+ python -m lidar_slam --no-model /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.029259764 Adjusted end_distance from 9.223372036854776e+18 to 264.379259764 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029259764 meters 0.6577882256382658 Centerline is valid? [0, False] SLAMing on 0.08925976399999999 meters 0.5118770375195416 Centerline is valid? [False, False] Translation: X:0.03, Y:0.17, Z:0.01 [[ 0.97814225 0.20568003 0.03055259 0.02638392] [-0.20586705 0.97857514 0.00307333 0.16506873] [-0.02926588 -0.00929593 0.99952844 0.01248537] [ 0. 0. 0. 1. ]] SLAMing on 0.149259764 meters 0.509194250081344 Centerline is valid? [False, False] Translation: X:0.01, Y:0.17, Z:0.02 [[ 0.97866043 0.20468167 0.01814296 0.01472071] [-0.20467554 0.97882737 -0.002214 0.17454118] [-0.01821199 -0.00154667 0.99983295 0.01737733] [ 0. 0. 0. 1. ]] SLAMing on 0.20925976399999996 meters 0.4946401762138004 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.21, Z:0.01 [[ 0.97392967 0.22596966 0.01996765 -0.00546682] [-0.22581026 0.97412063 -0.00993581 0.21235755] [-0.02169609 0.00516788 0.99975126 0.00560669] [ 0. 0. 0. 1. ]] SLAMing on 0.26925976399999996 meters 0.4832433122404006 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.27, Z:-0.00 [[ 0.96662259 0.25458988 0.0287187 -0.0295082 ] [-0.25387635 0.96687928 -0.02629167 0.26512791] [-0.0344611 0.01812312 0.9992417 -0.0014888 ] [ 0. 0. 0. 1. ]] SLAMing on 0.32925976399999995 meters 0.45723026600721944 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.34, Z:-0.00 [[ 0.95633597 0.28887753 0.04439912 -0.07275452] [-0.28728754 0.9570535 -0.03891611 0.34471627] [-0.05373432 0.02446156 0.99825561 -0.00373888] [ 0. 0. 0. 1. ]] SLAMing on 0.38925976399999995 meters 0.9450516600029252 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.42, Z:-0.01 [[ 0.94198523 0.33066025 0.05768555 -0.10603455] [-0.32791557 0.94326594 -0.05216078 0.42499926] [-0.07166032 0.03021869 0.99697123 -0.01067756] [ 0. 0. 0. 1. ]] SLAMing on 0.44925976399999995 meters 0.9124758239649235 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.56, Z:-0.01 [[ 0.92078752 0.38069758 0.08496882 -0.18245974] [-0.3749447 0.92390214 -0.07629744 0.56266584] [-0.10754913 0.03839512 0.9934581 -0.00857232] [ 0. 0. 0. 1. ]] SLAMing on 0.509259764 meters 0.8830432279199223 Centerline is valid? [False, False] Translation: X:-0.25, Y:0.68, Z:-0.01 [[ 0.90014517 0.42238236 0.10645095 -0.24712221] [-0.41258626 0.90512334 -0.10258811 0.68292404] [-0.13968265 0.048424 0.98901156 -0.00848181] [ 0. 0. 0. 1. ]] SLAMing on 0.5692597639999999 meters 0.4902874987593394 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.76, Z:-0.01 [[ 0.87839114 0.46591636 0.10654085 -0.26996432] [-0.45401044 0.88306675 -0.11860708 0.76338682] [-0.14934366 0.05581275 0.9872089 -0.0134677 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6292597639999998 meters 0.8140204874176654 Centerline is valid? [False, False] Translation: X:-0.33, Y:0.87, Z:-0.02 [[ 0.85775956 0.50097508 0.11520633 -0.32760122] [-0.48732206 0.8638012 -0.12792459 0.87137207] [-0.1636024 0.05358595 0.98506995 -0.01706081] [ 0. 0. 0. 1. ]] SLAMing on 0.6892597639999999 meters 0.49829272059331287 Centerline is valid? [False, False] Translation: X:-0.40, Y:0.99, Z:-0.01 [[ 0.83820054 0.53073472 0.12546119 -0.40440209] [-0.51395418 0.84568424 -0.1437681 0.99257315] [-0.18240327 0.0560252 0.98162632 -0.00589365] [ 0. 0. 0. 1. ]] SLAMing on 0.7492597639999998 meters 0.8190159205916262 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.06, Z:0.01 [[ 0.83207029 0.5399608 0.12689117 -0.46073532] [-0.52170018 0.83955381 -0.15158602 1.06432333] [-0.18838247 0.05993108 0.98026543 0.00786378] [ 0. 0. 0. 1. ]] SLAMing on 0.8092597639999999 meters 0.8291353772031935 Centerline is valid? [False, False] Translation: X:-0.54, Y:1.15, Z:0.03 [[ 0.82942226 0.54265565 0.13260303 -0.54181376] [-0.52270321 0.83765355 -0.15848624 1.14696936] [-0.19707885 0.06213998 0.97841635 0.0303481 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8692597639999998 meters 0.8155187768785279 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.22, Z:0.05 [[ 0.82887026 0.54229492 0.13744203 -0.61821939] [-0.51931633 0.83720465 -0.17146113 1.22459521] [-0.2080496 0.07074314 0.97555665 0.04663767] [ 0. 0. 0. 1. ]] SLAMing on 0.9292597639999999 meters 0.4090590701811659 Centerline is valid? [False, False] Translation: X:-0.67, Y:1.28, Z:0.07 [[ 0.83956654 0.52412288 0.14290989 -0.66705098] [-0.50212481 0.84907891 -0.16412092 1.27715846] [-0.20736131 0.06603183 0.97603334 0.06710519] [ 0. 0. 0. 1. ]] SLAMing on 0.9892597639999998 meters 0.4167044671937252 Centerline is valid? [False, False] Translation: X:-0.70, Y:1.32, Z:0.08 [[ 0.83431376 0.53288222 0.14126953 -0.70160476] [-0.50987898 0.843318 -0.16981806 1.3208046 ] [-0.20962816 0.06965118 0.97529726 0.0821413 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0492597639999999 meters 0.40309255915763753 Centerline is valid? [False, False] Translation: X:-0.74, Y:1.35, Z:0.10 [[ 0.84395667 0.51736583 0.14166774 -0.74135944] [-0.49426924 0.85265324 -0.16935281 1.35067749] [-0.20841081 0.07290442 0.9753204 0.10396439] [ 0. 0. 0. 1. ]] SLAMing on 1.109259764 meters 0.394830705666752 Centerline is valid? [False, False] Translation: X:-0.80, Y:1.38, Z:0.12 [[ 0.85775655 0.49374176 0.14308311 -0.79614664] [-0.47085395 0.86631232 -0.16673189 1.38385786] [-0.20627716 0.07564412 0.97556532 0.11748283] [ 0. 0. 0. 1. ]] SLAMing on 1.169259764 meters 0.3847236787549714 Centerline is valid? [False, False] Translation: X:-0.84, Y:1.43, Z:0.14 [[ 0.86230938 0.48678996 0.13949221 -0.83947299] [-0.46445026 0.87006283 -0.16515639 1.42755373] [-0.20176346 0.07762871 0.97635306 0.13544778] [ 0. 0. 0. 1. ]] SLAMing on 1.2292597639999998 meters 0.3742600900151894 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.46, Z:0.16 [[ 0.8697606 0.47459963 0.1351728 -0.86426587] [-0.45277479 0.87643674 -0.16387078 1.45921223] [-0.19624342 0.08132551 0.97717689 0.1628118 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2892597639999999 meters 0.3773686925217709 Centerline is valid? [False, False] Translation: X:-0.86, Y:1.47, Z:0.17 [[ 0.87466728 0.46873553 0.12346721 -0.86402606] [-0.44870052 0.87931775 -0.1595874 1.47167035] [-0.18337119 0.08418607 0.97943234 0.17453659] [ 0. 0. 0. 1. ]] SLAMing on 1.349259764 meters 0.36588671019634905 Centerline is valid? [False, False] Translation: X:-0.89, Y:1.50, Z:0.20 [[ 0.88016008 0.45938172 0.11952688 -0.88552644] [-0.44027822 0.88418224 -0.15613092 1.50304427] [-0.17740723 0.08479512 0.98047767 0.2007612 ] [ 0. 0. 0. 1. ]] SLAMing on 1.409259764 meters 0.3634784762321796 Centerline is valid? [False, False] Translation: X:-0.90, Y:1.54, Z:0.23 [[ 0.88545337 0.45035527 0.11468416 -0.90379906] [-0.43227063 0.88874559 -0.15255613 1.5363783 ] [-0.1706295 0.08550675 0.98161814 0.2256984 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4692597639999998 meters 0.3584915405886866 Centerline is valid? [False, False] Translation: X:-0.93, Y:1.57, Z:0.24 [[ 0.89640027 0.43017439 0.10684828 -0.93271345] [-0.4127184 0.89796202 -0.15273418 1.56516513] [-0.16164804 0.09281271 0.98247428 0.24002622] [ 0. 0. 0. 1. ]] SLAMing on 1.5292597639999999 meters 0.35611747390894855 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.60, Z:0.26 [[ 0.90580789 0.41153507 0.10075198 -0.96383218] [-0.39493688 0.90622548 -0.15093122 1.59689782] [-0.1534175 0.09692402 0.98339657 0.25558462] [ 0. 0. 0. 1. ]] SLAMing on 1.589259764 meters 0.3512695748506472 Centerline is valid? [False, False] Translation: X:-0.98, Y:1.63, Z:0.28 [[ 0.91485085 0.39027334 0.1036081 -0.98316338] [-0.37368183 0.91551235 -0.14899335 1.63140708] [-0.15300263 0.09759023 0.98339531 0.27677157] [ 0. 0. 0. 1. ]] SLAMing on 1.6492597639999997 meters 0.34456405235637066 Centerline is valid? [False, False] Translation: X:-1.01, Y:1.66, Z:0.29 [[ 0.92281393 0.37286916 0.09686606 -1.01190529] [-0.35730377 0.92239774 -0.14668479 1.65742563] [-0.14404327 0.10075216 0.98442904 0.28865404] [ 0. 0. 0. 1. ]] SLAMing on 1.7092597639999998 meters 0.3410409847389279 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.68, Z:0.30 [[ 0.93077472 0.35451915 0.08930052 -1.042773 ] [-0.33998993 0.92917187 -0.14507409 1.6802611 ] [-0.13440708 0.10467002 0.98538263 0.30177667] [ 0. 0. 0. 1. ]] SLAMing on 1.7692597639999998 meters 0.352049846331013 Centerline is valid? [False, False] Translation: X:-1.07, Y:1.70, Z:0.32 [[ 0.93828582 0.33357655 0.09135867 -1.06557303] [-0.31922437 0.93691818 -0.14240831 1.69754169] [-0.13309968 0.10445579 0.9855828 0.31854973] [ 0. 0. 0. 1. ]] SLAMing on 1.829259764 meters 0.3619813380294611 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.71, Z:0.34 [[ 0.94497828 0.31662928 0.08223111 -1.09782579] [-0.3033626 0.94224519 -0.14193353 1.71283588] [-0.12242218 0.10917826 0.98645472 0.33695681] [ 0. 0. 0. 1. ]] SLAMing on 1.8892597639999997 meters 0.3893060227518304 Centerline is valid? [False, False] Translation: X:-1.10, Y:1.71, Z:0.37 [[ 0.95068499 0.30428451 0.06007474 -1.10172662] [-0.29421307 0.94603718 -0.13583933 1.70755128] [-0.09816675 0.11146564 0.98890783 0.37087795] [ 0. 0. 0. 1. ]] SLAMing on 1.9492597639999998 meters 0.3909857348270466 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.69, Z:0.41 [[ 0.95836491 0.28269468 0.04025444 -1.11486615] [-0.27554854 0.95255104 -0.12930395 1.69413909] [-0.07489795 0.11282832 0.9907876 0.40905866] [ 0. 0. 0. 1. ]] SLAMing on 2.009259764 meters 0.3765683436683821 Centerline is valid? [False, False] Translation: X:-1.12, Y:1.68, Z:0.44 [[ 0.96129011 0.27387401 0.03023816 -1.11888505] [-0.268172 0.95514577 -0.12561979 1.68425517] [-0.06328585 0.11264804 0.99161753 0.44088151] [ 0. 0. 0. 1. ]] SLAMing on 2.0692597639999994 meters 0.3791556447312149 Centerline is valid? [False, False] Translation: X:-1.14, Y:1.66, Z:0.48 [[ 0.96848175 0.24885637 0.01065905 -1.14113734] [-0.24584033 0.96187624 -0.11981917 1.66195723] [-0.04007045 0.11342226 0.99273851 0.48280529] [ 0. 0. 0. 1. ]] SLAMing on 2.1292597639999995 meters 0.36983511153636645 Centerline is valid? [False, False] Translation: X:-1.19, Y:1.63, Z:0.51 [[ 9.79374311e-01 2.02054329e-01 -8.47843451e-05 -1.18557523e+00] [-2.00869634e-01 9.73586452e-01 -1.08539439e-01 1.63071420e+00] [-2.18483186e-02 1.06317769e-01 9.94092140e-01 5.13794901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1892597639999996 meters 0.3546688129872224 Centerline is valid? [False, False] Translation: X:-1.29, Y:1.58, Z:0.55 [[ 9.92788672e-01 1.19166973e-01 -1.30339972e-02 -1.28708012e+00] [-1.19877299e-01 9.87165560e-01 -1.05515830e-01 1.58029697e+00] [ 2.92711092e-04 1.06317401e-01 9.94332200e-01 5.46613914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2492597639999996 meters 0.34989537178945784 Centerline is valid? [False, False] Translation: X:-1.40, Y:1.51, Z:0.55 [[ 0.99920716 0.00732177 -0.03913376 -1.39517071] [-0.01099179 0.99547313 -0.09440571 1.5102742 ] [ 0.03826539 0.09476101 0.99476435 0.54850309] [ 0. 0. 0. 1. ]] SLAMing on 2.3092597639999997 meters 0.342549893371156 Centerline is valid? [False, False] Translation: X:-1.45, Y:1.47, Z:0.57 [[ 0.99627488 -0.06223074 -0.05969678 -1.45112858] [ 0.05720632 0.99495021 -0.08247132 1.47416215] [ 0.06452757 0.07874907 0.99480389 0.56730651] [ 0. 0. 0. 1. ]] SLAMing on 2.3692597639999997 meters 0.36215101685127266 Centerline is valid? [False, False] Translation: X:-1.51, Y:1.46, Z:0.58 [[ 0.99432885 -0.08391099 -0.0653382 -1.50649082] [ 0.07939463 0.9944594 -0.06889847 1.46367372] [ 0.07075753 0.06332023 0.99548175 0.57881406] [ 0. 0. 0. 1. ]] SLAMing on 2.4292597639999993 meters 0.36574457296326307 Centerline is valid? [False, False] Translation: X:-1.55, Y:1.46, Z:0.59 [[ 0.99189394 -0.10434802 -0.07251143 -1.55498522] [ 0.10013249 0.99319153 -0.0595321 1.4606635 ] [ 0.0782298 0.05178878 0.99558928 0.5927871 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4892597639999994 meters 0.41778225856122275 Centerline is valid? [False, False] Translation: X:-1.60, Y:1.45, Z:0.58 [[ 0.99149089 -0.10497957 -0.07697469 -1.59792594] [ 0.10251496 0.99410455 -0.03531057 1.45351363] [ 0.08022778 0.02711905 0.99640758 0.58414667] [ 0. 0. 0. 1. ]] SLAMing on 2.5492597639999994 meters 0.4217008487964016 Centerline is valid? [False, False] Translation: X:-1.64, Y:1.46, Z:0.59 [[ 0.99034411 -0.119373 -0.07048851 -1.64473412] [ 0.11712645 0.99249291 -0.03520244 1.45835517] [ 0.07416157 0.02660646 0.99689125 0.59233611] [ 0. 0. 0. 1. ]] SLAMing on 2.6092597639999995 meters 0.4321779372786911 Centerline is valid? [False, False] Translation: X:-1.68, Y:1.48, Z:0.57 [[ 0.98969063 -0.12849675 -0.06325376 -1.68199062] [ 0.12774862 0.99168152 -0.01574987 1.47608463] [ 0.06475139 0.00750691 0.99787319 0.57050789] [ 0. 0. 0. 1. ]] SLAMing on 2.6692597639999995 meters 0.4917272045094642 Centerline is valid? [False, False] Translation: X:-1.72, Y:1.49, Z:0.57 [[ 0.99452473 -0.0915248 -0.05043582 -1.71778167] [ 0.09094821 0.99576254 -0.01361569 1.49298501] [ 0.05146827 0.00895409 0.99863449 0.56804768] [ 0. 0. 0. 1. ]] SLAMing on 2.7292597639999996 meters 0.4414666316611187 Centerline is valid? [False, False] Translation: X:-1.74, Y:1.50, Z:0.56 [[ 0.99761338 -0.05765499 -0.0379926 -1.74077547] [ 0.05716377 0.99826816 -0.01389221 1.50441953] [ 0.03872776 0.01168726 0.99918145 0.55595187] [ 0. 0. 0. 1. ]] SLAMing on 2.7892597639999996 meters 0.4029989481880949 Centerline is valid? [False, False] Translation: X:-1.76, Y:1.51, Z:0.55 [[ 0.99918942 -0.0349351 -0.02000123 -1.76129796] [ 0.0346687 0.99930748 -0.01351466 1.50502726] [ 0.02045952 0.01281029 0.99970861 0.55082103] [ 0. 0. 0. 1. ]] SLAMing on 2.8492597639999993 meters 0.4021470202079891 Centerline is valid? [False, False] Translation: X:-1.75, Y:1.49, Z:0.55 [[ 0.99960409 0.00987738 -0.02634568 -1.75054668] [-0.01012511 0.99990562 -0.00928628 1.49443029] [ 0.02625147 0.00954935 0.99960976 0.55056479] [ 0. 0. 0. 1. ]] SLAMing on 2.9092597639999993 meters 0.3713221073722286 Centerline is valid? [False, False] Translation: X:-1.77, Y:1.45, Z:0.54 [[ 9.99807045e-01 -1.43275347e-02 -1.34385605e-02 -1.76532076e+00] [ 1.43047440e-02 9.99896079e-01 -1.79051403e-03 1.45291546e+00] [ 1.34628176e-02 1.59793337e-03 9.99908095e-01 5.41185062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9692597639999994 meters 0.35300796227824566 Centerline is valid? [False, False] Translation: X:-1.77, Y:1.47, Z:0.54 [[ 0.99911006 0.041279 -0.0086675 -1.76859028] [-0.04131045 0.99914029 -0.00348122 1.46706812] [ 0.00851635 0.00383618 0.99995638 0.5447882 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0292597639999994 meters 0.3249121435856947 Centerline is valid? [False, False] Translation: X:-1.79, Y:1.47, Z:0.54 [[ 9.96387599e-01 8.48551621e-02 -3.36956654e-03 -1.79335206e+00] [-8.48614983e-02 9.96391160e-01 -1.78396096e-03 1.46777899e+00] [ 3.20602802e-03 2.06346304e-03 9.99992732e-01 5.43932853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0892597639999995 meters 0.3011836188695954 Centerline is valid? [False, False] Translation: X:-1.80, Y:1.47, Z:0.55 [[ 0.99429583 0.10610675 -0.01082394 -1.80275098] [-0.10601073 0.99432343 0.00909129 1.46680454] [ 0.01172714 -0.00789198 0.99990009 0.54759456] [ 0. 0. 0. 1. ]] SLAMing on 3.1492597639999995 meters 0.2841309397165904 Centerline is valid? [False, False] Translation: X:-1.82, Y:1.48, Z:0.54 [[ 0.99139198 0.13086115 -0.00416048 -1.82116202] [-0.13082738 0.99137637 0.0075558 1.48044922] [ 0.00511336 -0.00694646 0.9999628 0.543494 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2092597639999996 meters 0.2318225207120537 Centerline is valid? [False, False] Translation: X:-1.86, Y:1.50, Z:0.54 [[ 0.98332548 0.18160239 0.00956904 -1.86133572] [-0.18166058 0.98334534 0.00560209 1.50254137] [-0.00839232 -0.007247 0.99993852 0.54089134] [ 0. 0. 0. 1. ]] SLAMing on 3.269259763999999 meters 0.1931559449144047 Centerline is valid? [False, False] Translation: X:-1.88, Y:1.52, Z:0.54 [[ 0.98140317 0.19187895 0.00550279 -1.87924585] [-0.19192605 0.98135906 0.00993933 1.51546811] [-0.00349306 -0.01081062 0.99993546 0.54397117] [ 0. 0. 0. 1. ]] SLAMing on 3.3292597639999992 meters 0.18014057232873637 Centerline is valid? [False, False] Translation: X:-1.93, Y:1.55, Z:0.54 [[ 0.97622664 0.21587487 0.01948309 -1.9283784 ] [-0.21610734 0.97631081 0.0107154 1.54876969] [-0.01670837 -0.0146711 0.99975276 0.53748254] [ 0. 0. 0. 1. ]] SLAMing on 3.3892597639999993 meters 0.13454422199566904 Centerline is valid? [False, False] Translation: X:-1.98, Y:1.60, Z:0.53 [[ 0.96699203 0.25263172 0.03322081 -1.97695204] [-0.25284409 0.96750434 0.00228583 1.59735594] [-0.0315638 -0.01061006 0.99944542 0.53359366] [ 0. 0. 0. 1. ]] SLAMing on 3.4492597639999993 meters 0.10858593847303304 Centerline is valid? [False, False] Translation: X:-2.04, Y:1.65, Z:0.53 [[ 0.95742138 0.28366661 0.05364286 -2.04425601] [-0.28395148 0.95883566 -0.00239428 1.64612086] [-0.05211386 -0.01293963 0.99855731 0.53175356] [ 0. 0. 0. 1. ]] SLAMing on 3.5092597639999994 meters 0.09708574809853851 Centerline is valid? [False, True] Translation: X:-2.14, Y:1.72, Z:0.53 [[ 0.93915193 0.33514229 0.07532133 -2.13998946] [-0.33510273 0.94208429 -0.0135407 1.71694978] [-0.0754971 -0.01252361 0.99706737 0.53242262] [ 0. 0. 0. 1. ]] SLAMing on 3.5692597639999994 meters 0.11461749713330927 Centerline is valid? [True, False] Translation: X:-2.45, Y:0.46, Z:0.60 [[ 0.92424993 0.37142343 0.0883555 -2.44928096] [-0.37461685 0.92691373 0.02220709 0.46352801] [-0.07364969 -0.05362436 0.99584143 0.59701965] [ 0. 0. 0. 1. ]] SLAMing on 3.6292597639999995 meters 0.10556044955732125 Centerline is valid? [False, False] Translation: X:-2.58, Y:0.51, Z:0.61 [[ 0.9368473 0.34453936 0.06008137 -2.58173839] [-0.34597138 0.93812513 0.01500167 0.5148805 ] [-0.05119517 -0.0348407 0.99808075 0.61456084] [ 0. 0. 0. 1. ]] SLAMing on 3.689259763999999 meters 0.09101205422600542 Centerline is valid? [False, True] Translation: X:-2.70, Y:0.56, Z:0.63 [[ 0.95046969 0.30845002 0.03828787 -2.69529854] [-0.30899055 0.95102289 0.00896163 0.55807602] [-0.03364842 -0.02034834 0.99922657 0.63081111] [ 0. 0. 0. 1. ]] SLAMing on 3.749259763999999 meters 0.08562612796394854 Centerline is valid? [True, True] Translation: X:-2.65, Y:0.49, Z:0.61 [[ 9.61199635e-01 2.73333577e-01 3.72023795e-02 -2.65070216e+00] [-2.73110126e-01 9.61919193e-01 -1.10600530e-02 4.92746222e-01] [-3.88087667e-02 4.70572349e-04 9.99246545e-01 6.10039904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809259763999999 meters 0.10083164974501518 Centerline is valid? [True, False] Translation: X:-2.72, Y:0.52, Z:0.62 [[ 9.74189256e-01 2.23691555e-01 3.02882969e-02 -2.71869105e+00] [-2.23532909e-01 9.74658708e-01 -8.56978463e-03 5.21174062e-01] [-3.14377407e-02 1.57816102e-03 9.99504466e-01 6.18353495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8692597639999993 meters 0.14889816937609807 Centerline is valid? [False, False] Translation: X:-2.76, Y:0.54, Z:0.63 [[ 0.98752985 0.15581753 0.02248768 -2.76028874] [-0.1556772 0.98777661 -0.00787216 0.54358006] [-0.02343942 0.00427318 0.99971613 0.62846243] [ 0. 0. 0. 1. ]] SLAMing on 3.9292597639999993 meters 0.19336150271822355 Centerline is valid? [False, False] Translation: X:-2.79, Y:0.57, Z:0.64 [[ 9.97193100e-01 7.07785866e-02 2.44195191e-02 -2.79109792e+00] [-7.07531636e-02 9.97492036e-01 -1.90462014e-03 5.69878481e-01] [-2.44930821e-02 1.71515829e-04 9.99699985e-01 6.39426776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9892597639999994 meters 0.24611514602204698 Centerline is valid? [False, False] Translation: X:-2.83, Y:0.61, Z:0.65 [[ 0.99896894 -0.03923544 0.0228392 -2.8287248 ] [ 0.03894783 0.99915792 0.01290434 0.60681172] [-0.02332628 -0.0120015 0.99965587 0.65392822] [ 0. 0. 0. 1. ]] SLAMing on 4.049259763999999 meters 0.26264274322325415 Centerline is valid? [False, False] Translation: X:-2.94, Y:0.67, Z:0.67 [[ 0.98360337 -0.17532744 0.04224578 -2.93605057] [ 0.17423165 0.98429548 0.02838553 0.67182826] [-0.0465591 -0.02055955 0.99870394 0.66692124] [ 0. 0. 0. 1. ]] SLAMing on 4.109259763999999 meters 0.22633676165030747 Centerline is valid? [False, False] Translation: X:-3.14, Y:0.79, Z:0.69 [[ 0.9396581 -0.33363395 0.07570366 -3.14402008] [ 0.33128368 0.94259148 0.0421001 0.78762727] [-0.08540365 -0.01448032 0.9962412 0.68883243] [ 0. 0. 0. 1. ]] SLAMing on 4.1692597639999995 meters 0.19174125647618376 Centerline is valid? [False, False] Translation: X:-3.50, Y:0.98, Z:0.74 [[ 0.86411195 -0.48541085 0.13299189 -3.5037612 ] [ 0.48134747 0.87423705 0.06335761 0.97694356] [-0.14702091 0.00926724 0.98908997 0.74473317] [ 0. 0. 0. 1. ]] SLAMing on 4.229259763999999 meters 0.5414323938231783 Centerline is valid? [False, False] Translation: X:-3.82, Y:1.19, Z:0.73 [[ 0.78928092 -0.59034927 0.16888864 -3.82007722] [ 0.59243243 0.80445531 0.04330658 1.19389258] [-0.16142937 0.06587406 0.98468328 0.73048741] [ 0. 0. 0. 1. ]] SLAMing on 4.289259764 meters 0.6078962735886364 Centerline is valid? [False, False] Translation: X:-4.21, Y:1.47, Z:0.75 [[ 0.7394322 -0.64968025 0.17650945 -4.20884945] [ 0.65756643 0.75319085 0.01760487 1.4730074 ] [-0.14438284 0.10304908 0.98414149 0.74875464] [ 0. 0. 0. 1. ]] SLAMing on 4.349259763999999 meters 0.647182099953555 Centerline is valid? [False, False] Translation: X:-4.63, Y:1.78, Z:0.81 [[ 0.74584334 -0.63818362 0.19089101 -4.63375339] [ 0.65471549 0.75513077 -0.03354321 1.78266593] [-0.12274095 0.14999728 0.98103796 0.80546102] [ 0. 0. 0. 1. ]] SLAMing on 4.409259763999999 meters 0.6421106973272815 Centerline is valid? [False, False] Translation: X:-5.08, Y:2.10, Z:0.90 [[ 0.78830031 -0.58047807 0.20402902 -5.08052768] [ 0.60445612 0.79255762 -0.08053082 2.10068723] [-0.11495838 0.18680906 0.97564694 0.90003964] [ 0. 0. 0. 1. ]] SLAMing on 4.469259763999999 meters 0.6138910330681016 Centerline is valid? [False, False] Translation: X:-5.47, Y:2.38, Z:1.02 [[ 0.83281485 -0.50782886 0.22029363 -5.4733991 ] [ 0.53920902 0.83423331 -0.11536209 2.38251115] [-0.12519208 0.21485957 0.96858779 1.01748951] [ 0. 0. 0. 1. ]] SLAMing on 4.529259763999999 meters 0.5962871474458175 Centerline is valid? [False, False] Translation: X:-5.79, Y:2.62, Z:1.12 [[ 0.86847768 -0.44141042 0.22561772 -5.78833434] [ 0.47400986 0.87267481 -0.11727458 2.61864831] [-0.14512468 0.20879538 0.96713149 1.12456105] [ 0. 0. 0. 1. ]] SLAMing on 4.5892597639999995 meters 0.36022795312368694 Centerline is valid? [False, False] Translation: X:-6.06, Y:2.76, Z:1.21 [[ 0.90034626 -0.37047925 0.22830186 -6.05602916] [ 0.40171428 0.90929602 -0.10865722 2.76337022] [-0.16733873 0.18954124 0.96750807 1.21213989] [ 0. 0. 0. 1. ]] SLAMing on 4.649259763999999 meters 0.3467237932488932 Centerline is valid? [False, False] Translation: X:-6.26, Y:2.87, Z:1.28 [[ 0.91966367 -0.32034165 0.22715626 -6.26321682] [ 0.34832171 0.93253565 -0.09512755 2.86639601] [-0.18135799 0.1666088 0.96920111 1.28400417] [ 0. 0. 0. 1. ]] SLAMing on 4.709259764 meters 0.3739041476169423 Centerline is valid? [False, False] Translation: X:-6.43, Y:2.94, Z:1.34 [[ 0.92876167 -0.2980798 0.22034109 -6.43348721] [ 0.32316932 0.94229181 -0.08745132 2.9357787 ] [-0.18155813 0.15242892 0.97149476 1.34110501] [ 0. 0. 0. 1. ]] SLAMing on 4.769259763999999 meters 0.3423178845389817 Centerline is valid? [False, False] Translation: X:-6.59, Y:3.00, Z:1.39 [[ 0.93508825 -0.28371704 0.21240197 -6.58648388] [ 0.30377503 0.95031668 -0.06796276 3.00187057] [-0.18256695 0.12807359 0.97481612 1.38618961] [ 0. 0. 0. 1. ]] SLAMing on 4.829259763999999 meters 0.3504291637589803 Centerline is valid? [False, False] Translation: X:-6.74, Y:3.06, Z:1.43 [[ 0.94163272 -0.26912162 0.20224088 -6.73737961] [ 0.28666488 0.95598461 -0.06258335 3.06352551] [-0.17649664 0.11690589 0.9773341 1.43100587] [ 0. 0. 0. 1. ]] SLAMing on 4.889259763999999 meters 0.33911753741701084 Centerline is valid? [False, False] Translation: X:-6.87, Y:3.12, Z:1.47 [[ 0.94684422 -0.25278718 0.19895895 -6.87207549] [ 0.26862513 0.9615773 -0.05665358 3.11813731] [-0.17699311 0.10708749 0.9783689 1.46587397] [ 0. 0. 0. 1. ]] SLAMing on 4.949259763999999 meters 0.33684836826450126 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.18, Z:1.50 [[ 0.95303482 -0.23543505 0.19051238 -6.99649777] [ 0.24857948 0.96742272 -0.04797424 3.17708348] [-0.17301119 0.09307859 0.98051186 1.50210123] [ 0. 0. 0. 1. ]] SLAMing on 5.009259763999999 meters 0.362403697249394 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.23, Z:1.53 [[ 0.95676456 -0.22600404 0.1830949 -7.11619666] [ 0.23797185 0.97018336 -0.04597437 3.2271849 ] [-0.16724524 0.08755808 0.98201966 1.53266348] [ 0. 0. 0. 1. ]] SLAMing on 5.069259763999999 meters 0.36870398440493324 Centerline is valid? [False, False] Translation: X:-7.23, Y:3.27, Z:1.56 [[ 0.95802583 -0.22391265 0.17902414 -7.22543389] [ 0.23389165 0.97157919 -0.03644966 3.26681054] [-0.16577459 0.07679197 0.98316925 1.5569254 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1292597639999995 meters 0.3965042893161994 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.32, Z:1.58 [[ 0.96253868 -0.21026419 0.17119654 -7.33518356] [ 0.2194682 0.9749358 -0.03652262 3.31748196] [-0.15922623 0.07272663 0.98455972 1.5846228 ] [ 0. 0. 0. 1. ]] SLAMing on 5.189259763999999 meters 0.38134106561063175 Centerline is valid? [False, False] Translation: X:-7.43, Y:3.37, Z:1.61 [[ 0.96866003 -0.19204298 0.15753489 -7.43199977] [ 0.19977874 0.97922696 -0.0346845 3.37002073] [-0.14760149 0.06506961 0.98690412 1.6079037 ] [ 0. 0. 0. 1. ]] SLAMing on 5.249259763999999 meters 0.3947810356125832 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.41, Z:1.63 [[ 0.97391226 -0.17267116 0.14723989 -7.50473222] [ 0.1792902 0.9832482 -0.03283292 3.41030886] [-0.13910406 0.05837505 0.98855572 1.63082722] [ 0. 0. 0. 1. ]] SLAMing on 5.309259763999999 meters 0.3902434941873579 Centerline is valid? [False, False] Translation: X:-7.56, Y:3.45, Z:1.65 [[ 0.98016996 -0.14999529 0.12949236 -7.56371656] [ 0.1544825 0.98767217 -0.02527513 3.45317188] [-0.12410485 0.04477823 0.99125824 1.64622299] [ 0. 0. 0. 1. ]] SLAMing on 5.369259763999999 meters 0.3438858545874219 Centerline is valid? [False, False] Translation: X:-7.61, Y:3.49, Z:1.66 [[ 0.9855304 -0.1285108 0.11052065 -7.61060352] [ 0.13215691 0.99088004 -0.02629248 3.48884972] [-0.10613384 0.04051811 0.99352599 1.65975502] [ 0. 0. 0. 1. ]] SLAMing on 5.429259763999999 meters 0.3530730905883827 Centerline is valid? [False, False] Translation: X:-7.64, Y:3.53, Z:1.67 [[ 0.99087338 -0.10615914 0.08306728 -7.64129236] [ 0.1086018 0.99375953 -0.02544899 3.5266531 ] [-0.07984726 0.03423798 0.99621894 1.67176659] [ 0. 0. 0. 1. ]] SLAMing on 5.489259763999999 meters 0.3740292299382749 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.56, Z:1.69 [[ 0.9946137 -0.08294853 0.06215408 -7.65736619] [ 0.08440725 0.99620539 -0.02121884 3.55612809] [-0.06015816 0.02635081 0.99784098 1.68515596] [ 0. 0. 0. 1. ]] SLAMing on 5.549259763999999 meters 0.31689574082656174 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.59, Z:1.70 [[ 0.99785887 -0.05234194 0.03921732 -7.66176235] [ 0.05302716 0.99845442 -0.01664002 3.5903797 ] [-0.03828574 0.01868397 0.99909214 1.70038119] [ 0. 0. 0. 1. ]] SLAMing on 5.609259763999999 meters 0.33600794281295737 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.62, Z:1.71 [[ 0.99957982 -0.02339805 0.01710881 -7.66129856] [ 0.02366544 0.99959826 -0.01559706 3.62179538] [-0.016737 0.01599539 0.99973197 1.71290458] [ 0. 0. 0. 1. ]] SLAMing on 5.669259763999999 meters 0.2999292198891508 Centerline is valid? [False, False] Translation: X:-7.66, Y:3.64, Z:1.72 [[ 9.99964113e-01 -2.14431018e-03 8.19605122e-03 -7.65987437e+00] [ 2.26246097e-03 9.99893271e-01 -1.44335926e-02 3.63959669e+00] [-8.16422636e-03 1.44516179e-02 9.99862239e-01 1.71982505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729259763999999 meters 0.2891743457008645 Centerline is valid? [False, False] Translation: X:-7.65, Y:3.66, Z:1.73 [[ 9.99938026e-01 1.09045591e-02 2.24363618e-03 -7.64669437e+00] [-1.08788085e-02 9.99878256e-01 -1.11859341e-02 3.66264764e+00] [-2.36534071e-03 1.11608327e-02 9.99934918e-01 1.72663577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.789259763999999 meters 0.28179094045120817 Centerline is valid? [False, False] Translation: X:-7.64, Y:3.68, Z:1.72 [[ 9.99749694e-01 2.23729715e-02 -1.08238863e-05 -7.63917740e+00] [-2.23729499e-02 9.99747778e-01 -1.95731485e-03 3.67614135e+00] [-3.29697931e-05 1.95706708e-03 9.99998084e-01 1.72425732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849259763999999 meters 0.2783665669734095 Centerline is valid? [False, False] Translation: X:-7.62, Y:3.69, Z:1.73 [[ 9.99554215e-01 2.94836974e-02 4.69923005e-03 -7.62036695e+00] [-2.95229662e-02 9.99527804e-01 8.51840470e-03 3.68767793e+00] [-4.44585703e-03 -8.65334253e-03 9.99952676e-01 1.72591599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909259763999999 meters 0.2909856318117743 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.69, Z:1.73 [[ 9.99041905e-01 4.37602614e-02 5.58699264e-04 -7.57617961e+00] [-4.37637611e-02 9.98936694e-01 1.44988091e-02 3.69374292e+00] [ 7.63664799e-05 -1.45093686e-02 9.99894731e-01 1.73419022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969259763999999 meters 0.2839638732258323 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.69, Z:1.73 [[ 9.99207078e-01 3.98144931e-02 -1.43752250e-04 -7.57400409e+00] [-3.98108348e-02 9.99152894e-01 1.04207781e-02 3.69490051e+00] [ 5.58528473e-04 -1.04067923e-02 9.99945692e-01 1.73297494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029259763999999 meters 0.28693981987271716 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.68, Z:1.74 [[ 9.99782843e-01 2.07803420e-02 -1.56327537e-03 -7.57286506e+00] [-2.07713461e-02 9.99768759e-01 5.56598758e-03 3.68485661e+00] [ 1.67857700e-03 -5.53230755e-03 9.99983288e-01 1.74277951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089259763999999 meters 0.2975456256865226 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.66, Z:1.75 [[ 9.99984433e-01 -4.58515425e-03 -3.17979666e-03 -7.57329423e+00] [ 4.57695007e-03 9.99986191e-01 -2.58258853e-03 3.66404820e+00] [ 3.19159432e-03 2.56799455e-03 9.99991610e-01 1.74975585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149259763999999 meters 0.30476446699921045 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.66, Z:1.75 [[ 9.99961011e-01 -8.47864470e-03 -2.46774390e-03 -7.57497680e+00] [ 8.46500539e-03 9.99949123e-01 -5.48597691e-03 3.65918037e+00] [ 2.51413199e-03 5.46487355e-03 9.99981907e-01 1.74953158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209259763999999 meters 0.29351700004449155 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99966975e-01 -7.91732733e-03 -1.83424286e-03 -7.57680539e+00] [ 7.90935454e-03 9.99959416e-01 -4.31385906e-03 3.65386440e+00] [ 1.86832266e-03 4.29920892e-03 9.99989013e-01 1.74981917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269259763999999 meters 0.28727117188144946 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.66, Z:1.75 [[ 9.99960594e-01 -8.64810249e-03 -2.00529765e-03 -7.57793408e+00] [ 8.63704944e-03 9.99947812e-01 -5.45658406e-03 3.65624657e+00] [ 2.05238210e-03 5.43904918e-03 9.99983102e-01 1.75230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329259763999999 meters 0.2933815589037192 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.65, Z:1.75 [[ 9.99967053e-01 -7.90533100e-03 -1.84356947e-03 -7.57689072e+00] [ 7.89744699e-03 9.99959803e-01 -4.24526654e-03 3.65394241e+00] [ 1.87705561e-03 4.23056718e-03 9.99989289e-01 1.75001584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389259763999999 meters 0.3116972645651012 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.65, Z:1.75 [[ 9.99975675e-01 -6.62534416e-03 -2.18020817e-03 -7.57386310e+00] [ 6.61985522e-03 9.99974925e-01 -2.51528002e-03 3.65148812e+00] [ 2.19681810e-03 2.50078618e-03 9.99994460e-01 1.74641831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449259763999999 meters 0.2902237202434982 Centerline is valid? [False, False] Translation: X:-7.57, Y:3.65, Z:1.75 [[ 9.99894677e-01 -1.43928619e-02 -1.86561422e-03 -7.57452482e+00] [ 1.43743532e-02 9.99850778e-01 -9.58125213e-03 3.64605224e+00] [ 2.00323747e-03 9.55342600e-03 9.99952358e-01 1.74615119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5092597639999985 meters 0.2913351564670134 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.64, Z:1.75 [[ 9.99890851e-01 -1.47721879e-02 -2.61345037e-04 -7.57928776e+00] [ 1.47694262e-02 9.99854635e-01 -8.51900100e-03 3.63952834e+00] [ 3.87151330e-04 8.51421125e-03 9.99963679e-01 1.74806700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569259763999999 meters 0.29296857019054107 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99948077e-01 -1.01502832e-02 9.02289390e-04 -7.58141995e+00] [ 1.01513529e-02 9.99947767e-01 -1.18898853e-03 3.63086352e+00] [-8.90173690e-04 1.19808625e-03 9.99998886e-01 1.74469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.629259763999999 meters 0.29733262807184896 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99954265e-01 -9.50088685e-03 1.09568006e-03 -7.58077178e+00] [ 9.50101652e-03 9.99954858e-01 -1.13204430e-04 3.62847356e+00] [-1.09455505e-03 1.23609327e-04 9.99999393e-01 1.74287105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689259763999999 meters 0.2908087798896916 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99958661e-01 -9.06264180e-03 7.38244180e-04 -7.57867961e+00] [ 9.06238739e-03 9.99958875e-01 3.47237534e-04 3.62893833e+00] [-7.41360710e-04 -3.40532924e-04 9.99999667e-01 1.74108402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749259763999999 meters 0.29009709140941675 Centerline is valid? [False, False] Translation: X:-7.58, Y:3.63, Z:1.74 [[ 9.99960070e-01 -8.92281868e-03 4.91384810e-04 -7.57734950e+00] [ 8.92262069e-03 9.99960111e-01 4.03659307e-04 3.62984333e+00] [-4.94966988e-04 -3.99258748e-04 9.99999798e-01 1.74006892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809259763999999 meters 0.30593675869094983 Centerline is valid? [False, False] Translation: X:-7.56, Y:3.64, Z:1.75 [[ 9.99994009e-01 -1.23769351e-03 -3.23268235e-03 -7.56039320e+00] [ 1.22880269e-03 9.99995461e-01 -2.75083140e-03 3.63766926e+00] [ 3.23607236e-03 2.74684259e-03 9.99990991e-01 1.74586593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.869259763999999 meters 0.2859370580453668 Centerline is valid? [False, False] Translation: X:-7.56, Y:3.65, Z:1.75 [[ 9.99963298e-01 6.21403614e-03 -5.89815751e-03 -7.55517879e+00] [-6.21620829e-03 9.99980618e-01 -3.50015997e-04 3.65333301e+00] [ 5.89586817e-03 3.86667326e-04 9.99982544e-01 1.75122191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929259763999998 meters 0.28205755744736105 Centerline is valid? [False, False] Translation: X:-7.54, Y:3.66, Z:1.75 [[ 9.99990540e-01 4.21516897e-03 -1.07338985e-03 -7.53727096e+00] [-4.21192638e-03 9.99986613e-01 3.00543307e-03 3.65664834e+00] [ 1.08604389e-03 -3.00088360e-03 9.99994908e-01 1.75132696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989259763999999 meters 0.28796034489890293 Centerline is valid? [False, False] Translation: X:-7.52, Y:3.66, Z:1.75 [[ 9.99988537e-01 3.09138662e-03 -3.65633166e-03 -7.52322025e+00] [-3.10712916e-03 9.99985894e-01 -4.30774082e-03 3.65734987e+00] [ 3.64296319e-03 4.31905214e-03 9.99984037e-01 1.75159832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0492597639999985 meters 0.2992934702512011 Centerline is valid? [False, False] Translation: X:-7.51, Y:3.65, Z:1.75 [[ 9.99998452e-01 1.11316910e-03 1.36237469e-03 -7.50561025e+00] [-1.11420580e-03 9.99999090e-01 7.60426874e-04 3.65356854e+00] [-1.36152697e-03 -7.61943663e-04 9.99998783e-01 1.74992117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109259763999999 meters 0.28835908409335387 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.66, Z:1.75 [[ 9.99995463e-01 -2.97440108e-03 4.75565510e-04 -7.50309386e+00] [ 2.97611159e-03 9.99988956e-01 -3.63747279e-03 3.65597678e+00] [-4.64740954e-04 3.63887162e-03 9.99993271e-01 1.74930058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.169259763999999 meters 0.27027838217695377 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.66, Z:1.75 [[ 9.99994495e-01 -3.31798232e-03 -3.68571702e-05 -7.50207097e+00] [ 3.31778476e-03 9.99984535e-01 -4.46350964e-03 3.65940225e+00] [ 5.16664463e-05 4.46336278e-03 9.99990038e-01 1.74984598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229259763999999 meters 0.2758578376550254 Centerline is valid? [False, False] Translation: X:-7.50, Y:3.67, Z:1.75 [[ 9.99989725e-01 -4.23564418e-03 -1.61552585e-03 -7.49968097e+00] [ 4.22304646e-03 9.99961258e-01 -7.72319165e-03 3.66892800e+00] [ 1.64817596e-03 7.71628985e-03 9.99968871e-01 1.75411399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289259763999999 meters 0.2824954573579469 Centerline is valid? [False, False] Translation: X:-7.47, Y:3.66, Z:1.75 [[ 9.99997485e-01 -2.18303080e-03 5.14545418e-04 -7.47188356e+00] [ 2.18371218e-03 9.99996735e-01 -1.32742526e-03 3.66231252e+00] [-5.11645928e-04 1.32854554e-03 9.99998987e-01 1.75186846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349259763999998 meters 0.2644272439371236 Centerline is valid? [False, False] Translation: X:-7.47, Y:3.67, Z:1.75 [[ 9.99998190e-01 -1.87961769e-03 -2.95831680e-04 -7.46879645e+00] [ 1.87916530e-03 9.99997076e-01 -1.52215805e-03 3.66574269e+00] [ 2.98691890e-04 1.52159938e-03 9.99998798e-01 1.74996952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409259763999999 meters 0.2611951950225753 Centerline is valid? [False, False] Translation: X:-7.46, Y:3.67, Z:1.75 [[ 9.99997695e-01 -1.35212282e-03 -1.66769009e-03 -7.46436621e+00] [ 1.34860096e-03 9.99996862e-01 -2.11114200e-03 3.67111115e+00] [ 1.67053938e-03 2.10888809e-03 9.99996381e-01 1.74789242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4692597639999985 meters 0.26568137937718833 Centerline is valid? [False, False] Translation: X:-7.46, Y:3.68, Z:1.75 [[ 9.99991979e-01 -1.65570361e-03 -3.64692909e-03 -7.46021255e+00] [ 1.63723609e-03 9.99985853e-01 -5.06103370e-03 3.68094757e+00] [ 3.65525707e-03 5.05502222e-03 9.99980543e-01 1.75017403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529259763999999 meters 0.27514053519520465 Centerline is valid? [False, False] Translation: X:-7.45, Y:3.68, Z:1.75 [[ 9.99997091e-01 -4.71935031e-04 2.36533991e-03 -7.44554878e+00] [ 4.67710784e-04 9.99998295e-01 1.78612954e-03 3.68434905e+00] [-2.36617881e-03 -1.78501805e-03 9.99995607e-01 1.75183253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.589259763999999 meters 0.26917134789076713 Centerline is valid? [False, False] Translation: X:-7.44, Y:3.69, Z:1.75 [[ 9.99998669e-01 -7.61972034e-04 1.44238956e-03 -7.44311634e+00] [ 7.61261322e-04 9.99999589e-01 4.93217234e-04 3.69033229e+00] [-1.44276478e-03 -4.92118542e-04 9.99998838e-01 1.75172801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649259763999999 meters 0.24778669388542876 Centerline is valid? [False, False] Translation: X:-7.44, Y:3.69, Z:1.75 [[ 9.99999537e-01 -6.24063519e-04 7.31850783e-04 -7.44044267e+00] [ 6.23933786e-04 9.99999790e-01 1.77481567e-04 3.69405645e+00] [-7.31961389e-04 -1.77024859e-04 9.99999716e-01 1.75034613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709259763999999 meters 0.2793483945798068 Centerline is valid? [False, False] Translation: X:-7.43, Y:3.70, Z:1.75 [[ 9.99996522e-01 2.38721501e-03 -1.12125003e-03 -7.42634543e+00] [-2.39315238e-03 9.99982963e-01 -5.32415754e-03 3.69682121e+00] [ 1.10852102e-03 5.32682234e-03 9.99985198e-01 1.75326644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769259763999998 meters 0.2700528815767297 Centerline is valid? [False, False] Translation: X:-7.42, Y:3.70, Z:1.75 [[ 9.99993847e-01 2.77123476e-03 -2.15066918e-03 -7.42269805e+00] [-2.78343690e-03 9.99979929e-01 -5.69154741e-03 3.70144603e+00] [ 2.13485340e-03 5.69749864e-03 9.99981490e-01 1.75130156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829259763999999 meters 0.25211580782736503 Centerline is valid? [False, False] Translation: X:-7.41, Y:3.71, Z:1.75 [[ 9.99987079e-01 3.98444525e-03 3.15685446e-03 -7.40629599e+00] [-3.98811215e-03 9.99991379e-01 1.15612753e-03 3.70756029e+00] [-3.15222071e-03 -1.16870249e-03 9.99994349e-01 1.75151041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889259763999998 meters 0.24865680354075628 Centerline is valid? [False, False] Translation: X:-7.40, Y:3.72, Z:1.76 [[ 9.99990582e-01 4.33342260e-03 2.40933131e-04 -7.39989841e+00] [-4.33263303e-03 9.99985538e-01 -3.18636693e-03 3.72067013e+00] [-2.54737521e-04 3.18529305e-03 9.99994894e-01 1.75568274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949259763999999 meters 0.23302723306038467 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.73, Z:1.75 [[ 9.99970270e-01 6.30267351e-03 4.44240976e-03 -7.38097215e+00] [-6.32064422e-03 9.99971852e-01 4.04289795e-03 3.73136034e+00] [-4.41680365e-03 -4.07085665e-03 9.99981960e-01 1.75444115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009259764 meters 0.24054032188023902 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.75 [[ 9.99975217e-01 6.09814989e-03 3.51823027e-03 -7.37831446e+00] [-6.10764265e-03 9.99977720e-01 2.69376039e-03 3.73801124e+00] [-3.50172493e-03 -2.71518172e-03 9.99990183e-01 1.75387934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069259764 meters 0.21463997126460566 Centerline is valid? [False, False] Translation: X:-7.38, Y:3.74, Z:1.75 [[ 9.99995358e-01 1.88888728e-03 2.39094889e-03 -7.37521781e+00] [-1.88392227e-03 9.99996068e-01 -2.07713812e-03 3.74317967e+00] [-2.39486297e-03 2.07262412e-03 9.99994984e-01 1.75307087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129259764 meters 0.2252228355007453 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.74, Z:1.75 [[ 9.99996107e-01 -1.89033018e-03 2.05241564e-03 -7.37336952e+00] [ 1.90217000e-03 9.99981474e-01 -5.78218073e-03 3.74291052e+00] [-2.04144739e-03 5.78606227e-03 9.99981177e-01 1.75145692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189259763999999 meters 0.21642517392828836 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.74, Z:1.75 [[ 9.99996481e-01 -1.44265079e-03 2.22628120e-03 -7.37309935e+00] [ 1.45383797e-03 9.99986284e-01 -5.03164230e-03 3.74095614e+00] [-2.21899177e-03 5.03486125e-03 9.99984863e-01 1.75026237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249259764 meters 0.22958798550328757 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.74, Z:1.75 [[ 9.99997332e-01 -1.52736204e-03 1.73270361e-03 -7.37153059e+00] [ 1.53674602e-03 9.99984090e-01 -5.42746061e-03 3.74410049e+00] [-1.72438635e-03 5.43010885e-03 9.99983770e-01 1.74986138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309259764 meters 0.21962849383969052 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.75, Z:1.75 [[ 9.99997431e-01 -2.02024631e-03 1.02828898e-03 -7.37050434e+00] [ 2.02725030e-03 9.99974439e-01 -6.85645193e-03 3.74927340e+00] [-1.01441097e-03 6.85851891e-03 9.99975966e-01 1.75146375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.369259763999999 meters 0.21764182849626032 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.75, Z:1.75 [[ 9.99997452e-01 -2.18094119e-03 5.82267926e-04 -7.36912547e+00] [ 2.18521209e-03 9.99969951e-01 -7.43792886e-03 3.75299440e+00] [-5.66028744e-04 7.43918229e-03 9.99972169e-01 1.75123319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429259764 meters 0.219529823955551 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.75, Z:1.75 [[ 9.99998017e-01 -1.95350228e-03 3.87515505e-04 -7.36755449e+00] [ 1.95625989e-03 9.99971818e-01 -7.24818415e-03 3.75415314e+00] [-3.73345240e-04 7.24892786e-03 9.99973656e-01 1.74966080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489259764 meters 0.23171178515885485 Centerline is valid? [False, False] Translation: X:-7.36, Y:3.76, Z:1.75 [[ 9.99982992e-01 -5.82560490e-03 -2.77868213e-04 -7.36487496e+00] [ 5.82206881e-03 9.99918396e-01 -1.13712653e-02 3.75630260e+00] [ 3.44090036e-04 1.13694541e-02 9.99935306e-01 1.74802020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549259764 meters 0.2187379295069136 Centerline is valid? [False, False] Translation: X:-7.37, Y:3.75, Z:1.75 [[ 9.99999221e-01 -1.24752048e-03 3.65268440e-05 -7.36511007e+00] [ 1.24773306e-03 9.99977749e-01 -6.55322853e-03 3.75483734e+00] [-2.83507444e-05 6.55326900e-03 9.99978527e-01 1.74710653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609259763999999 meters 0.22068696892192535 Centerline is valid? [False, False] Translation: X:-7.36, Y:3.76, Z:1.75 [[ 9.99999177e-01 -1.23090991e-03 -3.62166213e-04 -7.36356430e+00] [ 1.22841020e-03 9.99975967e-01 -6.82322088e-03 3.75759674e+00] [ 3.70556279e-04 6.82277037e-03 9.99976656e-01 1.74640267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.669259764 meters 0.210619994963623 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.75 [[ 9.99980471e-01 -3.27349336e-03 5.32365318e-03 -7.34873425e+00] [ 3.28428447e-03 9.99992567e-01 -2.01953535e-03 3.76057887e+00] [-5.31700268e-03 2.03698031e-03 9.99983790e-01 1.74708549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.729259764 meters 0.21422713281271047 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.75 [[ 9.99963004e-01 -7.26839086e-03 4.60003044e-03 -7.34616862e+00] [ 7.29752174e-03 9.99953224e-01 -6.34797974e-03 3.76356813e+00] [-4.55367567e-03 6.38131372e-03 9.99969271e-01 1.74583210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789259763999999 meters 0.21388004388091214 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.75 [[ 9.99964463e-01 -7.03599741e-03 4.64403487e-03 -7.34608054e+00] [ 7.06346226e-03 9.99957504e-01 -5.92433883e-03 3.76235578e+00] [-4.60215388e-03 5.95693126e-03 9.99971667e-01 1.74547421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.849259764 meters 0.21074208995921453 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99966929e-01 -6.44904800e-03 4.95494459e-03 -7.34642325e+00] [ 6.47261275e-03 9.99967749e-01 -4.75458115e-03 3.75832700e+00] [-4.92412227e-03 4.78649534e-03 9.99976421e-01 1.74461089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.909259764 meters 0.2090637838242831 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.74 [[ 9.99967091e-01 -6.35192737e-03 5.04682321e-03 -7.34688184e+00] [ 6.37478462e-03 9.99969439e-01 -4.52593309e-03 3.75718396e+00] [-5.01792058e-03 4.55795655e-03 9.99977022e-01 1.74492010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969259764 meters 0.2126168842464607 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.75, Z:1.75 [[ 9.99967417e-01 -6.12412306e-03 5.25924102e-03 -7.34757146e+00] [ 6.14518111e-03 9.99973129e-01 -3.99722761e-03 3.75478684e+00] [-5.23462018e-03 4.02941636e-03 9.99978181e-01 1.74511031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.029259763999999 meters 0.2091622824195126 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.75 [[ 9.99968722e-01 -6.54407799e-03 4.44186307e-03 -7.34640013e+00] [ 6.56809576e-03 9.99963772e-01 -5.41426255e-03 3.75989527e+00] [-4.40627080e-03 5.44326779e-03 9.99975478e-01 1.74672736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089259764 meters 0.22610364265539176 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.76, Z:1.75 [[ 9.99968739e-01 -6.61968047e-03 4.32452625e-03 -7.34593843e+00] [ 6.64409894e-03 9.99961928e-01 -5.65675771e-03 3.76130661e+00] [-4.28691568e-03 5.68531345e-03 9.99974649e-01 1.74656863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149259764 meters 0.21368396818493465 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99972250e-01 -6.10382652e-03 4.27118180e-03 -7.34456802e+00] [ 6.12468867e-03 9.99969295e-01 -4.88848308e-03 3.76036684e+00] [-4.24121220e-03 4.91450708e-03 9.99978930e-01 1.74459362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209259763999999 meters 0.216033876322914 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99975056e-01 -6.08648032e-03 3.58349023e-03 -7.34239382e+00] [ 6.10522576e-03 9.99967615e-01 -5.24356558e-03 3.76434711e+00] [-3.55145932e-03 5.26531280e-03 9.99979832e-01 1.74385948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269259764 meters 0.2159004491825248 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99978789e-01 -5.27087913e-03 3.82624840e-03 -7.34193887e+00] [ 5.28551048e-03 9.99978720e-01 -3.82395635e-03 3.76024779e+00] [-3.80601137e-03 3.84409891e-03 9.99985368e-01 1.74201750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329259764 meters 0.20718032623034116 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99979621e-01 -5.14223250e-03 3.78364656e-03 -7.34164898e+00] [ 5.15598669e-03 9.99980103e-01 -3.63443942e-03 3.75994902e+00] [-3.76488215e-03 3.65387378e-03 9.99986237e-01 1.74171894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389259764 meters 0.20790589461161185 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99982399e-01 -4.98476238e-03 3.21787252e-03 -7.33968464e+00] [ 4.99728119e-03 9.99979931e-01 -3.89415460e-03 3.76263795e+00] [-3.19839650e-03 3.91016667e-03 9.99987240e-01 1.74086711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449259763999999 meters 0.2040899152662002 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99981596e-01 -5.10638821e-03 3.27616268e-03 -7.34027531e+00] [ 5.11992071e-03 9.99978341e-01 -4.13558963e-03 3.76282756e+00] [-3.25497379e-03 4.15228721e-03 9.99986082e-01 1.74161491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509259764 meters 0.20227989963155668 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99981598e-01 -4.97055496e-03 3.47798167e-03 -7.34066816e+00] [ 4.98352968e-03 9.99980619e-01 -3.73186341e-03 3.76146978e+00] [-3.45936483e-03 3.74912736e-03 9.99986988e-01 1.74143185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569259764 meters 0.21087149270418853 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.76, Z:1.74 [[ 9.99960045e-01 -8.27390252e-03 3.38391840e-03 -7.33875998e+00] [ 8.29535051e-03 9.99945278e-01 -6.37406512e-03 3.75801464e+00] [-3.33099483e-03 6.40188124e-03 9.99973960e-01 1.73860685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629259763999999 meters 0.23051983525465378 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.75, Z:1.74 [[ 9.99963639e-01 -7.58545732e-03 3.89628681e-03 -7.33918550e+00] [ 7.60426924e-03 9.99959392e-01 -4.83625971e-03 3.75285892e+00] [-3.85944335e-03 4.86571227e-03 9.99980715e-01 1.73704331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689259763999999 meters 0.2215678391673135 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.75, Z:1.74 [[ 9.99957305e-01 -8.34467826e-03 3.96908973e-03 -7.34177801e+00] [ 8.36795227e-03 9.99947678e-01 -5.88380525e-03 3.75287570e+00] [-3.91978360e-03 5.91676720e-03 9.99974813e-01 1.74092711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749259764 meters 0.2170049139431784 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.75, Z:1.74 [[ 9.99959033e-01 -7.93675093e-03 4.35213394e-03 -7.34243112e+00] [ 7.95719669e-03 9.99957292e-01 -4.70085398e-03 3.74886387e+00] [-4.31463856e-03 4.73529218e-03 9.99979480e-01 1.74028365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.809259764 meters 0.2206016670381087 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.74, Z:1.74 [[ 9.99925181e-01 -1.12579246e-02 4.78451468e-03 -7.34243442e+00] [ 1.12900622e-02 9.99913523e-01 -6.74392925e-03 3.74203574e+00] [-4.70817829e-03 6.79744214e-03 9.99965813e-01 1.73813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869259763999999 meters 0.22301332392133524 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.74, Z:1.74 [[ 9.99928615e-01 -1.06198928e-02 5.47560967e-03 -7.34350306e+00] [ 1.06467931e-02 9.99931280e-01 -4.90723922e-03 3.73533739e+00] [-5.42311903e-03 4.96518660e-03 9.99972968e-01 1.73683312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929259764 meters 0.21991578859239683 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.73, Z:1.74 [[ 9.99931443e-01 -9.87789620e-03 6.28778171e-03 -7.34458689e+00] [ 9.89574875e-03 9.99947075e-01 -2.81449257e-03 3.72811242e+00] [-6.25964766e-03 2.87652192e-03 9.99976271e-01 1.73500298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989259764 meters 0.24121706437103463 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99934352e-01 -9.38798906e-03 6.56938681e-03 -7.34501042e+00] [ 9.39990199e-03 9.99954227e-01 -1.78487975e-03 3.72450532e+00] [-6.55232968e-03 1.84651417e-03 9.99976828e-01 1.73444991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049259763999999 meters 0.2159993272296153 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.74 [[ 9.99930347e-01 -9.71885229e-03 6.69660186e-03 -7.34652546e+00] [ 9.73363127e-03 9.99950255e-01 -2.17789112e-03 3.72419418e+00] [-6.67510214e-03 2.24292168e-03 9.99975206e-01 1.73633093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109259763999999 meters 0.23534272945860688 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.74 [[ 9.99929536e-01 -9.45534857e-03 7.17774433e-03 -7.34754563e+00] [ 9.46544376e-03 9.99954258e-01 -1.37379101e-03 3.72109930e+00] [-7.16442633e-03 1.44163474e-03 9.99973296e-01 1.73609661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169259764 meters 0.2544751194652247 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99935182e-01 -8.71841190e-03 7.32267718e-03 -7.34649637e+00] [ 8.71918841e-03 9.99961984e-01 -7.41241408e-05 3.71837974e+00] [-7.32175256e-03 1.37967138e-04 9.99973186e-01 1.73368207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229259764 meters 0.2444728655818729 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.72, Z:1.73 [[ 9.99937174e-01 -8.33187253e-03 7.49854467e-03 -7.34662348e+00] [ 8.32755443e-03 9.99965141e-01 6.06897218e-04 3.71617555e+00] [-7.50333987e-03 -5.44414550e-04 9.99971701e-01 1.73313563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289259763999999 meters 0.2390151933745916 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99938683e-01 -7.98945836e-03 7.66799387e-03 -7.34683193e+00] [ 7.97997503e-03 9.99967357e-01 1.26654144e-03 3.71398929e+00] [-7.67786255e-03 -1.20527338e-03 9.99969798e-01 1.73270788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349259764 meters 0.250760410259027 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99936396e-01 -7.98561498e-03 7.96457594e-03 -7.34787833e+00] [ 7.97340701e-03 9.99966990e-01 1.56336030e-03 3.71224386e+00] [-7.97679743e-03 -1.49975605e-03 9.99967060e-01 1.73327091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409259764 meters 0.24621389757039214 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99936389e-01 -7.83556085e-03 8.11312486e-03 -7.34835227e+00] [ 7.82036615e-03 9.99967610e-01 1.90288738e-03 3.71077723e+00] [-8.12777226e-03 -1.83931873e-03 9.99965278e-01 1.73341275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469259763999998 meters 0.24437132295732872 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99938810e-01 -7.52114784e-03 8.11219045e-03 -7.34758327e+00] [ 7.50217377e-03 9.99969057e-01 2.36685708e-03 3.71020552e+00] [-8.12974091e-03 -2.30585319e-03 9.99964295e-01 1.73221955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529259763999999 meters 0.2356909358012349 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99903515e-01 -1.14120157e-02 7.91995161e-03 -7.34624274e+00] [ 1.14237012e-02 9.99933722e-01 -1.43178747e-03 3.70983923e+00] [-7.90308712e-03 1.52212448e-03 9.99967612e-01 1.73099261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589259764 meters 0.23594143082641805 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99910047e-01 -1.05461395e-02 8.28718346e-03 -7.34575822e+00] [ 1.05451333e-02 9.99944385e-01 1.65109508e-04 3.70545405e+00] [-8.28846383e-03 -7.77052014e-05 9.99965647e-01 1.72853326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649259764 meters 0.24692234007584377 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.71, Z:1.73 [[ 9.99912481e-01 -1.03775494e-02 8.20590086e-03 -7.34491200e+00] [ 1.03749177e-02 9.99946113e-01 3.63210326e-04 3.70573977e+00] [-8.20922790e-03 -2.78042992e-04 9.99966265e-01 1.72756627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709259763999999 meters 0.2332300850022386 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99907435e-01 -1.09764686e-02 8.03986632e-03 -7.34561061e+00] [ 1.09841352e-02 9.99939258e-01 -9.10042489e-04 3.70861627e+00] [-8.02938891e-03 9.98269230e-04 9.99967266e-01 1.72965478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769259764 meters 0.22747690960512026 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99901677e-01 -1.13972404e-02 8.16940246e-03 -7.34658724e+00] [ 1.14102639e-02 9.99933701e-01 -1.54934409e-03 3.71002900e+00] [-8.15120259e-03 1.64240679e-03 9.99965430e-01 1.73081989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829259764 meters 0.2453378317698149 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99900236e-01 -1.15142880e-02 8.18163447e-03 -7.34681832e+00] [ 1.15288426e-02 9.99932037e-01 -1.73400192e-03 3.71052614e+00] [-8.16111263e-03 1.82815370e-03 9.99965026e-01 1.73116892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889259763999998 meters 0.24302325747639972 Centerline is valid? [False, False] Translation: X:-7.35, Y:3.71, Z:1.73 [[ 9.99900041e-01 -1.14795609e-02 8.25390324e-03 -7.34695607e+00] [ 1.14933305e-02 9.99932633e-01 -1.62275327e-03 3.71029787e+00] [-8.23471870e-03 1.71745590e-03 9.99964619e-01 1.73112342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949259763999999 meters 0.23305866834430858 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.71, Z:1.73 [[ 9.99908862e-01 -1.10582603e-02 7.74485250e-03 -7.34440975e+00] [ 1.10694240e-02 9.99937752e-01 -1.40005836e-03 3.71217093e+00] [-7.72888819e-03 1.48566182e-03 9.99969028e-01 1.72902972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009259764 meters 0.2250107197785098 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.72, Z:1.73 [[ 9.99921389e-01 -1.04779555e-02 6.88677796e-03 -7.34054374e+00] [ 1.04883036e-02 9.99943918e-01 -1.46820316e-03 3.71642237e+00] [-6.87100797e-03 1.54031836e-03 9.99975208e-01 1.72592697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069259764 meters 0.2329101317710768 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.72, Z:1.72 [[ 9.99930631e-01 -1.02245333e-02 5.84742114e-03 -7.33698706e+00] [ 1.02375809e-02 9.99945162e-01 -2.20578501e-03 3.72272603e+00] [-5.82454736e-03 2.26549545e-03 9.99980471e-01 1.72405808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129259763999999 meters 0.22803241524897863 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.73, Z:1.73 [[ 9.99930327e-01 -1.07667540e-02 4.83921499e-03 -7.33491426e+00] [ 1.07862017e-02 9.99933783e-01 -4.01080091e-03 3.73022376e+00] [-4.79571125e-03 4.06271822e-03 9.99980248e-01 1.72514294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189259763999999 meters 0.21740628080085472 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99967687e-01 -6.83523701e-03 4.23146703e-03 -7.33332599e+00] [ 6.83914444e-03 9.99976199e-01 -9.09640851e-04 3.73589303e+00] [-4.22514871e-03 9.38551072e-04 9.99990634e-01 1.72514913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249259764 meters 0.21227351958000015 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99970640e-01 -7.21462565e-03 2.58214109e-03 -7.33057934e+00] [ 7.22722075e-03 9.99961867e-01 -4.90214456e-03 3.74551690e+00] [-2.54667548e-03 4.92066234e-03 9.99984651e-01 1.73079629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309259763999998 meters 0.2360328099874144 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99971512e-01 -7.21749237e-03 2.20967649e-03 -7.32888148e+00] [ 7.22894914e-03 9.99960238e-01 -5.22149483e-03 3.74867969e+00] [-2.17190253e-03 5.23731972e-03 9.99983927e-01 1.72972817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369259763999999 meters 0.21269865967243248 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99976061e-01 -6.61620388e-03 2.02571821e-03 -7.32685693e+00] [ 6.62521523e-03 9.99968042e-01 -4.47455335e-03 3.74854315e+00] [-1.99604891e-03 4.48786705e-03 9.99987937e-01 1.72731459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429259764 meters 0.21843726358834217 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99979547e-01 -6.00190255e-03 2.20964255e-03 -7.32644393e+00] [ 6.00951780e-03 9.99975971e-01 -3.45601339e-03 3.74583408e+00] [-2.18884680e-03 3.46922159e-03 9.99991587e-01 1.72584966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489259764 meters 0.2146200157188566 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99981667e-01 -5.59943158e-03 2.30470942e-03 -7.32628930e+00] [ 5.60583976e-03 9.99980413e-01 -2.78346746e-03 3.74386474e+00] [-2.28907844e-03 2.79633626e-03 9.99993470e-01 1.72515673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549259763999999 meters 0.21983102682378572 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99980889e-01 -5.71427220e-03 2.35991376e-03 -7.32690803e+00] [ 5.72118554e-03 9.99979332e-01 -2.93320219e-03 3.74380290e+00] [-2.34310387e-03 2.94664763e-03 9.99992914e-01 1.72591031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609259763999999 meters 0.21358448852958672 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99978857e-01 -6.36260947e-03 1.34284781e-03 -7.32631183e+00] [ 6.37058286e-03 9.99961591e-01 -6.01935797e-03 3.75011834e+00] [-1.30449741e-03 6.02778542e-03 9.99980982e-01 1.73146176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669259764 meters 0.2179695786844648 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.75, Z:1.73 [[ 9.99978689e-01 -6.36114537e-03 1.46849060e-03 -7.32655592e+00] [ 6.36988605e-03 9.99961554e-01 -6.02625302e-03 3.75020128e+00] [-1.43010027e-03 6.03547872e-03 9.99980764e-01 1.73139683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729259763999998 meters 0.22243951681038143 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.75, Z:1.73 [[ 9.99982068e-01 -5.89518218e-03 1.05423759e-03 -7.32416594e+00] [ 5.90095135e-03 9.99967156e-01 -5.55564719e-03 3.75120108e+00] [-1.02145141e-03 5.56176857e-03 9.99984012e-01 1.72923806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789259763999999 meters 0.22446719782270289 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.75, Z:1.73 [[ 9.99981950e-01 -5.92757654e-03 9.81895334e-04 -7.32403093e+00] [ 5.93306173e-03 9.99966262e-01 -5.68093345e-03 3.75174566e+00] [-9.48188039e-04 5.68665656e-03 9.99983381e-01 1.72935763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849259764 meters 0.22386479780333787 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.75, Z:1.73 [[ 9.99983724e-01 -5.60964122e-03 1.04105416e-03 -7.32408538e+00] [ 5.61499843e-03 9.99970630e-01 -5.21641468e-03 3.75007039e+00] [-1.01176137e-03 5.22217529e-03 9.99985853e-01 1.72914223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909259764 meters 0.21633438587621165 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.75, Z:1.73 [[ 9.99983196e-01 -5.71875758e-03 9.50492729e-04 -7.32410800e+00] [ 5.72382489e-03 9.99968947e-01 -5.41689229e-03 3.75077672e+00] [-9.19485319e-04 5.42224172e-03 9.99984877e-01 1.72956619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969259763999998 meters 0.21574426396123297 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.75, Z:1.73 [[ 9.99985423e-01 -5.20376967e-03 1.43999683e-03 -7.32482210e+00] [ 5.20961231e-03 9.99978091e-01 -4.08383655e-03 3.74632710e+00] [-1.41871393e-03 4.09127884e-03 9.99990624e-01 1.72860071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029259763999999 meters 0.21914778453689565 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99957833e-01 -9.03667972e-03 1.63407627e-03 -7.32534188e+00] [ 9.04840794e-03 9.99932282e-01 -7.31827625e-03 3.74231815e+00] [-1.56783270e-03 7.33275345e-03 9.99971886e-01 1.72855844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089259764 meters 0.21982638670408333 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.74, Z:1.73 [[ 9.99962683e-01 -8.39741013e-03 2.02903041e-03 -7.32585794e+00] [ 8.40916750e-03 9.99947488e-01 -5.85724558e-03 3.73741680e+00] [-1.97973817e-03 5.87408946e-03 9.99980788e-01 1.72761841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149259763999998 meters 0.24685054815853816 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.73, Z:1.73 [[ 9.99927218e-01 -1.18378690e-02 2.32894242e-03 -7.32637695e+00] [ 1.18569669e-02 9.99894716e-01 -8.36481868e-03 3.73075436e+00] [-2.22967559e-03 8.39182407e-03 9.99962302e-01 1.72712159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209259763999999 meters 0.22898393252149074 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.72, Z:1.73 [[ 9.99877123e-01 -1.53027483e-02 3.40056549e-03 -7.32815472e+00] [ 1.53351414e-02 9.99835231e-01 -9.71314286e-03 3.72105351e+00] [-3.25136740e-03 9.76409750e-03 9.99947044e-01 1.72506277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269259764 meters 0.23845063608341543 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.71, Z:1.72 [[ 9.99870337e-01 -1.53111914e-02 4.98760587e-03 -7.33175224e+00] [ 1.53474973e-02 9.99855395e-01 -7.32413517e-03 3.71083482e+00] [-4.87474341e-03 7.39973277e-03 9.99960740e-01 1.72435174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329259764 meters 0.2315347043525687 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.71, Z:1.73 [[ 9.99871300e-01 -1.50744784e-02 5.49037937e-03 -7.33353475e+00] [ 1.51088901e-02 9.99866126e-01 -6.28102758e-03 3.70584488e+00] [-5.39496114e-03 6.36317275e-03 9.99965202e-01 1.72517719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389259763999998 meters 0.24047314412516804 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.70, Z:1.73 [[ 9.99919967e-01 -1.09678148e-02 6.30604002e-03 -7.33608619e+00] [ 1.09780152e-02 9.99938483e-01 -1.58523304e-03 3.70240649e+00] [-6.28826555e-03 1.65433397e-03 9.99978860e-01 1.72622134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449259763999999 meters 0.2338871602735162 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.70, Z:1.73 [[ 9.99918278e-01 -1.08770669e-02 6.71769566e-03 -7.33760529e+00] [ 1.08842477e-02 9.99940231e-01 -1.03330715e-03 3.69918972e+00] [-6.70605480e-03 1.10633977e-03 9.99976902e-01 1.72708680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509259764 meters 0.27288446451922654 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.73 [[ 9.99922638e-01 -1.01268275e-02 7.22257930e-03 -7.33791313e+00] [ 1.01230239e-02 9.99948602e-01 5.62992290e-04 3.69417579e+00] [-7.22790940e-03 -4.89834393e-04 9.99973758e-01 1.72538545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569259763999998 meters 0.2762170126209806 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.69, Z:1.72 [[ 9.99927375e-01 -9.15702190e-03 7.83543113e-03 -7.33806615e+00] [ 9.13560061e-03 9.99954446e-01 2.76533955e-03 3.68772035e+00] [-7.86039647e-03 -2.69355735e-03 9.99965479e-01 1.72268613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629259763999999 meters 0.2617881142706471 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99887614e-01 -1.27257205e-02 7.92565738e-03 -7.33781497e+00] [ 1.27268116e-02 9.99919007e-01 -8.72540695e-05 3.68330534e+00] [-7.92390509e-03 1.88112612e-04 9.99968588e-01 1.72184119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689259763999999 meters 0.261767986067903 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99892841e-01 -1.21762845e-02 8.12675096e-03 -7.33775848e+00] [ 1.21687458e-02 9.99925481e-01 9.76448972e-04 3.68024443e+00] [-8.13803489e-03 -8.77451971e-04 9.99966501e-01 1.72079010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749259764 meters 0.2680229191303991 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99900729e-01 -1.12591868e-02 8.47126483e-03 -7.33737232e+00] [ 1.12354758e-02 9.99932843e-01 2.84139308e-03 3.67538661e+00] [-8.50268770e-03 -2.74593232e-03 9.99960081e-01 1.71841844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809259763999998 meters 0.2680817808716267 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.67, Z:1.72 [[ 9.99905054e-01 -1.08286214e-02 8.52193348e-03 -7.33649816e+00] [ 1.07985610e-02 9.99935337e-01 3.56556513e-03 3.67417552e+00] [-8.55999258e-03 -3.47320197e-03 9.99957331e-01 1.71679476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869259763999999 meters 0.2577165967296637 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99903449e-01 -1.16643168e-02 7.55219761e-03 -7.33606351e+00] [ 1.16619275e-02 9.99931932e-01 3.60341252e-04 3.68087037e+00] [-7.55588668e-03 -2.72233280e-04 9.99971417e-01 1.72195976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929259764 meters 0.24988783409562448 Centerline is valid? [False, False] Translation: X:-7.34, Y:3.68, Z:1.72 [[ 9.99902196e-01 -1.19833682e-02 7.21090875e-03 -7.33554730e+00] [ 1.19869035e-02 9.99928054e-01 -4.47241316e-04 3.68370410e+00] [-7.20503050e-03 5.33634041e-04 9.99973901e-01 1.72260787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989259763999998 meters 0.25543946726830585 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.68, Z:1.72 [[ 9.99903413e-01 -1.19172700e-02 7.15140673e-03 -7.33491313e+00] [ 1.19208546e-02 9.99928839e-01 -4.58817664e-04 3.68451117e+00] [-7.14542997e-03 5.44024228e-04 9.99974323e-01 1.72191042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049259763999999 meters 0.246623961624912 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.68, Z:1.72 [[ 9.99946028e-01 -7.51309437e-03 7.17593618e-03 -7.33482060e+00] [ 7.48439654e-03 9.99963920e-01 4.01769220e-03 3.68419825e+00] [-7.20586258e-03 -3.96376780e-03 9.99966181e-01 1.72150669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109259763999999 meters 0.24624307847181687 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99901965e-01 -1.24417721e-02 6.42356128e-03 -7.33412807e+00] [ 1.24529398e-02 9.99921012e-01 -1.70147993e-03 3.68884019e+00] [-6.40188447e-03 1.78130535e-03 9.99977921e-01 1.72359331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169259764 meters 0.2533515546141481 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99902232e-01 -1.25267954e-02 6.21338867e-03 -7.33375350e+00] [ 1.25390294e-02 9.99919513e-01 -1.93394124e-03 3.68988747e+00] [-6.18866248e-03 2.01166203e-03 9.99978827e-01 1.72388977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229259763999998 meters 0.24855827719614954 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99948862e-01 -7.73932376e-03 6.50972648e-03 -7.33358062e+00] [ 7.71828686e-03 9.99964930e-01 3.25054972e-03 3.68766255e+00] [-6.53465525e-03 -3.20013955e-03 9.99973528e-01 1.72227496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.289259763999999 meters 0.27156356006229787 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99914693e-01 -1.17136286e-02 5.77905469e-03 -7.33113553e+00] [ 1.17199696e-02 9.99930752e-01 -1.06458439e-03 3.68996722e+00] [-5.76618436e-03 1.13222392e-03 9.99982734e-01 1.72122882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.349259764 meters 0.23415812118241502 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99917858e-01 -1.15780553e-02 5.49780906e-03 -7.33010470e+00] [ 1.15840271e-02 9.99932346e-01 -1.05560403e-03 3.69075054e+00] [-5.48521527e-03 1.11920409e-03 9.99984330e-01 1.72071330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.409259763999998 meters 0.26236938398821874 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99925638e-01 -1.08634766e-02 5.54101349e-03 -7.32857950e+00] [ 1.08635242e-02 9.99940990e-01 2.15234076e-05 3.68911145e+00] [-5.54092033e-03 3.86731268e-05 9.99984648e-01 1.71814821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469259763999998 meters 0.26442305990663006 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.71 [[ 9.99936916e-01 -9.71263654e-03 5.64172208e-03 -7.32633501e+00] [ 9.70157881e-03 9.99950970e-01 1.98406379e-03 3.68590214e+00] [-5.66071596e-03 -1.92920502e-03 9.99982117e-01 1.71388034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.529259763999999 meters 0.24883791595400725 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.71 [[ 9.99935068e-01 -9.83304804e-03 5.75945735e-03 -7.32682883e+00] [ 9.82242461e-03 9.99950010e-01 1.86991110e-03 3.68599122e+00] [-5.77755636e-03 -1.81321784e-03 9.99981666e-01 1.71424435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589259764 meters 0.2539260743262085 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99925485e-01 -1.08951777e-02 5.50637780e-03 -7.32783648e+00] [ 1.08957131e-02 9.99940638e-01 -6.72361852e-05 3.69068443e+00] [-5.50531838e-03 1.27227088e-04 9.99984838e-01 1.71722252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649259763999998 meters 0.25710918199294486 Centerline is valid? [False, False] Translation: X:-7.33, Y:3.69, Z:1.72 [[ 9.99960807e-01 -6.93950325e-03 5.49788827e-03 -7.32782210e+00] [ 6.91964519e-03 9.99969497e-01 3.62276930e-03 3.69294891e+00] [-5.52286078e-03 -3.58458388e-03 9.99978324e-01 1.71725777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709259763999999 meters 0.2440621502464573 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.70, Z:1.71 [[ 9.99987408e-01 -2.21482955e-03 4.50313570e-03 -7.32350898e+00] [ 2.18155498e-03 9.99970382e-01 7.38073224e-03 3.69877575e+00] [-4.51934939e-03 -7.37081546e-03 9.99962623e-01 1.71375026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.769259764 meters 0.23532092590597684 Centerline is valid? [False, False] Translation: X:-7.32, Y:3.71, Z:1.72 [[ 9.99994395e-01 1.80322458e-03 2.82100459e-03 -7.31984103e+00] [-1.82482517e-03 9.99968895e-01 7.67331269e-03 3.70998008e+00] [-2.80708014e-03 -7.67841752e-03 9.99966581e-01 1.71693961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.829259763999998 meters 0.21536728749536457 Centerline is valid? [False, False] Translation: X:-7.30, Y:3.72, Z:1.73 [[ 9.99968098e-01 7.96999898e-03 -5.31248148e-04 -7.30484145e+00] [-7.96864342e-03 9.99965108e-01 2.50672272e-03 3.72044765e+00] [ 5.51208189e-04 -2.50240942e-03 9.99996717e-01 1.72515293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889259763999998 meters 0.21363172651295476 Centerline is valid? [False, False] Translation: X:-7.29, Y:3.73, Z:1.73 [[ 9.99949407e-01 8.61938371e-03 5.18549074e-03 -7.29069131e+00] [-8.66425465e-03 9.99924671e-01 8.69385173e-03 3.73021651e+00] [-5.11016447e-03 -8.73834029e-03 9.99948763e-01 1.72691626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.949259763999999 meters 0.20021570973115532 Centerline is valid? [False, False] Translation: X:-7.28, Y:3.74, Z:1.74 [[ 9.99976646e-01 6.60699889e-03 1.74788371e-03 -7.28141871e+00] [-6.60465521e-03 9.99977287e-01 -1.34325565e-03 3.74474411e+00] [-1.75671889e-03 1.33168011e-03 9.99997570e-01 1.73510712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.009259764 meters 0.1932875622108574 Centerline is valid? [False, False] Translation: X:-7.26, Y:3.76, Z:1.74 [[ 9.99935441e-01 1.08219216e-02 3.46415094e-03 -7.25622889e+00] [-1.08370826e-02 9.99931649e-01 4.38809414e-03 3.75512612e+00] [-3.41642655e-03 -4.42535213e-03 9.99984372e-01 1.73828819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.069259763999998 meters 0.17805623961884876 Centerline is valid? [False, False] Translation: X:-7.25, Y:3.77, Z:1.74 [[ 9.99890433e-01 1.47875107e-02 6.71593859e-04 -7.24979535e+00] [-1.47895545e-02 9.99885674e-01 3.14765412e-03 3.77155255e+00] [-6.24971110e-04 -3.15724181e-03 9.99994821e-01 1.74216448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129259763999999 meters 0.18786856903834687 Centerline is valid? [False, False] Translation: X:-7.23, Y:3.78, Z:1.74 [[ 9.99913353e-01 1.25600013e-02 3.94112093e-03 -7.23004667e+00] [-1.25804543e-02 9.99907298e-01 5.20849928e-03 3.78312252e+00] [-3.87533682e-03 -5.25762907e-03 9.99978669e-01 1.74331684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.189259763999999 meters 0.17492635854913244 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.79, Z:1.74 [[ 9.99907396e-01 1.24452780e-02 5.50584093e-03 -7.20470353e+00] [-1.24891128e-02 9.99890004e-01 8.00008164e-03 3.79115349e+00] [-5.40567207e-03 -8.06810387e-03 9.99952841e-01 1.74466654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.249259763999998 meters 0.17407185356558563 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.80, Z:1.74 [[ 9.99957265e-01 8.08288649e-03 4.48718650e-03 -7.20212283e+00] [-8.09577658e-03 9.99963133e-01 2.86194994e-03 3.79658524e+00] [-4.46388826e-03 -2.89815489e-03 9.99985837e-01 1.74422246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309259763999998 meters 0.17758141017092924 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.80, Z:1.75 [[ 9.99983231e-01 3.56861906e-03 4.56104018e-03 -7.20351933e+00] [-3.56197220e-03 9.99992584e-01 -1.46460492e-03 3.79507507e+00] [-4.56623297e-03 1.44833406e-03 9.99988526e-01 1.74586531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.369259763999999 meters 0.17622854838703125 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.80, Z:1.75 [[ 9.99990935e-01 -9.09954727e-04 4.15949794e-03 -7.20375076e+00] [ 9.35321338e-04 9.99980954e-01 -6.10060735e-03 3.79512286e+00] [-4.15386744e-03 6.10444252e-03 9.99972740e-01 1.74768635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.429259764 meters 0.18749574239529074 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.79, Z:1.75 [[ 9.99978928e-01 -4.81908298e-03 4.34972317e-03 -7.20476211e+00] [ 4.86015299e-03 9.99943240e-01 -9.48132459e-03 3.79051662e+00] [-4.30378499e-03 9.50226512e-03 9.99945591e-01 1.74841641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.489259763999998 meters 0.19582558313475112 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.78, Z:1.75 [[ 9.99953904e-01 -8.13009089e-03 5.10791345e-03 -7.20589191e+00] [ 8.18734081e-03 9.99902759e-01 -1.12889728e-02 3.78094670e+00] [-5.01563638e-03 1.13302727e-02 9.99923231e-01 1.74710165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549259763999999 meters 0.19345059835518047 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.77, Z:1.75 [[ 9.99954547e-01 -7.40180862e-03 6.00979751e-03 -7.20743313e+00] [ 7.45638243e-03 9.99930705e-01 -9.10975752e-03 3.77237533e+00] [-5.94195237e-03 9.15415480e-03 9.99940446e-01 1.74567333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.609259763999999 meters 0.20748634588204232 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.77, Z:1.75 [[ 9.99953956e-01 -6.94755538e-03 6.61941337e-03 -7.20876981e+00] [ 6.99815760e-03 9.99946233e-01 -7.65227244e-03 3.76628545e+00] [-6.56589288e-03 7.69824380e-03 9.99948812e-01 1.74539736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.669259763999998 meters 0.20345937635562927 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.76, Z:1.74 [[ 0.99991516 -0.01048262 0.00773213 -7.21070906] [ 0.0105496 0.99990674 -0.00867322 3.75548334] [-0.00764049 0.00875406 0.99993249 1.74298743] [ 0. 0. 0. 1. ]] SLAMing on 14.729259763999998 meters 0.20827283293880922 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 0.99991896 -0.00996216 0.00792637 -7.2108745 ] [ 0.01002226 0.99992106 -0.00757857 3.75184314] [-0.00785024 0.0076574 0.99993987 1.7422849 ] [ 0. 0. 0. 1. ]] SLAMing on 14.789259763999999 meters 0.2347269674046662 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99913963e-01 -9.31215662e-03 9.23853129e-03 -7.21287224e+00] [ 9.35260311e-03 9.99946826e-01 -4.34452050e-03 3.74220547e+00] [-9.19758319e-03 4.43055103e-03 9.99947886e-01 1.73879094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.849259764 meters 0.2097220308439612 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99917175e-01 -8.69254660e-03 9.49117573e-03 -7.21275484e+00] [ 8.72282016e-03 9.99956985e-01 -3.15292883e-03 3.73864750e+00] [-9.46336048e-03 3.23545751e-03 9.99949987e-01 1.73743756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.909259763999998 meters 0.21278059935483504 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99916504e-01 -8.70186763e-03 9.55315575e-03 -7.21312623e+00] [ 8.73171745e-03 9.99957112e-01 -3.08735301e-03 3.73819438e+00] [-9.52588029e-03 3.17051068e-03 9.99949601e-01 1.73776744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969259763999998 meters 0.23150196930514982 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99920246e-01 -8.30986812e-03 9.51036643e-03 -7.21213466e+00] [ 8.33458905e-03 9.99961983e-01 -2.56269103e-03 3.73753310e+00] [-9.48870925e-03 2.64175164e-03 9.99951492e-01 1.73638974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029259763999999 meters 0.21166585696346815 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99923311e-01 -8.26093730e-03 9.22654388e-03 -7.21105343e+00] [ 8.28668550e-03 9.99961867e-01 -2.75593070e-03 3.73926394e+00] [-9.20342548e-03 2.83217681e-03 9.99953637e-01 1.73586407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089259763999998 meters 0.21262996879219806 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99912829e-01 -9.30577595e-03 9.36676881e-03 -7.21300375e+00] [ 9.34598350e-03 9.99947260e-01 -4.25799428e-03 3.74300035e+00] [-9.32665086e-03 4.34516477e-03 9.99947065e-01 1.73856335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149259763999998 meters 0.21072351260442065 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99916949e-01 -9.46183800e-03 8.75033493e-03 -7.21175704e+00] [ 9.50488146e-03 9.99942868e-01 -4.89063021e-03 3.74610743e+00] [-8.70356065e-03 4.97339493e-03 9.99949755e-01 1.73904651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209259763999999 meters 0.21284989096630094 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99947163e-01 -5.07025569e-03 8.94221811e-03 -7.21172466e+00] [ 5.07320098e-03 9.99987084e-01 -3.06715872e-04 3.74590485e+00] [-8.94054749e-03 3.52065335e-04 9.99959971e-01 1.73817304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269259764 meters 0.20927612861579922 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99950728e-01 -4.85423318e-03 8.65896461e-03 -7.21017188e+00] [ 4.85617220e-03 9.99988188e-01 -2.02920349e-04 3.74716779e+00] [-8.65787731e-03 2.44959774e-04 9.99962490e-01 1.73695535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329259763999998 meters 0.22842406038002006 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.75, Z:1.74 [[ 9.99952468e-01 -4.37095777e-03 8.71533063e-03 -7.20954622e+00] [ 4.36625659e-03 9.99990312e-01 5.58369150e-04 3.74534950e+00] [-8.71768680e-03 -5.20289240e-04 9.99961865e-01 1.73570021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389259763999998 meters 0.20557786501017059 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99953978e-01 -3.98699779e-03 8.72616223e-03 -7.20908796e+00] [ 3.97690687e-03 9.99991404e-01 1.17344457e-03 3.74386765e+00] [-8.73076574e-03 -1.13868743e-03 9.99961238e-01 1.73488666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449259763999999 meters 0.21404953591481735 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99953975e-01 -3.75917362e-03 8.82708249e-03 -7.20910335e+00] [ 3.74528513e-03 9.99991723e-01 1.58939958e-03 3.74256818e+00] [-8.83298426e-03 -1.55626648e-03 9.99959777e-01 1.73446943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509259763999998 meters 0.21690778906744732 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99927998e-01 -8.24410817e-03 8.71975393e-03 -7.20967614e+00] [ 8.27049777e-03 9.99961315e-01 -2.99469846e-03 3.74265588e+00] [-8.69472799e-03 3.06659954e-03 9.99957498e-01 1.73583768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569259763999998 meters 0.23988665572933188 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99928512e-01 -8.19920055e-03 8.70312873e-03 -7.21031716e+00] [ 8.22479163e-03 9.99961945e-01 -2.90873800e-03 3.74141982e+00] [-8.67894821e-03 2.98011148e-03 9.99957897e-01 1.73683912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629259763999999 meters 0.2166269053384562 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.74 [[ 9.99930926e-01 -7.65589285e-03 8.91799162e-03 -7.21006326e+00] [ 7.67293419e-03 9.99968799e-01 -1.87824895e-03 3.73858069e+00] [-8.90333370e-03 1.94654637e-03 9.99958470e-01 1.73548058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.689259763999999 meters 0.23405248964325506 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.73, Z:1.73 [[ 9.99934720e-01 -6.78423246e-03 9.19404422e-03 -7.20930294e+00] [ 6.78770072e-03 9.99976903e-01 -3.46076686e-04 3.73470194e+00] [-9.19148401e-03 4.08460514e-04 9.99957674e-01 1.73299330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.749259763999998 meters 0.23350607387831904 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.73, Z:1.73 [[ 9.99903685e-01 -1.07478696e-02 8.78086320e-03 -7.20780191e+00] [ 1.07866610e-02 9.99932219e-01 -4.38236657e-03 3.73483874e+00] [-8.73316692e-03 4.47666068e-03 9.99951844e-01 1.73232286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809259763999998 meters 0.21883494296700431 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99904453e-01 -1.09011066e-02 8.50005659e-03 -7.20717062e+00] [ 1.09420024e-02 9.99928711e-01 -4.77967093e-03 3.73685158e+00] [-8.44734693e-03 4.87222188e-03 9.99952451e-01 1.73254167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869259763999999 meters 0.2373555361389951 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99909837e-01 -1.05008949e-02 8.36958901e-03 -7.20582831e+00] [ 1.05369740e-02 9.99935332e-01 -4.27836020e-03 3.73659431e+00] [-8.32412115e-03 4.36616459e-03 9.99955822e-01 1.73096812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929259763999998 meters 0.23357914126369014 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99908863e-01 -1.06227760e-02 8.33206571e-03 -7.20578947e+00] [ 1.06608131e-02 9.99932892e-01 -4.53409304e-03 3.73752576e+00] [-8.28334190e-03 4.62250641e-03 9.99955008e-01 1.73111316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989259763999998 meters 0.21370416615831475 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99943754e-01 -6.36567574e-03 8.48334902e-03 -7.20637342e+00] [ 6.36794280e-03 9.99979696e-01 -2.40251784e-04 3.73724702e+00] [-8.48164741e-03 2.94259752e-04 9.99963987e-01 1.73134389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049259763999995 meters 0.20778113170281523 Centerline is valid? [False, False] Translation: X:-7.21, Y:3.74, Z:1.73 [[ 9.99945333e-01 -6.60124186e-03 8.10889251e-03 -7.20559426e+00] [ 6.60935799e-03 9.99977683e-01 -9.74502226e-04 3.74030060e+00] [-8.10227862e-03 1.02804353e-03 9.99966648e-01 1.73173527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109259763999997 meters 0.2088133704392133 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.74, Z:1.73 [[ 9.99953179e-01 -5.94792266e-03 7.63292762e-03 -7.20253209e+00] [ 5.95164822e-03 9.99982180e-01 -4.65468575e-04 3.74166871e+00] [-7.63002303e-03 5.10875281e-04 9.99970760e-01 1.72874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169259763999996 meters 0.21344032460309248 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.74, Z:1.73 [[ 9.99959104e-01 -5.69343490e-03 7.02681403e-03 -7.20021640e+00] [ 5.69836439e-03 9.99983532e-01 -6.81703587e-04 3.74461934e+00] [-7.02281708e-03 7.21717054e-04 9.99975079e-01 1.72741989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.229259764 meters 0.1984120782478408 Centerline is valid? [False, False] Translation: X:-7.20, Y:3.75, Z:1.73 [[ 9.99966552e-01 -5.79825286e-03 5.76851317e-03 -7.19704664e+00] [ 5.81054416e-03 9.99980879e-01 -2.11628449e-03 3.75231536e+00] [-5.75613212e-03 2.14973191e-03 9.99981123e-01 1.72723302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.289259763999997 meters 0.19417705175792951 Centerline is valid? [False, False] Translation: X:-7.19, Y:3.76, Z:1.73 [[ 9.99985421e-01 -1.84658706e-03 5.07430613e-03 -7.19477212e+00] [ 1.84242455e-03 9.99997963e-01 8.24863261e-04 3.75981048e+00] [-5.07581897e-03 -8.15502209e-04 9.99986785e-01 1.72628214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349259763999996 meters 0.1804422606755842 Centerline is valid? [False, False] Translation: X:-7.19, Y:3.77, Z:1.72 [[ 9.99990913e-01 2.28175593e-03 3.60104816e-03 -7.18961277e+00] [-2.29403185e-03 9.99991560e-01 3.40854458e-03 3.76948937e+00] [-3.59324030e-03 -3.41677453e-03 9.99987707e-01 1.72304604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409259763999998 meters 0.17013643729820527 Centerline is valid? [False, False] Translation: X:-7.17, Y:3.78, Z:1.73 [[ 9.99924080e-01 1.22746555e-02 -1.07986577e-03 -7.16587805e+00] [-1.22747478e-02 9.99924659e-01 -7.88619469e-05 3.78050061e+00] [ 1.07881641e-03 9.21110397e-05 9.99999414e-01 1.72765800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469259763999997 meters 0.16351593354325802 Centerline is valid? [False, False] Translation: X:-7.15, Y:3.79, Z:1.73 [[ 9.99900352e-01 1.35439517e-02 3.98081295e-03 -7.14939421e+00] [-1.35715510e-02 9.99883471e-01 6.98981616e-03 3.79140619e+00] [-3.88567934e-03 -7.04314545e-03 9.99967647e-01 1.72686067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529259763999995 meters 0.1586158579399165 Centerline is valid? [False, False] Translation: X:-7.15, Y:3.80, Z:1.73 [[ 9.99957888e-01 8.86164599e-03 2.38594456e-03 -7.14671999e+00] [-8.86157984e-03 9.99960735e-01 -3.82928604e-05 3.80003302e+00] [-2.38619022e-03 1.71480096e-05 9.99997153e-01 1.73025339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589259763999998 meters 0.1489909442511079 Centerline is valid? [False, False] Translation: X:-7.14, Y:3.81, Z:1.73 [[ 9.99961929e-01 8.60279095e-03 1.46008405e-03 -7.14427577e+00] [-8.60017504e-03 9.99961418e-01 -1.78853681e-03 3.80782452e+00] [-1.47541413e-03 1.77591174e-03 9.99997335e-01 1.73039373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649259763999996 meters 0.15455887345002764 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.81, Z:1.73 [[ 9.99967521e-01 5.03672354e-03 6.29188731e-03 -7.12768925e+00] [-5.04716836e-03 9.99985909e-01 1.64527268e-03 3.81382613e+00] [-6.28351187e-03 -1.67697546e-03 9.99978852e-01 1.72928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709259763999995 meters 0.1442306045319983 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.82, Z:1.73 [[ 9.99972892e-01 4.72432218e-03 5.64766418e-03 -7.12616345e+00] [-4.72763126e-03 9.99988661e-01 5.72713906e-04 3.81904678e+00] [-5.64489445e-03 -5.99398454e-04 9.99983888e-01 1.72954774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769259763999997 meters 0.14711856546114996 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99989250e-01 1.91841067e-04 4.63280940e-03 -7.12397741e+00] [-1.69621681e-04 9.99988485e-01 -4.79601001e-03 3.82532574e+00] [-4.63367613e-03 4.79517263e-03 9.99977767e-01 1.72991245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829259763999996 meters 0.1425207908787573 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99991287e-01 4.18813228e-04 4.15348900e-03 -7.12155409e+00] [-3.97823227e-04 9.99987154e-01 -5.05312223e-03 3.82907069e+00] [-4.15555196e-03 5.05142584e-03 9.99978607e-01 1.72802716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889259763999995 meters 0.1413477269534125 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99991195e-01 5.89978074e-04 4.15474278e-03 -7.12109137e+00] [-5.70021946e-04 9.99988304e-01 -4.80276353e-03 3.82883310e+00] [-4.15752771e-03 4.80035294e-03 9.99979836e-01 1.72731380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949259763999997 meters 0.15095208246071407 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99991721e-01 4.84904225e-04 4.04012104e-03 -7.12082923e+00] [-4.64358504e-04 9.99986964e-01 -5.08480901e-03 3.83015354e+00] [-4.04253402e-03 5.08289085e-03 9.99978911e-01 1.72743550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009259763999996 meters 0.14212426746069662 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99991044e-01 6.49940297e-04 4.18208775e-03 -7.12124977e+00] [-6.30313214e-04 9.99988790e-01 -4.69273820e-03 3.82846335e+00] [-4.18509087e-03 4.69006014e-03 9.99980244e-01 1.72746886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.069259763999998 meters 0.13804395298529712 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99992081e-01 2.92645603e-04 3.96890247e-03 -7.12134860e+00] [-2.71156869e-04 9.99985309e-01 -5.41373391e-03 3.83073211e+00] [-3.97042847e-03 5.41261485e-03 9.99977469e-01 1.72856517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.129259763999997 meters 0.14480030854010478 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99992846e-01 2.20507634e-04 3.77614088e-03 -7.12077284e+00] [-1.98941414e-04 9.99983675e-01 -5.71060356e-03 3.83240105e+00] [-3.77733847e-03 5.70981148e-03 9.99976565e-01 1.72852773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189259763999996 meters 0.14221139560556803 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.83, Z:1.73 [[ 9.99992848e-01 3.38818435e-04 3.76694916e-03 -7.12039546e+00] [-3.17971363e-04 9.99984640e-01 -5.53342812e-03 3.83236312e+00] [-3.76876613e-03 5.53219076e-03 9.99977595e-01 1.72798136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249259763999998 meters 0.13784143630631765 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.84, Z:1.73 [[ 9.99995776e-01 6.46941928e-05 2.90596435e-03 -7.11845629e+00] [-4.49796499e-05 9.99976989e-01 -6.78371855e-03 3.83901096e+00] [-2.90633635e-03 6.78355918e-03 9.99972768e-01 1.72831325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309259763999997 meters 0.13438008438702267 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.85, Z:1.73 [[ 9.99997573e-01 -4.70385284e-05 2.20251060e-03 -7.11625858e+00] [ 6.42070377e-05 9.99969612e-01 -7.79555065e-03 3.84520574e+00] [-2.20207698e-03 7.79567315e-03 9.99967189e-01 1.72759867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369259763999995 meters 0.12544331811266995 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99998435e-01 -2.34408920e-04 1.75353133e-03 -7.11493493e+00] [ 2.49571076e-04 9.99962545e-01 -8.65142511e-03 3.84971918e+00] [-1.75143768e-03 8.65184920e-03 9.99961038e-01 1.72748427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429259763999998 meters 0.12860426042235396 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99998706e-01 -4.81880236e-04 1.53486424e-03 -7.11446286e+00] [ 4.96132571e-04 9.99956641e-01 -9.29892439e-03 3.85251023e+00] [-1.53031672e-03 9.29967385e-03 9.99955586e-01 1.72776416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489259763999996 meters 0.12217993092613956 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99998947e-01 -6.59056050e-04 1.29327323e-03 -7.11390530e+00] [ 6.71782799e-04 9.99951113e-01 -9.86509225e-03 3.85513180e+00] [-1.28670836e-03 9.86595065e-03 9.99950502e-01 1.72799217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549259763999995 meters 0.12487318453983094 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99999108e-01 -8.93187257e-04 9.93356609e-04 -7.11352415e+00] [ 9.03650888e-04 9.99943585e-01 -1.05835254e-02 3.85783363e+00] [-9.83847498e-04 1.05844136e-02 9.99943500e-01 1.72875042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609259763999997 meters 0.12765113515696164 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99998833e-01 -1.30779237e-03 7.89314042e-04 -7.11365480e+00] [ 1.31666901e-03 9.99934694e-01 -1.13522741e-02 3.86048402e+00] [-7.74416078e-04 1.13533001e-02 9.99935249e-01 1.72984222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669259763999996 meters 0.12702167665665393 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99999126e-01 -9.62789167e-04 9.05858403e-04 -7.11363000e+00] [ 9.72453001e-04 9.99941971e-01 -1.07288881e-02 3.85845129e+00] [-8.95476180e-04 1.07297596e-02 9.99942034e-01 1.72925688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729259763999995 meters 0.12653353986534663 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.86, Z:1.73 [[ 9.99987538e-01 -4.96200838e-03 5.49075205e-04 -7.11249715e+00] [ 4.96957938e-03 9.99878512e-01 -1.47737498e-02 3.85811994e+00] [-4.75701029e-04 1.47762944e-02 9.99890711e-01 1.72892095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789259763999997 meters 0.12924303689009795 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99990370e-01 -4.19987975e-03 1.27311038e-03 -7.11315416e+00] [ 4.21515929e-03 9.99916124e-01 -1.22465512e-02 3.85041909e+00] [-1.22156955e-03 1.22517996e-02 9.99924198e-01 1.72602261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849259763999996 meters 0.1329674122201245 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.73 [[ 9.99991571e-01 -3.71049170e-03 1.75802199e-03 -7.11395713e+00] [ 3.72901602e-03 9.99936296e-01 -1.06535983e-02 3.84451988e+00] [-1.71837991e-03 1.06600642e-02 9.99941703e-01 1.72506615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.909259763999998 meters 0.13129174395160667 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99992768e-01 -3.45718803e-03 1.58514046e-03 -7.11349635e+00] [ 3.47328689e-03 9.99941246e-01 -1.02684071e-02 3.84339525e+00] [-1.54954752e-03 1.02738385e-02 9.99946022e-01 1.72498557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.969259763999997 meters 0.13311650655284493 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99994234e-01 -2.75814318e-03 1.98093349e-03 -7.11350237e+00] [ 2.77554601e-03 9.99957103e-01 -8.83681741e-03 3.83867081e+00] [-1.95647531e-03 8.84226463e-03 9.99958992e-01 1.72326051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029259763999995 meters 0.1326572856138083 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99994383e-01 -2.82420766e-03 1.80503571e-03 -7.11301034e+00] [ 2.84059529e-03 9.99954179e-01 -9.14168842e-03 3.84012225e+00] [-1.77913497e-03 9.14676445e-03 9.99956585e-01 1.72328329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089259763999998 meters 0.12444666035790714 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.73 [[ 9.99993898e-01 -3.34447984e-03 1.00928514e-03 -7.11191165e+00] [ 3.35533087e-03 9.99934437e-01 -1.09481740e-02 3.84682358e+00] [-9.72603021e-04 1.09514937e-02 9.99939558e-01 1.72535235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149259763999996 meters 0.12340892606498964 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99995476e-01 -2.90598686e-03 7.76240270e-04 -7.11034419e+00] [ 2.91406929e-03 9.99939335e-01 -1.06224012e-02 3.84708957e+00] [-7.45324621e-04 1.06246152e-02 9.99943279e-01 1.72394732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.209259763999995 meters 0.1311002752595747 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99995487e-01 -2.92346589e-03 6.91651173e-04 -7.10994809e+00] [ 2.93070730e-03 9.99938338e-01 -1.07112603e-02 3.84792489e+00] [-6.60294520e-04 1.07132390e-02 9.99942394e-01 1.72370860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.269259763999997 meters 0.12681690199905463 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99995755e-01 -2.91034930e-03 1.38291576e-04 -7.10818102e+00] [ 2.91170364e-03 9.99934303e-01 -1.10865790e-02 3.85120714e+00] [-1.06016673e-04 1.10869346e-02 9.99938532e-01 1.72319789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.329259763999996 meters 0.12843798433390974 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99995967e-01 -2.83673299e-03 1.35083302e-04 -7.10800987e+00] [ 2.83804372e-03 9.99935849e-01 -1.09655590e-02 3.85115460e+00] [-1.03968273e-04 1.09658982e-02 9.99939867e-01 1.72294362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.389259763999995 meters 0.12446513004608145 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99996193e-01 -2.75736832e-03 1.07407591e-04 -7.10773384e+00] [ 2.75837113e-03 9.99937371e-01 -1.08464895e-02 3.85108173e+00] [-7.74930976e-05 1.08467445e-02 9.99941169e-01 1.72262593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.449259763999997 meters 0.12432146162963167 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99996366e-01 -2.69590861e-03 -3.28752534e-07 -7.10743351e+00] [ 2.69574756e-03 9.99937944e-01 -1.08093499e-02 3.85120576e+00] [ 2.94697516e-05 1.08093097e-02 9.99941577e-01 1.72259676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509259763999996 meters 0.12275668798296163 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99997460e-01 -2.25360524e-03 -4.27629225e-05 -7.10678731e+00] [ 2.25305530e-03 9.99945979e-01 -1.01470412e-02 3.84946592e+00] [ 6.56280376e-05 1.01469191e-02 9.99948517e-01 1.72170696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569259763999995 meters 0.12540583283013065 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.85, Z:1.72 [[ 9.99980973e-01 -6.16332258e-03 -2.58811236e-04 -7.10576115e+00] [ 6.15911110e-03 9.99883659e-01 -1.39546787e-02 3.84842286e+00] [ 3.44788312e-04 1.39528192e-02 9.99902595e-01 1.72099492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629259763999997 meters 0.13794283938233015 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.84, Z:1.72 [[ 9.99984266e-01 -5.53494994e-03 9.12667729e-04 -7.10709192e+00] [ 5.54366211e-03 9.99936250e-01 -9.83687446e-03 3.83853276e+00] [-8.58162939e-04 9.84177920e-03 9.99951200e-01 1.71514086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689259763999996 meters 0.14911973311591248 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.83, Z:1.72 [[ 9.99949874e-01 -9.87408702e-03 1.65862948e-03 -7.10979126e+00] [ 9.89437569e-03 9.99870332e-01 -1.27051075e-02 3.83135067e+00] [-1.53296307e-03 1.27208818e-02 9.99917911e-01 1.71639381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749259763999998 meters 0.1479397268225592 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.83, Z:1.72 [[ 9.99951015e-01 -9.66485229e-03 2.13508180e-03 -7.11128243e+00] [ 9.68915376e-03 9.99884830e-01 -1.16810260e-02 3.82648537e+00] [-2.02194051e-03 1.17011409e-02 9.99929495e-01 1.71677685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809259763999997 meters 0.1537402792737077 Centerline is valid? [False, False] Translation: X:-7.11, Y:3.81, Z:1.71 [[ 9.99956511e-01 -8.69970682e-03 3.36012638e-03 -7.11288335e+00] [ 8.72734134e-03 9.99927477e-01 -8.29906465e-03 3.81445387e+00] [-3.28768326e-03 8.32802870e-03 9.99959917e-01 1.71370960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869259763999995 meters 0.1576818658074277 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.81, Z:1.71 [[ 9.99955537e-01 -8.41800180e-03 4.24988423e-03 -7.11516855e+00] [ 8.44596889e-03 9.99942510e-01 -6.60617946e-03 3.80607396e+00] [-4.19402908e-03 6.64178012e-03 9.99969148e-01 1.71398666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.929259763999998 meters 0.1618256076289804 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.80, Z:1.72 [[ 9.99908622e-01 -1.26006386e-02 4.89599504e-03 -7.11751507e+00] [ 1.26473905e-02 9.99873565e-01 -9.63835718e-03 3.79903070e+00] [-4.77392656e-03 9.69939801e-03 9.99941564e-01 1.71563428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.989259763999996 meters 0.1886507589645813 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.79, Z:1.71 [[ 9.99912645e-01 -1.17934753e-02 5.96791520e-03 -7.11906512e+00] [ 1.18316898e-02 9.99909464e-01 -6.40904259e-03 3.78825439e+00] [-5.89179000e-03 6.47909325e-03 9.99961653e-01 1.71279961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.049259763999995 meters 0.1730449556483205 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.78, Z:1.71 [[ 9.99914544e-01 -1.12367186e-02 6.68140582e-03 -7.12040331e+00] [ 1.12672364e-02 9.99926182e-01 -4.54760275e-03 3.78097136e+00] [-6.62981247e-03 4.62249511e-03 9.99967339e-01 1.71195897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.109259763999997 meters 0.19288847019835045 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.77, Z:1.71 [[ 9.99850740e-01 -1.53958158e-02 7.84003601e-03 -7.12366799e+00] [ 1.54493896e-02 9.99857397e-01 -6.81926373e-03 3.77120294e+00] [-7.73392986e-03 6.93936966e-03 9.99946014e-01 1.71318597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169259763999996 meters 0.19225209352878128 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.76, Z:1.71 [[ 9.99848071e-01 -1.51040968e-02 8.70063154e-03 -7.12598434e+00] [ 1.51453003e-02 9.99874307e-01 -4.68942859e-03 3.76249682e+00] [-8.62870834e-03 4.82048981e-03 9.99951153e-01 1.71331717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.229259763999995 meters 0.20558520123001672 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.75, Z:1.71 [[ 9.99782326e-01 -1.86848468e-02 9.28314193e-03 -7.12708129e+00] [ 1.87501388e-02 9.99799718e-01 -6.99685558e-03 3.75475596e+00] [-9.15054751e-03 7.16939274e-03 9.99932431e-01 1.71272179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.289259763999997 meters 0.20971579537160942 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.75, Z:1.71 [[ 9.99781130e-01 -1.82020966e-02 1.03138511e-02 -7.12921591e+00] [ 1.82561262e-02 9.99819982e-01 -5.16883427e-03 3.74612162e+00] [-1.02179108e-02 5.35599394e-03 9.99933452e-01 1.71236346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349259763999996 meters 0.19681629830538439 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99789952e-01 -1.74152321e-02 1.08056629e-02 -7.12962823e+00] [ 1.74528519e-02 9.99841917e-01 -3.39700005e-03 3.73998793e+00] [-1.07447952e-02 3.58487615e-03 9.99935847e-01 1.71085573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409259763999994 meters 0.2111414990026325 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99798158e-01 -1.68146075e-02 1.09960165e-02 -7.12921838e+00] [ 1.68405275e-02 9.99855614e-01 -2.26888160e-03 3.73696375e+00] [-1.09562785e-02 2.45360236e-03 9.99936968e-01 1.70929103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469259763999997 meters 0.20961309006131904 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99805756e-01 -1.64125888e-02 1.09122393e-02 -7.12827158e+00] [ 1.64319448e-02 9.99863564e-01 -1.68649828e-03 3.73601274e+00] [-1.08830706e-02 1.86548000e-03 9.99939038e-01 1.70807194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529259763999995 meters 0.2032479716159187 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99807490e-01 -1.65128623e-02 1.05975634e-02 -7.12743074e+00] [ 1.65362870e-02 9.99861005e-01 -2.12657727e-03 3.73824035e+00] [-1.05609745e-02 2.30141223e-03 9.99941583e-01 1.70801802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589259763999998 meters 0.2123423903368435 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99871247e-01 -1.16946310e-02 1.09874860e-02 -7.12737589e+00] [ 1.16594719e-02 9.99926717e-01 3.25854734e-03 3.73532665e+00] [-1.10247883e-02 -3.13001951e-03 9.99934326e-01 1.70609816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649259763999996 meters 0.2062361662073108 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.74, Z:1.71 [[ 9.99874715e-01 -1.14828638e-02 1.08948380e-02 -7.12656326e+00] [ 1.14447748e-02 9.99928198e-01 3.55198955e-03 3.73522592e+00] [-1.09348427e-02 -3.42685557e-03 9.99934341e-01 1.70517927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709259763999995 meters 0.2042740520574934 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.73, Z:1.70 [[ 9.99879382e-01 -1.10428208e-02 1.09214688e-02 -7.12579704e+00] [ 1.09966373e-02 9.99930377e-01 4.27973255e-03 3.73374529e+00] [-1.09679688e-02 -4.15911691e-03 9.99931200e-01 1.70379871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769259763999997 meters 0.209608777244576 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.73, Z:1.70 [[ 9.99883069e-01 -1.04425435e-02 1.11714671e-02 -7.12563337e+00] [ 1.03832344e-02 9.99931760e-01 5.35387332e-03 3.73042411e+00] [-1.12266129e-02 -5.23725133e-03 9.99923264e-01 1.70249135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829259763999996 meters 0.2062692215542989 Centerline is valid? [False, False] Translation: X:-7.13, Y:3.73, Z:1.70 [[ 9.99883818e-01 -1.03946307e-02 1.11491066e-02 -7.12555623e+00] [ 1.03348257e-02 9.99931968e-01 5.40836914e-03 3.73025761e+00] [-1.12045661e-02 -5.29251671e-03 9.99923221e-01 1.70244708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889259763999995 meters 0.21326821385644162 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.73, Z:1.70 [[ 9.99884407e-01 -1.07801740e-02 1.07219165e-02 -7.12496731e+00] [ 1.07327385e-02 9.99932403e-01 4.47190774e-03 3.73373294e+00] [-1.07693997e-02 -4.35631529e-03 9.99932519e-01 1.70329519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949259763999997 meters 0.20417144179698268 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99882033e-01 -1.12551696e-02 1.04518267e-02 -7.12487614e+00] [ 1.12218441e-02 9.99931779e-01 3.24167242e-03 3.73736361e+00] [-1.04875993e-02 -3.12400124e-03 9.99940124e-01 1.70452912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009259763999996 meters 0.20234310349640744 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99886897e-01 -1.12253743e-02 1.00092422e-02 -7.12325139e+00] [ 1.11975479e-02 9.99933296e-01 2.83179420e-03 3.74022565e+00] [-1.00403625e-02 -2.71939495e-03 9.99945897e-01 1.70373883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069259763999995 meters 0.19912768796025526 Centerline is valid? [False, False] Translation: X:-7.12, Y:3.74, Z:1.70 [[ 9.99934760e-01 -6.47268868e-03 9.41172856e-03 -7.11970843e+00] [ 6.40659203e-03 9.99954724e-01 7.03606686e-03 3.74456460e+00] [-9.45684471e-03 -6.97531072e-03 9.99930954e-01 1.70020232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129259763999997 meters 0.20587459310103642 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.75, Z:1.70 [[ 9.99973488e-01 -4.96706648e-03 5.32469536e-03 -7.10441525e+00] [ 4.95107974e-03 9.99983209e-01 3.01136503e-03 3.74668365e+00] [-5.33956360e-03 -2.98492220e-03 9.99981289e-01 1.69963973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189259763999996 meters 0.18850601497223113 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.75, Z:1.70 [[ 9.99981476e-01 -4.47542431e-03 4.12528060e-03 -7.10042470e+00] [ 4.46441001e-03 9.99986456e-01 2.67530324e-03 3.75304361e+00] [-4.13719784e-03 -2.65683674e-03 9.99987912e-01 1.69738260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249259763999994 meters 0.18356058436966502 Centerline is valid? [False, False] Translation: X:-7.10, Y:3.76, Z:1.70 [[ 9.99982572e-01 -4.99208404e-03 3.15200490e-03 -7.09809130e+00] [ 4.98936437e-03 9.99987174e-01 8.70113321e-04 3.76213306e+00] [-3.15630815e-03 -8.54371656e-04 9.99994654e-01 1.69746177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309259763999997 meters 0.18954506691462217 Centerline is valid? [False, False] Translation: X:-7.08, Y:3.76, Z:1.70 [[ 9.99998066e-01 -1.29984923e-03 1.47574748e-03 -7.08225707e+00] [ 1.30589337e-03 9.99990734e-01 -4.10209323e-03 3.76485997e+00] [-1.47040171e-03 4.10401247e-03 9.99990497e-01 1.69931857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369259763999995 meters 0.17499054743677553 Centerline is valid? [False, False] Translation: X:-7.05, Y:3.77, Z:1.70 [[ 9.99988613e-01 4.76327194e-03 -2.90464855e-04 -7.04782760e+00] [-4.76265904e-03 9.99986505e-01 2.07544193e-03 3.77247793e+00] [ 3.00346829e-04 -2.07403491e-03 9.99997804e-01 1.69960735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429259763999998 meters 0.15239227866331923 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.79, Z:1.69 [[ 9.99867910e-01 1.28796354e-02 9.91348627e-03 -7.03987742e+00] [-1.29032153e-02 9.99914063e-01 2.31829350e-03 3.78565409e+00] [-9.88277556e-03 -2.44590313e-03 9.99948173e-01 1.69431448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489259763999996 meters 0.15651600286555742 Centerline is valid? [False, False] Translation: X:-7.04, Y:3.80, Z:1.70 [[ 9.99890115e-01 1.23173035e-02 8.24872654e-03 -7.03692010e+00] [-1.22925717e-02 9.99919815e-01 -3.04228474e-03 3.79964998e+00] [-8.28553786e-03 2.94055237e-03 9.99961351e-01 1.70099307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549259763999995 meters 0.14240884861116226 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.81, Z:1.70 [[ 9.99848271e-01 1.58791190e-02 7.16159304e-03 -7.03492182e+00] [-1.58651067e-02 9.99872123e-01 -2.00918423e-03 3.81015360e+00] [-7.19258131e-03 1.89525994e-03 9.99972337e-01 1.70425340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609259763999997 meters 0.1423085554693181 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.82, Z:1.71 [[ 9.99863485e-01 1.55285826e-02 5.64573961e-03 -7.03187468e+00] [-1.55029994e-02 9.99869481e-01 -4.54729976e-03 3.82055888e+00] [-5.71561585e-03 4.45915309e-03 9.99973723e-01 1.70618092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669259763999996 meters 0.13738310930031228 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.83, Z:1.71 [[ 9.99868342e-01 1.54867138e-02 4.84353639e-03 -7.02965694e+00] [-1.54602413e-02 9.99865597e-01 -5.45602797e-03 3.82566372e+00] [-4.92738135e-03 5.38042740e-03 9.99973386e-01 1.70599365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729259763999995 meters 0.13070306418449096 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.83, Z:1.71 [[ 9.99882557e-01 1.48998442e-02 3.58701845e-03 -7.02759505e+00] [-1.48719793e-02 9.99859961e-01 -7.67347476e-03 3.83459289e+00] [-3.70084971e-03 7.61922750e-03 9.99964125e-01 1.70834625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789259763999997 meters 0.1241346858916422 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.84, Z:1.71 [[ 9.99883761e-01 1.48786771e-02 3.33019095e-03 -7.02648256e+00] [-1.48518221e-02 9.99858112e-01 -7.94855042e-03 3.83678633e+00] [-3.44798235e-03 7.89816708e-03 9.99962864e-01 1.70776654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849259763999996 meters 0.12567903265992486 Centerline is valid? [False, False] Translation: X:-7.02, Y:3.84, Z:1.71 [[ 9.99939693e-01 1.06835199e-02 2.54414134e-03 -7.02408041e+00] [-1.06508295e-02 9.99864724e-01 -1.25337018e-02 3.84052402e+00] [-2.67770123e-03 1.25058487e-02 9.99918213e-01 1.70684173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909259763999994 meters 0.12409006294405095 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.84, Z:1.70 [[ 9.99932069e-01 7.86241762e-03 8.60461556e-03 -7.01070537e+00] [-7.82768879e-03 9.99961112e-01 -4.06233271e-03 3.84095999e+00] [-8.63622069e-03 3.99470250e-03 9.99954728e-01 1.70038579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969259763999997 meters 0.12509861137996553 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.85, Z:1.70 [[ 9.99964475e-01 3.39370473e-03 7.71566787e-03 -7.00878385e+00] [-3.32308048e-03 9.99952636e-01 -9.14782370e-03 3.84598980e+00] [-7.74634744e-03 9.12185894e-03 9.99928390e-01 1.70066623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029259763999995 meters 0.1238940908991106 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.85, Z:1.70 [[ 9.99964766e-01 3.10789473e-03 7.79787990e-03 -7.00905184e+00] [-3.03345780e-03 9.99949897e-01 -9.53952793e-03 3.84770599e+00] [-7.82713705e-03 9.51553728e-03 9.99924092e-01 1.70080583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089259763999994 meters 0.11964315652078183 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.85, Z:1.70 [[ 9.99968994e-01 2.89584475e-03 7.32295336e-03 -7.00783281e+00] [-2.82004438e-03 9.99942561e-01 -1.03402921e-02 3.85206304e+00] [-7.35247662e-03 1.03193205e-02 9.99919723e-01 1.70092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149259763999996 meters 0.12549754163785906 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.85, Z:1.70 [[ 9.99970023e-01 2.80852620e-03 7.21556145e-03 -7.00742044e+00] [-2.73165362e-03 9.99939646e-01 -1.06415782e-02 3.85364687e+00] [-7.24501311e-03 1.06215488e-02 9.99917343e-01 1.70082487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209259763999995 meters 0.1213394159248795 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.86, Z:1.70 [[ 9.99975040e-01 2.39923998e-03 6.64547503e-03 -7.00646049e+00] [-2.32100189e-03 9.99928203e-01 -1.17559330e-02 3.85880616e+00] [-6.67320321e-03 1.17402154e-02 9.99908814e-01 1.70174747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269259763999997 meters 0.11663692206160116 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.86, Z:1.70 [[ 9.99978577e-01 2.50945214e-03 6.04556793e-03 -7.00475669e+00] [-2.43551098e-03 9.99922524e-01 -1.22071117e-02 3.86189827e+00] [-6.07573271e-03 1.21921261e-02 9.99907214e-01 1.70154833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329259763999996 meters 0.1137413018442667 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.86, Z:1.70 [[ 9.99978067e-01 3.14163024e-03 5.83050564e-03 -7.00317809e+00] [-3.07465752e-03 9.99929602e-01 -1.14602406e-02 3.86068203e+00] [-5.86609902e-03 1.14420625e-02 9.99917331e-01 1.69989968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389259763999995 meters 0.1113569770609833 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.86, Z:1.70 [[ 9.99976281e-01 3.66700821e-03 5.83016481e-03 -7.00274882e+00] [-3.60545838e-03 9.99938028e-01 -1.05328230e-02 3.85785116e+00] [-5.86842746e-03 1.05115527e-02 9.99927532e-01 1.69904226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449259763999997 meters 0.12668021392807036 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.85, Z:1.70 [[ 9.99982124e-01 -7.01578249e-04 5.93801285e-03 -7.00440038e+00] [ 7.87659585e-04 9.99894461e-01 -1.45067554e-02 3.85435810e+00] [-5.92720854e-03 1.45111732e-02 9.99877139e-01 1.70103042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509259763999996 meters 0.1388736247200718 Centerline is valid? [False, False] Translation: X:-6.99, Y:3.84, Z:1.69 [[ 0.99985134 -0.01119473 0.01311409 -6.99462591] [ 0.01134173 0.99987308 -0.0111891 3.84268869] [-0.01298717 0.01133617 0.9998514 1.69405575] [ 0. 0. 0. 1. ]] SLAMing on 21.569259763999995 meters 0.12864191024611088 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.84, Z:1.69 [[ 9.99886191e-01 -6.42892821e-03 1.36482143e-02 -6.99527917e+00] [ 6.50379728e-03 9.99964007e-01 -5.44835177e-03 3.83782992e+00] [-1.36126960e-02 5.53649692e-03 9.99892015e-01 1.69261811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629259763999997 meters 0.13599135723519468 Centerline is valid? [False, False] Translation: X:-6.99, Y:3.84, Z:1.69 [[ 9.99888866e-01 -5.99836230e-03 1.36482844e-02 -6.99490530e+00] [ 6.06307069e-03 9.99970552e-01 -4.70471002e-03 3.83554568e+00] [-1.36196620e-02 4.78693768e-03 9.99895790e-01 1.69189930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689259763999996 meters 0.13499512233102234 Centerline is valid? [False, False] Translation: X:-6.99, Y:3.83, Z:1.69 [[ 9.99891128e-01 -5.40726640e-03 1.37292662e-02 -6.99437525e+00] [ 5.45796467e-03 9.99978415e-01 -3.65793495e-03 3.83247370e+00] [-1.37091904e-02 3.73247055e-03 9.99899058e-01 1.69056041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749259763999994 meters 0.13648616242714354 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.83, Z:1.69 [[ 9.99888957e-01 -5.50268713e-03 1.38489700e-02 -6.99526430e+00] [ 5.55384681e-03 9.99977885e-01 -3.65836927e-03 3.83164242e+00] [-1.38285328e-02 3.73487809e-03 9.99897406e-01 1.69144970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809259763999997 meters 0.1368005815641301 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.83, Z:1.69 [[ 9.99881151e-01 -5.35992713e-03 1.44553019e-02 -6.99685017e+00] [ 5.40060327e-03 9.99981562e-01 -2.77635916e-03 3.82724254e+00] [-1.44401543e-02 2.85409655e-03 9.99891662e-01 1.69162088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869259763999995 meters 0.13768794572606183 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.83, Z:1.69 [[ 9.99883714e-01 -5.22750611e-03 1.43259223e-02 -6.99651219e+00] [ 5.26567610e-03 9.99982683e-01 -2.62797606e-03 3.82684069e+00] [-1.43119365e-02 2.70310613e-03 9.99893925e-01 1.69160145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929259763999994 meters 0.13766393114257736 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.82, Z:1.69 [[ 9.99881472e-01 -4.96900148e-03 1.45722887e-02 -6.99714690e+00] [ 4.99668357e-03 9.99985780e-01 -1.86384630e-03 3.82371739e+00] [-1.45628200e-02 1.93643849e-03 9.99892081e-01 1.69154287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989259763999996 meters 0.13766851965451563 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.82, Z:1.69 [[ 9.99856488e-01 -9.17584742e-03 1.42410474e-02 -6.99704531e+00] [ 9.26574044e-03 9.99937483e-01 -6.25915449e-03 3.82307048e+00] [-1.41827240e-02 6.39021007e-03 9.99879000e-01 1.69282699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049259763999995 meters 0.1408458533801551 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.82, Z:1.69 [[ 9.99854472e-01 -8.49307227e-03 1.47953746e-02 -6.99774407e+00] [ 8.56025881e-03 9.99953308e-01 -4.48365379e-03 3.81636970e+00] [-1.47566037e-02 4.60965353e-03 9.99880490e-01 1.69159872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109259763999997 meters 0.15073622507441448 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.81, Z:1.69 [[ 9.99850027e-01 -7.74763850e-03 1.54886278e-02 -6.99879906e+00] [ 7.78601852e-03 9.99966762e-01 -2.41918388e-03 3.80802128e+00] [-1.54693700e-02 2.53941581e-03 9.99877117e-01 1.69050752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169259763999996 meters 0.14988494412033038 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.80, Z:1.69 [[ 9.99754931e-01 -1.53444742e-02 1.59569509e-02 -7.01441165e+00] [ 1.53469511e-02 9.99882228e-01 -3.27757875e-05 3.80211424e+00] [-1.59545687e-02 2.77658301e-04 9.99872679e-01 1.68808003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229259763999995 meters 0.15348211264608763 Centerline is valid? [False, False] Translation: X:-7.01, Y:3.80, Z:1.69 [[ 9.99756468e-01 -1.50008874e-02 1.61857177e-02 -7.01486065e+00] [ 1.49893489e-02 9.99887306e-01 8.33966406e-04 3.79889366e+00] [-1.61964039e-02 -5.91149939e-04 9.99868655e-01 1.68780649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289259763999997 meters 0.16779386007943636 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.79, Z:1.69 [[ 9.99728191e-01 -2.06989418e-02 1.07283382e-02 -7.02647516e+00] [ 2.06511456e-02 9.99776403e-01 4.54694403e-03 3.79235648e+00] [-1.08200563e-02 -4.32415565e-03 9.99932112e-01 1.69042479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349259763999996 meters 0.17370938087216847 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.79, Z:1.70 [[ 9.99763807e-01 -2.15168014e-02 3.05908762e-03 -7.03328884e+00] [ 2.15436283e-02 9.99727172e-01 -9.02518047e-03 3.79014783e+00] [-2.86406000e-03 9.08895263e-03 9.99954593e-01 1.69551014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409259763999994 meters 0.16670778483712423 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.78, Z:1.69 [[ 9.99782567e-01 -2.04518633e-02 4.06691696e-03 -7.03346488e+00] [ 2.04664101e-02 9.99784174e-01 -3.56801737e-03 3.77925052e+00] [-3.99306661e-03 3.65047676e-03 9.99985365e-01 1.68646245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469259763999997 meters 0.17095381764809442 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.78, Z:1.68 [[ 9.99867785e-01 -1.57670125e-02 3.97658814e-03 -7.03194433e+00] [ 1.57619224e-02 9.99874917e-01 1.30814059e-03 3.77959515e+00] [-3.99671620e-03 -1.24528897e-03 9.99991238e-01 1.68410799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529259763999995 meters 0.16378406772281154 Centerline is valid? [False, False] Translation: X:-7.03, Y:3.79, Z:1.68 [[ 9.99931427e-01 -1.12869135e-02 3.12202254e-03 -7.02863182e+00] [ 1.12723874e-02 9.99925737e-01 4.63188366e-03 3.78694938e+00] [-3.17407036e-03 -4.59637339e-03 9.99984399e-01 1.68164335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589259763999994 meters 0.14585878144331837 Centerline is valid? [False, False] Translation: X:-7.00, Y:3.81, Z:1.68 [[ 9.99945522e-01 6.77012100e-03 -7.94476175e-03 -6.99564512e+00] [-6.71737116e-03 9.99955342e-01 6.64758141e-03 3.80695162e+00] [ 7.98941189e-03 -6.59385135e-03 9.99946344e-01 1.68266013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649259763999996 meters 0.1349961316154652 Centerline is valid? [False, False] Translation: X:-6.99, Y:3.82, Z:1.68 [[ 9.99878275e-01 1.55954347e-02 -4.65747382e-04 -6.98569924e+00] [-1.55921333e-02 9.99857916e-01 6.40573293e-03 3.81807756e+00] [ 5.65581396e-04 -6.39769120e-03 9.99979375e-01 1.67902659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.709259763999995 meters 0.11947783843138343 Centerline is valid? [False, False] Translation: X:-6.96, Y:3.83, Z:1.68 [[ 9.99843853e-01 1.76471438e-02 9.20641651e-04 -6.95952129e+00] [-1.76561665e-02 9.99784249e-01 1.09414452e-02 3.82980318e+00] [-7.27357764e-04 -1.09559918e-02 9.99939717e-01 1.67951912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769259763999994 meters 0.11510530067608819 Centerline is valid? [False, False] Translation: X:-6.95, Y:3.84, Z:1.68 [[ 9.99908307e-01 1.34760010e-02 -1.33202910e-03 -6.95493001e+00] [-1.34728405e-02 9.99906467e-01 2.35382751e-03 3.84297399e+00] [ 1.36362469e-03 -2.33566547e-03 9.99996343e-01 1.68434291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829259763999996 meters 0.11041485981887798 Centerline is valid? [False, False] Translation: X:-6.94, Y:3.85, Z:1.68 [[ 9.99946992e-01 9.27497995e-03 4.47089820e-03 -6.94157291e+00] [-9.29868551e-03 9.99942663e-01 5.31089168e-03 3.85031838e+00] [-4.42138344e-03 -5.35218363e-03 9.99975902e-01 1.68473845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889259763999995 meters 0.10785624170368427 Centerline is valid? [False, False] Translation: X:-6.94, Y:3.85, Z:1.68 [[ 9.99950030e-01 9.20655957e-03 3.89567583e-03 -6.94002186e+00] [-9.22423006e-03 9.99947138e-01 4.54253230e-03 3.85417959e+00] [-3.85364881e-03 -4.57823993e-03 9.99982094e-01 1.68479667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949259763999997 meters 0.10982193937033458 Centerline is valid? [False, False] Translation: X:-6.94, Y:3.86, Z:1.68 [[ 9.99984060e-01 4.77609358e-03 3.01128788e-03 -6.93801189e+00] [-4.77402347e-03 9.99988363e-01 -6.94261089e-04 3.85936942e+00] [-3.01456870e-03 6.79874064e-04 9.99995225e-01 1.68492015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009259763999996 meters 0.10861900057722827 Centerline is valid? [False, False] Translation: X:-6.94, Y:3.87, Z:1.69 [[ 9.99998170e-01 2.82345945e-04 1.89195395e-03 -6.93572821e+00] [-2.70904056e-04 9.99981691e-01 -6.04518665e-03 3.86586095e+00] [-1.89362614e-03 6.04466305e-03 9.99979938e-01 1.68535056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069259763999995 meters 0.10764409012889456 Centerline is valid? [False, False] Translation: X:-6.93, Y:3.87, Z:1.68 [[ 9.99999200e-01 3.36630570e-04 1.21966415e-03 -6.93360589e+00] [-3.28382609e-04 9.99977121e-01 -6.75638693e-03 3.87080103e+00] [-1.22191065e-03 6.75598101e-03 9.99976432e-01 1.68474674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129259763999997 meters 0.1034833839289731 Centerline is valid? [False, False] Translation: X:-6.93, Y:3.88, Z:1.68 [[ 9.99999847e-01 1.37075732e-04 5.35533967e-04 -6.93186234e+00] [-1.32865028e-04 9.99969142e-01 -7.85476707e-03 3.87674980e+00] [-5.36594140e-04 7.85469471e-03 9.99969007e-01 1.68475666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189259763999996 meters 0.09961255053768893 Centerline is valid? [False, True] Translation: X:-6.93, Y:3.88, Z:1.68 [[ 9.99999979e-01 1.95333335e-04 -6.00823975e-05 -6.92992346e+00] [-1.95836565e-04 9.99963916e-01 -8.49289911e-03 3.88107781e+00] [ 5.84212832e-05 8.49291070e-03 9.99963933e-01 1.68420803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249259763999994 meters 0.09842189766027903 Centerline is valid? [True, True] Translation: X:-6.87, Y:3.88, Z:1.67 [[ 9.99996703e-01 2.46010843e-03 -7.36003942e-04 -6.87019876e+00] [-2.46008547e-03 9.99996973e-01 3.21008938e-05 3.87755597e+00] [ 7.36080686e-04 -3.02901553e-05 9.99999729e-01 1.67366768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309259763999997 meters 0.09340539934176051 Centerline is valid? [True, True] Translation: X:-6.81, Y:3.89, Z:1.68 [[ 9.99957907e-01 7.26569268e-03 5.60306669e-03 -6.80875119e+00] [-7.26443628e-03 9.99973584e-01 -2.44554155e-04 3.88768445e+00] [-5.60469553e-03 2.03840740e-04 9.99984273e-01 1.68339298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369259763999995 meters 0.0883521505876431 Centerline is valid? [True, True] Translation: X:-6.75, Y:3.90, Z:1.69 [[ 9.99755009e-01 1.75748174e-02 1.34553713e-02 -6.74845914e+00] [-1.75685070e-02 9.99845490e-01 -5.87053610e-04 3.90383327e+00] [-1.34636096e-02 3.50519003e-04 9.99909300e-01 1.68908651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.429259763999994 meters 0.08597562713684964 Centerline is valid? [True, True] Translation: X:-6.69, Y:3.91, Z:1.69 [[ 9.99610955e-01 2.32943174e-02 1.53399472e-02 -6.68821158e+00] [-2.32867873e-02 9.99728602e-01 -6.69343101e-04 3.91197905e+00] [-1.53513759e-02 3.11864608e-04 9.99882112e-01 1.68753318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.489259763999996 meters 0.08484204580251499 Centerline is valid? [True, True] Translation: X:-6.63, Y:3.92, Z:1.68 [[ 9.99464935e-01 2.95520490e-02 1.40185882e-02 -6.62994020e+00] [-2.95463568e-02 9.99563223e-01 -6.13029125e-04 3.91864430e+00] [-1.40305815e-02 1.98502904e-04 9.99901547e-01 1.68002389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.549259763999995 meters 0.08328595928790765 Centerline is valid? [True, True] Translation: X:-6.57, Y:3.93, Z:1.68 [[ 9.99301788e-01 3.48616010e-02 1.34389755e-02 -6.57102142e+00] [-3.48568586e-02 9.99392143e-01 -5.87019350e-04 3.92504461e+00] [-1.34512710e-02 1.18169015e-04 9.99909521e-01 1.68120875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.609259763999994 meters 0.08390628421920725 Centerline is valid? [True, True] Translation: X:-6.51, Y:3.92, Z:1.67 [[ 9.99267553e-01 3.64476997e-02 1.16586144e-02 -6.51381353e+00] [-3.64442373e-02 9.99335558e-01 -5.09367782e-04 3.92152077e+00] [-1.16694332e-02 8.41053883e-05 9.99931906e-01 1.67080524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669259763999996 meters 0.08419662288978466 Centerline is valid? [True, True] Translation: X:-6.46, Y:3.92, Z:1.66 [[ 9.99250599e-01 3.73682702e-02 1.00922603e-02 -6.45600245e+00] [-3.73657141e-02 9.99301560e-01 -4.41783118e-04 3.91770656e+00] [-1.01017202e-02 6.43475312e-05 9.99948974e-01 1.66402996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.729259763999995 meters 0.08392732989833179 Centerline is valid? [True, True] Translation: X:-6.40, Y:3.91, Z:1.66 [[ 9.99243126e-01 3.76100709e-02 9.93265308e-03 -6.39839232e+00] [-3.76075682e-02 9.99292489e-01 -4.38684288e-04 3.91317815e+00] [-9.94212457e-03 6.48093308e-05 9.99950574e-01 1.66274423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.789259763999997 meters 0.08383369446600834 Centerline is valid? [True, True] Translation: X:-6.34, Y:3.91, Z:1.66 [[ 9.99293471e-01 3.61287895e-02 1.03571175e-02 -6.34082065e+00] [-3.61260231e-02 9.99347139e-01 -4.54123861e-04 3.90566145e+00] [-1.03667627e-02 7.96415429e-05 9.99946261e-01 1.66115239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849259763999996 meters 0.08479873921848169 Centerline is valid? [True, True] Translation: X:-6.28, Y:3.89, Z:1.66 [[ 9.99451398e-01 3.17137244e-02 9.54687102e-03 -6.28258212e+00] [-3.17112009e-02 9.99496987e-01 -4.15622142e-04 3.89181175e+00] [-9.55524974e-03 1.12651386e-04 9.99954341e-01 1.65670449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.909259763999994 meters 0.08643569412534335 Centerline is valid? [True, True] Translation: X:-6.22, Y:3.87, Z:1.65 [[ 9.99633160e-01 2.51055129e-02 1.01616436e-02 -6.22498782e+00] [-2.51023981e-02 9.99684791e-01 -4.33976892e-04 3.87337269e+00] [-1.01693358e-02 1.78736068e-04 9.99948275e-01 1.65481127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.969259763999997 meters 0.0894487317274346 Centerline is valid? [True, True] Translation: X:-6.17, Y:3.85, Z:1.65 [[ 9.99817264e-01 1.54589213e-02 1.12454824e-02 -6.16601734e+00] [-1.54545385e-02 9.99880458e-01 -4.76542548e-04 3.85029029e+00] [-1.12515049e-02 3.02661727e-04 9.99936654e-01 1.65418805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029259763999995 meters 0.09281204784600465 Centerline is valid? [True, True] Translation: X:-6.11, Y:3.83, Z:1.65 [[ 9.99895979e-01 7.46804557e-03 1.23393212e-02 -6.10673960e+00] [-7.46216438e-03 9.99972021e-01 -5.22594570e-04 3.83236548e+00] [-1.23428787e-02 4.30462166e-04 9.99923731e-01 1.65210824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089259763999994 meters 0.09980807306932016 Centerline is valid? [True, True] Translation: X:-6.05, Y:3.81, Z:1.65 [[ 9.99902524e-01 -2.81438403e-03 1.36755870e-02 -6.04806065e+00] [ 2.82255947e-03 9.99995849e-01 -5.78547951e-04 3.80649844e+00] [-1.36739019e-02 6.17091714e-04 9.99906317e-01 1.64976790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149259763999996 meters 0.10122447330715369 Centerline is valid? [True, False] Translation: X:-6.05, Y:3.80, Z:1.65 [[ 9.99875459e-01 -7.38992805e-03 1.39447491e-02 -6.04992952e+00] [ 7.46002348e-03 9.99959766e-01 -4.98134988e-03 3.80454967e+00] [-1.39073762e-02 5.08475765e-03 9.99890359e-01 1.65167057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209259763999995 meters 0.10421135566613605 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.80, Z:1.65 [[ 9.99867572e-01 -7.26863015e-03 1.45603963e-02 -6.05130894e+00] [ 7.32593308e-03 9.99965614e-01 -3.88606937e-03 3.79971974e+00] [-1.45316492e-02 3.99222324e-03 9.99886440e-01 1.65141189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269259763999994 meters 0.11670178235192928 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.80, Z:1.65 [[ 9.99858790e-01 -7.11682091e-03 1.52233711e-02 -6.05248210e+00] [ 7.15726259e-03 9.99970997e-01 -2.60372132e-03 3.79503923e+00] [-1.52043994e-02 2.71231131e-03 9.99880728e-01 1.65045135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329259763999996 meters 0.12204127945361598 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.79, Z:1.65 [[ 9.99844987e-01 -6.85419096e-03 1.62179524e-02 -6.05407273e+00] [ 6.86633361e-03 9.99976186e-01 -6.93151794e-04 3.78825260e+00] [-1.62128152e-02 8.04402218e-04 9.99868240e-01 1.64862829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389259763999995 meters 0.13707020037888545 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99793567e-01 -1.11822463e-02 1.69640959e-02 -6.05591848e+00] [ 1.12524051e-02 9.99928504e-01 -4.04592111e-03 3.78403008e+00] [-1.69176406e-02 4.23597278e-03 9.99847913e-01 1.64862916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449259763999994 meters 0.1462864233554709 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 0.99972654 -0.01545375 0.01755069 -6.0573852 ] [ 0.01558549 0.9998512 -0.00739446 3.77996985] [-0.01743381 0.00766598 0.99981863 1.64874278] [ 0. 0. 0. 