204377e-03 -6.65914680e-04 9.99977918e-01 -1.28620063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204860624 meters 0.0960878226498942 Centerline is valid? [True, True] Translation: X:51.46, Y:-4.69, Z:-1.29 [[ 9.99978511e-01 -2.73489543e-03 -5.95793495e-03 5.14552896e+01] [ 2.73838739e-03 9.99996084e-01 5.78022130e-04 -4.68792665e+00] [ 5.95633079e-03 -5.94324843e-04 9.99982084e-01 -1.28958171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264860624 meters 0.09356093305801938 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.69, Z:-1.29 [[ 9.99981173e-01 3.13569765e-04 -6.12816977e-03 5.15164268e+01] [-3.09925083e-04 9.99999775e-01 5.95682916e-04 -4.68564261e+00] [ 6.12835517e-03 -5.93772428e-04 9.99981045e-01 -1.29008610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324860624 meters 0.09372649734152373 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.69, Z:-1.29 [[ 9.99975632e-01 2.66412559e-03 -6.45281320e-03 5.15762778e+01] [-2.66013390e-03 9.99996265e-01 6.27101311e-04 -4.68984789e+00] [ 6.45445978e-03 -6.09920682e-04 9.99978984e-01 -1.29131546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38486062399997 meters 0.09099137687431638 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.69, Z:-1.29 [[ 9.99969693e-01 4.90222543e-03 -6.04817425e-03 5.16374187e+01] [-4.89875933e-03 9.99987828e-01 5.87762225e-04 -4.68701928e+00] [ 6.05098197e-03 -5.58115862e-04 9.99981537e-01 -1.29183144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44486062399997 meters 0.08978777054158278 Centerline is valid? [True, True] Translation: X:51.70, Y:-4.69, Z:-1.29 [[ 9.99965531e-01 6.34271048e-03 -5.35789485e-03 5.16974096e+01] [-6.34001296e-03 9.99979767e-01 5.20300552e-04 -4.68842351e+00] [ 5.36108656e-03 -4.86313495e-04 9.99985511e-01 -1.29334709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50486062399997 meters 0.08819237326585945 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.69, Z:-1.29 [[ 9.99968768e-01 6.74982602e-03 -4.11128209e-03 5.17562111e+01] [-6.74824736e-03 9.99977151e-01 3.97734160e-04 -4.69069491e+00] [ 4.11387279e-03 -3.69977790e-04 9.99991470e-01 -1.29373752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56486062399998 meters 0.08879035634421452 Centerline is valid? [True, True] Translation: X:51.81, Y:-4.70, Z:-1.30 [[ 9.99966209e-01 6.74705093e-03 -4.69668589e-03 5.18141468e+01] [-6.74499104e-03 9.99977149e-01 4.54286032e-04 -4.69826509e+00] [ 4.69964365e-03 -4.22591577e-04 9.99988867e-01 -1.29573773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62486062399998 meters 0.09118348262945063 Centerline is valid? [True, True] Translation: X:51.87, Y:-4.71, Z:-1.30 [[ 9.99974649e-01 5.46804274e-03 -4.56098237e-03 5.18716799e+01] [-5.46608667e-03 9.99984963e-01 4.41225101e-04 -4.70863447e+00] [ 4.56332643e-03 -4.16283190e-04 9.99989501e-01 -1.29812673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68486062399998 meters 0.0924656186721537 Centerline is valid? [True, True] Translation: X:51.93, Y:-4.72, Z:-1.30 [[ 9.99973917e-01 4.96184184e-03 -5.24842901e-03 5.19302511e+01] [-4.95924717e-03 9.99987574e-01 5.07269402e-04 -4.71745002e+00] [ 5.25088078e-03 -4.81227914e-04 9.99986098e-01 -1.30045519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74486062399998 meters 0.09448194452287355 Centerline is valid? [True, True] Translation: X:51.99, Y:-4.73, Z:-1.30 [[ 9.99978096e-01 3.76686932e-03 -5.44233865e-03 5.19882202e+01] [-3.76406089e-03 9.99992777e-01 5.26184992e-04 -4.72660072e+00] [ 5.44428141e-03 -5.05688172e-04 9.99985052e-01 -1.30222919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80486062399999 meters 0.08949522394357816 Centerline is valid? [True, True] Translation: X:52.05, Y:-4.72, Z:-1.30 [[ 9.99978496e-01 3.38295522e-03 -5.61804910e-03 5.20477575e+01] [-3.37996088e-03 9.99994141e-01 5.42394358e-04 -4.72107524e+00] [ 5.61985108e-03 -5.23393909e-04 9.99984072e-01 -1.30015732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864860624 meters 0.08991432799653631 Centerline is valid? [True, True] Translation: X:52.11, Y:-4.73, Z:-1.30 [[ 9.99961576e-01 6.84588399e-03 -5.47551479e-03 5.21063079e+01] [-6.84308936e-03 9.99976446e-01 5.28958620e-04 -4.72553953e+00] [ 5.47900701e-03 -4.91468858e-04 9.99984869e-01 -1.30208262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924860624 meters 0.08934208858220431 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.73, Z:-1.30 [[ 9.99914764e-01 1.23647964e-02 -4.19249932e-03 5.21659772e+01] [-1.23632054e-02 9.99923491e-01 4.05191301e-04 -4.72622738e+00] [ 4.19718866e-03 -3.53324034e-04 9.99991129e-01 -1.30417926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984860624 meters 0.08798455723525923 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.73, Z:-1.31 [[ 9.99853857e-01 1.64533176e-02 -4.64244100e-03 5.22264988e+01] [-1.64514128e-02 9.99864566e-01 4.48191768e-04 -4.72679690e+00] [ 4.64918650e-03 -3.71751554e-04 9.99989123e-01 -1.30531962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044860624 meters 0.08550693028161527 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.72, Z:-1.30 [[ 9.99773157e-01 2.11358888e-02 -2.62862499e-03 5.22875080e+01] [-2.11352935e-02 9.99776592e-01 2.54021789e-04 -4.72456161e+00] [ 2.63340671e-03 -1.98407405e-04 9.99996513e-01 -1.30469805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10486062399997 meters 0.08599479634328976 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.73, Z:-1.31 [[ 9.99706571e-01 2.40133717e-02 -3.18282853e-03 5.23459398e+01] [-2.40125167e-02 9.99711611e-01 3.06596567e-04 -4.72882071e+00] [ 3.18927305e-03 -2.30078880e-04 9.99994888e-01 -1.30757698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16486062399997 meters 0.08476529872455442 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.73, Z:-1.31 [[ 9.99621877e-01 2.72378097e-02 -3.76904568e-03 5.24064947e+01] [-2.72366297e-02 9.99628948e-01 3.64068286e-04 -4.72919936e+00] [ 3.77756359e-03 -2.61274521e-04 9.99992831e-01 -1.30972132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22486062399997 meters 0.08253464753361175 Centerline is valid? [True, True] Translation: X:52.47, Y:-4.73, Z:-1.31 [[ 9.99546740e-01 2.97614463e-02 -4.53561366e-03 5.24668810e+01] [-2.97597641e-02 9.99556984e-01 4.37944439e-04 -4.72777321e+00] [ 4.54663817e-03 -3.02767144e-04 9.99989618e-01 -1.31026291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28486062399998 meters 0.08122471286183877 Centerline is valid? [True, True] Translation: X:52.53, Y:-4.73, Z:-1.31 [[ 9.99425245e-01 3.36660345e-02 -3.97216490e-03 5.25278270e+01] [-3.36647740e-02 9.99433107e-01 3.83786595e-04 -4.72741943e+00] [ 3.98283368e-03 -2.49843978e-04 9.99992037e-01 -1.31067423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34486062399998 meters 0.08082922518162632 Centerline is valid? [True, True] Translation: X:52.59, Y:-4.73, Z:-1.31 [[ 9.99297224e-01 3.74424507e-02 -1.76689922e-03 5.25867909e+01] [-3.74422080e-02 9.99298780e-01 1.70270327e-04 -4.73054374e+00] [ 1.77203557e-03 -1.03994056e-04 9.99998425e-01 -1.31167164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40486062399998 meters 0.0812318695676042 Centerline is valid? [True, True] Translation: X:52.64, Y:-4.74, Z:-1.31 [[ 9.99271584e-01 3.81291174e-02 -1.57209736e-03 5.26445312e+01] [-3.81289285e-02 9.99272817e-01 1.50006381e-04 -4.73675724e+00] [ 1.57667377e-03 -8.99547258e-05 9.99998753e-01 -1.31341355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46486062399998 meters 0.08045376151236533 Centerline is valid? [True, True] Translation: X:52.70, Y:-4.74, Z:-1.31 [[ 9.99197504e-01 4.00396585e-02 -1.08372862e-03 5.27047971e+01] [-4.00395689e-02 9.99198089e-01 1.04251017e-04 -4.73844545e+00] [ 1.08703374e-03 -6.07753295e-05 9.99999407e-01 -1.31352480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52486062399998 meters 0.08134564347382292 Centerline is valid? [True, True] Translation: X:52.76, Y:-4.75, Z:-1.32 [[ 9.99130760e-01 4.16721600e-02 -1.07487540e-03 5.27621620e+01] [-4.16720744e-02 9.99131337e-01 1.01926428e-04 -4.74508163e+00] [ 1.07818919e-03 -5.70455420e-05 9.99999417e-01 -1.31717188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584860624 meters 0.07766769762968724 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.74, Z:-1.32 [[ 9.99002137e-01 4.46227517e-02 -1.88131785e-03 5.28226612e+01] [-4.46224904e-02 9.99003904e-01 1.80654797e-04 -4.73955978e+00] [ 1.88750520e-03 -9.65254406e-05 9.99998214e-01 -1.31534012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644860624 meters 0.07732078626994128 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.74, Z:-1.32 [[ 9.98860545e-01 4.76629000e-02 -2.42056382e-03 5.28825745e+01] [-4.76624750e-02 9.98863471e-01 2.32977208e-04 -4.74253022e+00] [ 2.42891715e-03 -1.17341679e-04 9.99997043e-01 -1.31872991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704860624 meters 0.07536723186429281 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.74, Z:-1.32 [[ 9.98743124e-01 5.00558640e-02 -2.56549534e-03 5.29427850e+01] [-5.00553957e-02 9.98746413e-01 2.46464561e-04 -4.74111949e+00] [ 2.57461627e-03 -1.17737901e-04 9.99996679e-01 -1.31767892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764860624 meters 0.07511278023126942 Centerline is valid? [True, True] Translation: X:53.00, Y:-4.75, Z:-1.32 [[ 9.98537845e-01 5.39987605e-02 -2.51110994e-03 5.30017504e+01] [-5.39983245e-02 9.98540997e-01 2.41152947e-04 -4.74590257e+00] [ 2.52046818e-03 -1.05204614e-04 9.99996818e-01 -1.32049817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824860624 meters 0.07686811525658445 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.76, Z:-1.33 [[ 9.98368177e-01 5.70508559e-02 -2.48655971e-03 5.30601656e+01] [-5.70504381e-02 9.98371269e-01 2.38725722e-04 -4.75714001e+00] [ 2.49612928e-03 -9.64768434e-05 9.99996880e-01 -1.32586550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88486062399997 meters 0.07392368011250748 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.75, Z:-1.32 [[ 9.98124972e-01 6.11930802e-02 -1.39537688e-03 5.31210103e+01] [-6.11929527e-02 9.98125946e-01 1.33983473e-04 -4.75240207e+00] [ 1.40096073e-03 -4.83450183e-05 9.99999017e-01 -1.32239882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94486062399997 meters 0.07354064855426709 Centerline is valid? [True, True] Translation: X:53.18, Y:-4.76, Z:-1.32 [[ 9.98011942e-01 6.29750030e-02 -2.51266089e-03 5.31795669e+01] [-6.29746078e-02 9.98015102e-01 2.36162257e-04 -4.75680795e+00] [ 2.52254583e-03 -7.74589181e-05 9.99996815e-01 -1.32401462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00486062399997 meters 0.07316427175921145 Centerline is valid? [True, True] Translation: X:53.24, Y:-4.76, Z:-1.32 [[ 9.97905556e-01 6.45673885e-02 -3.94393179e-03 5.32382801e+01] [-6.45664196e-02 9.97913342e-01 3.72627540e-04 -4.76041129e+00] [ 3.95976174e-03 -1.17201537e-04 9.99992153e-01 -1.32488483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06486062399998 meters 0.073580697315307 Centerline is valid? [True, True] Translation: X:53.30, Y:-4.77, Z:-1.33 [[ 9.97829207e-01 6.56603858e-02 -5.05841417e-03 5.32951068e+01] [-6.56587831e-02 9.97842017e-01 4.82433197e-04 -4.76904217e+00] [ 5.07917495e-03 -1.49256616e-04 9.99987090e-01 -1.32806065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12486062399998 meters 0.07351784372159464 Centerline is valid? [True, True] Translation: X:53.35, Y:-4.78, Z:-1.33 [[ 9.97869943e-01 6.50141598e-02 -5.36056401e-03 5.33530248e+01] [-6.50123522e-02 9.97884328e-01 5.10961409e-04 -4.77577782e+00] [ 5.38244254e-03 -1.61370157e-04 9.99985502e-01 -1.32865601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18486062399998 meters 0.07377558269587484 Centerline is valid? [True, True] Translation: X:53.41, Y:-4.79, Z:-1.33 [[ 9.97880861e-01 6.49224970e-02 -4.34248975e-03 5.34096210e+01] [-6.49213128e-02 9.97890301e-01 4.13255740e-04 -4.78630084e+00] [ 4.36015800e-03 -1.30459858e-04 9.99990486e-01 -1.33164792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24486062399998 meters 0.07376723481963203 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.79, Z:-1.33 [[ 9.97941847e-01 6.40148578e-02 -3.76400788e-03 5.34670094e+01] [-6.40139808e-02 9.97948939e-01 3.53147701e-04 -4.79410067e+00] [ 3.77889438e-03 -1.11471741e-04 9.99992854e-01 -1.33239976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30486062399999 meters 0.07392607570492375 Centerline is valid? [True, True] Translation: X:53.52, Y:-4.80, Z:-1.33 [[ 9.98031430e-01 6.25675421e-02 -4.30896274e-03 5.35249301e+01] [-6.25663771e-02 9.98040723e-01 4.04767094e-04 -4.80252015e+00] [ 4.32584557e-03 -1.34374094e-04 9.99990634e-01 -1.33346713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364860624 meters 0.0735242281717984 Centerline is valid? [True, True] Translation: X:53.58, Y:-4.81, Z:-1.33 [[ 9.98250547e-01 5.89786782e-02 -4.16667480e-03 5.35841237e+01] [-5.89775410e-02 9.98259232e-01 3.95379502e-04 -4.81111367e+00] [ 4.18274055e-03 -1.48947570e-04 9.99991241e-01 -1.33147599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424860624 meters 0.07501173190564447 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.83, Z:-1.33 [[ 9.98426930e-01 5.58876664e-02 -4.49818240e-03 5.36415186e+01] [-5.58863121e-02 9.98437048e-01 4.26306100e-04 -4.82626797e+00] [ 4.51497721e-03 -1.74248666e-04 9.99989792e-01 -1.33492464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484860624 meters 0.07647489318114262 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.84, Z:-1.34 [[ 9.98644918e-01 5.18867259e-02 -4.01181250e-03 5.36993951e+01] [-5.18856158e-02 9.98652962e-01 3.80376379e-04 -4.84248026e+00] [ 4.02614492e-03 -1.71705576e-04 9.99991880e-01 -1.33732299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544860624 meters 0.07579306018589821 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.85, Z:-1.34 [[ 9.98828027e-01 4.81536211e-02 -4.87875163e-03 5.37588143e+01] [-4.81519328e-02 9.98839916e-01 4.62992104e-04 -4.84991138e+00] [ 4.89538661e-03 -2.27528170e-04 9.99987992e-01 -1.33612973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60486062399997 meters 0.07748784490679074 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.86, Z:-1.34 [[ 9.99011019e-01 4.40848193e-02 -5.78897178e-03 5.38171000e+01] [-4.40823728e-02 9.99027749e-01 5.49591195e-04 -4.86411023e+00] [ 5.80757207e-03 -2.93856048e-04 9.99983093e-01 -1.33952275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66486062399997 meters 0.07932697451589418 Centerline is valid? [True, True] Translation: X:53.88, Y:-4.88, Z:-1.34 [[ 9.99253634e-01 3.83950689e-02 -4.24191688e-03 5.38764558e+01] [-3.83937038e-02 9.99262609e-01 4.02816037e-04 -4.87805548e+00] [ 4.25425508e-03 -2.39652489e-04 9.99990922e-01 -1.34135284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72486062399997 meters 0.08112160261600462 Centerline is valid? [True, True] Translation: X:53.94, Y:-4.89, Z:-1.34 [[ 9.99394291e-01 3.44697067e-02 -4.78440093e-03 5.39362853e+01] [-3.44679254e-02 9.99405701e-01 4.54292349e-04 -4.88987093e+00] [ 4.79721690e-03 -2.89108805e-04 9.99988451e-01 -1.34432800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78486062399998 meters 0.08227625614789222 Centerline is valid? [True, True] Translation: X:54.00, Y:-4.90, Z:-1.35 [[ 9.99549474e-01 2.97170583e-02 -4.21258077e-03 5.39959253e+01] [-2.97156356e-02 9.99558313e-01 3.99915473e-04 -4.90028904e+00] [ 4.22260444e-03 -2.74555785e-04 9.99991047e-01 -1.34518971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84486062399998 meters 0.08464004177903169 Centerline is valid? [True, True] Translation: X:54.06, Y:-4.91, Z:-1.35 [[ 9.99670128e-01 2.54322083e-02 -3.58304879e-03 5.40554691e+01] [-2.54311517e-02 9.99676518e-01 3.40140763e-04 -4.91225845e+00] [ 3.59054027e-03 -2.48907502e-04 9.99993523e-01 -1.34733176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90486062399998 meters 0.08500334707586395 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.92, Z:-1.35 [[ 9.99787267e-01 2.03801877e-02 -3.17310040e-03 5.41158986e+01] [-2.03793334e-02 9.99792274e-01 3.01338017e-04 -4.91950748e+00] [ 3.17858259e-03 -2.36608241e-04 9.99994920e-01 -1.34756764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96486062399998 meters 0.08738510632974784 Centerline is valid? [True, True] Translation: X:54.17, Y:-4.93, Z:-1.35 [[ 9.99857636e-01 1.67315313e-02 -2.18268498e-03 5.41746824e+01] [-1.67311194e-02 9.99860004e-01 2.06817299e-04 -4.92961122e+00] [ 2.18583979e-03 -1.70269092e-04 9.99997597e-01 -1.34853493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02486062399998 meters 0.08456568113636095 Centerline is valid? [True, True] Translation: X:54.23, Y:-4.93, Z:-1.35 [[ 9.99872351e-01 1.59583878e-02 -7.82079126e-04 5.42335028e+01] [-1.59583361e-02 9.99872655e-01 7.23102564e-05 -4.92743823e+00] [ 7.83133487e-04 -5.98203446e-05 9.99999692e-01 -1.34725860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084860624 meters 0.0854565790084409 Centerline is valid? [True, True] Translation: X:54.29, Y:-4.93, Z:-1.35 [[ 9.99869417e-01 1.60548374e-02 -1.84128872e-03 5.42923383e+01] [-1.60545458e-02 9.99871102e-01 1.73060416e-04 -4.93236213e+00] [ 1.84382984e-03 -1.43476763e-04 9.99998290e-01 -1.34972156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144860624 meters 0.08555039434359715 Centerline is valid? [True, True] Translation: X:54.35, Y:-4.93, Z:-1.35 [[ 9.99866962e-01 1.61784841e-02 -2.07724057e-03 5.43514185e+01] [-1.61781131e-02 9.99869107e-01 1.95292717e-04 -4.93402230e+00] [ 2.08012821e-03 -1.61660902e-04 9.99997823e-01 -1.35175260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204860624 meters 0.0885437564160262 Centerline is valid? [True, True] Translation: X:54.41, Y:-4.94, Z:-1.36 [[ 9.99872444e-01 1.58792962e-02 -1.71558050e-03 5.44084390e+01] [-1.58790449e-02 9.99873907e-01 1.59990180e-04 -4.94300612e+00] [ 1.71790471e-03 -1.32727992e-04 9.99998516e-01 -1.35605619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264860624 meters 0.08884857817684357 Centerline is valid? [True, True] Translation: X:54.47, Y:-4.94, Z:-1.36 [[ 9.99891124e-01 1.46488948e-02 -1.77506342e-03 5.44681778e+01] [-1.46486210e-02 9.99892689e-01 1.67194619e-04 -4.94469895e+00] [ 1.77732215e-03 -1.41174185e-04 9.99998411e-01 -1.35623881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324860624 meters 0.0877680144230023 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.95, Z:-1.36 [[ 9.99899667e-01 1.41033185e-02 -1.32404518e-03 5.45271469e+01] [-1.41031670e-02 9.99900538e-01 1.23706674e-04 -4.94595420e+00] [ 1.32565816e-03 -1.05021032e-04 9.99999116e-01 -1.35715489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38486062399997 meters 0.08960268632690042 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.95, Z:-1.36 [[ 9.99921006e-01 1.23268449e-02 -2.45590908e-03 5.45873006e+01] [-1.23263116e-02 9.99924001e-01 2.32152447e-04 -4.95128954e+00] [ 2.45858414e-03 -2.01861807e-04 9.99996957e-01 -1.36127432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44486062399997 meters 0.0896347667027499 Centerline is valid? [True, True] Translation: X:54.65, Y:-4.95, Z:-1.36 [[ 9.99932841e-01 1.14224515e-02 -1.95974513e-03 5.46461546e+01] [-1.14221133e-02 9.99934749e-01 1.83669182e-04 -4.95440717e+00] [ 1.96171521e-03 -1.61272416e-04 9.99998063e-01 -1.36205179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50486062399997 meters 0.08966808324224472 Centerline is valid? [True, True] Translation: X:54.71, Y:-4.95, Z:-1.36 [[ 9.99942097e-01 1.07321306e-02 -7.89688699e-04 5.47054487e+01] [-1.07320762e-02 9.99942407e-01 7.30883450e-05 -4.95406730e+00] [ 7.90427612e-04 -6.46091138e-05 9.99999686e-01 -1.36200588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56486062399998 meters 0.09089305199278756 Centerline is valid? [True, True] Translation: X:54.76, Y:-4.96, Z:-1.36 [[ 9.99936319e-01 1.12666428e-02 -6.48368683e-04 5.47647999e+01] [-1.12666062e-02 9.99936528e-01 6.00938825e-05 -4.95696112e+00] [ 6.49004586e-04 -5.27851411e-05 9.99999788e-01 -1.36412951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62486062399998 