1. ]] SLAMing on 24.509259763999996 meters 0.14390004123156772 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99784586e-01 -1.08595477e-02 1.76876110e-02 -6.05700260e+00] [ 1.09019433e-02 9.99937922e-01 -2.30225532e-03 3.77839839e+00] [-1.76615115e-02 2.49458872e-03 9.99840911e-01 1.64718201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569259763999995 meters 0.14152841083563839 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99783964e-01 -1.09251981e-02 1.76823371e-02 -6.05692999e+00] [ 1.09709597e-02 9.99936709e-01 -2.49305143e-03 3.77927424e+00] [-1.76539809e-02 2.68650505e-03 9.99840547e-01 1.64715143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.629259763999997 meters 0.13805936903861699 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99783501e-01 -1.10048066e-02 1.76591706e-02 -6.05677266e+00] [ 1.10551049e-02 9.99935100e-01 -2.75319192e-03 3.78052155e+00] [-1.76277262e-02 2.94781984e-03 9.99840274e-01 1.64708007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689259763999996 meters 0.1343436328550921 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99820759e-01 -6.34449666e-03 1.78380943e-02 -6.05629532e+00] [ 6.30401856e-03 9.99977428e-01 2.32451006e-03 3.77899108e+00] [-1.78524395e-02 -2.21164173e-03 9.99838186e-01 1.64538040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.749259763999994 meters 0.1325910760186197 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.65 [[ 9.99823844e-01 -6.21831820e-03 1.77091516e-02 -6.05583694e+00] [ 6.17634863e-03 9.99977989e-01 2.42364508e-03 3.77897043e+00] [-1.77238328e-02 -2.31384025e-03 9.99840243e-01 1.64519080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.809259763999997 meters 0.13267692824232302 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.78, Z:1.64 [[ 9.99822980e-01 -5.89884025e-03 1.78665236e-02 -6.05602265e+00] [ 5.84373935e-03 9.99978012e-01 3.13466997e-03 3.77640699e+00] [-1.78846217e-02 -3.02970776e-03 9.99835467e-01 1.64481296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869259763999995 meters 0.1348216307398391 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.77, Z:1.64 [[ 9.99822838e-01 -5.51078853e-03 1.79978606e-02 -6.05595920e+00] [ 5.43991273e-03 9.99977265e-01 3.98459923e-03 3.77375020e+00] [-1.80194097e-02 -3.88598652e-03 9.99830086e-01 1.64403740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.929259763999994 meters 0.1425546672561332 Centerline is valid? [False, False] Translation: X:-6.06, Y:3.77, Z:1.64 [[ 9.99798120e-01 -9.68262732e-03 1.76058357e-02 -6.05519111e+00] [ 9.69027911e-03 9.99952987e-01 -3.49357047e-04 3.77403590e+00] [-1.76016253e-02 5.19891980e-04 9.99844944e-01 1.64449948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.989259763999996 meters 0.14025416059664628 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.77, Z:1.65 [[ 9.99952062e-01 -9.79148048e-03 -2.28537624e-06 -6.05050549e+00] [ 9.79139265e-03 9.99944029e-01 -4.00842167e-03 3.77085596e+00] [ 4.15336309e-05 4.00820714e-03 9.99991966e-01 1.65449580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.049259763999995 meters 0.14475734174305602 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.77, Z:1.65 [[ 9.99905851e-01 -1.37218391e-02 -3.20687456e-05 -6.05025698e+00] [ 1.37211844e-02 9.99876157e-01 -7.70714863e-03 3.76859186e+00] [ 1.37821028e-04 7.70598299e-03 9.99970299e-01 1.65433157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.109259763999994 meters 0.15357163008251232 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99961339e-01 -8.77068688e-03 6.28890550e-04 -6.05102994e+00] [ 8.77150744e-03 9.99960666e-01 -1.31409828e-03 3.76183238e+00] [-6.17340269e-04 1.31956379e-03 9.99998939e-01 1.65216250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169259763999996 meters 0.16303171921663104 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99965136e-01 -8.32713934e-03 6.20478858e-04 -6.05048832e+00] [ 8.32752443e-03 9.99965133e-01 -6.20667666e-04 3.75995649e+00] [-6.15288838e-04 6.25813080e-04 9.99999615e-01 1.65129253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.229259763999995 meters 0.1571613035223508 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99970770e-01 -7.61816145e-03 6.50880370e-04 -6.04963962e+00] [ 7.61784550e-03 9.99970865e-01 4.86533250e-04 3.75691514e+00] [-6.54567895e-04 -4.81560723e-04 9.99999670e-01 1.64976311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.289259763999993 meters 0.1556066372407228 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99972786e-01 -7.33957215e-03 7.46570281e-04 -6.04952118e+00] [ 7.33874804e-03 9.99972465e-01 1.10067145e-03 3.75516039e+00] [-7.54628182e-04 -1.09516261e-03 9.99999116e-01 1.64907369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349259763999996 meters 0.15164463836310144 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99967682e-01 -8.03953538e-03 -3.86705283e-05 -6.04884369e+00] [ 8.03948917e-03 9.99967105e-01 -1.07504958e-03 3.76183659e+00] [ 4.73121554e-05 1.07470394e-03 9.99999421e-01 1.65186368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.409259763999994 meters 0.14107507075873604 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99968103e-01 -7.98537446e-03 -1.64546777e-04 -6.04806096e+00] [ 7.98517277e-03 9.99967408e-01 -1.19197439e-03 3.76310714e+00] [ 1.74059776e-04 1.19062243e-03 9.99999276e-01 1.65123961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469259763999997 meters 0.1459357356018674 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99970065e-01 -7.73696113e-03 -9.22073107e-05 -6.04753881e+00] [ 7.73688398e-03 9.99969742e-01 -8.09550247e-04 3.76263934e+00] [ 9.84679795e-05 8.08812616e-04 9.99999668e-01 1.65013625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529259763999995 meters 0.14132112035841393 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.77, Z:1.65 [[ 9.99969326e-01 -7.81392677e-03 -5.38939347e-04 -6.04631586e+00] [ 7.81321278e-03 9.99968613e-01 -1.31442062e-03 3.76539598e+00] [ 5.49193218e-04 1.31016945e-03 9.99998991e-01 1.65008034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589259763999994 meters 0.13837475023482346 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.77, Z:1.65 [[ 9.99970124e-01 -7.69084800e-03 -7.75544462e-04 -6.04523553e+00] [ 7.68979687e-03 9.99969523e-01 -1.34934138e-03 3.76657841e+00] [ 7.85898405e-04 1.34333729e-03 9.99998789e-01 1.64939994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649259763999996 meters 0.13684487094888695 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99973564e-01 -7.24114807e-03 -6.61487918e-04 -6.04522424e+00] [ 7.24075134e-03 9.99973605e-01 -6.00192620e-04 3.76390352e+00] [ 6.65816542e-04 5.95387084e-04 9.99999601e-01 1.64886769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709259763999995 meters 0.14909201407498282 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99973951e-01 -7.19587587e-03 -5.62310776e-04 -6.04559104e+00] [ 7.19563844e-03 9.99974022e-01 -4.23128504e-04 3.76306930e+00] [ 5.65340948e-04 4.19071297e-04 9.99999752e-01 1.64901036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769259763999994 meters 0.14556687361785717 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99976826e-01 -6.79143106e-03 -4.72860577e-04 -6.04553298e+00] [ 6.79162641e-03 9.99976851e-01 4.12759295e-04 3.76032455e+00] [ 4.70046405e-04 -4.15961222e-04 9.99999803e-01 1.64842291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829259763999996 meters 0.1454847108581755 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.76, Z:1.65 [[ 9.99941139e-01 -1.08313066e-02 -6.34235249e-04 -6.04500850e+00] [ 1.08289953e-02 9.99935096e-01 -3.54070011e-03 3.75918149e+00] [ 6.72544493e-04 3.53362357e-03 9.99993531e-01 1.64835081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889259763999995 meters 0.15565619089335958 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.75, Z:1.65 [[ 9.99949068e-01 -1.00915522e-02 1.48294751e-04 -6.04592061e+00] [ 1.00917402e-02 9.99948197e-01 -1.32704699e-03 3.75128106e+00] [-1.34895105e-04 1.32847595e-03 9.99999108e-01 1.64635085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949259763999994 meters 0.15399347090920204 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.75, Z:1.65 [[ 9.99952148e-01 -9.76576694e-03 5.75312670e-04 -6.04679302e+00] [ 9.76588473e-03 9.99952292e-01 -2.02292538e-04 3.74697500e+00] [-5.73309681e-04 2.07901296e-04 9.99999814e-01 1.64590149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009259763999996 meters 0.16678408138824868 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.65 [[ 9.99954042e-01 -9.54312882e-03 9.17530571e-04 -6.04769193e+00] [ 9.54260151e-03 9.99954302e-01 5.77374149e-04 3.74368363e+00] [-9.22998597e-04 -5.68591986e-04 9.99999412e-01 1.64588813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069259763999995 meters 0.1560151974546706 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99958849e-01 -8.97069257e-03 1.35156870e-03 -6.04806397e+00] [ 8.96787140e-03 9.99957626e-01 2.07913100e-03 3.73889608e+00] [-1.37016268e-03 -2.06692475e-03 9.99996925e-01 1.64444642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129259763999993 meters 0.16406693110537146 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99963119e-01 -8.45756119e-03 1.49317737e-03 -6.04776247e+00] [ 8.45295815e-03 9.99959583e-01 3.06257586e-03 3.73605196e+00] [-1.51901894e-03 -3.04984114e-03 9.99994196e-01 1.64327088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189259763999996 meters 0.1616636409223737 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99963272e-01 -8.43436217e-03 1.52212201e-03 -6.04812777e+00] [ 8.42956542e-03 9.99959570e-01 3.13072289e-03 3.73523579e+00] [-1.54846612e-03 -3.11777707e-03 9.99993941e-01 1.64370473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249259763999994 meters 0.166043899904884 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99960706e-01 -8.78816558e-03 1.16369665e-03 -6.04784558e+00] [ 8.78564762e-03 9.99959091e-01 2.15147513e-03 3.73825840e+00] [-1.18255656e-03 -2.14116676e-03 9.99997008e-01 1.64484551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309259763999997 meters 0.16277307652948925 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99959958e-01 -8.92101990e-03 7.05845689e-04 -6.04658156e+00] [ 8.91998411e-03 9.99959154e-01 1.45722396e-03 3.74168934e+00] [-7.18816783e-04 -1.45086948e-03 9.99998689e-01 1.64476041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369259763999995 meters 0.16302937402952772 Centerline is valid? [False, False] Translation: X:-6.05, Y:3.74, Z:1.64 [[ 9.99960316e-01 -8.90246165e-03 3.35844447e-04 -6.04530764e+00] [ 8.90209123e-03 9.99959783e-01 1.08876269e-03 3.74404298e+00] [-3.45523609e-04 -1.08572977e-03 9.99999351e-01 1.64425866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429259763999994 meters 0.16136054506653177 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99962550e-01 -8.65107784e-03 2.37991200e-04 -6.04440159e+00] [ 8.65074477e-03 9.99961648e-01 1.36663105e-03 3.74403417e+00] [-2.49804904e-04 -1.36452107e-03 9.99999038e-01 1.64326301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489259763999996 meters 0.1632729119507156 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99962203e-01 -8.69213980e-03 1.98946138e-04 -6.04432277e+00] [ 8.69188759e-03 9.99961462e-01 1.23531062e-03 3.74459628e+00] [-2.09675963e-04 -1.23353471e-03 9.99999217e-01 1.64331414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549259763999995 meters 0.1520207203542209 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99961692e-01 -8.75151893e-03 1.62618358e-04 -6.04416084e+00] [ 8.75133551e-03 9.99961105e-01 1.09629321e-03 3.74531173e+00] [-1.72206264e-04 -1.09482809e-03 9.99999386e-01 1.64323139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609259763999994 meters 0.15282244225678368 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99964677e-01 -8.40348462e-03 1.60585133e-04 -6.04369734e+00] [ 8.40321677e-03 9.99963410e-01 1.60157424e-03 3.74404019e+00] [-1.74038062e-04 -1.60016824e-03 9.99998705e-01 1.64248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669259763999996 meters 0.17129169373486117 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99920617e-01 -1.25985904e-02 1.88156797e-04 -6.04362051e+00] [ 1.25990215e-02 9.99917506e-01 -2.49924223e-03 3.74336406e+00] [-1.56654346e-04 2.50141442e-03 9.99996859e-01 1.64241229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729259763999995 meters 0.1682756472670442 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99967870e-01 -8.00298551e-03 4.60238731e-04 -6.04398793e+00] [ 8.00182494e-03 9.99964933e-01 2.47052867e-03 3.74127678e+00] [-4.79994197e-04 -2.46676654e-03 9.99996842e-01 1.64167365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789259763999993 meters 0.16273386785130092 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99967462e-01 -8.05371177e-03 4.61807505e-04 -6.04405257e+00] [ 8.05259487e-03 9.99964765e-01 2.37143533e-03 3.74159907e+00] [-4.80890090e-04 -2.36763942e-03 9.99997082e-01 1.64178515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849259763999996 meters 0.16225051768300466 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99965237e-01 -8.33223963e-03 3.12486297e-04 -6.04387193e+00] [ 8.33168786e-03 9.99963799e-01 1.72732886e-03 3.74388726e+00] [-3.26867503e-04 -1.72466527e-03 9.99998459e-01 1.64219307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909259763999994 meters 0.15722138607073458 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99959416e-01 -9.00638850e-03 -2.25416735e-04 -6.04357348e+00] [ 9.00635315e-03 9.99959430e-01 -1.57339767e-04 3.74953153e+00] [ 2.26824653e-04 1.55303199e-04 9.99999962e-01 1.64437734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969259763999993 meters 0.15082945949413287 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99958637e-01 -9.08644124e-03 -4.01417979e-04 -6.04271269e+00] [ 9.08623723e-03 9.99958591e-01 -5.07157990e-04 3.75182963e+00] [ 4.06009618e-04 5.03489634e-04 9.99999791e-01 1.64381834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029259763999995 meters 0.14658342648725545 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99956537e-01 -9.29911682e-03 -6.70564176e-04 -6.04223074e+00] [ 9.29841922e-03 9.99956232e-01 -1.03603990e-03 3.75397998e+00] [ 6.80169083e-04 1.02975968e-03 9.99999238e-01 1.64419908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089259763999994 meters 0.14817404340831644 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99954215e-01 -9.51208651e-03 -1.04341040e-03 -6.04140195e+00] [ 9.51023224e-03 9.99953214e-01 -1.76791932e-03 3.75709018e+00] [ 1.06017818e-03 1.75791530e-03 9.99997893e-01 1.64454158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149259763999996 meters 0.15460070925310984 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99955605e-01 -9.35363002e-03 -1.13872653e-03 -6.04056595e+00] [ 9.35173171e-03 9.99954892e-01 -1.66111756e-03 3.75763122e+00] [ 1.15421264e-03 1.65039475e-03 9.99997972e-01 1.64367946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209259763999995 meters 0.15304782168905445 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99952167e-01 -9.69152024e-03 -1.31812103e-03 -6.04050202e+00] [ 9.68842619e-03 9.99950343e-01 -2.33379033e-03 3.76001427e+00] [ 1.34067355e-03 2.32090818e-03 9.99996408e-01 1.64439932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269259763999994 meters 0.14600143284222264 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99949731e-01 -9.83786335e-03 -1.93716190e-03 -6.03915703e+00] [ 9.83169307e-03 9.99946645e-01 -3.16938807e-03 3.76393652e+00] [ 1.96823855e-03 3.15018316e-03 9.99993101e-01 1.64481148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329259763999996 meters 0.13959238232123108 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99950284e-01 -9.75993618e-03 -2.04302074e-03 -6.03842717e+00] [ 9.75347669e-03 9.99947478e-01 -3.14817543e-03 3.76478335e+00] [ 2.07363943e-03 3.12809236e-03 9.99992958e-01 1.64414134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389259763999995 meters 0.15167192235414478 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99956569e-01 -9.18089706e-03 -1.60332129e-03 -6.03849660e+00] [ 9.17801690e-03 9.99956271e-01 -1.79458568e-03 3.76070457e+00] [ 1.61972709e-03 1.77979243e-03 9.99997104e-01 1.64230752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449259763999994 meters 0.14306376497434406 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99955166e-01 -9.32694701e-03 -1.63504467e-03 -6.03900965e+00] [ 9.32369744e-03 9.99954565e-01 -1.98393190e-03 3.76077339e+00] [ 1.65347441e-03 1.96859829e-03 9.99996695e-01 1.64323826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509259763999996 meters 0.14592172724319527 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99955453e-01 -9.28539335e-03 -1.69542274e-03 -6.03890583e+00] [ 9.28214979e-03 9.99955094e-01 -1.91107670e-03 3.76059819e+00] [ 1.71309171e-03 1.89525440e-03 9.99996737e-01 1.64331706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569259763999995 meters 0.14660969375475197 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99960769e-01 -8.68581954e-03 -1.73718971e-03 -6.03798625e+00] [ 8.68419045e-03 9.99961847e-01 -9.43130116e-04 3.75818823e+00] [ 1.74531529e-03 9.28007030e-04 9.99998046e-01 1.64194264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629259763999993 meters 0.1529612791838352 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.76, Z:1.64 [[ 9.99964771e-01 -8.23027065e-03 -1.64900023e-03 -6.03790985e+00] [ 8.23005017e-03 9.99966123e-01 -1.40447500e-04 3.75545687e+00] [ 1.65010029e-03 1.26871198e-04 9.99998631e-01 1.64142194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689259763999996 meters 0.1457322790828059 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99966556e-01 -7.97779450e-03 -1.80051067e-03 -6.03755855e+00] [ 7.97808813e-03 9.99968162e-01 1.55957472e-04 3.75438685e+00] [ 1.79920915e-03 -1.70316889e-04 9.99998367e-01 1.64144683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749259763999994 meters 0.1459253881794543 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99970389e-01 -7.50762119e-03 -1.69009442e-03 -6.03734791e+00] [ 7.50932201e-03 9.99971302e-01 1.00225605e-03 3.75186405e+00] [ 1.68252136e-03 -1.01491784e-03 9.99998070e-01 1.64060029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809259763999993 meters 0.15750913050174045 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.75, Z:1.64 [[ 9.99936208e-01 -1.11305918e-02 -1.92086397e-03 -6.03622279e+00] [ 1.11262473e-02 9.99935552e-01 -2.25783629e-03 3.74870954e+00] [ 1.94587123e-03 2.23632025e-03 9.99995606e-01 1.63980212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869259763999995 meters 0.15984309921660494 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99942020e-01 -1.06883123e-02 -1.31031669e-03 -6.03746107e+00] [ 1.06875898e-02 9.99942731e-01 -5.57178186e-04 3.74199774e+00] [ 1.31619695e-03 5.43141754e-04 9.99998986e-01 1.63929080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.929259763999994 meters 0.16108530587655778 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99945956e-01 -1.03442874e-02 -1.03984241e-03 -6.03786838e+00] [ 1.03445663e-02 9.99946459e-01 2.63138101e-04 3.73911853e+00] [ 1.03706476e-03 -2.73880598e-04 9.99999425e-01 1.63877624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.989259763999996 meters 0.1713939277296218 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.74, Z:1.64 [[ 9.99897329e-01 -1.42990928e-02 -9.31252683e-04 -6.03804124e+00] [ 1.42960085e-02 9.99892562e-01 -3.23846012e-03 3.73598701e+00] [ 9.77459673e-04 3.22481443e-03 9.99994323e-01 1.63869506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.049259763999995 meters 0.1736905170281418 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99901630e-01 -1.40027704e-02 -8.07600930e-04 -6.03830838e+00] [ 1.40006836e-02 9.99898774e-01 -2.53409762e-03 3.73340250e+00] [ 8.43003568e-04 2.52254138e-03 9.99996463e-01 1.63851356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.109259763999994 meters 0.16724853452741398 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99905163e-01 -1.37491661e-02 -7.90836466e-04 -6.03815136e+00] [ 1.37474673e-02 9.99903263e-01 -2.11482272e-03 3.73213788e+00] [ 8.19837011e-04 2.10375016e-03 9.99997451e-01 1.63815540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169259763999996 meters 0.17616148992753908 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99911762e-01 -1.32600436e-02 -7.99075500e-04 -6.03744610e+00] [ 1.32589739e-02 9.99911212e-01 -1.32937698e-03 3.73020057e+00] [ 8.16632148e-04 1.31866476e-03 9.99998797e-01 1.63699838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229259763999995 meters 0.16817261040178735 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99917905e-01 -1.27945349e-02 -6.95565080e-04 -6.03701206e+00] [ 1.27941944e-02 9.99918030e-01 -4.91837416e-04 3.72799018e+00] [ 7.01800895e-04 4.82897844e-04 9.99999637e-01 1.63582248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.289259763999993 meters 0.1671186202611273 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99913767e-01 -1.30859967e-02 -1.10199085e-03 -6.03628578e+00] [ 1.30846542e-02 9.99913652e-01 -1.21671964e-03 3.73108648e+00] [ 1.11781768e-03 1.20219555e-03 9.99998653e-01 1.63635798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349259763999996 meters 0.17210942748412886 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.64 [[ 9.99914615e-01 -1.30303346e-02 -9.86956531e-04 -6.03651758e+00] [ 1.30293114e-02 9.99914578e-01 -1.03616582e-03 3.73048614e+00] [ 1.00037381e-03 1.02321798e-03 9.99998976e-01 1.63625411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.409259763999994 meters 0.17319629440027876 Centerline is valid? [False, False] Translation: X:-6.04, Y:3.73, Z:1.63 [[ 9.99964759e-01 -8.35229997e-03 -8.48137235e-04 -6.03585644e+00] [ 8.35549055e-03 9.99957755e-01 3.83071462e-03 3.72982414e+00] [ 8.16106128e-04 -3.83766623e-03 9.99992303e-01 1.63451010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469259763999993 meters 0.17416914976044506 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.64 [[ 9.99915615e-01 -1.28846402e-02 -1.65775660e-03 -6.03418080e+00] [ 1.28820396e-02 9.99915791e-01 -1.57000037e-03 3.73440148e+00] [ 1.67784589e-03 1.54851260e-03 9.99997393e-01 1.63532723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529259763999995 meters 0.1698565660197132 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99962897e-01 -8.45056467e-03 -1.67115136e-03 -6.03365801e+00] [ 8.45530173e-03 9.99960197e-01 2.84815466e-03 3.73491708e+00] [ 1.64701633e-03 -2.86217907e-03 9.99994548e-01 1.63442977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589259763999994 meters 0.16887549777593527 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99963909e-01 -8.32035269e-03 -1.71832645e-03 -6.03334736e+00] [ 8.32545075e-03 9.99960898e-01 2.98134548e-03 3.73473876e+00] [ 1.69345342e-03 -2.99554373e-03 9.99994079e-01 1.63415030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649259763999993 meters 0.1631080676665587 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99965839e-01 -8.09060686e-03 -1.69198158e-03 -6.03307995e+00] [ 8.09628324e-03 9.99961528e-01 3.37537020e-03 3.73367452e+00] [ 1.66460769e-03 -3.38895366e-03 9.99992872e-01 1.63358489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709259763999995 meters 0.16449380437639882 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99965104e-01 -8.17015518e-03 -1.74351324e-03 -6.03317099e+00] [ 8.17570026e-03 9.99961467e-01 3.19733762e-03 3.73410057e+00] [ 1.71732331e-03 -3.21148049e-03 9.99993369e-01 1.63395441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.769259763999994 meters 0.1590685259874782 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.74, Z:1.63 [[ 9.99919704e-01 -1.24275102e-02 -2.47825750e-03 -6.03124956e+00] [ 1.24237147e-02 9.99921635e-01 -1.54106482e-03 3.73721407e+00] [ 2.49721489e-03 1.51015191e-03 9.99995742e-01 1.63394395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.829259763999996 meters 0.15505206198482877 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.74, Z:1.63 [[ 9.99925752e-01 -1.19309474e-02 -2.47862838e-03 -6.03034539e+00] [ 1.19290447e-02 9.99928541e-01 -7.81008826e-04 3.73563015e+00] [ 2.48776944e-03 7.51383169e-04 9.99996623e-01 1.63248203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.889259763999995 meters 0.1699356667498772 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99931294e-01 -1.15098859e-02 -2.22036692e-03 -6.03046039e+00] [ 1.15101020e-02 9.99933753e-01 8.45678160e-05 3.73294176e+00] [ 2.21924647e-03 -1.10118655e-04 9.99997531e-01 1.63154827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.949259763999994 meters 0.15561834705261343 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99933729e-01 -1.13093026e-02 -2.15336892e-03 -6.03056343e+00] [ 1.13104062e-02 9.99935910e-01 5.01019387e-04 3.73141851e+00] [ 2.14756474e-03 -5.25341661e-04 9.99997556e-01 1.63138007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009259763999996 meters 0.16428769690957304 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99930582e-01 -1.15375500e-02 -2.39064293e-03 -6.03023081e+00] [ 1.15374715e-02 9.99933440e-01 -4.66483063e-05 3.73351277e+00] [ 2.39102202e-03 1.90630935e-05 9.99997141e-01 1.63188677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069259763999995 meters 0.16508470163417813 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99936513e-01 -1.10460970e-02 -2.22569821e-03 -6.02974966e+00] [ 1.10478608e-02 9.99938665e-01 7.81742345e-04 3.73146663e+00] [ 2.21692649e-03 -8.06281918e-04 9.99997218e-01 1.63042200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129259763999993 meters 0.17060309150817274 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99940295e-01 -1.07111219e-02 -2.16309449e-03 -6.02922575e+00] [ 1.07138995e-02 9.99941790e-01 1.27656732e-03 3.73046695e+00] [ 2.14929511e-03 -1.29966628e-03 9.99996846e-01 1.62935194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189259763999996 meters 0.17178621422070542 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99936324e-01 -1.10219363e-02 -2.42189080e-03 -6.02890277e+00] [ 1.10233816e-02 9.99939070e-01 5.84223177e-04 3.73302758e+00] [ 2.41530396e-03 -6.10883402e-04 9.99996897e-01 1.62998302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249259763999994 meters 0.16521495023868127 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99938766e-01 -1.08036699e-02 -2.39671369e-03 -6.02865712e+00] [ 1.08059301e-02 9.99941180e-01 9.32100950e-04 3.73215828e+00] [ 2.38650260e-03 -9.57942594e-04 9.99996693e-01 1.62947636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309259763999993 meters 0.16603447627292062 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99942826e-01 -1.04395985e-02 -2.31523671e-03 -6.02818515e+00] [ 1.04432781e-02 9.99944215e-01 1.58296908e-03 3.73068228e+00] [ 2.29858199e-03 -1.60705723e-03 9.99996067e-01 1.62833427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369259763999995 meters 0.16902190922283117 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99945358e-01 -1.02216173e-02 -2.19060023e-03 -6.02825885e+00] [ 1.02261048e-02 9.99945616e-01 2.04719736e-03 3.72928089e+00] [ 2.16955543e-03 -2.06948680e-03 9.99995505e-01 1.62791405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429259763999994 meters 0.17693873892698886 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99949131e-01 -9.85044504e-03 -2.16868757e-03 -6.02779176e+00] [ 9.85613314e-03 9.99947974e-01 2.62795271e-03 3.72778366e+00] [ 2.14268823e-03 -2.64919390e-03 9.99994195e-01 1.62706855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489259763999993 meters 0.1780305027341035 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99951383e-01 -9.63486893e-03 -2.09764327e-03 -6.02759948e+00] [ 9.64116648e-03 9.99948983e-01 3.01307628e-03 3.72690805e+00] [ 2.06850566e-03 -3.03315352e-03 9.99993261e-01 1.62647573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549259763999995 meters 0.17838894173260217 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.73, Z:1.63 [[ 9.99952029e-01 -9.57328624e-03 -2.07184425e-03 -6.02792220e+00] [ 9.57977494e-03 9.99949167e-01 3.14491890e-03 3.72604958e+00] [ 2.04163173e-03 -3.16461584e-03 9.99992908e-01 1.62685922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609259763999994 meters 0.16329954302476948 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.72, Z:1.63 [[ 9.99952786e-01 -9.51443336e-03 -1.97530632e-03 -6.02864683e+00] [ 9.52087940e-03 9.99949296e-01 3.27996455e-03 3.72458903e+00] [ 1.94399916e-03 -3.29861634e-03 9.99992670e-01 1.62757852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669259763999996 meters 0.1724341933323684 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.72, Z:1.63 [[ 9.99957837e-01 -9.06266865e-03 -1.48074986e-03 -6.02936995e+00] [ 9.06909796e-03 9.99949219e-01 4.39449176e-03 3.72020019e+00] [ 1.44084884e-03 -4.40773554e-03 9.99989248e-01 1.62672964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.729259763999995 meters 0.1768031068781617 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.72, Z:1.63 [[ 9.99913520e-01 -1.30512465e-02 -1.61769938e-03 -6.02907276e+00] [ 1.30522486e-02 9.99914629e-01 6.10451891e-04 3.71812596e+00] [ 1.60959412e-03 -6.31513714e-04 9.99998505e-01 1.62692407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.789259763999993 meters 0.17117499337874348 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.72, Z:1.63 [[ 9.99918369e-01 -1.26946421e-02 -1.44967788e-03 -6.02939836e+00] [ 1.26966802e-02 9.99918406e-01 1.40545056e-03 3.71522870e+00] [ 1.43171791e-03 -1.42374193e-03 9.99997962e-01 1.62670837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849259763999996 meters 0.17734298059266565 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.71, Z:1.63 [[ 9.99925551e-01 -1.21467553e-02 -1.16144920e-03 -6.02974493e+00] [ 1.21497053e-02 9.99922893e-01 2.56748752e-03 3.71092398e+00] [ 1.13017301e-03 -2.58140764e-03 9.99996030e-01 1.62610400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909259763999994 meters 0.18436613966688487 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.71, Z:1.63 [[ 9.99932214e-01 -1.16117315e-02 -8.57523352e-04 -6.03024173e+00] [ 1.16148699e-02 9.99925512e-01 3.75028650e-03 3.70633131e+00] [ 8.13912157e-04 -3.75999231e-03 9.99992600e-01 1.62565620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969259763999993 meters 0.19030925475361987 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.63 [[ 9.99934662e-01 -1.14122704e-02 -6.57070765e-04 -6.03073057e+00] [ 1.14149754e-02 9.99925722e-01 4.27178991e-03 3.70429095e+00] [ 6.08271138e-04 -4.27901125e-03 9.99990660e-01 1.62564349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029259763999995 meters 0.1953214033092621 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.62 [[ 9.99944490e-01 -1.05271295e-02 -4.43509460e-04 -6.03036127e+00] [ 1.05295247e-02 9.99927757e-01 5.79736874e-03 3.69932572e+00] [ 3.82447768e-04 -5.80171687e-03 9.99983097e-01 1.62416885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089259763999994 meters 0.1953012060087225 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.62 [[ 9.99947463e-01 -1.02494620e-02 -1.40568733e-04 -6.03104070e+00] [ 1.02501598e-02 9.99926286e-01 6.50818183e-03 3.69633070e+00] [ 7.38530095e-05 -6.50928076e-03 9.99978812e-01 1.62403217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149259763999993 meters 0.2011435943511878 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.69, Z:1.62 [[ 9.99949022e-01 -1.00961411e-02 1.42615808e-04 -6.03200354e+00] [ 1.00948927e-02 9.99924447e-01 7.01385040e-03 3.69364001e+00] [-2.13417856e-04 -7.01205316e-03 9.99975392e-01 1.62439010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209259763999995 meters 0.20132829515800277 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.62 [[ 9.99894629e-01 -1.45125324e-02 -3.43192487e-04 -6.03102708e+00] [ 1.45132792e-02 9.99892068e-01 2.28427617e-03 3.69560911e+00] [ 3.10004814e-04 -2.28901633e-03 9.99997332e-01 1.62494264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269259763999994 meters 0.18949241772789965 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.62 [[ 9.99893805e-01 -1.45655856e-02 -4.72150562e-04 -6.03036782e+00] [ 1.45665392e-02 9.99891732e-01 2.08352517e-03 3.69712535e+00] [ 4.41751678e-04 -2.09018151e-03 9.99997718e-01 1.62447469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.329259763999993 meters 0.18792849538262446 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.70, Z:1.62 [[ 9.99892521e-01 -1.46367318e-02 -8.44563966e-04 -6.02901990e+00] [ 1.46380792e-02 9.99891558e-01 1.61184142e-03 3.70007215e+00] [ 8.20880290e-04 -1.62403097e-03 9.99998344e-01 1.62390910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.389259763999995 meters 0.19439164544528276 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.71, Z:1.62 [[ 9.99890866e-01 -1.46528969e-02 -1.88389253e-03 -6.02641018e+00] [ 1.46536053e-02 9.99892564e-01 3.62765089e-04 3.70657794e+00] [ 1.87837457e-03 -3.90331317e-04 9.99998160e-01 1.62377085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.449259763999994 meters 0.19365243940789625 Centerline is valid? [False, False] Translation: X:-6.03, Y:3.71, Z:1.62 [[ 9.99889326e-01 -1.47178827e-02 -2.17252151e-03 -6.02509217e+00] [ 1.47178741e-02 9.99891686e-01 -1.99655063e-05 3.70948515e+00] [ 2.17258004e-03 -1.20116014e-05 9.99997640e-01 1.62295774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509259763999996 meters 0.17764467525509756 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.72, Z:1.62 [[ 9.99888438e-01 -1.46177938e-02 -3.07113024e-03 -6.02243153e+00] [ 1.46151512e-02 9.99892805e-01 -8.81158964e-04 3.71502345e+00] [ 3.08368163e-03 8.36175628e-04 9.99994896e-01 1.62216096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.569259763999995 meters 0.1690238416188177 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.72, Z:1.62 [[ 9.99937566e-01 -1.06484712e-02 -3.38722962e-03 -6.02145750e+00] [ 1.06563514e-02 9.99940535e-01 2.31695737e-03 3.72004311e+00] [ 3.36235615e-03 -2.35290822e-03 9.99991579e-01 1.62190358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.629259763999993 meters 0.16923558391855092 Centerline is valid? [False, False] Translation: X:-6.02, Y:3.73, Z:1.62 [[ 9.99930362e-01 -1.11301594e-02 -3.92305889e-03 -6.02033372e+00] [ 1.11337353e-02 9.99937621e-01 8.90852595e-04 3.72584629e+00] [ 3.91289884e-03 -9.34468857e-04 9.99991908e-01 1.62242212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689259763999996 meters 0.16086691936515654 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.73, Z:1.63 [[ 9.99976851e-01 -3.55326914e-03 -5.80281534e-03 -6.00434014e+00] [ 3.54486446e-03 9.99992654e-01 -1.45802310e-03 3.73140023e+00] [ 5.80795346e-03 1.43741916e-03 9.99982101e-01 1.62646295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.749259763999994 meters 0.1633591331960113 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.74, Z:1.63 [[ 9.99972665e-01 -3.86903317e-03 -6.30080137e-03 -6.00318128e+00] [ 3.85363595e-03 9.99989564e-01 -2.45400157e-03 3.73583149e+00] [ 6.31023023e-03 2.42965350e-03 9.99977139e-01 1.62676752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.809259763999993 meters 0.16608739835151345 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.74, Z:1.63 [[ 0.99993485 -0.00855773 -0.00755337 -6.00110061] [ 0.00848859 0.9999222 -0.00913948 3.74298378] [ 0.007631 0.00907477 0.99992971 1.6298481 ] [ 0. 0. 0. 1. ]] SLAMing on 30.869259763999995 meters 0.15840514226807204 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99959917e-01 -4.71054027e-03 -7.61410956e-03 -6.00125536e+00] [ 4.66707585e-03 9.99972772e-01 -5.71612827e-03 3.74644011e+00] [ 7.64082830e-03 5.68036353e-03 9.99954675e-01 1.63036840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.929259763999994 meters 0.15216937777754974 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99955642e-01 -4.87204239e-03 -8.06081585e-03 -5.99998113e+00] [ 4.82071327e-03 9.99968060e-01 -6.37495610e-03 3.75019339e+00] [ 8.09161744e-03 6.33581444e-03 9.99947190e-01 1.63028189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.989259763999993 meters 0.14819308342388957 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99956909e-01 -4.49757686e-03 -8.12106570e-03 -5.99883317e+00] [ 4.44930223e-03 9.99972384e-01 -5.95268616e-03 3.75005808e+00] [ 8.14761410e-03 5.91629657e-03 9.99949306e-01 1.62881419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049259763999995 meters 0.14639100579246508 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99953968e-01 -4.22885215e-03 -8.61265051e-03 -5.99686029e+00] [ 4.17786973e-03 9.99973696e-01 -5.92889552e-03 3.75177767e+00] [ 8.63749639e-03 5.89264007e-03 9.99945334e-01 1.62774443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.109259763999994 meters 0.15560906650989823 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99951207e-01 -4.62516161e-03 -8.72878920e-03 -5.99721325e+00] [ 4.56796659e-03 9.99968043e-01 -6.56105932e-03 3.75377572e+00] [ 8.75885622e-03 6.52086637e-03 9.99940379e-01 1.62878048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169259763999996 meters 0.1511911651591627 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.75, Z:1.63 [[ 9.99951774e-01 -4.53074832e-03 -8.71335006e-03 -5.99702307e+00] [ 4.47494776e-03 9.99969424e-01 -6.41289938e-03 3.75363274e+00] [ 8.74213887e-03 6.37359832e-03 9.99941474e-01 1.62842341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.229259763999995 meters 0.14307895142264862 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.76, Z:1.63 [[ 9.99948160e-01 -4.63736963e-03 -9.06488230e-03 -5.99582482e+00] [ 4.57503941e-03 9.99965834e-01 -6.88469579e-03 3.75674577e+00] [ 9.09649948e-03 6.84286669e-03 9.99935212e-01 1.62805873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.289259763999993 meters 0.14217141878516631 Centerline is valid? [False, False] Translation: X:-6.00, Y:3.76, Z:1.63 [[ 9.99946778e-01 -4.64895809e-03 -9.21023662e-03 -5.99541800e+00] [ 4.58433346e-03 9.99964814e-01 -7.02533947e-03 3.75754425e+00] [ 9.24257306e-03 6.98274277e-03 9.99932906e-01 1.62805623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349259763999996 meters 0.15701985555096734 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.63 [[ 9.99946126e-01 -4.61152623e-03 -9.29943617e-03 -5.99499578e+00] [ 4.54594489e-03 9.99964737e-01 -7.06103416e-03 3.75814176e+00] [ 9.33167039e-03 7.01837903e-03 9.99931829e-01 1.62779637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.409259763999994 meters 0.15209176136193994 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.63 [[ 9.99942349e-01 -4.71352529e-03 -9.64788371e-03 -5.99410926e+00] [ 4.64152990e-03 9.99961318e-01 -7.47113584e-03 3.76053258e+00] [ 9.68272590e-03 7.42592418e-03 9.99925547e-01 1.62788384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.469259763999993 meters 0.14870776441279893 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.63 [[ 9.99939854e-01 -4.94355172e-03 -9.79028715e-03 -5.99399326e+00] [ 4.86547577e-03 9.99956301e-01 -7.98266256e-03 3.76242636e+00] [ 9.82932203e-03 7.93454803e-03 9.99920211e-01 1.62838286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529259763999995 meters 0.14221174579504275 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.76, Z:1.63 [[ 9.99936100e-01 -4.94938792e-03 -1.01636086e-02 -5.99278059e+00] [ 4.86507489e-03 9.99953689e-01 -8.30361587e-03 3.76475030e+00] [ 1.02042357e-02 8.25363855e-03 9.99913872e-01 1.62808391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.589259763999994 meters 0.1412059966959025 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.77, Z:1.63 [[ 9.99929731e-01 -4.95048446e-03 -1.07715650e-02 -5.99109585e+00] [ 4.85385052e-03 9.99947908e-01 -8.97893008e-03 3.76835830e+00] [ 1.08154540e-02 8.92601557e-03 9.99901671e-01 1.62800421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.649259763999993 meters 0.1345601920906464 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.77, Z:1.63 [[ 9.99923839e-01 -4.89803836e-03 -1.13280717e-02 -5.98951581e+00] [ 4.79094971e-03 9.99943764e-01 -9.46128171e-03 3.77115331e+00] [ 1.13737763e-02 9.40628891e-03 9.99891074e-01 1.62788329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709259763999995 meters 0.13289259052025293 Centerline is valid? [False, False] Translation: X:-5.99, Y:3.77, Z:1.63 [[ 9.99923978e-01 -4.74884275e-03 -1.13792539e-02 -5.98926516e+00] [ 4.64347490e-03 9.99946267e-01 -9.26824266e-03 3.77076262e+00] [ 1.14226559e-02 9.21469879e-03 9.99892300e-01 1.62769695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.769259763999994 meters 0.1465134694588419 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99955761e-01 -7.47041156e-03 -5.71560761e-03 -5.97359355e+00] [ 7.46306315e-03 9.99971298e-01 -1.30592534e-03 3.76716092e+00] [ 5.72519936e-03 1.26321163e-03 9.99982813e-01 1.62162649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.829259763999993 meters 0.13165638779355715 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99955171e-01 -7.56067096e-03 -5.70019677e-03 -5.97389316e+00] [ 7.55267471e-03 9.99970466e-01 -1.42302600e-03 3.76729221e+00] [ 5.71078744e-03 1.37991047e-03 9.99982741e-01 1.62201895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.889259763999995 meters 0.13520758921920464 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99958143e-01 -7.42586413e-03 -5.34505682e-03 -5.97441999e+00] [ 7.42105785e-03 9.99972042e-01 -9.18473858e-04 3.76564350e+00] [ 5.35172785e-03 8.78769437e-04 9.99985293e-01 1.62138870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.949259763999994 meters 0.14000226383803868 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99955428e-01 -7.65215173e-03 -5.53042401e-03 -5.97408397e+00] [ 7.64496797e-03 9.99969907e-01 -1.31892901e-03 3.76752219e+00] [ 5.54035023e-03 1.27659031e-03 9.99983837e-01 1.62162631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.009259764 meters 0.1333544034955606 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99952310e-01 -7.81651236e-03 -5.85497148e-03 -5.97315760e+00] [ 7.80622665e-03 9.99967951e-01 -1.77754667e-03 3.77026667e+00] [ 5.86867805e-03 1.73175666e-03 9.99981280e-01 1.62153398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.069259763999995 meters 0.13938237567705225 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99950394e-01 -7.68183555e-03 -6.34022873e-03 -5.97126684e+00] [ 7.66849776e-03 9.99968338e-01 -2.12531233e-03 3.77327664e+00] [ 6.35635428e-03 2.07658687e-03 9.99977642e-01 1.62061940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129259764 meters 0.13184686920179534 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.78, Z:1.62 [[ 9.99943704e-01 -7.72406608e-03 -7.27509929e-03 -5.96866356e+00] [ 7.70032704e-03 9.99964955e-01 -3.28543220e-03 3.77985540e+00] [ 7.30022123e-03 3.22922660e-03 9.99968139e-01 1.62029944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189259764 meters 0.12515671228968592 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.78, Z:1.62 [[ 9.99938090e-01 -7.93866056e-03 -7.79704315e-03 -5.96740074e+00] [ 7.90626031e-03 9.99960019e-01 -4.17752290e-03 3.78410944e+00] [ 7.82989535e-03 4.11561882e-03 9.99960876e-01 1.62060872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249259763999994 meters 0.12629078238063488 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.79, Z:1.62 [[ 9.99937347e-01 -7.94084145e-03 -7.88950395e-03 -5.96707043e+00] [ 7.90686763e-03 9.99959374e-01 -4.32810365e-03 3.78500801e+00] [ 7.92355222e-03 4.26545122e-03 9.99959511e-01 1.62052915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309259764 meters 0.12781989768689947 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.78, Z:1.62 [[ 9.99941561e-01 -7.53000137e-03 -7.75722034e-03 -5.96678845e+00] [ 7.50208238e-03 9.99965300e-01 -3.62193036e-03 3.78303396e+00] [ 7.78422431e-03 3.56352339e-03 9.99963353e-01 1.61953315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369259764 meters 0.1322806054461858 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.78, Z:1.62 [[ 9.99946941e-01 -7.22960044e-03 -7.33813869e-03 -5.96770339e+00] [ 7.20943299e-03 9.99970172e-01 -2.77104843e-03 3.77935281e+00] [ 7.35795338e-03 2.71799758e-03 9.99969236e-01 1.61923060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.429259764 meters 0.1298084524758085 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99953061e-01 -6.76020885e-03 -6.94089205e-03 -5.96849198e+00] [ 6.74946099e-03 9.99975988e-01 -1.57074204e-03 3.77430280e+00] [ 6.95134394e-03 1.52382103e-03 9.99974678e-01 1.61885779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.489259763999996 meters 0.13659990116900636 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99918786e-01 -1.08701165e-02 -6.65296294e-03 -5.96969812e+00] [ 1.08368515e-02 9.99928700e-01 -5.01582994e-03 3.76976949e+00] [ 6.70701124e-03 4.94332541e-03 9.99965289e-01 1.61964270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.549259764 meters 0.13966553057658748 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.77, Z:1.62 [[ 9.99926825e-01 -1.02838076e-02 -6.37084695e-03 -5.96989589e+00] [ 1.02603493e-02 9.99940501e-01 -3.70393811e-03 3.76518369e+00] [ 6.40855848e-03 3.63829996e-03 9.99972846e-01 1.61862899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.609259764 meters 0.1475096982364862 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.76, Z:1.62 [[ 9.99935367e-01 -9.67967047e-03 -5.96368014e-03 -5.97029036e+00] [ 9.66587841e-03 9.99950553e-01 -2.33717410e-03 3.76027679e+00] [ 5.98600833e-03 2.27937884e-03 9.99979486e-01 1.61752853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.669259763999996 meters 0.14474155606844874 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.76, Z:1.62 [[ 9.99945419e-01 -8.66728824e-03 -5.83418672e-03 -5.96940981e+00] [ 8.66342075e-03 9.99962235e-01 -6.87848946e-04 3.75527277e+00] [ 5.83992818e-03 6.37267388e-04 9.99982744e-01 1.61553893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.729259764 meters 0.14227059451963273 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.75, Z:1.62 [[ 9.99899238e-01 -1.29284779e-02 -5.86247578e-03 -5.96961235e+00] [ 1.29002451e-02 9.99905131e-01 -4.82835237e-03 3.75416641e+00] [ 5.92434285e-03 4.75223848e-03 9.99971159e-01 1.61608233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789259764 meters 0.14904006029459105 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.75, Z:1.62 [[ 9.99904626e-01 -1.26147509e-02 -5.62204422e-03 -5.96982722e+00] [ 1.25922922e-02 9.99912664e-01 -4.01241036e-03 3.75147798e+00] [ 5.67216876e-03 3.94123326e-03 9.99976146e-01 1.61533949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849259763999996 meters 0.15351789073028435 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.75, Z:1.61 [[ 9.99954805e-01 -7.90217562e-03 -5.28621997e-03 -5.97002158e+00] [ 7.90848248e-03 9.99968039e-01 1.17323714e-03 3.74902246e+00] [ 5.27677989e-03 -1.21499009e-03 9.99985340e-01 1.61404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.909259764 meters 0.16033432352187307 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.75, Z:1.61 [[ 9.99958728e-01 -7.35906607e-03 -5.32792846e-03 -5.96914976e+00] [ 7.36948831e-03 9.99970965e-01 1.93917037e-03 3.74713517e+00] [ 5.31350328e-03 -1.97835444e-03 9.99983926e-01 1.61286908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.969259764 meters 0.15902798171863303 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.75, Z:1.61 [[ 9.99921779e-01 -1.12815317e-02 -5.40035423e-03 -5.96874076e+00] [ 1.12719244e-02 9.99934839e-01 -1.80616345e-03 3.74508901e+00] [ 5.42037863e-03 1.74514979e-03 9.99983787e-01 1.61262821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.029259763999995 meters 0.16024393790541294 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.74, Z:1.61 [[ 9.99927187e-01 -1.10450571e-02 -4.86081005e-03 -5.97027733e+00] [ 1.10416013e-02 9.99938768e-01 -7.37214687e-04 3.73992418e+00] [ 4.86865499e-03 6.83489882e-04 9.99987914e-01 1.61295536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089259764 meters 0.1724071577970548 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.74, Z:1.61 [[ 9.99877555e-01 -1.49181278e-02 -4.72486276e-03 -5.97064739e+00] [ 1.48992708e-02 9.99880993e-01 -4.00137649e-03 3.73567612e+00] [ 4.78399351e-03 3.93048953e-03 9.99980832e-01 1.61302546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149259764 meters 0.17406693192341774 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99888325e-01 -1.43378925e-02 -4.21450616e-03 -5.97142694e+00] [ 1.43281280e-02 9.99894614e-01 -2.33800460e-03 3.72960645e+00] [ 4.24758406e-03 2.27735752e-03 9.99988386e-01 1.61197233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.209259763999995 meters 0.1763351134590006 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99894177e-01 -1.40173138e-02 -3.89218118e-03 -5.97218235e+00] [ 1.40115634e-02 9.99900707e-01 -1.50077250e-03 3.72618666e+00] [ 3.91283151e-03 1.44607814e-03 9.99991299e-01 1.61184957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269259764 meters 0.17787648610535844 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99903716e-01 -1.34088995e-02 -3.57219365e-03 -5.97257001e+00] [ 1.34082846e-02 9.99910086e-01 -1.96020502e-04 3.72128859e+00] [ 3.57450088e-03 1.48104640e-04 9.99993600e-01 1.61109638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.329259764 meters 0.17008362468106725 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99905626e-01 -1.32796721e-02 -3.51987351e-03 -5.97261387e+00] [ 1.32799574e-02 9.99911816e-01 5.77052559e-05 3.72044865e+00] [ 3.51879681e-03 -1.04443580e-04 9.99993804e-01 1.61094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.389259763999995 meters 0.16957291126642116 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99909853e-01 -1.29591264e-02 -3.51386041e-03 -5.97218902e+00] [ 1.29611783e-02 9.99915843e-01 5.61780039e-04 3.71915700e+00] [ 3.50628452e-03 -6.07273167e-04 9.99993669e-01 1.61024443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449259764 meters 0.17951713266409325 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99907639e-01 -1.31111203e-02 -3.57944360e-03 -5.97234799e+00] [ 1.31121208e-02 9.99914000e-01 2.56174516e-04 3.72003804e+00] [ 3.57577703e-03 -3.03084952e-04 9.99993561e-01 1.61079759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.509259764 meters 0.17330490370195847 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99908594e-01 -1.30405526e-02 -3.57037399e-03 -5.97186549e+00] [ 1.30418548e-02 9.99914893e-01 3.41692513e-04 3.72054058e+00] [ 3.56561427e-03 -3.88225580e-04 9.99993568e-01 1.61006524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.569259763999995 meters 0.17351163127233837 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99906713e-01 -1.30862561e-02 -3.91339853e-03 -5.97069508e+00] [ 1.30862654e-02 9.99914371e-01 -2.32392821e-05 3.72305483e+00] [ 3.91336754e-03 -2.79746576e-05 9.99992342e-01 1.60965284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629259764 meters 0.16655514875553762 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99903150e-01 -1.33085506e-02 -4.07105948e-03 -5.97048802e+00] [ 1.33063296e-02 9.99911303e-01 -5.72146712e-04 3.72514586e+00] [ 4.07831283e-03 5.17920440e-04 9.99991550e-01 1.61005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.689259764 meters 0.16392871776326545 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99899132e-01 -1.35383630e-02 -4.29405067e-03 -5.97022101e+00] [ 1.35335205e-02 9.99907751e-01 -1.15478684e-03 3.72724309e+00] [ 4.30928847e-03 1.09655673e-03 9.99990114e-01 1.61062080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.749259763999994 meters 0.16353435092369706 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99898442e-01 -1.36056793e-02 -4.24163135e-03 -5.97016429e+00] [ 1.36003580e-02 9.99906690e-01 -1.28088590e-03 3.72807932e+00] [ 4.25866289e-03 1.22306811e-03 9.99990184e-01 1.61036271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.809259764 meters 0.16439825381870019 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99899048e-01 -1.34041245e-02 -4.71418146e-03 -5.96833604e+00] [ 1.33977903e-02 9.99909303e-01 -1.37267534e-03 3.73022195e+00] [ 4.73215342e-03 1.30937715e-03 9.99987946e-01 1.60941534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.869259764 meters 0.1686592163790949 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99905871e-01 -1.29167488e-02 -4.62670551e-03 -5.96803137e+00] [ 1.29142473e-02 9.99916445e-01 -5.70140451e-04 3.72779557e+00] [ 4.63368328e-03 5.10336366e-04 9.99989134e-01 1.60853515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.929259763999994 meters 0.17644175472936002 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.73, Z:1.61 [[ 9.99907915e-01 -1.27545410e-02 -4.63502182e-03 -5.96822523e+00] [ 1.27533478e-02 9.99918632e-01 -2.86889634e-04 3.72650901e+00] [ 4.63830383e-03 2.27751171e-04 9.99989217e-01 1.60881939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.989259763999996 meters 0.17313309407218344 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99913785e-01 -1.23586788e-02 -4.43678615e-03 -5.96857638e+00] [ 1.23614995e-02 9.99923408e-01 6.08885916e-04 3.72321834e+00] [ 4.42892130e-03 -6.63678750e-04 9.99989972e-01 1.60849883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.049259764 meters 0.18084924845807587 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.72, Z:1.61 [[ 9.99921477e-01 -1.19395636e-02 -3.80619099e-03 -5.96995537e+00] [ 1.19470692e-02 9.99926719e-01 1.95532001e-03 3.71742000e+00] [ 3.78256640e-03 -2.00063930e-03 9.99990845e-01 1.60822296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.109259764 meters 0.18661214574772816 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99928280e-01 -1.15514481e-02 -3.16207347e-03 -5.97135089e+00] [ 1.15619241e-02 9.99927664e-01 3.31502048e-03 3.71162126e+00] [ 3.12355145e-03 -3.35134238e-03 9.99989506e-01 1.60780298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.169259763999996 meters 0.18734879707029176 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99931835e-01 -1.13430503e-02 -2.76763433e-03 -5.97263166e+00] [ 1.13543343e-02 9.99927148e-01 4.09607047e-03 3.70762902e+00] [ 2.72097077e-03 -4.12721591e-03 9.99987781e-01 1.60822901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.229259764 meters 0.19077134131960402 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99938883e-01 -1.07828395e-02 -2.44158475e-03 -5.97331318e+00] [ 1.07956560e-02 9.99927688e-01 5.29836837e-03 3.70252325e+00] [ 2.38427674e-03 -5.32440305e-03 9.99982983e-01 1.60796379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.289259764 meters 0.19191345651965996 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99880392e-01 -1.52580026e-02 -2.52885037e-03 -5.97360580e+00] [ 1.52599638e-02 9.99883273e-01 7.58059614e-04 3.70271930e+00] [ 2.51698871e-03 -7.96559109e-04 9.99996515e-01 1.60896162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.349259763999996 meters 0.19357073454471416 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99887165e-01 -1.48583360e-02 -2.21060874e-03 -5.97444760e+00] [ 1.48622141e-02 9.99888023e-01 1.74832147e-03 3.69838198e+00] [ 2.18438405e-03 -1.78097874e-03 9.99996028e-01 1.60898688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.409259764 meters 0.1904746116169849 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.69, Z:1.61 [[ 9.99894885e-01 -1.43816315e-02 -1.84043045e-03 -5.97529964e+00] [ 1.43867838e-02 9.99892535e-01 2.81758014e-03 3.69380084e+00] [ 1.79971126e-03 -2.84376185e-03 9.99994337e-01 1.60885425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469259764 meters 0.19137929833281112 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.69, Z:1.61 [[ 9.99903282e-01 -1.38525479e-02 -1.23834430e-03 -5.97640464e+00] [ 1.38577735e-02 9.99894662e-01 4.31582199e-03 3.68777342e+00] [ 1.17842873e-03 -4.33256526e-03 9.99989920e-01 1.60815837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529259763999995 meters 0.195397524368595 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.68, Z:1.61 [[ 9.99908951e-01 -1.34554102e-02 -1.02045846e-03 -5.97672651e+00] [ 1.34605539e-02 9.99895811e-01 5.21344602e-03 3.68456259e+00] [ 9.50203081e-04 -5.22670727e-03 9.99985889e-01 1.60771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589259764 meters 0.18921725910198492 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.69, Z:1.61 [[ 9.99907209e-01 -1.35686551e-02 -1.21040325e-03 -5.97639722e+00] [ 1.35744878e-02 9.99895619e-01 4.94826012e-03 3.68567732e+00] [ 1.14313567e-03 -4.96423157e-03 9.99987025e-01 1.60797222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.649259764 meters 0.19311118064007335 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99910035e-01 -1.33313535e-02 -1.48226546e-03 -5.97493142e+00] [ 1.33386939e-02 9.99898244e-01 5.05770318e-03 3.68675132e+00] [ 1.41468860e-03 -5.07701965e-03 9.99986111e-01 1.60678166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.709259763999995 meters 0.19885902806785227 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99901944e-01 -1.38407176e-02 -2.13008629e-03 -5.97369138e+00] [ 1.38483477e-02 9.99897590e-01 3.60998141e-03 3.69269868e+00] [ 2.07990341e-03 -3.63912561e-03 9.99991215e-01 1.60743510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769259764 meters 0.18707811153673254 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99892364e-01 -1.43907493e-02 -2.85783256e-03 -5.97250108e+00] [ 1.43958284e-02 9.99894817e-01 1.76470102e-03 3.69918408e+00] [ 2.83213659e-03 -1.80565194e-03 9.99994359e-01 1.60884915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829259764 meters 0.18314922987684926 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99890149e-01 -1.44442183e-02 -3.32488498e-03 -5.97102815e+00] [ 1.44481981e-02 9.99894928e-01 1.17608222e-03 3.70271622e+00] [ 3.30754803e-03 -1.22399162e-03 9.99993781e-01 1.60838807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.889259763999995 meters 0.1766921213061366 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99881101e-01 -1.47577502e-02 -4.47142711e-03 -5.96884280e+00] [ 1.47539033e-02 9.99890757e-01 -8.92097557e-04 3.71015756e+00] [ 4.48410399e-03 8.26020484e-04 9.99989605e-01 1.61006805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949259764 meters 0.1811181063248085 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99883485e-01 -1.46164598e-02 -4.40184820e-03 -5.96893078e+00] [ 1.46135971e-02 9.99892983e-01 -6.81806853e-04 3.70953600e+00] [ 4.41134273e-03 6.17400577e-04 9.99990079e-01 1.60991815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.009259764 meters 0.17179674563898792 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99890873e-01 -1.41671406e-02 -4.18729935e-03 -5.96903110e+00] [ 1.41681746e-02 9.99899603e-01 2.17372024e-04 3.70656290e+00] [ 4.18379941e-03 -2.76674691e-04 9.99991210e-01 1.60916851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.069259763999995 meters 0.18270413050733356 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.71, Z:1.61 [[ 9.99892650e-01 -1.40216022e-02 -4.25248679e-03 -5.96877833e+00] [ 1.40235694e-02 9.99901571e-01 4.33136493e-04 3.70607851e+00] [ 4.24599495e-03 -4.92725039e-04 9.99990864e-01 1.60901069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129259764 meters 0.1882793974237028 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99903481e-01 -1.33028586e-02 -4.00789965e-03 -5.96875298e+00] [ 1.33099333e-02 9.99909898e-01 1.74372111e-03 3.70163152e+00] [ 3.98434205e-03 -1.79689769e-03 9.99990448e-01 1.60795315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.189259764 meters 0.1832151146610175 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.70, Z:1.61 [[ 9.99849165e-01 -1.69673699e-02 -3.70894113e-03 -5.96903618e+00] [ 1.69630321e-02 9.99855400e-01 -1.19789211e-03 3.69654352e+00] [ 3.72872990e-03 1.13479654e-03 9.99992404e-01 1.60740816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.249259763999994 meters 0.20210431938037227 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99856936e-01 -1.65817679e-02 -3.33962905e-03 -5.96980310e+00] [ 1.65816798e-02 9.99862513e-01 -5.40692193e-05 3.69215133e+00] [ 3.34006646e-03 -1.31517572e-06 9.99994422e-01 1.60707924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309259764 meters 0.18930810354328736 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99866746e-01 -1.60010651e-02 -3.23363966e-03 -5.96966269e+00] [ 1.60042280e-02 9.99871468e-01 9.54621299e-04 3.68875961e+00] [ 3.21794908e-03 -1.00624600e-03 9.99994316e-01 1.60637437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369259764 meters 0.19654082726779143 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99872053e-01 -1.56912770e-02 -3.10825754e-03 -5.96974146e+00] [ 1.56959310e-02 9.99875718e-01 1.47860754e-03 3.68694333e+00] [ 3.08467000e-03 -1.52720535e-03 9.99994076e-01 1.60600868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429259763999994 meters 0.19445904182807075 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99878153e-01 -1.53113310e-02 -3.04006055e-03 -5.96943754e+00] [ 1.53177167e-02 9.99880496e-01 2.08845754e-03 3.68525676e+00] [ 3.00772018e-03 -2.13476986e-03 9.99993198e-01 1.60524888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489259763999996 meters 0.19899363979538642 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.68, Z:1.61 [[ 9.99878203e-01 -1.53507485e-02 -2.81669221e-03 -5.97012076e+00] [ 1.53571257e-02 9.99879526e-01 2.25659320e-03 3.68426758e+00] [ 2.78171247e-03 -2.29957465e-03 9.99993487e-01 1.60547602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549259764 meters 0.2068542092692198 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.61 [[ 9.99876154e-01 -1.54436836e-02 -3.02795681e-03 -5.96948787e+00] [ 1.54496531e-02 9.99878730e-01 1.95807143e-03 3.68596906e+00] [ 2.99734977e-03 -2.00460981e-03 9.99993499e-01 1.60538663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609259763999994 meters 0.2047746344475359 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.60 [[ 9.99878012e-01 -1.53110880e-02 -3.08742117e-03 -5.96897925e+00] [ 1.53176467e-02 9.99880447e-01 2.11199545e-03 3.68606248e+00] [ 3.05471511e-03 -2.15902984e-03 9.99993004e-01 1.60485990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669259763999996 meters 0.2114287070359779 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.69, Z:1.60 [[ 0.9999202 -0.01034593 0.00724963 -5.97385363] [ 0.01040585 0.99991159 -0.00827774 3.68538867] [-0.00716335 0.00835252 0.99993946 1.60451363] [ 0. 0. 0. 1. ]] SLAMing on 35.729259764 meters 0.20329366606792476 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.68, Z:1.60 [[ 0.9999256 -0.00960436 0.0075204 -5.97387582] [ 0.00965474 0.99993101 -0.0066908 3.68012747] [-0.00745562 0.00676291 0.99994934 1.60321057] [ 0. 0. 0. 1. ]] SLAMing on 35.789259764 meters 0.2073131766941671 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.67, Z:1.60 [[ 0.99988141 -0.01309589 0.00810334 -5.97454781] [ 0.01316339 0.99987863 -0.00833325 3.67194395] [-0.00799322 0.00843893 0.99993244 1.60124132] [ 0. 0. 0. 1. ]] SLAMing on 35.849259763999996 meters 0.21891076512931998 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.66, Z:1.60 [[ 0.99983094 -0.01609418 0.00889231 -5.97494762] [ 0.01617064 0.99983231 -0.00859452 3.66085184] [-0.0087525 0.00873686 0.99992353 1.59697761] [ 0. 0. 0. 1. ]] SLAMing on 35.909259764 meters 0.2243643811766564 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.65, Z:1.60 [[ 0.99983362 -0.01555883 0.00952083 -5.97595586] [ 0.01562381 0.99985489 -0.00678893 3.65467341] [-0.00941382 0.00693655 0.99993163 1.59583102] [ 0. 0. 0. 1. ]] SLAMing on 35.969259764 meters 0.24004450966245647 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.65, Z:1.59 [[ 0.99976351 -0.01899063 0.01059611 -5.97686345] [ 0.01906697 0.99979264 -0.00715038 3.64505627] [-0.01045812 0.00735072 0.99991829 1.59084311] [ 0. 0. 0. 1. ]] SLAMing on 36.029259763999995 meters 0.26152230937106946 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.64, Z:1.59 [[ 9.99836055e-01 -1.41602108e-02 1.12849820e-02 -5.97767731e+00] [ 1.41756085e-02 9.99898695e-01 -1.28561921e-03 3.63992870e+00] [-1.12656342e-02 1.44537993e-03 9.99935496e-01 1.58889323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089259764 meters 0.22306456333026733 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.64, Z:1.59 [[ 9.99889191e-01 -9.95777146e-03 1.10656187e-02 -5.97640309e+00] [ 9.92845082e-03 9.99947063e-01 2.70149008e-03 3.64296267e+00] [-1.10919337e-02 -2.59132628e-03 9.99935125e-01 1.58769643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149259764 meters 0.22264536413011843 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.64, Z:1.59 [[ 9.99892325e-01 -9.85060702e-03 1.08767549e-02 -5.97531733e+00] [ 9.82227600e-03 9.99948235e-01 2.65508571e-03 3.64427332e+00] [-1.09023461e-02 -2.54796533e-03 9.99937321e-01 1.58676337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209259763999995 meters 0.23241714724645865 Centerline is valid? [False, False] Translation: X:-5.98, Y:3.65, Z:1.59 [[ 9.99925162e-01 -6.25298050e-03 1.05152729e-02 -5.97510338e+00] [ 6.19856784e-03 9.99967272e-01 5.19928554e-03 3.64975151e+00] [-1.05474398e-02 -5.13371680e-03 9.99931196e-01 1.58826122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269259764 meters 0.22564635465855334 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.66, Z:1.59 [[ 9.99930120e-01 -6.55036733e-03 9.84110227e-03 -5.97324625e+00] [ 6.51152796e-03 9.99970905e-01 3.97351962e-03 3.65570217e+00] [-9.86684396e-03 -3.90916134e-03 9.99943680e-01 1.58805851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329259764 meters 0.21973039074404677 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.66, Z:1.59 [[ 9.99933386e-01 -7.04851906e-03 9.14011132e-03 -5.97188197e+00] [ 7.02902875e-03 9.99972957e-01 2.16276650e-03 3.66226203e+00] [-9.15510844e-03 -2.09837633e-03 9.99955889e-01 1.58911656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389259763999995 meters 0.2057772638255928 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.67, Z:1.59 [[ 9.99940573e-01 -7.40828123e-03 7.99795391e-03 -5.96947610e+00] [ 7.41085875e-03 9.99972496e-01 -2.92684608e-04 3.67097149e+00] [-7.99556564e-03 3.51938921e-04 9.99967973e-01 1.59056619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449259764 meters 0.2042878886551009 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.68, Z:1.59 [[ 9.99941897e-01 -7.70448514e-03 7.53951328e-03 -5.96823245e+00] [ 7.71442233e-03 9.99969412e-01 -1.28982053e-03 3.67568049e+00] [-7.52934525e-03 1.34790858e-03 9.99970746e-01 1.59062647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509259764 meters 0.2132597554867797 Centerline is valid? [False, False] Translation: X:-5.97, Y:3.68, Z:1.59 [[ 9.99971797e-01 -3.49993524e-03 6.64493566e-03 -5.96581959e+00] [ 3.49010450e-03 9.99992799e-01 1.49045261e-03 3.68264266e+00] [-6.65010430e-03 -1.46721906e-03 9.99976811e-01 1.59032891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569259763999995 meters 0.16964112527309608 Centerline is valid? [False, False] Translation: X:-5.95, Y:3.69, Z:1.59 [[ 9.99961415e-01 8.32103325e-03 2.81575929e-03 -5.94857347e+00] [-8.33052050e-03 9.99959607e-01 3.37455579e-03 3.69012307e+00] [-2.78756576e-03 -3.39788233e-03 9.99990342e-01 1.59427009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629259764 meters 0.18648617871294185 Centerline is valid? [False, False] Translation: X:-5.94, Y:3.70, Z:1.60 [[ 9.99973760e-01 7.22318562e-03 -5.51987262e-04 -5.93866923e+00] [-7.22465599e-03 9.99970230e-01 -2.70990511e-03 3.69756680e+00] [ 5.32396682e-04 2.71382192e-03 9.99996176e-01 1.59683889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689259764 meters 0.16584207666260192 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.70, Z:1.60 [[ 9.99977548e-01 4.62303977e-03 4.85089218e-03 -5.92287581e+00] [-4.62865840e-03 9.99988629e-01 1.14768072e-03 3.70380868e+00] [-4.84553125e-03 -1.17010808e-03 9.99987576e-01 1.59587261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.749259763999994 meters 0.15608908557174778 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99982401e-01 4.30769762e-03 4.07942621e-03 -5.92135402e+00] [-4.30641377e-03 9.99990675e-01 -3.23443850e-04 3.70992930e+00] [-4.08078147e-03 3.05870461e-04 9.99991627e-01 1.59671249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809259764 meters 0.14945861119080656 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99994875e-01 2.00666474e-04 3.19539820e-03 -5.91896908e+00] [-1.83873868e-04 9.99986177e-01 -5.25467367e-03 3.71418967e+00] [-3.19640847e-03 5.25405918e-03 9.99981089e-01 1.59624991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.869259764 meters 0.14744113611147888 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99994877e-01 1.82902732e-04 3.19579227e-03 -5.91884545e+00] [-1.65719829e-04 9.99985535e-01 -5.37616487e-03 3.71492058e+00] [-3.19672935e-03 5.37560772e-03 9.99980442e-01 1.59611636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.929259763999994 meters 0.15534786550217883 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99986323e-01 -4.15187053e-03 3.18065727e-03 -5.91893051e+00] [ 4.18266346e-03 9.99943850e-01 -9.73661970e-03 3.71496283e+00] [-3.14005349e-03 9.74979015e-03 9.99947539e-01 1.59636443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.989259763999996 meters 0.1497426599522617 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99986091e-01 -4.06290775e-03 3.36320035e-03 -5.91902980e+00] [ 4.09444628e-03 9.99947207e-01 -9.42437995e-03 3.71427985e+00] [-3.32473241e-03 9.43801930e-03 9.99949934e-01 1.59577311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.049259764 meters 0.15306327159084024 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.60 [[ 9.99984607e-01 -4.11828707e-03 3.71817059e-03 -5.91957895e+00] [ 4.15198120e-03 9.99949972e-01 -9.10024036e-03 3.71354099e+00] [-3.68050718e-03 9.11553806e-03 9.99951679e-01 1.59522064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.109259763999994 meters 0.18215468311310826 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.59 [[ 9.99980959e-01 -4.04974373e-03 4.65627918e-03 -5.92108281e+00] [ 4.08679228e-03 9.99959849e-01 -7.97489619e-03 3.70949191e+00] [-4.62379594e-03 7.99377359e-03 9.99957359e-01 1.59379003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.169259763999996 meters 0.1823040056219409 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.59 [[ 9.99974615e-01 -4.50879770e-03 5.51731582e-03 -5.92321156e+00] [ 4.55108009e-03 9.99960189e-01 -7.67517402e-03 3.70766704e+00] [-5.48249036e-03 7.70008893e-03 9.99955324e-01 1.59388734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.229259764 meters 0.17645907590909995 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.71, Z:1.59 [[ 9.99977651e-01 -4.66960253e-03 4.78464773e-03 -5.92100501e+00] [ 4.71010376e-03 9.99952876e-01 -8.48881938e-03 3.71326981e+00] [-4.74478285e-03 8.51116585e-03 9.99952522e-01 1.59326174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28925976399999 meters 0.16199702942123148 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.72, Z:1.59 [[ 9.99979889e-01 -4.89809867e-03 4.02871104e-03 -5.91856988e+00] [ 4.93709632e-03 9.99940497e-01 -9.72763026e-03 3.72086352e+00] [-3.98082442e-03 9.74732476e-03 9.99944570e-01 1.59231143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.349259763999996 meters 0.15918748263907578 Centerline is valid? [False, False] Translation: X:-5.92, Y:3.73, Z:1.59 [[ 9.99984042e-01 -4.69387350e-03 3.14369966e-03 -5.91551001e+00] [ 4.72733945e-03 9.99931322e-01 -1.07239497e-02 3.72728244e+00] [-3.09314690e-03 1.07386399e-02 9.99937555e-01 1.59096051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.409259764 meters 0.16145599941016245 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99985198e-01 -4.75137872e-03 2.65121755e-03 -5.91384902e+00] [ 4.78130465e-03 9.99923611e-01 -1.13978210e-02 3.73148954e+00] [-2.59685967e-03 1.14103286e-02 9.99931528e-01 1.59044982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.469259764 meters 0.15372908592558365 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99996065e-01 -5.65217386e-04 2.74798428e-03 -5.91369825e+00] [ 5.85297062e-04 9.99973097e-01 -7.31175137e-03 3.73301696e+00] [-2.74377763e-03 7.31333098e-03 9.99969493e-01 1.58987806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.529259763999995 meters 0.15837674149790446 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99995846e-01 -6.29702152e-04 2.81267668e-03 -5.91356823e+00] [ 6.50588065e-04 9.99972179e-01 -7.43090387e-03 3.73398455e+00] [-2.80791917e-03 7.43270290e-03 9.99968435e-01 1.58947753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589259764 meters 0.1593791865677402 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99984586e-01 -5.02745494e-03 2.35654020e-03 -5.91248286e+00] [ 5.05577930e-03 9.99913141e-01 -1.21717048e-02 3.73629780e+00] [-2.29514282e-03 1.21834313e-02 9.99923145e-01 1.58969025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.649259764 meters 0.15513075328225934 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99984200e-01 -5.16687797e-03 2.21447564e-03 -5.91222585e+00] [ 5.19429012e-03 9.99907666e-01 -1.25569911e-02 3.73797452e+00] [-2.14939073e-03 1.25682953e-02 9.99918706e-01 1.58994437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.709259763999995 meters 0.15838302991608724 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99984653e-01 -5.05609529e-03 2.26485973e-03 -5.91227511e+00] [ 5.08368609e-03 9.99910854e-01 -1.23466848e-02 3.73732957e+00] [-2.20223181e-03 1.23580091e-02 9.99921212e-01 1.58979110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769259764 meters 0.15246262828785087 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99985950e-01 -4.75766308e-03 2.33756629e-03 -5.91182224e+00] [ 4.78502734e-03 9.99918413e-01 -1.18435955e-02 3.73633937e+00] [-2.28102774e-03 1.18546144e-02 9.99927130e-01 1.58874273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.829259764 meters 0.15343109310200603 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99986356e-01 -4.70933942e-03 2.26055281e-03 -5.91134387e+00] [ 4.73581623e-03 9.99918528e-01 -1.18536814e-02 3.73700485e+00] [-2.20454563e-03 1.18642252e-02 9.99927187e-01 1.58832455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.889259763999995 meters 0.15391610016662555 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99985476e-01 -4.89533933e-03 2.25446721e-03 -5.91137613e+00] [ 4.92249465e-03 9.99913444e-01 -1.22013529e-02 3.73837881e+00] [-2.19454231e-03 1.22122733e-02 9.99923019e-01 1.58846496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949259764 meters 0.14948591632120942 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99986354e-01 -4.87183149e-03 1.88589098e-03 -5.91021099e+00] [ 4.89513086e-03 9.99909217e-01 -1.25536679e-02 3.74069349e+00] [-1.82456042e-03 1.25627283e-02 9.99919421e-01 1.58821876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.009259764 meters 0.14830938269659183 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99987568e-01 -4.56870052e-03 1.99783497e-03 -5.90991380e+00] [ 4.59251157e-03 9.99916477e-01 -1.20808509e-02 3.73954997e+00] [-1.94247431e-03 1.20898758e-02 9.99925028e-01 1.58729593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.069259763999995 meters 0.14691982344470375 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99987546e-01 -4.64749616e-03 1.81872341e-03 -5.90951722e+00] [ 4.66957057e-03 9.99913112e-01 -1.23273667e-02 3.74074371e+00] [-1.76127399e-03 1.23357059e-02 9.99922361e-01 1.58744175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129259764 meters 0.15807694702608088 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99988277e-01 -4.44028895e-03 1.93138939e-03 -5.90957848e+00] [ 4.46298482e-03 9.99919114e-01 -1.19099215e-02 3.73947266e+00] [-1.87834968e-03 1.19184016e-02 9.99927209e-01 1.58704241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.189259764 meters 0.15876084989127495 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.59 [[ 9.99990392e-01 -3.84490576e-03 2.10535477e-03 -5.90932572e+00] [ 3.86759729e-03 9.99933308e-01 -1.08821536e-02 3.73623787e+00] [-2.06337351e-03 1.08901917e-02 9.99938571e-01 1.58583390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.249259763999994 meters 0.16011400534573345 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99991000e-01 -3.59075297e-03 2.25971698e-03 -5.90966094e+00] [ 3.61383225e-03 9.99940490e-01 -1.02935236e-02 3.73399803e+00] [-2.22262100e-03 1.03015972e-02 9.99944467e-01 1.58563840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309259764 meters 0.15872977222330467 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99991986e-01 -3.25513476e-03 2.33047720e-03 -5.90959673e+00] [ 3.27748947e-03 9.99948031e-01 -9.65365081e-03 3.73193172e+00] [-2.29893215e-03 9.66121156e-03 9.99950687e-01 1.58513643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.369259764 meters 0.15815086724730917 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99991523e-01 -3.41124712e-03 2.30582013e-03 -5.90986928e+00] [ 3.43381686e-03 9.99945531e-01 -9.85611991e-03 3.73248435e+00] [-2.27207287e-03 9.86395412e-03 9.99948769e-01 1.58565985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.429259763999994 meters 0.15355498121216182 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.59 [[ 9.99992830e-01 -3.24904822e-03 1.94519462e-03 -5.90851722e+00] [ 3.26828988e-03 9.99944939e-01 -9.97181638e-03 3.73413411e+00] [-1.91268861e-03 9.97810234e-03 9.99948388e-01 1.58507505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.489259763999996 meters 0.15175188913390886 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99993471e-01 -3.02582763e-03 1.97526283e-03 -5.90807293e+00] [ 3.04475250e-03 9.99948809e-01 -9.64929108e-03 3.73363878e+00] [-1.94596463e-03 9.65524227e-03 9.99951494e-01 1.58424213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.549259764 meters 0.1489981792448452 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99993879e-01 -2.98503823e-03 1.82517086e-03 -5.90736405e+00] [ 3.00260689e-03 9.99948446e-01 -9.70000592e-03 3.73466601e+00] [-1.79612188e-03 9.70542681e-03 9.99951288e-01 1.58377771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.609259763999994 meters 0.15068544677478968 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99993921e-01 -3.01113377e-03 1.75805302e-03 -5.90729635e+00] [ 3.02817777e-03 9.99947648e-01 -9.77401083e-03 3.73499774e+00] [-1.72853013e-03 9.77927511e-03 9.99950688e-01 1.58394865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.669259763999996 meters 0.15140580994174677 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99994865e-01 -2.60932991e-03 1.86061782e-03 -5.90694076e+00] [ 2.62609235e-03 9.99955470e-01 -9.06427303e-03 3.73318014e+00] [-1.83688329e-03 9.06911264e-03 9.99957188e-01 1.58289370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.729259764 meters 0.15663125968540112 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.58 [[ 9.99995152e-01 -2.70001202e-03 1.55116829e-03 -5.90617507e+00] [ 2.71450211e-03 9.99951979e-01 -9.41651180e-03 3.73511561e+00] [-1.52566911e-03 9.42067680e-03 9.99954461e-01 1.58297646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78925976399999 meters 0.14870531381839333 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.74, Z:1.58 [[ 9.99995893e-01 -2.53452414e-03 1.33785353e-03 -5.90547265e+00] [ 2.54688298e-03 9.99953339e-01 -9.31839005e-03 3.73536861e+00] [-1.31417342e-03 9.32175914e-03 9.99955688e-01 1.58274116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.849259763999996 meters 0.15746149423865388 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99996600e-01 -2.21024666e-03 1.38383236e-03 -5.90538098e+00] [ 2.22230299e-03 9.99959054e-01 -8.77221216e-03 3.73354329e+00] [-1.36438694e-03 8.77525763e-03 9.99960566e-01 1.58234219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.909259764 meters 0.15855475109666886 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99996387e-01 -2.09104306e-03 1.68951602e-03 -5.90633967e+00] [ 2.10481923e-03 9.99964216e-01 -8.19370644e-03 3.73084062e+00] [-1.67232217e-03 8.19723295e-03 9.99965004e-01 1.58253635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96925976399999 meters 0.15880955931766735 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99996638e-01 -2.11002372e-03 1.50702891e-03 -5.90598376e+00] [ 2.12249561e-03 9.99963113e-01 -8.32272973e-03 3.73155090e+00] [-1.48941216e-03 8.32590041e-03 9.99964230e-01 1.58273361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.029259763999995 meters 0.16534082387680085 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99997395e-01 -1.68879183e-03 1.53544101e-03 -5.90545815e+00] [ 1.70051352e-03 9.99969177e-01 -7.66510298e-03 3.72984808e+00] [-1.52244892e-03 7.66769405e-03 9.99969444e-01 1.58175128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089259764 meters 0.16139829378510867 Centerline is valid? [False, False] Translation: X:-5.91, Y:3.73, Z:1.58 [[ 9.99997637e-01 -1.62370195e-03 1.44558508e-03 -5.90504617e+00] [ 1.63469409e-03 9.99969513e-01 -7.63550975e-03 3.73011817e+00] [-1.43314322e-03 7.63785479e-03 9.99969804e-01 1.58149452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.149259764 meters 0.15930052848662832 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99997707e-01 -1.67674480e-03 1.33207492e-03 -5.90485514e+00] [ 1.68707583e-03 9.99968213e-01 -7.79269658e-03 3.73086355e+00] [-1.31896621e-03 7.79492602e-03 9.99968749e-01 1.58168666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.209259763999995 meters 0.1600584958163327 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.73, Z:1.58 [[ 9.99997577e-01 -1.83550545e-03 1.21562071e-03 -5.90471194e+00] [ 1.84529435e-03 9.99965483e-01 -8.10104007e-03 3.73208056e+00] [-1.20070925e-03 8.10326362e-03 9.99966447e-01 1.58197089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269259764 meters 0.1596420733908026 Centerline is valid? [False, False] Translation: X:-5.90, Y:3.74, Z:1.58 [[ 9.99997368e-01 -2.09150856e-03 9.43671665e-04 -5.90400430e+00] [ 2.09960463e-03 9.99960284e-01 -8.66149086e-03 3.73504901e+00] [-9.25518604e-04 8.66344940e-03 9.99962043e-01 1.58204848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.329259764 meters 0.15407722120719944 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99985695e-01 -2.84838086e-03 4.52721378e-03 -5.88035664e+00] [ 2.85633835e-03 9.99994386e-01 -1.75220796e-03 3.72944540e+00] [-4.52219740e-03 1.76511415e-03 9.99988217e-01 1.57625819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.389259763999995 meters 0.1583744547438747 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99966557e-01 -7.24447610e-03 3.79495965e-03 -5.87878835e+00] [ 7.26981463e-03 9.99951087e-01 -6.70620119e-03 3.73316874e+00] [-3.74619111e-03 6.73356557e-03 9.99970312e-01 1.57674020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449259764 meters 0.161969991002572 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99963362e-01 -7.65807204e-03 3.82478938e-03 -5.87987979e+00] [ 7.68564392e-03 9.99944206e-01 -7.24682302e-03 3.73404225e+00] [-3.76907929e-03 7.27595347e-03 9.99966427e-01 1.57829263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.509259764 meters 0.15808584308240456 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99967266e-01 -7.18516741e-03 3.72023843e-03 -5.87916728e+00] [ 7.20957146e-03 9.99952306e-01 -6.58848879e-03 3.73223151e+00] [-3.67272160e-03 6.61509445e-03 9.99971375e-01 1.57754987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.569259763999995 meters 0.15865230657972304 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99970210e-01 -6.75004003e-03 3.74383851e-03 -5.87860057e+00] [ 6.77215066e-03 9.99959515e-01 -5.92497737e-03 3.73056019e+00] [-3.70369311e-03 5.95015470e-03 9.99975439e-01 1.57653527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629259764 meters 0.15201718091100538 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99970019e-01 -6.75077139e-03 3.79311622e-03 -5.87917863e+00] [ 6.77308147e-03 9.99959657e-01 -5.89999594e-03 3.72975503e+00] [-3.75313367e-03 5.92551014e-03 9.99975401e-01 1.57722908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.689259764 meters 0.15687332825053374 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99973215e-01 -6.29924023e-03 3.72668179e-03 -5.87854865e+00] [ 6.31870485e-03 9.99966336e-01 -5.23453121e-03 3.72794174e+00] [-3.69358277e-03 5.25793881e-03 9.99979356e-01 1.57646381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.749259763999994 meters 0.16026539699981426 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.73, Z:1.58 [[ 9.99942734e-01 -1.01115126e-02 3.50507352e-03 -5.87772311e+00] [ 1.01422809e-02 9.99909185e-01 -8.87449231e-03 3.72584729e+00] [-3.41502067e-03 8.90953355e-03 9.99954478e-01 1.57613158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809259764 meters 0.1575940727468855 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.72, Z:1.58 [[ 9.99945967e-01 -9.76208165e-03 3.57277721e-03 -5.87818041e+00] [ 9.79114400e-03 9.99918367e-01 -8.20936090e-03 3.72260555e+00] [-3.49234510e-03 8.24389890e-03 9.99959920e-01 1.57650643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.869259764 meters 0.15944783220216424 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.72, Z:1.58 [[ 9.99945208e-01 -9.68244885e-03 3.97880535e-03 -5.87958505e+00] [ 9.71234799e-03 9.99924216e-01 -7.56527607e-03 3.71908012e+00] [-3.90525342e-03 7.60350509e-03 9.99963467e-01 1.57715782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.929259763999994 meters 0.1833112341463564 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.72, Z:1.58 [[ 9.99947857e-01 -9.23274922e-03 4.36336675e-03 -5.88008231e+00] [ 9.26076935e-03 9.99936343e-01 -6.44570558e-03 3.71502722e+00] [-4.30357741e-03 6.48577762e-03 9.99969706e-01 1.57630684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.989259763999996 meters 0.17155176196719343 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.71, Z:1.58 [[ 9.99950731e-01 -8.74049914e-03 4.70516449e-03 -5.88028127e+00] [ 8.76490233e-03 9.99948113e-01 -5.19107576e-03 3.71098491e+00] [-4.65954776e-03 5.23206031e-03 9.99975457e-01 1.57506029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.049259764 meters 0.18621865204605137 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.71, Z:1.57 [[ 9.99952826e-01 -8.41346113e-03 4.85378876e-03 -5.88046188e+00] [ 8.43532608e-03 9.99954288e-01 -4.50197171e-03 3.70854102e+00] [-4.81568972e-03 4.54270263e-03 9.99978086e-01 1.57467320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.109259763999994 meters 0.17194217659563052 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.71, Z:1.57 [[ 9.99954459e-01 -8.22116676e-03 4.84692131e-03 -5.88048325e+00] [ 8.24150308e-03 9.99957257e-01 -4.19078192e-03 3.70737526e+00] [-4.81226102e-03 4.23053698e-03 9.99979472e-01 1.57467670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.169259763999996 meters 0.1835548713460389 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.70, Z:1.57 [[ 9.99956986e-01 -7.56061967e-03 5.37247462e-03 -5.88109972e+00] [ 7.57522513e-03 9.99967653e-01 -2.70344169e-03 3.70185530e+00] [-5.35186115e-03 2.74402311e-03 9.99981914e-01 1.57344658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.229259764 meters 0.19157650398233114 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.70, Z:1.57 [[ 9.99956080e-01 -7.22188660e-03 5.97353261e-03 -5.88240259e+00] [ 7.23104655e-03 9.99972711e-01 -1.51324899e-03 3.69675851e+00] [-5.96244108e-03 1.55637742e-03 9.99981013e-01 1.57309551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28925976399999 meters 0.19221146390792151 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.69, Z:1.57 [[ 9.99953570e-01 -7.27240932e-03 6.32209705e-03 -5.88401741e+00] [ 7.27931943e-03 9.99972932e-01 -1.07068691e-03 3.69371705e+00] [-6.31413946e-03 1.11665776e-03 9.99979442e-01 1.57431262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.349259763999996 meters 0.18424031075513453 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.69, Z:1.57 [[ 9.99957943e-01 -6.58086430e-03 6.38780272e-03 -5.88337820e+00] [ 6.58040330e-03 9.99978345e-01 9.31836495e-05 3.69040754e+00] [-6.38827762e-03 -5.11454124e-05 9.99979593e-01 1.57293145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.409259764 meters 0.18918538071177046 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.69, Z:1.57 [[ 9.99929785e-01 -1.04502420e-02 5.58734287e-03 -5.88079322e+00] [ 1.04734702e-02 9.99936564e-01 -4.14431491e-03 3.69225427e+00] [-5.54367934e-03 4.20254279e-03 9.99975803e-01 1.57200249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46925976399999 meters 0.1827372884194135 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.69, Z:1.57 [[ 9.99965489e-01 -5.91017617e-03 5.83870492e-03 -5.88083811e+00] [ 5.90601458e-03 9.99982293e-01 7.29742562e-04 3.69092434e+00] [-5.84291445e-03 -6.95233901e-04 9.99982688e-01 1.57088696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.529259763999995 meters 0.17909814184358297 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.69, Z:1.57 [[ 9.99967127e-01 -5.92782377e-03 5.53224643e-03 -5.87988833e+00] [ 5.92537193e-03 9.99982339e-01 4.59475769e-04 3.69268676e+00] [-5.53487242e-03 -4.26680047e-04 9.99984591e-01 1.57065425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589259764 meters 0.17548321518156293 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.70, Z:1.57 [[ 9.99968280e-01 -6.11956826e-03 5.09799711e-03 -5.87886826e+00] [ 6.12092413e-03 9.99981236e-01 -2.50402382e-04 3.69585448e+00] [-5.09636910e-03 2.81598892e-04 9.99986974e-01 1.57090840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64925976399999 meters 0.17430777582790163 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.70, Z:1.57 [[ 9.99971148e-01 -5.82117747e-03 4.88028229e-03 -5.87752305e+00] [ 5.82133053e-03 9.99983056e-01 -1.71588947e-05 3.69630076e+00] [-4.88009972e-03 4.55681360e-05 9.99988091e-01 1.56970396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.709259763999995 meters 0.1701847892758611 Centerline is valid? [False, False] Translation: X:-5.88, Y:3.70, Z:1.57 [[ 9.99972405e-01 -6.24420959e-03 4.02489179e-03 -5.87593683e+00] [ 6.25048952e-03 9.99979265e-01 -1.54958585e-03 3.70263616e+00] [-4.01513240e-03 1.57470064e-03 9.99990699e-01 1.57069570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769259764 meters 0.17553983034320583 Centerline is valid? [False, False] Translation: X:-5.87, Y:3.70, Z:1.57 [[ 9.99973792e-01 -6.18264479e-03 3.76692506e-03 -5.87478140e+00] [ 6.18931253e-03 9.99979295e-01 -1.76099691e-03 3.70456159e+00] [-3.75595945e-03 1.78426544e-03 9.99991355e-01 1.56997318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.829259764 meters 0.17825555514895322 Centerline is valid? [False, False] Translation: X:-5.87, Y:3.70, Z:1.57 [[ 9.99974272e-01 -6.10553868e-03 3.76531562e-03 -5.87443951e+00] [ 6.11191639e-03 9.99979903e-01 -1.68463067e-03 3.70480652e+00] [-3.75495437e-03 1.70760062e-03 9.99991492e-01 1.56947200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.889259763999995 meters 0.16866665241552584 Centerline is valid? [False, False] Translation: X:-5.87, Y:3.72, Z:1.58 [[ 9.99977292e-01 -6.44346770e-03 1.97408412e-03 -5.87119016e+00] [ 6.45482976e-03 9.99962322e-01 -5.80434221e-03 3.71553335e+00] [-1.93660965e-03 5.81695278e-03 9.99981206e-01 1.57513695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949259764 meters 0.1654698384010782 Centerline is valid? [False, False] Translation: X:-5.87, Y:3.72, Z:1.57 [[ 9.99977067e-01 -6.59149005e-03 1.55487600e-03 -5.86936093e+00] [ 6.60158662e-03 9.99956559e-01 -6.58027771e-03 3.72057050e+00] [-1.51143462e-03 6.59039145e-03 9.99977141e-01 1.57401871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.009259764 meters 0.154045166529066 Centerline is valid? [False, False] Translation: X:-5.87, Y:3.73, Z:1.57 [[ 9.99996703e-01 -2.34530550e-03 1.04572822e-03 -5.86688016e+00] [ 2.34851547e-03 9.99992502e-01 -3.07900823e-03 3.72644331e+00] [-1.03849917e-03 3.08145399e-03 9.99994713e-01 1.57207881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.069259763999995 meters 0.14620966685748651 Centerline is valid? [False, False] Translation: X:-5.86, Y:3.74, Z:1.57 [[ 9.99995803e-01 -2.85093711e-03 -5.16097618e-04 -5.86383222e+00] [ 2.84778895e-03 9.99977937e-01 -6.00121899e-03 3.73848435e+00] [ 5.33195329e-04 5.99972406e-03 9.99981859e-01 1.57402733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129259764 meters 0.13916022172005219 Centerline is valid? [False, False] Translation: X:-5.86, Y:3.74, Z:1.57 [[ 9.99995206e-01 -2.87773980e-03 -1.14330631e-03 -5.86159071e+00] [ 2.86983428e-03 9.99972372e-01 -6.85710636e-03 3.74410943e+00] [ 1.16300769e-03 6.85379238e-03 9.99975836e-01 1.57292964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.189259764 meters 0.12989446743770966 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.75, Z:1.57 [[ 9.99999015e-01 5.83046550e-04 1.27675995e-03 -5.83671428e+00] [-5.83620385e-04 9.99999729e-01 4.49120056e-04 3.75140424e+00] [-1.27649774e-03 -4.49864756e-04 9.99999084e-01 1.57217774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.249259763999994 meters 0.12419454616094655 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.76, Z:1.57 [[ 9.99999662e-01 4.46322199e-04 6.90610953e-04 -5.83514885e+00] [-4.45938986e-04 9.99999747e-01 -5.54943710e-04 3.75628699e+00] [-6.90858462e-04 5.54635552e-04 9.99999608e-01 1.57223318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309259764 meters 0.12519394025230468 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99999832e-01 5.76288171e-04 6.46617093e-05 -5.83302470e+00] [-5.76215696e-04 9.99999212e-01 -1.11530829e-03 3.76013475e+00] [-6.53043973e-05 1.11527084e-03 9.99999376e-01 1.57148215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.369259764 meters 0.12710307845499186 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99992250e-01 -3.86874006e-03 -7.30269164e-04 -5.83141212e+00] [ 3.86407688e-03 9.99972799e-01 -6.28246621e-03 3.76432196e+00] [ 7.54554529e-04 6.27959570e-03 9.99979998e-01 1.57219570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.429259763999994 meters 0.12700333603245098 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99992196e-01 -3.92265302e-03 -4.68787428e-04 -5.83241470e+00] [ 3.91969071e-03 9.99973337e-01 -6.16122831e-03 3.76315714e+00] [ 4.92943290e-04 6.15934273e-03 9.99980910e-01 1.57270468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.489259763999996 meters 0.13176475906612595 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99992910e-01 -3.76484694e-03 8.19154359e-05 -5.83342297e+00] [ 3.76522499e-03 9.99979141e-01 -5.24788504e-03 3.75998839e+00] [-6.21562433e-05 5.24815626e-03 9.99986226e-01 1.57193334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.549259764 meters 0.13358180080876333 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99993156e-01 -3.69968917e-03 -3.54191913e-06 -5.83327220e+00] [ 3.69962171e-03 9.99979860e-01 -5.15687492e-03 3.75977760e+00] [ 2.26206821e-05 5.15682653e-03 9.99986703e-01 1.57201818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609259763999994 meters 0.13097359265241562 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99994513e-01 -3.31239632e-03 3.92375024e-05 -5.83295978e+00] [ 3.31253979e-03 9.99984307e-01 -4.51803804e-03 3.75796214e+00] [-2.42713541e-05 4.51814323e-03 9.99989793e-01 1.57126250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.669259763999996 meters 0.12747533345884748 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99995325e-01 -3.05762288e-03 1.50765170e-05 -5.83265039e+00] [ 3.05765913e-03 9.99986704e-01 -4.15247829e-03 3.75697027e+00] [-2.37960393e-06 4.15250498e-03 9.99991378e-01 1.57083311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.729259764 meters 0.13181039680534185 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.76, Z:1.57 [[ 9.99973017e-01 -7.33519585e-03 -4.01175503e-04 -5.83208569e+00] [ 7.33142880e-03 9.99935280e-01 -8.69978820e-03 3.75766124e+00] [ 4.64964189e-04 8.69661226e-03 9.99962076e-01 1.57174575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78925976399999 meters 0.13295622767877927 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.75, Z:1.57 [[ 9.99976513e-01 -6.84664805e-03 3.09627047e-04 -5.83341132e+00] [ 6.84865253e-03 9.99951925e-01 -7.01742361e-03 3.75093531e+00] [-2.61566332e-04 7.01937932e-03 9.99975330e-01 1.57084619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849259763999996 meters 0.14112730626465259 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.75, Z:1.57 [[ 9.99978931e-01 -6.44614781e-03 7.64051108e-04 -5.83438790e+00] [ 6.45048036e-03 9.99962314e-01 -5.81058105e-03 3.74612055e+00] [-7.26566449e-04 5.81538713e-03 9.99982827e-01 1.57040899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.909259764 meters 0.14665166438095503 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.74, Z:1.57 [[ 9.99944559e-01 -1.04730232e-02 1.09324934e-03 -5.83567285e+00] [ 1.04825442e-02 9.99903645e-01 -9.10037300e-03 3.74120448e+00] [-9.97835585e-04 9.11132850e-03 9.99957993e-01 1.57107806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96925976399999 meters 0.15148733546087614 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.57 [[ 9.99949572e-01 -9.83621261e-03 2.02548593e-03 -5.83726604e+00] [ 9.84946881e-03 9.99929432e-01 -6.64217116e-03 3.73218544e+00] [-1.96000919e-03 6.66178617e-03 9.99975889e-01 1.56944175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.029259763999995 meters 0.14870432141656076 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.73, Z:1.57 [[ 9.99954610e-01 -9.23440177e-03 2.34596667e-03 -5.83798429e+00] [ 9.24649575e-03 9.99943741e-01 -5.19776995e-03 3.72632392e+00] [-2.29783639e-03 5.21922599e-03 9.99983740e-01 1.56921618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089259764 meters 0.15470260212239256 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.57 [[ 9.99915257e-01 -1.27381360e-02 2.68686345e-03 -5.83829466e+00] [ 1.27584009e-02 9.99889230e-01 -7.66496889e-03 3.71942426e+00] [-2.58892841e-03 7.69859942e-03 9.99967014e-01 1.56841286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14925976399999 meters 0.1638136904051607 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99920987e-01 -1.21271066e-02 3.30962087e-03 -5.83924966e+00] [ 1.21458202e-02 9.99910025e-01 -5.69400495e-03 3.71234094e+00] [-3.24027128e-03 5.73375311e-03 9.99978312e-01 1.56709489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.209259763999995 meters 0.173723350584184 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99924236e-01 -1.18039737e-02 3.49120311e-03 -5.83950304e+00] [ 1.18213527e-02 9.99917625e-01 -4.99990254e-03 3.70989050e+00] [-3.43189681e-03 5.04079447e-03 9.99981406e-01 1.56671233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269259764 meters 0.17166338449244667 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99926164e-01 -1.16172325e-02 3.56460755e-03 -5.83999047e+00] [ 1.16337512e-02 9.99921519e-01 -4.64889768e-03 3.70799461e+00] [-3.51032046e-03 4.69002418e-03 9.99982841e-01 1.56719746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32925976399999 meters 0.17170644319577819 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99926174e-01 -1.16468643e-02 3.46367690e-03 -5.83978493e+00] [ 1.16634932e-02 9.99920362e-01 -4.82011916e-03 3.70876210e+00] [-3.40726179e-03 4.86016188e-03 9.99982385e-01 1.56734844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389259763999995 meters 0.16381276756617894 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99928588e-01 -1.15534955e-02 3.05551507e-03 -5.83810466e+00] [ 1.15689855e-02 9.99920064e-01 -5.10140996e-03 3.71151288e+00] [-2.99633171e-03 5.13639487e-03 9.99982320e-01 1.56641978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449259764 meters 0.1722881848753021 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99968200e-01 -7.33426464e-03 3.13172059e-03 -5.83825233e+00] [ 7.33725424e-03 9.99972636e-01 -9.44201218e-04 3.71234984e+00] [-3.12470988e-03 9.67149423e-04 9.99994650e-01 1.56624312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.509259764 meters 0.17060520141573154 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.71, Z:1.57 [[ 9.99968172e-01 -7.39838313e-03 2.98642702e-03 -5.83765560e+00] [ 7.40192556e-03 9.99971913e-01 -1.17687352e-03 3.71387760e+00] [-2.97763618e-03 1.19894137e-03 9.99994848e-01 1.56595602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.569259763999995 meters 0.1624105377366759 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.56 [[ 9.99970980e-01 -7.18419868e-03 2.53492880e-03 -5.83569684e+00] [ 7.18740166e-03 9.99973381e-01 -1.25669951e-03 3.71616231e+00] [-2.52583294e-03 1.27488259e-03 9.99995997e-01 1.56474890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629259764 meters 0.16333637214481553 Centerline is valid? [False, False] Translation: X:-5.84, Y:3.72, Z:1.57 [[ 9.99970768e-01 -7.22507402e-03 2.50247329e-03 -5.83576911e+00] [ 7.22847356e-03 9.99972960e-01 -1.35210304e-03 3.71642174e+00] [-2.49263657e-03 1.37015258e-03 9.99995955e-01 1.56501326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.689259764 meters 0.15346633623063324 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.57 [[ 9.99967261e-01 -7.93978673e-03 1.56076948e-03 -5.83469301e+00] [ 7.94494672e-03 9.99962900e-01 -3.32813159e-03 3.72366153e+00] [-1.53428692e-03 3.34042286e-03 9.99993244e-01 1.56730294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749259763999994 meters 0.16687959411688433 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.57 [[ 9.99967798e-01 -7.89226833e-03 1.45446681e-03 -5.83421247e+00] [ 7.89708277e-03 9.99963257e-01 -3.33463469e-03 3.72420651e+00] [-1.42809554e-03 3.34601336e-03 9.99993382e-01 1.56700034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809259764 meters 0.1595179728704954 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.57 [[ 9.99970724e-01 -7.48167041e-03 1.60502555e-03 -5.83380038e+00] [ 7.48580441e-03 9.99968639e-01 -2.58530010e-03 3.72229478e+00] [-1.58563285e-03 2.59723932e-03 9.99995370e-01 1.56574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.869259764 meters 0.1490027194406867 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.57 [[ 9.99971792e-01 -7.45523116e-03 9.13541551e-04 -5.83173012e+00] [ 7.45798340e-03 9.99967546e-01 -3.04728171e-03 3.72632169e+00] [-8.90793713e-04 3.05400893e-03 9.99994940e-01 1.56512913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.929259763999994 meters 0.16039178000935064 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.57 [[ 9.99971429e-01 -7.52861946e-03 6.78617894e-04 -5.83098877e+00] [ 7.53089342e-03 9.99965818e-01 -3.41302860e-03 3.72834835e+00] [-6.52899304e-04 3.41804169e-03 9.99993945e-01 1.56500423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989259763999996 meters 0.15496571022288366 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99973392e-01 -7.29360734e-03 1.33645179e-04 -5.82879634e+00] [ 7.29402977e-03 9.99967296e-01 -3.49346189e-03 3.73100725e+00] [-1.08160869e-04 3.49434374e-03 9.99993889e-01 1.56376951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049259764 meters 0.15493370283678912 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99974340e-01 -7.15995980e-03 2.33917678e-04 -5.82897763e+00] [ 7.16067373e-03 9.99969213e-01 -3.20887562e-03 3.73001952e+00] [-2.10935056e-04 3.21046829e-03 9.99994824e-01 1.56362644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.109259763999994 meters 0.15809773165940794 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99974686e-01 -7.07621631e-03 7.44948942e-04 -5.83053679e+00] [ 7.07805718e-03 9.99971830e-01 -2.49819864e-03 3.72598029e+00] [-7.27250162e-04 2.50340819e-03 9.99996602e-01 1.56414445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.169259763999996 meters 0.15796070896448788 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99975296e-01 -6.99180516e-03 7.22077851e-04 -5.83053592e+00] [ 6.99347208e-03 9.99972825e-01 -2.33237479e-03 3.72543746e+00] [-7.05750718e-04 2.33736701e-03 9.99997019e-01 1.56420944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.229259764 meters 0.1529943799269924 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99977427e-01 -6.69684105e-03 5.45511259e-04 -5.82936988e+00] [ 6.69792674e-03 9.99975542e-01 -2.01331217e-03 3.72551432e+00] [-5.32015086e-04 2.01692052e-03 9.99997824e-01 1.56311085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28925976399999 meters 0.15672986086610805 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.56 [[ 9.99979972e-01 -6.30985695e-03 4.90788735e-04 -5.82853855e+00] [ 6.31058275e-03 9.99978976e-01 -1.49162824e-03 3.72452438e+00] [-4.81366456e-04 1.49469552e-03 9.99998767e-01 1.56201542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.349259763999996 meters 0.15994307845315078 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.72, Z:1.56 [[ 9.99980900e-01 -6.16563582e-03 4.29513054e-04 -5.82824601e+00] [ 6.16617336e-03 9.99980193e-01 -1.26163859e-03 3.72404322e+00] [-4.21725742e-04 1.26426294e-03 9.99999112e-01 1.56177950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.409259764 meters 0.14966601249131037 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99980522e-01 -6.24109785e-03 -5.92276272e-05 -5.82695561e+00] [ 6.24098342e-03 9.99978963e-01 -1.76764797e-03 3.72688874e+00] [ 7.02584452e-05 1.76724390e-03 9.99998436e-01 1.56177797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46925976399999 meters 0.1524217865603195 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.73, Z:1.56 [[ 9.99979670e-01 -6.36023051e-03 -4.54966714e-04 -5.82571399e+00] [ 6.35914721e-03 9.99977033e-01 -2.34413407e-03 3.73019195e+00] [ 4.69865497e-04 2.34119322e-03 9.99997149e-01 1.56150697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.529259763999995 meters 0.14274059662062852 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.56 [[ 9.99980017e-01 -6.19143514e-03 -1.27768436e-03 -5.82278002e+00] [ 6.18728218e-03 9.99975645e-01 -3.22913406e-03 3.73608286e+00] [ 1.29764621e-03 3.22116414e-03 9.99993970e-01 1.56020050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589259764 meters 0.13994045938503097 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.56 [[ 9.99979494e-01 -6.25849861e-03 -1.35768743e-03 -5.82230723e+00] [ 6.25376117e-03 9.99974438e-01 -3.46597074e-03 3.73760513e+00] [ 1.37934450e-03 3.45740901e-03 9.99993072e-01 1.55985107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64925976399999 meters 0.13887374471784475 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.56 [[ 9.99979278e-01 -6.27872597e-03 -1.42133344e-03 -5.82191420e+00] [ 6.27363273e-03 9.99973984e-01 -3.55996520e-03 3.73855835e+00] [ 1.44364850e-03 3.55097451e-03 9.99992653e-01 1.55951819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709259763999995 meters 0.14158065876248752 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.74, Z:1.56 [[ 9.99981441e-01 -5.94010583e-03 -1.35374269e-03 -5.82168763e+00] [ 5.93595747e-03 9.99977737e-01 -3.04804739e-03 3.73710479e+00] [ 1.37181827e-03 3.03995506e-03 9.99994438e-01 1.55887146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769259764 meters 0.15030293089947763 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.56 [[ 9.99949460e-01 -9.97345377e-03 -1.26783553e-03 -5.82216051e+00] [ 9.96458747e-03 9.99927114e-01 -6.81711961e-03 3.73438451e+00] [ 1.33573335e-03 6.80414161e-03 9.99975959e-01 1.55929121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82925976399999 meters 0.15075500433477101 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.56 [[ 9.99954507e-01 -9.47943407e-03 -1.05995389e-03 -5.82254811e+00] [ 9.47326250e-03 9.99938977e-01 -5.68332291e-03 3.73010725e+00] [ 1.11376389e-03 5.67302314e-03 9.99983288e-01 1.55889132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.889259763999995 meters 0.15139278212206342 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.73, Z:1.56 [[ 9.99958406e-01 -9.08468835e-03 -8.08817790e-04 -5.82293694e+00] [ 9.08075370e-03 9.99947524e-01 -4.74226761e-03 3.72674303e+00] [ 8.51857370e-04 4.73472569e-03 9.99988428e-01 1.55838558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949259764 meters 0.15635443208374447 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.72, Z:1.56 [[ 9.99918568e-01 -1.27598031e-02 -2.12617849e-04 -5.82388356e+00] [ 1.27578663e-02 9.99890883e-01 -7.44709613e-03 3.72029027e+00] [ 3.07618130e-04 7.44377714e-03 9.99972247e-01 1.55759904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00925976399999 meters 0.1565133243564834 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.72, Z:1.56 [[ 9.99923497e-01 -1.23692681e-02 -3.06842254e-05 -5.82430625e+00] [ 1.23687999e-02 9.99901940e-01 -6.56680419e-03 3.71690482e+00] [ 1.11907778e-04 6.56592228e-03 9.99978438e-01 1.55739322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.069259763999995 meters 0.16831017793856815 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.71, Z:1.56 [[ 9.99928837e-01 -1.19107116e-02 6.75862574e-04 -5.82557983e+00] [ 1.19139106e-02 9.99916799e-01 -4.94502654e-03 3.71050837e+00] [-6.16907557e-04 4.95272680e-03 9.99987545e-01 1.55651320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129259764 meters 0.1687615668853303 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.55 [[ 9.99936615e-01 -1.12024943e-02 1.12690442e-03 -5.82587980e+00] [ 1.12061766e-02 9.99931710e-01 -3.31617815e-03 3.70499194e+00] [-1.08967800e-03 3.32859624e-03 9.99993867e-01 1.55492270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.189259764 meters 0.1706765852076122 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.55 [[ 9.99939024e-01 -1.09769409e-02 1.20596636e-03 -5.82584571e+00] [ 1.09803489e-02 9.99935634e-01 -2.85661916e-03 3.70364048e+00] [-1.17453179e-03 2.86968691e-03 9.99995193e-01 1.55450242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.249259763999994 meters 0.16782211454061097 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.55 [[ 9.99944308e-01 -1.04345636e-02 1.58155251e-03 -5.82608094e+00] [ 1.04372453e-02 9.99944091e-01 -1.69695223e-03 3.69984248e+00] [-1.56375713e-03 1.71336477e-03 9.99997310e-01 1.55326216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309259764 meters 0.1694612467447538 Centerline is valid? [False, False] Translation: X:-5.83, Y:3.70, Z:1.55 [[ 9.99945482e-01 -1.03321724e-02 1.50969912e-03 -5.82563262e+00] [ 1.03345498e-02 9.99945356e-01 -1.57548523e-03 3.69997342e+00] [-1.49333843e-03 1.59100140e-03 9.99997619e-01 1.55283237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.369259764 meters 0.17801546986560524 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.70, Z:1.55 [[ 9.99943881e-01 -1.05113888e-02 1.32124384e-03 -5.82491608e+00] [ 1.05140883e-02 9.99942618e-01 -2.05312813e-03 3.70259236e+00] [-1.29958679e-03 2.06690459e-03 9.99997019e-01 1.55255652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.429259763999994 meters 0.16200827608998722 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.70, Z:1.55 [[ 9.99943433e-01 -1.05718318e-02 1.16900964e-03 -5.82408775e+00] [ 1.05745985e-02 9.99941240e-01 -2.38644113e-03 3.70476668e+00] [-1.14371189e-03 2.39866795e-03 9.99996469e-01 1.55196206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489259763999996 meters 0.16153703823793897 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99942364e-01 -1.07206966e-02 5.79151690e-04 -5.82250869e+00] [ 1.07224926e-02 9.99937416e-01 -3.19258865e-03 3.70919617e+00] [-5.44888670e-04 3.19861459e-03 9.99994736e-01 1.55189665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.549259764 meters 0.1741582450111041 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99940861e-01 -1.08737562e-02 1.88031173e-04 -5.82142843e+00] [ 1.08744023e-02 9.99933392e-01 -3.86773941e-03 3.71275009e+00] [-1.45961794e-04 3.86955540e-03 9.99992503e-01 1.55189305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.609259763999994 meters 0.15933014582893387 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99942194e-01 -1.07516182e-02 1.03755617e-04 -5.82053398e+00] [ 1.07519371e-02 9.99934841e-01 -3.83527583e-03 3.71380139e+00] [-6.25134349e-05 3.83616970e-03 9.99992640e-01 1.55089374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.669259763999996 meters 0.15774216155532686 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99942762e-01 -1.06990459e-02 5.70607329e-05 -5.82011252e+00] [ 1.06991857e-02 9.99935492e-01 -3.81309129e-03 3.71427877e+00] [-1.62606133e-05 3.81348354e-03 9.99992729e-01 1.55044670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.729259764 meters 0.1626980179771145 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.72, Z:1.55 [[ 9.99942484e-01 -1.07180667e-02 -3.89369182e-04 -5.81903140e+00] [ 1.07163192e-02 9.99933578e-01 -4.24255143e-03 3.71662604e+00] [ 4.34815268e-04 4.23813481e-03 9.99990925e-01 1.55059350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78925976399999 meters 0.15919773399985607 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99950512e-01 -9.94687757e-03 1.80575843e-04 -5.81927304e+00] [ 9.94729946e-03 9.99947377e-01 -2.50893611e-03 3.71102838e+00] [-1.55610260e-04 2.51060819e-03 9.99996836e-01 1.54845470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.849259763999996 meters 0.15827887067139446 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99955469e-01 -9.43541021e-03 1.83368866e-04 -5.81846351e+00] [ 9.43568722e-03 9.99954245e-01 -1.57359643e-03 3.70890200e+00] [-1.68512949e-04 1.57525656e-03 9.99998745e-01 1.54701753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.909259764 meters 0.15801646294063487 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99957429e-01 -9.22065352e-03 3.46341693e-04 -5.81861255e+00] [ 9.22101762e-03 9.99956919e-01 -1.06481715e-03 3.70733326e+00] [-3.36508462e-04 1.06796544e-03 9.99999373e-01 1.54653465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96925976399999 meters 0.16323847015658655 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.55 [[ 9.99962076e-01 -8.70392352e-03 2.95865912e-04 -5.81764281e+00] [ 8.70403902e-03 9.99962043e-01 -3.91332039e-04 3.70596888e+00] [-2.92448558e-04 3.93892427e-04 9.99999880e-01 1.54522365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.029259763999995 meters 0.16425400315347016 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.54 [[ 9.99966072e-01 -8.23624304e-03 1.38964387e-04 -5.81611484e+00] [ 8.23622631e-03 9.99966074e-01 1.20566598e-04 3.70585420e+00] [-1.39952689e-04 -1.19417966e-04 9.99999983e-01 1.54346958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089259764 meters 0.16643156127953523 Centerline is valid? [False, False] Translation: X:-5.82, Y:3.71, Z:1.54 [[ 9.99965539e-01 -8.30045641e-03 -1.55484529e-04 -5.81528334e+00] [ 8.30041579e-03 9.99965517e-01 -2.60099761e-04 3.70781558e+00] [ 1.57638114e-04 2.58800211e-04 9.99999954e-01 1.54339659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14925976399999 meters 0.15678701472321407 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.71, Z:1.54 [[ 9.99965979e-01 -8.24158760e-03 -3.42405488e-04 -5.81435761e+00] [ 8.24143674e-03 9.99965942e-01 -4.39689126e-04 3.70952514e+00] [ 3.46017563e-04 4.36852254e-04 9.99999845e-01 1.54276302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.209259763999995 meters 0.1619039457654124 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.71, Z:1.54 [[ 9.99966992e-01 -8.10561977e-03 -5.60152055e-04 -5.81306679e+00] [ 8.10531826e-03 9.99967006e-01 -5.38448885e-04 3.71142252e+00] [ 5.64498036e-04 5.33890901e-04 9.99999698e-01 1.54167305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269259764 meters 0.15980520260330078 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.72, Z:1.54 [[ 9.99961654e-01 -8.69627892e-03 -1.03218967e-03 -5.81267860e+00] [ 8.69416976e-03 9.99960143e-01 -2.03057461e-03 3.71658613e+00] [ 1.04980698e-03 2.02152271e-03 9.99997406e-01 1.54336634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32925976399999 meters 0.14873177718080174 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.72, Z:1.54 [[ 9.99962213e-01 -8.55691523e-03 -1.53369611e-03 -5.81094317e+00] [ 8.55311199e-03 9.99960372e-01 -2.46942352e-03 3.71951205e+00] [ 1.55476598e-03 2.45621233e-03 9.99995775e-01 1.54281514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.389259763999995 meters 0.1511133242288964 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.54 [[ 9.99959772e-01 -8.63591919e-03 -2.42398258e-03 -5.80867561e+00] [ 8.62693294e-03 9.99955966e-01 -3.69351960e-03 3.72573752e+00] [ 2.45577278e-03 3.67245948e-03 9.99990241e-01 1.54296063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449259764 meters 0.14451790693130534 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.54 [[ 9.99959180e-01 -8.39374250e-03 -3.34415854e-03 -5.80588517e+00] [ 8.37887993e-03 9.99955067e-01 -4.43383284e-03 3.73086511e+00] [ 3.38122473e-03 4.40563155e-03 9.99984579e-01 1.54236651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50925976399999 meters 0.13826343783391004 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.73, Z:1.54 [[ 9.99959055e-01 -8.30521087e-03 -3.59332681e-03 -5.80478283e+00] [ 8.28889335e-03 9.99955375e-01 -4.53237002e-03 3.73232369e+00] [ 3.63080875e-03 4.50239974e-03 9.99983273e-01 1.54174564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.569259763999995 meters 0.14699474211238783 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.73, Z:1.54 [[ 9.99960006e-01 -8.21255269e-03 -3.54111159e-03 -5.80454133e+00] [ 8.19715686e-03 9.99956982e-01 -4.34055134e-03 3.73229007e+00] [ 3.57660626e-03 4.31135070e-03 9.99984310e-01 1.54116885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629259764 meters 0.1410075502347535 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.73, Z:1.54 [[ 9.99959819e-01 -8.42496294e-03 -3.06282747e-03 -5.80598756e+00] [ 8.41227194e-03 9.99956075e-01 -4.13309212e-03 3.73100595e+00] [ 3.09751408e-03 4.10716071e-03 9.99986768e-01 1.54145150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68925976399999 meters 0.13840244885574784 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.73, Z:1.54 [[ 9.99955865e-01 -8.66466991e-03 -3.63199858e-03 -5.80477258e+00] [ 8.64688754e-03 9.99950690e-01 -4.88346870e-03 3.73490162e+00] [ 3.67413313e-03 4.85184769e-03 9.99981480e-01 1.54187460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.749259763999994 meters 0.152009061929135 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955527e-01 -8.65057079e-03 -3.75651647e-03 -5.80431413e+00] [ 8.63187649e-03 9.99950421e-01 -4.96451804e-03 3.73565929e+00] [ 3.79927614e-03 4.93187147e-03 9.99980621e-01 1.54170748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809259764 meters 0.15302408681805432 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955664e-01 -8.60933593e-03 -3.81432743e-03 -5.80402519e+00] [ 8.59032277e-03 9.99950735e-01 -4.97332276e-03 3.73606885e+00] [ 3.85695652e-03 4.94033596e-03 9.99980358e-01 1.54151731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.869259764 meters 0.14578212823277395 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99952271e-01 -8.95077962e-03 -3.91644224e-03 -5.80411816e+00] [ 8.92924589e-03 9.99945108e-01 -5.48165625e-03 3.73813310e+00] [ 3.96529236e-03 5.44642375e-03 9.99977306e-01 1.54202576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.929259763999994 meters 0.13711317616452537 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99949683e-01 -8.99319515e-03 -4.44451236e-03 -5.80288643e+00] [ 8.96640137e-03 9.99941727e-01 -6.01210662e-03 3.74090490e+00] [ 4.49832142e-03 5.97195282e-03 9.99972050e-01 1.54227090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989259763999996 meters 0.13659754429718562 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99949058e-01 -8.97599302e-03 -4.61655016e-03 -5.80228230e+00] [ 8.94745954e-03 9.99940968e-01 -6.16464852e-03 3.74211611e+00] [ 4.67161148e-03 6.12302809e-03 9.99970342e-01 1.54208531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.049259764 meters 0.13539641651910325 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99950151e-01 -8.62765275e-03 -5.02589749e-03 -5.80045362e+00] [ 8.59707411e-03 9.99944595e-01 -6.07437355e-03 3.74336726e+00] [ 5.07802661e-03 6.03086274e-03 9.99968921e-01 1.54098253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.109259763999994 meters 0.13197794081111333 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99978701e-01 -4.04959411e-03 -5.11838855e-03 -5.79963758e+00] [ 4.04154788e-03 9.99990583e-01 -1.58139178e-03 3.74372472e+00] [ 5.12474434e-03 1.56067188e-03 9.99985651e-01 1.54006858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.169259763999996 meters 0.13311966463001876 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99980633e-01 -3.68813646e-03 -5.01310685e-03 -5.79945332e+00] [ 3.68307933e-03 9.99992700e-01 -1.01763859e-03 3.74195847e+00] [ 5.01682344e-03 9.99155214e-04 9.99986917e-01 1.53938259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.229259764 meters 0.13431512785770913 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99952928e-01 -8.18912494e-03 -5.20379354e-03 -5.79933695e+00] [ 8.15963959e-03 9.99950678e-01 -5.66231860e-03 3.74304395e+00] [ 5.24990631e-03 5.61959098e-03 9.99970429e-01 1.54006670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28925976399999 meters 0.13716106117599533 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99951014e-01 -8.38235285e-03 -5.26353957e-03 -5.79946496e+00] [ 8.35113512e-03 9.99947574e-01 -5.92516876e-03 3.74413666e+00] [ 5.31293048e-03 5.88092198e-03 9.99968593e-01 1.54048495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.349259763999996 meters 0.13414830026940236 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99953649e-01 -7.98656281e-03 -5.37716225e-03 -5.79839542e+00] [ 7.95745113e-03 9.99953684e-01 -5.41374975e-03 3.74345102e+00] [ 5.42015046e-03 5.37071032e-03 9.99970888e-01 1.53929909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.409259764 meters 0.1316686477921179 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955343e-01 -7.74760053e-03 -5.41164821e-03 -5.79774633e+00] [ 7.71967747e-03 9.99956880e-01 -5.16177590e-03 3.74338870e+00] [ 5.45140624e-03 5.11976922e-03 9.99972035e-01 1.53846871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46925976399999 meters 0.133828453704744 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955317e-01 -7.80939681e-03 -5.32707485e-03 -5.79799542e+00] [ 7.78166174e-03 9.99956163e-01 -5.20744299e-03 3.74363210e+00] [ 5.36750832e-03 5.16575681e-03 9.99972252e-01 1.53852521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.529259763999995 meters 0.13346857047009186 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955872e-01 -7.77910439e-03 -5.26687347e-03 -5.79813630e+00] [ 7.75225745e-03 9.99956952e-01 -5.09869223e-03 3.74331671e+00] [ 5.30631000e-03 5.05763708e-03 9.99973131e-01 1.53847609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589259764 meters 0.13014766725872312 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99955200e-01 -7.72159473e-03 -5.47491404e-03 -5.79729537e+00] [ 7.69306437e-03 9.99956819e-01 -5.21315640e-03 3.74459887e+00] [ 5.51493151e-03 5.17080399e-03 9.99971424e-01 1.53807213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64925976399999 meters 0.13877782139935965 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99956810e-01 -7.46123854e-03 -5.54149864e-03 -5.79678387e+00] [ 7.43405837e-03 9.99960316e-01 -4.90934962e-03 3.74406409e+00] [ 5.57790856e-03 4.86794176e-03 9.99972595e-01 1.53755870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.709259763999995 meters 0.13802840399589922 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99958370e-01 -7.26209084e-03 -5.52453194e-03 -5.79645754e+00] [ 7.23671077e-03 9.99963233e-01 -4.60026908e-03 3.74349627e+00] [ 5.55773639e-03 4.56009813e-03 9.99974158e-01 1.53697663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769259764 meters 0.1336789719042421 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.54 [[ 9.99959541e-01 -7.07078355e-03 -5.56069286e-03 -5.79600464e+00] [ 7.04669640e-03 9.99965756e-01 -4.33941022e-03 3.74318057e+00] [ 5.59118547e-03 4.30005014e-03 9.99975124e-01 1.53640498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82925976399999 meters 0.13349171680979677 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.53 [[ 9.99966651e-01 -6.25768360e-03 -5.24777700e-03 -5.79541495e+00] [ 6.24309928e-03 9.99976617e-01 -2.79093526e-03 3.73892798e+00] [ 5.26511908e-03 2.75807979e-03 9.99982336e-01 1.53402095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.889259763999995 meters 0.13603644523478625 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.74, Z:1.53 [[ 9.99968678e-01 -5.99055707e-03 -5.17256640e-03 -5.79527576e+00] [ 5.97878111e-03 9.99979507e-01 -2.28908818e-03 3.73752387e+00] [ 5.18617331e-03 2.25809084e-03 9.99984002e-01 1.53344438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949259764 meters 0.13569154676199854 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.74, Z:1.53 [[ 9.99966907e-01 -5.99357545e-03 -5.50114038e-03 -5.79454533e+00] [ 5.97926076e-03 9.99978705e-01 -2.61489927e-03 3.73912274e+00] [ 5.51669583e-03 2.58191998e-03 9.99981450e-01 1.53371923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00925976399999 meters 0.13612926588187993 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.74, Z:1.53 [[ 9.99969954e-01 -5.54329955e-03 -5.41882209e-03 -5.79419181e+00] [ 5.53308919e-03 9.99982892e-01 -1.89741780e-03 3.73707940e+00] [ 5.42924734e-03 1.86737797e-03 9.99983518e-01 1.53279191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.069259763999995 meters 0.13438843582281967 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.73, Z:1.53 [[ 9.99940759e-01 -9.50245160e-03 -5.30861182e-03 -5.79431324e+00] [ 9.47337338e-03 9.99940132e-01 -5.47610883e-03 3.73436593e+00] [ 5.36033046e-03 5.42549396e-03 9.99970915e-01 1.53254483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129259764 meters 0.1395332070225815 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.73, Z:1.53 [[ 9.99945466e-01 -9.31266627e-03 -4.72634946e-03 -5.79581536e+00] [ 9.29167919e-03 9.99946960e-01 -4.44314386e-03 3.72959868e+00] [ 4.76747629e-03 4.39898584e-03 9.99978960e-01 1.53259438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18925976399999 meters 0.15721683499783423 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.72, Z:1.53 [[ 9.99951163e-01 -8.87947483e-03 -4.33884445e-03 -5.79654099e+00] [ 8.86558637e-03 9.99955548e-01 -3.20977536e-03 3.72493112e+00] [ 4.36715270e-03 3.17115221e-03 9.99985436e-01 1.53201648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.249259763999994 meters 0.14826278377658977 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.72, Z:1.53 [[ 9.99958001e-01 -8.41704456e-03 -3.62623155e-03 -5.79790498e+00] [ 8.41125579e-03 9.99963331e-01 -1.60866385e-03 3.71840428e+00] [ 3.63963877e-03 1.57809512e-03 9.99992131e-01 1.53133296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309259764 meters 0.15995544426006328 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.53 [[ 9.99963829e-01 -7.80521323e-03 -3.37915380e-03 -5.79803922e+00] [ 7.80370255e-03 9.99969445e-01 -4.60013103e-04 3.71421916e+00] [ 3.38264105e-03 4.33626553e-04 9.99994185e-01 1.53048911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.369259764 meters 0.1523034129305805 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.53 [[ 9.99968486e-01 -7.19137330e-03 -3.36313918e-03 -5.79711717e+00] [ 7.19325147e-03 9.99973979e-01 5.46696759e-04 3.71180511e+00] [ 3.35912017e-03 -5.70871437e-04 9.99994195e-01 1.52888772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.429259763999994 meters 0.15483300753523654 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.53 [[ 9.99972491e-01 -6.76151244e-03 -3.04933939e-03 -5.79774644e+00] [ 6.76613083e-03 9.99975974e-01 1.50678968e-03 3.70766944e+00] [ 3.03907795e-03 -1.52738046e-03 9.99994216e-01 1.52862618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489259763999996 meters 0.15815299618301235 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.71, Z:1.53 [[ 9.99933139e-01 -1.11321477e-02 -3.12940043e-03 -5.79795016e+00] [ 1.11230888e-02 9.99933939e-01 -2.89740236e-03 3.70743281e+00] [ 3.16144801e-03 2.86240003e-03 9.99990906e-01 1.52939706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.549259764 meters 0.16252519886946412 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.53 [[ 9.99939030e-01 -1.06564969e-02 -2.89399590e-03 -5.79824337e+00] [ 1.06509632e-02 9.99941432e-01 -1.92083004e-03 3.70385041e+00] [ 2.91429573e-03 1.88988909e-03 9.99993968e-01 1.52885756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.609259763999994 meters 0.1721008849032045 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.70, Z:1.53 [[ 9.99948312e-01 -9.88376994e-03 -2.38419982e-03 -5.79899490e+00] [ 9.88329034e-03 9.99951136e-01 -2.12852632e-04 3.69700021e+00] [ 2.38618711e-03 1.89277891e-04 9.99997135e-01 1.52803400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.669259763999996 meters 0.16776555023392986 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.53 [[ 9.99904579e-01 -1.36837875e-02 -1.89384688e-03 -5.79999465e+00] [ 1.36782519e-02 9.99902226e-01 -2.90569149e-03 3.69061545e+00] [ 1.93342258e-03 2.87950971e-03 9.99993985e-01 1.52774624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.729259764 meters 0.1772436217540089 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.53 [[ 9.99909857e-01 -1.33368237e-02 -1.55123969e-03 -5.80069757e+00] [ 1.33340856e-02 9.99909544e-01 -1.76222873e-03 3.68638067e+00] [ 1.57460191e-03 1.74138551e-03 9.99997244e-01 1.52733917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78925976399999 meters 0.16442659136937496 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.68, Z:1.53 [[ 9.99913339e-01 -1.30949570e-02 -1.35529554e-03 -5.80126105e+00] [ 1.30932605e-02 9.99913494e-01 -1.25310773e-03 3.68414920e+00] [ 1.37158769e-03 1.23525390e-03 9.99998296e-01 1.52742220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.849259763999996 meters 0.17322593973030143 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.68, Z:1.53 [[ 9.99921542e-01 -1.24792974e-02 -1.08474417e-03 -5.80116754e+00] [ 1.24791527e-02 9.99922123e-01 -1.40100483e-04 3.68071580e+00] [ 1.08640805e-03 1.26552803e-04 9.99999402e-01 1.52611200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.909259764 meters 0.17616249141956866 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.68, Z:1.53 [[ 9.99923606e-01 -1.23242686e-02 -9.46191297e-04 -5.80147216e+00] [ 1.23245176e-02 9.99924017e-01 2.57738963e-04 3.67920006e+00] [ 9.42942958e-04 -2.69380624e-04 9.99999519e-01 1.52599811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96925976399999 meters 0.17817059647873137 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.68, Z:1.53 [[ 9.99919223e-01 -1.26219441e-02 -1.49440827e-03 -5.80008653e+00] [ 1.26207709e-02 9.99920041e-01 -7.91949341e-04 3.68415730e+00] [ 1.50428472e-03 7.73024785e-04 9.99998570e-01 1.52617095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.029259763999995 meters 0.18074491999175424 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.53 [[ 9.99919096e-01 -1.25817156e-02 -1.87110782e-03 -5.79843650e+00] [ 1.25795910e-02 9.99920221e-01 -1.14298086e-03 3.68714395e+00] [ 1.88533921e-03 1.11935062e-03 9.99997596e-01 1.52517978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089259764 meters 0.17097388514329065 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.53 [[ 9.99916760e-01 -1.26673907e-02 -2.45140766e-03 -5.79688194e+00] [ 1.26629201e-02 9.99918146e-01 -1.83067817e-03 3.69096282e+00] [ 2.47439692e-03 1.79948381e-03 9.99995320e-01 1.52515775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14925976399999 meters 0.17094427190977082 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99917570e-01 -1.25628382e-02 -2.65109635e-03 -5.79599198e+00] [ 1.25578435e-02 9.99919357e-01 -1.89231660e-03 3.69199539e+00] [ 2.67465543e-03 1.85886856e-03 9.99994695e-01 1.52463966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.209259763999995 meters 0.17202276660744212 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99919835e-01 -1.23868128e-02 -2.62506872e-03 -5.79575343e+00] [ 1.23825577e-02 9.99922003e-01 -1.63104103e-03 3.69148575e+00] [ 2.64506737e-03 1.59840521e-03 9.99995224e-01 1.52416894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269259764 meters 0.17792710409395462 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99922697e-01 -1.21665785e-02 -2.56416732e-03 -5.79573318e+00] [ 1.21634515e-02 9.99925264e-01 -1.23158509e-03 3.69019089e+00] [ 2.57895986e-03 1.20030076e-03 9.99995954e-01 1.52385532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32925976399999 meters 0.1731391107300948 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99925615e-01 -1.19439739e-02 -2.47099630e-03 -5.79574208e+00] [ 1.19420613e-02 9.99928381e-01 -7.87324144e-04 3.68883809e+00] [ 2.48022311e-03 7.57756790e-04 9.99996637e-01 1.52345694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389259763999995 meters 0.16963343530255437 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99928636e-01 -1.16815071e-02 -2.50305741e-03 -5.79532005e+00] [ 1.16805670e-02 9.99931704e-01 -3.89872590e-04 3.68787642e+00] [ 2.50744076e-03 3.60607637e-04 9.99996791e-01 1.52290316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449259764 meters 0.1695945200853207 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99927230e-01 -1.18160668e-02 -2.43202017e-03 -5.79579577e+00] [ 1.18146659e-02 9.99930031e-01 -5.89592115e-04 3.68823455e+00] [ 2.43881666e-03 5.60815705e-04 9.99996869e-01 1.52337988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50925976399999 meters 0.1741737107759261 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.69, Z:1.52 [[ 9.99927180e-01 -1.18351598e-02 -2.35872271e-03 -5.79598846e+00] [ 1.18338526e-02 9.99929817e-01 -5.67383797e-04 3.68812099e+00] [ 2.36527225e-03 5.39429704e-04 9.99997057e-01 1.52337364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569259763999995 meters 0.16421937968352507 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.52 [[ 9.99921241e-01 -1.21904963e-02 -2.98397483e-03 -5.79470356e+00] [ 1.21854632e-02 9.99924311e-01 -1.69909265e-03 3.69336604e+00] [ 3.00446176e-03 1.66259771e-03 9.99994104e-01 1.52385559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629259764 meters 0.17029984747934382 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99920673e-01 -1.19628861e-02 -3.94180546e-03 -5.79166609e+00] [ 1.19535539e-02 9.99925715e-01 -2.38262595e-03 3.69935524e+00] [ 3.97001572e-03 2.33531836e-03 9.99989393e-01 1.52254802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68925976399999 meters 0.1624816074555116 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99915807e-01 -1.21462633e-02 -4.56595744e-03 -5.79020806e+00] [ 1.21305372e-02 9.99920449e-01 -3.45625668e-03 3.70400757e+00] [ 4.60757482e-03 3.40057817e-03 9.99983603e-01 1.52291538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.749259763999994 meters 0.1525704064022266 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99955856e-01 -8.14603805e-03 -4.68265103e-03 -5.79009223e+00] [ 8.14656022e-03 9.99966812e-01 9.24487292e-05 3.70705740e+00] [ 4.68174253e-03 -1.30592147e-04 9.99989032e-01 1.52318793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809259764 meters 0.15791680245444123 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99955344e-01 -8.09294300e-03 -4.87991724e-03 -5.78910989e+00] [ 8.09272104e-03 9.99967251e-01 -6.52287592e-05 3.70872239e+00] [ 4.88028533e-03 2.57340374e-05 9.99988091e-01 1.52251981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86925976399999 meters 0.15760266263418865 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99956363e-01 -7.96829660e-03 -4.87624064e-03 -5.78882463e+00] [ 7.96891488e-03 9.99968242e-01 1.07376626e-04 3.70853064e+00] [ 4.87523017e-03 -1.46230287e-04 9.99988105e-01 1.52208201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929259763999994 meters 0.15682491441148952 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99954934e-01 -7.81708520e-03 -5.38727648e-03 -5.78719039e+00] [ 7.81672589e-03 9.99969445e-01 -8.77482662e-05 3.71074206e+00] [ 5.38779781e-03 4.56334482e-05 9.99985485e-01 1.52157496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989259763999996 meters 0.14999869011738495 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99957064e-01 -7.57733691e-03 -5.33419124e-03 -5.78702669e+00] [ 7.57890170e-03 9.99971242e-01 2.73199400e-04 3.70976830e+00] [ 5.33196772e-03 -3.13614981e-04 9.99985736e-01 1.52110326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.049259764 meters 0.1480421700351431 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99959236e-01 -7.37023915e-03 -5.21599828e-03 -5.78722741e+00] [ 7.37388754e-03 9.99972581e-01 6.80575743e-04 3.70828329e+00] [ 5.21083925e-03 -7.19010185e-04 9.99986165e-01 1.52088365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.109259763999994 meters 0.15600460683225348 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99959854e-01 -7.21994285e-03 -5.30680720e-03 -5.78714146e+00] [ 7.22476299e-03 9.99973505e-01 8.89684723e-04 3.70744439e+00] [ 5.30024312e-03 -9.27989430e-04 9.99985523e-01 1.52108269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.169259763999996 meters 0.15132420954860906 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.71, Z:1.52 [[ 9.99916828e-01 -1.16209541e-02 -5.59377259e-03 -5.78673417e+00] [ 1.16004555e-02 9.99925929e-01 -3.68314573e-03 3.70839857e+00] [ 5.63615993e-03 3.61794909e-03 9.99977572e-01 1.52175126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.229259764 meters 0.15410817958700154 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99921946e-01 -1.14780118e-02 -4.93521322e-03 -5.78858713e+00] [ 1.14647540e-02 9.99930615e-01 -2.70631936e-03 3.70345457e+00] [ 4.96593396e-03 2.64952711e-03 9.99984160e-01 1.52202280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28925976399999 meters 0.15230154642655383 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99919114e-01 -1.16589483e-02 -5.08266052e-03 -5.78883204e+00] [ 1.16434578e-02 9.99927510e-01 -3.06673203e-03 3.70418811e+00] [ 5.11804695e-03 3.00730423e-03 9.99982381e-01 1.52301322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.349259763999996 meters 0.15316616693367116 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99922637e-01 -1.13819319e-02 -5.01710694e-03 -5.78897828e+00] [ 1.13693758e-02 9.99932181e-01 -2.52409745e-03 3.70213184e+00] [ 5.04549579e-03 2.46686081e-03 9.99984229e-01 1.52290364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.409259764 meters 0.16592260089544353 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99928723e-01 -1.08803031e-02 -4.91601285e-03 -5.78870294e+00] [ 1.08726142e-02 9.99939630e-01 -1.58807809e-03 3.69929027e+00] [ 4.93299484e-03 1.53451498e-03 9.99986655e-01 1.52193441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46925976399999 meters 0.1575049898805962 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99929943e-01 -1.07863620e-02 -4.87488014e-03 -5.78918798e+00] [ 1.07800753e-02 9.99941030e-01 -1.31404881e-03 3.69772206e+00] [ 4.88876647e-03 1.26140518e-03 9.99987254e-01 1.52244071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.529259763999995 meters 0.16590264684424277 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.70, Z:1.52 [[ 9.99931274e-01 -1.07352518e-02 -4.71176562e-03 -5.79028396e+00] [ 1.07307682e-02 9.99941947e-01 -9.75831368e-04 3.69527776e+00] [ 4.72196789e-03 9.25203439e-04 9.99988423e-01 1.52341937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589259764 meters 0.1737617720522596 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.52 [[ 9.99937762e-01 -1.01560980e-02 -4.61791151e-03 -5.79028987e+00] [ 1.01564081e-02 9.99948421e-01 4.37083349e-05 3.69143131e+00] [ 4.61722941e-03 -9.06070087e-05 9.99989336e-01 1.52299427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64925976399999 meters 0.176778886723601 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.52 [[ 9.99943151e-01 -9.71474709e-03 -4.39534184e-03 -5.79069156e+00] [ 9.71912830e-03 9.99952291e-01 9.76526833e-04 3.68780463e+00] [ 4.38564544e-03 -1.01919021e-03 9.99989864e-01 1.52267480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.709259763999995 meters 0.16878424761347285 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.52 [[ 9.99897058e-01 -1.36436788e-02 -4.44120522e-03 -5.79067860e+00] [ 1.36328156e-02 9.99904025e-01 -2.46716405e-03 3.68441830e+00] [ 4.47444017e-03 2.40636394e-03 9.99987094e-01 1.52288181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769259764 meters 0.16391481697903662 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.52 [[ 9.99899461e-01 -1.34161627e-02 -4.59059653e-03 -5.79035392e+00] [ 1.34064405e-02 9.99907835e-01 -2.14210841e-03 3.68334804e+00] [ 4.61891231e-03 2.08034949e-03 9.99987169e-01 1.52292157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82925976399999 meters 0.17517779936161496 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.52 [[ 9.99905466e-01 -1.30006480e-02 -4.47682490e-03 -5.79071171e+00] [ 1.29946248e-02 9.99914625e-01 -1.37189235e-03 3.68010145e+00] [ 4.49427818e-03 1.31358800e-03 9.99989038e-01 1.52298536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.889259763999995 meters 0.17613630985342474 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.52 [[ 9.99845699e-01 -1.69991802e-02 -4.42790048e-03 -5.79099484e+00] [ 1.69766825e-02 9.99843032e-01 -5.06987582e-03 3.67723973e+00] [ 4.51338917e-03 4.99392247e-03 9.99977345e-01 1.52338142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949259764 meters 0.18610473217719914 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.67, Z:1.52 [[ 9.99916083e-01 -1.23948551e-02 -3.76761636e-03 -5.79272848e+00] [ 1.23967818e-02 9.99923038e-01 4.88482301e-04 3.67107533e+00] [ 3.76127172e-03 -5.35147627e-04 9.99992783e-01 1.52338561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00925976399999 meters 0.18693697210083093 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.66, Z:1.52 [[ 9.99926116e-01 -1.17008550e-02 -3.29433665e-03 -5.79333458e+00] [ 1.17079903e-02 9.99929137e-01 2.15504140e-03 3.66473117e+00] [ 3.26888738e-03 -2.19345224e-03 9.99992252e-01 1.52232399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.069259763999995 meters 0.18480888812450533 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.66, Z:1.52 [[ 9.99932637e-01 -1.12057254e-02 -3.02544521e-03 -5.79374151e+00] [ 1.12155917e-02 9.99931776e-01 3.26408745e-03 3.66054692e+00] [ 2.98866233e-03 -3.29779973e-03 9.99990096e-01 1.52179507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129259764 meters 0.18533080202196997 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.65, Z:1.52 [[ 9.99939243e-01 -1.07123698e-02 -2.59907882e-03 -5.79480262e+00] [ 1.07240707e-02 9.99932232e-01 4.53057125e-03 3.65477953e+00] [ 2.55036953e-03 -4.55816870e-03 9.99986359e-01 1.52178066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18925976399999 meters 0.21234067341049942 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.52 [[ 9.99891302e-01 -1.45499889e-02 -2.38351813e-03 -5.79554857e+00] [ 1.45530162e-02 9.99893308e-01 1.25773066e-03 3.64997624e+00] [ 2.36496387e-03 -1.29228132e-03 9.99996368e-01 1.52222521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.249259763999994 meters 0.26081586642364263 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.64, Z:1.52 [[ 9.99827389e-01 -1.84756563e-02 -1.96024883e-03 -5.79693783e+00] [ 1.84721606e-02 9.99827779e-01 -1.78668388e-03 3.64410476e+00] [ 1.99292139e-03 1.75016545e-03 9.99996483e-01 1.52291008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309259764 meters 0.21288041143938197 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.64, Z:1.52 [[ 9.99903115e-01 -1.38518777e-02 -1.37332046e-03 -5.79847903e+00] [ 1.38567839e-02 9.99897402e-01 3.62981395e-03 3.63902314e+00] [ 1.32289982e-03 -3.64849208e-03 9.99992469e-01 1.52288351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36925976399999 meters 0.26533615375647207 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.63, Z:1.52 [[ 9.99844526e-01 -1.76246489e-02 -5.44500356e-04 -5.79983870e+00] [ 1.76253134e-02 9.99843892e-01 1.24074087e-03 3.63207260e+00] [ 5.22547734e-04 -1.25014496e-03 9.99999082e-01 1.52179389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.429259763999994 meters 0.2673533995026686 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.63, Z:1.52 [[ 9.99852742e-01 -1.71587692e-02 2.65489043e-04 -5.80100238e+00] [ 1.71578818e-02 9.99848155e-01 3.04537748e-03 3.62620224e+00] [-3.17703659e-04 -3.04037380e-03 9.99995328e-01 1.51996441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489259763999996 meters 0.26273881174175484 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.63, Z:1.52 [[ 9.99838493e-01 -1.79717124e-02 6.95521984e-05 -5.80138322e+00] [ 1.79715678e-02 9.99837045e-01 1.70461471e-03 3.63041967e+00] [-1.00175710e-04 -1.70308944e-03 9.99998545e-01 1.52135946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54925976399999 meters 0.25456719810348605 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99894129e-01 -1.21585882e-02 7.99367204e-03 -5.81259042e+00] [ 1.21808378e-02 9.99922055e-01 -2.74062995e-03 3.63233765e+00] [-7.95972679e-03 2.83770942e-03 9.99964294e-01 1.51449022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.609259763999994 meters 0.24742565015487641 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99898708e-01 -1.22609117e-02 7.22796441e-03 -5.81037027e+00] [ 1.22865911e-02 9.99918324e-01 -3.51914848e-03 3.63747362e+00] [-7.18422609e-03 3.60759906e-03 9.99967686e-01 1.51394586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669259763999996 meters 0.2394852321991775 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99940487e-01 -7.94622716e-03 7.47534244e-03 -5.81084397e+00] [ 7.93986064e-03 9.99968091e-01 8.80961749e-04 3.63720762e+00] [-7.48210423e-03 -8.21556142e-04 9.99971671e-01 1.51359289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.729259764 meters 0.23442558955124945 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99941915e-01 -7.73656102e-03 7.50413375e-03 -5.81065445e+00] [ 7.72812839e-03 9.99969474e-01 1.15207939e-03 3.63651162e+00] [-7.51281781e-03 -1.09401956e-03 9.99971180e-01 1.51317147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78925976399999 meters 0.2342701583303677 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99942299e-01 -7.62077530e-03 7.57112567e-03 -5.81064723e+00] [ 7.61070765e-03 9.99970116e-01 1.35766574e-03 3.63596565e+00] [-7.58124588e-03 -1.29996578e-03 9.99970417e-01 1.51287805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.849259763999996 meters 0.2325183920348535 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99943215e-01 -7.30472101e-03 7.75942851e-03 -5.81090593e+00] [ 7.28920075e-03 9.99971380e-01 2.02658223e-03 3.63360451e+00] [-7.77401006e-03 -1.96990711e-03 9.99967842e-01 1.51248176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.909259764 meters 0.23065779085169458 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99941664e-01 -7.00857810e-03 8.21881884e-03 -5.81205485e+00] [ 6.98616893e-03 9.99971809e-01 2.75211650e-03 3.62992130e+00] [-8.23787557e-03 -2.69453789e-03 9.99962438e-01 1.51244373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96925976399999 meters 0.22598986706686394 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99941592e-01 -6.66128924e-03 8.51117098e-03 -5.81237388e+00] [ 6.63217912e-03 9.99972077e-01 3.44388393e-03 3.62745336e+00] [-8.53387403e-03 -3.38723517e-03 9.99957849e-01 1.51174511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.029259763999995 meters 0.22338574870198744 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99942139e-01 -6.42782272e-03 8.62559697e-03 -5.81246258e+00] [ 6.39487376e-03 9.99972172e-01 3.84206421e-03 3.62608683e+00] [-8.65005304e-03 -3.78668231e-03 9.99955418e-01 1.51141356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089259764 meters 0.2188233182476204 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99944165e-01 -6.36132661e-03 8.43805182e-03 -5.81167787e+00] [ 6.32954479e-03 9.99972794e-01 3.78786022e-03 3.62690935e+00] [-8.46191807e-03 -3.73423970e-03 9.99957225e-01 1.51094014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14925976399999 meters 0.20673236506195616 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.63, Z:1.51 [[ 9.99952810e-01 -6.16483249e-03 7.50820518e-03 -5.80846682e+00] [ 6.14180499e-03 9.99976377e-01 3.08618309e-03 3.63305677e+00] [-7.52705361e-03 -3.03992352e-03 9.99967051e-01 1.50921345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.209259763999995 meters 0.20500094683806122 Centerline is valid? [False, False] Translation: X:-5.81, Y:3.64, Z:1.51 [[ 9.99955448e-01 -6.70771011e-03 6.64138892e-03 -5.80693225e+00] [ 6.70060455e-03 9.99976955e-01 1.09156423e-03 3.64052383e+00] [-6.64855777e-03 -1.04701428e-03 9.99977350e-01 1.51047597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269259764 meters 0.18815377894643073 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.52 [[ 9.99963372e-01 -6.93963684e-03 5.00964982e-03 -5.80382684e+00] [ 6.95500345e-03 9.99971142e-01 -3.05652607e-03 3.65103590e+00] [-4.98829408e-03 3.09125624e-03 9.99982780e-01 1.51545955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32925976399999 meters 0.20367892718651512 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99964758e-01 -7.08981360e-03 4.49626027e-03 -5.80143765e+00] [ 7.10786329e-03 9.99966694e-01 -4.01118542e-03 3.65729329e+00] [-4.46767196e-03 4.04300286e-03 9.99981847e-01 1.51377625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.389259763999995 meters 0.20083693534786992 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99966476e-01 -7.18178324e-03 3.93302163e-03 -5.79974520e+00] [ 7.19973119e-03 9.99963646e-01 -4.56841520e-03 3.66135877e+00] [-3.90006928e-03 4.59657874e-03 9.99981830e-01 1.51339618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449259764 meters 0.20117074713469424 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99965120e-01 -7.14529877e-03 4.32463747e-03 -5.80102309e+00] [ 7.16302706e-03 9.99965949e-01 -4.09785870e-03 3.65879280e+00] [-4.29520979e-03 4.12869327e-03 9.99982252e-01 1.51397153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50925976399999 meters 0.20363731278521874 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99964883e-01 -6.73602766e-03 4.98581062e-03 -5.80249917e+00] [ 6.74994035e-03 9.99973358e-01 -2.77891082e-03 3.65278563e+00] [-4.96695897e-03 2.81246715e-03 9.99983710e-01 1.51362421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.569259763999995 meters 0.1983733599677108 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99968056e-01 -6.25869199e-03 4.97157065e-03 -5.80204486e+00] [ 6.26818674e-03 9.99978556e-01 -1.89652986e-03 3.65030837e+00] [-4.95959425e-03 1.92763201e-03 9.99985843e-01 1.51284608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629259764 meters 0.201218118608009 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99935837e-01 -1.02340002e-02 4.85674351e-03 -5.80152745e+00] [ 1.02617680e-02 9.99930945e-01 -5.72731222e-03 3.64889173e+00] [-4.79779481e-03 5.77678351e-03 9.99971805e-01 1.51254890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68925976399999 meters 0.1941116401003329 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99938707e-01 -1.02976695e-02 4.06691624e-03 -5.79932955e+00] [ 1.03234023e-02 9.99926500e-01 -6.35786984e-03 3.65369348e+00] [-4.00114608e-03 6.39946456e-03 9.99971518e-01 1.51204115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.749259763999994 meters 0.19389637173571542 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99973856e-01 -6.05300209e-03 3.95584733e-03 -5.79872955e+00] [ 6.06212108e-03 9.99978986e-01 -2.29728402e-03 3.65548857e+00] [-3.94185874e-03 2.32120479e-03 9.99989537e-01 1.51147671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809259764 meters 0.1787631109821841 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99974965e-01 -6.43786969e-03 2.93643436e-03 -5.79744831e+00] [ 6.45094391e-03 9.99969225e-01 -4.46488943e-03 3.66126265e+00] [-2.90759961e-03 4.48372042e-03 9.99985721e-01 1.51453092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86925976399999 meters 0.17544680235569188 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.67, Z:1.52 [[ 9.99975927e-01 -6.58395193e-03 2.19001545e-03 -5.79594041e+00] [ 6.59553343e-03 9.99964077e-01 -5.32381389e-03 3.66522076e+00] [-2.15488504e-03 5.33813005e-03 9.99983430e-01 1.51511106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.929259763999994 meters 0.17349541601571689 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.67, Z:1.51 [[ 9.99979715e-01 -6.06350207e-03 1.95025401e-03 -5.79428687e+00] [ 6.07279580e-03 9.99970063e-01 -4.79531202e-03 3.66507725e+00] [-1.92111924e-03 4.80705824e-03 9.99986601e-01 1.51348981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989259763999996 meters 0.18610937165163235 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99946596e-01 -1.00503728e-02 2.40749619e-03 -5.79514620e+00] [ 1.00696818e-02 9.99916108e-01 -8.14724266e-03 3.66116205e+00] [-2.32541139e-03 8.17105028e-03 9.99963913e-01 1.51314840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04925976399999 meters 0.1917838312518865 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99942445e-01 -1.02599097e-02 3.13717149e-03 -5.79727159e+00] [ 1.02833044e-02 9.99918740e-01 -7.53435701e-03 3.65757309e+00] [-3.05961474e-03 7.56618385e-03 9.99966695e-01 1.51391857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.109259763999994 meters 0.20499203218464276 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99942691e-01 -1.01250096e-02 3.47844613e-03 -5.79801275e+00] [ 1.01487252e-02 9.99924905e-01 -6.86927262e-03 3.65512680e+00] [-3.40863347e-03 6.90418074e-03 9.99970356e-01 1.51366592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169259763999996 meters 0.19618632321999468 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99944504e-01 -9.69997173e-03 4.11081561e-03 -5.79858081e+00] [ 9.72312750e-03 9.99936762e-01 -5.65084420e-03 3.65135803e+00] [-4.05574262e-03 5.69050059e-03 9.99975584e-01 1.51196461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22925976399999 meters 0.20849936116241616 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.65, Z:1.51 [[ 9.99945502e-01 -9.50572237e-03 4.31667729e-03 -5.79872539e+00] [ 9.52846960e-03 9.99940663e-01 -5.27998385e-03 3.65027263e+00] [-4.26623109e-03 5.32082743e-03 9.99976744e-01 1.51137246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28925976399999 meters 0.1993153908713094 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99945024e-01 -9.90934481e-03 3.42831905e-03 -5.79680806e+00] [ 9.93143850e-03 9.99929630e-01 -6.48861058e-03 3.65660465e+00] [-3.36377991e-03 6.52230201e-03 9.99973072e-01 1.51181316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.349259763999996 meters 0.19019034145118177 Centerline is valid? [False, False] Translation: X:-5.80, Y:3.66, Z:1.51 [[ 9.99977982e-01 -5.71314453e-03 3.37569126e-03 -5.79585917e+00] [ 5.72187832e-03 9.99980293e-01 -2.58328974e-03 3.65956933e+00] [-3.36086603e-03 2.60254815e-03 9.99990966e-01 1.51061557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.409259764 meters 0.2118446530161326 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.66, Z:1.51 [[ 9.99978183e-01 -5.77669417e-03 3.20373688e-03 -5.79459352e+00] [ 5.78644905e-03 9.99978625e-01 -3.04397923e-03 3.66272942e+00] [-3.18608426e-03 3.06245108e-03 9.99990235e-01 1.50948514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46925976399999 meters 0.20482453298560666 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.67, Z:1.51 [[ 9.99979302e-01 -6.24225284e-03 1.55906767e-03 -5.79189257e+00] [ 6.25242900e-03 9.99958608e-01 -6.60979642e-03 3.67227796e+00] [-1.51774312e-03 6.61940757e-03 9.99976940e-01 1.51437591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.529259763999995 meters 0.19460015073280057 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.51 [[ 9.99978553e-01 -6.50673812e-03 7.45296951e-04 -5.78964921e+00] [ 6.51238369e-03 9.99948052e-01 -7.84106027e-03 3.67908159e+00] [-6.94238509e-04 7.84574576e-03 9.99968981e-01 1.51412167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589259764 meters 0.18826390143906604 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.68, Z:1.51 [[ 9.99981344e-01 -6.10386327e-03 2.33048524e-04 -5.78687064e+00] [ 6.10550931e-03 9.99950355e-01 -7.87460050e-03 3.68208288e+00] [-1.84971470e-04 7.87587647e-03 9.99968968e-01 1.51181005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64925976399999 meters 0.1833614574128149 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.51 [[ 9.99980594e-01 -6.22763126e-03 -1.70604146e-04 -5.78541016e+00] [ 6.22596655e-03 9.99944882e-01 -8.45397597e-03 3.68570909e+00] [ 2.23242988e-04 8.45274973e-03 9.99964250e-01 1.51125851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.709259763999995 meters 0.1823153980453225 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.51 [[ 9.99979663e-01 -6.37297103e-03 -2.44124856e-04 -5.78531470e+00] [ 6.37059127e-03 9.99941427e-01 -8.74977122e-03 3.68681950e+00] [ 2.99872596e-04 8.74803805e-03 9.99961690e-01 1.51147834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769259764 meters 0.1797546677103322 Centerline is valid? [False, False] Translation: X:-5.79, Y:3.69, Z:1.51 [[ 9.99978721e-01 -6.51237885e-03 -3.82364582e-04 -5.78500142e+00] [ 6.50862703e-03 9.99937346e-01 -9.10725471e-03 3.68843976e+00] [ 4.41650518e-04 9.10457225e-03 9.99958455e-01 1.51161198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82925976399999 meters 0.17985013631132565 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.51 [[ 9.99981584e-01 -6.04652474e-03 -5.21621509e-04 -5.78346132e+00] [ 6.04188782e-03 9.99945834e-01 -8.47488723e-03 3.68796588e+00] [ 5.72836870e-04 8.47157957e-03 9.99963951e-01 1.50976228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.889259763999995 meters 0.18317194827217845 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.51 [[ 9.99981503e-01 -6.03794187e-03 -7.33024037e-04 -5.78257316e+00] [ 6.03130389e-03 9.99943589e-01 -8.74314950e-03 3.68978624e+00] [ 7.85773315e-04 8.73856669e-03 9.99961509e-01 1.50931596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949259764 meters 0.17825089647244535 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.51 [[ 9.99980370e-01 -6.16522054e-03 -1.11752665e-03 -5.78121173e+00] [ 6.15461634e-03 9.99938219e-01 -9.25626145e-03 3.69336620e+00] [ 1.17452451e-03 9.24920180e-03 9.99956535e-01 1.50876452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00925976399999 meters 0.16819094371096485 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.70, Z:1.51 [[ 9.99978046e-01 -6.41395202e-03 -1.66390150e-03 -5.77962050e+00] [ 6.39686101e-03 9.99928721e-01 -1.00812885e-02 3.69840405e+00] [ 1.72844380e-03 1.00704235e-02 9.99947798e-01 1.50847372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.069259763999995 meters 0.17307898890271556 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.70, Z:1.51 [[ 9.99979412e-01 -6.13228374e-03 -1.88978875e-03 -5.77787758e+00] [ 6.11305017e-03 9.99931106e-01 -1.00206687e-02 3.70014717e+00] [ 1.95110814e-03 1.00089100e-02 9.99948006e-01 1.50674276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129259764 meters 0.1756775605796543 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.70, Z:1.51 [[ 9.99978085e-01 -6.22546220e-03 -2.25222624e-03 -5.77660980e+00] [ 6.20144882e-03 9.99925471e-01 -1.05163945e-02 3.70332921e+00] [ 2.31752780e-03 1.05021970e-02 9.99942165e-01 1.50630607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18925976399999 meters 0.17155529867776537 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.71, Z:1.51 [[ 9.99976207e-01 -6.26004147e-03 -2.89782803e-03 -5.77460567e+00] [ 6.22742889e-03 9.99918672e-01 -1.11295896e-02 3.70784523e+00] [ 2.96726405e-03 1.11112788e-02 9.99933865e-01 1.50576284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.249259763999994 meters 0.1525018313762404 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.71, Z:1.50 [[ 9.99976419e-01 -6.16521583e-03 -3.02514739e-03 -5.77364514e+00] [ 6.13095760e-03 9.99918415e-01 -1.12060053e-02 3.70933731e+00] [ 3.09398803e-03 1.11871940e-02 9.99932635e-01 1.50485104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309259764 meters 0.16409630526939448 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.71, Z:1.50 [[ 9.99977826e-01 -5.99658898e-03 -2.89639240e-03 -5.77349269e+00] [ 5.96458501e-03 9.99922426e-01 -1.09346555e-02 3.70891711e+00] [ 2.96173835e-03 1.09171373e-02 9.99936020e-01 1.50410254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36925976399999 meters 0.1578752554796051 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.71, Z:1.50 [[ 9.99979330e-01 -5.78981467e-03 -2.79610715e-03 -5.77358478e+00] [ 5.76001688e-03 9.99927759e-01 -1.05498766e-02 3.70765941e+00] [ 2.85698698e-03 1.05335529e-02 9.99940439e-01 1.50378267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.429259763999994 meters 0.17983937133650568 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.70, Z:1.50 [[ 9.99982804e-01 -5.30132614e-03 -2.50748943e-03 -5.77421272e+00] [ 5.27739306e-03 9.99941357e-01 -9.45684505e-03 3.70335434e+00] [ 2.55747620e-03 9.44344942e-03 9.99952139e-01 1.50354001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489259763999996 meters 0.16479287632213976 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99961185e-01 -8.57664579e-03 -2.01712073e-03 -5.77460138e+00] [ 8.55364810e-03 9.99901294e-01 -1.11461489e-02 3.69462052e+00] [ 2.11251820e-03 1.11284625e-02 9.99935845e-01 1.50167629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54925976399999 meters 0.19120742090228057 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.50 [[ 9.99966393e-01 -8.07328166e-03 -1.42657611e-03 -5.77581686e+00] [ 8.05935247e-03 9.99922262e-01 -9.51400228e-03 3.68836780e+00] [ 1.50327443e-03 9.50218526e-03 9.99953723e-01 1.50101376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.609259763999994 meters 0.17827069178869548 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.68, Z:1.50 [[ 9.99969922e-01 -7.68592175e-03 -1.03993146e-03 -5.77647673e+00] [ 7.67695349e-03 9.99935508e-01 -8.36928612e-03 3.68425804e+00] [ 1.10419007e-03 8.36105089e-03 9.99964436e-01 1.50033583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669259763999996 meters 0.18697869246977478 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.68, Z:1.50 [[ 9.99969823e-01 -7.70137765e-03 -1.02114842e-03 -5.77660751e+00] [ 7.69256818e-03 9.99935405e-01 -8.36719020e-03 3.68419397e+00] [ 1.08552135e-03 8.35908245e-03 9.99964473e-01 1.50048301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72925976399999 meters 0.1852475700581393 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.50 [[ 9.99968152e-01 -7.87662987e-03 -1.28588632e-03 -5.77634188e+00] [ 7.86484486e-03 9.99929231e-01 -8.92618732e-03 3.68600401e+00] [ 1.35610359e-03 8.91578974e-03 9.99959334e-01 1.50125122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78925976399999 meters 0.18414237670530903 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.50 [[ 9.99968746e-01 -7.81826430e-03 -1.17589953e-03 -5.77636085e+00] [ 7.80762373e-03 9.99930829e-01 -8.79650190e-03 3.68586353e+00] [ 1.24459157e-03 8.78704599e-03 9.99960619e-01 1.50084883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.849259763999996 meters 0.17991827309155117 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.50 [[ 9.99966985e-01 -8.01929073e-03 -1.31110587e-03 -5.77618699e+00] [ 8.00683560e-03 9.99925217e-01 -9.24393049e-03 3.68755092e+00] [ 1.38513759e-03 9.23312749e-03 9.99956414e-01 1.50120402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90925976399999 meters 0.17040393164039166 Centerline is valid? [False, False] Translation: X:-5.78, Y:3.69, Z:1.50 [[ 9.99990845e-01 -3.97842151e-03 -1.57547408e-03 -5.77550539e+00] [ 3.96931413e-03 9.99975635e-01 -5.74225809e-03 3.69114394e+00] [ 1.59828082e-03 5.73595197e-03 9.99982272e-01 1.50129614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96925976399999 meters 0.16273390638201446 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.69, Z:1.50 [[ 9.99998194e-01 4.66956227e-04 -1.84249575e-03 -5.77333482e+00] [-4.70154449e-04 9.99998383e-01 -1.73575853e-03 3.69483924e+00] [ 1.84168225e-03 1.73662165e-03 9.99996796e-01 1.49910184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.029259763999995 meters 0.17450125388512416 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.70, Z:1.50 [[ 9.99997468e-01 -3.69943626e-05 -2.24981535e-03 -5.77232934e+00] [ 3.02174184e-05 9.99995463e-01 -3.01218180e-03 3.70050535e+00] [ 2.24991658e-03 3.01210619e-03 9.99992933e-01 1.49936354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089259764 meters 0.14990717411764995 Centerline is valid? [False, False] Translation: X:-5.77, Y:3.71, Z:1.51 [[ 9.99990952e-01 -7.69262083e-04 -4.18374461e-03 -5.76928146e+00] [ 7.34105834e-04 9.99964466e-01 -8.39811183e-03 3.71442511e+00] [ 4.19005629e-03 8.39496453e-03 9.99955983e-01 1.50668905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14925976399999 meters 0.14730948522608972 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.72, Z:1.50 [[ 9.99992920e-01 -3.73452405e-03 4.60875068e-04 -5.75272139e+00] [ 3.73603910e-03 9.99987472e-01 -3.33145584e-03 3.71841269e+00] [-4.48427892e-04 3.33315410e-03 9.99994344e-01 1.50454623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.209259763999995 meters 0.14247165368558445 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.72, Z:1.50 [[ 9.99992932e-01 -3.75791684e-03 -1.16988202e-04 -5.75109937e+00] [ 3.75741339e-03 9.99984775e-01 -4.04132248e-03 3.72199416e+00] [ 1.32173374e-04 4.04085435e-03 9.99991827e-01 1.50443415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269259764 meters 0.13689892486721822 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.73, Z:1.51 [[ 9.99991898e-01 -3.85831052e-03 -1.14776165e-03 -5.74873040e+00] [ 3.85204189e-03 9.99977922e-01 -5.41458698e-03 3.72849488e+00] [ 1.16862747e-03 5.41012189e-03 9.99984682e-01 1.50502446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32925976399999 meters 0.13294761683105877 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.73, Z:1.50 [[ 9.99991657e-01 -3.85660575e-03 -1.34638913e-03 -5.74785539e+00] [ 3.84896673e-03 9.99976739e-01 -5.63093306e-03 3.73022472e+00] [ 1.36807410e-03 5.62570388e-03 9.99983240e-01 1.50451131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.389259763999995 meters 0.13960277063924634 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.73, Z:1.51 [[ 9.99989849e-01 -4.26950919e-03 -1.44016372e-03 -5.74812212e+00] [ 4.26030641e-03 9.99970866e-01 -6.33375026e-03 3.73257226e+00] [ 1.46716377e-03 6.32755043e-03 9.99978905e-01 1.50536749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449259764 meters 0.13302419782832067 Centerline is valid? [False, False] Translation: X:-5.75, Y:3.74, Z:1.51 [[ 9.99988411e-01 -4.32654702e-03 -2.11138243e-03 -5.74626941e+00] [ 4.31158325e-03 9.99965917e-01 -7.04101086e-03 3.73686860e+00] [ 2.14177373e-03 7.03182586e-03 9.99972983e-01 1.50514446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50925976399999 meters 0.13003916062405296 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99988114e-01 -4.02042953e-03 -2.75841872e-03 -5.74397983e+00] [ 4.00028245e-03 9.99965565e-01 -7.27090021e-03 3.73973877e+00] [ 2.78755588e-03 7.25977933e-03 9.99969762e-01 1.50412251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.569259763999995 meters 0.13078964761707562 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99989000e-01 -3.67194994e-03 -2.91841175e-03 -5.74296976e+00] [ 3.65166677e-03 9.99969352e-01 -6.92527670e-03 3.73948888e+00] [ 2.94375158e-03 6.91454346e-03 9.99971761e-01 1.50320859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629259764 meters 0.1359428438164174 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99988988e-01 -3.69633152e-03 -2.89153075e-03 -5.74307440e+00] [ 3.67612034e-03 9.99968993e-01 -6.96414969e-03 3.73964339e+00] [ 2.91718290e-03 6.95344339e-03 9.99971569e-01 1.50327036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68925976399999 meters 0.1357423589790222 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99989296e-01 -3.59524523e-03 -2.91253263e-03 -5.74279280e+00] [ 3.57539847e-03 9.99970549e-01 -6.79104757e-03 3.73953672e+00] [ 2.93686233e-03 6.78056141e-03 9.99972699e-01 1.50287948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.749259763999994 meters 0.1342529401793324 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99990644e-01 -3.24420247e-03 -2.86143222e-03 -5.74227201e+00] [ 3.22637531e-03 9.99975495e-01 -6.21291984e-03 3.73834154e+00] [ 2.88151807e-03 6.20362966e-03 9.99976606e-01 1.50179635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809259764 meters 0.12977262993723315 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99964716e-01 -7.56828227e-03 -3.64534734e-03 -5.74069906e+00] [ 7.52753859e-03 9.99910460e-01 -1.10638630e-02 3.74120288e+00] [ 3.72875537e-03 1.10360321e-02 9.99932149e-01 1.50258182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86925976399999 meters 0.12920598123345464 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99990625e-01 -2.88070765e-03 -3.23282638e-03 -5.74104393e+00] [ 2.86126286e-03 9.99977886e-01 -6.00338774e-03 3.73898386e+00] [ 3.25004889e-03 5.99408149e-03 9.99976754e-01 1.50136097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.929259763999994 meters 0.12648494192361612 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99991387e-01 -2.60738254e-03 -3.22913949e-03 -5.74069379e+00] [ 2.58918897e-03 9.99980824e-01 -5.62560698e-03 3.73808498e+00] [ 3.24374568e-03 5.61719768e-03 9.99978962e-01 1.50079081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989259763999996 meters 0.1296339773150287 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99991837e-01 -2.41202062e-03 -3.24161377e-03 -5.74035995e+00] [ 2.39454391e-03 9.99982637e-01 -5.38447078e-03 3.73764235e+00] [ 3.25454494e-03 5.37666464e-03 9.99980250e-01 1.50033623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04925976399999 meters 0.1296169157848227 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99991674e-01 -2.15418637e-03 -3.46570514e-03 -5.73903424e+00] [ 2.13587340e-03 9.99983784e-01 -5.27910748e-03 3.73870730e+00] [ 3.47702113e-03 5.27166122e-03 9.99980060e-01 1.49926113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.109259763999994 meters 0.12263300012508238 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.74, Z:1.50 [[ 9.99989391e-01 -2.18064026e-03 -4.05732775e-03 -5.73753978e+00] [ 2.15607771e-03 9.99979384e-01 -6.04843201e-03 3.74265550e+00] [ 4.07043356e-03 6.03961993e-03 9.99973477e-01 1.49946197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169259763999996 meters 0.11698694625471558 Centerline is valid? [False, False] Translation: X:-5.74, Y:3.75, Z:1.50 [[ 9.99984553e-01 -2.46765961e-03 -4.98046538e-03 -5.73566961e+00] [ 2.42933793e-03 9.99967513e-01 -7.68583451e-03 3.74992136e+00] [ 4.99926960e-03 7.67361655e-03 9.99958061e-01 1.50048003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22925976399999 meters 0.11175739608318196 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.75, Z:1.50 [[ 9.99980278e-01 -2.18428559e-03 -5.88833846e-03 -5.73277480e+00] [ 2.13517212e-03 9.99962990e-01 -8.33422602e-03 3.75499690e+00] [ 5.90632486e-03 8.32148904e-03 9.99947933e-01 1.49958915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28925976399999 meters 0.11154756245711517 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.76, Z:1.50 [[ 9.99975089e-01 -2.16158619e-03 -6.71925797e-03 -5.73063698e+00] [ 2.09970582e-03 9.99955448e-01 -9.20285818e-03 3.76002921e+00] [ 6.73885139e-03 9.18852047e-03 9.99935077e-01 1.49961409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.349259763999996 meters 0.10525029263415431 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.76, Z:1.50 [[ 9.99971817e-01 -1.91529289e-03 -7.25932347e-03 -5.72896557e+00] [ 1.84677174e-03 9.99953793e-01 -9.43403301e-03 3.76205762e+00] [ 7.27705697e-03 9.42036081e-03 9.99929148e-01 1.49929413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40925976399999 meters 0.10036764246871041 Centerline is valid? [False, False] Translation: X:-5.73, Y:3.76, Z:1.50 [[ 9.99969528e-01 -1.43983683e-03 -7.67262511e-03 -5.72736848e+00] [ 1.36842552e-03 9.99955777e-01 -9.30442066e-03 3.76249608e+00] [ 7.68568265e-03 9.29363772e-03 9.99927277e-01 1.49862898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46925976399999 meters 0.09970300914180266 Centerline is valid? [False, True] Translation: X:-5.71, Y:3.76, Z:1.50 [[ 9.99990122e-01 -4.22822862e-03 -1.37026323e-03 -5.71414113e+00] [ 4.22486965e-03 9.99988086e-01 -2.44502558e-03 3.76089552e+00] [ 1.38058503e-03 2.43921225e-03 9.99996072e-01 1.49554094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.529259763999995 meters 0.09879045206006566 Centerline is valid? [True, True] Translation: X:-5.65, Y:3.75, Z:1.49 [[ 9.99996920e-01 -2.22451811e-03 -1.10100619e-03 -5.65246432e+00] [ 2.22457368e-03 9.99997524e-01 4.92474539e-05 3.75486992e+00] [ 1.10089391e-03 -5.16965716e-05 9.99999393e-01 1.49205001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58925976399999 meters 0.09744933236762 Centerline is valid? [True, True] Translation: X:-5.59, Y:3.75, Z:1.49 [[ 9.99999228e-01 -1.13362633e-03 -5.09364127e-04 -5.59090547e+00] [ 1.13363821e-03 9.99999357e-01 2.30482762e-05 3.75255313e+00] [ 5.09337671e-04 -2.36256930e-05 9.99999870e-01 1.49181776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64925976399999 meters 0.09835865750802626 Centerline is valid? [True, True] Translation: X:-5.53, Y:3.74, Z:1.49 [[ 9.99996376e-01 -2.43297141e-03 -1.15248568e-03 -5.53054359e+00] [ 2.43303110e-03 9.99997039e-01 5.03965534e-05 3.74387486e+00] [ 1.15235966e-03 -5.32004043e-05 9.99999335e-01 1.48983881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.709259763999995 meters 0.09851760290429978 Centerline is valid? [True, True] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99986579e-01 -5.13118636e-03 -7.16329114e-04 -5.46944389e+00] [ 5.13121070e-03 9.99986835e-01 3.21467171e-05 3.73831602e+00] [ 7.16154732e-04 -3.58219212e-05 9.99999743e-01 1.49088820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769259764 meters 0.10081363659120178 Centerline is valid? [True, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99988949e-01 -4.67115162e-03 -5.30706125e-04 -5.46939930e+00] [ 4.67166463e-03 9.99988618e-01 9.69554130e-04 3.73528975e+00] [ 5.26171150e-04 -9.72022696e-04 9.99999389e-01 1.48998696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82925976399999 meters 0.10534168115481388 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.49 [[ 9.99961700e-01 -8.73443546e-03 -5.54683946e-04 -5.46928397e+00] [ 8.73280644e-03 9.99957737e-01 -2.87433723e-03 3.73358267e+00] [ 5.79766217e-04 2.86938319e-03 9.99995715e-01 1.48993672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.889259763999995 meters 0.10644209675154792 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.49 [[ 9.99963729e-01 -8.51677308e-03 -7.00209740e-05 -5.47045830e+00] [ 8.51662670e-03 9.99961972e-01 -1.87664924e-03 3.72917006e+00] [ 8.60013069e-05 1.87598483e-03 9.99998237e-01 1.48985757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949259764 meters 0.10890796316199132 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.49 [[ 9.99964331e-01 -8.43575932e-03 4.18638690e-04 -5.47188185e+00] [ 8.43618075e-03 9.99963899e-01 -1.01530279e-03 3.72525124e+00] [-4.10058727e-04 1.01879828e-03 9.99999397e-01 1.49012063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00925976399999 meters 0.11924536550642895 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.49 [[ 9.99919321e-01 -1.26955566e-02 4.17398221e-04 -5.47172891e+00] [ 1.26975334e-02 9.99906198e-01 -5.13493138e-03 3.72493417e+00] [-3.52168256e-04 5.13981703e-03 9.99986729e-01 1.48999676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.069259763999995 meters 0.12140816602896967 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.49 [[ 9.99922870e-01 -1.23995931e-02 7.09772247e-04 -5.47197081e+00] [ 1.24025465e-02 9.99913753e-01 -4.32012664e-03 3.72238258e+00] [-6.56143219e-04 4.32859641e-03 9.99990416e-01 1.48911436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129259764 meters 0.12694071250821923 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.49 [[ 9.99920776e-01 -1.25155990e-02 1.34237751e-03 -5.47359964e+00] [ 1.25203721e-02 9.99915107e-01 -3.60830456e-03 3.71919346e+00] [-1.29710346e-03 3.62482576e-03 9.99992589e-01 1.48917015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18925976399999 meters 0.12862744574088703 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.49 [[ 9.99919880e-01 -1.25577216e-02 1.59279129e-03 -5.47428175e+00] [ 1.25630304e-02 9.99915410e-01 -3.36803586e-03 3.71816467e+00] [-1.55036170e-03 3.38777630e-03 9.99993060e-01 1.48921243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.249259763999994 meters 0.134095840737202 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.72, Z:1.49 [[ 9.99917871e-01 -1.25845420e-02 2.42508004e-03 -5.47553619e+00] [ 1.25908432e-02 9.99917350e-01 -2.60084311e-03 3.71584781e+00] [-2.39214918e-03 2.63116330e-03 9.99993677e-01 1.48779546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309259764 meters 0.13720959615571657 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.72, Z:1.49 [[ 9.99912057e-01 -1.29820307e-02 2.71009783e-03 -5.47665047e+00] [ 1.29900793e-02 9.99911204e-01 -2.97367368e-03 3.71682060e+00] [-2.67125286e-03 3.00861655e-03 9.99991906e-01 1.48838946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36925976399999 meters 0.1325528819142716 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.72, Z:1.49 [[ 9.99954633e-01 -9.11191739e-03 2.77566819e-03 -5.47676492e+00] [ 9.11000684e-03 9.99958258e-01 7.00186073e-04 3.71986405e+00] [-2.78193236e-03 -6.74867952e-04 9.99995903e-01 1.48818741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.429259763999994 meters 0.13687646785433824 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.49 [[ 9.99952336e-01 -9.58275900e-03 1.87003308e-03 -5.47491009e+00] [ 9.58633804e-03 9.99952217e-01 -1.91441024e-03 3.72890197e+00] [-1.85159839e-03 1.93224576e-03 9.99996419e-01 1.48994831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489259763999996 meters 0.12367680196708146 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.49 [[ 9.99952262e-01 -9.62226620e-03 1.69870467e-03 -5.47419323e+00] [ 9.62609195e-03 9.99951117e-01 -2.25853421e-03 3.73078082e+00] [-1.67688942e-03 2.27477828e-03 9.99996007e-01 1.48961029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54925976399999 meters 0.11934223337123541 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99951008e-01 -9.84088079e-03 1.06681642e-03 -5.47236823e+00] [ 9.84455481e-03 9.99945433e-01 -3.49517385e-03 3.73699593e+00] [-1.03236262e-03 3.50550495e-03 9.99993323e-01 1.48946141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.609259763999994 meters 0.12346328613748365 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99950395e-01 -9.93252371e-03 7.43553512e-04 -5.47108655e+00] [ 9.93538923e-03 9.99942822e-01 -3.95478705e-03 3.74030018e+00] [-7.04229981e-04 3.96197837e-03 9.99991903e-01 1.48881378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669259763999996 meters 0.12411060216834291 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99950935e-01 -9.88421219e-03 6.56311488e-04 -5.47087932e+00] [ 9.88673156e-03 9.99943310e-01 -3.95330689e-03 3.74041043e+00] [-6.17198957e-04 3.95960170e-03 9.99991970e-01 1.48887087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72925976399999 meters 0.1206810422017517 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99953693e-01 -9.59389657e-03 7.54046207e-04 -5.47057367e+00] [ 9.59643447e-03 9.99948045e-01 -3.43741635e-03 3.73918134e+00] [-7.21028813e-04 3.44449333e-03 9.99993808e-01 1.48797603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78925976399999 meters 0.12463013868722596 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99955632e-01 -9.38727179e-03 7.82561701e-04 -5.47034509e+00] [ 9.38965333e-03 9.99951120e-01 -3.09725594e-03 3.73833893e+00] [-7.53448666e-04 3.10446651e-03 9.99994897e-01 1.48749571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.849259763999996 meters 0.12199792727742335 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99953208e-01 -9.65557452e-03 5.92791082e-04 -5.46997847e+00] [ 9.65768577e-03 9.99946634e-01 -3.66844937e-03 3.74081724e+00] [-5.57338461e-04 3.67400270e-03 9.99993096e-01 1.48776588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90925976399999 meters 0.12307684172900991 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99953835e-01 -9.59768843e-03 4.61048214e-04 -5.46923908e+00] [ 9.59934041e-03 9.99946985e-01 -3.72552191e-03 3.74184979e+00] [-4.25267373e-04 3.72977568e-03 9.99992954e-01 1.48720676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96925976399999 meters 0.12007297383458085 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99954234e-01 -9.56449455e-03 2.25401319e-04 -5.46829551e+00] [ 9.56531092e-03 9.99946440e-01 -3.95239458e-03 3.74351350e+00] [-1.87586591e-04 3.95436973e-03 9.99992164e-01 1.48681166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.029259763999995 meters 0.12382268401255583 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99951319e-01 -9.86341353e-03 2.69974486e-04 -5.46873205e+00] [ 9.86450546e-03 9.99941679e-01 -4.39655425e-03 3.74491642e+00] [-2.26593709e-04 4.39900339e-03 9.99990299e-01 1.48735098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08925976399999 meters 0.1211614074793972 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99949858e-01 -1.00101872e-02 2.78323309e-04 -5.46868378e+00] [ 1.00113762e-02 9.99939019e-01 -4.66166788e-03 3.74625279e+00] [-2.31642168e-04 4.66422053e-03 9.99989096e-01 1.48729047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14925976399999 meters 0.12263703291509849 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99949545e-01 -1.00406857e-02 3.04561616e-04 -5.46838408e+00] [ 1.00420058e-02 9.99938548e-01 -4.69658005e-03 3.74716491e+00] [-2.57386016e-04 4.69940149e-03 9.99988925e-01 1.48671925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.209259763999995 meters 0.12044471212173659 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99948310e-01 -1.01645409e-02 2.44766244e-04 -5.46811065e+00] [ 1.01656276e-02 9.99936092e-01 -4.94688397e-03 3.74861240e+00] [-1.94467797e-04 4.94911647e-03 9.99987734e-01 1.48657381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26925976399999 meters 0.11575765271367164 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99984079e-01 -5.63677855e-03 2.61976683e-04 -5.46721591e+00] [ 5.63689648e-03 9.99984011e-01 -4.51617369e-04 3.74945694e+00] [-2.59426827e-04 4.53086914e-04 9.99999864e-01 1.48505922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32925976399999 meters 0.1179491027675547 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.48 [[ 9.99985145e-01 -5.45060357e-03 5.04233164e-06 -5.46601396e+00] [ 5.45060553e-03 9.99984992e-01 -5.53614380e-04 3.75082995e+00] [-2.02472345e-06 5.53633640e-04 9.99999847e-01 1.48431267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.389259763999995 meters 0.11288120643526167 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99983551e-01 -5.72640793e-03 -3.26293251e-04 -5.46571923e+00] [ 5.72597694e-03 9.99982753e-01 -1.30684995e-03 3.75332857e+00] [ 3.33771179e-04 1.30496010e-03 9.99999093e-01 1.48532168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449259764 meters 0.11463359372108273 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.76, Z:1.49 [[ 9.99981482e-01 -6.06040009e-03 -5.53875632e-04 -5.46595528e+00] [ 6.05922104e-03 9.99979425e-01 -2.10616475e-03 3.75527225e+00] [ 5.66628437e-04 2.10276970e-03 9.99997629e-01 1.48680351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50925976399999 meters 0.11027414386159268 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99984582e-01 -5.51430480e-03 -6.54235062e-04 -5.46508606e+00] [ 5.51342822e-03 9.99983911e-01 -1.33418038e-03 3.75315875e+00] [ 6.61581613e-04 1.33055273e-03 9.99998896e-01 1.48578866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.569259763999995 meters 0.1142414791726679 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.75, Z:1.49 [[ 9.99986362e-01 -5.18675757e-03 -6.10227492e-04 -5.46499555e+00] [ 5.18629721e-03 9.99986267e-01 -7.53599793e-04 3.75119931e+00] [ 6.14127852e-04 7.50424694e-04 9.99999530e-01 1.48539895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629259764 meters 0.11236910458366703 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.75, Z:1.49 [[ 9.99955685e-01 -9.38314948e-03 -7.63993812e-04 -5.46539867e+00] [ 9.37930956e-03 9.99944089e-01 -4.88346940e-03 3.74928331e+00] [ 8.09773419e-04 4.87608726e-03 9.99987784e-01 1.48670334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68925976399999 meters 0.11838849077479625 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99911881e-01 -1.32605528e-02 -6.23506679e-04 -5.46597386e+00] [ 1.32550265e-02 9.99878852e-01 -8.15997919e-03 3.74458214e+00] [ 7.31636977e-04 8.15099554e-03 9.99966512e-01 1.48705563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.749259763999994 meters 0.1250923719540649 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.74, Z:1.49 [[ 9.99918458e-01 -1.27673354e-02 2.68256781e-04 -5.46771358e+00] [ 1.27686864e-02 9.99901368e-01 -5.84928054e-03 3.73544716e+00] [-1.93550597e-04 5.85222886e-03 9.99982857e-01 1.48606870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809259764 meters 0.12837224332124295 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.73, Z:1.48 [[ 9.99922774e-01 -1.23590829e-02 1.30360019e-03 -5.46966051e+00] [ 1.23632880e-02 9.99918229e-01 -3.26859914e-03 3.72572495e+00] [-1.26309671e-03 3.28446350e-03 9.99993808e-01 1.48457307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86925976399999 meters 0.14159123981310312 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 9.99864201e-01 -1.63546669e-02 2.02593657e-03 -5.47137694e+00] [ 1.63659965e-02 9.99849775e-01 -5.70796804e-03 3.71809357e+00] [-1.93228031e-03 5.74034937e-03 9.99981657e-01 1.48445434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.929259763999994 meters 0.14805865409045638 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.48 [[ 9.99863857e-01 -1.61583067e-02 3.34300119e-03 -5.47401160e+00] [ 1.61686473e-02 9.99864505e-01 -3.08967435e-03 3.70819080e+00] [-3.29262433e-03 3.14330552e-03 9.99989639e-01 1.48284690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989259763999996 meters 0.14893936579953976 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.48 [[ 9.99865663e-01 -1.60271295e-02 3.43320874e-03 -5.47466969e+00] [ 1.60364749e-02 9.99867729e-01 -2.71205430e-03 3.70612456e+00] [-3.38928819e-03 2.76674654e-03 9.99990429e-01 1.48347384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04925976399999 meters 0.15617203836415688 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.48 [[ 9.99876808e-01 -1.53276827e-02 3.38098934e-03 -5.47391663e+00] [ 1.53335975e-02 9.99880936e-01 -1.73048575e-03 3.70297823e+00] [-3.35406245e-03 1.78211530e-03 9.99992787e-01 1.48248500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.109259763999994 meters 0.15663372652527816 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.48 [[ 9.99886003e-01 -1.46436408e-02 3.68030782e-03 -5.47394218e+00] [ 1.46451827e-02 9.99892677e-01 -3.92380229e-04 3.69826205e+00] [-3.67416696e-03 4.46234279e-04 9.99993151e-01 1.48126724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169259763999996 meters 0.16713374298512101 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.48 [[ 9.99884989e-01 -1.45454889e-02 4.29386747e-03 -5.47571344e+00] [ 1.45425934e-02 9.99894003e-01 7.04796022e-04 3.69299021e+00] [-4.30366394e-03 -6.42270994e-04 9.99990533e-01 1.48171199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22925976399999 meters 0.16518456083650915 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.48 [[ 9.99883445e-01 -1.45322791e-02 4.68066835e-03 -5.47712333e+00] [ 1.45263835e-02 9.99893653e-01 1.29109514e-03 3.68980649e+00] [-4.69893313e-03 -1.22295148e-03 9.99988212e-01 1.48238053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28925976399999 meters 0.15862274446733346 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.48 [[ 9.99883640e-01 -1.45432470e-02 4.60436992e-03 -5.47758206e+00] [ 1.45377055e-02 9.99893560e-01 1.23472796e-03 3.68892980e+00] [-4.62183678e-03 -1.16764732e-03 9.99988638e-01 1.48337671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349259763999996 meters 0.1582721614771364 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99897220e-01 -1.36061192e-02 4.51924654e-03 -5.47626880e+00] [ 1.35942611e-02 9.99904097e-01 2.64434776e-03 3.68498578e+00] [-4.55479244e-03 -2.58264015e-03 9.99986292e-01 1.48158375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40925976399999 meters 0.15702600965247937 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99900390e-01 -1.32952904e-02 4.73768845e-03 -5.47682438e+00] [ 1.32791108e-02 9.99905945e-01 3.43031205e-03 3.68169617e+00] [-4.78284984e-03 -3.36705807e-03 9.99982893e-01 1.48153086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46925976399999 meters 0.16953652780797493 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99900293e-01 -1.32116862e-02 4.98561031e-03 -5.47778811e+00] [ 1.31924617e-02 9.99905489e-01 3.86938163e-03 3.67927946e+00] [-5.03626017e-03 -3.80322335e-03 9.99980086e-01 1.48204932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.529259763999995 meters 0.16034348323698486 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99898616e-01 -1.32973428e-02 5.09292626e-03 -5.47873995e+00] [ 1.32772636e-02 9.99904026e-01 3.95629245e-03 3.67782654e+00] [-5.14504565e-03 -3.88827122e-03 9.99979205e-01 1.48306875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58925976399999 meters 0.17949998048640117 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99899763e-01 -1.31640627e-02 5.21270190e-03 -5.47907418e+00] [ 1.31420745e-02 9.99904691e-01 4.23020867e-03 3.67659899e+00] [-5.26789181e-03 -4.16127893e-03 9.99977466e-01 1.48311070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64925976399999 meters 0.16488194781060353 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99904179e-01 -1.29004345e-02 5.02102327e-03 -5.47830421e+00] [ 1.28778069e-02 9.99906893e-01 4.51310597e-03 3.67609044e+00] [-5.07877680e-03 -4.44801375e-03 9.99977210e-01 1.48267490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709259763999995 meters 0.17448223851479422 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99904135e-01 -1.28770934e-02 5.08941105e-03 -5.47873151e+00] [ 1.28531573e-02 9.99906310e-01 4.70817888e-03 3.67503450e+00] [-5.14956188e-03 -4.64231253e-03 9.99975965e-01 1.48304639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76925976399999 meters 0.16568658379017437 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.48 [[ 9.99907486e-01 -1.28544923e-02 4.44767580e-03 -5.47734248e+00] [ 1.28359920e-02 9.99908948e-01 4.16338442e-03 3.67750059e+00] [-4.50078903e-03 -4.10590892e-03 9.99981442e-01 1.48336402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82925976399999 meters 0.1587490355527819 Centerline is valid? [False, False] Translation: X:-5.49, Y:3.68, Z:1.49 [[ 9.99942312e-01 -1.02960438e-02 -3.06022130e-03 -5.48567434e+00] [ 1.02780858e-02 9.99930200e-01 -5.82712557e-03 3.68178872e+00] [ 3.12000404e-03 5.79533620e-03 9.99978340e-01 1.48815964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889259763999995 meters 0.1599623874788362 Centerline is valid? [False, False] Translation: X:-5.49, Y:3.68, Z:1.49 [[ 9.99939834e-01 -1.04589727e-02 -3.30736340e-03 -5.48510183e+00] [ 1.04380673e-02 9.99925825e-01 -6.27618792e-03 3.68383605e+00] [ 3.37276056e-03 6.24128783e-03 9.99974835e-01 1.48830955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94925976399999 meters 0.1640209850875481 Centerline is valid? [False, False] Translation: X:-5.49, Y:3.68, Z:1.49 [[ 9.99976689e-01 -6.02322979e-03 -3.21591199e-03 -5.48521409e+00] [ 6.01771534e-03 9.99980411e-01 -1.72167033e-03 3.68327045e+00] [ 3.22621901e-03 1.70227775e-03 9.99993347e-01 1.48798163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00925976399999 meters 0.16197009885842498 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.68, Z:1.49 [[ 9.99976453e-01 -6.01582039e-03 -3.30213045e-03 -5.48493725e+00] [ 6.00985204e-03 9.99980295e-01 -1.81438023e-03 3.68393929e+00] [ 3.31298037e-03 1.79449219e-03 9.99992902e-01 1.48790669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069259763999995 meters 0.15828710955109582 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99972692e-01 -6.15936428e-03 -4.08371490e-03 -5.48334665e+00] [ 6.14828512e-03 9.99977400e-01 -2.72003518e-03 3.68813821e+00] [ 4.10037629e-03 2.69485306e-03 9.99987962e-01 1.48839087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129259764 meters 0.15156479353487265 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99972757e-01 -6.06784950e-03 -4.20326503e-03 -5.48278968e+00] [ 6.05657266e-03 9.99978040e-01 -2.69043115e-03 3.68862948e+00] [ 4.21949786e-03 2.66490048e-03 9.99987547e-01 1.48803598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18925976399999 meters 0.15472745107548794 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99937295e-01 -1.03124375e-02 -4.36569924e-03 -5.48219406e+00] [ 1.02820514e-02 9.99923150e-01 -6.92631954e-03 3.68877969e+00] [ 4.43679098e-03 6.88099689e-03 9.99966483e-01 1.48788679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249259763999994 meters 0.15390009801292098 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99940116e-01 -1.00877124e-02 -4.24301722e-03 -5.48231581e+00] [ 1.00606808e-02 9.99929262e-01 -6.34464951e-03 3.68686666e+00] [ 4.30672007e-03 6.30158193e-03 9.99970871e-01 1.48750950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309259764 meters 0.15581786338495784 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99935172e-01 -1.05295928e-02 -4.33356904e-03 -5.48281183e+00] [ 1.04991290e-02 9.99920427e-01 -6.99343415e-03 3.68879756e+00] [ 4.40686222e-03 6.94748208e-03 9.99966155e-01 1.48859665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36925976399999 meters 0.15100088749105214 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99973634e-01 -5.94936134e-03 -4.16362841e-03 -5.48248070e+00] [ 5.93979126e-03 9.99979698e-01 -2.30709914e-03 3.68837970e+00] [ 4.17726965e-03 2.28230723e-03 9.99988671e-01 1.48735881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429259763999994 meters 0.14747345143184307 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.69, Z:1.49 [[ 9.99971278e-01 -5.91912162e-03 -4.73356291e-03 -5.48065477e+00] [ 5.90551538e-03 9.99978406e-01 -2.88324875e-03 3.69191883e+00] [ 4.75052699e-03 2.85521181e-03 9.99984640e-01 1.48681929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489259763999996 meters 0.14256645780237812 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.70, Z:1.49 [[ 9.99964679e-01 -6.46102720e-03 -5.37550776e-03 -5.47919844e+00] [ 6.43839294e-03 9.99970380e-01 -4.21733098e-03 3.69891187e+00] [ 5.40259683e-03 4.18257239e-03 9.99976659e-01 1.48700105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54925976399999 meters 0.14449153034314438 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.71, Z:1.49 [[ 9.99958246e-01 -6.71449528e-03 -6.19846635e-03 -5.47680491e+00] [ 6.68057125e-03 9.99962683e-01 -5.47754952e-03 3.70630238e+00] [ 6.23501402e-03 5.43591152e-03 9.99965787e-01 1.48634138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609259763999994 meters 0.14760608141200646 Centerline is valid? [False, False] Translation: X:-5.48, Y:3.71, Z:1.49 [[ 9.99976112e-01 -2.49530739e-03 -6.44585080e-03 -5.47522264e+00] [ 2.48363562e-03 9.99995263e-01 -1.81811196e-03 3.71087853e+00] [ 6.45035702e-03 1.80205938e-03 9.99977572e-01 1.48502329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669259763999996 meters 0.14086599803037772 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.48 [[ 9.99972975e-01 -2.57917631e-03 -6.88461016e-03 -5.47367307e+00] [ 2.56199829e-03 9.99993586e-01 -2.50278751e-03 3.71484843e+00] [ 6.89102113e-03 2.48508151e-03 9.99973169e-01 1.48448197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72925976399999 meters 0.1400957210434572 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 9.99970880e-01 -2.68095946e-03 -7.14508941e-03 -5.47233486e+00] [ 2.66025622e-03 9.99992241e-01 -2.90547809e-03 3.71806836e+00] [ 7.15282344e-03 2.88638572e-03 9.99970253e-01 1.48356700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78925976399999 meters 0.13770649186359138 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 9.99968713e-01 -2.64686826e-03 -7.45432765e-03 -5.47105054e+00] [ 2.62349967e-03 9.99991620e-01 -3.14293787e-03 3.72031247e+00] [ 7.46258412e-03 3.12328311e-03 9.99967277e-01 1.48290724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849259763999996 meters 0.13394402807959907 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994358 -0.00683166 -0.00813373 -5.46902589] [ 0.00676787 0.99994632 -0.00784533 3.72368388] [ 0.00818689 0.00778984 0.99993614 1.48243333] [ 0. 0. 0. 1. ]] SLAMing on 59.90925976399999 meters 0.1328344345245416 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994392 -0.00680768 -0.00811285 -5.46903405] [ 0.00674419 0.99994662 -0.00782727 3.72375318] [ 0.0081657 0.00777212 0.99993646 1.48237099] [ 0. 0. 0. 1. ]] SLAMing on 59.96925976399999 meters 0.13142225404946362 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994528 -0.00662242 -0.00809763 -5.46878558] [ 0.00656138 0.99995004 -0.0075408 3.72310132] [ 0.00814716 0.00748726 0.99993878 1.48193096] [ 0. 0. 0. 1. ]] SLAMing on 60.029259763999995 meters 0.13403800498485197 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994914 -0.0064305 -0.00777001 -5.4695656 ] [ 0.00637693 0.99995586 -0.00690053 3.7202881 ] [ 0.00781404 0.00685063 0.999946 1.48179593] [ 0. 0. 0. 1. ]] SLAMing on 60.08925976399999 meters 0.13318223308285884 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994709 -0.00662952 -0.00786588 -5.46977245] [ 0.00657265 0.99995223 -0.00723383 3.7212242 ] [ 0.00791346 0.00718174 0.9999429 1.48249394] [ 0. 0. 0. 1. ]] SLAMing on 60.14925976399999 meters 0.1399096917553178 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994827 -0.00645688 -0.00785872 -5.46961966] [ 0.00640206 0.99995514 -0.00698135 3.72048379] [ 0.00790344 0.00693068 0.99994475 1.48222731] [ 0. 0. 0. 1. ]] SLAMing on 60.209259763999995 meters 0.13434282596387292 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994602 -0.00650548 -0.00810201 -5.46908028] [ 0.00644583 0.99995209 -0.00736642 3.72223802] [ 0.00814955 0.00731379 0.99994004 1.48243897] [ 0. 0. 0. 1. ]] SLAMing on 60.26925976399999 meters 0.12785067282699114 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994636 -0.00637673 -0.00816161 -5.46874031] [ 0.00631789 0.99995401 -0.00721602 3.72209561] [ 0.00820725 0.00716407 0.99994066 1.48216251] [ 0. 0. 0. 1. ]] SLAMing on 60.32925976399999 meters 0.1359501384568746 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994732 -0.00619827 -0.00818149 -5.46850154] [ 0.00614149 0.99995701 -0.00694732 3.72141119] [ 0.0082242 0.00689671 0.9999424 1.48185969] [ 0. 0. 0. 1. ]] SLAMing on 60.389259763999995 meters 0.12958787948702405 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99995206 -0.00581377 -0.00787862 -5.46876478] [ 0.00576649 0.99996531 -0.00601125 3.71822711] [ 0.0079133 0.00596553 0.99995089 1.48101085] [ 0. 0. 0. 1. ]] SLAMing on 60.44925976399999 meters 0.14315543128384575 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99995445 -0.00564489 -0.00769581 -5.46907228] [ 0.00560246 0.99996906 -0.00552276 3.71650859] [ 0.00772675 0.00547939 0.99995514 1.48071034] [ 0. 0. 0. 1. ]] SLAMing on 60.50925976399999 meters 0.13670328348502966 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99995311 -0.00565599 -0.0078611 -5.46854853] [ 0.00561162 0.99996826 -0.00565529 3.71746962] [ 0.00789284 0.00561091 0.99995311 1.48058906] [ 0. 0. 0. 1. ]] SLAMing on 60.569259763999995 meters 0.13755133153513127 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 9.99953567e-01 -5.49891821e-03 -7.91368978e-03 -5.46798953e+00] [ 5.45528550e-03 9.99969859e-01 -5.52463835e-03 3.71768544e+00] [ 7.94383079e-03 5.48121038e-03 9.99953425e-01 1.47998299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62925976399999 meters 0.1375890375262948 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99991609 -0.00988706 -0.00836956 -5.46662328] [ 0.00980087 0.99989915 -0.01027804 3.72065398] [ 0.00847034 0.01019515 0.99991215 1.47985736] [ 0. 0. 0. 1. ]] SLAMing on 60.68925976399999 meters 0.14524531243532499 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99991314 -0.01003381 -0.00854583 -5.46594277] [ 0.00994269 0.99989397 -0.0106389 3.72287202] [ 0.00865167 0.01055301 0.99990689 1.47959006] [ 0. 0. 0. 1. ]] SLAMing on 60.749259763999994 meters 0.1336367477302028 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994961 -0.00551665 -0.00838763 -5.46597775] [ 0.0054663 0.99996697 -0.00601449 3.72223953] [ 0.00842053 0.00596833 0.99994674 1.47888834] [ 0. 0. 0. 1. ]] SLAMing on 60.809259764 meters 0.13975158176431843 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.9999485 -0.00560727 -0.00845902 -5.46567267] [ 0.00555421 0.99996484 -0.00628303 3.72364481] [ 0.00849396 0.00623572 0.99994448 1.47878243] [ 0. 0. 0. 1. ]] SLAMing on 60.86925976399999 meters 0.13868433418010664 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.72, Z:1.48 [[ 0.99994717 -0.00583015 -0.00846536 -5.46591942] [ 0.00577394 0.99996122 -0.00664994 3.72477151] [ 0.0085038 0.00660071 0.99994206 1.47921566] [ 0. 0. 0. 1. ]] SLAMing on 60.929259763999994 meters 0.13343339106922902 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.73, Z:1.48 [[ 0.99994152 -0.00602446 -0.00898086 -5.46465787] [ 0.00595764 0.99995451 -0.00744918 3.72904662] [ 0.00902533 0.00739524 0.99993192 1.47937265] [ 0. 0. 0. 1. ]] SLAMing on 60.989259763999996 meters 0.13191171749194386 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.73, Z:1.48 [[ 0.99994296 -0.00580384 -0.00896584 -5.46398048] [ 0.00573963 0.99995781 -0.00717119 3.72901196] [ 0.00900708 0.00711932 0.99993409 1.47832873] [ 0. 0. 0. 1. ]] SLAMing on 61.04925976399999 meters 0.12829138967062154 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.73, Z:1.48 [[ 0.9999389 -0.00589201 -0.00935319 -5.46283407] [ 0.00582043 0.99995371 -0.00766122 3.73191418] [ 0.0093979 0.00760631 0.99992691 1.47818188] [ 0. 0. 0. 1. ]] SLAMing on 61.109259763999994 meters 0.1249265329641386 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.48 [[ 0.99993352 -0.00582912 -0.00994823 -5.46084473] [ 0.00574816 0.99995029 -0.00814723 3.73581511] [ 0.00999523 0.0080895 0.99991732 1.47746095] [ 0. 0. 0. 1. ]] SLAMing on 61.169259763999996 meters 0.1224620154709837 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.48 [[ 0.99993339 -0.00558047 -0.01010294 -5.45971966] [ 0.00549967 0.99995281 -0.00800826 3.73657331] [ 0.01014716 0.00795216 0.9999169 1.47643696] [ 0. 0. 0. 1. ]] SLAMing on 61.22925976399999 meters 0.12366202438898569 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99959519e-01 -4.99487332e-03 7.48404565e-03 -5.46358525e+00] [ 5.02009951e-03 9.99981769e-01 -3.35567754e-03 3.73502110e+00] [-7.46714803e-03 3.39311236e-03 9.99966364e-01 1.46501175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28925976399999 meters 0.12461049282680746 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.73, Z:1.47 [[ 9.99958400e-01 -5.14053480e-03 7.53478485e-03 -5.46414408e+00] [ 5.16679516e-03 9.99980632e-01 -3.46990486e-03 3.73492998e+00] [-7.51680175e-03 3.50869120e-03 9.99965593e-01 1.46566939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349259763999996 meters 0.1278721889136553 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99960003e-01 -5.25929434e-03 7.23412795e-03 -5.46343671e+00] [ 5.28801644e-03 9.99978189e-01 -3.95698053e-03 3.73727644e+00] [-7.21315924e-03 3.99507644e-03 9.99966004e-01 1.46584780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40925976399999 meters 0.1266361507632364 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99960017e-01 -5.42923918e-03 7.10547510e-03 -5.46338381e+00] [ 5.46038187e-03 9.99975540e-01 -4.37087802e-03 3.73875280e+00] [-7.08157075e-03 4.40950186e-03 9.99965203e-01 1.46633450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46925976399999 meters 0.1243496867984508 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99959667e-01 -5.61007736e-03 7.01365235e-03 -5.46323463e+00] [ 5.64345100e-03 9.99972805e-01 -4.74768102e-03 3.74032595e+00] [-6.98682675e-03 4.78707074e-03 9.99964133e-01 1.46650627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529259763999995 meters 0.119934806110612 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99962296e-01 -5.44145594e-03 6.76735217e-03 -5.46213298e+00] [ 5.47365468e-03 9.99973745e-01 -4.74856681e-03 3.74139531e+00] [-6.74133537e-03 4.78542992e-03 9.99965826e-01 1.46580557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58925976399999 meters 0.12005342586669417 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 9.99964085e-01 -5.15743456e-03 6.72527179e-03 -5.46177369e+00] [ 5.18656971e-03 9.99977210e-01 -4.32196952e-03 3.74018600e+00] [-6.70282825e-03 4.35669539e-03 9.99968045e-01 1.46537235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64925976399999 meters 0.12501082293785212 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.46 [[ 9.99966708e-01 -4.58738994e-03 6.74823344e-03 -5.46146815e+00] [ 4.60979293e-03 9.99983903e-01 -3.30803068e-03 3.73673480e+00] [-6.73294959e-03 3.33902851e-03 9.99971759e-01 1.46471857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709259763999995 meters 0.12687694255865734 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.74, Z:1.47 [[ 0.99994104 -0.00864244 0.0065748 -5.46136965] [ 0.0086905 0.99993547 -0.00731709 3.73505332] [-0.00651113 0.00737379 0.99995161 1.46531497] [ 0. 0. 0. 1. ]] SLAMing on 61.76925976399999 meters 0.12990512009225721 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.73, Z:1.46 [[ 9.99943841e-01 -7.82068490e-03 7.15201197e-03 -5.46182620e+00] [ 7.85652181e-03 9.99956654e-01 -4.99645325e-03 3.72724949e+00] [-7.11262628e-03 5.05236259e-03 9.99961941e-01 1.46320386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82925976399999 meters 0.1330469858355334 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.72, Z:1.46 [[ 9.99944832e-01 -7.30610331e-03 7.54679719e-03 -5.46244196e+00] [ 7.33276915e-03 9.99966948e-01 -3.51179178e-03 3.72174040e+00] [-7.52089025e-03 3.56693696e-03 9.99965356e-01 1.46244256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889259763999995 meters 0.1396357473962618 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.72, Z:1.46 [[ 0.99990668 -0.01132063 0.00764685 -5.4631217 ] [ 0.01137429 0.99991074 -0.00700999 3.71776378] [-0.00756681 0.00709632 0.99994619 1.46312498] [ 0. 0. 0. 1. ]] SLAMing on 61.94925976399999 meters 0.14107434312526557 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.71, Z:1.46 [[ 9.99910416e-01 -1.06216817e-02 8.14488120e-03 -5.46367260e+00] [ 1.06644716e-02 9.99929465e-01 -5.22828046e-03 3.71119178e+00] [-8.08877357e-03 5.31467294e-03 9.99953162e-01 1.46182190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00925976399999 meters 0.1523236837285591 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.71, Z:1.46 [[ 9.99908211e-01 -1.03635696e-02 8.72731476e-03 -5.46517248e+00] [ 1.03986193e-02 9.99938011e-01 -3.98033423e-03 3.70521900e+00] [-8.68552329e-03 4.07072090e-03 9.99953994e-01 1.46204464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069259763999995 meters 0.14194128930616676 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.46 [[ 9.99909069e-01 -1.03271879e-02 8.67201919e-03 -5.46571784e+00] [ 1.03609691e-02 9.99938875e-01 -3.85957376e-03 3.70379735e+00] [-8.63163057e-03 3.94907332e-03 9.99954949e-01 1.46310444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12925976399999 meters 0.15009735695796667 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.46 [[ 9.99911183e-01 -9.86122179e-03 8.96560374e-03 -5.46614937e+00] [ 9.88680774e-03 9.99947165e-01 -2.81395998e-03 3.69969438e+00] [-8.93738096e-03 2.90235125e-03 9.99955849e-01 1.46261876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18925976399999 meters 0.15099473315748782 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.46 [[ 9.99915605e-01 -9.29712359e-03 9.07452814e-03 -5.46587816e+00] [ 9.31298088e-03 9.99955177e-01 -1.70676091e-03 3.69612367e+00] [-9.05825342e-03 1.79112777e-03 9.99957369e-01 1.46163476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249259763999994 meters 0.14747440573383216 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.70, Z:1.46 [[ 9.99916072e-01 -9.29474710e-03 9.02537780e-03 -5.46594978e+00] [ 9.31056299e-03 9.99955190e-01 -1.71194678e-03 3.69594275e+00] [-9.00906127e-03 1.79583445e-03 9.99957805e-01 1.46194139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309259764 meters 0.1506794826387057 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.69, Z:1.46 [[ 9.99920161e-01 -8.59232059e-03 9.26517248e-03 -5.46583405e+00] [ 8.59570624e-03 9.99963003e-01 -3.25657057e-04 3.69124913e+00] [-9.26203154e-03 4.05271758e-04 9.99957024e-01 1.46071990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36925976399999 meters 0.15314031225965216 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.69, Z:1.46 [[ 9.99878888e-01 -1.25215722e-02 9.24223433e-03 -5.46540403e+00] [ 1.25590288e-02 9.99913108e-01 -4.00590795e-03 3.68930034e+00] [-9.19127099e-03 4.12149627e-03 9.99949266e-01 1.46023549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429259763999994 meters 0.15767745802527505 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.69, Z:1.46 [[ 9.99879730e-01 -1.25655544e-02 9.09020384e-03 -5.46523394e+00] [ 1.26033263e-02 9.99912128e-01 -4.10993779e-03 3.68969142e+00] [-9.03776142e-03 4.22401029e-03 9.99950237e-01 1.46055835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489259763999996 meters 0.15301275263350067 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.69, Z:1.46 [[ 9.99882290e-01 -1.21449788e-02 9.37579817e-03 -5.46554922e+00] [ 1.21758218e-02 9.99920624e-01 -3.23959827e-03 3.68647436e+00] [-9.33570911e-03 3.35337498e-03 9.99950798e-01 1.45992461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54925976399999 meters 0.15923514775356115 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.46 [[ 9.99888793e-01 -1.16559515e-02 9.30270059e-03 -5.46483148e+00] [ 1.16799223e-02 9.99928595e-01 -2.52660845e-03 3.68453407e+00] [-9.27258631e-03 2.63498229e-03 9.99953537e-01 1.45904869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609259763999994 meters 0.1561670295069255 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.46 [[ 9.99892173e-01 -1.13285327e-02 9.34380382e-03 -5.46458707e+00] [ 1.13472083e-02 9.99933721e-01 -1.94813420e-03 3.68283148e+00] [-9.32111502e-03 2.05395023e-03 9.99954448e-01 1.45845774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669259763999996 meters 0.1680859351281787 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.46 [[ 9.99891609e-01 -1.09227983e-02 9.87230576e-03 -5.46553910e+00] [ 1.09287106e-02 9.99940131e-01 -5.45125726e-04 3.67720460e+00] [-9.86576042e-03 6.52958212e-04 9.99951119e-01 1.45783720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72925976399999 meters 0.16472677668910643 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.68, Z:1.46 [[ 9.99893056e-01 -1.08070616e-02 9.85309321e-03 -5.46571632e+00] [ 1.08106196e-02 9.99941516e-01 -3.07915145e-04 3.67601875e+00] [-9.84918930e-03 4.14400257e-04 9.99951410e-01 1.45816259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78925976399999 meters 0.16150969381454885 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.46 [[ 9.99894785e-01 -1.04670338e-02 1.00429125e-02 -5.46578367e+00] [ 1.04636189e-02 9.99945178e-01 3.92522115e-04 3.67368536e+00] [-1.00464704e-02 -2.87395607e-04 9.99949492e-01 1.45748908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849259763999996 meters 0.17259113659672534 Centerline is valid? [False, False] Translation: X:-5.47, Y:3.67, Z:1.46 [[ 9.99896361e-01 -1.03511418e-02 1.00060266e-02 -5.46568585e+00] [ 1.03462444e-02 9.99946330e-01 5.41079942e-04 3.67318941e+00] [-1.00110903e-02 -4.37499069e-04 9.99949792e-01 1.45747424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90925976399999 meters 0.16772569320220332 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.46 [[ 9.99900390e-01 -1.03269487e-02 9.62103231e-03 -5.46447851e+00] [ 1.03244556e-02 9.99946654e-01 3.08753735e-04 3.67515661e+00] [-9.62370754e-03 -2.09391058e-04 9.99953669e-01 1.45708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96925976399999 meters 0.15810911199031324 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.46 [[ 9.99905158e-01 -1.00001758e-02 9.46952909e-03 -5.46312519e+00] [ 9.99468867e-03 9.99949856e-01 6.26594565e-04 3.67552455e+00] [-9.47532030e-03 -5.31890142e-04 9.99954967e-01 1.45560671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029259763999995 meters 0.1553915905799476 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.45 [[ 9.99912099e-01 -9.82250620e-03 8.90581604e-03 -5.46113164e+00] [ 9.81957517e-03 9.99951717e-01 3.72782630e-04 3.67845690e+00] [-8.90904770e-03 -2.85298532e-04 9.99960273e-01 1.45467164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08925976399999 meters 0.1620415343961215 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.45 [[ 9.99915127e-01 -9.99225510e-03 8.36025937e-03 -5.45982666e+00] [ 9.99553506e-03 9.99949982e-01 -3.50635212e-04 3.68219053e+00] [-8.35633757e-03 4.34170718e-04 9.99964991e-01 1.45480426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14925976399999 meters 0.1582009631740546 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.68, Z:1.45 [[ 9.99916728e-01 -1.00106193e-02 8.14401039e-03 -5.45878943e+00] [ 1.00159500e-02 9.99949651e-01 -6.14025873e-04 3.68438699e+00] [-8.13745357e-03 6.95544742e-04 9.99966648e-01 1.45410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209259763999995 meters 0.16596322735691788 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.69, Z:1.45 [[ 9.99920980e-01 -9.94301239e-03 7.69222882e-03 -5.45690752e+00] [ 9.95119391e-03 9.99949959e-01 -1.02606539e-03 3.68810797e+00] [-7.68164171e-03 1.10253117e-03 9.99969888e-01 1.45290650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26925976399999 meters 0.14830793137043763 Centerline is valid? [False, False] Translation: X:-5.46, Y:3.69, Z:1.45 [[ 9.99925204e-01 -9.91181676e-03 7.16535080e-03 -5.45519030e+00] [ 9.92304062e-03 9.99949591e-01 -1.53255536e-03 3.69170448e+00] [-7.14979919e-03 1.60354279e-03 9.99973154e-01 1.45229790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32925976399999 meters 0.14520659857890977 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.70, Z:1.45 [[ 9.99930887e-01 -9.74575681e-03 6.57588425e-03 -5.45315068e+00] [ 9.75838547e-03 9.99950598e-01 -1.89110533e-03 3.69510405e+00] [-6.55712913e-03 1.95514464e-03 9.99976590e-01 1.45140175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389259763999995 meters 0.15384524577231903 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.70, Z:1.45 [[ 9.99933637e-01 -9.81441991e-03 6.03308213e-03 -5.45165754e+00] [ 9.83024475e-03 9.99948304e-01 -2.59897586e-03 3.69891776e+00] [-6.00726281e-03 2.65811006e-03 9.99978423e-01 1.45125516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44925976399999 meters 0.13451313367787313 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.70, Z:1.45 [[ 9.99964800e-01 -5.70768653e-03 6.14992059e-03 -5.45144355e+00] [ 5.69944420e-03 9.99982837e-01 1.35692610e-03 3.70120526e+00] [-6.15755995e-03 -1.32182721e-03 9.99980168e-01 1.45045983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50925976399999 meters 0.1415040295693224 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.71, Z:1.45 [[ 9.99969322e-01 -5.90045724e-03 5.15160063e-03 -5.44886887e+00] [ 5.90051688e-03 9.99982592e-01 3.62253567e-06 3.70902154e+00] [-5.15153233e-03 2.67746820e-05 9.99986730e-01 1.45006425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569259763999995 meters 0.12777011377681452 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.45 [[ 9.99970916e-01 -6.45108767e-03 4.06820685e-03 -5.44687066e+00] [ 6.46150412e-03 9.99975866e-01 -2.55252641e-03 3.71887142e+00] [-4.05164210e-03 2.57873891e-03 9.99988467e-01 1.45175605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62925976399999 meters 0.12351052284440756 Centerline is valid? [False, False] Translation: X:-5.45, Y:3.72, Z:1.45 [[ 9.99990440e-01 -2.29246256e-03 3.72342960e-03 -5.44504730e+00] [ 2.28910470e-03 9.99996970e-01 9.05830096e-04 3.72464044e+00] [-3.72549490e-03 -8.97298116e-04 9.99992658e-01 1.45027042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68925976399999 meters 0.11966470063628518 Centerline is valid? [False, False] Translation: X:-5.43, Y:3.73, Z:1.45 [[ 9.99999482e-01 3.67037451e-04 9.49496563e-04 -5.42976150e+00] [-3.63513507e-04 9.99993056e-01 -3.70889498e-03 3.72822330e+00] [-9.50851273e-04 3.70854791e-03 9.99992671e-01 1.45180643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749259763999994 meters 0.11987418585950194 Centerline is valid? [False, False] Translation: X:-5.43, Y:3.73, Z:1.45 [[ 9.99999856e-01 2.60738855e-04 4.68396022e-04 -5.42796587e+00] [-2.58655423e-04 9.99990098e-01 -4.44258188e-03 3.73322736e+00] [-4.69549738e-04 4.44246009e-03 9.99990022e-01 1.45089680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80925976399999 meters 0.11703896991966453 Centerline is valid? [False, False] Translation: X:-5.43, Y:3.74, Z:1.45 [[ 9.99999996e-01 -8.37227958e-05 2.25587273e-05 -5.42671113e+00] [ 8.38421868e-05 9.99985709e-01 -5.34547427e-03 3.73854993e+00] [-2.21108669e-05 5.34547614e-03 9.99985713e-01 1.45070669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86925976399999 meters 0.11274623131802544 Centerline is valid? [False, False] Translation: X:-5.41, Y:3.74, Z:1.44 [[ 9.99989469e-01 -2.49788930e-03 3.84998378e-03 -5.40643934e+00] [ 2.49291822e-03 9.99996054e-01 1.29545506e-03 3.74019610e+00] [-3.85320449e-03 -1.28584372e-03 9.99991750e-01 1.44447811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929259763999994 meters 0.11544219877678205 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.45 [[ 9.99999560e-01 1.12176840e-04 9.30965753e-04 -5.39050108e+00] [-1.09210577e-04 9.99994920e-01 -3.18566089e-03 3.74436643e+00] [-9.31318381e-04 3.18555782e-03 9.99994492e-01 1.44552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989259763999996 meters 0.10874594054566969 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.75, Z:1.45 [[ 9.99989147e-01 -4.62855486e-03 -5.31412628e-04 -5.38829115e+00] [ 4.62300222e-03 9.99939177e-01 -1.00134901e-02 3.75292772e+00] [ 5.77728294e-04 1.00109247e-02 9.99949723e-01 1.44881488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.049259764 meters 0.10994556038679092 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.76, Z:1.45 [[ 9.99989147e-01 -4.55927909e-03 -9.58680649e-04 -5.38673222e+00] [ 4.54913032e-03 9.99936250e-01 -1.03344970e-02 3.75579931e+00] [ 1.00573739e-03 1.03300236e-02 9.99946138e-01 1.44813869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10925976399999 meters 0.10665539982436564 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.76, Z:1.45 [[ 9.99988898e-01 -4.59393558e-03 -1.04856216e-03 -5.38651422e+00] [ 4.58268642e-03 9.99934481e-01 -1.04896443e-02 3.75651190e+00] [ 1.09668221e-03 1.04847226e-02 9.99944432e-01 1.44820955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16925976399999 meters 0.10634410547402912 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.76, Z:1.45 [[ 9.99988542e-01 -4.60250277e-03 -1.31633390e-03 -5.38591623e+00] [ 4.58807244e-03 9.99931550e-01 -1.07631166e-02 3.75795610e+00] [ 1.36578107e-03 1.07569538e-02 9.99941210e-01 1.44840215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22925976399999 meters 0.10364106969974508 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.76, Z:1.45 [[ 9.99989938e-01 -4.26429856e-03 -1.39296020e-03 -5.38549874e+00] [ 4.24968163e-03 9.99937582e-01 -1.03330499e-02 3.75658183e+00] [ 1.43693646e-03 1.03270262e-02 9.99945642e-01 1.44804333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.289259764 meters 0.10531237287875256 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.75, Z:1.45 [[ 9.99991480e-01 -3.91159905e-03 -1.31853216e-03 -5.38569087e+00] [ 3.89866357e-03 9.99945602e-01 -9.67432842e-03 3.75381814e+00] [ 1.35630252e-03 9.66910549e-03 9.99952333e-01 1.44796012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.349259764 meters 0.11533460997937191 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.75, Z:1.45 [[ 9.99993975e-01 -3.37951399e-03 -7.93508637e-04 -5.38669591e+00] [ 3.37294008e-03 9.99961143e-01 -8.14472460e-03 3.74733802e+00] [ 8.21003014e-04 8.14199907e-03 9.99966516e-01 1.44741827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.409259764 meters 0.11284775011383194 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.45 [[ 9.99971738e-01 -7.48950004e-03 -6.55867380e-04 -5.38761410e+00] [ 7.48129373e-03 9.99903221e-01 -1.17293930e-02 3.74344705e+00] [ 7.43651195e-04 1.17241548e-02 9.99930993e-01 1.44819603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46925976399999 meters 0.11962077161506349 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.74, Z:1.45 [[ 9.99975942e-01 -6.90571077e-03 -6.52850559e-04 -5.38722600e+00] [ 6.89837328e-03 9.99919570e-01 -1.06426023e-02 3.73983588e+00] [ 7.26292784e-04 1.06378427e-02 9.99943153e-01 1.44738074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52925976399999 meters 0.12055104212216154 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99982903e-01 -5.84050293e-03 -2.86609571e-04 -5.38660656e+00] [ 5.83785531e-03 9.99946815e-01 -8.50218691e-03 3.73342814e+00] [ 3.36251376e-04 8.50036837e-03 9.99963815e-01 1.44450021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58925976399999 meters 0.11627273834067547 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99983306e-01 -5.77286176e-03 -2.48377146e-04 -5.38689287e+00] [ 5.77060036e-03 9.99948870e-01 -8.30412713e-03 3.73244705e+00] [ 2.96303024e-04 8.30255522e-03 9.99965489e-01 1.44472788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64925976399999 meters 0.12134951745973971 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.45 [[ 9.99982362e-01 -5.93858250e-03 -9.19813724e-05 -5.38758144e+00] [ 5.93759570e-03 9.99946813e-01 -8.43300182e-03 3.73251297e+00] [ 1.42056557e-04 8.43230693e-03 9.99964437e-01 1.44515730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.709259764 meters 0.12001301734537637 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99983858e-01 -5.68141673e-03 6.67351723e-05 -5.38736684e+00] [ 5.68176700e-03 9.99952526e-01 -7.91607004e-03 3.73139138e+00] [-2.17575114e-05 7.91632144e-03 9.99968665e-01 1.44414832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.769259764 meters 0.12435995721980667 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99984853e-01 -5.49530841e-03 3.08557032e-04 -5.38773567e+00] [ 5.49743968e-03 9.99957558e-01 -7.39321193e-03 3.72953915e+00] [-2.67915957e-04 7.39479622e-03 9.99972622e-01 1.44371664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.829259764 meters 0.12493802992101517 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99983256e-01 -5.78454868e-03 1.61837232e-04 -5.38765735e+00] [ 5.78564786e-03 9.99951981e-01 -7.90966724e-03 3.73161468e+00] [-1.16075606e-04 7.91047114e-03 9.99968705e-01 1.44422933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88925976399999 meters 0.11709548690830975 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99984349e-01 -5.58744821e-03 -2.86288752e-04 -5.38599073e+00] [ 5.58495424e-03 9.99951793e-01 -8.07584825e-03 3.73374416e+00] [ 3.31398334e-04 8.07412295e-03 9.99967349e-01 1.44350665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94925976399999 meters 0.12002729994544052 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.73, Z:1.44 [[ 9.99985327e-01 -5.40075351e-03 -4.20677312e-04 -5.38517354e+00] [ 5.39723368e-03 9.99953742e-01 -7.96143461e-03 3.73411765e+00] [ 4.63655598e-04 7.95904730e-03 9.99968219e-01 1.44282534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00925976399999 meters 0.1186517082103653 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.73, Z:1.44 [[ 9.99986184e-01 -5.22533257e-03 -5.72694901e-04 -5.38455637e+00] [ 5.22069966e-03 9.99955851e-01 -7.81278646e-03 3.73411089e+00] [ 6.13494025e-04 7.80968865e-03 9.99969316e-01 1.44249805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.069259764 meters 0.11925262317993762 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.73, Z:1.44 [[ 9.99989473e-01 -4.56285163e-03 -4.84360233e-04 -5.38398641e+00] [ 4.55954518e-03 9.99967685e-01 -6.62111138e-03 3.73062672e+00] [ 5.14555730e-04 6.61883321e-03 9.99977963e-01 1.44108481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.129259764 meters 0.12000000938127725 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.73, Z:1.44 [[ 9.99962611e-01 -8.63050810e-03 -5.39716723e-04 -5.38401093e+00] [ 8.62438847e-03 9.99908042e-01 -1.04655793e-02 3.72853132e+00] [ 6.29990358e-04 1.04605333e-02 9.99945089e-01 1.44133729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.189259764 meters 0.1292699863984999 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.72, Z:1.44 [[ 9.99919888e-01 -1.26561757e-02 -1.94443683e-04 -5.38494097e+00] [ 1.26523227e-02 9.99826034e-01 -1.37047905e-02 3.72381973e+00] [ 3.67860092e-04 1.37012324e-02 9.99906066e-01 1.44145023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24925976399999 meters 0.13377435923285777 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.44 [[ 9.99924715e-01 -1.22281510e-02 1.01775824e-03 -5.38666061e+00] [ 1.22374774e-02 9.99877812e-01 -9.72652274e-03 3.71367840e+00] [-8.98696491e-04 9.73824527e-03 9.99952178e-01 1.43640424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30925976399999 meters 0.13425844506103224 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.44 [[ 9.99927337e-01 -1.19967069e-02 1.18270967e-03 -5.38710960e+00] [ 1.20069949e-02 9.99886381e-01 -9.11353742e-03 3.71109056e+00] [-1.07324285e-03 9.12707599e-03 9.99957771e-01 1.43637153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36925976399999 meters 0.1338855979574339 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.44 [[ 9.99931174e-01 -1.16691691e-02 1.21599359e-03 -5.38685249e+00] [ 1.16792163e-02 9.99894710e-01 -8.61187971e-03 3.70957610e+00] [-1.11537207e-03 8.62548884e-03 9.99962178e-01 1.43581423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.429259764 meters 0.1345687166459249 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.71, Z:1.43 [[ 9.99936105e-01 -1.12397545e-02 1.20599767e-03 -5.38588258e+00] [ 1.12490525e-02 9.99904710e-01 -8.00187989e-03 3.70856026e+00] [-1.11594358e-03 8.01493494e-03 9.99967257e-01 1.43435805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.489259764 meters 0.13934455916859834 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.71, Z:1.43 [[ 9.99937223e-01 -1.11553466e-02 1.05265171e-03 -5.38498253e+00] [ 1.11633966e-02 9.99905850e-01 -7.97933255e-03 3.70962927e+00] [-9.63540379e-04 7.99058280e-03 9.99967611e-01 1.43359605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.549259764 meters 0.1392736429112612 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.71, Z:1.43 [[ 9.99938211e-01 -1.10654966e-02 1.06288756e-03 -5.38475057e+00] [ 1.10734729e-02 9.99908132e-01 -7.81701893e-03 3.70949036e+00] [-9.76290719e-04 7.82830578e-03 9.99968882e-01 1.43318114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60925976399999 meters 0.13351652569894995 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.71, Z:1.43 [[ 9.99939488e-01 -1.09388626e-02 1.16673756e-03 -5.38485700e+00] [ 1.09473922e-02 9.99911393e-01 -7.57362931e-03 3.70876791e+00] [-1.08378729e-03 7.58594375e-03 9.99970639e-01 1.43290288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66925976399999 meters 0.1400259129521489 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.70, Z:1.43 [[ 9.99945778e-01 -1.02815019e-02 1.65284245e-03 -5.38466176e+00] [ 1.02912584e-02 9.99929001e-01 -6.00690286e-03 3.70445500e+00] [-1.59096512e-03 6.02358699e-03 9.99980592e-01 1.43037059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72925976399999 meters 0.14927409319446475 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.70, Z:1.43 [[ 9.99947475e-01 -1.00742957e-02 1.88554579e-03 -5.38513491e+00] [ 1.00843369e-02 9.99934604e-01 -5.39386210e-03 3.70211935e+00] [-1.83108312e-03 5.41259327e-03 9.99983675e-01 1.43012835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.789259764 meters 0.14395056540779466 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.70, Z:1.43 [[ 9.99950375e-01 -9.79189823e-03 1.83476420e-03 -5.38487876e+00] [ 9.80094008e-03 9.99939541e-01 -4.98564971e-03 3.70078827e+00] [-1.78583430e-03 5.00338471e-03 9.99985888e-01 1.42988222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.849259764 meters 0.149023224698424 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.70, Z:1.43 [[ 9.99954949e-01 -9.27237974e-03 2.03059499e-03 -5.38474817e+00] [ 9.28050640e-03 9.99948815e-01 -4.02993491e-03 3.69773367e+00] [-1.99312396e-03 4.04859831e-03 9.99989818e-01 1.42882603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.909259764 meters 0.15488879997988028 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99956602e-01 -8.88319113e-03 2.80776742e-03 -5.38596022e+00] [ 8.89036800e-03 9.99957218e-01 -2.55401293e-03 3.69222869e+00] [-2.78495952e-03 2.57886417e-03 9.99992797e-01 1.42760454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96925976399999 meters 0.15656675519437402 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99957408e-01 -8.71565807e-03 3.03636734e-03 -5.38640189e+00] [ 8.72164899e-03 9.99960034e-01 -1.96543383e-03 3.69010859e+00] [-3.01911594e-03 1.99183225e-03 9.99993459e-01 1.42728515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02925976399999 meters 0.1536144098136241 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99957597e-01 -8.70523861e-03 3.00378949e-03 -5.38616780e+00] [ 8.71120302e-03 9.99960100e-01 -1.97829173e-03 3.69044503e+00] [-2.98644813e-03 2.00437447e-03 9.99993532e-01 1.42706789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08925976399999 meters 0.1491492286108768 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.43 [[ 9.99960323e-01 -8.42325138e-03 2.89851250e-03 -5.38525210e+00] [ 8.42817639e-03 9.99963052e-01 -1.69115460e-03 3.69045413e+00] [-2.88416039e-03 1.71551667e-03 9.99994369e-01 1.42606865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14925976399999 meters 0.14666350667375913 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99962456e-01 -8.12221017e-03 3.01916036e-03 -5.38462803e+00] [ 8.12587235e-03 9.99966261e-01 -1.20270134e-03 3.68990822e+00] [-3.00928990e-03 1.22718949e-03 9.99994719e-01 1.42460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.209259764 meters 0.14729564241321322 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.42 [[ 9.99960416e-01 -8.29759817e-03 3.21176865e-03 -5.38529253e+00] [ 8.30199781e-03 9.99964614e-01 -1.35895000e-03 3.69023357e+00] [-3.20037898e-03 1.38556031e-03 9.99993919e-01 1.42488088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.269259764 meters 0.15457236050771744 Centerline is valid? [False, False] Translation: X:-5.39, Y:3.69, Z:1.42 [[ 9.99959514e-01 -8.40618988e-03 3.21034093e-03 -5.38505042e+00] [ 8.41127129e-03 9.99963388e-01 -1.57261759e-03 3.69153394e+00] [-3.19700367e-03 1.59955697e-03 9.99993610e-01 1.42456523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32925976399999 meters 0.15027336392017507 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99961864e-01 -8.18276256e-03 3.05184686e-03 -5.38395536e+00] [ 8.18733532e-03 9.99965375e-01 -1.48888578e-03 3.69244447e+00] [-3.03955799e-03 1.51381550e-03 9.99994235e-01 1.42353451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38925976399999 meters 0.15019802292566534 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99961871e-01 -8.11419671e-03 3.22755248e-03 -5.38428974e+00] [ 8.11840920e-03 9.99966208e-01 -1.29421194e-03 3.69176550e+00] [-3.21694192e-03 1.32036518e-03 9.99993954e-01 1.42334515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44925976399999 meters 0.14619592297732337 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99961678e-01 -8.16801921e-03 3.15067836e-03 -5.38418087e+00] [ 8.17256382e-03 9.99965578e-01 -1.43225480e-03 3.69238928e+00] [-3.13887122e-03 1.45794903e-03 9.99994011e-01 1.42349945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50925976399999 meters 0.15896788326766384 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99965976e-01 -7.51163174e-03 3.40912793e-03 -5.38357404e+00] [ 7.51273130e-03 9.99971731e-01 -3.09843303e-04 3.68958321e+00] [-3.40670412e-03 3.35444623e-04 9.99994141e-01 1.42147464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.569259764 meters 0.16691835700435184 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99967335e-01 -7.25021034e-03 3.57256023e-03 -5.38365939e+00] [ 7.24950844e-03 9.99973700e-01 2.09381761e-04 3.68798735e+00] [-3.57398434e-03 -1.83475616e-04 9.99993596e-01 1.42091617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.629259764 meters 0.15797239358909881 Centerline is valid? [False, False] Translation: X:-5.38, Y:3.69, Z:1.42 [[ 9.99967614e-01 -7.06275124e-03 3.85853322e-03 -5.38436548e+00] [ 7.05976594e-03 9.99974770e-01 7.86761440e-04 3.68549329e+00] [-3.86399257e-03 -7.59495619e-04 9.99992246e-01 1.42085073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.689259764 meters 0.15449920970329928 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99993526e-01 -3.08047323e-03 1.85987428e-03 -5.36739945e+00] [ 3.08986026e-03 9.99982396e-01 -5.06553237e-03 3.68730076e+00] [-1.84423731e-03 5.07124633e-03 9.99985441e-01 1.42493681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74925976399999 meters 0.1455964175360912 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99994846e-01 -2.60525271e-03 1.87655561e-03 -5.36670152e+00] [ 2.61346900e-03 9.99986952e-01 -4.38932618e-03 3.68572851e+00] [-1.86509582e-03 4.39420788e-03 9.99988606e-01 1.42377941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80925976399999 meters 0.1511341236250229 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.69, Z:1.42 [[ 9.99974672e-01 -6.88269468e-03 1.81231274e-03 -5.36673104e+00] [ 6.89813873e-03 9.99938725e-01 -8.65803558e-03 3.68533837e+00] [-1.75261107e-03 8.67031787e-03 9.99960876e-01 1.42414188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86925976399999 meters 0.1533995591640368 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.42 [[ 9.99975790e-01 -6.59622551e-03 2.21565515e-03 -5.36743425e+00] [ 6.61306540e-03 9.99948633e-01 -7.68107914e-03 3.68182480e+00] [-2.16487520e-03 7.69554546e-03 9.99968045e-01 1.42353536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.929259764 meters 0.17110450235581934 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.42 [[ 9.99938628e-01 -1.07676260e-02 2.60757806e-03 -5.36850008e+00] [ 1.07965706e-02 9.99877265e-01 -1.13528893e-02 3.67881201e+00] [-2.48501435e-03 1.13803454e-02 9.99932154e-01 1.42377514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.989259764 meters 0.15809743331389328 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99976851e-01 -6.04437131e-03 3.12445987e-03 -5.36931652e+00] [ 6.06267372e-03 9.99964323e-01 -5.88188277e-03 3.67473212e+00] [-3.08879611e-03 5.90068920e-03 9.99977820e-01 1.42279856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.049259764 meters 0.15812494475249397 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99977813e-01 -5.84343135e-03 3.19798831e-03 -5.36945105e+00] [ 5.86093537e-03 9.99967745e-01 -5.49172246e-03 3.67336934e+00] [-3.16579465e-03 5.51034382e-03 9.99979807e-01 1.42267597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10925976399999 meters 0.17331187458258956 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99947436e-01 -9.79450603e-03 3.03213103e-03 -5.36862142e+00] [ 9.82248939e-03 9.99907989e-01 -9.35588131e-03 3.67235855e+00] [-2.94021580e-03 9.38517260e-03 9.99951636e-01 1.42211732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16925976399999 meters 0.17060934032734568 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99980416e-01 -5.20512958e-03 3.47482078e-03 -5.36940264e+00] [ 5.21969892e-03 9.99977570e-01 -4.19701232e-03 3.66939232e+00] [-3.45289684e-03 4.21506765e-03 9.99985155e-01 1.42143728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22925976399999 meters 0.16879643833664848 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99950353e-01 -9.47938456e-03 3.07112493e-03 -5.36873575e+00] [ 9.50586222e-03 9.99916755e-01 -8.72476363e-03 3.67021703e+00] [-2.98816389e-03 8.75352417e-03 9.99957222e-01 1.42213027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.289259764 meters 0.17272949662451575 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99953093e-01 -9.16453050e-03 3.13424737e-03 -5.36864994e+00] [ 9.18972912e-03 9.99924787e-01 -8.12215491e-03 3.66831836e+00] [-3.05957589e-03 8.15057681e-03 9.99962103e-01 1.42166042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.349259764 meters 0.1667091894362893 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99951767e-01 -9.31049713e-03 3.12688945e-03 -5.36897062e+00] [ 9.33630564e-03 9.99921610e-01 -8.34313081e-03 3.66880539e+00] [-3.04896564e-03 8.37192200e-03 9.99960307e-01 1.42221835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.409259764 meters 0.1743594741885015 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99954998e-01 -9.13154017e-03 2.57226133e-03 -5.36711488e+00] [ 9.15326293e-03 9.99921437e-01 -8.56376654e-03 3.67133126e+00] [-2.49385887e-03 8.58692574e-03 9.99960022e-01 1.42155981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46925976399999 meters 0.1553799730373235 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.67, Z:1.42 [[ 9.99983705e-01 -5.06580134e-03 2.63208008e-03 -5.36690313e+00] [ 5.07811193e-03 9.99976100e-01 -4.69169482e-03 3.67373314e+00] [-2.60824998e-03 4.70498437e-03 9.99985530e-01 1.42100938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52925976399999 meters 0.1601197538677699 Centerline is valid? [False, False] Translation: X:-5.37, Y:3.68, Z:1.42 [[ 9.99984938e-01 -5.10649814e-03 2.01176926e-03 -5.36505459e+00] [ 5.11746279e-03 9.99971872e-01 -5.48333628e-03 3.67823401e+00] [-1.98371203e-03 5.49354884e-03 9.99982943e-01 1.42066285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58925976399999 meters 0.15677661819322855 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.68, Z:1.42 [[ 9.99985250e-01 -5.23717026e-03 1.43941773e-03 -5.36336078e+00] [ 5.24619648e-03 9.99966139e-01 -6.34017994e-03 3.68291397e+00] [-1.40616438e-03 6.34763790e-03 9.99978865e-01 1.42037692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64925976399999 meters 0.15543651275032686 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.42 [[ 9.99983779e-01 -5.66339898e-03 6.06689416e-04 -5.36178052e+00] [ 5.66798164e-03 9.99953213e-01 -7.83875458e-03 3.68949561e+00] [-5.62267036e-04 7.84206613e-03 9.99969092e-01 1.42136052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.709259764 meters 0.1461252436144554 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.69, Z:1.42 [[ 9.99984188e-01 -5.61012192e-03 3.87645793e-04 -5.36045460e+00] [ 5.61306074e-03 9.99951852e-01 -8.04905639e-03 3.69193967e+00] [-3.42470941e-04 8.05110499e-03 9.99967531e-01 1.42027878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.769259764 meters 0.14177986323046604 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.70, Z:1.42 [[ 9.99982910e-01 -5.84600482e-03 -5.45443704e-05 -5.35945286e+00] [ 5.84529645e-03 9.99944026e-01 -8.81912085e-03 3.69568019e+00] [ 1.06097940e-04 8.81865130e-03 9.99961109e-01 1.42060750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82925976399999 meters 0.1362929927040256 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.70, Z:1.42 [[ 9.99981086e-01 -6.07601695e-03 -9.53884206e-04 -5.35751035e+00] [ 6.06609408e-03 9.99930776e-01 -1.00819373e-02 3.70200845e+00] [ 1.01507620e-03 1.00759603e-02 9.99948721e-01 1.42113755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88925976399999 meters 0.1341053017957125 Centerline is valid? [False, False] Translation: X:-5.36, Y:3.70, Z:1.42 [[ 9.99998748e-01 -1.20821765e-03 -1.02235103e-03 -5.35568994e+00] [ 1.20294694e-03 9.99986064e-01 -5.14048774e-03 3.70221222e+00] [ 1.02854761e-03 5.13925147e-03 9.99986265e-01 1.41863890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94925976399999 meters 0.13265225739454534 Centerline is valid? [False, False] Translation: X:-5.35, Y:3.70, Z:1.42 [[ 9.99998313e-01 -1.29347385e-03 -1.30400110e-03 -5.35497713e+00] [ 1.28625133e-03 9.99983913e-01 -5.52444319e-03 3.70418878e+00] [ 1.31112584e-03 5.52275660e-03 9.99983890e-01 1.41872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00925976399999 meters 0.12985521712057466 Centerline is valid? [False, False] Translation: X:-5.34, Y:3.71, Z:1.42 [[ 9.99991578e-01 -2.93452445e-03 2.86906153e-03 -5.33733671e+00] [ 2.93470984e-03 9.99995692e-01 -6.04093815e-05 3.70637475e+00] [-2.86887190e-03 6.88287359e-05 9.99995882e-01 1.41929641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.069259764 meters 0.1272857962804143 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99973269e-01 -7.09033557e-03 1.78573677e-03 -5.33475044e+00] [ 7.09941890e-03 9.99961626e-01 -5.13268849e-03 3.71110323e+00] [-1.74927576e-03 5.14522898e-03 9.99985233e-01 1.41943009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.129259764 meters 0.12652576030412496 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99974770e-01 -6.89308629e-03 1.71609198e-03 -5.33411846e+00] [ 6.90143123e-03 9.99964154e-01 -4.90527712e-03 3.71103248e+00] [-1.68221797e-03 4.91699685e-03 9.99986497e-01 1.41873408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.189259764 meters 0.13232576367222113 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99973649e-01 -7.15343693e-03 1.23686837e-03 -5.33323466e+00] [ 7.16040694e-03 9.99957971e-01 -5.72572934e-03 3.71469411e+00] [-1.19585774e-03 5.73443494e-03 9.99982843e-01 1.41938246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24925976399999 meters 0.1316063548626201 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.72, Z:1.42 [[ 9.99973685e-01 -7.17313280e-03 1.08455815e-03 -5.33268976e+00] [ 7.17940516e-03 9.99956855e-01 -5.89448909e-03 3.71588281e+00] [-1.04222941e-03 5.90212046e-03 9.99982039e-01 1.41919781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30925976399999 meters 0.12813491328782448 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.72, Z:1.42 [[ 9.99975371e-01 -6.94734121e-03 9.95433647e-04 -5.33200332e+00] [ 6.95288858e-03 9.99959684e-01 -5.68216178e-03 3.71588858e+00] [-9.55917599e-04 5.68894298e-03 9.99983361e-01 1.41852692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36925976399999 meters 0.12603147182688357 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99978530e-01 -6.47352775e-03 1.01646366e-03 -5.33167567e+00] [ 6.47846582e-03 9.99966850e-01 -4.93237433e-03 3.71345915e+00] [-9.84500105e-04 4.93885355e-03 9.99987319e-01 1.41789028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.429259764 meters 0.1285727985873915 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99979049e-01 -6.38361844e-03 1.07314428e-03 -5.33197725e+00] [ 6.38860662e-03 9.99968496e-01 -4.71086900e-03 3.71242788e+00] [-1.04303808e-03 4.71762619e-03 9.99988328e-01 1.41808938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.489259764 meters 0.126773642308926 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99982811e-01 -5.75449038e-03 1.12408797e-03 -5.33169164e+00] [ 5.75845695e-03 9.99977090e-01 -3.55792586e-03 3.70848875e+00] [-1.10358817e-03 3.56433771e-03 9.99993039e-01 1.41731716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.549259764 meters 0.1258147295298691 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99984271e-01 -5.52176878e-03 9.83725698e-04 -5.33098366e+00] [ 5.52499720e-03 9.99979259e-01 -3.30990983e-03 3.70822240e+00] [-9.65428738e-04 3.31529285e-03 9.99994038e-01 1.41679191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60925976399999 meters 0.12797837887993582 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99952696e-01 -9.70339465e-03 6.71186352e-04 -5.33043589e+00] [ 9.70824208e-03 9.99923677e-01 -7.64136057e-03 3.70812058e+00] [-5.96987988e-04 7.64751514e-03 9.99970579e-01 1.41733297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66925976399999 meters 0.1324275574443665 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99954966e-01 -9.44712433e-03 9.04772296e-04 -5.33087427e+00] [ 9.45322079e-03 9.99930892e-01 -6.98918109e-03 3.70566114e+00] [-8.38682106e-04 6.99741935e-03 9.99975166e-01 1.41703989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72925976399999 meters 0.13236507363965166 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.71, Z:1.42 [[ 9.99955857e-01 -9.36401628e-03 7.73557835e-04 -5.33054656e+00] [ 9.36911794e-03 9.99932454e-01 -6.87807453e-03 3.70558560e+00] [-7.09099182e-04 6.88501847e-03 9.99976047e-01 1.41702314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.789259764 meters 0.1508193642479044 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.42 [[ 9.99959143e-01 -9.00196304e-03 8.23386631e-04 -5.33031193e+00] [ 9.00696536e-03 9.99939666e-01 -6.28798624e-03 3.70380864e+00] [-7.66732733e-04 6.29514555e-03 9.99979891e-01 1.41641768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.849259764 meters 0.14883656920949817 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.42 [[ 9.99961365e-01 -8.74833012e-03 8.57583163e-04 -5.32988978e+00] [ 8.75322172e-03 9.99944422e-01 -5.87655140e-03 3.70304600e+00] [-8.06125488e-04 5.88383098e-03 9.99982365e-01 1.41560167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.909259764 meters 0.14643576424359447 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99962806e-01 -8.59818120e-03 6.76127687e-04 -5.32898443e+00] [ 8.60193345e-03 9.99946426e-01 -5.75770589e-03 3.70366088e+00] [-6.26585666e-04 5.76330774e-03 9.99983196e-01 1.41493228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96925976399999 meters 0.14380283703232283 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99964004e-01 -8.45801582e-03 6.72119284e-04 -5.32867496e+00] [ 8.46164361e-03 9.99948566e-01 -5.59161778e-03 3.70356265e+00] [-6.24790723e-04 5.59710374e-03 9.99984141e-01 1.41447731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02925976399999 meters 0.14269237657086453 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99964889e-01 -8.34400046e-03 7.73478717e-04 -5.32855148e+00] [ 8.34804924e-03 9.99950638e-01 -5.38806095e-03 3.70335506e+00] [-7.28482554e-04 5.39432881e-03 9.99985185e-01 1.41389137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08925976399999 meters 0.1420017330591361 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99965045e-01 -8.32180208e-03 8.10168361e-04 -5.32876454e+00] [ 8.32597071e-03 9.99951369e-01 -5.28568890e-03 3.70295308e+00] [-7.66142505e-04 5.29224957e-03 9.99985702e-01 1.41404275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14925976399999 meters 0.1579093913508268 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99968327e-01 -7.91125312e-03 8.70578032e-04 -5.32852457e+00] [ 7.91514056e-03 9.99958294e-01 -4.55638260e-03 3.70076570e+00] [-8.34495028e-04 4.56312903e-03 9.99989241e-01 1.41333739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.209259764 meters 0.16138083317946833 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99972367e-01 -7.33459022e-03 1.21219364e-03 -5.32866295e+00] [ 7.33853289e-03 9.99967691e-01 -3.28070867e-03 3.69653505e+00] [-1.18809183e-03 3.28951373e-03 9.99993884e-01 1.41206426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.269259764 meters 0.14667736646992474 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99972122e-01 -7.29462051e-03 1.59502441e-03 -5.33004472e+00] [ 7.29885696e-03 9.99969808e-01 -2.66654882e-03 3.69307743e+00] [-1.57552479e-03 2.67811633e-03 9.99995173e-01 1.41274734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32925976399999 meters 0.1641617202188466 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99931465e-01 -1.16461964e-02 1.19618299e-03 -5.32914639e+00] [ 1.16546368e-02 9.99905364e-01 -7.30979101e-03 3.69477841e+00] [-1.11093853e-03 7.32323111e-03 9.99972568e-01 1.41312783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38925976399999 meters 0.16075437626067732 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99975904e-01 -6.74888064e-03 1.62588858e-03 -5.32922885e+00] [ 6.75187716e-03 9.99975504e-01 -1.84462288e-03 3.69119333e+00] [-1.61339961e-03 1.85555623e-03 9.99996977e-01 1.41140938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44925976399999 meters 0.15810701620370127 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99976499e-01 -6.68846474e-03 1.50499061e-03 -5.32850917e+00] [ 6.69127064e-03 9.99975870e-01 -1.86715148e-03 3.69217670e+00] [-1.49246592e-03 1.87717790e-03 9.99997124e-01 1.41081267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50925976399999 meters 0.15285924275389334 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99976829e-01 -6.71233394e-03 1.13386529e-03 -5.32737555e+00] [ 6.71492559e-03 9.99974815e-01 -2.29754865e-03 3.69477607e+00] [-1.11841482e-03 2.30510924e-03 9.99996718e-01 1.41062367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.569259764 meters 0.15278198888461486 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99977530e-01 -6.60014688e-03 1.17336385e-03 -5.32701606e+00] [ 6.60264010e-03 9.99975926e-01 -2.13383187e-03 3.69488432e+00] [-1.15925200e-03 2.14153123e-03 9.99997035e-01 1.40992709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.629259764 meters 0.14994395704094549 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99976423e-01 -6.76109265e-03 1.20026115e-03 -5.32723639e+00] [ 6.76391207e-03 9.99974338e-01 -2.36069816e-03 3.69578563e+00] [-1.18426945e-03 2.36876096e-03 9.99996493e-01 1.41018262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68925976399998 meters 0.14786490749131667 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99978432e-01 -6.46017244e-03 1.18374396e-03 -5.32635804e+00] [ 6.46244394e-03 9.99977265e-01 -1.92523516e-03 3.69550164e+00] [-1.17127969e-03 1.93284351e-03 9.99997446e-01 1.40888668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74925976399999 meters 0.14607436183847938 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.70, Z:1.41 [[ 9.99978687e-01 -6.43056992e-03 1.12867781e-03 -5.32608907e+00] [ 6.43271313e-03 9.99977494e-01 -1.90562224e-03 3.69591731e+00] [-1.11639817e-03 1.91284208e-03 9.99997547e-01 1.40868148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80925976399999 meters 0.14588848268719495 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99979732e-01 -6.22188536e-03 1.35079601e-03 -5.32654583e+00] [ 6.22378026e-03 9.99979648e-01 -1.40316052e-03 3.69396536e+00] [-1.34203822e-03 1.41153914e-03 9.99998103e-01 1.40846399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86925976399999 meters 0.14671457851653807 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99981768e-01 -5.83746124e-03 1.54524574e-03 -5.32660032e+00] [ 5.83847316e-03 9.99982744e-01 -6.51159781e-04 3.69154606e+00] [-1.54141796e-03 6.60169785e-04 9.99998594e-01 1.40772359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.929259764 meters 0.14174638009996413 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99950264e-01 -9.95857840e-03 5.44511795e-04 -5.32384279e+00] [ 9.96139005e-03 9.99935636e-01 -5.43088516e-03 3.69590620e+00] [-4.90392852e-04 5.43603914e-03 9.99985104e-01 1.40719532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.989259764 meters 0.14420240246907673 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99984765e-01 -5.47720212e-03 6.86062274e-04 -5.32365678e+00] [ 5.47782030e-03 9.99984589e-01 -9.02442750e-04 3.69581263e+00] [-6.81108840e-04 9.06187127e-04 9.99999357e-01 1.40628124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.049259764 meters 0.1372055237015723 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99982941e-01 -5.84107382e-03 4.97656940e-06 -5.32241888e+00] [ 5.84107034e-03 9.99980438e-01 -2.23750574e-03 3.70114382e+00] [ 8.09296415e-06 2.23749664e-03 9.99997497e-01 1.40723528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10925976399999 meters 0.13200418353870655 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99984046e-01 -5.62671516e-03 -4.97140441e-04 -5.32050411e+00] [ 5.62547376e-03 9.99981141e-01 -2.46416074e-03 3.70389313e+00] [ 5.10996196e-04 2.46132478e-03 9.99996840e-01 1.40625470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16925976399999 meters 0.13274269039066008 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99984778e-01 -5.47663218e-03 -6.70403761e-04 -5.31977472e+00] [ 5.47499241e-03 9.99982075e-01 -2.42382277e-03 3.70439056e+00] [ 6.83666130e-04 2.42011542e-03 9.99996838e-01 1.40585445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22925976399999 meters 0.13906953797864613 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99985508e-01 -5.35946471e-03 -5.10704027e-04 -5.32043710e+00] [ 5.35838701e-03 9.99983462e-01 -2.08873877e-03 3.70262464e+00] [ 5.21890103e-04 2.08597195e-03 9.99997688e-01 1.40619702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.289259764 meters 0.13786633498546325 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99954901e-01 -9.48415685e-03 -4.96749937e-04 -5.32070319e+00] [ 9.48102368e-03 9.99937234e-01 -5.96975066e-03 3.70055864e+00] [ 5.53336810e-04 5.96477173e-03 9.99982057e-01 1.40660341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.349259764 meters 0.14901512906309458 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.70, Z:1.41 [[ 9.99956553e-01 -9.32031810e-03 1.54793466e-04 -5.32227219e+00] [ 9.32096568e-03 9.99944513e-01 -4.90827156e-03 3.69577229e+00] [-1.09038225e-04 4.90950114e-03 9.99987942e-01 1.40653499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.409259764 meters 0.15234785701339554 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.41 [[ 9.99905185e-01 -1.37472090e-02 7.96875717e-04 -5.32441359e+00] [ 1.37534368e-02 9.99869944e-01 -8.42252285e-03 3.69130669e+00] [-6.80985897e-04 8.43268405e-03 9.99964212e-01 1.40757680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46925976399999 meters 0.1621660889596519 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99905759e-01 -1.36896202e-02 1.03324348e-03 -5.32503401e+00] [ 1.36974784e-02 9.99873975e-01 -8.02578411e-03 3.68973141e+00] [-9.23243328e-04 8.03918059e-03 9.99967259e-01 1.40750861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52925976399999 meters 0.1546542360429515 Centerline is valid? [False, False] Translation: X:-5.33, Y:3.69, Z:1.41 [[ 9.99959987e-01 -8.79493424e-03 1.63490922e-03 -5.32540764e+00] [ 8.79875536e-03 9.99958541e-01 -2.34489498e-03 3.68559487e+00] [-1.61421824e-03 2.35918632e-03 9.99995914e-01 1.40541890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58925976399999 meters 0.1532691489952881 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99962808e-01 -8.46713688e-03 1.64022573e-03 -5.32493468e+00] [ 8.47020905e-03 9.99962369e-01 -1.87521249e-03 3.68450755e+00] [-1.62428633e-03 1.88903580e-03 9.99996897e-01 1.40466054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64925976399999 meters 0.1520763899520382 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.40 [[ 9.99965918e-01 -8.19371461e-03 1.01329433e-03 -5.32295598e+00] [ 8.19569814e-03 9.99964476e-01 -1.96909777e-03 3.68650334e+00] [-9.97124104e-04 1.97733531e-03 9.99997548e-01 1.40403358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.709259764 meters 0.14765477366453186 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.40 [[ 9.99966786e-01 -8.11217173e-03 7.86758853e-04 -5.32250894e+00] [ 8.11374702e-03 9.99965042e-01 -2.02016104e-03 3.68676808e+00] [-7.70343456e-04 2.02647750e-03 9.99997650e-01 1.40427430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.769259764 meters 0.152638102277632 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.69, Z:1.40 [[ 9.99968846e-01 -7.84669288e-03 8.58621660e-04 -5.32251715e+00] [ 7.84802061e-03 9.99967996e-01 -1.55407453e-03 3.68517444e+00] [-8.46399836e-04 1.56076459e-03 9.99998424e-01 1.40395666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82925976399999 meters 0.15471047327650161 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99970713e-01 -7.54285137e-03 1.29546265e-03 -5.32348732e+00] [ 7.54369328e-03 9.99971337e-01 -6.46234225e-04 3.68128116e+00] [-1.29055107e-03 6.55987872e-04 9.99998952e-01 1.40370540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88925976399999 meters 0.15464419878160793 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99972871e-01 -7.26356103e-03 1.22379425e-03 -5.32304696e+00] [ 7.26387632e-03 9.99973586e-01 -2.53389081e-04 3.68026773e+00] [-1.22192142e-03 2.62271697e-04 9.99999219e-01 1.40330500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94925976399999 meters 0.15227008418749433 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99975893e-01 -6.79703389e-03 1.41899739e-03 -5.32287272e+00] [ 6.79617098e-03 9.99976718e-01 6.12048555e-04 3.67762921e+00] [-1.42312447e-03 -6.02390052e-04 9.99998806e-01 1.40221795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00925976399999 meters 0.15448272193282087 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99976603e-01 -6.62915505e-03 1.68772034e-03 -5.32343884e+00] [ 6.62731329e-03 9.99977440e-01 1.09453759e-03 3.67565452e+00] [-1.69493813e-03 -1.08332693e-03 9.99997977e-01 1.40202212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.069259764 meters 0.15968730662989183 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99975371e-01 -6.89181401e-03 1.32649336e-03 -5.32315591e+00] [ 6.89131539e-03 9.99976182e-01 3.80094263e-04 3.67798444e+00] [-1.32908131e-03 -3.70943618e-04 9.99999048e-01 1.40311558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.129259764 meters 0.1528333237958303 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99977701e-01 -6.55443758e-03 1.27918143e-03 -5.32252274e+00] [ 6.55336714e-03 9.99978174e-01 8.39222300e-04 3.67703935e+00] [-1.28465414e-03 -8.30820641e-04 9.99998830e-01 1.40232068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18925976399998 meters 0.1537131621589099 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99944874e-01 -1.04869862e-02 5.22262610e-04 -5.31996578e+00] [ 1.04887654e-02 9.99938763e-01 -3.52928333e-03 3.67952796e+00] [-4.85219083e-04 3.53456666e-03 9.99993636e-01 1.40138289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24925976399999 meters 0.1608858988028502 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99940810e-01 -1.08710943e-02 4.42380907e-04 -5.32028337e+00] [ 1.08728466e-02 9.99932182e-01 -4.17276309e-03 3.68159090e+00] [-3.96988405e-04 4.17732604e-03 9.99991196e-01 1.40224437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30925976399999 meters 0.1579136923601789 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99980235e-01 -6.25292351e-03 6.56259437e-04 -5.32049120e+00] [ 6.25246341e-03 9.99980208e-01 7.00823154e-04 3.67971201e+00] [-6.60628642e-04 -6.96706064e-04 9.99999539e-01 1.40159559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36925976399999 meters 0.15646723758754943 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99946994e-01 -1.02953942e-02 -1.22557692e-04 -5.31840453e+00] [ 1.02948531e-02 9.99939758e-01 -3.80728138e-03 3.68168357e+00] [ 1.61747772e-04 3.80581786e-03 9.99992745e-01 1.40149737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.429259764 meters 0.15395176314240072 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99951166e-01 -9.88242491e-03 -6.53428669e-05 -5.31817270e+00] [ 9.88217389e-03 9.99946332e-01 -3.11043561e-03 3.67942383e+00] [ 9.60780065e-05 3.10963798e-03 9.99995160e-01 1.40085837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.489259764 meters 0.1509189093240312 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99952391e-01 -9.75535802e-03 -2.21883550e-04 -5.31762016e+00] [ 9.75464256e-03 9.99947848e-01 -3.02459851e-03 3.67966666e+00] [ 2.51378020e-04 3.02229011e-03 9.99995401e-01 1.40062386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.549259764 meters 0.15029773423448545 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99953523e-01 -9.64064523e-03 -9.53012666e-05 -5.31779358e+00] [ 9.64034542e-03 9.99949719e-01 -2.76095725e-03 3.67881133e+00] [ 1.21913884e-04 2.75991019e-03 9.99996184e-01 1.40038718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60925976399999 meters 0.15175190608220074 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99957855e-01 -9.18036325e-03 -9.36982510e-05 -5.31695770e+00] [ 9.18015086e-03 9.99955741e-01 -2.05943908e-03 3.67735879e+00] [ 1.12600503e-04 2.05849212e-03 9.99997875e-01 1.39907297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66925976399999 meters 0.16082309975750808 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99958678e-01 -9.08878484e-03 -1.87953534e-04 -5.31658692e+00] [ 9.08839347e-03 9.99956724e-01 -1.98766109e-03 3.67744838e+00] [ 2.06010824e-04 1.98587076e-03 9.99998007e-01 1.39889142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72925976399999 meters 0.157737090512408 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99959685e-01 -8.97515276e-03 -2.73641863e-04 -5.31623917e+00] [ 8.97462222e-03 9.99957956e-01 -1.88204134e-03 3.67739206e+00] [ 2.90521967e-04 1.87950964e-03 9.99998192e-01 1.39869392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.789259764 meters 0.1599251195062023 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99963229e-01 -8.57429082e-03 -1.46342580e-04 -5.31587462e+00] [ 8.57410464e-03 9.99962487e-01 -1.22862162e-03 3.67568378e+00] [ 1.56871650e-04 1.22732169e-03 9.99999235e-01 1.39762698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.849259764 meters 0.1614797571569147 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.68, Z:1.40 [[ 9.99963935e-01 -8.49042908e-03 -2.01926881e-04 -5.31580139e+00] [ 8.49019946e-03 9.99963339e-01 -1.11206418e-03 3.67528346e+00] [ 2.11361380e-04 1.11030967e-03 9.99999361e-01 1.39771930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.909259764 meters 0.1515239329629671 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.40 [[ 9.99962640e-01 -8.61880305e-03 -6.58845181e-04 -5.31481590e+00] [ 8.61766702e-03 9.99961408e-01 -1.70810033e-03 3.67815167e+00] [ 6.73541536e-04 1.70235880e-03 9.99998324e-01 1.39803809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96925976399999 meters 0.1647958722250427 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.40 [[ 9.99965982e-01 -8.22487729e-03 -6.20865064e-04 -5.31424266e+00] [ 8.22415832e-03 9.99965518e-01 -1.15181278e-03 3.67685356e+00] [ 6.30317174e-04 1.14666751e-03 9.99999144e-01 1.39703912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02925976399999 meters 0.16629017771696109 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.40 [[ 9.99968127e-01 -7.97439089e-03 -3.92510193e-04 -5.31468963e+00] [ 7.97415618e-03 9.99968028e-01 -5.95969646e-04 3.67453209e+00] [ 3.97250139e-04 5.92820713e-04 9.99999745e-01 1.39684776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08925976399999 meters 0.1638298273354454 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.67, Z:1.40 [[ 9.99968904e-01 -7.88309123e-03 -2.20610628e-04 -5.31534170e+00] [ 7.88303223e-03 9.99968893e-01 -2.67055032e-04 3.67302833e+00] [ 2.22708985e-04 2.65307647e-04 9.99999940e-01 1.39713503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14925976399999 meters 0.16451440273380344 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.67, Z:1.40 [[ 9.99972865e-01 -7.36662767e-03 3.45914336e-05 -5.31549906e+00] [ 7.36660001e-03 9.99972592e-01 7.41076222e-04 3.66935692e+00] [-4.00497181e-05 -7.40801292e-04 9.99999725e-01 1.39634867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.209259764 meters 0.1656760999079546 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.67, Z:1.40 [[ 9.99975712e-01 -6.96623241e-03 2.16139203e-04 -5.31558127e+00] [ 6.96590538e-03 9.99974645e-01 1.47862459e-03 3.66679042e+00] [-2.26434165e-04 -1.47708307e-03 9.99998883e-01 1.39573518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.269259764 meters 0.1650750924876462 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.67, Z:1.40 [[ 9.99938251e-01 -1.11127480e-02 1.65366709e-05 -5.31505683e+00] [ 1.11127523e-02 9.99934638e-01 -2.68837463e-03 3.66648168e+00] [ 1.33396399e-05 2.68839240e-03 9.99996386e-01 1.39583816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32925976399999 meters 0.16632849833700514 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.40 [[ 9.99940125e-01 -1.09338360e-02 4.45455437e-04 -5.31612270e+00] [ 1.09347049e-02 9.99938220e-01 -1.99726296e-03 3.66335555e+00] [-4.23590171e-04 2.00201430e-03 9.99997906e-01 1.39584203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38925976399999 meters 0.1638479301965321 Centerline is valid? [False, False] Translation: X:-5.32, Y:3.66, Z:1.39 [[ 9.99944507e-01 -1.05249233e-02 4.56898722e-04 -5.31551589e+00] [ 1.05255351e-02 9.99943683e-01 -1.35810658e-03 3.66186469e+00] [-4.42579023e-04 1.36284032e-03 9.99998973e-01 1.39486156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44925976399999 meters 0.1659577088338652 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.39 [[ 9.99947183e-01 -1.02642999e-02 5.25262152e-04 -5.31494352e+00] [ 1.02647954e-02 9.99946865e-01 -9.49558119e-04 3.66145205e+00] [-5.15487692e-04 9.54899675e-04 9.99999411e-01 1.39372343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50925976399999 meters 0.16275090090965016 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.39 [[ 9.99949434e-01 -1.00453252e-02 4.71023864e-04 -5.31424658e+00] [ 1.00456699e-02 9.99949271e-01 -7.35210273e-04 3.66149486e+00] [-4.63614543e-04 7.39904846e-04 9.99999619e-01 1.39291345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.569259764 meters 0.1630807786271858 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.39 [[ 9.99947073e-01 -1.02750801e-02 5.23016536e-04 -5.31444384e+00] [ 1.02756311e-02 9.99946641e-01 -1.06182378e-03 3.66287176e+00] [-5.12078304e-04 1.06714191e-03 9.99999299e-01 1.39305261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.629259764 meters 0.16492752492859136 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.66, Z:1.39 [[ 9.99949987e-01 -9.99519723e-03 3.45515610e-04 -5.31300037e+00] [ 9.99548780e-03 9.99949683e-01 -8.49730071e-04 3.66374226e+00] [-3.37005005e-04 8.53141171e-04 9.99999579e-01 1.39161544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68925976399998 meters 0.16081022557689567 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.39 [[ 9.99949516e-01 -1.00471760e-02 -1.36848668e-04 -5.31150386e+00] [ 1.00469719e-02 9.99948522e-01 -1.41850190e-03 3.66721829e+00] [ 1.51093562e-04 1.41705538e-03 9.99998985e-01 1.39128923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74925976399999 meters 0.16561471804068606 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.39 [[ 9.99948899e-01 -1.01073964e-02 -1.97376787e-04 -5.31078702e+00] [ 1.01070546e-02 9.99947541e-01 -1.66237326e-03 3.66921033e+00] [ 2.14168698e-04 1.66029341e-03 9.99998599e-01 1.39053390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80925976399999 meters 0.16559423950625535 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.67, Z:1.39 [[ 9.99946071e-01 -1.03808977e-02 -3.01787101e-04 -5.31038220e+00] [ 1.03802075e-02 9.99943693e-01 -2.20512225e-03 3.67188747e+00] [ 3.24661257e-04 2.20187072e-03 9.99997523e-01 1.39041965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86925976399999 meters 0.16190794702342778 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.39 [[ 9.99943001e-01 -1.06185606e-02 -1.11425341e-03 -5.30812775e+00] [ 1.06147491e-02 9.99937974e-01 -3.37264858e-03 3.67898654e+00] [ 1.14999697e-03 3.36062882e-03 9.99993692e-01 1.38996876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.929259764 meters 0.15253179259190744 Centerline is valid? [False, False] Translation: X:-5.31, Y:3.68, Z:1.39 [[ 9.99943316e-01 -1.05336489e-02 -1.55163642e-03 -5.30629954e+00] [ 1.05278051e-02 9.99937634e-01 -3.72740919e-03 3.68229456e+00] [ 1.59080287e-03 3.71086258e-03 9.99991849e-01 1.38890770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.989259764 meters 0.15411016372967887 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.39 [[ 9.99941914e-01 -1.05978367e-02 -1.96314827e-03 -5.30472667e+00] [ 1.05891960e-02 9.99934424e-01 -4.36073794e-03 3.68649840e+00] [ 2.00923392e-03 4.33969648e-03 9.99988565e-01 1.38816372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04925976399998 meters 0.14704802014035065 Centerline is valid? [False, False] Translation: X:-5.30, Y:3.69, Z:1.39 [[ 9.99978077e-01 -6.27653621e-03 -2.10944472e-03 -5.30340542e+00] [ 6.27562509e-03 9.99980212e-01 -4.38268006e-04 3.68990230e+00] [ 2.11215378e-03 4.25020313e-04 9.99997679e-01 1.38669011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10925976399999 meters 0.13977979895774104 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.39 [[ 9.99990809e-01 1.46070905e-03 -4.03086734e-03 -5.28703261e+00] [-1.47044034e-03 9.99996009e-01 -2.41228519e-03 3.69515743e+00] [ 4.02732760e-03 2.41819017e-03 9.99988966e-01 1.39010501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16925976399999 meters 0.13221230751608454 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.39 [[ 9.99987634e-01 1.35289809e-03 -4.78562123e-03 -5.28492955e+00] [-1.37024353e-03 9.99992498e-01 -3.62307178e-03 3.70123166e+00] [ 4.78068368e-03 3.62958444e-03 9.99981985e-01 1.39005548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22925976399999 meters 0.13104965086582765 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.39 [[ 9.99986153e-01 1.35957341e-03 -5.08386630e-03 -5.28347508e+00] [-1.38007621e-03 9.99990921e-01 -4.03158358e-03 3.70463372e+00] [ 5.07833891e-03 4.03854387e-03 9.99978950e-01 1.38910034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.289259764 meters 0.1314634430933689 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.71, Z:1.39 [[ 9.99979564e-01 -2.85762765e-03 -5.71888246e-03 -5.28154978e+00] [ 2.80784514e-03 9.99958263e-01 -8.69411495e-03 3.70810409e+00] [ 5.74348832e-03 8.67787954e-03 9.99945852e-01 1.38863514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.349259764 meters 0.13037421910185246 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.71, Z:1.39 [[ 9.99982095e-01 -2.53101152e-03 -5.42243243e-03 -5.28199597e+00] [ 2.48763511e-03 9.99964975e-01 -7.99130264e-03 3.70549405e+00] [ 5.44246858e-03 7.97767053e-03 9.99953367e-01 1.38811172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.409259764 meters 0.1423811471104013 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.38 [[ 0.99991027 -0.00625364 0.01184639 -5.28580034] [ 0.00634087 0.99995296 -0.00734017 3.70281455] [-0.01179993 0.00741463 0.99990289 1.37741564] [ 0. 0. 0. 1. ]] SLAMing on 73.46925976399999 meters 0.1407713360648246 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.38 [[ 0.99990753 -0.00610302 0.01215223 -5.28641471] [ 0.00618575 0.99995787 -0.00678211 3.70075246] [-0.01211033 0.00685665 0.99990316 1.37709167] [ 0. 0. 0. 1. ]] SLAMing on 73.52925976399999 meters 0.1466636674084323 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.70, Z:1.38 [[ 0.99990149 -0.00599067 0.01269317 -5.28773605] [ 0.00606673 0.99996382 -0.00596242 3.6971212 ] [-0.01265699 0.00603883 0.99990166 1.3770052 ] [ 0. 0. 0. 1. ]] SLAMing on 73.58925976399999 meters 0.15581172146767577 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.38 [[ 9.99898082e-01 -5.66830571e-03 1.31032742e-02 -5.28858833e+00] [ 5.73428688e-03 9.99971042e-01 -5.00339776e-03 3.69325959e+00] [-1.30745339e-02 5.07802575e-03 9.99901630e-01 1.37664637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64925976399999 meters 0.1459707345813015 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.38 [[ 9.99899731e-01 -5.50659285e-03 1.30462533e-02 -5.28839699e+00] [ 5.56947798e-03 9.99973024e-01 -4.78874884e-03 3.69258527e+00] [-1.30195317e-02 4.86092950e-03 9.99903427e-01 1.37656579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.709259764 meters 0.14311209479362746 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.38 [[ 9.99900541e-01 -4.85708058e-03 1.32407143e-02 -5.28831674e+00] [ 4.90552980e-03 9.99981383e-01 -3.62909029e-03 3.68828011e+00] [-1.32228410e-02 3.69368206e-03 9.99905752e-01 1.37564210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.769259764 meters 0.14389177205341458 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.38 [[ 9.99897107e-01 -4.61161248e-03 1.35833777e-02 -5.28927825e+00] [ 4.65079650e-03 9.99985111e-01 -2.85452954e-03 3.68454380e+00] [-1.35700114e-02 2.91740936e-03 9.99903667e-01 1.37580451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82925976399999 meters 0.15663961498495252 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.38 [[ 9.99886893e-01 -4.70786205e-03 1.42841661e-02 -5.29141894e+00] [ 4.73831158e-03 9.99986572e-01 -2.09860411e-03 3.68024397e+00] [-1.42740944e-02 2.16604957e-03 9.99895774e-01 1.37663834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88925976399999 meters 0.16288400301564326 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.38 [[ 9.99888645e-01 -4.39172031e-03 1.42622151e-02 -5.29098344e+00] [ 4.41452199e-03 9.99989027e-01 -1.56765936e-03 3.67878139e+00] [-1.42551739e-02 1.63044565e-03 9.99897061e-01 1.37601418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94925976399999 meters 0.1592459350640153 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.38 [[ 9.99893382e-01 -4.40569342e-03 1.39217583e-02 -5.28996662e+00] [ 4.43229834e-03 9.99988409e-01 -1.88075519e-03 3.68076235e+00] [-1.39133109e-02 1.94226005e-03 9.99901319e-01 1.37583243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00925976399999 meters 0.15438097107450152 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.68, Z:1.38 [[ 9.99901950e-01 -4.31327863e-03 1.33224012e-02 -5.28799869e+00] [ 4.34580654e-03 9.99987644e-01 -2.41361098e-03 3.68446723e+00] [-1.33118260e-02 2.47127091e-03 9.99908340e-01 1.37513437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.069259764 meters 0.15279909804213795 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.38 [[ 9.99901866e-01 -4.71785293e-03 1.31909480e-02 -5.28782758e+00] [ 4.76027679e-03 9.99983593e-01 -3.18658841e-03 3.68768556e+00] [-1.31756977e-02 3.24906826e-03 9.99907918e-01 1.37547914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.129259764 meters 0.15264589001104578 Centerline is valid? [False, False] Translation: X:-5.29, Y:3.69, Z:1.37 [[ 9.99909017e-01 -4.83587402e-03 1.25925587e-02 -5.28605320e+00] [ 4.88521444e-03 9.99980499e-01 -3.89041220e-03 3.69227536e+00] [-1.25734996e-02 3.95157558e-03 9.99913142e-01 1.37497926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18925976399998 meters 0.14845501914845127 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99917240e-01 -4.79236169e-03 1.19393000e-02 -5.28401117e+00] [ 4.84562918e-03 9.99978418e-01 -4.43659928e-03 3.69610114e+00] [-1.19177805e-02 4.49408553e-03 9.99918882e-01 1.37436436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24925976399999 meters 0.1413812505328635 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99926473e-01 -4.86247112e-03 1.11087346e-02 -5.28198623e+00] [ 4.92279671e-03 9.99973251e-01 -5.40959044e-03 3.70119587e+00] [-1.10821335e-02 5.46387874e-03 9.99923663e-01 1.37445778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30925976399999 meters 0.13428986246557773 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99932178e-01 -4.65190849e-03 1.06769947e-02 -5.28032954e+00] [ 4.71095406e-03 9.99973714e-01 -5.51169543e-03 3.70312744e+00] [-1.06510741e-02 5.56162045e-03 9.99927809e-01 1.37361125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36925976399999 meters 0.13519169874092699 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99933522e-01 -4.41980372e-03 1.06497365e-02 -5.27970292e+00] [ 4.47520875e-03 9.99976548e-01 -5.18427640e-03 3.70273675e+00] [-1.06265733e-02 5.23159155e-03 9.99929851e-01 1.37273210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.429259764 meters 0.1345894828115166 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99932248e-01 -4.58028650e-03 1.07014352e-02 -5.28023270e+00] [ 4.63806528e-03 9.99974768e-01 -5.38059667e-03 3.70293550e+00] [-1.06765205e-02 5.42986607e-03 9.99928262e-01 1.37335887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.489259764 meters 0.13357334201658352 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99930468e-01 -4.69877827e-03 1.08157510e-02 -5.28073799e+00] [ 4.75734891e-03 9.99974125e-01 -5.39596616e-03 3.70280303e+00] [-1.07901167e-02 5.44704527e-03 9.99926949e-01 1.37364641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54925976399998 meters 0.13961604320029897 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99931521e-01 -4.45416687e-03 1.08218774e-02 -5.28040715e+00] [ 4.50856388e-03 9.99977299e-01 -5.00739149e-03 3.70181230e+00] [-1.07993280e-02 5.05583972e-03 9.99928904e-01 1.37307681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60925976399999 meters 0.1367624723185323 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99933454e-01 -4.59308439e-03 1.05826048e-02 -5.27995992e+00] [ 4.65053167e-03 9.99974550e-01 -5.41026463e-03 3.70364505e+00] [-1.05574857e-02 5.45911934e-03 9.99929366e-01 1.37336396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66925976399999 meters 0.12884102224798263 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.71, Z:1.37 [[ 9.99942078e-01 -4.48325983e-03 9.78474944e-03 -5.27798340e+00] [ 4.54214070e-03 9.99971662e-01 -6.00371371e-03 3.70721218e+00] [-9.75755595e-03 6.04780968e-03 9.99934105e-01 1.37339716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72925976399999 meters 0.12391109003562285 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.71, Z:1.37 [[ 9.99949746e-01 -3.78774290e-03 9.28219533e-03 -5.27562025e+00] [ 3.83934667e-03 9.99977240e-01 -5.54793717e-03 3.70742079e+00] [-9.26096990e-03 5.58329593e-03 9.99941529e-01 1.37170192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.789259764 meters 0.12643202109624502 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.37 [[ 9.99952208e-01 -3.58366851e-03 9.09613308e-03 -5.27498376e+00] [ 3.63295652e-03 9.99978778e-01 -5.40784016e-03 3.70728805e+00] [-9.07656014e-03 5.44062757e-03 9.99944006e-01 1.37146508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.849259764 meters 0.13158410903751155 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 9.99952448e-01 -3.25783846e-03 9.19172882e-03 -5.27504397e+00] [ 3.30158983e-03 9.99983274e-01 -4.74871080e-03 3.70488124e+00] [-9.17610455e-03 4.77883230e-03 9.99946480e-01 1.37109727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.909259764 meters 0.1288938078078799 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.37 [[ 0.99993236 -0.00730409 0.0090511 -5.27450431] [ 0.00738305 0.99993472 -0.00872098 3.703902 ] [-0.00898681 0.00878722 0.99992101 1.37084961] [ 0. 0. 0. 1. ]] SLAMing on 74.96925976399999 meters 0.12705330942466211 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.37 [[ 0.99993172 -0.00708566 0.00929199 -5.27499648] [ 0.00716133 0.99994127 -0.00813486 3.70155363] [-0.0092338 0.00820084 0.99992374 1.37058927] [ 0. 0. 0. 1. ]] SLAMing on 75.02925976399999 meters 0.13023099326747714 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 0.99992657 -0.00727833 0.00968915 -5.27647108] [ 0.00735528 0.9999415 -0.00793016 3.69983496] [-0.00963087 0.00800084 0.99992161 1.37131464] [ 0. 0. 0. 1. ]] SLAMing on 75.08925976399999 meters 0.13756474307245004 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 0.99992427 -0.00702057 0.01010762 -5.27697397] [ 0.00709194 0.99995005 -0.00704259 3.69689576] [-0.01005768 0.00711374 0.99992412 1.37028811] [ 0. 0. 0. 1. ]] SLAMing on 75.14925976399999 meters 0.13809360370913384 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.69, Z:1.37 [[ 0.99992383 -0.00670302 0.01036338 -5.27705648] [ 0.00676881 0.99995708 -0.00632639 3.69471268] [-0.01032053 0.00639606 0.99992629 1.36927508] [ 0. 0. 0. 1. ]] SLAMing on 75.209259764 meters 0.13455027620089452 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 0.99992299 -0.00695695 0.01027728 -5.27688435] [ 0.00702724 0.99995205 -0.00681981 3.69694492] [-0.01022935 0.0068915 0.99992393 1.36940213] [ 0. 0. 0. 1. ]] SLAMing on 75.269259764 meters 0.1425495142171591 Centerline is valid? [False, False] Translation: X:-5.28, Y:3.70, Z:1.37 [[ 0.99992698 -0.00674197 0.01002894 -5.27536893] [ 0.00681007 0.99995388 -0.0067717 3.69847807] [-0.00998282 0.0068395 0.99992678 1.36806343] [ 0. 0. 0. 1. ]] SLAMing on 75.32925976399999 meters 0.12867172433697696 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.37 [[ 9.99947038e-01 -2.51356699e-03 9.98010084e-03 -5.27485499e+00] [ 2.54102015e-03 9.99993020e-01 -2.73906321e-03 3.70036953e+00] [-9.97314637e-03 2.76427778e-03 9.99946446e-01 1.36748191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38925976399999 meters 0.12547051754397895 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.70, Z:1.37 [[ 9.99951592e-01 -2.39700243e-03 9.54295838e-03 -5.27326845e+00] [ 2.42749649e-03 9.99991981e-01 -3.18515160e-03 3.70335206e+00] [-9.53524703e-03 3.20816291e-03 9.99949392e-01 1.36689745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44925976399999 meters 0.12381738721718631 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.37 [[ 9.99955204e-01 -2.18622403e-03 9.20924281e-03 -5.27158809e+00] [ 2.21647024e-03 9.99992179e-01 -3.27540770e-03 3.70555319e+00] [-9.20201001e-03 3.29567299e-03 9.99952230e-01 1.36567523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50925976399999 meters 0.12503484185389796 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.37 [[ 9.99956499e-01 -2.35185246e-03 9.02598514e-03 -5.27106259e+00] [ 2.38585450e-03 9.99990092e-01 -3.75821181e-03 3.70794247e+00] [-9.01705695e-03 3.77958301e-03 9.99952203e-01 1.36568053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.569259764 meters 0.12515209782953343 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.37 [[ 9.99955926e-01 -2.43875949e-03 9.06631307e-03 -5.27123195e+00] [ 2.47408466e-03 9.99989384e-01 -3.88713906e-03 3.70836880e+00] [-9.05673703e-03 3.90939857e-03 9.99951345e-01 1.36579473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.629259764 meters 0.1258258244081908 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.71, Z:1.37 [[ 9.99958554e-01 -2.67795464e-03 8.70165828e-03 -5.27040059e+00] [ 2.71873912e-03 9.99985360e-01 -4.67853328e-03 3.71200505e+00] [-8.68900199e-03 4.70199691e-03 9.99951195e-01 1.36607962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68925976399998 meters 0.11615016211008154 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.72, Z:1.37 [[ 9.99962611e-01 -2.62816776e-03 8.23828898e-03 -5.26878289e+00] [ 2.67159677e-03 9.99982571e-01 -5.26504077e-03 3.71567050e+00] [-8.22430798e-03 5.28685330e-03 9.99952204e-01 1.36552437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74925976399999 meters 0.1154596794896712 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.72, Z:1.36 [[ 9.99964590e-01 -2.60198212e-03 8.00308467e-03 -5.26770592e+00] [ 2.64650684e-03 9.99981053e-01 -5.55789547e-03 3.71800941e+00] [-7.98847149e-03 5.57887888e-03 9.99952529e-01 1.36487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80925976399999 meters 0.11177928646472808 Centerline is valid? [False, False] Translation: X:-5.27, Y:3.72, Z:1.37 [[ 9.99968896e-01 -2.81097088e-03 7.36917999e-03 -5.26620850e+00] [ 2.85843980e-03 9.99975184e-01 -6.43894822e-03 3.72312812e+00] [-7.35089742e-03 6.45981230e-03 9.99952116e-01 1.36503850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86925976399999 meters 0.11254905531598272 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.73, Z:1.36 [[ 9.99972001e-01 -2.74378286e-03 6.96202097e-03 -5.26465923e+00] [ 2.79113038e-03 9.99972983e-01 -6.80025165e-03 3.72615375e+00] [-6.94317446e-03 6.81949316e-03 9.99952642e-01 1.36429369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.929259764 meters 0.11453900825085728 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.73, Z:1.36 [[ 9.99976093e-01 -2.78569106e-03 6.32882813e-03 -5.26276268e+00] [ 2.83340398e-03 9.99967540e-01 -7.54256561e-03 3.73108311e+00] [-6.30761144e-03 7.56031741e-03 9.99951527e-01 1.36388671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.989259764 meters 0.10469579926204017 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.36 [[ 9.99978536e-01 -3.11581616e-03 5.76358140e-03 -5.26167076e+00] [ 3.16595327e-03 9.99957052e-01 -8.71037901e-03 3.73637215e+00] [-5.73619393e-03 8.72843928e-03 9.99945454e-01 1.36456774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04925976399998 meters 0.11558732757150428 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.36 [[ 9.99980571e-01 -3.34243587e-03 5.26181555e-03 -5.26042114e+00] [ 3.39303060e-03 9.99947815e-01 -9.63607045e-03 3.74120322e+00] [-5.22933302e-03 9.65373673e-03 9.99939728e-01 1.36467674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10925976399999 meters 0.09919550003182942 Centerline is valid? [False, True] Translation: X:-5.26, Y:3.74, Z:1.37 [[ 9.99980979e-01 -3.65632338e-03 4.96716944e-03 -5.26008512e+00] [ 3.70813285e-03 9.99938401e-01 -1.04615238e-02 3.74430007e+00] [-4.92861275e-03 1.04797437e-02 9.99932940e-01 1.36548398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16925976399999 meters 0.10154643821165323 Centerline is valid? [True, False] Translation: X:-5.26, Y:3.75, Z:1.37 [[ 9.99982314e-01 -3.86930426e-03 4.51667187e-03 -5.25930268e+00] [ 3.91986145e-03 9.99929160e-01 -1.12387986e-02 3.74771797e+00] [-4.47286558e-03 1.12563045e-02 9.99926642e-01 1.36621593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22925976399999 meters 0.10777839685831468 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.75, Z:1.37 [[ 9.99983755e-01 -3.57534536e-03 4.43925673e-03 -5.25868451e+00] [ 3.62334187e-03 9.99934558e-01 -1.08512812e-02 3.74691392e+00] [-4.40016914e-03 1.08671898e-02 9.99931269e-01 1.36555740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.289259764 meters 0.10602981937410617 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.75, Z:1.37 [[ 9.99985763e-01 -3.40416907e-03 4.10920431e-03 -5.25792636e+00] [ 3.44824081e-03 9.99936098e-01 -1.07661172e-02 3.74693719e+00] [-4.07229204e-03 1.07801334e-02 9.99933600e-01 1.36569648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.349259764 meters 0.10640513165982582 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.75, Z:1.37 [[ 9.99986701e-01 -3.22055749e-03 4.02813961e-03 -5.25777835e+00] [ 3.26278890e-03 9.99939321e-01 -1.05218383e-02 3.74596717e+00] [-3.99400900e-03 1.05348413e-02 9.99936530e-01 1.36575798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40925976399998 meters 0.10652101683653188 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.37 [[ 9.99988185e-01 -2.81331671e-03 3.96426907e-03 -5.25732530e+00] [ 2.85231868e-03 9.99947249e-01 -9.86730943e-03 3.74389473e+00] [-3.93630008e-03 9.87850020e-03 9.99943459e-01 1.36519921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46925976399999 meters 0.10512450329436059 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.37 [[ 9.99989445e-01 -2.56448363e-03 3.81238580e-03 -5.25690496e+00] [ 2.60082196e-03 9.99950944e-01 -9.55744704e-03 3.74286566e+00] [-3.78768886e-03 9.56726150e-03 9.99947059e-01 1.36513131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52925976399999 meters 0.10516769852218703 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.36 [[ 9.99990671e-01 -2.18220427e-03 3.72774693e-03 -5.25649275e+00] [ 2.21570427e-03 9.99956988e-01 -9.00629556e-03 3.74105172e+00] [-3.70793301e-03 9.01447113e-03 9.99952494e-01 1.36478503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58925976399999 meters 0.10689527276675483 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.74, Z:1.36 [[ 9.99990464e-01 -1.74852650e-03 4.00170922e-03 -5.25713750e+00] [ 1.78055704e-03 9.99966297e-01 -8.01469809e-03 3.73672106e+00] [-3.98756044e-03 8.02174693e-03 9.99959875e-01 1.36458531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64925976399999 meters 0.10892670616304524 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.73, Z:1.36 [[ 9.99989767e-01 -1.16380098e-03 4.37177742e-03 -5.25794181e+00] [ 1.19256730e-03 9.99977620e-01 -6.58317265e-03 3.73033799e+00] [-4.36401807e-03 6.58831892e-03 9.99968774e-01 1.36438736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.709259764 meters 0.11385299137491728 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.73, Z:1.37 [[ 9.99975693e-01 -5.32868983e-03 4.49657674e-03 -5.25920272e+00] [ 5.37497665e-03 9.99932040e-01 -1.03452714e-02 3.72650789e+00] [-4.44114441e-03 1.03691889e-02 9.99936376e-01 1.36578059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.769259764 meters 0.11950432559130775 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.72, Z:1.36 [[ 9.99974822e-01 -4.72355640e-03 5.29567679e-03 -5.26060455e+00] [ 4.76596269e-03 9.99956450e-01 -8.02390338e-03 3.71744044e+00] [-5.25754481e-03 8.04894035e-03 9.99953785e-01 1.36466222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82925976399999 meters 0.12809386177915197 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.71, Z:1.36 [[ 0.9999459 -0.0086605 0.00576199 -5.26196266] [ 0.00872311 0.9999022 -0.01093137 3.71115972] [-0.00566676 0.01098104 0.99992365 1.36494817] [ 0. 0. 0. 1. ]] SLAMing on 76.88925976399999 meters 0.13381969332540414 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.37 [[ 0.99994204 -0.008636 0.00642912 -5.26415611] [ 0.00869827 0.99991491 -0.0097215 3.70488833] [-0.00634462 0.00977686 0.99993208 1.36589599] [ 0. 0. 0. 1. ]] SLAMing on 76.94925976399999 meters 0.13110058277360814 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99994784 -0.00785525 0.00652761 -5.26353941] [ 0.0079097 0.99993379 -0.00835735 3.70067149] [-0.00646153 0.00840855 0.99994377 1.36435116] [ 0. 0. 0. 1. ]] SLAMing on 77.00925976399999 meters 0.1330384960400049 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995096 -0.00732134 0.00666895 -5.26345093] [ 0.00737021 0.99994594 -0.00733396 3.69715972] [-0.00661489 0.00738276 0.99995087 1.36350869] [ 0. 0. 0. 1. ]] SLAMing on 77.069259764 meters 0.1323697195310011 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995095 -0.00736389 0.00662362 -5.26387422] [ 0.00741244 0.99994562 -0.00733542 3.69665797] [-0.00656924 0.00738416 0.99995116 1.36430301] [ 0. 0. 0. 1. ]] SLAMing on 77.129259764 meters 0.13348854578906175 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99995173 -0.00695039 0.00694499 -5.26423748] [ 0.00699422 0.99995565 -0.00630692 3.6929844 ] [-0.00690085 0.00635519 0.99995599 1.36346203] [ 0. 0. 0. 1. ]] SLAMing on 77.18925976399998 meters 0.1403165082226548 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99995136 -0.00681556 0.00712856 -5.26466797] [ 0.00685767 0.99995908 -0.00590008 3.69141018] [-0.00708806 0.00594868 0.99995719 1.36333802] [ 0. 0. 0. 1. ]] SLAMing on 77.24925976399999 meters 0.13789404452093623 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99995172 -0.0070168 0.00687878 -5.26405622] [ 0.00706083 0.9999546 -0.00639858 3.69393421] [-0.00683357 0.00644684 0.99995587 1.36348515] [ 0. 0. 0. 1. ]] SLAMing on 77.30925976399999 meters 0.13538143174519493 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99995374 -0.00666005 0.00694011 -5.26349717] [ 0.00670081 0.99996034 -0.00586616 3.69282172] [-0.00690076 0.00591239 0.99995871 1.36236169] [ 0. 0. 0. 1. ]] SLAMing on 77.36925976399999 meters 0.14027451097250504 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995692 -0.0067364 0.00638565 -5.26216547] [ 0.0067778 0.99995601 -0.00648329 3.69621131] [-0.00634169 0.00652629 0.99995859 1.36255102] [ 0. 0. 0. 1. ]] SLAMing on 77.429259764 meters 0.13874783091495846 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995773 -0.00668252 0.00631452 -5.26173069] [ 0.00672356 0.99995626 -0.00650139 3.69684125] [-0.0062708 0.00654357 0.99995893 1.36220275] [ 0. 0. 0. 1. ]] SLAMing on 77.489259764 meters 0.13504674752799328 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995867 -0.00652366 0.00633316 -5.26155892] [ 0.00656316 0.99995901 -0.00623673 3.69617513] [-0.00629221 0.00627804 0.9999605 1.36183209] [ 0. 0. 0. 1. ]] SLAMing on 77.54925976399998 meters 0.1393311161886127 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.70, Z:1.36 [[ 0.99995967 -0.00643316 0.0062662 -5.26142158] [ 0.00647111 0.99996073 -0.00605489 3.69567196] [-0.00622701 0.00609519 0.99996204 1.36182999] [ 0. 0. 0. 1. ]] SLAMing on 77.60925976399999 meters 0.13977485031962913 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99996002 -0.00617657 0.00646552 -5.26162599] [ 0.00621202 0.9999657 -0.00547767 3.69370887] [-0.00643146 0.00551762 0.9999641 1.36129224] [ 0. 0. 0. 