meters 0.09049163144237991 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.96, Z:-1.37 [[ 9.99925140e-01 1.22333066e-02 -2.47486320e-04 5.48243556e+01] [-1.22333014e-02 9.99925170e-01 2.22508509e-05 -4.95797913e+00] [ 2.47740002e-04 -1.92216105e-05 9.99999969e-01 -1.36572883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68486062399998 meters 0.08866162729160684 Centerline is valid? [True, True] Translation: X:54.89, Y:-4.95, Z:-1.37 [[ 9.99894476e-01 1.45199086e-02 4.57342994e-04 5.48854694e+01] [-1.45198902e-02 9.99894580e-01 -4.34789663e-05 -4.95333253e+00] [-4.57926092e-04 3.68338081e-05 9.99999894e-01 -1.36623057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74486062399998 meters 0.08989862083709978 Centerline is valid? [True, True] Translation: X:54.94, Y:-4.96, Z:-1.37 [[ 9.99868216e-01 1.62324239e-02 2.43717027e-04 5.49444163e+01] [-1.62324186e-02 9.99868245e-01 -2.36956657e-05 -4.95790992e+00] [-2.44069554e-04 1.97364262e-05 9.99999970e-01 -1.36971996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80486062399999 meters 0.09029521683648295 Centerline is valid? [True, True] Translation: X:55.00, Y:-4.96, Z:-1.37 [[ 9.99868413e-01 1.62181486e-02 -3.57290641e-04 5.50032094e+01] [-1.62181381e-02 9.99868477e-01 3.22237203e-05 -4.95807752e+00] [ 3.57766258e-04 -2.64248912e-05 9.99999936e-01 -1.37237739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864860624 meters 0.08726201926438155 Centerline is valid? [True, True] Translation: X:55.06, Y:-4.95, Z:-1.37 [[ 9.99893743e-01 1.45771990e-02 9.31981922e-05 5.50633162e+01] [-1.45771982e-02 9.99893747e-01 -9.90705626e-06 -4.95337229e+00] [-9.33327068e-05 8.54743505e-06 9.99999996e-01 -1.37072965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924860624 meters 0.09155886176535517 Centerline is valid? [True, True] Translation: X:55.12, Y:-4.96, Z:-1.37 [[ 9.99933144e-01 1.14481884e-02 1.62683918e-03 5.51212310e+01] [-1.14479537e-02 9.99934458e-01 -1.53536430e-04 -4.96332067e+00] [-1.62849027e-03 1.34902186e-04 9.99998665e-01 -1.37354267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984860624 meters 0.093202681023904 Centerline is valid? [True, True] Translation: X:55.18, Y:-4.97, Z:-1.38 [[ 9.99965663e-01 8.04509968e-03 1.98750348e-03 5.51815687e+01] [-8.04474361e-03 9.99967623e-01 -1.87085987e-04 -4.96905537e+00] [-1.98894426e-03 1.71090607e-04 9.99998007e-01 -1.37562598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044860624 meters 0.09761179544776256 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.98, Z:-1.38 [[ 9.99990640e-01 4.18381459e-03 1.10224874e-03 5.52406925e+01] [-4.18370239e-03 9.99991243e-01 -1.04071217e-04 -4.97728717e+00] [-1.10267450e-03 9.94587624e-05 9.99999387e-01 -1.37875068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10486062399997 meters 0.09686190551324929 Centerline is valid? [True, True] Translation: X:55.30, Y:-4.98, Z:-1.38 [[ 9.99994460e-01 3.16278550e-03 1.03764114e-03 5.53004800e+01] [-3.16268512e-03 9.99994994e-01 -9.83600642e-05 -4.97830900e+00] [-1.03794703e-03 9.50777871e-05 9.99999457e-01 -1.38032632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16486062399997 meters 0.09913826802572923 Centerline is valid? [True, True] Translation: X:55.36, Y:-4.98, Z:-1.38 [[ 9.99996713e-01 2.27992741e-03 1.17303687e-03 5.53598198e+01] [-2.27979910e-03 9.99997395e-01 -1.10704589e-04 -4.98346311e+00] [-1.17328622e-03 1.08029937e-04 9.99999306e-01 -1.38355222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22486062399997 meters 0.09558209751908746 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.98, Z:-1.38 [[ 9.99994263e-01 2.26484503e-03 2.51896453e-03 5.54211941e+01] [-2.26425532e-03 9.99997409e-01 -2.36938094e-04 -4.97811985e+00] [-2.51949463e-03 2.31233155e-04 9.99996799e-01 -1.38372123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28486062399998 meters 0.09619027478457326 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.98, Z:-1.38 [[ 9.99992520e-01 2.69614719e-03 2.77327325e-03 5.54811618e+01] [-2.69543403e-03 9.99996333e-01 -2.60858805e-04 -4.98224412e+00] [-2.77396640e-03 2.53381679e-04 9.99996120e-01 -1.38421877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34486062399998 meters 0.09608150847771817 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.98, Z:-1.38 [[ 9.99978800e-01 4.51410046e-03 4.69271091e-03 5.55425289e+01] [-4.51207974e-03 9.99989723e-01 -4.41105944e-04 -4.98347641e+00] [-4.69465388e-03 4.19922707e-04 9.99988892e-01 -1.38444055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40486062399998 meters 0.0948385801477982 Centerline is valid? [True, True] Translation: X:55.60, Y:-4.98, Z:-1.38 [[ 9.99961748e-01 5.51740117e-03 6.78686654e-03 5.56034110e+01] [-5.51319370e-03 9.99984598e-01 -6.38496600e-04 -4.98336176e+00] [-6.79028486e-03 6.01054866e-04 9.99976765e-01 -1.38478939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46486062399998 meters 0.0963220332628635 Centerline is valid? [True, True] Translation: X:55.66, Y:-4.99, Z:-1.39 [[ 9.99963309e-01 5.68887497e-03 6.40452201e-03 5.56633647e+01] [-5.68513343e-03 9.99983658e-01 -6.02257679e-04 -4.99027779e+00] [-6.40784352e-03 5.65825019e-04 9.99979309e-01 -1.38745802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52486062399998 meters 0.12107099011383933 Centerline is valid? [True, False] Translation: X:55.74, Y:-4.99, Z:-1.39 [[ 9.99992014e-01 3.04009092e-03 2.59421231e-03 5.57408628e+01] [-3.04623315e-03 9.99992559e-01 2.36700885e-03 -4.99364653e+00] [-2.58699708e-03 -2.37489252e-03 9.99993834e-01 -1.38862922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584860624 meters 0.09955900479051956 Centerline is valid? [False, True] Translation: X:55.66, Y:-4.98, Z:-1.39 [[ 9.99987553e-01 4.15617989e-03 2.76052329e-03 5.56626502e+01] [-4.15666183e-03 9.99991347e-01 1.68868837e-04 -4.98437616e+00] [-2.75979756e-03 -1.80341297e-04 9.99996175e-01 -1.38836106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644860624 meters 0.09465042644656262 Centerline is valid? [True, True] Translation: X:55.72, Y:-4.98, Z:-1.39 [[ 9.99973642e-01 5.68880233e-03 4.51136585e-03 5.57235899e+01] [-5.68700036e-03 9.99983744e-01 -4.12155975e-04 -4.97916284e+00] [-4.51363718e-03 3.86488972e-04 9.99989739e-01 -1.38729981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704860624 meters 0.09309435078138799 Centerline is valid? [True, True] Translation: X:55.78, Y:-4.98, Z:-1.39 [[ 9.99965229e-01 6.50281802e-03 5.22048052e-03 5.57845245e+01] [-6.50041806e-03 9.99978759e-01 -4.76555726e-04 -4.98059219e+00] [-5.22346858e-03 4.42603850e-04 9.99986260e-01 -1.38720415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764860624 meters 0.09285946132747849 Centerline is valid? [True, True] Translation: X:55.84, Y:-4.99, Z:-1.39 [[ 9.99927842e-01 9.39000279e-03 7.49259885e-03 5.58433582e+01] [-9.38513781e-03 9.99955725e-01 -6.84202196e-04 -4.98513097e+00] [-7.49869178e-03 6.13833752e-04 9.99971696e-01 -1.38818035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82486062399997 meters 0.08850973205416689 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.98, Z:-1.39 [[ 9.99893430e-01 1.20372650e-02 8.26034654e-03 5.59042919e+01] [-1.20314444e-02 9.99927335e-01 -7.53976976e-04 -4.98224482e+00] [-8.26882213e-03 6.54512724e-04 9.99965599e-01 -1.38830118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88486062399997 meters 0.09251807756063912 Centerline is valid? [True, True] Translation: X:55.96, Y:-4.99, Z:-1.39 [[ 9.99874368e-01 1.39829917e-02 7.46489470e-03 5.59617747e+01] [-1.39782883e-02 9.99902066e-01 -6.81880914e-04 -4.99499227e+00] [-7.47369837e-03 5.77448797e-04 9.99971905e-01 -1.39166417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94486062399997 meters 0.08933673041669492 Centerline is valid? [True, True] Translation: X:56.02, Y:-5.00, Z:-1.39 [[ 9.99850596e-01 1.54978859e-02 7.65509368e-03 5.60215726e+01] [-1.54929886e-02 9.99879732e-01 -6.98629924e-04 -4.99526144e+00] [-7.66500031e-03 5.79925267e-04 9.99970455e-01 -1.39292824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00486062399997 meters 0.08968841917522678 Centerline is valid? [True, True] Translation: X:56.08, Y:-5.00, Z:-1.39 [[ 9.99839498e-01 1.60863583e-02 7.88715561e-03 5.60802592e+01] [-1.60811769e-02 9.99870430e-01 -7.19922184e-04 -5.00158958e+00] [-7.89771460e-03 5.92971890e-04 9.99968637e-01 -1.39415345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06486062399998 meters 0.09200861250594887 Centerline is valid? [True, True] Translation: X:56.14, Y:-5.01, Z:-1.40 [[ 9.99847783e-01 1.57832779e-02 7.43628605e-03 5.61370207e+01] [-1.57786652e-02 9.99875279e-01 -6.78551744e-04 -5.01112821e+00] [-7.44606835e-03 5.61113789e-04 9.99972120e-01 -1.39698924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12486062399998 meters 0.092820555296188 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.02, Z:-1.40 [[ 9.99845753e-01 1.51534900e-02 8.87927951e-03 5.61954553e+01] [-1.51468996e-02 9.99884952e-01 -8.09009388e-04 -5.01711936e+00] [-8.89051728e-03 6.74391046e-04 9.99960251e-01 -1.39779388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18486062399998 meters 0.09289568498002304 Centerline is valid? [True, True] Translation: X:56.25, Y:-5.02, Z:-1.40 [[ 9.99849410e-01 1.52052889e-02 8.36394670e-03 5.62537473e+01] [-1.51994469e-02 9.99884192e-01 -7.61599103e-04 -5.02190516e+00] [-8.37455842e-03 6.34357050e-04 9.99964732e-01 -1.39910714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24486062399998 meters 0.09157608855264726 Centerline is valid? [True, True] Translation: X:56.31, Y:-5.02, Z:-1.40 [[ 9.99839057e-01 1.50594007e-02 9.75061690e-03 5.63129883e+01] [-1.50514620e-02 9.99886327e-01 -8.87049357e-04 -5.02370701e+00] [-9.76286695e-03 7.40145553e-04 9.99952068e-01 -1.39925662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30486062399999 meters 0.08850317761257255 Centerline is valid? [True, True] Translation: X:56.37, Y:-5.02, Z:-1.40 [[ 9.99832173e-01 1.57177487e-02 9.41162295e-03 5.63719521e+01] [-1.57103864e-02 9.99876218e-01 -8.55678314e-04 -5.02177798e+00] [-9.42390729e-03 7.07674475e-04 9.99955344e-01 -1.40026074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364860624 meters 0.09266351302403503 Centerline is valid? [True, True] Translation: X:56.43, Y:-5.03, Z:-1.40 [[ 9.99824645e-01 1.64807339e-02 8.89186370e-03 5.64290277e+01] [-1.64741954e-02 9.99863965e-01 -8.08081484e-04 -5.03306852e+00] [-8.90397187e-03 6.61453483e-04 9.99960140e-01 -1.40402229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424860624 meters 0.08802510022868522 Centerline is valid? [True, True] Translation: X:56.49, Y:-5.03, Z:-1.40 [[ 9.99836923e-01 1.58586641e-02 8.63892229e-03 5.64887870e+01] [-1.58524764e-02 9.99874034e-01 -7.84267881e-04 -5.02782569e+00] [-8.65027152e-03 6.47191673e-04 9.99962376e-01 -1.40353239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484860624 meters 0.08872348139901286 Centerline is valid? [True, True] Translation: X:56.55, Y:-5.03, Z:-1.41 [[ 9.99865755e-01 1.42360911e-02 8.11207766e-03 5.65477749e+01] [-1.42305874e-02 9.99898469e-01 -7.35779600e-04 -5.03331991e+00] [-8.12172866e-03 6.20241195e-04 9.99966826e-01 -1.40598994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544860624 meters 0.09490007111524877 Centerline is valid? [True, True] Translation: X:56.61, Y:-5.05, Z:-1.41 [[ 9.99909365e-01 1.15125505e-02 6.98023437e-03 5.66060987e+01] [-1.15084139e-02 9.99933576e-01 -6.32504416e-04 -5.04990977e+00] [-6.98705246e-03 5.52115663e-04 9.99975438e-01 -1.41100010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60486062399997 meters 0.0943386689322919 Centerline is valid? [True, True] Translation: X:56.67, Y:-5.05, Z:-1.41 [[ 9.99948959e-01 8.02700725e-03 6.13562295e-03 5.66663566e+01] [-8.02374804e-03 9.99967655e-01 -5.55626340e-04 -5.05339319e+00] [-6.13988451e-03 5.06367288e-04 9.99981023e-01 -1.41308896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66486062399997 meters 0.09584414930549374 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.06, Z:-1.41 [[ 9.99969558e-01 5.47714753e-03 5.55737985e-03 5.67257785e+01] [-5.47443367e-03 9.99984888e-01 -5.03430589e-04 -5.06111456e+00] [-5.56005323e-03 4.72991756e-04 9.99984431e-01 -1.41483298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72486062399997 meters 0.10077563797648298 Centerline is valid? [True, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99969974e-01 4.93783397e-03 5.97240538e-03 5.67245369e+01] [-4.93285225e-03 9.99987473e-01 -8.48565522e-04 -5.06082589e+00] [-5.97652064e-03 8.19079049e-04 9.99981805e-01 -1.41434359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78486062399998 meters 0.10172094162320089 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99969825e-01 4.77859053e-03 6.12485786e-03 5.67241850e+01] [-4.77292403e-03 9.99988168e-01 -9.39448599e-04 -5.06072291e+00] [-6.12927464e-03 9.10186770e-04 9.99980802e-01 -1.41433950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84486062399998 meters 0.10056755639782212 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99970415e-01 4.47212400e-03 6.25846374e-03 5.67236267e+01] [-4.46409752e-03 9.99989196e-01 -1.29588235e-03 -5.06000482e+00] [-6.26419147e-03 1.26790562e-03 9.99979576e-01 -1.41394304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90486062399998 meters 0.09882074262972035 Centerline is valid? [False, True] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99970879e-01 4.40424614e-03 6.23249525e-03 5.67236037e+01] [-4.39532532e-03 9.99989297e-01 -1.44431363e-03 -5.05965569e+00] [-6.23878966e-03 1.41687772e-03 9.99979535e-01 -1.41380072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96486062399998 meters 0.10207495900916379 Centerline is valid? [True, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99971699e-01 4.19842844e-03 6.24298732e-03 5.67232927e+01] [-4.18777374e-03 9.99989754e-01 -1.71876162e-03 -5.05912639e+00] [-6.25013945e-03 1.69256875e-03 9.99979035e-01 -1.41341729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02486062399998 meters 0.10343973622874388 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99970759e-01 4.34276562e-03 6.29451998e-03 5.67233202e+01] [-4.33397295e-03 9.99989614e-01 -1.40984519e-03 -5.06002299e+00] [-6.30057723e-03 1.38252368e-03 9.99979195e-01 -1.41358423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084860624 meters 0.10689857079957805 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.06, Z:-1.41 [[ 9.99983328e-01 8.39175454e-04 5.71309508e-03 5.67249692e+01] [-8.11218084e-04 9.99987695e-01 -4.89411927e-03 -5.06144786e+00] [-5.71713180e-03 4.88940311e-03 9.99971704e-01 -1.41418472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144860624 meters 0.10613808979475772 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.06, Z:-1.42 [[ 9.99982577e-01 1.31117472e-03 5.75561297e-03 5.67254905e+01] [-1.28792148e-03 9.99991002e-01 -4.04194693e-03 -5.06329319e+00] [-5.76086088e-03 4.03446373e-03 9.99975267e-01 -1.41511331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204860624 meters 0.10580481890208861 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.07, Z:-1.42 [[ 9.99981878e-01 1.79087283e-03 5.74768349e-03 5.67255589e+01] [-1.77279353e-03 9.99993470e-01 -3.14904927e-03 -5.06607539e+00] [-5.75328551e-03 3.13880274e-03 9.99978524e-01 -1.41516908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264860624 meters 0.10449875812201109 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.07, Z:-1.41 [[ 9.99981470e-01 2.14894126e-03 5.69568991e-03 5.67253098e+01] [-2.13442185e-03 9.99994461e-01 -2.55404611e-03 -5.06853857e+00] [-5.70114686e-03 2.54184178e-03 9.99980518e-01 -1.41462739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32486062399997 meters 0.10542235688016754 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.07, Z:-1.41 [[ 9.99981397e-01 2.54744120e-03 5.54215569e-03 5.67255907e+01] [-2.53635836e-03 9.99994772e-01 -2.00584432e-03 -5.07035494e+00] [-5.54723648e-03 1.99175011e-03 9.99982630e-01 -1.41450304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38486062399997 meters 0.10894666623943262 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.07, Z:-1.41 [[ 9.99980195e-01 3.10463846e-03 5.47447095e-03 5.67259929e+01] [-3.09847354e-03 9.99994556e-01 -1.13424307e-03 -5.07277117e+00] [-5.47796256e-03 1.11725810e-03 9.99984372e-01 -1.41486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44486062399997 meters 0.10518270959253821 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.08, Z:-1.41 [[ 9.99976506e-01 3.26778043e-03 6.02561906e-03 5.67246650e+01] [-3.26751487e-03 9.99994660e-01 -5.39153478e-05 -5.07727298e+00] [-6.02576306e-03 3.42252813e-05 9.99981844e-01 -1.41464902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50486062399997 meters 0.11093250124033169 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.08, Z:-1.41 [[ 9.99984047e-01 -1.74711411e-04 5.64574734e-03 5.67253860e+01] [ 1.92524211e-04 9.99995005e-01 -3.15469328e-03 -5.08107345e+00] [-5.64516798e-03 3.15572989e-03 9.99979087e-01 -1.41445736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56486062399998 meters 0.10559405256050047 Centerline is valid? [False, False] Translation: X:56.72, Y:-5.09, Z:-1.41 [[ 9.99981379e-01 4.51240020e-04 6.08591251e-03 5.67247744e+01] [-4.42690947e-04 9.99998914e-01 -1.40600540e-03 -5.08706933e+00] [-6.08654034e-03 1.40328504e-03 9.99980492e-01 -1.41491062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62486062399998 meters 0.10905465791934023 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.09, Z:-1.42 [[ 9.99982477e-01 -2.66452753e-03 5.28648985e-03 5.67269460e+01] [ 2.68867482e-03 9.99985962e-01 -4.56589833e-03 -5.08949759e+00] [-5.27424968e-03 4.58003198e-03 9.99975603e-01 -1.41544019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68486062399998 meters 0.118481192413027 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.09, Z:-1.42 [[ 9.99984213e-01 -1.80878174e-03 5.31995941e-03 5.67269644e+01] [ 1.82480444e-03 9.99993809e-01 -3.00849916e-03 -5.09465085e+00] [-5.31448476e-03 3.01815955e-03 9.99981323e-01 -1.41551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74486062399998 meters 0.11964203466781125 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.10, Z:-1.41 [[ 9.99985170e-01 -1.22560064e-03 5.30642304e-03 5.67264132e+01] [ 1.23591497e-03 9.99997353e-01 -1.94090059e-03 -5.09919613e+00] [-5.30403022e-03 1.94743010e-03 9.99984037e-01 -1.41459952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80486062399999 meters 0.10477308769003901 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.10, Z:-1.41 [[ 9.99986205e-01 -8.55269710e-04 5.18255838e-03 5.67266038e+01] [ 8.62689990e-04 9.99998606e-01 -1.42971304e-03 -5.10108269e+00] [-5.18132836e-03 1.43416425e-03 9.99985548e-01 -1.41442754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864860624 meters 0.10335069903249051 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.11, Z:-1.41 [[ 9.99988019e-01 3.61697097e-05 4.89492788e-03 5.67270922e+01] [-3.52576288e-05 9.99999982e-01 -1.86417991e-04 -5.10533759e+00] [-4.89493454e-03 1.86243174e-04 9.99988002e-01 -1.41412434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924860624 meters 0.104704969285365 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.11, Z:-1.41 [[ 9.99988923e-01 1.03710609e-03 4.59107293e-03 5.67280438e+01] [-1.04246166e-03 9.99998779e-01 1.16427892e-03 -5.10928914e+00] [-4.58985984e-03 -1.16905204e-03 9.99988783e-01 -1.41447389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984860624 meters 0.10249123859164255 Centerline is valid? [False, False] Translation: X:56.73, Y:-5.11, Z:-1.41 [[ 9.99989673e-01 1.61623281e-03 4.24748612e-03 5.67288742e+01] [-1.62378357e-03 9.99997107e-01 1.77485410e-03 -5.11104833e+00] [-4.24460525e-03 -1.78173277e-03 9.99989404e-01 -1.41453961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044860624 meters 0.09826381139525941 Centerline is valid? [False, True] Translation: X:56.73, Y:-5.11, Z:-1.41 [[ 9.99989771e-01 2.44639082e-03 3.80427880e-03 5.67300058e+01] [-2.45668598e-03 9.99993327e-01 2.70389273e-03 -5.11366041e+00] [-3.79763863e-03 -2.71321099e-03 9.99989108e-01 -1.41472458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10486062399997 meters 0.09540870474756186 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.11, Z:-1.41 [[ 9.99979400e-01 5.59681624e-03 3.14263288e-03 5.67905576e+01] [-5.59586051e-03 9.99984294e-01 -3.12828751e-04 -5.11459810e+00] [-3.14433437e-03 2.95236571e-04 9.99995013e-01 -1.41351119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16486062399997 meters 0.0950459065289736 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.12, Z:-1.42 [[ 9.99973330e-01 6.86116849e-03 2.50275940e-03 5.68497839e+01] [-6.86056433e-03 9.99976435e-01 -2.49904933e-04 -5.12027322e+00] [-2.50441506e-03 2.32727926e-04 9.99996837e-01 -1.41521616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22486062399997 meters 0.09618737157534549 Centerline is valid? [True, True] Translation: X:56.91, Y:-5.13, Z:-1.42 [[ 9.99957400e-01 8.84581215e-03 2.63642700e-03 5.69075700e+01] [-8.84514798e-03 9.99960846e-01 -2.63474598e-04 -5.13116779e+00] [-2.63865442e-03 2.40143787e-04 9.99996490e-01 -1.41696471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28486062399998 meters 0.09566173882482859 Centerline is valid? [True, True] Translation: X:56.97, Y:-5.14, Z:-1.42 [[ 9.99962391e-01 8.48428922e-03 1.79802091e-03 5.69667957e+01] [-8.48397988e-03 9.99963994e-01 -1.79607202e-04 -5.14045623e+00] [-1.79948001e-03 1.64346074e-04 9.99998367e-01 -1.41833047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34486062399998 meters 0.0987243643273439 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.16, Z:-1.42 [[ 9.99979140e-01 6.33470990e-03 1.26133239e-03 5.70243019e+01] [-6.33455659e-03 9.99979929e-01 -1.25505849e-04 -5.15515755e+00] [-1.26210212e-03 1.17513250e-04 9.99999197e-01 -1.42015015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40486062399998 meters 0.09976512416634709 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.17, Z:-1.42 [[ 9.99999885e-01 2.02194423e-04 4.34798825e-04 5.70840467e+01] [-2.02175666e-04 9.99999979e-01 -4.31828980e-05 -5.16884704e+00] [-4.34807547e-04 4.30949873e-05 9.99999905e-01 -1.41999998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46486062399998 meters 0.10485403190744347 Centerline is valid? [True, False] Translation: X:57.08, Y:-5.17, Z:-1.42 [[ 9.99993884e-01 -3.43236115e-03 6.71720208e-04 5.70835585e+01] [ 3.43411053e-03 9.99990669e-01 -2.62072536e-03 -5.17476199e+00] [-6.62718664e-04 2.62301609e-03 9.99996340e-01 -1.41991096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52486062399998 meters 0.10849642329879026 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.18, Z:-1.42 [[ 9.99991841e-01 -3.89002636e-03 1.08870773e-03 5.70819270e+01] [ 3.89210799e-03 9.99990589e-01 -1.91648134e-03 -5.18051894e+00] [-1.08124232e-03 1.92070308e-03 9.99997571e-01 -1.41884754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584860624 meters 0.10603605043897359 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.18, Z:-1.42 [[ 9.99992639e-01 -3.58882669e-03 1.35705335e-03 5.70812791e+01] [ 3.59008124e-03 9.99993130e-01 -9.23167441e-04 -5.18414233e+00] [-1.35373094e-03 9.28032577e-04 9.99998653e-01 -1.41865123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644860624 meters 0.10393531149070069 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.19, Z:-1.42 [[ 9.99993246e-01 -3.31392658e-03 1.58905981e-03 5.70804346e+01] [ 3.31403258e-03 9.99994507e-01 -6.40804672e-05 -5.18792596e+00] [-1.58883872e-03 6.93462304e-05 9.99998735e-01 -1.41802406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704860624 meters 0.11013642722506645 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.19, Z:-1.42 [[ 9.99993888e-01 -3.03198908e-03 1.74126319e-03 5.70799397e+01] [ 3.03097677e-03 9.99995236e-01 5.83707235e-04 -5.19040754e+00] [-1.74302469e-03 -5.78425939e-04 9.99998314e-01 -1.41770931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764860624 meters 0.11276499004434239 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.19, Z:-1.42 [[ 9.99995465e-01 -2.47911419e-03 1.70992803e-03 5.70798818e+01] [ 2.47642971e-03 9.99995701e-01 1.57027335e-03 -5.19375555e+00] [-1.71381356e-03 -1.56603171e-03 9.99997305e-01 -1.41747217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82486062399997 meters 0.1063923519837594 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99996427e-01 -2.04652091e-03 1.71997269e-03 5.70799502e+01] [ 2.04257583e-03 9.99995287e-01 2.29232698e-03 -5.19610511e+00] [-1.72465587e-03 -2.28880561e-03 9.99995893e-01 -1.41754590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88486062399997 meters 0.10611803668455769 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99996995e-01 -1.72463926e-03 1.74236616e-03 5.70795614e+01] [ 1.71948704e-03 9.99994158e-01 2.95420796e-03 -5.19868134e+00] [-1.74745093e-03 -2.95120311e-03 9.99994118e-01 -1.41703808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94486062399997 meters 0.1062714903438594 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99997833e-01 -1.34670809e-03 1.58777873e-03 5.70799295e+01] [ 1.34129975e-03 9.99993312e-01 3.40238809e-03 -5.20000315e+00] [-1.59235013e-03 -3.40025103e-03 9.99992951e-01 -1.41704876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00486062399997 meters 0.10087011007604436 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99998426e-01 -8.79809849e-04 1.54062700e-03 5.70801127e+01] [ 8.73393586e-04 9.99990964e-01 4.16044088e-03 -5.20231304e+00] [-1.54427348e-03 -4.15908876e-03 9.99990159e-01 -1.41713557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06486062399998 meters 0.10768337169186729 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99998658e-01 -7.05090679e-04 1.47909619e-03 5.70800731e+01] [ 6.98573392e-04 9.99990066e-01 4.40216222e-03 -5.20341173e+00] [-1.48218542e-03 -4.40112305e-03 9.99989217e-01 -1.41686520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12486062399998 meters 0.10059698329608427 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99999001e-01 -6.03718462e-04 1.27775199e-03 5.70802966e+01] [ 5.98078755e-04 9.99990099e-01 4.40956202e-03 -5.20367645e+00] [-1.28040147e-03 -4.40879342e-03 9.99989462e-01 -1.41662649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18486062399998 meters 0.10725447517405337 Centerline is valid? [False, False] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99999452e-01 -3.29338754e-04 9.93300961e-04 5.70810423e+01] [ 3.24819169e-04 9.99989610e-01 4.54680011e-03 -5.20372900e+00] [-9.94788078e-04 -4.54647498e-03 9.99989170e-01 -1.41686679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24486062399998 meters 0.09857632482559771 Centerline is valid? [False, True] Translation: X:57.08, Y:-5.20, Z:-1.42 [[ 9.99999028e-01 -5.15995752e-04 1.29509173e-03 5.70799194e+01] [ 5.10039459e-04 9.99989312e-01 4.59525216e-03 -5.20487913e+00] [-1.29744902e-03 -4.59458715e-03 9.99988603e-01 -1.41610281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30486062399999 meters 0.1003653772318708 Centerline is valid? [True, False] Translation: X:57.08, Y:-5.21, Z:-1.42 [[ 9.99990375e-01 -4.28702239e-03 9.33354446e-04 5.70807383e+01] [ 4.28615570e-03 9.99990383e-01 9.28598729e-04 -5.20602175e+00] [-9.37326394e-04 -9.24589289e-04 9.99999133e-01 -1.41621132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364860624 meters 0.09656419397852127 Centerline is valid? [False, True] Translation: X:57.08, Y:-5.21, Z:-1.42 [[ 9.99991809e-01 -3.91489709e-03 1.02757525e-03 5.70807064e+01] [ 3.91314706e-03 9.99990899e-01 1.69958817e-03 -5.20820387e+00] [-1.03421961e-03 -1.69555319e-03 9.99998028e-01 -1.41641950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424860624 meters 0.09749747787924459 Centerline is valid? [True, True] Translation: X:57.14, Y:-5.22, Z:-1.42 [[ 9.99984609e-01 -5.54226395e-03 2.56635768e-04 5.71410084e+01] [ 5.54227074e-03 9.99984641e-01 -2.57858161e-05 -5.21710440e+00] [-2.56488915e-04 2.72077642e-05 9.99999967e-01 -1.41795761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484860624 meters 0.10111823437510911 Centerline is valid? [True, False] Translation: X:57.14, Y:-5.22, Z:-1.42 [[ 9.99986840e-01 -5.12965557e-03 7.85445453e-05 5.71415441e+01] [ 5.12961417e-03 9.99986709e-01 5.18464027e-04 -5.21820397e+00] [-8.12030432e-05 -5.18054301e-04 9.99999863e-01 -1.41820598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544860624 meters 0.09983269898395122 Centerline is valid? [False, True] Translation: X:57.14, Y:-5.22, Z:-1.42 [[ 9.99988360e-01 -4.82483807e-03 -9.63974834e-06 5.71418524e+01] [ 4.82484473e-03 9.99987966e-01 8.88061567e-04 -5.21882406e+00] [ 5.35487908e-06 -8.88097740e-04 9.99999606e-01 -1.41839769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60486062399997 meters 0.09539725082340676 Centerline is valid? [True, True] Translation: X:57.20, Y:-5.22, Z:-1.42 [[ 9.99993084e-01 -3.64191829e-03 7.53335208e-04 5.72031086e+01] [ 3.64197754e-03 9.99993365e-01 -7.72917569e-05 -5.21723898e+00] [-7.53048719e-04 8.00348523e-05 9.99999713e-01 -1.41673251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66486062399997 meters 0.09634189933737254 Centerline is valid? [True, True] Translation: X:57.26, Y:-5.23, Z:-1.42 [[ 9.99995007e-01 -2.95754300e-03 1.11334920e-03 5.72636159e+01] [ 2.95767173e-03 9.99995620e-01 -1.13994862e-04 -5.22670119e+00] [-1.11300718e-03 1.17287215e-04 9.99999374e-01 -1.41872179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72486062399997 meters 0.09576942736406427 Centerline is valid? [True, True] Translation: X:57.33, Y:-5.23, Z:-1.42 [[ 9.99998304e-01 -1.82376177e-03 2.57373919e-04 5.73250837e+01] [ 1.82376827e-03 9.99998337e-01 -2.50253130e-05 -5.23411241e+00] [-2.57327851e-04 2.54946609e-05 9.99999967e-01 -1.42150833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78486062399998 meters 0.09957362674104336 Centerline is valid? [True, True] Translation: X:57.38, Y:-5.25, Z:-1.42 [[ 9.99998879e-01 -9.16862117e-04 1.18351165e-03 5.73839573e+01] [ 9.17006972e-04 9.99999572e-01 -1.21857313e-04 -5.24858841e+00] [-1.18339942e-03 1.22942465e-04 9.99999292e-01 -1.42466999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84486062399998 meters 0.09208690677154299 Centerline is valid? [True, True] Translation: X:57.45, Y:-5.24, Z:-1.42 [[ 9.99998893e-01 -8.15541819e-04 1.24423353e-03 5.74461627e+01] [ 8.15701237e-04 9.99999659e-01 -1.27623084e-04 -5.24364641e+00] [-1.24412902e-03 1.28637866e-04 9.99999218e-01 -1.42204599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90486062399998 meters 0.0913147161132935 Centerline is valid? [True, True] Translation: X:57.51, Y:-5.25, Z:-1.42 [[ 9.99998531e-01 -1.19884586e-04 1.70973100e-03 5.75068085e+01] [ 1.20185367e-04 9.99999977e-01 -1.75821427e-04 -5.25063739e+00] [-1.70970989e-03 1.76026653e-04 9.99998523e-01 -1.42357481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96486062399998 meters 0.09140614909194154 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.26, Z:-1.43 [[ 9.99998965e-01 4.60762975e-04 1.36270341e-03 5.75677833e+01] [-4.60572662e-04 9.99999884e-01 -1.39969041e-04 -5.25840015e+00] [-1.36276774e-03 1.39341273e-04 9.99999062e-01 -1.42676532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02486062399998 meters 0.09225665590662281 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.27, Z:-1.43 [[ 9.99999787e-01 4.25820278e-04 4.95628138e-04 5.76274924e+01] [-4.25794903e-04 9.99999908e-01 -5.13014915e-05 -5.26764101e+00] [-4.95649938e-04 5.10904446e-05 9.99999876e-01 -1.42918220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084860624 meters 0.09545505385646892 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.28, Z:-1.43 [[ 9.99998616e-01 1.93702207e-04 1.65266243e-03 5.76869573e+01] [-1.93420586e-04 9.99999967e-01 -1.70562661e-04 -5.28111099e+00] [-1.65269541e-03 1.70242766e-04 9.99998620e-01 -1.43226294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144860624 meters 0.09428899191126205 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.29, Z:-1.43 [[ 9.99996487e-01 -4.23087534e-04 2.61655588e-03 5.77481430e+01] [ 4.23795198e-04 9.99999874e-01 -2.69907574e-04 -5.28810891e+00] [-2.61644135e-03 2.71015510e-04 9.99996540e-01 -1.43310371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204860624 meters 0.0974806333790637 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.30, Z:-1.44 [[ 9.99993267e-01 -2.03862768e-03 3.05115100e-03 5.78069483e+01] [ 2.03960114e-03 9.99997870e-01 -3.15969410e-04 -5.30185134e+00] [-3.05050036e-03 3.22190413e-04 9.99995295e-01 -1.43645303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264860624 meters 0.10031617642250606 Centerline is valid? [True, False] Translation: X:57.81, Y:-5.30, Z:-1.44 [[ 9.99994511e-01 -1.42426650e-03 2.99162813e-03 5.78076151e+01] [ 1.42213008e-03 9.99998732e-01 7.16140628e-04 -5.30411085e+00] [-2.99264431e-03 -7.11882213e-04 9.99995269e-01 -1.43724832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32486062399997 meters 0.10290418493309204 Centerline is valid? [False, False] Translation: X:57.81, Y:-5.30, Z:-1.44 [[ 9.99995306e-01 -1.25993854e-03 2.79293936e-03 5.78078019e+01] [ 1.25737741e-03 9.99998788e-01 9.18569441e-04 -5.30484800e+00] [-2.79409331e-03 -9.15053350e-04 9.99995678e-01 -1.43694052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38486062399997 meters 0.0918697590601054 Centerline is valid? [False, True] Translation: X:57.81, Y:-5.30, Z:-1.44 [[ 9.99995824e-01 -1.15722013e-03 2.64811112e-03 5.78081145e+01] [ 1.15467377e-03 9.99998870e-01 9.62903955e-04 -5.30486669e+00] [-2.64922242e-03 -9.59842229e-04 9.99996030e-01 -1.43697518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44486062399997 meters 0.10570150773776094 Centerline is valid? [True, False] Translation: X:57.81, Y:-5.31, Z:-1.44 [[ 9.99995986e-01 -1.09158469e-03 2.61449197e-03 5.78080262e+01] [ 1.08880721e-03 9.99998842e-01 1.06352641e-03 -5.30525116e+00] [-2.61564987e-03 -1.06067546e-03 9.99996017e-01 -1.43672874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50486062399997 meters 0.10858301088884001 Centerline is valid? [False, False] Translation: X:57.81, Y:-5.31, Z:-1.44 [[ 9.99996346e-01 -9.35999806e-04 2.53606617e-03 5.78082593e+01] [ 9.32649890e-04 9.99998692e-01 1.32177089e-03 -5.30609334e+00] [-2.53730003e-03 -1.31940079e-03 9.99995911e-01 -1.43684306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56486062399998 meters 0.09451617186662822 Centerline is valid? [False, True] Translation: X:57.81, Y:-5.31, Z:-1.44 [[ 9.99996860e-01 -6.22992902e-04 2.42727383e-03 5.78089143e+01] [ 6.18665638e-04 9.99998219e-01 1.78311058e-03 -5.30696455e+00] [-2.42838037e-03 -1.78160331e-03 9.99995464e-01 -1.43744997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62486062399998 meters 0.09374996067087196 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.31, Z:-1.44 [[ 9.99994235e-01 -2.57462711e-03 2.21367169e-03 5.78691954e+01] [ 2.57516302e-03 9.99996656e-01 -2.39274331e-04 -5.31147301e+00] [-2.21304824e-03 2.44973517e-04 9.99997521e-01 -1.43712375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68486062399998 meters 0.09590452926120123 Centerline is valid? [True, True] Translation: X:57.93, Y:-5.32, Z:-1.44 [[ 9.99989547e-01 -3.21761840e-03 3.24845057e-03 5.79303991e+01] [ 3.21877201e-03 9.99994759e-01 -3.49960460e-04 -5.32305454e+00] [-3.24730750e-03 3.60412824e-04 9.99994663e-01 -1.43944854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74486062399998 meters 0.09458119815221162 Centerline is valid? [True, True] Translation: X:57.99, Y:-5.33, Z:-1.44 [[ 9.99988819e-01 -3.81117687e-03 2.79955095e-03 5.79924015e+01] [ 3.81203563e-03 9.99992689e-01 -3.01474401e-04 -5.32749100e+00] [-2.79838151e-03 3.12143018e-04 9.99996036e-01 -1.44206364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80486062399999 meters 0.09504104099045563 Centerline is valid? [True, True] Translation: X:58.05, Y:-5.34, Z:-1.44 [[ 9.99984429e-01 -4.56813331e-03 3.20527827e-03 5.80538902e+01] [ 4.56926453e-03 9.99989501e-01 -3.45689808e-04 -5.33545572e+00] [-3.20366547e-03 3.60330190e-04 9.99994803e-01 -1.44405973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864860624 meters 0.09547367747098454 Centerline is valid? [True, True] Translation: X:58.12, Y:-5.34, Z:-1.45 [[ 9.99981552e-01 -4.72255010e-03 3.82007513e-03 5.81151860e+01] [ 4.72416056e-03 9.99988756e-01 -4.12663596e-04 -5.34336565e+00] [-3.81808335e-03 4.30702632e-04 9.99992618e-01 -1.44575694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924860624 meters 0.09926256166557428 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.36, Z:-1.45 [[ 9.99956134e-01 -7.54463223e-03 5.55048525e-03 5.81730901e+01] [ 7.54809622e-03 9.99971331e-01 -6.03405453e-04 -5.35738865e+00] [-5.54577365e-03 6.45274581e-04 9.99984414e-01 -1.44739889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984860624 meters 0.09874361745860874 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.36, Z:-1.45 [[ 9.99941929e-01 -8.88820054e-03 6.09407633e-03 5.82335969e+01] [ 8.89239207e-03 9.99960243e-01 -6.61052423e-04 -5.36437148e+00] [-6.08795849e-03 7.15204951e-04 9.99981212e-01 -1.44829094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044860624 meters 0.09893524278503651 Centerline is valid? [True, True] Translation: X:58.29, Y:-5.37, Z:-1.45 [[ 9.99905839e-01 -1.16999370e-02 7.17113505e-03 5.82930986e+01] [ 1.17058192e-02 9.99931181e-01 -7.78836238e-04 -5.37278922e+00] [-7.16152921e-03 8.62706912e-04 9.99973984e-01 -1.45031020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10486062399997 meters 0.09732974625913865 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.38, Z:-1.45 [[ 9.99896761e-01 -1.22176933e-02 7.56272074e-03 5.83547121e+01] [ 1.22242374e-02 9.99924945e-01 -8.19686125e-04 -5.37673875e+00] [-7.55213845e-03 9.12049995e-04 9.99971066e-01 -1.45072263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16486062399997 meters 0.09911204868488661 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.39, Z:-1.45 [[ 9.99909550e-01 -1.11403561e-02 7.53557599e-03 5.84157828e+01] [ 1.11468262e-02 9.99937538e-01 -8.17155186e-04 -5.38560226e+00] [-7.52600190e-03 9.01079029e-04 9.99971273e-01 -1.45403631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22486062399997 meters 0.0996479900516745 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.39, Z:-1.46 [[ 9.99928897e-01 -8.41981556e-03 8.44444370e-03 5.84764344e+01] [ 8.42785681e-03 9.99964064e-01 -9.17121061e-04 -5.39226410e+00] [-8.43641826e-03 9.88224413e-04 9.99963924e-01 -1.45641160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28486062399998 meters 0.0981878170121076 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.40, Z:-1.46 [[ 9.99939774e-01 -6.82995796e-03 8.59073703e-03 5.85373388e+01] [ 6.83822339e-03 9.99976184e-01 -9.33127771e-04 -5.39519943e+00] [-8.58415921e-03 9.91816951e-04 9.99962664e-01 -1.45821235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34486062399998 meters 0.09879133139889647 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.40, Z:-1.46 [[ 9.99957401e-01 -3.91108507e-03 8.36065247e-03 5.85975094e+01] [ 3.91881595e-03 9.99991909e-01 -9.08491995e-04 -5.40099697e+00] [-8.35703163e-03 9.41217152e-04 9.99964636e-01 -1.46230503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40486062399998 meters 0.09996941187594498 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.41, Z:-1.46 [[ 9.99953941e-01 -2.70291407e-03 9.20918905e-03 5.86580779e+01] [ 2.71224211e-03 9.99995821e-01 -1.00056727e-03 -5.40946285e+00] [-9.20644612e-03 1.02549873e-03 9.99957094e-01 -1.46464981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46486062399998 meters 0.09942230857185327 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99957534e-01 -4.07140320e-04 9.20675914e-03 5.87179193e+01] [ 4.16371559e-04 9.99999413e-01 -1.00076440e-03 -5.41465418e+00] [-9.20634628e-03 1.00455534e-03 9.99957116e-01 -1.46747280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52486062399998 meters 0.10202011224348967 Centerline is valid? [True, False] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99959520e-01 -2.08230107e-04 