1. ]] SLAMing on 77.66925976399999 meters 0.1491401533186662 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99961975e-01 -5.81022617e-03 6.50301851e-03 -5.26112831e+00] [ 5.84203720e-03 9.99971011e-01 -4.88347410e-03 3.69227410e+00] [-6.47445591e-03 4.92127928e-03 9.99966931e-01 1.36032940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72925976399999 meters 0.14795927643295023 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99963162e-01 -5.63224922e-03 6.47704884e-03 -5.26108190e+00] [ 5.66203569e-03 9.99973438e-01 -4.58966624e-03 3.69118241e+00] [-6.45102665e-03 4.62617045e-03 9.99968491e-01 1.36033077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.789259764 meters 0.14631218052203385 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99964473e-01 -5.44622616e-03 6.43360576e-03 -5.26067578e+00] [ 5.47390747e-03 9.99975804e-01 -4.29286864e-03 3.69068672e+00] [-6.41007015e-03 4.32793309e-03 9.99970090e-01 1.35985655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.849259764 meters 0.14817003789692657 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99965752e-01 -4.77262084e-03 6.76139683e-03 -5.26046177e+00] [ 4.79224132e-03 9.99984345e-01 -2.88861443e-03 3.68647891e+00] [-6.74750472e-03 2.92091775e-03 9.99972969e-01 1.35800880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90925976399998 meters 0.14784349643336514 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99965826e-01 -4.75567754e-03 6.76238352e-03 -5.26052703e+00] [ 4.77469691e-03 9.99984683e-01 -2.79916683e-03 3.68621862e+00] [-6.74896801e-03 2.83135950e-03 9.99973217e-01 1.35808693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96925976399999 meters 0.1449346158896809 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99966625e-01 -5.07708388e-03 6.40100936e-03 -5.25991065e+00] [ 5.09994190e-03 9.99980659e-01 -3.55975211e-03 3.68953565e+00] [-6.38281240e-03 3.59227808e-03 9.99973177e-01 1.35864033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02925976399999 meters 0.14130115742096658 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99969863e-01 -4.80476927e-03 6.09810667e-03 -5.25837616e+00] [ 4.82597053e-03 9.99982346e-01 -3.46675588e-03 3.69072967e+00] [-6.08134205e-03 3.49608069e-03 9.99975397e-01 1.35752554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08925976399999 meters 0.13715532669175096 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99971185e-01 -4.75583349e-03 5.91697546e-03 -5.25764369e+00] [ 4.77720577e-03 9.99982098e-01 -3.60315284e-03 3.69197461e+00] [-5.89973354e-03 3.63131563e-03 9.99976003e-01 1.35717152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14925976399999 meters 0.1376485652534053 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99971649e-01 -4.59001015e-03 5.96927215e-03 -5.25744123e+00] [ 4.60961647e-03 9.99984013e-01 -3.27494186e-03 3.69124923e+00] [-5.95414470e-03 3.30236507e-03 9.99976821e-01 1.35662471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.209259764 meters 0.13684747293299218 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99972968e-01 -4.62013490e-03 5.71986556e-03 -5.25662310e+00] [ 4.64010152e-03 9.99983171e-01 -3.48241515e-03 3.69284512e+00] [-5.70368008e-03 3.50886178e-03 9.99977578e-01 1.35638287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.269259764 meters 0.13593366334912638 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99974855e-01 -4.16735265e-03 5.73774728e-03 -5.25599932e+00] [ 4.18350428e-03 9.99987313e-01 -2.80585867e-03 3.69109230e+00] [-5.72598148e-03 2.82979201e-03 9.99979602e-01 1.35531634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32925976399999 meters 0.13413242145009505 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99975412e-01 -4.09085146e-03 5.69571665e-03 -5.25586685e+00] [ 4.10662113e-03 9.99987760e-01 -2.75975240e-03 3.69099151e+00] [-5.68435720e-03 2.78307469e-03 9.99979971e-01 1.35528733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38925976399999 meters 0.15399295585484718 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99994847 -0.00857922 0.00542782 -5.25572319] [ 0.00861996 0.99993451 -0.00752825 3.69247792] [-0.00536288 0.00757465 0.99995693 1.35624916] [ 0. 0. 0. 1. ]] SLAMing on 78.44925976399999 meters 0.15396796153616782 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 0.99994889 -0.00846226 0.0055316 -5.25595782] [ 0.00850238 0.99993743 -0.0072694 3.69145968] [-0.00546973 0.00731606 0.99995828 1.3561632 ] [ 0. 0. 0. 1. ]] SLAMing on 78.50925976399999 meters 0.14854678452830883 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99976239e-01 -3.79060210e-03 5.75792425e-03 -5.25596656e+00] [ 3.80372057e-03 9.99990191e-01 -2.26909282e-03 3.68943116e+00] [-5.74926655e-03 2.29094044e-03 9.99980849e-01 1.35515702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.569259764 meters 0.14476214899149348 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.69, Z:1.36 [[ 9.99977068e-01 -3.79555147e-03 5.60869070e-03 -5.25551541e+00] [ 3.80938872e-03 9.99989722e-01 -2.45848928e-03 3.69063327e+00] [-5.59930173e-03 2.47979859e-03 9.99981249e-01 1.35509135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.629259764 meters 0.14251481798988672 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99977943e-01 -3.68027807e-03 5.52899335e-03 -5.25490792e+00] [ 3.69346770e-03 9.99990354e-01 -2.37722494e-03 3.69113678e+00] [-5.52019116e-03 2.39759367e-03 9.99981889e-01 1.35447886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68925976399998 meters 0.13867878581636947 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99955962e-01 -7.97671596e-03 4.94421551e-03 -5.25338598e+00] [ 8.01227516e-03 9.99941876e-01 -7.21449258e-03 3.69442301e+00] [-4.88638017e-03 7.25378928e-03 9.99961752e-01 1.35450032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74925976399999 meters 0.1374157234800014 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99956086e-01 -7.90114633e-03 5.03959910e-03 -5.25337912e+00] [ 7.93668907e-03 9.99943495e-01 -7.07212276e-03 3.69420168e+00] [-4.98343647e-03 7.11180993e-03 9.99962293e-01 1.35411323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80925976399999 meters 0.1568700138832326 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99956153e-01 -7.91335982e-03 5.00702715e-03 -5.25318837e+00] [ 7.94882927e-03 9.99943172e-01 -7.10414123e-03 3.69473103e+00] [-4.95052498e-03 7.14362974e-03 9.99962230e-01 1.35392835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86925976399999 meters 0.15227034278324592 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.70, Z:1.35 [[ 9.99959874e-01 -7.65014367e-03 4.66102114e-03 -5.25183216e+00] [ 7.68288797e-03 9.99945647e-01 -7.04820410e-03 3.69574568e+00] [-4.60684802e-03 7.08373139e-03 9.99964298e-01 1.35318994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.929259764 meters 0.14644171856841925 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99966780e-01 -6.90849985e-03 4.32577701e-03 -5.24976811e+00] [ 6.93566178e-03 9.99956128e-01 -6.29588894e-03 3.69491897e+00] [-4.28209208e-03 6.32568191e-03 9.99970824e-01 1.35131044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.989259764 meters 0.14275810780813128 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99968963e-01 -6.63521857e-03 4.24814381e-03 -5.24952568e+00] [ 6.66039432e-03 9.99960178e-01 -5.93983182e-03 3.69368849e+00] [-4.20856256e-03 5.96794178e-03 9.99973335e-01 1.35120438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04925976399998 meters 0.14051144077985667 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99971809e-01 -6.22495147e-03 4.19893987e-03 -5.24909589e+00] [ 6.24730088e-03 9.99966277e-01 -5.33068484e-03 3.69184288e+00] [-4.16561502e-03 5.35676660e-03 9.99976976e-01 1.35067507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10925976399999 meters 0.14001685721396828 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.69, Z:1.35 [[ 9.99975030e-01 -5.57347482e-03 4.34464156e-03 -5.24887243e+00] [ 5.59148741e-03 9.99975777e-01 -4.14487078e-03 3.68798931e+00] [-4.32143499e-03 4.16906029e-03 9.99981972e-01 1.34960216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16925976399999 meters 0.14240588833014842 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.35 [[ 9.99945245e-01 -9.49058080e-03 4.40863390e-03 -5.24942592e+00] [ 9.52408831e-03 9.99925438e-01 -7.64264998e-03 3.68407532e+00] [-4.33577200e-03 7.68421972e-03 9.99961076e-01 1.35020524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22925976399999 meters 0.14812591423818536 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.68, Z:1.35 [[ 9.99943137e-01 -9.28360000e-03 5.24771581e-03 -5.25159471e+00] [ 9.31432958e-03 9.99939438e-01 -5.86201051e-03 3.67613673e+00] [-5.19297744e-03 5.91055613e-03 9.99969049e-01 1.35039250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.289259764 meters 0.15513091727572154 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.35 [[ 9.99940420e-01 -8.95739696e-03 6.23878288e-03 -5.25361353e+00] [ 8.98029931e-03 9.99953005e-01 -3.65267694e-03 3.66739829e+00] [-6.20577121e-03 3.70848545e-03 9.99973867e-01 1.34955701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.349259764 meters 0.15696641451971527 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.35 [[ 9.99941587e-01 -8.61217938e-03 6.53090356e-03 -5.25408258e+00] [ 8.63021578e-03 9.99959009e-01 -2.73856467e-03 3.66407406e+00] [-6.50705084e-03 2.79476781e-03 9.99974923e-01 1.34907529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40925976399998 meters 0.16644388760543516 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.66, Z:1.35 [[ 0.99989125 -0.01281262 0.00730226 -5.25611914] [ 0.01285413 0.99990133 -0.0056657 3.65780567] [-0.00722895 0.00575894 0.99995729 1.34942652] [ 0. 0. 0. 1. ]] SLAMing on 79.46925976399999 meters 0.17545814309539937 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99874008e-01 -1.33469193e-02 8.59234183e-03 -5.25930174e+00] [ 1.33801924e-02 9.99903159e-01 -3.82663590e-03 3.64969613e+00] [-8.54043594e-03 3.94112096e-03 9.99955763e-01 1.34861801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52925976399999 meters 0.1737466399416812 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99876075e-01 -1.31316664e-02 8.68291561e-03 -5.25941788e+00] [ 1.31605055e-02 9.99908041e-01 -3.27260873e-03 3.64781483e+00] [-8.63914233e-03 3.38647474e-03 9.99956948e-01 1.34835272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58925976399999 meters 0.1717351054420884 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99879214e-01 -1.29092173e-02 8.65498745e-03 -5.25917801e+00] [ 1.29349908e-02 9.99912051e-01 -2.92854942e-03 3.64685352e+00] [-8.61642097e-03 3.04014787e-03 9.99958257e-01 1.34807075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64925976399999 meters 0.16929202259699389 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99882325e-01 -1.26445952e-02 8.68617876e-03 -5.25876975e+00] [ 1.26668856e-02 9.99916606e-01 -2.51598362e-03 3.64598813e+00] [-8.65364080e-03 2.62571439e-03 9.99959109e-01 1.34728630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.709259764 meters 0.16558240882259198 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99883967e-01 -1.24936996e-02 8.71550472e-03 -5.25857169e+00] [ 1.25134074e-02 9.99919261e-01 -2.21038080e-03 3.64530578e+00] [-8.68718521e-03 2.31918499e-03 9.99959576e-01 1.34685050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.769259764 meters 0.1720048182941423 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99886161e-01 -1.25089340e-02 8.43756354e-03 -5.25764101e+00] [ 1.25299799e-02 9.99918505e-01 -2.44606736e-03 3.64708138e+00] [-8.40627822e-03 2.55151141e-03 9.99961411e-01 1.34652271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82925976399999 meters 0.16342544622634542 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99930888e-01 -8.08255053e-03 8.53764140e-03 -5.25753082e+00] [ 8.06469501e-03 9.99965225e-01 2.12374961e-03 3.64677373e+00] [-8.55450981e-03 -2.05474935e-03 9.99961298e-01 1.34579243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88925976399999 meters 0.1782918698816149 Centerline is valid? [False, False] Translation: X:-5.26, Y:3.65, Z:1.35 [[ 9.99894331e-01 -1.22971732e-02 7.75279308e-03 -5.25542062e+00] [ 1.23190010e-02 9.99920270e-01 -2.77403220e-03 3.65075107e+00] [-7.71806220e-03 2.86924573e-03 9.99966099e-01 1.34560623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94925976399999 meters 0.17924898524422278 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.65, Z:1.34 [[ 9.99897594e-01 -1.22667539e-02 7.37071301e-03 -5.25401514e+00] [ 1.22898761e-02 9.99919671e-01 -3.09996697e-03 3.65344428e+00] [-7.33209440e-03 3.19023467e-03 9.99968031e-01 1.34496055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00925976399999 meters 0.17751574072921472 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99899119e-01 -1.23317362e-02 7.04834456e-03 -5.25282102e+00] [ 1.23565376e-02 9.99917578e-01 -3.48609558e-03 3.65625352e+00] [-7.00477401e-03 3.57283703e-03 9.99969084e-01 1.34442059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.069259764 meters 0.1730309378272385 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99900304e-01 -1.23369410e-02 6.86889682e-03 -5.25184959e+00] [ 1.23624332e-02 9.99916806e-01 -3.68123813e-03 3.65822385e+00] [-6.82291015e-03 3.76578740e-03 9.99969633e-01 1.34365972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.129259764 meters 0.1670250493325973 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99944981e-01 -7.96808405e-03 6.82240367e-03 -5.25115391e+00] [ 7.96382005e-03 9.99968076e-01 6.51938972e-04 3.65932526e+00] [-6.82738057e-03 -5.97570707e-04 9.99976515e-01 1.34264061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18925976399998 meters 0.16994977859883187 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99945742e-01 -7.90915379e-03 6.77921125e-03 -5.25070241e+00] [ 7.90494365e-03 9.99968546e-01 6.47607385e-04 3.65994422e+00] [-6.78412005e-03 -5.93982964e-04 9.99976811e-01 1.34214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24925976399999 meters 0.15937581527714872 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99945931e-01 -7.98968748e-03 6.65583810e-03 -5.25025958e+00] [ 7.98717613e-03 9.99968020e-01 4.03810840e-04 3.66122212e+00] [-6.65885157e-03 -3.50627655e-04 9.99977768e-01 1.34198705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30925976399999 meters 0.16405852646797697 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.34 [[ 9.99946500e-01 -8.22123181e-03 6.27756913e-03 -5.24928375e+00] [ 8.22313521e-03 9.99966151e-01 -2.77454993e-04 3.66483133e+00] [-6.27507561e-03 3.29061449e-04 9.99980257e-01 1.34197675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36925976399999 meters 0.15617152629362693 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.34 [[ 9.99949632e-01 -8.20331247e-03 5.78267928e-03 -5.24762573e+00] [ 8.20791626e-03 9.99966016e-01 -7.72851743e-04 3.66804881e+00] [-5.77614281e-03 8.20276563e-04 9.99982982e-01 1.34136603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.429259764 meters 0.148823598444578 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.34 [[ 9.99951585e-01 -8.37494226e-03 5.16599940e-03 -5.24589414e+00] [ 8.38413532e-03 9.99963303e-01 -1.76044996e-03 3.67303676e+00] [-5.15106615e-03 1.80367716e-03 9.99985107e-01 1.34121069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.489259764 meters 0.1567958141227627 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.34 [[ 9.99953524e-01 -8.39931777e-03 4.73308662e-03 -5.24431279e+00] [ 8.41056942e-03 9.99961840e-01 -2.36236340e-03 3.67677229e+00] [-4.71306376e-03 2.40206156e-03 9.99986008e-01 1.34058202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54925976399998 meters 0.1457881175912451 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.34 [[ 9.99953087e-01 -8.65367944e-03 4.35181440e-03 -5.24340102e+00] [ 8.66709028e-03 9.99957720e-01 -3.07230794e-03 3.68023372e+00] [-4.32504364e-03 3.10988138e-03 9.99985811e-01 1.34077497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60925976399999 meters 0.14232497613678496 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.34 [[ 9.99953663e-01 -8.80782366e-03 3.88512134e-03 -5.24197387e+00] [ 8.82268881e-03 9.99953761e-01 -3.82577604e-03 3.68432329e+00] [-3.85124493e-03 3.85987598e-03 9.99985135e-01 1.34047434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66925976399999 meters 0.13948348871037705 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.34 [[ 9.99958474e-01 -8.63638658e-03 2.90915578e-03 -5.23924630e+00] [ 8.65009720e-03 9.99951382e-01 -4.73377794e-03 3.68994304e+00] [-2.86813161e-03 4.75874585e-03 9.99984564e-01 1.33995210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72925976399999 meters 0.13068920540802012 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.70, Z:1.34 [[ 9.99961989e-01 -8.48300279e-03 2.01475798e-03 -5.23646272e+00] [ 8.49418514e-03 9.99948198e-01 -5.60807463e-03 3.69590342e+00] [-1.96708030e-03 5.62497519e-03 9.99982245e-01 1.33896116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.789259764 meters 0.12584443673623394 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99990847e-01 -3.87199729e-03 1.82012382e-03 -5.23485814e+00] [ 3.87408593e-03 9.99991840e-01 -1.14540545e-03 3.69730493e+00] [-1.81567396e-03 1.15244628e-03 9.99997688e-01 1.33724437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.849259764 meters 0.12469896445590707 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99991368e-01 -3.92772961e-03 1.35546564e-03 -5.23359397e+00] [ 3.93012071e-03 9.99990718e-01 -1.76591374e-03 3.70043632e+00] [-1.34851703e-03 1.77122564e-03 9.99997522e-01 1.33726575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90925976399998 meters 0.12221865009935913 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99990802e-01 -4.20164499e-03 8.61460204e-04 -5.23266738e+00] [ 4.20396361e-03 9.99987498e-01 -2.70759192e-03 3.70429121e+00] [-8.50073094e-04 2.71118856e-03 9.99995963e-01 1.33795248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96925976399999 meters 0.12881199565546889 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.34 [[ 9.99965144e-01 -8.34406190e-03 2.94329519e-04 -5.23093270e+00] [ 8.34596135e-03 9.99939365e-01 -7.18405075e-03 3.70631448e+00] [-2.34367509e-04 7.18625680e-03 9.99974151e-01 1.33758862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02925976399999 meters 0.13216655269637456 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99967738e-01 -7.99729951e-03 7.51989694e-04 -5.23150201e+00] [ 8.00177127e-03 9.99949107e-01 -6.14451442e-03 3.70271505e+00] [-7.02811901e-04 6.15033343e-03 9.99980840e-01 1.33655433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08925976399999 meters 0.13001432365659846 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99966899e-01 -8.03012384e-03 1.31092665e-03 -5.23300592e+00] [ 8.03713314e-03 9.99952947e-01 -5.43211263e-03 3.69938944e+00] [-1.26724443e-03 5.44246891e-03 9.99984387e-01 1.33665275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14925976399999 meters 0.12975454496110178 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.34 [[ 9.99968518e-01 -7.90524365e-03 6.85491643e-04 -5.23115532e+00] [ 7.90904632e-03 9.99952280e-01 -5.73444502e-03 3.70200204e+00] [-6.40126747e-04 5.73968607e-03 9.99983323e-01 1.33623413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.209259764 meters 0.12326964663056847 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.33 [[ 9.99973232e-01 -7.31585904e-03 -1.13968052e-04 -5.22790136e+00] [ 7.31505595e-03 9.99955711e-01 -5.92170576e-03 3.70560822e+00] [ 1.57285369e-04 5.92071357e-03 9.99982460e-01 1.33423007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26925976399998 meters 0.11922743546501544 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.33 [[ 9.99973792e-01 -7.23404720e-03 -2.88127378e-04 -5.22698892e+00] [ 7.23217074e-03 9.99955523e-01 -6.05372760e-03 3.70699838e+00] [ 3.31907514e-04 6.05148516e-03 9.99981635e-01 1.33357344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32925976399999 meters 0.11826834605511985 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.33 [[ 9.99973410e-01 -7.20287021e-03 -1.13891562e-03 -5.22473320e+00] [ 7.19477342e-03 9.99949893e-01 -6.96029922e-03 3.71224545e+00] [ 1.18899269e-03 6.95191991e-03 9.99975128e-01 1.33344618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38925976399999 meters 0.11477046851358058 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99972223e-01 -7.27056656e-03 -1.64066940e-03 -5.22345431e+00] [ 7.25780658e-03 9.99944371e-01 -7.65366132e-03 3.71579853e+00] [ 1.69622459e-03 7.64154106e-03 9.99969364e-01 1.33357662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44925976399999 meters 0.11068027138884041 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99972112e-01 -7.26008139e-03 -1.75140367e-03 -5.22311107e+00] [ 7.24611285e-03 9.99942900e-01 -7.85431456e-03 3.71672066e+00] [ 1.80832662e-03 7.84140465e-03 9.99967621e-01 1.33358738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50925976399999 meters 0.11090943922883491 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99973688e-01 -7.07796083e-03 -1.58948253e-03 -5.22320617e+00] [ 7.06584876e-03 9.99946905e-01 -7.50067070e-03 3.71566897e+00] [ 1.64248759e-03 7.48924230e-03 9.99970606e-01 1.33306506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.569259764 meters 0.11206996553683586 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99974184e-01 -7.02860149e-03 -1.49355400e-03 -5.22339971e+00] [ 7.01748071e-03 9.99948548e-01 -7.32501655e-03 3.71512025e+00] [ 1.54496178e-03 7.31434645e-03 9.99972056e-01 1.33294859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.629259764 meters 0.117046790969842 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99973385e-01 -7.15735985e-03 -1.41495597e-03 -5.22348041e+00] [ 7.14663532e-03 9.99946751e-01 -7.44448237e-03 3.71601746e+00] [ 1.46816346e-03 7.43417206e-03 9.99971288e-01 1.33273667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68925976399998 meters 0.11712357845024778 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99972322e-01 -7.35489207e-03 -1.12295019e-03 -5.22410639e+00] [ 7.34614067e-03 9.99944075e-01 -7.60799882e-03 3.71675065e+00] [ 1.17884340e-03 7.59953890e-03 9.99970428e-01 1.33255435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74925976399999 meters 0.11790071010732987 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99971623e-01 -7.47166853e-03 -9.63491660e-04 -5.22419216e+00] [ 7.46402106e-03 9.99942416e-01 -7.71054102e-03 3.71771004e+00] [ 1.02104679e-03 7.70313070e-03 9.99969809e-01 1.33206150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80925976399999 meters 0.11824008232294196 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99972126e-01 -7.41835065e-03 -8.45323619e-04 -5.22404668e+00] [ 7.41177139e-03 9.99944127e-01 -7.53719777e-03 3.71787204e+00] [ 9.01189964e-04 7.53072234e-03 9.99971238e-01 1.33133451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86925976399999 meters 0.1192257464441655 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99973977e-01 -7.17661096e-03 -7.35707517e-04 -5.22370116e+00] [ 7.17124994e-03 9.99949452e-01 -7.04747205e-03 3.71698313e+00] [ 7.86247294e-04 7.04201271e-03 9.99974896e-01 1.33028074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.929259764 meters 0.12063850609015735 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99972988e-01 -7.28822165e-03 -9.51185081e-04 -5.22331997e+00] [ 7.28089910e-03 9.99945463e-01 -7.48723511e-03 3.71865977e+00] [ 1.00570184e-03 7.48010738e-03 9.99971518e-01 1.33068004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.989259764 meters 0.1151635985917163 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99973865e-01 -7.13901173e-03 -1.14149084e-03 -5.22266146e+00] [ 7.13029185e-03 9.99946686e-01 -7.46884871e-03 3.71905991e+00] [ 1.19475018e-03 7.46051436e-03 9.99971456e-01 1.33047247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04925976399998 meters 0.11560252930060946 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99974015e-01 -7.11424778e-03 -1.16487231e-03 -5.22274932e+00] [ 7.10526939e-03 9.99946342e-01 -7.53841764e-03 3.71906069e+00] [ 1.21843997e-03 7.52994502e-03 9.99970907e-01 1.33075576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10925976399999 meters 0.1170776673966478 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99975824e-01 -6.83560026e-03 -1.27484863e-03 -5.22208471e+00] [ 6.82620220e-03 9.99950520e-01 -7.23604803e-03 3.71852864e+00] [ 1.32424828e-03 7.22717072e-03 9.99973007e-01 1.33019345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16925976399999 meters 0.11299087745983609 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99977693e-01 -6.51760778e-03 -1.46124212e-03 -5.22132604e+00] [ 6.50740486e-03 9.99955147e-01 -6.88165150e-03 3.71772738e+00] [ 1.50602848e-03 6.87198910e-03 9.99975254e-01 1.32976312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22925976399999 meters 0.11056800325067097 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99978634e-01 -6.28305669e-03 -1.80393793e-03 -5.22052424e+00] [ 6.27068928e-03 9.99957344e-01 -6.78148372e-03 3.71753635e+00] [ 1.84646943e-03 6.77002689e-03 9.99975378e-01 1.32992002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.289259764 meters 0.11741157437408002 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99979958e-01 -5.99446524e-03 -2.03691032e-03 -5.21980861e+00] [ 5.98105328e-03 9.99960806e-01 -6.52796241e-03 3.71691092e+00] [ 2.07596213e-03 6.51564871e-03 9.99976618e-01 1.32973668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.349259764 meters 0.1098925936878507 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.72, Z:1.33 [[ 9.99982229e-01 -5.53011672e-03 -2.22714577e-03 -5.21906660e+00] [ 5.51673928e-03 9.99966970e-01 -5.96854915e-03 3.71517247e+00] [ 2.26007898e-03 5.95615650e-03 9.99979708e-01 1.32932076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40925976399998 meters 0.11107377787395066 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.33 [[ 9.99986038e-01 -4.63455577e-03 -2.53845391e-03 -5.21748766e+00] [ 4.62233780e-03 9.99977806e-01 -4.79805761e-03 3.71183731e+00] [ 2.56063443e-03 4.78625703e-03 9.99985267e-01 1.32805280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46925976399999 meters 0.11050342916279167 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.33 [[ 9.99989150e-01 -3.72658141e-03 -2.79508737e-03 -5.21599598e+00] [ 3.71665432e-03 9.99986797e-01 -3.54844656e-03 3.70833625e+00] [ 2.80827405e-03 3.53801968e-03 9.99989798e-01 1.32668992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52925976399999 meters 0.10980346724313682 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.33 [[ 9.99966328e-01 -7.54913226e-03 -3.21752908e-03 -5.21535311e+00] [ 7.52542255e-03 9.99944903e-01 -7.31839987e-03 3.70562975e+00] [ 3.27259937e-03 7.29394018e-03 9.99968044e-01 1.32740532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58925976399999 meters 0.11055575357686818 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.70, Z:1.33 [[ 9.99971069e-01 -6.97923995e-03 -3.02514175e-03 -5.21571997e+00] [ 6.96059181e-03 9.99956975e-01 -6.13169131e-03 3.70086962e+00] [ 3.06780614e-03 6.11045714e-03 9.99976625e-01 1.32708524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64925976399999 meters 0.11294946182280134 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.33 [[ 9.99976485e-01 -6.36267441e-03 -2.55864754e-03 -5.21689049e+00] [ 6.35157942e-03 9.99970492e-01 -4.32126564e-03 3.69294815e+00] [ 2.58606684e-03 4.30491257e-03 9.99987390e-01 1.32710935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.709259764 meters 0.11684020469052092 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.33 [[ 9.99947135e-01 -1.00252144e-02 -2.28540238e-03 -5.21748240e+00] [ 1.00091297e-02 9.99925796e-01 -6.94402738e-03 3.68619803e+00] [ 2.35484815e-03 6.92078539e-03 9.99973278e-01 1.32689397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76925976399998 meters 0.13444471265273297 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.33 [[ 9.99899306e-01 -1.40997334e-02 -1.60489657e-03 -5.21931112e+00] [ 1.40838076e-02 9.99855345e-01 -9.53602080e-03 3.67872762e+00] [ 1.73911976e-03 9.51245752e-03 9.99953243e-01 1.32727830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82925976399999 meters 0.14335482956844295 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.67, Z:1.33 [[ 9.99831380e-01 -1.83567545e-02 -4.90614751e-04 -5.22188422e+00] [ 1.83499709e-02 9.99766619e-01 -1.14011660e-02 3.66927252e+00] [ 6.99788655e-04 1.13902408e-02 9.99934884e-01 1.32681057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88925976399999 meters 0.1554727718751019 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.33 [[ 9.99828674e-01 -1.84928561e-02 7.98231482e-04 -5.22470188e+00] [ 1.84996145e-02 9.99783657e-01 -9.50810701e-03 3.66154956e+00] [-6.22226735e-04 9.52124500e-03 9.99954478e-01 1.32607656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94925976399999 meters 0.17405486171375956 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.65, Z:1.33 [[ 9.99410059e-01 -3.39295362e-02 5.32166538e-03 -5.23977130e+00] [ 3.40247545e-02 9.99241149e-01 -1.89589500e-02 3.65447710e+00] [-4.67435865e-03 1.91288337e-02 9.99806100e-01 1.32702321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00925976399999 meters 0.18061183219075366 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.64, Z:1.32 [[ 0.99964558 -0.02575833 0.00672503 -5.24271745] [ 0.02579667 0.99965108 -0.0056785 3.64423501] [-0.00657642 0.00584997 0.99996126 1.31914233] [ 0. 0. 0. 1. ]] SLAMing on 83.069259764 meters 0.17365029278041832 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.64, Z:1.32 [[ 9.99826787e-01 -1.70962324e-02 7.35630559e-03 -5.24382574e+00] [ 1.70693001e-02 9.99847432e-01 3.70845714e-03 3.64184038e+00] [-7.41858390e-03 -3.58224780e-03 9.99966065e-01 1.31777489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.129259764 meters 0.1740501555661883 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.65, Z:1.32 [[ 9.99944909e-01 -1.04962459e-02 9.34581606e-05 -5.25294091e+00] [ 1.04963804e-02 9.99943665e-01 -1.57879008e-03 3.64663628e+00] [-7.68815267e-05 1.57968408e-03 9.99998749e-01 1.32088923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18925976399998 meters 0.17407826765279028 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.65, Z:1.32 [[ 9.99943263e-01 -1.06497930e-02 -2.28679387e-04 -5.25230707e+00] [ 1.06492768e-02 9.99940981e-01 -2.15114137e-03 3.64892866e+00] [ 2.51575101e-04 2.14858405e-03 9.99997660e-01 1.32128121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24925976399999 meters 0.1582413911784744 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.65, Z:1.32 [[ 9.99975640e-01 -6.95890909e-03 -5.41069295e-04 -5.25266536e+00] [ 6.95920835e-03 9.99975631e-01 5.53190674e-04 3.65313304e+00] [ 5.37206506e-04 -5.56942612e-04 9.99999701e-01 1.32342012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30925976399999 meters 0.15298532396369757 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.33 [[ 9.99970879e-01 -7.52078072e-03 -1.29603562e-03 -5.25175799e+00] [ 7.51921256e-03 9.99970997e-01 -1.21062598e-03 3.65914155e+00] [ 1.30510288e-03 1.20084556e-03 9.99998427e-01 1.32533921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36925976399999 meters 0.15402192043410626 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.33 [[ 9.99970622e-01 -7.54757761e-03 -1.33756652e-03 -5.25144310e+00] [ 7.54577380e-03 9.99970621e-01 -1.34852893e-03 3.66018845e+00] [ 1.34770535e-03 1.33839634e-03 9.99998196e-01 1.32506711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.429259764 meters 0.15287097093384877 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.32 [[ 9.99972829e-01 -7.27070964e-03 -1.21587228e-03 -5.25131186e+00] [ 7.26969447e-03 9.99973225e-01 -8.37271207e-04 3.65886980e+00] [ 1.22192729e-03 8.28409437e-04 9.99998910e-01 1.32433350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.489259764 meters 0.16587862181541646 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.32 [[ 9.99928413e-01 -1.18769106e-02 -1.45155766e-03 -5.25096258e+00] [ 1.18685681e-02 9.99913735e-01 -5.62675024e-03 3.66110134e+00] [ 1.51826085e-03 5.60911953e-03 9.99983116e-01 1.32486657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54925976399998 meters 0.15687976086756802 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.32 [[ 9.99972804e-01 -7.26876503e-03 -1.24740549e-03 -5.25091855e+00] [ 7.26785310e-03 9.99973319e-01 -7.34038741e-04 3.65956510e+00] [ 1.25270776e-03 7.24952819e-04 9.99998953e-01 1.32382946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60925976399999 meters 0.1607355160887498 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.32 [[ 9.99971464e-01 -7.41154317e-03 -1.46324562e-03 -5.25034885e+00] [ 7.40977881e-03 9.99971818e-01 -1.20754607e-03 3.66174154e+00] [ 1.47215416e-03 1.19666928e-03 9.99998200e-01 1.32387307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66925976399999 meters 0.15585854946312386 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.66, Z:1.32 [[ 9.99971145e-01 -7.34638548e-03 -1.93380627e-03 -5.24886176e+00] [ 7.34331739e-03 9.99971775e-01 -1.58889968e-03 3.66437724e+00] [ 1.94542436e-03 1.57465327e-03 9.99996868e-01 1.32347607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72925976399999 meters 0.1568263067363378 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.32 [[ 9.99970568e-01 -7.35358672e-03 -2.18809602e-03 -5.24789851e+00] [ 7.34965442e-03 9.99971371e-01 -1.79978225e-03 3.66625650e+00] [ 2.20126824e-03 1.78364753e-03 9.99995987e-01 1.32303713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.789259764 meters 0.15768515340602207 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.32 [[ 9.99972147e-01 -7.14214000e-03 -2.16669345e-03 -5.24755541e+00] [ 7.13909465e-03 9.99973522e-01 -1.41002154e-03 3.66544460e+00] [ 2.17670666e-03 1.39451404e-03 9.99996659e-01 1.32239370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.849259764 meters 0.15077780474393246 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.32 [[ 9.99968740e-01 -7.39005884e-03 -2.81162053e-03 -5.24627708e+00] [ 7.38339186e-03 9.99969924e-01 -2.37425878e-03 3.66972343e+00] [ 2.82908188e-03 2.35342527e-03 9.99993229e-01 1.32301942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90925976399998 meters 0.1643155133031299 Centerline is valid? [False, False] Translation: X:-5.25, Y:3.67, Z:1.32 [[ 9.99967235e-01 -7.51902674e-03 -2.99870945e-03 -5.24567635e+00] [ 7.51063544e-03 9.99967875e-01 -2.79981577e-03 3.67193425e+00] [ 3.01966501e-03 2.77720182e-03 9.99991584e-01 1.32292598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96925976399999 meters 0.14761509709990603 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.32 [[ 9.99962946e-01 -7.87891418e-03 -3.46833112e-03 -5.24481318e+00] [ 7.86595213e-03 9.99962087e-01 -3.73516847e-03 3.67597301e+00] [ 3.49762870e-03 3.70774835e-03 9.99987010e-01 1.32354821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02925976399999 meters 0.15146683157794175 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.68, Z:1.32 [[ 9.99957132e-01 -8.11393919e-03 -4.46082537e-03 -5.24277331e+00] [ 8.09147394e-03 9.99954606e-01 -5.03131040e-03 3.68215373e+00] [ 4.50144662e-03 4.99500007e-03 9.99977393e-01 1.32431521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08925976399999 meters 0.14467998260852255 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.32 [[ 9.99955141e-01 -8.04512861e-03 -4.99927563e-03 -5.24101508e+00] [ 8.01749018e-03 9.99952601e-01 -5.52415077e-03 3.68541945e+00] [ 5.04348117e-03 5.48382132e-03 9.99972245e-01 1.32382794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14925976399999 meters 0.1409428197355557 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.32 [[ 0.99995068 -0.00822897 -0.00555984 -5.23933759] [ 0.00819432 0.99994704 -0.00622603 3.69012387] [ 0.00561078 0.00618016 0.99996516 1.32344409] [ 0. 0. 0. 1. ]] SLAMing on 84.209259764 meters 0.14092024312373172 Centerline is valid? [False, False] Translation: X:-5.24, Y:3.69, Z:1.32 [[ 0.99995031 -0.00789836 -0.00608152 -5.23677141] [ 0.00786045 0.99994968 -0.00623267 3.69308667] [ 0.00613044 0.00618456 0.99996208 1.32151355] [ 0. 0. 0. 1. ]] SLAMing on 84.26925976399998 meters 0.13831215722986517 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99994943 -0.00769867 -0.00647101 -5.23484425] [ 0.00765746 0.9999504 -0.00636927 3.69595623] [ 0.00651972 0.00631939 0.99995878 1.32011656] [ 0. 0. 0. 1. ]] SLAMing on 84.32925976399999 meters 0.13553809893622695 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.9999487 -0.00772323 -0.00655304 -5.23435504] [ 0.00768063 0.99994937 -0.00650183 3.69714016] [ 0.00660292 0.00645116 0.99995739 1.31973121] [ 0. 0. 0. 1. ]] SLAMing on 84.38925976399999 meters 0.13549795511079082 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99994855 -0.00776432 -0.00652812 -5.23446162] [ 0.00772132 0.9999485 -0.00658577 3.69751449] [ 0.00657892 0.00653503 0.999957 1.31981139] [ 0. 0. 0. 1. ]] SLAMing on 84.44925976399999 meters 0.14338713019052424 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99994971 -0.00763954 -0.00649667 -5.23421853] [ 0.0075978 0.99995049 -0.00642537 3.69747428] [ 0.00654543 0.00637569 0.99995825 1.31932023] [ 0. 0. 0. 1. ]] SLAMing on 84.50925976399999 meters 0.13140026587972006 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99995192 -0.00744632 -0.00637998 -5.23414987] [ 0.00740755 0.99995408 -0.00607975 3.69665884] [ 0.00642496 0.0060322 0.99996117 1.31872618] [ 0. 0. 0. 1. ]] SLAMing on 84.569259764 meters 0.13930524940617708 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.9999526 -0.00731622 -0.00642352 -5.23372603] [ 0.00727832 0.99995608 -0.00590408 3.69663477] [ 0.00646644 0.00585705 0.99996194 1.31824191] [ 0. 0. 0. 1. ]] SLAMing on 84.62925976399998 meters 0.13628594538145078 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99995233 -0.00730986 -0.00647326 -5.23333376] [ 0.00727133 0.99995583 -0.00595597 3.69756721] [ 0.00651651 0.00590862 0.99996131 1.31786196] [ 0. 0. 0. 1. ]] SLAMing on 84.68925976399998 meters 0.13294944957985128 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99995155 -0.00720324 -0.00670876 -5.23214195] [ 0.00716231 0.99995572 -0.00610459 3.6994085 ] [ 0.00675243 0.00605625 0.99995886 1.31703801] [ 0. 0. 0. 1. ]] SLAMing on 84.74925976399999 meters 0.1299635030101271 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.32 [[ 0.99995111 -0.00687841 -0.00710363 -5.23003894] [ 0.00683542 0.99995828 -0.00605869 3.70152558] [ 0.00714501 0.00600984 0.99995641 1.31541976] [ 0. 0. 0. 1. ]] SLAMing on 84.80925976399999 meters 0.13013265732906154 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.31 [[ 0.9999509 -0.0065946 -0.00739717 -5.22839351] [ 0.00655041 0.99996065 -0.0059818 3.70300709] [ 0.00743632 0.00593305 0.99995475 1.31413022] [ 0. 0. 0. 1. ]] SLAMing on 84.86925976399999 meters 0.12859178169785346 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.70, Z:1.31 [[ 0.99994974 -0.00665293 -0.0075001 -5.22799342] [ 0.00660661 0.99995905 -0.00618454 3.70425923] [ 0.00754094 0.00613468 0.99995275 1.31397726] [ 0. 0. 0. 1. ]] SLAMing on 84.929259764 meters 0.12563431553987514 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.31 [[ 0.99990711 -0.01105977 -0.00796526 -5.22681194] [ 0.01097153 0.99987889 -0.01103764 3.70736265] [ 0.00808637 0.01094922 0.99990736 1.3142252 ] [ 0. 0. 0. 1. ]] SLAMing on 84.989259764 meters 0.12790177312322581 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.31 [[ 0.99991001 -0.01095527 -0.00774237 -5.22719723] [ 0.0108723 0.99988388 -0.01067758 3.70613149] [ 0.00785845 0.01059244 0.99991302 1.31390117] [ 0. 0. 0. 1. ]] SLAMing on 85.04925976399998 meters 0.1283440390238144 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.31 [[ 0.999908 -0.01115307 -0.00772013 -5.22723913] [ 0.01106805 0.99987858 -0.01096953 3.70753435] [ 0.00784154 0.01088308 0.99991003 1.31390423] [ 0. 0. 0. 1. ]] SLAMing on 85.10925976399999 meters 0.12497881778686187 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.71, Z:1.31 [[ 0.99995087 -0.00646068 -0.00751726 -5.22702075] [ 0.00641563 0.99996141 -0.00600213 3.70618487] [ 0.00755575 0.00595361 0.99995373 1.31254746] [ 0. 0. 0. 1. ]] SLAMing on 85.16925976399999 meters 0.12045688577015808 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.99994834 -0.00622106 -0.00803886 -5.22482859] [ 0.00617003 0.99996076 -0.00635731 3.70966227] [ 0.0080781 0.00630738 0.99994748 1.31129101] [ 0. 0. 0. 1. ]] SLAMing on 85.22925976399999 meters 0.11761977499152333 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.99994931 -0.0058097 -0.00822398 -5.22334998] [ 0.00575984 0.99996496 -0.00607404 3.71020446] [ 0.00825898 0.00602636 0.99994773 1.30981005] [ 0. 0. 0. 1. ]] SLAMing on 85.289259764 meters 0.1233546843080146 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.99994836 -0.0058365 -0.00831914 -5.2229798 ] [ 0.00578481 0.9999639 -0.00622445 3.71131219] [ 0.00835517 0.006176 0.99994602 1.30966135] [ 0. 0. 0. 1. ]] SLAMing on 85.349259764 meters 0.1182387764058444 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.99991375 -0.00993957 -0.00858465 -5.22217556] [ 0.00985051 0.99989787 -0.01035408 3.7109996 ] [ 0.00868669 0.01026863 0.99990954 1.3096274 ] [ 0. 0. 0. 1. ]] SLAMing on 85.40925976399998 meters 0.1237690394815708 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.9999188 -0.00963506 -0.00834056 -5.22245943] [ 0.0095546 0.99990795 -0.00963376 3.70853551] [ 0.00843261 0.00955329 0.99991881 1.30900646] [ 0. 0. 0. 1. ]] SLAMing on 85.46925976399999 meters 0.12061216715878526 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.71, Z:1.31 [[ 0.99992251 -0.00937713 -0.00818786 -5.22258614] [ 0.00930238 0.99991515 -0.00911912 3.70685415] [ 0.00827268 0.00904225 0.9999249 1.30854361] [ 0. 0. 0. 1. ]] SLAMing on 85.52925976399999 meters 0.12273489582883884 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.70, Z:1.31 [[ 0.99992771 -0.00895035 -0.00802927 -5.22251632] [ 0.00888343 0.99992583 -0.0083318 3.70437298] [ 0.00810324 0.00825987 0.99993305 1.30773634] [ 0. 0. 0. 1. ]] SLAMing on 85.58925976399999 meters 0.12513632111491857 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.70, Z:1.31 [[ 0.99993519 -0.00838355 -0.00770263 -5.22242942] [ 0.00832857 0.99993981 -0.00714169 3.70084934] [ 0.00776204 0.00707707 0.99994483 1.30620498] [ 0. 0. 0. 1. ]] SLAMing on 85.64925976399999 meters 0.1319991714997825 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.70, Z:1.31 [[ 0.99994087 -0.00814314 -0.00720766 -5.22348305] [ 0.00809883 0.99994826 -0.0061551 3.69691789] [ 0.00725741 0.00609636 0.99995508 1.30580746] [ 0. 0. 0. 1. ]] SLAMing on 85.709259764 meters 0.13204878618324828 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.70, Z:1.31 [[ 0.9999434 -0.00800363 -0.00700947 -5.22405759] [ 0.00796352 0.99995186 -0.00573215 3.69516192] [ 0.00705501 0.005676 0.999959 1.30584237] [ 0. 0. 0. 1. ]] SLAMing on 85.76925976399998 meters 0.13533483831219148 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99946631e-01 -7.70852308e-03 -6.87847303e-03 -5.22385285e+00] [ 7.67298137e-03 9.99957153e-01 -5.17860875e-03 3.69374379e+00] [ 6.91809773e-03 5.12555398e-03 9.99962934e-01 1.30494649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82925976399999 meters 0.13240395556050896 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99951806e-01 -7.27555779e-03 -6.59176100e-03 -5.22386858e+00] [ 7.24714546e-03 9.99964390e-01 -4.32396164e-03 3.69120675e+00] [ 6.62298551e-03 4.27598181e-03 9.99968926e-01 1.30379449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88925976399999 meters 0.13649610588306077 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99950874e-01 -7.37019855e-03 -6.62799400e-03 -5.22387440e+00] [ 7.34065955e-03 9.99963066e-01 -4.47004137e-03 3.69188174e+00] [ 6.66069429e-03 4.42116792e-03 9.99968044e-01 1.30395643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94925976399999 meters 0.13176659424237855 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99951123e-01 -7.15026812e-03 -6.82822465e-03 -5.22269597e+00] [ 7.12068308e-03 9.99965198e-01 -4.34728438e-03 3.69276876e+00] [ 6.85907127e-03 4.29845027e-03 9.99967238e-01 1.30297453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00925976399999 meters 0.13784186465136228 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99956059e-01 -6.58735489e-03 -6.66982397e-03 -5.22232783e+00] [ 6.56472820e-03 9.99972642e-01 -3.40862561e-03 3.68999534e+00] [ 6.69209533e-03 3.36469025e-03 9.99971947e-01 1.30173126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.069259764 meters 0.13661814774164419 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99957550e-01 -6.38817822e-03 -6.63991266e-03 -5.22228966e+00] [ 6.36809814e-03 9.99975100e-01 -3.04090433e-03 3.68879278e+00] [ 6.65917317e-03 2.99849162e-03 9.99973332e-01 1.30151221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12925976399998 meters 0.13869011526923405 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 9.99960166e-01 -6.24759303e-03 -6.37447206e-03 -5.22309968e+00] [ 6.23152698e-03 9.99977365e-01 -2.53713014e-03 3.68654821e+00] [ 6.39017873e-03 2.49730638e-03 9.99976464e-01 1.30165289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18925976399998 meters 0.13944048133604836 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.69, Z:1.30 [[ 0.99992244 -0.01061421 -0.0065158 -5.22313403] [ 0.01056925 0.99992037 -0.00689592 3.68633461] [ 0.00658848 0.00682652 0.99995499 1.30238317] [ 0. 0. 0. 1. ]] SLAMing on 86.24925976399999 meters 0.13865613015500639 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 0.99992761 -0.01009347 -0.0065503 -5.2224 ] [ 0.01005379 0.99993108 -0.00606281 3.68415218] [ 0.00661105 0.00599651 0.99996017 1.30130644] [ 0. 0. 0. 1. ]] SLAMing on 86.30925976399999 meters 0.15078330275155627 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 9.99934878e-01 -9.48318258e-03 -6.34900623e-03 -5.22231748e+00] [ 9.45222178e-03 9.99943376e-01 -4.88885517e-03 3.68028145e+00] [ 6.39500863e-03 4.82852459e-03 9.99967894e-01 1.30027468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36925976399999 meters 0.14749568676791175 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 9.99936824e-01 -9.27856423e-03 -6.34479001e-03 -5.22243758e+00] [ 9.24990391e-03 9.99946950e-01 -4.53166635e-03 3.67875541e+00] [ 6.38650078e-03 4.47269136e-03 9.99969603e-01 1.30040786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.429259764 meters 0.1433702492016112 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 9.99939312e-01 -9.05286311e-03 -6.27842108e-03 -5.22240238e+00] [ 9.02706606e-03 9.99950747e-01 -4.12508116e-03 3.67749427e+00] [ 6.31545564e-03 4.06815509e-03 9.99971782e-01 1.30006045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.489259764 meters 0.14592115603159772 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 9.99943763e-01 -8.54691555e-03 -6.27866924e-03 -5.22169087e+00] [ 8.52594280e-03 9.99958010e-01 -3.35952424e-03 3.67555083e+00] [ 6.30711917e-03 3.30580373e-03 9.99974646e-01 1.29893230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54925976399998 meters 0.14476816093704256 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.68, Z:1.30 [[ 9.99944231e-01 -8.43192893e-03 -6.35901923e-03 -5.22147020e+00] [ 8.41147437e-03 9.99959385e-01 -3.23653508e-03 3.67523328e+00] [ 6.38605119e-03 3.18286585e-03 9.99974544e-01 1.29891141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60925976399999 meters 0.14142885091545943 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.67, Z:1.30 [[ 9.99948984e-01 -8.00111612e-03 -6.16533382e-03 -5.22166269e+00] [ 7.98649976e-03 9.99965247e-01 -2.39171880e-03 3.67215211e+00] [ 6.18425598e-03 2.34235735e-03 9.99978134e-01 1.29839703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66925976399999 meters 0.14064406033738383 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.67, Z:1.30 [[ 9.99951288e-01 -7.65000179e-03 -6.23691405e-03 -5.22104609e+00] [ 7.63817924e-03 9.99968991e-01 -1.91719797e-03 3.67103795e+00] [ 6.25138722e-03 1.86946591e-03 9.99978712e-01 1.29773746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72925976399999 meters 0.14021812679367554 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.67, Z:1.30 [[ 9.99957604e-01 -6.99129697e-03 -5.99259248e-03 -5.22116464e+00] [ 6.98742814e-03 9.99975366e-01 -6.66295702e-04 3.66654055e+00] [ 5.99710313e-03 6.24394645e-04 9.99981822e-01 1.29691725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.789259764 meters 0.14685627590674136 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.30 [[ 9.99922620e-01 -1.09820473e-02 -5.84366584e-03 -5.22178542e+00] [ 1.09578189e-02 9.99931299e-01 -4.16208981e-03 3.66284054e+00] [ 5.88897264e-03 4.09773391e-03 9.99974264e-01 1.29730112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.849259764 meters 0.15761816289963254 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.30 [[ 9.99928442e-01 -1.06269166e-02 -5.49356986e-03 -5.22268974e+00] [ 1.06104517e-02 9.99939154e-01 -3.01763385e-03 3.65820024e+00] [ 5.52530374e-03 2.95912866e-03 9.99980357e-01 1.29717532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90925976399998 meters 0.1618757174119997 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.65, Z:1.30 [[ 9.99936709e-01 -1.01156522e-02 -4.92451335e-03 -5.22376045e+00] [ 1.01082124e-02 9.99947735e-01 -1.53332765e-03 3.65221480e+00] [ 4.93976658e-03 1.48345257e-03 9.99986699e-01 1.29659158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96925976399999 meters 0.16080378663828698 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.65, Z:1.30 [[ 9.99942933e-01 -9.62392548e-03 -4.63799462e-03 -5.22390588e+00] [ 9.62168111e-03 9.99953583e-01 -5.05981601e-04 3.64892915e+00] [ 4.64264887e-03 4.61327420e-04 9.99989116e-01 1.29557218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02925976399999 meters 0.1699900221551946 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.65, Z:1.30 [[ 9.99896111e-01 -1.36883222e-02 -4.51621451e-03 -5.22435831e+00] [ 1.36696671e-02 9.99898012e-01 -4.13601800e-03 3.64590421e+00] [ 4.57236906e-03 4.07385317e-03 9.99981248e-01 1.29588009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08925976399999 meters 0.1640636694992784 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.30 [[ 9.99899974e-01 -1.34917994e-02 -4.24428716e-03 -5.22506577e+00] [ 1.34774159e-02 9.99903397e-01 -3.39945297e-03 3.64308214e+00] [ 4.28974189e-03 3.34191091e-03 9.99985215e-01 1.29578271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14925976399999 meters 0.17513495252269493 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.29 [[ 9.99908150e-01 -1.29257516e-02 -4.07636576e-03 -5.22495027e+00] [ 1.29163573e-02 9.99913883e-01 -2.32253581e-03 3.63959869e+00] [ 4.10603523e-03 2.26967068e-03 9.99988994e-01 1.29481056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.209259764 meters 0.16754001802010768 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.29 [[ 9.99910774e-01 -1.27728875e-02 -3.91119610e-03 -5.22529206e+00] [ 1.27653263e-02 9.99916614e-01 -1.95212757e-03 3.63828598e+00] [ 3.93580426e-03 1.90202569e-03 9.99990446e-01 1.29466120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26925976399998 meters 0.1700509268555403 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.29 [[ 9.99915634e-01 -1.24561262e-02 -3.68382208e-03 -5.22557385e+00] [ 1.24515501e-02 9.99921679e-01 -1.26255686e-03 3.63591213e+00] [ 3.69926013e-03 1.21658105e-03 9.99992418e-01 1.29414920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32925976399999 meters 0.17980010542799044 Centerline is valid? [False, False] Translation: X:-5.23, Y:3.64, Z:1.29 [[ 9.99911594e-01 -1.27397488e-02 -3.80833717e-03 -5.22573236e+00] [ 1.27330828e-02 9.99917365e-01 -1.76953165e-03 3.63741579e+00] [ 3.83056585e-03 1.72088334e-03 9.99991183e-01 1.29492176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38925976399999 meters 0.16437788094970418 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.29 [[ 9.99911057e-01 -1.26198425e-02 -4.31489282e-03 -5.22381340e+00] [ 1.26111941e-02 9.99918424e-01 -2.02568490e-03 3.64040851e+00] [ 4.34010465e-03 1.97108878e-03 9.99988639e-01 1.29394339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44925976399999 meters 0.16635250956838438 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.29 [[ 9.99910836e-01 -1.24404593e-02 -4.85330296e-03 -5.22175213e+00] [ 1.24294827e-02 9.99920139e-01 -2.28533088e-03 3.64338722e+00] [ 4.88134593e-03 2.22480307e-03 9.99985611e-01 1.29286842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50925976399999 meters 0.16930285865522648 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.64, Z:1.29 [[ 9.99956808e-01 -8.04661954e-03 -4.65128596e-03 -5.22163141e+00] [ 8.05686599e-03 9.99965148e-01 2.18840372e-03 3.64377190e+00] [ 4.63351460e-03 -2.22578398e-03 9.99986788e-01 1.29175439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.569259764 meters 0.1656491247117924 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.65, Z:1.29 [[ 9.99947448e-01 -8.62408761e-03 -5.54317839e-03 -5.22018813e+00] [ 8.62591215e-03 9.99962750e-01 3.05326517e-04 3.65113277e+00] [ 5.54033874e-03 -3.53125441e-04 9.99984590e-01 1.29307856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62925976399998 meters 0.15704374522734504 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.29 [[ 9.99941174e-01 -8.97025752e-03 -6.09771380e-03 -5.21888599e+00] [ 8.96447640e-03 9.99959343e-01 -9.74751889e-04 3.65656270e+00] [ 6.10620967e-03 9.20031738e-04 9.99980934e-01 1.29341095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68925976399998 meters 0.16070424374903597 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.29 [[ 9.99936864e-01 -9.13858809e-03 -6.53866233e-03 -5.21759451e+00] [ 9.12776967e-03 9.99956926e-01 -1.68246570e-03 3.66031321e+00] [ 6.55375604e-03 1.62267608e-03 9.99977207e-01 1.29325175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74925976399999 meters 0.16073071783491905 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.66, Z:1.29 [[ 9.99932989e-01 -9.45415897e-03 -6.68100834e-03 -5.21719564e+00] [ 9.43919424e-03 9.99952878e-01 -2.26788425e-03 3.66315279e+00] [ 6.70213446e-03 2.20466895e-03 9.99975110e-01 1.29326134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80925976399999 meters 0.15518183530542448 Centerline is valid? [False, False] Translation: X:-5.22, Y:3.67, Z:1.29 [[ 9.99924742e-01 -9.82569541e-03 -7.34610370e-03 -5.21574043e+00] [ 9.80093692e-03 9.99946194e-01 -3.39872613e-03 3.66870048e+00] [ 7.37910328e-03 3.32647165e-03 9.99967241e-01 1.29362262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86925976399999 meters 0.1434356946928679 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.29 [[ 9.99917095e-01 -9.84339081e-03 -8.30125299e-03 -5.21319412e+00] [ 9.80658740e-03 9.99941956e-01 -4.46258909e-03 3.67503044e+00] [ 8.34469816e-03 4.38081215e-03 9.99955586e-01 1.29321585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.929259764 meters 0.14159153679848072 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.68, Z:1.29 [[ 0.99990956 -0.0098967 -0.00910687 -5.21102384] [ 0.00984678 0.99993634 -0.00550964 3.68075705] [ 0.00916081 0.00541946 0.99994335 1.29297138] [ 0. 0. 0. 1. ]] SLAMing on 87.98925976399998 meters 0.14180682916507914 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.69, Z:1.29 [[ 0.99989905 -0.01032601 -0.00975987 -5.20964586] [ 0.01025952 0.99992398 -0.00683912 3.68728452] [ 0.00982975 0.0067383 0.99992898 1.29343065] [ 0. 0. 0. 1. ]] SLAMing on 88.04925976399998 meters 0.13202265848672376 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.69, Z:1.29 [[ 0.99989443 -0.01047515 -0.01006979 -5.20821664] [ 0.01040045 0.99991822 -0.00744224 3.69135384] [ 0.01014692 0.00733673 0.9999216 1.29252971] [ 0. 0. 0. 1. ]] SLAMing on 88.10925976399999 meters 0.13632315547340873 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.69, Z:1.29 [[ 9.99930634e-01 -6.08650983e-03 -1.00836821e-02 -5.20751693e+00] [ 6.05444828e-03 9.99976529e-01 -3.20702973e-03 3.69294850e+00] [ 1.01029651e-02 3.14575614e-03 9.99944016e-01 1.29146004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16925976399999 meters 0.13129874117634246 Centerline is valid? [False, False] Translation: X:-5.21, Y:3.70, Z:1.29 [[ 9.99921281e-01 -6.56974437e-03 -1.06897331e-02 -5.20659708e+00] [ 6.52017887e-03 9.99967862e-01 -4.66500174e-03 3.69845708e+00] [ 1.07200374e-02 4.59493555e-03 9.99931981e-01 1.29273013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22925976399999 meters 0.12759940942676543 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.70, Z:1.29 [[ 9.99917382e-01 -6.30705872e-03 -1.12004183e-02 -5.20416142e+00] [ 6.25159538e-03 9.99968058e-01 -4.98002630e-03 3.70235643e+00] [ 1.12314699e-02 4.90959438e-03 9.99924872e-01 1.29100800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.289259764 meters 0.12491293120693846 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.29 [[ 0.99990933 -0.00680591 -0.01161936 -5.20375959] [ 0.00673291 0.99995742 -0.00631065 3.70689658] [ 0.01166181 0.00623185 0.99991258 1.29236573] [ 0. 0. 0. 1. ]] SLAMing on 88.349259764 meters 0.12438775861964281 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.29 [[ 0.9999007 -0.00717762 -0.01212752 -5.20281032] [ 0.007088 0.99994738 -0.00741666 3.71172878] [ 0.01218011 0.00732996 0.99989895 1.29308384] [ 0. 0. 0. 1. ]] SLAMing on 88.40925976399998 meters 0.12110423517002064 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.29 [[ 0.99989672 -0.00719335 -0.01244197 -5.20168586] [ 0.00709611 0.99994407 -0.00784253 3.71439982] [ 0.01249769 0.00775343 0.99989184 1.29272766] [ 0. 0. 0. 1. ]] SLAMing on 88.46925976399999 meters 0.11868277769124236 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.29 [[ 0.99989367 -0.0073115 -0.01261726 -5.20124877] [ 0.00720809 0.99994022 -0.00822185 3.71619311] [ 0.01267662 0.00813003 0.9998866 1.2928327 ] [ 0. 0. 0. 1. ]] SLAMing on 88.52925976399999 meters 0.11633205920450043 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.29 [[ 0.99988287 -0.00733786 -0.01343123 -5.19959243] [ 0.00721404 0.99993125 -0.00924411 3.72036647] [ 0.01349814 0.00914613 0.99986707 1.29378507] [ 0. 0. 0. 1. ]] SLAMing on 88.58925976399999 meters 0.11478895129677602 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.29 [[ 0.99988287 -0.00720098 -0.01350539 -5.19907452] [ 0.00707797 0.99993323 -0.00913419 3.72055274] [ 0.01357026 0.00903753 0.99986708 1.29330072] [ 0. 0. 0. 1. ]] SLAMing on 88.64925976399999 meters 0.11380048951725472 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.28 [[ 9.99974570e-01 -5.59446303e-03 4.42272249e-03 -5.20303003e+00] [ 5.61551322e-03 9.99972896e-01 -4.76155108e-03 3.71657842e+00] [-4.39596429e-03 4.78626586e-03 9.99978883e-01 1.28199785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.709259764 meters 0.11416793393090052 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99976322e-01 -5.33463989e-03 4.34709458e-03 -5.20294201e+00] [ 5.35338354e-03 9.99976375e-01 -4.31159836e-03 3.71479588e+00] [-4.32399106e-03 4.33476794e-03 9.99981256e-01 1.28208623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76925976399998 meters 0.11327894208514731 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.28 [[ 9.99947249e-01 -9.49274625e-03 3.92273490e-03 -5.20186135e+00] [ 9.52638627e-03 9.99917228e-01 -8.64785124e-03 3.71548434e+00] [-3.84031835e-03 8.68476454e-03 9.99954912e-01 1.28221658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82925976399999 meters 0.11168492717262407 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99953003e-01 -8.89065077e-03 3.86639114e-03 -5.20091329e+00] [ 8.92032175e-03 9.99930368e-01 -7.72576447e-03 3.71308950e+00] [-3.79743484e-03 7.75989083e-03 9.99962681e-01 1.28087018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88925976399999 meters 0.11419389393064011 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99954022e-01 -8.78617986e-03 3.84158999e-03 -5.20082885e+00] [ 8.81504637e-03 9.99932546e-01 -7.56298112e-03 3.71256068e+00] [-3.77488115e-03 7.59649718e-03 9.99964021e-01 1.28081765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94925976399999 meters 0.11656937255427324 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99953914e-01 -8.77093954e-03 3.90401406e-03 -5.20130491e+00] [ 8.79973248e-03 9.99933751e-01 -7.42017394e-03 3.71155773e+00] [-3.83867352e-03 7.45418625e-03 9.99964849e-01 1.28126920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00925976399999 meters 0.11741898927866995 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99954867e-01 -8.60531382e-03 4.02647534e-03 -5.20144087e+00] [ 8.63326937e-03 9.99938386e-01 -6.97784148e-03 3.71011395e+00] [-3.96618074e-03 7.01228820e-03 9.99967548e-01 1.28089254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.069259764 meters 0.11860100154015574 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99955018e-01 -8.47477154e-03 4.25914298e-03 -5.20188464e+00] [ 8.50241344e-03 9.99942634e-01 -6.51436447e-03 3.70844400e+00] [-4.20369090e-03 6.55028444e-03 9.99969711e-01 1.28059069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12925976399998 meters 0.12203135601000353 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99954790e-01 -8.39091905e-03 4.47334448e-03 -5.20220098e+00] [ 8.41845239e-03 9.99945516e-01 -6.17209674e-03 3.70745496e+00] [-4.42131119e-03 6.20947634e-03 9.99970947e-01 1.28013930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18925976399998 meters 0.12156757366190732 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99955165e-01 -8.22877802e-03 4.68558790e-03 -5.20222183e+00] [ 8.25533165e-03 9.99949814e-01 -5.67622929e-03 3.70621883e+00] [-4.63864432e-03 5.71465588e-03 9.99972912e-01 1.27921273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24925976399999 meters 0.11799032464806591 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99955465e-01 -8.38947691e-03 4.32255254e-03 -5.20131321e+00] [ 8.41652769e-03 9.99944871e-01 -6.27833937e-03 3.70933569e+00] [-4.26964226e-03 6.31444065e-03 9.99970949e-01 1.27932842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30925976399999 meters 0.1191818817400923 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99958913e-01 -8.21707162e-03 3.82792039e-03 -5.19940512e+00] [ 8.24194645e-03 9.99944723e-01 -6.52845392e-03 3.71213694e+00] [-3.77406402e-03 6.55973520e-03 9.99971363e-01 1.27837067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36925976399999 meters 0.1162008337255774 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.71, Z:1.28 [[ 9.99963679e-01 -7.78505618e-03 3.46884252e-03 -5.19746957e+00] [ 7.80670358e-03 9.99949862e-01 -6.27130956e-03 3.71310882e+00] [-3.41984610e-03 6.29816201e-03 9.99974319e-01 1.27687048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.429259764 meters 0.11238687724106104 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.28 [[ 9.99965904e-01 -7.69145237e-03 3.00551306e-03 -5.19596379e+00] [ 7.71101355e-03 9.99948805e-01 -6.55196963e-03 3.71559106e+00] [-2.95496503e-03 6.57492178e-03 9.99974019e-01 1.27640473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48925976399998 meters 0.11024758758134953 Centerline is valid? [False, False] Translation: X:-5.20, Y:3.72, Z:1.28 [[ 9.99966736e-01 -7.65770123e-03 2.80823545e-03 -5.19525989e+00] [ 7.67642742e-03 9.99947960e-01 -6.71929073e-03 3.71688688e+00] [-2.75663499e-03 6.74062443e-03 9.99973482e-01 1.27616876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54925976399998 meters 0.10909182900993727 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.72, Z:1.28 [[ 9.99968749e-01 -7.45652081e-03 2.62697358e-03 -5.19450233e+00] [ 7.47379774e-03 9.99950095e-01 -6.62948555e-03 3.71713120e+00] [-2.57740959e-03 6.64891184e-03 9.99974574e-01 1.27576803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60925976399999 meters 0.11156684089842757 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.72, Z:1.28 [[ 9.99970095e-01 -7.31281754e-03 2.51648072e-03 -5.19391039e+00] [ 7.32910355e-03 9.99951856e-01 -6.52454608e-03 3.71737156e+00] [-2.46864675e-03 6.54279451e-03 9.99975549e-01 1.27531796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66925976399999 meters 0.10726259405805261 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.72, Z:1.27 [[ 9.99973169e-01 -6.91828790e-03 2.40812449e-03 -5.19300603e+00] [ 6.93261132e-03 9.99958021e-01 -5.99131310e-03 3.71641150e+00] [-2.36657377e-03 6.00784694e-03 9.99979152e-01 1.27431288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72925976399999 meters 0.11115009054688797 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.71, Z:1.27 [[ 9.99975631e-01 -6.55343702e-03 2.40608490e-03 -5.19251538e+00] [ 6.56635853e-03 9.99963848e-01 -5.40230986e-03 3.71479477e+00] [-2.37059422e-03 5.41797743e-03 9.99982513e-01 1.27350077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.789259764 meters 0.11185531917652043 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.71, Z:1.27 [[ 9.99978187e-01 -6.11350208e-03 2.50011330e-03 -5.19207781e+00] [ 6.12499420e-03 9.99970592e-01 -4.61510745e-03 3.71261750e+00] [-2.47182531e-03 4.63031996e-03 9.99986225e-01 1.27236794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.849259764 meters 0.11815956033385115 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.71, Z:1.27 [[ 9.99980086e-01 -5.70829365e-03 2.69117810e-03 -5.19208726e+00] [ 5.71828576e-03 9.99976731e-01 -3.71995511e-03 3.70979817e+00] [-2.66988089e-03 3.73526996e-03 9.99989460e-01 1.27149400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90925976399998 meters 0.11834168213593442 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.71, Z:1.27 [[ 9.99980426e-01 -5.44935169e-03 3.07436813e-03 -5.19285400e+00] [ 5.45794927e-03 9.99981199e-01 -2.79511266e-03 3.70615264e+00] [-3.05907878e-03 2.81183770e-03 9.99991368e-01 1.27108888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96925976399999 meters 0.11913098342564733 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.71, Z:1.27 [[ 9.99948070e-01 -9.71701891e-03 3.07199797e-03 -5.19305965e+00] [ 9.73826220e-03 9.99928238e-01 -6.97750994e-03 3.70535314e+00] [-3.00397692e-03 7.00706351e-03 9.99970938e-01 1.27149802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02925976399999 meters 0.12476732545834432 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.27 [[ 9.99951078e-01 -9.33858403e-03 3.26083532e-03 -5.19288356e+00] [ 9.35862443e-03 9.99937075e-01 -6.18558478e-03 3.70315380e+00] [-3.20286553e-03 6.21579910e-03 9.99975552e-01 1.27036110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08925976399999 meters 0.12666092102308296 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.27 [[ 9.99953482e-01 -8.93133957e-03 3.64201219e-03 -5.19306802e+00] [ 8.94994967e-03 9.99946810e-01 -5.12596552e-03 3.69999464e+00] [-3.59603674e-03 5.15832290e-03 9.99980230e-01 1.26893222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14925976399999 meters 0.13392029775867711 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.27 [[ 9.99953439e-01 -8.82852261e-03 3.89567793e-03 -5.19357153e+00] [ 8.84687272e-03 9.99949733e-01 -4.71855665e-03 3.69852601e+00] [-3.85382422e-03 4.75280152e-03 9.99981279e-01 1.26864772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.209259764 meters 0.1339496724920322 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.27 [[ 9.99955421e-01 -8.52218846e-03 4.06554939e-03 -5.19344420e+00] [ 8.53896268e-03 9.99955028e-01 -4.12658152e-03 3.69692634e+00] [-4.03019904e-03 4.16111313e-03 9.99983221e-01 1.26770687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26925976399998 meters 0.13180798919161066 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.27 [[ 9.99959448e-01 -7.99423097e-03 4.14674905e-03 -5.19297653e+00] [ 8.00788259e-03 9.99962537e-01 -3.28603476e-03 3.69447224e+00] [-4.12032438e-03 3.31910818e-03 9.99986003e-01 1.26657960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32925976399999 meters 0.13035869060295216 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.27 [[ 9.99961800e-01 -7.71767536e-03 4.10323898e-03 -5.19269255e+00] [ 7.72957267e-03 9.99965946e-01 -2.89158480e-03 3.69322170e+00] [-4.08078294e-03 2.92319062e-03 9.99987401e-01 1.26627497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38925976399999 meters 0.13258527894033642 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99967615e-01 -6.80840456e-03 4.29131745e-03 -5.19205981e+00] [ 6.81347389e-03 9.99976106e-01 -1.16778697e-03 3.68799350e+00] [-4.28326414e-03 1.19698793e-03 9.99990110e-01 1.26426079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44925976399999 meters 0.13974589473114615 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.26 [[ 9.99969216e-01 -6.32886603e-03 4.63815239e-03 -5.19229762e+00] [ 6.32902219e-03 9.99979971e-01 -1.89917858e-05 3.68428523e+00] [-4.63793929e-03 4.83461705e-05 9.99989244e-01 1.26308953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50925976399999 meters 0.1460165602175965 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.26 [[ 9.99935482e-01 -1.03451319e-02 4.69153983e-03 -5.19228260e+00] [ 1.03628346e-02 9.99939217e-01 -3.76485312e-03 3.68219400e+00] [-4.65230676e-03 3.81322787e-03 9.99981908e-01 1.26289586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.569259764 meters 0.1504467154384826 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.26 [[ 9.99933350e-01 -1.03449349e-02 5.12617073e-03 -5.19337088e+00] [ 1.03614933e-02 9.99941152e-01 -3.21421942e-03 3.67982638e+00] [-5.09261817e-03 3.26711998e-03 9.99981695e-01 1.26282731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62925976399998 meters 0.13958988540593945 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.26 [[ 9.99932343e-01 -1.06311449e-02 4.72103149e-03 -5.19289077e+00] [ 1.06506851e-02 9.99934737e-01 -4.13328605e-03 3.68317591e+00] [-4.67678182e-03 4.18328863e-03 9.99980314e-01 1.26387068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68925976399998 meters 0.13978958984524947 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99938554e-01 -1.02118072e-02 4.31354375e-03 -5.19052318e+00] [ 1.02292400e-02 9.99939523e-01 -4.03887709e-03 3.68546075e+00] [-4.27203865e-03 4.08275319e-03 9.99982540e-01 1.26171583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74925976399999 meters 0.13517527646050864 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99973854e-01 -5.67580862e-03 4.48064236e-03 -5.18978205e+00] [ 5.67319656e-03 9.99983730e-01 5.95460357e-04 3.68596793e+00] [-4.48394918e-03 -5.70025224e-04 9.99989785e-01 1.25976560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80925976399999 meters 0.13333899667145427 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99973689e-01 -5.78486076e-03 4.37686101e-03 -5.18952983e+00] [ 5.78361169e-03 9.99983230e-01 2.97984138e-04 3.68724712e+00] [-4.37851141e-03 -2.72662233e-04 9.99990377e-01 1.25985948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86925976399999 meters 0.12781691998493538 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99974237e-01 -6.11330355e-03 3.76190300e-03 -5.18834085e+00] [ 6.11661875e-03 9.99980915e-01 -8.70381471e-04 3.69248909e+00] [-3.75651030e-03 8.93369174e-04 9.99992545e-01 1.26052667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.929259764 meters 0.12577282753054164 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.26 [[ 9.99976954e-01 -5.84382562e-03 3.45553918e-03 -5.18673640e+00] [ 5.84699954e-03 9.99982493e-01 -9.09114802e-04 3.69429821e+00] [-3.45016598e-03 9.29298387e-04 9.99993616e-01 1.25924338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98925976399998 meters 0.12106364965833231 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.26 [[ 9.99978273e-01 -5.72113380e-03 3.27437733e-03 -5.18591951e+00] [ 5.72433543e-03 9.99983146e-01 -9.69247992e-04 3.69517411e+00] [-3.26877695e-03 9.87970567e-04 9.99994169e-01 1.25874313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04925976399998 meters 0.11991540848526655 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.70, Z:1.26 [[ 9.99979466e-01 -5.59332058e-03 3.12776620e-03 -5.18526725e+00] [ 5.59608726e-03 9.99983958e-01 -8.76504679e-04 3.69553529e+00] [-3.12281345e-03 8.93989934e-04 9.99994724e-01 1.25829750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10925976399999 meters 0.12352802936354568 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.70, Z:1.26 [[ 9.99950311e-01 -9.61759394e-03 2.62255276e-03 -5.18352006e+00] [ 9.63096515e-03 9.99940439e-01 -5.13450020e-03 3.69691813e+00] [-2.57301502e-03 5.15950279e-03 9.99983379e-01 1.25763848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16925976399999 meters 0.1228100740655222 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.26 [[ 9.99953129e-01 -9.25196000e-03 2.85324068e-03 -5.18349366e+00] [ 9.26437681e-03 9.99947537e-01 -4.36975634e-03 3.69467456e+00] [-2.81266218e-03 4.39598502e-03 9.99986382e-01 1.25654514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22925976399999 meters 0.13202748023347222 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.26 [[ 9.99953215e-01 -9.14541410e-03 3.15116933e-03 -5.18422398e+00] [ 9.15766303e-03 9.99950482e-01 -3.89485234e-03 3.69266246e+00] [-3.11539325e-03 3.92352747e-03 9.99987450e-01 1.25644791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.289259764 meters 0.13211510480756639 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.26 [[ 9.99954004e-01 -8.97374218e-03 3.38559500e-03 -5.18450907e+00] [ 8.98544454e-03 9.99953653e-01 -3.45728461e-03 3.69124943e+00] [-3.35441331e-03 3.48754667e-03 9.99988292e-01 1.25590095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34925976399998 meters 0.12826562292361574 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99956020e-01 -8.63682545e-03 3.65563670e-03 -5.18428132e+00] [ 8.64677759e-03 9.99958929e-01 -2.71541584e-03 3.68961686e+00] [-3.63203399e-03 2.74690590e-03 9.99989631e-01 1.25435055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40925976399998 meters 0.1393455484881225 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99954452e-01 -8.70733568e-03 3.90855675e-03 -5.18479843e+00] [ 8.71732385e-03 9.99958763e-01 -2.54574257e-03 3.68931109e+00] [-3.88622894e-03 2.57969877e-03 9.99989121e-01 1.25402906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46925976399999 meters 0.13538345941169497 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.69, Z:1.25 [[ 9.99951523e-01 -9.00333039e-03 3.98634238e-03 -5.18541295e+00] [ 9.01517427e-03 9.99954972e-01 -2.96318130e-03 3.69048114e+00] [-3.95948438e-03 2.99897522e-03 9.99987664e-01 1.25467040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52925976399999 meters 0.13068758127308383 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99952992e-01 -9.00048768e-03 3.60612277e-03 -5.18422206e+00] [ 9.01296896e-03 9.99953396e-01 -3.45996492e-03 3.69327857e+00] [-3.57481334e-03 3.49230415e-03 9.99987512e-01 1.25446083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58925976399999 meters 0.1383271141021175 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99955775e-01 -8.80920720e-03 3.29326783e-03 -5.18288703e+00] [ 8.82102894e-03 9.99954640e-01 -3.59254677e-03 3.69492965e+00] [-3.26147096e-03 3.62143790e-03 9.99988124e-01 1.25374185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64925976399999 meters 0.1292795470785423 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.70, Z:1.25 [[ 9.99955098e-01 -8.93688706e-03 3.15187448e-03 -5.18281758e+00] [ 8.94919834e-03 9.99952296e-01 -3.91378937e-03 3.69601727e+00] [-3.11674703e-03 3.94182038e-03 9.99987374e-01 1.25423483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.709259764 meters 0.12776258598944848 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.70, Z:1.26 [[ 9.99953606e-01 -9.12559383e-03 3.08364308e-03 -5.18315158e+00] [ 9.13874976e-03 9.99949083e-01 -4.27954627e-03 3.69692807e+00] [-3.04443267e-03 4.30752837e-03 9.99986088e-01 1.25506146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76925976399998 meters 0.13510032443718528 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99955575e-01 -8.81598857e-03 3.33561365e-03 -5.18344099e+00] [ 8.82785319e-03 9.99954700e-01 -3.55910652e-03 3.69431174e+00] [-3.30408550e-03 3.58839471e-03 9.99988103e-01 1.25446743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82925976399999 meters 0.1393332644011685 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.69, Z:1.25 [[ 9.99955054e-01 -8.56001155e-03 4.07630786e-03 -5.18489929e+00] [ 8.56939517e-03 9.99960660e-01 -2.29011506e-03 3.68926183e+00] [-4.05654409e-03 2.32494362e-03 9.99989069e-01 1.25366794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88925976399999 meters 0.14820221466466232 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.25 [[ 9.99955990e-01 -8.20764828e-03 4.54442752e-03 -5.18569500e+00] [ 8.21272391e-03 9.99965671e-01 -1.09935958e-03 3.68492907e+00] [-4.53524836e-03 1.13663333e-03 9.99989070e-01 1.25287596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94925976399999 meters 0.14643576554468787 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.25 [[ 9.99958725e-01 -7.82377763e-03 4.61920598e-03 -5.18545573e+00] [ 7.82502632e-03 9.99969352e-01 -2.52316187e-04 3.68238291e+00] [-4.61709035e-03 2.88451181e-04 9.99989300e-01 1.25205293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00925976399999 meters 0.14105251187299894 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.68, Z:1.25 [[ 9.99920734e-01 -1.18142929e-02 4.35291672e-03 -5.18458062e+00] [ 1.18327757e-02 9.99920979e-01 -4.24506640e-03 3.68168788e+00] [-4.30242029e-03 4.29623700e-03 9.99981516e-01 1.25189925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.069259764 meters 0.14812967398601865 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.25 [[ 9.99923390e-01 -1.14194361e-02 4.77595371e-03 -5.18520118e+00] [ 1.14350055e-02 9.99929351e-01 -3.24544896e-03 3.67780551e+00] [-4.73855509e-03 3.29981338e-03 9.99983329e-01 1.25115758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12925976399998 meters 0.14684649952215262 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.25 [[ 9.99925254e-01 -1.12421014e-02 4.80643273e-03 -5.18519865e+00] [ 1.12560337e-02 9.99932497e-01 -2.88152898e-03 3.67662090e+00] [-4.77371384e-03 2.93541496e-03 9.99984297e-01 1.25100220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18925976399998 meters 0.14745887255495707 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.68, Z:1.25 [[ 9.99927304e-01 -1.09854385e-02 4.97051587e-03 -5.18517612e+00] [ 1.09970875e-02 9.99936833e-01 -2.32239822e-03 3.67501140e+00] [-4.94468934e-03 2.37689059e-03 9.99984950e-01 1.25025807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24925976399999 meters 0.14903158109918274 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.67, Z:1.25 [[ 9.99930343e-01 -1.05867556e-02 5.21828420e-03 -5.18524439e+00] [ 1.05946043e-02 9.99942782e-01 -1.47873326e-03 3.67227362e+00] [-5.20233063e-03 1.53391591e-03 9.99985291e-01 1.24931157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30925976399999 meters 0.14560334189314955 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.25 [[ 9.99931085e-01 -1.06892749e-02 4.85444522e-03 -5.18474898e+00] [ 1.06988057e-02 9.99940881e-01 -1.94159587e-03 3.67419420e+00] [-4.83340398e-03 1.99339883e-03 9.99986332e-01 1.25000602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36925976399999 meters 0.13987269528909566 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.25 [[ 9.99938814e-01 -9.95567957e-03 4.82219472e-03 -5.18382881e+00] [ 9.96023812e-03 9.99949970e-01 -9.22236677e-04 3.67112193e+00] [-4.81277197e-03 9.70210456e-04 9.99987948e-01 1.24873262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.429259764 meters 0.140532883534394 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.25 [[ 9.99943312e-01 -9.48068684e-03 4.84648809e-03 -5.18357570e+00] [ 9.48166855e-03 9.99955032e-01 -1.79624435e-04 3.66845197e+00] [-4.84456718e-03 2.25567046e-04 9.99988240e-01 1.24827476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48925976399998 meters 0.1404794925032568 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.67, Z:1.25 [[ 9.99947086e-01 -9.03930577e-03 4.91084887e-03 -5.18352760e+00] [ 9.03627460e-03 9.99958968e-01 6.39079007e-04 3.66551390e+00] [-4.91642419e-03 -5.94669412e-04 9.99987737e-01 1.24791462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54925976399998 meters 0.15193559076036142 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.66, Z:1.25 [[ 9.99902751e-01 -1.30258420e-02 4.98153237e-03 -5.18394837e+00] [ 1.30407762e-02 9.99910533e-01 -2.97727572e-03 3.66226471e+00] [-4.94230516e-03 3.04194923e-03 9.99983160e-01 1.24843097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60925976399999 meters 0.15737828304239154 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.66, Z:1.25 [[ 9.99904657e-01 -1.25883528e-02 5.67535160e-03 -5.18516312e+00] [ 1.25962399e-02 9.99919745e-01 -1.35612022e-03 3.65577798e+00] [-5.65782480e-03 1.42747901e-03 9.99982976e-01 1.24758365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66925976399999 meters 0.1628381662900955 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.65, Z:1.25 [[ 9.99904832e-01 -1.22138815e-02 6.41474811e-03 -5.18642458e+00] [ 1.22127074e-02 9.99925397e-01 2.22170477e-04 3.64984016e+00] [-6.41698311e-03 -1.43807892e-04 9.99979401e-01 1.24650406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72925976399999 meters 0.1612628886882928 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.65, Z:1.25 [[ 9.99906621e-01 -1.20765527e-02 6.39587003e-03 -5.18619045e+00] [ 1.20740513e-02 9.99927014e-01 4.29566580e-04 3.64945550e+00] [-6.40059091e-03 -3.52302404e-04 9.99979454e-01 1.24620400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.789259764 meters 0.1635742149241159 Centerline is valid? [False, False] Translation: X:-5.19, Y:3.65, Z:1.25 [[ 9.99910524e-01 -1.18222654e-02 6.25928234e-03 -5.18568357e+00] [ 1.18177984e-02 9.99929886e-01 7.50171723e-04 3.64865025e+00] [-6.26771221e-03 -6.76133664e-04 9.99980129e-01 1.24594724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84925976399998 meters 0.15816557628235084 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.65, Z:1.25 [[ 9.99914126e-01 -1.16776416e-02 5.94754850e-03 -5.18452303e+00] [ 1.16746620e-02 9.99931705e-01 5.35459106e-04 3.65047211e+00] [-5.95339522e-03 -4.65977506e-04 9.99982170e-01 1.24538555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90925976399998 meters 0.1580744852846678 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.65, Z:1.24 [[ 9.99919018e-01 -1.14736498e-02 5.50563597e-03 -5.18254226e+00] [ 1.14721341e-02 9.99934146e-01 3.06813990e-04 3.65348281e+00] [-5.50879368e-03 -2.43627750e-04 9.99984797e-01 1.24398363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96925976399999 meters 0.14574861970944367 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.66, Z:1.24 [[ 9.99922582e-01 -1.14696743e-02 4.82455910e-03 -5.18050398e+00] [ 1.14721570e-02 9.99934074e-01 -4.87229403e-04 3.65812079e+00] [-4.81865267e-03 5.42539782e-04 9.99988243e-01 1.24344976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02925976399999 meters 0.13633731846512984 Centerline is valid? [False, False] Translation: X:-5.18, Y:3.66, Z:1.24 [[ 9.99964149e-01 -7.30396188e-03 4.28410729e-03 -5.17902069e+00] [ 7.29257836e-03 9.99969853e-01 2.66678084e-03 3.66324090e+00] [-4.30345621e-03 -2.63544305e-03 9.99987267e-01 1.24336453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08925976399999 meters 0.1314688584545524 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.67, Z:1.25 [[ 9.99974456e-01 -6.79835013e-03 2.20670063e-03 -5.17446391e+00] [ 6.80193776e-03 9.99975550e-01 -1.62237582e-03 3.67386934e+00] [-2.19561720e-03 1.63734422e-03 9.99996249e-01 1.24911758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14925976399999 meters 0.12156817254281431 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99976681e-01 -6.67193302e-03 1.45670172e-03 -5.17214483e+00] [ 6.67557407e-03 9.99974570e-01 -2.50913010e-03 3.67912920e+00] [-1.43992393e-03 2.51879591e-03 9.99995791e-01 1.24855642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.209259764 meters 0.11538162546237041 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99997700e-01 -2.02036886e-03 7.20326114e-04 -5.16907347e+00] [ 2.01978452e-03 9.99997631e-01 8.11015607e-04 3.68535901e+00] [-7.21962959e-04 -8.09558838e-04 9.99999412e-01 1.24681369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26925976399998 meters 0.10865644393150682 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99997880e-01 -2.05573699e-03 1.16906581e-04 -5.16750803e+00] [ 2.05573589e-03 9.99997887e-01 9.48201086e-06 3.68932554e+00] [-1.16925827e-04 -9.24166171e-06 9.99999993e-01 1.24691961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32925976399999 meters 0.10508194353569132 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99997654e-01 -2.13158986e-03 -3.84090385e-04 -5.16643340e+00] [ 2.13128644e-03 9.99997418e-01 -7.88672448e-04 3.69273957e+00] [ 3.85770520e-04 7.87851991e-04 9.99999615e-01 1.24743579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38925976399999 meters 0.10902998103891728 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.70, Z:1.25 [[ 9.99978723e-01 -6.41468231e-03 -1.18530567e-03 -5.16474816e+00] [ 6.40782972e-03 9.99963239e-01 -5.69736137e-03 3.69607537e+00] [ 1.22180886e-03 5.68964491e-03 9.99983067e-01 1.24808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44925976399999 meters 0.10802639011522851 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.69, Z:1.25 [[ 9.99981481e-01 -6.02111407e-03 -8.85853365e-04 -5.16495727e+00] [ 6.01688353e-03 9.99970838e-01 -4.70323418e-03 3.69279344e+00] [ 9.14146241e-04 4.69781700e-03 9.99988547e-01 1.24709478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50925976399999 meters 0.111234148744326 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99983104e-01 -5.80261734e-03 -3.47166621e-04 -5.16620852e+00] [ 5.80129996e-03 9.99976392e-01 -3.68240349e-03 3.68842257e+00] [ 3.68526003e-04 3.68032726e-03 9.99993160e-01 1.24683319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.569259764 meters 0.11442175973462006 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99984097e-01 -5.63929353e-03 -6.76617980e-05 -5.16682436e+00] [ 5.63905635e-03 9.99979283e-01 -3.10409498e-03 3.68622250e+00] [ 8.51652990e-05 3.10366407e-03 9.99995180e-01 1.24661031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62925976399998 meters 0.11867074162315387 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.69, Z:1.25 [[ 9.99949621e-01 -1.00372438e-02 -9.05780223e-05 -5.16693188e+00] [ 1.00363052e-02 9.99922543e-01 -7.36070875e-03 3.68615049e+00] [ 1.64452235e-04 7.35942886e-03 9.99972906e-01 1.24688491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68925976399998 meters 0.12097454821439553 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99951547e-01 -9.84090304e-03 2.44233736e-04 -5.16735996e+00] [ 9.84231922e-03 9.99929099e-01 -6.70267794e-03 3.68407170e+00] [-1.78256016e-04 6.70475700e-03 9.99977507e-01 1.24614100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74925976399999 meters 0.12535429071741525 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99950129e-01 -9.96732570e-03 6.25665657e-04 -5.16859001e+00] [ 9.97117137e-03 9.99929303e-01 -6.47798836e-03 3.68260523e+00] [-5.61053205e-04 6.48390392e-03 9.99978822e-01 1.24654249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80925976399999 meters 0.13411254490136207 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99948351e-01 -1.01316301e-02 8.03719894e-04 -5.16939139e+00] [ 1.01367024e-02 9.99926971e-01 -6.58020783e-03 3.68251017e+00] [-7.36992967e-04 6.58801504e-03 9.99978027e-01 1.24704787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86925976399999 meters 0.13041846383674255 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99949620e-01 -9.99583585e-03 9.17410103e-04 -5.16952428e+00] [ 1.00014444e-02 9.99929966e-01 -6.32731299e-03 3.68163217e+00] [-8.54099071e-04 6.33616964e-03 9.99979562e-01 1.24682939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.929259764 meters 0.13769087308220782 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99952788e-01 -9.65107954e-03 1.13095670e-03 -5.16974808e+00] [ 9.65725857e-03 9.99937733e-01 -5.59175746e-03 3.67901926e+00] [-1.07691979e-03 5.60241540e-03 9.99983726e-01 1.24630355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98925976399998 meters 0.13813096055654564 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.68, Z:1.25 [[ 9.99955382e-01 -9.36162965e-03 1.26264059e-03 -5.16995928e+00] [ 9.36779505e-03 9.99943776e-01 -4.96877224e-03 3.67668371e+00] [-1.21605379e-03 4.98037870e-03 9.99986858e-01 1.24603984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04925976399998 meters 0.13709884445276121 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.67, Z:1.25 [[ 9.99961013e-01 -8.70822415e-03 1.46246954e-03 -5.16997343e+00] [ 8.71362248e-03 9.99955093e-01 -3.72635658e-03 3.67218950e+00] [-1.42995392e-03 3.73895470e-03 9.99991988e-01 1.24520977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10925976399999 meters 0.13860324783646005 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.67, Z:1.24 [[ 9.99965961e-01 -8.07235870e-03 1.70718454e-03 -5.17034808e+00] [ 8.07654050e-03 9.99964366e-01 -2.45698838e-03 3.66715541e+00] [-1.68729002e-03 2.47069289e-03 9.99995524e-01 1.24475919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16925976399999 meters 0.13863763627027598 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.25 [[ 9.99967964e-01 -7.71316258e-03 2.13962075e-03 -5.17179390e+00] [ 7.71619355e-03 9.99969233e-01 -1.41197194e-03 3.66192827e+00] [-2.12866415e-03 1.42843643e-03 9.99996714e-01 1.24537431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22925976399999 meters 0.14837610381243657 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.25 [[ 9.99928703e-01 -1.17651693e-02 2.04200703e-03 -5.17175849e+00] [ 1.17756355e-02 9.99917188e-01 -5.19140854e-03 3.65982021e+00] [-1.98076012e-03 5.21508434e-03 9.99984440e-01 1.24575755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.289259764 meters 0.1850237980853789 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.25 [[ 9.99932447e-01 -1.13589463e-02 2.46488196e-03 -5.17238995e+00] [ 1.13689924e-02 9.99926962e-01 -4.10070203e-03 3.65567325e+00] [-2.41812227e-03 4.12844824e-03 9.99988554e-01 1.24504488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34925976399998 meters 0.15698540676747488 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.25 [[ 9.99932048e-01 -1.12221654e-02 3.15631447e-03 -5.17423466e+00] [ 1.12314270e-02 9.99932627e-01 -2.93205853e-03 3.65010384e+00] [-3.12319777e-03 2.96730921e-03 9.99990720e-01 1.24525330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40925976399998 meters 0.15786453381814325 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.25 [[ 9.99931090e-01 -1.13676809e-02 2.93089508e-03 -5.17390473e+00] [ 1.13770017e-02 9.99930213e-01 -3.18337519e-03 3.65146694e+00] [-2.89450295e-03 3.21650062e-03 9.99990638e-01 1.24556877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46925976399999 meters 0.15632386638705864 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.25 [[ 9.99930423e-01 -1.14387093e-02 2.88183818e-03 -5.17375471e+00] [ 1.14482759e-02 9.99928937e-01 -3.32527904e-03 3.65234542e+00] [-2.84359649e-03 3.35803976e-03 9.99990319e-01 1.24553203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52925976399999 meters 0.1565556758741591 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99972476e-01 -6.83164847e-03 2.89400958e-03 -5.17299884e+00] [ 6.82789525e-03 9.99975838e-01 1.30479334e-03 3.65223116e+00] [-2.90285355e-03 -1.28499744e-03 9.99994961e-01 1.24423885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58925976399999 meters 0.1431706748323567 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99973014e-01 -6.87677086e-03 2.58472871e-03 -5.17206856e+00] [ 6.87432324e-03 9.99975916e-01 9.54649164e-04 3.65428474e+00] [-2.59123137e-03 -9.36855141e-04 9.99996204e-01 1.24407155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64925976399999 meters 0.14348233604627475 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99974373e-01 -6.89813782e-03 1.91525299e-03 -5.17021406e+00] [ 6.89770915e-03 9.99976184e-01 2.30331166e-04 3.65845823e+00] [-1.91679623e-03 -2.17114406e-04 9.99998139e-01 1.24388373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.709259764 meters 0.1641124938347682 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99972795e-01 -7.15419781e-03 1.79626940e-03 -5.17026660e+00] [ 7.15481039e-03 9.99974348e-01 -3.34833046e-04 3.66037579e+00] [-1.79382786e-03 3.47675904e-04 9.99998331e-01 1.24452840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76925976399998 meters 0.16317501231711035 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.25 [[ 9.99970644e-01 -7.46623651e-03 1.72235582e-03 -5.17062388e+00] [ 7.46771938e-03 9.99971750e-01 -8.56132151e-04 3.66187334e+00] [-1.71591508e-03 8.68969088e-04 9.99998150e-01 1.24542660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82925976399999 meters 0.16489712979210314 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.25 [[ 9.99970801e-01 -7.38333325e-03 1.97083698e-03 -5.17108553e+00] [ 7.38435865e-03 9.99972603e-01 -5.13514124e-04 3.66067638e+00] [-1.96699154e-03 5.28052497e-04 9.99997926e-01 1.24512629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88925976399999 meters 0.1587985609900911 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99973008e-01 -7.24885344e-03 1.19868279e-03 -5.16895988e+00] [ 7.24996602e-03 9.99973289e-01 -9.26439195e-04 3.66380796e+00] [-1.19193515e-03 9.35104598e-04 9.99998852e-01 1.24483773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94925976399999 meters 0.15301894717168338 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.67, Z:1.24 [[ 9.99975723e-01 -6.93338675e-03 6.94368155e-04 -5.16704568e+00] [ 6.93410831e-03 9.99975416e-01 -1.04220152e-03 3.66573310e+00] [-6.87125098e-04 1.04699104e-03 9.99999216e-01 1.24400437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00925976399999 meters 0.15017740196448337 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99978181e-01 -6.57191439e-03 6.68671773e-04 -5.16652849e+00] [ 6.57231635e-03 9.99978222e-01 -6.00724036e-04 3.66452257e+00] [-6.64709303e-04 6.05105651e-04 9.99999596e-01 1.24334790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.069259764 meters 0.1511999675486766 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99979103e-01 -6.41103767e-03 8.31842571e-04 -5.16712562e+00] [ 6.41112168e-03 9.99979444e-01 -9.83691841e-05 3.66232492e+00] [-8.31194823e-04 1.03700172e-04 9.99999649e-01 1.24356675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12925976399998 meters 0.15559003161110269 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99942894e-01 -1.06566369e-02 8.03274869e-04 -5.16761047e+00] [ 1.06598713e-02 9.99934628e-01 -4.13605324e-03 3.66057642e+00] [-7.59145940e-04 4.14437985e-03 9.99991124e-01 1.24448206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18925976399998 meters 0.15499613502099882 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99944911e-01 -1.04605098e-02 8.67473612e-04 -5.16767317e+00] [ 1.04636817e-02 9.99938274e-01 -3.73625779e-03 3.65922584e+00] [-8.28336905e-04 3.74512893e-03 9.99992644e-01 1.24426297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24925976399999 meters 0.15341226747997988 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99950750e-01 -9.88267270e-03 9.10837575e-04 -5.16712038e+00] [ 9.88515885e-03 9.99947313e-01 -2.76668617e-03 3.65635937e+00] [-8.83447332e-04 2.77555369e-03 9.99995758e-01 1.24314466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30925976399999 meters 0.1498522510250109 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99952965e-01 -9.66921487e-03 7.57235652e-04 -5.16631603e+00] [ 9.67112948e-03 9.99949939e-01 -2.56694850e-03 3.65639775e+00] [-7.32377367e-04 2.57415109e-03 9.99996419e-01 1.24253146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36925976399999 meters 0.1480675473556263 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.66, Z:1.24 [[ 9.99953338e-01 -9.61921922e-03 8.89721344e-04 -5.16672795e+00] [ 9.62132179e-03 9.99950858e-01 -2.38988941e-03 3.65552396e+00] [-8.66688752e-04 2.39833819e-03 9.99996748e-01 1.24261942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.429259764 meters 0.15884634984523105 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99957425e-01 -9.17063505e-03 1.02348321e-03 -5.16641992e+00] [ 9.17227836e-03 9.99956633e-01 -1.61262628e-03 3.65325190e+00] [-1.00865002e-03 1.62194530e-03 9.99998176e-01 1.24155383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48925976399998 meters 0.1554643940118204 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99959167e-01 -8.98788653e-03 9.38898402e-04 -5.16581428e+00] [ 8.98918749e-03 9.99958629e-01 -1.39071768e-03 3.65315357e+00] [-9.26359946e-04 1.39910082e-03 9.99998592e-01 1.24096721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54925976399998 meters 0.149996885811108 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99962993e-01 -8.55346809e-03 9.22665547e-04 -5.16541009e+00] [ 8.55413561e-03 9.99963152e-01 -7.21962110e-04 3.65109554e+00] [-9.16456269e-04 7.29827999e-04 9.99999314e-01 1.24035020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60925976399999 meters 0.14959159710181583 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99964917e-01 -8.29166856e-03 1.18859522e-03 -5.16600550e+00] [ 8.29176885e-03 9.99965620e-01 -7.94723316e-05 3.64842750e+00] [-1.18789539e-03 8.93251003e-05 9.99999290e-01 1.24016407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66925976399999 meters 0.16451456984747637 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99964396e-01 -8.37506513e-03 1.03154583e-03 -5.16605122e+00] [ 8.37530919e-03 9.99964899e-01 -2.32508855e-04 3.64880486e+00] [-1.02956235e-03 2.41140092e-04 9.99999441e-01 1.24082969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72925976399999 meters 0.15676763325981755 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.65, Z:1.24 [[ 9.99967188e-01 -8.02975058e-03 1.07032738e-03 -5.16561415e+00] [ 8.02948400e-03 9.99967731e-01 2.53136660e-04 3.64752553e+00] [-1.07232546e-03 -2.44534177e-04 9.99999395e-01 1.23999535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.789259764 meters 0.15448387229353647 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.65, Z:1.24 [[ 9.99971484e-01 -7.46431765e-03 1.14662053e-03 -5.16472721e+00] [ 7.46298637e-03 9.99971478e-01 1.16097248e-03 3.64549861e+00] [-1.15525369e-03 -1.15238216e-03 9.99998669e-01 1.23826742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84925976399998 meters 0.159016525866241 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.24 [[ 9.99973237e-01 -7.20862623e-03 1.24977001e-03 -5.16476696e+00] [ 7.20657551e-03 9.99972691e-01 1.63768693e-03 3.64395940e+00] [-1.26154135e-03 -1.62863653e-03 9.99997878e-01 1.23788026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90925976399998 meters 0.15905334498625257 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.64, Z:1.24 [[ 9.99972556e-01 -7.29633636e-03 1.28473252e-03 -5.16543222e+00] [ 7.29434291e-03 9.99972195e-01 1.54955516e-03 3.64352110e+00] [-1.29600287e-03 -1.54014136e-03 9.99997974e-01 1.23875515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96925976399999 meters 0.16191308515610303 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.24 [[ 9.99933271e-01 -1.15087566e-02 1.00138184e-03 -5.16444393e+00] [ 1.15114597e-02 9.99929996e-01 -2.73680894e-03 3.64428430e+00] [-9.69814473e-04 2.74815368e-03 9.99995754e-01 1.23847455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02925976399999 meters 0.15704754105232618 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.24 [[ 9.99937431e-01 -1.11217350e-02 1.20024019e-03 -5.16474844e+00] [ 1.11241152e-02 9.99936135e-01 -1.99499117e-03 3.64153178e+00] [-1.17797578e-03 2.00821796e-03 9.99997290e-01 1.23813644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08925976399999 meters 0.1567160821481058 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.24 [[ 9.99942744e-01 -1.06220738e-02 1.29616371e-03 -5.16455146e+00] [ 1.06235505e-02 9.99942921e-01 -1.13776182e-03 3.63879668e+00] [-1.28400434e-03 1.15146654e-03 9.99998513e-01 1.23738581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14925976399999 meters 0.16781285561349207 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.24 [[ 9.99945816e-01 -1.03060859e-02 1.46624737e-03 -5.16462588e+00] [ 1.03068975e-02 9.99946733e-01 -5.47057696e-04 3.63691603e+00] [-1.46053124e-03 5.62140515e-04 9.99998775e-01 1.23680010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20925976399998 meters 0.16354374454509912 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.24 [[ 9.99898359e-01 -1.41670308e-02 1.60207275e-03 -5.16476281e+00] [ 1.41732847e-02 9.99891704e-01 -3.96211278e-03 3.63350000e+00] [-1.54576788e-03 3.98441670e-03 9.99990867e-01 1.23657080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26925976399998 meters 0.16854648932335184 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.63, Z:1.24 [[ 9.99952805e-01 -9.45061272e-03 2.25266231e-03 -5.16586765e+00] [ 9.44700970e-03 9.99954088e-01 1.60475952e-03 3.62871913e+00] [-2.26772484e-03 -1.58340286e-03 9.99996175e-01 1.23558477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32925976399999 meters 0.16943046148507607 Centerline is valid? [False, False] Translation: X:-5.17, Y:3.63, Z:1.23 [[ 9.99957566e-01 -8.89548329e-03 2.39499609e-03 -5.16554658e+00] [ 8.88926066e-03 9.99957119e-01 2.59641060e-03 3.62578266e+00] [-2.41798971e-03 -2.57501068e-03 9.99993761e-01 1.23443413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38925976399999 meters 0.16552785691971167 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.62, Z:1.23 [[ 9.99961374e-01 -8.46499856e-03 2.36539961e-03 -5.16495083e+00] [ 8.45748211e-03 9.99959211e-01 3.16980555e-03 3.62426098e+00] [-2.39213552e-03 -3.14967779e-03 9.99992179e-01 1.23363037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44925976399999 meters 0.17551874759488095 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99916372e-01 -1.28002411e-02 1.84464312e-03 -5.16370967e+00] [ 1.28031056e-02 9.99916836e-01 -1.54956084e-03 3.62654794e+00] [-1.82465496e-03 1.57304841e-03 9.99997098e-01 1.23390020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50925976399999 meters 0.1662393847083232 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.62, Z:1.23 [[ 9.99918677e-01 -1.25854992e-02 2.06017293e-03 -5.16397415e+00] [ 1.25877252e-02 9.99920198e-01 -1.07110656e-03 3.62497191e+00] [-2.04652811e-03 1.09695235e-03 9.99997304e-01 1.23343338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.569259764 meters 0.17795765354286908 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.62, Z:1.23 [[ 9.99922586e-01 -1.22618816e-02 2.11404153e-03 -5.16366275e+00] [ 1.22630363e-02 9.99924663e-01 -5.34155473e-04 3.62358271e+00] [-2.10733252e-03 5.60038690e-04 9.99997623e-01 1.23272060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62925976399998 meters 0.17365041204156553 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99921950e-01 -1.23472674e-02 1.90742270e-03 -5.16305017e+00] [ 1.23489740e-02 9.99923356e-01 -8.85533603e-04 3.62540912e+00] [-1.89634259e-03 9.09019201e-04 9.99997789e-01 1.23265157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68925976399998 meters 0.17787064849000883 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99923083e-01 -1.22568974e-02 1.89655578e-03 -5.16265890e+00] [ 1.22585327e-02 9.99924497e-01 -8.53076970e-04 3.62585755e+00] [-1.88595651e-03 8.76260345e-04 9.99997838e-01 1.23212696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74925976399999 meters 0.16488140782323443 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99923621e-01 -1.22383582e-02 1.72459388e-03 -5.16171319e+00] [ 1.22401165e-02 9.99924574e-01 -1.01270111e-03 3.62764057e+00] [-1.71207000e-03 1.03373299e-03 9.99998000e-01 1.23139104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80925976399999 meters 0.17784961780002573 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99923452e-01 -1.22631745e-02 1.64487238e-03 -5.16099300e+00] [ 1.22650107e-02 9.99924165e-01 -1.11089331e-03 3.62908720e+00] [-1.63112456e-03 1.13098265e-03 9.99998030e-01 1.23062377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86925976399999 meters 0.17296837234716322 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.63, Z:1.23 [[ 9.99924860e-01 -1.21699455e-02 1.47199146e-03 -5.15981771e+00] [ 1.21717070e-02 9.99925209e-01 -1.19374278e-03 3.63070187e+00] [-1.45735358e-03 1.21156973e-03 9.99998204e-01 1.22954398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.929259764 meters 0.16840168058077695 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.23 [[ 9.99922051e-01 -1.24620463e-02 7.67929043e-04 -5.15824282e+00] [ 1.24639601e-02 9.99919096e-01 -2.53992167e-03 3.63673456e+00] [-7.36214293e-04 2.54929513e-03 9.99996480e-01 1.22994298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98925976399998 meters 0.16449746745493152 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.23 [[ 9.99923703e-01 -1.23524924e-02 6.85231310e-05 -5.15589939e+00] [ 1.23526529e-02 9.99918063e-01 -3.35855339e-03 3.64184997e+00] [-2.70310111e-05 3.35914359e-03 9.99994358e-01 1.22914683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04925976399998 meters 0.1529308975585658 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.23 [[ 9.99922122e-01 -1.24799392e-02 -3.81537687e-05 -5.15541377e+00] [ 1.24797096e-02 9.99915147e-01 -3.73574878e-03 3.64397570e+00] [ 8.47724490e-05 3.73498170e-03 9.99993021e-01 1.22889625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10925976399999 meters 0.15234421906336257 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.65, Z:1.23 [[ 9.99919062e-01 -1.27227530e-02 -4.35164390e-05 -5.15552087e+00] [ 1.27224677e-02 9.99910662e-01 -4.09949848e-03 3.64553607e+00] [ 9.56694578e-05 4.09861303e-03 9.99991596e-01 1.22911956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16925976399999 meters 0.15899504095197195 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.23 [[ 9.99920215e-01 -1.26303265e-02 1.96616554e-04 -5.15588274e+00] [ 1.26309858e-02 9.99912923e-01 -3.82154584e-03 3.64464649e+00] [-1.48332062e-04 3.82372439e-03 9.99992679e-01 1.22871290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22925976399999 meters 0.15764593912647504 Centerline is valid? [False, False] Translation: X:-5.16, Y:3.64, Z:1.23 [[ 9.99966895e-01 -8.13365450e-03 2.27199405e-04 -5.15535990e+00] [ 8.13348657e-03 9.99966656e-01 7.30516328e-04 3.64481485e+00] [-2.33133597e-04 -7.28644221e-04 9.99999707e-01 1.22761736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.289259764 meters 0.143797479641846 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99966250e-01 -8.21231388e-03 -2.38927828e-04 -5.15427602e+00] [ 8.21233251e-03 9.99966275e-01 7.71249576e-05 3.64776026e+00] [ 2.38286396e-04 -7.90845094e-05 9.99999968e-01 1.22789577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34925976399998 meters 0.14554436756195108 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99968223e-01 -7.96924058e-03 -2.09527673e-04 -5.15372504e+00] [ 7.96932113e-03 9.99968170e-01 3.86463419e-04 3.64743366e+00] [ 2.06441184e-04 -3.88120932e-04 9.99999903e-01 1.22694509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40925976399998 meters 0.15810427536915955 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99966536e-01 -8.18012141e-03 1.10401482e-04 -5.15483430e+00] [ 8.18008501e-03 9.99966489e-01 3.26244756e-04 3.64720556e+00] [-1.13066504e-04 -3.25330745e-04 9.99999941e-01 1.22740627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46925976399999 meters 0.1600329934222556 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99966903e-01 -8.13346147e-03 1.97121095e-04 -5.15480845e+00] [ 8.13337112e-03 9.99966820e-01 4.54881734e-04 3.64713323e+00] [-2.00814318e-04 -4.53263420e-04 9.99999877e-01 1.22701455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52925976399999 meters 0.1517281741823187 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99964306e-01 -8.43764263e-03 -4.39674871e-04 -5.15348945e+00] [ 8.43730345e-03 9.99964111e-01 -7.67643346e-04 3.65235189e+00] [ 4.46136192e-04 7.63906275e-04 9.99999609e-01 1.22762992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58925976399999 meters 0.1552511103834057 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.65, Z:1.23 [[ 9.99962979e-01 -8.58694382e-03 -5.51943952e-04 -5.15304215e+00] [ 8.58621952e-03 9.99962291e-01 -1.30151073e-03 3.65472151e+00] [ 5.63099138e-04 1.29672343e-03 9.99999001e-01 1.22754208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64925976399999 meters 0.15104030351761288 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.66, Z:1.23 [[ 9.99959592e-01 -8.95146819e-03 -8.27811110e-04 -5.15265321e+00] [ 8.94963424e-03 9.99957546e-01 -2.19321107e-03 3.65813862e+00] [ 8.47408425e-04 2.18571384e-03 9.99997252e-01 1.22820409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70925976399998 meters 0.15538337631910795 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.66, Z:1.23 [[ 9.99988697e-01 -4.56622277e-03 -1.32493117e-03 -5.15041410e+00] [ 4.56824243e-03 9.99988402e-01 1.52534467e-03 3.66275718e+00] [ 1.31795074e-03 -1.53138004e-03 9.99997959e-01 1.22663067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76925976399998 meters 0.14796767545839834 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.67, Z:1.23 [[ 9.99986623e-01 -4.84453330e-03 -1.81215510e-03 -5.14941213e+00] [ 4.84504695e-03 9.99988224e-01 2.79164351e-04 3.66736756e+00] [ 1.81078134e-03 -2.87940593e-04 9.99998319e-01 1.22737447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82925976399999 meters 0.13145245811900355 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99980307e-01 -5.71271294e-03 -2.59836801e-03 -5.14931561e+00] [ 5.70402938e-03 9.99978164e-01 -3.33714860e-03 3.67511569e+00] [ 2.61737544e-03 3.32226172e-03 9.99991056e-01 1.23328676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88925976399999 meters 0.12790878512936243 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99976809e-01 -6.15503857e-03 -2.91509412e-03 -5.14919539e+00] [ 6.14218504e-03 9.99971466e-01 -4.39791659e-03 3.67866871e+00] [ 2.94208028e-03 4.37990955e-03 9.99986080e-01 1.23457718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94925976399999 meters 0.13340448742867064 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99975485e-01 -6.18621515e-03 -3.28029066e-03 -5.14809171e+00] [ 6.17027823e-03 9.99969219e-01 -4.84645144e-03 3.68118334e+00] [ 3.31017088e-03 4.82609232e-03 9.99982876e-01 1.23444340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00925976399999 meters 0.13071539432465773 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99975083e-01 -6.12187769e-03 -3.51514112e-03 -5.14731247e+00] [ 6.10444405e-03 9.99969121e-01 -4.94907650e-03 3.68213292e+00] [ 3.54533021e-03 4.92749520e-03 9.99981575e-01 1.23425317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.069259764 meters 0.12866650024093965 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.68, Z:1.23 [[ 9.99974163e-01 -6.17602168e-03 -3.67845086e-03 -5.14676739e+00] [ 6.15691477e-03 9.99967613e-01 -5.18315260e-03 3.68352013e+00] [ 3.71034299e-03 5.16037077e-03 9.99979802e-01 1.23413054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12925976399998 meters 0.12630019411041898 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.69, Z:1.23 [[ 9.99974021e-01 -6.02932085e-03 -3.95021193e-03 -5.14532358e+00] [ 6.00862408e-03 9.99968269e-01 -5.23049125e-03 3.68527446e+00] [ 3.98162290e-03 5.20662003e-03 9.99978519e-01 1.23302988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18925976399998 meters 0.12297617995973752 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.69, Z:1.23 [[ 9.99971683e-01 -6.04565742e-03 -4.48134461e-03 -5.14388708e+00] [ 6.01953060e-03 9.99964941e-01 -5.82086898e-03 3.68860860e+00] [ 4.51637848e-03 5.79372856e-03 9.99973017e-01 1.23293805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24925976399999 meters 0.12258189770223377 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.70, Z:1.24 [[ 0.99996214 -0.00640699 -0.00588812 -5.14194195] [ 0.00635252 0.99993729 -0.00922295 3.69660059] [ 0.00594684 0.0091852 0.99994013 1.2384883 ] [ 0. 0. 0. 1. ]] SLAMing on 98.30925976399999 meters 0.1201960117051455 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.70, Z:1.24 [[ 0.99996278 -0.00621468 -0.0059854 -5.14139841] [ 0.0061605 0.99994027 -0.00902768 3.69644067] [ 0.00604114 0.00899047 0.99994134 1.23803798] [ 0. 0. 0. 1. ]] SLAMing on 98.36925976399999 meters 0.11613317659705717 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.69, Z:1.24 [[ 0.99996473 -0.00584388 -0.00603161 -5.14093849] [ 0.00579261 0.99994724 -0.00848337 3.69491658] [ 0.00608087 0.00844813 0.99994582 1.23747402] [ 0. 0. 0. 1. ]] SLAMing on 98.429259764 meters 0.11846662090222 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.69, Z:1.24 [[ 0.99996685 -0.00550967 -0.00599512 -5.14091071] [ 0.00546231 0.99995398 -0.00788695 3.69280396] [ 0.0060383 0.00785394 0.99995093 1.23718706] [ 0. 0. 0. 1. ]] SLAMing on 98.48925976399998 meters 0.11865440466085964 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.69, Z:1.24 [[ 9.99969342e-01 -5.14974180e-03 -5.89874649e-03 -5.14097866e+00] [ 5.10748723e-03 9.99961351e-01 -7.15611832e-03 3.69022635e+00] [ 5.93537067e-03 7.12577115e-03 9.99956996e-01 1.23680742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54925976399998 meters 0.1203455942317035 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.68, Z:1.24 [[ 9.99974245e-01 -4.40354411e-03 -5.66720094e-03 -5.14114212e+00] [ 4.37259148e-03 9.99975520e-01 -5.46256376e-03 3.68390929e+00] [ 5.69111685e-03 5.43764272e-03 9.99969021e-01 1.23594655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60925976399999 meters 0.12036078007032208 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.68, Z:1.24 [[ 9.99976320e-01 -4.02720071e-03 -5.58036456e-03 -5.14114215e+00] [ 4.00092266e-03 9.99980894e-01 -4.71220900e-03 3.68131897e+00] [ 5.59923495e-03 4.68977081e-03 9.99973327e-01 1.23549399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66925976399999 meters 0.12142475518618596 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.68, Z:1.23 [[ 9.99978882e-01 -3.46760925e-03 -5.49651506e-03 -5.14094291e+00] [ 3.44750138e-03 9.99987346e-01 -3.66355833e-03 3.67779240e+00] [ 5.50914930e-03 3.64453172e-03 9.99978183e-01 1.23473522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72925976399999 meters 0.12297328171125962 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99951199e-01 -9.72656680e-03 1.73042291e-03 -5.13118596e+00] [ 9.72412997e-03 9.99951724e-01 1.41111537e-03 3.67378900e+00] [-1.74406468e-03 -1.39421965e-03 9.99997507e-01 1.23106920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789259764 meters 0.12963937905193595 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99952944e-01 -9.53082843e-03 1.80891272e-03 -5.13141992e+00] [ 9.52737749e-03 9.99952795e-01 1.90686805e-03 3.67188169e+00] [-1.82700136e-03 -1.88954412e-03 9.99996546e-01 1.23105256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84925976399998 meters 0.12829871287715686 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99955455e-01 -9.27776223e-03 1.73547291e-03 -5.13085461e+00] [ 9.27373369e-03 9.99954318e-01 2.31511174e-03 3.67105413e+00] [-1.75687269e-03 -2.29891430e-03 9.99995814e-01 1.23040694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90925976399998 meters 0.12539342406086534 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99905484e-01 -1.37221453e-02 8.52011070e-04 -5.12905887e+00] [ 1.37246390e-02 9.99901332e-01 -2.99339314e-03 3.67583399e+00] [-8.10851229e-04 3.00480376e-03 9.99995157e-01 1.23122350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96925976399999 meters 0.13326424519205732 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99904634e-01 -1.37912710e-02 7.23467633e-04 -5.12868501e+00] [ 1.37935346e-02 9.99899670e-01 -3.22305370e-03 3.67706860e+00] [-6.78945041e-04 3.23272551e-03 9.99994544e-01 1.23120883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02925976399999 meters 0.12274993461103395 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99904562e-01 -1.37971304e-02 7.11184838e-04 -5.12846980e+00] [ 1.37993596e-02 9.99899564e-01 -3.23117429e-03 3.67756781e+00] [-6.66532476e-04 3.24067981e-03 9.99994527e-01 1.23091147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08925976399999 meters 0.12399508422327234 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99907793e-01 -1.35621397e-02 6.87793167e-04 -5.12814593e+00] [ 1.35640233e-02 9.99904050e-01 -2.81214859e-03 3.67642835e+00] [-6.49588421e-04 2.82121853e-03 9.99995809e-01 1.23045492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14925976399999 meters 0.12991204233201392 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99912370e-01 -1.32056979e-02 9.27902332e-04 -5.12819615e+00] [ 1.32074619e-02 9.99910932e-01 -1.92137954e-03 3.67375543e+00] [-9.02446527e-04 1.93346641e-03 9.99997724e-01 1.22942497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20925976399998 meters 0.1297660911159741 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99915897e-01 -1.29076339e-02 1.26186870e-03 -5.12867289e+00] [ 1.29089036e-02 9.99916173e-01 -1.00327626e-03 3.67057691e+00] [-1.24881300e-03 1.01948122e-03 9.99998701e-01 1.22871473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26925976399998 meters 0.13776858445001605 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99913802e-01 -1.30343758e-02 1.57899096e-03 -5.12998543e+00] [ 1.30355453e-02 9.99914765e-01 -7.32636640e-04 3.66858231e+00] [-1.56930691e-03 7.53156496e-04 9.99998485e-01 1.22948690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32925976399999 meters 0.1391362120792457 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99915833e-01 -1.28394532e-02 1.86442083e-03 -5.13044587e+00] [ 1.28397326e-02 9.99917558e-01 -1.37969958e-04 3.66650044e+00] [-1.86249566e-03 1.61897010e-04 9.99998252e-01 1.22901463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38925976399999 meters 0.1477670257048942 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99918431e-01 -1.26652745e-02 1.64980049e-03 -5.12949909e+00] [ 1.26652473e-02 9.99919792e-01 2.69372366e-05 3.66681116e+00] [-1.65000933e-03 -6.03990821e-06 9.99998639e-01 1.22840587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44925976399999 meters 0.13413931399188128 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99920019e-01 -1.25889761e-02 1.21348977e-03 -5.12839968e+00] [ 1.25892470e-02 9.99920729e-01 -2.15895359e-04 3.66841661e+00] [-1.21067568e-03 2.31155014e-04 9.99999240e-01 1.22845706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50925976399999 meters 0.1316863703673255 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99926437e-01 -1.20844531e-02 1.04232078e-03 -5.12708744e+00] [ 1.20840672e-02 9.99926914e-01 3.75710805e-04 3.66744798e+00] [-1.04678486e-03 -3.63087693e-04 9.99999386e-01 1.22713765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56925976399998 meters 0.13302853574298693 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99926144e-01 -1.21172384e-02 9.37465811e-04 -5.12662359e+00] [ 1.21170025e-02 9.99926553e-01 2.56893679e-04 3.66855511e+00] [-9.40509800e-04 -2.45515430e-04 9.99999528e-01 1.22683895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62925976399998 meters 0.13139649367543102 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99924893e-01 -1.22332431e-02 7.45902103e-04 -5.12606275e+00] [ 1.22333140e-02 9.99925166e-01 -9.05747671e-05 3.67047217e+00] [-7.44738261e-04 9.96928190e-05 9.99999718e-01 1.22675108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68925976399998 meters 0.1301559710766194 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.67, Z:1.23 [[ 9.99925199e-01 -1.22258917e-02 3.51182237e-04 -5.12474483e+00] [ 1.22260488e-02 9.99925158e-01 -4.48599404e-04 3.67316725e+00] [-3.45671426e-04 4.52859420e-04 9.99999838e-01 1.22626748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74925976399999 meters 0.12679208389893482 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.67, Z:1.22 [[ 9.99970377e-01 -7.68350729e-03 4.57910655e-04 -5.12415736e+00] [ 7.68155698e-03 9.99962014e-01 4.11871310e-03 3.67330876e+00] [-4.89539423e-04 -4.11507363e-03 9.99991413e-01 1.22484196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80925976399999 meters 0.1319741526677936 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.23 [[ 9.99922816e-01 -1.24104558e-02 -5.85453547e-04 -5.12258507e+00] [ 1.24090526e-02 9.99920261e-01 -2.34237775e-03 3.68040678e+00] [ 6.14476839e-04 2.33493203e-03 9.99997085e-01 1.22733934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86925976399999 meters 0.12584298478823705 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.23 [[ 9.99921005e-01 -1.25462654e-02 -7.58407796e-04 -5.12209140e+00] [ 1.25441591e-02 9.99917617e-01 -2.72090573e-03 3.68248529e+00] [ 7.92482521e-04 2.71117721e-03 9.99996011e-01 1.22728411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.929259764 meters 0.12658569427115773 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.23 [[ 9.99918271e-01 -1.27526691e-02 -9.05834619e-04 -5.12191410e+00] [ 1.27497249e-02 9.99913647e-01 -3.18493553e-03 3.68434428e+00] [ 9.46372826e-04 3.17312608e-03 9.99994518e-01 1.22764026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98925976399998 meters 0.12367930459981037 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 9.99918807e-01 -1.26891156e-02 -1.16880697e-03 -5.12062569e+00] [ 1.26851400e-02 9.99913934e-01 -3.34826171e-03 3.68662360e+00] [ 1.21119286e-03 3.33316338e-03 9.99993711e-01 1.22669947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04925976399998 meters 0.1220940006302602 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 9.99917886e-01 -1.27018331e-02 -1.69823663e-03 -5.11895271e+00] [ 1.26951536e-02 9.99911855e-01 -3.88777015e-03 3.69030966e+00] [ 1.74746875e-03 3.86589154e-03 9.99991001e-01 1.22620184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10925976399999 meters 0.1177301440457658 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 9.99964613e-01 -8.26121586e-03 -1.58883865e-03 -5.11881451e+00] [ 8.26223441e-03 9.99965665e-01 6.35570629e-04 3.69030698e+00] [ 1.58353351e-03 -6.48675496e-04 9.99998536e-01 1.22537846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16925976399999 meters 0.1148933030923344 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 9.99963279e-01 -8.29214106e-03 -2.16336947e-03 -5.11722010e+00] [ 8.29198217e-03 9.99965618e-01 -8.24013082e-05 3.69406050e+00] [ 2.16397837e-03 6.44596613e-05 9.99997657e-01 1.22529980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22925976399999 meters 0.11272948233077461 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.22 [[ 9.99964811e-01 -8.03830988e-03 -2.40040630e-03 -5.11597319e+00] [ 8.03844300e-03 9.99967690e-01 4.58135527e-05 3.69482653e+00] [ 2.39996048e-03 -6.51074699e-05 9.99997118e-01 1.22435319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.289259764 meters 0.11457058052545939 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99961423e-01 -8.35538899e-03 -2.70922159e-03 -5.11565984e+00] [ 8.35361840e-03 9.99964887e-01 -6.64199786e-04 3.69758015e+00] [ 2.71467611e-03 6.41542360e-04 9.99996109e-01 1.22513114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34925976399998 meters 0.11410947668984588 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99960901e-01 -8.40866732e-03 -2.73689794e-03 -5.11565798e+00] [ 8.40656396e-03 9.99964361e-01 -7.79120394e-04 3.69802106e+00] [ 2.74335176e-03 7.56082024e-04 9.99995951e-01 1.22525508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40925976399998 meters 0.11352778022687844 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.22 [[ 9.99962631e-01 -8.18010936e-03 -2.79686197e-03 -5.11520357e+00] [ 8.17880759e-03 9.99966439e-01 -4.76560091e-04 3.69737334e+00] [ 2.80066642e-03 4.53667286e-04 9.99995975e-01 1.22479517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46925976399999 meters 0.11215185664926297 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99962033e-01 -8.27815492e-03 -2.72123445e-03 -5.11566713e+00] [ 8.27665597e-03 9.99965590e-01 -5.61633781e-04 3.69736292e+00] [ 2.72579010e-03 5.39089736e-04 9.99996140e-01 1.22519162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52925976399999 meters 0.11144029989700592 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99959385e-01 -8.57587380e-03 -2.77185655e-03 -5.11587644e+00] [ 8.57296914e-03 9.99962692e-01 -1.05809737e-03 3.69909202e+00] [ 2.78082725e-03 1.03429135e-03 9.99995599e-01 1.22574205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58925976399999 meters 0.11262305997731598 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99958360e-01 -8.64547173e-03 -2.92136591e-03 -5.11540119e+00] [ 8.64179626e-03 9.99961855e-01 -1.26842475e-03 3.70037316e+00] [ 2.93222060e-03 1.24312609e-03 9.99994928e-01 1.22562780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64925976399999 meters 0.11209907545382168 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.70, Z:1.22 [[ 9.99960160e-01 -8.41722037e-03 -2.97136108e-03 -5.11481066e+00] [ 8.41426116e-03 9.99964092e-01 -1.00701135e-03 3.70002711e+00] [ 2.97973063e-03 9.81969425e-04 9.99995078e-01 1.22494528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70925976399998 meters 0.1111369471717571 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.70, Z:1.23 [[ 9.99960558e-01 -8.36388667e-03 -2.98783507e-03 -5.11489369e+00] [ 8.36101748e-03 9.99964574e-01 -9.71492311e-04 3.69971802e+00] [ 2.99585467e-03 9.46472652e-04 9.99995065e-01 1.22515795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76925976399998 meters 0.10927364276314336 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.23 [[ 9.99960491e-01 -8.35153886e-03 -3.04424944e-03 -5.11514620e+00] [ 8.34841106e-03 9.99964612e-01 -1.03870904e-03 3.69929215e+00] [ 3.05281653e-03 1.01325336e-03 9.99994827e-01 1.22582102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82925976399999 meters 0.11738581397994315 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.70, Z:1.23 [[ 9.99919806e-01 -1.22239724e-02 -3.31007591e-03 -5.11437066e+00] [ 1.22079264e-02 9.99913838e-01 -4.82520970e-03 3.69723714e+00] [ 3.36877394e-03 4.78441358e-03 9.99982880e-01 1.22586255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88925976399999 meters 0.12214819935614363 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.69, Z:1.23 [[ 9.99866642e-01 -1.60056710e-02 -3.24304272e-03 -5.11461034e+00] [ 1.59793208e-02 9.99840363e-01 -7.99435791e-03 3.69230462e+00] [ 3.37048007e-03 7.94147018e-03 9.99962786e-01 1.22603631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94925976399999 meters 0.12752780824341511 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99875651e-01 -1.56311007e-02 -2.08585274e-03 -5.11689719e+00] [ 1.56200245e-02 9.99864349e-01 -5.22475759e-03 3.68204005e+00] [ 2.16723850e-03 5.19152683e-03 9.99984175e-01 1.22444940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00925976399999 meters 0.13609551583091367 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.67, Z:1.22 [[ 9.99810729e-01 -1.94164278e-02 -1.22823964e-03 -5.11850406e+00] [ 1.94069167e-02 9.99784783e-01 -7.33210379e-03 3.67333882e+00] [ 1.37033856e-03 7.30687969e-03 9.99972365e-01 1.22365479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06925976399998 meters 0.14066522650298457 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.66, Z:1.22 [[ 9.99812984e-01 -1.93357889e-02 3.52427136e-04 -5.12165282e+00] [ 1.93370003e-02 9.99805654e-01 -3.83863479e-03 3.66222798e+00] [-2.78135611e-04 3.84473179e-03 9.99992570e-01 1.22039319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12925976399998 meters 0.14384574139685716 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.66, Z:1.22 [[ 9.99815832e-01 -1.91765591e-02 7.49478827e-04 -5.12298289e+00] [ 1.91787931e-02 9.99811274e-01 -3.09692262e-03 3.65839132e+00] [-6.89949062e-04 3.11072636e-03 9.99994924e-01 1.22088397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18925976399998 meters 0.14415393286976816 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.65, Z:1.22 [[ 9.99896554e-01 -1.42704950e-02 1.79843656e-03 -5.12450278e+00] [ 1.42649259e-02 9.99893531e-01 3.07232548e-03 3.65089742e+00] [-1.84208869e-03 -3.04635310e-03 9.99993663e-01 1.21903747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24925976399999 meters 0.15461696309892473 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.65, Z:1.22 [[ 9.99906263e-01 -1.35687990e-02 1.83111299e-03 -5.12400987e+00] [ 1.35609726e-02 9.99899137e-01 4.22095935e-03 3.64698415e+00] [-1.88820165e-03 -4.19573201e-03 9.99989415e-01 1.21813169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30925976399999 meters 0.154708332655374 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.65, Z:1.22 [[ 9.99908580e-01 -1.34033704e-02 1.78341604e-03 -5.12380151e+00] [ 1.33953201e-02 9.99900368e-01 4.45182415e-03 3.64630128e+00] [-1.84290780e-03 -4.42752774e-03 9.99988500e-01 1.21798613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36925976399999 meters 0.1543281487926206 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.64, Z:1.22 [[ 9.99913805e-01 -1.29857607e-02 1.93705868e-03 -5.12399477e+00] [ 1.29753846e-02 9.99901895e-01 5.27629679e-03 3.64305544e+00] [-2.00538537e-03 -5.25070791e-03 9.99984204e-01 1.21765253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.429259764 meters 0.1499908839127729 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.64, Z:1.22 [[ 9.99916664e-01 -1.27565441e-02 1.98389639e-03 -5.12413660e+00] [ 1.27450779e-02 9.99902596e-01 5.68871127e-03 3.64124415e+00] [-2.05627144e-03 -5.66295228e-03 9.99981851e-01 1.21769258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48925976399998 meters 0.1563599010914393 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.64, Z:1.22 [[ 9.99918416e-01 -1.26249090e-02 1.94230874e-03 -5.12425403e+00] [ 1.26133357e-02 9.99903279e-01 5.85964842e-03 3.64018225e+00] [-2.01609841e-03 -5.83467138e-03 9.99980946e-01 1.21803442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54925976399998 meters 0.14817320635766787 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.64, Z:1.22 [[ 9.99925357e-01 -1.20139332e-02 2.22411162e-03 -5.12453995e+00] [ 1.19979966e-02 9.99903202e-01 7.04518668e-03 3.63547583e+00] [-2.30853674e-03 -7.01797592e-03 9.99972709e-01 1.21744601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60925976399999 meters 0.1594718667376465 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.63, Z:1.22 [[ 9.99867558e-01 -1.60998714e-02 2.37912666e-03 -5.12504854e+00] [ 1.60918546e-02 9.99864902e-01 3.35121552e-03 3.63264949e+00] [-2.43275938e-03 -3.31248712e-03 9.99991555e-01 1.21783549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66925976399999 meters 0.16047495431017958 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.63, Z:1.22 [[ 9.99872732e-01 -1.57134240e-02 2.75825214e-03 -5.12565612e+00] [ 1.57011143e-02 9.99866920e-01 4.42915957e-03 3.62865547e+00] [-2.82748233e-03 -4.38528825e-03 9.99986387e-01 1.21726789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72925976399999 meters 0.15831723175195273 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.63, Z:1.22 [[ 9.99875240e-01 -1.54901869e-02 3.09157859e-03 -5.12661107e+00] [ 1.54741502e-02 9.99867029e-01 5.14542346e-03 3.62529405e+00] [-3.17087107e-03 -5.09694197e-03 9.99981983e-01 1.21750584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.789259764 meters 0.16163842765655834 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.62, Z:1.22 [[ 9.99797225e-01 -1.98914416e-02 3.13683159e-03 -5.12740194e+00] [ 1.98892893e-02 9.99801932e-01 7.15834075e-04 3.62419107e+00] [-3.15044926e-03 -6.53299570e-04 9.99994824e-01 1.21881275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84925976399998 meters 0.1695150343063966 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.62, Z:1.22 [[ 9.99794484e-01 -1.99224432e-02 3.75311135e-03 -5.12950790e+00] [ 1.99172266e-02 9.99800621e-01 1.42223882e-03 3.61921796e+00] [-3.78069753e-03 -1.34719496e-03 9.99991946e-01 1.21984262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90925976399998 meters 0.17149254783013035 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.61, Z:1.22 [[ 9.99803493e-01 -1.93687631e-02 4.22212167e-03 -5.13001687e+00] [ 1.93563585e-02 9.99808269e-01 2.95931389e-03 3.61385071e+00] [-4.27863041e-03 -2.87700746e-03 9.99986708e-01 1.21872130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96925976399999 meters 0.1814509610588327 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.62, Z:1.23 [[ 9.99799737e-01 -1.99340961e-02 -1.76562265e-03 -5.14383775e+00] [ 1.99177396e-02 9.99762524e-01 -8.84186010e-03 3.61607184e+00] [ 1.94145785e-03 8.80492219e-03 9.99959351e-01 1.22523715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02925976399999 meters 0.17871396838445983 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.61, Z:1.23 [[ 9.99879575e-01 -1.54886933e-02 -9.66945494e-04 -5.14571130e+00] [ 1.54852372e-02 9.99874024e-01 -3.48488913e-03 3.61102971e+00] [ 1.02080006e-03 3.46949608e-03 9.99993460e-01 1.22506456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08925976399999 meters 0.17765994901079366 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.61, Z:1.22 [[ 9.99941488e-01 -1.07991250e-02 -6.31915289e-04 -5.14641000e+00] [ 1.08001710e-02 9.99940272e-01 1.67608382e-03 3.60754730e+00] [ 6.13777308e-04 -1.68281055e-03 9.99998396e-01 1.22463663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14925976399999 meters 0.18153175987237938 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.61, Z:1.22 [[ 9.99946135e-01 -1.03675011e-02 -4.92026967e-04 -5.14625390e+00] [ 1.03686345e-02 9.99943460e-01 2.35971492e-03 3.60549119e+00] [ 4.67534801e-04 -2.36468946e-03 9.99997095e-01 1.22384712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20925976399998 meters 0.1848967839619659 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99948943e-01 -1.01025341e-02 -2.24953722e-04 -5.14687057e+00] [ 1.01031535e-02 9.99944617e-01 2.94768487e-03 3.60292251e+00] [ 1.95162177e-04 -2.94980712e-03 9.99995630e-01 1.22378215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26925976399998 meters 0.17823931277501817 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99949194e-01 -1.00780720e-02 -2.06831631e-04 -5.14722965e+00] [ 1.00786540e-02 9.99944594e-01 3.03815375e-03 3.60220787e+00] [ 1.76201439e-04 -3.04008398e-03 9.99995363e-01 1.22425634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32925976399999 meters 0.18337348957209948 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99950016e-01 -9.99697907e-03 -1.62100160e-04 -5.14747537e+00] [ 9.99745241e-03 9.99944763e-01 3.24381774e-03 3.60121453e+00] [ 1.29662828e-04 -3.24527619e-03 9.99994726e-01 1.22443090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38925976399999 meters 0.1778575004767886 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99953433e-01 -9.64500267e-03 -3.26629454e-04 -5.14633079e+00] [ 9.64612768e-03 9.99946856e-01 3.63835268e-03 3.60099991e+00] [ 2.91520174e-04 -3.64133397e-03 9.99993328e-01 1.22330796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44925976399999 meters 0.18264493755711256 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99956896e-01 -9.27806983e-03 -3.51765434e-04 -5.14552648e+00] [ 9.27945163e-03 9.99948315e-01 4.15432931e-03 3.60013484e+00] [ 3.13203095e-04 -4.15741443e-03 9.99991309e-01 1.22216439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50925976399999 meters 0.20331288974939377 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99957428e-01 -9.22401078e-03 -2.43030750e-04 -5.14550108e+00] [ 9.22496328e-03 9.99948361e-01 4.26323513e-03 3.60010758e+00] [ 2.03694074e-04 -4.26529558e-03 9.99990883e-01 1.22172576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56925976399998 meters 0.20551782474989785 Centerline is valid? [False, False] Translation: X:-5.15, Y:3.60, Z:1.22 [[ 9.99958330e-01 -9.12870320e-03 7.19643608e-05 -5.14589118e+00] [ 9.12827308e-03 9.99947653e-01 4.62227216e-03 3.59904756e+00] [-1.14155944e-04 -4.62142264e-03 9.99989315e-01 1.22112901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62925976399998 meters 0.19646996089669272 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.61, Z:1.22 [[ 9.99952941e-01 -9.67649992e-03 -6.93210935e-04 -5.14479176e+00] [ 9.67851539e-03 9.99948764e-01 2.96561020e-03 3.60525431e+00] [ 6.64478691e-04 -2.97217990e-03 9.99995362e-01 1.22252501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68925976399998 meters 0.1917205463557375 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.61, Z:1.22 [[ 9.99950992e-01 -9.85005585e-03 -9.94616256e-04 -5.14403742e+00] [ 9.85240339e-03 9.99948623e-01 2.38359672e-03 3.60791242e+00] [ 9.71086595e-04 -2.39327927e-03 9.99996665e-01 1.22263388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74925976399999 meters 0.18424202972690704 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.61, Z:1.22 [[ 9.99950993e-01 -9.73923941e-03 -1.77743984e-03 -5.14169027e+00] [ 9.74210779e-03 9.99951245e-01 1.61231327e-03 3.61253393e+00] [ 1.76165048e-03 -1.62955027e-03 9.99997121e-01 1.22194408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80925976399999 meters 0.176049725408192 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.62, Z:1.22 [[ 9.99946495e-01 -1.00848684e-02 -2.30260181e-03 -5.14032254e+00] [ 1.00859892e-02 9.99949022e-01 4.75649256e-04 3.61780215e+00] [ 2.29768757e-03 -4.98847823e-04 9.99997236e-01 1.22198695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86925976399999 meters 0.16942117854470437 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.63, Z:1.23 [[ 9.99936267e-01 -1.07099622e-02 -3.57182293e-03 -5.13858338e+00] [ 1.06992481e-02 9.99938245e-01 -3.00535920e-03 3.62705994e+00] [ 3.60378964e-03 2.96695184e-03 9.99989105e-01 1.22645809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92925976399998 meters 0.15968622326156898 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.63, Z:1.22 [[ 9.99971812e-01 -6.40806362e-03 -3.91293773e-03 -5.13668950e+00] [ 6.41109229e-03 9.99979158e-01 7.61962162e-04 3.63155897e+00] [ 3.90797348e-03 -7.87026889e-04 9.99992054e-01 1.22485505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98925976399998 meters 0.15405072996259592 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.23 [[ 9.99965791e-01 -6.89058903e-03 -4.57566147e-03 -5.13546280e+00] [ 6.88675961e-03 9.99975923e-01 -8.52138713e-04 3.63787108e+00] [ 4.58142304e-03 8.20598081e-04 9.99989169e-01 1.22574701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04925976399998 meters 0.15381912459072267 Centerline is valid? [False, False] Translation: X:-5.14, Y:3.64, Z:1.23 [[ 9.99959270e-01 -7.56444468e-03 -4.92311201e-03 -5.13554370e+00] [ 7.55286114e-03 9.99968675e-01 -2.36724372e-03 3.64249946e+00] [ 4.94086468e-03 2.32996372e-03 9.99985079e-01 1.22754279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10925976399999 meters 0.15065821753974717 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.65, Z:1.23 [[ 9.99953058e-01 -7.68494150e-03 -5.90109142e-03 -5.13293682e+00] [ 7.66353603e-03 9.99964004e-01 -3.64146023e-03 3.64973099e+00] [ 5.92886342e-03 3.59606607e-03 9.99975958e-01 1.22724555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16925976399999 meters 0.1466370317041596 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.65, Z:1.23 [[ 9.99948342e-01 -7.80040600e-03 -6.51668764e-03 -5.13110924e+00] [ 7.77186258e-03 9.99960145e-01 -4.39395229e-03 3.65447585e+00] [ 6.55070253e-03 4.34307851e-03 9.99969113e-01 1.22681893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22925976399999 meters 0.14724466341016368 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.66, Z:1.23 [[ 0.99993886 -0.00820612 -0.00741127 -5.1293117 ] [ 0.00816116 0.99994824 -0.00607564 3.66172144] [ 0.00746074 0.00601479 0.99995408 1.22771837] [ 0. 0. 0. 1. ]] SLAMing on 103.289259764 meters 0.13737190406040029 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99961875e-01 -3.87393721e-03 -7.82566404e-03 -5.12754785e+00] [ 3.85543225e-03 9.99989739e-01 -2.37835383e-03 3.66609695e+00] [ 7.83479734e-03 2.34809184e-03 9.99966551e-01 1.22667418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34925976399998 meters 0.13705593839146582 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.67, Z:1.23 [[ 9.99954069e-01 -4.31912331e-03 -8.55604217e-03 -5.12627724e+00] [ 4.28607145e-03 9.99983297e-01 -3.87756285e-03 3.67213566e+00] [ 8.57264693e-03 3.84071294e-03 9.99955878e-01 1.22775254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40925976399998 meters 0.13221839519526093 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99949594e-01 -4.59044426e-03 -8.92954567e-03 -5.12524588e+00] [ 4.54943880e-03 9.99979039e-01 -4.60701604e-03 3.67607438e+00] [ 8.95050675e-03 4.56615940e-03 9.99949518e-01 1.22774076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46925976399999 meters 0.13217717765317677 Centerline is valid? [False, False] Translation: X:-5.13, Y:3.68, Z:1.23 [[ 9.99947261e-01 -5.09121395e-03 -8.91938470e-03 -5.12537452e+00] [ 5.04343768e-03 9.99972859e-01 -5.37078200e-03 3.67938727e+00] [ 8.94648641e-03 5.32551439e-03 9.99945798e-01 1.22795965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52925976399999 meters 0.13012201820914104 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 0.99990478 -0.00962951 -0.00988455 -5.12319451] [ 0.00952479 0.99989859 -0.01058752 3.68532272] [ 0.0099855 0.01049237 0.99989509 1.22820612] [ 0. 0. 0. 1. ]] SLAMing on 103.58925976399999 meters 0.12495021896063832 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 0.99993522 -0.00523195 -0.01010851 -5.12174517] [ 0.00516647 0.99996557 -0.00649381 3.68819768] [ 0.01014213 0.00644116 0.99992782 1.22687966] [ 0. 0. 0. 1. ]] SLAMing on 103.64925976399999 meters 0.1215927069593562 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.23 [[ 0.99993028 -0.00530542 -0.01054928 -5.12031635] [ 0.00523084 0.99996122 -0.00708498 3.69177802] [ 0.01058646 0.0070293 0.99991925 1.22656239] [ 0. 0. 0. 1. ]] SLAMing on 103.70925976399998 meters 0.11997490528077329 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.22 [[ 9.99997866e-01 -8.65830416e-04 1.87545586e-03 -5.11541826e+00] [ 8.81068912e-04 9.99966484e-01 -8.13969300e-03 3.69399573e+00] [-1.86834541e-03 8.14132804e-03 9.99965113e-01 1.22045313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76925976399998 meters 0.1261662456946129 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.22 [[ 9.99997312e-01 -1.10378737e-03 2.03912492e-03 -5.11606144e+00] [ 1.12092909e-03 9.99963885e-01 -8.42447804e-03 3.69480385e+00] [-2.02975244e-03 8.42674111e-03 9.99962434e-01 1.22082380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82925976399999 meters 0.12676211687218678 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.70, Z:1.22 [[ 9.99997319e-01 -1.23841288e-03 1.95656865e-03 -5.11623243e+00] [ 1.25537218e-03 9.99961448e-01 -8.69055886e-03 3.69551136e+00] [-1.94573072e-03 8.69299178e-03 9.99960322e-01 1.22143887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88925976399999 meters 0.1233113867339332 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.70, Z:1.22 [[ 9.99998192e-01 -8.39176023e-04 1.70637428e-03 -5.11495373e+00] [ 8.53248157e-04 9.99965498e-01 -8.26286792e-03 3.69518758e+00] [-1.69938141e-03 8.26430894e-03 9.99964406e-01 1.22044624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94925976399999 meters 0.12389036080613552 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.70, Z:1.22 [[ 9.99986463e-01 -5.02031902e-03 1.36755193e-03 -5.11406636e+00] [ 5.03714347e-03 9.99908052e-01 -1.25902920e-02 3.69571459e+00] [-1.30421891e-03 1.25970101e-02 9.99919804e-01 1.22045683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00925976399999 meters 0.12774423266777643 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.69, Z:1.22 [[ 9.99987584e-01 -4.55750542e-03 2.01502290e-03 -5.11535771e+00] [ 4.57915893e-03 9.99930377e-01 -1.08752930e-02 3.68872875e+00] [-1.96531840e-03 1.08843851e-02 9.99938832e-01 1.21968663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06925976399998 meters 0.13083945552513973 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99987776e-01 -4.21522596e-03 2.58453720e-03 -5.11637943e+00] [ 4.23989389e-03 9.99944792e-01 -9.61441760e-03 3.68387417e+00] [-2.54386757e-03 9.62525823e-03 9.99950440e-01 1.21886215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12925976399998 meters 0.1319637123732514 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99988542e-01 -3.87565054e-03 2.80984368e-03 -5.11670024e+00] [ 3.90027502e-03 9.99953569e-01 -8.81178501e-03 3.68088945e+00] [-2.77556181e-03 8.82264321e-03 9.99957228e-01 1.21834282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18925976399998 meters 0.13423960768019813 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99990097e-01 -3.41922214e-03 2.84860493e-03 -5.11631681e+00] [ 3.44196439e-03 9.99961937e-01 -8.01736788e-03 3.67851239e+00] [-2.82108334e-03 8.02709329e-03 9.99963803e-01 1.21749418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24925976399999 meters 0.1412260212718561 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99991507e-01 -2.96284143e-03 2.86478498e-03 -5.11586961e+00] [ 2.98365468e-03 9.99968988e-01 -7.28843431e-03 3.67633292e+00] [-2.84310166e-03 7.29691994e-03 9.99969335e-01 1.21666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30925976399999 meters 0.13682603617491707 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.68, Z:1.22 [[ 9.99991682e-01 -2.92140472e-03 2.84625179e-03 -5.11585822e+00] [ 2.94203186e-03 9.99969245e-01 -7.27009353e-03 3.67624020e+00] [-2.82492537e-03 7.27840682e-03 9.99969522e-01 1.21673259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36925976399999 meters 0.13810089494981637 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.67, Z:1.22 [[ 9.99992613e-01 -2.52537106e-03 2.89762361e-03 -5.11539847e+00] [ 2.54452334e-03 9.99974816e-01 -6.62511281e-03 3.67453857e+00] [-2.88081977e-03 6.63243694e-03 9.99973855e-01 1.21578350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42925976399998 meters 0.14067965962530474 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.67, Z:1.22 [[ 9.99974751e-01 -6.60100791e-03 2.63120247e-03 -5.11449197e+00] [ 6.62893080e-03 9.99920259e-01 -1.07486565e-02 3.67442793e+00] [-2.56004068e-03 1.07658272e-02 9.99938770e-01 1.21551308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48925976399998 meters 0.1404685295719622 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.67, Z:1.22 [[ 9.99975980e-01 -6.39263002e-03 2.67852554e-03 -5.11446553e+00] [ 6.42001335e-03 9.99925905e-01 -1.03425525e-02 3.67303760e+00] [-2.61221097e-03 1.03595002e-02 9.99942927e-01 1.21523332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54925976399998 meters 0.1436999154412779 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.67, Z:1.21 [[ 9.99977921e-01 -6.01036092e-03 2.83422413e-03 -5.11464302e+00] [ 6.03746419e-03 9.99935180e-01 -9.65327919e-03 3.67037322e+00] [-2.77602072e-03 9.67017758e-03 9.99949389e-01 1.21486027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60925976399999 meters 0.14370088780724577 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.67, Z:1.21 [[ 9.99979942e-01 -5.60252311e-03 2.95425851e-03 -5.11438040e+00] [ 5.62870941e-03 9.99944272e-01 -8.93138400e-03 3.66831003e+00] [-2.90405559e-03 8.94783351e-03 9.99955750e-01 1.21390289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66925976399999 meters 0.1434552960945939 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.67, Z:1.21 [[ 9.99980394e-01 -5.34622003e-03 3.26026433e-03 -5.11502294e+00] [ 5.37276157e-03 9.99952050e-01 -8.18723486e-03 3.66542772e+00] [-3.21633724e-03 8.20459096e-03 9.99961169e-01 1.21362737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72925976399999 meters 0.1475563347590263 Centerline is valid? [False, False] Translation: X:-5.12, Y:3.66, Z:1.21 [[ 9.99980849e-01 -5.12001016e-03 3.47660125e-03 -5.11552281e+00] [ 5.14633211e-03 9.99957839e-01 -7.60491576e-03 3.66308291e+00] [-3.43751743e-03 7.62266186e-03 9.99965039e-01 1.21349992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.789259764 meters 0.14882062377753377 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99983590e-01 -4.59106218e-03 3.42651710e-03 -5.11476128e+00] [ 4.61426380e-03 9.99966273e-01 -6.79429065e-03 3.66088240e+00] [-3.39520852e-03 6.80999001e-03 9.99971048e-01 1.21244222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84925976399998 meters 0.14268605611340038 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99986182e-01 -4.18495700e-03 3.18141229e-03 -5.11338240e+00] [ 4.20519734e-03 9.99970791e-01 -6.38221962e-03 3.66068097e+00] [-3.15461005e-03 6.39550990e-03 9.99974573e-01 1.21130097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90925976399998 meters 0.1480837197777395 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99989015e-01 -3.82000210e-03 2.71613390e-03 -5.11178252e+00] [ 3.83683144e-03 9.99973307e-01 -6.21808847e-03 3.66129498e+00] [-2.69230829e-03 6.22844151e-03 9.99976979e-01 1.21064389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96925976399999 meters 0.1424712351863147 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99991368e-01 -3.53290065e-03 2.18689223e-03 -5.11021015e+00] [ 3.54666052e-03 9.99973736e-01 -6.32040593e-03 3.66279720e+00] [-2.16450543e-03 6.32810754e-03 9.99977635e-01 1.21032926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02925976399999 meters 0.13748954402339092 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99993130e-01 -3.20788530e-03 1.85740300e-03 -5.10888007e+00] [ 3.21923968e-03 9.99975952e-01 -6.14266409e-03 3.66326900e+00] [-1.83765337e-03 6.14860132e-03 9.99979409e-01 1.20960447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08925976399999 meters 0.13569561269483588 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99994028e-01 -2.92577132e-03 1.83965520e-03 -5.10864020e+00] [ 2.93631710e-03 9.99979122e-01 -5.75614675e-03 3.66204271e+00] [-1.82277562e-03 5.76151418e-03 9.99981741e-01 1.20928156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14925976399999 meters 0.13479949409166803 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99972627e-01 -7.25938055e-03 1.43060815e-03 -5.10786970e+00] [ 7.27375328e-03 9.99920380e-01 -1.03114260e-02 3.66344588e+00] [-1.35563968e-03 1.03215496e-02 9.99945812e-01 1.20973904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20925976399998 meters 0.1354018540510353 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99974080e-01 -7.02002928e-03 1.59980087e-03 -5.10804480e+00] [ 7.03532424e-03 9.99927578e-01 -9.76434042e-03 3.66160606e+00] [-1.53113906e-03 9.77534244e-03 9.99951048e-01 1.20927776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26925976399998 meters 0.13808893872614114 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99974228e-01 -6.74494584e-03 2.45943797e-03 -5.10968609e+00] [ 6.76535899e-03 9.99941932e-01 -8.38828188e-03 3.65552544e+00] [-2.40271664e-03 8.40470468e-03 9.99961793e-01 1.20853466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32925976399999 meters 0.14079549225212878 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.65, Z:1.21 [[ 9.99974357e-01 -6.51300790e-03 2.97761923e-03 -5.11074008e+00] [ 6.53500803e-03 9.99950973e-01 -7.43945570e-03 3.65166462e+00] [-2.92902001e-03 7.45872370e-03 9.99967894e-01 1.20813168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38925976399999 meters 0.16063129733021836 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.65, Z:1.21 [[ 9.99935257e-01 -1.08296261e-02 3.49311525e-03 -5.11223365e+00] [ 1.08673930e-02 9.99880658e-01 -1.09803889e-02 3.64784481e+00] [-3.37378487e-03 1.10176390e-02 9.99933612e-01 1.20859020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44925976399999 meters 0.15387991765599263 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.65, Z:1.21 [[ 9.99934684e-01 -1.07592224e-02 3.85587733e-03 -5.11315131e+00] [ 1.07990170e-02 9.99887054e-01 -1.04527344e-02 3.64553081e+00] [-3.74297853e-03 1.04936914e-02 9.99937934e-01 1.20857601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50925976399999 meters 0.17215236526538188 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.64, Z:1.21 [[ 9.99973171e-01 -6.06219868e-03 4.11192141e-03 -5.11317022e+00] [ 6.08435309e-03 9.99966926e-01 -5.39690966e-03 3.64336429e+00] [-4.07906828e-03 5.42178324e-03 9.99976982e-01 1.20746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56925976399998 meters 0.15653807846000892 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.64, Z:1.21 [[ 9.99975153e-01 -5.91166676e-03 3.84007213e-03 -5.11213164e+00] [ 5.93263588e-03 9.99967428e-01 -5.47236263e-03 3.64457787e+00] [-3.80759627e-03 5.49500840e-03 9.99977653e-01 1.20697795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62925976399998 meters 0.14985786231733655 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.65, Z:1.21 [[ 9.99974878e-01 -6.20561576e-03 3.42559049e-03 -5.11110375e+00] [ 6.22688239e-03 9.99961188e-01 -6.23280586e-03 3.64883648e+00] [-3.38677914e-03 6.25398002e-03 9.99974708e-01 1.20700951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68925976399998 meters 0.14455265504539802 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.66, Z:1.21 [[ 9.99975772e-01 -6.63514264e-03 2.10497407e-03 -5.10913916e+00] [ 6.65504678e-03 9.99931830e-01 -9.59404410e-03 3.65741528e+00] [-2.04117272e-03 9.60782036e-03 9.99951761e-01 1.21186366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74925976399999 meters 0.136812505518437 Centerline is valid? [False, False] Translation: X:-5.11, Y:3.67, Z:1.21 [[ 9.99996385e-01 -2.33947139e-03 1.32576435e-03 -5.10620957e+00] [ 2.34803914e-03 9.99976130e-01 -6.49821599e-03 3.66568687e+00] [-1.31053031e-03 6.50130544e-03 9.99978008e-01 1.21010143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80925976399999 meters 0.12970982359669544 Centerline is valid? [False, False] Translation: X:-5.10, Y:3.67, Z:1.21 [[ 9.99997505e-01 2.11745784e-03 7.12162732e-04 -5.10324700e+00] [-2.11529724e-03 9.99993199e-01 -3.02104871e-03 3.67225982e+00] [-7.18554832e-04 3.01953474e-03 9.99995183e-01 1.20784310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86925976399999 meters 0.1147095059534342 Centerline is valid? [False, False] Translation: X:-5.05, Y:3.68, Z:1.21 [[ 9.99887932e-01 1.30370197e-02 -7.35937975e-03 -5.05039162e+00] [-1.30371609e-02 9.99915012e-01 2.87868956e-05 3.68194574e+00] [ 7.35912959e-03 6.71617484e-05 9.99972919e-01 1.21066281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92925976399998 meters 0.10344540880726877 Centerline is valid? [False, False] Translation: X:-5.02, Y:3.69, Z:1.20 [[ 9.99567114e-01 2.92135226e-02 -3.48647194e-03 -5.02397149e+00] [-2.92038134e-02 9.99569545e-01 2.80401032e-03 3.69161082e+00] [ 3.56688619e-03 -2.70097822e-03 9.99989991e-01 1.20407294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98925976399998 meters 0.09258793079652107 Centerline is valid? [False, True] Translation: X:-4.96, Y:3.70, Z:1.21 [[ 0.99899026 0.04319387 -0.01235927 -4.96241939] [-0.0431285 0.99905435 0.00550841 3.69986053] [ 0.01258551 -0.00496982 0.99990845 1.20534312] [ 0. 0. 0. 1. ]] SLAMing on 106.04925976399998 meters 0.08945007719746782 Centerline is valid? [True, True] Translation: X:-4.90, Y:3.71, Z:1.21 [[ 9.98674589e-01 4.97374182e-02 -1.32383703e-02 -4.90175644e+00] [-4.97286478e-02 9.98762274e-01 9.91057328e-04 3.71195856e+00] [ 1.32712775e-02 -3.31417515e-04 9.99911878e-01 1.20601510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10925976399999 meters 0.08552217036830692 Centerline is valid? [True, True] Translation: X:-4.84, Y:3.75, Z:1.20 [[ 9.97225371e-01 7.21795369e-02 -1.82119316e-02 -4.83875241e+00] [-7.21666895e-02 9.97391655e-01 1.36251958e-03 3.75048455e+00] [ 1.82627746e-02 -4.44442766e-05 9.99833221e-01 1.19672074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16925976399999 meters 0.08662449434566984 Centerline is valid? [True, True] Translation: X:-4.78, Y:3.76, Z:1.19 [[ 9.96556511e-01 8.01807950e-02 -2.11224968e-02 -4.77878680e+00] [-8.01653312e-02 9.96780330e-01 1.57919057e-03 3.76058146e+00] [ 2.11811101e-02 1.19539309e-04 9.99775648e-01 1.18960249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22925976399999 meters 0.08917360059967618 Centerline is valid? [True, True] Translation: X:-4.72, Y:3.77, Z:1.18 [[ 9.96091656e-01 8.48656395e-02 -2.44793067e-02 -4.71974950e+00] [-8.48462922e-02 9.96392372e-01 1.82979577e-03 3.76532940e+00] [ 2.45462813e-02 2.54334113e-04 9.99698662e-01 1.17524278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28925976399998 meters 0.08848879454776463 Centerline is valid? [True, True] Translation: X:-4.66, Y:3.74, Z:1.17 [[ 9.96602163e-01 7.76742086e-02 -2.74015678e-02 -4.66214962e+00] [-7.76472923e-02 9.96978791e-01 2.04656504e-03 3.74303713e+00] [ 2.74777473e-02 8.80463977e-05 9.99622412e-01 1.17320182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34925976399998 meters 0.09076946758944034 Centerline is valid? [True, True] Translation: X:-4.60, Y:3.70, Z:1.17 [[ 9.97930059e-01 5.77543595e-02 -2.82848151e-02 -4.60499574e+00] [-5.77176418e-02 9.98330710e-01 2.11353519e-03 3.69709090e+00] [ 2.83596655e-02 -4.76627465e-04 9.99597670e-01 1.17092295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40925976399998 meters 0.10334565067610252 Centerline is valid? [True, False] Translation: X:-4.58, Y:3.69, Z:1.16 [[ 9.99727867e-01 1.91341222e-02 -1.33445408e-02 -4.57935364e+00] [-1.90815529e-02 9.99809705e-01 4.05565361e-03 3.68684337e+00] [ 1.34196028e-02 -3.79991538e-03 9.99902733e-01 1.16058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46925976399999 meters 0.12108761025844314 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.68, Z:1.16 [[ 9.99981560e-01 -3.21114924e-03 -5.15439802e-03 -4.57752920e+00] [ 3.19302166e-03 9.99988702e-01 -3.52129984e-03 3.68004399e+00] [ 5.16564721e-03 3.50477680e-03 9.99980516e-01 1.15856593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52925976399999 meters 0.14647283066566563 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.66, Z:1.15 [[ 9.99534427e-01 -3.02262172e-02 4.15993219e-03 -4.57882360e+00] [ 3.02671358e-02 9.99490283e-01 -1.01525340e-02 3.66195677e+00] [-3.85093911e-03 1.02737165e-02 9.99939809e-01 1.15043167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58925976399999 meters 0.15542123878497724 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.65, Z:1.15 [[ 9.99646844e-01 -2.59807314e-02 5.58472373e-03 -4.58198184e+00] [ 2.60003556e-02 9.99655909e-01 -3.47048139e-03 3.65212281e+00] [-5.49263643e-03 3.61446057e-03 9.99978383e-01 1.14923107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64925976399999 meters 0.15973336136968488 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.64, Z:1.15 [[ 0.99941181 -0.03373188 0.00618077 -4.58328793] [ 0.03379535 0.99937394 -0.01046889 3.6435576 ] [-0.00582377 0.01067162 0.9999261 1.14989378] [ 0. 0. 0. 1. ]] SLAMing on 106.70925976399998 meters 0.16052724984047234 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.63, Z:1.15 [[ 0.99926419 -0.03771324 0.00698516 -4.58618469] [ 0.03780499 0.99919387 -0.01350497 3.63499505] [-0.00647021 0.01375911 0.9998844 1.15220433] [ 0. 0. 0. 1. ]] SLAMing on 106.76925976399998 meters 0.18091772086088442 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.62, Z:1.15 [[ 0.99910636 -0.0411882 0.00948801 -4.59168946] [ 0.0413191 0.99904734 -0.01404079 3.6204588 ] [-0.00890065 0.01442028 0.99985641 1.15301169] [ 0. 0. 0. 1. ]] SLAMing on 106.82925976399999 meters 0.18519052717211487 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.60, Z:1.15 [[ 0.99890322 -0.04495798 0.01308224 -4.59935872] [ 0.04512648 0.9988982 -0.01288384 3.60292732] [-0.0124886 0.01346007 0.99983142 1.15164165] [ 0. 0. 0. 1. ]] SLAMing on 106.88925976399999 meters 0.19018605217235823 Centerline is valid? [False, False] Translation: X:-4.61, Y:3.59, Z:1.15 [[ 0.99870286 -0.04832976 0.01602629 -4.60608533] [ 0.04853677 0.99873951 -0.01278995 3.58795835] [-0.01538795 0.01355122 0.99978977 1.15257807] [ 0. 0. 0. 1. ]] SLAMing on 106.94925976399999 meters 0.21305033896685294 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.58, Z:1.16 [[ 0.99834343 -0.05684259 0.00890638 -4.61916739] [ 0.0569588 0.99828676 -0.01338813 3.57580783] [-0.0081301 0.01387325 0.99987071 1.16044464] [ 0. 0. 0. 1. ]] SLAMing on 107.00925976399999 meters 0.22855780665303016 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.57, Z:1.16 [[ 0.99807217 -0.06115843 0.01056321 -4.62304095] [ 0.06132356 0.99798827 -0.01608813 3.56653877] [-0.00955803 0.01670489 0.99981478 1.16196166] [ 0. 0. 0. 1. ]] SLAMing on 107.06925976399998 meters 0.22565196839467 Centerline is valid? [False, False] Translation: X:-4.64, Y:3.55, Z:1.16 [[ 0.9976745 -0.0662785 0.01589807 -4.63514822] [ 0.06649998 0.99769055 -0.01383207 3.54720039] [-0.01494459 0.01485713 0.99977794 1.16000255] [ 0. 0. 0. 1. ]] SLAMing on 107.12925976399998 meters 0.2213757061694974 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.54, Z:1.16 [[ 0.99812013 -0.06021989 0.01139208 -4.65236114] [ 0.06037397 0.99808178 -0.01370196 3.53926618] [-0.01054509 0.01436399 0.99984123 1.16083997] [ 0. 0. 0. 1. ]] SLAMing on 107.18925976399998 meters 0.23082082410897936 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.53, Z:1.17 [[ 9.97586665e-01 -6.93688004e-02 2.96901979e-03 -4.66254317e+00] [ 6.94070678e-02 9.97464786e-01 -1.57053965e-02 3.52649615e+00] [-1.87202818e-03 1.58735650e-02 9.99872255e-01 1.16748926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24925976399999 meters 0.23951565570128874 Centerline is valid? [False, False] Translation: X:-4.67, Y:3.52, Z:1.17 [[ 9.97554160e-01 -6.97184652e-02 5.00331130e-03 -4.66732849e+00] [ 6.97820532e-02 9.97465161e-01 -1.39182511e-02 3.51646683e+00] [-4.02026961e-03 1.42333506e-02 9.99890619e-01 1.16771176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30925976399999 meters 0.23719932779315964 Centerline is valid? [False, False] Translation: X:-4.67, Y:3.51, Z:1.17 [[ 0.99768422 -0.06763543 0.00718625 -4.673657 ] [ 0.06771694 0.99763503 -0.0117795 3.51215698] [-0.00637254 0.01223885 0.9999048 1.17100257] [ 0. 0. 0. 1. ]] SLAMing on 107.36925976399999 meters 0.2518137298809107 Centerline is valid? [False, False] Translation: X:-4.69, Y:3.51, Z:1.17 [[ 0.99799884 -0.06119959 0.01590335 -4.68877789] [ 0.06142848 0.99800867 -0.01432597 3.50991553] [-0.01499493 0.01527422 0.9997709 1.16844878] [ 0. 0. 0. 1. ]] SLAMing on 107.42925976399998 meters 0.23594628433681072 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.51, Z:1.17 [[ 0.99866099 -0.05073349 0.01011639 -4.70392356] [ 0.0508431 0.99864728 -0.01088956 3.51206615] [-0.00955024 0.01138932 0.99988953 1.16785651] [ 0. 0. 0. 1. ]] SLAMing on 107.48925976399998 meters 0.2538173912092333 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.52, Z:1.17 [[ 9.99244844e-01 -3.88243707e-02 1.55251845e-03 -4.70813365e+00] [ 3.88406645e-02 9.99168532e-01 -1.23954433e-02 3.51880676e+00] [-1.06998230e-03 1.24463837e-02 9.99921968e-01 1.17029313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54925976399998 meters 0.24930373849277218 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.52, Z:1.16 [[ 0.99952818 -0.02985938 0.00720029 -4.716593 ] [ 0.02997157 0.99942248 -0.01601258 3.52191346] [-0.00671801 0.01622083 0.99984586 1.16394868] [ 0. 0. 0. 1. ]] SLAMing on 107.60925976399999 meters 0.24799652320887874 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.53, Z:1.17 [[ 9.99890641e-01 -1.47057808e-02 -1.56395729e-03 -4.72251111e+00] [ 1.46836155e-02 9.99803094e-01 -1.33478615e-02 3.53053788e+00] [ 1.75994006e-03 1.33234372e-02 9.99909690e-01 1.16707322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66925976399999 meters 0.23850066089951624 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.53, Z:1.17 [[ 9.99943993e-01 -1.03793300e-02 -2.06879778e-03 -4.72016620e+00] [ 1.03590389e-02 9.99900368e-01 -9.58878420e-03 3.53491834e+00] [ 2.16811681e-03 9.56681640e-03 9.99951886e-01 1.16543806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72925976399999 meters 0.2227804812733569 Centerline is valid? [False, False] Translation: X:-4.72, Y:3.54, Z:1.16 [[ 9.99994344e-01 -2.12527164e-03 -2.60686392e-03 -4.71808369e+00] [ 2.11947433e-03 9.99995279e-01 -2.22461701e-03 3.54155544e+00] [ 2.61157953e-03 2.21907925e-03 9.99994128e-01 1.16448428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78925976399998 meters 0.21574004623108786 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.55, Z:1.17 [[ 9.99986613e-01 -2.51655825e-03 -4.52108029e-03 -4.71438912e+00] [ 2.48971453e-03 9.99979298e-01 -5.93330555e-03 3.55242373e+00] [ 4.53591821e-03 5.92196993e-03 9.99972177e-01 1.16826657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84925976399998 meters 0.20563608064043323 Centerline is valid? [False, False] Translation: X:-4.71, Y:3.56, Z:1.17 [[ 9.99984431e-01 1.67399270e-03 -5.32301964e-03 -4.71132673e+00] [-1.68907056e-03 9.99994571e-01 -2.82934391e-03 3.55989551e+00] [ 5.31825444e-03 2.83829082e-03 9.99981830e-01 1.16666867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90925976399998 meters 0.19810311462102534 Centerline is valid? [False, False] Translation: X:-4.70, Y:3.57, Z:1.16 [[ 9.99942256e-01 1.06078051e-02 1.72005161e-03 -4.70013319e+00] [-1.06032982e-02 9.99940381e-01 -2.60849797e-03 3.56939504e+00] [-1.74761950e-03 2.59010913e-03 9.99995119e-01 1.16145141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96925976399999 meters 0.20227811619790093 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.57, Z:1.16 [[ 9.99966710e-01 4.43017382e-03 6.85222236e-03 -4.68446132e+00] [-4.41830604e-03 9.99988715e-01 -1.74612911e-03 3.57304260e+00] [-6.85988069e-03 1.71579577e-03 9.99974999e-01 1.16103174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02925976399999 meters 0.1882149093407867 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.58, Z:1.16 [[ 9.99973739e-01 4.71604284e-03 5.50266566e-03 -4.68012109e+00] [-4.70059612e-03 9.99984985e-01 -2.81669852e-03 3.58142005e+00] [-5.51586671e-03 2.79075874e-03 9.99980893e-01 1.15920463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08925976399999 meters 0.1817865214529818 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.59, Z:1.16 [[ 9.99950902e-01 8.50297022e-03 5.08855479e-03 -4.67823060e+00] [-8.50406995e-03 9.99963821e-01 1.94520389e-04 3.58842941e+00] [-5.08671669e-03 -2.37784264e-04 9.99987034e-01 1.15830489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14925976399999 meters 0.17237318546490085 Centerline is valid? [False, False] Translation: X:-4.68, Y:3.60, Z:1.16 [[ 9.99915661e-01 1.23234472e-02 4.09921500e-03 -4.67541595e+00] [-1.23331322e-02 9.99921192e-01 2.34581552e-03 3.59796783e+00] [-4.06998342e-03 -2.39617383e-03 9.99988847e-01 1.15831355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20925976399998 meters 0.16736917794268674 Centerline is valid? [False, False] Translation: X:-4.67, Y:3.61, Z:1.16 [[ 9.99924495e-01 1.19228259e-02 2.97514804e-03 -4.67287990e+00] [-1.19247050e-02 9.99928709e-01 6.14633191e-04 3.60594245e+00] [-2.96760778e-03 -6.50064545e-04 9.99995385e-01 1.15895731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26925976399998 meters 0.16730737610980068 Centerline is valid? [False, False] Translation: X:-4.66, Y:3.61, Z:1.16 [[ 9.99930739e-01 8.89381108e-03 7.70821871e-03 -4.65593876e+00] [-8.92333591e-03 9.99952949e-01 3.80441489e-03 3.61398447e+00] [-7.67402028e-03 -3.87293442e-03 9.99963054e-01 1.15828835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32925976399999 meters 0.15852950701636745 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.62, Z:1.16 [[ 9.99943739e-01 8.71911115e-03 6.04119388e-03 -4.65249364e+00] [-8.72500771e-03 9.99961485e-01 9.50391827e-04 3.62398684e+00] [-6.03267463e-03 -1.00304782e-03 9.99981300e-01 1.16044400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38925976399999 meters 0.14994387571300635 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.63, Z:1.16 [[ 9.99954457e-01 8.43345206e-03 4.46766606e-03 -4.64929473e+00] [-8.42595134e-03 9.99963064e-01 -1.69506110e-03 3.63378190e+00] [-4.48179626e-03 1.65733956e-03 9.99988583e-01 1.16242936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44925976399999 meters 0.14968669266642287 Centerline is valid? [False, False] Translation: X:-4.65, Y:3.64, Z:1.16 [[ 9.99960864e-01 8.18184787e-03 3.36563991e-03 -4.64668052e+00] [-8.17044795e-03 9.99960885e-01 -3.38706641e-03 3.64166372e+00] [-3.39322073e-03 3.35943507e-03 9.99988600e-01 1.16294144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50925976399999 meters 0.14284131401503802 Centerline is valid? [False, False] Translation: X:-4.64, Y:3.65, Z:1.16 [[ 9.99964990e-01 7.91498344e-03 2.71501337e-03 -4.64490763e+00] [-7.90269792e-03 9.99958619e-01 -4.50629989e-03 3.64748952e+00] [-2.75056831e-03 4.48468620e-03 9.99986161e-01 1.16288058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56925976399998 meters 0.13860528898819927 Centerline is valid? [False, False] Translation: X:-4.64, Y:3.65, Z:1.16 [[ 9.99966776e-01 7.86590159e-03 2.13883015e-03 -4.64311779e+00] [-7.85464298e-03 9.99955515e-01 -5.22231861e-03 3.65165289e+00] [-2.17981324e-03 5.20534535e-03 9.99984076e-01 1.16254395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62925976399998 meters 0.13643003265507286 Centerline is valid? [False, False] Translation: X:-4.64, Y:3.65, Z:1.16 [[ 9.99967440e-01 7.81976402e-03 1.99244833e-03 -4.64225099e+00] [-7.80880067e-03 9.99954648e-01 -5.45206828e-03 3.65365819e+00] [-2.03499186e-03 5.43633213e-03 9.99983152e-01 1.16191580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68925976399998 meters 0.13712737680765286 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99972145e-01 8.50282620e-04 7.41527534e-03 -4.62806952e+00] [-8.28351300e-04 9.99995276e-01 -2.96015665e-03 3.65503611e+00] [-7.41775728e-03 2.95393174e-03 9.99968125e-01 1.15950082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74925976399999 meters 0.1375530373345373 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99966631e-01 -3.78107833e-03 7.24151429e-03 -4.62798663e+00] [ 3.83827077e-03 9.99961426e-01 -7.90031102e-03 3.65743465e+00] [-7.21136326e-03 7.92784229e-03 9.99942571e-01 1.16015551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80925976399999 meters 0.1404531898421815 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99967051e-01 -3.75011360e-03 7.19951236e-03 -4.62762436e+00] [ 3.80678453e-03 9.99961754e-01 -7.87399530e-03 3.65790019e+00] [-7.16970863e-03 7.90114286e-03 9.99943082e-01 1.15978798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86925976399999 meters 0.1465572960181636 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99971104e-01 -3.52464899e-03 6.73558003e-03 -4.62591000e+00] [ 3.57860041e-03 9.99961478e-01 -8.01471981e-03 3.65996881e+00] [-6.70707149e-03 8.03859216e-03 9.99945197e-01 1.15907171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92925976399998 meters 0.13561472202678682 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99972565e-01 -3.26773991e-03 6.64766728e-03 -4.62523338e+00] [ 3.31938100e-03 9.99964287e-01 -7.77215857e-03 3.65973868e+00] [-6.62203248e-03 7.79401148e-03 9.99947700e-01 1.15842115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98925976399998 meters 0.14647152671814895 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.66, Z:1.16 [[ 9.99972874e-01 -3.04052321e-03 6.70870763e-03 -4.62529237e+00] [ 3.08983186e-03 9.99968201e-01 -7.35186695e-03 3.65829765e+00] [-6.68614078e-03 7.37239630e-03 9.99950470e-01 1.15821921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04925976399998 meters 0.1373342720573033 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.65, Z:1.16 [[ 9.99970757e-01 -2.69298885e-03 7.15770858e-03 -4.62631119e+00] [ 2.73852303e-03 9.99976029e-01 -6.35939007e-03 3.65398085e+00] [-7.14041124e-03 6.37880565e-03 9.99954162e-01 1.15801235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10925976399999 meters 0.15004316847668883 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.65, Z:1.16 [[ 9.99968668e-01 -2.30334465e-03 7.57347834e-03 -4.62695871e+00] [ 2.34362142e-03 9.99983137e-01 -5.31356650e-03 3.65015111e+00] [-7.56111165e-03 5.33114938e-03 9.99957203e-01 1.15726248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16925976399999 meters 0.1519377509596288 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.65, Z:1.16 [[ 0.99995219 -0.00633571 0.00744811 -4.62684294] [ 0.00640387 0.99993752 -0.00916262 3.64825793] [-0.00738959 0.00920988 0.99993028 1.15754253] [ 0. 0. 0. 1. ]] SLAMing on 109.22925976399999 meters 0.1519774274333548 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.65, Z:1.16 [[ 0.9999548 -0.00583507 0.007507 -4.62660102] [ 0.00589681 0.99994876 -0.00822777 3.64532802] [-0.00745861 0.00827167 0.99993797 1.15678034] [ 0. 0. 0. 1. ]] SLAMing on 109.28925976399998 meters 0.15120745225938415 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.64, Z:1.16 [[ 0.99995686 -0.00516954 0.0077171 -4.62638708] [ 0.00522359 0.99996186 -0.00699909 3.64149773] [-0.00768063 0.0070391 0.99994573 1.15547378] [ 0. 0. 0. 1. ]] SLAMing on 109.34925976399998 meters 0.16282722469464733 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.64, Z:1.15 [[ 0.99995416 -0.00468442 0.00835104 -4.6276137 ] [ 0.00473076 0.99997348 -0.00553694 3.63540991] [-0.00832489 0.00557619 0.9999498 1.15482191] [ 0. 0. 0. 1. ]] SLAMing on 109.40925976399998 meters 0.16778309452713733 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.63, Z:1.15 [[ 9.99951949e-01 -4.50403906e-03 8.70713686e-03 -4.62855670e+00] [ 4.54576471e-03 9.99978252e-01 -4.77828359e-03 3.63223535e+00] [-8.68542592e-03 4.81763458e-03 9.99950676e-01 1.15483810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46925976399999 meters 0.16506499075486317 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.63, Z:1.15 [[ 9.99946921e-01 -4.34235740e-03 9.34340239e-03 -4.63015792e+00] [ 4.37826062e-03 9.99983098e-01 -3.82561081e-03 3.62786065e+00] [-9.32663230e-03 3.86631560e-03 9.99949031e-01 1.15483057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52925976399999 meters 0.1623826156888675 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.63, Z:1.15 [[ 9.99948315e-01 -4.35700685e-03 9.18601419e-03 -4.62975781e+00] [ 4.39379896e-03 9.99982392e-01 -3.98886161e-03 3.62873624e+00] [-9.16847294e-03 4.02901695e-03 9.99949852e-01 1.15487659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58925976399999 meters 0.16083004580708685 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.63, Z:1.15 [[ 9.99953201e-01 -4.33611422e-03 8.64835491e-03 -4.62813135e+00] [ 4.37475080e-03 9.99980513e-01 -4.45360308e-03 3.63194828e+00] [-8.62887505e-03 4.49122905e-03 9.99952685e-01 1.15450426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64925976399999 meters 0.15258838956013665 Centerline is valid? [False, False] Translation: X:-4.63, Y:3.64, Z:1.15 [[ 9.99957818e-01 -4.50384053e-03 8.00488217e-03 -4.62647595e+00] [ 4.54700269e-03 9.99975179e-01 -5.38198424e-03 3.63677641e+00] [-7.98044389e-03 5.41815543e-03 9.99953477e-01 1.15453182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70925976399998 meters 0.15800057994797273 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.16 [[ 0.99996532 -0.00483056 0.00678456 -4.62404681] [ 0.00487959 0.99996196 -0.0072297 3.6451061 ] [-0.00674938 0.00726255 0.99995085 1.15555101] [ 0. 0. 0. 1. ]] SLAMing on 109.76925976399998 meters 0.1521607288332696 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.15 [[ 0.99996992 -0.00483633 0.00606294 -4.62182829] [ 0.00488541 0.99995522 -0.00810557 3.65040868] [-0.00602347 0.00813495 0.99994877 1.15491071] [ 0. 0. 0. 1. ]] SLAMing on 109.82925976399999 meters 0.14452936572679143 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.15 [[ 0.99997064 -0.00483059 0.00594876 -4.62122939] [ 0.00487957 0.99995409 -0.00824704 3.65155202] [-0.00590865 0.00827583 0.9999483 1.15448087] [ 0. 0. 0. 1. ]] SLAMing on 109.88925976399999 meters 0.14360538994033525 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.66, Z:1.15 [[ 9.99975349e-01 -4.59029668e-03 5.31332924e-03 -4.61875722e+00] [ 4.63555313e-03 9.99952816e-01 -8.53678851e-03 3.65536171e+00] [-5.27389215e-03 8.56120829e-03 9.99949445e-01 1.15308336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94925976399999 meters 0.15118776319120414 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.66, Z:1.15 [[ 9.99977606e-01 -4.56457717e-03 4.89412821e-03 -4.61733640e+00] [ 4.60759617e-03 9.99950532e-01 -8.81497444e-03 3.65799406e+00] [-4.85364947e-03 8.83732720e-03 9.99949171e-01 1.15257626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00925976399999 meters 0.13724523359226182 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.66, Z:1.15 [[ 9.99978385e-01 -4.56853981e-03 4.72837157e-03 -4.61695273e+00] [ 4.61084668e-03 9.99949088e-01 -8.97556238e-03 3.65887822e+00] [-4.68712562e-03 8.99717017e-03 9.99948540e-01 1.15267910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06925976399998 meters 0.13807586267663516 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.66, Z:1.15 [[ 9.99980766e-01 -3.95966171e-03 4.77374261e-03 -4.61650221e+00] [ 3.99783663e-03 9.99959896e-01 -8.01401260e-03 3.65590625e+00] [-4.74181838e-03 8.03294310e-03 9.99956493e-01 1.15171602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12925976399998 meters 0.13726207273846452 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.15 [[ 9.99981238e-01 -3.58986050e-03 4.96346076e-03 -4.61694523e+00] [ 3.62566732e-03 9.99967334e-01 -7.22400610e-03 3.65271183e+00] [-4.93736545e-03 7.24186642e-03 9.99961588e-01 1.15156367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18925976399998 meters 0.14709230654644362 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.15 [[ 0.9999579 -0.00779709 0.00483822 -4.61736464] [ 0.0078516 0.99990473 -0.01135238 3.65105592] [-0.00474925 0.01138989 0.99992385 1.15269392] [ 0. 0. 0. 1. ]] SLAMing on 110.24925976399999 meters 0.14999658818566772 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.65, Z:1.15 [[ 0.99995788 -0.00752907 0.00524816 -4.61847928] [ 0.00758312 0.99991762 -0.01035615 3.64671916] [-0.00516975 0.01039551 0.9999326 1.15267704] [ 0. 0. 0. 1. ]] SLAMing on 110.30925976399999 meters 0.1532878255617963 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.64, Z:1.15 [[ 0.9999591 -0.00713743 0.00555516 -4.61891666] [ 0.00718952 0.99992985 -0.00941356 3.64327531] [-0.00548758 0.00945311 0.99994026 1.15200787] [ 0. 0. 0. 1. ]] SLAMing on 110.36925976399999 meters 0.14907226816127378 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.64, Z:1.15 [[ 0.99996177 -0.00658402 0.00575447 -4.61873044] [ 0.00663156 0.99994371 -0.00828244 3.63985191] [-0.00569961 0.00832029 0.99994914 1.15070631] [ 0. 0. 0. 1. ]] SLAMing on 110.42925976399998 meters 0.16031116768350334 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.64, Z:1.15 [[ 0.99996492 -0.00613196 0.00570555 -4.61825636] [ 0.00617488 0.99995254 -0.00753573 3.63769994] [-0.00565907 0.00757069 0.99995533 1.15004199] [ 0. 0. 0. 1. ]] SLAMing on 110.48925976399998 meters 0.15198862730208865 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.64, Z:1.15 [[ 0.99996654 -0.00572445 0.00584459 -4.61823322] [ 0.00576373 0.99996077 -0.00672586 3.63515056] [-0.00580586 0.00675932 0.9999603 1.14932219] [ 0. 0. 0. 1. ]] SLAMing on 110.54925976399998 meters 0.16275653137250679 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.63, Z:1.15 [[ 0.9999665 -0.00502388 0.00646256 -4.61906267] [ 0.00505613 0.9999748 -0.00498295 3.62858827] [-0.00643736 0.00501546 0.9999667 1.14799753] [ 0. 0. 0. 1. ]] SLAMing on 110.60925976399999 meters 0.17471788206710326 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.63, Z:1.15 [[ 0.99993837 -0.00900604 0.00649154 -4.61923025] [ 0.00906192 0.99992169 -0.00863165 3.62594554] [-0.0064133 0.00868995 0.99994168 1.14810552] [ 0. 0. 0. 1. ]] SLAMing on 110.66925976399999 meters 0.1675786343557111 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.62, Z:1.15 [[ 0.9999421 -0.00870936 0.00631963 -4.61907885] [ 0.00876061 0.99992861 -0.00812623 3.62393902] [-0.00624841 0.00818112 0.99994701 1.1484339 ] [ 0. 0. 0. 1. ]] SLAMing on 110.72925976399999 meters 0.16700875574126864 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.62, Z:1.15 [[ 0.99994991 -0.00778704 0.00628778 -4.61798866] [ 0.00782906 0.99994699 -0.00668688 3.61993787] [-0.00623538 0.00673577 0.99995787 1.14665897] [ 0. 0. 0. 1. ]] SLAMing on 110.78925976399998 meters 0.15589849222513663 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.62, Z:1.15 [[ 0.99995538 -0.00732703 0.00596222 -4.6168692 ] [ 0.00736402 0.99995363 -0.00620576 3.61890071] [-0.00591647 0.00624939 0.99996297 1.14612552] [ 0. 0. 0. 1. ]] SLAMing on 110.84925976399998 meters 0.16030220626171177 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.62, Z:1.15 [[ 0.99995472 -0.00709006 0.00634771 -4.61799845] [ 0.00712482 0.99995966 -0.00546914 3.61523362] [-0.00630868 0.00551412 0.9999649 1.1463689 ] [ 0. 0. 0. 1. ]] SLAMing on 110.90925976399998 meters 0.1636963177453659 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.61, Z:1.15 [[ 9.99953110e-01 -6.85575211e-03 6.83928022e-03 -4.61884335e+00] [ 6.88710571e-03 9.99965835e-01 -4.57137143e-03 3.61200286e+00] [-6.80770637e-03 4.61825993e-03 9.99966163e-01 1.14566644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96925976399999 meters 0.16833102403312317 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.61, Z:1.14 [[ 9.99950383e-01 -6.73860455e-03 7.33641815e-03 -4.61964037e+00] [ 6.76654519e-03 9.99969923e-01 -3.79034720e-03 3.60935944e+00] [-7.31065585e-03 3.83980134e-03 9.99965905e-01 1.14480317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02925976399999 meters 0.17473605592133667 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.61, Z:1.15 [[ 9.99952302e-01 -6.96129731e-03 6.85086481e-03 -4.61871540e+00] [ 6.99236835e-03 9.99965329e-01 -4.52189216e-03 3.61284004e+00] [-6.81914905e-03 4.56958025e-03 9.99966309e-01 1.14537338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08925976399999 meters 0.15947647043882068 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.61, Z:1.14 [[ 0.9999548 -0.00687253 0.00656998 -4.61760126] [ 0.00690312 0.99996539 -0.0046442 3.61429373] [-0.00653783 0.00468934 0.99996763 1.1447913 ] [ 0. 0. 0. 1. ]] SLAMing on 111.14925976399998 meters 0.15878459615010806 Centerline is valid? [False, False] Translation: X:-4.62, Y:3.62, Z:1.15 [[ 0.99995986 -0.00708637 0.00548197 -4.61542814] [ 0.00712145 0.99995412 -0.00640677 3.6214192 ] [-0.00543632 0.00644555 0.99996445 1.14595121] [ 0. 0. 0. 1. ]] SLAMing on 111.20925976399998 meters 0.1556337466747316 Centerline is valid? [False, False] Translation: X:-4.61, Y:3.63, Z:1.14 [[ 0.99996394 -0.00696198 0.00486299 -4.61303065] [ 0.00699517 0.99995212 -0.00684221 3.62561543] [-0.00481512 0.00687598 0.99996477 1.14462239] [ 0. 0. 0. 1. ]] SLAMing on 111.26925976399998 meters 0.15418445447973234 Centerline is valid? [False, False] Translation: X:-4.61, Y:3.63, Z:1.14 [[ 0.99996524 -0.00685757 0.00474317 -4.61196968] [ 0.00688976 0.99995313 -0.00680198 3.62688988] [-0.0046963 0.00683442 0.99996562 1.1434917 ] [ 0. 0. 0. 1. ]] SLAMing on 111.32925976399999 meters 0.1626570311629989 Centerline is valid? [False, False] Translation: X:-4.61, Y:3.63, Z:1.14 [[ 9.99969418e-01 -6.85733988e-03 3.76028639e-03 -4.60911593e+00] [ 6.88591151e-03 9.99947116e-01 -7.63869770e-03 3.63347028e+00] [-3.70770638e-03 7.66435709e-03 9.99963755e-01 1.14252231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38925976399999 meters 0.1510833981111036 Centerline is valid? [False, False] Translation: X:-4.61, Y:3.64, Z:1.14 [[ 9.99973440e-01 -6.70013421e-03 2.86839203e-03 -4.60629357e+00] [ 6.72398304e-03 9.99942221e-01 -8.38705610e-03 3.63904298e+00] [-2.81203190e-03 8.40612036e-03 9.99960714e-01 1.14151584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44925976399999 meters 0.14043983258925755 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.14 [[ 9.99975740e-01 -6.59436091e-03 2.24370824e-03 -4.60401959e+00] [ 6.61418553e-03 9.99938109e-01 -8.94603575e-03 3.64333505e+00] [-2.18457599e-03 8.96065902e-03 9.99957466e-01 1.14043711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50925976399999 meters 0.14405332699491333 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99974486e-01 -6.85272373e-03 2.01696832e-03 -4.60352508e+00] [ 6.87173469e-03 9.99930551e-01 -9.57454045e-03 3.64627098e+00] [-1.95121656e-03 9.58815624e-03 9.99952129e-01 1.14068155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56925976399998 meters 0.1413274024109568 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99974453e-01 -6.78542220e-03 2.24732817e-03 -4.60391292e+00] [ 6.80606938e-03 9.99933490e-01 -9.31088344e-03 3.64537455e+00] [-2.18400043e-03 9.32594106e-03 9.99954127e-01 1.14032073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62925976399998 meters 0.14174871732142433 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99975665e-01 -6.61374649e-03 2.22005437e-03 -4.60333289e+00] [ 6.63356978e-03 9.99937100e-01 -9.04386298e-03 3.64531493e+00] [-2.16010091e-03 9.05836978e-03 9.99956639e-01 1.13947657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68925976399998 meters 0.1374350671635614 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99977205e-01 -6.43614859e-03 2.04087031e-03 -4.60246174e+00] [ 6.45395709e-03 9.99940074e-01 -8.84283412e-03 3.64557142e+00] [-1.98383422e-03 8.85580424e-03 9.99958819e-01 1.13879606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74925976399999 meters 0.13765886503979355 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99978299e-01 -6.27966768e-03 1.99198339e-03 -4.60198076e+00] [ 6.29664503e-03 9.99942899e-01 -8.63424778e-03 3.64542732e+00] [-1.93764944e-03 8.64660322e-03 9.99960740e-01 1.13824167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80925976399999 meters 0.13537543522633771 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99979853e-01 -6.03471231e-03 1.96894113e-03 -4.60127303e+00] [ 6.05084919e-03 9.99947286e-01 -8.29536390e-03 3.64516715e+00] [-1.91877721e-03 8.30711053e-03 9.99963654e-01 1.13720601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86925976399999 meters 0.1352331093501728 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99979208e-01 -6.11618513e-03 2.04372789e-03 -4.60125467e+00] [ 6.13315548e-03 9.99945884e-01 -8.40317516e-03 3.64598452e+00] [-1.99222192e-03 8.41553494e-03 9.99962604e-01 1.13688753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92925976399998 meters 0.14082950602475167 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99978532e-01 -6.16677873e-03 2.21525807e-03 -4.60149179e+00] [ 6.18513022e-03 9.99945800e-01 -8.37507188e-03 3.64610844e+00] [-2.16349079e-03 8.38859374e-03 9.99962475e-01 1.13655476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98925976399998 meters 0.13804836401544207 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.14 [[ 9.99980101e-01 -6.04108644e-03 1.81726839e-03 -4.59993007e+00] [ 6.05650757e-03 9.99944647e-01 -8.60357409e-03 3.64859809e+00] [-1.76519286e-03 8.61440919e-03 9.99961337e-01 1.13575060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04925976399998 meters 0.13623475700318177 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.13 [[ 9.99982690e-01 -5.54610434e-03 1.96479941e-03 -4.59940649e+00] [ 5.56128412e-03 9.99954064e-01 -7.80653817e-03 3.64661985e+00] [-1.92141328e-03 7.81732984e-03 9.99967598e-01 1.13432869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10925976399999 meters 0.13886530196263994 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99984255e-01 -5.10806079e-03 2.32329782e-03 -4.59968681e+00] [ 5.12380629e-03 9.99963599e-01 -6.82252659e-03 3.64336985e+00] [-2.28836337e-03 6.83432330e-03 9.99974027e-01 1.13323964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16925976399999 meters 0.1469215394671358 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99983675e-01 -5.00199906e-03 2.76231968e-03 -4.60101105e+00] [ 5.01909478e-03 9.99968078e-01 -6.21704363e-03 3.64014637e+00] [-2.73113386e-03 6.23080648e-03 9.99976859e-01 1.13354057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22925976399999 meters 0.14644134939885883 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99983666e-01 -4.95676072e-03 2.84572810e-03 -4.60132952e+00] [ 4.97403655e-03 9.99969047e-01 -6.09615761e-03 3.63940866e+00] [-2.81542282e-03 6.11021279e-03 9.99977369e-01 1.13369411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28925976399998 meters 0.14535735784207926 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99985822e-01 -4.38863208e-03 3.01585467e-03 -4.60079834e+00] [ 4.40409078e-03 9.99977100e-01 -5.13843324e-03 3.63676032e+00] [-2.99323491e-03 5.15164248e-03 9.99982250e-01 1.13212113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34925976399998 meters 0.1559868552160874 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99985187e-01 -4.59640633e-03 2.91526102e-03 -4.60058779e+00] [ 4.61240181e-03 9.99974215e-01 -5.50402668e-03 3.63849245e+00] [-2.88988711e-03 5.51739151e-03 9.99980603e-01 1.13222949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40925976399998 meters 0.1477402045482069 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99985551e-01 -4.70495525e-03 2.60005345e-03 -4.59972999e+00] [ 4.72025090e-03 9.99971405e-01 -5.90833288e-03 3.64077301e+00] [-2.57218066e-03 5.92052042e-03 9.99979165e-01 1.13222297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46925976399999 meters 0.14563823445865573 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99986593e-01 -4.67848392e-03 2.21952864e-03 -4.59844326e+00] [ 4.69240424e-03 9.99969091e-01 -6.30855133e-03 3.64341279e+00] [-2.18994558e-03 6.31888167e-03 9.99977638e-01 1.13180732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52925976399999 meters 0.1394890686227757 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.13 [[ 9.99987882e-01 -4.62882866e-03 1.67653250e-03 -4.59638825e+00] [ 4.64035491e-03 9.99965167e-01 -6.93768688e-03 3.64798692e+00] [-1.64436074e-03 6.94538251e-03 9.99974529e-01 1.13071400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58925976399999 meters 0.1343993740987059 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.65, Z:1.13 [[ 9.99986850e-01 -4.99452312e-03 1.16347232e-03 -4.59538004e+00] [ 5.00372692e-03 9.99955105e-01 -8.04680658e-03 3.65288952e+00] [-1.12323012e-03 8.05252247e-03 9.99966947e-01 1.13128338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64925976399998 meters 0.12799631568790693 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99986925e-01 -5.07662797e-03 6.14634636e-04 -4.59356601e+00] [ 5.08180275e-03 9.99948956e-01 -8.73277078e-03 3.65765116e+00] [-5.70270234e-04 8.73578005e-03 9.99961680e-01 1.13056520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70925976399998 meters 0.12042917710353979 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99988399e-01 -4.81668214e-03 3.73291677e-05 -4.59119322e+00] [ 4.81682194e-03 9.99946366e-01 -9.16865034e-03 3.66179342e+00] [ 6.83530870e-06 9.16872378e-03 9.99957966e-01 1.12909888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76925976399998 meters 0.11999577979116308 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99990009e-01 -4.46931511e-03 -9.00171079e-05 -4.58998326e+00] [ 4.46834462e-03 9.99950933e-01 -8.84107698e-03 3.66201593e+00] [ 1.29526250e-04 8.84058642e-03 9.99960913e-01 1.12777364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82925976399999 meters 0.12055690080280827 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99990089e-01 -4.45198116e-03 4.93757275e-05 -4.59051406e+00] [ 4.45224220e-03 9.99952276e-01 -8.69612853e-03 3.66111225e+00] [-1.06583708e-05 8.69626217e-03 9.99962187e-01 1.12800961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88925976399999 meters 0.12651682563741376 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99960202e-01 -8.91205822e-03 4.11052014e-04 -4.59204985e+00] [ 8.91655658e-03 9.99879758e-01 -1.26871999e-02 3.65861862e+00] [-2.97933524e-04 1.26903601e-02 9.99919430e-01 1.12904777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94925976399999 meters 0.13662037224226606 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.13 [[ 9.99962046e-01 -8.68055922e-03 7.44172266e-04 -4.59271579e+00] [ 8.68883899e-03 9.99890758e-01 -1.19572870e-02 3.65575777e+00] [-6.40295033e-04 1.19632992e-02 9.99928232e-01 1.12867468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00925976399999 meters 0.128843373365837 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.65, Z:1.13 [[ 9.99964931e-01 -8.34318008e-03 7.26101774e-04 -4.59253134e+00] [ 8.35098698e-03 9.99898881e-01 -1.15103732e-02 3.65412988e+00] [-6.29995235e-04 1.15160332e-02 9.99933490e-01 1.12845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06925976399998 meters 0.1273603384499591 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.65, Z:1.13 [[ 9.99969834e-01 -7.72993184e-03 7.61092384e-04 -4.59175653e+00] [ 7.73758931e-03 9.99913535e-01 -1.06326379e-02 3.65178228e+00] [-6.78837009e-04 1.06382062e-02 9.99943182e-01 1.12708384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12925976399998 meters 0.13269827890223446 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.65, Z:1.13 [[ 9.99973309e-01 -7.21117171e-03 1.17459928e-03 -4.59225670e+00] [ 7.22199436e-03 9.99928925e-01 -9.48615010e-03 3.64748302e+00] [-1.10610954e-03 9.49437985e-03 9.99954316e-01 1.12613818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18925976399998 meters 0.1355536713148639 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.64, Z:1.13 [[ 9.99972793e-01 -7.12892842e-03 1.89492363e-03 -4.59425738e+00] [ 7.14471750e-03 9.99938685e-01 -8.46039594e-03 3.64245472e+00] [-1.83449388e-03 8.47370446e-03 9.99962415e-01 1.12643539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24925976399999 meters 0.14233200610358857 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99972418e-01 -7.10413436e-03 2.16647214e-03 -4.59512326e+00] [ 7.12148153e-03 9.99941776e-01 -8.10736771e-03 3.64083549e+00] [-2.10875017e-03 8.12257259e-03 9.99964788e-01 1.12659763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30925976399999 meters 0.13997886817408786 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99974270e-01 -6.74354697e-03 2.44613429e-03 -4.59501443e+00] [ 6.76145063e-03 9.99949862e-01 -7.38626980e-03 3.63902912e+00] [-2.39620199e-03 7.40261917e-03 9.99969729e-01 1.12525230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36925976399999 meters 0.14026149551752043 Centerline is valid? [False, False] Translation: X:-4.60, Y:3.64, Z:1.13 [[ 9.99971968e-01 -6.92707455e-03 2.84234968e-03 -4.59617039e+00] [ 6.94801463e-03 9.99948298e-01 -7.42465164e-03 3.63863449e+00] [-2.79077161e-03 7.44419220e-03 9.99968397e-01 1.12551675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42925976399998 meters 0.14120627645434522 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.64, Z:1.13 [[ 9.99972352e-01 -7.02457489e-03 2.43953449e-03 -4.59489943e+00] [ 7.04391334e-03 9.99943101e-01 -8.01111105e-03 3.64213364e+00] [-2.38312103e-03 8.02807342e-03 9.99964935e-01 1.12521233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48925976399998 meters 0.13290098521349594 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.65, Z:1.12 [[ 9.99994042e-01 -2.85412378e-03 1.94161676e-03 -4.59284085e+00] [ 2.86336701e-03 9.99984502e-01 -4.77458128e-03 3.64860469e+00] [-1.92795942e-03 4.78011239e-03 9.99986717e-01 1.12396077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54925976399998 meters 0.12394183114273 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.66, Z:1.12 [[ 9.99998236e-01 1.42046312e-03 1.22866009e-03 -4.59040376e+00] [-1.41795975e-03 9.99996922e-01 -2.03595657e-03 3.65618586e+00] [-1.23154831e-03 2.03421079e-03 9.99997173e-01 1.12344040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60925976399999 meters 0.11920596224706759 Centerline is valid? [False, False] Translation: X:-4.59, Y:3.67, Z:1.12 [[ 9.99998782e-01 1.52370355e-03 -3.38875230e-04 -4.58660254e+00] [-1.52507548e-03 9.99990490e-01 -4.08573825e-03 3.66684201e+00] [ 3.32646553e-04 4.08625008e-03 9.99991596e-01 1.12380483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66925976399999 meters 0.11776379493734239 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.67, Z:1.12 [[ 9.99998323e-01 1.55837597e-03 -9.61520289e-04 -4.58452697e+00] [-1.56299739e-03 9.99987141e-01 -4.82448094e-03 3.67161428e+00] [ 9.53989569e-04 4.82597571e-03 9.99987900e-01 1.12312505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72925976399999 meters 0.10694397945672335 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.68, Z:1.12 [[ 9.99997747e-01 1.44114926e-03 -1.55862316e-03 -4.58303772e+00] [-1.45002437e-03 9.99982657e-01 -5.70814103e-03 3.67602164e+00] [ 1.55036985e-03 5.71038821e-03 9.99982494e-01 1.12334263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78925976399998 meters 0.10192360424755673 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.68, Z:1.12 [[ 9.99995515e-01 1.11140129e-03 -2.78113680e-03 -4.58067050e+00] [-1.13226633e-03 9.99971143e-01 -7.51204629e-03 3.68443738e+00] [ 2.77270765e-03 7.51516159e-03 9.99967917e-01 1.12473621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84925976399998 meters 0.10281589790943078 Centerline is valid? [False, False] Translation: X:-4.58, Y:3.69, Z:1.12 [[ 9.99989029e-01 -3.09721815e-03 -3.51408707e-03 -4.57865501e+00] [ 3.05372780e-03 9.99919510e-01 -1.23145930e-02 3.68792780e+00] [ 3.55194520e-03 1.23037269e-02 9.99917998e-01 1.12455263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90925976399998 meters 0.10268815873708417 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.68, Z:1.12 [[ 9.99988488e-01 -4.26062976e-03 2.20698725e-03 -4.56446211e+00] [ 4.26581361e-03 9.99988141e-01 -2.34948080e-03 3.68494765e+00] [-2.19695081e-03 2.35886835e-03 9.99994805e-01 1.11893864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96925976399999 meters 0.10344477197083089 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99960619e-01 -8.77542701e-03 1.32350560e-03 -4.56279029e+00] [ 8.78520774e-03 9.99932720e-01 -7.57470680e-03 3.68997990e+00] [-1.25694527e-03 7.58603578e-03 9.99970436e-01 1.11981474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02925976399999 meters 0.10413753922119505 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99966453e-01 -8.05243162e-03 1.50048055e-03 -4.56192247e+00] [ 8.06173248e-03 9.99947663e-01 -6.29921995e-03 3.68675067e+00] [-1.44967798e-03 6.31110510e-03 9.99979034e-01 1.11763742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08925976399999 meters 0.10417804532968256 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99960730e-01 -8.75157643e-03 1.39565684e-03 -4.56280342e+00] [ 8.76160200e-03 9.99934627e-01 -7.34680244e-03 3.68997707e+00] [-1.33126949e-03 7.35874212e-03 9.99972038e-01 1.11937967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14925976399998 meters 0.11196552754967064 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99962145e-01 -8.59136450e-03 1.37745179e-03 -4.56212985e+00] [ 8.60093867e-03 9.99937789e-01 -7.10228991e-03 3.69022613e+00] [-1.31634774e-03 7.11386843e-03 9.99973830e-01 1.11837967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20925976399998 meters 0.10552555040257072 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99963529e-01 -8.42727885e-03 1.38602752e-03 -4.56171294e+00] [ 8.43655738e-03 9.99941082e-01 -6.83057538e-03 3.68995046e+00] [-1.32838270e-03 6.84201957e-03 9.99975711e-01 1.11766813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26925976399998 meters 0.11229837515537883 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99954232e-01 -9.45260992e-03 1.47734807e-03 -4.56343519e+00] [ 9.46455678e-03 9.99920759e-01 -8.30049958e-03 3.69412148e+00] [-1.39876961e-03 8.31410213e-03 9.99964459e-01 1.11999319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32925976399999 meters 0.11133368399816318 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99951332e-01 -9.76190731e-03 1.42808938e-03 -4.56338023e+00] [ 9.77422775e-03 9.99912705e-01 -8.89083589e-03 3.69664374e+00] [-1.34117320e-03 8.90436166e-03 9.99959456e-01 1.12021256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38925976399999 meters 0.11082902397387034 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99953065e-01 -9.59642797e-03 1.33269200e-03 -4.56215309e+00] [ 9.60773396e-03 9.99915531e-01 -8.75344825e-03 3.69806141e+00] [-1.24857759e-03 8.76584155e-03 9.99960800e-01 1.11870065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44925976399999 meters 0.10691259211424213 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99982750e-01 -5.72359301e-03 1.31927576e-03 -4.56256185e+00] [ 5.73026840e-03 9.99970511e-01 -5.11290113e-03 3.70062111e+00] [-1.28997270e-03 5.12037273e-03 9.99986059e-01 1.11928566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50925976399998 meters 0.1031400020293155 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99981334e-01 -6.05995677e-03 7.79881095e-04 -4.56146486e+00] [ 6.06472986e-03 9.99961947e-01 -6.27080112e-03 3.70612940e+00] [-7.41850634e-04 6.27541383e-03 9.99980034e-01 1.11985024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56925976399998 meters 0.10310603183260018 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99984868e-01 -5.46631267e-03 6.19404725e-04 -4.55968252e+00] [ 5.46971315e-03 9.99969203e-01 -5.62806960e-03 3.70570194e+00] [-5.88620861e-04 5.63137240e-03 9.99983970e-01 1.11780200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62925976399998 meters 0.10337192196587111 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99984268e-01 -5.57976775e-03 5.74199128e-04 -4.56000341e+00] [ 5.58296627e-03 9.99968008e-01 -5.72831576e-03 3.70571647e+00] [-5.42218086e-04 5.73143138e-03 9.99983428e-01 1.11840583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68925976399998 meters 0.10276596474760911 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99983930e-01 -5.64028129e-03 5.71944010e-04 -4.56024802e+00] [ 5.64349438e-03 9.99967364e-01 -5.78111791e-03 3.70572202e+00] [-5.39318213e-04 5.78425277e-03 9.99983126e-01 1.11877333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74925976399999 meters 0.10191354703650482 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99986586e-01 -5.15781363e-03 4.73230742e-04 -4.55879330e+00] [ 5.16022683e-03 9.99972913e-01 -5.24837218e-03 3.70542961e+00] [-4.46147798e-04 5.25074375e-03 9.99986115e-01 1.11698710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80925976399999 meters 0.10430423982383574 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.71, Z:1.12 [[ 9.99987618e-01 -4.95730290e-03 4.33819288e-04 -4.55817694e+00] [ 4.95941559e-03 9.99975139e-01 -5.01251817e-03 3.70537958e+00] [-4.08959932e-04 5.01460759e-03 9.99987343e-01 1.11620693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86925976399999 meters 0.10700133557167282 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99987780e-01 -4.91920549e-03 4.91691526e-04 -4.55897123e+00] [ 4.92145661e-03 9.99976905e-01 -4.68705466e-03 3.70329834e+00] [-4.68623585e-04 4.68941722e-03 9.99988895e-01 1.11707044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92925976399998 meters 0.10294835294229805 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99989458e-01 -4.54326414e-03 6.64961006e-04 -4.55901347e+00] [ 4.54585710e-03 9.99981861e-01 -3.95127807e-03 3.70073946e+00] [-6.46997245e-04 3.95425923e-03 9.99991973e-01 1.11639518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98925976399998 meters 0.10913200569129529 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.70, Z:1.12 [[ 9.99964983e-01 -8.35512390e-03 4.73906584e-04 -4.55816078e+00] [ 8.35850074e-03 9.99935895e-01 -7.63813073e-03 3.69871150e+00] [-4.10058675e-04 7.64182441e-03 9.99970717e-01 1.11593545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04925976399998 meters 0.11655803481713502 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99968539e-01 -7.87243276e-03 9.72562686e-04 -4.55924924e+00] [ 7.87834961e-03 9.99949511e-01 -6.23760827e-03 3.69257390e+00] [-9.23408430e-04 6.24507421e-03 9.99980073e-01 1.11561612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10925976399999 meters 0.11906617794618776 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.69, Z:1.12 [[ 9.99970468e-01 -7.56132956e-03 1.37439713e-03 -4.56047093e+00] [ 7.56827513e-03 9.99958249e-01 -5.12061265e-03 3.68727048e+00] [-1.33562111e-03 5.13086325e-03 9.99985945e-01 1.11586745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16925976399999 meters 0.12394283809778285 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.68, Z:1.12 [[ 9.99933783e-01 -1.14183910e-02 1.43196083e-03 -4.56042508e+00] [ 1.14301690e-02 9.99898495e-01 -8.50594452e-03 3.68368132e+00] [-1.33469128e-03 8.52174883e-03 9.99962799e-01 1.11559372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22925976399999 meters 0.12393729805155432 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.68, Z:1.12 [[ 9.99936747e-01 -1.10952738e-02 1.84284598e-03 -4.56145252e+00] [ 1.11089456e-02 9.99909547e-01 -7.58216520e-03 3.67938791e+00] [-1.75855309e-03 7.60215768e-03 9.99969557e-01 1.11554026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28925976399998 meters 0.12298494463577196 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.68, Z:1.12 [[ 9.99940739e-01 -1.07224989e-02 1.88297319e-03 -4.56128188e+00] [ 1.07353479e-02 9.99918210e-01 -6.95165881e-03 3.67726639e+00] [-1.80828003e-03 6.97146123e-03 9.99974064e-01 1.11504584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34925976399998 meters 0.1248966746755783 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99949932e-01 -9.80412549e-03 2.00340071e-03 -4.56001993e+00] [ 9.81453791e-03 9.99938026e-01 -5.25537611e-03 3.67304762e+00] [-1.95175218e-03 5.27477543e-03 9.99984184e-01 1.11229514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40925976399998 meters 0.12357487687115397 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99951131e-01 -9.71308334e-03 1.84183046e-03 -4.55944209e+00] [ 9.72262651e-03 9.99938977e-01 -5.24519377e-03 3.67346499e+00] [-1.79077107e-03 5.26284487e-03 9.99984548e-01 1.11207753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46925976399999 meters 0.12080060455449625 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99952348e-01 -9.62486307e-03 1.63220307e-03 -4.55911619e+00] [ 9.63334450e-03 9.99939708e-01 -5.27059606e-03 3.67352484e+00] [-1.58137589e-03 5.28606848e-03 9.99984778e-01 1.11243120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52925976399999 meters 0.12535264215423536 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99953578e-01 -9.50730373e-03 1.56600417e-03 -4.55899561e+00] [ 9.51518243e-03 9.99941709e-01 -5.10290823e-03 3.67298299e+00] [-1.51739799e-03 5.11757216e-03 9.99985754e-01 1.11247595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58925976399999 meters 0.12372597893748978 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99954377e-01 -9.44039093e-03 1.45708888e-03 -4.55859486e+00] [ 9.44766683e-03 9.99942516e-01 -5.07006491e-03 3.67325068e+00] [-1.40914173e-03 5.08359969e-03 9.99986086e-01 1.11228697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64925976399998 meters 0.12088324543992542 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99958045e-01 -9.06284485e-03 1.33191995e-03 -4.55782131e+00] [ 9.06891429e-03 9.99948186e-01 -4.62379627e-03 3.67220778e+00] [-1.28994619e-03 4.63568134e-03 9.99988423e-01 1.11160460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70925976399998 meters 0.11710646424667073 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99958011e-01 -9.11497555e-03 9.45360954e-04 -4.55741211e+00] [ 9.11965993e-03 9.99945536e-01 -5.07520458e-03 3.67354292e+00] [-8.99049099e-04 5.08361285e-03 9.99986674e-01 1.11260266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76925976399998 meters 0.11934379490801168 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99958240e-01 -9.09360235e-03 9.08090976e-04 -4.55757458e+00] [ 9.09810936e-03 9.99945662e-01 -5.08891816e-03 3.67332255e+00] [-8.61765034e-04 5.09696756e-03 9.99986639e-01 1.11300404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82925976399999 meters 0.12095370554778893 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.67, Z:1.11 [[ 9.99963204e-01 -8.51740092e-03 1.02191765e-03 -4.55749729e+00] [ 8.52140251e-03 9.99955782e-01 -3.97748697e-03 3.66936093e+00] [-9.87994610e-04 3.98604878e-03 9.99991568e-01 1.11233797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88925976399999 meters 0.12347764054562697 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.66, Z:1.11 [[ 9.99965930e-01 -8.06225421e-03 1.77173720e-03 -4.55902572e+00] [ 8.06621438e-03 9.99964960e-01 -2.23952886e-03 3.66197863e+00] [-1.75361946e-03 2.25374377e-03 9.99995923e-01 1.11178031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94925976399999 meters 0.13212130177745054 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.66, Z:1.11 [[ 9.99919776e-01 -1.24410029e-02 2.37976444e-03 -4.56124266e+00] [ 1.24539217e-02 9.99907359e-01 -5.49308743e-03 3.65630260e+00] [-2.31120446e-03 5.52228415e-03 9.99982081e-01 1.11302598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00925976399998 meters 0.14291109116993617 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.65, Z:1.11 [[ 9.99850465e-01 -1.69279054e-02 3.53464990e-03 -4.56426400e+00] [ 1.69567213e-02 9.99821872e-01 -8.28812275e-03 3.64893487e+00] [-3.39371972e-03 8.34681946e-03 9.99959406e-01 1.11357675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06925976399998 meters 0.1525735371434416 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.64, Z:1.11 [[ 9.99855704e-01 -1.65475349e-02 3.84054846e-03 -4.56482017e+00] [ 1.65746628e-02 9.99837118e-01 -7.14263181e-03 3.64458539e+00] [-3.72172995e-03 7.20525696e-03 9.99967116e-01 1.11304585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12925976399998 meters 0.1481484500129729 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.64, Z:1.11 [[ 9.99859848e-01 -1.62240950e-02 4.13070900e-03 -4.56529249e+00] [ 1.62499411e-02 9.99848099e-01 -6.30231902e-03 3.64145361e+00] [-4.02783212e-03 6.36855952e-03 9.99971609e-01 1.11260610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18925976399998 meters 0.1566753774337226 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.63, Z:1.11 [[ 9.99924367e-01 -1.12423023e-02 4.98704271e-03 -4.56641455e+00] [ 1.12438419e-02 9.99936747e-01 -2.80798081e-04 3.63454438e+00] [-4.98357044e-03 3.36850363e-04 9.99987525e-01 1.11095133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24925976399999 meters 0.15319740979964444 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.63, Z:1.11 [[ 9.99925695e-01 -1.10549369e-02 5.13744768e-03 -4.56690471e+00] [ 1.10541957e-02 9.99938886e-01 1.72633636e-04 3.63251812e+00] [-5.13904216e-03 -1.15830456e-04 9.99986788e-01 1.11111493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30925976399999 meters 0.17058603530672384 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.63, Z:1.11 [[ 9.99926111e-01 -1.07158519e-02 5.73959297e-03 -4.56832831e+00] [ 1.07083329e-02 9.99941767e-01 1.33916448e-03 3.62689000e+00] [-5.75360903e-03 -1.27760406e-03 9.99982632e-01 1.11119277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36925976399999 meters 0.17051056679880616 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99927863e-01 -1.05188927e-02 5.79841300e-03 -4.56876775e+00] [ 1.05084055e-02 9.99943099e-01 1.83614045e-03 3.62452635e+00] [-5.81739723e-03 -1.77507592e-03 9.99981503e-01 1.11159005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42925976399998 meters 0.16953215543817035 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99929816e-01 -9.98625694e-03 6.37474308e-03 -4.56965860e+00] [ 9.96565753e-03 9.99945044e-01 3.25503839e-03 3.61875244e+00] [-6.40689840e-03 -3.19128143e-03 9.99974383e-01 1.11074020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48925976399998 meters 0.1683442195326047 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99930973e-01 -9.82725125e-03 6.44000902e-03 -4.57017730e+00] [ 9.80415112e-03 9.99945426e-01 3.60877793e-03 3.61675529e+00] [-6.47512193e-03 -3.54539001e-03 9.99972751e-01 1.11125556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54925976399998 meters 0.1710399613339018 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.61, Z:1.11 [[ 9.99933325e-01 -9.56633060e-03 6.46762921e-03 -4.57033934e+00] [ 9.54020716e-03 9.99946257e-01 4.05796378e-03 3.61483332e+00] [-6.50610144e-03 -3.99599069e-03 9.99970851e-01 1.11138782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60925976399999 meters 0.1665061082573675 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.61, Z:1.11 [[ 0.99993809 -0.00887339 0.00671436 -4.56992477] [ 0.0088377 0.99994676 0.00532715 3.6110085 ] [-0.00676128 -0.00526748 0.99996327 1.10970337] [ 0. 0. 0. 1. ]] SLAMing on 116.66925976399999 meters 0.16397564741934567 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.61, Z:1.11 [[ 0.99993917 -0.00905408 0.00629842 -4.5692361 ] [ 0.0090243 0.99994805 0.00474016 3.61333131] [-0.00634101 -0.00468304 0.99996893 1.11028814] [ 0. 0. 0. 1. ]] SLAMing on 116.72925976399999 meters 0.1628236616153731 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.61, Z:1.11 [[ 0.99993954 -0.00896656 0.00636536 -4.56918963] [ 0.00893567 0.99994824 0.00486509 3.61307945] [-0.00640865 -0.00480792 0.99996791 1.10997672] [ 0. 0. 0. 1. ]] SLAMing on 116.78925976399998 meters 0.1586396925372867 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99943060e-01 -8.90159747e-03 5.88540300e-03 -4.56761152e+00] [ 8.87476994e-03 9.99950181e-01 4.56882725e-03 3.61554092e+00] [-5.92577965e-03 -4.51633551e-03 9.99972244e-01 1.10938871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84925976399998 meters 0.15421036174137998 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99943291e-01 -9.13593425e-03 5.47260365e-03 -4.56674800e+00] [ 9.11522078e-03 9.99951243e-01 3.79799965e-03 3.61895067e+00] [-5.50703509e-03 -3.74790027e-03 9.99977813e-01 1.10972855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90925976399998 meters 0.15523934405164264 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.62, Z:1.11 [[ 9.99942576e-01 -9.21827965e-03 5.46509464e-03 -4.56680228e+00] [ 9.19832473e-03 9.99950977e-01 3.66530097e-03 3.61945574e+00] [-5.49861449e-03 -3.61482078e-03 9.99978349e-01 1.10986645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96925976399999 meters 0.16464505169736626 Centerline is valid? [False, False] Translation: X:-4.57, Y:3.63, Z:1.11 [[ 9.99941301e-01 -9.82453580e-03 4.56859711e-03 -4.56571757e+00] [ 9.81764273e-03 9.99950637e-01 1.52878201e-03 3.62626906e+00] [-4.58339117e-03 -1.48383942e-03 9.99988395e-01 1.11231695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02925976399999 meters 0.15653107730081814 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.63, Z:1.11 [[ 9.99945709e-01 -9.61115770e-03 4.02557500e-03 -4.56364539e+00] [ 9.60602179e-03 9.99953025e-01 1.29321801e-03 3.62902244e+00] [-4.03781522e-03 -1.25447804e-03 9.99991061e-01 1.11122737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08925976399999 meters 0.15707943832185028 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.63, Z:1.11 [[ 9.99941088e-01 -1.02569965e-02 3.55183538e-03 -4.56377865e+00] [ 1.02578349e-02 9.99947363e-01 -2.17924280e-04 3.63314455e+00] [-3.54941317e-03 2.54345582e-04 9.99993668e-01 1.11359962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14925976399998 meters 0.15922969587827346 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.63, Z:1.11 [[ 9.99940800e-01 -1.02617460e-02 3.61849543e-03 -4.56407397e+00] [ 1.02625378e-02 9.99947319e-01 -2.00346001e-04 3.63292380e+00] [-3.61624890e-03 2.37469086e-04 9.99993433e-01 1.11381577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20925976399998 meters 0.15948472112031334 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.63, Z:1.11 [[ 9.99943857e-01 -9.96106419e-03 3.61399138e-03 -4.56345846e+00] [ 9.96008958e-03 9.99950356e-01 2.87573279e-04 3.63198222e+00] [-3.61667651e-03 -2.51561456e-04 9.99993428e-01 1.11284136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26925976399998 meters 0.16188890498850672 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.64, Z:1.11 [[ 9.99945195e-01 -1.00644879e-02 2.88324417e-03 -4.56165300e+00] [ 1.00660408e-02 9.99949199e-01 -5.24595519e-04 3.63638782e+00] [-2.87781791e-03 5.53589622e-04 9.99995706e-01 1.11288686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32925976399999 meters 0.15774386491023953 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.64, Z:1.11 [[ 9.99945315e-01 -1.00610892e-02 2.85316457e-03 -4.56147448e+00] [ 1.00628278e-02 9.99949191e-01 -5.95630617e-04 3.63690598e+00] [-2.84702691e-03 6.24308949e-04 9.99995752e-01 1.11277335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38925976399999 meters 0.14860366665049093 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.64, Z:1.11 [[ 9.99945193e-01 -1.01428143e-02 2.59523468e-03 -4.56037466e+00] [ 1.01451004e-02 9.99948159e-01 -8.69237999e-04 3.63926484e+00] [-2.58628362e-03 8.95519275e-04 9.99996255e-01 1.11213245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44925976399999 meters 0.14358018148376708 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.64, Z:1.11 [[ 9.99945015e-01 -1.02787017e-02 2.07730345e-03 -4.55893667e+00] [ 1.02820344e-02 9.99945858e-01 -1.60010943e-03 3.64344819e+00] [-2.06074393e-03 1.62138035e-03 9.99996562e-01 1.11195073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50925976399998 meters 0.14244102908221074 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.65, Z:1.11 [[ 9.99941627e-01 -1.07063376e-02 1.45525312e-03 -4.55796253e+00] [ 1.07108985e-02 9.99937633e-01 -3.16325069e-03 3.64913025e+00] [-1.42129553e-03 3.17865311e-03 9.99993938e-01 1.11331029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56925976399998 meters 0.13635779201008968 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.65, Z:1.11 [[ 9.99939484e-01 -1.09429680e-02 1.13131962e-03 -4.55694826e+00] [ 1.09473210e-02 9.99932409e-01 -3.91592397e-03 3.65311071e+00] [-1.08839132e-03 3.92807192e-03 9.99991693e-01 1.11312503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62925976399998 meters 0.14118696666921512 Centerline is valid? [False, False] Translation: X:-4.56, Y:3.66, Z:1.11 [[ 9.99939006e-01 -1.10203039e-02 7.33350670e-04 -4.55521706e+00] [ 1.10234335e-02 9.99929516e-01 -4.40988531e-03 3.65722279e+00] [-6.84700704e-04 4.41770037e-03 9.99990008e-01 1.11202064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68925976399998 meters 0.13729099467749126 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.66, Z:1.11 [[ 9.99938494e-01 -1.10908627e-02 -5.99138179e-06 -4.55311606e+00] [ 1.10906795e-02 9.99924806e-01 -5.23258739e-03 3.66271140e+00] [ 6.40248396e-05 5.23219911e-03 9.99986310e-01 1.11155157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74925976399999 meters 0.13439925682358528 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99938747e-01 -1.10579225e-02 -4.74092138e-04 -4.55143175e+00] [ 1.10550308e-02 9.99922527e-01 -5.72075796e-03 3.66636352e+00] [ 5.37315107e-04 5.71516644e-03 9.99983524e-01 1.11085599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80925976399999 meters 0.12825290362797748 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99978879e-01 -6.49450979e-03 -2.49909841e-04 -4.55117793e+00] [ 6.49423275e-03 9.99978314e-01 -1.09384461e-03 3.66611847e+00] [ 2.57008406e-04 1.09219853e-03 9.99999371e-01 1.10953826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86925976399998 meters 0.14295336296016836 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99978306e-01 -6.57727505e-03 -3.56412328e-04 -4.55092140e+00] [ 6.57679779e-03 9.99977496e-01 -1.32407187e-03 3.66730560e+00] [ 3.65113092e-04 1.32169910e-03 9.99999060e-01 1.10960292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92925976399998 meters 0.14136088898302915 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99976307e-01 -6.86928047e-03 -4.45485366e-04 -4.55110069e+00] [ 6.86844142e-03 9.99974685e-01 -1.85840026e-03 3.66903299e+00] [ 4.58239961e-04 1.85529643e-03 9.99998174e-01 1.11029048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98925976399998 meters 0.13380748426574954 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99978313e-01 -6.55658439e-03 -6.20910360e-04 -4.54995332e+00] [ 6.55556683e-03 9.99977189e-01 -1.62691531e-03 3.66935545e+00] [ 6.31563203e-04 1.62280961e-03 9.99998484e-01 1.10930415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04925976399998 meters 0.13194117905006236 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99980391e-01 -6.22134754e-03 -7.15743727e-04 -4.54900521e+00] [ 6.22047785e-03 9.99979919e-01 -1.21095872e-03 3.66892293e+00] [ 7.23263150e-04 1.20648271e-03 9.99999011e-01 1.10824836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10925976399999 meters 0.1390776499654619 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99945647e-01 -1.03751940e-02 -1.02832413e-03 -4.54799958e+00] [ 1.03694453e-02 9.99931404e-01 -5.44627416e-03 3.66943687e+00] [ 1.08475974e-03 5.43531499e-03 9.99984640e-01 1.10804922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16925976399999 meters 0.14965486089629385 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99949750e-01 -1.00105874e-02 -5.34232750e-04 -4.54865032e+00] [ 1.00082197e-02 9.99940823e-01 -4.26451008e-03 3.66548156e+00] [ 5.76891387e-04 4.25894907e-03 9.99990764e-01 1.10689792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22925976399999 meters 0.149143054443649 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.66, Z:1.11 [[ 9.99949898e-01 -1.00042558e-02 -3.41566600e-04 -4.54940354e+00] [ 1.00027830e-02 9.99941684e-01 -4.07104018e-03 3.66424570e+00] [ 3.82274409e-04 4.06741960e-03 9.99991655e-01 1.10724551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28925976399998 meters 0.14550535068899814 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99949746e-01 -1.00136051e-02 -4.82136270e-04 -4.54879724e+00] [ 1.00114403e-02 9.99940636e-01 -4.30064652e-03 3.66580703e+00] [ 5.25172625e-04 4.29560352e-03 9.99990636e-01 1.10693552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34925976399998 meters 0.14346004618918107 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99951921e-01 -9.79218490e-03 -5.18818040e-04 -4.54799222e+00] [ 9.79001574e-03 9.99943954e-01 -4.03040448e-03 3.66596008e+00] [ 5.58255428e-04 4.02513146e-03 9.99991743e-01 1.10586269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40925976399998 meters 0.14282400186883792 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99950377e-01 -9.95053959e-03 -4.79226180e-04 -4.54809262e+00] [ 9.94838921e-03 9.99941277e-01 -4.29800669e-03 3.66713157e+00] [ 5.21965524e-04 4.29302589e-03 9.99990649e-01 1.10590337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46925976399999 meters 0.13885326620407787 Centerline is valid? [False, False] Translation: X:-4.55, Y:3.67, Z:1.11 [[ 9.99947557e-01 -1.02082785e-02 -8.20891223e-04 -4.54680679e+00] [ 1.02040429e-02 9.99935395e-01 -5.00823161e-03 3.67177432e+00] [ 8.71963612e-04 4.99959255e-03 9.99987122e-01 1.10531595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52925976399999 meters 0.13138001710414737 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.68, Z:1.10 [[ 9.99945877e-01 -1.03000481e-02 -1.46688850e-03 -4.54479109e+00] [ 1.02911656e-02 9.99929406e-01 -5.93933232e-03 3.67757311e+00] [ 1.52796036e-03 5.92391487e-03 9.99981286e-01 1.10469631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58925976399999 meters 0.12391232410677831 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.68, Z:1.10 [[ 9.99979979e-01 -6.07723065e-03 -1.76313316e-03 -4.54340098e+00] [ 6.07311199e-03 9.99978839e-01 -2.33201326e-03 3.68200203e+00] [ 1.77726803e-03 2.32125887e-03 9.99995727e-01 1.10376420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64925976399998 meters 0.11449466793517532 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.69, Z:1.10 [[ 9.99995372e-01 -2.07097856e-03 -2.22858993e-03 -4.54188550e+00] [ 2.07205980e-03 9.99997737e-01 4.82968059e-04 3.68882734e+00] [ 2.22758467e-03 -4.87583595e-04 9.99997400e-01 1.10364868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70925976399998 meters 0.11207431962218949 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.69, Z:1.10 [[ 9.99972965e-01 -6.66928422e-03 -3.09666283e-03 -4.54033766e+00] [ 6.65335217e-03 9.99964723e-01 -5.12701751e-03 3.69435485e+00] [ 3.13074713e-03 5.10627572e-03 9.99982062e-01 1.10481151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76925976399998 meters 0.1116176601264479 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.70, Z:1.10 [[ 9.99972832e-01 -6.66698892e-03 -3.14428911e-03 -4.53991014e+00] [ 6.65068298e-03 9.99964529e-01 -5.16814250e-03 3.69523091e+00] [ 3.17863353e-03 5.14709043e-03 9.99981702e-01 1.10436926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82925976399999 meters 0.1125139953142666 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.70, Z:1.10 [[ 9.99971856e-01 -6.75254148e-03 -3.26965496e-03 -4.53954319e+00] [ 6.73512042e-03 9.99963220e-01 -5.31011743e-03 3.69640390e+00] [ 3.30539149e-03 5.28794646e-03 9.99980556e-01 1.10426886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88925976399999 meters 0.11355700805952265 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.70, Z:1.10 [[ 9.99972470e-01 -6.67170465e-03 -3.24772573e-03 -4.53911553e+00] [ 6.65491195e-03 9.99964572e-01 -5.15423798e-03 3.69674918e+00] [ 3.28199823e-03 5.13248275e-03 9.99981443e-01 1.10349613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94925976399999 meters 0.11522375784932569 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.70, Z:1.10 [[ 9.99969832e-01 -7.10150193e-03 -3.14715536e-03 -4.53972244e+00] [ 7.08324183e-03 9.99958233e-01 -5.77574973e-03 3.69883323e+00] [ 3.18804041e-03 5.75328342e-03 9.99978368e-01 1.10406709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00925976399998 meters 0.11361323401183657 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.70, Z:1.10 [[ 9.99966389e-01 -7.48344852e-03 -3.34933213e-03 -4.53955381e+00] [ 7.46167366e-03 9.99951248e-01 -6.46720663e-03 3.70174826e+00] [ 3.39756585e-03 6.44199764e-03 9.99973478e-01 1.10462383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06925976399998 meters 0.1155493730871657 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 9.99964786e-01 -7.53259761e-03 -3.69960796e-03 -4.53815016e+00] [ 7.50701845e-03 9.99948154e-01 -6.87991254e-03 3.70506340e+00] [ 3.75123976e-03 6.85189724e-03 9.99969489e-01 1.10391032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12925976399998 meters 0.11157742583659229 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 9.99964310e-01 -7.40964796e-03 -4.05915323e-03 -4.53661419e+00] [ 7.38057168e-03 9.99947330e-01 -7.13189037e-03 3.70752364e+00] [ 4.11178423e-03 7.10167696e-03 9.99966329e-01 1.10312484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18925976399998 meters 0.10879487712571836 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 9.99961264e-01 -7.61206380e-03 -4.41895148e-03 -4.53589642e+00] [ 7.57723910e-03 9.99940521e-01 -7.84472380e-03 3.71074649e+00] [ 4.47840318e-03 7.81093647e-03 9.99959466e-01 1.10363039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24925976399999 meters 0.10804051672992696 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 9.99963041e-01 -7.39176067e-03 -4.39068770e-03 -4.53562001e+00] [ 7.35878186e-03 9.99944945e-01 -7.48033797e-03 3.70987816e+00] [ 4.44573883e-03 7.44775140e-03 9.99962382e-01 1.10305456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30925976399999 meters 0.10688378116545161 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 9.99962015e-01 -7.50416614e-03 -4.43352848e-03 -4.53554244e+00] [ 7.46990851e-03 9.99942503e-01 -7.69362483e-03 3.71093829e+00] [ 4.49100781e-03 7.66021453e-03 9.99960575e-01 1.10312458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36925976399998 meters 0.1059178272817323 Centerline is valid? [False, False] Translation: X:-4.54, Y:3.71, Z:1.10 [[ 0.99996023 -0.00761163 -0.00464859 -4.53514482] [ 0.0075738 0.99993851 -0.00810016 3.71259712] [ 0.00470996 0.00806463 0.99995639 1.10347004] [ 0. 0. 0. 1. ]] SLAMing on 119.42925976399998 meters 0.10465419192177475 Centerline is valid? [False, False] Translation: X:-4.53, Y:3.72, Z:1.10 [[ 0.99995964 -0.00730225 -0.0052348 -4.53292642] [ 0.00725839 0.99993879 -0.00835012 3.71538976] [ 0.00529545 0.00831179 0.99995143 1.10251166] [ 0. 0. 0. 1. ]] SLAMing on 119.48925976399998 meters 0.10325664354959836 Centerline is valid? [False, False] Translation: X:-4.53, Y:3.72, Z:1.10 [[ 0.9999586 -0.00706721 -0.00573249 -4.53095888] [ 0.00701796 0.99993869 -0.00856552 3.71808207] [ 0.00579268 0.00852493 0.99994688 1.10158277] [ 0. 0. 0. 1. ]] SLAMing on 119.54925976399998 meters 0.10054248332419077 Centerline is valid? [False, False] Translation: X:-4.53, Y:3.72, Z:1.10 [[ 0.99995581 -0.00708648 -0.00617703 -4.52950571] [ 0.00703032 0.99993418 -0.00906673 3.72143779] [ 0.00624088 0.00902291 0.99993982 1.10123483] [ 0. 0. 0. 1. ]] SLAMing on 119.60925976399999 meters 0.10225189055091356 Centerline is valid? [False, False] Translation: X:-4.53, Y:3.72, Z:1.10 [[ 0.99995482 -0.0071366 -0.00627937 -4.52886531] [ 0.00707789 0.99993149 -0.00932285 3.72330077] [ 0.00634547 0.00927798 0.99993683 1.10077628] [ 0. 0. 0. 1. ]] SLAMing on 119.66925976399999 meters 0.09938818588708236 Centerline is valid? [False, True] Translation: X:-4.53, Y:3.73, Z:1.10 [[ 0.99995139 -0.00726667 -0.00666476 -4.52813365] [ 0.00719986 0.99992413 -0.00999447 3.72604783] [ 0.00673688 0.009946 0.99992784 1.10140842] [ 0. 0. 0. 1. ]] SLAMing on 119.72925976399999 meters 0.09691922408888923 Centerline is valid? [True, True] Translation: X:-4.47, Y:3.72, Z:1.10 [[ 9.99970364e-01 -5.00634499e-03 -5.84880650e-03 -4.46692163e+00] [ 5.00766982e-03 9.99987439e-01 2.11890499e-04 3.72427971e+00] [ 5.84767224e-03 -2.41173112e-04 9.99982873e-01 1.09500873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78925976399998 meters 0.0966734016492621 Centerline is valid? [True, True] Translation: X:-4.41, Y:3.72, Z:1.09 [[ 9.99960111e-01 -4.89007628e-03 -7.47413096e-03 -4.40604771e+00] [ 4.89223334e-03 9.99987996e-01 2.70348815e-04 3.72286039e+00] [ 7.47271922e-03 -3.06903224e-04 9.99972032e-01 1.09101492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84925976399998 meters 0.0970519374660432 Centerline is valid? [True, True] Translation: X:-4.35, Y:3.72, Z:1.09 [[ 9.99954779e-01 -6.29065315e-03 -7.13219180e-03 -4.34663720e+00] [ 6.29264878e-03 9.99980168e-01 2.57400116e-04 3.71905403e+00] [ 7.13043114e-03 -3.02268854e-04 9.99974532e-01 1.09184527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90925976399998 meters 0.09779229744608493 Centerline is valid? [True, True] Translation: X:-4.29, Y:3.71, Z:1.09 [[ 9.99941053e-01 -8.45251114e-03 -6.81502691e-03 -4.28621248e+00] [ 8.45438554e-03 9.99964231e-01 2.46277790e-04 3.71321435e+00] [ 6.81270148e-03 -3.03880137e-04 9.99976747e-01 1.09219048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96925976399999 meters 0.09940955264584668 Centerline is valid? [True, True] Translation: X:-4.23, Y:3.71, Z:1.09 [[ 9.99904868e-01 -1.09418382e-02 -8.39827543e-03 -4.22550326e+00] [ 1.09447750e-02 9.99940058e-01 3.03811411e-04 3.70552378e+00] [ 8.39444776e-03 -3.95699744e-04 9.99964688e-01 1.09011442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02925976399999 meters 0.10044406464729552 Centerline is valid? [True, False] Translation: X:-4.23, Y:3.70, Z:1.09 [[ 9.99911831e-01 -1.04648316e-02 -8.17419273e-03 -4.22601308e+00] [ 1.04756696e-02 9.99944304e-01 1.28418532e-03 3.70103274e+00] [ 8.16029868e-03 -1.36970224e-03 9.99965766e-01 1.09004037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08925976399999 meters 0.10155252384609359 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.70, Z:1.09 [[ 9.99915541e-01 -1.04087429e-02 -7.78264598e-03 -4.22742875e+00] [ 1.04223220e-02 9.99944230e-01 1.70626381e-03 3.69796656e+00] [ 7.76445188e-03 -1.78723294e-03 9.99968259e-01 1.09068832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14925976399998 meters 0.10467550699655315 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.69, Z:1.09 [[ 9.99919621e-01 -1.02618229e-02 -7.44627100e-03 -4.22863782e+00] [ 1.02793459e-02 9.99944478e-01 2.31880864e-03 3.69441340e+00] [ 7.42206237e-03 -2.39516505e-03 9.99969588e-01 1.09119675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20925976399998 meters 0.10349690854286608 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.69, Z:1.09 [[ 9.99862348e-01 -1.45705117e-02 -7.93638582e-03 -4.22790031e+00] [ 1.45533995e-02 9.99891652e-01 -2.20967881e-03 3.69499869e+00] [ 7.96772208e-03 2.09387325e-03 9.99966065e-01 1.09223452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26925976399998 meters 0.10779273686996445 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.69, Z:1.09 [[ 9.99877220e-01 -1.38323245e-02 -7.36282132e-03 -4.22820919e+00] [ 1.38293489e-02 9.99904267e-01 -4.54911155e-04 3.68870778e+00] [ 7.36840893e-03 3.53032277e-04 9.99972791e-01 1.09036483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32925976399999 meters 0.11202601756639784 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99884289e-01 -1.33945387e-02 -7.21073796e-03 -4.22865374e+00] [ 1.33985131e-02 9.99910109e-01 5.03151737e-04 3.68443313e+00] [ 7.20335030e-03 -5.99706684e-04 9.99973876e-01 1.09039084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38925976399999 meters 0.11126636570201424 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99882386e-01 -1.35332899e-02 -7.21557487e-03 -4.22947648e+00] [ 1.35358035e-02 9.99908342e-01 2.99627720e-04 3.68393390e+00] [ 7.21085855e-03 -3.97261083e-04 9.99973923e-01 1.09167445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44925976399999 meters 0.10939574527965062 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99893365e-01 -1.26823440e-02 -7.23997731e-03 -4.22822145e+00] [ 1.26932853e-02 9.99918360e-01 1.46728321e-03 3.68061263e+00] [ 7.22077765e-03 -1.55902584e-03 9.99972715e-01 1.08992786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50925976399998 meters 0.10906670938271232 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99892753e-01 -1.26457554e-02 -7.38698962e-03 -4.22790102e+00] [ 1.26560434e-02 9.99919001e-01 1.34762799e-03 3.68104910e+00] [ 7.36934950e-03 -1.44097353e-03 9.99971808e-01 1.09008903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56925976399998 meters 0.10692643590624949 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99880953e-01 -1.34895972e-02 -7.49063488e-03 -4.22936856e+00] [ 1.34881429e-02 9.99909001e-01 -2.44634372e-04 3.68444868e+00] [ 7.49325326e-03 1.43570495e-04 9.99971915e-01 1.09316983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62925976399998 meters 0.1068782526935382 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99885194e-01 -1.31711679e-02 -7.49129947e-03 -4.22900950e+00] [ 1.31734311e-02 9.99913195e-01 2.52845963e-04 3.68304984e+00] [ 7.48731891e-03 -3.51503052e-04 9.99971908e-01 1.09261109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68925976399998 meters 0.11124991131980758 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99889775e-01 -1.28381147e-02 -7.45789306e-03 -4.22863126e+00] [ 1.28444566e-02 9.99917184e-01 8.03089568e-04 3.68157730e+00] [ 7.44696527e-03 -8.98793631e-04 9.99971867e-01 1.09185379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74925976399999 meters 0.11111397708735637 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99892644e-01 -1.27293928e-02 -7.25695516e-03 -4.22948386e+00] [ 1.27383385e-02 9.99918159e-01 1.18781373e-03 3.67923819e+00] [ 7.24124109e-03 -1.28012776e-03 9.99972962e-01 1.09236842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80925976399999 meters 0.11427514942995781 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99897376e-01 -1.24909320e-02 -7.01532216e-03 -4.22997526e+00] [ 1.25038945e-02 9.99920191e-01 1.80693712e-03 3.67675408e+00] [ 6.99219195e-03 -1.89447054e-03 9.99973760e-01 1.09214614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86925976399998 meters 0.11433584874964839 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99903655e-01 -1.20549072e-02 -6.88181127e-03 -4.22989050e+00] [ 1.20740753e-02 9.99923322e-01 2.75061154e-03 3.67360460e+00] [ 6.84812522e-03 -2.83343804e-03 9.99972537e-01 1.09135698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92925976399998 meters 0.11550754118296334 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99904271e-01 -1.20382163e-02 -6.82127000e-03 -4.23024684e+00] [ 1.20575421e-02 9.99923387e-01 2.79915671e-03 3.67305206e+00] [ 6.78705055e-03 -2.88113650e-03 9.99972817e-01 1.09165747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98925976399998 meters 0.1169273619740566 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99905569e-01 -1.19796381e-02 -6.73358390e-03 -4.23101040e+00] [ 1.19990852e-02 9.99923932e-01 2.85512519e-03 3.67154128e+00] [ 6.69886832e-03 -2.93565242e-03 9.99973253e-01 1.09256104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04925976399998 meters 0.1187301725292739 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99907650e-01 -1.19054180e-02 -6.55378573e-03 -4.23153482e+00] [ 1.19258928e-02 9.99924097e-01 3.09394938e-03 3.67038984e+00] [ 6.51645352e-03 -3.17182340e-03 9.99973737e-01 1.09263486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10925976399999 meters 0.11891797205618349 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99909823e-01 -1.18535330e-02 -6.31183252e-03 -4.23209644e+00] [ 1.18756462e-02 9.99923435e-01 3.47758413e-03 3.66901672e+00] [ 6.27012759e-03 -3.55222762e-03 9.99974033e-01 1.09244834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16925976399999 meters 0.1159645309423462 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99909502e-01 -1.18444257e-02 -6.37945662e-03 -4.23182875e+00] [ 1.18665961e-02 9.99923642e-01 3.44871932e-03 3.66948847e+00] [ 6.33812140e-03 -3.52410965e-03 9.99973704e-01 1.09231689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22925976399998 meters 0.11265031335278584 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99906317e-01 -1.18251416e-02 -6.89374416e-03 -4.23047133e+00] [ 1.18452413e-02 9.99925689e-01 2.88214166e-03 3.67237976e+00] [ 6.85915015e-03 -2.96352972e-03 9.99972084e-01 1.09234062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28925976399998 meters 0.1130521928580773 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99903826e-01 -1.19597237e-02 -7.02172586e-03 -4.23026843e+00] [ 1.19773214e-02 9.99925220e-01 2.46949300e-03 3.67385494e+00] [ 6.99166632e-03 -2.55335697e-03 9.99972298e-01 1.09263426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34925976399998 meters 0.10915927252322659 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99900970e-01 -1.18901480e-02 -7.52828031e-03 -4.22902590e+00] [ 1.19050019e-02 9.99927268e-01 1.93135660e-03 3.67615144e+00] [ 7.50476864e-03 -2.02078953e-03 9.99969797e-01 1.09291131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40925976399998 meters 0.10726672527271247 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99899666e-01 -1.18980452e-02 -7.68728886e-03 -4.22859912e+00] [ 1.19121382e-02 9.99927446e-01 1.79011742e-03 3.67702658e+00] [ 7.66543221e-03 -1.88150986e-03 9.99968850e-01 1.09293135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46925976399999 meters 0.11216967937817819 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.68, Z:1.09 [[ 9.99899972e-01 -1.18440390e-02 -7.73076017e-03 -4.22894267e+00] [ 1.18590219e-02 9.99927883e-01 1.89513318e-03 3.67595382e+00] [ 7.70775662e-03 -1.98662287e-03 9.99968321e-01 1.09362029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52925976399999 meters 0.11580650766165378 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99903359e-01 -1.15375990e-02 -7.75605981e-03 -4.22873317e+00] [ 1.15562890e-02 9.99930417e-01 2.36924565e-03 3.67429555e+00] [ 7.72818472e-03 -2.45864795e-03 9.99967115e-01 1.09336967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58925976399999 meters 0.11517487873345353 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99907474e-01 -1.11272130e-02 -7.82492329e-03 -4.22827774e+00] [ 1.11506573e-02 9.99933452e-01 2.95888730e-03 3.67237342e+00] [ 7.79147838e-03 -3.04586656e-03 9.99965007e-01 1.09292208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64925976399998 meters 0.11740672879077377 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99914874e-01 -1.07210630e-02 -7.43668949e-03 -4.22922084e+00] [ 1.07513125e-02 9.99934043e-01 4.03962653e-03 3.66715868e+00] [ 7.39288990e-03 -4.11923683e-03 9.99964188e-01 1.09284372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70925976399998 meters 0.11872879719006628 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.67, Z:1.09 [[ 9.99858621e-01 -1.50107742e-02 -7.57727736e-03 -4.22984403e+00] [ 1.50099961e-02 9.99887331e-01 -1.59554825e-04 3.66515545e+00] [ 7.57881868e-03 4.57973633e-05 9.99971279e-01 1.09449022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76925976399998 meters 0.12016755616895647 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.09 [[ 9.99864799e-01 -1.47566187e-02 -7.25437299e-03 -4.23073484e+00] [ 1.47621840e-02 9.99890778e-01 7.14215858e-04 3.66129881e+00] [ 7.24304124e-03 -8.21209684e-04 9.99973432e-01 1.09453864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82925976399999 meters 0.12495981765366117 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.09 [[ 9.99804630e-01 -1.84733763e-02 -7.03101837e-03 -4.23093980e+00] [ 1.84582786e-02 9.99827197e-01 -2.20617608e-03 3.65601869e+00] [ 7.07055891e-03 2.07596457e-03 9.99972848e-01 1.09406906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88925976399999 meters 0.12578338473373352 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.09 [[ 9.99812662e-01 -1.82114559e-02 -6.55621781e-03 -4.23207252e+00] [ 1.82048137e-02 9.99833705e-01 -1.07137591e-03 3.65119232e+00] [ 6.57463886e-03 9.51820480e-04 9.99977934e-01 1.09390073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94925976399999 meters 0.14354669868560355 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.09 [[ 9.99825810e-01 -1.77083031e-02 -5.89621615e-03 -4.23315024e+00] [ 1.77147386e-02 9.99842540e-01 1.04102452e-03 3.64364381e+00] [ 5.87685295e-03 -1.14529312e-03 9.99982075e-01 1.09263285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00925976399998 meters 0.14623433296403812 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.09 [[ 9.99834308e-01 -1.74202961e-02 -5.28105647e-03 -4.23429084e+00] [ 1.74326307e-02 9.99845398e-01 2.29867236e-03 3.63880064e+00] [ 5.24019646e-03 -2.39035420e-03 9.99983413e-01 1.09195814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06925976399998 meters 0.14891430848918466 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.09 [[ 9.99833524e-01 -1.77287942e-02 -4.31436615e-03 -4.23729783e+00] [ 1.77411439e-02 9.99838577e-01 2.84122635e-03 3.63359010e+00] [ 4.26329819e-03 -2.91729514e-03 9.99986657e-01 1.09315213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12925976399998 meters 0.14856929754710463 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.09 [[ 9.99832648e-01 -1.77302563e-02 -4.50709146e-03 -4.23685658e+00] [ 1.77425264e-02 9.99838951e-01 2.69715002e-03 3.63438813e+00] [ 4.45854444e-03 -2.77666583e-03 9.99986206e-01 1.09323506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18925976399998 meters 0.14780617423726625 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.09 [[ 9.99837476e-01 -1.73068849e-02 -5.04908178e-03 -4.23484994e+00] [ 1.73213777e-02 9.99845938e-01 2.84092091e-03 3.63565555e+00] [ 4.99913642e-03 -2.92791625e-03 9.99983218e-01 1.09224762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24925976399999 meters 0.1407916115293097 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.09 [[ 9.99839557e-01 -1.72165638e-02 -4.94461541e-03 -4.23509752e+00] [ 1.72314261e-02 9.99847090e-01 2.97906184e-03 3.63479205e+00] [ 4.89257012e-03 -3.06378665e-03 9.99983338e-01 1.09224257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30925976399999 meters 0.1409930948629512 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.09 [[ 9.99844795e-01 -1.69184379e-02 -4.91445691e-03 -4.23507946e+00] [ 1.69355331e-02 9.99850604e-01 3.45801637e-03 3.63294034e+00] [ 4.85521847e-03 -3.54070862e-03 9.99981945e-01 1.09209449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36925976399998 meters 0.14131106449395173 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.63, Z:1.09 [[ 0.99985262 -0.01647158 -0.00483906 -4.23491366] [ 0.01649225 0.99985491 0.00426272 3.63030973] [ 0.00476815 -0.0043419 0.99997921 1.09148352] [ 0. 0. 0. 1. ]] SLAMing on 122.42925976399998 meters 0.14607132977938436 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.09 [[ 0.99985817 -0.01624449 -0.00444466 -4.23619973] [ 0.01626731 0.99985442 0.00514892 3.62561215] [ 0.00436037 -0.00522049 0.99997687 1.09199922] [ 0. 0. 0. 1. ]] SLAMing on 122.48925976399998 meters 0.1498662279563433 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.62, Z:1.09 [[ 9.99859445e-01 -1.62451274e-02 -4.14555951e-03 -4.23732754e+00] [ 1.62677028e-02 9.99852702e-01 5.47132115e-03 3.62321515e+00] [ 4.05606657e-03 -5.53799086e-03 9.99976439e-01 1.09254317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54925976399998 meters 0.1468032811250535 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.62, Z:1.09 [[ 9.99780988e-01 -2.04450665e-02 -4.46938695e-03 -4.23676173e+00] [ 2.04505012e-02 9.99790178e-01 1.17368461e-03 3.62282872e+00] [ 4.44445311e-03 -1.26482876e-03 9.99989323e-01 1.09321364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60925976399999 meters 0.14696614913621703 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.62, Z:1.09 [[ 9.99785217e-01 -2.02889394e-02 -4.22840865e-03 -4.23742692e+00] [ 2.02959184e-02 9.99792714e-01 1.61417698e-03 3.62051048e+00] [ 4.19478222e-03 -1.69964972e-03 9.99989757e-01 1.09328396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66925976399999 meters 0.1517815301752094 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.62, Z:1.09 [[ 9.99691179e-01 -2.45398715e-02 -3.91669026e-03 -4.23868838e+00] [ 2.45313781e-02 9.99696635e-01 -2.20201730e-03 3.61690808e+00] [ 3.96953930e-03 2.10525546e-03 9.99989905e-01 1.09438102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72925976399998 meters 0.15426149098607905 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.61, Z:1.09 [[ 9.99698037e-01 -2.42920102e-02 -3.70583670e-03 -4.23925253e+00] [ 2.42870480e-02 9.99704076e-01 -1.37821171e-03 3.61352007e+00] [ 3.73821959e-03 1.28779170e-03 9.99992184e-01 1.09440297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78925976399998 meters 0.15730736685589933 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.61, Z:1.10 [[ 9.99695041e-01 -2.44240256e-02 -3.64594327e-03 -4.23996670e+00] [ 2.44186670e-02 9.99700684e-01 -1.50710342e-03 3.61302817e+00] [ 3.68166151e-03 1.41761474e-03 9.99992218e-01 1.09529358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84925976399998 meters 0.1655359518415036 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.61, Z:1.10 [[ 9.99695140e-01 -2.44211276e-02 -3.63813042e-03 -4.24009764e+00] [ 2.44156690e-02 9.99700711e-01 -1.53730384e-03 3.61281109e+00] [ 3.67458426e-03 1.44800779e-03 9.99992200e-01 1.09547026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90925976399998 meters 0.1594776792253361 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99864418e-01 -1.59149644e-02 4.22594440e-03 -4.25081047e+00] [ 1.59325997e-02 9.99864361e-01 -4.17273837e-03 3.61078885e+00] [-4.15896222e-03 4.23950290e-03 9.99982365e-01 1.08902202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96925976399999 meters 0.15556325553083064 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99927394e-01 -1.13802145e-02 3.96191974e-03 -4.24951553e+00] [ 1.13793016e-02 9.99935222e-01 2.52887416e-04 3.61197299e+00] [-3.96454101e-03 -2.07785175e-04 9.99992120e-01 1.08781694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02925976399999 meters 0.1519124457806543 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99928083e-01 -1.13852677e-02 3.76889313e-03 -4.24884074e+00] [ 1.13851140e-02 9.99935186e-01 6.22383234e-05 3.61340326e+00] [-3.76935745e-03 -1.93245696e-05 9.99992896e-01 1.08753849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08925976399999 meters 0.15133573784169804 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99930252e-01 -1.11683265e-02 3.84191747e-03 -4.24853822e+00] [ 1.11669665e-02 9.99937577e-01 3.75271894e-04 3.61279335e+00] [-3.84586880e-03 -3.32343156e-04 9.99992549e-01 1.08677984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14925976399998 meters 0.1505090697703236 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99929498e-01 -1.12365598e-02 3.83918332e-03 -4.24848969e+00] [ 1.12355057e-02 9.99936836e-01 2.96013905e-04 3.61335718e+00] [-3.84226700e-03 -2.52857870e-04 9.99992586e-01 1.08670821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20925976399998 meters 0.15652234134674384 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.61, Z:1.09 [[ 9.99929303e-01 -1.12988329e-02 3.70474429e-03 -4.24798898e+00] [ 1.12985425e-02 9.99936165e-01 9.92907383e-05 3.61469593e+00] [-3.70562967e-03 -5.74255078e-05 9.99993132e-01 1.08646303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26925976399998 meters 0.1463741219832873 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.62, Z:1.09 [[ 9.99929267e-01 -1.14991986e-02 3.03790363e-03 -4.24663664e+00] [ 1.15020928e-02 9.99933410e-01 -9.36925819e-04 3.61914919e+00] [-3.02692744e-03 9.71801797e-04 9.99994947e-01 1.08706287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32925976399999 meters 0.15277177204836243 Centerline is valid? [False, False] Translation: X:-4.25, Y:3.62, Z:1.09 [[ 9.99934398e-01 -1.10767441e-02 2.91655405e-03 -4.24530519e+00] [ 1.10783137e-02 9.99938497e-01 -5.22580544e-04 3.61915337e+00] [-2.91058618e-03 5.54856762e-04 9.99995610e-01 1.08548263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38925976399999 meters 0.14311321600868104 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.62, Z:1.09 [[ 9.99933598e-01 -1.12748282e-02 2.38283752e-03 -4.24386317e+00] [ 1.12778453e-02 9.99935614e-01 -1.25654757e-03 3.62342524e+00] [-2.36851674e-03 1.28333741e-03 9.99996372e-01 1.08527689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44925976399999 meters 0.14484218827764578 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.08 [[ 9.99934225e-01 -1.12897383e-02 2.02189319e-03 -4.24269095e+00] [ 1.12930667e-02 9.99934882e-01 -1.64238796e-03 3.62607247e+00] [-2.00321940e-03 1.66511331e-03 9.99996607e-01 1.08489340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50925976399998 meters 0.14253173368622082 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.08 [[ 9.99934589e-01 -1.13154017e-02 1.66728812e-03 -4.24141208e+00] [ 1.13188525e-02 9.99933787e-01 -2.07502660e-03 3.62907531e+00] [-1.64369796e-03 2.09376265e-03 9.99996457e-01 1.08431752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56925976399998 meters 0.1383351314810954 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.08 [[ 9.99935352e-01 -1.12557725e-02 1.61227826e-03 -4.24088731e+00] [ 1.12590871e-02 9.99934489e-01 -2.06177951e-03 3.62980000e+00] [-1.58896571e-03 2.07979900e-03 9.99996575e-01 1.08372990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62925976399998 meters 0.14763915352782628 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.08 [[ 9.99938508e-01 -1.09441172e-02 1.79085062e-03 -4.24049664e+00] [ 1.09467480e-02 9.99939008e-01 -1.46588520e-03 3.62861356e+00] [-1.77469858e-03 1.48539905e-03 9.99997322e-01 1.08235055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68925976399998 meters 0.14566112742092205 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.63, Z:1.08 [[ 9.99938896e-01 -1.09968312e-02 1.12875908e-03 -4.23865442e+00] [ 1.09992406e-02 9.99937193e-01 -2.15100469e-03 3.63303066e+00] [-1.10503395e-03 2.16328875e-03 9.99997050e-01 1.08198608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74925976399999 meters 0.14138826939154783 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.64, Z:1.08 [[ 9.99936736e-01 -1.12176019e-02 8.30651394e-04 -4.23796040e+00] [ 1.12199314e-02 9.99932979e-01 -2.85502525e-03 3.63637693e+00] [-7.98569186e-04 2.86416448e-03 9.99995579e-01 1.08213424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80925976399999 meters 0.13281821705110916 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.64, Z:1.08 [[ 9.99936959e-01 -1.12156623e-02 5.34911427e-04 -4.23643800e+00] [ 1.12174254e-02 9.99931249e-01 -3.41566543e-03 3.64017847e+00] [-4.96565701e-04 3.42145044e-03 9.99994024e-01 1.08101226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86925976399998 meters 0.1447594272681746 Centerline is valid? [False, False] Translation: X:-4.24, Y:3.64, Z:1.08 [[ 9.99936992e-01 -1.12221091e-02 2.74801536e-04 -4.23502339e+00] [ 1.12230701e-02 9.99929842e-01 -3.78860068e-03 3.64341349e+00] [-2.32266166e-04 3.79144608e-03 9.99992785e-01 1.07984814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92925976399998 meters 0.12786151584922786 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.08 [[ 9.99975063e-01 -7.06191506e-03 -5.42616340e-05 -4.23353967e+00] [ 7.06189722e-03 9.99975013e-01 -3.22268281e-04 3.64847862e+00] [ 5.65361094e-05 3.21877055e-04 9.99999947e-01 1.07876602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98925976399998 meters 0.12040487479035454 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.08 [[ 9.99975119e-01 -7.01907230e-03 -7.02293640e-04 -4.23162630e+00] [ 7.01832813e-03 9.99974813e-01 -1.05653808e-03 3.65258465e+00] [ 7.09691868e-04 1.05158286e-03 9.99999195e-01 1.07840189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04925976399998 meters 0.11499420610337639 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.08 [[ 9.99977309e-01 -6.46750398e-03 -1.88472816e-03 -4.22758847e+00] [ 6.46432723e-03 9.99977683e-01 -1.68676669e-03 3.65886972e+00] [ 1.89559527e-03 1.67454491e-03 9.99996801e-01 1.07658743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10925976399999 meters 0.11190458056368564 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.08 [[ 9.99978691e-01 -6.17654956e-03 -2.11374409e-03 -4.22608340e+00] [ 6.17311873e-03 9.99979624e-01 -1.62580149e-03 3.66030972e+00] [ 2.12374286e-03 1.61271845e-03 9.99996444e-01 1.07521043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16925976399999 meters 0.10911147087695187 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.08 [[ 9.99977436e-01 -6.33212366e-03 -2.24307828e-03 -4.22584690e+00] [ 6.32722091e-03 9.99977593e-01 -2.18611819e-03 3.66235577e+00] [ 2.25687079e-03 2.17187641e-03 9.99995095e-01 1.07547651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22925976399998 meters 0.11252874726332372 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.08 [[ 9.99977082e-01 -6.40173294e-03 -2.20307078e-03 -4.22580257e+00] [ 6.39632380e-03 9.99976533e-01 -2.45362077e-03 3.66368829e+00] [ 2.21872651e-03 2.43947299e-03 9.99994563e-01 1.07531712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28925976399998 meters 0.10946910421082404 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.66, Z:1.07 [[ 9.99980007e-01 -5.98353228e-03 -2.04529318e-03 -4.22525531e+00] [ 5.97987433e-03 9.99980518e-01 -1.78993746e-03 3.66217944e+00] [ 2.05596348e-03 1.77767108e-03 9.99996306e-01 1.07381892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34925976399998 meters 0.1083056036573345 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.07 [[ 9.99982065e-01 -5.62743397e-03 -2.04985397e-03 -4.22439429e+00] [ 5.62466169e-03 9.99983262e-01 -1.35569333e-03 3.66169045e+00] [ 2.05744873e-03 1.34413928e-03 9.99996980e-01 1.07253408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40925976399998 meters 0.10804846722100257 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.07 [[ 9.99984944e-01 -5.18756242e-03 -1.78917487e-03 -4.22396991e+00] [ 5.18650679e-03 9.99986373e-01 -5.94140241e-04 3.65995510e+00] [ 1.79223263e-03 5.84851728e-04 9.99998223e-01 1.07081600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46925976399999 meters 0.10797313604401944 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.07 [[ 9.99952647e-01 -9.54090138e-03 -1.91715204e-03 -4.22376392e+00] [ 9.53102025e-03 9.99941580e-01 -5.09874742e-03 3.66068446e+00] [ 1.96568669e-03 5.08023356e-03 9.99985164e-01 1.07115009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52925976399999 meters 0.11275840884246202 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.07 [[ 9.99957842e-01 -9.10771023e-03 -1.16788944e-03 -4.22495258e+00] [ 9.10321131e-03 9.99951340e-01 -3.80130609e-03 3.65567605e+00] [ 1.20245380e-03 3.79051429e-03 9.99992093e-01 1.06998848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58925976399999 meters 0.11397613762566737 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.07 [[ 9.99961731e-01 -8.74178835e-03 -3.43900971e-04 -4.22615204e+00] [ 8.74092150e-03 9.99958805e-01 -2.44617521e-03 3.65079026e+00] [ 3.65270750e-04 2.44307558e-03 9.99996949e-01 1.06846136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64925976399998 meters 0.119329906608295 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.07 [[ 9.99914284e-01 -1.30894721e-02 2.99513605e-04 -4.22783051e+00] [ 1.30910245e-02 9.99896563e-01 -5.95713592e-03 3.64733375e+00] [-2.21506860e-04 5.96054624e-03 9.99982211e-01 1.06848521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70925976399998 meters 0.12385275901490264 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.07 [[ 9.99918030e-01 -1.27847545e-02 6.95019307e-04 -4.22821581e+00] [ 1.27881076e-02 9.99905448e-01 -5.05556083e-03 3.64460107e+00] [-6.30319488e-04 5.06403441e-03 9.99986979e-01 1.06731693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76925976399998 meters 0.1303514761859371 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.07 [[ 9.99917946e-01 -1.27746035e-02 9.54469946e-04 -4.22862812e+00] [ 1.27790333e-02 9.99906877e-01 -4.78885252e-03 3.64395491e+00] [-8.93205371e-04 4.80065678e-03 9.99988078e-01 1.06681101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82925976399999 meters 0.1250474333675153 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.06 [[ 9.99967590e-01 -7.95657996e-03 1.22961207e-03 -4.22798078e+00] [ 7.95624381e-03 9.99968310e-01 2.78024912e-04 3.64252743e+00] [-1.23178523e-03 -2.68232807e-04 9.99999205e-01 1.06466534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88925976399999 meters 0.12497208582051793 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.06 [[ 9.99966455e-01 -8.11605397e-03 1.10377434e-03 -4.22749659e+00] [ 8.11626068e-03 9.99967046e-01 -1.82920890e-04 3.64494585e+00] [-1.10225337e-03 1.91873274e-04 9.99999374e-01 1.06445803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94925976399999 meters 0.1216800139667728 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99966309e-01 -8.15977231e-03 8.94047316e-04 -4.22661403e+00] [ 8.16023599e-03 9.99966571e-01 -5.16218989e-04 3.64716948e+00] [-8.89805199e-04 5.23497234e-04 9.99999467e-01 1.06400339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00925976399998 meters 0.11954305759104483 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99965789e-01 -8.21657158e-03 9.53734867e-04 -4.22667293e+00] [ 8.21713189e-03 9.99966068e-01 -5.85061350e-04 3.64763437e+00] [-9.48895306e-04 5.92878299e-04 9.99999374e-01 1.06385582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06925976399998 meters 0.11985171635624366 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99964649e-01 -8.35566702e-03 9.40317563e-04 -4.22681418e+00] [ 8.35644242e-03 9.99964745e-01 -8.23733853e-04 3.64842790e+00] [-9.33401566e-04 8.31562442e-04 9.99999219e-01 1.06413642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12925976399998 meters 0.1205220663663791 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99965914e-01 -8.18710065e-03 1.06898392e-03 -4.22689795e+00] [ 8.18760555e-03 9.99966371e-01 -4.68801683e-04 3.64731065e+00] [-1.06510984e-03 4.77538122e-04 9.99999319e-01 1.06374189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18925976399998 meters 0.12342555490604665 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99966267e-01 -8.09838795e-03 1.37171551e-03 -4.22761809e+00] [ 8.09846204e-03 9.99967206e-01 -4.84713699e-05 3.64553703e+00] [-1.37127799e-03 5.95785208e-05 9.99999058e-01 1.06360703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24925976399999 meters 0.1206586557623815 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99966531e-01 -8.10930675e-03 1.08484211e-03 -4.22717847e+00] [ 8.10969410e-03 9.99967054e-01 -3.53135553e-04 3.64657113e+00] [-1.08194268e-03 3.61921471e-04 9.99999349e-01 1.06416968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30925976399999 meters 0.1213543441004451 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.65, Z:1.06 [[ 9.99968329e-01 -7.88572720e-03 1.07571514e-03 -4.22710275e+00] [ 7.88574411e-03 9.99968907e-01 -1.14747126e-05 3.64531128e+00] [-1.07559120e-03 1.99571634e-05 9.99999421e-01 1.06407846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36925976399998 meters 0.121124350626341 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.06 [[ 9.99972638e-01 -7.26249511e-03 1.40666058e-03 -4.22730368e+00] [ 7.26064606e-03 9.99972776e-01 1.31517410e-03 3.64039209e+00] [-1.41617373e-03 -1.30492485e-03 9.99998146e-01 1.06304070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42925976399998 meters 0.1298919628648621 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.06 [[ 9.99972839e-01 -7.26100009e-03 1.26468248e-03 -4.22730343e+00] [ 7.25941633e-03 9.99972866e-01 1.25242214e-03 3.64024952e+00] [-1.27374200e-03 -1.24320727e-03 9.99998416e-01 1.06361645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48925976399998 meters 0.13214499940989974 Centerline is valid? [False, False] Translation: X:-4.23, Y:3.64, Z:1.06 [[ 9.99931423e-01 -1.16985209e-02 5.41385423e-04 -4.22609096e+00] [ 1.17005188e-02 9.99924145e-01 -3.84743102e-03 3.64335345e+00] [-4.96335104e-04 3.85350166e-03 9.99992452e-01 1.06486527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54925976399998 meters 0.12726217834586498 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.64, Z:1.06 [[ 9.99937545e-01 -1.11646005e-02 5.08132109e-04 -4.22482334e+00] [ 1.11661255e-02 9.99932838e-01 -3.10449897e-03 3.64215675e+00] [-4.73437491e-04 3.10997894e-03 9.99995052e-01 1.06305660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60925976399999 meters 0.12211746151071087 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.64, Z:1.06 [[ 9.99935456e-01 -1.13558726e-02 3.58255177e-04 -4.22454879e+00] [ 1.13570711e-02 9.99929231e-01 -3.54252726e-03 3.64419099e+00] [-3.18001336e-04 3.54636734e-03 9.99993661e-01 1.06326384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66925976399999 meters 0.12763178505682468 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.65, Z:1.06 [[ 9.99933109e-01 -1.15641341e-02 2.20794634e-04 -4.22432810e+00] [ 1.15649151e-02 9.99925349e-01 -3.94324865e-03 3.64599703e+00] [-1.75177896e-04 3.94553835e-03 9.99992201e-01 1.06349990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72925976399998 meters 0.12735810903163566 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.65, Z:1.06 [[ 9.99933187e-01 -1.15581895e-02 -1.70933466e-04 -4.22298316e+00] [ 1.15573213e-02 9.99923443e-01 -4.42001285e-03 3.64896069e+00] [ 2.22007726e-04 4.41774200e-03 9.99990217e-01 1.06310029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78925976399998 meters 0.12021205136763095 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.65, Z:1.06 [[ 9.99976183e-01 -6.89582633e-03 -2.83564358e-04 -4.22139064e+00] [ 6.89585278e-03 9.99976219e-01 9.24050545e-05 3.65041738e+00] [ 2.82920405e-04 -9.43582718e-05 9.99999956e-01 1.06106875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84925976399998 meters 0.11743317828807892 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.65, Z:1.06 [[ 9.99975614e-01 -6.93445535e-03 -8.27736355e-04 -4.21978889e+00] [ 6.93396555e-03 9.99975784e-01 -5.93146492e-04 3.65415313e+00] [ 8.31829458e-04 5.87392532e-04 9.99999482e-01 1.06087092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90925976399998 meters 0.11289975304687581 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.06 [[ 9.99975382e-01 -6.86373175e-03 -1.45742309e-03 -4.21801452e+00] [ 6.86202146e-03 9.99975765e-01 -1.17527727e-03 3.65751699e+00] [ 1.46545456e-03 1.16524747e-03 9.99998247e-01 1.06076768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96925976399999 meters 0.1073610813100161 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.66, Z:1.06 [[ 9.99972731e-01 -6.98501854e-03 -2.39731724e-03 -4.21583895e+00] [ 6.97914961e-03 9.99972649e-01 -2.44781803e-03 3.66376235e+00] [ 2.41434973e-03 2.43102004e-03 9.99994131e-01 1.06119606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02925976399999 meters 0.10460522070552236 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.67, Z:1.06 [[ 9.99973221e-01 -6.77800556e-03 -2.75955706e-03 -4.21432791e+00] [ 6.77099985e-03 9.99973850e-01 -2.54018630e-03 3.66544852e+00] [ 2.77670229e-03 2.52143332e-03 9.99992966e-01 1.06038253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08925976399998 meters 0.10431371947140887 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.67, Z:1.06 [[ 9.99973665e-01 -6.58149847e-03 -3.05819534e-03 -4.21320716e+00] [ 6.57366837e-03 9.99975108e-01 -2.56340144e-03 3.66640206e+00] [ 3.07499024e-03 2.54323037e-03 9.99992038e-01 1.05993231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14925976399998 meters 0.10273311964473361 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.67, Z:1.06 [[ 9.99973118e-01 -6.63459070e-03 -3.12173584e-03 -4.21343505e+00] [ 6.62601832e-03 9.99974271e-01 -2.74840646e-03 3.66659323e+00] [ 3.13989007e-03 2.72764790e-03 9.99991350e-01 1.06059629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20925976399998 meters 0.1024592697801672 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.67, Z:1.06 [[ 9.99975014e-01 -6.26992799e-03 -3.26495282e-03 -4.21271189e+00] [ 6.26236559e-03 9.99977697e-01 -2.32133221e-03 3.66550672e+00] [ 3.27943458e-03 2.30082788e-03 9.99991976e-01 1.06007518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26925976399998 meters 0.10056864698236283 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99979565e-01 -5.43391562e-03 -3.36770677e-03 -4.21121741e+00] [ 5.43024617e-03 9.99984654e-01 -1.09778742e-03 3.66250140e+00] [ 3.37362037e-03 1.07947751e-03 9.99993727e-01 1.05811308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32925976399999 meters 0.10365293622972634 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99978675e-01 -5.52115786e-03 -3.48799173e-03 -4.21127854e+00] [ 5.51670232e-03 9.99983956e-01 -1.28572603e-03 3.66296510e+00] [ 3.49503447e-03 1.26645640e-03 9.99993090e-01 1.05869320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38925976399999 meters 0.10210727584389233 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99979760e-01 -5.29037969e-03 -3.53432743e-03 -4.21120634e+00] [ 5.28686187e-03 9.99985521e-01 -1.00393254e-03 3.66168683e+00] [ 3.53958743e-03 9.85226716e-04 9.99993250e-01 1.05879397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44925976399999 meters 0.10251100967025414 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99981609e-01 -4.99741715e-03 -3.43622452e-03 -4.21106294e+00] [ 4.99572878e-03 9.99987396e-01 -4.99753105e-04 3.66018812e+00] [ 3.43867869e-03 4.82577468e-04 9.99993971e-01 1.05815254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50925976399998 meters 0.10269161179424426 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99983929e-01 -4.57997582e-03 -3.34152749e-03 -4.21067549e+00] [ 4.58072461e-03 9.99989485e-01 2.16467703e-04 3.65813627e+00] [ 3.34050094e-03 -2.31770841e-04 9.99994394e-01 1.05713506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56925976399998 meters 0.1017477771170305 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99983441e-01 -4.57545732e-03 -3.49030129e-03 -4.21054354e+00] [ 4.57578316e-03 9.99989527e-01 8.53754370e-05 3.65837622e+00] [ 3.48987411e-03 -1.01344885e-04 9.99993905e-01 1.05756629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62925976399998 meters 0.10118693513376176 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99951478e-01 -9.01269674e-03 -3.97660924e-03 -4.20979796e+00] [ 8.99388567e-03 9.99948399e-01 -4.72322128e-03 3.66026565e+00] [ 4.01897300e-03 4.68722693e-03 9.99980939e-01 1.05849708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68925976399998 meters 0.1020103229113389 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.66, Z:1.06 [[ 9.99957766e-01 -8.45407997e-03 -3.60473852e-03 -4.21002952e+00] [ 8.44163927e-03 9.99958408e-01 -3.45256763e-03 3.65590649e+00] [ 3.63377687e-03 3.42199191e-03 9.99987543e-01 1.05728681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74925976399999 meters 0.1031975445980739 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.65, Z:1.06 [[ 9.99959956e-01 -8.28432741e-03 -3.38467442e-03 -4.21069577e+00] [ 8.27427095e-03 9.99961344e-01 -2.97445055e-03 3.65366284e+00] [ 3.40918490e-03 2.94632573e-03 9.99989848e-01 1.05740749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80925976399999 meters 0.10477949200205675 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.65, Z:1.06 [[ 9.99965801e-01 -7.73143629e-03 -2.93623055e-03 -4.21122811e+00] [ 7.72683606e-03 9.99968907e-01 -1.57484119e-03 3.64863972e+00] [ 2.94831504e-03 1.55209956e-03 9.99994449e-01 1.05632663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86925976399998 meters 0.10642188195657608 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.06 [[ 9.99970419e-01 -7.23453710e-03 -2.61202805e-03 -4.21142815e+00] [ 7.23358889e-03 9.99973768e-01 -3.72282380e-04 3.64469945e+00] [ 2.61465282e-03 3.53377030e-04 9.99996519e-01 1.05519881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92925976399998 meters 0.11562756363466188 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.06 [[ 9.99928701e-01 -1.16201192e-02 -2.75067891e-03 -4.21166422e+00] [ 1.16071370e-02 9.99921639e-01 -4.68946956e-03 3.64416020e+00] [ 2.80495556e-03 4.65720769e-03 9.99985221e-01 1.05618778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98925976399998 meters 0.11889658003331098 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.06 [[ 9.99931812e-01 -1.13798909e-02 -2.62102716e-03 -4.21181306e+00] [ 1.13688571e-02 9.99926607e-01 -4.18682781e-03 3.64239688e+00] [ 2.66848044e-03 4.15674423e-03 9.99987800e-01 1.05585682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04925976399998 meters 0.11764622006068887 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.06 [[ 9.99936154e-01 -1.11269435e-02 -1.96950084e-03 -4.21321118e+00] [ 1.11209143e-02 9.99933521e-01 -3.04620577e-03 3.63747929e+00] [ 2.00326486e-03 3.02410863e-03 9.99993421e-01 1.05555960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10925976399999 meters 0.12379352768490193 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.63, Z:1.05 [[ 9.99940910e-01 -1.07639798e-02 -1.52121585e-03 -4.21378328e+00] [ 1.07609935e-02 9.99940182e-01 -1.95783077e-03 3.63372270e+00] [ 1.54219890e-03 1.94134529e-03 9.99996926e-01 1.05462266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16925976399999 meters 0.13518798822546402 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.63, Z:1.05 [[ 9.99944738e-01 -1.04826688e-02 -7.96323150e-04 -4.21507083e+00] [ 1.04822750e-02 9.99944936e-01 -4.97183759e-04 3.62840696e+00] [ 8.01491114e-04 4.88809006e-04 9.99999559e-01 1.05359594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22925976399998 meters 0.1389485900953958 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.63, Z:1.05 [[ 9.99946397e-01 -1.03436751e-02 -4.60414245e-04 -4.21564213e+00] [ 1.03437051e-02 9.99946500e-01 6.26340253e-05 3.62647459e+00] [ 4.59741747e-04 -6.73930571e-05 9.99999892e-01 1.05312731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28925976399998 meters 0.13792608337814602 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.63, Z:1.05 [[ 9.99946938e-01 -1.03009805e-02 -1.07946770e-04 -4.21635627e+00] [ 1.03010253e-02 9.99946854e-01 4.23008681e-04 3.62508674e+00] [ 1.03583629e-04 -4.24098197e-04 9.99999905e-01 1.05283371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34925976399998 meters 0.13853345467238581 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.63, Z:1.05 [[ 9.99941991e-01 -1.07582770e-02 -5.22786043e-04 -4.21606396e+00] [ 1.07578366e-02 9.99941782e-01 -8.38084479e-04 3.62914318e+00] [ 5.31771952e-04 8.32411816e-04 9.99999512e-01 1.05433192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40925976399998 meters 0.13480639667627242 Centerline is valid? [False, False] Translation: X:-4.22, Y:3.63, Z:1.06 [[ 9.99937191e-01 -1.11552118e-02 -1.08389947e-03 -4.21516545e+00] [ 1.11529211e-02 9.99935606e-01 -2.09693957e-03 3.63409626e+00] [ 1.10722147e-03 2.08471922e-03 9.99997214e-01 1.05536178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46925976399999 meters 0.1318481378520725 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.05 [[ 9.99941186e-01 -1.07493760e-02 -1.44085278e-03 -4.21291699e+00] [ 1.07464903e-02 9.99940263e-01 -1.99574756e-03 3.63618350e+00] [ 1.46221975e-03 1.98014607e-03 9.99996970e-01 1.05337701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52925976399999 meters 0.13072495730964373 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.05 [[ 9.99939435e-01 -1.08671262e-02 -1.74138194e-03 -4.21174638e+00] [ 1.08626626e-02 9.99937742e-01 -2.55253441e-03 3.63956246e+00] [ 1.76901224e-03 2.53346377e-03 9.99995226e-01 1.05285002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58925976399998 meters 0.12993459903780522 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.64, Z:1.05 [[ 9.99935569e-01 -1.11632593e-02 -2.05887720e-03 -4.21106044e+00] [ 1.11564237e-02 9.99932313e-01 -3.30217722e-03 3.64310499e+00] [ 2.09560090e-03 3.27899476e-03 9.99992428e-01 1.05313096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64925976399998 meters 0.13608959283642208 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.65, Z:1.05 [[ 9.99931682e-01 -1.14329680e-02 -2.43275406e-03 -4.21016598e+00] [ 1.14227015e-02 9.99925968e-01 -4.19295123e-03 3.64713849e+00] [ 2.48051183e-03 4.16487616e-03 9.99988250e-01 1.05339329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70925976399998 meters 0.12321256226179747 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.65, Z:1.05 [[ 9.99927107e-01 -1.16637703e-02 -3.12037170e-03 -4.20871184e+00] [ 1.16471195e-02 9.99918113e-01 -5.30213291e-03 3.65236785e+00] [ 3.18195904e-03 5.26540308e-03 9.99981075e-01 1.05394509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76925976399998 meters 0.11796202063682171 Centerline is valid? [False, False] Translation: X:-4.21, Y:3.65, Z:1.05 [[ 9.99973202e-01 -6.57769362e-03 -3.21390522e-03 -4.20672531e+00] [ 6.57735693e-03 9.99978362e-01 -1.15317113e-04 3.65162800e+00] [ 3.21459420e-03 9.41750214e-05 9.99994829e-01 1.05122307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82925976399999 meters 0.11530075059283564 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99973334e-01 -6.36127155e-03 -3.58692121e-03 -4.20498915e+00] [ 6.36067357e-03 9.99979755e-01 -1.78095706e-04 3.65362150e+00] [ 3.58798151e-03 1.55275722e-04 9.99993551e-01 1.05007040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88925976399999 meters 0.11449113555677431 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99970430e-01 -6.67468547e-03 -3.81945383e-03 -4.20496108e+00] [ 6.67145213e-03 9.99977377e-01 -8.58662449e-04 3.65589958e+00] [ 3.82509872e-03 8.33155755e-04 9.99992337e-01 1.05102498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94925976399999 meters 0.11281342722718812 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99968077e-01 -6.93467814e-03 -3.96919272e-03 -4.20487454e+00] [ 6.92884649e-03 9.99974898e-01 -1.48109720e-03 3.65823251e+00] [ 3.97936402e-03 1.45354800e-03 9.99991026e-01 1.05158782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00925976399998 meters 0.11375280869775849 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99969677e-01 -6.72944499e-03 -3.91912573e-03 -4.20439595e+00] [ 6.72482956e-03 9.99976680e-01 -1.18965724e-03 3.65800119e+00] [ 3.92704007e-03 1.16326571e-03 9.99991613e-01 1.05065043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06925976399998 meters 0.11636249112098461 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99968868e-01 -6.75935721e-03 -4.07106059e-03 -4.20404473e+00] [ 6.75390593e-03 9.99976279e-01 -1.35129493e-03 3.65890342e+00] [ 4.08009791e-03 1.32375730e-03 9.99990800e-01 1.05075205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12925976399998 meters 0.11359820395106608 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99965845e-01 -7.13572095e-03 -4.17016962e-03 -4.20454940e+00] [ 7.12745832e-03 9.99972614e-01 -1.99288014e-03 3.66058904e+00] [ 4.18427606e-03 1.96308936e-03 9.99989319e-01 1.05196672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18925976399996 meters 0.11636614220096422 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99964588e-01 -7.30710973e-03 -4.17475453e-03 -4.20452627e+00] [ 7.29754108e-03 9.99970721e-01 -2.30268014e-03 3.66201801e+00] [ 4.19145823e-03 2.27213316e-03 9.99988634e-01 1.05197911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24925976399996 meters 0.11456214181311498 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99964751e-01 -7.25399592e-03 -4.22813179e-03 -4.20413285e+00] [ 7.24432130e-03 9.99971117e-01 -2.29899579e-03 3.66251600e+00] [ 4.24468658e-03 2.26828481e-03 9.99988419e-01 1.05161529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30925976399996 meters 0.10921808612818423 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99959280e-01 -7.59746318e-03 -4.87003323e-03 -4.20318574e+00] [ 7.58021601e-03 9.99964968e-01 -3.55021798e-03 3.66718106e+00] [ 4.89683527e-03 3.51315751e-03 9.99981839e-01 1.05294547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36925976399996 meters 0.10674175889289221 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99956984e-01 -7.61187652e-03 -5.30001208e-03 -4.20208810e+00] [ 7.59074807e-03 9.99963209e-01 -3.99526025e-03 3.66953732e+00] [ 5.33022851e-03 3.95485733e-03 9.99977974e-01 1.05304386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42925976399997 meters 0.10527522508628442 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99959428e-01 -7.14743692e-03 -5.48240626e-03 -4.20056939e+00] [ 7.12807451e-03 9.99968318e-01 -3.54318212e-03 3.66945865e+00] [ 5.50755724e-03 3.50395937e-03 9.99978694e-01 1.05150558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48925976399997 meters 0.1126354280833041 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99960105e-01 -7.00731682e-03 -5.53941609e-03 -4.20026789e+00] [ 6.98876096e-03 9.99969926e-01 -3.36207565e-03 3.66910182e+00] [ 5.56280863e-03 3.32322786e-03 9.99979005e-01 1.05126915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54925976399997 meters 0.10886639906829684 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99958405e-01 -7.14892591e-03 -5.66396986e-03 -4.20024461e+00] [ 7.12806157e-03 9.99967767e-01 -3.69535799e-03 3.67029501e+00] [ 5.69020514e-03 3.65483115e-03 9.99977132e-01 1.05176630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60925976399997 meters 0.10983470137149859 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99962063e-01 -6.66527254e-03 -5.60771220e-03 -4.19958943e+00] [ 6.64928498e-03 9.99973790e-01 -2.86482549e-03 3.66821985e+00] [ 5.62666006e-03 2.82742953e-03 9.99980173e-01 1.05045390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66925976399997 meters 0.10913304143212404 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 9.99966051e-01 -6.20762899e-03 -5.41864165e-03 -4.19944892e+00] [ 6.19710112e-03 9.99978882e-01 -1.95753192e-03 3.66538763e+00] [ 5.43067885e-03 1.92388559e-03 9.99983403e-01 1.04938939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72925976399998 meters 0.11133392757640344 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 0.99992377 -0.01100867 -0.00559089 -4.20013274] [ 0.01096958 0.99991551 -0.00697427 3.66697683] [ 0.0056672 0.00691241 0.99996005 1.05122622] [ 0. 0. 0. 1. ]] SLAMing on 128.78925976399998 meters 0.11279658010939654 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.67, Z:1.05 [[ 0.99992473 -0.01098084 -0.00547362 -4.20072651] [ 0.01094362 0.9999171 -0.00678412 3.66577165] [ 0.00554766 0.0067237 0.99996201 1.05164023] [ 0. 0. 0. 1. ]] SLAMing on 128.84925976399998 meters 0.11547984986336866 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99993041 -0.01053089 -0.00531735 -4.200534 ] [ 0.01049917 0.99992712 -0.00595978 3.66323536] [ 0.00537972 0.00590354 0.9999681 1.05066292] [ 0. 0. 0. 1. ]] SLAMing on 128.90925976399996 meters 0.11372836460091303 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99993295 -0.01024953 -0.00538932 -4.19990452] [ 0.01021941 0.99993217 -0.00558669 3.66255368] [ 0.00544621 0.00553124 0.99996987 1.0499777 ] [ 0. 0. 0. 1. ]] SLAMing on 128.96925976399996 meters 0.12587043587596028 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99993285 -0.01019906 -0.00550243 -4.19957059] [ 0.01016852 0.9999329 -0.00554899 3.6627731 ] [ 0.00555865 0.00549266 0.99996947 1.04989148] [ 0. 0. 0. 1. ]] SLAMing on 129.02925976399996 meters 0.11746535784518736 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99993749 -0.00978764 -0.00540504 -4.19918107] [ 0.00976151 0.99994064 -0.00483954 3.66085396] [ 0.00545208 0.00478648 0.99997368 1.04885293] [ 0. 0. 0. 1. ]] SLAMing on 129.08925976399996 meters 0.11885707590596097 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99993947 -0.00946602 -0.00560741 -4.19813871] [ 0.00944089 0.99994535 -0.00449105 3.6604462 ] [ 0.00564961 0.00443784 0.99997419 1.04805308] [ 0. 0. 0. 1. ]] SLAMing on 129.14925976399996 meters 0.11560750103697276 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 0.99994068 -0.00933785 -0.00560678 -4.19807024] [ 0.00931402 0.99994754 -0.0042613 3.65978054] [ 0.00564628 0.00420882 0.9999752 1.04790895] [ 0. 0. 0. 1. ]] SLAMing on 129.20925976399997 meters 0.11856784706097122 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.66, Z:1.05 [[ 9.99944329e-01 -8.98980663e-03 -5.52474336e-03 -4.19812352e+00] [ 8.96984207e-03 9.99953189e-01 -3.62787961e-03 3.65739874e+00] [ 5.55709868e-03 3.57812157e-03 9.99978158e-01 1.04763368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26925976399997 meters 0.12297606043178537 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99950398e-01 -8.41379849e-03 -5.33002939e-03 -4.19763821e+00] [ 8.40058901e-03 9.99961600e-01 -2.49587104e-03 3.65435518e+00] [ 5.35082447e-03 2.45097186e-03 9.99982681e-01 1.04594010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32925976399997 meters 0.12400780020193053 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99953631e-01 -8.07455266e-03 -5.24754290e-03 -4.19739949e+00] [ 8.06490211e-03 9.99965753e-01 -1.85762827e-03 3.65244510e+00] [ 5.26236270e-03 1.81522122e-03 9.99984506e-01 1.04517989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38925976399997 meters 0.12587936745176112 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99954489e-01 -8.05514404e-03 -5.11228074e-03 -4.19817072e+00] [ 8.04709859e-03 9.99966354e-01 -1.59237222e-03 3.65078167e+00] [ 5.12493551e-03 1.55116072e-03 9.99985664e-01 1.04579064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44925976399998 meters 0.12632018856836363 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99954726e-01 -8.08509337e-03 -5.01760330e-03 -4.19866412e+00] [ 8.07756322e-03 9.99966222e-01 -1.51920119e-03 3.65012820e+00] [ 5.02971670e-03 1.47860241e-03 9.99986258e-01 1.04613650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50925976399998 meters 0.1253583629272513 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99954596e-01 -7.96502396e-03 -5.23111979e-03 -4.19782072e+00] [ 7.95690091e-03 9.99967108e-01 -1.57181151e-03 3.65095069e+00] [ 5.24346725e-03 1.53011664e-03 9.99985082e-01 1.04576588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56925976399998 meters 0.12119629558498952 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.05 [[ 9.99954165e-01 -7.86853775e-03 -5.45463501e-03 -4.19687864e+00] [ 7.85978636e-03 9.99967793e-01 -1.62397783e-03 3.65201940e+00] [ 5.46723766e-03 1.58103113e-03 9.99983805e-01 1.04524882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62925976399998 meters 0.12165035387000754 Centerline is valid? [False, False] Translation: X:-4.20, Y:3.65, Z:1.04 [[ 9.99953708e-01 -7.76803902e-03 -5.67791114e-03 -4.19585405e+00] [ 7.75865020e-03 9.99968500e-01 -1.67372898e-03 3.65324454e+00] [ 5.69073388e-03 1.62959858e-03 9.99982480e-01 1.04461254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68925976399996 meters 0.12232122608585516 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99951209e-01 -7.74542835e-03 -6.13094143e-03 -4.19442715e+00] [ 7.73327852e-03 9.99968092e-01 -2.00295571e-03 3.65563493e+00] [ 6.14625955e-03 1.95544570e-03 9.99979200e-01 1.04425030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74925976399996 meters 0.12383402145757799 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99949284e-01 -7.83189733e-03 -6.33166454e-03 -4.19402826e+00] [ 7.81707407e-03 9.99966655e-01 -2.36249965e-03 3.65711327e+00] [ 6.34995627e-03 2.31288475e-03 9.99977164e-01 1.04453881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80925976399996 meters 0.1223801556684009 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99950366e-01 -7.72098367e-03 -6.29694748e-03 -4.19395614e+00] [ 7.70747455e-03 9.99967949e-01 -2.16679733e-03 3.65660066e+00] [ 6.31347547e-03 2.11815622e-03 9.99977826e-01 1.04428323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86925976399996 meters 0.12275258664684956 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99951059e-01 -7.64437004e-03 -6.28046089e-03 -4.19395535e+00] [ 7.63175685e-03 9.99968818e-01 -2.02983845e-03 3.65618050e+00] [ 6.29578189e-03 1.98180815e-03 9.99978218e-01 1.04420578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92925976399997 meters 0.12201607478562497 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99952490e-01 -7.38808421e-03 -6.35872092e-03 -4.19323764e+00] [ 7.37757541e-03 9.99971383e-01 -1.67453186e-03 3.65573815e+00] [ 6.37091053e-03 1.62754036e-03 9.99978381e-01 1.04339254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98925976399997 meters 0.12076255170783581 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 9.99953621e-01 -7.19642582e-03 -6.40052278e-03 -4.19303787e+00] [ 7.18750532e-03 9.99973168e-01 -1.41562677e-03 3.65492211e+00] [ 6.41053849e-03 1.36955732e-03 9.99978514e-01 1.04322838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04925976399997 meters 0.12644062869427516 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 9.99953170e-01 -7.30404154e-03 -6.34893185e-03 -4.19363134e+00] [ 7.29420975e-03 9.99972164e-01 -1.57035243e-03 3.65469232e+00] [ 6.36022504e-03 1.52396845e-03 9.99978612e-01 1.04397168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10925976399997 meters 0.1259049992858899 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 9.99954011e-01 -7.15772601e-03 -6.38295610e-03 -4.19341926e+00] [ 7.14915015e-03 9.99973512e-01 -1.36536267e-03 3.65415442e+00] [ 6.39255992e-03 1.31966717e-03 9.99978697e-01 1.04376860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16925976399997 meters 0.12020496090924841 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99950787e-01 -6.99669789e-03 -7.03352857e-03 -4.19138193e+00] [ 6.98468645e-03 9.99974109e-01 -1.73085602e-03 3.65705644e+00] [ 7.04545674e-03 1.68164384e-03 9.99973766e-01 1.04325673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22925976399998 meters 0.12029090556242009 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99950113e-01 -6.81478128e-03 -7.30275297e-03 -4.19022892e+00] [ 6.80162814e-03 9.99975204e-01 -1.82444463e-03 3.65832157e+00] [ 7.31500508e-03 1.77468300e-03 9.99971670e-01 1.04266393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28925976399998 meters 0.11451101534391599 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99952235e-01 -6.38256420e-03 -7.40207059e-03 -4.18930898e+00] [ 6.37285726e-03 9.99978803e-01 -1.33422735e-03 3.65729029e+00] [ 7.41042948e-03 1.28699128e-03 9.99971714e-01 1.04170092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34925976399998 meters 0.11695039372650988 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99953302e-01 -6.13320379e-03 -7.46850442e-03 -4.18889282e+00] [ 6.12603534e-03 9.99980753e-01 -9.82322842e-04 3.65634581e+00] [ 7.47438546e-03 9.36524647e-04 9.99971628e-01 1.04130690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40925976399996 meters 0.11657689316996984 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.66, Z:1.04 [[ 9.99954025e-01 -5.96113010e-03 -7.51082038e-03 -4.18880931e+00] [ 5.95562439e-03 9.99981980e-01 -7.55189933e-04 3.65539258e+00] [ 7.51518682e-03 7.10423588e-04 9.99971508e-01 1.04135991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46925976399996 meters 0.11667708937545818 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 0.99991979 -0.01004355 -0.00771688 -4.18834583] [ 0.01000662 0.99993837 -0.00480901 3.65418629] [ 0.0077647 0.00473141 0.99995866 1.04164515] [ 0. 