8.99524458e-03 5.87187266e+01] [ 2.16402573e-04 9.99999565e-01 -9.07568106e-04 -5.41416608e+00] [-8.99505168e-03 9.09477962e-04 9.99959130e-01 -1.46803868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584860624 meters 0.09956113842664742 Centerline is valid? [False, True] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99962220e-01 -1.57098286e-04 8.69097255e-03 5.87195678e+01] [ 1.67036931e-04 9.99999333e-01 -1.14284548e-03 -5.41289784e+00] [-8.69078721e-03 1.14425401e-03 9.99961580e-01 -1.46844050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644860624 meters 0.1011616972719268 Centerline is valid? [True, False] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99964492e-01 8.35280416e-05 8.42665039e-03 5.87204886e+01] [-7.49265811e-05 9.99999476e-01 -1.02105544e-03 -5.41254185e+00] [-8.42673126e-03 1.02038780e-03 9.99963974e-01 -1.46903764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704860624 meters 0.10129770211372446 Centerline is valid? [False, False] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99966374e-01 1.42976961e-04 8.19937435e-03 5.87212562e+01] [-1.33614763e-04 9.99999339e-01 -1.14235500e-03 -5.41154707e+00] [-8.19953226e-03 1.14122103e-03 9.99965732e-01 -1.46950600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764860624 meters 0.09420494506933219 Centerline is valid? [False, True] Translation: X:58.72, Y:-5.41, Z:-1.47 [[ 9.99968682e-01 9.92236834e-05 7.91360360e-03 5.87220973e+01] [-8.67569760e-05 9.99998755e-01 -1.57567924e-03 -5.40967052e+00] [-7.91375009e-03 1.57494333e-03 9.99967446e-01 -1.46994945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82486062399997 meters 0.09242869861055322 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.41, Z:-1.47 [[ 9.99961598e-01 -1.78938372e-05 8.76372666e-03 5.87857291e+01] [ 2.58678105e-05 9.99999586e-01 -9.09771332e-04 -5.41200336e+00] [-8.76370675e-03 9.09963094e-04 9.99961184e-01 -1.47098876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88486062399997 meters 0.09280357208061465 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.42, Z:-1.47 [[ 9.99953375e-01 1.90441423e-03 9.46683478e-03 5.88460418e+01] [-1.89516651e-03 9.99997718e-01 -9.85728746e-04 -5.41661881e+00] [-9.46869041e-03 9.67741559e-04 9.99954703e-01 -1.47388809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94486062399997 meters 0.0934070441135472 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.42, Z:-1.48 [[ 9.99945852e-01 2.82692649e-03 1.00150828e-02 5.89074662e+01] [-2.81662706e-03 9.99995490e-01 -1.04234728e-03 -5.42310741e+00] [-1.00179842e-02 1.01408208e-03 9.99949305e-01 -1.47542261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00486062399997 meters 0.09344240123256664 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.43, Z:-1.48 [[ 9.99933058e-01 5.58588625e-03 1.01329548e-02 5.89685235e+01] [-5.57546778e-03 9.99983899e-01 -1.05613437e-03 -5.42528539e+00] [-1.01386911e-02 9.99567704e-04 9.99948103e-01 -1.47763092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06486062399998 meters 0.09133793020627354 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.42, Z:-1.48 [[ 9.99908005e-01 9.30716484e-03 9.86704089e-03 5.90293248e+01] [-9.29746533e-03 9.99956249e-01 -1.02843697e-03 -5.42451910e+00] [-9.87618103e-03 9.36603884e-04 9.99950791e-01 -1.47965675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12486062399998 meters 0.08806016094591927 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.42, Z:-1.48 [[ 9.99803341e-01 1.72973761e-02 9.69950244e-03 5.90902769e+01] [-1.72883770e-02 9.99850034e-01 -1.01087781e-03 -5.41963623e+00] [-9.71553338e-03 8.42990357e-04 9.99952448e-01 -1.48130104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18486062399998 meters 0.09170817392108901 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.43, Z:-1.49 [[ 9.99683716e-01 2.31016319e-02 9.93896874e-03 5.91490001e+01] [-2.30924629e-02 9.99732796e-01 -1.03632245e-03 -5.42836632e+00] [-9.96025376e-03 8.06479410e-04 9.99950070e-01 -1.48564237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24486062399998 meters 0.0827493544945832 Centerline is valid? [True, True] Translation: X:59.21, Y:-5.41, Z:-1.48 [[ 9.99450470e-01 3.16624904e-02 9.81045733e-03 5.92122407e+01] [-3.16539729e-02 9.99498365e-01 -1.02229927e-03 -5.40885398e+00] [-9.83790460e-03 7.11197531e-04 9.99951354e-01 -1.48430532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30486062399999 meters 0.08105879688164298 Centerline is valid? [True, True] Translation: X:59.27, Y:-5.40, Z:-1.49 [[ 9.99272910e-01 3.70142053e-02 9.14332865e-03 5.92725994e+01] [-3.70070241e-02 9.99314551e-01 -9.53402321e-04 -5.40460448e+00] [-9.17235079e-03 6.14341727e-04 9.99957744e-01 -1.48697841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364860624 meters 0.08133167311410941 Centerline is valid? [True, True] Translation: X:59.33, Y:-5.41, Z:-1.49 [[ 9.99186832e-01 3.90704153e-02 9.95875611e-03 5.93313646e+01] [-3.90619999e-02 9.99236249e-01 -1.03820940e-03 -5.40775330e+00] [-9.99171337e-03 6.48356229e-04 9.99949871e-01 -1.48947938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424860624 meters 0.08369723231047695 Centerline is valid? [True, True] Translation: X:59.39, Y:-5.42, Z:-1.49 [[ 9.99172280e-01 3.93324170e-02 1.03786388e-02 5.93887688e+01] [-3.93232853e-02 9.99225954e-01 -1.08253696e-03 -5.41522819e+00] [-1.04131841e-02 6.73518745e-04 9.99945555e-01 -1.49349314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484860624 meters 0.08235448475733843 Centerline is valid? [True, True] Translation: X:59.45, Y:-5.42, Z:-1.49 [[ 9.99228316e-01 3.80815365e-02 9.62125470e-03 5.94484424e+01] [-3.80736465e-02 9.99274434e-01 -1.00195771e-03 -5.41550123e+00] [-9.65242993e-03 6.34868265e-04 9.99953213e-01 -1.49461113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544860624 meters 0.08486797301918997 Centerline is valid? [True, True] Translation: X:59.51, Y:-5.43, Z:-1.50 [[ 9.99328894e-01 3.54159210e-02 9.35279477e-03 5.95066607e+01] [-3.54083551e-02 9.99372454e-01 -9.73344014e-04 -5.42562397e+00] [-9.38139734e-03 6.41523718e-04 9.99955788e-01 -1.49876184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60486062399997 meters 0.08596441813199511 Centerline is valid? [True, True] Translation: X:59.57, Y:-5.43, Z:-1.50 [[ 9.99433837e-01 3.24578548e-02 8.85967766e-03 5.95665261e+01] [-3.24509508e-02 9.99472904e-01 -9.21945880e-04 -5.43323869e+00] [-8.88493215e-03 6.33918944e-04 9.99960327e-01 -1.50072569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66486062399997 meters 0.08938353015267184 Centerline is valid? [True, True] Translation: X:59.62, Y:-5.45, Z:-1.51 [[ 9.99590102e-01 2.76869545e-02 7.28427297e-03 5.96243046e+01] [-2.76821639e-02 9.99616488e-01 -7.57689916e-04 -5.44503752e+00] [-7.30245749e-03 5.55734902e-04 9.99973182e-01 -1.50533812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72486062399997 meters 0.09169507986398667 Centerline is valid? [True, True] Translation: X:59.68, Y:-5.46, Z:-1.51 [[ 9.99666663e-01 2.50534908e-02 6.23577061e-03 5.96842024e+01] [-2.50499290e-02 9.99685991e-01 -6.48651082e-04 -5.45514976e+00] [-6.25006349e-03 4.92229252e-04 9.99980347e-01 -1.50880559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78486062399998 meters 0.0933596863572233 Centerline is valid? [True, True] Translation: X:59.74, Y:-5.46, Z:-1.51 [[ 9.99737751e-01 2.17386128e-02 7.20149885e-03 5.97442674e+01] [-2.17337769e-02 9.99763513e-01 -7.49102756e-04 -5.46323610e+00] [-7.21608024e-03 5.92390535e-04 9.99973788e-01 -1.50964438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84486062399998 meters 0.09791083424074806 Centerline is valid? [True, True] Translation: X:59.80, Y:-5.48, Z:-1.51 [[ 9.99781734e-01 1.94082952e-02 7.73321162e-03 5.98026164e+01] [-1.94026481e-02 9.99811427e-01 -8.04600219e-04 -5.47663406e+00] [-7.74736926e-03 6.54379818e-04 9.99969775e-01 -1.51269619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90486062399998 meters 0.09349319020482254 Centerline is valid? [True, True] Translation: X:59.86, Y:-5.47, Z:-1.51 [[ 9.99835510e-01 1.68442592e-02 6.72489672e-03 5.98633401e+01] [-1.68399335e-02 9.99857954e-01 -6.99351035e-04 -5.47445802e+00] [-6.73572152e-03 5.85989185e-04 9.99977143e-01 -1.51279145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96486062399998 meters 0.09392539731073879 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.48, Z:-1.51 [[ 9.99868327e-01 1.41581028e-02 7.92942540e-03 5.99232212e+01] [-1.41520027e-02 9.99899515e-01 -8.24885475e-04 -5.48070867e+00] [-7.94030743e-03 7.12559611e-04 9.99968221e-01 -1.51267624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02486062399998 meters 0.09165669324059901 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.48, Z:-1.51 [[ 9.99873141e-01 1.37445073e-02 8.04929863e-03 5.99826927e+01] [-1.37382062e-02 9.99905276e-01 -8.37595232e-04 -5.48202506e+00] [-8.06004850e-03 7.26906051e-04 9.99967253e-01 -1.51388024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084860624 meters 0.0924198277700634 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.49, Z:-1.52 [[ 9.99900534e-01 1.29891081e-02 5.49584832e-03 6.00418899e+01] [-1.29861586e-02 9.99915513e-01 -5.72021847e-04 -5.48886537e+00] [-5.50281404e-03 5.00594993e-04 9.99984734e-01 -1.51749617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144860624 meters 0.09308316938108456 Centerline is valid? [True, True] Translation: X:60.10, Y:-5.50, Z:-1.52 [[ 9.99906240e-01 1.28651586e-02 4.69040082e-03 6.01006368e+01] [-1.28630050e-02 9.99917149e-01 -4.89013701e-04 -5.49549545e+00] [-4.69630345e-03 4.28635201e-04 9.99988880e-01 -1.52070004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204860624 meters 0.09536649854985496 Centerline is valid? [True, True] Translation: X:60.16, Y:-5.50, Z:-1.52 [[ 9.99889866e-01 1.30556883e-02 7.05724790e-03 6.01583937e+01] [-1.30508308e-02 9.99914565e-01 -7.33917644e-04 -5.50499729e+00] [-7.06622676e-03 6.41733867e-04 9.99974828e-01 -1.52236706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264860624 meters 0.09476366176013429 Centerline is valid? [True, True] Translation: X:60.22, Y:-5.51, Z:-1.52 [[ 9.99910187e-01 1.16572122e-02 6.61264507e-03 6.02182495e+01] [-1.16529214e-02 9.99931866e-01 -6.87047648e-04 -5.50882888e+00] [-6.62020359e-03 6.09929310e-04 9.99977900e-01 -1.52256697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32486062399997 meters 0.09771845397071512 Centerline is valid? [True, True] Translation: X:60.28, Y:-5.52, Z:-1.53 [[ 9.99928630e-01 1.02261400e-02 6.17740669e-03 6.02763609e+01] [-1.02223691e-02 9.99947544e-01 -6.41691250e-04 -5.51908713e+00] [-6.18364467e-03 5.78497722e-04 9.99980714e-01 -1.52545440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38486062399997 meters 0.09510521950630782 Centerline is valid? [True, True] Translation: X:60.34, Y:-5.52, Z:-1.53 [[ 9.99935390e-01 9.86586310e-03 5.64630051e-03 6.03360706e+01] [-9.86270754e-03 9.99951190e-01 -5.86445537e-04 -5.51807462e+00] [-5.65181071e-03 5.30719836e-04 9.99983888e-01 -1.52703469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44486062399997 meters 0.09573776486547964 Centerline is valid? [True, True] Translation: X:60.39, Y:-5.52, Z:-1.53 [[ 9.99937645e-01 1.02317350e-02 4.47408902e-03 6.03949522e+01] [-1.02297571e-02 9.99947567e-01 -4.64751781e-04 -5.52399086e+00] [-4.47860965e-03 4.18953958e-04 9.99989883e-01 -1.53005516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50486062399997 meters 0.10212882150269004 Centerline is valid? [True, False] Translation: X:60.40, Y:-5.52, Z:-1.53 [[ 9.99940428e-01 1.01025408e-02 4.13257637e-03 6.03958759e+01] [-1.00979341e-02 9.99948371e-01 -1.13406714e-03 -5.52136783e+00] [-4.14381997e-03 1.09226910e-03 9.99990818e-01 -1.53035573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56486062399998 meters 0.09486008515472182 Centerline is valid? [False, True] Translation: X:60.40, Y:-5.52, Z:-1.53 [[ 9.99945230e-01 9.74439589e-03 3.81893216e-03 6.03960846e+01] [-9.73658382e-03 9.99950479e-01 -2.05889555e-03 -5.51883101e+00] [-3.83880573e-03 2.02159943e-03 9.99990588e-01 -1.52969959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62486062399998 meters 0.09469571219686264 Centerline is valid? [True, True] Translation: X:60.46, Y:-5.52, Z:-1.53 [[ 9.99917618e-01 1.19564882e-02 4.66903808e-03 6.04558635e+01] [-1.19544496e-02 9.99928435e-01 -4.64301608e-04 -5.52291660e+00] [-4.67425536e-03 4.08447577e-04 9.99988992e-01 -1.53093699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68486062399998 meters 0.09573555688286717 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.53, Z:-1.53 [[ 9.99921187e-01 1.20650879e-02 3.47193348e-03 6.05140645e+01] [-1.20639572e-02 9.99927168e-01 -3.46447334e-04 -5.52947846e+00] [-3.47586053e-03 3.04534772e-04 9.99993913e-01 -1.53378552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74486062399998 meters 0.09622322733877944 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.54, Z:-1.54 [[ 9.99941073e-01 1.03055667e-02 3.41250580e-03 6.05742894e+01] [-1.03044704e-02 9.99946850e-01 -3.38690569e-04 -5.53571874e+00] [-3.41581482e-03 3.03506546e-04 9.99994120e-01 -1.53534038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80486062399999 meters 0.09962132990388368 Centerline is valid? [True, True] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99970495e-01 6.86019118e-03 3.45631363e-03 6.06342241e+01] [-6.85904618e-03 9.99976418e-01 -3.43021928e-04 -5.54672054e+00] [-3.45858532e-03 3.19304793e-04 9.99993968e-01 -1.53841382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864860624 meters 0.10259605064664291 Centerline is valid? [True, False] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99970605e-01 6.79288525e-03 3.55620350e-03 6.06339337e+01] [-6.79160308e-03 9.99976867e-01 -3.72496539e-04 -5.54685947e+00] [-3.55865157e-03 3.48333267e-04 9.99993607e-01 -1.53825867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924860624 meters 0.09647378449421866 Centerline is valid? [False, True] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99972324e-01 6.18935999e-03 4.12822391e-03 6.06323103e+01] [-6.18641981e-03 9.99980601e-01 -7.24602821e-04 -5.54704151e+00] [-4.13262865e-03 6.99043841e-04 9.99991216e-01 -1.53763707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984860624 meters 0.11045736308580982 Centerline is valid? [True, False] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99990362e-01 1.90259045e-03 3.95671541e-03 6.06326932e+01] [-1.88259867e-03 9.99985475e-01 -5.05022174e-03 -5.54635797e+00] [-3.96626644e-03 5.04272416e-03 9.99979420e-01 -1.53772394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04486062399997 meters 0.11297145499145023 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99989197e-01 1.50521229e-03 4.39766394e-03 6.06317409e+01] [-1.48230821e-03 9.99985346e-01 -5.20686399e-03 -5.54624524e+00] [-4.40543693e-03 5.20028905e-03 9.99976774e-01 -1.53762804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10486062399997 meters 0.10991897395668096 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.55, Z:-1.54 [[ 9.99989113e-01 1.38791505e-03 4.45499548e-03 6.06316663e+01] [-1.36431208e-03 9.99985041e-01 -5.29676340e-03 -5.54569692e+00] [-4.46228030e-03 5.29062773e-03 9.99976048e-01 -1.53771181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16486062399997 meters 0.11196573138075594 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99989370e-01 1.18321861e-03 4.45653889e-03 6.06315774e+01] [-1.15808519e-03 9.99983436e-01 -5.63803773e-03 -5.54439604e+00] [-4.46313610e-03 5.63281675e-03 9.99974176e-01 -1.53762410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22486062399997 meters 0.1128802093721228 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99989967e-01 1.12426168e-03 4.33622225e-03 6.06320364e+01] [-1.09858910e-03 9.99981883e-01 -5.91833809e-03 -5.54289557e+00] [-4.34279745e-03 5.91351499e-03 9.99973085e-01 -1.53790153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28486062399998 meters 0.10857502853017556 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99990684e-01 1.21883545e-03 4.14080564e-03 6.06324698e+01] [-1.19431813e-03 9.99981774e-01 -5.91822782e-03 -5.54249576e+00] [-4.14794352e-03 5.91322725e-03 9.99973914e-01 -1.53796690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34486062399998 meters 0.11648254388662184 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99990437e-01 1.56332499e-03 4.08425262e-03 6.06331562e+01] [-1.54105636e-03 9.99983962e-01 -5.44978446e-03 -5.54300570e+00] [-4.09270691e-03 5.44343829e-03 9.99976809e-01 -1.53876768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40486062399998 meters 0.10958065402786714 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99990024e-01 1.88553279e-03 4.04929553e-03 6.06335160e+01] [-1.86530518e-03 9.99985794e-01 -4.99332179e-03 -5.54399813e+00] [-4.05865308e-03 4.98571881e-03 9.99979335e-01 -1.53916617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46486062399998 meters 0.11114456769825787 Centerline is valid? [False, False] Translation: X:60.63, Y:-5.54, Z:-1.54 [[ 9.99990115e-01 2.29394949e-03 3.80888110e-03 6.06345596e+01] [-2.27662956e-03 9.99987078e-01 -4.54537373e-03 -5.54435455e+00] [-3.81925874e-03 4.53665738e-03 9.99982416e-01 -1.53993741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52486062399998 meters 0.11279250286746047 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990466e-01 2.71533814e-03 3.41986351e-03 6.06360835e+01] [-2.70051969e-03 9.99986978e-01 -4.33024206e-03 -5.54356122e+00] [-3.43157704e-03 4.32096536e-03 9.99984777e-01 -1.54096611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584860624 meters 0.10463543931556876 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990852e-01 2.92409069e-03 3.12167861e-03 6.06372301e+01] [-2.91058583e-03 9.99986424e-01 -4.32196533e-03 -5.54241639e+00] [-3.13427405e-03 4.31283988e-03 9.99985788e-01 -1.54171565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644860624 meters 0.10482814126318943 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99991757e-01 2.87025635e-03 2.87177872e-03 6.06378192e+01] [-2.85680979e-03 9.99984989e-01 -4.67550743e-03 -5.54053943e+00] [-2.88515551e-03 4.66726477e-03 9.99984946e-01 -1.54185207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704860624 meters 0.10405924679676425 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99992043e-01 2.76456725e-03 2.87599316e-03 6.06379086e+01] [-2.75063327e-03 9.99984515e-01 -4.83765191e-03 -5.53963213e+00] [-2.88932264e-03 4.82970261e-03 9.99984163e-01 -1.54201507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764860624 meters 0.10721966955815995 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99991499e-01 2.74137862e-03 3.08012862e-03 6.06378151e+01] [-2.72682415e-03 9.99985145e-01 -4.71958753e-03 -5.53964444e+00] [-3.09302104e-03 4.71114844e-03 9.99984119e-01 -1.54249207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82486062399997 meters 0.10785229710296354 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990910e-01 2.68029005e-03 3.31594902e-03 6.06376748e+01] [-2.66504413e-03 9.99985898e-01 -4.59365986e-03 -5.53966388e+00] [-3.32821459e-03 4.58478096e-03 9.99983951e-01 -1.54303442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88486062399997 meters 0.10990490449988684 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990381e-01 2.77982884e-03 3.39276452e-03 6.06381038e+01] [-2.76486475e-03 9.99986465e-01 -4.40733865e-03 -5.53945741e+00] [-3.40497025e-03 4.39791572e-03 9.99984532e-01 -1.54385361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94486062399997 meters 0.1136103103829937 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990802e-01 2.84746461e-03 3.20742074e-03 6.06387482e+01] [-2.83311840e-03 9.99986003e-01 -4.46851721e-03 -5.53836887e+00] [-3.22009979e-03 4.45938910e-03 9.99984872e-01 -1.54425323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00486062399997 meters 0.11654846072177766 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99990784e-01 2.63163151e-03 3.39225249e-03 6.06379194e+01] [-2.61600206e-03 9.99985981e-01 -4.60362675e-03 -5.53875672e+00] [-3.40431998e-03 4.59471018e-03 9.99983649e-01 -1.54367772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06486062399998 meters 0.11037234125259779 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99989749e-01 2.72143894e-03 3.61877417e-03 6.06376714e+01] [-2.70624636e-03 9.99987532e-01 -4.19655786e-03 -5.53964961e+00] [-3.63014973e-03 4.18672155e-03 9.99984647e-01 -1.54401872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12486062399998 meters 0.11279574153269976 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99988192e-01 3.07378632e-03 3.76402922e-03 6.06378935e+01] [-3.06084367e-03 9.99989401e-01 -3.43945695e-03 -5.54144063e+00] [-3.77456148e-03 3.42789523e-03 9.99987001e-01 -1.54478021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18486062399998 meters 0.11017217419854641 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99987185e-01 2.99222375e-03 4.08372471e-03 6.06370713e+01] [-2.97890942e-03 9.99990241e-01 -3.26253800e-03 -5.54294056e+00] [-4.09344710e-03 3.25033114e-03 9.99986339e-01 -1.54451844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24486062399998 meters 0.11235004521040323 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.55 [[ 9.99986385e-01 3.27902126e-03 4.05937519e-03 6.06375425e+01] [-3.26760766e-03 9.99990699e-01 -2.81511050e-03 -5.54361098e+00] [-4.06856824e-03 2.80180773e-03 9.99987798e-01 -1.54511149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30486062399999 meters 0.11224266687828635 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.54 [[ 9.99987225e-01 3.17646848e-03 3.93193596e-03 6.06374582e+01] [-3.16456922e-03 9.99990406e-01 -3.02884035e-03 -5.54314104e+00] [-3.94151925e-03 3.01635877e-03 9.99987683e-01 -1.54463666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364860624 meters 0.11147254689045757 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.55 [[ 9.99986242e-01 3.56761116e-03 3.84546476e-03 6.06379570e+01] [-3.55772803e-03 9.99990359e-01 -2.57385723e-03 -5.54461067e+00] [-3.85461021e-03 2.56014070e-03 9.99989294e-01 -1.54502467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424860624 meters 0.11163468147165474 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99985490e-01 3.91415775e-03 3.70131361e-03 6.06386391e+01] [-3.90606477e-03 9.99989971e-01 -2.19122459e-03 -5.54536534e+00] [-3.70985329e-03 2.17673523e-03 9.99990749e-01 -1.54551604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484860624 meters 0.1108289227340747 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99986055e-01 3.90069919e-03 3.56006256e-03 6.06386258e+01] [-3.89235964e-03 9.99989672e-01 -2.34646069e-03 -5.54527228e+00] [-3.56917863e-03 2.33257092e-03 9.99990910e-01 -1.54505062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54486062399997 meters 0.11191567844690806 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99984915e-01 4.29710991e-03 3.42130218e-03 6.06391524e+01] [-4.29066130e-03 9.99989009e-01 -1.88995569e-03 -5.54643781e+00] [-3.42938592e-03 1.87524753e-03 9.99992361e-01 -1.54530058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60486062399997 meters 0.10644966817330935 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.54 [[ 9.99984754e-01 4.35526456e-03 3.39468662e-03 6.06387505e+01] [-4.34919953e-03 9.99988937e-01 -1.79196358e-03 -5.54750085e+00] [-3.40245354e-03 1.77717209e-03 9.99992632e-01 -1.54462255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66486062399997 meters 0.10782762669703586 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.54 [[ 9.99983439e-01 4.63683716e-03 3.40897148e-03 6.06385081e+01] [-4.63240127e-03 9.99988415e-01 -1.30798678e-03 -5.54951249e+00] [-3.41499691e-03 1.29217339e-03 9.99993334e-01 -1.54426618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72486062399997 meters 0.11087990829365928 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.54 [[ 9.99981843e-01 4.85420945e-03 3.57086523e-03 6.06381751e+01] [-4.85144795e-03 9.99987926e-01 -7.81596006e-04 -5.55167558e+00] [-3.57461614e-03 7.64257948e-04 9.99993319e-01 -1.54419963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78486062399998 meters 0.11029355721314477 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.54 [[ 9.99980884e-01 4.99941930e-03 3.63838362e-03 6.06380830e+01] [-4.99769998e-03 9.99987396e-01 -4.81487460e-04 -5.55282798e+00] [-3.64074492e-03 4.63294706e-04 9.99993265e-01 -1.54423840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84486062399998 meters 0.1083285095608989 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.54 [[ 9.99993933e-01 1.20606980e-03 3.26798627e-03 6.06387177e+01] [-1.19258181e-03 9.99990776e-01 -4.12611705e-03 -5.55465390e+00] [-3.27293251e-03 4.12219467e-03 9.99986148e-01 -1.54404396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90486062399998 meters 0.11034240957173051 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99992938e-01 1.54611934e-03 3.42552808e-03 6.06386307e+01] [-1.53444923e-03 9.99993020e-01 -3.40681871e-03 -5.55695199e+00] [-3.43077151e-03 3.40153835e-03 9.99988330e-01 -1.54437030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96486062399998 meters 0.11248898759714947 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99992290e-01 2.09718211e-03 3.31984686e-03 6.06392338e+01] [-2.08835390e-03 9.99994280e-01 -2.66046094e-03 -5.55895416e+00] [-3.32540734e-03 2.65350741e-03 9.99990950e-01 -1.54483800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02486062399998 meters 0.10821669781590582 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99992305e-01 2.32052360e-03 3.16313695e-03 6.06393823e+01] [-2.31295261e-03 9.99994457e-01 -2.39506593e-03 -5.55975530e+00] [-3.16867723e-03 2.38773131e-03 9.99992129e-01 -1.54461715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084860624 meters 0.13186300510666893 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99992537e-01 2.38009377e-03 3.04319300e-03 6.06395296e+01] [-2.37275582e-03 9.99994275e-01 -2.41260795e-03 -5.55994382e+00] [-3.04891781e-03 2.40536919e-03 9.99992459e-01 -1.54446753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144860624 meters 0.10690673879269831 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99992003e-01 2.76122425e-03 2.89315793e-03 6.06400468e+01] [-2.75561385e-03 9.99994319e-01 -1.94139101e-03 -5.56100754e+00] [-2.89850211e-03 1.93340305e-03 9.99993930e-01 -1.54473178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204860624 meters 0.10886977100389278 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99991900e-01 2.82669358e-03 2.86527857e-03 6.06398564e+01] [-2.82136277e-03 9.99994285e-01 -1.86282251e-03 -5.56178019e+00] [-2.87052782e-03 1.85472343e-03 9.99994160e-01 -1.54432786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264860624 meters 0.11369654217226755 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99991080e-01 2.88928166e-03 3.08079953e-03 6.06391732e+01] [-2.88451270e-03 9.99994637e-01 -1.55128116e-03 -5.56364390e+00] [-3.08526509e-03 1.54238072e-03 9.99994051e-01 -1.54393662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32486062399997 meters 0.11255420737629167 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99990251e-01 3.07798851e-03 3.16610802e-03 6.06390361e+01] [-3.07446034e-03 9.99994648e-01 -1.11862048e-03 -5.56523888e+00] [-3.16953418e-03 1.10887550e-03 9.99994362e-01 -1.54395661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38486062399997 meters 0.11045958697208437 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99990011e-01 2.84433881e-03 3.44787021e-03 6.06377823e+01] [-2.84049943e-03 9.99995341e-01 -1.11793653e-03 -5.56668269e+00] [-3.45103393e-03 1.10813169e-03 9.99993431e-01 -1.54290691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44486062399997 meters 0.10686315511379307 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99994023e-01 8.30836778e-04 3.35610444e-03 6.06364103e+01] [-8.21903231e-04 9.99996118e-01 -2.66238258e-03 -5.56924411e+00] [-3.35830342e-03 2.65960827e-03 9.99990824e-01 -1.54127676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50486062399997 meters 0.11495119042532129 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99993037e-01 1.17978091e-03 3.54033324e-03 6.06364114e+01] [-1.17310964e-03 9.99997534e-01 -1.88584619e-03 -5.57132785e+00] [-3.54254940e-03 1.88167986e-03 9.99991955e-01 -1.54180405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56486062399998 meters 0.11678230122059616 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99992848e-01 1.31415745e-03 3.54644740e-03 6.06364758e+01] [-1.30837536e-03 9.99997812e-01 -1.63221486e-03 -5.57203689e+00] [-3.54858463e-03 1.62756311e-03 9.99992379e-01 -1.54194158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62486062399998 meters 0.13035990976027323 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99992742e-01 1.48597431e-03 3.50832433e-03 6.06366088e+01] [-1.48135688e-03 9.99998034e-01 -1.31836650e-03 -5.57281752e+00] [-3.51027649e-03 1.31315985e-03 9.99992977e-01 -1.54203243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68486062399998 meters 0.10853032945029406 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99992928e-01 1.52685250e-03 3.43706201e-03 6.06368024e+01] [-1.52235031e-03 9.99997980e-01 -1.31213176e-03 -5.57265399e+00] [-3.43905850e-03 1.30689006e-03 9.99993232e-01 -1.54209896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74486062399998 meters 0.1340546005174115 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99993174e-01 1.60149993e-03 3.32971834e-03 6.06373458e+01] [-1.59704666e-03 9.99997827e-01 -1.33965934e-03 -5.57184996e+00] [-3.33185657e-03 1.33433248e-03 9.99993559e-01 -1.54255415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80486062399999 meters 0.11009233962179152 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99993830e-01 1.91685026e-03 2.94385574e-03 6.06387151e+01] [-1.91309838e-03 9.99997355e-01 -1.27676586e-03 -5.57062598e+00] [-2.94629533e-03 1.27112609e-03 9.99994852e-01 -1.54341365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864860624 meters 0.11280045184082031 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99994642e-01 1.83428120e-03 2.71150666e-03 6.06391520e+01] [-1.82987914e-03 9.99997005e-01 -1.62506429e-03 -5.56930761e+00] [-2.71447936e-03 1.62009385e-03 9.99995003e-01 -1.54339714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924860624 meters 0.10765113678828342 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.57, Z:-1.54 [[ 9.99995277e-01 2.14918666e-03 2.19695017e-03 6.06408687e+01] [-2.14536852e-03 9.99996187e-01 -1.73881078e-03 -5.56713698e+00] [-2.20067882e-03 1.73408930e-03 9.99996075e-01 -1.54439918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984860624 meters 0.10938159123292153 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.54 [[ 9.99996041e-01 2.09331858e-03 1.88042165e-03 6.06418736e+01] [-2.08917970e-03 9.99995397e-01 -2.20031248e-03 -5.56467622e+00] [-1.88501895e-03 2.19637523e-03 9.99995811e-01 -1.54490817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04486062399997 meters 0.10949729449453872 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.56, Z:-1.55 [[ 9.99990963e-01 3.88943722e-03 1.71663116e-03 6.06444104e+01] [-3.88767179e-03 9.99991912e-01 -1.03056634e-03 -5.56047918e+00] [-1.72062559e-03 1.02388333e-03 9.99997996e-01 -1.54763736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10486062399997 meters 0.11205525346190341 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99994758e-01 2.68802249e-03 1.80506434e-03 6.06440604e+01] [-2.68289027e-03 9.99992369e-01 -2.83965918e-03 -5.55422697e+00] [-1.81268364e-03 2.83480150e-03 9.99994339e-01 -1.54749163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16486062399997 meters 0.12279848426144305 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99995507e-01 1.27513079e-03 2.71307944e-03 6.06421208e+01] [-1.26433818e-03 9.99991296e-01 -3.97599703e-03 -5.55171126e+00] [-2.71812574e-03 3.97254891e-03 9.99988415e-01 -1.54742146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22486062399997 meters 0.12651279278928618 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99993816e-01 5.55010340e-04 3.47264377e-03 6.06409212e+01] [-5.40634491e-04 9.99991287e-01 -4.13931215e-03 -5.55164560e+00] [-3.47491087e-03 4.13740912e-03 9.99985403e-01 -1.54803122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28486062399998 meters 0.1320126912467894 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99990673e-01 -1.04404750e-03 4.19089589e-03 6.06392346e+01] [ 1.06622105e-03 9.99985428e-01 -5.29214293e-03 -5.54982117e+00] [-4.18530958e-03 5.29656200e-03 9.99977215e-01 -1.54802628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34486062399998 meters 0.14056373939049122 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.55, Z:-1.55 [[ 9.99989003e-01 -1.68028556e-03 4.37834953e-03 6.06389401e+01] [ 1.70698183e-03 9.99979933e-01 -6.10075069e-03 -5.54711764e+00] [-4.36801067e-03 6.10815736e-03 9.99971805e-01 -1.54820748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40486062399998 meters 0.13984148326603107 Centerline is valid? [False, False] Translation: X:60.64, Y:-5.54, Z:-1.55 [[ 9.99987253e-01 1.22996653e-03 4.89714013e-03 6.06373002e+01] [-1.21242761e-03 9.99992847e-01 -3.58282147e-03 -5.54237379e+00] [-4.90151185e-03 3.57683837e-03 9.99981591e-01 -1.54745978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46486062399998 meters 0.13269809389000672 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.54, Z:-1.54 [[ 9.99995210e-01 2.33724519e-04 -3.08625100e-03 6.06490031e+01] [-2.24877613e-04 9.99995866e-01 2.86659030e-03 -5.53507184e+00] [ 3.08690824e-03 -2.86588254e-03 9.99991129e-01 -1.54284184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52486062399998 meters 0.13190952027875863 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.53, Z:-1.54 [[ 9.99983556e-01 4.62751368e-03 -3.38718853e-03 6.06502824e+01] [-4.60412313e-03 9.99965726e-01 6.88112057e-03 -5.53315512e+00] [ 3.41891491e-03 -6.86541238e-03 9.99970588e-01 -1.54371131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584860624 meters 0.13190952027875863 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.53, Z:-1.54 [[ 9.99983556e-01 4.62751368e-03 -3.38718853e-03 6.06502824e+01] [-4.60412313e-03 9.99965726e-01 6.88112057e-03 -5.53315512e+00] [ 3.41891491e-03 -6.86541238e-03 9.99970588e-01 -1.54371131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644860624 meters 0.1276192323238617 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.53, Z:-1.54 [[ 9.99983197e-01 4.44207841e-03 -3.72473301e-03 6.06508234e+01] [-4.41888844e-03 9.99970947e-01 6.21122628e-03 -5.53119641e+00] [ 3.75221555e-03 -6.19466273e-03 9.99973773e-01 -1.54341647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704860624 meters 0.12685057134825092 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.53, Z:-1.54 [[ 9.99978769e-01 4.64017446e-03 -4.57497100e-03 6.06527956e+01] [-4.61522103e-03 9.99974499e-01 5.44988774e-03 -5.52749442e+00] [ 4.60014277e-03 -5.42865753e-03 9.99974684e-01 -1.54375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764860624 meters 0.12094602751133812 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.52, Z:-1.54 [[ 9.99975196e-01 4.59830013e-03 -5.33506961e-03 6.06544163e+01] [-4.57528209e-03 9.99980208e-01 4.31869107e-03 -5.52299215e+00] [ 5.35482266e-03 -4.29417451e-03 9.99976443e-01 -1.54379721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82486062399997 meters 0.11714649341610961 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.54 [[ 9.99946685e-01 8.54011043e-03 -5.80460094e-03 6.06560802e+01] [-8.49861311e-03 9.99938420e-01 7.13649748e-03 -5.51701364e+00] [ 5.86518997e-03 -7.08678594e-03 9.99957688e-01 -1.54470236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88486062399997 meters 0.1160621753447871 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.54 [[ 9.99948350e-01 7.95993177e-03 -6.31956861e-03 6.06568288e+01] [-7.92578215e-03 9.99953953e-01 5.41056634e-03 -5.51141652e+00] [ 6.36234535e-03 -5.36019936e-03 9.99965394e-01 -1.54422254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94486062399997 meters 0.11336437259750086 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.50, Z:-1.54 [[ 9.99942433e-01 8.32921361e-03 -6.76427727e-03 6.06583798e+01] [-8.30269364e-03 9.99957773e-01 3.93925510e-03 -5.50373465e+00] [ 6.79680253e-03 -3.88286661e-03 9.99969363e-01 -1.54424525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00486062399997 meters 0.10902855222405587 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.50, Z:-1.54 [[ 9.99906520e-01 1.18619686e-02 -6.80030366e-03 6.06590196e+01] [-1.18176553e-02 9.99908913e-01 6.51993653e-03 -5.49753274e+00] [ 6.87702352e-03 -6.43896340e-03 9.99955622e-01 -1.54486702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06486062399998 meters 0.10760255837120111 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.49, Z:-1.54 [[ 9.99903171e-01 1.16605788e-02 -7.59475512e-03 6.06606540e+01] [-1.16237585e-02 9.99920561e-01 4.87434344e-03 -5.49181032e+00] [ 7.65098947e-03 -4.78559186e-03 9.99959279e-01 -1.54471251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12486062399998 meters 0.1067588825909017 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.49, Z:-1.54 [[ 9.99900007e-01 1.13943851e-02 -8.37517260e-03 6.06622010e+01] [-1.13683697e-02 9.99930425e-01 3.14732686e-03 -5.48574980e+00] [ 8.41045175e-03 -3.05180009e-03 9.99959975e-01 -1.54444499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18486062399998 meters 0.10738999662795018 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.48, Z:-1.54 [[ 9.99899915e-01 1.12473620e-02 -8.58233472e-03 6.06627183e+01] [-1.12391206e-02 9.99936331e-01 1.00790331e-03 -5.47747337e+00] [ 8.59312454e-03 -9.11344543e-04 9.99962663e-01 -1.54338227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24486062399998 meters 0.10499114038947967 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.48, Z:-1.54 [[ 9.99915201e-01 1.01632038e-02 -8.14244017e-03 6.06606724e+01] [-1.01651237e-02 9.99948315e-01 -1.94432561e-04 -5.47520007e+00] [ 8.14004327e-03 2.77184984e-04 9.99966831e-01 -1.54196812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30486062399999 meters 0.11304540619088396 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.48, Z:-1.54 [[ 9.99961890e-01 5.33655875e-03 -6.90941426e-03 6.06588189e+01] [-5.35601816e-03 9.99981734e-01 -2.80092704e-03 -5.47871995e+00] [ 6.89434074e-03 2.83782725e-03 9.99972207e-01 -1.54443629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364860624 meters 0.1473700456136247 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.48, Z:-1.55 [[ 9.99983840e-01 -1.17387665e-04 -5.68375974e-03 6.06560634e+01] [ 8.55210105e-05 9.99984280e-01 -5.60653386e-03 -5.48408976e+00] [ 5.68432852e-03 5.60595718e-03 9.99968130e-01 -1.54576171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424860624 meters 0.13468891112448383 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.49, Z:-1.55 [[ 9.99988709e-01 -4.17166118e-04 -4.73359129e-03 6.06542724e+01] [ 3.95892975e-04 9.99989823e-01 -4.49412846e-03 -5.48802863e+00] [ 4.73541792e-03 4.49220372e-03 9.99978698e-01 -1.54645121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484860624 meters 0.13783341586253342 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.49, Z:-1.55 [[ 9.99991462e-01 -6.17364292e-04 -4.08602285e-03 6.06526705e+01] [ 6.01064919e-04 9.99991863e-01 -3.98908233e-03 -5.49034718e+00] [ 4.08845232e-03 3.98659230e-03 9.99983696e-01 -1.54619117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54486062399997 meters 0.13638822181027094 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.49, Z:-1.55 [[ 9.99992834e-01 -3.45936605e-04 -3.77004702e-03 6.06521874e+01] [ 3.33776408e-04 9.99994742e-01 -3.22562819e-03 -5.49264025e+00] [ 3.77114306e-03 3.22434672e-03 9.99987691e-01 -1.54653786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60486062399997 meters 0.14476151958020056 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.50, Z:-1.55 [[ 