0. 0. 1. ]] SLAMing on 130.52925976399996 meters 0.11893947308035825 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 9.99927024e-01 -9.62931798e-03 -7.29543096e-03 -4.18895518e+00] [ 9.60183269e-03 9.99946707e-01 -3.79317068e-03 3.65031854e+00] [ 7.33156781e-03 3.72284436e-03 9.99966194e-01 1.04085806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58925976399996 meters 0.1261943222593831 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.65, Z:1.04 [[ 9.99933752e-01 -9.20744158e-03 -6.90758514e-03 -4.18968192e+00] [ 9.18950730e-03 9.99954334e-01 -2.62357886e-03 3.64546803e+00] [ 6.93142615e-03 2.55992775e-03 9.99972701e-01 1.04043549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64925976399996 meters 0.1326097876534018 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.64, Z:1.04 [[ 0.99988863 -0.01336028 -0.00665043 -4.19083799] [ 0.01332019 0.99989306 -0.00603615 3.64093626] [ 0.00673036 0.0059469 0.99995967 1.04125102] [ 0. 0. 0. 1. ]] SLAMing on 130.70925976399997 meters 0.13828428542227558 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.04 [[ 0.99989712 -0.01315575 -0.00571649 -4.19291842] [ 0.01313122 0.99990451 -0.00430687 3.6339792 ] [ 0.0057726 0.00423136 0.99997439 1.04057035] [ 0. 0. 0. 1. ]] SLAMing on 130.76925976399997 meters 0.1479864508229217 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.04 [[ 9.99900091e-01 -1.29406478e-02 -5.68755881e-03 -4.19270443e+00] [ 1.29182759e-02 9.99908743e-01 -3.95276889e-03 3.63304212e+00] [ 5.73819117e-03 3.87890052e-03 9.99976013e-01 1.04010383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82925976399997 meters 0.1489020151633449 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.04 [[ 9.99902748e-01 -1.27431485e-02 -5.66624185e-03 -4.19258636e+00] [ 1.27227353e-02 9.99912495e-01 -3.62417591e-03 3.63205114e+00] [ 5.71192944e-03 3.55173336e-03 9.99977379e-01 1.03981709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88925976399997 meters 0.14710540240936332 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.04 [[ 9.99914652e-01 -1.20792605e-02 -4.97789419e-03 -4.19344748e+00] [ 1.20697288e-02 9.99925275e-01 -1.94040908e-03 3.62566138e+00] [ 5.00096093e-03 1.88016164e-03 9.99985728e-01 1.03844860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94925976399998 meters 0.1444101895042336 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.04 [[ 9.99915766e-01 -1.19760879e-02 -5.00346996e-03 -4.19349622e+00] [ 1.19675266e-02 9.99926877e-01 -1.73752752e-03 3.62477441e+00] [ 5.02391287e-03 1.67750200e-03 9.99985973e-01 1.03858323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00925976399998 meters 0.15326645302109404 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.04 [[ 9.99915782e-01 -1.19255872e-02 -5.11950050e-03 -4.19317899e+00] [ 1.19170435e-02 9.99927551e-01 -1.69613178e-03 3.62496480e+00] [ 5.13935696e-03 1.63497963e-03 9.99985457e-01 1.03853602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06925976399998 meters 0.1436555485065216 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.04 [[ 9.99926493e-01 -1.10971104e-02 -4.88491235e-03 -4.19235881e+00] [ 1.10957475e-02 9.99938393e-01 -3.06023183e-04 3.62121816e+00] [ 4.88800738e-03 2.51798935e-04 9.99988022e-01 1.03628029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12925976399995 meters 0.14558313010702587 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.04 [[ 9.99929330e-01 -1.07651965e-02 -5.04440395e-03 -4.19144376e+00] [ 1.07657221e-02 9.99942045e-01 7.70585809e-05 3.62070055e+00] [ 5.04328205e-03 -1.31359786e-04 9.99987274e-01 1.03549548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18925976399996 meters 0.1449945973930241 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.04 [[ 9.99927980e-01 -1.08262157e-02 -5.17962797e-03 -4.19091309e+00] [ 1.08254395e-02 9.99941387e-01 -1.77867250e-04 3.62227755e+00] [ 5.18125000e-03 1.21782691e-04 9.99986570e-01 1.03525576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24925976399996 meters 0.14541223837660902 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.03 [[ 9.99928907e-01 -1.07132499e-02 -5.23519777e-03 -4.19038052e+00] [ 1.07130320e-02 9.99942611e-01 -6.96628953e-05 3.62265207e+00] [ 5.23564365e-03 1.35731016e-05 9.99986294e-01 1.03466374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30925976399996 meters 0.14796054997113225 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.62, Z:1.03 [[ 9.99928508e-01 -1.07862008e-02 -5.16111734e-03 -4.19033831e+00] [ 1.07855892e-02 9.99941823e-01 -1.46322231e-04 3.62343096e+00] [ 5.16239535e-03 9.06460790e-05 9.99986671e-01 1.03431596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36925976399996 meters 0.14569345481573193 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.03 [[ 9.99925094e-01 -1.09774266e-02 -5.41324079e-03 -4.18973501e+00] [ 1.09738448e-02 9.99939547e-01 -6.90933551e-04 3.62597124e+00] [ 5.42049821e-03 6.31477731e-04 9.99985110e-01 1.03445510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42925976399997 meters 0.13748125123339383 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.63, Z:1.03 [[ 9.99961259e-01 -6.72649884e-03 -5.67756072e-03 -4.18857237e+00] [ 6.74389026e-03 9.99972610e-01 3.04961764e-03 3.62936384e+00] [ 5.65689195e-03 -3.08778834e-03 9.99979232e-01 1.03371628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48925976399997 meters 0.13460326466370157 Centerline is valid? [False, False] Translation: X:-4.19, Y:3.64, Z:1.04 [[ 9.99912723e-01 -1.13320771e-02 -6.79186685e-03 -4.18637919e+00] [ 1.13118133e-02 9.99931475e-01 -3.01457491e-03 3.63641231e+00] [ 6.82556283e-03 2.93748348e-03 9.99972391e-01 1.03512292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54925976399997 meters 0.13547225648072356 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.64, Z:1.03 [[ 9.99911738e-01 -1.12238060e-02 -7.10935992e-03 -4.18483882e+00] [ 1.12010576e-02 9.99932044e-01 -3.23155957e-03 3.63887196e+00] [ 7.14514720e-03 3.15164199e-03 9.99969507e-01 1.03406795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60925976399997 meters 0.1295101829386467 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.64, Z:1.03 [[ 9.99904219e-01 -1.15270323e-02 -7.66037103e-03 -4.18364788e+00] [ 1.14947544e-02 9.99924925e-01 -4.24437766e-03 3.64376762e+00] [ 7.70872101e-03 4.15591704e-03 9.99961651e-01 1.03449341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66925976399997 meters 0.1266529633839422 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.65, Z:1.03 [[ 9.99944867e-01 -7.32953827e-03 -7.51932587e-03 -4.18369442e+00] [ 7.32879990e-03 9.99973136e-01 -1.25746496e-04 3.64531433e+00] [ 7.52004554e-03 7.06319282e-05 9.99971722e-01 1.03385722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72925976399998 meters 0.12516738758787624 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.65, Z:1.03 [[ 9.99941361e-01 -7.18416275e-03 -8.10319578e-03 -4.18141190e+00] [ 7.17843387e-03 9.99973964e-01 -7.35854253e-04 3.64959138e+00] [ 8.10827130e-03 6.77642848e-04 9.99966898e-01 1.03283154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78925976399998 meters 0.12389204251939737 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.65, Z:1.03 [[ 9.99935632e-01 -7.33724167e-03 -8.65429329e-03 -4.17976533e+00] [ 7.32368720e-03 9.99971906e-01 -1.59686607e-03 3.65431610e+00] [ 8.66576675e-03 1.53338194e-03 9.99961276e-01 1.03258437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84925976399998 meters 0.11718838047031459 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.66, Z:1.04 [[ 9.99923703e-01 -7.83306062e-03 -9.55148242e-03 -4.17857078e+00] [ 7.79826093e-03 9.99962839e-01 -3.67519880e-03 3.66109949e+00] [ 9.57991553e-03 3.60043345e-03 9.99947630e-01 1.03511168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90925976399996 meters 0.1138733260909525 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.66, Z:1.03 [[ 0.99991947 -0.00782232 -0.00999333 -4.17706955] [ 0.00777956 0.99996045 -0.00431008 3.66482409] [ 0.01002665 0.00423199 0.99994078 1.03474016] [ 0. 0. 0. 1. ]] SLAMing on 131.96925976399996 meters 0.10999285508778218 Centerline is valid? [False, False] Translation: X:-4.18, Y:3.67, Z:1.03 [[ 0.99991499 -0.00776745 -0.01047283 -4.17533945] [ 0.00771519 0.99995763 -0.00502106 3.66898496] [ 0.01051139 0.00493984 0.99993255 1.03415144] [ 0. 0. 0. 1. ]] SLAMing on 132.02925976399996 meters 0.10656416335732381 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99990925 -0.00801254 -0.01083051 -4.17469255] [ 0.00794961 0.99995134 -0.00584093 3.67237985] [ 0.01087678 0.0057543 0.99992429 1.03473846] [ 0. 0. 0. 1. ]] SLAMing on 132.08925976399996 meters 0.10452432606629322 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.68, Z:1.03 [[ 0.9999044 -0.00807809 -0.01122206 -4.17342874] [ 0.00800747 0.99994794 -0.00632393 3.67571919] [ 0.01127256 0.00623346 0.99991703 1.03440298] [ 0. 0. 0. 1. ]] SLAMing on 132.14925976399996 meters 0.10582804295017048 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.68, Z:1.03 [[ 0.99990692 -0.00780767 -0.01118902 -4.17282567] [ 0.00774183 0.99995253 -0.00591579 3.67524678] [ 0.01123468 0.00582862 0.9999199 1.03331749] [ 0. 0. 0. 1. ]] SLAMing on 132.20925976399997 meters 0.10753888526044036 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.9999102 -0.00752443 -0.01108965 -4.17243752] [ 0.00746474 0.99995748 -0.00541473 3.67424015] [ 0.01112992 0.00533146 0.99992385 1.03227274] [ 0. 0. 0. 1. ]] SLAMing on 132.26925976399997 meters 0.11042536869418525 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99991672 -0.00716004 -0.01073687 -4.17279991] [ 0.00711353 0.99996517 -0.00436438 3.67068447] [ 0.01076775 0.00428764 0.99993283 1.03130284] [ 0. 0. 0. 1. ]] SLAMing on 132.32925976399997 meters 0.10914534538756751 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 9.99917159e-01 -6.95514584e-03 -1.08305386e-02 -4.17231039e+00] [ 6.91091851e-03 9.99967650e-01 -4.11566181e-03 3.67024639e+00] [ 1.08588133e-02 4.04047189e-03 9.99932878e-01 1.03092733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38925976399997 meters 0.10629562995584982 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 9.99916509e-01 -6.93324549e-03 -1.09043994e-02 -4.17222518e+00] [ 6.88781741e-03 9.99967467e-01 -4.19808438e-03 3.67057288e+00] [ 1.09331510e-02 4.12262637e-03 9.99931733e-01 1.03114192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44925976399998 meters 0.1083092510495653 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 9.99922690e-01 -6.14644175e-03 -1.08090214e-02 -4.17136860e+00] [ 6.11457950e-03 9.99976870e-01 -2.97832754e-03 3.66696753e+00] [ 1.08270776e-02 2.91200467e-03 9.99937145e-01 1.02944387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50925976399998 meters 0.11069877848220049 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 9.99922154e-01 -6.07019009e-03 -1.09013420e-02 -4.17114847e+00] [ 6.03909632e-03 9.99977609e-01 -2.88294527e-03 3.66687211e+00] [ 1.09185979e-02 2.81688658e-03 9.99936423e-01 1.02945218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56925976399998 meters 0.11069547880098628 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 9.99922916e-01 -5.96084968e-03 -1.08917387e-02 -4.17125750e+00] [ 5.93215910e-03 9.99978855e-01 -2.66457031e-03 3.66595060e+00] [ 1.09073915e-02 2.59975339e-03 9.99937133e-01 1.02955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62925976399995 meters 0.1120190040211589 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 9.99925229e-01 -5.75172084e-03 -1.07914016e-02 -4.17125332e+00] [ 5.72693355e-03 9.99980895e-01 -2.32644569e-03 3.66483860e+00] [ 1.08045765e-02 2.26447009e-03 9.99939065e-01 1.02914606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68925976399996 meters 0.1098913277380191 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 9.99925564e-01 -5.65626740e-03 -1.08107862e-02 -4.17102359e+00] [ 5.63276594e-03 9.99981709e-01 -2.20310275e-03 3.66469978e+00] [ 1.08230498e-02 2.14204413e-03 9.99939135e-01 1.02887355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74925976399996 meters 0.10898954951005348 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99988637 -0.00990774 -0.01136167 -4.16943551] [ 0.00983103 0.99992864 -0.00678751 3.66703397] [ 0.01142811 0.00667504 0.99991242 1.02873134] [ 0. 0. 0. 1. ]] SLAMing on 132.80925976399996 meters 0.107274911345622 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99988669 -0.00958708 -0.01160558 -4.1682205 ] [ 0.00951264 0.99993393 -0.0064528 3.66702748] [ 0.01166668 0.00634167 0.99991183 1.02781167] [ 0. 0. 0. 1. ]] SLAMing on 132.86925976399996 meters 0.10900698645591772 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99988692 -0.0093686 -0.01176369 -4.16740675] [ 0.00929533 0.99993716 -0.00626737 3.66723208] [ 0.01182167 0.00615731 0.99991116 1.02720338] [ 0. 0. 0. 1. ]] SLAMing on 132.92925976399997 meters 0.10652894864097114 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.67, Z:1.03 [[ 0.99989063 -0.00907724 -0.01167591 -4.16726687] [ 0.00901028 0.99994273 -0.00577541 3.66572454] [ 0.01172767 0.00566957 0.99991516 1.02659859] [ 0. 0. 0. 1. ]] SLAMing on 132.98925976399997 meters 0.1109698060043677 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 0.99989371 -0.00880661 -0.0116191 -4.16702063] [ 0.00874521 0.99994758 -0.00532467 3.66452891] [ 0.01166538 0.00522249 0.99991832 1.0259675 ] [ 0. 0. 0. 1. ]] SLAMing on 133.04925976399997 meters 0.11471757967976708 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 0.99989958 -0.00839023 -0.01142108 -4.16702433] [ 0.00834002 0.99995538 -0.00443686 3.6616137 ] [ 0.01145779 0.00434116 0.99992493 1.02508333] [ 0. 0. 0. 1. ]] SLAMing on 133.10925976399997 meters 0.1142096826676088 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 0.99989957 -0.00845182 -0.01137646 -4.16743586] [ 0.00840131 0.99995467 -0.0044799 3.66137841] [ 0.0114138 0.00438387 0.99992525 1.02552633] [ 0. 0. 0. 1. ]] SLAMing on 133.16925976399997 meters 0.11398098319975328 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.03 [[ 0.99989864 -0.00835685 -0.01152676 -4.16691878] [ 0.00830534 0.99995534 -0.00450899 3.66194178] [ 0.01156393 0.0044128 0.9999234 1.02536598] [ 0. 0. 0. 1. ]] SLAMing on 133.22925976399998 meters 0.1109037619661898 Centerline is valid? [False, False] Translation: X:-4.17, Y:3.66, Z:1.02 [[ 0.99989743 -0.00817968 -0.01175644 -4.16580835] [ 0.0081273 0.99995686 -0.00449625 3.66305411] [ 0.01179271 0.00440024 0.99992078 1.02461854] [ 0. 0. 0. 1. ]] SLAMing on 133.28925976399998 meters 0.10677740496237376 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 0.99989198 -0.00800957 -0.01232398 -4.1637797 ] [ 0.00795026 0.99995662 -0.004854 3.66627758] [ 0.01236232 0.00475549 0.99991228 1.02380994] [ 0. 0. 0. 1. ]] SLAMing on 133.34925976399998 meters 0.10485492651444231 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 0.99989037 -0.00778537 -0.01259477 -4.16267003] [ 0.00772605 0.99995887 -0.0047512 3.66684785] [ 0.01263124 0.00465337 0.99990939 1.02323351] [ 0. 0. 0. 1. ]] SLAMing on 133.40925976399996 meters 0.10192599836795703 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 0.99988936 -0.00767378 -0.01274292 -4.16193148] [ 0.00761237 0.99995921 -0.00486076 3.6679763 ] [ 0.0127797 0.00476322 0.99990699 1.0227735 ] [ 0. 0. 0. 1. ]] SLAMing on 133.46925976399996 meters 0.10418099955321974 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 0.99988856 -0.00765122 -0.01281929 -4.16158583] [ 0.00758746 0.99995864 -0.00501495 3.66898022] [ 0.01285713 0.00491712 0.99990525 1.02262921] [ 0. 0. 0. 1. ]] SLAMing on 133.52925976399996 meters 0.10375360516510766 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 0.99988854 -0.00759512 -0.01285369 -4.16132281] [ 0.00753173 0.99995927 -0.00497296 3.66923264] [ 0.01289094 0.00487559 0.99990502 1.02236888] [ 0. 0. 0. 1. ]] SLAMing on 133.58925976399996 meters 0.10186504985543038 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.67, Z:1.02 [[ 9.99893298e-01 -6.95820302e-03 -1.28443231e-02 -4.16035031e+00] [ 6.90867602e-03 9.99968544e-01 -3.89629704e-03 3.66657617e+00] [ 1.28710303e-02 3.80714403e-03 9.99909917e-01 1.02071989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64925976399996 meters 0.10467296847345325 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.66, Z:1.01 [[ 9.99996317e-01 -2.54998559e-03 -9.29566722e-04 -4.15627584e+00] [ 2.54518475e-03 9.99983604e-01 -5.12970981e-03 3.66274518e+00] [ 9.42632167e-04 5.12732500e-03 9.99986411e-01 1.01473876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70925976399997 meters 0.1080467860838776 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.66, Z:1.02 [[ 9.99996131e-01 -2.67881524e-03 -7.49279277e-04 -4.15748669e+00] [ 2.67491097e-03 9.99983089e-01 -5.16406049e-03 3.66156657e+00] [ 7.63100169e-04 5.16203625e-03 9.99986385e-01 1.01592450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76925976399997 meters 0.10766417363228634 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.66, Z:1.02 [[ 9.99976814e-01 -6.75408422e-03 -8.68307299e-04 -4.15712578e+00] [ 6.74585010e-03 9.99935294e-01 -9.15978005e-03 3.66050547e+00] [ 9.30117041e-04 9.15371020e-03 9.99957671e-01 1.01589733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82925976399997 meters 0.11355697760357987 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.66, Z:1.01 [[ 9.99981550e-01 -6.05996145e-03 -4.20184008e-04 -4.15718615e+00] [ 6.05665633e-03 9.99953791e-01 -7.46539649e-03 3.65527481e+00] [ 4.65404607e-04 7.46271385e-03 9.99972045e-01 1.01390551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88925976399997 meters 0.1197319411023136 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.65, Z:1.01 [[ 9.99946977e-01 -1.02859334e-02 -4.92574023e-04 -4.15732627e+00] [ 1.02795675e-02 9.99880605e-01 -1.15371440e-02 3.65387896e+00] [ 6.11185508e-04 1.15314688e-02 9.99933324e-01 1.01447104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94925976399998 meters 0.12159477981340865 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.65, Z:1.01 [[ 9.99951006e-01 -9.89504672e-03 -2.71717325e-04 -4.15759241e+00] [ 9.89163688e-03 9.99895616e-01 -1.05315033e-02 3.65037736e+00] [ 3.75898679e-04 1.05282996e-02 9.99944505e-01 1.01379509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00925976399998 meters 0.11891651698963386 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.65, Z:1.01 [[ 9.99954752e-01 -9.51170130e-03 -1.49341240e-04 -4.15759768e+00] [ 9.50975826e-03 9.99905829e-01 -9.89428177e-03 3.64799760e+00] [ 2.43438630e-04 9.89241387e-03 9.99951039e-01 1.01329071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06925976399998 meters 0.12026420925605535 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.64, Z:1.01 [[ 9.99960414e-01 -8.88969386e-03 3.79738313e-04 -4.15835488e+00] [ 8.89258494e-03 9.99924780e-01 -8.44724595e-03 3.64227468e+00] [-3.04616318e-04 8.45028841e-03 9.99964249e-01 1.01234755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12925976399995 meters 0.12218600758112289 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.64, Z:1.01 [[ 9.99962825e-01 -8.58257154e-03 8.29603502e-04 -4.15943882e+00] [ 8.58846700e-03 9.99935846e-01 -7.38519663e-03 3.63768676e+00] [-7.66166302e-04 7.39204711e-03 9.99972385e-01 1.01221455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18925976399996 meters 0.1283386905954253 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.63, Z:1.01 [[ 9.99967543e-01 -7.90175061e-03 1.57331339e-03 -4.16039183e+00] [ 7.90941896e-03 9.99956572e-01 -4.92895748e-03 3.62956237e+00] [-1.53429768e-03 4.94124150e-03 9.99986615e-01 1.01005751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24925976399996 meters 0.1328633285850928 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.62, Z:1.01 [[ 9.99972232e-01 -7.15708311e-03 2.07617021e-03 -4.16051486e+00] [ 7.16348814e-03 9.99969555e-01 -3.09416267e-03 3.62392084e+00] [-2.05396182e-03 3.10894937e-03 9.99993058e-01 1.00787763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30925976399996 meters 0.12998868590104692 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.62, Z:1.01 [[ 9.99974716e-01 -6.76110187e-03 2.20345391e-03 -4.16025057e+00] [ 6.76627576e-03 9.99974349e-01 -2.34914708e-03 3.62174291e+00] [-2.18751457e-03 2.36399686e-03 9.99994813e-01 1.00687942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36925976399996 meters 0.13707826519211877 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.62, Z:1.01 [[ 9.99975715e-01 -6.67205306e-03 2.01322481e-03 -4.15970696e+00] [ 6.67684992e-03 9.99974864e-01 -2.38543483e-03 3.62224136e+00] [-1.99725846e-03 2.39881890e-03 9.99995128e-01 1.00682607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42925976399997 meters 0.14238218454836268 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.62, Z:1.01 [[ 9.99977156e-01 -6.54389286e-03 1.69288124e-03 -4.15872636e+00] [ 6.54810534e-03 9.99975449e-01 -2.49489324e-03 3.62327100e+00] [-1.67651336e-03 2.50592141e-03 9.99995455e-01 1.00666072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48925976399997 meters 0.13200394004264226 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.62, Z:1.01 [[ 9.99979626e-01 -6.22862952e-03 1.39676861e-03 -4.15712871e+00] [ 6.23189666e-03 9.99977827e-01 -2.34704571e-03 3.62434265e+00] [-1.38211876e-03 2.35570241e-03 9.99996270e-01 1.00540969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54925976399997 meters 0.12870135462759766 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.63, Z:1.01 [[ 9.99978939e-01 -6.42934600e-03 8.86204619e-04 -4.15595886e+00] [ 6.43217698e-03 9.99974098e-01 -3.22955927e-03 3.62843664e+00] [-8.65417710e-04 3.23519148e-03 9.99994392e-01 1.00571230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60925976399997 meters 0.12862116646354724 Centerline is valid? [False, False] Translation: X:-4.16, Y:3.63, Z:1.01 [[ 9.99977909e-01 -6.61764099e-03 6.23753552e-04 -4.15560071e+00] [ 6.61996542e-03 9.99970863e-01 -3.80118517e-03 3.63058555e+00] [-5.98580499e-04 3.80523042e-03 9.99992581e-01 1.00631884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66925976399997 meters 0.11988518545719268 Centerline is valid? [False, False] Translation: X:-4.15, Y:3.64, Z:1.01 [[ 9.99975278e-01 -7.03155867e-03 -1.95095446e-05 -4.15494180e+00] [ 7.03135403e-03 9.99961002e-01 -5.34359452e-03 3.63546694e+00] [ 5.70825822e-05 5.34332524e-03 9.99985723e-01 1.00844248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72925976399998 meters 0.11997282550463999 Centerline is valid? [False, False] Translation: X:-4.15, Y:3.64, Z:1.01 [[ 9.99994323e-01 -3.35223456e-03 -3.40409583e-04 -4.15495189e+00] [ 3.35125462e-03 9.99990353e-01 -2.83960814e-03 3.64097362e+00] [ 3.49925331e-04 2.83845122e-03 9.99995910e-01 1.01033984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78925976399998 meters 0.1132925929660106 Centerline is valid? [False, False] Translation: X:-4.15, Y:3.65, Z:1.01 [[ 9.99993935e-01 -3.32967835e-03 -1.02150223e-03 -4.15295778e+00] [ 3.32587116e-03 9.99987601e-01 -3.70637483e-03 3.64572423e+00] [ 1.03383060e-03 3.70295497e-03 9.99992610e-01 1.01008196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84925976399998 meters 0.10389945854652746 Centerline is valid? [False, False] Translation: X:-4.15, Y:3.65, Z:1.01 [[ 9.99993441e-01 -2.97199222e-03 -2.06989217e-03 -4.14950296e+00] [ 2.96263769e-03 9.99985451e-01 -4.50782883e-03 3.65110577e+00] [ 2.08325928e-03 4.50166693e-03 9.99987697e-01 1.00903022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90925976399996 meters 0.10033413431268486 Centerline is valid? [False, False] Translation: X:-4.15, Y:3.66, Z:1.01 [[ 9.99990824e-01 -3.12009213e-03 -2.93541237e-03 -4.14781071e+00] [ 3.10342214e-03 9.99979130e-01 -5.66644653e-03 3.65596339e+00] [ 2.95303094e-03 5.65728471e-03 9.99979637e-01 1.01015364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96925976399996 meters 0.09519970118239529 Centerline is valid? [False, True] Translation: X:-4.15, Y:3.66, Z:1.01 [[ 9.99987212e-01 -3.48904546e-03 -3.66091250e-03 -4.14682006e+00] [ 3.46183659e-03 9.99966535e-01 -7.41246305e-03 3.66140365e+00] [ 3.68665241e-03 7.39969478e-03 9.99965826e-01 1.01238741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02925976399996 meters 0.09526881333921981 Centerline is valid? [True, True] Translation: X:-4.09, Y:3.65, Z:1.00 [[ 9.99995912e-01 -1.11024046e-03 -2.63513009e-03 -4.08804861e+00] [ 1.11055130e-03 9.99999377e-01 1.16501586e-04 3.65190143e+00] [ 2.63499910e-03 -1.19427556e-04 9.99996521e-01 1.00421933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08925976399996 meters 0.09395467673433833 Centerline is valid? [True, True] Translation: X:-4.03, Y:3.65, Z:1.00 [[ 9.99995537e-01 -4.04904596e-04 -2.96001503e-03 -4.02798785e+00] [ 4.05291136e-04 9.99999909e-01 1.29988529e-04 3.65040119e+00] [ 2.95996213e-03 -1.31187616e-04 9.99995611e-01 1.00190918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14925976399996 meters 0.09392156866363001 Centerline is valid? [True, True] Translation: X:-3.97, Y:3.64, Z:1.00 [[ 9.99997078e-01 -1.56428861e-04 -2.41224109e-03 -3.96926660e+00] [ 1.56678211e-04 9.99999982e-01 1.03179944e-04 3.64416748e+00] [ 2.41222491e-03 -1.03557588e-04 9.99997085e-01 1.00067368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20925976399997 meters 0.0946743906792694 Centerline is valid? [True, True] Translation: X:-3.91, Y:3.64, Z:1.00 [[ 9.99997787e-01 -1.04699414e-03 -1.82482788e-03 -3.90988432e+00] [ 1.04714141e-03 9.99999449e-01 7.97457948e-05 3.63561551e+00] [ 1.82474338e-03 -8.16564711e-05 9.99998332e-01 1.00217621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26925976399997 meters 0.0962675490679683 Centerline is valid? [True, True] Translation: X:-3.85, Y:3.63, Z:1.00 [[ 9.99990900e-01 -4.21916464e-03 -6.31893050e-04 -3.84955400e+00] [ 4.21918302e-03 9.99991099e-01 2.77548286e-05 3.62588122e+00] [ 6.31770323e-04 -3.04206485e-05 9.99999800e-01 1.00244742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32925976399997 meters 0.09911932478000655 Centerline is valid? [True, True] Translation: X:-3.79, Y:3.61, Z:1.00 [[ 9.99952849e-01 -9.68961439e-03 6.41784867e-04 -3.78897803e+00] [ 9.68963432e-03 9.99953054e-01 -2.79487006e-05 3.61185247e+00] [-6.41483925e-04 3.41660434e-05 9.99999794e-01 1.00253477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38925976399997 meters 0.10640275525472014 Centerline is valid? [True, False] Translation: X:-3.79, Y:3.60, Z:1.00 [[ 9.99909107e-01 -1.34262489e-02 1.23053968e-03 -3.79064147e+00] [ 1.34290029e-02 9.99907278e-01 -2.25776435e-03 3.60279220e+00] [-1.20011228e-03 2.27408405e-03 9.99996694e-01 1.00292372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44925976399998 meters 0.1123643105016287 Centerline is valid? [False, False] Translation: X:-3.79, Y:3.60, Z:1.00 [[ 9.99913140e-01 -1.30326315e-02 1.96566289e-03 -3.79227399e+00] [ 1.30335482e-02 9.99914957e-01 -4.54274727e-04 3.59543760e+00] [-1.95957533e-03 4.79854831e-04 9.99997965e-01 1.00251714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50925976399998 meters 0.11984177119487524 Centerline is valid? [False, False] Translation: X:-3.79, Y:3.59, Z:1.00 [[ 9.99850832e-01 -1.70339198e-02 2.85655242e-03 -3.79444655e+00] [ 1.70414447e-02 9.99851323e-01 -2.63093528e-03 3.58677786e+00] [-2.81131257e-03 2.67922261e-03 9.99992459e-01 1.00245068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56925976399998 meters 0.130256779393155 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.58, Z:1.00 [[ 9.99855020e-01 -1.65724084e-02 3.91089507e-03 -3.79605289e+00] [ 1.65726516e-02 9.99862664e-01 -2.97825707e-05 3.57789583e+00] [-3.90986440e-03 9.45921543e-05 9.99992352e-01 1.00023762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62925976399995 meters 0.1500052597637717 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.57, Z:1.00 [[ 9.99773475e-01 -2.06843806e-02 5.01549307e-03 -3.79847400e+00] [ 2.06939943e-02 9.99784103e-01 -1.87252791e-03 3.56799535e+00] [-4.97567816e-03 1.97589432e-03 9.99985669e-01 9.99681359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68925976399996 meters 0.14751380947633833 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.56, Z:1.00 [[ 9.99770277e-01 -2.05037685e-02 6.24406005e-03 -3.80073989e+00] [ 2.05005439e-02 9.99789674e-01 5.79997095e-04 3.55921755e+00] [-6.25463888e-03 -4.51857229e-04 9.99980337e-01 9.97818741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74925976399996 meters 0.17857001396112326 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.55, Z:1.00 [[ 9.99660065e-01 -2.49571622e-02 7.54290030e-03 -3.80374449e+00] [ 2.49685146e-02 9.99687237e-01 -1.41463172e-03 3.55037969e+00] [-7.50523597e-03 1.60248585e-03 9.99970551e-01 9.97211991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80925976399996 meters 0.1794168041177157 Centerline is valid? [False, False] Translation: X:-3.81, Y:3.55, Z:1.00 [[ 9.99650802e-01 -2.51207287e-02 8.19894204e-03 -3.80588673e+00] [ 2.51295752e-02 9.99683724e-01 -9.77737844e-04 3.54677625e+00] [-8.17178743e-03 1.18343235e-03 9.99965910e-01 9.97967455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86925976399996 meters 0.18415568600899354 Centerline is valid? [False, False] Translation: X:-3.81, Y:3.54, Z:1.00 [[ 9.99638834e-01 -2.53391606e-02 8.95150797e-03 -3.80844055e+00] [ 2.53454002e-02 9.99678583e-01 -5.84275103e-04 3.54320759e+00] [-8.93382577e-03 8.10943634e-04 9.99959764e-01 9.99054976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92925976399997 meters 0.18272100379049994 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.54, Z:1.00 [[ 9.99674440e-01 -2.53778044e-02 2.64219819e-03 -3.82108872e+00] [ 2.54077830e-02 9.99605036e-01 -1.20090152e-02 3.54456761e+00] [-2.33639217e-03 1.20722380e-02 9.99924398e-01 1.00478151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98925976399997 meters 0.18071786373323212 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.54, Z:1.00 [[ 9.99783849e-01 -2.05121740e-02 3.39218113e-03 -3.82213993e+00] [ 2.05324490e-02 9.99770856e-01 -6.05424709e-03 3.53898074e+00] [-3.26721806e-03 6.12258824e-03 9.99975919e-01 1.00301492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04925976399997 meters 0.17648732141464513 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.53, Z:1.00 [[ 9.99866906e-01 -1.57557754e-02 4.23393102e-03 -3.82371067e+00] [ 1.57559900e-02 9.99875867e-01 -1.73523809e-05 3.53211698e+00] [-4.23313205e-03 8.40598463e-05 9.99991037e-01 1.00191197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10925976399997 meters 0.1768673732094621 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.53, Z:1.00 [[ 9.99872799e-01 -1.52956972e-02 4.51961156e-03 -3.82392661e+00] [ 1.52915503e-02 9.99882625e-01 9.50673884e-04 3.52882760e+00] [-4.53362230e-03 -8.81441090e-04 9.99989335e-01 1.00108630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16925976399997 meters 0.1842801989290684 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99871823e-01 -1.51193819e-02 5.26713590e-03 -3.82571732e+00] [ 1.51093861e-02 9.99883979e-01 1.93242901e-03 3.52395441e+00] [-5.29574194e-03 -1.85259812e-03 9.99984261e-01 1.00109933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22925976399998 meters 0.17867562117582877 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99873903e-01 -1.49587163e-02 5.33053806e-03 -3.82632061e+00] [ 1.49471180e-02 9.99885845e-01 2.20907513e-03 3.52209162e+00] [-5.36297448e-03 -2.12912039e-03 9.99983353e-01 1.00179808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28925976399998 meters 0.18257073975159907 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99874318e-01 -1.49473939e-02 5.28422257e-03 -3.82651528e+00] [ 1.49361012e-02 9.99886095e-01 2.17010337e-03 3.52196139e+00] [-5.31605806e-03 -2.09090495e-03 9.99983684e-01 1.00228917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34925976399998 meters 0.18397978034263893 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99879430e-01 -1.45864624e-02 5.32551767e-03 -3.82611651e+00] [ 1.45721005e-02 9.99890106e-01 2.72573225e-03 3.52053966e+00] [-5.36469122e-03 -2.64779963e-03 9.99982104e-01 1.00149320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40925976399996 meters 0.18245744591247803 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 0.99988441 -0.01405545 0.00579765 -3.82673327] [ 0.01403272 0.99989376 0.00394336 3.51619043] [-0.00585246 -0.00386154 0.99997542 1.00058719] [ 0. 0. 0. 1. ]] SLAMing on 136.46925976399996 meters 0.18208867431507636 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99881166e-01 -1.43918238e-02 5.52529551e-03 -3.82708079e+00] [ 1.43736182e-02 9.99891180e-01 3.32064374e-03 3.51750923e+00] [-5.57248437e-03 -3.24083065e-03 9.99979222e-01 1.00219242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52925976399996 meters 0.187641722452619 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99878703e-01 -1.46014569e-02 5.42003228e-03 -3.82734192e+00] [ 1.45856328e-02 9.99889279e-01 2.94770067e-03 3.51848791e+00] [-5.46247289e-03 -2.86828853e-03 9.99980967e-01 1.00301579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58925976399996 meters 0.20575115503677563 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99884716e-01 -1.41624927e-02 5.47529512e-03 -3.82681726e+00] [ 1.41429123e-02 9.99893509e-01 3.59847163e-03 3.51687779e+00] [-5.52567537e-03 -3.52062017e-03 9.99978536e-01 1.00197565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64925976399996 meters 0.19835682931752005 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99885752e-01 -1.41990440e-02 5.18354202e-03 -3.82621713e+00] [ 1.41810947e-02 9.99893376e-01 3.48322755e-03 3.51779048e+00] [-5.23244783e-03 -3.40932130e-03 9.99980499e-01 1.00215369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70925976399997 meters 0.19960954906006917 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.52, Z:1.00 [[ 9.99883015e-01 -1.44421838e-02 5.03791961e-03 -3.82622148e+00] [ 1.44267578e-02 9.99891170e-01 3.08499884e-03 3.51921213e+00] [-5.08192545e-03 -3.01195710e-03 9.99982551e-01 1.00274077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76925976399997 meters 0.19066445952890382 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.52, Z:1.00 [[ 9.99888041e-01 -1.43941862e-02 4.08823145e-03 -3.82363719e+00] [ 1.43839206e-02 9.99893347e-01 2.52942276e-03 3.52333793e+00] [-4.12420441e-03 -2.47033477e-03 9.99988444e-01 1.00219369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82925976399997 meters 0.18515801159036804 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.53, Z:1.00 [[ 9.99886982e-01 -1.47261133e-02 3.02750444e-03 -3.82152070e+00] [ 1.47227783e-02 9.99890986e-01 1.12091817e-03 3.52991198e+00] [-3.04368117e-03 -1.07621821e-03 9.99994789e-01 1.00288500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88925976399997 meters 0.1761614230609492 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.53, Z:1.00 [[ 9.99886302e-01 -1.49092227e-02 2.25790884e-03 -3.81956339e+00] [ 1.49089320e-02 9.99888845e-01 1.45527249e-04 3.53496489e+00] [-2.25982756e-03 -1.11847693e-04 9.99997440e-01 1.00280754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94925976399998 meters 0.17648370774249258 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.53, Z:1.00 [[ 9.99941771e-01 -1.05069957e-02 2.46142777e-03 -3.81967674e+00] [ 1.04954356e-02 9.99934048e-01 4.66324390e-03 3.53476158e+00] [-2.51026211e-03 -4.63713861e-03 9.99986098e-01 1.00202246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00925976399998 meters 0.17268065495206456 Centerline is valid? [False, False] Translation: X:-3.82, Y:3.55, Z:1.01 [[ 9.99933471e-01 -1.15051822e-02 8.26757269e-04 -3.81750210e+00] [ 1.15041822e-02 9.99933100e-01 1.20426929e-03 3.54587351e+00] [-8.40557296e-04 -1.19467800e-03 9.99998933e-01 1.00611736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06925976399998 meters 0.1634028164568461 Centerline is valid? [False, False] Translation: X:-3.81, Y:3.55, Z:1.01 [[ 9.99932450e-01 -1.16211649e-02 -2.10576210e-04 -3.81478699e+00] [ 1.16211266e-02 9.99932456e-01 -1.82277838e-04 3.55292997e+00] [ 2.12680268e-04 1.79818392e-04 9.99999961e-01 1.00587981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12925976399995 meters 0.1643050588811506 Centerline is valid? [False, False] Translation: X:-3.80, Y:3.56, Z:1.01 [[ 9.99977323e-01 -5.45403021e-03 -3.95065798e-03 -3.79932337e+00] [ 5.45375189e-03 9.99985125e-01 -8.12190636e-05 3.55734752e+00] [ 3.95104219e-03 5.96713133e-05 9.99992193e-01 1.00555236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18925976399996 meters 0.1543687102680148 Centerline is valid? [False, False] Translation: X:-3.78, Y:3.56, Z:1.01 [[ 9.99977684e-01 2.18258844e-03 -6.31410921e-03 -3.78316938e+00] [-2.19804408e-03 9.99994603e-01 -2.44189134e-03 3.56296346e+00] [ 6.30874549e-03 2.45571554e-03 9.99977084e-01 1.01052038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24925976399996 meters 0.14490611568878645 Centerline is valid? [False, False] Translation: X:-3.78, Y:3.57, Z:1.02 [[ 9.99934015e-01 7.50725544e-03 -8.69524619e-03 -3.77678215e+00] [-7.52335889e-03 9.99970042e-01 -1.82075584e-03 3.57115930e+00] [ 8.68131681e-03 1.88605316e-03 9.99960538e-01 1.01592265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30925976399996 meters 0.1413472781323129 Centerline is valid? [False, False] Translation: X:-3.76, Y:3.58, Z:1.02 [[ 9.99994097e-01 1.93764667e-04 -3.43060973e-03 -3.76169369e+00] [-2.01130287e-04 9.99997675e-01 -2.14681456e-03 3.57723969e+00] [ 3.43018578e-03 2.14749188e-03 9.99991811e-01 1.01588833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36925976399996 meters 0.13503914346512805 Centerline is valid? [False, False] Translation: X:-3.76, Y:3.58, Z:1.02 [[ 9.99990840e-01 -4.95560658e-05 -4.27999140e-03 -3.75930666e+00] [ 3.52204702e-05 9.99994390e-01 -3.34945538e-03 3.58415886e+00] [ 4.28013338e-03 3.34927395e-03 9.99985231e-01 1.01545724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42925976399997 meters 0.13815875391885643 Centerline is valid? [False, False] Translation: X:-3.76, Y:3.59, Z:1.02 [[ 9.99987126e-01 -4.03355741e-04 -5.05826582e-03 -3.75752467e+00] [ 3.80874010e-04 9.99990050e-01 -4.44472906e-03 3.59015856e+00] [ 5.06000829e-03 4.44274527e-03 9.99977329e-01 1.01571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48925976399997 meters 0.13308464399975745 Centerline is valid? [False, False] Translation: X:-3.76, Y:3.59, Z:1.01 [[ 9.99985476e-01 -3.92602327e-04 -5.37519495e-03 -3.75577901e+00] [ 3.66457765e-04 9.99988103e-01 -4.86404929e-03 3.59364873e+00] [ 5.37704064e-03 4.86200887e-03 9.99973724e-01 1.01445191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54925976399997 meters 0.1289433341995321 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.60, Z:1.01 [[ 9.99982770e-01 -5.52663593e-04 -5.84411487e-03 -3.75425270e+00] [ 5.20140838e-04 9.99984379e-01 -5.56510021e-03 3.59779845e+00] [ 5.84709921e-03 5.56196456e-03 9.99967437e-01 1.01404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60925976399997 meters 0.1262595539846769 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.61, Z:1.01 [[ 9.99974185e-01 -5.59629992e-04 -7.16356460e-03 -3.75081463e+00] [ 5.12251559e-04 9.99977996e-01 -6.61393391e-03 3.60589782e+00] [ 7.16710834e-03 6.61009362e-03 9.99952468e-01 1.01341047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66925976399997 meters 0.12082285865904946 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.61, Z:1.01 [[ 9.99969176e-01 -1.01531848e-03 -7.78561102e-03 -3.74945637e+00] [ 9.50885959e-04 9.99965309e-01 -8.27508719e-03 3.61250258e+00] [ 7.79374278e-03 8.26742890e-03 9.99935452e-01 1.01412761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72925976399998 meters 0.1212757054427985 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.62, Z:1.00 [[ 9.99963553e-01 -5.54888227e-04 8.51964998e-03 -3.75020969e+00] [ 5.97133062e-04 9.99987537e-01 -4.95677496e-03 3.61609890e+00] [-8.51679334e-03 4.96168166e-03 9.99951422e-01 1.00334789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78925976399998 meters 0.11755707760051963 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.62, Z:1.00 [[ 9.99966108e-01 -7.15886968e-04 8.20189969e-03 -3.74884735e+00] [ 7.62017390e-04 9.99983903e-01 -5.62261438e-03 3.62013739e+00] [-8.19774250e-03 5.62867380e-03 9.99950556e-01 1.00271320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84925976399995 meters 0.1164229745880533 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.62, Z:1.00 [[ 9.99967683e-01 -9.41064760e-04 7.98424931e-03 -3.74811935e+00] [ 9.91214473e-04 9.99979793e-01 -6.27945016e-03 3.62342867e+00] [-7.97817860e-03 6.28716133e-03 9.99948409e-01 1.00261590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90925976399996 meters 0.1136152681522645 Centerline is valid? [False, False] Translation: X:-3.75, Y:3.63, Z:1.00 [[ 9.99974132e-01 -1.12781039e-03 7.10377019e-03 -3.74599772e+00] [ 1.18076236e-03 9.99971519e-01 -7.45428778e-03 3.62995383e+00] [-7.09516085e-03 7.46248281e-03 9.99946984e-01 1.00274109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96925976399996 meters 0.10857598912602517 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99976418e-01 -1.18781224e-03 6.76409972e-03 -3.74480610e+00] [ 1.24153944e-03 9.99967672e-01 -7.94434150e-03 3.63298952e+00] [-6.75444467e-03 7.95255206e-03 9.99945566e-01 1.00239258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02925976399996 meters 0.10938476727385506 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99977890e-01 -1.13044643e-03 6.55295253e-03 -3.74394190e+00] [ 1.18410940e-03 9.99965752e-01 -8.19104171e-03 3.63466633e+00] [-6.54346857e-03 8.19862002e-03 9.99944981e-01 1.00204389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08925976399996 meters 0.10756589294734938 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.64, Z:1.00 [[ 9.99978036e-01 -1.04745032e-03 6.54455024e-03 -3.74353344e+00] [ 1.10061695e-03 9.99966382e-01 -8.12548755e-03 3.63506648e+00] [-6.53581918e-03 8.13251212e-03 9.99945571e-01 1.00148268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14925976399996 meters 0.10556545011948595 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.64, Z:1.00 [[ 9.99980000e-01 -1.16970775e-03 6.21535297e-03 -3.74274901e+00] [ 1.22309421e-03 9.99962335e-01 -8.59260235e-03 3.63745820e+00] [-6.20506804e-03 8.60003247e-03 9.99943767e-01 1.00166834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20925976399997 meters 0.10599519788020378 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.64, Z:1.00 [[ 9.99979893e-01 -1.06685163e-03 6.25108265e-03 -3.74277222e+00] [ 1.11946951e-03 9.99963925e-01 -8.41995827e-03 3.63687387e+00] [-6.24187429e-03 8.42678687e-03 9.99945013e-01 1.00154893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26925976399997 meters 0.10532558819024465 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.64, Z:1.00 [[ 9.99980595e-01 -8.59330708e-04 6.17012692e-03 -3.74247018e+00] [ 9.09811031e-04 9.99966103e-01 -8.18326733e-03 3.63612407e+00] [-6.16288563e-03 8.18872218e-03 9.99947480e-01 1.00142033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32925976399997 meters 0.10987335929468957 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.64, Z:1.00 [[ 9.99981470e-01 -5.60704796e-04 6.06181965e-03 -3.74170851e+00] [ 6.07492112e-04 9.99970021e-01 -7.71927761e-03 3.63527564e+00] [-6.05730969e-03 7.72281708e-03 9.99951832e-01 1.00062010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38925976399997 meters 0.11087342145711437 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99980906e-01 -3.79535787e-05 6.17952168e-03 -3.74134067e+00] [ 7.98606264e-05 9.99977002e-01 -6.78149506e-03 3.63239191e+00] [-6.17912218e-03 6.78185907e-03 9.99957912e-01 9.99485026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44925976399998 meters 0.11031442128874436 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99980832e-01 1.78109754e-04 6.18895283e-03 -3.74122436e+00] [-1.38468371e-04 9.99979478e-01 -6.40502256e-03 3.63118176e+00] [-6.18996662e-03 6.40404281e-03 9.99960335e-01 9.99215672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50925976399998 meters 0.11126791728043482 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 0.99997358 -0.0044025 0.00578434 -3.74130931] [ 0.00446785 0.99992579 -0.01133392 3.63264965] [-0.00573402 0.01135946 0.99991904 1.00099606] [ 0. 0. 0. 1. ]] SLAMing on 138.56925976399998 meters 0.11344591893110963 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 0.99997501 -0.00390721 0.00589156 -3.74109259] [ 0.00396846 0.99993784 -0.01041977 3.62965836] [-0.00585048 0.01044289 0.99992836 1.00012423] [ 0. 0. 0. 1. ]] SLAMing on 138.62925976399995 meters 0.11435962957797055 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99976176e-01 -3.62800984e-03 5.87238350e-03 -3.74058658e+00] [ 3.68638496e-03 9.99943598e-01 -9.96050771e-03 3.62864567e+00] [-5.83591547e-03 9.98191827e-03 9.99933149e-01 9.99370323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68925976399996 meters 0.11395167411989242 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99977909e-01 -3.17927551e-03 5.83735513e-03 -3.73978409e+00] [ 3.23307693e-03 9.99952171e-01 -9.23055989e-03 3.62697812e+00] [-5.80772944e-03 9.24922859e-03 9.99940359e-01 9.98180287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74925976399996 meters 0.11325920290133948 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99978096e-01 -3.15516128e-03 5.81833683e-03 -3.73977237e+00] [ 3.20864540e-03 9.99952476e-01 -9.20603061e-03 3.62688407e+00] [-5.78901381e-03 9.22449794e-03 9.99940696e-01 9.98245840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80925976399996 meters 0.11093063076512717 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99977865e-01 -3.30753662e-03 5.77319969e-03 -3.74004800e+00] [ 3.36223886e-03 9.99949303e-01 -9.49135627e-03 3.62754111e+00] [-5.74151400e-03 9.51055706e-03 9.99938290e-01 9.98882857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86925976399996 meters 0.11746696481708366 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.63, Z:1.00 [[ 9.99978662e-01 -3.06821214e-03 5.76725860e-03 -3.73977494e+00] [ 3.12064663e-03 9.99953681e-01 -9.10484934e-03 3.62654051e+00] [-5.73905585e-03 9.12265264e-03 9.99941919e-01 9.98430177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92925976399997 meters 0.11276065198059312 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99978793e-01 -2.59460032e-03 5.97346284e-03 -3.73971456e+00] [ 2.64314503e-03 9.99963432e-01 -8.13322958e-03 3.62336408e+00] [-5.95214192e-03 8.14884583e-03 9.99949083e-01 9.97414880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98925976399997 meters 0.11339382660581822 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99978772e-01 -2.38946962e-03 6.06192444e-03 -3.73984279e+00] [ 2.43623318e-03 9.99967243e-01 -7.71868927e-03 3.62185643e+00] [-6.04328229e-03 7.73329368e-03 9.99951836e-01 9.97215075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04925976399997 meters 0.11855683037005184 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99977930e-01 -2.31744050e-03 6.22643479e-03 -3.74023627e+00] [ 2.36383391e-03 9.99969424e-01 -7.45404086e-03 3.62077081e+00] [-6.20897012e-03 7.46859461e-03 9.99952833e-01 9.97147118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10925976399997 meters 0.11907030983760648 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99978460e-01 -2.08101761e-03 6.22486811e-03 -3.73994441e+00] [ 2.12515691e-03 9.99972589e-01 -7.09261176e-03 3.61984290e+00] [-6.20993763e-03 7.10568780e-03 9.99955472e-01 9.96670156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16925976399997 meters 0.12257118275530801 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99977573e-01 -2.08352878e-03 6.36500239e-03 -3.74032059e+00] [ 2.12773230e-03 9.99973613e-01 -6.94591573e-03 3.61929797e+00] [-6.35036243e-03 6.95930298e-03 9.99955620e-01 9.96642666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22925976399998 meters 0.12084375443890592 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99978422e-01 -1.77555378e-03 6.32483422e-03 -3.73979718e+00] [ 1.81656640e-03 9.99977325e-01 -6.48454736e-03 3.61824068e+00] [-6.31317715e-03 6.49589691e-03 9.99958973e-01 9.95966108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28925976399998 meters 0.12387002506519569 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99977955e-01 -1.47961761e-03 6.47297418e-03 -3.73966341e+00] [ 1.51794382e-03 9.99981324e-01 -5.92005721e-03 3.61672613e+00] [-6.46409387e-03 5.92975232e-03 9.99961526e-01 9.95117949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34925976399995 meters 0.12340024523571798 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99978034e-01 -1.41427596e-03 6.47542405e-03 -3.73978486e+00] [ 1.45195211e-03 9.99982025e-01 -5.81732910e-03 3.61626095e+00] [-6.46708034e-03 5.82660332e-03 9.99962113e-01 9.95280750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40925976399996 meters 0.12495098718094987 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:1.00 [[ 9.99979951e-01 -1.41039354e-03 6.17322450e-03 -3.73904255e+00] [ 1.44763061e-03 9.99980761e-01 -6.03172377e-03 3.61763605e+00] [-6.16459863e-03 6.04053939e-03 9.99962754e-01 9.95357824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46925976399996 meters 0.12165606299603739 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:0.99 [[ 9.99981091e-01 -1.03762669e-03 6.06138645e-03 -3.73796177e+00] [ 1.07151782e-03 9.99983798e-01 -5.59074887e-03 3.61728937e+00] [-6.05548713e-03 5.59713804e-03 9.99966001e-01 9.94152733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52925976399996 meters 0.12065063463702007 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:0.99 [[ 9.99981744e-01 -7.33873069e-04 5.99777600e-03 -3.73748224e+00] [ 7.64976389e-04 9.99986264e-01 -5.18516104e-03 3.61626833e+00] [-5.99388836e-03 5.18965453e-03 9.99968570e-01 9.93637928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58925976399996 meters 0.12509600968971524 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.62, Z:0.99 [[ 9.99981714e-01 -6.55218216e-04 6.01186826e-03 -3.73786982e+00] [ 6.85260047e-04 9.99987283e-01 -4.99638898e-03 3.61505285e+00] [-6.00851808e-03 5.00041731e-03 9.99969446e-01 9.94151144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64925976399996 meters 0.1232734721511341 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:1.00 [[ 0.99997038 -0.00500185 0.00585036 -3.73802197] [ 0.00505687 0.99994277 -0.00942758 3.61495961] [-0.00580287 0.00945689 0.99993845 0.99502346] [ 0. 0. 0. 1. ]] SLAMing on 139.70925976399997 meters 0.1286411260552778 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 0.99997176 -0.00473838 0.00583404 -3.73760179] [ 0.00479083 0.99994793 -0.00901012 3.61404194] [-0.00579104 0.00903782 0.99994239 0.9944001 ] [ 0. 0. 0. 1. ]] SLAMing on 139.76925976399997 meters 0.12724707170247465 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 0.99997454 -0.00425312 0.00572918 -3.73655386] [ 0.00430059 0.99995631 -0.00829944 3.61259672] [-0.00569363 0.00832387 0.99994915 0.99313861] [ 0. 0. 0. 1. ]] SLAMing on 139.82925976399997 meters 0.12603404113702707 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 0.99997594 -0.00395843 0.00569615 -3.7358801 ] [ 0.00400293 0.99996139 -0.0078222 3.6118483 ] [-0.00566497 0.00784482 0.99995318 0.99217753] [ 0. 0. 0. 1. ]] SLAMing on 139.88925976399997 meters 0.12573617112035243 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 9.99977085e-01 -3.66444295e-03 5.69214019e-03 -3.73552071e+00] [ 3.70600499e-03 9.99966426e-01 -7.30834891e-03 3.61044155e+00] [-5.66516805e-03 7.32927654e-03 9.99957093e-01 9.91565805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94925976399998 meters 0.1278539536469941 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 0.99997671 -0.00379563 0.00567206 -3.73552603] [ 0.003838 0.99996468 -0.00747672 3.61135578] [-0.00564348 0.00749832 0.99995596 0.9916524 ] [ 0. 0. 0. 1. ]] SLAMing on 140.00925976399998 meters 0.1343414418163774 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.61, Z:0.99 [[ 0.9999766 -0.00387202 0.0056392 -3.7355081 ] [ 0.0039147 0.99996363 -0.00757683 3.6119042 ] [-0.00560966 0.00759873 0.99995539 0.99173964] [ 0. 0. 0. 1. ]] SLAMing on 140.06925976399998 meters 0.12634351514987716 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 0.99997776 -0.00394272 0.00537865 -3.73483373] [ 0.00398515 0.99996084 -0.00790114 3.61362218] [-0.00534729 0.0079224 0.99995432 0.99178486] [ 0. 0. 0. 1. ]] SLAMing on 140.12925976399995 meters 0.12424999430400298 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 0.99997885 -0.00400748 0.005123 -3.73425196] [ 0.00404961 0.99995786 -0.00823879 3.61524876] [-0.00508977 0.00825937 0.99995294 0.99198221] [ 0. 0. 0. 1. ]] SLAMing on 140.18925976399996 meters 0.122971875118727 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 0.99997931 -0.00388045 0.00513014 -3.73409135] [ 0.00392156 0.99996008 -0.00802807 3.6148059 ] [-0.00509879 0.00804802 0.99995461 0.99168183] [ 0. 0. 0. 1. ]] SLAMing on 140.24925976399996 meters 0.13087676193315714 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 0.99997963 -0.0037813 0.00514233 -3.73395919] [ 0.0038212 0.99996249 -0.00777233 3.61423207] [-0.00511275 0.00779182 0.99995657 0.99135457] [ 0. 0. 0. 1. ]] SLAMing on 140.30925976399996 meters 0.12955639360208757 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 9.99980565e-01 -3.70923033e-03 5.01117877e-03 -3.73342930e+00] [ 3.74791462e-03 9.99963081e-01 -7.73239079e-03 3.61462200e+00] [-4.98231255e-03 7.75102198e-03 9.99957548e-01 9.91070955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36925976399996 meters 0.1303946759966012 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99983642e-01 -3.35120515e-03 4.63511521e-03 -3.73179993e+00] [ 3.38604395e-03 9.99965924e-01 -7.52896335e-03 3.61530787e+00] [-4.60972616e-03 7.54453490e-03 9.99960914e-01 9.90075461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42925976399997 meters 0.12765301641592514 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99984167e-01 -3.37874423e-03 4.50007444e-03 -3.73138389e+00] [ 3.41335808e-03 9.99964479e-01 -7.70650137e-03 3.61633538e+00] [-4.47387629e-03 7.72173971e-03 9.99960179e-01 9.90016217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48925976399997 meters 0.12513638646292746 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99984660e-01 -3.41878817e-03 4.35797608e-03 -3.73108789e+00] [ 3.45300820e-03 9.99963076e-01 -7.86908752e-03 3.61717136e+00] [-4.33091243e-03 7.88401493e-03 9.99959542e-01 9.90151752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54925976399997 meters 0.12388203676662037 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99984495e-01 -3.39233626e-03 4.41600235e-03 -3.73105780e+00] [ 3.42682446e-03 9.99963506e-01 -7.82582634e-03 3.61728866e+00] [-4.38929336e-03 7.84083787e-03 9.99959627e-01 9.89889226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60925976399997 meters 0.12273269115380678 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99984688e-01 -3.38329369e-03 4.37923284e-03 -3.73070805e+00] [ 3.41761573e-03 9.99963318e-01 -7.85384302e-03 3.61797908e+00] [-4.35250035e-03 7.86868929e-03 9.99959569e-01 9.89526462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66925976399997 meters 0.12239095886649978 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99984360e-01 -3.45655882e-03 4.39680400e-03 -3.73089427e+00] [ 3.49153716e-03 9.99962121e-01 -7.97275807e-03 3.61830844e+00] [-4.36907915e-03 7.98798498e-03 9.99958551e-01 9.89769558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72925976399998 meters 0.1266764029745986 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99985694e-01 -3.16341475e-03 4.31328672e-03 -3.73001501e+00] [ 3.19616577e-03 9.99965955e-01 -7.60742226e-03 3.61798306e+00] [-4.28907444e-03 7.62109941e-03 9.99961761e-01 9.88766650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78925976399998 meters 0.1257087343416163 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99987331e-01 -2.80088181e-03 4.18238547e-03 -3.72893485e+00] [ 2.83071433e-03 9.99970474e-01 -7.14409437e-03 3.61748376e+00] [-4.16225221e-03 7.15584300e-03 9.99965734e-01 9.87624599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84925976399995 meters 0.1250831398827648 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99988223e-01 -2.44149632e-03 4.19434357e-03 -3.72851454e+00] [ 2.46903401e-03 9.99975350e-01 -6.57285055e-03 3.61590238e+00] [-4.17819259e-03 6.58312912e-03 9.99969602e-01 9.86887014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90925976399996 meters 0.12577727598063757 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 9.99987907e-01 -2.38537386e-03 4.30066016e-03 -3.72883069e+00] [ 2.41271632e-03 9.99976840e-01 -6.36379808e-03 3.61499337e+00] [-4.28538052e-03 6.37409740e-03 9.99970503e-01 9.86903023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96925976399996 meters 0.12664043410247847 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 9.99988089e-01 -2.12618874e-03 4.39329009e-03 -3.72872696e+00] [ 2.15207585e-03 9.99980302e-01 -5.89611789e-03 3.61356522e+00] [-4.38066729e-03 5.90550235e-03 9.99972967e-01 9.86327423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02925976399996 meters 0.1266462607552565 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 9.99988256e-01 -2.19957233e-03 4.31854469e-03 -3.72860730e+00] [ 2.22579457e-03 9.99979060e-01 -6.07662049e-03 3.61439694e+00] [-4.30508829e-03 6.08616132e-03 9.99972212e-01 9.86469027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08925976399996 meters 0.12720597216577692 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99972715e-01 -6.35784559e-03 3.76133058e-03 -3.72717112e+00] [ 6.39737565e-03 9.99923432e-01 -1.05926097e-02 3.61614212e+00] [-3.69369641e-03 1.06163833e-02 9.99936823e-01 9.86572151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14925976399996 meters 0.12694500684461352 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.99 [[ 0.9999743 -0.00602997 0.00387763 -3.7270661 ] [ 0.00606834 0.99993196 -0.0099621 3.61426364] [-0.0038173 0.00998538 0.99994286 0.98585277] [ 0. 0. 0. 1. ]] SLAMing on 141.20925976399997 meters 0.12307733271910318 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99976342e-01 -5.92582677e-03 3.49290831e-03 -3.72592569e+00] [ 5.96080405e-03 9.99931329e-01 -1.00899299e-02 3.61564290e+00] [-3.43287727e-03 1.01105118e-02 9.99942995e-01 9.85645154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26925976399997 meters 0.12306313730502742 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.62, Z:0.99 [[ 9.99976820e-01 -5.81015654e-03 3.54990020e-03 -3.72590073e+00] [ 5.84496603e-03 9.99934155e-01 -9.87536973e-03 3.61514728e+00] [-3.49228902e-03 9.89588986e-03 9.99944936e-01 9.85353196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32925976399997 meters 0.1321163631549779 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.98 [[ 0.99997799 -0.00528868 0.00400701 -3.72639548] [ 0.00532311 0.99994857 -0.00863275 3.61045147] [-0.00396115 0.00865389 0.99995471 0.98423721] [ 0. 0. 0. 1. ]] SLAMing on 141.38925976399997 meters 0.13003930336905412 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.98 [[ 0.99997818 -0.00541661 0.00378114 -3.72601291] [ 0.00545021 0.99994524 -0.00893324 3.61184589] [-0.00373255 0.00895365 0.99995295 0.98454545] [ 0. 0. 0. 1. ]] SLAMing on 141.44925976399998 meters 0.12465788605234226 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.98 [[ 9.99978281e-01 -5.41254715e-03 3.76044526e-03 -3.72587870e+00] [ 5.44601289e-03 9.99945145e-01 -8.94690914e-03 3.61220809e+00] [-3.71181341e-03 8.96719426e-03 9.99952905e-01 9.84424581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50925976399998 meters 0.12367897408158168 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.98 [[ 9.99979067e-01 -5.27888011e-03 3.74155275e-03 -3.72546850e+00] [ 5.31172950e-03 9.99946953e-01 -8.82473965e-03 3.61230741e+00] [-3.69476954e-03 8.84442903e-03 9.99954061e-01 9.83896609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56925976399998 meters 0.12549761979557322 Centerline is valid? [False, False] Translation: X:-3.73, Y:3.61, Z:0.98 [[ 9.99978210e-01 -5.45312902e-03 3.72052794e-03 -3.72503933e+00] [ 5.48686819e-03 9.99943365e-01 -9.11925830e-03 3.61439765e+00] [-3.67058874e-03 9.13947364e-03 9.99951497e-01 9.83374732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62925976399995 meters 0.12390037591919124 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.62, Z:0.98 [[ 9.99979425e-01 -5.46001043e-03 3.36718451e-03 -3.72364458e+00] [ 5.49169702e-03 9.99940040e-01 -9.47408220e-03 3.61732112e+00] [-3.31525403e-03 9.49237883e-03 9.99949451e-01 9.82681814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68925976399996 meters 0.11773867475634188 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.62, Z:0.98 [[ 9.99980595e-01 -5.59297068e-03 2.74361442e-03 -3.72190840e+00] [ 5.62132482e-03 9.99929721e-01 -1.04381024e-02 3.62265176e+00] [-2.68504160e-03 1.04533226e-02 9.99941758e-01 9.82589442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74925976399996 meters 0.11893015054622894 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.62, Z:0.98 [[ 9.99981480e-01 -5.51242461e-03 2.57922171e-03 -3.72120367e+00] [ 5.53932403e-03 9.99929099e-01 -1.05410353e-02 3.62370589e+00] [-2.52093218e-03 1.05551272e-02 9.99941115e-01 9.82222292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80925976399996 meters 0.11515135883050387 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.63, Z:0.98 [[ 9.99982022e-01 -5.58903728e-03 2.17234680e-03 -3.71992529e+00] [ 5.61270029e-03 9.99923263e-01 -1.10438122e-02 3.62705331e+00] [-2.11045582e-03 1.10558064e-02 9.99936656e-01 9.81913678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86925976399996 meters 0.11452811876279295 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.63, Z:0.98 [[ 9.99982056e-01 -5.63444540e-03 2.03486847e-03 -3.71929626e+00] [ 5.65695142e-03 9.99920949e-01 -1.12291850e-02 3.62856145e+00] [-1.97143738e-03 1.12404947e-02 9.99934880e-01 9.81525195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92925976399997 meters 0.11948845133437513 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.63, Z:0.98 [[ 9.99982055e-01 -5.70995711e-03 1.81288548e-03 -3.71835158e+00] [ 5.73065028e-03 9.99916038e-01 -1.16222170e-02 3.63122794e+00] [-1.74637091e-03 1.16323975e-02 9.99930816e-01 9.81057410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98925976399997 meters 0.11429361027389835 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.63, Z:0.98 [[ 9.99982134e-01 -5.71778998e-03 1.74340615e-03 -3.71775703e+00] [ 5.73790245e-03 9.99914407e-01 -1.17582252e-02 3.63263991e+00] [-1.67602586e-03 1.17680186e-02 9.99929350e-01 9.80477922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04925976399997 meters 0.11460226106408977 Centerline is valid? [False, False] Translation: X:-3.72, Y:3.64, Z:0.98 [[ 9.99997302e-01 -1.71267931e-03 1.56942979e-03 -3.71714294e+00] [ 1.72547842e-03 9.99964968e-01 -8.19052540e-03 3.63649289e+00] [-1.55534707e-03 8.19321132e-03 9.99965225e-01 9.80314992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10925976399997 meters 0.10752360640196022 Centerline is valid? [False, False] Translation: X:-3.69, Y:3.64, Z:0.98 [[ 9.99995828e-01 -5.64555423e-04 2.83279185e-03 -3.68909965e+00] [ 5.70200018e-04 9.99997853e-01 -1.99217909e-03 3.64062621e+00] [-2.83166107e-03 1.99378604e-03 9.99994003e-01 9.77185260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16925976399997 meters 0.10661893202826221 Centerline is valid? [False, False] Translation: X:-3.69, Y:3.65, Z:0.98 [[ 9.99997570e-01 -5.09575186e-04 2.14496350e-03 -3.68671574e+00] [ 5.15607119e-04 9.99995912e-01 -2.81252475e-03 3.64587855e+00] [-2.14352153e-03 2.81362388e-03 9.99993744e-01 9.76235963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22925976399998 meters 0.10424342581866237 Centerline is valid? [False, False] Translation: X:-3.69, Y:3.65, Z:0.98 [[ 9.99985543e-01 -5.29736236e-03 9.22432434e-04 -3.68501184e+00] [ 5.30587010e-03 9.99940998e-01 -9.47883805e-03 3.65377228e+00] [-8.72165169e-04 9.48359533e-03 9.99954649e-01 9.79219207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28925976399998 meters 0.09736550279337189 Centerline is valid? [False, True] Translation: X:-3.68, Y:3.66, Z:0.98 [[ 9.99999203e-01 -1.25884569e-03 -9.44812805e-05 -3.68222167e+00] [ 1.25817548e-03 9.99976178e-01 -6.78673723e-03 3.66366529e+00] [ 1.03022485e-04 6.78661295e-03 9.99976965e-01 9.78489636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34925976399995 meters 0.09120766529686966 Centerline is valid? [True, True] Translation: X:-3.62, Y:3.68, Z:0.97 [[ 9.99948666e-01 1.01289052e-02 -2.66415238e-04 -3.62133155e+00] [-1.01289028e-02 9.99948701e-01 1.06516924e-05 3.68054050e+00] [ 2.66509461e-04 -7.95265155e-06 9.99999964e-01 9.70731079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40925976399996 meters 0.0887259866521608 Centerline is valid? [True, True] Translation: X:-3.56, Y:3.70, Z:0.96 [[ 9.99804769e-01 1.97584766e-02 -1.65362849e-04 -3.56122977e+00] [-1.97584759e-02 9.99804782e-01 6.10403317e-06 3.69522582e+00] [ 1.65451174e-04 -2.83552360e-06 9.99999986e-01 9.64967674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46925976399996 meters 0.08552243968962607 Centerline is valid? [True, True] Translation: X:-3.50, Y:3.72, Z:0.96 [[ 9.99498734e-01 3.16244831e-02 -1.47373631e-03 -3.49991852e+00] [-3.16244309e-02 9.99499821e-01 5.86767028e-05 3.71972142e+00] [ 1.47485480e-03 -1.20412180e-05 9.99998912e-01 9.60989002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52925976399996 meters 0.08613606105259738 Centerline is valid? [True, True] Translation: X:-3.44, Y:3.71, Z:0.96 [[ 9.99569901e-01 2.91705695e-02 -3.01496785e-03 -3.44172014e+00] [-2.91703573e-02 9.99574448e-01 1.14358154e-04 3.71317868e+00] [ 3.01702072e-03 -2.63612790e-05 9.99995448e-01 9.58875740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58925976399996 meters 0.08712129359373937 Centerline is valid? [True, True] Translation: X:-3.38, Y:3.71, Z:0.95 [[ 9.99604460e-01 2.76374148e-02 -5.20548271e-03 -3.38416334e+00] [-2.76367221e-02 9.99618012e-01 2.04963633e-04 3.70685510e+00] [ 5.20915894e-03 -6.10200820e-05 9.99986430e-01 9.52315365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64925976399996 meters 0.08830149608287562 Centerline is valid? [True, True] Translation: X:-3.33, Y:3.69, Z:0.95 [[ 9.99710338e-01 2.34903127e-02 -5.23888525e-03 -3.32622914e+00] [-2.34895800e-02 9.99724061e-01 2.01352299e-04 3.69463748e+00] [ 5.24216946e-03 -7.82347606e-05 9.99986257e-01 9.46758227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70925976399997 meters 0.08941231431927986 Centerline is valid? [True, True] Translation: X:-3.27, Y:3.69, Z:0.94 [[ 9.99780386e-01 1.97231087e-02 -7.08370749e-03 -3.26659053e+00] [-1.97216274e-02 9.99805471e-01 2.78899010e-04 3.68758948e+00] [ 7.08783026e-03 -1.39135520e-04 9.99974871e-01 9.43107976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76925976399997 meters 0.09184540212706498 Centerline is valid? [True, True] Translation: X:-3.21, Y:3.68, Z:0.94 [[ 9.99874961e-01 1.23965246e-02 -9.81777773e-03 -3.20658375e+00] [-1.23933169e-02 9.99923125e-01 3.87494149e-04 3.67615992e+00] [ 9.82182657e-03 -2.65770867e-04 9.99951729e-01 9.40905633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82925976399997 meters 0.09569275263587906 Centerline is valid? [True, True] Translation: X:-3.15, Y:3.66, Z:0.93 [[ 9.99909592e-01 5.59539174e-03 -1.22269710e-02 -3.14673948e+00] [-5.58990676e-03 9.99984260e-01 4.82725355e-04 3.66278300e+00] [ 1.22294796e-02 -4.14334085e-04 9.99925131e-01 9.34429361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88925976399997 meters 0.09591339523309927 Centerline is valid? [True, True] Translation: X:-3.09, Y:3.66, Z:0.93 [[ 9.99908836e-01 4.72041749e-03 -1.26506109e-02 -3.08775332e+00] [-4.71450800e-03 9.99988763e-01 4.96911655e-04 3.65919629e+00] [ 1.26528144e-02 -4.37224949e-04 9.99919854e-01 9.33090069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94925976399998 meters 0.09731485869783776 Centerline is valid? [True, True] Translation: X:-3.03, Y:3.65, Z:0.93 [[ 9.99894279e-01 3.61934777e-03 -1.40830085e-02 -3.03002267e+00] [-3.61192576e-03 9.99993324e-01 5.52417685e-04 3.65211605e+00] [ 1.40849139e-02 -5.01492501e-04 9.99900677e-01 9.27380820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00925976399998 meters 0.09875042880230771 Centerline is valid? [True, True] Translation: X:-2.97, Y:3.64, Z:0.92 [[ 9.99887396e-01 9.36048901e-04 -1.49772568e-02 -2.97135180e+00] [-9.27357706e-04 9.99999398e-01 5.87227323e-04 3.64218810e+00] [ 1.49777975e-02 -5.73271924e-04 9.99887662e-01 9.23010599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06925976399998 meters 0.09948992661401353 Centerline is valid? [True, True] Translation: X:-2.91, Y:3.64, Z:0.92 [[ 9.99883815e-01 -7.37439014e-04 -1.52253842e-02 -2.91333468e+00] [ 7.46581881e-04 9.99999544e-01 5.94826507e-04 3.63604877e+00] [ 1.52249386e-02 -6.06124393e-04 9.99883910e-01 9.21136861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12925976399995 meters 0.10295944790171578 Centerline is valid? [True, False] Translation: X:-2.91, Y:3.63, Z:0.92 [[ 9.99869178e-01 -4.74999295e-03 -1.54616805e-02 -2.91291543e+00] [ 4.70036588e-03 9.99983690e-01 -3.24444071e-03 3.63378420e+00] [ 1.54768394e-02 3.17134071e-03 9.99875197e-01 9.21486099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18925976399996 meters 0.10350162247714342 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.63, Z:0.92 [[ 9.99992238e-01 -3.75969357e-03 -1.17817146e-03 -2.91409057e+00] [ 3.75129734e-03 9.99968116e-01 -7.04946392e-03 3.63008905e+00] [ 1.20463772e-03 7.04498954e-03 9.99974458e-01 9.17005916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24925976399996 meters 0.10757574445432427 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.62, Z:0.92 [[ 9.99972707e-01 -7.33164300e-03 -9.12138550e-04 -2.91449039e+00] [ 7.32254033e-03 9.99926994e-01 -9.61177740e-03 3.62304831e+00] [ 9.82542079e-04 9.60483590e-03 9.99953390e-01 9.16366518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30925976399996 meters 0.10876484549496415 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.62, Z:0.92 [[ 9.99938943e-01 -1.10262281e-02 -7.29959079e-04 -2.91503828e+00] [ 1.10161168e-02 9.99859322e-01 -1.26483619e-02 3.61705986e+00] [ 8.69320113e-04 1.26395483e-02 9.99919740e-01 9.16510045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36925976399996 meters 0.11263700844488504 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.61, Z:0.92 [[ 9.99946962e-01 -1.02987617e-02 -9.20576255e-05 -2.91591199e+00] [ 1.02971987e-02 9.99890339e-01 -1.06431834e-02 3.60927286e+00] [ 2.01659140e-04 1.06416709e-02 9.99943355e-01 9.15101470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42925976399997 meters 0.11452378319998177 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.60, Z:0.91 [[ 9.99953181e-01 -9.65102703e-03 7.02429215e-04 -2.91750275e+00] [ 9.65641564e-03 9.99920394e-01 -8.12151260e-03 3.59922423e+00] [-6.23992360e-04 8.12791531e-03 9.99966773e-01 9.14114481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48925976399997 meters 0.12205476949944957 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.59, Z:0.91 [[ 9.99957002e-01 -9.17456898e-03 1.34987588e-03 -2.91897982e+00] [ 9.18308295e-03 9.99937082e-01 -6.44233913e-03 3.59179578e+00] [-1.29068526e-03 6.45445815e-03 9.99978337e-01 9.13888701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54925976399997 meters 0.12804275095514034 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.58, Z:0.91 [[ 9.99916649e-01 -1.27544468e-02 2.00460716e-03 -2.92049730e+00] [ 1.27712979e-02 9.99881192e-01 -8.63105044e-03 3.58183341e+00] [-1.89428472e-03 8.65593247e-03 9.99960742e-01 9.14151421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60925976399997 meters 0.13210161948973226 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.57, Z:0.91 [[ 9.99921555e-01 -1.21615708e-02 2.99663978e-03 -2.92221788e+00] [ 1.21803360e-02 9.99905809e-01 -6.32548447e-03 3.57252976e+00] [-2.91942969e-03 6.36148835e-03 9.99975504e-01 9.12793178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66925976399997 meters 0.13455365846804146 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.56, Z:0.91 [[ 0.99992458 -0.01163334 0.00393599 -2.92388382] [ 0.01164846 0.99992478 -0.00384084 3.56300768] [-0.00389101 0.0038864 0.99998488 0.91137282] [ 0. 0. 0. 1. ]] SLAMing on 143.72925976399998 meters 0.1406868777051607 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.56, Z:0.91 [[ 0.99987323 -0.01534928 0.00423468 -2.92505807] [ 0.01537674 0.99986046 -0.00652851 3.55557881] [-0.00413388 0.0065928 0.99996972 0.91212333] [ 0. 0. 0. 1. ]] SLAMing on 143.78925976399998 meters 0.14622227961812678 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.55, Z:0.91 [[ 0.99987965 -0.01477644 0.00472777 -2.92605906] [ 0.01479954 0.99987852 -0.00489012 3.54888862] [-0.00465494 0.0049595 0.99997687 0.91161991] [ 0. 0. 0. 1. ]] SLAMing on 143.84925976399995 meters 0.15722570266102318 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.54, Z:0.91 [[ 9.99890924e-01 -1.37751446e-02 5.32785797e-03 -2.92675662e+00] [ 1.37881519e-02 9.99902029e-01 -2.41238850e-03 3.53956285e+00] [-5.29410500e-03 2.48558668e-03 9.99982897e-01 9.10106562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90925976399996 meters 0.14390614125932905 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.53, Z:0.91 [[ 9.99899119e-01 -1.30379546e-02 5.63584800e-03 -2.92718736e+00] [ 1.30436400e-02 9.99914454e-01 -9.73212251e-04 3.53371149e+00] [-5.62267718e-03 1.04662604e-03 9.99983645e-01 9.09542682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96925976399996 meters 0.16517572588964913 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.53, Z:0.91 [[ 9.99903344e-01 -1.23949395e-02 6.29827751e-03 -2.92864963e+00] [ 1.23888841e-02 9.99922755e-01 9.99540557e-04 3.52530323e+00] [-6.31018025e-03 -9.21415315e-04 9.99979666e-01 9.09286687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02925976399996 meters 0.1567125838840309 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.91 [[ 9.99904889e-01 -1.19488968e-02 6.88749788e-03 -2.93004441e+00] [ 1.19320283e-02 9.99925723e-01 2.48507095e-03 3.51884997e+00] [-6.91668015e-03 -2.40265277e-03 9.99973193e-01 9.09163412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08925976399996 meters 0.15890434259812763 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.91 [[ 9.99849832e-01 -1.58322426e-02 7.04652620e-03 -2.93103048e+00] [ 1.58391011e-02 9.99874132e-01 -9.18570399e-04 3.51394581e+00] [-7.03109624e-03 1.03004310e-03 9.99974751e-01 9.10217854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14925976399996 meters 0.16152489349618965 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.91 [[ 9.99854313e-01 -1.55005737e-02 7.14740013e-03 -2.93111232e+00] [ 1.55029973e-02 9.99879781e-01 -2.83803829e-04 3.51176015e+00] [-7.14214176e-03 3.94568607e-04 9.99974417e-01 9.09874820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20925976399997 meters 0.1594497557221374 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.91 [[ 9.99860808e-01 -1.48032972e-02 7.69594354e-03 -2.93184916e+00] [ 1.47922627e-02 9.99889480e-01 1.48875962e-03 3.50497834e+00] [-7.71713153e-03 -1.37471198e-03 9.99969278e-01 9.08775141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26925976399997 meters 0.16614737164473276 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.91 [[ 9.99863882e-01 -1.43854597e-02 8.07932239e-03 -2.93249553e+00] [ 1.43651773e-02 9.99893531e-01 2.56286496e-03 3.50079037e+00] [-8.11533018e-03 -2.44645521e-03 9.99964077e-01 9.08295187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32925976399997 meters 0.1676305987965382 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.91 [[ 0.99986372 -0.01404625 0.00867383 -2.9337908 ] [ 0.01401439 0.99989486 0.00372351 3.49560694] [-0.00872522 -0.00360145 0.99995545 0.90813071] [ 0. 0. 0. 1. ]] SLAMing on 144.38925976399997 meters 0.17377800057744971 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.49, Z:0.91 [[ 0.99985678 -0.01412046 0.0093289 -2.9357476 ] [ 0.01407845 0.99989053 0.00455344 3.49122239] [-0.00939218 -0.00442145 0.99994612 0.90884024] [ 0. 0. 0. 1. ]] SLAMing on 144.44925976399998 meters 0.18537747478541342 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.49, Z:0.91 [[ 9.99779428e-01 -1.85035045e-02 9.93559864e-03 -2.93748283e+00] [ 1.84963730e-02 9.99828600e-01 8.09183257e-04 3.48796243e+00] [-9.94886841e-03 -6.25232235e-04 9.99950313e-01 9.09593182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50925976399998 meters 0.18546002863364247 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.49, Z:0.91 [[ 9.99854640e-01 -1.67917810e-02 2.95533021e-03 -2.94811813e+00] [ 1.68184417e-02 9.99815862e-01 -9.24023093e-03 3.49238129e+00] [-2.79962609e-03 9.28859182e-03 9.99952941e-01 9.14770993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56925976399998 meters 0.18427936633664013 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.49, Z:0.91 [[ 9.99918537e-01 -1.23293277e-02 3.30266078e-03 -2.94869409e+00] [ 1.23438763e-02 9.99914036e-01 -4.42156919e-03 3.49078292e+00] [-3.24786189e-03 4.46197663e-03 9.99984771e-01 9.14101549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62925976399995 meters 0.18102792780604046 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.49, Z:0.91 [[ 9.99919418e-01 -1.22865732e-02 3.19323229e-03 -2.94823093e+00] [ 1.23007088e-02 9.99914462e-01 -4.44543702e-03 3.49144836e+00] [-3.13833996e-03 4.48435782e-03 9.99985021e-01 9.13831411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68925976399996 meters 0.18689349246099635 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.49, Z:0.91 [[ 9.99966066e-01 -7.63010997e-03 3.10632441e-03 -2.94705887e+00] [ 7.62951761e-03 9.99970874e-01 2.02497966e-04 3.49175441e+00] [-3.10777902e-03 -1.78791338e-04 9.99995155e-01 9.12268712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74925976399996 meters 0.176119345670906 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.50, Z:0.91 [[ 9.99964523e-01 -8.01853666e-03 2.58004916e-03 -2.94613533e+00] [ 8.02088384e-03 9.99967427e-01 -9.00684740e-04 3.49633797e+00] [-2.57274295e-03 9.21347060e-04 9.99996266e-01 9.12980638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80925976399996 meters 0.18052534041974766 Centerline is valid? [False, False] Translation: X:-2.95, Y:3.50, Z:0.91 [[ 9.99965899e-01 -7.89833945e-03 2.41176594e-03 -2.94528015e+00] [ 7.90065128e-03 9.99968338e-01 -9.50545336e-04 3.49738868e+00] [-2.40418185e-03 9.69567444e-04 9.99996640e-01 9.12357997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86925976399996 meters 0.17213599058637283 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99968184e-01 -7.62135254e-03 2.35514428e-03 -2.94433406e+00] [ 7.62303387e-03 9.99970695e-01 -7.05747127e-04 3.49768960e+00] [-2.34969651e-03 7.23678017e-04 9.99996978e-01 9.11179164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92925976399997 meters 0.18092949364633168 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99966730e-01 -7.83482613e-03 2.27038035e-03 -2.94382082e+00] [ 7.83730820e-03 9.99968698e-01 -1.08641186e-03 3.50007907e+00] [-2.26179744e-03 1.10416939e-03 9.99996833e-01 9.10815740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98925976399997 meters 0.17719608154254954 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99965985e-01 -7.90411152e-03 2.35678705e-03 -2.94391747e+00] [ 7.90682297e-03 9.99968087e-01 -1.14339591e-03 3.50061832e+00] [-2.34767431e-03 1.16199171e-03 9.99996569e-01 9.10668999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04925976399997 meters 0.20079803479785285 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99966090e-01 -7.94499973e-03 2.16699554e-03 -2.94325634e+00] [ 7.94808211e-03 9.99967409e-01 -1.41753897e-03 3.50223325e+00] [-2.15566257e-03 1.43471436e-03 9.99996647e-01 9.10463266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10925976399997 meters 0.18292196070104552 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99964579e-01 -8.12592516e-03 2.19304403e-03 -2.94316844e+00] [ 8.12979627e-03 9.99965400e-01 -1.76207162e-03 3.50393817e+00] [-2.17864969e-03 1.77983820e-03 9.99996043e-01 9.10318867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16925976399997 meters 0.19030705996878924 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99965787e-01 -7.95045386e-03 2.28349967e-03 -2.94314440e+00] [ 7.95385247e-03 9.99967268e-01 -1.48312857e-03 3.50319711e+00] [-2.27163338e-03 1.50124045e-03 9.99996293e-01 9.09933495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22925976399998 meters 0.18681333191948973 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99966146e-01 -7.95562466e-03 2.10114698e-03 -2.94263893e+00] [ 7.95903450e-03 9.99967015e-01 -1.61950548e-03 3.50409261e+00] [-2.08819349e-03 1.63617375e-03 9.99996481e-01 9.09929784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28925976399998 meters 0.1860568221115906 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99969580e-01 -7.55016605e-03 1.95806708e-03 -2.94147882e+00] [ 7.55237036e-03 9.99970852e-01 -1.12081743e-03 3.50362776e+00] [-1.94954765e-03 1.13557139e-03 9.99997455e-01 9.08697612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34925976399995 meters 0.187688016843593 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99972781e-01 -7.05968904e-03 2.14432943e-03 -2.94130136e+00] [ 7.06027004e-03 9.99975041e-01 -2.63497540e-04 3.50108717e+00] [-2.14241569e-03 2.78629913e-04 9.99997666e-01 9.07651520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40925976399996 meters 0.18814130613150082 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99973825e-01 -6.84572157e-03 2.34227827e-03 -2.94185523e+00] [ 6.84514642e-03 9.99976540e-01 2.53480033e-04 3.49887991e+00] [-2.34395857e-03 -2.37440160e-04 9.99997225e-01 9.07759791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46925976399996 meters 0.18697020252790073 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99973421e-01 -6.88366132e-03 2.40244017e-03 -2.94242246e+00] [ 6.88295413e-03 9.99976266e-01 3.02509831e-04 3.49818074e+00] [-2.40446552e-03 -2.85965906e-04 9.99997068e-01 9.08375889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52925976399996 meters 0.1835789559743559 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99974539e-01 -6.71555317e-03 2.41317548e-03 -2.94218374e+00] [ 6.71417164e-03 9.99977291e-01 5.80140785e-04 3.49762779e+00] [-2.41701665e-03 -5.63923539e-04 9.99996920e-01 9.07967841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58925976399996 meters 0.18792413607930233 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99942397e-01 -1.05006117e-02 2.22236002e-03 -2.94085715e+00] [ 1.05074546e-02 9.99940020e-01 -3.09019488e-03 3.49641818e+00] [-2.18977779e-03 3.11336823e-03 9.99992756e-01 9.06805761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64925976399996 meters 0.18417259365899594 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99944110e-01 -1.03902307e-02 1.95424194e-03 -2.93993919e+00] [ 1.03963427e-02 9.99941014e-01 -3.14384067e-03 3.49740805e+00] [-1.92146143e-03 3.16398193e-03 9.99993149e-01 9.06441125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70925976399997 meters 0.1718378841179527 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99943767e-01 -1.04897770e-02 1.55808689e-03 -2.93925051e+00] [ 1.04953415e-02 9.99938416e-01 -3.60718475e-03 3.49946363e+00] [-1.52015238e-03 3.62333456e-03 9.99992280e-01 9.06962965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76925976399997 meters 0.1718924301292206 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99945513e-01 -1.03678802e-02 1.21608704e-03 -2.93830487e+00] [ 1.03723803e-02 9.99939157e-01 -3.75440336e-03 3.50056793e+00] [-1.17708784e-03 3.76681251e-03 9.99992213e-01 9.06882089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82925976399997 meters 0.16899341642316662 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99947134e-01 -1.02363219e-02 9.72971008e-04 -2.93724245e+00] [ 1.02399556e-02 9.99940327e-01 -3.80609571e-03 3.50184269e+00] [-9.33952527e-04 3.81585768e-03 9.99992283e-01 9.06240767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88925976399997 meters 0.17327565370936993 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99949622e-01 -9.99159236e-03 9.60085694e-04 -2.93652192e+00] [ 9.99485801e-03 9.99944067e-01 -3.45904182e-03 3.50169509e+00] [-9.25470658e-04 3.46846348e-03 9.99993557e-01 9.05190008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94925976399998 meters 0.17772109161075184 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.90 [[ 9.99952083e-01 -9.73044881e-03 1.07270925e-03 -2.93658534e+00] [ 9.73359875e-03 9.99948213e-01 -2.97139016e-03 3.50012753e+00] [-1.04374074e-03 2.98168910e-03 9.99995010e-01 9.04790297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00925976399998 meters 0.17634554454258344 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99948389e-01 -1.00860826e-02 1.22114579e-03 -2.93759573e+00] [ 1.00902010e-02 9.99943262e-01 -3.41466788e-03 3.50100647e+00] [-1.18663588e-03 3.42681325e-03 9.99993424e-01 9.05820304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06925976399995 meters 0.17210280441678194 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.91 [[ 9.99948665e-01 -1.00287240e-02 1.44641673e-03 -2.93816183e+00] [ 1.00333024e-02 9.99944565e-01 -3.19361170e-03 3.50006472e+00] [-1.41430869e-03 3.20796009e-03 9.99993854e-01 9.05810399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12925976399995 meters 0.17440966718563589 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.90 [[ 9.99950561e-01 -9.79842813e-03 1.69289807e-03 -2.93818573e+00] [ 9.80297702e-03 9.99948305e-01 -2.69997391e-03 3.49891507e+00] [-1.66635505e-03 2.71643587e-03 9.99994922e-01 9.04860665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18925976399996 meters 0.19198502449029697 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.90 [[ 9.99953294e-01 -9.53026439e-03 1.60749129e-03 -2.93707505e+00] [ 9.53400714e-03 9.99951820e-01 -2.33694988e-03 3.49911498e+00] [-1.58514209e-03 2.35216656e-03 9.99995977e-01 9.03497026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24925976399996 meters 0.17413504266299987 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.50, Z:0.90 [[ 9.99953090e-01 -9.64089817e-03 9.33456710e-04 -2.93573474e+00] [ 9.64375069e-03 9.99948689e-01 -3.10117796e-03 3.50255238e+00] [-9.03510673e-04 3.11003450e-03 9.99994756e-01 9.04146231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30925976399996 meters 0.16917948424111248 Centerline is valid? [False, False] Translation: X:-2.94, Y:3.51, Z:0.91 [[ 9.99950216e-01 -9.96688616e-03 4.76224766e-04 -2.93521737e+00] [ 9.96876708e-03 9.99941800e-01 -4.12560834e-03 3.50592878e+00] [-4.35077581e-04 4.13015032e-03 9.99991376e-01 9.05347036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36925976399996 meters 0.18294742905110978 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99953618e-01 -9.62644643e-03 -3.04551394e-04 -2.93240584e+00] [ 9.62498404e-03 9.99943618e-01 -4.48549705e-03 3.50997611e+00] [ 3.47713620e-04 4.48235770e-03 9.99989894e-01 9.03891511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42925976399997 meters 0.1694219775312274 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99954126e-01 -9.55662161e-03 -6.46389866e-04 -2.93086972e+00] [ 9.55345331e-03 9.99943136e-01 -4.73883799e-03 3.51257530e+00] [ 6.91640391e-04 4.73244535e-03 9.99988563e-01 9.02931481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48925976399997 meters 0.1670504207476948 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99952317e-01 -9.74646179e-03 -6.08697057e-04 -2.93136760e+00] [ 9.74325810e-03 9.99939724e-01 -5.06131752e-03 3.51332001e+00] [ 6.57990305e-04 5.05514549e-03 9.99987006e-01 9.03604341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54925976399997 meters 0.17890754473405085 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99951018e-01 -9.88067093e-03 -5.77438165e-04 -2.93182225e+00] [ 9.87750946e-03 9.99937471e-01 -5.24291649e-03 3.51353926e+00] [ 6.29205591e-04 5.23695604e-03 9.99986089e-01 9.04186198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60925976399997 meters 0.1773751120765918 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99950280e-01 -9.94782836e-03 -6.91952513e-04 -2.93123367e+00] [ 9.94393773e-03 9.99935893e-01 -5.41557160e-03 3.51495233e+00] [ 7.45781331e-04 5.40842160e-03 9.99985096e-01 9.03785655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66925976399997 meters 0.16207948914338144 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99952304e-01 -9.69252657e-03 -1.20189213e-03 -2.92942412e+00] [ 9.68571845e-03 9.99937709e-01 -5.54653890e-03 3.51706554e+00] [ 1.25557724e-03 5.53463316e-03 9.99983896e-01 9.03043321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72925976399998 meters 0.15987226943375388 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99951649e-01 -9.76194124e-03 -1.18461600e-03 -2.92965950e+00] [ 9.75511427e-03 9.99936523e-01 -5.63808736e-03 3.51724107e+00] [ 1.23957948e-03 5.62625869e-03 9.99983404e-01 9.03333030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78925976399998 meters 0.1693777881315135 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99953436e-01 -9.59439136e-03 -1.03574053e-03 -2.93000667e+00] [ 9.58884001e-03 9.99940307e-01 -5.23792761e-03 3.51571913e+00] [ 1.08593343e-03 5.22775217e-03 9.99985746e-01 9.03235548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84925976399995 meters 0.17729145387980771 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99953548e-01 -9.54401474e-03 -1.34639287e-03 -2.92904389e+00] [ 9.53676323e-03 9.99940514e-01 -5.29323436e-03 3.51679595e+00] [ 1.39683148e-03 5.28014826e-03 9.99985084e-01 9.02966948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90925976399996 meters 0.17401770213719722 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99953200e-01 -9.54812748e-03 -1.55887565e-03 -2.92840102e+00] [ 9.53945540e-03 9.99939489e-01 -5.47879321e-03 3.51797646e+00] [ 1.61109354e-03 5.46366598e-03 9.99983776e-01 9.02857216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96925976399996 meters 0.17115296589128073 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99956107e-01 -9.23283913e-03 -1.59312616e-03 -2.92794147e+00] [ 9.22470686e-03 9.99944757e-01 -5.03859730e-03 3.51686894e+00] [ 1.63955871e-03 5.02368002e-03 9.99986037e-01 9.02250036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02925976399996 meters 0.16978778726152002 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99958113e-01 -9.04308833e-03 -1.41202299e-03 -2.92816513e+00] [ 9.03651484e-03 9.99948615e-01 -4.59434593e-03 3.51543787e+00] [ 1.45349751e-03 4.58139372e-03 9.99988449e-01 9.01840978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08925976399996 meters 0.16736030279814154 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99958142e-01 -9.00436827e-03 -1.62317561e-03 -2.92767328e+00] [ 8.99681176e-03 9.99948929e-01 -4.60408156e-03 3.51578056e+00] [ 1.66454955e-03 4.58928544e-03 9.99988084e-01 9.01902683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14925976399996 meters 0.16879069534506827 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.52, Z:0.90 [[ 9.99959171e-01 -8.87751473e-03 -1.68684968e-03 -2.92739278e+00] [ 8.86990896e-03 9.99950697e-01 -4.46407676e-03 3.51556860e+00] [ 1.72639642e-03 4.44893229e-03 9.99988613e-01 9.01721683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20925976399997 meters 0.17859753221214333 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99963295e-01 -8.45413372e-03 -1.39155925e-03 -2.92772952e+00] [ 8.44911003e-03 9.99957907e-01 -3.57725403e-03 3.51231757e+00] [ 1.42174326e-03 3.56536529e-03 9.99992633e-01 9.01035551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26925976399997 meters 0.1800385884615258 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99965127e-01 -8.25721043e-03 -1.25023852e-03 -2.92806161e+00] [ 8.25326376e-03 9.99961044e-01 -3.12965473e-03 3.51058000e+00] [ 1.27603203e-03 3.11922704e-03 9.99994321e-01 9.00953680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32925976399997 meters 0.17616621473376956 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99966920e-01 -8.03853148e-03 -1.24142691e-03 -2.92832101e+00] [ 8.03510249e-03 9.99963956e-01 -2.74285470e-03 3.50877968e+00] [ 1.26343068e-03 2.73278897e-03 9.99995468e-01 9.01272822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38925976399997 meters 0.16387234230321046 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.51, Z:0.90 [[ 9.99970050e-01 -7.61941582e-03 -1.35781327e-03 -2.92747019e+00] [ 7.61639630e-03 9.99968541e-01 -2.21527787e-03 3.50762777e+00] [ 1.37464968e-03 2.20486988e-03 9.99996624e-01 9.00403763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44925976399998 meters 0.17223672981225868 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99973852e-01 -7.13574569e-03 -1.17302065e-03 -2.92751517e+00] [ 7.13427325e-03 9.99973764e-01 -1.25468198e-03 3.50439020e+00] [ 1.18194297e-03 1.24628053e-03 9.99998525e-01 8.99671074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50925976399998 meters 0.17291697313618293 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99977159e-01 -6.70319122e-03 -8.64943911e-04 -2.92783800e+00] [ 6.70295374e-03 9.99977497e-01 -2.77177528e-04 3.50099224e+00] [ 8.66782421e-04 2.71373518e-04 9.99999588e-01 8.98897833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56925976399995 meters 0.17209939580219621 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99977277e-01 -6.68113360e-03 -8.98730393e-04 -2.92814318e+00] [ 6.68093337e-03 9.99977657e-01 -2.25602731e-04 3.50025427e+00] [ 9.00217595e-04 2.19593247e-04 9.99999571e-01 8.99474904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62925976399995 meters 0.17049011775977854 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99976642e-01 -6.76044239e-03 -1.00636126e-03 -2.92815447e+00] [ 6.76004949e-03 9.99977073e-01 -3.93311456e-04 3.50066455e+00] [ 1.00899715e-03 3.86499217e-04 9.99999416e-01 8.99922565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68925976399996 meters 0.1704051537147877 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99981879e-01 -5.95918244e-03 -8.54069526e-04 -2.92730298e+00] [ 5.95995727e-03 9.99981827e-01 9.07565840e-04 3.49717891e+00] [ 8.48645655e-04 -9.12639612e-04 9.99999223e-01 8.97916384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74925976399996 meters 0.16373426349886244 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99982058e-01 -5.90509880e-03 -1.00659303e-03 -2.92687146e+00] [ 5.90602137e-03 9.99982140e-01 9.16029338e-04 3.49739617e+00] [ 1.00116580e-03 -9.21957862e-04 9.99999074e-01 8.97839226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80925976399996 meters 0.1884707600767713 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99980382e-01 -6.09245359e-03 -1.45496337e-03 -2.92651397e+00] [ 6.09284624e-03 9.99981403e-01 2.65584538e-04 3.49919984e+00] [ 1.45331825e-03 -2.74444196e-04 9.99998906e-01 8.99104094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86925976399996 meters 0.16917222475902835 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99945504e-01 -1.02400515e-02 -2.03250006e-03 -2.92506034e+00] [ 1.02314527e-02 9.99938850e-01 -4.19688726e-03 3.50066370e+00] [ 2.07535212e-03 4.17586312e-03 9.99989127e-01 8.99154237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92925976399997 meters 0.16671989988737393 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99947687e-01 -1.00305086e-02 -2.00296982e-03 -2.92487561e+00] [ 1.00227191e-02 9.99942314e-01 -3.86190701e-03 3.49978154e+00] [ 2.04159116e-03 3.84162978e-03 9.99990537e-01 8.98743062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98925976399997 meters 0.16899261586744044 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99951167e-01 -9.70793995e-03 -1.84916854e-03 -2.92485344e+00] [ 9.70195319e-03 9.99947752e-01 -3.21945957e-03 3.49781584e+00] [ 1.88032624e-03 3.20136181e-03 9.99993108e-01 8.98045451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04925976399997 meters 0.1745082301985866 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99952270e-01 -9.64072338e-03 -1.58552436e-03 -2.92564234e+00] [ 9.63620496e-03 9.99949557e-01 -2.83315960e-03 3.49596595e+00] [ 1.61275809e-03 2.81774594e-03 9.99994730e-01 8.98242597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10925976399997 meters 0.18888424846687263 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.49, Z:0.90 [[ 9.99952113e-01 -9.69045477e-03 -1.36618212e-03 -2.92646384e+00] [ 9.68686625e-03 9.99949677e-01 -2.60926787e-03 3.49458247e+00] [ 1.39139836e-03 2.59590889e-03 9.99995663e-01 8.98646424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16925976399997 meters 0.1756087278854986 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.50, Z:0.90 [[ 9.99951495e-01 -9.75153706e-03 -1.38367872e-03 -2.92645477e+00] [ 9.74772673e-03 9.99948751e-01 -2.73429302e-03 3.49514914e+00] [ 1.41027137e-03 2.72067267e-03 9.99995305e-01 8.98721845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22925976399998 meters 0.18170892736941793 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.49, Z:0.90 [[ 9.99955747e-01 -9.33722774e-03 -1.14917052e-03 -2.92624485e+00] [ 9.33492834e-03 9.99954448e-01 -1.99028239e-03 3.49315103e+00] [ 1.16770189e-03 1.97946689e-03 9.99997359e-01 8.97452398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28925976399998 meters 0.18674950534654214 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.49, Z:0.90 [[ 9.99957150e-01 -9.14987573e-03 -1.40623092e-03 -2.92520683e+00] [ 9.14719720e-03 9.99956359e-01 -1.89952791e-03 3.49371494e+00] [ 1.42354999e-03 1.88658345e-03 9.99997207e-01 8.96831911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34925976399995 meters 0.18575198724933445 Centerline is valid? [False, False] Translation: X:-2.93, Y:3.49, Z:0.90 [[ 9.99955963e-01 -9.26841917e-03 -1.47278586e-03 -2.92529576e+00] [ 9.26528802e-03 9.99954832e-01 -2.11879862e-03 3.49442316e+00] [ 1.49235725e-03 2.10505953e-03 9.99996671e-01 8.97232251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40925976399996 meters 0.17983595991024953 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99957923e-01 -8.97564749e-03 -1.89493590e-03 -2.92355024e+00] [ 8.97168369e-03 9.99957569e-01 -2.09002257e-03 3.49601079e+00] [ 1.91361480e-03 2.07293386e-03 9.99996021e-01 8.96160870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46925976399996 meters 0.17346274454076843 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99958252e-01 -8.91162732e-03 -2.01904143e-03 -2.92275301e+00] [ 8.90728379e-03 9.99958018e-01 -2.15015691e-03 3.49719144e+00] [ 2.03811806e-03 2.13208297e-03 9.99995650e-01 8.95440510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52925976399996 meters 0.17090845605072405 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99954167e-01 -9.29526961e-03 -2.29386811e-03 -2.92219099e+00] [ 9.28831256e-03 9.99952287e-01 -3.02513345e-03 3.50104114e+00] [ 2.32187810e-03 3.00368863e-03 9.99992793e-01 8.95733008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58925976399996 meters 0.1706600609246231 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.50, Z:0.90 [[ 9.99952525e-01 -9.48504340e-03 -2.23184757e-03 -2.92253240e+00] [ 9.47762252e-03 9.99949600e-01 -3.31240406e-03 3.50190987e+00] [ 2.26315339e-03 3.29109420e-03 9.99992023e-01 8.96040946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64925976399996 meters 0.16749535569717355 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.51, Z:0.90 [[ 9.99949748e-01 -9.56366867e-03 -3.00620449e-03 -2.92050602e+00] [ 9.55143781e-03 9.99946154e-01 -4.05689975e-03 3.50661400e+00] [ 3.04484147e-03 4.02798231e-03 9.99987252e-01 8.95841119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70925976399997 meters 0.16322026216173557 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.51, Z:0.90 [[ 0.99994674 -0.00961566 -0.00375018 -2.91822466] [ 0.00959773 0.99994256 -0.00477176 3.51207535] [ 0.00379585 0.00473551 0.99998158 0.89511312] [ 0. 0. 0. 1. ]] SLAMing on 148.76925976399997 meters 0.1780661517875146 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.51, Z:0.89 [[ 0.99994978 -0.00933946 -0.00363487 -2.91782945] [ 0.00932366 0.99994711 -0.00434029 3.51129978] [ 0.00367521 0.00430618 0.99998397 0.89406841] [ 0. 0. 0. 1. ]] SLAMing on 148.82925976399997 meters 0.16602285547938636 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.52, Z:0.89 [[ 0.99994516 -0.00952002 -0.00436508 -2.91617746] [ 0.00949729 0.99994138 -0.00520024 3.51607275] [ 0.00441433 0.0051585 0.99997695 0.89427163] [ 0. 0. 0. 1. ]] SLAMing on 148.88925976399997 meters 0.1869153246870869 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.52, Z:0.89 [[ 0.99994339 -0.00961857 -0.00454898 -2.91585214] [ 0.00959343 0.99993876 -0.00551739 3.51745147] [ 0.00460177 0.00547344 0.99997443 0.89454789] [ 0. 0. 0. 1. ]] SLAMing on 148.94925976399998 meters 0.16943828433141261 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.52, Z:0.89 [[ 0.99994647 -0.00930952 -0.00451474 -2.91543075] [ 0.00928684 0.99994428 -0.00501891 3.51629483] [ 0.00456122 0.00497671 0.99997721 0.89374429] [ 0. 0. 0. 1. ]] SLAMing on 149.00925976399998 meters 0.18538355593475409 Centerline is valid? [False, False] Translation: X:-2.92, Y:3.52, Z:0.89 [[ 0.99994777 -0.00915906 -0.00453551 -2.91504986] [ 0.00913773 0.9999472 -0.00470102 3.51577312] [ 0.00457833 0.00465933 0.99997866 0.89320236] [ 0. 0. 0. 1. ]] SLAMing on 149.06925976399995 meters 0.1643534591646784 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.52, Z:0.89 [[ 0.99994785 -0.00912082 -0.00459394 -2.91489293] [ 0.00909941 0.99994775 -0.00465876 3.51582139] [ 0.00463619 0.00461672 0.9999786 0.89320035] [ 0. 0. 0. 1. ]] SLAMing on 149.12925976399995 meters 0.15994059986953785 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.52, Z:0.89 [[ 0.99994499 -0.00917726 -0.00507876 -2.91370734] [ 0.00915142 0.99994518 -0.0050874 3.5184742 ] [ 0.00512517 0.00504064 0.99997416 0.89325071] [ 0. 0. 0. 1. ]] SLAMing on 149.18925976399996 meters 0.17567067365145775 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.52, Z:0.89 [[ 0.99994523 -0.00913598 -0.00510673 -2.91336759] [ 0.00911007 0.99994563 -0.00507348 3.51891693] [ 0.00515281 0.00502668 0.99997409 0.89286439] [ 0. 0. 0. 1. ]] SLAMing on 149.24925976399996 meters 0.17162399181677662 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.52, Z:0.89 [[ 0.99994584 -0.0089791 -0.00526304 -2.91236239] [ 0.00895302 0.99994763 -0.00495789 3.51959592] [ 0.00530728 0.0049105 0.99997386 0.89196455] [ 0. 0. 0. 1. ]] SLAMing on 149.30925976399996 meters 0.16152035250869434 Centerline is valid? [False, False] Translation: X:-2.91, Y:3.52, Z:0.89 [[ 9.99971949e-01 -4.76868790e-03 -5.77588083e-03 -2.91113596e+00] [ 4.76119772e-03 9.99987808e-01 -1.30985892e-03 3.52303521e+00] [ 5.78205671e-03 1.28232207e-03 9.99982462e-01 8.92007642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36925976399996 meters 0.15491143466288346 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.53, Z:0.90 [[ 9.99968451e-01 -1.16502782e-03 -7.85750486e-03 -2.89528234e+00] [ 1.10537707e-03 9.99970572e-01 -7.59163955e-03 3.52662462e+00] [ 7.86611810e-03 7.58271454e-03 9.99940312e-01 8.97196951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42925976399997 meters 0.15370018278030673 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.53, Z:0.90 [[ 0.99994916 -0.00559469 -0.00838944 -2.89388492] [ 0.0054897 0.99990698 -0.01248565 3.5297792 ] [ 0.00845851 0.01243896 0.99988686 0.89720878] [ 0. 0. 0. 1. ]] SLAMing on 149.48925976399997 meters 0.15371539701314194 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.53, Z:0.89 [[ 0.99994544 -0.00521101 0.0090531 -2.8980271 ] [ 0.00528078 0.99995642 -0.00769933 3.52800312] [-0.00901258 0.00774671 0.99992938 0.8851562 ] [ 0. 0. 0. 1. ]] SLAMing on 149.54925976399997 meters 0.15514205488094213 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.53, Z:0.89 [[ 0.99994935 -0.00544115 0.00846686 -2.89672305] [ 0.00551299 0.99994881 -0.00848452 3.5323905 ] [-0.00842026 0.00853077 0.99992816 0.88548679] [ 0. 0. 0. 1. ]] SLAMing on 149.60925976399997 meters 0.15016390571909993 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.54, Z:0.88 [[ 0.99995696 -0.00506261 0.00777431 -2.89411187] [ 0.00512995 0.99994928 -0.00866752 3.53571152] [-0.00773004 0.00870703 0.99993221 0.88404268] [ 0. 0. 0. 1. ]] SLAMing on 149.66925976399997 meters 0.1452392985735192 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.54, Z:0.88 [[ 0.99996125 -0.00485961 0.00734041 -2.89252451] [ 0.00492393 0.99994942 -0.00877033 3.5375372 ] [-0.00729742 0.00880613 0.9999346 0.8833078 ] [ 0. 0. 0. 1. ]] SLAMing on 149.72925976399998 meters 0.1412817693073814 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.54, Z:0.88 [[ 0.99996454 -0.00455852 0.00708092 -2.89141374] [ 0.00461923 0.99995251 -0.00858128 3.53773014] [-0.00704147 0.00861368 0.99993811 0.88264926] [ 0. 0. 0. 1. ]] SLAMing on 149.78925976399998 meters 0.14044178283869266 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.54, Z:0.88 [[ 0.99996536 -0.00441014 0.00705847 -2.89106617] [ 0.0044692 0.99995496 -0.00837339 3.53741448] [-0.00702122 0.00840465 0.99994003 0.88219416] [ 0. 0. 0. 1. ]] SLAMing on 149.84925976399995 meters 0.1391433680132655 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.54, Z:0.88 [[ 0.99996594 -0.00427764 0.00705839 -2.89086367] [ 0.00433517 0.99995735 -0.00815541 3.53696931] [-0.0070232 0.00818573 0.99994183 0.88186929] [ 0. 0. 0. 1. ]] SLAMing on 149.90925976399996 meters 0.14262975847268478 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.53, Z:0.88 [[ 0.99996244 -0.00424323 0.00755684 -2.89220088] [ 0.00429971 0.99996282 -0.00747424 3.53367755] [-0.00752485 0.00750645 0.99994351 0.88197077] [ 0. 0. 0. 1. ]] SLAMing on 149.96925976399996 meters 0.14612712696020627 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.53, Z:0.88 [[ 0.99995793 -0.00423263 0.00813725 -2.89382226] [ 0.00428813 0.99996758 -0.00681531 3.53009403] [-0.00810814 0.00684992 0.99994367 0.88229317] [ 0. 0. 0. 1. ]] SLAMing on 150.02925976399996 meters 0.14382330313467467 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.53, Z:0.88 [[ 0.99996084 -0.00409068 0.00784782 -2.89303048] [ 0.00414338 0.9999689 -0.00671017 3.5303558 ] [-0.00782013 0.00674243 0.99994669 0.88216121] [ 0. 0. 0. 1. ]] SLAMing on 150.08925976399996 meters 0.14539099827051075 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.53, Z:0.88 [[ 9.99962932e-01 -3.30364703e-03 7.95114543e-03 -2.89223712e+00] [ 3.34721952e-03 9.99979421e-01 -5.47297292e-03 3.52682957e+00] [-7.93290103e-03 5.49938427e-03 9.99953412e-01 8.80436372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14925976399996 meters 0.15336606737015346 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.52, Z:0.88 [[ 9.99963739e-01 -2.46057393e-03 8.15268055e-03 -2.89160366e+00] [ 2.49236504e-03 9.99989322e-01 -3.89160480e-03 3.52219246e+00] [-8.14301791e-03 3.91178314e-03 9.99959194e-01 8.78375128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20925976399997 meters 0.14602708428155947 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.52, Z:0.88 [[ 9.99963839e-01 -2.47173743e-03 8.13702938e-03 -2.89199003e+00] [ 2.50315974e-03 9.99989441e-01 -3.85372833e-03 3.52166193e+00] [-8.12741806e-03 3.87395726e-03 9.99959468e-01 8.78997412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26925976399997 meters 0.15204405594746656 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.52, Z:0.88 [[ 0.99994423 -0.00647556 0.00834256 -2.89277025] [ 0.00653776 0.99995088 -0.00744964 3.51825921] [-0.00829391 0.00750376 0.99993745 0.87937582] [ 0. 0. 0. 1. ]] SLAMing on 150.32925976399997 meters 0.1639349626874296 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.51, Z:0.88 [[ 0.99993875 -0.0063233 0.00908372 -2.89462675] [ 0.00638032 0.99996004 -0.00626247 3.51259887] [-0.00904376 0.00632004 0.99993913 0.87953117] [ 0. 0. 0. 1. ]] SLAMing on 150.38925976399997 meters 0.16288603453070108 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.51, Z:0.88 [[ 0.99993362 -0.00588981 0.00990258 -2.89603894] [ 0.00593453 0.9999723 -0.00449286 3.50597665] [-0.00987584 0.00455133 0.99994087 0.87828443] [ 0. 0. 0. 1. ]] SLAMing on 150.44925976399998 meters 0.18304138955461954 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.50, Z:0.88 [[ 9.99930468e-01 -5.27162597e-03 1.05484415e-02 -2.89702203e+00] [ 5.30243549e-03 9.99981752e-01 -2.89493250e-03 3.49956752e+00] [-1.05329880e-02 2.95066364e-03 9.99940173e-01 8.77186181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50925976399998 meters 0.1677796227427628 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.50, Z:0.88 [[ 0.99990532 -0.00901693 0.01039442 -2.89630844] [ 0.00908359 0.99993837 -0.00638383 3.49702987] [-0.01033622 0.00647764 0.9999256 0.87668552] [ 0. 0. 0. 1. ]] SLAMing on 150.56925976399995 meters 0.184879747445884 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.50, Z:0.88 [[ 0.99990537 -0.00890627 0.01048436 -2.89689531] [ 0.00897071 0.99994106 -0.00611563 3.49547163] [-0.01042927 0.0062091 0.99992634 0.87719868] [ 0. 0. 0. 1. ]] SLAMing on 150.62925976399995 meters 0.1815960050332299 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.88 [[ 0.99990253 -0.00854948 0.01103761 -2.89789901] [ 0.00860611 0.99994999 -0.00509348 3.4912455 ] [-0.01099351 0.00518798 0.99992611 0.87664517] [ 0. 0. 0. 1. ]] SLAMing on 150.68925976399996 meters 0.18316422865695065 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 0.99990223 -0.00806331 0.01142395 -2.89783764] [ 0.00810966 0.99995905 -0.00401642 3.48822432] [-0.0113911 0.00410868 0.99992668 0.87489836] [ 0. 0. 0. 1. ]] SLAMing on 150.74925976399996 meters 0.17540447024323266 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 0.99990936 -0.00766582 0.01106831 -2.89598259] [ 0.00770651 0.99996368 -0.00363855 3.48898351] [-0.01104002 0.00372351 0.99993212 0.8733976 ] [ 0. 0. 0. 1. ]] SLAMing on 150.80925976399996 meters 0.174770146062678 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 9.99909665e-01 -7.56976685e-03 1.11067931e-02 -2.89606365e+00] [ 7.60847308e-03 9.99965115e-01 -3.44680905e-03 3.48836743e+00] [-1.10803141e-02 3.53100341e-03 9.99932377e-01 8.73352831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86925976399996 meters 0.17474658269976767 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 9.99906029e-01 -7.52584592e-03 1.14584196e-02 -2.89701008e+00] [ 7.56098895e-03 9.99966834e-01 -3.02678019e-03 3.48636536e+00] [-1.14352605e-02 3.11313275e-03 9.99929769e-01 8.73500202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92925976399997 meters 0.18013700285517917 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 9.99906785e-01 -7.21347566e-03 1.15925691e-02 -2.89661995e+00] [ 7.24206079e-03 9.99970834e-01 -2.42573105e-03 3.48510366e+00] [-1.15747331e-02 2.50945902e-03 9.99929862e-01 8.72310430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98925976399997 meters 0.18006233845533692 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 9.99906234e-01 -7.30276956e-03 1.15841269e-02 -2.89646745e+00] [ 7.33328772e-03 9.99969746e-01 -2.59419567e-03 3.48606950e+00] [-1.15648316e-02 2.67890215e-03 9.99929537e-01 8.72161691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04925976399997 meters 0.19192739690875915 Centerline is valid? [False, False] Translation: X:-2.90, Y:3.49, Z:0.87 [[ 9.99906539e-01 -7.30013637e-03 1.15595039e-02 -2.89630498e+00] [ 7.33087513e-03 9.99969699e-01 -2.61904072e-03 3.48633131e+00] [-1.15400343e-02 2.70353722e-03 9.99929757e-01 8.72032008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10925976399997 meters 0.18134694483919642 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.49, Z:0.87 [[ 9.99912316e-01 -7.33825725e-03 1.10231498e-02 -2.89475122e+00] [ 7.37354559e-03 9.99967809e-01 -3.16407032e-03 3.48986289e+00] [-1.09995762e-02 3.24507258e-03 9.99934237e-01 8.71745868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16925976399997 meters 0.1730564364698359 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.49, Z:0.87 [[ 0.999918 -0.00734261 0.01049185 -2.89295871] [ 0.00738074 0.99996628 -0.00360048 3.49329871] [-0.01046506 0.00367763 0.99993848 0.87104059] [ 0. 0. 0. 1. ]] SLAMing on 151.22925976399998 meters 0.16976150912051804 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.50, Z:0.87 [[ 9.99925628e-01 -6.93687998e-03 1.00308229e-02 -2.89038363e+00] [ 6.97220886e-03 9.99969599e-01 -3.49136219e-03 3.49572601e+00] [-1.00062988e-02 3.56103953e-03 9.99943595e-01 8.68845827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28925976399998 meters 0.17584592475428135 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.50, Z:0.87 [[ 0.99993278 -0.00699604 0.00924588 -2.88816687] [ 0.00703652 0.99996577 -0.0043526 3.50129654] [-0.00921511 0.00441737 0.99994778 0.86827431] [ 0. 0. 0. 1. ]] SLAMing on 151.34925976399995 meters 0.16393651320342023 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.51, Z:0.87 [[ 0.99993902 -0.00704166 0.00850752 -2.88601226] [ 0.00708543 0.99996176 -0.00512548 3.50646861] [-0.0084711 0.00518544 0.99995067 0.86778513] [ 0. 0. 0. 1. ]] SLAMing on 151.40925976399996 meters 0.1746394150770867 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.51, Z:0.87 [[ 0.99993926 -0.00708836 0.00844039 -2.88553435] [ 0.00713342 0.9999604 -0.00532084 3.50791255] [-0.00840233 0.00538073 0.99995022 0.8673739 ] [ 0. 0. 0. 1. ]] SLAMing on 151.46925976399996 meters 0.17391941542482256 Centerline is valid? [False, False] Translation: X:-2.89, Y:3.51, Z:0.87 [[ 0.99993785 -0.00715384 0.00855044 -2.88552677] [ 0.0072001 0.99995955 -0.00539105 3.50856616] [-0.00851153 0.00545228 0.99994891 0.86697614] [ 0. 0. 0. 1. ]] SLAMing on 151.52925976399996 meters 0.17005477174447384 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.51, Z:0.87 [[ 0.99994127 -0.00708658 0.00819948 -2.88384297] [ 0.00713282 0.99995874 -0.00562428 3.51148623] [-0.00815928 0.00568244 0.99995057 0.8657705 ] [ 0. 0. 0. 1. ]] SLAMing on 151.58925976399996 meters 0.1638626905462946 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.51, Z:0.87 [[ 9.99965242e-01 -2.90115140e-03 7.81651871e-03 -2.88252762e+00] [ 2.91596260e-03 9.99993974e-01 -1.88412828e-03 3.51497353e+00] [-7.81100547e-03 1.90685546e-03 9.99967676e-01 8.65321785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64925976399996 meters 0.15938757325053093 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.52, Z:0.86 [[ 9.99968034e-01 -2.77100796e-03 7.50022233e-03 -2.88105106e+00] [ 2.78623934e-03 9.99994076e-01 -2.02110488e-03 3.51701690e+00] [-7.49457740e-03 2.04193769e-03 9.99969830e-01 8.64329477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70925976399997 meters 0.15507674854060063 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.52, Z:0.86 [[ 9.99970429e-01 -2.86072689e-03 7.13846268e-03 -2.87938227e+00] [ 2.87866790e-03 9.99992721e-01 -2.50428003e-03 3.52087955e+00] [-7.13124666e-03 2.52475524e-03 9.99971385e-01 8.63246582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76925976399997 meters 0.15479111399351506 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.52, Z:0.86 [[ 9.99969598e-01 -3.10733768e-03 7.15170236e-03 -2.87935814e+00] [ 3.12827691e-03 9.99990848e-01 -2.91854498e-03 3.52264529e+00] [-7.14256800e-03 2.94082875e-03 9.99970167e-01 8.63238275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82925976399997 meters 0.15028316088038088 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.53, Z:0.86 [[ 9.99971667e-01 -3.20116591e-03 6.81310742e-03 -2.87802036e+00] [ 3.22469592e-03 9.99988865e-01 -3.44545926e-03 3.52605563e+00] [-6.80200207e-03 3.46733184e-03 9.99970855e-01 8.62610008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88925976399997 meters 0.145441524076433 Centerline is valid? [False, False] Translation: X:-2.88, Y:3.53, Z:0.86 [[ 9.99975167e-01 -3.44670457e-03 6.14695552e-03 -2.87588870e+00] [ 3.47536879e-03 9.99983110e-01 -4.65858784e-03 3.53305984e+00] [-6.13079492e-03 4.67983509e-03 9.99970256e-01 8.61883069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94925976399998 meters 0.14481956113808386 Centerline is valid? [False, False] Translation: X:-2.87, Y:3.54, Z:0.86 [[ 0.99997915 -0.0037321 0.00527069 -2.87375539] [ 0.00376363 0.999975 -0.00598561 3.5402462 ] [-0.00524822 0.00600532 0.9999682 0.8619213 ] [ 0. 0. 0. 1. ]] SLAMing on 152.00925976399998 meters 0.13354182950005647 Centerline is valid? [False, False] Translation: X:-2.87, Y:3.55, Z:0.86 [[ 9.99987874e-01 5.73529981e-04 4.89108368e-03 -2.87155624e+00] [-5.61892857e-04 9.99997009e-01 -2.38029501e-03 3.54545459e+00] [-4.89243422e-03 2.37751788e-03 9.99985206e-01 8.60115666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06925976399995 meters 0.13607821305137616 Centerline is valid? [False, False] Translation: X:-2.87, Y:3.55, Z:0.86 [[ 9.99990554e-01 4.89786424e-04 4.31871571e-03 -2.86955366e+00] [-4.75596476e-04 9.99994488e-01 -3.28610184e-03 3.55094683e+00] [-4.32030139e-03 3.28401684e-03 9.99985275e-01 8.59250683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12925976399995 meters 0.12951690911664485 Centerline is valid? [False, False] Translation: X:-2.87, Y:3.56, Z:0.86 [[ 9.99995491e-01 -6.41489574e-05 3.00246920e-03 -2.86717777e+00] [ 8.13680462e-05 9.99983550e-01 -5.73520524e-03 3.56159753e+00] [-3.00205190e-03 5.73542368e-03 9.99979046e-01 8.60957132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18925976399996 meters 0.12683732864614178 Centerline is valid? [False, False] Translation: X:-2.87, Y:3.57, Z:0.86 [[ 9.99996990e-01 -5.56522974e-04 2.38943975e-03 -2.86605790e+00] [ 5.73795920e-04 9.99973668e-01 -7.23427876e-03 3.56800712e+00] [-2.38535079e-03 7.23562804e-03 9.99970977e-01 8.61861601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24925976399996 meters 0.12128054868634655 Centerline is valid? [False, False] Translation: X:-2.86, Y:3.58, Z:0.86 [[ 9.99993208e-01 3.28498703e-03 1.67124103e-03 -2.86391391e+00] [-3.27691730e-03 9.99983069e-01 -4.80862646e-03 3.57770786e+00] [-1.68700902e-03 4.80311728e-03 9.99987042e-01 8.61427215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30925976399996 meters 0.11510002099344081 Centerline is valid? [False, False] Translation: X:-2.84, Y:3.58, Z:0.86 [[ 9.99988738e-01 2.36756721e-03 4.11310873e-03 -2.84023284e+00] [-2.37024530e-03 9.99996982e-01 6.46359467e-04 3.58303211e+00] [-4.11156601e-03 -6.56101264e-04 9.99991332e-01 8.57435545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36925976399996 meters 0.10414986287504385 Centerline is valid? [False, False] Translation: X:-2.84, Y:3.59, Z:0.86 [[ 9.99974140e-01 6.44329133e-03 3.19419745e-03 -2.83721843e+00] [-6.45198503e-03 9.99975489e-01 2.71892665e-03 3.59390342e+00] [-3.17660032e-03 -2.73946526e-03 9.99991202e-01 8.56343415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42925976399997 meters 0.1010523342241835 Centerline is valid? [False, False] Translation: X:-2.81, Y:3.60, Z:0.86 [[ 0.99997034 0.00567867 0.0052038 -2.81251028] [-0.0057077 0.99996814 0.00558013 3.60092567] [-0.00517194 -0.00560967 0.99997089 0.85764397] [ 0. 0. 0. 1. ]] SLAMing on 152.48925976399997 meters 0.09197369462142385 Centerline is valid? [False, True] Translation: X:-2.78, Y:3.61, Z:0.86 [[ 0.99994912 0.00902355 0.00450859 -2.77857659] [-0.00905717 0.9999309 0.00749367 3.61041202] [-0.00444066 -0.00753413 0.99996176 0.86197311] [ 0. 0. 0. 1. ]] SLAMing on 152.54925976399997 meters 0.08981542657214063 Centerline is valid? [True, True] Translation: X:-2.72, Y:3.62, Z:0.86 [[ 9.99850273e-01 1.61715073e-02 6.15741013e-03 -2.71891431e+00] [-1.61701245e-02 9.99869217e-01 -2.74284976e-04 3.62227537e+00] [-6.16104045e-03 1.74677820e-04 9.99981005e-01 8.64915704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60925976399997 meters 0.08703842081025982 Centerline is valid? [True, True] Translation: X:-2.66, Y:3.63, Z:0.86 [[ 9.99752648e-01 2.13182931e-02 6.33826779e-03 -2.65858492e+00] [-2.13169200e-02 9.99772728e-01 -2.84114565e-04 3.63180144e+00] [-6.34288412e-03 1.48931942e-04 9.99979873e-01 8.63059348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66925976399997 meters 0.08658039913559785 Centerline is valid? [True, True] Translation: X:-2.60, Y:3.63, Z:0.86 [[ 9.99717518e-01 2.30514159e-02 5.78925496e-03 -2.60083672e+00] [-2.30502912e-02 9.99734273e-01 -2.60920700e-04 3.63369619e+00] [-5.79373118e-03 1.27402982e-04 9.99983208e-01 8.60491389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72925976399998 meters 0.08465623612951062 Centerline is valid? [True, True] Translation: X:-2.54, Y:3.64, Z:0.86 [[ 9.99604968e-01 2.70574727e-02 7.60264317e-03 -2.54199392e+00] [-2.70556619e-02 9.99633870e-01 -3.40939919e-04 3.63854728e+00] [-7.60908459e-03 1.35110694e-04 9.99971041e-01 8.61584284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78925976399995 meters 0.08400092765487405 Centerline is valid? [True, True] Translation: X:-2.48, Y:3.64, Z:0.86 [[ 9.99547098e-01 2.90268706e-02 7.93979744e-03 -2.48348801e+00] [-2.90249629e-02 9.99578624e-01 -3.55408027e-04 3.63865551e+00] [-7.94676818e-03 1.24794736e-04 9.99968416e-01 8.60235604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84925976399995 meters 0.08395908163656642 Centerline is valid? [True, True] Translation: X:-2.43, Y:3.63, Z:0.86 [[ 9.99561982e-01 2.82540536e-02 8.80635135e-03 -2.42536001e+00] [-2.82516842e-02 9.99600764e-01 -3.93371200e-04 3.63303244e+00] [-8.81394987e-03 1.44404640e-04 9.99961146e-01 8.60515229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90925976399996 meters 0.08455869896085952 Centerline is valid? [True, True] Translation: X:-2.37, Y:3.62, Z:0.86 [[ 9.99567754e-01 2.76087982e-02 1.01024819e-02 -2.36845169e+00] [-2.76056545e-02 9.99618790e-01 -4.50518939e-04 3.62395302e+00] [-1.01110690e-02 1.71438579e-04 9.99948867e-01 8.56656131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96925976399996 meters 0.08536073226339995 Centerline is valid? [True, True] Translation: X:-2.31, Y:3.61, Z:0.85 [[ 9.99648973e-01 2.47343083e-02 9.49449118e-03 -2.30978589e+00] [-2.47314120e-02 9.99694043e-01 -4.22353820e-04 3.61254098e+00] [-9.50203290e-03 1.87393389e-04 9.99954837e-01 8.54601847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02925976399996 meters 0.08616683988634453 Centerline is valid? [True, True] Translation: X:-2.25, Y:3.60, Z:0.85 [[ 9.99706681e-01 2.24995622e-02 8.96222692e-03 -2.25189500e+00] [-2.24968939e-02 9.99746833e-01 -3.98441933e-04 3.60186577e+00] [-8.96892275e-03 1.96702794e-04 9.99959759e-01 8.53153364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08925976399996 meters 0.08751719579653008 Centerline is valid? [True, True] Translation: X:-2.19, Y:3.59, Z:0.85 [[ 9.99816118e-01 1.77005789e-02 7.37701478e-03 -2.19254021e+00] [-1.76986494e-02 9.99843313e-01 -3.26760257e-04 3.58891822e+00] [-7.38164275e-03 1.96136974e-04 9.99972736e-01 8.53716879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14925976399996 meters 0.08972997095576071 Centerline is valid? [True, True] Translation: X:-2.14, Y:3.57, Z:0.85 [[ 9.99876674e-01 1.42038991e-02 6.69971599e-03 -2.13502631e+00] [-1.42022254e-02 9.99899099e-01 -2.97319048e-04 3.57461080e+00] [-6.70326307e-03 2.02131504e-04 9.99977512e-01 8.49642661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20925976399997 meters 0.09168133881532643 Centerline is valid? [True, True] Translation: X:-2.08, Y:3.56, Z:0.85 [[ 9.99925766e-01 9.87692333e-03 7.13503151e-03 -2.07571379e+00] [-9.87492484e-03 9.99951192e-01 -3.15271234e-04 3.56119122e+00] [-7.13779717e-03 2.44789930e-04 9.99974496e-01 8.50524190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26925976399997 meters 0.09384462553274955 Centerline is valid? [True, True] Translation: X:-2.02, Y:3.55, Z:0.85 [[ 9.99960604e-01 6.20186953e-03 6.35040728e-03 -2.01718607e+00] [-6.20021088e-03 9.99980739e-01 -2.80841763e-04 3.54913530e+00] [-6.35202671e-03 2.41456835e-04 9.99979797e-01 8.47049851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32925976399997 meters 0.09829480937694891 Centerline is valid? [True, True] Translation: X:-1.96, Y:3.53, Z:0.85 [[ 9.99984628e-01 -8.57142619e-05 5.54405834e-03 -1.95862567e+00] [ 8.70697593e-05 9.99999966e-01 -2.44254604e-04 3.53023143e+00] [-5.54403722e-03 2.44733569e-04 9.99984602e-01 8.45242345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38925976399997 meters 0.09843831422387583 Centerline is valid? [True, True] Translation: X:-1.90, Y:3.52, Z:0.85 [[ 9.99968268e-01 -5.96860770e-03 5.27630340e-03 -1.89848797e+00] [ 5.96991477e-03 9.99982153e-01 -2.32008152e-04 3.52385906e+00] [-5.27482446e-03 2.63499872e-04 9.99986053e-01 8.48187712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44925976399998 meters 0.10290397281644094 Centerline is valid? [True, False] Translation: X:-1.90, Y:3.52, Z:0.85 [[ 0.9999352 -0.00999193 0.00545415 -1.89918367] [ 0.01001179 0.99994331 -0.00362591 3.51960498] [-0.00541761 0.00368028 0.99997855 0.84859626] [ 0. 0. 0. 1. ]] SLAMing on 153.50925976399998 meters 0.1099067547581363 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.52, Z:0.85 [[ 9.99934928e-01 -9.72955809e-03 5.95614907e-03 -1.90015067e+00] [ 9.74500124e-03 9.99949216e-01 -2.56929977e-03 3.51516734e+00] [-5.93084844e-03 2.62717526e-03 9.99978961e-01 8.48141543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56925976399995 meters 0.11036393193369387 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.51, Z:0.85 [[ 9.99933414e-01 -9.52355271e-03 6.51686151e-03 -1.90132597e+00] [ 9.53330727e-03 9.99953480e-01 -1.46739511e-03 3.51045244e+00] [-6.50258353e-03 1.52942465e-03 9.99977688e-01 8.47802905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62925976399995 meters 0.12030808482989057 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.51, Z:0.85 [[ 0.99987949 -0.01391186 0.00688967 -1.90269059] [ 0.01394813 0.99988896 -0.00524551 3.50743328] [-0.00681593 0.00534098 0.99996251 0.84852725] [ 0. 0. 0. 1. ]] SLAMing on 153.68925976399996 meters 0.12747372936646803 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.51, Z:0.85 [[ 0.99988256 -0.01362943 0.00700696 -1.90270392] [ 0.01366201 0.99989598 -0.00462366 3.50538905] [-0.00694321 0.00471884 0.99996476 0.84802441] [ 0. 0. 0. 1. ]] SLAMing on 153.74925976399996 meters 0.13050955799095548 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.85 [[ 9.99879390e-01 -1.34471881e-02 7.77041917e-03 -1.90379667e+00] [ 1.34700843e-02 9.99905064e-01 -2.90179346e-03 3.49997302e+00] [-7.73066052e-03 3.00611168e-03 9.99965599e-01 8.46105094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80925976399996 meters 0.1406373568019042 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.85 [[ 9.99875967e-01 -1.34179488e-02 8.24671304e-03 -1.90476265e+00] [ 1.34365965e-02 9.99907283e-01 -2.20999562e-03 3.49739344e+00] [-8.21629482e-03 2.32052926e-03 9.99963553e-01 8.45631108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86925976399996 meters 0.13640538128785937 Centerline is valid? [False, False] Translation: X:-1.91, Y:3.50, Z:0.85 [[ 9.99873312e-01 -1.34370406e-02 8.53266492e-03 -1.90534190e+00] [ 1.34544165e-02 9.99907520e-01 -1.98226474e-03 3.49653855e+00] [-8.50524005e-03 2.09681563e-03 9.99961631e-01 8.45367429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92925976399997 meters 0.13628339930047256 Centerline is valid? [False, False] Translation: X:-1.91, Y:3.50, Z:0.84 [[ 9.99921490e-01 -9.13091127e-03 8.58141868e-03 -1.90508955e+00] [ 9.11064991e-03 9.99955624e-01 2.39720875e-03 3.49713623e+00] [-8.60292657e-03 -2.31883825e-03 9.99960306e-01 8.44592343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98925976399997 meters 0.1355508703116583 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99925115e-01 -8.82259885e-03 8.48096673e-03 -1.90405779e+00] [ 8.79956580e-03 9.99957503e-01 2.74934140e-03 3.49705086e+00] [-8.50486265e-03 -2.67450669e-03 9.99960256e-01 8.43421576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04925976399997 meters 0.144024972914244 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99928672e-01 -8.71773337e-03 8.16406009e-03 -1.90297792e+00] [ 8.69740560e-03 9.99958996e-01 2.52211282e-03 3.49872573e+00] [-8.18571244e-03 -2.45092678e-03 9.99963493e-01 8.43082093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10925976399997 meters 0.1385873625752678 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99929289e-01 -8.68089060e-03 8.12763853e-03 -1.90266382e+00] [ 8.66079120e-03 9.99959357e-01 2.50490980e-03 3.49923206e+00] [-8.14905304e-03 -2.43434089e-03 9.99963833e-01 8.42757902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16925976399997 meters 0.13307123914382366 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99931579e-01 -8.41855118e-03 8.12193981e-03 -1.90206683e+00] [ 8.39544014e-03 9.99960624e-01 2.87541821e-03 3.49870577e+00] [-8.14582685e-03 -2.80703421e-03 9.99962882e-01 8.41857769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22925976399998 meters 0.14021271001624835 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99888291e-01 -1.26572172e-02 7.94992873e-03 -1.90170922e+00] [ 1.26692183e-02 9.99918675e-01 -1.46104692e-03 3.49884642e+00] [-7.93078941e-03 1.56160309e-03 9.99967331e-01 8.42159954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28925976399995 meters 0.13793408129637155 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.50, Z:0.84 [[ 9.99890004e-01 -1.23300078e-02 8.24318868e-03 -1.90208973e+00] [ 1.23354778e-02 9.99923727e-01 -6.13058367e-04 3.49590691e+00] [-8.23500093e-03 7.14674604e-04 9.99965836e-01 8.41498823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34925976399995 meters 0.14377728103411055 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.49, Z:0.84 [[ 9.99892137e-01 -1.20009544e-02 8.46709784e-03 -1.90223078e+00] [ 1.20002245e-02 9.99927985e-01 1.37005305e-04 3.49347486e+00] [-8.46813228e-03 -3.53834519e-05 9.99964144e-01 8.40754424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40925976399996 meters 0.1443681158651413 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.49, Z:0.84 [[ 9.99892785e-01 -1.19427664e-02 8.47283319e-03 -1.90243289e+00] [ 1.19408292e-02 9.99928667e-01 2.79179970e-04 3.49269608e+00] [-8.47556297e-03 -1.77977383e-04 9.99964066e-01 8.41027500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46925976399996 meters 0.1425493404282629 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.49, Z:0.84 [[ 9.99895642e-01 -1.16437917e-02 8.55146709e-03 -1.90247612e+00] [ 1.16374311e-02 9.99931968e-01 7.93186504e-04 3.49082297e+00] [-8.56012101e-03 -6.93586620e-04 9.99963121e-01 8.40746567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52925976399996 meters 0.14051444446452624 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.49, Z:0.84 [[ 9.99898425e-01 -1.13158438e-02 8.66556232e-03 -1.90232381e+00] [ 1.13046532e-02 9.99935203e-01 1.33927361e-03 3.48911309e+00] [-8.68015583e-03 -1.24117639e-03 9.99961556e-01 8.40047103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58925976399996 meters 0.14079336141900267 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.49, Z:0.84 [[ 9.99903952e-01 -1.07774136e-02 8.71400397e-03 -1.90164185e+00] [ 1.07584233e-02 9.99939655e-01 2.22323702e-03 3.48679189e+00] [-8.73743886e-03 -2.12927454e-03 9.99959561e-01 8.38754371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64925976399996 meters 0.14974701749710514 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 9.99907422e-01 -1.04294717e-02 8.73921191e-03 -1.90140790e+00] [ 1.04042819e-02 9.99941602e-01 2.92291830e-03 3.48457747e+00] [-8.76918605e-03 -2.83172248e-03 9.99957540e-01 8.38221592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70925976399997 meters 0.14980025951779055 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 9.99907900e-01 -1.03531125e-02 8.77526623e-03 -1.90171003e+00] [ 1.03262890e-02 9.99941888e-01 3.09652837e-03 3.48362823e+00] [-8.80681499e-03 -3.00562725e-03 9.99956702e-01 8.38527479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76925976399997 meters 0.15509670950669477 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 0.99990836 -0.00984121 0.00929634 -1.9022789 ] [ 0.00980145 0.99994266 0.00431341 3.47912888] [-0.00933825 -0.0042219 0.99994748 0.83741184] [ 0. 0. 0. 1. ]] SLAMing on 154.82925976399997 meters 0.16141163343806297 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 0.99991123 -0.00959815 0.00924202 -1.90177411] [ 0.00955544 0.99994351 0.00465416 3.47843197] [-0.00928617 -0.00456544 0.99994646 0.83683444] [ 0. 0. 0. 1. ]] SLAMing on 154.88925976399997 meters 0.1512116308543265 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 0.99991239 -0.00957255 0.00914267 -1.90163558] [ 0.00953035 0.99994378 0.00464838 3.47842794] [-0.00918666 -0.00456084 0.9999474 0.83701242] [ 0. 0. 0. 1. ]] SLAMing on 154.94925976399998 meters 0.1598557095258219 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 0.99991941 -0.00884316 0.00910851 -1.90070854] [ 0.00879053 0.99994453 0.00580151 3.47509657] [-0.00915931 -0.00572097 0.99994169 0.83564655] [ 0. 0. 0. 1. ]] SLAMing on 155.00925976399998 meters 0.15767810859660347 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99875583e-01 -1.29898200e-02 8.94897129e-03 -1.90037329e+00] [ 1.29759336e-02 9.99914516e-01 1.60804410e-03 3.47462527e+00] [-8.96909450e-03 -1.49172277e-03 9.99958664e-01 8.35914919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06925976399995 meters 0.16107850981619815 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99875422e-01 -1.27941999e-02 9.24381928e-03 -1.90109071e+00] [ 1.27737900e-02 9.99915850e-01 2.26362261e-03 3.47186831e+00] [-9.27200265e-03 -2.14526201e-03 9.99954713e-01 8.35865806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12925976399995 meters 0.1628688299300434 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99871712e-01 -1.26965564e-02 9.76506107e-03 -1.90239861e+00] [ 1.26680579e-02 9.99915332e-01 2.97475258e-03 3.46851442e+00] [-9.80200340e-03 -2.85066660e-03 9.99947896e-01 8.35911883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18925976399996 meters 0.16484372357803245 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99872437e-01 -1.26491712e-02 9.75229334e-03 -1.90216501e+00] [ 1.26198806e-02 9.99915686e-01 3.05917098e-03 3.46858841e+00] [-9.79016706e-03 -2.93570797e-03 9.99947766e-01 8.35601657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24925976399996 meters 0.1666300875432564 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.83 [[ 9.99876204e-01 -1.23901998e-02 9.69845326e-03 -1.90156455e+00] [ 1.23575100e-02 9.99917783e-01 3.42331393e-03 3.46795268e+00] [-9.74007143e-03 -3.30304141e-03 9.99947109e-01 8.34883252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30925976399996 meters 0.16783068242424745 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.83 [[ 9.99880255e-01 -1.21838039e-02 9.54095315e-03 -1.90087589e+00] [ 1.21502921e-02 9.99919836e-01 3.56253568e-03 3.46794092e+00] [-9.58359355e-03 -3.44618372e-03 9.99948138e-01 8.34456481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36925976399996 meters 0.16644451257202372 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99876401e-01 -1.25642314e-02 9.45105218e-03 -1.90138156e+00] [ 1.25376404e-02 9.99917289e-01 2.86756672e-03 3.46964160e+00] [-9.48629925e-03 -2.74871840e-03 9.99951226e-01 8.35674861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42925976399997 meters 0.16148840471250145 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99877274e-01 -1.25448008e-02 9.38426209e-03 -1.90123435e+00] [ 1.25183988e-02 9.99917532e-01 2.86689866e-03 3.46977386e+00] [-9.41945286e-03 -2.74907089e-03 9.99951857e-01 8.35726544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48925976399997 meters 0.15387109410670408 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99881623e-01 -1.25021880e-02 8.96859090e-03 -1.90003132e+00] [ 1.24801496e-02 9.99918972e-01 2.50906354e-03 3.47194127e+00] [-8.99923298e-03 -2.39683717e-03 9.99956634e-01 8.35511282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54925976399997 meters 0.15717053408465942 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.47, Z:0.84 [[ 9.99883238e-01 -1.25978309e-02 8.64903998e-03 -1.89914834e+00] [ 1.25805102e-02 9.99918752e-01 2.05410495e-03 3.47434908e+00] [-8.67421453e-03 -1.94505577e-03 9.99960487e-01 8.35439537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60925976399997 meters 0.16463038786984557 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 9.99882846e-01 -1.26765922e-02 8.57894785e-03 -1.89888904e+00] [ 1.26612267e-02 9.99918145e-01 1.84302155e-03 3.47551319e+00] [-8.60160886e-03 -1.73418562e-03 9.99961502e-01 8.35344049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66925976399997 meters 0.14523041542146703 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 9.99886396e-01 -1.28067824e-02 7.94869809e-03 -1.89744113e+00] [ 1.27990331e-02 9.99917564e-01 1.02502249e-03 3.47968159e+00] [-7.96117007e-03 -9.23170391e-04 9.99967883e-01 8.35486545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72925976399998 meters 0.1428473849064573 Centerline is valid? [False, False] Translation: X:-1.90, Y:3.48, Z:0.84 [[ 9.99890488e-01 -1.29489344e-02 7.16496018e-03 -1.89568039e+00] [ 1.29495913e-02 9.99916150e-01 -4.52890801e-05 3.48468477e+00] [-7.16377295e-03 1.38067426e-04 9.99974330e-01 8.35833015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78925976399995 meters 0.1489283312804483 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.84 [[ 9.99892422e-01 -1.29288179e-02 6.92752774e-03 -1.89478413e+00] [ 1.29310476e-02 9.99916352e-01 -2.77174633e-04 3.48639990e+00] [-6.92336472e-03 3.66725006e-04 9.99975966e-01 8.35426677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84925976399995 meters 0.14051945001065966 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.83 [[ 9.99892369e-01 -1.29379318e-02 6.91809482e-03 -1.89440477e+00] [ 1.29408062e-02 9.99916195e-01 -3.70892224e-04 3.48742138e+00] [-6.91271647e-03 4.60378029e-04 9.99976001e-01 8.34890301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90925976399996 meters 0.14184850619829123 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.83 [[ 9.99891116e-01 -1.30730181e-02 6.84493540e-03 -1.89426347e+00] [ 1.30779088e-02 9.99914256e-01 -6.70233707e-04 3.48874754e+00] [-6.83558651e-03 7.59678170e-04 9.99976349e-01 8.34984842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96925976399996 meters 0.15477800698583086 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.84 [[ 9.99888449e-01 -1.32956303e-02 6.80563591e-03 -1.89450290e+00] [ 1.33030985e-02 9.99910955e-01 -1.05325839e-03 3.48997867e+00] [-6.79102617e-03 1.14367695e-03 9.99976287e-01 8.35529020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02925976399996 meters 0.13739529633568645 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.84 [[ 9.99889908e-01 -1.32300440e-02 6.71847436e-03 -1.89394749e+00] [ 1.32373949e-02 9.99911830e-01 -1.05084458e-03 3.49066485e+00] [-6.70397927e-03 1.13966398e-03 9.99976879e-01 8.35031424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08925976399996 meters 0.13832277998055661 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.83 [[ 9.99896120e-01 -1.29664997e-02 6.29431882e-03 -1.89212633e+00] [ 1.29740030e-02 9.99915170e-01 -1.15270335e-03 3.49282232e+00] [-6.27883834e-03 1.23424612e-03 9.99979526e-01 8.33879312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14925976399996 meters 0.13379402027815307 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.49, Z:0.83 [[ 9.99939711e-01 -8.89454085e-03 6.43904167e-03 -1.89269423e+00] [ 8.87651602e-03 9.99956620e-01 2.82249080e-03 3.49379828e+00] [-6.46386710e-03 -2.76516438e-03 9.99975286e-01 8.34075184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20925976399997 meters 0.1335425389345589 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.50, Z:0.84 [[ 9.99892566e-01 -1.35047960e-02 5.69879093e-03 -1.89146592e+00] [ 1.35206275e-02 9.99904814e-01 -2.74872426e-03 3.49877006e+00] [-5.66112753e-03 2.82548018e-03 9.99979984e-01 8.35383971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26925976399997 meters 0.13023563698654256 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.50, Z:0.83 [[ 9.99943668e-01 -9.03979484e-03 5.56264288e-03 -1.89046569e+00] [ 9.03139235e-03 9.99958040e-01 1.53379176e-03 3.49999928e+00] [-5.57627463e-03 -1.48346695e-03 9.99983352e-01 8.34275118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32925976399997 meters 0.12558068749457627 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.50, Z:0.83 [[ 9.99945446e-01 -9.21548263e-03 4.91728137e-03 -1.88902324e+00] [ 9.21304636e-03 9.99957425e-01 5.17873441e-04 3.50476685e+00] [-4.92184447e-03 -4.72542048e-04 9.99987776e-01 8.34616650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38925976399997 meters 0.12242537358591886 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.51, Z:0.83 [[ 9.99948001e-01 -9.09819641e-03 4.60630349e-03 -1.88769726e+00] [ 9.09721165e-03 9.99958592e-01 2.34693590e-04 3.50707884e+00] [-4.60824804e-03 -1.92776868e-04 9.99989363e-01 8.33884085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44925976399998 meters 0.12954446747739454 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.51, Z:0.83 [[ 9.99949455e-01 -9.19303150e-03 4.07133464e-03 -1.88612611e+00] [ 9.19564686e-03 9.99957524e-01 -6.24131809e-04 3.51174929e+00] [-4.06542404e-03 6.61538818e-04 9.99991517e-01 8.33622568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50925976399998 meters 0.11317269520393182 Centerline is valid? [False, False] Translation: X:-1.89, Y:3.52, Z:0.84 [[ 9.99946964e-01 -9.76609308e-03 3.27009925e-03 -1.88524617e+00] [ 9.77508194e-03 9.99948457e-01 -2.74419586e-03 3.51869975e+00] [-3.24313063e-03 2.77601581e-03 9.99990888e-01 8.36216430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56925976399995 meters 0.1140173682862893 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.52, Z:0.84 [[ 9.99946493e-01 -9.93065253e-03 2.89717688e-03 -1.88445118e+00] [ 9.94074292e-03 9.99944501e-01 -3.48947446e-03 3.52183005e+00] [-2.86236333e-03 3.51808784e-03 9.99989715e-01 8.36625163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62925976399995 meters 0.11130784652967274 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.52, Z:0.84 [[ 9.99980783e-01 -5.35371605e-03 3.12605862e-03 -1.88422212e+00] [ 5.34967863e-03 9.99984847e-01 1.29847542e-03 3.52109443e+00] [-3.13296292e-03 -1.28172706e-03 9.99994271e-01 8.35238547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68925976399996 meters 0.10788504462410092 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.52, Z:0.84 [[ 9.99981664e-01 -5.42574157e-03 2.68959624e-03 -1.88308805e+00] [ 5.42384308e-03 9.99985037e-01 7.12655077e-04 3.52407869e+00] [-2.69342268e-03 -6.98054061e-04 9.99996129e-01 8.35335945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74925976399996 meters 0.10983040780815281 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99982302e-01 -5.40527486e-03 2.48549820e-03 -1.88257513e+00] [ 5.40399295e-03 9.99985262e-01 5.22182682e-04 3.52502570e+00] [-2.48828410e-03 -5.08741826e-04 9.99996775e-01 8.35426583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80925976399996 meters 0.10725185536880734 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99983712e-01 -5.27302642e-03 2.18414661e-03 -1.88162530e+00] [ 5.27200630e-03 9.99985991e-01 4.72551338e-04 3.52592373e+00] [-2.18660779e-03 -4.61028807e-04 9.99997503e-01 8.35192696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86925976399996 meters 0.10736746684240421 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99951385e-01 -9.75367746e-03 1.44672442e-03 -1.88061955e+00] [ 9.76054744e-03 9.99940747e-01 -4.82012738e-03 3.52936357e+00] [-1.39962473e-03 4.83401387e-03 9.99987337e-01 8.36806591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92925976399997 meters 0.10734112363955706 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99952481e-01 -9.65258656e-03 1.36493130e-03 -1.88050522e+00] [ 9.65890822e-03 9.99942290e-01 -4.70333074e-03 3.52894984e+00] [-1.31945323e-03 4.71629099e-03 9.99988008e-01 8.36943264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98925976399997 meters 0.10588244634589455 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99953479e-01 -9.56205840e-03 1.26801378e-03 -1.88035772e+00] [ 9.56786665e-03 9.99943385e-01 -4.65648856e-03 3.52875496e+00] [-1.22341638e-03 4.66840412e-03 9.99988355e-01 8.37125037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04925976399997 meters 0.10494160809713964 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99957640e-01 -9.14060218e-03 1.08084488e-03 -1.87950795e+00] [ 9.14503555e-03 9.99949486e-01 -4.17054051e-03 3.52751843e+00] [-1.04266903e-03 4.18024820e-03 9.99990719e-01 8.36548085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10925976399997 meters 0.10467640904828658 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99959896e-01 -8.90606827e-03 9.42400981e-04 -1.87888121e+00] [ 8.90970770e-03 9.99952582e-01 -3.93083704e-03 3.52719013e+00] [-9.07347991e-04 3.93907592e-03 9.99991830e-01 8.36123461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16925976399997 meters 0.1037706947808507 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99964290e-01 -8.41307538e-03 7.99763191e-04 -1.87793314e+00] [ 8.41569187e-03 9.99959054e-01 -3.32653502e-03 3.52569665e+00] [-7.71744055e-04 3.33314679e-03 9.99994147e-01 8.35233788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22925976399998 meters 0.10393401838805916 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.84 [[ 9.99966505e-01 -8.17370257e-03 4.24283360e-04 -1.87694441e+00] [ 8.17504839e-03 9.99961225e-01 -3.27357919e-03 3.52593933e+00] [-3.97509646e-04 3.27693808e-03 9.99994552e-01 8.35235957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28925976399995 meters 0.1016137593500817 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.53, Z:0.83 [[ 9.99968573e-01 -7.92260905e-03 2.91870122e-04 -1.87627102e+00] [ 7.92346208e-03 9.99963965e-01 -3.04765695e-03 3.52567319e+00] [-2.67714210e-04 3.04987379e-03 9.99995313e-01 8.34740697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34925976399995 meters 0.0996877149459503 Centerline is valid? [False, True] Translation: X:-1.88, Y:3.52, Z:0.83 [[ 9.99972067e-01 -7.47426109e-03 2.87867051e-05 -1.87518804e+00] [ 7.47431096e-03 9.99968606e-01 -2.63105621e-03 3.52479593e+00] [-9.12060025e-06 2.63119788e-03 9.99996538e-01 8.34148145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40925976399996 meters 0.10110105340404708 Centerline is valid? [True, False] Translation: X:-1.87, Y:3.52, Z:0.83 [[ 9.99974701e-01 -7.11239797e-03 -1.07368893e-04 -1.87490191e+00] [ 7.11214516e-03 9.99972298e-01 -2.19545599e-03 3.52295217e+00] [ 1.22980876e-04 2.19463682e-03 9.99997584e-01 8.34251236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46925976399996 meters 0.10053099153434689 Centerline is valid? [False, False] Translation: X:-1.87, Y:3.52, Z:0.83 [[ 9.99977524e-01 -6.70372074e-03 -1.03856016e-04 -1.87464808e+00] [ 6.70355347e-03 9.99976353e-01 -1.53495642e-03 3.52074292e+00] [ 1.14143479e-04 1.53422572e-03 9.99998817e-01 8.33773601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52925976399996 meters 0.10504337020958414 Centerline is valid? [False, False] Translation: X:-1.87, Y:3.52, Z:0.83 [[ 9.99981316e-01 -6.10970828e-03 1.99348565e-04 -1.87481455e+00] [ 6.10976132e-03 9.99981300e-01 -2.66507619e-04 3.51616722e+00] [-1.97716554e-04 2.67720611e-04 9.99999945e-01 8.32711553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58925976399996 meters 0.10593358219861754 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.51, Z:0.83 [[ 9.99983637e-01 -5.68430415e-03 6.42995629e-04 -1.87596155e+00] [ 5.68358815e-03 9.99983232e-01 1.10993681e-03 3.50974732e+00] [-6.49294066e-04 -1.10626412e-03 9.99999177e-01 8.32703721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64925976399996 meters 0.10613635753116048 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.51, Z:0.83 [[ 9.99951851e-01 -9.79602510e-03 5.78111347e-04 -1.87636458e+00] [ 9.79757851e-03 9.99948226e-01 -2.74834198e-03 3.50706751e+00] [-5.51158588e-04 2.75387374e-03 9.99996056e-01 8.33618602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70925976399997 meters 0.11020650260678297 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.50, Z:0.83 [[ 9.99956918e-01 -9.24783979e-03 7.99821279e-04 -1.87642819e+00] [ 9.24910498e-03 9.99955957e-01 -1.59288734e-03 3.50282144e+00] [-7.85055286e-04 1.60021634e-03 9.99998411e-01 8.32761305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76925976399997 meters 0.11399311960838034 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.50, Z:0.83 [[ 9.99956829e-01 -9.24817992e-03 9.01020768e-04 -1.87722342e+00] [ 9.24931007e-03 9.99956433e-01 -1.25830587e-03 3.50081974e+00] [-8.89344473e-04 1.26658537e-03 9.99998802e-01 8.33542059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82925976399997 meters 0.1181420558331454 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.50, Z:0.83 [[ 9.99959239e-01 -8.93887010e-03 1.27177510e-03 -1.87796974e+00] [ 8.93929918e-03 9.99959989e-01 -3.32107846e-04 3.49699545e+00] [-1.26875555e-03 3.43463087e-04 9.99999136e-01 8.33267656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88925976399997 meters 0.12006688368624117 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.49, Z:0.83 [[ 9.99961753e-01 -8.57582069e-03 1.71708376e-03 -1.87871826e+00] [ 8.57449173e-03 9.99962934e-01 7.79835058e-04 3.49261094e+00] [-1.72370784e-03 -7.65082111e-04 9.99998222e-01 8.32665583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94925976399998 meters 0.1256682198549887 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.49, Z:0.83 [[ 9.99917235e-01 -1.27404737e-02 1.78968902e-03 -1.87899009e+00] [ 1.27458041e-02 9.99914271e-01 -2.99926872e-03 3.49045864e+00] [-1.75132349e-03 3.02183151e-03 9.99993901e-01 8.32855732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00925976399998 meters 0.1297451293953228 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.49, Z:0.83 [[ 9.99918340e-01 -1.25581570e-02 2.36779541e-03 -1.88025692e+00] [ 1.25629824e-02 9.99919013e-01 -2.03421982e-03 3.48607841e+00] [-2.34205759e-03 2.06380027e-03 9.99995128e-01 8.32663768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06925976399995 meters 0.1363007706704005 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99915327e-01 -1.26560982e-02 3.02698323e-03 -1.88209995e+00] [ 1.26602049e-02 9.99918957e-01 -1.34137768e-03 3.48227046e+00] [-3.00976131e-03 1.37958633e-03 9.99994519e-01 8.33085648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12925976399995 meters 0.15015877772812702 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99914158e-01 -1.26564081e-02 3.39010524e-03 -1.88298077e+00] [ 1.26597295e-02 9.99919402e-01 -9.60074928e-04 3.48058571e+00] [-3.37768090e-03 1.00291033e-03 9.99993793e-01 8.33024495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18925976399996 meters 0.1429429461068281 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99914329e-01 -1.25173168e-02 3.82764663e-03 -1.88356139e+00] [ 1.25185254e-02 9.99921598e-01 -2.91978512e-04 3.47841911e+00] [-3.82369175e-03 3.39869990e-04 9.99992632e-01 8.32154286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24925976399996 meters 0.14857229483324896 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99912420e-01 -1.26350466e-02 3.93813100e-03 -1.88390705e+00] [ 1.26364938e-02 9.99920098e-01 -3.42832946e-04 3.47867458e+00] [-3.93348462e-03 3.92567088e-04 9.99992187e-01 8.32242965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30925976399996 meters 0.15155851570043763 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99913266e-01 -1.25547183e-02 3.97982883e-03 -1.88379839e+00] [ 1.25552342e-02 9.99921174e-01 -1.04655383e-04 3.47824074e+00] [-3.97820120e-03 1.54613989e-04 9.99992075e-01 8.31877449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36925976399996 meters 0.15372276192731488 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99913108e-01 -1.27159997e-02 3.47555892e-03 -1.88274207e+00] [ 1.27190238e-02 9.99918749e-01 -8.49406388e-04 3.48162038e+00] [-3.46447548e-03 8.93538298e-04 9.99993599e-01 8.32304148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42925976399997 meters 0.15661418669670416 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99920136e-01 -1.22778530e-02 2.99599595e-03 -1.88035209e+00] [ 1.22801001e-02 9.99924328e-01 -7.32799005e-04 3.48368402e+00] [-2.98677204e-03 7.69531610e-04 9.99995243e-01 8.30553496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48925976399997 meters 0.14889476084567257 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99922361e-01 -1.21354056e-02 2.82928291e-03 -1.87958942e+00] [ 1.21375145e-02 9.99926072e-01 -7.29405631e-04 3.48441981e+00] [-2.82022211e-03 7.63689463e-04 9.99995732e-01 8.30091863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54925976399997 meters 0.1456923789506157 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.49, Z:0.83 [[ 9.99920427e-01 -1.23497805e-02 2.57332226e-03 -1.87922690e+00] [ 1.23529382e-02 9.99922962e-01 -1.21484285e-03 3.48660072e+00] [-2.55812098e-03 1.24653427e-03 9.99995951e-01 8.30544741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60925976399997 meters 0.1395008633830911 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.49, Z:0.83 [[ 9.99920812e-01 -1.23168992e-02 2.58148867e-03 -1.87924807e+00] [ 1.23198610e-02 9.99923464e-01 -1.13458203e-03 3.48648415e+00] [-2.56731656e-03 1.16629576e-03 9.99996024e-01 8.30533409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66925976399997 meters 0.14426684965979977 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99925460e-01 -1.18646733e-02 2.88165712e-03 -1.87951230e+00] [ 1.18650558e-02 9.99929601e-01 -1.15650005e-04 3.48288848e+00] [-2.88008211e-03 1.49832407e-04 9.99995841e-01 8.29712726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72925976399998 meters 0.14626671531370147 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.48, Z:0.83 [[ 9.99933395e-01 -1.10428533e-02 3.35567593e-03 -1.87984098e+00] [ 1.10364765e-02 9.99937266e-01 1.91294417e-03 3.47574878e+00] [-3.37658978e-03 -1.87578192e-03 9.99992540e-01 8.28096796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78925976399995 meters 0.15041420266302166 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.47, Z:0.83 [[ 9.99938303e-01 -1.04866406e-02 3.66328769e-03 -1.88044473e+00] [ 1.04752235e-02 9.99940260e-01 3.12203069e-03 3.47070428e+00] [-3.69580846e-03 -3.08346431e-03 9.99988417e-01 8.27795407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84925976399995 meters 0.1544228338408057 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.46, Z:0.83 [[ 9.99897595e-01 -1.37714114e-02 3.89194795e-03 -1.88063599e+00] [ 1.37685667e-02 9.99904922e-01 7.56764059e-04 3.46281347e+00] [-3.90199962e-03 -7.03100018e-04 9.99992140e-01 8.27301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90925976399996 meters 0.15844981651669643 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.46, Z:0.83 [[ 9.99900794e-01 -1.33963987e-02 4.35182509e-03 -1.88188067e+00] [ 1.33880803e-02 9.99908503e-01 1.93500870e-03 3.45741896e+00] [-4.37734906e-03 -1.87655415e-03 9.99988659e-01 8.27415495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96925976399996 meters 0.1627413361659169 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.45, Z:0.83 [[ 0.99990942 -0.012493 0.0050081 -1.8824786 ] [ 0.01247052 0.99991213 0.00449553 3.44878971] [-0.00506382 -0.00443267 0.99997735 0.82519252] [ 0. 0. 0. 1. ]] SLAMing on 159.02925976399996 meters 0.16451648114375234 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99991582 -0.01174747 0.00550953 -1.88317686] [ 0.01171271 0.99991157 0.00629856 3.4416621 ] [-0.00558303 -0.0062335 0.99996499 0.82422178] [ 0. 0. 0. 1. ]] SLAMing on 159.08925976399996 meters 0.18194957766163725 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.999919 -0.0114046 0.00564986 -1.88336395] [ 0.01136497 0.99991093 0.00699728 3.43910794] [-0.00572916 -0.0069325 0.99995956 0.82389461] [ 0. 0. 0. 1. ]] SLAMing on 159.14925976399996 meters 0.18003536627871253 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99992443 -0.01087243 0.00573826 -1.88294863] [ 0.01082671 0.99990986 0.00794043 3.43630934] [-0.00582407 -0.00787771 0.99995201 0.82282288] [ 0. 0. 0. 1. ]] SLAMing on 159.20925976399997 meters 0.18070393752174688 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99992383 -0.01090057 0.0057891 -1.8834258 ] [ 0.01085422 0.99990926 0.0079783 3.43558787] [-0.00587555 -0.00791486 0.99995142 0.82335804] [ 0. 0. 0. 1. ]] SLAMing on 159.26925976399997 meters 0.17562042954176776 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99992291 -0.01111789 0.005529 -1.8828998 ] [ 0.0110768 0.99991122 0.00740689 3.43798101] [-0.00561086 -0.00734507 0.99995728 0.82361935] [ 0. 0. 0. 1. ]] SLAMing on 159.32925976399997 meters 0.16882689590186664 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99992375 -0.01113811 0.00533273 -1.88193742] [ 0.01110013 0.99991319 0.00709904 3.44001966] [-0.00541134 -0.00703931 0.99996058 0.82294046] [ 0. 0. 0. 1. ]] SLAMing on 159.38925976399997 meters 0.1660365329658714 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.44, Z:0.82 [[ 0.99992385 -0.01124317 0.00508687 -1.88136529] [ 0.01120893 0.99991465 0.00671149 3.44168077] [-0.00516189 -0.00665396 0.99996454 0.82303208] [ 0. 0. 0. 1. ]] SLAMing on 159.44925976399998 meters 0.1567462683355933 Centerline is valid? [False, False] Translation: X:-1.88, Y:3.45, Z:0.82 [[ 0.99992732 -0.01136977 0.00400938 -1.87926858] [ 0.01134919 0.99992249 0.00511878 3.44829809] [-0.00406727 -0.0050729 0.99997886 0.82398239] [ 0. 0. 0. 1. ]] SLAMing on 159.50925976399998 meters 0.14508027608559618 Centerline is valid? [False, False] Translation: X:-1.86, Y:3.45, Z:0.83 [[ 9.99999389e-01 1.10413438e-03 4.42098408e-05 -1.86091609e+00] [-1.10441111e-03 9.99975967e-01 6.84445309e-03 3.45478280e+00] [-3.66515823e-05 -6.84449774e-03 9.99976575e-01 8.28962458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56925976399995 meters 0.12572468408242649 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.84 [[ 9.99995799e-01 -1.33070718e-03 -2.57512026e-03 -1.85410201e+00] [ 1.32566182e-03 9.99997201e-01 -1.95998708e-03 3.46574173e+00] [ 2.57772122e-03 1.95656511e-03 9.99994764e-01 8.35408747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62925976399995 meters 0.11791615269242069 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.84 [[ 9.99992597e-01 -1.13240559e-03 -3.67737571e-03 -1.85142953e+00] [ 1.11868440e-03 9.99992413e-01 -3.73116048e-03 3.47275491e+00] [ 3.68157300e-03 3.72701904e-03 9.99986278e-01 8.36239936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68925976399996 meters 0.11593179456061803 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.84 [[ 9.99991760e-01 -1.23149036e-03 -3.86812711e-03 -1.85119405e+00] [ 1.21570163e-03 9.99990932e-01 -4.08145127e-03 3.47409079e+00] [ 3.87311830e-03 4.07671515e-03 9.99984190e-01 8.36689634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74925976399996 meters 0.12169789589790375 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.48, Z:0.84 [[ 0.99997382 -0.00586493 -0.00423759 -1.85094795] [ 0.00582712 0.99994359 -0.00888085 3.47625189] [ 0.00428944 0.00885593 0.99995159 0.83770863] [ 0. 0. 0. 1. ]] SLAMing on 159.80925976399996 meters 0.1157275935277346 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.48, Z:0.84 [[ 0.99997453 -0.00565901 -0.00434907 -1.85040846] [ 0.00562117 0.99994666 -0.00866445 3.47591548] [ 0.00439787 0.00863978 0.99995301 0.83729059] [ 0. 0. 0. 1. ]] SLAMing on 159.86925976399996 meters 0.11566468818250467 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.48, Z:0.84 [[ 0.999974 -0.00551377 -0.00464819 -1.84937175] [ 0.0054729 0.99994665 -0.00876088 3.47714021] [ 0.00469624 0.00873521 0.99995082 0.83686708] [ 0. 0. 0. 1. ]] SLAMing on 159.92925976399997 meters 0.11290676772533649 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.48, Z:0.84 [[ 0.99997555 -0.00509176 -0.0047936 -1.84818108] [ 0.00505191 0.99995288 -0.00828923 3.47664048] [ 0.00483558 0.00826481 0.99995415 0.83558444] [ 0. 0. 0. 1. ]] SLAMing on 159.98925976399997 meters 0.1166530412808623 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.83 [[ 0.99997943 -0.00447569 -0.00459391 -1.84778105] [ 0.00444285 0.99996468 -0.00713447 3.47329993] [ 0.00462568 0.00711391 0.999964 0.83404226] [ 0. 0. 0. 1. ]] SLAMing on 160.04925976399997 meters 0.11440887636920147 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.83 [[ 0.99998133 -0.00410491 -0.0045264 -1.84768688] [ 0.0040758 0.99997107 -0.00642218 3.4709613 ] [ 0.00455263 0.00640361 0.99996913 0.83352794] [ 0. 0. 0. 1. ]] SLAMing on 160.10925976399997 meters 0.11764996311148446 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.83 [[ 0.99998384 -0.00366956 -0.00434182 -1.84763924] [ 0.00364585 0.99997846 -0.00545727 3.46797032] [ 0.00436175 0.00544135 0.99997568 0.83260109] [ 0. 0. 0. 1. ]] SLAMing on 160.16925976399997 meters 0.1239510521531345 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.83 [[ 0.99995992 -0.00778468 -0.00442223 -1.8472412 ] [ 0.00774263 0.9999254 -0.00944679 3.46703809] [ 0.00449544 0.00941217 0.9999456 0.8323431 ] [ 0. 0. 0. 1. ]] SLAMing on 160.22925976399998 meters 0.12722779325203454 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 0.99996324 -0.00756546 -0.00403622 -1.84815936] [ 0.00753079 0.99993521 -0.00853564 3.46334084] [ 0.00410054 0.00850493 0.99995542 0.8321523 ] [ 0. 0. 0. 1. ]] SLAMing on 160.28925976399995 meters 0.12662384225902631 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 0.99996489 -0.00745671 -0.00382284 -1.84877494] [ 0.0074254 0.99993929 -0.0081409 3.4615384 ] [ 0.00388331 0.00811222 0.99995956 0.83227355] [ 0. 0. 0. 1. ]] SLAMing on 160.34925976399995 meters 0.12822390332014816 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99968726e-01 -7.12159621e-03 -3.43942168e-03 -1.84888543e+00] [ 7.09663817e-03 9.99948790e-01 -7.21495700e-03 3.45903565e+00] [ 3.49062756e-03 7.19032303e-03 9.99968057e-01 8.30805308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40925976399996 meters 0.13556744263254955 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99971479e-01 -6.88986270e-03 -3.09380241e-03 -1.84933702e+00] [ 6.86955164e-03 9.99955094e-01 -6.52840419e-03 3.45658870e+00] [ 3.13864328e-03 6.50696495e-03 9.99973904e-01 8.30146545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46925976399996 meters 0.14118021628617575 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99971957e-01 -7.01936875e-03 -2.61014334e-03 -1.85055644e+00] [ 7.00289783e-03 9.99955842e-01 -6.26683640e-03 3.45505791e+00] [ 2.65401731e-03 6.24838209e-03 9.99976957e-01 8.30230394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52925976399996 meters 0.1435009807725591 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99970681e-01 -7.26680685e-03 -2.41469798e-03 -1.85105038e+00] [ 7.25082413e-03 9.99952175e-01 -6.56304638e-03 3.45616031e+00] [ 2.46227488e-03 6.54534541e-03 9.99975548e-01 8.30294405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58925976399996 meters 0.13754782377693392 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99970365e-01 -7.36421847e-03 -2.24430363e-03 -1.85059264e+00] [ 7.34903657e-03 9.99950553e-01 -6.69942779e-03 3.45801249e+00] [ 2.29352871e-03 6.68273579e-03 9.99975040e-01 8.29009656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64925976399996 meters 0.14622577284214744 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99969292e-01 -7.53196951e-03 -2.16418912e-03 -1.85050608e+00] [ 7.51674242e-03 9.99947527e-01 -6.95996530e-03 3.45950190e+00] [ 2.21649781e-03 6.94348392e-03 9.99973437e-01 8.28636389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70925976399997 meters 0.14756574377824871 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99965959e-01 -7.99336859e-03 -2.04624947e-03 -1.85122085e+00] [ 7.97763108e-03 9.99939396e-01 -7.58688122e-03 3.46147096e+00] [ 2.10677020e-03 7.57029873e-03 9.99969126e-01 8.29343088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76925976399997 meters 0.15259810199027177 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99963163e-01 -8.39937443e-03 -1.76709782e-03 -1.85222791e+00] [ 8.38498612e-03 9.99932860e-01 -7.99800246e-03 3.46264144e+00] [ 1.83415740e-03 7.98289075e-03 9.99966454e-01 8.29847672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82925976399997 meters 0.15290035862458906 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99962419e-01 -8.60339502e-03 -1.06897332e-03 -1.85378594e+00] [ 8.59491401e-03 9.99933416e-01 -7.70006438e-03 3.46107758e+00] [ 1.13514884e-03 7.69058727e-03 9.99969783e-01 8.29665279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88925976399997 meters 0.1552949507782171 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99964865e-01 -8.34671491e-03 -7.75733449e-04 -1.85405829e+00] [ 8.34102607e-03 9.99940232e-01 -7.06820580e-03 3.45895826e+00] [ 8.34683384e-04 7.06148704e-03 9.99974719e-01 8.28877565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94925976399998 meters 0.14881924900947144 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.47, Z:0.83 [[ 9.99961542e-01 -8.62304759e-03 -1.59942424e-03 -1.85211735e+00] [ 8.60974015e-03 9.99929736e-01 -8.14835288e-03 3.46519246e+00] [ 1.66957549e-03 8.13426889e-03 9.99965522e-01 8.29004964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00925976399995 meters 0.1572998701690573 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99966328e-01 -8.05922226e-03 -1.54646248e-03 -1.85117846e+00] [ 8.04783060e-03 9.99941433e-01 -7.23627956e-03 3.46328090e+00] [ 1.60469069e-03 7.22359023e-03 9.99972622e-01 8.27268524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06925976399995 meters 0.1604967013798307 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99967811e-01 -7.92252690e-03 -1.26873547e-03 -1.85180999e+00] [ 7.91373394e-03 9.99945621e-01 -6.79169810e-03 3.46147157e+00] [ 1.32247389e-03 6.78143905e-03 9.99976131e-01 8.27081282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12925976399995 meters 0.15906939903443532 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99965451e-01 -8.20535893e-03 -1.33007516e-03 -1.85215715e+00] [ 8.19550631e-03 9.99940126e-01 -7.25107809e-03 3.46278854e+00] [ 1.38949323e-03 7.23992693e-03 9.99972826e-01 8.27898586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18925976399996 meters 0.16039622956953123 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99968017e-01 -7.89210966e-03 -1.29609110e-03 -1.85175834e+00] [ 7.88320896e-03 9.99946249e-01 -6.73457417e-03 3.46160344e+00] [ 1.34917143e-03 6.72414142e-03 9.99976483e-01 8.27094494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24925976399996 meters 0.16086433768343966 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99969522e-01 -7.70350874e-03 -1.26948918e-03 -1.85160238e+00] [ 7.69517590e-03 9.99949634e-01 -6.44305251e-03 3.46085379e+00] [ 1.31905936e-03 6.43308720e-03 9.99978438e-01 8.26717176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30925976399996 meters 0.15984505904499802 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99970716e-01 -7.54739516e-03 -1.26666460e-03 -1.85130020e+00] [ 7.53939376e-03 9.99952314e-01 -6.20707062e-03 3.46047335e+00] [ 1.31345141e-03 6.19733897e-03 9.99979934e-01 8.26234480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36925976399996 meters 0.16003654738838438 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99973005e-01 -7.23462314e-03 -1.28465259e-03 -1.85097287e+00] [ 7.22720444e-03 9.99957703e-01 -5.68853830e-03 3.45898201e+00] [ 1.32575268e-03 5.67910029e-03 9.99982995e-01 8.25742704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42925976399997 meters 0.154201305158147 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99971515e-01 -7.32087592e-03 -1.83706669e-03 -1.84987022e+00] [ 7.30930900e-03 9.99953904e-01 -6.22604764e-03 3.46170053e+00] [ 1.88256213e-03 6.21244260e-03 9.99978931e-01 8.26210357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48925976399997 meters 0.15450745922100792 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.83 [[ 9.99974261e-01 -6.93058599e-03 -1.85604814e-03 -1.84928091e+00] [ 6.91997548e-03 9.99960019e-01 -5.66339761e-03 3.46035518e+00] [ 1.89522460e-03 5.65040803e-03 9.99982240e-01 8.25332332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54925976399997 meters 0.156991156872414 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.82 [[ 9.99976449e-01 -6.67720343e-03 -1.58652523e-03 -1.84973281e+00] [ 6.66919601e-03 9.99965261e-01 -4.99993559e-03 3.45793362e+00] [ 1.61985571e-03 4.98923699e-03 9.99986242e-01 8.24918107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60925976399997 meters 0.1553434281205135 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.82 [[ 9.99977306e-01 -6.52319498e-03 -1.68386831e-03 -1.84923434e+00] [ 6.51513394e-03 9.99967499e-01 -4.74911526e-03 3.45762607e+00] [ 1.71479298e-03 4.73803686e-03 9.99987305e-01 8.24506608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66925976399997 meters 0.15370800844530588 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.82 [[ 9.99979254e-01 -6.23308850e-03 -1.62475765e-03 -1.84908162e+00] [ 6.22624526e-03 9.99971866e-01 -4.18341928e-03 3.45595654e+00] [ 1.65078757e-03 4.17321635e-03 9.99989930e-01 8.23981057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72925976399998 meters 0.16883286500172534 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.45, Z:0.82 [[ 9.99981207e-01 -5.94153501e-03 -1.51116007e-03 -1.84888652e+00] [ 5.93600534e-03 9.99975765e-01 -3.63775310e-03 3.45458968e+00] [ 1.53273729e-03 3.62871448e-03 9.99992242e-01 8.23170113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78925976399995 meters 0.16781160105569995 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.45, Z:0.82 [[ 9.99981790e-01 -5.83561650e-03 -1.53771523e-03 -1.84828069e+00] [ 5.83017994e-03 9.99976821e-01 -3.51656174e-03 3.45499617e+00] [ 1.55820090e-03 3.50753255e-03 9.99992635e-01 8.22346111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84925976399995 meters 0.16588069341801726 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.82 [[ 9.99980807e-01 -5.86838607e-03 -1.98695808e-03 -1.84675423e+00] [ 5.86045937e-03 9.99974939e-01 -3.97195928e-03 3.45828322e+00] [ 2.01021728e-03 3.96023855e-03 9.99990138e-01 8.21816244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90925976399996 meters 0.1524298721359727 Centerline is valid? [False, False] Translation: X:-1.85, Y:3.46, Z:0.82 [[ 9.99979639e-01 -5.88341287e-03 -2.47116497e-03 -1.84521290e+00] [ 5.87215707e-03 9.99972463e-01 -4.53767824e-03 3.46173325e+00] [ 2.49779396e-03 4.52307478e-03 9.99986651e-01 8.21436546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96925976399996 meters 0.15203569246888698 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99979703e-01 -5.77146086e-03 -2.69887551e-03 -1.84411718e+00] [ 5.75896494e-03 9.99972767e-01 -4.61511786e-03 3.46314429e+00] [ 2.72543799e-03 4.59948146e-03 9.99985708e-01 8.20702022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02925976399996 meters 0.16021268899374438 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99979861e-01 -5.69154913e-03 -2.80771841e-03 -1.84329120e+00] [ 5.67853961e-03 9.99973205e-01 -4.61989644e-03 3.46416919e+00] [ 2.83393755e-03 4.60385966e-03 9.99985387e-01 8.19886434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08925976399996 meters 0.15701264070972576 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99981290e-01 -5.50655674e-03 -2.66417938e-03 -1.84369503e+00] [ 5.49527384e-03 9.99975980e-01 -4.22398379e-03 3.46245019e+00] [ 2.68737499e-03 4.20926437e-03 9.99987530e-01 8.19934949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14925976399996 meters 0.15587991816145927 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99982636e-01 -5.43546389e-03 -2.27666478e-03 -1.84479133e+00] [ 5.42703954e-03 9.99978464e-01 -3.69027548e-03 3.45979233e+00] [ 2.29667411e-03 3.67785585e-03 9.99990599e-01 8.20114403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20925976399997 meters 0.1661984572590829 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99983856e-01 -5.19611517e-03 -2.29947037e-03 -1.84436073e+00] [ 5.18865646e-03 9.99981297e-01 -3.23782970e-03 3.45873627e+00] [ 2.31625150e-03 3.22584627e-03 9.99992114e-01 8.19474051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26925976399997 meters 0.1587063641887609 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.82 [[ 9.99987741e-01 -4.52081885e-03 -2.01995242e-03 -1.84406348e+00] [ 4.51705005e-03 9.99988056e-01 -1.86646972e-03 3.45451899e+00] [ 2.02836627e-03 1.85732262e-03 9.99996218e-01 8.17759903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32925976399997 meters 0.16608444608298167 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99958319e-01 -8.80531073e-03 -2.41403111e-03 -1.84309119e+00] [ 8.78985618e-03 9.99941273e-01 -6.33952448e-03 3.45565855e+00] [ 2.46971082e-03 6.31804125e-03 9.99976991e-01 8.17899328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38925976399997 meters 0.16899804473524294 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99957104e-01 -8.89278535e-03 -2.58989841e-03 -1.84309338e+00] [ 8.87578151e-03 9.99939454e-01 -6.50456107e-03 3.45609805e+00] [ 2.64758526e-03 6.48129468e-03 9.99975491e-01 8.18555743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44925976399998 meters 0.16892601462568185 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.82 [[ 9.99959434e-01 -8.62986738e-03 -2.57981460e-03 -1.84282235e+00] [ 8.61389061e-03 9.99944041e-01 -6.14124674e-03 3.45507072e+00] [ 2.63266838e-03 6.11877537e-03 9.99977815e-01 8.18078975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50925976399995 meters 0.1633672746840469 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.82 [[ 9.99964459e-01 -8.07737394e-03 -2.41582640e-03 -1.84227667e+00] [ 8.06488306e-03 9.99954287e-01 -5.13624448e-03 3.45239050e+00] [ 2.45720334e-03 5.11657858e-03 9.99983891e-01 8.16488240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56925976399995 meters 0.16963223631597155 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.82 [[ 9.99966023e-01 -7.93011132e-03 -2.25097488e-03 -1.84237978e+00] [ 7.91943015e-03 9.99957525e-01 -4.71503501e-03 3.45115122e+00] [ 2.28827002e-03 4.69704837e-03 9.99986351e-01 8.15927104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62925976399995 meters 0.1635239924123747 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.82 [[ 9.99965266e-01 -7.99201237e-03 -2.36514593e-03 -1.84224181e+00] [ 7.98034395e-03 9.99956139e-01 -4.90247355e-03 3.45186076e+00] [ 2.40422282e-03 4.88342859e-03 9.99985186e-01 8.16187908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68925976399996 meters 0.1641452310621176 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.82 [[ 9.99965313e-01 -7.85599196e-03 -2.76714724e-03 -1.84086671e+00] [ 7.84151337e-03 9.99955709e-01 -5.20487050e-03 3.45411879e+00] [ 2.80791410e-03 5.18299133e-03 9.99982626e-01 8.15731341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74925976399996 meters 0.1541180642088672 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99968790e-01 -7.42294273e-03 -2.70535302e-03 -1.83999189e+00] [ 7.41042331e-03 9.99961922e-01 -4.60865961e-03 3.45321602e+00] [ 2.73945982e-03 4.58846797e-03 9.99985721e-01 8.14125935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80925976399996 meters 0.15586828647652068 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99968775e-01 -7.45481416e-03 -2.62198213e-03 -1.84024535e+00] [ 7.44268901e-03 9.99961703e-01 -4.60417010e-03 3.45312373e+00] [ 2.65620495e-03 4.58451174e-03 9.99985963e-01 8.14161955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86925976399996 meters 0.15201070689171597 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 9.99966340e-01 -7.58162224e-03 -3.13668276e-03 -1.83893593e+00] [ 7.56502329e-03 9.99957496e-01 -5.27032881e-03 3.45694790e+00] [ 3.17650709e-03 5.24642233e-03 9.99981192e-01 8.14146551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92925976399997 meters 0.15462296474597992 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 9.99965907e-01 -7.57565780e-03 -3.28545169e-03 -1.83833098e+00] [ 7.55756536e-03 9.99956400e-01 -5.48472496e-03 3.45828474e+00] [ 3.32685885e-03 5.45970795e-03 9.99979562e-01 8.13864741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98925976399997 meters 0.1459490800107987 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 9.99968528e-01 -7.17877522e-03 -3.37757251e-03 -1.83730283e+00] [ 7.16166269e-03 9.99961595e-01 -5.05162154e-03 3.45781614e+00] [ 3.41370725e-03 5.02727352e-03 9.99981536e-01 8.12657053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04925976399997 meters 0.14986317250690964 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 0.99996993 -0.0068919 -0.00355401 -1.83622348] [ 0.00687482 0.99996487 -0.00479531 3.45807668] [ 0.00358693 0.00477073 0.99998219 0.81167207] [ 0. 0. 0. 1. ]] SLAMing on 163.10925976399997 meters 0.14609696191312102 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 0.99996949 -0.00684943 -0.00375472 -1.83580378] [ 0.00683111 0.99996481 -0.00487043 3.45866062] [ 0.00378795 0.00484464 0.99998109 0.81182282] [ 0. 0. 0. 1. ]] SLAMing on 163.16925976399997 meters 0.14509661496579615 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.46, Z:0.81 [[ 0.99997089 -0.00665588 -0.0037305 -1.83560909] [ 0.00663876 0.99996746 -0.00458404 3.45798006] [ 0.00376089 0.00455914 0.99998253 0.81141047] [ 0. 0. 0. 1. ]] SLAMing on 163.22925976399998 meters 0.1529795222711169 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99976891e-01 -6.01765111e-03 -3.16323359e-03 -1.83622270e+00] [ 6.00764910e-03 9.99976955e-01 -3.16200639e-03 3.45292459e+00] [ 3.18218854e-03 3.14292972e-03 9.99989998e-01 8.10079578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28925976399995 meters 0.15297785850464118 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99942349e-01 -1.02988107e-02 -3.03866347e-03 -1.83683847e+00] [ 1.02768094e-02 9.99921491e-01 -7.16933914e-03 3.45127922e+00] [ 3.11226058e-03 7.13769805e-03 9.99969683e-01 8.10592505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34925976399995 meters 0.16223848260409654 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99944831e-01 -1.01886981e-02 -2.55435340e-03 -1.83799360e+00] [ 1.01718752e-02 9.99927043e-01 -6.51466419e-03 3.44845235e+00] [ 2.62054299e-03 6.48832222e-03 9.99975517e-01 8.10517218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40925976399996 meters 0.15986615647372432 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99946875e-01 -1.00420793e-02 -2.32458746e-03 -1.83828929e+00] [ 1.00278600e-02 9.99931419e-01 -6.04981108e-03 3.44702755e+00] [ 2.38518072e-03 6.02617904e-03 9.99978998e-01 8.09992453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46925976399996 meters 0.15400708810759728 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99981383e-01 -5.60535793e-03 -2.41097783e-03 -1.83738065e+00] [ 5.60122540e-03 9.99982838e-01 -1.71739609e-03 3.44838374e+00] [ 2.42056308e-03 1.70385968e-03 9.99995619e-01 8.08854438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52925976399996 meters 0.15914430550105527 Centerline is valid? [False, False] Translation: X:-1.84, Y:3.45, Z:0.81 [[ 9.99981132e-01 -5.49395011e-03 -2.74805884e-03 -1.83607912e+00] [ 5.48856132e-03 9.99983008e-01 -1.96465911e-03 3.45044615e+00] [ 2.75880588e-03 1.94953915e-03 9.99994294e-01 8.08233524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58925976399996 meters 0.16454763335648637 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.81 [[ 9.99981846e-01 -5.28656666e-03 -2.89123780e-03 -1.83497308e+00] [ 5.28122096e-03 9.99984337e-01 -1.85345160e-03 3.45138990e+00] [ 2.90099091e-03 1.83814869e-03 9.99994103e-01 8.07150870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64925976399996 meters 0.16572941288872498 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.81 [[ 9.99981932e-01 -5.27684496e-03 -2.87931447e-03 -1.83484459e+00] [ 5.27167777e-03 9.99984486e-01 -1.79923913e-03 3.45162470e+00] [ 2.88876410e-03 1.78402780e-03 9.99994236e-01 8.06902345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70925976399997 meters 0.1704028508279982 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 0.99994509 -0.00982421 -0.00364752 -1.83309539] [ 0.00979915 0.9999287 -0.00682436 3.45603712] [ 0.0037143 0.00678824 0.99997006 0.80723205] [ 0. 0. 0. 1. ]] SLAMing on 163.76925976399997 meters 0.154506047209597 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 9.99976667e-01 -5.58511040e-03 -3.93344820e-03 -1.83224670e+00] [ 5.57320014e-03 9.99979872e-01 -3.03242341e-03 3.45871720e+00] [ 3.95030544e-03 3.01043076e-03 9.99987666e-01 8.07076415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82925976399997 meters 0.1483073765725426 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 0.99997418 -0.00569853 -0.00437798 -1.83104481] [ 0.00568182 0.99997656 -0.00382076 3.46230012] [ 0.00439965 0.00379578 0.99998312 0.8071985 ] [ 0. 0. 0. 1. ]] SLAMing on 163.88925976399997 meters 0.14597125821255383 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 0.99997479 -0.00556026 -0.00441722 -1.83069541] [ 0.00554416 0.99997798 -0.00364827 3.4621503 ] [ 0.00443741 0.00362369 0.99998359 0.80682866] [ 0. 0. 0. 1. ]] SLAMing on 163.94925976399998 meters 0.15466942931331013 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 9.99975462e-01 -5.46272576e-03 -4.38559181e-03 -1.83081845e+00] [ 5.44769471e-03 9.99979272e-01 -3.43202993e-03 3.46137463e+00] [ 4.40424914e-03 3.40805435e-03 9.99984494e-01 8.06865077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00925976399995 meters 0.15264234106734725 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 9.99978934e-01 -5.12633565e-03 -3.98160115e-03 -1.83138737e+00] [ 5.11680433e-03 9.99984028e-01 -2.40034881e-03 3.45790340e+00] [ 3.99384255e-03 2.37992517e-03 9.99989193e-01 8.06012451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06925976399995 meters 0.1562034002220278 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 0.99994692 -0.00938085 -0.00426014 -1.83086768] [ 0.00935237 0.99993411 -0.00665603 3.45772482] [ 0.00432229 0.00661584 0.99996877 0.8064123 ] [ 0. 0. 0. 1. ]] SLAMing on 164.12925976399995 meters 0.1588992491091903 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.81 [[ 0.99994862 -0.00920813 -0.00423936 -1.83110454] [ 0.00918131 0.999938 -0.00630153 3.45618336] [ 0.00429713 0.00626228 0.99997116 0.80663418] [ 0. 0. 0. 1. ]] SLAMing on 164.18925976399996 meters 0.16570216601249177 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.81 [[ 0.99995212 -0.00885672 -0.00416222 -1.83113226] [ 0.00883296 0.99994478 -0.00569274 3.45405933] [ 0.00421241 0.0056557 0.99997513 0.80629585] [ 0. 0. 0. 1. ]] SLAMing on 164.24925976399996 meters 0.15680158313756998 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 0.99996042 -0.00807871 -0.00372856 -1.83126785] [ 0.00806417 0.99995989 -0.00389648 3.44821864] [ 0.00375989 0.00386626 0.99998546 0.80451145] [ 0. 0. 0. 1. ]] SLAMing on 164.30925976399996 meters 0.17047061164560892 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 9.99963292e-01 -7.78050184e-03 -3.58854236e-03 -1.83149209e+00] [ 7.76868834e-03 9.99964397e-01 -3.29428043e-03 3.44603694e+00] [ 3.61404575e-03 3.26628124e-03 9.99988135e-01 8.04242357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36925976399996 meters 0.16914133398927514 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 0.99996194 -0.00789745 -0.00370671 -1.83148939] [ 0.00788441 0.99996273 -0.00351826 3.44676711] [ 0.00373436 0.0034889 0.99998694 0.8047175 ] [ 0. 0. 0. 1. ]] SLAMing on 164.42925976399997 meters 0.15579066911443787 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 0.99996038 -0.00796804 -0.0039673 -1.83062367] [ 0.00795302 0.99996121 -0.00378623 3.44868189] [ 0.00399732 0.00375452 0.99998496 0.80443081] [ 0. 0. 0. 1. ]] SLAMing on 164.48925976399997 meters 0.16548168218959985 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 0.99996157 -0.00766107 -0.004262 -1.82897645] [ 0.00764549 0.99996407 -0.00366112 3.44992657] [ 0.0042899 0.00362839 0.99998422 0.80313326] [ 0. 0. 0. 1. ]] SLAMing on 164.54925976399997 meters 0.16303175138788542 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.45, Z:0.80 [[ 0.9999618 -0.00745434 -0.00456382 -1.82739153] [ 0.00743782 0.99996576 -0.00362766 3.45147348] [ 0.00459071 0.00359358 0.99998301 0.80192685] [ 0. 0. 0. 1. ]] SLAMing on 164.60925976399997 meters 0.15407173763330478 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.80 [[ 0.99995738 -0.00772819 -0.00505069 -1.82651216] [ 0.00770595 0.9999606 -0.0044067 3.45502119] [ 0.00508455 0.0043676 0.99997754 0.80256426] [ 0. 0. 0. 1. ]] SLAMing on 164.66925976399997 meters 0.15748518706036466 Centerline is valid? [False, False] Translation: X:-1.83, Y:3.46, Z:0.80 [[ 0.99995264 -0.00804587 -0.00547628 -1.8256584 ] [ 0.00801725 0.99995419 -0.00522804 3.45896106] [ 0.0055181 0.00518389 0.99997134 0.8029941 ] [ 0. 0. 0. 1. ]] SLAMing on 164.72925976399998 meters 0.15500465019521856 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.46, Z:0.80 [[ 0.99995174 -0.00789879 -0.00584158 -1.82372069] [ 0.00786654 0.9999538 -0.00552333 3.46220212] [ 0.00588494 0.00547711 0.99996768 0.80152538] [ 0. 0. 0. 1. ]] SLAMing on 164.78925976399995 meters 0.14712456544852312 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994884 -0.00780869 -0.00642916 -1.82158215] [ 0.00776972 0.99995143 -0.00606452 3.46637664] [ 0.00647621 0.00601425 0.99996094 0.80050831] [ 0. 0. 0. 1. ]] SLAMing on 164.84925976399995 meters 0.15215006167306172 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994759 -0.00788432 -0.00653114 -1.8213976 ] [ 0.00784316 0.99994937 -0.00630469 3.46748442] [ 0.00658052 0.00625314 0.9999588 0.80067013] [ 0. 0. 0. 1. ]] SLAMing on 164.90925976399996 meters 0.15302462275024273 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994711 -0.00791941 -0.00656212 -1.82147232] [ 0.00787778 0.99994884 -0.00634459 3.46767137] [ 0.00661203 0.00629255 0.99995834 0.80089494] [ 0. 0. 0. 1. ]] SLAMing on 164.96925976399996 meters 0.15474460462588813 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994776 -0.00786167 -0.00653207 -1.82164498] [ 0.00782106 0.99995007 -0.00622072 3.46710065] [ 0.00658065 0.0061693 0.99995932 0.80101939] [ 0. 0. 0. 1. ]] SLAMing on 165.02925976399996 meters 0.15351623933356914 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.9999453 -0.00811199 -0.00660238 -1.82190149] [ 0.00806829 0.99994555 -0.00661771 3.46831363] [ 0.00665571 0.00656407 0.99995631 0.80169507] [ 0. 0. 0. 1. ]] SLAMing on 165.08925976399996 meters 0.15118034566004465 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994455 -0.00811489 -0.00671129 -1.82154691] [ 0.00806967 0.99994474 -0.00673752 3.46906942] [ 0.00676559 0.00668299 0.99995478 0.80161532] [ 0. 0. 0. 1. ]] SLAMing on 165.14925976399996 meters 0.1430522839291207 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99994573 -0.00750493 -0.00722536 -1.81936684] [ 0.00745909 0.99995201 -0.00635062 3.46941187] [ 0.00727267 0.00629638 0.99995373 0.8003161 ] [ 0. 0. 0. 1. ]] SLAMing on 165.20925976399997 meters 0.13931460449960759 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.9999491 -0.00678521 -0.00746661 -1.81787198] [ 0.00674452 0.99996234 -0.00546175 3.46741146] [ 0.00750339 0.00541111 0.99995721 0.7989522 ] [ 0. 0. 0. 1. ]] SLAMing on 165.26925976399997 meters 0.13945723708512625 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.47, Z:0.80 [[ 0.99995101 -0.0065316 -0.0074371 -1.81799588] [ 0.00649452 0.99996642 -0.00499878 3.46554934] [ 0.0074695 0.00495023 0.99995985 0.79896915] [ 0. 0. 0. 1. ]] SLAMing on 165.32925976399997 meters 0.1432405476190518 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.46, Z:0.80 [[ 0.9999164 -0.0106461 -0.00733791 -1.81865582] [ 0.01058218 0.9999062 -0.00869496 3.4623618 ] [ 0.00742979 0.00861658 0.99993527 0.79966073] [ 0. 0. 0. 1. ]] SLAMing on 165.38925976399997 meters 0.14667169854197568 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.46, Z:0.80 [[ 0.99992488 -0.01029709 -0.00664807 -1.81992593] [ 0.01024925 0.99992162 -0.00719061 3.45647645] [ 0.00672159 0.00712193 0.99995205 0.79887531] [ 0. 0. 0. 1. ]] SLAMing on 165.44925976399998 meters 0.16666531148610406 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.45, Z:0.80 [[ 0.99987803 -0.01443549 -0.00596241 -1.82144956] [ 0.01437591 0.99984747 -0.00991781 3.45023952] [ 0.00610467 0.00983088 0.99993304 0.79853007] [ 0. 0. 0. 1. ]] SLAMing on 165.50925976399995 meters 0.1664929243394102 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.80 [[ 0.99994199 -0.00944851 -0.00517192 -1.82223699] [ 0.00942928 0.99994859 -0.00373017 3.44403779] [ 0.0052069 0.00368119 0.99997967 0.79617021] [ 0. 0. 0. 1. ]] SLAMing on 165.56925976399995 meters 0.1717239068024454 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.80 [[ 9.99943592e-01 -9.20008133e-03 -5.30763211e-03 -1.82176192e+00] [ 9.18199574e-03 9.99951990e-01 -3.42183302e-03 3.44330334e+00] [ 5.33885843e-03 3.37290534e-03 9.99980060e-01 7.95962877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62925976399995 meters 0.1625851685114796 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.80 [[ 9.99949636e-01 -8.70364188e-03 -4.99713680e-03 -1.82211563e+00] [ 8.69142305e-03 9.99959199e-01 -2.46169685e-03 3.43974032e+00] [ 5.01835864e-03 2.41814064e-03 9.99984484e-01 7.95307497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68925976399996 meters 0.16757155909368873 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99955727e-01 -8.34741720e-03 -4.34337125e-03 -1.82329809e+00] [ 8.34224681e-03 9.99964474e-01 -1.20716823e-03 3.43467580e+00] [ 4.35329368e-03 1.17088131e-03 9.99989839e-01 7.94652194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74925976399996 meters 0.1767389149843602 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99956877e-01 -8.16693700e-03 -4.42110639e-03 -1.82284136e+00] [ 8.16288115e-03 9.99966246e-01 -9.34653285e-04 3.43421539e+00] [ 4.42859041e-03 8.98524014e-04 9.99989790e-01 7.94235546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80925976399996 meters 0.16623478320136587 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99957135e-01 -8.01912369e-03 -4.62830733e-03 -1.82229160e+00] [ 8.01529593e-03 9.99967520e-01 -8.44990260e-04 3.43420812e+00] [ 4.63493308e-03 8.07856787e-04 9.99988932e-01 7.94212794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86925976399996 meters 0.16192507803835887 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99960078e-01 -7.55258326e-03 -4.77506221e-03 -1.82116339e+00] [ 7.55110851e-03 9.99971437e-01 -3.26797108e-04 3.43337270e+00] [ 4.77739398e-03 2.90727049e-04 9.99988546e-01 7.93068962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92925976399997 meters 0.16768548598491972 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99959412e-01 -7.41111790e-03 -5.12342564e-03 -1.82003546e+00] [ 7.40890842e-03 9.99972452e-01 -4.50095276e-04 3.43470782e+00] [ 5.12662022e-03 4.12118016e-04 9.99986774e-01 7.92717967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98925976399997 meters 0.1688334817560415 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99960014e-01 -7.32873752e-03 -5.12448435e-03 -1.81999729e+00] [ 7.32704936e-03 9.99973096e-01 -3.48126444e-04 3.43446730e+00] [ 5.12689781e-03 3.10565174e-04 9.99986809e-01 7.92676982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04925976399997 meters 0.16274303003316795 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 0.99991764 -0.01178094 -0.00509112 -1.82052141] [ 0.0117568 0.99991962 -0.00474595 3.43417867] [ 0.00514663 0.00468571 0.99997578 0.79348015] [ 0. 0. 0. 1. ]] SLAMing on 166.10925976399997 meters 0.17139011079328306 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 0.99992232 -0.01161791 -0.00451503 -1.82149855] [ 0.01160026 0.99992504 -0.00391655 3.43110347] [ 0.0045602 0.00386387 0.99998214 0.79273272] [ 0. 0. 0. 1. ]] SLAMing on 166.16925976399997 meters 0.17486090174008764 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99927111e-01 -1.13685701e-02 -4.06553619e-03 -1.82210830e+00] [ 1.13564468e-02 9.99931035e-01 -2.99272850e-03 3.42807362e+00] [ 4.09927886e-03 2.94634032e-03 9.99987257e-01 7.91794282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22925976399998 meters 0.1720035262136562 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 9.99923864e-01 -1.14594291e-02 -4.57688214e-03 -1.82100894e+00] [ 1.14435654e-02 9.99928474e-01 -3.47733494e-03 3.43072863e+00] [ 4.61640305e-03 3.42469434e-03 9.99983480e-01 7.92121003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28925976399995 meters 0.16823021619257447 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 0.99992434 -0.01143693 -0.0045298 -1.82082351] [ 0.01142118 0.99992869 -0.00348906 3.43120921] [ 0.00456938 0.00343706 0.99998365 0.79171891] [ 0. 0. 0. 1. ]] SLAMing on 166.34925976399995 meters 0.1827233258220845 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.43, Z:0.79 [[ 0.99992195 -0.01145619 -0.00498571 -1.81898243] [ 0.01143685 0.99992703 -0.00389056 3.43471606] [ 0.00502992 0.00383323 0.99998 0.79073497] [ 0. 0. 0. 1. ]] SLAMing on 166.40925976399996 meters 0.18075566707186017 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.79 [[ 0.99992186 -0.01142812 -0.00506718 -1.81841572] [ 0.01140823 0.99992717 -0.00393673 3.43558858] [ 0.0051118 0.00387862 0.99997941 0.79025103] [ 0. 0. 0. 1. ]] SLAMing on 166.46925976399996 meters 0.18178694915519794 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.79 [[ 0.99991999 -0.01150649 -0.00525475 -1.8179264 ] [ 0.01148432 0.99992511 -0.00423019 3.43705265] [ 0.00530303 0.0041695 0.99997725 0.79030504] [ 0. 0. 0. 1. ]] SLAMing on 166.52925976399996 meters 0.17495042511458941 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.79 [[ 0.99991689 -0.01178909 -0.00521915 -1.81830216] [ 0.01176482 0.99991995 -0.0046563 3.43845874] [ 0.00527363 0.00459451 0.99997554 0.79077376] [ 0. 0. 0. 1. ]] SLAMing on 166.58925976399996 meters 0.17625944223580173 Centerline is valid? [False, False] Translation: X:-1.82, Y:3.44, Z:0.79 [[ 0.99991324 -0.01179715 -0.00586047 -1.81636537] [ 0.0117665 0.99991706 -0.00523609 3.44236274] [ 0.00592175 0.00516668 0.99996912 0.7903172 ] [ 0. 0. 0. 1. ]] SLAMing on 166.64925976399996 meters 0.16679621683311627 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.44, Z:0.79 [[ 0.99991384 -0.01156808 -0.0062041 -1.81469295] [ 0.01153572 0.9999198 -0.0052267 3.44396533] [ 0.00626406 0.00515468 0.99996709 0.78920678] [ 0. 0. 0. 1. ]] SLAMing on 166.70925976399997 meters 0.17116759971152082 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.44, Z:0.79 [[ 9.99958508e-01 -6.92323384e-03 -5.92043613e-03 -1.81489202e+00] [ 6.92086768e-03 9.99975962e-01 -4.20054155e-04 3.44235971e+00] [ 5.92320195e-03 3.79062171e-04 9.99982386e-01 7.88303265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76925976399997 meters 0.15905227942236147 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99951024e-01 -7.26355667e-03 -6.72243923e-03 -1.81353020e+00] [ 7.25133198e-03 9.99972014e-01 -1.84108113e-03 3.44757325e+00] [ 6.73562390e-03 1.79224432e-03 9.99975709e-01 7.89649420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82925976399997 meters 0.15147821120260802 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99946825e-01 -7.23322091e-03 -7.35039615e-03 -1.81169554e+00] [ 7.21552923e-03 9.99971014e-01 -2.43057691e-03 3.45122176e+00] [ 7.36776399e-03 2.37741066e-03 9.99970032e-01 7.89310644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88925976399997 meters 0.14950885738963507 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99944993e-01 -6.91072408e-03 -7.89005472e-03 -1.80950991e+00] [ 6.89099870e-03 9.99973070e-01 -2.52448566e-03 3.45352365e+00] [ 7.90728826e-03 2.46997644e-03 9.99965686e-01 7.88138921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94925976399998 meters 0.1469042985490397 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99948356e-01 -6.41975204e-03 -7.87864684e-03 -1.80865584e+00] [ 6.40498458e-03 9.99977686e-01 -1.89816843e-03 3.45227447e+00] [ 7.89065681e-03 1.84760779e-03 9.99967161e-01 7.86821545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00925976399995 meters 0.1469876546356168 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99949393e-01 -6.22461950e-03 -7.90354383e-03 -1.80828922e+00] [ 6.21189684e-03 9.99979372e-01 -1.63327015e-03 3.45179138e+00] [ 7.91354728e-03 1.58409149e-03 9.99967433e-01 7.86368109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06925976399995 meters 0.16138863459437683 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99948819e-01 -6.28955804e-03 -7.92473541e-03 -1.80859195e+00] [ 6.27697204e-03 9.99979000e-01 -1.61206380e-03 3.45154092e+00] [ 7.93470816e-03 1.56223795e-03 9.99967299e-01 7.86875970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12925976399995 meters 0.15662004244838307 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99950063e-01 -6.24781418e-03 -7.79977789e-03 -1.80913914e+00] [ 6.23683850e-03 9.99979527e-01 -1.43071042e-03 3.45050595e+00] [ 7.80855702e-03 1.38199302e-03 9.99968558e-01 7.87183856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18925976399996 meters 0.15107202113181312 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99950937e-01 -6.16824395e-03 -7.75093400e-03 -1.80898990e+00] [ 6.15841655e-03 9.99980203e-01 -1.29112601e-03 3.45045251e+00] [ 7.75874454e-03 1.24332918e-03 9.99969128e-01 7.86759960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24925976399996 meters 0.17669955603761367 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 0.99991265 -0.0104808 -0.00805307 -1.8078247 ] [ 0.01043491 0.9999292 -0.00571945 3.45202653] [ 0.00811245 0.00563492 0.99995122 0.78632477] [ 0. 0. 0. 1. ]] SLAMing on 167.30925976399996 meters 0.17028186348039412 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99950491e-01 -5.83408428e-03 -8.06093509e-03 -1.80736843e+00] [ 5.82592470e-03 9.99982493e-01 -1.03534876e-03 3.45128947e+00] [ 8.06683428e-03 9.88335104e-04 9.99966974e-01 7.85545341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36925976399996 meters 0.16631482346336246 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.79 [[ 9.99947578e-01 -6.11276351e-03 -8.21427888e-03 -1.80725719e+00] [ 6.10013519e-03 9.99980175e-01 -1.56153781e-03 3.45328287e+00] [ 8.22366134e-03 1.51134774e-03 9.99965043e-01 7.86027575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42925976399997 meters 0.16431986307565374 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.78 [[ 9.99947819e-01 -5.87143067e-03 -8.35971215e-03 -1.80602972e+00] [ 5.86047251e-03 9.99981937e-01 -1.33472343e-03 3.45388699e+00] [ 8.36739788e-03 1.28566192e-03 9.99964166e-01 7.84772946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48925976399997 meters 0.16280501081151505 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.45, Z:0.78 [[ 9.99947441e-01 -6.09387400e-03 -8.24502081e-03 -1.80645099e+00] [ 6.08084847e-03 9.99980225e-01 -1.60395302e-03 3.45477691e+00] [ 8.25463205e-03 1.55373200e-03 9.99964723e-01 7.84977183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54925976399997 meters 0.1633037223408372 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.46, Z:0.79 [[ 9.99946596e-01 -6.28261729e-03 -8.20569196e-03 -1.80656700e+00] [ 6.26759106e-03 9.99978637e-01 -1.85562974e-03 3.45591276e+00] [ 8.21717487e-03 1.80410072e-03 9.99964611e-01 7.85026796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60925976399997 meters 0.15763518415593827 Centerline is valid? [False, False] Translation: X:-1.81, Y:3.46, Z:0.79 [[ 9.99940619e-01 -6.46734623e-03 -8.77106815e-03 -1.80507716e+00] [ 6.44450737e-03 9.99975776e-01 -2.62965375e-03 3.46011781e+00] [ 8.78786256e-03 2.57297239e-03 9.99958076e-01 7.85010814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66925976399997 meters 0.14592820425365263 Centerline is valid? [False, False] Translation: X:-1.80, Y:3.47, Z:0.79 [[ 0.99993091 -0.00681126 -0.00958062 -1.80319008] [ 0.00677188 0.99996851 -0.00413709 3.46698739] [ 0.0096085 0.00407192 0.99994555 0.78544913] [ 0. 0. 0. 1. ]] SLAMing on 167.72925976399995 meters 0.15135771298529888 Centerline is valid? [False, False] Translation: X:-1.80, Y:3.47, Z:0.78 [[ 0.99992717 -0.00665179 -0.01007041 -1.80130909] [ 0.00660699 0.99996816 -0.00447491 3.46985889] [ 0.01009986 0.00440805 0.99993928 0.78462344] [ 0. 0. 0. 1. ]] SLAMing on 167.78925976399995 meters 0.14246540371679525 Centerline is valid? [False, False] Translation: X:-1.80, Y:3.47, Z:0.78 [[ 0.99992056 -0.00658522 -0.01074784 -1.79944757] [ 0.00652931 0.99996501 -0.00522871 3.47379178] [ 0.0107819 0.00515812 0.99992857 0.78461269] [ 0. 0. 0. 1. ]] SLAMing on 167.84925976399995 meters 0.13930314400942456 Centerline is valid? [False, False] Translation: X:-1.80, Y:3.48, Z:0.78 [[ 0.99991201 -0.00672029 -0.01143727 -1.79784599] [ 0.00665147 0.99995961 -0.00604418 3.47812233] [ 0.01147743 0.00596757 0.99991632 0.78495383] [ 0. 0. 0. 1. ]] SLAMing on 167.90925976399996 meters 0.13360640595145756 Centerline is valid? [False, False] Translation: X:-1.80, Y:3.48, Z:0.78 [[ 0.99990919 -0.00651615 -0.01179651 -1.79628334] [ 0.00644472 0.99996073 -0.0060829 3.47992877] [ 0.01183568 0.00600632 0.99991192 0.78404655] [ 0. 0. 0. 1. ]] SLAMing on 167.96925976399996 meters 0.132847073845412 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.77 [[ 9.99995642e-01 -2.81263834e-03 8.97479016e-04 -1.79115712e+00] [ 2.81840013e-03 9.99975003e-01 -6.48462824e-03 3.47713259e+00] [-8.79217668e-04 6.48712943e-03 9.99978572e-01 7.74640859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02925976399996 meters 0.13702377983123312 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.77 [[ 9.99995091e-01 -2.98625882e-03 9.49045808e-04 -1.79143355e+00] [ 2.99256853e-03 9.99972955e-01 -6.71809557e-03 3.47803729e+00] [-9.28958169e-04 6.72090267e-03 9.99976983e-01 7.74894181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08925976399996 meters 0.13897586021004632 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.78 [[ 9.99971892e-01 -7.48903242e-03 3.60026359e-04 -1.79034257e+00] [ 7.49274705e-03 9.99902852e-01 -1.17535079e-02 3.48135062e+00] [-2.71968981e-04 1.17558751e-02 9.99930860e-01 7.75685012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14925976399996 meters 0.13719330667935034 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.78 [[ 9.99970732e-01 -7.64387791e-03 3.24892365e-04 -1.79033883e+00] [ 7.64722281e-03 9.99898946e-01 -1.19840733e-02 3.48241228e+00] [-2.33254740e-04 1.19862071e-02 9.99928136e-01 7.75836382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20925976399997 meters 0.14142681472717258 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.78 [[ 9.99971644e-01 -7.52781308e-03 2.09998536e-04 -1.78974698e+00] [ 7.52977100e-03 9.99901642e-01 -1.18325722e-02 3.48266188e+00] [-1.20904490e-04 1.18338179e-02 9.99929971e-01 7.75354297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26925976399997 meters 0.13555827763724215 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.49, Z:0.77 [[ 9.99974365e-01 -7.14500429e-03 -4.67349409e-04 -1.78717546e+00] [ 7.13899903e-03 9.99905021e-01 -1.17891268e-02 3.48510531e+00] [ 5.51538382e-04 1.17854882e-02 9.99930397e-01 7.74019700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32925976399997 meters 0.13323699167969533 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.49, Z:0.77 [[ 9.99975210e-01 -7.01617612e-03 -5.93407498e-04 -1.78644708e+00] [ 7.00872131e-03 9.99906415e-01 -1.17489991e-02 3.48581828e+00] [ 6.75785011e-04 1.17445488e-02 9.99930802e-01 7.73435604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38925976399997 meters 0.14665719025177848 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.49, Z:0.77 [[ 9.99976986e-01 -6.75858316e-03 -5.90389273e-04 -1.78604641e+00] [ 6.75142178e-03 9.99912343e-01 -1.13896362e-02 3.48501881e+00] [ 6.67315324e-04 1.13853881e-02 9.99934962e-01 7.72788634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44925976399998 meters 0.13941865273824577 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.49, Z:0.77 [[ 9.99976363e-01 -6.85624565e-03 -5.15732661e-04 -1.78643291e+00] [ 6.84990959e-03 9.99911321e-01 -1.14205702e-02 3.48501174e+00] [ 5.93989161e-04 1.14167676e-02 9.99934650e-01 7.73053247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50925976399995 meters 0.14621381466165265 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.77 [[ 9.99977344e-01 -6.71808343e-03 -4.22473151e-04 -1.78644983e+00] [ 6.71299332e-03 9.99916139e-01 -1.10748174e-02 3.48405643e+00] [ 4.96839270e-04 1.10717305e-02 9.99938583e-01 7.72625184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56925976399995 meters 0.13144020173067034 Centerline is valid? [False, False] Translation: X:-1.79, Y:3.48, Z:0.77 [[ 9.99997504e-01 -2.19162187e-03 -4.35077399e-04 -1.78564403e+00] [ 2.18873921e-03 9.99976355e-01 -6.51907840e-03 3.48448749e+00] [ 4.49354466e-04 6.51810986e-03 9.99978656e-01 7.71360512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62925976399995 meters 0.12843649688099187 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99997511e-01 -2.13669864e-03 -6.42641194e-04 -1.78479280e+00] [ 2.13235897e-03 9.99975419e-01 -6.67939621e-03 3.48589355e+00] [ 6.56897254e-04 6.67800924e-03 9.99977486e-01 7.70959263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68925976399996 meters 0.1275091696349664 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99997659e-01 -2.06323028e-03 -6.51434635e-04 -1.78461627e+00] [ 2.05887794e-03 9.99976017e-01 -6.61260066e-03 3.48591525e+00] [ 6.65062329e-04 6.61124395e-03 9.99977924e-01 7.70726489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74925976399996 meters 0.13137069683658797 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99996847e-01 -2.39049744e-03 -7.69032386e-04 -1.78474826e+00] [ 2.38487475e-03 9.99971012e-01 -7.23104812e-03 3.48802012e+00] [ 7.86295895e-04 7.22919127e-03 9.99973560e-01 7.71483309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80925976399996 meters 0.12983485877386555 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99995970e-01 -2.67127502e-03 -9.61878764e-04 -1.78439791e+00] [ 2.66363403e-03 9.99965567e-01 -7.85934686e-03 3.49080231e+00] [ 9.82840121e-04 7.85675309e-03 9.99968652e-01 7.71796691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86925976399996 meters 0.1258201554430031 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99995504e-01 -2.81693724e-03 -1.02833626e-03 -1.78397641e+00] [ 2.80844187e-03 9.99962671e-01 -8.17130136e-03 3.49267136e+00] [ 1.05131592e-03 8.16837660e-03 9.99966086e-01 7.71478083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92925976399997 meters 0.1275511976425503 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99995143e-01 -2.72560728e-03 -1.51130791e-03 -1.78230506e+00] [ 2.71260025e-03 9.99959831e-01 -8.54274774e-03 3.49557950e+00] [ 1.53453138e-03 8.53860668e-03 9.99962368e-01 7.70880722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98925976399997 meters 0.12144714048780875 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99994581e-01 -2.81607124e-03 -1.70545265e-03 -1.78172157e+00] [ 2.80069702e-03 9.99956017e-01 -8.95101641e-03 3.49764265e+00] [ 1.73058434e-03 8.94619144e-03 9.99958485e-01 7.70855839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04925976399997 meters 0.11808348754719626 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99994228e-01 -2.88983774e-03 -1.78679637e-03 -1.78155413e+00] [ 2.87325801e-03 9.99953432e-01 -9.21298939e-03 3.49876277e+00] [ 1.81333721e-03 9.20780229e-03 9.99955963e-01 7.70988440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10925976399997 meters 0.12029928291811291 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99994653e-01 -2.74734472e-03 -1.77350832e-03 -1.78128708e+00] [ 2.73132128e-03 9.99955994e-01 -8.97495057e-03 3.49841012e+00] [ 1.79808755e-03 8.97005856e-03 9.99958152e-01 7.70504933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16925976399997 meters 0.12109309243071885 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99995183e-01 -2.56577839e-03 -1.74645474e-03 -1.78113982e+00] [ 2.55058275e-03 9.99959351e-01 -8.64816684e-03 3.49754647e+00] [ 1.76857302e-03 8.64367070e-03 9.99961079e-01 7.70124061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22925976399995 meters 0.12100962968185974 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99995029e-01 -2.64330677e-03 -1.71888341e-03 -1.78133807e+00] [ 2.62816167e-03 9.99958226e-01 -8.75437427e-03 3.49788289e+00] [ 1.74195210e-03 8.74981325e-03 9.99960202e-01 7.70327692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28925976399995 meters 0.11934732037551979 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99994649e-01 -2.64090481e-03 -1.93061543e-03 -1.78068112e+00] [ 2.62349182e-03 9.99956354e-01 -8.96696561e-03 3.49924163e+00] [ 1.95421207e-03 8.96185268e-03 9.99957932e-01 7.70239837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34925976399995 meters 0.12576192991095442 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99975571e-01 -6.69977364e-03 -1.99250577e-03 -1.78015317e+00] [ 6.67360537e-03 9.99895009e-01 -1.28621354e-02 3.49828918e+00] [ 2.07846997e-03 1.28485240e-02 9.99915294e-01 7.69694760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40925976399996 meters 0.13667070773468318 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99977318e-01 -6.49812625e-03 -1.77130279e-03 -1.78062445e+00] [ 6.47588274e-03 9.99903544e-01 -1.22867841e-02 3.49601366e+00] [ 1.85097302e-03 1.22750346e-02 9.99922946e-01 7.69454618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46925976399996 meters 0.12430310000954665 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99975179e-01 -6.76753335e-03 -1.96030202e-03 -1.78066124e+00] [ 6.74168815e-03 9.99894016e-01 -1.29037706e-02 3.49805206e+00] [ 2.04742096e-03 1.28902346e-02 9.99914821e-01 7.70384763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52925976399996 meters 0.12998287339672113 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99978006e-01 -6.35057742e-03 -1.91241660e-03 -1.77997914e+00] [ 6.32653738e-03 9.99904035e-01 -1.23245901e-02 3.49684655e+00] [ 1.99050134e-03 1.23122201e-02 9.99922221e-01 7.69144436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58925976399996 meters 0.127929206873649 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99980051e-01 -6.03085037e-03 -1.87783145e-03 -1.77949993e+00] [ 6.00824252e-03 9.99912081e-01 -1.18208059e-02 3.49571953e+00] [ 1.94895586e-03 1.18092876e-02 9.99928369e-01 7.68221968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64925976399996 meters 0.12932645245359498 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99979077e-01 -6.15158383e-03 -2.00095288e-03 -1.77964503e+00] [ 6.12702222e-03 9.99908530e-01 -1.20578155e-02 3.49624406e+00] [ 2.07494451e-03 1.20453033e-02 9.99925300e-01 7.68948689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70925976399997 meters 0.12916243833337185 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99979011e-01 -6.17455701e-03 -1.96284952e-03 -1.77984950e+00] [ 6.15041402e-03 9.99908157e-01 -1.20768264e-02 3.49616144e+00] [ 2.03723830e-03 1.20645006e-02 9.99925146e-01 7.69110863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76925976399997 meters 0.1282881113438893 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99981657e-01 -5.75526594e-03 -1.88747935e-03 -1.77938359e+00] [ 5.73344208e-03 9.99918912e-01 -1.13709073e-02 3.49431343e+00] [ 1.95276889e-03 1.13598769e-02 9.99933568e-01 7.68031723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82925976399997 meters 0.12591536023424552 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.49, Z:0.77 [[ 9.99981938e-01 -5.69647398e-03 -1.91664204e-03 -1.77930339e+00] [ 5.67443115e-03 9.99919870e-01 -1.13160724e-02 3.49421905e+00] [ 1.98095017e-03 1.13049921e-02 9.99934134e-01 7.68016499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88925976399997 meters 0.13526966755568393 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99980810e-01 -5.85518117e-03 -2.02399217e-03 -1.77930628e+00] [ 5.83113757e-03 9.99914693e-01 -1.16877945e-02 3.49544826e+00] [ 2.09225366e-03 1.16757681e-02 9.99929647e-01 7.68523284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94925976399998 meters 0.13501631209651266 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99981488e-01 -5.63358898e-03 -2.29902533e-03 -1.77800117e+00] [ 5.60650242e-03 9.99916735e-01 -1.16228656e-02 3.49644615e+00] [ 2.36431234e-03 1.16097609e-02 9.99929809e-01 7.67629499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00925976399995 meters 0.1273476224133968 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99982857e-01 -5.24790318e-03 -2.59705643e-03 -1.77614736e+00] [ 5.21794650e-03 9.99921287e-01 -1.14102446e-02 3.49766722e+00] [ 2.65673186e-03 1.13964977e-02 9.99931528e-01 7.65993617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06925976399995 meters 0.12513439595561376 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99982355e-01 -5.24606002e-03 -2.78729129e-03 -1.77549787e+00] [ 5.21335571e-03 9.99918966e-01 -1.16138553e-02 3.49901666e+00] [ 2.84799241e-03 1.15991192e-02 9.99928672e-01 7.65829029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12925976399995 meters 0.12272684928497665 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99996055e-01 -1.06842572e-03 -2.59785648e-03 -1.77604828e+00] [ 1.04904952e-03 9.99971709e-01 -7.44849142e-03 3.49959747e+00] [ 2.60574114e-03 7.44573675e-03 9.99968885e-01 7.65889448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18925976399996 meters 0.12081935164142736 Centerline is valid? [False, False] Translation: X:-1.78, Y:3.50, Z:0.77 [[ 9.99995945e-01 -1.04613620e-03 -2.64861505e-03 -1.77570646e+00] [ 1.02606674e-03 9.99970840e-01 -7.56739637e-03 3.50046068e+00] [ 2.65645435e-03 7.56464803e-03 9.99967859e-01 7.65630433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24925976399996 meters 0.117988757136978 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.50, Z:0.76 [[ 9.99988605e-01 -4.24208789e-03 2.18948403e-03 -1.75864627e+00] [ 4.24437662e-03 9.99990450e-01 -1.04174464e-03 3.49967769e+00] [-2.18504395e-03 1.05102576e-03 9.99997060e-01 7.60550040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30925976399996 meters 0.11762868084909006 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.50, Z:0.76 [[ 9.99988324e-01 -4.32481685e-03 2.15573769e-03 -1.75865288e+00] [ 4.32741857e-03 9.99989912e-01 -1.20368321e-03 3.50037963e+00] [-2.15051024e-03 1.21299793e-03 9.99996952e-01 7.60725363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36925976399996 meters 0.1147121145813355 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.51, Z:0.76 [[ 9.99960621e-01 -8.78935876e-03 1.22585404e-03 -1.75681225e+00] [ 8.79723583e-03 9.99939683e-01 -6.57566121e-03 3.50574456e+00] [-1.16798426e-03 6.58618640e-03 9.99977629e-01 7.61592604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42925976399997 meters 0.12013713110737545 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.51, Z:0.76 [[ 9.99961673e-01 -8.68513740e-03 1.10504409e-03 -1.75609051e+00] [ 8.69218826e-03 9.99940807e-01 -6.54437186e-03 3.50660606e+00] [-1.04813991e-03 6.55372629e-03 9.99977975e-01 7.60944959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48925976399997 meters 0.11796924390508134 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.51, Z:0.76 [[ 9.99962605e-01 -8.60514546e-03 8.60695514e-04 -1.75533982e+00] [ 8.61066720e-03 9.99940936e-01 -6.63184542e-03 3.50761427e+00] [-8.03576684e-04 6.63900858e-03 9.99977639e-01 7.60789024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54925976399997 meters 0.116518959324282 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.51, Z:0.76 [[ 9.99960315e-01 -8.87170076e-03 8.12862362e-04 -1.75587229e+00] [ 8.87732891e-03 9.99934648e-01 -7.20372839e-03 3.50890855e+00] [-7.48899917e-04 7.21065856e-03 9.99973722e-01 7.61959417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60925976399997 meters 0.11021569175905749 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.51, Z:0.76 [[ 9.99961498e-01 -8.74326251e-03 7.47024852e-04 -1.75548258e+00] [ 8.74832524e-03 9.99936764e-01 -7.06642229e-03 3.50893297e+00] [-6.85194028e-04 7.07268543e-03 9.99974753e-01 7.61608535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66925976399997 meters 0.11146399949870804 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.51, Z:0.76 [[ 9.99965410e-01 -8.28792839e-03 6.98642150e-04 -1.75469243e+00] [ 8.29218285e-03 9.99945621e-01 -6.32416738e-03 3.50722937e+00] [-6.46189912e-04 6.32974190e-03 9.99979758e-01 7.60450578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72925976399995 meters 0.1121674103818801 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.51, Z:0.76 [[ 9.99967363e-01 -8.04837531e-03 7.04723842e-04 -1.75455190e+00] [ 8.05241728e-03 9.99949972e-01 -5.93395934e-03 3.50595515e+00] [-6.56929854e-04 5.93944041e-03 9.99982146e-01 7.60176270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78925976399995 meters 0.11146344052779154 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.51, Z:0.76 [[ 9.99968080e-01 -7.95080600e-03 7.89990105e-04 -1.75470412e+00] [ 7.95520080e-03 9.99951968e-01 -5.72508980e-03 3.50523971e+00] [-7.44433082e-04 5.73119158e-03 9.99983299e-01 7.60039541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84925976399995 meters 0.11260448197337275 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99969350e-01 -7.79854638e-03 6.93929785e-04 -1.75488345e+00] [ 7.80228218e-03 9.99954136e-01 -5.55437237e-03 3.50392636e+00] [-6.50581928e-04 5.55961636e-03 9.99984334e-01 7.60729834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90925976399996 meters 0.11381082976707133 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99972717e-01 -7.35590055e-03 6.75264462e-04 -1.75439158e+00] [ 7.35906499e-03 9.99961354e-01 -4.80987839e-03 3.50180705e+00] [-6.39857379e-04 4.81471648e-03 9.99988204e-01 7.59937537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96925976399996 meters 0.12338608958715369 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99976282e-01 -6.80461144e-03 1.06386020e-03 -1.75488926e+00] [ 6.80815046e-03 9.99971182e-01 -3.35912453e-03 3.49630535e+00] [-1.04097201e-03 3.36628778e-03 9.99993792e-01 7.58990515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02925976399996 meters 0.12214853531979711 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.49, Z:0.76 [[ 9.99978156e-01 -6.49821994e-03 1.20844636e-03 -1.75509976e+00] [ 6.50138123e-03 9.99975405e-01 -2.63072768e-03 3.49365293e+00] [-1.19132159e-03 2.63852679e-03 9.99995809e-01 7.58642655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08925976399996 meters 0.12453746052881642 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.49, Z:0.76 [[ 9.99978091e-01 -6.50361703e-03 1.23280888e-03 -1.75558957e+00] [ 6.50671479e-03 9.99975642e-01 -2.52564083e-03 3.49267834e+00] [-1.21635305e-03 2.53360703e-03 9.99996051e-01 7.59294989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14925976399996 meters 0.12754557565787794 Centerline is valid? [False, False] Translation: X:-1.76, Y:3.49, Z:0.76 [[ 9.99978547e-01 -6.42282894e-03 1.28555286e-03 -1.75568076e+00] [ 6.42582513e-03 9.99976616e-01 -2.34026260e-03 3.49204198e+00] [-1.27049169e-03 2.34847313e-03 9.99996435e-01 7.59212634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20925976399997 meters 0.1226769282733943 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.49, Z:0.76 [[ 9.99980890e-01 -6.05891994e-03 1.22805719e-03 -1.75492483e+00] [ 6.06109230e-03 9.99980060e-01 -1.77300309e-03 3.49086550e+00] [-1.21729022e-03 1.78041258e-03 9.99997674e-01 7.58217796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26925976399997 meters 0.12685342316546275 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.49, Z:0.76 [[ 9.99981892e-01 -5.95578654e-03 8.63191464e-04 -1.75389590e+00] [ 5.95739269e-03 9.99980506e-01 -1.87024506e-03 3.49197580e+00] [-8.52035856e-04 1.87535357e-03 9.99997879e-01 7.58073779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32925976399997 meters 0.12089831396243736 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.49, Z:0.76 [[ 9.99983931e-01 -5.65088117e-03 4.54000673e-04 -1.75232270e+00] [ 5.65167661e-03 9.99982462e-01 -1.77032213e-03 3.49299882e+00] [-4.43988831e-04 1.77285955e-03 9.99998330e-01 7.57264505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38925976399997 meters 0.11761638536951956 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.49, Z:0.76 [[ 9.99984826e-01 -5.50884508e-03 2.79217453e-05 -1.75104686e+00] [ 5.50888951e-03 9.99982872e-01 -1.97667505e-03 3.49463493e+00] [-1.70320704e-05 1.97679887e-03 9.99998046e-01 7.57032974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44925976399998 meters 0.1199442990861983 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99986145e-01 -5.25457171e-03 -3.14267342e-04 -1.74985489e+00] [ 5.25396633e-03 9.99984398e-01 -1.89709342e-03 3.49520620e+00] [ 3.24230852e-04 1.89541599e-03 9.99998151e-01 7.56576890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50925976399995 meters 0.1143376185855977 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99985511e-01 -5.34252597e-03 -6.59921877e-04 -1.74936661e+00] [ 5.34101385e-03 9.99983155e-01 -2.27225740e-03 3.49667666e+00] [ 6.72050355e-04 2.26869983e-03 9.99997201e-01 7.57228265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56925976399995 meters 0.11686385060734074 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99985504e-01 -5.32695186e-03 -7.84791958e-04 -1.74904743e+00] [ 5.32500877e-03 9.99982802e-01 -2.45754992e-03 3.49748912e+00] [ 7.97869711e-04 2.45333527e-03 9.99996672e-01 7.57314192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62925976399995 meters 0.10991577782944016 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99987529e-01 -4.85409137e-03 -1.17417980e-03 -1.74699062e+00] [ 4.85150028e-03 9.99985812e-01 -2.19959326e-03 3.49853244e+00] [ 1.18484016e-03 2.19386930e-03 9.99996892e-01 7.55732802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68925976399996 meters 0.11192606803263327 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.76 [[ 9.99988008e-01 -4.70237818e-03 -1.36769728e-03 -1.74609002e+00] [ 4.69946523e-03 9.99986699e-01 -2.12529224e-03 3.49918062e+00] [ 1.37767302e-03 2.11883931e-03 9.99996806e-01 7.55123365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74925976399996 meters 0.11108197820941722 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.50, Z:0.75 [[ 9.99989275e-01 -4.39212567e-03 -1.46949533e-03 -1.74572135e+00] [ 4.38956217e-03 9.99988846e-01 -1.74317414e-03 3.49786076e+00] [ 1.47713518e-03 1.73670500e-03 9.99997401e-01 7.54966401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80925976399996 meters 0.11417752702271165 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.50, Z:0.76 [[ 9.99958085e-01 -8.83787281e-03 -2.39171044e-03 -1.74410052e+00] [ 8.82138548e-03 9.99937844e-01 -6.81844972e-03 3.50170689e+00] [ 2.45182237e-03 6.79706573e-03 9.99973894e-01 7.56073244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86925976399996 meters 0.10967363236296918 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.50, Z:0.76 [[ 9.99959699e-01 -8.60473044e-03 -2.56097676e-03 -1.74336405e+00] [ 8.58772082e-03 9.99941473e-01 -6.58034245e-03 3.50149797e+00] [ 2.61744895e-03 6.55808430e-03 9.99975070e-01 7.55607345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92925976399997 meters 0.11349333666663744 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.50, Z:0.75 [[ 9.99967588e-01 -7.68249953e-03 -2.40866900e-03 -1.74251461e+00] [ 7.67028777e-03 9.99957888e-01 -5.03881578e-03 3.49662872e+00] [ 2.44727827e-03 5.02017727e-03 9.99984404e-01 7.53604370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98925976399997 meters 0.11694446532131203 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99969873e-01 -7.42575743e-03 -2.26091259e-03 -1.74316734e+00] [ 7.41597052e-03 9.99963227e-01 -4.30678490e-03 3.49314114e+00] [ 2.29281059e-03 4.28988829e-03 9.99988170e-01 7.53943330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04925976399997 meters 0.1134701757943733 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99972324e-01 -7.09901008e-03 -2.22604953e-03 -1.74323979e+00] [ 7.09090894e-03 9.99968284e-01 -3.62626449e-03 3.49051778e+00] [ 2.25172182e-03 3.61037942e-03 9.99990947e-01 7.53831179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10925976399997 meters 0.11648355748924877 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99977354e-01 -6.37207927e-03 -2.16522367e-03 -1.74253101e+00] [ 6.36706449e-03 9.99977050e-01 -2.31511182e-03 3.48659522e+00] [ 2.17992606e-03 2.30127327e-03 9.99994976e-01 7.52332911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16925976399997 meters 0.11634492454042936 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.75 [[ 9.99944098e-01 -1.03029577e-02 -2.37679452e-03 -1.74180359e+00] [ 1.02883052e-02 9.99928487e-01 -6.09679588e-03 3.48484684e+00] [ 2.43943958e-03 6.07200187e-03 9.99978590e-01 7.52135991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22925976399995 meters 0.11973708935595896 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.75 [[ 9.99949663e-01 -9.82487446e-03 -2.03557946e-03 -1.74233060e+00] [ 9.81480682e-03 9.99939837e-01 -4.89815957e-03 3.48021874e+00] [ 2.08358080e-03 4.87793419e-03 9.99985932e-01 7.51512510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28925976399995 meters 0.12276356943485597 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.75 [[ 9.99952863e-01 -9.58828649e-03 -1.52859598e-03 -1.74360310e+00] [ 9.58260696e-03 9.99947312e-01 -3.68052648e-03 3.47518454e+00] [ 1.56380538e-03 3.66570506e-03 9.99992059e-01 7.51283032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34925976399995 meters 0.12978037225547345 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.75 [[ 9.99957750e-01 -9.11823625e-03 -1.16467022e-03 -1.74397244e+00] [ 9.11529873e-03 9.99955322e-01 -2.50308187e-03 3.47088727e+00] [ 1.18744188e-03 2.49235980e-03 9.99996189e-01 7.50323559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40925976399996 meters 0.1296217597465179 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.75 [[ 9.99962393e-01 -8.64116965e-03 -7.36605526e-04 -1.74439332e+00] [ 8.64010637e-03 9.99961644e-01 -1.43465079e-03 3.46691668e+00] [ 7.48974334e-04 1.42823249e-03 9.99998700e-01 7.49308296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46925976399996 meters 0.1322670417367055 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99964821e-01 -8.38222351e-03 -3.08209563e-04 -1.74516462e+00] [ 8.38208156e-03 9.99964764e-01 -4.58988408e-04 3.46302821e+00] [ 3.12046047e-04 4.56388823e-04 9.99999847e-01 7.48805484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52925976399996 meters 0.146351723432806 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99916792e-01 -1.28978490e-02 -2.34652053e-04 -1.74568369e+00] [ 1.28965239e-02 9.99904484e-01 -4.97015606e-03 3.46348205e+00] [ 2.98733962e-04 4.96671631e-03 9.99987621e-01 7.49424456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58925976399996 meters 0.16644312616029497 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99920793e-01 -1.25422201e-02 1.04856412e-03 -1.74762332e+00] [ 1.25450730e-02 9.99917498e-01 -2.75998876e-03 3.45577364e+00] [-1.01386123e-03 2.77292446e-03 9.99995641e-01 7.46866292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64925976399996 meters 0.1660983239863925 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99921517e-01 -1.24696295e-02 1.21145600e-03 -1.74783099e+00] [ 1.24726684e-02 9.99919002e-01 -2.53418006e-03 3.45511571e+00] [-1.17975759e-03 2.54909126e-03 9.99996055e-01 7.46521394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70925976399997 meters 0.16133813906237998 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99920530e-01 -1.25693202e-02 9.72785946e-04 -1.74719862e+00] [ 1.25722268e-02 9.99916340e-01 -3.04181813e-03 3.45770258e+00] [-9.34470976e-04 3.05380648e-03 9.99994901e-01 7.46571004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76925976399997 meters 0.15968048942401666 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99919784e-01 -1.26258466e-02 1.00698891e-03 -1.74719322e+00] [ 1.26289814e-02 9.99915227e-01 -3.16991104e-03 3.45837584e+00] [-9.66880738e-04 3.18237401e-03 9.99994469e-01 7.46448764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82925976399997 meters 0.1557778469496204 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.75 [[ 9.99924046e-01 -1.22778287e-02 1.07581777e-03 -1.74644922e+00] [ 1.22807451e-02 9.99920814e-01 -2.74761092e-03 3.45800244e+00] [-1.04199789e-03 2.76061407e-03 9.99995647e-01 7.45088005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88925976399997 meters 0.15588943977933037 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99925636e-01 -1.21332877e-02 1.22751386e-03 -1.74634346e+00] [ 1.21362682e-02 9.99923350e-01 -2.45050032e-03 3.45764081e+00] [-1.19768714e-03 2.46521553e-03 9.99996244e-01 7.44316179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94925976399998 meters 0.15739682318118955 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99926277e-01 -1.20446864e-02 1.53790290e-03 -1.74666178e+00] [ 1.20478364e-02 9.99925309e-01 -2.05572480e-03 3.45677024e+00] [-1.51302747e-03 2.07410165e-03 9.99996704e-01 7.43547251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00925976399995 meters 0.15590282650926632 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99926097e-01 -1.20501040e-02 1.61105146e-03 -1.74647239e+00] [ 1.20533949e-02 9.99925256e-01 -2.04887812e-03 3.45744087e+00] [-1.58624185e-03 2.06814534e-03 9.99996603e-01 7.42978720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06925976399995 meters 0.15233929960035617 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99966000e-01 -8.03679584e-03 1.84647052e-03 -1.74731714e+00] [ 8.03334142e-03 9.99965982e-01 1.87068709e-03 3.45860015e+00] [-1.86144203e-03 -1.85579015e-03 9.99996546e-01 7.43254233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12925976399995 meters 0.1486216227466764 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99965175e-01 -8.15194209e-03 1.78761003e-03 -1.74713400e+00] [ 8.14921350e-03 9.99965627e-01 1.52840136e-03 3.46006296e+00] [-1.80000802e-03 -1.51378052e-03 9.99997234e-01 7.43300382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18925976399996 meters 0.14516307443491813 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99966468e-01 -7.97470456e-03 1.86217122e-03 -1.74676975e+00] [ 7.97143831e-03 9.99966688e-01 1.75488587e-03 3.45996374e+00] [-1.87610389e-03 -1.73998284e-03 9.99996726e-01 7.42469453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24925976399996 meters 0.14408846180372473 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99965677e-01 -8.07245081e-03 1.86549542e-03 -1.74695796e+00] [ 8.06949100e-03 9.99966179e-01 1.58872240e-03 3.46045002e+00] [-1.87825721e-03 -1.57361427e-03 9.99996998e-01 7.42786709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30925976399996 meters 0.1542334578569988 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99965405e-01 -8.13433714e-03 1.73842202e-03 -1.74667641e+00] [ 8.13186736e-03 9.99965923e-01 1.42307904e-03 3.46140699e+00] [-1.74993858e-03 -1.40889320e-03 9.99997476e-01 7.42881668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36925976399996 meters 0.1548541031038722 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99917736e-01 -1.27294930e-02 1.57536272e-03 -1.74689750e+00] [ 1.27349412e-02 9.99912789e-01 -3.49807906e-03 3.46293681e+00] [-1.53069656e-03 3.51785344e-03 9.99992641e-01 7.44144798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42925976399997 meters 0.15264096735991758 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99967347e-01 -7.82315842e-03 2.02543400e-03 -1.74711146e+00] [ 7.81912224e-03 9.99967444e-01 1.99305269e-03 3.45907721e+00] [-2.04096003e-03 -1.97715050e-03 9.99995963e-01 7.42543524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48925976399997 meters 0.14310636262806456 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99964794e-01 -8.24307640e-03 1.56931290e-03 -1.74673386e+00] [ 8.24157592e-03 9.99965577e-01 9.60220124e-04 3.46251128e+00] [-1.57717405e-03 -9.47252707e-04 9.99998308e-01 7.43923917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54925976399997 meters 0.14340369481140983 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99966212e-01 -8.06722933e-03 1.57938055e-03 -1.74625395e+00] [ 8.06533843e-03 9.99966755e-01 1.19997029e-03 3.46240289e+00] [-1.58900848e-03 -1.18719151e-03 9.99998033e-01 7.43156792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60925976399997 meters 0.14160289064729814 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.46, Z:0.74 [[ 9.99965596e-01 -8.17067990e-03 1.43071407e-03 -1.74583378e+00] [ 8.16936872e-03 9.99966207e-01 9.19906240e-04 3.46380294e+00] [-1.43818198e-03 -9.08186561e-04 9.99998553e-01 7.43156817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66925976399997 meters 0.13883218100602276 Centerline is valid? [False, False] Translation: X:-1.75, Y:3.47, Z:0.75 [[ 9.99960427e-01 -8.86910086e-03 6.95548085e-04 -1.74508497e+00] [ 8.86987923e-03 9.99960030e-01 -1.12408874e-03 3.47051781e+00] [-6.85550627e-04 1.13021369e-03 9.99999126e-01 7.45572316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72925976399995 meters 0.13887675940113275 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.75 [[ 9.99960415e-01 -8.87395985e-03 6.49530932e-04 -1.74460519e+00] [ 8.87476739e-03 9.99959836e-01 -1.25112820e-03 3.47168963e+00] [-6.38402383e-04 1.25684311e-03 9.99999006e-01 7.45070888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78925976399995 meters 0.14882757001995384 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.75 [[ 9.99956865e-01 -9.28661964e-03 -1.63257807e-04 -1.74290705e+00] [ 9.28612886e-03 9.99953001e-01 -2.78627022e-03 3.47833421e+00] [ 1.89125166e-04 2.78463400e-03 9.99996105e-01 7.45775388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84925976399995 meters 0.1304966543103979 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.75 [[ 9.99955625e-01 -9.39542882e-03 -6.88327925e-04 -1.74148361e+00] [ 9.39297105e-03 9.99949792e-01 -3.49085511e-03 3.48214356e+00] [ 7.21091446e-04 3.48423475e-03 9.99993670e-01 7.45729212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90925976399996 meters 0.13250317138524262 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99955626e-01 -9.29674919e-03 -1.52201011e-03 -1.73895131e+00] [ 9.28986331e-03 9.99946855e-01 -4.47042719e-03 3.48808742e+00] [ 1.56348967e-03 4.45608955e-03 9.99988849e-01 7.45065332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96925976399996 meters 0.1268694577966784 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.74 [[ 9.99986343e-01 -4.98044289e-03 -1.58391840e-03 -1.73841443e+00] [ 4.97994114e-03 9.99987549e-01 -3.20560575e-04 3.48957099e+00] [ 1.58549522e-03 3.12668377e-04 9.99998694e-01 7.44448871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02925976399996 meters 0.11431893509164479 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99984611e-01 -5.13793747e-03 -2.09283170e-03 -1.73739465e+00] [ 5.13517921e-03 9.99985942e-01 -1.32120358e-03 3.49332642e+00] [ 2.09959054e-03 1.31043618e-03 9.99996937e-01 7.45231986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08925976399996 meters 0.12038323475166714 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.74 [[ 9.99985148e-01 -4.96202224e-03 -2.25433688e-03 -1.73673332e+00] [ 4.95929689e-03 9.99986967e-01 -1.21292365e-03 3.49343915e+00] [ 2.26032605e-03 1.20172571e-03 9.99996723e-01 7.44896319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14925976399996 meters 0.12054075236159065 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.50, Z:0.75 [[ 9.99950956e-01 -9.46094936e-03 -2.92837184e-03 -1.73547750e+00] [ 9.44267028e-03 9.99936232e-01 -6.19418332e-03 3.49663043e+00] [ 2.98678796e-03 6.16622788e-03 9.99976528e-01 7.45741918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20925976399997 meters 0.12096368507007248 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99955560e-01 -9.02755602e-03 -2.71673498e-03 -1.73568163e+00] [ 9.01302017e-03 9.99945251e-01 -5.31599016e-03 3.49347037e+00] [ 2.76457664e-03 5.29126793e-03 9.99982180e-01 7.45143955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26925976399997 meters 0.12283130844119376 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.75 [[ 9.99957499e-01 -8.88402948e-03 -2.46472215e-03 -1.73652848e+00] [ 8.87214675e-03 9.99949165e-01 -4.79087811e-03 3.49094334e+00] [ 2.50715915e-03 4.76880712e-03 9.99985486e-01 7.45417032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32925976399997 meters 0.12562592387948834 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.49, Z:0.74 [[ 9.99963013e-01 -8.37967401e-03 -1.93760368e-03 -1.73750787e+00] [ 8.37308995e-03 9.99959227e-01 -3.38154856e-03 3.48522429e+00] [ 1.96586096e-03 3.36519976e-03 9.99992405e-01 7.44789914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38925976399997 meters 0.1315815738840774 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.74 [[ 9.99968091e-01 -7.80704411e-03 -1.69304155e-03 -1.73756071e+00] [ 7.80334738e-03 9.99967179e-01 -2.17920607e-03 3.48116039e+00] [ 1.70999914e-03 2.16592514e-03 9.99996192e-01 7.43762168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44925976399998 meters 0.13310335250208422 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.74 [[ 9.99972231e-01 -7.30415795e-03 -1.47848724e-03 -1.73766278e+00] [ 7.30256183e-03 9.99972750e-01 -1.08210151e-03 3.47750109e+00] [ 1.48635080e-03 1.07127471e-03 9.99998322e-01 7.42932594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50925976399995 meters 0.14021724602491664 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.74 [[ 9.99933919e-01 -1.14204429e-02 -1.31545825e-03 -1.73859875e+00] [ 1.14139670e-02 9.99923195e-01 -4.82954921e-03 3.47419909e+00] [ 1.37051281e-03 4.81421547e-03 9.99987472e-01 7.43817795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56925976399995 meters 0.1408385354031285 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.74 [[ 9.99937923e-01 -1.11223913e-02 -6.65590697e-04 -1.74010081e+00] [ 1.11199646e-02 9.99931888e-01 -3.54477661e-03 3.46870211e+00] [ 7.04971755e-04 3.53715522e-03 9.99993496e-01 7.43667938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62925976399995 meters 0.14363486080272445 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.46, Z:0.74 [[ 9.99941376e-01 -1.08277392e-02 -7.11004172e-05 -1.74145848e+00] [ 1.08275429e-02 9.99938634e-01 -2.34345184e-03 3.46353992e+00] [ 9.64703395e-05 2.34254462e-03 9.99997252e-01 7.43486297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68925976399996 meters 0.149505580591505 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.46, Z:0.74 [[ 9.99945664e-01 -1.04093756e-02 5.60974202e-04 -1.74255675e+00] [ 1.04098670e-02 9.99945428e-01 -8.80388385e-04 3.45803899e+00] [-5.51779295e-04 8.86180214e-04 9.99999455e-01 7.42634341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74925976399996 meters 0.15122249407625213 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99947911e-01 -1.01598799e-02 9.75484170e-04 -1.74355618e+00] [ 1.01598741e-02 9.99948387e-01 1.08230823e-05 3.45429324e+00] [-9.75543784e-04 -9.11722163e-07 9.99999524e-01 7.42503034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80925976399996 meters 0.14921561132975888 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99947597e-01 -1.01904725e-02 9.78910020e-04 -1.74440265e+00] [ 1.01904207e-02 9.99948075e-01 5.79269579e-05 3.45281639e+00] [-9.79449493e-04 -4.79484174e-05 9.99999519e-01 7.43764328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86925976399996 meters 0.15430850709757335 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99951980e-01 -9.75789344e-03 9.06051180e-04 -1.74381798e+00] [ 9.75730071e-03 9.99952181e-01 6.56318914e-04 3.45109273e+00] [-9.12412143e-04 -6.47446784e-04 9.99999374e-01 7.43137912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92925976399997 meters 0.15295960500363767 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99952005e-01 -9.76626639e-03 7.79949806e-04 -1.74356584e+00] [ 9.76584590e-03 9.99952167e-01 5.41132900e-04 3.45166667e+00] [-7.85197346e-04 -5.33490058e-04 9.99999549e-01 7.43274024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98925976399997 meters 0.15113866046505325 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99951362e-01 -9.83616398e-03 7.24104693e-04 -1.74375620e+00] [ 9.83586949e-03 9.99951543e-01 4.09143009e-04 3.45184254e+00] [-7.28094002e-04 -4.02000910e-04 9.99999654e-01 7.43785223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04925976399997 meters 0.1508654138500506 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.45, Z:0.74 [[ 9.99950547e-01 -9.92985211e-03 5.48428970e-04 -1.74333578e+00] [ 9.92980616e-03 9.99950695e-01 8.64290068e-05 3.45334838e+00] [-5.49260157e-04 -8.09789393e-05 9.99999846e-01 7.43880470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10925976399997 meters 0.15991176692723344 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.46, Z:0.74 [[ 9.99950860e-01 -9.91348928e-03 2.79750704e-05 -1.74186434e+00] [ 9.91349979e-03 9.99950778e-01 -4.04647364e-04 3.45622636e+00] [-2.39622261e-05 4.04904811e-04 9.99999918e-01 7.43725073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16925976399997 meters 0.1526767392349031 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.46, Z:0.74 [[ 9.99950130e-01 -9.98184949e-03 -3.17537032e-04 -1.74094600e+00] [ 9.98157814e-03 9.99949826e-01 -8.44952549e-04 3.45854144e+00] [ 3.25955289e-04 8.41740890e-04 9.99999593e-01 7.43735205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22925976399995 meters 0.14317791176496542 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.46, Z:0.74 [[ 9.99945847e-01 -1.03668524e-02 -9.11761070e-04 -1.73995059e+00] [ 1.03650104e-02 9.99944277e-01 -2.00221208e-03 3.46321355e+00] [ 9.32466901e-04 1.99265324e-03 9.99997580e-01 7.44666667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28925976399995 meters 0.13900814679212908 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.74 [[ 9.99944503e-01 -1.03743744e-02 -1.83402208e-03 -1.73718310e+00] [ 1.03690223e-02 9.99942023e-01 -2.90409587e-03 3.46960400e+00] [ 1.86404393e-03 2.88491768e-03 9.99994101e-01 7.43752020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34925976399995 meters 0.14357874731693412 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.47, Z:0.74 [[ 9.99944257e-01 -1.03064335e-02 -2.29354339e-03 -1.73546920e+00] [ 1.02989615e-02 9.99941695e-01 -3.24614776e-03 3.47257358e+00] [ 2.32686587e-03 3.22234570e-03 9.99992101e-01 7.42971472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40925976399996 meters 0.13293483633105885 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.74 [[ 9.99941207e-01 -1.05492141e-02 -2.50923168e-03 -1.73506963e+00] [ 1.05393889e-02 9.99936865e-01 -3.89713646e-03 3.47536167e+00] [ 2.55018499e-03 3.87046156e-03 9.99989258e-01 7.43346009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46925976399996 meters 0.13736450675373418 Centerline is valid? [False, False] Translation: X:-1.74, Y:3.48, Z:0.74 [[ 9.99936669e-01 -1.09483332e-02 -2.60598552e-03 -1.73530003e+00] [ 1.09362854e-02 9.99929647e-01 -4.59333886e-03 3.47779244e+00] [ 2.65609158e-03 4.56454816e-03 9.99986055e-01 7.44159011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52925976399996 meters 0.13235281597258708 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99938192e-01 -1.08106109e-02 -2.59654480e-03 -1.73492463e+00] [ 1.07991102e-02 9.99931993e-01 -4.40315802e-03 3.47773887e+00] [ 2.64396905e-03 4.37484550e-03 9.99986935e-01 7.43555785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58925976399996 meters 0.12996739062410187 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99939962e-01 -1.05368503e-02 -3.00778919e-03 -1.73323140e+00] [ 1.05237534e-02 9.99935216e-01 -4.33746142e-03 3.47908799e+00] [ 3.05329752e-03 4.30554778e-03 9.99986070e-01 7.42579063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64925976399996 meters 0.13918155659387663 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99937130e-01 -1.07637963e-02 -3.14267167e-03 -1.73329410e+00] [ 1.07486422e-02 9.99930712e-01 -4.79974091e-03 3.48066661e+00] [ 3.19411736e-03 4.76565970e-03 9.99983543e-01 7.43267783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70925976399997 meters 0.1287848079736933 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99977978e-01 -6.02206503e-03 -2.78905284e-03 -1.73369575e+00] [ 6.02302688e-03 9.99981805e-01 3.36596470e-04 3.47766516e+00] [ 2.78697509e-03 -3.53387598e-04 9.99996054e-01 7.42355339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76925976399997 meters 0.1300469566897728 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99979640e-01 -5.74694190e-03 -2.77333055e-03 -1.73325109e+00] [ 5.74902241e-03 9.99983198e-01 7.42797335e-04 3.47681994e+00] [ 2.76901514e-03 -7.58726152e-04 9.99995878e-01 7.41598601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82925976399997 meters 0.13196049745035054 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99945367e-01 -1.00002354e-02 -3.04272309e-03 -1.73279815e+00] [ 9.98928691e-03 9.99943653e-01 -3.59243171e-03 3.47699545e+00] [ 3.07847680e-03 3.56184081e-03 9.99988918e-01 7.42056446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88925976399997 meters 0.1374872525395734 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.47, Z:0.74 [[ 9.99949066e-01 -9.76015439e-03 -2.56998540e-03 -1.73394221e+00] [ 9.75309923e-03 9.99948674e-01 -2.74358376e-03 3.47310202e+00] [ 2.59663129e-03 2.71837869e-03 9.99992934e-01 7.41955227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94925976399995 meters 0.13364862544062156 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.47, Z:0.74 [[ 9.99948598e-01 -9.73869476e-03 -2.82103184e-03 -1.73342488e+00] [ 9.73071653e-03 9.99948656e-01 -2.82817633e-03 3.47374433e+00] [ 2.84842974e-03 2.80058030e-03 9.99992022e-01 7.42140324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00925976399995 meters 0.13906487420425975 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.47, Z:0.74 [[ 9.99950460e-01 -9.55114666e-03 -2.80223544e-03 -1.73304760e+00] [ 9.54387735e-03 9.99951086e-01 -2.59611513e-03 3.47348407e+00] [ 2.82689424e-03 2.56924232e-03 9.99992704e-01 7.41492572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06925976399995 meters 0.13809986100385618 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.47, Z:0.74 [[ 9.99952517e-01 -9.33128169e-03 -2.80906223e-03 -1.73261583e+00] [ 9.32481498e-03 9.99953863e-01 -2.30645025e-03 3.47301632e+00] [ 2.83045476e-03 2.28014675e-03 9.99993395e-01 7.40851157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12925976399995 meters 0.13789827371543625 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.47, Z:0.74 [[ 9.99952871e-01 -9.24056116e-03 -2.97790175e-03 -1.73210419e+00] [ 9.23367392e-03 9.99954681e-01 -2.31829420e-03 3.47350541e+00] [ 2.99918914e-03 2.29068796e-03 9.99992879e-01 7.40766904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18925976399996 meters 0.13514435270144848 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99951024e-01 -9.40219112e-03 -3.09017399e-03 -1.73183896e+00] [ 9.39414309e-03 9.99952471e-01 -2.60866940e-03 3.47511554e+00] [ 3.11455433e-03 2.57951210e-03 9.99991823e-01 7.40810056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24925976399996 meters 0.13127982357134713 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99952227e-01 -9.24858704e-03 -3.16330457e-03 -1.73143611e+00] [ 9.24059809e-03 9.99954102e-01 -2.53086638e-03 3.47506596e+00] [ 3.18656632e-03 2.50151465e-03 9.99991794e-01 7.40564985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30925976399996 meters 0.1338516372062346 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99951894e-01 -9.28178818e-03 -3.17135946e-03 -1.73144444e+00] [ 9.27349492e-03 9.99953568e-01 -2.61982429e-03 3.47545768e+00] [ 3.19552887e-03 2.59028868e-03 9.99991539e-01 7.40638946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36925976399996 meters 0.12938362058459754 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99948649e-01 -9.52293602e-03 -3.46588930e-03 -1.73107892e+00] [ 9.51152692e-03 9.99949340e-01 -3.29355298e-03 3.47806921e+00] [ 3.49707802e-03 3.26041796e-03 9.99988570e-01 7.41343825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42925976399997 meters 0.1341921387666155 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 9.99947493e-01 -9.60005890e-03 -3.58456987e-03 -1.73066041e+00] [ 9.58746592e-03 9.99947865e-01 -3.51391984e-03 3.47940203e+00] [ 3.61811682e-03 3.47936840e-03 9.99987402e-01 7.41221127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48925976399997 meters 0.12944403419105235 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 0.99994728 -0.00942085 -0.00408502 -1.72877938] [ 0.0094058 0.99994896 -0.00368927 3.48192718] [ 0.00411957 0.00365065 0.99998485 0.74032607] [ 0. 0. 0. 1. ]] SLAMing on 176.54925976399997 meters 0.1310578895782575 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.48, Z:0.74 [[ 0.99994569 -0.00956573 -0.00413655 -1.72869748] [ 0.00954926 0.99994647 -0.00398314 3.48313757] [ 0.00417443 0.00394343 0.99998351 0.74046116] [ 0. 0. 0. 1. ]] SLAMing on 176.60925976399997 meters 0.12685857398845957 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.49, Z:0.74 [[ 0.99994283 -0.00974121 -0.00441038 -1.72817088] [ 0.00972107 0.99994233 -0.00456539 3.48556042] [ 0.0044546 0.00452226 0.99997985 0.74085851] [ 0. 0. 0. 1. ]] SLAMing on 176.66925976399997 meters 0.1237310779804764 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.49, Z:0.74 [[ 0.99994322 -0.00949342 -0.00484083 -1.72620177] [ 0.00947073 0.99994416 -0.00468802 3.48814174] [ 0.00488506 0.00464191 0.99997729 0.73963045] [ 0. 0. 0. 1. ]] SLAMing on 176.72925976399995 meters 0.12965902938807208 Centerline is valid? [False, False] Translation: X:-1.73, Y:3.49, Z:0.74 [[ 0.99994086 -0.00963357 -0.00504726 -1.72559209] [ 0.00960806 0.99994107 -0.00505452 3.49025169] [ 0.00509565 0.00500573 0.99997449 0.73954825] [ 0. 0. 0. 1. ]] SLAMing on 176.78925976399995 meters 0.12621302785617525 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.49, Z:0.74 [[ 0.99993948 -0.00967972 -0.00522934 -1.72491101] [ 0.00965218 0.99993955 -0.00526595 3.49194432] [ 0.00528 0.00521516 0.99997246 0.73926551] [ 0. 0. 0. 1. ]] SLAMing on 176.84925976399995 meters 0.1237081641032677 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.49, Z:0.74 [[ 0.99993645 -0.0098554 -0.00547466 -1.724258 ] [ 0.00982402 0.99993533 -0.00572894 3.494488 ] [ 0.00553077 0.0056748 0.9999686 0.73929478] [ 0. 0. 0. 1. ]] SLAMing on 176.90925976399996 meters 0.12471855064120178 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993644 -0.00981989 -0.00554009 -1.72390009] [ 0.00978794 0.99993548 -0.00576462 3.49510055] [ 0.00559634 0.00571003 0.99996804 0.739042 ] [ 0. 0. 0. 1. ]] SLAMing on 176.96925976399996 meters 0.12269337802884529 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993662 -0.00976994 -0.0055943 -1.72360758] [ 0.00973804 0.99993633 -0.00570155 3.49527554] [ 0.00564965 0.00564672 0.9999681 0.73880616] [ 0. 0. 0. 1. ]] SLAMing on 177.02925976399996 meters 0.12077466684173446 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993481 -0.00977457 -0.00590139 -1.72265075] [ 0.00973964 0.99993504 -0.00592014 3.49721397] [ 0.00595888 0.00586228 0.99996506 0.73857725] [ 0. 0. 0. 1. ]] SLAMing on 177.08925976399996 meters 0.11906948169705618 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993472 -0.00976747 -0.0059296 -1.72244632] [ 0.00973232 0.99993507 -0.00592819 3.49760247] [ 0.00598712 0.00587009 0.99996485 0.73838507] [ 0. 0. 0. 1. ]] SLAMing on 177.14925976399996 meters 0.11772224233013419 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.9999356 -0.00959815 -0.00605565 -1.72161611] [ 0.0095632 0.9999376 -0.00577477 3.49804303] [ 0.00611069 0.00571649 0.99996499 0.73762651] [ 0. 0. 0. 1. ]] SLAMing on 177.20925976399997 meters 0.11919794124170695 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993536 -0.00955291 -0.00616647 -1.72109196] [ 0.00951702 0.99993776 -0.00582265 3.49878284] [ 0.00622171 0.00576358 0.99996404 0.73730397] [ 0. 0. 0. 1. ]] SLAMing on 177.26925976399997 meters 0.12221024049969346 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99993787 -0.00930883 -0.00613263 -1.7205138 ] [ 0.00927572 0.99994237 -0.00540562 3.49832495] [ 0.00618259 0.0053484 0.99996658 0.7362402 ] [ 0. 0. 0. 1. ]] SLAMing on 177.32925976399997 meters 0.12199233641349128 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99994096 -0.00904491 -0.00602243 -1.72054916] [ 0.00901567 0.99994753 -0.00486335 3.49652087] [ 0.0060661 0.00480877 0.99997004 0.73578689] [ 0. 0. 0. 1. ]] SLAMing on 177.38925976399997 meters 0.12907208542574036 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.50, Z:0.74 [[ 0.99994221 -0.00892954 -0.00598629 -1.72074091] [ 0.008902 0.99994974 -0.0046113 3.49543291] [ 0.00602717 0.00455774 0.99997145 0.73589307] [ 0. 0. 0. 1. ]] SLAMing on 177.44925976399995 meters 0.123150589287228 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.49, Z:0.74 [[ 9.99948385e-01 -8.31548677e-03 -5.83784367e-03 -1.72066285e+00] [ 8.29523830e-03 9.99959524e-01 -3.48417242e-03 3.49137553e+00] [ 5.86657997e-03 3.43556628e-03 9.99976890e-01 7.35100722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50925976399995 meters 0.12736633300466116 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.49, Z:0.73 [[ 9.99952358e-01 -7.86498689e-03 -5.78125928e-03 -1.72041883e+00] [ 7.84978681e-03 9.99965686e-01 -2.64720500e-03 3.48864871e+00] [ 5.80188113e-03 2.60169723e-03 9.99979784e-01 7.34398871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56925976399995 meters 0.12778485673245907 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.49, Z:0.73 [[ 0.999912 -0.01185891 -0.00594657 -1.71989603] [ 0.01182011 0.9999089 -0.00651678 3.48707939] [ 0.00602331 0.00644591 0.99996108 0.73436578] [ 0. 0. 0. 1. ]] SLAMing on 177.62925976399995 meters 0.12854240587387253 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.48, Z:0.73 [[ 0.99992168 -0.01121817 -0.00554857 -1.72032504] [ 0.01119031 0.99992476 -0.00502573 3.4813948 ] [ 0.00560453 0.00496324 0.99997198 0.73333627] [ 0. 0. 0. 1. ]] SLAMing on 177.68925976399996 meters 0.13382509644623364 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.48, Z:0.73 [[ 0.99992737 -0.01081877 -0.00531146 -1.72069958] [ 0.01079706 0.99993331 -0.00409954 3.47791217] [ 0.00535546 0.00404189 0.99997749 0.73287548] [ 0. 0. 0. 1. ]] SLAMing on 177.74925976399996 meters 0.14342811974681374 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.47, Z:0.73 [[ 9.99931393e-01 -1.05735767e-02 -5.04074336e-03 -1.72133065e+00] [ 1.05566137e-02 9.99938565e-01 -3.37998335e-03 3.47499270e+00] [ 5.07617219e-03 3.32653828e-03 9.99981583e-01 7.32723950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80925976399996 meters 0.13535082446295213 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.47, Z:0.73 [[ 9.99937602e-01 -1.00607670e-02 -4.85518247e-03 -1.72136218e+00] [ 1.00495689e-02 9.99946798e-01 -2.32533829e-03 3.47128234e+00] [ 4.87831885e-03 2.27640070e-03 9.99985510e-01 7.31904581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86925976399996 meters 0.14093884648749108 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.47, Z:0.73 [[ 9.99943118e-01 -9.51104023e-03 -4.82717227e-03 -1.72065461e+00] [ 9.50404174e-03 9.99953754e-01 -1.47068725e-03 3.46908604e+00] [ 4.84093680e-03 1.42472595e-03 9.99987268e-01 7.30648953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92925976399997 meters 0.14251728268121944 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99951579e-01 -8.82345794e-03 -4.35729793e-03 -1.72100316e+00] [ 8.82382577e-03 9.99961067e-01 6.52010858e-05 3.46371411e+00] [ 4.35655299e-03 -1.03645966e-04 9.99990505e-01 7.29182266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98925976399997 meters 0.1412774623427554 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99954386e-01 -8.59273988e-03 -4.17031215e-03 -1.72139815e+00] [ 8.59535272e-03 9.99962874e-01 6.09014467e-04 3.46155809e+00] [ 4.16492422e-03 -6.44831991e-04 9.99991119e-01 7.28987950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04925976399997 meters 0.143273984286739 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99957417e-01 -8.25644311e-03 -4.12255983e-03 -1.72098014e+00] [ 8.26144534e-03 9.99965156e-01 1.19782768e-03 3.46018123e+00] [ 4.11252638e-03 -1.23183498e-03 9.99990785e-01 7.28093245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10925976399997 meters 0.14460057722705066 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99963635e-01 -7.65071000e-03 -3.76756075e-03 -1.72096591e+00] [ 7.65983285e-03 9.99967752e-01 2.41297493e-03 3.45615646e+00] [ 3.74897828e-03 -2.44174607e-03 9.99989991e-01 7.26603489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16925976399997 meters 0.15132084428074385 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99915904e-01 -1.21668308e-02 -4.48915046e-03 -1.71968791e+00] [ 1.21547215e-02 9.99922443e-01 -2.71493981e-03 3.45973741e+00] [ 4.52183451e-03 2.66014712e-03 9.99986238e-01 7.27624729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22925976399995 meters 0.1731999986064157 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99916214e-01 -1.21043773e-02 -4.58794452e-03 -1.71951285e+00] [ 1.20921514e-02 9.99923287e-01 -2.68322932e-03 3.45969303e+00] [ 4.62007139e-03 2.62752638e-03 9.99985875e-01 7.27746893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28925976399995 meters 0.17343514416597194 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99922867e-01 -1.16510266e-02 -4.30285495e-03 -1.71950344e+00] [ 1.16434915e-02 9.99930642e-01 -1.77209599e-03 3.45693826e+00] [ 4.32320325e-03 1.72185905e-03 9.99989172e-01 7.26552437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34925976399995 meters 0.17218250463960927 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99924446e-01 -1.15104449e-02 -4.31424537e-03 -1.71917376e+00] [ 1.15038878e-02 9.99932640e-01 -1.54162003e-03 3.45662927e+00] [ 4.33169949e-03 1.49187296e-03 9.99989505e-01 7.26073908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40925976399996 meters 0.14761590696465018 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99925255e-01 -1.14473218e-02 -4.29449709e-03 -1.71909926e+00] [ 1.14412676e-02 9.99933522e-01 -1.43168407e-03 3.45648035e+00] [ 4.31060055e-03 1.38244257e-03 9.99989754e-01 7.25881676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46925976399996 meters 0.16862994501473602 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.73 [[ 9.99927809e-01 -1.12297502e-02 -4.27417843e-03 -1.71866182e+00] [ 1.12253564e-02 9.99936442e-01 -1.05058483e-03 3.45588786e+00] [ 4.28570458e-03 1.00252981e-03 9.99990314e-01 7.25100608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52925976399996 meters 0.16621054497032153 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.72 [[ 9.99930763e-01 -1.09457281e-02 -4.31968611e-03 -1.71768981e+00] [ 1.09428695e-02 9.99939891e-01 -6.84824367e-04 3.45587360e+00] [ 4.32692235e-03 6.37507190e-04 9.99990436e-01 7.23803934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58925976399996 meters 0.15842454007735451 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.72 [[ 9.99930383e-01 -1.09495599e-02 -4.39741217e-03 -1.71717510e+00] [ 1.09461842e-02 9.99939776e-01 -7.90994894e-04 3.45705081e+00] [ 4.40580839e-03 7.42804943e-04 9.99990018e-01 7.23346767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64925976399996 meters 0.15277660031921803 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.72 [[ 9.99928714e-01 -1.09664485e-02 -4.72279756e-03 -1.71579709e+00] [ 1.09608397e-02 9.99939194e-01 -1.21184351e-03 3.46020256e+00] [ 4.73580001e-03 1.15999129e-03 9.99988113e-01 7.22599935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70925976399997 meters 0.1696037175625414 Centerline is valid? [False, False] Translation: X:-1.72, Y:3.46, Z:0.72 [[ 9.99926156e-01 -1.10985906e-02 -4.95017422e-03 -1.71502243e+00] [ 1.10904272e-02 9.99937099e-01 -1.67351946e-03 3.46282506e+00] [ 4.96843656e-03 1.61849634e-03 9.99986347e-01 7.22390264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76925976399997 meters 0.1461050885183897 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.47, Z:0.72 [[ 9.99924034e-01 -1.10879181e-02 -5.38366759e-03 -1.71315561e+00] [ 1.10759851e-02 9.99936148e-01 -2.24129285e-03 3.46723555e+00] [ 5.40817510e-03 2.18149316e-03 9.99982996e-01 7.21202452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82925976399997 meters 0.1445006290903571 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.47, Z:0.72 [[ 9.99918142e-01 -1.13727731e-02 -5.86261671e-03 -1.71193059e+00] [ 1.13538649e-02 9.99930266e-01 -3.24847333e-03 3.47228428e+00] [ 5.89915204e-03 3.18164405e-03 9.99977538e-01 7.21250953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88925976399997 meters 0.14410688627335577 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.48, Z:0.72 [[ 9.99956406e-01 -7.02267937e-03 -6.15368282e-03 -1.71036495e+00] [ 7.02616507e-03 9.99975168e-01 5.45006637e-04 3.47612683e+00] [ 6.14970260e-03 -5.88219669e-04 9.99980917e-01 7.19978113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94925976399995 meters 0.13751514763993097 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.48, Z:0.72 [[ 9.99952115e-01 -7.00993884e-03 -6.82856281e-03 -1.70809985e+00] [ 7.00772423e-03 9.99975385e-01 -3.48188887e-04 3.48157752e+00] [ 6.83083551e-03 3.00319528e-04 9.99976624e-01 7.19144005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00925976399995 meters 0.12146768851620024 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.49, Z:0.72 [[ 9.99970313e-01 -2.73794305e-03 -7.20248733e-03 -1.70613239e+00] [ 2.76096415e-03 9.99991106e-01 3.18827143e-03 3.48706065e+00] [ 7.19369397e-03 -3.20806259e-03 9.99968979e-01 7.17518739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06925976399995 meters 0.11782972339064882 Centerline is valid? [False, False] Translation: X:-1.71, Y:3.49, Z:0.72 [[ 9.99964390e-01 -3.26212321e-03 -7.78312194e-03 -1.70520876e+00] [ 3.27331316e-03 9.99993627e-01 1.42541571e-03 3.49359597e+00] [ 7.77842246e-03 -1.45084154e-03 9.99968695e-01 7.18700005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12925976399995 meters 0.10969952874383677 Centerline is valid? [False, False] Translation: X:-1.70, Y:3.50, Z:0.72 [[ 9.99963255e-01 1.05181852e-03 -8.50778393e-03 -1.70257431e+00] [-1.01636891e-03 9.99990789e-01 4.16997760e-03 3.50152346e+00] [ 8.51209162e-03 -4.16117733e-03 9.99955113e-01 7.17641886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18925976399996 meters 0.10396307623856425 Centerline is valid? [False, False] Translation: X:-1.70, Y:3.51, Z:0.72 [[ 9.99955666e-01 1.09517908e-03 -9.35234196e-03 -1.69993427e+00] [-1.06763870e-03 9.99995081e-01 2.94924264e-03 3.50849755e+00] [ 9.35552590e-03 -2.93912697e-03 9.99951917e-01 7.16705312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24925976399996 meters 0.09810439652188703 Centerline is valid? [False, True] Translation: X:-1.67, Y:3.51, Z:0.72 [[ 9.99879767e-01 8.08254673e-03 -1.32334547e-02 -1.67426184e+00] [-8.12639543e-03 9.99961656e-01 -3.26306001e-03 3.51332695e+00] [ 1.32065734e-02 3.37020797e-03 9.99907110e-01 7.21385974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30925976399996 meters 0.09028769599396759 Centerline is valid? [True, True] Translation: X:-1.61, Y:3.54, Z:0.72 [[ 9.99648493e-01 2.23627815e-02 -1.42406899e-02 -1.61247536e+00] [-2.23548321e-02 9.99749842e-01 7.17181521e-04 3.53805430e+00] [ 1.42531656e-02 -3.98581195e-04 9.99898339e-01 7.15803334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36925976399996 meters 0.08762404453237187 Centerline is valid? [True, True] Translation: X:-1.55, Y:3.55, Z:0.71 [[ 9.99389495e-01 3.12713487e-02 -1.55801143e-02 -1.55319950e+00] [-3.12629383e-02 9.99510888e-01 7.83139728e-04 3.55039000e+00] [ 1.55969837e-02 -2.95581466e-04 9.99878316e-01 7.10389785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42925976399997 meters 0.08534016987840011 Centerline is valid? [True, True] Translation: X:-1.49, Y:3.56, Z:0.71 [[ 9.99076741e-01 3.98659481e-02 -1.60115949e-02 -1.49354111e+00] [-3.98582658e-02 9.99205024e-01 7.98753171e-04 3.56450188e+00] [ 1.60307091e-02 -1.59821309e-04 9.99871487e-01 7.07667064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48925976399997 meters 0.08434689479584029 Centerline is valid? [True, True] Translation: X:-1.43, Y:3.57, Z:0.71 [[ 9.98917600e-01 4.39530206e-02 -1.52237112e-02 -1.43434173e+00] [-4.39466143e-02 9.99033595e-01 7.55252244e-04 3.57073887e+00] [ 1.52421945e-02 -8.54041957e-05 9.99883827e-01 7.06610348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54925976399997 meters 0.08436797289316994 Centerline is valid? [True, True] Translation: X:-1.38, Y:3.57, Z:0.70 [[ 9.98758478e-01 4.67877285e-02 -1.71000406e-02 -1.37665602e+00] [-4.67800415e-02 9.98904853e-01 8.49472634e-04 3.57486990e+00] [ 1.71210585e-02 -4.84773847e-05 9.99853423e-01 7.01524767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60925976399997 meters 0.08468531267518122 Centerline is valid? [True, True] Translation: X:-1.32, Y:3.57, Z:0.70 [[ 9.98790406e-01 4.54857017e-02 -1.86755393e-02 -1.31843895e+00] [-4.54764258e-02 9.98964987e-01 9.21292621e-04 3.57037585e+00] [ 1.86981155e-02 -7.08814546e-05 9.99825172e-01 6.96842012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66925976399997 meters 0.08497501765512203 Centerline is valid? [True, True] Translation: X:-1.26, Y:3.56, Z:0.69 [[ 9.98871504e-01 4.35031336e-02 -1.90577153e-02 -1.26014399e+00] [-4.34931984e-02 9.99053285e-01 9.35683998e-04 3.56397357e+00] [ 1.90803782e-02 -1.05747090e-04 9.99817947e-01 6.93368280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72925976399995 meters 0.08570857028493267 Centerline is valid? [True, True] Translation: X:-1.20, Y:3.55, Z:0.69 [[ 9.99197293e-01 3.57115255e-02 -1.81509258e-02 -1.20225098e+00] [-3.57013108e-02 9.99362112e-01 8.86591027e-04 3.54965360e+00] [ 1.81710091e-02 -2.37867510e-04 9.99834865e-01 6.93506455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78925976399995 meters 0.08917653339037754 Centerline is valid? [True, True] Translation: X:-1.14, Y:3.53, Z:0.69 [[ 9.99535606e-01 2.44806909e-02 -1.81457687e-02 -1.14273968e+00] [-2.44685714e-02 9.99700204e-01 8.89648322e-04 3.52754436e+00] [ 1.81621079e-02 -4.45234138e-04 9.99834956e-01 6.93185213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84925976399995 meters 0.09245274101854947 Centerline is valid? [True, True] Translation: X:-1.08, Y:3.51, Z:0.69 [[ 9.99717744e-01 1.62296113e-02 -1.73502613e-02 -1.08316555e+00] [-1.62173021e-02 9.99868130e-01 8.49920787e-04 3.51200842e+00] [ 1.73617672e-02 -5.68306462e-04 9.99849112e-01 6.94388452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90925976399996 meters 0.10062927878238442 Centerline is valid? [True, False] Translation: X:-1.07, Y:3.51, Z:0.69 [[ 9.99945544e-01 7.02170307e-04 -1.04122780e-02 -1.07422844e+00] [-7.36830306e-04 9.99994200e-01 -3.32529988e-03 3.51189136e+00] [ 1.04098827e-02 3.33279088e-03 9.99940262e-01 6.92671820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96925976399996 meters 0.10221630890617246 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.51, Z:0.69 [[ 9.99971969e-01 -7.00125690e-03 -2.65401312e-03 -1.06695565e+00] [ 7.00690944e-03 9.99973190e-01 2.12652760e-03 3.50838804e+00] [ 2.63905360e-03 -2.14506442e-03 9.99994217e-01 6.87142124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02925976399996 meters 0.10560885695112071 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.51, Z:0.69 [[ 0.99992245 -0.0118233 -0.00391175 -1.06584525] [ 0.01180331 0.99991737 -0.00509359 3.51465446] [ 0.00397165 0.00504702 0.99997938 0.69317204] [ 0. 0. 0. 1. ]] SLAMing on 180.08925976399996 meters 0.10538697242099779 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 0.99992986 -0.01118046 -0.00390905 -1.06463411] [ 0.01116436 0.9999292 -0.00411686 3.51254647] [ 0.00395481 0.00407293 0.99998389 0.6912193 ] [ 0. 0. 0. 1. ]] SLAMing on 180.14925976399996 meters 0.10495017553980379 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 0.9999314 -0.01103578 -0.00392445 -1.06420389] [ 0.01102039 0.99993158 -0.00392184 3.51243992] [ 0.00396746 0.00387832 0.99998461 0.6906149 ] [ 0. 0. 0. 1. ]] SLAMing on 180.20925976399997 meters 0.1028413373023574 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 0.99992953 -0.01111902 -0.00415995 -1.06363661] [ 0.01110093 0.99992894 -0.0043465 3.51448843] [ 0.00420798 0.00430001 0.9999819 0.69079347] [ 0. 0. 0. 1. ]] SLAMing on 180.26925976399997 meters 0.10341590265869387 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 0.99993215 -0.01084513 -0.00425113 -1.06341787] [ 0.01082807 0.9999333 -0.00401763 3.51307733] [ 0.00429442 0.00397132 0.99998289 0.69086075] [ 0. 0. 0. 1. ]] SLAMing on 180.32925976399997 meters 0.10390427667415408 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 0.99993462 -0.01061482 -0.00425143 -1.06328375] [ 0.01059936 0.99993719 -0.00364154 3.51180487] [ 0.00428982 0.00359624 0.99998433 0.69062643] [ 0. 0. 0. 1. ]] SLAMing on 180.38925976399997 meters 0.10352730244549231 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.51, Z:0.69 [[ 9.99942490e-01 -9.88266413e-03 -4.16521719e-03 -1.06292413e+00] [ 9.87291830e-03 9.99948491e-01 -2.35391490e-03 3.50721002e+00] [ 4.18826560e-03 2.31265668e-03 9.99988555e-01 6.89662922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44925976399995 meters 0.10469082172598651 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.50, Z:0.69 [[ 9.99947567e-01 -9.39801712e-03 -4.06712211e-03 -1.06309335e+00] [ 9.39235748e-03 9.99954899e-01 -1.40842870e-03 3.50328142e+00] [ 4.08017511e-03 1.37015499e-03 9.99990737e-01 6.89483070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50925976399995 meters 0.1055479907695834 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.50, Z:0.69 [[ 9.99955853e-01 -8.65804894e-03 -3.65113726e-03 -1.06367217e+00] [ 8.65954353e-03 9.99962428e-01 3.93739481e-04 3.49605630e+00] [ 3.64759106e-03 -4.25339280e-04 9.99993257e-01 6.88612787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56925976399995 meters 0.10727703011011033 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.49, Z:0.69 [[ 9.99916382e-01 -1.24337456e-02 -3.55398113e-03 -1.06407436e+00] [ 1.24238184e-02 9.99918896e-01 -2.80181668e-03 3.49078292e+00] [ 3.58852997e-03 2.75742838e-03 9.99989759e-01 6.88987652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62925976399995 meters 0.11190572094679371 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.69 [[ 9.99926515e-01 -1.17475519e-02 -2.99331001e-03 -1.06469310e+00] [ 1.17452664e-02 9.99930718e-01 -7.79997002e-04 3.48349442e+00] [ 3.00226568e-03 7.44782460e-04 9.99995216e-01 6.87441827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68925976399996 meters 0.11935685355610341 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.48, Z:0.69 [[ 9.99877372e-01 -1.54248768e-02 -2.70447354e-03 -1.06516606e+00] [ 1.54162731e-02 9.99876125e-01 -3.17379151e-03 3.47621589e+00] [ 2.75309387e-03 3.13170941e-03 9.99991306e-01 6.87016369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74925976399996 meters 0.1291064232388195 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.47, Z:0.69 [[ 9.99883398e-01 -1.51481938e-02 -1.92932144e-03 -1.06681562e+00] [ 1.51453546e-02 9.99884210e-01 -1.47779476e-03 3.46916697e+00] [ 1.95148397e-03 1.44840219e-03 9.99997047e-01 6.86464214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80925976399996 meters 0.13077802167468203 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.69 [[ 9.99890432e-01 -1.47616823e-02 -1.10270971e-03 -1.06823651e+00] [ 1.47618991e-02 9.99891019e-01 1.88796417e-04 3.46215696e+00] [ 1.09980259e-03 -2.05053820e-04 9.99999374e-01 6.85580175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86925976399996 meters 0.1391442634284312 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 9.99895962e-01 -1.44196806e-02 -3.70292523e-04 -1.06943106e+00] [ 1.44203547e-02 9.99894240e-01 1.88743943e-03 3.45559407e+00] [ 3.43037087e-04 -1.89258281e-03 9.99998150e-01 6.84361613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92925976399997 meters 0.14566228108643742 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.69 [[ 9.99893786e-01 -1.45702147e-02 -3.55159989e-04 -1.06987957e+00] [ 1.45707921e-02 9.99892427e-01 1.68124136e-03 3.45590240e+00] [ 3.30625736e-04 -1.68623775e-03 9.99998524e-01 6.85001378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98925976399997 meters 0.13475591423672417 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 9.99895797e-01 -1.44305796e-02 -3.90596367e-04 -1.06968398e+00] [ 1.44312534e-02 9.99894278e-01 1.78116120e-03 3.45563123e+00] [ 3.64851883e-04 -1.78661239e-03 9.99998337e-01 6.84880153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04925976399997 meters 0.1378690989535224 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.68 [[ 9.99901053e-01 -1.40655166e-02 -2.12242574e-04 -1.06985286e+00] [ 1.40659828e-02 9.99898228e-01 2.38361688e-03 3.45309138e+00] [ 1.78694171e-04 -2.38636643e-03 9.99997137e-01 6.84516587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10925976399997 meters 0.14032987247006642 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.68 [[ 9.99906676e-01 -1.36615137e-02 5.75089591e-05 -1.07007394e+00] [ 1.36612625e-02 9.99901648e-01 3.17256419e-03 3.45016910e+00] [-1.00845332e-04 -3.17148247e-03 9.99994966e-01 6.83796561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16925976399997 meters 0.14673149065932375 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.68 [[ 9.99907034e-01 -1.36339998e-02 1.91940788e-04 -1.07092510e+00] [ 1.36332835e-02 9.99901490e-01 3.33819061e-03 3.44851409e+00] [-2.37434770e-04 -3.33526349e-03 9.99994410e-01 6.84612968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22925976399995 meters 0.14201678054650296 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.44, Z:0.68 [[ 9.99910744e-01 -1.33390253e-02 7.58369357e-04 -1.07233004e+00] [ 1.33356036e-02 9.99901611e-01 4.35084167e-03 3.44366799e+00] [-8.16330729e-04 -4.34034001e-03 9.99990247e-01 6.84632532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28925976399995 meters 0.1564301375289576 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.44, Z:0.69 [[ 9.99849030e-01 -1.73505718e-02 9.35603041e-04 -1.07318258e+00] [ 1.73499018e-02 9.99849220e-01 7.19634133e-04 3.43988923e+00] [-9.47948035e-04 -7.03292869e-04 9.99999303e-01 6.85474617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34925976399995 meters 0.15897282163648135 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.43, Z:0.68 [[ 9.99856845e-01 -1.68433816e-02 1.60935536e-03 -1.07448862e+00] [ 1.68397123e-02 9.99855632e-01 2.26693702e-03 3.43331831e+00] [-1.64730591e-03 -2.23951141e-03 9.99996135e-01 6.84972226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40925976399996 meters 0.16118653538021602 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.42, Z:0.68 [[ 9.99861195e-01 -1.64624532e-02 2.56498397e-03 -1.07662519e+00] [ 1.64516725e-02 9.99855971e-01 4.16890884e-03 3.42463516e+00] [-2.63324500e-03 -4.12613189e-03 9.99988020e-01 6.84829107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46925976399996 meters 0.16320810267029998 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.42, Z:0.69 [[ 9.99786545e-01 -2.04546482e-02 2.91052720e-03 -1.07765686e+00] [ 2.04526269e-02 9.99790562e-01 7.22545239e-04 3.42033035e+00] [-2.92469704e-03 -6.62863082e-04 9.99995503e-01 6.85386149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52925976399996 meters 0.16478608118731022 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.41, Z:0.68 [[ 9.99798837e-01 -1.97833126e-02 3.30238210e-03 -1.07817077e+00] [ 1.97763149e-02 9.99802143e-01 2.13835154e-03 3.41480019e+00] [-3.34403238e-03 -2.07261243e-03 9.99992261e-01 6.84679869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58925976399996 meters 0.18428711802135375 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.41, Z:0.69 [[ 9.99783827e-01 -2.03619874e-02 4.20591421e-03 -1.08181525e+00] [ 2.03530965e-02 9.99790551e-01 2.14601681e-03 3.41108948e+00] [-4.24873046e-03 -2.05994952e-03 9.99988852e-01 6.87232251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64925976399996 meters 0.17132144579918415 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.41, Z:0.69 [[ 9.99776269e-01 -2.06606847e-02 4.53291029e-03 -1.08375194e+00] [ 2.06521174e-02 9.99784862e-01 1.92876337e-03 3.40966927e+00] [-4.57178466e-03 -1.83471765e-03 9.99987866e-01 6.88904571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70925976399997 meters 0.16449817260135297 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.41, Z:0.69 [[ 9.99735182e-01 -2.18471869e-02 7.22961234e-03 -1.09086485e+00] [ 2.18364249e-02 9.99760333e-01 1.56421505e-03 3.40520347e+00] [-7.26205334e-03 -1.40593193e-03 9.99972643e-01 6.90467721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76925976399997 meters 0.17035480694242905 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.40, Z:0.69 [[ 9.99720520e-01 -2.22643676e-02 7.94855398e-03 -1.09378890e+00] [ 2.22531193e-02 9.99751242e-01 1.50078457e-03 3.40254093e+00] [-7.97999074e-03 -1.32348501e-03 9.99967284e-01 6.92267134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82925976399997 meters 0.18536261203747725 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.40, Z:0.69 [[ 9.99674634e-01 -2.29837571e-02 1.10622028e-02 -1.10156450e+00] [ 2.29665847e-02 9.99734827e-01 1.67690477e-03 3.40096683e+00] [-1.10978110e-02 -1.42229815e-03 9.99937406e-01 6.93140552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88925976399997 meters 0.1829285805537862 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 0.99975168 -0.02148208 0.00592427 -1.11819052] [ 0.02152716 0.99973897 -0.0076537 3.40379742] [-0.00575831 0.00777933 0.99995316 0.70053591] [ 0. 0. 0. 