9.99994836e-01 -1.01693114e-04 -3.21216445e-03 6.06507379e+01] [ 9.46458158e-05 9.99997589e-01 -2.19401652e-03 -5.49726362e+00] [ 3.21237982e-03 2.19370117e-03 9.99992434e-01 -1.54611354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66486062399997 meters 0.13576430637642087 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.50, Z:-1.55 [[ 9.99994697e-01 7.52449322e-04 -3.16858073e-03 6.06509886e+01] [-7.54902774e-04 9.99999416e-01 -7.73181405e-04 -5.50165698e+00] [ 3.16799710e-03 7.75569275e-04 9.99994681e-01 -1.54661358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72486062399997 meters 0.14063232565896538 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.50, Z:-1.55 [[ 9.99993244e-01 1.41168473e-03 -3.39396518e-03 6.06515290e+01] [-1.41165257e-03 9.99999004e-01 1.18733415e-05 -5.50437943e+00] [ 3.39397856e-03 -7.08216167e-06 9.99994240e-01 -1.54659184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78486062399998 meters 0.13356648107408978 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.51, Z:-1.55 [[ 9.99988950e-01 2.39584280e-03 -4.04475135e-03 6.06528693e+01] [-2.39202944e-03 9.99996690e-01 9.47367398e-04 -5.50729103e+00] [ 4.04700771e-03 -9.37681765e-04 9.99991371e-01 -1.54640225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84486062399998 meters 0.13169186067386496 Centerline is valid? [False, False] Translation: X:60.65, Y:-5.51, Z:-1.55 [[ 9.99983071e-01 3.39572664e-03 -4.72503267e-03 6.06546638e+01] [-3.38717537e-03 9.99992613e-01 1.81660717e-03 -5.50943120e+00] [ 4.73116647e-03 -1.80057190e-03 9.99987187e-01 -1.54672021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90486062399998 meters 0.1289392138163711 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99973191e-01 4.73897524e-03 -5.58214437e-03 6.06569791e+01] [-4.72207207e-03 9.99984238e-01 3.03737592e-03 -5.51238929e+00] [ 5.59645044e-03 -3.01093520e-03 9.99979807e-01 -1.54737694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96486062399998 meters 0.12451805425397434 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99967840e-01 5.26510227e-03 -6.04956971e-03 6.06580188e+01] [-5.24469148e-03 9.99980518e-01 3.38485025e-03 -5.51346616e+00] [ 6.06727343e-03 -3.35301327e-03 9.99975972e-01 -1.54735817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02486062399998 meters 0.11653480248842021 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99974102e-01 2.26261610e-03 -6.83192675e-03 6.06597922e+01] [-2.26561613e-03 9.99997340e-01 -4.31412029e-04 -5.51306302e+00] [ 6.83093246e-03 4.46879380e-04 9.99976569e-01 -1.54710099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084860624 meters 0.11757374761905329 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99972314e-01 2.52166889e-03 -7.00082674e-03 6.06600859e+01] [-2.52305891e-03 9.99996799e-01 -1.89725417e-04 -5.51407580e+00] [ 7.00032591e-03 2.07383663e-04 9.99975476e-01 -1.54694274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144860624 meters 0.1138748786049689 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99970561e-01 2.98305071e-03 -7.06951719e-03 6.06603829e+01] [-2.97978017e-03 9.99995449e-01 4.73113665e-04 -5.51633225e+00] [ 7.07089633e-03 -4.52034130e-04 9.99974899e-01 -1.54710669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204860624 meters 0.11635171345947798 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99972668e-01 3.01215904e-03 -6.75198572e-03 6.06596979e+01] [-3.00662920e-03 9.99995136e-01 8.28996607e-04 -5.51808177e+00] [ 6.75444995e-03 -8.08673232e-04 9.99976861e-01 -1.54709495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264860624 meters 0.11282339025534628 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99976671e-01 2.76651954e-03 -6.24534036e-03 6.06585304e+01] [-2.76018293e-03 9.99995667e-01 1.02300609e-03 -5.51979300e+00] [ 6.24814347e-03 -1.00574394e-03 9.99979974e-01 -1.54697660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32486062399997 meters 0.1159791945416221 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99977281e-01 -1.26983556e-03 -6.62006366e-03 6.06593122e+01] [ 1.24971314e-03 9.99994590e-01 -3.04286245e-03 -5.51982798e+00] [ 6.62389178e-03 3.03452014e-03 9.99973458e-01 -1.54694892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38486062399997 meters 0.11529734351468118 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99977841e-01 -1.11787627e-03 -6.56264266e-03 6.06595089e+01] [ 1.09950905e-03 9.99995471e-01 -2.80169474e-03 -5.52019990e+00] [ 6.56574488e-03 2.79441697e-03 9.99974541e-01 -1.54734079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44486062399997 meters 0.1160872349712285 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99978639e-01 -1.10807144e-03 -6.44159806e-03 6.06596342e+01] [ 1.09049821e-03 9.99995676e-01 -2.73095823e-03 -5.51982126e+00] [ 6.44459631e-03 2.72387534e-03 9.99975524e-01 -1.54789719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50486062399997 meters 0.12002270476267578 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99979216e-01 -1.25241812e-03 -6.32451489e-03 6.06598957e+01] [ 1.23405879e-03 9.99995016e-01 -2.90595201e-03 -5.51842808e+00] [ 6.32812284e-03 2.89808679e-03 9.99975778e-01 -1.54862928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56486062399998 meters 0.1170336587967555 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.52, Z:-1.55 [[ 9.99981707e-01 2.38153329e-03 -5.55997807e-03 6.06585973e+01] [-2.37632226e-03 9.99996731e-01 9.43656566e-04 -5.51729656e+00] [ 5.56220725e-03 -9.30427004e-04 9.99984098e-01 -1.54914000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62486062399998 meters 0.11925480822719395 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99981946e-01 2.02782193e-03 -5.65640267e-03 6.06593436e+01] [-2.02676904e-03 9.99997928e-01 1.91865469e-04 -5.51352951e+00] [ 5.65678001e-03 -1.80397783e-04 9.99983984e-01 -1.54993456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68486062399998 meters 0.11276866489845826 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.51, Z:-1.55 [[ 9.99981388e-01 1.47578852e-03 -5.92001517e-03 6.06609171e+01] [-1.48293529e-03 9.99998177e-01 -1.20301356e-03 -5.50657804e+00] [ 5.91822898e-03 1.21177017e-03 9.99981753e-01 -1.55147256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74486062399998 meters 0.11605005229779429 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.50, Z:-1.55 [[ 9.99973898e-01 4.81755911e-03 -5.38455722e-03 6.06607557e+01] [-4.80751944e-03 9.99986684e-01 1.87592123e-03 -5.50175722e+00] [ 5.39352288e-03 -1.84998590e-03 9.99983744e-01 -1.55283378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80486062399999 meters 0.11165163331724726 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.49, Z:-1.55 [[ 9.99963362e-01 6.85622719e-03 -5.12507556e-03 6.06616630e+01] [-6.84434325e-03 9.99973856e-01 2.33273844e-03 -5.48874968e+00] [ 5.14093536e-03 -2.29757519e-03 9.99984146e-01 -1.55464318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864860624 meters 0.10993656871902752 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.48, Z:-1.56 [[ 9.99945896e-01 9.30980934e-03 -4.64029255e-03 6.06616457e+01] [-9.29297401e-03 9.99950207e-01 3.63652715e-03 -5.47927101e+00] [ 4.67391687e-03 -3.59320829e-03 9.99982622e-01 -1.55561584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924860624 meters 0.11066213057749495 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.46, Z:-1.56 [[ 9.99929239e-01 1.10710597e-02 -4.35299662e-03 6.06624914e+01] [-1.10565870e-02 9.99933313e-01 3.33487953e-03 -5.46343969e+00] [ 4.38962698e-03 -3.28651426e-03 9.99984965e-01 -1.55739495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984860624 meters 0.11179757603050666 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.45, Z:-1.56 [[ 9.99943477e-01 9.50768075e-03 -4.75882031e-03 6.06634840e+01] [-9.50803473e-03 9.99954796e-01 -5.17660588e-05 -5.45141709e+00] [ 4.75811301e-03 9.70101616e-05 9.99988675e-01 -1.55755239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04486062399997 meters 0.1124690439691184 Centerline is valid? [False, False] Translation: X:60.66, Y:-5.43, Z:-1.56 [[ 9.99942214e-01 1.00784289e-02 -3.74090722e-03 6.06619745e+01] [-1.00801141e-02 9.99949101e-01 -4.31888233e-04 -5.43453602e+00] [ 3.73636406e-03 4.69572048e-04 9.99992910e-01 -1.55900602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10486062399997 meters 0.1166356824075156 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.42, Z:-1.56 [[ 9.99936279e-01 6.35929023e-03 -9.32720824e-03 6.06732751e+01] [-6.32826792e-03 9.99974359e-01 3.35175278e-03 -5.41527004e+00] [ 9.34828385e-03 -3.29251414e-03 9.99950883e-01 -1.55886472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16486062399997 meters 0.12001349221181028 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.40, Z:-1.56 [[ 9.99933377e-01 7.94602107e-03 -8.37266030e-03 6.06717049e+01] [-7.91214032e-03 9.99960408e-01 4.07197651e-03 -5.40345376e+00] [ 8.40468482e-03 -4.00545956e-03 9.99956658e-01 -1.55961478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22486062399997 meters 0.11517963335328889 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.38, Z:-1.56 [[ 9.99920506e-01 9.58111976e-03 -8.19655005e-03 6.06718024e+01] [-9.54938398e-03 9.99946789e-01 3.90226187e-03 -5.38369187e+00] [ 8.23350195e-03 -3.82367966e-03 9.99958794e-01 -1.56095724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28486062399998 meters 0.11248043355654361 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.37, Z:-1.56 [[ 9.99890816e-01 1.21634563e-02 -8.39090974e-03 6.06728116e+01] [-1.21251609e-02 9.99915908e-01 4.59978568e-03 -5.37130042e+00] [ 8.44615342e-03 -4.49754233e-03 9.99954216e-01 -1.56128969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34486062399998 meters 0.10868930414988037 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.36, Z:-1.56 [[ 9.99789198e-01 1.88757006e-02 -8.07883087e-03 6.06708331e+01] [-1.87948540e-02 9.99773663e-01 9.96880906e-03 -5.36211886e+00] [ 8.26517058e-03 -9.81486717e-03 9.99917674e-01 -1.55889791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40486062399998 meters 0.11243359853588163 Centerline is valid? [False, False] Translation: X:60.67, Y:-5.36, Z:-1.56 [[ 9.99838009e-01 1.56210035e-02 -8.94086464e-03 6.06739986e+01] [-1.55671860e-02 9.99860475e-01 6.05754648e-03 -5.36201965e+00] [ 9.03424212e-03 -5.91738111e-03 9.99941682e-01 -1.56015918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46486062399998 meters 0.11098346060606742 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.36, Z:-1.56 [[ 9.99876709e-01 1.21729110e-02 -9.91903583e-03 6.06766770e+01] [-1.21556639e-02 9.99924502e-01 1.79723243e-03 -5.36188222e+00] [ 9.94016451e-03 -1.67643838e-03 9.99949190e-01 -1.56028671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52486062399998 meters 0.10840397853080265 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.36, Z:-1.56 [[ 9.99867940e-01 1.22887021e-02 -1.06343548e-02 6.06782917e+01] [-1.22801819e-02 9.99924221e-01 8.66132573e-04 -5.35893161e+00] [ 1.06441926e-02 -7.35426380e-04 9.99943079e-01 -1.55974521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584860624 meters 0.11212273657907655 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.36, Z:-1.56 [[ 9.99860341e-01 1.23637316e-02 -1.12443645e-02 6.06796186e+01] [-1.23633587e-02 9.99923565e-01 1.02668774e-04 -5.35633720e+00] [ 1.12447744e-02 3.63636766e-05 9.99936775e-01 -1.55919756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644860624 meters 0.10669553364528703 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.35, Z:-1.56 [[ 9.99858916e-01 1.22336981e-02 -1.15101732e-02 6.06799426e+01] [-1.22416215e-02 9.99924877e-01 -6.18171277e-04 -5.35462858e+00] [ 1.15017460e-02 7.58987245e-04 9.99933565e-01 -1.55844424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704860624 meters 0.10638408085704547 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.35, Z:-1.56 [[ 9.99859824e-01 1.20692303e-02 -1.16045369e-02 6.06799488e+01] [-1.20828982e-02 9.99926385e-01 -1.10841505e-03 -5.35339940e+00] [ 1.15903050e-02 1.24847611e-03 9.99932051e-01 -1.55800376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76486062399997 meters 0.1071818187561411 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.35, Z:-1.57 [[ 9.99893947e-01 1.37320136e-02 4.85034857e-03 6.06787512e+01] [-1.37544364e-02 9.99894729e-01 4.62023867e-03 -5.35433379e+00] [-4.78639279e-03 -4.68646249e-03 9.99977564e-01 -1.56709593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82486062399997 meters 0.10092168848533868 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.35, Z:-1.57 [[ 9.99893542e-01 1.39575409e-02 4.25334869e-03 6.06799748e+01] [-1.39744435e-02 9.99894470e-01 3.97048676e-03 -5.35274976e+00] [-4.19748160e-03 -4.02950225e-03 9.99983072e-01 -1.56631332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88486062399997 meters 0.10249307800243707 Centerline is valid? [False, False] Translation: X:60.68, Y:-5.35, Z:-1.57 [[ 9.99942098e-01 1.03715007e-02 2.86930115e-03 6.06827614e+01] [-1.03681647e-02 9.99945559e-01 -1.17507636e-03 -5.35042607e+00] [-2.88133225e-03 1.14525893e-03 9.99995193e-01 -1.56515063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94486062399997 meters 0.09769679184417127 Centerline is valid? [False, True] Translation: X:60.68, Y:-5.35, Z:-1.56 [[ 9.99941185e-01 1.04618880e-02 2.85939754e-03 6.06826272e+01] [-1.04585561e-02 9.99944614e-01 -1.17772932e-03 -5.35112113e+00] [-2.87156044e-03 1.14775488e-03 9.99995218e-01 -1.56479879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00486062399997 meters 0.10125580983636788 Centerline is valid? [True, False] Translation: X:60.69, Y:-5.35, Z:-1.56 [[ 9.99970634e-01 4.74414277e-03 -6.01867467e-03 6.06935578e+01] [-4.73993186e-03 9.99988512e-01 7.13712266e-04 -5.34951016e+00] [ 6.02199148e-03 -6.85163199e-04 9.99981633e-01 -1.55974535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06486062399998 meters 0.09674679573757232 Centerline is valid? [False, True] Translation: X:60.69, Y:-5.35, Z:-1.56 [[ 9.99971273e-01 4.54716481e-03 -6.06432578e-03 6.06929848e+01] [-4.54502734e-03 9.99989604e-01 3.66200613e-04 -5.34949023e+00] [ 6.06592791e-03 -3.38627566e-04 9.99981545e-01 -1.55871795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12486062399998 meters 0.10240085284540743 Centerline is valid? [True, False] Translation: X:60.70, Y:-5.35, Z:-1.56 [[ 9.99974359e-01 8.92501471e-04 -7.10531061e-03 6.06953627e+01] [-9.21202114e-04 9.99991427e-01 -4.03707529e-03 -5.34848294e+00] [ 7.10164660e-03 4.04351720e-03 9.99966608e-01 -1.55833938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18486062399998 meters 0.09915139640666165 Centerline is valid? [False, True] Translation: X:60.70, Y:-5.35, Z:-1.56 [[ 9.99971868e-01 1.40873933e-03 -7.36739137e-03 6.06965539e+01] [-1.43470873e-03 9.99992773e-01 -3.52081474e-03 -5.34927572e+00] [ 7.36237821e-03 3.53128575e-03 9.99966662e-01 -1.55908440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24486062399998 meters 0.09616667020555865 Centerline is valid? [True, True] Translation: X:60.76, Y:-5.35, Z:-1.56 [[ 9.99964986e-01 4.74499381e-03 -6.89288031e-03 6.07572948e+01] [-4.74161514e-03 9.99988630e-01 5.06426675e-04 -5.35203928e+00] [ 6.89520493e-03 -4.73725557e-04 9.99976116e-01 -1.56233814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30486062399999 meters 0.09538906973255451 Centerline is valid? [True, True] Translation: X:60.82, Y:-5.36, Z:-1.56 [[ 9.99964741e-01 6.09696416e-03 -5.77442355e-03 6.08173571e+01] [-6.09461690e-03 9.99981338e-01 4.24001263e-04 -5.35696190e+00] [ 5.77690090e-03 -3.88793414e-04 9.99983238e-01 -1.56197431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364860624 meters 0.09364957891682248 Centerline is valid? [True, True] Translation: X:60.88, Y:-5.36, Z:-1.56 [[ 9.99971716e-01 6.45157610e-03 -3.86579021e-03 6.08762703e+01] [-6.45053311e-03 9.99979155e-01 2.82206205e-04 -5.36232811e+00] [ 3.86753030e-03 -2.57261815e-04 9.99992488e-01 -1.55959637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424860624 meters 0.09076841082056757 Centerline is valid? [True, True] Translation: X:60.94, Y:-5.36, Z:-1.56 [[ 9.99929810e-01 1.16344914e-02 -2.23907451e-03 6.09363964e+01] [-1.16341530e-02 9.99932307e-01 1.64090017e-04 -5.36487950e+00] [ 2.24083205e-03 -1.38028764e-04 9.99997480e-01 -1.55653681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484860624 meters 0.09054349675722123 Centerline is valid? [True, True] Translation: X:60.99, Y:-5.37, Z:-1.56 [[ 9.99925288e-01 1.18546480e-02 -2.98098819e-03 6.09947796e+01] [-1.18540516e-02 9.99929715e-01 2.17646763e-04 -5.37136497e+00] [ 2.98335879e-03 -1.82293715e-04 9.99995533e-01 -1.55801936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54486062399997 meters 0.09269145569908852 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.39, Z:-1.56 [[ 9.99940457e-01 1.02497316e-02 -3.74500528e-03 6.10525645e+01] [-1.02487783e-02 9.99947442e-01 2.73645269e-04 -5.38570763e+00] [ 3.74761324e-03 -2.35247246e-04 9.99992950e-01 -1.56310327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60486062399997 meters 0.09354303529033227 Centerline is valid? [True, True] Translation: X:61.11, Y:-5.40, Z:-1.56 [[ 9.99958377e-01 8.09339629e-03 -4.21192611e-03 6.11113902e+01] [-8.09217090e-03 9.99967210e-01 3.07892908e-04 -5.39872988e+00] [ 4.21427990e-03 -2.73796466e-04 9.99991082e-01 -1.56469164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66486062399997 meters 0.09507812428224009 Centerline is valid? [True, True] Translation: X:61.17, Y:-5.41, Z:-1.56 [[ 9.99968175e-01 6.85535561e-03 -4.08071245e-03 6.11692586e+01] [-6.85419872e-03 9.99976465e-01 2.97419751e-04 -5.40845298e+00] [ 4.08265533e-03 -2.69440272e-04 9.99991630e-01 -1.56424662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72486062399997 meters 0.09567836115381632 Centerline is valid? [True, True] Translation: X:61.23, Y:-5.42, Z:-1.56 [[ 9.99965016e-01 7.49844718e-03 -3.70684767e-03 6.12275691e+01] [-7.49749745e-03 9.99971857e-01 2.70040089e-04 -5.41619759e+00] [ 3.70876823e-03 -2.42238561e-04 9.99993093e-01 -1.56440144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78486062399998 meters 0.09217321967130593 Centerline is valid? [True, True] Translation: X:61.29, Y:-5.42, Z:-1.56 [[ 9.99952239e-01 9.08435553e-03 -3.60470222e-03 6.12871628e+01] [-9.08346776e-03 9.99958710e-01 2.62576018e-04 -5.41529723e+00] [ 3.60693872e-03 -2.29820281e-04 9.99993469e-01 -1.56341090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84486062399998 meters 0.08816889156878291 Centerline is valid? [True, True] Translation: X:61.35, Y:-5.41, Z:-1.56 [[ 9.99880298e-01 1.51562848e-02 -3.11067026e-03 6.13474094e+01] [-1.51556528e-02 9.99885121e-01 2.26636072e-04 -5.40923840e+00] [ 3.11374787e-03 -1.79464705e-04 9.99995136e-01 -1.56087066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90486062399998 meters 0.08724804983474123 Centerline is valid? [True, True] Translation: X:61.41, Y:-5.41, Z:-1.56 [[ 9.99826018e-01 1.83247836e-02 -3.48373407e-03 6.14074948e+01] [-1.83240096e-02 9.99832069e-01 2.53960400e-04 -5.41099982e+00] [ 3.48780281e-03 -1.90080239e-04 9.99993900e-01 -1.56143272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96486062399998 meters 0.08574127720289537 Centerline is valid? [True, True] Translation: X:61.47, Y:-5.41, Z:-1.56 [[ 9.99773618e-01 2.08601049e-02 -4.19154872e-03 6.14677773e+01] [-2.08590068e-02 9.99782381e-01 3.05526756e-04 -5.41250032e+00] [ 4.19700988e-03 -2.18026046e-04 9.99991169e-01 -1.56398660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02486062399998 meters 0.08571710249900191 Centerline is valid? [True, True] Translation: X:61.53, Y:-5.42, Z:-1.57 [[ 9.99736440e-01 2.24064168e-02 -5.00040165e-03 6.15257716e+01] [-2.24048788e-02 9.99748913e-01 3.63376927e-04 -5.41567579e+00] [ 5.00728809e-03 -2.51247762e-04 9.99987432e-01 -1.56604568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084860624 meters 0.10802516406432439 Centerline is valid? [True, False] Translation: X:61.60, Y:-5.42, Z:-1.56 [[ 9.99806083e-01 1.79837656e-02 -8.02379563e-03 6.16030702e+01] [-1.79665905e-02 9.99836151e-01 2.20749791e-03 -5.41645279e+00] [ 8.06218006e-03 -2.06290959e-03 9.99965372e-01 -1.56199289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144860624 meters 0.08347251958484611 Centerline is valid? [False, True] Translation: X:61.56, Y:-5.41, Z:-1.56 [[ 9.99810627e-01 1.65580612e-02 -1.02244961e-02 6.15641812e+01] [-1.64975912e-02 9.99846079e-01 5.97052578e-03 -5.41298797e+00] [ 1.03217827e-02 -5.80071557e-03 9.99929904e-01 -1.56144907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204860624 meters 0.08285220606078357 Centerline is valid? [True, True] Translation: X:61.62, Y:-5.41, Z:-1.56 [[ 9.99754265e-01 1.90093439e-02 -1.14041679e-02 6.16230897e+01] [-1.90020846e-02 9.99819167e-01 7.44574081e-04 -5.40999751e+00] [ 1.14162596e-02 -5.27688148e-04 9.99934693e-01 -1.55957483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26486062399997 meters 0.0821186841908206 Centerline is valid? [True, True] Translation: X:61.68, Y:-5.41, Z:-1.56 [[ 9.99688754e-01 2.13051465e-02 -1.29802051e-02 6.16808614e+01] [-2.12959489e-02 9.99772857e-01 8.46406304e-04 -5.40828460e+00] [ 1.29952896e-02 -5.69717078e-04 9.99915395e-01 -1.55971596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32486062399997 meters 0.07954054935000786 Centerline is valid? [True, True] Translation: X:61.74, Y:-5.40, Z:-1.56 [[ 9.99510021e-01 2.87390736e-02 -1.24009704e-02 6.17410556e+01] [-2.87312500e-02 9.99586845e-01 8.08616923e-04 -5.39886319e+00] [ 1.24190858e-02 -4.51925337e-04 9.99922778e-01 -1.55966111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38486062399997 meters 0.07655945982981532 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.39, Z:-1.56 [[ 9.99298288e-01 3.53410122e-02 -1.24074336e-02 6.18018075e+01] [-3.53336901e-02 9.99375243e-01 8.08914534e-04 -5.38943893e+00] [ 1.24282699e-02 -3.69946493e-04 9.99922698e-01 -1.55773585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44486062399997 meters 0.07479301014272192 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.38, Z:-1.56 [[ 9.98966500e-01 4.37714627e-02 -1.22470758e-02 6.18629197e+01] [-4.37649624e-02 9.99041536e-01 7.98400117e-04 -5.38147643e+00] [ 1.22702845e-02 -2.61582160e-04 9.99924683e-01 -1.55658751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50486062399997 meters 0.07413459137670876 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.38, Z:-1.56 [[ 9.98702128e-01 4.86977440e-02 -1.49194574e-02 6.19220777e+01] [-4.86887100e-02 9.98813532e-01 9.68357169e-04 -5.37818920e+00] [ 1.49489127e-02 -2.40691230e-04 9.99888230e-01 -1.55832578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56486062399998 meters 0.07418290847824713 Centerline is valid? [True, True] Translation: X:61.98, Y:-5.38, Z:-1.56 [[ 9.98574303e-01 5.09877886e-02 -1.57989383e-02 6.19806261e+01] [-5.09779957e-02 9.98699254e-01 1.02221842e-03 -5.37972597e+00] [ 1.58305085e-02 -2.15362843e-04 9.99874666e-01 -1.55996651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62486062399998 meters 0.07416907702095552 Centerline is valid? [True, True] Translation: X:62.04, Y:-5.38, Z:-1.56 [[ 9.98412576e-01 5.31759391e-02 -1.85646985e-02 6.20391509e+01] [-5.31628650e-02 9.98585137e-01 1.19740868e-03 -5.38180006e+00] [ 1.86021054e-02 -2.08555320e-04 9.99826944e-01 -1.56064904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68486062399998 meters 0.07462602693512176 Centerline is valid? [True, True] Translation: X:62.10, Y:-5.39, Z:-1.56 [[ 9.98398826e-01 5.29415895e-02 -1.99241567e-02 6.20977337e+01] [-5.29265680e-02 9.98597586e-01 1.28086054e-03 -5.38605293e+00] [ 1.99640256e-02 -2.24292427e-04 9.99800674e-01 -1.55908597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74486062399998 meters 0.07491240559720289 Centerline is valid? [True, True] Translation: X:62.16, Y:-5.39, Z:-1.56 [[ 9.98524185e-01 5.08325721e-02 -1.91181055e-02 6.21551018e+01] [-5.08184488e-02 9.98707158e-01 1.22414959e-03 -5.39378391e+00] [ 1.91556155e-02 -2.50790507e-04 9.99816483e-01 -1.55891037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80486062399999 meters 0.07563584273605367 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.40, Z:-1.56 [[ 9.98717045e-01 4.64826163e-02 -2.00905393e-02 6.22136694e+01] [-4.64661362e-02 9.98919037e-01 1.28657793e-03 -5.40302617e+00] [ 2.01286257e-02 -3.51397575e-04 9.99797337e-01 -1.55885680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864860624 meters 0.0762291984197592 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.41, Z:-1.56 [[ 9.98889130e-01 4.25295118e-02 -2.02915213e-02 6.22728588e+01] [-4.25118962e-02 9.99095116e-01 1.29889322e-03 -5.41055632e+00] [ 2.03284012e-02 -4.34819265e-04 9.99793262e-01 -1.55928122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924860624 meters 0.07917425976392076 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.43, Z:-1.56 [[ 9.99185353e-01 3.36713686e-02 -2.22456525e-02 6.23314087e+01] [-3.36480081e-02 9.99432731e-01 1.42369658e-03 -5.42647899e+00] [ 2.22809710e-02 -6.74014871e-04 9.99751521e-01 -1.56444412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984860624 meters 0.08122979957400102 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.44, Z:-1.57 [[ 9.99384940e-01 2.68324590e-02 -2.25778958e-02 6.23909647e+01] [-2.68066521e-02 9.99639593e-01 1.44495233e-03 -5.43683015e+00] [ 2.26085302e-02 -8.38825803e-04 9.99744043e-01 -1.56502120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04486062399997 meters 0.08648261921982321 Centerline is valid? [True, True] Translation: X:62.45, Y:-5.46, Z:-1.57 [[ 9.99582522e-01 1.64610406e-02 -2.37448002e-02 6.24491200e+01] [-1.64295760e-02 9.99863871e-01 1.51960529e-03 -5.45544097e+00] [ 2.37665821e-02 -1.12885388e-03 9.99716898e-01 -1.56939685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10486062399997 meters 0.09234937485202074 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.47, Z:-1.57 [[ 9.99685742e-01 7.96555739e-03 -2.37690290e-02 6.25071445e+01] [-7.93163658e-03 9.99967387e-01 1.52103861e-03 -5.47216263e+00] [ 2.37803698e-02 -1.33203332e-03 9.99716320e-01 -1.57292142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16486062399997 meters 0.09753007830054013 Centerline is valid? [True, True] Translation: X:62.57, Y:-5.48, Z:-1.57 [[ 9.99693827e-01 -1.32798965e-03 -2.47080637e-02 6.25669914e+01] [ 1.36747445e-03 9.99997815e-01 1.58122560e-03 -5.48481006e+00] [ 2.47059099e-02 -1.61452911e-03 9.99693459e-01 -1.57478099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22486062399997 meters 0.10225388948645157 Centerline is valid? [True, False] Translation: X:62.57, Y:-5.48, Z:-1.58 [[ 9.99829355e-01 -8.44014959e-03 -1.64324547e-02 6.25692077e+01] [ 8.60644241e-03 9.99912203e-01 1.00754999e-02 -5.48467847e+00] [ 1.63459733e-02 -1.02152055e-02 9.99814212e-01 -1.57983235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28486062399998 meters 0.10654795206176092 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.49, Z:-1.58 [[ 9.99984381e-01 -5.54822974e-03 6.74534293e-04 6.25588005e+01] [ 5.54558061e-03 9.99977143e-01 3.86775193e-03 -5.48502508e+00] [-6.95978052e-04 -3.86395084e-03 9.99992293e-01 -1.58441805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34486062399998 meters 0.11201400307538044 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.49, Z:-1.58 [[ 9.99977814e-01 -6.44814419e-03 1.67115159e-03 6.25563638e+01] [ 6.44174338e-03 9.99972002e-01 3.80767117e-03 -5.48521023e+00] [-1.69565721e-03 -3.79682156e-03 9.99991354e-01 -1.58451782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40486062399998 meters 0.11291462321439738 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.49, Z:-1.58 [[ 9.99977929e-01 -6.41171064e-03 1.74111223e-03 6.25563474e+01] [ 6.40476250e-03 9.99971619e-01 3.96730670e-03 -5.48557033e+00] [-1.76650003e-03 -3.95606773e-03 9.99990614e-01 -1.58474802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46486062399998 meters 0.10999629765540217 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.58 [[ 9.99980376e-01 -6.17045467e-03 1.08302188e-03 6.25580027e+01] [ 6.16681433e-03 9.99975430e-01 3.33303192e-03 -5.48295490e+00] [-1.10356160e-03 -3.32628772e-03 9.99993859e-01 -1.58454413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52486062399998 meters 0.1099524677262088 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.59 [[ 9.99984123e-01 -5.60815553e-03 5.50571140e-04 6.25599607e+01] [ 5.60630604e-03 9.99978822e-01 3.30518548e-03 -5.48205773e+00] [-5.69095475e-04 -3.30204633e-03 9.99994386e-01 -1.58511728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584860624 meters 0.11143346697146732 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.59 [[ 9.99987399e-01 -5.02005813e-03 -3.49446355e-05 6.25619579e+01] [ 5.02014648e-03 9.99981888e-01 3.31984611e-03 -5.48108835e+00] [ 1.82781822e-05 -3.31997970e-03 9.99994489e-01 -1.58567297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644860624 meters 0.10800977690928029 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.59 [[ 9.99988074e-01 -4.87640228e-03 -2.68074312e-04 6.25624754e+01] [ 4.87721550e-03 9.99983234e-01 3.12157757e-03 -5.48060150e+00] [ 2.52847749e-04 -3.12284779e-03 9.99995092e-01 -1.58539610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704860624 meters 0.10128683269080242 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.58 [[ 9.99989133e-01 -4.64332652e-03 -4.15222720e-04 6.25626660e+01] [ 4.64464357e-03 9.99983999e-01 3.22926810e-03 -5.48151738e+00] [ 4.00221530e-04 -3.23116157e-03 9.99994700e-01 -1.58499277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76486062399997 meters 0.10229780728854257 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.48, Z:-1.58 [[ 9.99991026e-01 -4.18150197e-03 -6.80515559e-04 6.25631983e+01] [ 4.18388911e-03 9.99984964e-01 3.54506209e-03 -5.48323590e+00] [ 6.65681643e-04 -3.54787748e-03 9.99993485e-01 -1.58459971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82486062399997 meters 0.10241682673183204 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.49, Z:-1.58 [[ 9.99993152e-01 -3.59361894e-03 -8.84240284e-04 6.25639884e+01] [ 3.59724715e-03 9.99984975e-01 4.13639312e-03 -5.48527950e+00] [ 8.69362377e-04 -4.13954563e-03 9.99991054e-01 -1.58482744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88486062399997 meters 0.10156842341311369 Centerline is valid? [False, False] Translation: X:62.56, Y:-5.49, Z:-1.58 [[ 9.99994200e-01 -3.25568707e-03 -1.00019045e-03 6.25643620e+01] [ 3.26009849e-03 9.99984824e-01 4.44106784e-03 -5.48667767e+00] [ 9.85716540e-04 -4.44430280e-03 9.99989638e-01 -1.58480091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94486062399997 meters 0.09994493949863495 Centerline is valid? [False, True] Translation: X:62.57, Y:-5.49, Z:-1.58 [[ 9.99995781e-01 -2.60996024e-03 -1.27500343e-03 6.25651232e+01] [ 2.61643234e-03 9.99983566e-01 5.10113116e-03 -5.48931291e+00] [ 1.26166873e-03 -5.10444560e-03 9.99986176e-01 -1.58474746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00486062399997 meters 0.1003552074736861 Centerline is valid? [True, False] Translation: X:62.57, Y:-5.49, Z:-1.58 [[ 9.99997065e-01 -2.09097035e-03 -1.22373363e-03 6.25651496e+01] [ 2.09835960e-03 9.99979385e-01 6.06847522e-03 -5.49309665e+00] [ 1.21101940e-03 -6.07102524e-03 9.99980838e-01 -1.58487628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06486062399998 meters 0.09973371259899388 Centerline is valid? [False, True] Translation: X:62.57, Y:-5.50, Z:-1.58 [[ 9.99997531e-01 -1.78196221e-03 -1.32773279e-03 6.25651610e+01] [ 1.79052308e-03 9.99977436e-01 6.47469271e-03 -5.49533297e+00] [ 1.31616517e-03 -6.47705406e-03 9.99978158e-01 -1.58442270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12486062399998 meters 0.09822416805494007 Centerline is valid? [True, True] Translation: X:62.63, Y:-5.50, Z:-1.58 [[ 9.99999932e-01 1.40533938e-04 -3.40124858e-04 6.26261536e+01] [-1.40525243e-04 9.99999990e-01 2.55897050e-05 -5.49787008e+00] [ 3.40128451e-04 -2.55419071e-05 9.99999942e-01 -1.58001730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18486062399998 meters 0.09573658539380342 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.50, Z:-1.58 [[ 9.99996203e-01 2.54473628e-03 1.05710120e-03 6.26866543e+01] [-2.54465456e-03 9.99996759e-01 -7.86502037e-05 -5.49971652e+00] [-1.05729792e-03 7.59599477e-05 9.99999438e-01 -1.57920992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24486062399998 meters 0.09401110032529475 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.50, Z:-1.58 [[ 9.99980434e-01 5.91035352e-03 2.04934425e-03 6.27467829e+01] [-5.91005331e-03 9.99982524e-01 -1.52518352e-04 -5.50262735e+00] [-2.05020988e-03 1.40403634e-04 9.99997888e-01 -1.57955661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30486062399999 meters 0.09274157195383273 Centerline is valid? [True, True] Translation: X:62.81, Y:-5.50, Z:-1.58 [[ 9.99945611e-01 1.00782463e-02 2.68408845e-03 6.28062631e+01] [-1.00777457e-02 9.99949198e-01 -1.99973081e-04 -5.50446729e+00] [-2.68596747e-03 1.72912643e-04 9.99996378e-01 -1.58047964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364860624 meters 0.09082908886681362 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.50, Z:-1.58 [[ 9.99910972e-01 1.30929583e-02 2.57334797e-03 6.28660993e+01] [-1.30925077e-02 9.99914271e-01 -1.91875209e-04 -5.50420602e+00] [-2.57563957e-03 1.58166549e-04 9.99996671e-01 -1.58095005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424860624 meters 0.08862280239898535 Centerline is valid? [True, True] Translation: X:62.93, Y:-5.50, Z:-1.58 [[ 9.99872695e-01 1.58224202e-02 2.06006212e-03 6.29262210e+01] [-1.58221376e-02 9.99874810e-01 -1.53407003e-04 -5.50278592e+00] [-2.06223149e-03 1.20792887e-04 9.99997866e-01 -1.58222298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484860624 meters 0.0871587050798037 Centerline is valid? [True, True] Translation: X:62.99, Y:-5.50, Z:-1.58 [[ 9.99813556e-01 1.92067577e-02 1.98814358e-03 6.29863625e+01] [-1.92065012e-02 9.99815527e-01 -1.48028858e-04 -5.50130743e+00] [-1.99061997e-03 1.09815977e-04 9.99998013e-01 -1.58302783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54486062399997 meters 0.08785965451809961 Centerline is valid? [True, True] Translation: X:63.04, Y:-5.50, Z:-1.58 [[ 9.99797601e-01 2.00076445e-02 2.10959136e-03 6.30439848e+01] [-2.00073556e-02 9.99799820e-01 -1.57987935e-04 -5.50445818e+00] [-2.11233002e-03 1.15748615e-04 9.99997762e-01 -1.58406669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60486062399997 meters 0.08510744453735276 Centerline is valid? [True, True] Translation: X:63.10, Y:-5.50, Z:-1.58 [[ 9.99776189e-01 2.08709288e-02 3.46058034e-03 6.31034452e+01] [-2.08701611e-02 9.99782161e-01 -2.57804222e-04 -5.50183818e+00] [-3.46520710e-03 1.85523653e-04 9.99993979e-01 -1.58280572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66486062399997 meters 0.0860828542513481 Centerline is valid? [True, True] Translation: X:63.16, Y:-5.50, Z:-1.58 [[ 9.99691382e-01 2.46477420e-02 3.10301942e-03 6.31619978e+01] [-2.46471454e-02 9.99696186e-01 -2.30374498e-04 -5.50479223e+00] [-3.10775490e-03 1.53822830e-04 9.99995159e-01 -1.58491357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72486062399997 meters 0.08236114325680646 Centerline is valid? [True, True] Translation: X:63.22, Y:-5.50, Z:-1.58 [[ 9.99614982e-01 2.75915305e-02 2.93190397e-03 6.32221576e+01] [-2.75910099e-02 9.99619272e-01 -2.17876176e-04 -5.49819561e+00] [-2.93679925e-03 1.36898098e-04 9.99995678e-01 -1.58474523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78486062399998 meters 0.08041982821568461 Centerline is valid? [True, True] Translation: X:63.28, Y:-5.49, Z:-1.59 [[ 9.99507425e-01 3.12481875e-02 2.90840440e-03 6.32825431e+01] [-3.12476916e-02 9.99511648e-01 -2.15807901e-04 -5.49495243e+00] [-2.91372768e-03 1.24820676e-04 9.99995747e-01 -1.58593227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84486062399998 meters 0.07935519089077593 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.50, Z:-1.59 [[ 9.99471705e-01 3.23090636e-02 3.52623820e-03 6.33417459e+01] [-3.23083391e-02 9.99477915e-01 -2.62230002e-04 -5.49567040e+00] [-3.53286961e-03 1.48164568e-04 9.99993748e-01 -1.58530073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90486062399998 meters 0.07987958216631685 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.50, Z:-1.59 [[ 9.99470518e-01 3.22320460e-02 4.44745182e-03 6.33995759e+01] [-3.22308947e-02 9.99480395e-01 -3.30331495e-04 -5.50089371e+00] [-4.45578817e-03 1.86811239e-04 9.99990055e-01 -1.58598647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96486062399998 meters 0.07939815975441172 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.50, Z:-1.59 [[ 9.99427848e-01 3.35913472e-02 3.94935527e-03 6.34580976e+01] [-3.35904515e-02 9.99435639e-01 -2.92929054e-04 -5.50445408e+00] [-3.95696629e-03 1.60100827e-04 9.99992158e-01 -1.58777957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02486062399998 meters 0.07943532156895115 Centerline is valid? [True, True] Translation: X:63.52, Y:-5.51, Z:-1.59 [[ 9.99454609e-01 3.28296018e-02 3.56400078e-03 6.35165223e+01] [-3.28288601e-02 9.99460952e-01 -2.66429621e-04 -5.50822380e+00] [-3.57082640e-03 1.49282230e-04 9.99993613e-01 -1.58926186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084860624 meters 0.07891049944265034 Centerline is valid? [True, True] Translation: X:63.58, Y:-5.51, Z:-1.59 [[ 9.99386698e-01 3.48640944e-02 3.27459717e-03 6.35756548e+01] [-3.48634880e-02 9.99392054e-01 -2.42108620e-04 -5.50944267e+00] [-3.28104729e-03 1.27796255e-04 9.99994609e-01 -1.58917386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144860624 meters 0.07727827772259134 Centerline is valid? [True, True] Translation: X:63.63, Y:-5.51, Z:-1.59 [[ 9.99293256e-01 3.74657512e-02 3.05070726e-03 6.36346862e+01] [-3.74652373e-02 9.99297906e-01 -2.25447451e-04 -5.50807301e+00] [-3.05701194e-03 1.10992646e-04 9.99995321e-01 -1.58912504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204860624 meters 0.07630627842328926 Centerline is valid? [True, True] Translation: X:63.69, Y:-5.51, Z:-1.59 [[ 9.99140995e-01 4.13572045e-02 2.61797690e-03 6.36946589e+01] [-4.13568406e-02 9.99144421e-01 -1.92980991e-04 -5.50717463e+00] [-2.62371816e-03 8.45439659e-05 9.99996554e-01 -1.59018436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26486062399997 meters 0.0764715467778312 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.51, Z:-1.59 [[ 9.99153756e-01 4.10705249e-02 2.23262028e-03 6.37533376e+01] [-4.10702533e-02 9.99156247e-01 -1.67398278e-04 -5.51123897e+00] [-2.23761163e-03 7.55623377e-05 9.99997494e-01 -1.59171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32486062399997 meters 0.07672107362458558 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.52, Z:-1.59 [[ 9.99132729e-01 4.16169323e-02 1.34930055e-03 6.38114285e+01] [-4.16168321e-02 9.99133639e-01 -1.02322152e-04 -5.51609115e+00] [-1.35238990e-03 4.60797969e-05 9.99999084e-01 -1.59384052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38486062399997 meters 0.07639749340065545 Centerline is valid? [True, True] Translation: X:63.87, Y:-5.52, Z:-1.59 [[ 9.99143645e-01 4.13759406e-02 9.21305653e-05 6.38696988e+01] [-4.13759399e-02 9.99143649e-01 -1.05049318e-05 -5.51992935e+00] [-9.24863206e-05 6.68394708e-06 9.99999996e-01 -1.59449703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44486062399997 meters 0.07794223344116251 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.53, Z:-1.60 [[ 9.99222785e-01 3.94012635e-02 -1.16930726e-03 6.39275358e+01] [-3.94011921e-02 9.99223468e-01 8.40467566e-05 -5.52986079e+00] [ 1.17171080e-03 -3.79093344e-05 9.99999313e-01 -1.59748100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50486062399997 meters 0.07712701917585899 Centerline is valid? [True, True] Translation: X:63.99, Y:-5.53, Z:-1.60 [[ 9.99256002e-01 3.85641447e-02 -4.99825892e-04 6.39860617e+01] [-3.85641333e-02 9.99256127e-01 3.24849436e-05 -5.53167988e+00] [ 5.00706839e-04 -1.31854226e-05 9.99999875e-01 -1.59534576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56486062399998 meters 0.0782156790885883 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.54, Z:-1.60 [[ 9.99347968e-01 3.61041139e-02 -3.62637837e-04 6.40449779e+01] [-3.61041070e-02 9.99348034e-01 2.54956597e-05 -5.53896701e+00] [ 3.63321908e-04 -1.23863204e-05 9.99999934e-01 -1.59564982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62486062399998 meters 0.101679915061398 Centerline is valid? [True, False] Translation: X:64.12, Y:-5.54, Z:-1.59 [[ 9.99639887e-01 2.65011591e-02 -4.21726445e-03 6.41216937e+01] [-2.64997966e-02 9.99648747e-01 3.78639307e-04 -5.54297470e+00] [ 4.22581750e-03 -2.66746305e-04 9.99991036e-01 -1.59415574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68486062399998 meters 0.08380799233394505 Centerline is valid? [False, True] Translation: X:64.05, Y:-5.54, Z:-1.59 [[ 9.99785422e-01 1.94138937e-02 -7.22575018e-03 6.40471310e+01] [-1.94053921e-02 9.99810923e-01 1.24482352e-03 -5.53730802e+00] [ 7.24855082e-03 -1.10433789e-03 9.99973119e-01 -1.59275504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74486062399998 meters 0.08883525425397205 Centerline is valid? [True, True] Translation: X:64.11, Y:-5.55, Z:-1.60 [[ 9.99910928e-01 1.00830626e-02 -8.74457118e-03 6.41066573e+01] [-1.00782816e-02 9.99949038e-01 5.90639711e-04 -5.55278711e+00] [ 8.75008100e-03 -5.02456851e-04 9.99961591e-01 -1.59548281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80486062399999 meters 0.09595047119279773 Centerline is valid? [True, True] Translation: X:64.17, Y:-5.57, Z:-1.60 [[ 9.99949418e-01 8.43719210e-04 -1.00224114e-02 6.41651282e+01] [-8.36978500e-04 9.99999421e-01 6.76739017e-04 -5.57007657e+00] [ 1.00229766e-02 -6.68316243e-04 9.99949545e-01 -1.59864930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864860624 meters 0.09902798350171527 Centerline is valid? [True, True] Translation: X:64.23, Y:-5.58, Z:-1.60 [[ 9.99936085e-01 -3.30640799e-03 -1.08116989e-02 6.42255070e+01] [ 3.31449567e-03 9.99994240e-01 7.30216742e-04 -5.57911213e+00] [ 1.08092222e-02 -7.66005399e-04 9.99941285e-01 -1.60009678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924860624 meters 0.10326954080093782 Centerline is valid? [True, False] Translation: X:64.22, Y:-5.58, Z:-1.60 [[ 9.99941911e-01 -3.97022263e-03 -1.00205548e-02 6.42238784e+01] [ 3.97980197e-03 9.99991642e-01 9.36210062e-04 -5.57934971e+00] [ 1.00167541e-02 -9.76035503e-04 9.99949355e-01 -1.60084271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984860624 meters 0.10486017826432076 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.58, Z:-1.60 [[ 9.99942288e-01 -4.40950430e-03 -9.79681545e-03 6.42234098e+01] [ 4.41526216e-03 9.99990092e-01 5.66176834e-04 -5.57767472e+00] [ 9.79422183e-03 -6.09399667e-04 9.99951850e-01 -1.60112048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04486062399997 meters 0.10475634432080734 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99940258e-01 -4.74401006e-03 -9.84753216e-03 6.42236798e+01] [ 4.74392354e-03 9.99988747e-01 -3.21441426e-05 -5.57485137e+00] [ 9.84757384e-03 -1.45737174e-05 9.99951511e-01 -1.60139217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10486062399997 meters 0.10738325056494046 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99937752e-01 -5.53093015e-03 -9.69022234e-03 6.42231278e+01] [ 5.52083573e-03 9.99984190e-01 -1.06815249e-03 -5.57079630e+00] [ 9.69597701e-03 1.01458788e-03 9.99952478e-01 -1.60135061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16486062399997 meters 0.11148850208216185 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99961624e-01 -1.82672796e-03 -8.56811807e-03 6.42212098e+01] [ 1.85831347e-03 9.99991503e-01 3.67988899e-03 -5.57149627e+00] [ 8.56132311e-03 -3.69567002e-03 9.99956522e-01 -1.60288635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22486062399997 meters 0.1078088993511173 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99962210e-01 -2.27716048e-03 -8.39001407e-03 6.42201288e+01] [ 2.30416542e-03 9.99992192e-01 3.21044110e-03 -5.57090873e+00] [ 8.38263787e-03 -3.22965176e-03 9.99959650e-01 -1.60202410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28486062399998 meters 0.10838824453682239 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99963417e-01 -2.21397846e-03 -8.26215993e-03 6.42201573e+01] [ 2.24226519e-03 9.99991652e-01 3.41595646e-03 -5.57113201e+00] [ 8.25452810e-03 -3.43435745e-03 9.99960033e-01 -1.60254124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34486062399998 meters 0.10665837209009527 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99962464e-01 -2.04550395e-03 -8.41945364e-03 6.42204637e+01] [ 2.07299590e-03 9.99992544e-01 3.25785798e-03 -5.57135853e+00] [ 8.41272690e-03 -3.27518918e-03 9.99959249e-01 -1.60211763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40486062399998 meters 0.11125006282637348 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99963570e-01 -1.94988186e-03 -8.31005928e-03 6.42203558e+01] [ 1.97891658e-03 9.99991962e-01 3.48713512e-03 -5.57208407e+00] [ 8.30319299e-03 -3.50345300e-03 9.99959391e-01 -1.60230856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46486062399998 meters 0.10750702199733198 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99961616e-01 -1.79414787e-03 -8.57603183e-03 6.42205343e+01] [ 1.82286788e-03 9.99992753e-01 3.34222710e-03 -5.57257904e+00] [ 8.56997323e-03 -3.35773178e-03 9.99957640e-01 -1.60143615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52486062399998 meters 0.1006978611043391 Centerline is valid? [False, False] Translation: X:64.22, Y:-5.57, Z:-1.60 [[ 9.99948862e-01 3.36299045e-03 -9.53753627e-03 6.42227181e+01] [-3.29316792e-03 9.99967734e-01 7.32709380e-03 -5.57249093e+00] [ 9.56186948e-03 -7.29531040e-03 9.99927672e-01 -1.60046469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584860624 meters 0.0977883691238814 Centerline is valid? [False, True] Translation: X:64.23, Y:-5.57, Z:-1.60 [[ 9.99929836e-01 4.70750618e-03 -1.08702666e-02 6.42264128e+01] [-4.62549732e-03 9.99960746e-01 7.55718475e-03 -5.57272566e+00] [ 1.09054154e-02 -7.50637412e-03 9.99912359e-01 -1.60075570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644860624 meters 0.09158789021791278 Centerline is valid? [True, True] Translation: X:64.29, Y:-5.56, Z:-1.60 [[ 9.99860712e-01 1.13122833e-02 -1.22714707e-02 6.42871141e+01] [-1.13025206e-02 9.99935751e-01 8.64622699e-04 -5.56495598e+00] [ 1.22804631e-02 -7.25803718e-04 9.99924329e-01 -1.59919547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704860624 meters 0.09094343627452157 Centerline is valid? [True, True] Translation: X:64.35, Y:-5.57, Z:-1.60 [[ 9.99858996e-01 1.20290800e-02 -1.17170677e-02 6.43454614e+01] [-1.20202407e-02 9.99927414e-01 8.24533225e-04 -5.56955077e+00] [ 1.17261355e-02 -6.83574989e-04 9.99931013e-01 -1.59763453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76486062399997 meters 0.09057704899518441 Centerline is valid? [True, True] Translation: X:64.40, Y:-5.58, Z:-1.59 [[ 9.99895861e-01 1.03110740e-02 -1.00969820e-02 6.44043059e+01] [-1.03044300e-02 9.99946656e-01 7.09821373e-04 -5.57640224e+00] [ 1.01037624e-02 -6.05703809e-04 9.99948772e-01 -1.59412030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82486062399997 meters 0.0935790808226775 Centerline is valid? [True, True] Translation: X:64.46, Y:-5.59, Z:-1.59 [[ 9.99924189e-01 8.74146365e-03 -8.67196677e-03 6.44605884e+01] [-8.73651768e-03 9.99961651e-01 6.08058814e-04 -5.59084976e+00] [ 8.67694953e-03 -5.32249926e-04 9.99962213e-01 -1.59489024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88486062399997 meters 0.09203963261844826 Centerline is valid? [True, True] Translation: X:64.52, Y:-5.60, Z:-1.59 [[ 9.99945384e-01 6.57390369e-03 -8.12480838e-03 6.45194203e+01] [-6.56949054e-03 9.99978258e-01 5.69739158e-04 -5.59665178e+00] [ 8.12837714e-03 -5.16332190e-04 9.99966831e-01 -1.59463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94486062399997 meters 0.1494769585009617 Centerline is valid? [True, False] Translation: X:64.61, Y:-5.60, Z:-1.59 [[ 9.99983659e-01 1.41025985e-03 -5.54005401e-03 6.46081834e+01] [-1.44006951e-03 9.99984488e-01 -5.38045374e-03 -5.59889584e+00] [ 5.53238024e-03 5.38834388e-03 9.99970179e-01 -1.59281102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00486062399997 meters 0.09629981171470291 Centerline is valid? [False, True] Translation: X:64.52, Y:-5.60, Z:-1.60 [[ 9.99983526e-01 5.57680388e-03 -1.35890849e-03 6.45152047e+01] [-5.57280140e-03 9.99980175e-01 2.93156227e-03 -5.60179862e+00] [ 1.37523030e-03 -2.92394105e-03 9.99994780e-01 -1.59838809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06486062399998 meters 0.09745017200307302 Centerline is valid? [True, True] Translation: X:64.57, Y:-5.61, Z:-1.60 [[ 9.99988508e-01 4.29657754e-03 -2.12685481e-03 6.45746211e+01] [-4.29625865e-03 9.99990759e-01 1.54483382e-04 -5.60879530e+00] [ 2.12749891e-03 -1.45344088e-04 9.99997726e-01 -1.59818788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12486062399998 meters 0.09734713404712193 Centerline is valid? [True, True] Translation: X:64.63, Y:-5.61, Z:-1.60 [[ 9.99983677e-01 5.28292353e-03 -2.17620565e-03 6.46333999e+01] [-5.28259307e-03 9.99986035e-01 1.57571011e-04 -5.61393486e+00] [ 2.17700769e-03 -1.46072430e-04 9.99997620e-01 -1.59924058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18486062399998 meters 0.09226347828554937 Centerline is valid? [True, True] Translation: X:64.69, Y:-5.61, Z:-1.60 [[ 9.99973570e-01 6.76653501e-03 -2.65955372e-03 6.46933779e+01] [-6.76604618e-03 9.99977091e-01 1.92755573e-04 -5.60778131e+00] [ 2.66079708e-03 -1.74755815e-04 9.99996445e-01 -1.59828120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24486062399998 meters 0.09091731576170743 Centerline is valid? [True, True] Translation: X:64.75, Y:-5.61, Z:-1.60 [[ 9.99950832e-01 9.57255505e-03 -2.58843752e-03 6.47529609e+01] [-9.57210111e-03 9.99954169e-01 1.87703565e-04 -5.60855785e+00] [ 2.59011570e-03 -1.62917551e-04 9.99996632e-01 -1.59762029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30486062399999 meters 0.09178599132692136 Centerline is valid? [True, True] Translation: X:64.81, Y:-5.62, Z:-1.60 [[ 9.99923231e-01 1.22002556e-02 -2.16481956e-03 6.48110452e+01] [-1.21999450e-02 9.99925566e-01 1.56628677e-04 -5.61538928e+00] [ 2.16656933e-03 -1.30205973e-04 9.99997645e-01 -1.59898366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364860624 meters 0.08765255715581168 Centerline is valid? [True, True] Translation: X:64.87, Y:-5.61, Z:-1.60 [[ 9.99901417e-01 1.39724131e-02 -1.38818875e-03 6.48714511e+01] [-1.39722869e-02 9.99902378e-01 1.00590286e-04 -5.61266862e+00] [ 1.38945872e-03 -8.11841985e-05 9.99999031e-01 -1.59842120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424860624 meters 0.08713992888063248 Centerline is valid? [True, True] Translation: X:64.93, Y:-5.62, Z:-1.60 [[ 9.99886545e-01 1.50337079e-02 -9.40899679e-04 6.49307010e+01] [-1.50336509e-02 9.99886986e-01 6.76743272e-05 -5.61684290e+00] [ 9.41810740e-04 -5.35214919e-05 9.99999555e-01 -1.59872593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484860624 meters 0.08567768848809712 Centerline is valid? [True, True] Translation: X:64.99, Y:-5.62, Z:-1.60 [[ 9.99862229e-01 1.65503386e-02 -1.26884475e-03 6.49900391e+01] [-1.65502359e-02 9.99863031e-01 9.13982161e-05 -5.61767482e+00] [ 1.27018363e-03 -7.03859441e-05 9.99999191e-01 -1.59852451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54486062399997 meters 0.08330258543422178 Centerline is valid? [True, True] Translation: X:65.05, Y:-5.62, Z:-1.60 [[ 9.99781562e-01 2.09003847e-02 5.16407086e-05 6.50504474e+01] [-2.09003845e-02 9.99781563e-01 -3.78404097e-06 -5.61778388e+00] [-5.17085163e-05 2.70390373e-06 9.99999999e-01 -1.59663382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60486062399997 meters 0.08132706704929966 Centerline is valid? [True, True] Translation: X:65.11, Y:-5.62, Z:-1.60 [[ 9.99728624e-01 2.32951298e-02 -1.27114369e-04 6.51110264e+01] [-2.32951289e-02 9.99728632e-01 9.01114048e-06 -5.61659214e+00] [ 1.27289790e-04 -6.04754947e-06 9.99999992e-01 -1.59775403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66486062399997 meters 0.08148160405335543 Centerline is valid? [True, True] Translation: X:65.17, Y:-5.62, Z:-1.60 [[ 9.99673426e-01 2.55441008e-02 -7.34497967e-04 6.51684409e+01] [-2.55440697e-02 9.99673696e-01 5.17572177e-05 -5.61926819e+00] [ 7.35580388e-04 -3.29782479e-05 9.99999729e-01 -1.59867533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72486062399997 meters 0.07794766353952882 Centerline is valid? [True, True] Translation: X:65.23, Y:-5.61, Z:-1.60 [[ 9.99477203e-01 3.23313810e-02 -5.74258847e-05 6.52293816e+01] [-3.23313808e-02 9.99477204e-01 4.12245884e-06 -5.60912319e+00] [ 5.75291475e-05 -2.26364548e-06 9.99999998e-01 -1.59720286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78486062399998 meters 0.07599563730686221 Centerline is valid? [True, True] Translation: X:65.29, Y:-5.60, Z:-1.60 [[ 9.99270450e-01 3.81911108e-02 -7.98194667e-05 6.52905882e+01] [-3.81911104e-02 9.99270453e-01 5.68849838e-06 -5.60211304e+00] [ 7.99784848e-05 -2.63595427e-06 9.99999997e-01 -1.59773926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84486062399998 meters 0.07258690148288034 Centerline is valid? [True, True] Translation: X:65.35, Y:-5.59, Z:-1.60 [[ 9.98794890e-01 4.90515451e-02 -1.64732726e-03 6.53516797e+01] [-4.90514154e-02 9.98796248e-01 1.19097312e-04 -5.58765465e+00] [ 1.65118619e-03 -3.81500533e-05 9.99998636e-01 -1.59920185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90486062399998 meters 0.07163453444272677 Centerline is valid? [True, True] Translation: X:65.41, Y:-5.58, Z:-1.60 [[ 9.98587087e-01 5.31074691e-02 -1.85082940e-03 6.54105977e+01] [-5.31073137e-02 9.98588802e-01 1.33012465e-04 -5.58472597e+00] [ 1.85528146e-03 -3.45319529e-05 9.99998278e-01 -1.59970883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96486062399998 meters 0.07165949698756542 Centerline is valid? [True, True] Translation: X:65.47, Y:-5.59, Z:-1.60 [[ 9.98594858e-01 5.29437744e-02 -2.29506478e-03 6.54685899e+01] [-5.29435414e-02 9.98597494e-01 1.62190538e-04 -5.58969265e+00] [ 2.30043292e-03 -4.04537800e-05 9.99997353e-01 -1.60071461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02486062399998 meters 0.07160301976305453 Centerline is valid? [True, True] Translation: X:65.53, Y:-5.60, Z:-1.60 [[ 9.98556267e-01 5.36854966e-02 -1.80227777e-03 6.55265164e+01] [-5.36853517e-02 9.98557893e-01 1.28720839e-04 -5.59562065e+00] [ 1.80658914e-03 -3.17790848e-05 9.99998368e-01 -1.60158327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084860624 meters 0.07191534126736833 Centerline is valid? [True, True] Translation: X:65.58, Y:-5.60, Z:-1.60 [[ 9.98684235e-01 5.12469360e-02 -1.88420224e-03 6.55847855e+01] [-5.12467772e-02 9.98686012e-01 1.32487407e-04 -5.60284193e+00] [ 1.88851599e-03 -3.57537921e-05 9.99998216e-01 -1.60109245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144860624 meters 0.07259730220612272 Centerline is valid? [True, True] Translation: X:65.64, Y:-5.61, Z:-1.60 [[ 9.98869632e-01 4.75053491e-02 -1.64302585e-03 6.56433496e+01] [-4.75052244e-02 9.98870983e-01 1.14855620e-04 -5.61141846e+00] [ 1.64662711e-03 -3.66734791e-05 9.99998644e-01 -1.60114046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204860624 meters 0.07416592524461017 Centerline is valid? [True, True] Translation: X:65.70, Y:-5.62, Z:-1.60 [[ 9.99127943e-01 4.15424625e-02 -4.19248804e-03 6.57021570e+01] [-4.15415710e-02 9.99136731e-01 2.99538125e-04 -5.62240472e+00] [ 4.20131235e-03 -1.25114372e-04 9.99991167e-01 -1.60231477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26486062399997 meters 0.07536841850898636 Centerline is valid? [True, True] Translation: X:65.76, Y:-5.63, Z:-1.60 [[ 9.99346011e-01 3.56883712e-02 -5.82149872e-03 6.57618558e+01] [-3.56865520e-02 9.99362946e-01 4.16100690e-04 -5.63258656e+00] [ 5.83264006e-03 -2.08079348e-04 9.99982968e-01 -1.60393086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32486062399997 meters 0.08014012633606393 Centerline is valid? [True, True] Translation: X:65.82, Y:-5.65, Z:-1.61 [[ 9.99642914e-01 2.54961701e-02 -7.99941513e-03 6.58196912e+01] [-2.54924090e-02 9.99674852e-01 5.71798442e-04 -5.65286448e+00] [ 8.01139280e-03 -3.67669898e-04 9.99967841e-01 -1.60895108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38486062399997 meters 0.08554973184609259 Centerline is valid? [True, True] Translation: X:65.88, Y:-5.67, Z:-1.61 [[ 9.99824115e-01 1.71373814e-02 -7.61906799e-03 6.58773444e+01] [-1.71337295e-02 9.99853059e-01 5.44325492e-04 -5.66970426e+00] [ 7.62727675e-03 -4.13686703e-04 9.99970826e-01 -1.60917578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44486062399997 meters 0.0912346131240334 Centerline is valid? [True, True] Translation: X:65.94, Y:-5.68, Z:-1.61 [[ 9.99922030e-01 1.06360023e-02 -6.54290772e-03 6.59353698e+01] [-1.06331690e-02 9.99943357e-01 4.67675977e-04 -5.68449309e+00] [ 6.54751131e-03 -3.98067668e-04 9.99978486e-01 -1.61035997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50486062399997 meters 0.0949950069246684 Centerline is valid? [True, True] Translation: X:66.00, Y:-5.69, Z:-1.61 [[ 9.99991770e-01 2.08101081e-03 -3.48260276e-03 6.59950821e+01] [-2.08015731e-03 9.99997806e-01 2.48680796e-04 -5.69212221e+00] [ 3.48311262e-03 -2.41434388e-04 9.99993905e-01 -1.61141194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56486062399998 meters 0.09720111307391162 Centerline is valid? [True, True] Translation: X:66.06, Y:-5.70, Z:-1.61 [[ 9.99986304e-01 -5.17326310e-03 -7.92690666e-04 6.60553518e+01] [ 5.17330957e-03 9.99986617e-01 5.65829692e-05 -5.69551074e+00] [ 7.92387339e-04 -6.06830285e-05 9.99999684e-01 -1.61050939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62486062399998 meters 0.10922771482443949 Centerline is valid? [True, False] Translation: X:66.05, Y:-5.69, Z:-1.61 [[ 9.99979838e-01 -6.35005731e-03 3.43131668e-05 6.60528038e+01] [ 6.35007371e-03 9.99979713e-01 -5.01040517e-04 -5.69383555e+00] [-3.11308346e-05 5.01248306e-04 9.99999874e-01 -1.61006615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68486062399998 meters 0.11475585320485326 Centerline is valid? [False, False] Translation: X:66.05, Y:-5.69, Z:-1.61 [[ 9.99977436e-01 -6.70967240e-03 3.28851614e-04 6.60521501e+01] [ 6.70986179e-03 9.99977321e-01 -5.78252627e-04 -5.69303425e+00] [-3.24964271e-04 5.80446128e-04 9.99999779e-01 -1.61039905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74486062399998 meters 0.12329938371933684 Centerline is valid? [False, False] Translation: X:66.05, Y:-5.69, Z:-1.61 [[ 9.99975345e-01 -6.93972524e-03 1.07201599e-03 6.60513769e+01] [ 6.93945766e-03 9.99975890e-01 2.53126702e-04 -5.69393486e+00] [-1.07374677e-03 -2.45681252e-04 9.99999393e-01 -1.61241951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80486062399999 meters 0.1293691841960165 Centerline is valid? [False, False] Translation: X:66.05, Y:-5.70, Z:-1.61 [[ 9.99993369e-01 -3.06883839e-03 1.96088923e-03 6.60498723e+01] [ 3.05895006e-03 9.99982691e-01 5.02603669e-03 -5.69573162e+00] [-1.97627938e-03 -5.02000509e-03 9.99985447e-01 -1.61350668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864860624 meters 0.13293572350673669 Centerline is valid? [False, False] Translation: X:66.05, Y:-5.69, Z:-1.61 [[ 9.99994091e-01 -3.05854331e-03 1.56929466e-03 6.60509399e+01] [ 3.05174815e-03 9.99986037e-01 4.31434950e-03 -5.69308275e+00] [-1.58246837e-03 -4.30953492e-03 9.99989462e-01 -1.61339170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924860624 meters 0.13937053940573876 Centerline is valid? [False, False] Translation: X:66.05, Y:-5.69, Z:-1.61 [[ 9.99994689e-01 -2.99417906e-03 1.28726518e-03 6.60517590e+01] [ 2.98910165e-03 9.99987817e-01 3.92833010e-03 -5.69161074e+00] [-1.29901162e-03 -3.92446146e-03 9.99991456e-01 -1.61339294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1607.85 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%| | 0/5366 [00:00