1. ]] SLAMing on 181.94925976399995 meters 0.1782813234007227 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99837344e-01 -1.69115821e-02 6.26762413e-03 -1.11896020e+00] [ 1.69284277e-02 9.99853207e-01 -2.64448856e-03 3.40103461e+00] [-6.22198160e-03 2.75015944e-03 9.99976862e-01 7.00146909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00925976399995 meters 0.1818714460063317 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99899993e-01 -1.24971656e-02 6.62003162e-03 -1.11990201e+00] [ 1.24837984e-02 9.99919959e-01 2.05670617e-03 3.39915653e+00] [-6.64520475e-03 -1.97385735e-03 9.99975972e-01 7.00137720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06925976399995 meters 0.18908152055726185 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99900682e-01 -1.24020071e-02 6.69443492e-03 -1.12005350e+00] [ 1.23872798e-02 9.99920773e-01 2.23693703e-03 3.39847157e+00] [-6.72164704e-03 -2.15378902e-03 9.99975090e-01 7.00081047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12925976399995 meters 0.18388881393322765 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99900388e-01 -1.24978674e-02 6.55873598e-03 -1.11998975e+00] [ 1.24851488e-02 9.99920104e-01 1.97655422e-03 3.39930592e+00] [-6.58291468e-03 -1.89447053e-03 9.99976538e-01 7.00559897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18925976399996 meters 0.17315690244283308 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99898916e-01 -1.28279193e-02 6.13212834e-03 -1.11949152e+00] [ 1.28211636e-02 9.99917156e-01 1.13972424e-03 3.40225126e+00] [-6.14624062e-03 -1.06098801e-03 9.99980549e-01 7.01540060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24925976399996 meters 0.175169586722599 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.40, Z:0.70 [[ 9.99899848e-01 -1.28451229e-02 5.94107879e-03 -1.11885920e+00] [ 1.28395781e-02 9.99917098e-01 9.70496123e-04 3.40338550e+00] [-5.95305240e-03 -8.94117981e-04 9.99981881e-01 7.01357100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30925976399996 meters 0.1708964236705469 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.41, Z:0.70 [[ 9.99906008e-01 -1.26770111e-02 5.22202175e-03 -1.11656333e+00] [ 1.26742196e-02 9.99919518e-01 5.67321104e-04 3.40702151e+00] [-5.22879341e-03 -5.01082730e-04 9.99986204e-01 7.00523325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36925976399996 meters 0.17892803185717446 Centerline is valid? [False, False] Translation: X:-1.12, Y:3.41, Z:0.70 [[ 9.99906695e-01 -1.27422530e-02 4.92311400e-03 -1.11559466e+00] [ 1.27414565e-02 9.99918806e-01 1.93122389e-04 3.40936471e+00] [-4.92517508e-03 -1.30376727e-04 9.99987863e-01 7.00242665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42925976399997 meters 0.16775984582301287 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.41, Z:0.70 [[ 9.99909742e-01 -1.25266540e-02 4.85706568e-03 -1.11470184e+00] [ 1.25247303e-02 9.99921472e-01 4.26282962e-04 3.40984680e+00] [-4.86202416e-03 -3.65411049e-04 9.99988114e-01 6.99148814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48925976399997 meters 0.1678818247068642 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.41, Z:0.70 [[ 9.99908468e-01 -1.26712523e-02 4.74296260e-03 -1.11457958e+00] [ 1.26705740e-02 9.99919710e-01 1.73044126e-04 3.41092799e+00] [-4.74477447e-03 -1.12932228e-04 9.99988737e-01 6.99434273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54925976399997 meters 0.1689838422498481 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.41, Z:0.70 [[ 9.99906015e-01 -1.30278415e-02 4.27049868e-03 -1.11388885e+00] [ 1.30307319e-02 9.99914885e-01 -6.49704315e-04 3.41430057e+00] [-4.26167095e-03 7.05290975e-04 9.99990670e-01 7.00252406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60925976399997 meters 0.16287541952069082 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.42, Z:0.70 [[ 9.99909324e-01 -1.29020845e-02 3.85739755e-03 -1.11246679e+00] [ 1.29052646e-02 9.99916403e-01 -8.00670844e-04 3.41620120e+00] [-3.84674476e-03 8.50378978e-04 9.99992240e-01 6.99691971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66925976399995 meters 0.16161262641378749 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.42, Z:0.70 [[ 9.99912558e-01 -1.27802350e-02 3.39728082e-03 -1.11076154e+00] [ 1.27837728e-02 9.99917762e-01 -1.02169569e-03 3.41877355e+00] [-3.38394392e-03 1.06503642e-03 9.99993707e-01 6.98848841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72925976399995 meters 0.1653717347145791 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.42, Z:0.70 [[ 9.99912046e-01 -1.29982612e-02 2.63553526e-03 -1.10904773e+00] [ 1.30034329e-02 9.99913541e-01 -1.95474753e-03 3.42375939e+00] [-2.60989908e-03 1.98884660e-03 9.99994616e-01 6.99125655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78925976399995 meters 0.15964215936636772 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.42, Z:0.70 [[ 9.99960076e-01 -8.54389532e-03 2.61702048e-03 -1.10869991e+00] [ 8.53732998e-03 9.99960407e-01 2.50969023e-03 3.42384964e+00] [-2.63835940e-03 -2.48724766e-03 9.99993426e-01 6.98498807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84925976399995 meters 0.15293217223551817 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99960702e-01 -8.56492321e-03 2.28851923e-03 -1.10773020e+00] [ 8.55970127e-03 9.99960761e-01 2.28193300e-03 3.42560983e+00] [-2.30797401e-03 -2.26225429e-03 9.99994778e-01 6.98287791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90925976399996 meters 0.16084329068474104 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99960258e-01 -8.61384982e-03 2.29873914e-03 -1.10788111e+00] [ 8.60872849e-03 9.99960461e-01 2.22855883e-03 3.42586092e+00] [-2.31784473e-03 -2.20868104e-03 9.99994875e-01 6.98470828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96925976399996 meters 0.15160933623228598 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99959650e-01 -8.75960235e-03 1.99172001e-03 -1.10746619e+00] [ 8.75609877e-03 9.99960114e-01 1.76103816e-03 3.42751314e+00] [-2.00706656e-03 -1.74352741e-03 9.99996466e-01 6.99068795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02925976399996 meters 0.15222654948703873 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99960619e-01 -8.71945619e-03 1.65265220e-03 -1.10619185e+00] [ 8.71692592e-03 9.99960833e-01 1.53210727e-03 3.42976464e+00] [-1.66594661e-03 -1.51764089e-03 9.99997461e-01 6.98460665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08925976399996 meters 0.15096312770350118 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99963299e-01 -8.43497085e-03 1.50036357e-03 -1.10528630e+00] [ 8.43227736e-03 9.99962841e-01 1.79258617e-03 3.42970701e+00] [-1.51542823e-03 -1.77986890e-03 9.99997268e-01 6.97696903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14925976399996 meters 0.14915018777432223 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99963133e-01 -8.45651719e-03 1.49002447e-03 -1.10568732e+00] [ 8.45397713e-03 9.99962815e-01 1.70284004e-03 3.42932587e+00] [-1.50436916e-03 -1.69018063e-03 9.99997440e-01 6.98381873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20925976399997 meters 0.15056679360501257 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99960553e-01 -8.78261499e-03 1.32581138e-03 -1.10593305e+00] [ 8.78109624e-03 9.99960788e-01 1.14703292e-03 3.43101110e+00] [-1.33583334e-03 -1.13534560e-03 9.99998463e-01 6.99409970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26925976399997 meters 0.15353453304003115 Centerline is valid? [False, False] Translation: X:-1.11, Y:3.43, Z:0.70 [[ 9.99960122e-01 -8.83518343e-03 1.30170914e-03 -1.10591015e+00] [ 8.83380675e-03 9.99960420e-01 1.05957262e-03 3.43152548e+00] [-1.31101914e-03 -1.04803132e-03 9.99998591e-01 6.99479706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32925976399997 meters 0.16005965985600004 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.43, Z:0.70 [[ 9.99962477e-01 -8.63443498e-03 7.00217728e-04 -1.10401827e+00] [ 8.63392283e-03 9.99962460e-01 7.31167224e-04 3.43406497e+00] [-7.06504658e-04 -7.25094163e-04 9.99999488e-01 6.98931353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38925976399997 meters 0.15271744147347488 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965678e-01 -8.28492981e-03 -5.15254659e-05 -1.10140251e+00] [ 8.28495109e-03 9.99965588e-01 4.27430747e-04 3.43729089e+00] [ 4.79824590e-05 -4.27842962e-04 9.99999907e-01 6.97832430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44925976399995 meters 0.1480003318678382 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965988e-01 -8.24002562e-03 -3.53938746e-04 -1.10026085e+00] [ 8.24009559e-03 9.99966030e-01 1.96693112e-04 3.43924139e+00] [ 3.52305967e-04 -1.99602911e-04 9.99999918e-01 6.97340625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50925976399995 meters 0.1458951957789401 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965476e-01 -8.30430664e-03 -2.92239216e-04 -1.10055093e+00] [ 8.30433854e-03 9.99965513e-01 1.08103511e-04 3.43940818e+00] [ 2.91331413e-04 -1.10526632e-04 9.99999951e-01 6.97567567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56925976399995 meters 0.1417228363731875 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99964728e-01 -8.39637475e-03 -2.10640545e-04 -1.10084597e+00] [ 8.39637618e-03 9.99964750e-01 5.91807522e-06 3.43977118e+00] [ 2.10583430e-04 -7.68648374e-06 9.99999978e-01 6.97714155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62925976399995 meters 0.14379201095411773 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99964389e-01 -8.43593079e-03 -2.36723080e-04 -1.10072555e+00] [ 8.43591974e-03 9.99964416e-01 -4.76145839e-05 3.44036025e+00] [ 2.37116330e-04 4.56159114e-05 9.99999971e-01 6.97617292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68925976399996 meters 0.1507888653723714 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965517e-01 -8.29864616e-03 -3.12877698e-04 -1.10012281e+00] [ 8.29866653e-03 9.99965563e-01 6.38610545e-05 3.44069243e+00] [ 3.12336963e-04 -6.64553201e-05 9.99999949e-01 6.97015843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74925976399996 meters 0.1407881686891257 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99967374e-01 -8.07058341e-03 -3.41255507e-04 -1.09951949e+00] [ 8.07072290e-03 9.99967347e-01 4.09369357e-04 3.44032140e+00] [ 3.37940515e-04 -4.12110180e-04 9.99999858e-01 6.96172977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80925976399996 meters 0.1413660641249552 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965773e-01 -8.23750954e-03 -7.72255702e-04 -1.09875811e+00] [ 8.23734465e-03 9.99966049e-01 -2.16460108e-04 3.44284946e+00] [ 7.74012576e-04 2.10091363e-04 9.99999678e-01 6.96778704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86925976399996 meters 0.13772561868736952 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99965134e-01 -8.28735265e-03 -1.02452794e-03 -1.09815209e+00] [ 8.28678452e-03 9.99965509e-01 -5.57534951e-04 3.44456071e+00] [ 1.02911309e-03 5.49025470e-04 9.99999320e-01 6.96936893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92925976399997 meters 0.13628396643275892 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99967318e-01 -7.99539405e-03 -1.19865583e-03 -1.09710300e+00] [ 7.99507119e-03 9.99968001e-01 -2.73896244e-04 3.44459812e+00] [ 1.20080738e-03 2.64303954e-04 9.99999244e-01 6.96030566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98925976399997 meters 0.1417377621602219 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99967746e-01 -7.94188309e-03 -1.19701134e-03 -1.09693223e+00] [ 7.94172809e-03 9.99968455e-01 -1.34186787e-04 3.44455651e+00] [ 1.19803928e-03 1.24676121e-04 9.99999275e-01 6.95725075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04925976399997 meters 0.14231718846555225 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99966460e-01 -8.08376983e-03 -1.31625494e-03 -1.09678911e+00] [ 8.08318304e-03 9.99967229e-01 -4.50516311e-04 3.44578913e+00] [ 1.31985367e-03 4.39861671e-04 9.99999032e-01 6.96034526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10925976399997 meters 0.14128605444716943 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99966068e-01 -8.12622667e-03 -1.35204389e-03 -1.09687778e+00] [ 8.12546728e-03 9.99966828e-01 -5.66203133e-04 3.44608358e+00] [ 1.35660013e-03 5.55197932e-04 9.99998926e-01 6.96330580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16925976399995 meters 0.13811699136495945 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99967612e-01 -7.93913480e-03 -1.32115441e-03 -1.09656475e+00] [ 7.93880665e-03 9.99968455e-01 -2.53435382e-04 3.44553164e+00] [ 1.32312480e-03 2.42938785e-04 9.99999095e-01 6.95705239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22925976399995 meters 0.1388772623765381 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99969170e-01 -7.75628157e-03 -1.22447094e-03 -1.09658877e+00] [ 7.75638697e-03 9.99969915e-01 8.13526490e-05 3.44444493e+00] [ 1.22380311e-03 -9.08476113e-05 9.99999247e-01 6.95361784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28925976399995 meters 0.13849329348089148 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.44, Z:0.70 [[ 9.99970107e-01 -7.61359421e-03 -1.34847465e-03 -1.09618227e+00] [ 7.61386758e-03 9.99970995e-01 1.97706246e-04 3.44419651e+00] [ 1.34693029e-03 -2.07967444e-04 9.99999071e-01 6.95246367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34925976399995 meters 0.14377050115414353 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99966709e-01 -7.96813715e-03 -1.75801279e-03 -1.09577848e+00] [ 7.96698709e-03 9.99968045e-01 -6.60220618e-04 3.44734123e+00] [ 1.76321734e-03 6.46192574e-04 9.99998237e-01 6.96304385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40925976399996 meters 0.13673830422827785 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99969042e-01 -7.67670376e-03 -1.72720471e-03 -1.09536915e+00] [ 7.67628569e-03 9.99970506e-01 -2.48547624e-04 3.44639222e+00] [ 1.72906180e-03 2.35281412e-04 9.99998477e-01 6.95570248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46925976399996 meters 0.1399886553257392 Centerline is valid? [False, False] Translation: X:-1.10, Y:3.45, Z:0.70 [[ 9.99970437e-01 -7.52171571e-03 -1.59669164e-03 -1.09549631e+00] [ 7.52179391e-03 9.99971710e-01 4.29797846e-05 3.44542376e+00] [ 1.59632319e-03 -5.49884994e-05 9.99998724e-01 6.95237729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52925976399996 meters 0.1379002747250693 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.70 [[ 9.99968971e-01 -7.66246005e-03 -1.82883678e-03 -1.09499679e+00] [ 7.66175288e-03 9.99970571e-01 -3.93366954e-04 3.44734212e+00] [ 1.83179712e-03 3.79342653e-04 9.99998250e-01 6.95475578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58925976399996 meters 0.13812308260136466 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.70 [[ 9.99967717e-01 -7.81836673e-03 -1.85436267e-03 -1.09484787e+00] [ 7.81715500e-03 9.99969228e-01 -6.59799178e-04 3.44881426e+00] [ 1.85946415e-03 6.45282037e-04 9.99998063e-01 6.95375061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64925976399996 meters 0.13705861799747282 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.69 [[ 9.99967651e-01 -7.77217469e-03 -2.07150157e-03 -1.09376080e+00] [ 7.77037367e-03 9.99969426e-01 -8.76062640e-04 3.45088424e+00] [ 2.07824714e-03 8.59937958e-04 9.99997471e-01 6.94649321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70925976399997 meters 0.13414224517423387 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.69 [[ 9.99966284e-01 -7.83667599e-03 -2.45298275e-03 -1.09241423e+00] [ 7.83311535e-03 9.99968258e-01 -1.45781017e-03 3.45438036e+00] [ 2.46432927e-03 1.43854652e-03 9.99995929e-01 6.94174114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76925976399997 meters 0.15412993831372596 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99964020e-01 -7.92242374e-03 -3.03229021e-03 -1.09080155e+00] [ 7.91564489e-03 9.99966160e-01 -2.24106775e-03 3.45854809e+00] [ 3.04994229e-03 2.21698459e-03 9.99992891e-01 6.94152357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82925976399997 meters 0.12800181993275805 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99963640e-01 -7.91849439e-03 -3.16486543e-03 -1.09020266e+00] [ 7.91084643e-03 9.99965776e-01 -2.42177747e-03 3.45990037e+00] [ 3.18393395e-03 2.39665265e-03 9.99992059e-01 6.93840767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88925976399997 meters 0.14745277859575348 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99960537e-01 -8.15320702e-03 -3.52854473e-03 -1.08942519e+00] [ 8.14212335e-03 9.99961909e-01 -3.14419284e-03 3.46323184e+00] [ 3.55404558e-03 3.11533891e-03 9.99988832e-01 6.94193267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94925976399995 meters 0.1427489270898901 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 0.9999584 -0.00822765 -0.00393736 -1.08821706] [ 0.00821342 0.99995973 -0.00361683 3.46631154] [ 0.00396696 0.00358434 0.99998571 0.69401838] [ 0. 0. 0. 1. ]] SLAMing on 185.00925976399995 meters 0.1424119055019265 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 9.99959557e-01 -8.05769369e-03 -3.99475561e-03 -1.08767699e+00] [ 8.04424522e-03 9.99961962e-01 -3.37124588e-03 3.46612288e+00] [ 4.02176813e-03 3.33897475e-03 9.99986338e-01 6.93403687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06925976399995 meters 0.14106677657575195 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 9.99959975e-01 -8.04170660e-03 -3.92165540e-03 -1.08792399e+00] [ 8.02884209e-03 9.99962372e-01 -3.28515956e-03 3.46580737e+00] [ 3.94792612e-03 3.25354172e-03 9.99986914e-01 6.93469375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12925976399995 meters 0.14155336179865327 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 0.99995821 -0.00829687 -0.0038405 -1.08860804] [ 0.00828318 0.99995933 -0.0035684 3.46641847] [ 0.00386995 0.00353644 0.99998626 0.69416249] [ 0. 0. 0. 1. ]] SLAMing on 185.18925976399996 meters 0.13990708864426457 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 9.99958605e-01 -8.19479012e-03 -3.95384657e-03 -1.08826372e+00] [ 8.18109236e-03 9.99960520e-01 -3.46823862e-03 3.46636277e+00] [ 3.98211195e-03 3.43574827e-03 9.99986169e-01 6.94082997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24925976399996 meters 0.13584667495088026 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 0.99995826 -0.00804477 -0.00433189 -1.08684026] [ 0.00802932 0.99996139 -0.00357148 3.46817236] [ 0.00436046 0.00353655 0.99998424 0.69344656] [ 0. 0. 0. 1. ]] SLAMing on 185.30925976399996 meters 0.1305951277184213 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 0.99995821 -0.00797659 -0.00446593 -1.08644936] [ 0.00796047 0.99996177 -0.00361717 3.46864058] [ 0.00449462 0.00358146 0.99998349 0.6934223 ] [ 0. 0. 0. 1. ]] SLAMing on 185.36925976399996 meters 0.13183016927628063 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 9.99958891e-01 -7.88372966e-03 -4.47909594e-03 -1.08634141e+00] [ 7.86813746e-03 9.99962962e-01 -3.48812615e-03 3.46833330e+00] [ 4.50642949e-03 3.45274061e-03 9.99983885e-01 6.93295729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42925976399997 meters 0.13089186367270939 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 9.99960355e-01 -7.67195628e-03 -4.51991468e-03 -1.08593838e+00] [ 7.65772078e-03 9.99965691e-01 -3.15843981e-03 3.46768523e+00] [ 4.54399102e-03 3.12370235e-03 9.99984797e-01 6.92819707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48925976399997 meters 0.13080508322801782 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99965310e-01 -7.12852470e-03 -4.30858603e-03 -1.08575001e+00] [ 7.11946725e-03 9.99972422e-01 -2.11388150e-03 3.46439664e+00] [ 4.32353606e-03 2.08313333e-03 9.99988484e-01 6.91637042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54925976399997 meters 0.13060894315145008 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.47, Z:0.69 [[ 0.99992219 -0.011546 -0.00472336 -1.08513801] [ 0.01151362 0.99991041 -0.00682748 3.46589613] [ 0.00480176 0.00677257 0.99996554 0.69250925] [ 0. 0. 0. 1. ]] SLAMing on 185.60925976399997 meters 0.13650441340171018 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99965588e-01 -7.04070697e-03 -4.38754552e-03 -1.08592228e+00] [ 7.03228111e-03 9.99973405e-01 -1.93288051e-03 3.46357943e+00] [ 4.40103768e-03 1.90195955e-03 9.99988507e-01 6.92193810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66925976399995 meters 0.13502526295847367 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.46, Z:0.69 [[ 9.99968627e-01 -6.61019543e-03 -4.36477189e-03 -1.08532456e+00] [ 6.60427658e-03 9.99977254e-01 -1.36907445e-03 3.46210475e+00] [ 4.37372246e-03 1.34020534e-03 9.99989537e-01 6.91239598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72925976399995 meters 0.13453017852324445 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.46, Z:0.69 [[ 9.99971355e-01 -6.16562003e-03 -4.39036040e-03 -1.08444845e+00] [ 6.16261651e-03 9.99980768e-01 -6.97316586e-04 3.46072331e+00] [ 4.39457536e-03 6.70240504e-04 9.99990119e-01 6.89975825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78925976399995 meters 0.13287022642958457 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.46, Z:0.69 [[ 9.99973597e-01 -5.87621878e-03 -4.27508236e-03 -1.08445556e+00] [ 5.87584647e-03 9.99982732e-01 -9.96427668e-05 3.45876737e+00] [ 4.27559406e-03 7.45204083e-05 9.99990857e-01 6.89472634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84925976399995 meters 0.13470100811625235 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.46, Z:0.69 [[ 9.99974208e-01 -5.81209882e-03 -4.21930348e-03 -1.08499798e+00] [ 5.81241052e-03 9.99983106e-01 6.16175962e-05 3.45748092e+00] [ 4.21887407e-03 -8.61403310e-05 9.99991097e-01 6.90066608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90925976399996 meters 0.13276763675958247 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.69 [[ 9.99976579e-01 -5.48852839e-03 -4.08865950e-03 -1.08525501e+00] [ 5.49129190e-03 9.99984702e-01 6.64976992e-04 3.45497941e+00] [ 4.08494721e-03 -6.87413440e-04 9.99991420e-01 6.89907766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96925976399996 meters 0.13225746067931454 Centerline is valid? [False, False] Translation: X:-1.09, Y:3.45, Z:0.69 [[ 9.99978281e-01 -5.23659334e-03 -4.00183830e-03 -1.08539598e+00] [ 5.24113202e-03 9.99985633e-01 1.12450285e-03 3.45325418e+00] [ 3.99589225e-03 -1.14545259e-03 9.99991360e-01 6.89728805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02925976399996 meters 0.14067306276159344 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.46, Z:0.69 [[ 0.99994392 -0.00961039 -0.0044486 -1.08442261] [ 0.00959469 0.99994771 -0.00353803 3.45507639] [ 0.00448237 0.00349515 0.99998385 0.69009557] [ 0. 0. 0. 1. ]] SLAMing on 186.08925976399996 meters 0.1441999752715503 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 9.99952645e-01 -8.90794735e-03 -3.91880759e-03 -1.08479422e+00] [ 8.90183266e-03 9.99959137e-01 -1.57503005e-03 3.44855256e+00] [ 3.93267774e-03 1.54007089e-03 9.99991081e-01 6.88157444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14925976399996 meters 0.14388060306769684 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 9.99950036e-01 -8.84335693e-03 -4.66049087e-03 -1.08305902e+00] [ 8.83394247e-03 9.99958906e-01 -2.03678691e-03 3.45144480e+00] [ 4.67831139e-03 1.99551463e-03 9.99987066e-01 6.88364037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20925976399997 meters 0.1390456449757221 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 9.99949854e-01 -8.76315054e-03 -4.84741744e-03 -1.08263675e+00] [ 8.75279686e-03 9.99959376e-01 -2.15302231e-03 3.45203071e+00] [ 4.86608778e-03 2.11048588e-03 9.99985933e-01 6.88505539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26925976399997 meters 0.13400067626284717 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 9.99953661e-01 -8.32693217e-03 -4.83094898e-03 -1.08206805e+00] [ 8.31965391e-03 9.99964229e-01 -1.52473523e-03 3.45036236e+00] [ 4.84347254e-03 1.48447275e-03 9.99987168e-01 6.87545786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32925976399997 meters 0.13838786425229901 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 9.99957733e-01 -8.05496759e-03 -4.43268847e-03 -1.08281912e+00] [ 8.05199705e-03 9.99967346e-01 -6.87583490e-04 3.44696976e+00] [ 4.43808219e-03 6.51862434e-04 9.99989939e-01 6.87081271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38925976399997 meters 0.14000288471290967 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.9999103 -0.01260535 -0.00452726 -1.08315491] [ 0.01258127 0.99990676 -0.00530802 3.44755376] [ 0.00459375 0.00525059 0.99997566 0.68809931] [ 0. 0. 0. 1. ]] SLAMing on 186.44925976399995 meters 0.1540547109715782 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.69 [[ 0.9999158 -0.01229875 -0.00413922 -1.08378777] [ 0.01228011 0.99991447 -0.00450028 3.4444688 ] [ 0.00419422 0.00444907 0.99998131 0.68751675] [ 0. 0. 0. 1. ]] SLAMing on 186.50925976399995 meters 0.14638512791133482 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.99991292 -0.01252745 -0.00414848 -1.08387514] [ 0.01250727 0.99990999 -0.00485542 3.44603869] [ 0.00420894 0.00480311 0.99997961 0.68770212] [ 0. 0. 0. 1. ]] SLAMing on 186.56925976399995 meters 0.14787404078564703 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.69 [[ 0.9999181 -0.01212385 -0.00410045 -1.08332528] [ 0.01210645 0.99991772 -0.00424174 3.44462004] [ 0.00415154 0.00419175 0.9999826 0.68662002] [ 0. 0. 0. 1. ]] SLAMing on 186.62925976399995 meters 0.14064590597387114 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.99991916 -0.01193587 -0.0043817 -1.0822894 ] [ 0.01191744 0.99992012 -0.00420963 3.44541348] [ 0.0044316 0.00415707 0.99998154 0.68612849] [ 0. 0. 0. 1. ]] SLAMing on 186.68925976399996 meters 0.13859411591276802 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.99991856 -0.01189417 -0.00462722 -1.08152889] [ 0.01187398 0.99991997 -0.00436568 3.44661889] [ 0.00467878 0.00431038 0.99997976 0.68596398] [ 0. 0. 0. 1. ]] SLAMing on 186.74925976399996 meters 0.136680495279345 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.99992131 -0.01165966 -0.00462864 -1.08091232] [ 0.0116409 0.99992401 -0.00405845 3.44653412] [ 0.00467561 0.00400425 0.99998105 0.6850305 ] [ 0. 0. 0. 1. ]] SLAMing on 186.80925976399996 meters 0.13704324679302762 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992284 -0.01157276 -0.00451557 -1.08100738] [ 0.01155549 0.99992589 -0.0038323 3.44598636] [ 0.00455959 0.00377982 0.99998246 0.6846967 ] [ 0. 0. 0. 1. ]] SLAMing on 186.86925976399996 meters 0.14054473515769414 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.69 [[ 0.99992168 -0.01178866 -0.00420268 -1.0821404 ] [ 0.01177233 0.99992313 -0.00389072 3.44568086] [ 0.00424822 0.00384094 0.9999836 0.68517876] [ 0. 0. 0. 1. ]] SLAMing on 186.92925976399997 meters 0.14424568450494896 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 0.99992388 -0.01163022 -0.00411963 -1.08208335] [ 0.01161542 0.99992607 -0.00359786 3.444942 ] [ 0.00416117 0.00354974 0.99998504 0.6847371 ] [ 0. 0. 0. 1. ]] SLAMing on 186.98925976399997 meters 0.13692109477429926 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.9999229 -0.01160314 -0.00442303 -1.08093737] [ 0.01158625 0.99992556 -0.00382617 3.44704269] [ 0.00446709 0.00377463 0.9999829 0.68421546] [ 0. 0. 0. 1. ]] SLAMing on 187.04925976399997 meters 0.1377394920027883 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992224 -0.01153427 -0.00474088 -1.07998892] [ 0.01151515 0.99992554 -0.0040404 3.44866014] [ 0.00478713 0.0039855 0.9999806 0.68406564] [ 0. 0. 0. 1. ]] SLAMing on 187.10925976399997 meters 0.14146777214907202 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992057 -0.01168171 -0.00473194 -1.08040479] [ 0.01166157 0.99992292 -0.00426077 3.4489704 ] [ 0.00478135 0.00420525 0.99997973 0.68466311] [ 0. 0. 0. 1. ]] SLAMing on 187.16925976399995 meters 0.13770422939921212 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992042 -0.01173366 -0.00463515 -1.08066867] [ 0.01171405 0.99992242 -0.00423558 3.44895179] [ 0.00468449 0.00418095 0.99998029 0.68466574] [ 0. 0. 0. 1. ]] SLAMing on 187.22925976399995 meters 0.14078018691149935 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992316 -0.01156484 -0.004465 -1.08089843] [ 0.01154793 0.99992612 -0.00379446 3.44746463] [ 0.00450855 0.00374261 0.99998283 0.68428508] [ 0. 0. 0. 1. ]] SLAMing on 187.28925976399995 meters 0.16285746955034974 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.9999242 -0.0114032 -0.00464342 -1.08027581] [ 0.01138594 0.99992824 -0.00372557 3.44753866] [ 0.00468557 0.00367242 0.99998228 0.68409386] [ 0. 0. 0. 1. ]] SLAMing on 187.34925976399995 meters 0.14344165143827636 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992361 -0.01137348 -0.00483931 -1.07965333] [ 0.01135484 0.99992808 -0.00386162 3.44868911] [ 0.00488289 0.00380638 0.99998083 0.68395579] [ 0. 0. 0. 1. ]] SLAMing on 187.40925976399996 meters 0.13692414074615622 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 9.99926645e-01 -1.10961102e-02 -4.85598016e-03 -1.07922676e+00] [ 1.10792292e-02 9.99932535e-01 -3.48954579e-03 3.44783741e+00] [ 4.89437293e-03 3.43548930e-03 9.99982121e-01 6.83389755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46925976399996 meters 0.16014331232652104 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 9.99929069e-01 -1.09482536e-02 -4.68969781e-03 -1.07951726e+00] [ 1.09342462e-02 9.99935713e-01 -3.00214547e-03 3.44605508e+00] [ 4.72226458e-03 2.95065422e-03 9.99984497e-01 6.83108794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52925976399996 meters 0.15933006355486642 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99930774e-01 -1.08580809e-02 -4.53304968e-03 -1.08000239e+00] [ 1.08459097e-02 9.99937533e-01 -2.70100390e-03 3.44461645e+00] [ 4.56209424e-03 2.65165187e-03 9.99986078e-01 6.83211439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58925976399996 meters 0.1595340218815625 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99930484e-01 -1.08783105e-02 -4.54868380e-03 -1.08007109e+00] [ 1.08659583e-02 9.99937233e-01 -2.73149125e-03 3.44471437e+00] [ 4.57811230e-03 2.68187556e-03 9.99985924e-01 6.83370548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64925976399996 meters 0.15680816869435055 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99933010e-01 -1.06671413e-02 -4.49305258e-03 -1.08033336e+00] [ 1.06568532e-02 9.99940552e-01 -2.30753229e-03 3.44284501e+00] [ 4.51740025e-03 2.25949591e-03 9.99987244e-01 6.83509422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70925976399997 meters 0.1585001815363203 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99936258e-01 -1.03993198e-02 -4.39696089e-03 -1.08031762e+00] [ 1.03913927e-02 9.99944348e-01 -1.82188808e-03 3.44124256e+00] [ 4.41566259e-03 1.77608140e-03 9.99988674e-01 6.83076975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76925976399997 meters 0.1515467116010705 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99934540e-01 -1.04869604e-02 -4.57592075e-03 -1.08011503e+00] [ 1.04775450e-02 9.99942952e-01 -2.07673887e-03 3.44214923e+00] [ 4.59743838e-03 2.02865851e-03 9.99987374e-01 6.83465652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82925976399997 meters 0.1518705597979203 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99934285e-01 -1.04286729e-02 -4.76119284e-03 -1.07938838e+00] [ 1.04186678e-02 9.99943474e-01 -2.12137877e-03 3.44312376e+00] [ 4.78304688e-03 2.07163407e-03 9.99986415e-01 6.83067626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88925976399997 meters 0.15442657090623874 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99934606e-01 -1.04050926e-02 -4.74520238e-03 -1.07933329e+00] [ 1.03953987e-02 9.99943838e-01 -2.06299699e-03 3.44317224e+00] [ 4.76640156e-03 2.01353381e-03 9.99986613e-01 6.82908477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94925976399995 meters 0.15469857983103782 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.44, Z:0.68 [[ 9.99932321e-01 -1.06223419e-02 -4.74546383e-03 -1.07964077e+00] [ 1.06110422e-02 9.99940821e-01 -2.40002952e-03 3.44419687e+00] [ 4.77067693e-03 2.34951277e-03 9.99985860e-01 6.83392082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00925976399995 meters 0.1444185396103431 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 9.99928201e-01 -1.07503140e-02 -5.29378186e-03 -1.07837002e+00] [ 1.07343338e-02 9.99937771e-01 -3.03789519e-03 3.44791265e+00] [ 5.32611076e-03 2.98085185e-03 9.99981373e-01 6.83558109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06925976399995 meters 0.14486782486158706 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 9.99926542e-01 -1.07974266e-02 -5.50691827e-03 -1.07751421e+00] [ 1.07793720e-02 9.99936463e-01 -3.29774250e-03 3.45004455e+00] [ 5.54217551e-03 3.23813913e-03 9.99979399e-01 6.83116401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12925976399995 meters 0.14067480654485998 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 9.99929603e-01 -1.03942923e-02 -5.72256667e-03 -1.07603809e+00] [ 1.03773015e-02 9.99941682e-01 -2.99082476e-03 3.45045078e+00] [ 5.75332044e-03 2.93122941e-03 9.99979153e-01 6.81792890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18925976399996 meters 0.13577109696253342 Centerline is valid? [False, False] Translation: X:-1.08, Y:3.45, Z:0.68 [[ 0.99992355 -0.01065649 -0.00627237 -1.07511778] [ 0.01063247 0.99993606 -0.00384989 3.4544563 ] [ 0.00631299 0.00378291 0.99997292 0.68255122] [ 0. 0. 0. 1. ]] SLAMing on 188.24925976399996 meters 0.13538718715924944 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 0.99992239 -0.01045548 -0.00677503 -1.07311173] [ 0.01042897 0.99993787 -0.00393612 3.45727215] [ 0.00681576 0.00386516 0.9999693 0.68145279] [ 0. 0. 0. 1. ]] SLAMing on 188.30925976399996 meters 0.13299412253851428 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 9.99925902e-01 -1.01140497e-02 -6.77464627e-03 -1.07232477e+00] [ 1.00906240e-02 9.99943022e-01 -3.48314105e-03 3.45663502e+00] [ 6.80948893e-03 3.41452255e-03 9.99970986e-01 6.80286776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36925976399996 meters 0.13177213037500657 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 0.99992417 -0.01023667 -0.00684526 -1.0722257 ] [ 0.01021132 0.99994091 -0.00372832 3.45772596] [ 0.00688303 0.00365814 0.99996962 0.68043308] [ 0. 0. 0. 1. ]] SLAMing on 188.42925976399997 meters 0.13374369011585135 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 0.9999192 -0.01036676 -0.00735675 -1.07110846] [ 0.01033546 0.99993743 -0.00427926 3.46119173] [ 0.00740065 0.00420288 0.99996378 0.68066933] [ 0. 0. 0. 1. ]] SLAMing on 188.48925976399997 meters 0.12442185743892108 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 0.99991823 -0.01000198 -0.00796871 -1.06887599] [ 0.00996755 0.99994087 -0.0043486 3.46379591] [ 0.00801174 0.00426881 0.99995879 0.67957998] [ 0. 0. 0. 1. ]] SLAMing on 188.54925976399997 meters 0.13045012080288845 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.46, Z:0.68 [[ 0.99991918 -0.00955268 -0.00838937 -1.06686029] [ 0.00951827 0.99994617 -0.00413123 3.46498809] [ 0.00842838 0.00405104 0.99995627 0.67814927] [ 0. 0. 0. 1. ]] SLAMing on 188.60925976399997 meters 0.12114657386520253 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.47, Z:0.68 [[ 0.99991743 -0.0094724 -0.00868386 -1.06578566] [ 0.0094358 0.99994646 -0.00424659 3.46656015] [ 0.00872363 0.0041643 0.99995328 0.67767913] [ 0. 0. 0. 1. ]] SLAMing on 188.66925976399995 meters 0.12848420841224853 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.47, Z:0.68 [[ 0.99991562 -0.00944447 -0.00891932 -1.0651751 ] [ 0.00940541 0.99994604 -0.0044105 3.46766998] [ 0.00896049 0.00432623 0.9999505 0.67769433] [ 0. 0. 0. 1. ]] SLAMing on 188.72925976399995 meters 0.1271554183994999 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991454 -0.00948824 -0.00899394 -1.06490357] [ 0.00944758 0.99994501 -0.00455265 3.46861266] [ 0.00903664 0.00446729 0.99994919 0.67759952] [ 0. 0. 0. 1. ]] SLAMing on 188.78925976399995 meters 0.12670693853311926 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991645 -0.00932436 -0.00895271 -1.06454787] [ 0.00928624 0.99994768 -0.00428936 3.46834474] [ 0.00899224 0.00420586 0.99995072 0.6769018 ] [ 0. 0. 0. 1. ]] SLAMing on 188.84925976399995 meters 0.1252193872236706 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99986521 -0.01350401 -0.00933833 -1.06319287] [ 0.0134236 0.99987274 -0.00862047 3.4696377 ] [ 0.00945356 0.00849396 0.99991924 0.67649846] [ 0. 0. 0. 1. ]] SLAMing on 188.90925976399996 meters 0.1278957690416108 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991726 -0.00923828 -0.0089511 -1.06426656] [ 0.00920216 0.99994938 -0.00406804 3.46841133] [ 0.00898823 0.00398534 0.99995166 0.67647785] [ 0. 0. 0. 1. ]] SLAMing on 188.96925976399996 meters 0.12208804968027745 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991438 -0.00947331 -0.00902734 -1.0643515 ] [ 0.00943321 0.9999455 -0.00447403 3.47004399] [ 0.00906923 0.00438849 0.99994924 0.67690922] [ 0. 0. 0. 1. ]] SLAMing on 189.02925976399996 meters 0.12235180601787629 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991554 -0.00927409 -0.00910551 -1.06354386] [ 0.00923534 0.99994816 -0.00428849 3.47029338] [ 0.00914481 0.00420404 0.99994935 0.67603526] [ 0. 0. 0. 1. ]] SLAMing on 189.08925976399996 meters 0.12214554339152921 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.67 [[ 9.99950588e-01 -4.64357973e-03 -8.78963746e-03 -1.06360917e+00] [ 4.65011036e-03 9.99988927e-01 7.22701301e-04 3.46840529e+00] [ 8.78618421e-03 -7.63538376e-04 9.99961109e-01 6.74742935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14925976399996 meters 0.12305209834296335 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991464 -0.00915457 -0.00932184 -1.06257165] [ 0.00911585 0.99994968 -0.00418801 3.47141808] [ 0.00935971 0.00410268 0.99994778 0.67533017] [ 0. 0. 0. 1. ]] SLAMing on 189.20925976399997 meters 0.12340055721229334 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.67 [[ 0.99991813 -0.00886128 -0.00923054 -1.06222836] [ 0.0088276 0.99995425 -0.00368361 3.47024148] [ 0.00926276 0.00360183 0.99995061 0.6744212 ] [ 0. 0. 0. 1. ]] SLAMing on 189.26925976399997 meters 0.12435782682235703 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.67 [[ 0.99991695 -0.00905654 -0.00916957 -1.06270553] [ 0.00902097 0.99995165 -0.00391317 3.47081109] [ 0.00920456 0.00383012 0.9999503 0.67488612] [ 0. 0. 0. 1. ]] SLAMing on 189.32925976399997 meters 0.12637381274010004 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.68 [[ 0.99991605 -0.00919551 -0.00912876 -1.0629995 ] [ 0.00915855 0.99994973 -0.00408226 3.47133279] [ 0.00916584 0.00399831 0.99995 0.67517156] [ 0. 0. 0. 1. ]] SLAMing on 189.38925976399997 meters 0.12826073608646146 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.67 [[ 0.99991143 -0.00910471 -0.00970721 -1.06109417] [ 0.00906185 0.99994904 -0.00445035 3.47474716] [ 0.00974723 0.00436199 0.99994298 0.67451712] [ 0. 0. 0. 1. ]] SLAMing on 189.44925976399995 meters 0.12029246457968475 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99991031 -0.00887767 -0.01002819 -1.05958877] [ 0.00883359 0.99995116 -0.00443151 3.47618695] [ 0.01006704 0.00434253 0.9999399 0.67354487] [ 0. 0. 0. 1. ]] SLAMing on 189.50925976399995 meters 0.1226244843917212 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.9999087 -0.0088733 -0.01019059 -1.05879062] [ 0.00882673 0.99995044 -0.00460539 3.4777952 ] [ 0.01023095 0.00451502 0.99993747 0.67300556] [ 0. 0. 0. 1. ]] SLAMing on 189.56925976399995 meters 0.11943472500512341 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990236 -0.00925759 -0.01046706 -1.05852275] [ 0.00920171 0.99994322 -0.00537489 3.48113215] [ 0.01051623 0.00527805 0.99993077 0.67367531] [ 0. 0. 0. 1. ]] SLAMing on 189.62925976399995 meters 0.11746709253491916 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990074 -0.00927647 -0.01060438 -1.057892 ] [ 0.00921803 0.99994213 -0.00554642 3.48255793] [ 0.01065521 0.00544812 0.99992839 0.67327917] [ 0. 0. 0. 1. ]] SLAMing on 189.68925976399996 meters 0.11627466885200609 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990054 -0.0091122 -0.0107644 -1.05675476] [ 0.0090539 0.99994415 -0.00545229 3.48362606] [ 0.01081348 0.00535429 0.9999272 0.67223092] [ 0. 0. 0. 1. ]] SLAMing on 189.74925976399996 meters 0.11563418331962284 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990109 -0.00887698 -0.01090899 -1.05571999] [ 0.00882031 0.99994741 -0.00523158 3.48405463] [ 0.01095486 0.00513484 0.99992681 0.67125144] [ 0. 0. 0. 1. ]] SLAMing on 189.80925976399996 meters 0.12605577906468224 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990657 -0.00834582 -0.01082589 -1.05516474] [ 0.00829903 0.99995606 -0.00435969 3.48161277] [ 0.0108618 0.00426944 0.99993189 0.67004594] [ 0. 0. 0. 1. ]] SLAMing on 189.86925976399996 meters 0.11635463520226731 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.99990719 -0.00831865 -0.01078927 -1.05533957] [ 0.00827296 0.99995665 -0.0042727 3.48119541] [ 0.01082434 0.00418305 0.99993267 0.67014538] [ 0. 0. 0. 1. ]] SLAMing on 189.92925976399997 meters 0.11523852169153438 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 9.99911601e-01 -7.91160259e-03 -1.06862839e-02 -1.05547332e+00] [ 7.87401764e-03 9.99962682e-01 -3.55462782e-03 3.47826430e+00] [ 1.07140079e-02 3.47016961e-03 9.99936582e-01 6.69953135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98925976399997 meters 0.11796110449111175 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.67 [[ 0.9998667 -0.01219447 -0.01085675 -1.05521737] [ 0.01210992 0.9998961 -0.00781931 3.47800243] [ 0.01095098 0.0076868 0.99991049 0.6703526 ] [ 0. 0. 0. 1. ]] SLAMing on 190.04925976399997 meters 0.12914444739252284 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.67 [[ 0.99987558 -0.0118369 -0.01042646 -1.0560029 ] [ 0.01176761 0.99990844 -0.00668161 3.47347244] [ 0.0105046 0.00655809 0.99992332 0.66982145] [ 0. 0. 0. 1. ]] SLAMing on 190.10925976399997 meters 0.13566439080675516 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.66 [[ 9.99799726e-01 -1.99034866e-02 -2.08780754e-03 -1.05127505e+00] [ 1.99039239e-02 9.99801879e-01 1.88874523e-04 3.46466000e+00] [ 2.08363464e-03 -2.30392259e-04 9.99997803e-01 6.63518914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16925976399995 meters 0.14069271740458572 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.66 [[ 9.99700431e-01 -2.44180172e-02 -1.67607679e-03 -1.05308329e+00] [ 2.44112725e-02 9.99694264e-01 -3.93304711e-03 3.46184501e+00] [ 1.77160157e-03 3.89095372e-03 9.99990861e-01 6.64963510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22925976399995 meters 0.14545707732385899 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.66 [[ 9.99711488e-01 -2.39926420e-02 -1.13759751e-03 -1.05392521e+00] [ 2.39898412e-02 9.99709286e-01 -2.41487346e-03 3.45628408e+00] [ 1.19520598e-03 2.38688595e-03 9.99996437e-01 6.63971272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28925976399995 meters 0.14198936606444196 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.45, Z:0.66 [[ 9.99711450e-01 -2.40007289e-02 -9.90866631e-04 -1.05462056e+00] [ 2.39984154e-02 9.99709387e-01 -2.28417809e-03 3.45499492e+00] [ 1.04540061e-03 2.25973976e-03 9.99996900e-01 6.64427950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34925976399995 meters 0.14142100110566197 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99715133e-01 -2.38598748e-02 -5.99002997e-04 -1.05567349e+00] [ 2.38588076e-02 9.99713842e-01 -1.72969905e-03 3.45185292e+00] [ 6.40101990e-04 1.71491482e-03 9.99998325e-01 6.64484895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40925976399996 meters 0.14264637803918354 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99725443e-01 -2.34264135e-02 -4.91660227e-04 -1.05559123e+00] [ 2.34259386e-02 9.99725123e-01 -9.50418507e-04 3.44916608e+00] [ 5.13789978e-04 9.38639961e-04 9.99999427e-01 6.63902353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46925976399996 meters 0.14339856384308497 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99717330e-01 -2.37743141e-02 -2.02802700e-04 -1.05715376e+00] [ 2.37740386e-02 9.99716555e-01 -1.26689333e-03 3.44877681e+00] [ 2.32864737e-04 1.26171378e-03 9.99999177e-01 6.65147234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52925976399996 meters 0.14514614992242278 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99712899e-01 -2.39598427e-02 2.12190242e-04 -1.05846051e+00] [ 2.39600941e-02 9.99712104e-01 -1.27424269e-03 3.44778203e+00] [-1.81598499e-04 1.27896095e-03 9.99999166e-01 6.65560725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58925976399996 meters 0.163307037108306 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99704990e-01 -2.42866355e-02 3.02976906e-04 -1.05906893e+00] [ 2.42871336e-02 9.99703464e-01 -1.76608609e-03 3.44895025e+00] [-2.59994773e-04 1.77292352e-03 9.99998395e-01 6.66172394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64925976399996 meters 0.15765567098301894 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99797913e-01 -2.00925227e-02 6.50264447e-04 -1.06027586e+00] [ 2.00907821e-02 9.99794828e-01 2.58099988e-03 3.44803212e+00] [-7.01989830e-04 -2.56741398e-03 9.99996458e-01 6.66305232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70925976399997 meters 0.15395385640214038 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99873840e-01 -1.58489767e-02 1.05565758e-03 -1.06118735e+00] [ 1.58412837e-02 9.99850465e-01 6.93553163e-03 3.44732450e+00] [-1.16542080e-03 -6.91793367e-03 9.99975392e-01 6.65921799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76925976399997 meters 0.15026733158268676 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99874219e-01 -1.58062311e-02 1.30768997e-03 -1.06153004e+00] [ 1.57965276e-02 9.99849843e-01 7.12475577e-03 3.44662165e+00] [-1.42010915e-03 -7.10320265e-03 9.99973764e-01 6.65456358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82925976399997 meters 0.15327647282675372 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99868086e-01 -1.61519669e-02 1.71035811e-03 -1.06324305e+00] [ 1.61397782e-02 9.99845831e-01 6.91530584e-03 3.44587858e+00] [-1.82179022e-03 -6.88678881e-03 9.99974626e-01 6.66513124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88925976399995 meters 0.15304816538035199 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99865381e-01 -1.63066766e-02 1.81992541e-03 -1.06395785e+00] [ 1.62939434e-02 9.99844089e-01 6.80482699e-03 3.44565008e+00] [-1.93060578e-03 -6.77425717e-03 9.99975191e-01 6.67171196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94925976399995 meters 0.14524951303990405 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.67 [[ 9.99924728e-01 -1.21213638e-02 1.89997253e-03 -1.06420660e+00] [ 1.20999134e-02 9.99867146e-01 1.09216428e-02 3.44642803e+00] [-2.03210531e-03 -1.08978312e-02 9.99938552e-01 6.67033488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00925976399995 meters 0.14444104150761103 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.66 [[ 9.99920344e-01 -4.95527743e-03 1.16082246e-02 -1.06625573e+00] [ 4.94858873e-03 9.99987573e-01 6.04856286e-04 3.44554482e+00] [-1.16110776e-02 -5.47363776e-04 9.99932439e-01 6.64640559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06925976399995 meters 0.14070653335166586 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.66 [[ 9.99922550e-01 -4.88684172e-03 1.14460380e-02 -1.06575465e+00] [ 4.88043232e-03 9.99987918e-01 5.87831096e-04 3.44596352e+00] [-1.14487723e-02 -5.31923955e-04 9.99934319e-01 6.64509362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12925976399995 meters 0.13894855706348955 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.67 [[ 9.99923105e-01 -5.10568513e-03 1.13011208e-02 -1.06568710e+00] [ 5.10428490e-03 9.99986961e-01 1.52742016e-04 3.44759561e+00] [-1.13017533e-02 -9.50461303e-05 9.99936129e-01 6.65021084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18925976399996 meters 0.13734392309126273 Centerline is valid? [False, False] Translation: X:-1.07, Y:3.45, Z:0.67 [[ 9.99924451e-01 -5.18084812e-03 1.11467541e-02 -1.06529560e+00] [ 5.18203810e-03 9.99986570e-01 -7.78754747e-05 3.44873446e+00] [-1.11462009e-02 1.35632496e-04 9.99937870e-01 6.65060677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24925976399996 meters 0.14866830122874752 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99925053e-01 -5.16497107e-03 1.11000855e-02 -1.06470910e+00] [ 5.16677317e-03 9.99986643e-01 -1.33680154e-04 3.44986223e+00] [-1.10992468e-02 1.91021759e-04 9.99938383e-01 6.64362416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30925976399996 meters 0.14734434951645187 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99924073e-01 -5.32640678e-03 1.11120397e-02 -1.06486237e+00] [ 5.33134587e-03 9.99985702e-01 -4.14905924e-04 3.45086644e+00] [-1.11096708e-02 4.74116548e-04 9.99938173e-01 6.64596726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36925976399996 meters 0.15316477590715155 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99922720e-01 -5.56069835e-03 1.11190261e-02 -1.06486352e+00] [ 5.56989576e-03 9.99984171e-01 -7.96381448e-04 3.45265086e+00] [-1.11144217e-02 8.58251720e-04 9.99937865e-01 6.64616844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42925976399997 meters 0.14537654326983726 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.45, Z:0.66 [[ 9.99921694e-01 -5.63492721e-03 1.11737596e-02 -1.06483914e+00] [ 5.64551480e-03 9.99983644e-01 -9.16224686e-04 3.45340027e+00] [-1.11684140e-02 9.79234565e-04 9.99937152e-01 6.64396063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48925976399997 meters 0.1425833456512789 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.46, Z:0.66 [[ 9.99923310e-01 -5.67340575e-03 1.10084370e-02 -1.06410883e+00] [ 5.68632324e-03 9.99983180e-01 -1.14247185e-03 3.45511820e+00] [-1.10017701e-02 1.20498176e-03 9.99938753e-01 6.63971679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54925976399997 meters 0.14507660103460956 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.46, Z:0.66 [[ 9.99929213e-01 -5.98556488e-03 1.02830974e-02 -1.06257641e+00] [ 6.00985484e-03 9.99979220e-01 -2.33285018e-03 3.46095940e+00] [-1.02689203e-02 2.39448497e-03 9.99944406e-01 6.64464687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60925976399997 meters 0.13186199123912043 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.46, Z:0.66 [[ 9.99933652e-01 -6.02349457e-03 9.81879481e-03 -1.06116885e+00] [ 6.05258781e-03 9.99977373e-01 -2.93599757e-03 3.46444009e+00] [-9.80088767e-03 2.99523189e-03 9.99947484e-01 6.64191787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66925976399995 meters 0.13681587500173586 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 9.99932725e-01 -6.23920270e-03 9.77841409e-03 -1.06117551e+00] [ 6.27219769e-03 9.99974727e-01 -3.34724150e-03 3.46608983e+00] [-9.75728285e-03 3.40834846e-03 9.99946588e-01 6.64427572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72925976399995 meters 0.12944477622954467 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 0.99993461 -0.00632623 0.00952679 -1.06039011] [ 0.00636178 0.9999729 -0.00370589 3.468251 ] [-0.00950308 0.00376626 0.99994775 0.6642622 ] [ 0. 0. 0. 1. ]] SLAMing on 191.78925976399995 meters 0.12906582970399166 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 0.99993736 -0.00623548 0.00929511 -1.05932366] [ 0.0062713 0.999973 -0.00382925 3.46979243] [-0.00927098 0.0038873 0.99994947 0.66359966] [ 0. 0. 0. 1. ]] SLAMing on 191.84925976399995 meters 0.12847219649685201 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 0.99993928 -0.00616734 0.0091322 -1.05847453] [ 0.00620347 0.99997302 -0.00393383 3.47108648] [-0.00910769 0.00399024 0.99995056 0.66299085] [ 0. 0. 0. 1. ]] SLAMing on 191.90925976399996 meters 0.12560544660361847 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 0.99994067 -0.00635384 0.00884802 -1.05777949] [ 0.00639329 0.99996972 -0.00443745 3.47359908] [-0.00881956 0.00449376 0.99995101 0.66310248] [ 0. 0. 0. 1. ]] SLAMing on 191.96925976399996 meters 0.13045457497878277 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.47, Z:0.66 [[ 0.99994427 -0.00613913 0.00858904 -1.05646699] [ 0.0061766 0.99997149 -0.00434335 3.47475245] [-0.00856213 0.00439616 0.99995368 0.66210654] [ 0. 0. 0. 1. ]] SLAMing on 192.02925976399996 meters 0.1263728054705499 Centerline is valid? [False, False] Translation: X:-1.06, Y:3.48, Z:0.66 [[ 0.99994578 -0.0061285 0.00841931 -1.05574736] [ 0.00616636 0.99997096 -0.004478 3.4760692 ] [-0.00839162 0.00452968 0.99995453 0.66167381] [ 0. 0. 0. 1. ]] SLAMing on 192.08925976399996 meters 0.12490523627579264 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99995005 -0.00596094 0.00802277 -1.05443339] [ 0.0059983 0.99997124 -0.0046403 3.47768537] [-0.00799488 0.00468819 0.99995705 0.661304 ] [ 0. 0. 0. 1. ]] SLAMing on 192.14925976399996 meters 0.1265522635044938 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.9999527 -0.0057762 0.00782465 -1.05345357] [ 0.00581217 0.99997261 -0.00458173 3.47841904] [-0.00779797 0.00462699 0.99995889 0.66060046] [ 0. 0. 0. 1. ]] SLAMing on 192.20925976399997 meters 0.11875594255155004 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99995853 -0.00549774 0.00726097 -1.05155383] [ 0.00553123 0.99997412 -0.00460036 3.48028016] [-0.00723549 0.00464033 0.99996306 0.65984765] [ 0. 0. 0. 1. ]] SLAMing on 192.26925976399997 meters 0.12042357333603582 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99995956 -0.00542625 0.00717165 -1.0511443 ] [ 0.00545918 0.99997461 -0.00457985 3.48061726] [-0.00714662 0.00461881 0.9999638 0.65957685] [ 0. 0. 0. 1. ]] SLAMing on 192.32925976399997 meters 0.11677498601110103 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996248 -0.00504072 0.00704474 -1.05025518] [ 0.00506984 0.99997865 -0.00412222 3.47967134] [-0.00702381 0.00415778 0.99996669 0.65869586] [ 0. 0. 0. 1. ]] SLAMing on 192.38925976399995 meters 0.11489001028394404 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996228 -0.00515973 0.00698613 -1.05047853] [ 0.00519004 0.99997717 -0.00432722 3.48008396] [-0.00696365 0.00436332 0.99996623 0.65928846] [ 0. 0. 0. 1. ]] SLAMing on 192.44925976399995 meters 0.11476075180375703 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996263 -0.00499865 0.00705344 -1.05050638] [ 0.0050269 0.99997939 -0.003994 3.47908522] [-0.00703333 0.00402931 0.99996715 0.65901724] [ 0. 0. 0. 1. ]] SLAMing on 192.50925976399995 meters 0.12100637883156283 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996257 -0.00482584 0.00718105 -1.05060295] [ 0.00485144 0.99998193 -0.00355141 3.47775309] [-0.00716378 0.00358612 0.99996791 0.6585769 ] [ 0. 0. 0. 1. ]] SLAMing on 192.56925976399995 meters 0.12067487083231537 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996133 -0.00508733 0.00717355 -1.0508764 ] [ 0.00511584 0.99997907 -0.00396147 3.47911333] [-0.00715325 0.00399802 0.99996642 0.65907791] [ 0. 0. 0. 1. ]] SLAMing on 192.62925976399995 meters 0.12312941607124481 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996121 -0.00490165 0.00731801 -1.05083497] [ 0.00492827 0.99998129 -0.00362321 3.47824091] [-0.00730012 0.00365913 0.99996666 0.65842163] [ 0. 0. 0. 1. ]] SLAMing on 192.68925976399996 meters 0.12167929149724524 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996187 -0.00506726 0.00711143 -1.05033053] [ 0.00509567 0.99997909 -0.00398275 3.48023446] [-0.0070911 0.00401883 0.99996678 0.65848724] [ 0. 0. 0. 1. ]] SLAMing on 192.74925976399996 meters 0.11807961751709035 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996226 -0.00503609 0.0070787 -1.05018976] [ 0.00506425 0.99997931 -0.00396605 3.48036293] [-0.00705858 0.00400175 0.99996708 0.65842017] [ 0. 0. 0. 1. ]] SLAMing on 192.80925976399996 meters 0.12043161799788824 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 9.99963341e-01 -4.60139964e-03 7.22103173e-03 -1.04980476e+00] [ 4.62462277e-03 9.99984178e-01 -3.20264399e-03 3.47834970e+00] [-7.20618083e-03 3.23592113e-03 9.99968799e-01 6.57175504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86925976399996 meters 0.11945371111927298 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996327 -0.00477131 0.00712027 -1.04990107] [ 0.00479642 0.99998233 -0.00351254 3.47932211] [-0.00710339 0.00354657 0.99996848 0.65773527] [ 0. 0. 0. 1. ]] SLAMing on 192.92925976399997 meters 0.12502163306416592 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99996254 -0.0049471 0.00710254 -1.05023385] [ 0.00497445 0.99998026 -0.00383808 3.48014713] [-0.00708341 0.00387327 0.99996741 0.65839326] [ 0. 0. 0. 1. ]] SLAMing on 192.98925976399997 meters 0.12573637958807973 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 9.99963028e-01 -4.64631949e-03 7.23564002e-03 -1.05017882e+00] [ 4.67021717e-03 9.99983684e-01 -3.28938687e-03 3.47849941e+00] [-7.22023842e-03 3.32305726e-03 9.99968412e-01 6.57724987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04925976399997 meters 0.1259094923400643 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 9.99964119e-01 -4.17744330e-03 7.36951427e-03 -1.04986154e+00] [ 4.19537231e-03 9.99988273e-01 -2.41908336e-03 3.47590865e+00] [-7.35932227e-03 2.44991441e-03 9.99969919e-01 6.56578031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10925976399997 meters 0.12579325426850788 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99993908 -0.00852227 0.00701547 -1.04938726] [ 0.00857152 0.99993863 -0.00701908 3.47704721] [-0.00695522 0.00707879 0.99995076 0.65733303] [ 0. 0. 0. 1. ]] SLAMing on 193.16925976399995 meters 0.1253161866131859 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.48, Z:0.66 [[ 0.99994131 -0.00821317 0.00706495 -1.04929253] [ 0.00825847 0.99994537 -0.00640685 3.47503545] [-0.00701194 0.00646482 0.99995452 0.65688216] [ 0. 0. 0. 1. ]] SLAMing on 193.22925976399995 meters 0.12778988448021417 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.47, Z:0.66 [[ 0.99994231 -0.00786986 0.00731059 -1.04958119] [ 0.00791055 0.99995328 -0.00555458 3.47212971] [-0.00726653 0.00561209 0.99995785 0.65622343] [ 0. 0. 0. 1. ]] SLAMing on 193.28925976399995 meters 0.13899759805184342 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.47, Z:0.65 [[ 0.99994248 -0.00716371 0.00798286 -1.05033421] [ 0.00719322 0.99996738 -0.00367384 3.46500751] [-0.00795628 0.00373105 0.99996139 0.65467314] [ 0. 0. 0. 1. ]] SLAMing on 193.34925976399995 meters 0.13069617961381477 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.65 [[ 9.99944045e-01 -6.83466572e-03 8.07427551e-03 -1.05043450e+00] [ 6.85876242e-03 9.99972096e-01 -2.96046730e-03 3.46248629e+00] [-8.05381640e-03 3.01568119e-03 9.99963020e-01 6.54365298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40925976399996 meters 0.13967021783592123 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.65 [[ 0.99990848 -0.01095897 0.00793269 -1.05017491] [ 0.01101485 0.99991459 -0.00703501 3.46161265] [-0.00785492 0.00712174 0.99994379 0.65459771] [ 0. 0. 0. 1. ]] SLAMing on 193.46925976399996 meters 0.140172735954604 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.65 [[ 0.99991543 -0.01035862 0.007863 -1.04922784] [ 0.01040713 0.99992691 -0.00615422 3.45939048] [-0.00779868 0.00623553 0.99995015 0.65331467] [ 0. 0. 0. 1. ]] SLAMing on 193.52925976399996 meters 0.13687885217364595 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.65 [[ 0.99991931 -0.01005939 0.00775763 -1.04897093] [ 0.0101042 0.99993237 -0.0057588 3.45797725] [-0.00769917 0.00583672 0.99995333 0.65328185] [ 0. 0. 0. 1. ]] SLAMing on 193.58925976399996 meters 0.13578229149080365 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.46, Z:0.65 [[ 0.99992157 -0.00980496 0.00779247 -1.04914062] [ 0.00984656 0.99993738 -0.00531893 3.45612845] [-0.00773983 0.00539525 0.99995549 0.65335669] [ 0. 0. 0. 1. ]] SLAMing on 193.64925976399996 meters 0.13726646243574447 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.45, Z:0.65 [[ 0.9999235 -0.00952397 0.00789266 -1.04911174] [ 0.00956206 0.99994275 -0.00480277 3.45451611] [-0.00784647 0.00487787 0.99995732 0.65285163] [ 0. 0. 0. 1. ]] SLAMing on 193.70925976399997 meters 0.138973180518955 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.45, Z:0.65 [[ 9.99925513e-01 -8.90208978e-03 8.34994353e-03 -1.04966306e+00] [ 8.92913027e-03 9.99954993e-01 -3.20673422e-03 3.44865788e+00] [-8.32102108e-03 3.28105309e-03 9.99959997e-01 6.51730030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76925976399997 meters 0.14430265348572288 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99922554e-01 -8.72980862e-03 8.86992047e-03 -1.05101748e+00] [ 8.75062223e-03 9.99959043e-01 -2.31044355e-03 3.44446737e+00] [-8.84938746e-03 2.38788194e-03 9.99957992e-01 6.51820055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82925976399997 meters 0.1500068476309749 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99919860e-01 -8.42682806e-03 9.44789599e-03 -1.05230625e+00] [ 8.43801555e-03 9.99963744e-01 -1.14488841e-03 3.43943627e+00] [-9.43790567e-03 1.22451815e-03 9.99954712e-01 6.51565299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88925976399995 meters 0.14710524059090557 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99920365e-01 -8.31485092e-03 9.49347105e-03 -1.05226128e+00] [ 8.32423364e-03 9.99964902e-01 -9.49247912e-04 3.43901188e+00] [-9.48524500e-03 1.02819819e-03 9.99954485e-01 6.51302103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94925976399995 meters 0.1493518099452351 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.43, Z:0.65 [[ 9.99923575e-01 -7.46979129e-03 9.85125171e-03 -1.05180239e+00] [ 7.46409054e-03 9.99971954e-01 6.15321938e-04 3.43443864e+00] [-9.85557175e-03 -5.41744277e-04 9.99951286e-01 6.49051258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00925976399995 meters 0.14914186326631 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.43, Z:0.65 [[ 9.99923979e-01 -7.15146884e-03 1.00445713e-02 -1.05184596e+00] [ 7.13898369e-03 9.99973700e-01 1.27828041e-03 3.43249924e+00] [-1.00534487e-02 -1.20647520e-03 9.99948735e-01 6.48288177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06925976399995 meters 0.14645012846380723 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.43, Z:0.65 [[ 9.99924284e-01 -7.35456387e-03 9.86597911e-03 -1.05171133e+00] [ 7.34642688e-03 9.99972644e-01 8.60740123e-04 3.43403035e+00] [-9.87203959e-03 -7.88195257e-04 9.99950960e-01 6.48806689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12925976399995 meters 0.15337016499659248 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99926646e-01 -7.53628050e-03 9.48193644e-03 -1.05119647e+00] [ 7.53644289e-03 9.99971600e-01 1.86040239e-05 3.43668272e+00] [-9.48180737e-03 5.28574133e-05 9.99955045e-01 6.49742999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18925976399996 meters 0.14222740321558305 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99930651e-01 -7.14036400e-03 9.36528493e-03 -1.05011985e+00] [ 7.13654550e-03 9.99974437e-01 4.41085311e-04 3.43630628e+00] [-9.36819504e-03 -3.74218940e-04 9.99956047e-01 6.48534428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24925976399996 meters 0.14766071562146063 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99931392e-01 -7.02690135e-03 9.37197543e-03 -1.05004596e+00] [ 7.02137817e-03 9.99975156e-01 6.22101470e-04 3.43584383e+00] [-9.37611404e-03 -5.56254606e-04 9.99955889e-01 6.48377835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30925976399996 meters 0.14705407035369483 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 0.99989646 -0.01123848 0.00898719 -1.04895525] [ 0.01127324 0.99992913 -0.00382695 3.43745931] [-0.00894354 0.00392787 0.99995229 0.64828493] [ 0. 0. 0. 1. ]] SLAMing on 194.36925976399996 meters 0.14787973665416362 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99899322e-01 -1.09067316e-02 9.07688539e-03 -1.04867870e+00] [ 1.09365520e-02 9.99934938e-01 -3.24218510e-03 3.43596609e+00] [-9.04093318e-03 3.34112851e-03 9.99953548e-01 6.47440230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42925976399997 meters 0.14675093794000427 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.43, Z:0.65 [[ 9.99900841e-01 -1.06146895e-02 9.25400998e-03 -1.04848723e+00] [ 1.06395544e-02 9.99939908e-01 -2.64184958e-03 3.43456450e+00] [-9.22541148e-03 2.74004616e-03 9.99953691e-01 6.46376026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48925976399997 meters 0.14740799141493596 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.43, Z:0.65 [[ 9.99903853e-01 -1.03181462e-02 9.26388949e-03 -1.04798011e+00] [ 1.03388969e-02 9.99944143e-01 -2.19486068e-03 3.43364892e+00] [-9.24072514e-03 2.29042805e-03 9.99954680e-01 6.45514125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54925976399997 meters 0.15057658210154637 Centerline is valid? [False, False] Translation: X:-1.05, Y:3.44, Z:0.65 [[ 9.99909861e-01 -1.03342251e-02 8.57164112e-03 -1.04630532e+00] [ 1.03594147e-02 9.99942136e-01 -2.89954321e-03 3.43756278e+00] [-8.54118060e-03 2.98807904e-03 9.99959059e-01 6.45631752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60925976399997 meters 0.13946848331355996 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.44, Z:0.64 [[ 9.99916505e-01 -1.00550180e-02 8.11668454e-03 -1.04463257e+00] [ 1.00792811e-02 9.99944840e-01 -2.95394147e-03 3.43934830e+00] [-8.08653489e-03 3.03550518e-03 9.99962696e-01 6.44837156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66925976399995 meters 0.14542846655656944 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.44, Z:0.64 [[ 9.99919262e-01 -9.97335896e-03 7.87408202e-03 -1.04343072e+00] [ 9.99814128e-03 9.99945168e-01 -3.11426106e-03 3.44125808e+00] [-7.84259063e-03 3.19273580e-03 9.99964149e-01 6.43973524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72925976399995 meters 0.1382335117357153 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.44, Z:0.64 [[ 9.99918834e-01 -1.00614563e-02 7.81622998e-03 -1.04326727e+00] [ 1.00879609e-02 9.99943474e-01 -3.35898495e-03 3.44236547e+00] [-7.78199187e-03 3.43756213e-03 9.99963811e-01 6.44016387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78925976399995 meters 0.14258254790896455 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.44, Z:0.64 [[ 0.9999177 -0.01014096 0.00785824 -1.04330059] [ 0.01016869 0.99994218 -0.00349681 3.4430369 ] [-0.00782233 0.00357644 0.99996301 0.64393618] [ 0. 0. 0. 1. ]] SLAMing on 194.84925976399995 meters 0.14020510451170784 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.44, Z:0.64 [[ 0.99991578 -0.01032088 0.00786846 -1.04349385] [ 0.01035126 0.99993909 -0.00382937 3.44414519] [-0.00782846 0.0039105 0.99996171 0.64425133] [ 0. 0. 0. 1. ]] SLAMing on 194.90925976399996 meters 0.14538488992114068 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.45, Z:0.64 [[ 0.99991149 -0.01073811 0.0078552 -1.0437632 ] [ 0.01077361 0.99993188 -0.00449087 3.44661244] [-0.00780644 0.0045751 0.99995906 0.64477953] [ 0. 0. 0. 1. ]] SLAMing on 194.96925976399996 meters 0.134083870859219 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.45, Z:0.64 [[ 9.99950461e-01 -6.34106580e-03 7.67243540e-03 -1.04252717e+00] [ 6.34316967e-03 9.99979851e-01 -2.49908654e-04 3.44856433e+00] [-7.67069611e-03 2.98563834e-04 9.99970535e-01 6.43512388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02925976399996 meters 0.1339529212281518 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.45, Z:0.64 [[ 9.99955338e-01 -6.36147817e-03 6.98946727e-03 -1.04072605e+00] [ 6.36944842e-03 9.99979089e-01 -1.11865598e-03 3.45303393e+00] [-6.98220481e-03 1.16312507e-03 9.99974948e-01 6.43465045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08925976399996 meters 0.13237632107005076 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.46, Z:0.64 [[ 9.99959913e-01 -6.18217440e-03 6.47714036e-03 -1.03886412e+00] [ 6.19253056e-03 9.99979578e-01 -1.58004371e-03 3.45620866e+00] [-6.46723998e-03 1.62009026e-03 9.99977775e-01 6.42710365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14925976399996 meters 0.12714060670377297 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.46, Z:0.64 [[ 9.99959779e-01 -6.42021531e-03 6.26263453e-03 -1.03855976e+00] [ 6.43407481e-03 9.99976891e-01 -2.19541438e-03 3.45873020e+00] [-6.24839478e-03 2.23562034e-03 9.99977980e-01 6.43179816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20925976399997 meters 0.12728676260414348 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.46, Z:0.64 [[ 9.99959996e-01 -6.56968438e-03 6.06998919e-03 -1.03800297e+00] [ 6.58551770e-03 9.99974956e-01 -2.59216515e-03 3.46091902e+00] [-6.05280746e-03 2.63203548e-03 9.99978218e-01 6.43118066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26925976399997 meters 0.12686253948723644 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.46, Z:0.64 [[ 9.99962883e-01 -6.32884975e-03 5.84624320e-03 -1.03649022e+00] [ 6.34312129e-03 9.99976940e-01 -2.42583975e-03 3.46216914e+00] [-5.83075561e-03 2.46283314e-03 9.99979968e-01 6.41684518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32925976399997 meters 0.12308075066250772 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.46, Z:0.64 [[ 9.99962698e-01 -6.50529800e-03 5.68190425e-03 -1.03607881e+00] [ 6.52164845e-03 9.99974633e-01 -2.86386224e-03 3.46431791e+00] [-5.66312984e-03 2.90081079e-03 9.99979757e-01 6.41746270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38925976399995 meters 0.13875160598982722 Centerline is valid? [False, False] Translation: X:-1.04, Y:3.47, Z:0.64 [[ 9.99963811e-01 -6.60505330e-03 5.36196215e-03 -1.03508207e+00] [ 6.62330388e-03 9.99972309e-01 -3.39312168e-03 3.46737191e+00] [-5.33940192e-03 3.42851279e-03 9.99979868e-01 6.41542444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44925976399995 meters 0.1368363952769186 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99996413 -0.00665173 0.00524429 -1.03464567] [ 0.00667038 0.99997147 -0.0035454 3.46850646] [-0.00522056 0.00358025 0.99997996 0.64134571] [ 0. 0. 0. 1. ]] SLAMing on 195.50925976399995 meters 0.1300102646567194 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99996726 -0.00651951 0.00479384 -1.03316732] [ 0.00653775 0.99997141 -0.00379971 3.47082362] [-0.00476893 0.00383093 0.99998129 0.6408459 ] [ 0. 0. 0. 1. ]] SLAMing on 195.56925976399995 meters 0.13022137291166702 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99996715 -0.0065987 0.00470646 -1.03295023] [ 0.00661768 0.99996999 -0.00402791 3.47186765] [-0.00467974 0.00405893 0.99998081 0.64089711] [ 0. 0. 0. 1. ]] SLAMing on 195.62925976399995 meters 0.12495141983541908 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99997227 -0.00609751 0.00427626 -1.03086405] [ 0.00611342 0.9999744 -0.00371751 3.47273977] [-0.00425348 0.00374355 0.99998395 0.63939937] [ 0. 0. 0. 1. ]] SLAMing on 195.68925976399996 meters 0.1217370048120984 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99997393 -0.00596026 0.00407658 -1.03006746] [ 0.0059754 0.99997525 -0.00371318 3.47342165] [-0.00405434 0.00373744 0.9999848 0.63900392] [ 0. 0. 0. 1. ]] SLAMing on 195.74925976399996 meters 0.11972955267323038 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99997516 -0.00596112 0.00376171 -1.02952403] [ 0.00597592 0.9999744 -0.0039343 3.47435308] [-0.00373816 0.00395668 0.99998519 0.6394584 ] [ 0. 0. 0. 1. ]] SLAMing on 195.80925976399996 meters 0.11803953051509344 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 0.99997713 -0.00566306 0.00369627 -1.02902513] [ 0.00567614 0.99997764 -0.00353666 3.47338075] [-0.00367616 0.00355756 0.99998691 0.63892252] [ 0. 0. 0. 1. ]] SLAMing on 195.86925976399996 meters 0.11618085714422897 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 9.99980213e-01 -5.16044902e-03 3.59764401e-03 -1.02794437e+00] [ 5.17052940e-03 9.99982717e-01 -2.79829239e-03 3.47183588e+00] [-3.58314139e-03 2.81683875e-03 9.99989613e-01 6.37567665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92925976399997 meters 0.1169351966110282 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 9.99982282e-01 -4.75304932e-03 3.58379101e-03 -1.02737904e+00] [ 4.76080776e-03 9.99986336e-01 -2.15945342e-03 3.47020198e+00] [-3.57347805e-03 2.17647690e-03 9.99991247e-01 6.36693974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98925976399997 meters 0.11662053569480943 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 9.99983406e-01 -4.44043740e-03 3.67009650e-03 -1.02751062e+00] [ 4.44612622e-03 9.99988925e-01 -1.54334339e-03 3.46782152e+00] [-3.66320274e-03 1.55963549e-03 9.99992074e-01 6.36496031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04925976399997 meters 0.11642469570546626 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 9.99957164e-01 -8.66462025e-03 3.25485074e-03 -1.02661998e+00] [ 8.68406528e-03 9.99944242e-01 -6.00831421e-03 3.46884398e+00] [-3.20260949e-03 6.03632218e-03 9.99976653e-01 6.36836288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10925976399997 meters 0.11637220008268599 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.47, Z:0.64 [[ 9.99961587e-01 -8.08064445e-03 3.39511294e-03 -1.02621124e+00] [ 8.09710095e-03 9.99955400e-01 -4.86165561e-03 3.46542707e+00] [-3.35567621e-03 4.88895943e-03 9.99982419e-01 6.35447831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16925976399995 meters 0.11639348671405328 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 9.99964020e-01 -7.75341416e-03 3.44144156e-03 -1.02592065e+00] [ 7.76805852e-03 9.99960743e-01 -4.26252629e-03 3.46374524e+00] [-3.40825733e-03 4.28910625e-03 9.99984994e-01 6.34723572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22925976399995 meters 0.1194425212957171 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.99996537 -0.00753033 0.00354305 -1.02603469] [ 0.00754359 0.99996455 -0.00374198 3.46198707] [-0.00351475 0.00376857 0.99998672 0.63442175] [ 0. 0. 0. 1. ]] SLAMing on 196.28925976399995 meters 0.11881175163454928 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 9.99965552e-01 -7.31698032e-03 3.91869126e-03 -1.02668157e+00] [ 7.32825012e-03 9.99969031e-01 -2.86931350e-03 3.45875956e+00] [-3.89757519e-03 2.89793181e-03 9.99988205e-01 6.33856495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34925976399995 meters 0.1267097542900511 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.99992185 -0.0118923 0.00385676 -1.02709256] [ 0.01192131 0.99990015 -0.00758822 3.45969838] [-0.00376613 0.0076336 0.99996377 0.63488934] [ 0. 0. 0. 1. ]] SLAMing on 196.40925976399996 meters 0.13014512204001205 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.99991896 -0.01195179 0.0043857 -1.02832184] [ 0.01198268 0.99990309 -0.00708708 3.45750457] [-0.00430057 0.00713906 0.99996527 0.63468234] [ 0. 0. 0. 1. ]] SLAMing on 196.46925976399996 meters 0.13070256897078322 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.99991851 -0.01190221 0.0046171 -1.02883212] [ 0.01193319 0.99990608 -0.00674085 3.45621715] [-0.00453643 0.0067954 0.99996662 0.63448305] [ 0. 0. 0. 1. ]] SLAMing on 196.52925976399996 meters 0.13532710921778918 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.99992047 -0.01172707 0.00463973 -1.02842772] [ 0.01175684 0.99991013 -0.00644272 3.4558512 ] [-0.00456376 0.00649675 0.99996848 0.63373132] [ 0. 0. 0. 1. ]] SLAMing on 196.58925976399996 meters 0.1339737702167262 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.46, Z:0.63 [[ 0.9999225 -0.01156932 0.00459749 -1.02792967] [ 0.01159792 0.99991326 -0.00624244 3.45582471] [-0.00452487 0.00629528 0.99996995 0.63311291] [ 0. 0. 0. 1. ]] SLAMing on 196.64925976399996 meters 0.13031431348231884 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 0.99992925 -0.01098217 0.00457096 -1.02702392] [ 0.01100692 0.99992471 -0.00542384 3.4536661 ] [-0.00451105 0.00547377 0.99997484 0.6317963 ] [ 0. 0. 0. 1. ]] SLAMing on 196.70925976399997 meters 0.12932427202652666 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 0.99993005 -0.01096159 0.00444211 -1.02676748] [ 0.01098594 0.99992455 -0.00549506 3.45407968] [-0.00438154 0.00554347 0.99997504 0.63191532] [ 0. 0. 0. 1. ]] SLAMing on 196.76925976399997 meters 0.12857029534145412 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 0.99993272 -0.01069764 0.00448568 -1.02668427] [ 0.01072022 0.99992984 -0.00503984 3.45260883] [-0.00443145 0.00508759 0.99997724 0.63153024] [ 0. 0. 0. 1. ]] SLAMing on 196.82925976399997 meters 0.12458601607487166 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 0.99993759 -0.01017561 0.00461312 -1.02618675] [ 0.01019456 0.99993961 -0.00410419 3.45009091] [-0.00457108 0.00415097 0.99998094 0.63010716] [ 0. 0. 0. 1. ]] SLAMing on 196.88925976399995 meters 0.12733250743979818 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 9.99941441e-01 -9.75903452e-03 4.67717600e-03 -1.02599865e+00] [ 9.77475786e-03 9.99946612e-01 -3.35072826e-03 3.44762708e+00] [-4.64422642e-03 3.39625031e-03 9.99983448e-01 6.29445983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94925976399995 meters 0.1264093080861096 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.45, Z:0.63 [[ 9.99943822e-01 -9.52511810e-03 4.65019911e-03 -1.02581779e+00] [ 9.53930659e-03 9.99949883e-01 -3.03857037e-03 3.44659003e+00] [-4.62102331e-03 3.08275934e-03 9.99984571e-01 6.29251606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00925976399995 meters 0.12592305383381094 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.45, Z:0.63 [[ 9.99948542e-01 -9.09457759e-03 4.49460121e-03 -1.02473910e+00] [ 9.10620679e-03 9.99955225e-01 -2.57371370e-03 3.44593051e+00] [-4.47099313e-03 2.61451003e-03 9.99986587e-01 6.28205506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06925976399995 meters 0.1262504331996282 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.45, Z:0.63 [[ 9.99952354e-01 -8.76295711e-03 4.30126559e-03 -1.02368831e+00] [ 8.77276452e-03 9.99958950e-01 -2.26657578e-03 3.44585120e+00] [-4.28122712e-03 2.30420177e-03 9.99988181e-01 6.27338351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12925976399995 meters 0.12217774134230164 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99955249e-01 -8.43268953e-03 4.28822069e-03 -1.02332589e+00] [ 8.44041893e-03 9.99962781e-01 -1.78757970e-03 3.44448252e+00] [-4.27298698e-03 1.82369408e-03 9.99989208e-01 6.26799572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18925976399996 meters 0.12485083714541986 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99955878e-01 -8.39947239e-03 4.20608907e-03 -1.02334579e+00] [ 8.40717052e-03 9.99963010e-01 -1.81591150e-03 3.44435117e+00] [-4.19068079e-03 1.85119268e-03 9.99989506e-01 6.27172458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24925976399996 meters 0.1253648508506741 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99959699e-01 -7.85019529e-03 4.35592689e-03 -1.02277075e+00] [ 7.85412363e-03 9.99968764e-01 -8.85464949e-04 3.44194758e+00] [-4.34883976e-03 9.19641252e-04 9.99990121e-01 6.25659611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30925976399996 meters 0.12692008560245735 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 0.99991695 -0.01224279 0.0040253 -1.02193214] [ 0.01226513 0.99990925 -0.00557373 3.44416496] [-0.0039567 0.00562263 0.99997636 0.62580232] [ 0. 0. 0. 1. ]] SLAMing on 197.36925976399996 meters 0.1286127664910267 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99958602e-01 -7.75049003e-03 4.76692054e-03 -1.02331319e+00] [ 7.75238590e-03 9.99969878e-01 -3.79365403e-04 3.44013135e+00] [-4.76383668e-03 4.16304706e-04 9.99988566e-01 6.25067469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42925976399997 meters 0.13460558715644647 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 0.99991044 -0.01255247 0.00464147 -1.02379953] [ 0.01257767 0.99990609 -0.00544155 3.44251804] [-0.00457273 0.00549944 0.99997442 0.62641803] [ 0. 0. 0. 1. ]] SLAMing on 197.48925976399997 meters 0.14092104405653147 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 0.99991081 -0.01246294 0.00480005 -1.0241385 ] [ 0.01248771 0.99990869 -0.00516482 3.44149772] [-0.00473524 0.0052243 0.99997514 0.62628227] [ 0. 0. 0. 1. ]] SLAMing on 197.54925976399997 meters 0.13695238203341903 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.44, Z:0.63 [[ 0.99990608 -0.01255314 0.00549911 -1.02588384] [ 0.01257762 0.99991104 -0.00444053 3.43794463] [-0.00544288 0.00450928 0.99997502 0.62627072] [ 0. 0. 0. 1. ]] SLAMing on 197.60925976399994 meters 0.14119835300453829 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.44, Z:0.63 [[ 0.999903 -0.01253773 0.00606608 -1.02717938] [ 0.01256085 0.99991393 -0.00378817 3.43505923] [-0.00601807 0.003864 0.99997443 0.6260837 ] [ 0. 0. 0. 1. ]] SLAMing on 197.66925976399995 meters 0.14397076665800917 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.44, Z:0.63 [[ 0.9999067 -0.01249101 0.00552853 -1.02548041] [ 0.0125143 0.99991288 -0.00419747 3.43843144] [-0.00547561 0.00426626 0.99997591 0.6255413 ] [ 0. 0. 0. 1. ]] SLAMing on 197.72925976399995 meters 0.14027235943449776 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 0.99990935 -0.012334 0.00539989 -1.02484666] [ 0.01235641 0.9999151 -0.00413755 3.43878487] [-0.0053484 0.00420389 0.99997686 0.62512572] [ 0. 0. 0. 1. ]] SLAMing on 197.78925976399995 meters 0.14600582671441706 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 0.99991329 -0.01216236 0.00504889 -1.02355589] [ 0.01218407 0.99991656 -0.00429106 3.44046464] [-0.00499628 0.0043522 0.99997805 0.62459268] [ 0. 0. 0. 1. ]] SLAMing on 197.84925976399995 meters 0.14421493454959827 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99956773e-01 -7.62521125e-03 5.32048296e-03 -1.02384562e+00] [ 7.62215889e-03 9.99970775e-01 5.93739762e-04 3.43868982e+00] [-5.32485486e-03 -5.53160530e-04 9.99985670e-01 6.23783920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90925976399996 meters 0.1480561450411887 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99959229e-01 -7.49738707e-03 5.03281135e-03 -1.02271104e+00] [ 7.49495710e-03 9.99971787e-01 5.01513121e-04 3.44016032e+00] [-5.03642940e-03 -4.63771968e-04 9.99987210e-01 6.23239411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96925976399996 meters 0.13806892434567408 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99959127e-01 -7.55345901e-03 4.96892905e-03 -1.02258633e+00] [ 7.55205850e-03 9.99971438e-01 3.00556864e-04 3.44096832e+00] [-4.97105737e-03 -2.63018936e-04 9.99987610e-01 6.23354398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02925976399996 meters 0.14251961730722612 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99958568e-01 -7.68325942e-03 4.88165189e-03 -1.02247731e+00] [ 7.68324466e-03 9.99970483e-01 2.17767990e-05 3.44214637e+00] [-4.88167511e-03 1.57310291e-05 9.99988084e-01 6.23576885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08925976399996 meters 0.1415922882835695 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99958199e-01 -7.67122247e-03 4.97525177e-03 -1.02299610e+00] [ 7.67087879e-03 9.99970574e-01 8.81561352e-05 3.44137228e+00] [-4.97578163e-03 -4.99878969e-05 9.99987619e-01 6.24028208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14925976399996 meters 0.1417213858705668 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99957161e-01 -7.67774989e-03 5.16992445e-03 -1.02362791e+00] [ 7.67696053e-03 9.99970517e-01 1.72510779e-04 3.44064772e+00] [-5.17109652e-03 -1.32814083e-04 9.99986621e-01 6.24249742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20925976399997 meters 0.14026511093818675 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99954399e-01 -8.02506999e-03 5.17671160e-03 -1.02416587e+00] [ 8.02712599e-03 9.99967711e-01 -3.76506999e-04 3.44236705e+00] [-5.17352295e-03 4.18043946e-04 9.99986530e-01 6.25073428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26925976399997 meters 0.13939725557190577 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.63 [[ 9.99953831e-01 -8.05579859e-03 5.23840432e-03 -1.02459712e+00] [ 8.05783380e-03 9.99967468e-01 -3.67528188e-04 3.44194733e+00] [-5.23527317e-03 4.09721411e-04 9.99986212e-01 6.25490261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32925976399997 meters 0.1399033373389403 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99956671e-01 -7.63866683e-03 5.32036451e-03 -1.02433890e+00] [ 7.63678840e-03 9.99970770e-01 3.73291087e-04 3.43952098e+00] [-5.32306044e-03 -3.32644415e-04 9.99985777e-01 6.24774051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38925976399995 meters 0.13774235367419188 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99958799e-01 -7.53105791e-03 5.06792150e-03 -1.02350021e+00] [ 7.52954552e-03 9.99971602e-01 3.17439320e-04 3.44033203e+00] [-5.07016823e-03 -2.79267096e-04 9.99987108e-01 6.24529264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44925976399995 meters 0.1358010726616356 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99960288e-01 -7.33445021e-03 5.06241198e-03 -1.02323421e+00] [ 7.33175601e-03 9.99972971e-01 5.50549197e-04 3.43979213e+00] [-5.06631312e-03 -5.13410964e-04 9.99987034e-01 6.24187031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50925976399995 meters 0.13863046840170978 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 0.99992051 -0.01166321 0.00479002 -1.02252049] [ 0.01168219 0.99992394 -0.00395499 3.4411572 ] [-0.00474353 0.00401063 0.99998071 0.62430044] [ 0. 0. 0. 1. ]] SLAMing on 198.56925976399995 meters 0.1444697709196194 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 0.99992375 -0.01140734 0.00472927 -1.02224335] [ 0.01142415 0.99992847 -0.00354304 3.43986277] [-0.00468852 0.0035968 0.99998254 0.62409303] [ 0. 0. 0. 1. ]] SLAMing on 198.62925976399995 meters 0.1429997280608765 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.44, Z:0.62 [[ 9.99925380e-01 -1.12098886e-02 4.85524181e-03 -1.02257373e+00] [ 1.12249354e-02 9.99932246e-01 -3.08299732e-03 3.43796615e+00] [-4.82035279e-03 3.13726704e-03 9.99983461e-01 6.24077886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68925976399996 meters 0.1406177164770062 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.43, Z:0.62 [[ 9.99933413e-01 -1.03756232e-02 5.05134499e-03 -1.02222122e+00] [ 1.03839117e-02 9.99944778e-01 -1.61741061e-03 3.43292175e+00] [-5.03428440e-03 1.66975563e-03 9.99985934e-01 6.22737535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74925976399996 meters 0.14650521040310996 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.43, Z:0.62 [[ 9.99940405e-01 -9.65458685e-03 5.09656051e-03 -1.02198923e+00] [ 9.65622524e-03 9.99953333e-01 -2.96960443e-04 3.42809939e+00] [-5.09345564e-03 3.46156282e-04 9.99986968e-01 6.22077456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80925976399996 meters 0.14699868930179125 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.42, Z:0.62 [[ 9.99946159e-01 -9.05550326e-03 5.06725861e-03 -1.02149131e+00] [ 9.05215436e-03 9.99958795e-01 6.83435048e-04 3.42496724e+00] [-5.07323866e-03 -6.37528644e-04 9.99986928e-01 6.21350425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86925976399996 meters 0.15015175669737815 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.42, Z:0.62 [[ 9.99950993e-01 -8.47256444e-03 5.12133553e-03 -1.02119663e+00] [ 8.46394327e-03 9.99962731e-01 1.70271992e-03 3.42151578e+00] [-5.13557107e-03 -1.65928978e-03 9.99985436e-01 6.20606923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92925976399997 meters 0.14928669539100523 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.42, Z:0.62 [[ 9.99954751e-01 -7.97860284e-03 5.18054491e-03 -1.02112230e+00] [ 7.96515166e-03 9.99964866e-01 2.61194153e-03 3.41820954e+00] [-5.20120255e-03 -2.57055951e-03 9.99983170e-01 6.20183395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98925976399997 meters 0.14723517336858216 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.42, Z:0.62 [[ 9.99915170e-01 -1.21143134e-02 4.78490309e-03 -1.02040699e+00] [ 1.21224903e-02 9.99925103e-01 -1.68361972e-03 3.41808544e+00] [-4.76414882e-03 1.74148184e-03 9.99987135e-01 6.20754096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04925976399997 meters 0.15483210197356503 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.41, Z:0.62 [[ 9.99918567e-01 -1.16589225e-02 5.18924878e-03 -1.02133957e+00] [ 1.16614162e-02 9.99931902e-01 -4.50562015e-04 3.41269006e+00] [-5.18364234e-03 5.11039315e-04 9.99986434e-01 6.20611131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10925976399994 meters 0.1682726145559262 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.41, Z:0.62 [[ 9.99920957e-01 -1.13646593e-02 5.37816643e-03 -1.02176034e+00] [ 1.13630904e-02 9.99935386e-01 3.22189956e-04 3.40968341e+00] [-5.38148050e-03 -2.61051897e-04 9.99985486e-01 6.20463583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16925976399995 meters 0.161425191487887 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99921537e-01 -1.10106063e-02 5.97388740e-03 -1.02300551e+00] [ 1.10006743e-02 9.99938058e-01 1.69289161e-03 3.40402201e+00] [-5.99215713e-03 -1.62704199e-03 9.99980723e-01 6.20063062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22925976399995 meters 0.1624168852719662 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99921341e-01 -1.07569731e-02 6.44968943e-03 -1.02384561e+00] [ 1.07404432e-02 9.99938960e-01 2.59209150e-03 3.40049526e+00] [-6.47717880e-03 -2.52261509e-03 9.99975841e-01 6.19521952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28925976399995 meters 0.18048775952879462 Centerline is valid? [False, False] Translation: X:-1.03, Y:3.40, Z:0.62 [[ 0.99991969 -0.01053036 0.00705089 -1.02507643] [ 0.01050478 0.99993814 0.00365534 3.39594662] [-0.00708895 -0.00358098 0.99996846 0.61912012] [ 0. 0. 0. 1. ]] SLAMing on 199.34925976399995 meters 0.17015707376534772 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99921872e-01 -1.05924146e-02 6.63707709e-03 -1.02419892e+00] [ 1.05713024e-02 9.99938976e-01 3.20799559e-03 3.39812661e+00] [-6.67065249e-03 -3.13758241e-03 9.99972829e-01 6.19361155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40925976399996 meters 0.17058839414306887 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99922312e-01 -1.05645586e-02 6.61509860e-03 -1.02407803e+00] [ 1.05434666e-02 9.99939247e-01 3.21525533e-03 3.39828338e+00] [-6.64866446e-03 -3.14525948e-03 9.99972951e-01 6.19270515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46925976399996 meters 0.1745816952629097 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99925159e-01 -1.03491589e-02 6.52461731e-03 -1.02344042e+00] [ 1.03268735e-02 9.99940759e-01 3.44008195e-03 3.39815650e+00] [-6.55983274e-03 -3.37244559e-03 9.99972797e-01 6.18646534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52925976399996 meters 0.16437949417102446 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.40, Z:0.62 [[ 9.99926103e-01 -1.04387712e-02 6.23061497e-03 -1.02266509e+00] [ 1.04198947e-02 9.99941046e-01 3.05444836e-03 3.40019219e+00] [-6.26213234e-03 -2.98930030e-03 9.99975925e-01 6.18605580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58925976399996 meters 0.1656920618731009 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.41, Z:0.62 [[ 9.99929721e-01 -1.06113051e-02 5.28705241e-03 -1.02067359e+00] [ 1.06032977e-02 9.99942597e-01 1.54026005e-03 3.40672107e+00] [-5.30309308e-03 -1.48409161e-03 9.99984837e-01 6.19193216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64925976399996 meters 0.16301741338575435 Centerline is valid? [False, False] Translation: X:-1.02, Y:3.41, Z:0.62 [[ 9.99932270e-01 -1.07988160e-02 4.34052081e-03 -1.01885851e+00] [ 1.07988729e-02 9.99941690e-01 1.03300699e-05 3.41299884e+00] [-4.34037926e-03 3.65433623e-05 9.99990580e-01 6.20120559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70925976399997 meters 0.13807382982319946 Centerline is valid? [False, False] Translation: X:-1.00, Y:3.42, Z:0.62 [[ 9.99994933e-01 -3.10902123e-03 6.84327579e-04 -1.00102553e+00] [ 3.11012228e-03 9.99993861e-01 -1.61380795e-03 3.41696628e+00] [-6.79306015e-04 1.61592812e-03 9.99998464e-01 6.23235173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76925976399997 meters 0.1298039041922966 Centerline is valid? [False, False] Translation: X:-1.00, Y:3.42, Z:0.62 [[ 9.99995720e-01 -2.92200324e-03 -1.50847010e-04 -9.98576573e-01] [ 2.92162930e-03 9.99992798e-01 -2.42235113e-03 3.42183413e+00] [ 1.57924042e-04 2.42190004e-03 9.99997055e-01 6.22617737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82925976399997 meters 0.12179682038340663 Centerline is valid? [False, False] Translation: X:-1.00, Y:3.43, Z:0.62 [[ 9.99995931e-01 -2.54933715e-03 -1.28028160e-03 -9.95335704e-01] [ 2.54501699e-03 9.99991101e-01 -3.36475006e-03 3.42782418e+00] [ 1.28884808e-03 3.36147803e-03 9.99993520e-01 6.21900100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88925976399995 meters 0.1170421793034376 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 9.99994880e-01 -2.46491624e-03 -2.04056251e-03 -9.93559502e-01] [ 2.45636032e-03 9.99988227e-01 -4.18486205e-03 3.43194161e+00] [ 2.05085382e-03 4.17982826e-03 9.99989161e-01 6.22197466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94925976399995 meters 0.11541239139119198 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 9.99994959e-01 -2.05839633e-03 -2.41778665e-03 -9.91765797e-01] [ 2.04852030e-03 9.99989578e-01 -4.08013697e-03 3.43325832e+00] [ 2.42615999e-03 4.07516351e-03 9.99988753e-01 6.20975207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00925976399995 meters 0.11217854168443724 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 9.99994674e-01 -1.53192369e-03 -2.88174294e-03 -9.89677219e-01] [ 1.52092251e-03 9.99991563e-01 -3.81586744e-03 3.43421940e+00] [ 2.88756424e-03 3.81146421e-03 9.99988567e-01 6.19643771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06925976399995 meters 0.10910810834228427 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.44, Z:0.62 [[ 0.99997752 -0.0055982 -0.00369121 -0.98762203] [ 0.00556691 0.99994894 -0.00843415 3.43704047] [ 0.00373824 0.00841341 0.99995762 0.61955612] [ 0. 0. 0. 1. ]] SLAMing on 200.12925976399995 meters 0.10822862011573504 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.44, Z:0.62 [[ 0.9999769 -0.00555003 -0.0039243 -0.98712626] [ 0.00551641 0.99994841 -0.00852877 3.43770775] [ 0.00397143 0.00850693 0.99995593 0.61971238] [ 0. 0. 0. 1. ]] SLAMing on 200.18925976399996 meters 0.10726046474637024 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.44, Z:0.62 [[ 0.99997825 -0.00529329 -0.00393554 -0.98664097] [ 0.00526092 0.99995263 -0.0081893 3.43711659] [ 0.0039787 0.00816842 0.99995872 0.61901845] [ 0. 0. 0. 1. ]] SLAMing on 200.24925976399996 meters 0.10759009097962677 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.9999815 -0.00464945 -0.00392284 -0.98585593] [ 0.00462084 0.9999629 -0.00726918 3.43455379] [ 0.00395649 0.00725092 0.99996588 0.61775816] [ 0. 0. 0. 1. ]] SLAMing on 200.30925976399996 meters 0.1067952926790215 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.99998166 -0.00457364 -0.00396966 -0.98567513] [ 0.00454498 0.99996377 -0.00719736 3.43451901] [ 0.00400243 0.00717918 0.99996622 0.61768457] [ 0. 0. 0. 1. ]] SLAMing on 200.36925976399996 meters 0.10791531829083263 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.99998252 -0.00439298 -0.00395795 -0.98562888] [ 0.00436564 0.99996674 -0.00688914 3.43352905] [ 0.00398809 0.00687174 0.99996844 0.61754954] [ 0. 0. 0. 1. ]] SLAMing on 200.42925976399997 meters 0.1104230039857029 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.99998428 -0.00404444 -0.00388482 -0.98527801] [ 0.00401992 0.99997208 -0.00629887 3.43199376] [ 0.00391019 0.00628316 0.99997262 0.6166966 ] [ 0. 0. 0. 1. ]] SLAMing on 200.48925976399997 meters 0.11237041441005405 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.99995521 -0.00852801 -0.00410537 -0.98502935] [ 0.00848284 0.99990463 -0.01089837 3.43306975] [ 0.00419792 0.01086306 0.99993218 0.61725919] [ 0. 0. 0. 1. ]] SLAMing on 200.54925976399997 meters 0.11371845433483563 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 0.99995746 -0.00836735 -0.00388137 -0.98553898] [ 0.00832677 0.9999117 -0.01035648 3.43090352] [ 0.00396769 0.01032373 0.99993884 0.61715362] [ 0. 0. 0. 1. ]] SLAMing on 200.60925976399994 meters 0.12136079317574663 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 9.99960785e-01 -8.23892452e-03 -3.24783933e-03 -9.86803288e-01] [ 8.20844463e-03 9.99923166e-01 -9.28886976e-03 3.42631619e+00] [ 3.32412008e-03 9.26184578e-03 9.99951583e-01 6.16656772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66925976399995 meters 0.12477954647526442 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.62 [[ 9.99914909e-01 -1.26428820e-02 -3.21428230e-03 -9.86936162e-01] [ 1.25981979e-02 9.99828673e-01 -1.35613787e-02 3.42618669e+00] [ 3.38518652e-03 1.35197305e-02 9.99902874e-01 6.16854288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72925976399995 meters 0.14284299755464258 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.42, Z:0.62 [[ 9.99917192e-01 -1.26622161e-02 -2.29705124e-03 -9.88738092e-01] [ 1.26336502e-02 9.99847569e-01 -1.20510878e-02 3.42056390e+00] [ 2.44929458e-03 1.20210698e-02 9.99924745e-01 6.15762519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78925976399995 meters 0.14935328164968464 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.42, Z:0.62 [[ 9.99918250e-01 -1.26714419e-02 -1.71104072e-03 -9.89922733e-01] [ 1.26513624e-02 9.99856386e-01 -1.12761227e-02 3.41758878e+00] [ 1.85367972e-03 1.12535539e-02 9.99934959e-01 6.15290348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84925976399995 meters 0.15675862787307213 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.41, Z:0.61 [[ 9.99916790e-01 -1.28718501e-02 -8.53723679e-04 -9.91776785e-01] [ 1.28622430e-02 9.99862795e-01 -1.04380930e-02 3.41421226e+00] [ 9.87964112e-04 1.04262436e-02 9.99945157e-01 6.14758421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90925976399996 meters 0.1591589301820511 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.41, Z:0.61 [[ 9.99915761e-01 -1.29734925e-02 -3.98234116e-04 -9.92697640e-01] [ 1.29687966e-02 9.99864635e-01 -1.01252832e-02 3.41305268e+00] [ 5.29540494e-04 1.01192656e-02 9.99948659e-01 6.14389214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96925976399996 meters 0.16882696383176618 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.41, Z:0.61 [[ 9.99962151e-01 -8.70033576e-03 -1.29487116e-05 -9.92857195e-01] [ 8.70012828e-03 9.99946604e-01 -5.57640723e-03 3.41326336e+00] [ 6.14646354e-05 5.57608351e-03 9.99984452e-01 6.12926936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02925976399996 meters 0.15776695157022688 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.42, Z:0.61 [[ 9.99988782e-01 -4.70638723e-03 -5.34062344e-04 -9.91524868e-01] [ 4.70504811e-03 9.99985852e-01 -2.48158449e-03 3.41882854e+00] [ 5.45734086e-04 2.47904387e-03 9.99996778e-01 6.13010572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08925976399996 meters 0.1467791139731095 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.61 [[ 9.99989023e-01 -4.44373186e-03 -1.48585095e-03 -9.88145274e-01] [ 4.43839871e-03 9.99983765e-01 -3.57353025e-03 3.42615533e+00] [ 1.50170664e-03 3.56689622e-03 9.99992511e-01 6.11419230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14925976399996 meters 0.15060686793997446 Centerline is valid? [False, False] Translation: X:-0.99, Y:3.43, Z:0.61 [[ 9.99988094e-01 -4.48604486e-03 -1.92016559e-03 -9.86369249e-01] [ 4.47791245e-03 9.99981075e-01 -4.21881547e-03 3.43049869e+00] [ 1.93905505e-03 4.21016690e-03 9.99989257e-01 6.10421195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20925976399997 meters 0.13449619737641755 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99984496e-01 -4.85277784e-03 -2.73089882e-03 -9.84382800e-01] [ 4.83764342e-03 9.99973055e-01 -5.52149912e-03 3.43794119e+00] [ 2.75761985e-03 5.50820240e-03 9.99981027e-01 6.10363402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26925976399997 meters 0.14230734890091273 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99983453e-01 -4.96678832e-03 -2.90263291e-03 -9.83782094e-01] [ 4.94964530e-03 9.99970441e-01 -5.88366162e-03 3.43992484e+00] [ 2.93177002e-03 5.86919726e-03 9.99978478e-01 6.10203630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32925976399997 meters 0.13065516738165317 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99981748e-01 -5.06161915e-03 -3.29914986e-03 -9.82309320e-01] [ 5.04034564e-03 9.99966657e-01 -6.42491046e-03 3.44367279e+00] [ 3.33156031e-03 6.40816433e-03 9.99973918e-01 6.09567114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38925976399995 meters 0.13003603087128351 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99998068 -0.0051331 -0.00350447 -0.98170623] [ 0.00510943 0.9999643 -0.00672962 3.44534719] [ 0.00353888 0.00671159 0.99997122 0.60952108] [ 0. 0. 0. 1. ]] SLAMing on 201.44925976399995 meters 0.13217904318825818 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99997983 -0.00513968 -0.00373049 -0.98094651] [ 0.00511335 0.99996218 -0.00703527 3.44712855] [ 0.0037665 0.00701605 0.99996829 0.60933922] [ 0. 0. 0. 1. ]] SLAMing on 201.50925976399995 meters 0.13255232292197053 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99998005 -0.00501559 -0.00383853 -0.98011449] [ 0.00498875 0.99996325 -0.00697232 3.44791486] [ 0.00387335 0.00695304 0.99996833 0.60852722] [ 0. 0. 0. 1. ]] SLAMing on 201.56925976399995 meters 0.12923306596790138 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99997975 -0.00502406 -0.00390674 -0.97983589] [ 0.00499648 0.99996277 -0.00703517 3.44854461] [ 0.00394194 0.00701551 0.99996762 0.6083956 ] [ 0. 0. 0. 1. ]] SLAMing on 201.62925976399995 meters 0.1291921778862266 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99998017 -0.00498864 -0.00384228 -0.980123 ] [ 0.00496195 0.99996371 -0.00692503 3.4479517 ] [ 0.00387669 0.00690583 0.99996864 0.6085636 ] [ 0. 0. 0. 1. ]] SLAMing on 201.68925976399996 meters 0.1348003038647367 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.45, Z:0.61 [[ 0.99998116 -0.00482409 -0.00379576 -0.98007573] [ 0.00479883 0.99996648 -0.00663416 3.44710545] [ 0.00382763 0.00661582 0.99997079 0.60827922] [ 0. 0. 0. 1. ]] SLAMing on 201.74925976399996 meters 0.13534487332523373 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99984918e-01 -4.29857176e-03 -3.41854061e-03 -9.80029695e-01] [ 4.27988077e-03 9.99975956e-01 -5.45618396e-03 3.44369617e+00] [ 3.44191221e-03 5.44147073e-03 9.99979272e-01 6.06557414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80925976399996 meters 0.13634451459954272 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 0.99995621 -0.00869386 -0.00346393 -0.98022863] [ 0.0086595 0.99991433 -0.00981599 3.44349381] [ 0.00354897 0.00978556 0.99994582 0.60711161] [ 0. 0. 0. 1. ]] SLAMing on 201.86925976399996 meters 0.1375127955403918 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99958667e-01 -8.56159226e-03 -3.06008681e-03 -9.81381889e-01] [ 8.53356286e-03 9.99922560e-01 -9.05827749e-03 3.43999078e+00] [ 3.13740311e-03 9.03178964e-03 9.99954291e-01 6.07185699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92925976399997 meters 0.14296015530065465 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.61 [[ 9.99959851e-01 -8.36030701e-03 -3.22529734e-03 -9.80579112e-01] [ 8.33143976e-03 9.99926021e-01 -8.86221381e-03 3.44007384e+00] [ 3.29914957e-03 8.83498663e-03 9.99955528e-01 6.06619665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98925976399997 meters 0.13704442793195515 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.44, Z:0.60 [[ 9.99966464e-01 -7.60547378e-03 -3.03764952e-03 -9.79778728e-01] [ 7.58217562e-03 9.99942305e-01 -7.60905218e-03 3.43672614e+00] [ 3.09534471e-03 7.58576501e-03 9.99966437e-01 6.04550547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04925976399997 meters 0.14472103158120117 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.43, Z:0.60 [[ 9.99969161e-01 -7.27621963e-03 -2.95514863e-03 -9.79778923e-01] [ 7.25523567e-03 9.99948825e-01 -7.05052221e-03 3.43470968e+00] [ 3.00629855e-03 7.02886448e-03 9.99970778e-01 6.04184283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10925976399994 meters 0.14218075886740317 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.43, Z:0.60 [[ 9.99970032e-01 -7.18981628e-03 -2.87082943e-03 -9.80312701e-01] [ 7.17023389e-03 9.99951348e-01 -6.77416239e-03 3.43315985e+00] [ 2.91939474e-03 6.75337486e-03 9.99972934e-01 6.04616964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16925976399995 meters 0.14979425900815957 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.43, Z:0.60 [[ 9.99974133e-01 -6.69242817e-03 -2.63532561e-03 -9.80339648e-01] [ 6.67709097e-03 9.99960967e-01 -5.78626414e-03 3.42988639e+00] [ 2.67394690e-03 5.76851816e-03 9.99979787e-01 6.03651159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22925976399995 meters 0.14985140544760242 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.43, Z:0.60 [[ 9.99977913e-01 -6.26312585e-03 -2.22405221e-03 -9.81185741e-01] [ 6.25254551e-03 9.99969253e-01 -4.73274310e-03 3.42538955e+00] [ 2.25362559e-03 4.71873258e-03 9.99986327e-01 6.03290227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28925976399995 meters 0.1483647045315815 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.42, Z:0.60 [[ 9.99979294e-01 -6.07610072e-03 -2.11964777e-03 -9.81650340e-01] [ 6.06688896e-03 9.99972241e-01 -4.32558181e-03 3.42346969e+00] [ 2.14587160e-03 4.31263258e-03 9.99988398e-01 6.03544507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34925976399995 meters 0.15237156714158465 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.42, Z:0.60 [[ 9.99952255e-01 -9.56279976e-03 -2.01030291e-03 -9.80942357e-01] [ 9.54821864e-03 9.99928911e-01 -7.14180774e-03 3.41899929e+00] [ 2.07845568e-03 7.12227194e-03 9.99972476e-01 6.01897596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40925976399996 meters 0.1530051313555497 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.42, Z:0.60 [[ 9.99956611e-01 -9.12039633e-03 -1.89584551e-03 -9.80730905e-01] [ 9.10826838e-03 9.99938608e-01 -6.31023869e-03 3.41654217e+00] [ 1.95328100e-03 6.29269703e-03 9.99978293e-01 6.00983567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46925976399996 meters 0.15475341447159743 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99958743e-01 -8.91912840e-03 -1.72077872e-03 -9.81082822e-01] [ 8.90902342e-03 9.99943532e-01 -5.79324654e-03 3.41457669e+00] [ 1.77235226e-03 5.77767707e-03 9.99981738e-01 6.00760123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52925976399996 meters 0.1754477147853948 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99963105e-01 -8.44338189e-03 -1.58044844e-03 -9.80945201e-01] [ 8.43547769e-03 9.99952204e-01 -4.94281711e-03 3.41188742e+00] [ 1.62210699e-03 4.92930290e-03 9.99986535e-01 5.99896879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58925976399996 meters 0.1637687597069667 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99964825e-01 -8.26843139e-03 -1.40765540e-03 -9.81190397e-01] [ 8.26194558e-03 9.99955506e-01 -4.55262261e-03 3.41050818e+00] [ 1.44523581e-03 4.54083250e-03 9.99988646e-01 5.99556325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64925976399996 meters 0.1589364219160669 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99965598e-01 -8.18189275e-03 -1.36332095e-03 -9.81195799e-01] [ 8.17577749e-03 9.99956755e-01 -4.43233182e-03 3.41018677e+00] [ 1.39952686e-03 4.42103313e-03 9.99989248e-01 5.99394206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70925976399997 meters 0.15765277198193844 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99965345e-01 -8.16223882e-03 -1.63901831e-03 -9.80516469e-01] [ 8.15452022e-03 9.99955884e-01 -4.66200381e-03 3.41140618e+00] [ 1.67699840e-03 4.64847684e-03 9.99987790e-01 5.99464498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76925976399997 meters 0.16425936301163407 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99966707e-01 -7.96894722e-03 -1.75539963e-03 -9.79619815e-01] [ 7.96101553e-03 9.99958275e-01 -4.48002299e-03 3.41186566e+00] [ 1.79102745e-03 4.46589907e-03 9.99988424e-01 5.98552462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82925976399997 meters 0.1622523087537393 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99969734e-01 -7.60868484e-03 -1.62479104e-03 -9.79339684e-01] [ 7.60233220e-03 9.99963571e-01 -3.88084169e-03 3.41035533e+00] [ 1.65425996e-03 3.86837203e-03 9.99991150e-01 5.97561669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88925976399995 meters 0.15806504602485363 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99968218e-01 -7.78749733e-03 -1.70795870e-03 -9.79376063e-01] [ 7.78019351e-03 9.99960736e-01 -4.24209098e-03 3.41156947e+00] [ 1.74092691e-03 4.22866791e-03 9.99989544e-01 5.97978176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94925976399995 meters 0.15854087122050017 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99968277e-01 -7.77470134e-03 -1.73193035e-03 -9.79240206e-01] [ 7.76731197e-03 9.99960874e-01 -4.23318265e-03 3.41188479e+00] [ 1.76477431e-03 4.21959592e-03 9.99989540e-01 5.97856200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00925976399995 meters 0.1557114139882881 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99972677e-01 -7.22335644e-03 -1.57134713e-03 -9.78655652e-01] [ 7.21818278e-03 9.99968590e-01 -3.27362287e-03 3.40951392e+00] [ 1.59494432e-03 3.26219115e-03 9.99993407e-01 5.96234808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06925976399995 meters 0.15511843967371985 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99975395e-01 -6.87622515e-03 -1.38819273e-03 -9.78820480e-01] [ 6.87263880e-03 9.99973076e-01 -2.57191416e-03 3.40714495e+00] [ 1.40584041e-03 2.56231033e-03 9.99995729e-01 5.95696943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12925976399995 meters 0.16308571878352374 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99974451e-01 -6.98241100e-03 -1.53065704e-03 -9.78716273e-01] [ 6.97806443e-03 9.99971657e-01 -2.82686039e-03 3.40802322e+00] [ 1.55035196e-03 2.81610714e-03 9.99994833e-01 5.96111407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18925976399996 meters 0.1526809438709242 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99974141e-01 -7.00732178e-03 -1.61714057e-03 -9.78585802e-01] [ 7.00256143e-03 9.99971187e-01 -2.93081084e-03 3.40844550e+00] [ 1.63763111e-03 2.91941093e-03 9.99994398e-01 5.96260761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24925976399996 meters 0.1535213395524649 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.60 [[ 9.99976917e-01 -6.60844270e-03 -1.57912945e-03 -9.78073586e-01] [ 6.60471682e-03 9.99975420e-01 -2.35313219e-03 3.40705455e+00] [ 1.59464118e-03 2.34264817e-03 9.99995985e-01 5.95304744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30925976399996 meters 0.16379210642090009 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.40, Z:0.59 [[ 9.99980850e-01 -6.04176978e-03 -1.34061585e-03 -9.77898782e-01] [ 6.03995521e-03 9.99980843e-01 -1.35348011e-03 3.40396120e+00] [ 1.34876758e-03 1.34535693e-03 9.99998185e-01 5.94053487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36925976399996 meters 0.16477598594771353 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.40, Z:0.59 [[ 9.99981232e-01 -6.03655748e-03 -1.04631351e-03 -9.78650027e-01] [ 6.03543902e-03 9.99981215e-01 -1.06883311e-03 3.40269473e+00] [ 1.05274593e-03 1.06249809e-03 9.99998881e-01 5.94062915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42925976399997 meters 0.160319828563972 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.40, Z:0.59 [[ 9.99979843e-01 -6.22061669e-03 -1.27217454e-03 -9.78460749e-01] [ 6.21867265e-03 9.99979499e-01 -1.52641355e-03 3.40431821e+00] [ 1.28164369e-03 1.51847154e-03 9.99998026e-01 5.94734946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48925976399997 meters 0.16883133135775852 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.40, Z:0.59 [[ 9.99981399e-01 -5.96117369e-03 -1.29059542e-03 -9.77724243e-01] [ 5.95964336e-03 9.99981537e-01 -1.18637072e-03 3.40414211e+00] [ 1.29764375e-03 1.17865716e-03 9.99998463e-01 5.93692365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54925976399997 meters 0.16256392892486293 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.59 [[ 9.99946379e-01 -1.01501732e-02 -2.05267257e-03 -9.75696334e-01] [ 1.01378790e-02 9.99931124e-01 -5.91361075e-03 3.40747687e+00] [ 2.11255537e-03 5.89248391e-03 9.99980408e-01 5.93556867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60925976399994 meters 0.16449923478501252 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.41, Z:0.59 [[ 9.99949243e-01 -9.89634883e-03 -1.89029021e-03 -9.75603961e-01] [ 9.88602474e-03 9.99936578e-01 -5.39506229e-03 3.40617231e+00] [ 1.94356175e-03 5.37610100e-03 9.99983660e-01 5.92743063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66925976399995 meters 0.16210151495684397 Centerline is valid? [False, False] Translation: X:-0.98, Y:3.40, Z:0.59 [[ 9.99951661e-01 -9.66837117e-03 -1.78864667e-03 -9.75488198e-01] [ 9.65946162e-03 9.99941220e-01 -4.92449029e-03 3.40495592e+00] [ 1.83615333e-03 4.90697488e-03 9.99986275e-01 5.92116252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72925976399995 meters 0.1627863759919746 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 9.99950343e-01 -9.75352365e-03 -2.04482509e-03 -9.74998054e-01] [ 9.74275494e-03 9.99938956e-01 -5.21175525e-03 3.40631520e+00] [ 2.09553324e-03 5.19157422e-03 9.99984328e-01 5.92394633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78925976399995 meters 0.16721055219144038 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 9.99951052e-01 -9.56055495e-03 -2.54747484e-03 -9.73444317e-01] [ 9.54682740e-03 9.99940130e-01 -5.34743351e-03 3.40805030e+00] [ 2.59844675e-03 5.32285146e-03 9.99982458e-01 5.92018229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84925976399995 meters 0.16754533381647752 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 9.99955371e-01 -9.10242500e-03 -2.53013774e-03 -9.72761857e-01] [ 9.09049731e-03 9.99947699e-01 -4.68643099e-03 3.40655318e+00] [ 2.57266330e-03 4.66322163e-03 9.99985818e-01 5.90870152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90925976399996 meters 0.16485433036419664 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99958191e-01 -8.83890103e-03 -2.34290510e-03 -9.73124697e-01] [ 8.82924577e-03 9.99952617e-01 -4.09986143e-03 3.40430244e+00] [ 2.37903236e-03 4.07900394e-03 9.99988851e-01 5.90647604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96925976399996 meters 0.16700017672797576 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99960871e-01 -8.64120882e-03 -1.89349401e-03 -9.73981760e-01] [ 8.63525420e-03 9.99957815e-01 -3.13070829e-03 3.40086904e+00] [ 1.92046724e-03 3.11423499e-03 9.99993307e-01 5.90099745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02925976399996 meters 0.17189145798024885 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99963904e-01 -8.39663892e-03 -1.29921601e-03 -9.74952356e-01] [ 8.39383110e-03 9.99962456e-01 -2.15172951e-03 3.39720673e+00] [ 1.31723453e-03 2.14074644e-03 9.99996841e-01 5.89277168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08925976399996 meters 0.1808204811910925 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99963729e-01 -8.37456383e-03 -1.55142481e-03 -9.73990812e-01] [ 8.37100908e-03 9.99962355e-01 -2.28377658e-03 3.39861946e+00] [ 1.57049204e-03 2.27070676e-03 9.99996189e-01 5.88809126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14925976399996 meters 0.17169334231996114 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99963606e-01 -8.37512951e-03 -1.62574747e-03 -9.73016867e-01] [ 8.37123851e-03 9.99962115e-01 -2.38558931e-03 3.40052629e+00] [ 1.64566550e-03 2.37189297e-03 9.99995833e-01 5.87689267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20925976399997 meters 0.1624124341979998 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.40, Z:0.59 [[ 9.99965916e-01 -7.94829283e-03 -2.23415390e-03 -9.70512590e-01] [ 7.94302846e-03 9.99965680e-01 -2.35539312e-03 3.40287983e+00] [ 2.25279858e-03 2.33756689e-03 9.99994730e-01 5.86091245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26925976399997 meters 0.16544204757318604 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 9.99962800e-01 -8.18127762e-03 -2.73215154e-03 -9.69386934e-01] [ 8.17262139e-03 9.99961596e-01 -3.16456118e-03 3.40684466e+00] [ 2.75793677e-03 3.14211462e-03 9.99991260e-01 5.86387015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32925976399997 meters 0.1562096972807448 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 9.99961773e-01 -8.19677835e-03 -3.04377777e-03 -9.68310870e-01] [ 8.18625788e-03 9.99960531e-01 -3.45290694e-03 3.40895079e+00] [ 3.07196035e-03 3.42785780e-03 9.99989406e-01 5.86005977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38925976399995 meters 0.15106114189874778 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.41, Z:0.59 [[ 0.99995769 -0.00839777 -0.00375518 -0.96644196] [ 0.00838086 0.99995478 -0.00449524 3.41461864] [ 0.00379276 0.00446358 0.99998285 0.58593273] [ 0. 0. 0. 1. ]] SLAMing on 204.44925976399995 meters 0.1573169414659585 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.42, Z:0.59 [[ 0.999957 -0.00835769 -0.00401879 -0.96525819] [ 0.0083385 0.99995386 -0.00476914 3.41688044] [ 0.00405846 0.00473543 0.99998055 0.58523678] [ 0. 0. 0. 1. ]] SLAMing on 204.50925976399995 meters 0.15748760069510384 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.42, Z:0.59 [[ 0.99995345 -0.008518 -0.00453277 -0.96388927] [ 0.00849283 0.99994857 -0.00554419 3.42120699] [ 0.00457976 0.00550543 0.99997436 0.58518459] [ 0. 0. 0. 1. ]] SLAMing on 204.56925976399995 meters 0.14708036602989102 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.42, Z:0.58 [[ 0.99995085 -0.00863824 -0.00486602 -0.96281971] [ 0.00860901 0.99994496 -0.0059963 3.42414039] [ 0.00491755 0.00595411 0.99997018 0.58489521] [ 0. 0. 0. 1. ]] SLAMing on 204.62925976399995 meters 0.14496806555163938 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.43, Z:0.58 [[ 0.99994917 -0.00866531 -0.00515504 -0.96164026] [ 0.00863262 0.99994271 -0.00632949 3.42674927] [ 0.00520959 0.00628467 0.99996668 0.58428168] [ 0. 0. 0. 1. ]] SLAMing on 204.68925976399996 meters 0.14384640775650706 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.43, Z:0.58 [[ 0.99994827 -0.00871713 -0.00524042 -0.96126959] [ 0.0086828 0.99994093 -0.00653827 3.42792614] [ 0.0052971 0.00649243 0.99996489 0.58411705] [ 0. 0. 0. 1. ]] SLAMing on 204.74925976399996 meters 0.15491913275411973 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.43, Z:0.58 [[ 0.99994558 -0.0089438 -0.00537154 -0.96065315] [ 0.00890617 0.99993591 -0.006989 3.43075474] [ 0.0054337 0.00694078 0.99996115 0.58373486] [ 0. 0. 0. 1. ]] SLAMing on 204.80925976399996 meters 0.14786273681906495 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.43, Z:0.58 [[ 0.99994603 -0.00881427 -0.00549947 -0.95975936] [ 0.00877598 0.99993736 -0.00694724 3.43161663] [ 0.00556036 0.0068986 0.99996075 0.58292504] [ 0. 0. 0. 1. ]] SLAMing on 204.86925976399996 meters 0.1401601359713284 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.44, Z:0.58 [[ 9.99972417e-01 -4.60495669e-03 -5.82752473e-03 -9.58496431e-01] [ 4.58618154e-03 9.99984263e-01 -3.23107667e-03 3.43542009e+00] [ 5.84231199e-03 3.20426146e-03 9.99977800e-01 5.82288411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92925976399997 meters 0.13359244993411634 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.44, Z:0.58 [[ 0.99996835 -0.00468411 -0.0064312 -0.95683302] [ 0.00465889 0.99998142 -0.00393102 3.43951364] [ 0.0064495 0.00390094 0.99997159 0.5821735 ] [ 0. 0. 0. 1. ]] SLAMing on 204.98925976399997 meters 0.13723093903603595 Centerline is valid? [False, False] Translation: X:-0.96, Y:3.45, Z:0.58 [[ 0.999963 -0.00497131 -0.00701965 -0.95533185] [ 0.00493462 0.99997413 -0.00523428 3.44545496] [ 0.00704549 0.00519944 0.99996166 0.58237017] [ 0. 0. 0. 1. ]] SLAMing on 205.04925976399997 meters 0.1323215031383137 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99995858 -0.00514946 -0.00750437 -0.95384524] [ 0.0051044 0.9999689 -0.0060112 3.45014517] [ 0.00753509 0.00597265 0.99995377 0.58203068] [ 0. 0. 0. 1. ]] SLAMing on 205.10925976399994 meters 0.1303480164930578 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99995537 -0.00532937 -0.00780045 -0.9531196 ] [ 0.00527832 0.99996461 -0.00655055 3.45271945] [ 0.00783508 0.00650908 0.99994812 0.58218865] [ 0. 0. 0. 1. ]] SLAMing on 205.16925976399995 meters 0.12457186360185327 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.9999495 -0.00555511 -0.00837478 -0.95149019] [ 0.00549189 0.9999564 -0.00755254 3.45836265] [ 0.00841637 0.00750616 0.99993641 0.5820071 ] [ 0. 0. 0. 1. ]] SLAMing on 205.22925976399995 meters 0.1211465488349304 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99994743 -0.00546965 -0.00867307 -0.95013667] [ 0.00540232 0.99995523 -0.00776819 3.46068163] [ 0.00871517 0.00772092 0.99993221 0.58121926] [ 0. 0. 0. 1. ]] SLAMing on 205.28925976399995 meters 0.12189250376422851 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99994907 -0.00517761 -0.00866341 -0.94974334] [ 0.00511378 0.99995974 -0.00737364 3.45971266] [ 0.00870124 0.00732896 0.99993529 0.5805893 ] [ 0. 0. 0. 1. ]] SLAMing on 205.34925976399995 meters 0.1200163481875245 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99995138 -0.00491622 -0.00854842 -0.94988055] [ 0.0048575 0.99996456 -0.00687615 3.45788777] [ 0.00858192 0.00683429 0.99993982 0.58029143] [ 0. 0. 0. 1. ]] SLAMing on 205.40925976399996 meters 0.12590867447039514 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99995558 -0.00446172 -0.00830191 -0.94997676] [ 0.00441293 0.99997294 -0.00588687 3.45460771] [ 0.00832795 0.00584997 0.99994821 0.5793697 ] [ 0. 0. 0. 1. ]] SLAMing on 205.46925976399996 meters 0.12872573749141308 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99992676 -0.00868054 -0.0084331 -0.949686 ] [ 0.00859574 0.99991265 -0.01003997 3.45399348] [ 0.00851952 0.00996675 0.99991404 0.57952123] [ 0. 0. 0. 1. ]] SLAMing on 205.52925976399996 meters 0.1322167156791515 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993286 -0.00857922 -0.00778982 -0.95142593] [ 0.00850899 0.99992325 -0.00900541 3.44908437] [ 0.00786648 0.00893853 0.99992911 0.57965951] [ 0. 0. 0. 1. ]] SLAMing on 205.58925976399996 meters 0.13271572161383097 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993293 -0.00871539 -0.00762711 -0.95241514] [ 0.00864698 0.9999225 -0.00895647 3.44816166] [ 0.00770458 0.00888992 0.9999308 0.5804256 ] [ 0. 0. 0. 1. ]] SLAMing on 205.64925976399996 meters 0.1388399303808046 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993576 -0.00839108 -0.00762045 -0.95171376] [ 0.00832599 0.99992893 -0.00853312 3.44757021] [ 0.00769151 0.00846912 0.99993456 0.57934386] [ 0. 0. 0. 1. ]] SLAMing on 205.70925976399997 meters 0.13601407782110175 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993869 -0.00800249 -0.00765356 -0.9506422 ] [ 0.00794069 0.9999359 -0.00807086 3.44725945] [ 0.00771766 0.00800959 0.99993814 0.57788196] [ 0. 0. 0. 1. ]] SLAMing on 205.76925976399997 meters 0.13493283922584165 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993482 -0.00824974 -0.00789321 -0.95011992] [ 0.00818148 0.99992919 -0.00864187 3.45002711] [ 0.00796394 0.00857673 0.99993151 0.57805839] [ 0. 0. 0. 1. ]] SLAMing on 205.82925976399994 meters 0.1278954608580867 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.9999298 -0.00826218 -0.00849288 -0.94837526] [ 0.00818353 0.99992368 -0.00925509 3.45407241] [ 0.0085687 0.00918494 0.9999211 0.57777949] [ 0. 0. 0. 1. ]] SLAMing on 205.88925976399995 meters 0.12497159257148449 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993026 -0.00809138 -0.00860265 -0.94756782] [ 0.00801229 0.99992568 -0.00918883 3.45472037] [ 0.00867637 0.00911926 0.99992078 0.57705441] [ 0. 0. 0. 1. ]] SLAMing on 205.94925976399995 meters 0.12370600653327903 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99992799 -0.00813761 -0.00882025 -0.94674766] [ 0.00805324 0.99992187 -0.0095598 3.4570316 ] [ 0.00889736 0.00948808 0.9999154 0.57676312] [ 0. 0. 0. 1. ]] SLAMing on 206.00925976399995 meters 0.12069163777880591 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99992099 -0.00848014 -0.00927893 -0.94589822] [ 0.00838174 0.99990876 -0.01059325 3.46177224] [ 0.00936792 0.01051464 0.99990084 0.57741089] [ 0. 0. 0. 1. ]] SLAMing on 206.06925976399995 meters 0.11884409615089937 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.9999193 -0.00858889 -0.00936108 -0.94561634] [ 0.00848652 0.99990435 -0.01092114 3.46335904] [ 0.00945399 0.01084081 0.99989654 0.5773908 ] [ 0. 0. 0. 1. ]] SLAMing on 206.12925976399995 meters 0.12333341237580034 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99991749 -0.00872741 -0.00942568 -0.94559384] [ 0.00862098 0.99989929 -0.0112735 3.464765 ] [ 0.00952312 0.01119131 0.99989203 0.57768341] [ 0. 0. 0. 1. ]] SLAMing on 206.18925976399996 meters 0.1164961354406008 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99991795 -0.00872247 -0.00938141 -0.94577407] [ 0.00861678 0.99989961 -0.01124858 3.46463921] [ 0.00947859 0.01116682 0.99989272 0.57777153] [ 0. 0. 0. 1. ]] SLAMing on 206.24925976399996 meters 0.12453899336222642 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.9999216 -0.00848245 -0.00921143 -0.9459355 ] [ 0.00838359 0.99990741 -0.01071851 3.46293472] [ 0.0093015 0.01064044 0.99990013 0.5772692 ] [ 0. 0. 0. 1. ]] SLAMing on 206.30925976399996 meters 0.12208067571411146 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99992845 -0.00797543 -0.00891516 -0.94599116] [ 0.00788934 0.99992232 -0.00964996 3.45949864] [ 0.00899143 0.00957893 0.9999137 0.57604025] [ 0. 0. 0. 1. ]] SLAMing on 206.36925976399996 meters 0.1297607102288433 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99993365 -0.00760066 -0.00865551 -0.9463442 ] [ 0.0075253 0.99993379 -0.00870605 3.45620747] [ 0.00872111 0.00864034 0.99992464 0.575408 ] [ 0. 0. 0. 1. ]] SLAMing on 206.42925976399997 meters 0.12769675645881962 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.46, Z:0.58 [[ 0.99993085 -0.00772112 -0.00887018 -0.94624026] [ 0.00764097 0.99993 -0.00903438 3.45722335] [ 0.00893932 0.00896598 0.99991985 0.57613812] [ 0. 0. 0. 1. ]] SLAMing on 206.48925976399997 meters 0.1274634446255831 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.58 [[ 0.99993484 -0.00734937 -0.00873472 -0.94624685] [ 0.00727628 0.99993849 -0.00837087 3.45496413] [ 0.0087957 0.00830677 0.99992681 0.5755685 ] [ 0. 0. 0. 1. ]] SLAMing on 206.54925976399997 meters 0.1272493128705749 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.57 [[ 0.999939 -0.00685217 -0.00866241 -0.94588237] [ 0.00678697 0.99994859 -0.00753389 3.45246957] [ 0.00871358 0.00747464 0.9999341 0.57464331] [ 0. 0. 0. 1. ]] SLAMing on 206.60925976399994 meters 0.12663916095113562 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.57 [[ 0.99993885 -0.00685183 -0.00868 -0.94597896] [ 0.0067866 0.99994868 -0.00752212 3.45246862] [ 0.0087311 0.00746276 0.99993404 0.57484349] [ 0. 0. 0. 1. ]] SLAMing on 206.66925976399995 meters 0.1252138517711078 Centerline is valid? [False, False] Translation: X:-0.95, Y:3.45, Z:0.57 [[ 0.99993813 -0.00678106 -0.00881831 -0.94565991] [ 0.00671496 0.9999493 -0.0075042 3.45259193] [ 0.00886875 0.00744452 0.99993296 0.57491203] [ 0. 0. 0. 1. ]] SLAMing on 206.72925976399995 meters 0.12934648801767643 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.45, Z:0.57 [[ 0.99993658 -0.00671719 -0.0090398 -0.94493711] [ 0.00664819 0.9999487 -0.00764189 3.45371395] [ 0.00909067 0.0075813 0.99992994 0.57475557] [ 0. 0. 0. 1. ]] SLAMing on 206.78925976399995 meters 0.1278339546265836 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.57 [[ 0.99993341 -0.00662717 -0.00944722 -0.94359769] [ 0.00655259 0.9999473 -0.00790292 3.45593556] [ 0.00949909 0.00784049 0.99992414 0.57437893] [ 0. 0. 0. 1. ]] SLAMing on 206.84925976399995 meters 0.12446555651714328 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.57 [[ 0.99992788 -0.00665785 -0.00999556 -0.94230492] [ 0.00657284 0.99994216 -0.00851338 3.45910804] [ 0.01005166 0.00844706 0.9999138 0.57467923] [ 0. 0. 0. 1. ]] SLAMing on 206.90925976399996 meters 0.11971598948637673 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.57 [[ 0.99992259 -0.00656284 -0.01057058 -0.94049642] [ 0.00646756 0.99993837 -0.00902332 3.46263371] [ 0.01062914 0.00895426 0.99990342 0.57423143] [ 0. 0. 0. 1. ]] SLAMing on 206.96925976399996 meters 0.11567677888031752 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.47, Z:0.57 [[ 0.99991779 -0.00632864 -0.01115133 -0.93850758] [ 0.00622437 0.99993682 -0.00936004 3.46560563] [ 0.01120986 0.00928986 0.99989401 0.57357517] [ 0. 0. 0. 1. ]] SLAMing on 207.02925976399996 meters 0.11257977659003664 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.47, Z:0.57 [[ 0.99991498 -0.00614948 -0.01149879 -0.93711067] [ 0.00604032 0.9999366 -0.00950365 3.46739248] [ 0.0115565 0.00943338 0.99988872 0.57292832] [ 0. 0. 0. 1. ]] SLAMing on 207.08925976399996 meters 0.10986800950558206 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.47, Z:0.57 [[ 0.99991096 -0.00618101 -0.01182683 -0.93629391] [ 0.00606453 0.99993301 -0.00985931 3.46937848] [ 0.01188698 0.00978671 0.99988145 0.57305555] [ 0. 0. 0. 1. ]] SLAMing on 207.14925976399996 meters 0.10804657706990342 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.47, Z:0.56 [[ 0.99996968 -0.00534782 0.00565996 -0.94034113] [ 0.005375 0.99997404 -0.00479823 3.46857522] [-0.00563415 0.00482851 0.99997247 0.56299396] [ 0. 0. 0. 1. ]] SLAMing on 207.20925976399997 meters 0.10816339512841877 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.47, Z:0.56 [[ 0.99997109 -0.00507423 0.00566297 -0.94014787] [ 0.00509901 0.99997745 -0.00437024 3.46721128] [-0.00564067 0.00439899 0.99997442 0.56266144] [ 0. 0. 0. 1. ]] SLAMing on 207.26925976399997 meters 0.10778705688451906 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99997263 -0.00466104 0.00574571 -0.93995773] [ 0.00468164 0.99998265 -0.00357604 3.46464567] [-0.00572895 0.00360284 0.9999771 0.56195118] [ 0. 0. 0. 1. ]] SLAMing on 207.32925976399994 meters 0.11154325308563767 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99994416 -0.00903786 0.00547659 -0.93986585] [ 0.00908202 0.99992601 -0.00809304 3.46499001] [-0.00540304 0.00814233 0.99995225 0.56294954] [ 0. 0. 0. 1. ]] SLAMing on 207.38925976399995 meters 0.11408759597157478 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99994333 -0.00896439 0.00574253 -0.94087126] [ 0.00900763 0.99993093 -0.0075491 3.46206426] [-0.00567446 0.0076004 0.99995502 0.56337867] [ 0. 0. 0. 1. ]] SLAMing on 207.44925976399995 meters 0.11509124830535268 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99994426 -0.0087559 0.00589979 -0.94108425] [ 0.00879759 0.99993625 -0.00707733 3.460344 ] [-0.00583745 0.00712883 0.99995755 0.5630592 ] [ 0. 0. 0. 1. ]] SLAMing on 207.50925976399995 meters 0.11668584256001381 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995073 -0.00855532 0.00503385 -0.93880869] [ 0.00859277 0.99993522 -0.00746442 3.46346011] [-0.00496966 0.0075073 0.99995947 0.56290109] [ 0. 0. 0. 1. ]] SLAMing on 207.56925976399995 meters 0.12039313481123605 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995261 -0.0084676 0.00480483 -0.93816303] [ 0.00850347 0.99993576 -0.00749396 3.46403778] [-0.00474107 0.00753446 0.99996038 0.56283346] [ 0. 0. 0. 1. ]] SLAMing on 207.62925976399995 meters 0.11664891867598495 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995643 -0.00808599 0.00466506 -0.93736221] [ 0.00811882 0.99994211 -0.00706108 3.46298957] [-0.00460769 0.00709864 0.99996419 0.56217964] [ 0. 0. 0. 1. ]] SLAMing on 207.68925976399996 meters 0.11422502853652496 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995642 -0.00814348 0.00456584 -0.93754129] [ 0.00817606 0.99994093 -0.00716212 3.46296361] [-0.00450724 0.00719914 0.99996393 0.56281783] [ 0. 0. 0. 1. ]] SLAMing on 207.74925976399996 meters 0.11964049818721118 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995851 -0.00785244 0.00461699 -0.93747507] [ 0.00788272 0.99994731 -0.00657629 3.46096998] [-0.0045651 0.00661241 0.99996772 0.56245064] [ 0. 0. 0. 1. ]] SLAMing on 207.80925976399996 meters 0.122888604632782 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99995885 -0.00747391 0.00514117 -0.93831913] [ 0.00750119 0.99995778 -0.00530777 3.45599035] [-0.00510129 0.00534611 0.9999727 0.5615737 ] [ 0. 0. 0. 1. ]] SLAMing on 207.86925976399996 meters 0.12652334291231812 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.45, Z:0.56 [[ 0.99995827 -0.00739939 0.00535702 -0.93887968] [ 0.00742534 0.99996071 -0.00484115 3.45410598] [-0.00532098 0.00488073 0.99997393 0.56147417] [ 0. 0. 0. 1. ]] SLAMing on 207.92925976399997 meters 0.12205781520812341 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99996002 -0.00737936 0.00504966 -0.93814855] [ 0.00740421 0.99996048 -0.00492075 3.45505109] [-0.00501315 0.00495795 0.99997514 0.56149853] [ 0. 0. 0. 1. ]] SLAMing on 207.98925976399997 meters 0.12335431129427737 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99996047 -0.00740961 0.00491412 -0.93782874] [ 0.00743446 0.99995958 -0.00505663 3.4558421 ] [-0.00487646 0.00509296 0.99997514 0.56154418] [ 0. 0. 0. 1. ]] SLAMing on 208.04925976399997 meters 0.12516261919976177 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99996264 -0.00713678 0.00487651 -0.93722205] [ 0.00715962 0.99996341 -0.00468126 3.45522662] [-0.00484293 0.004716 0.99997715 0.56074723] [ 0. 0. 0. 1. ]] SLAMing on 208.10925976399994 meters 0.13697756214131557 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.46, Z:0.56 [[ 0.99996498 -0.00694273 0.00467395 -0.93638732] [ 0.00696381 0.99996559 -0.00450919 3.45535042] [-0.00464248 0.00454158 0.99997891 0.56027155] [ 0. 0. 0. 1. ]] SLAMing on 208.16925976399995 meters 0.1225896596704106 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.45, Z:0.56 [[ 0.99996635 -0.00672172 0.00470216 -0.93635952] [ 0.00674097 0.99996892 -0.00408926 3.45394905] [-0.00467453 0.00412082 0.99998058 0.56007083] [ 0. 0. 0. 1. ]] SLAMing on 208.22925976399995 meters 0.12315300872266036 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.45, Z:0.56 [[ 0.99996707 -0.00655632 0.00478177 -0.93652185] [ 0.00657425 0.99997138 -0.00374442 3.45259153] [-0.00475709 0.00377573 0.99998156 0.55997115] [ 0. 0. 0. 1. ]] SLAMing on 208.28925976399995 meters 0.13083689282442246 Centerline is valid? [False, False] Translation: X:-0.94, Y:3.45, Z:0.56 [[ 0.99993245 -0.01081293 0.0042642 -0.93525983] [ 0.01084803 0.99990673 -0.00829745 3.45453829] [-0.00417408 0.00834315 0.99995648 0.56015501] [ 0. 0. 0. 1. ]] SLAMing on 208.34925976399995 meters 0.12679433954013405 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99993482 -0.01062909 0.0041678 -0.93472007] [ 0.01066241 0.9999107 -0.00805578 3.45430731] [-0.0040818 0.0080997 0.99995887 0.55966426] [ 0. 0. 0. 1. ]] SLAMing on 208.40925976399996 meters 0.1320645377422182 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99993626 -0.01051269 0.00411703 -0.93423143] [ 0.01054465 0.99991384 -0.00781801 3.45423611] [-0.00403449 0.00786093 0.99996096 0.55902273] [ 0. 0. 0. 1. ]] SLAMing on 208.46925976399996 meters 0.13290061949806503 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99994117 -0.01009572 0.00396676 -0.93305708] [ 0.01012461 0.99992187 -0.00733068 3.45363762] [-0.00389244 0.00737041 0.99996526 0.55782761] [ 0. 0. 0. 1. ]] SLAMing on 208.52925976399996 meters 0.1313343431725961 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.9999442 -0.00980723 0.00392699 -0.93236022] [ 0.00983435 0.99992752 -0.0069461 3.45308482] [-0.00385858 0.00698433 0.99996816 0.55689462] [ 0. 0. 0. 1. ]] SLAMing on 208.58925976399996 meters 0.13141754431029554 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99994648 -0.00953672 0.00401006 -0.93188017] [ 0.00956248 0.99993345 -0.00645477 3.45228959] [-0.00394823 0.00649277 0.99997113 0.55577357] [ 0. 0. 0. 1. ]] SLAMing on 208.64925976399996 meters 0.13088478869544487 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99994793 -0.00933861 0.0041133 -0.93176701] [ 0.0093635 0.99993772 -0.00607375 3.45131597] [-0.00405632 0.00611195 0.99997309 0.5551549 ] [ 0. 0. 0. 1. ]] SLAMing on 208.70925976399997 meters 0.13608913560376482 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.45, Z:0.56 [[ 0.99994627 -0.0094958 0.00415856 -0.93180765] [ 0.00952181 0.99993495 -0.00628003 3.45246086] [-0.00409866 0.00631929 0.99997163 0.55503647] [ 0. 0. 0. 1. ]] SLAMing on 208.76925976399997 meters 0.13180321640280165 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.46, Z:0.55 [[ 0.9999478 -0.00948913 0.00378982 -0.93055908] [ 0.00951436 0.99993231 -0.00669672 3.45535757] [-0.00372602 0.00673243 0.9999704 0.55465967] [ 0. 0. 0. 1. ]] SLAMing on 208.82925976399994 meters 0.13946315376784146 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.46, Z:0.55 [[ 9.99949128e-01 -9.50198112e-03 3.38425637e-03 -9.29302485e-01] [ 9.52626516e-03 9.99928463e-01 -7.23324885e-03 3.45863512e+00] [-3.31528408e-03 7.26512021e-03 9.99968113e-01 5.54412972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88925976399995 meters 0.12488467976050303 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.46, Z:0.55 [[ 9.99947875e-01 -9.67149130e-03 3.27255438e-03 -9.29092410e-01] [ 9.69642848e-03 9.99923403e-01 -7.69202401e-03 3.46053121e+00] [-3.19791037e-03 7.72335515e-03 9.99965061e-01 5.54632858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94925976399995 meters 0.12375896992399119 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.46, Z:0.55 [[ 9.99979541e-01 -5.56432979e-03 3.15535202e-03 -9.28527744e-01] [ 5.57708488e-03 9.99976254e-01 -4.04807738e-03 3.46404391e+00] [-3.13275225e-03 4.06559223e-03 9.99986828e-01 5.54259951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00925976399995 meters 0.11502566961420321 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.47, Z:0.55 [[ 9.99979357e-01 -5.80794892e-03 2.74842138e-03 -9.27582044e-01] [ 5.82171271e-03 9.99970420e-01 -5.02667349e-03 3.46843352e+00] [-2.71914542e-03 5.04257024e-03 9.99983589e-01 5.54578255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06925976399995 meters 0.11695363774140126 Centerline is valid? [False, False] Translation: X:-0.93, Y:3.47, Z:0.55 [[ 9.99980446e-01 -5.81950780e-03 2.28940485e-03 -9.25900106e-01] [ 5.83266703e-03 9.99966263e-01 -5.78382208e-03 3.47293852e+00] [-2.25566862e-03 5.79706232e-03 9.99980653e-01 5.53967809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12925976399995 meters 0.11343479076115932 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99981935e-01 -5.67013790e-03 1.99459635e-03 -9.24472178e-01] [ 5.68205166e-03 9.99965743e-01 -6.01894010e-03 3.47537385e+00] [-1.96039980e-03 6.03016477e-03 9.99979897e-01 5.53085326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18925976399996 meters 0.11112385064646933 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99984039e-01 -5.42476900e-03 1.57884588e-03 -9.22797524e-01] [ 5.43462243e-03 9.99965355e-01 -6.30500336e-03 3.47792809e+00] [-1.54458799e-03 6.31348316e-03 9.99978877e-01 5.52402289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24925976399996 meters 0.10565939339382466 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99984215e-01 -5.45123196e-03 1.36140676e-03 -9.22186047e-01] [ 5.46014544e-03 9.99963103e-01 -6.63168682e-03 3.47966815e+00] [-1.32520566e-03 6.63901562e-03 9.99977083e-01 5.52428762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30925976399996 meters 0.1061276800773865 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99986271e-01 -5.09251831e-03 1.23479876e-03 -9.21128563e-01] [ 5.10030775e-03 9.99966581e-01 -6.38938714e-03 3.47971898e+00] [-1.20221942e-03 6.39559727e-03 9.99978825e-01 5.51520881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36925976399996 meters 0.10546966578682239 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99987438e-01 -4.85322562e-03 1.25313788e-03 -9.20635362e-01] [ 4.86076446e-03 9.99969674e-01 -6.08469011e-03 3.47920869e+00] [-1.22356951e-03 6.09070488e-03 9.99980703e-01 5.50754697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42925976399997 meters 0.10305804090516243 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99989008e-01 -4.52004800e-03 1.24624469e-03 -9.20023468e-01] [ 4.52702597e-03 9.99973766e-01 -5.65441745e-03 3.47832412e+00] [-1.22065376e-03 5.65999708e-03 9.99983237e-01 5.49903887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48925976399997 meters 0.10434300321158624 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.48, Z:0.55 [[ 9.99990211e-01 -4.18966345e-03 1.42295796e-03 -9.20198448e-01] [ 4.19680538e-03 9.99978423e-01 -5.05372656e-03 3.47607202e+00] [-1.40175384e-03 5.05964897e-03 9.99986217e-01 5.49499090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54925976399997 meters 0.1045762946447521 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.47, Z:0.55 [[ 9.99991930e-01 -3.70747256e-03 1.54763348e-03 -9.19929221e-01] [ 3.71404575e-03 9.99984003e-01 -4.26621056e-03 3.47358417e+00] [-1.53179186e-03 4.27192411e-03 9.99989702e-01 5.48604503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60925976399994 meters 0.10612882014475312 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.47, Z:0.55 [[ 9.99993026e-01 -3.23345821e-03 1.86866782e-03 -9.20049689e-01] [ 3.23936895e-03 9.99989733e-01 -3.16875303e-03 3.47006355e+00] [-1.85840260e-03 3.17478424e-03 9.99993234e-01 5.47400219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66925976399995 meters 0.10669222404164601 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.47, Z:0.55 [[ 9.99969494e-01 -7.62828180e-03 1.67945855e-03 -9.19941800e-01] [ 7.64099408e-03 9.99941179e-01 -7.69765361e-03 3.47101599e+00] [-1.62063989e-03 7.71025152e-03 9.99968962e-01 5.48005411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72925976399995 meters 0.10980858004253996 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.47, Z:0.55 [[ 9.99971096e-01 -7.39190007e-03 1.77936368e-03 -9.20058125e-01] [ 7.40452006e-03 9.99946712e-01 -7.19351065e-03 3.46916192e+00] [-1.72609515e-03 7.20647807e-03 9.99972543e-01 5.47744504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78925976399995 meters 0.1124950837353893 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.46, Z:0.55 [[ 9.99972846e-01 -7.03213457e-03 2.20390130e-03 -9.20831440e-01] [ 7.04563079e-03 9.99956101e-01 -6.17705074e-03 3.46473978e+00] [-2.16036670e-03 6.19241088e-03 9.99978493e-01 5.47292015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84925976399995 meters 0.11513465105940418 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.46, Z:0.55 [[ 9.99974554e-01 -6.69533897e-03 2.46230814e-03 -9.21206994e-01] [ 6.70847395e-03 9.99963104e-01 -5.36541713e-03 3.46165850e+00] [-2.42629401e-03 5.38179893e-03 9.99982575e-01 5.46833948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90925976399996 meters 0.11835997478366266 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.46, Z:0.55 [[ 9.99975808e-01 -6.26995404e-03 3.01195800e-03 -9.22157677e-01] [ 6.28162827e-03 9.99972734e-01 -3.88226349e-03 3.45571426e+00] [-2.98753426e-03 3.90108957e-03 9.99987928e-01 5.46095494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96925976399996 meters 0.12079001936868664 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.45, Z:0.55 [[ 9.99941269e-01 -1.04463529e-02 2.88673330e-03 -9.22086277e-01] [ 1.04690039e-02 9.99913626e-01 -7.94614116e-03 3.45452696e+00] [-2.80347577e-03 7.97589569e-03 9.99964262e-01 5.46553959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02925976399996 meters 0.12635151136184933 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.45, Z:0.55 [[ 0.99994219 -0.01014455 0.00356511 -0.92341537] [ 0.010167 0.99992824 -0.00633595 3.44813403] [-0.00350058 0.00637183 0.99997357 0.54582371] [ 0. 0. 0. 1. ]] SLAMing on 210.08925976399996 meters 0.13256389976403074 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.55 [[ 0.99994266 -0.00988671 0.00411406 -0.92453171] [ 0.00990801 0.99993745 -0.00518945 3.44324794] [-0.0040625 0.00522991 0.99997807 0.54546811] [ 0. 0. 0. 1. ]] SLAMing on 210.14925976399996 meters 0.12974045291047182 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.55 [[ 0.99994415 -0.00978955 0.00398305 -0.92431068] [ 0.00980962 0.99993913 -0.00505063 3.44280956] [-0.00393336 0.00508942 0.99997931 0.54560717] [ 0. 0. 0. 1. ]] SLAMing on 210.20925976399997 meters 0.1464035930499854 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.55 [[ 0.99994589 -0.00962609 0.00394486 -0.92398051] [ 0.00964511 0.99994181 -0.00483288 3.44245123] [-0.00389811 0.00487067 0.99998054 0.54524317] [ 0. 0. 0. 1. ]] SLAMing on 210.26925976399997 meters 0.15736629356002302 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 0.99995145 -0.00890713 0.00421336 -0.92342786] [ 0.00892219 0.99995383 -0.00356957 3.43860399] [-0.00418137 0.00360699 0.99998475 0.54334551] [ 0. 0. 0. 1. ]] SLAMing on 210.32925976399994 meters 0.15570066047564968 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 0.99995008 -0.00910286 0.00411947 -0.9235089 ] [ 0.00911907 0.99995069 -0.00393235 3.43981871] [-0.00408348 0.00396972 0.99998378 0.54386551] [ 0. 0. 0. 1. ]] SLAMing on 210.38925976399995 meters 0.15310475085166164 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 0.99994875 -0.00929787 0.00400554 -0.92361569] [ 0.00931523 0.99994721 -0.0043369 3.44119372] [-0.00396501 0.00437399 0.99998257 0.54451263] [ 0. 0. 0. 1. ]] SLAMing on 210.44925976399995 meters 0.1511128957434346 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 0.99995294 -0.00880552 0.00407079 -0.92291473] [ 0.00882019 0.99995462 -0.00359929 3.43937753] [-0.00403891 0.00363502 0.99998524 0.54317525] [ 0. 0. 0. 1. ]] SLAMing on 210.50925976399995 meters 0.15042029189705966 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99954587e-01 -8.59551747e-03 4.11605818e-03 -9.22608603e-01] [ 8.60881324e-03 9.99957748e-01 -3.22347115e-03 3.43856999e+00] [-4.08817686e-03 3.25875914e-03 9.99986334e-01 5.42484511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56925976399995 meters 0.14926928730137587 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99954323e-01 -8.64546220e-03 4.07519739e-03 -9.22605110e-01] [ 8.65900376e-03 9.99957008e-01 -3.31707237e-03 3.43895652e+00] [-4.04634457e-03 3.35220801e-03 9.99986195e-01 5.42641776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62925976399995 meters 0.1473221051615162 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99954270e-01 -8.66637585e-03 4.04364660e-03 -9.22322016e-01] [ 8.67995341e-03 9.99956709e-01 -3.35236969e-03 3.43965973e+00] [-4.01441866e-03 3.38731505e-03 9.99986205e-01 5.42302707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68925976399996 meters 0.14569127467012008 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99957091e-01 -8.31928488e-03 4.07490228e-03 -9.21457569e-01] [ 8.33080649e-03 9.99961326e-01 -2.81869094e-03 3.43903866e+00] [-4.05129519e-03 2.85251722e-03 9.99987725e-01 5.40816357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74925976399996 meters 0.1440370617574369 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99959096e-01 -8.07484224e-03 4.07474174e-03 -9.20927620e-01] [ 8.08516124e-03 9.99964133e-01 -2.52234487e-03 3.43859207e+00] [-4.05422806e-03 2.55518664e-03 9.99988517e-01 5.39994856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80925976399996 meters 0.1426949138185293 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99959272e-01 -8.11915567e-03 3.94119966e-03 -9.20569513e-01] [ 8.12982644e-03 9.99963310e-01 -2.69906475e-03 3.43956104e+00] [-3.91914093e-03 2.73099610e-03 9.99988591e-01 5.40005373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86925976399996 meters 0.13825843119888798 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99960631e-01 -8.15867621e-03 3.48879205e-03 -9.19256960e-01] [ 8.16983260e-03 9.99961520e-01 -3.19557485e-03 3.44282979e+00] [-3.46258614e-03 3.22395190e-03 9.99988808e-01 5.39755552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92925976399997 meters 0.13482141733816916 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.44, Z:0.54 [[ 9.99964192e-01 -7.86213879e-03 3.13088457e-03 -9.17508563e-01] [ 7.87214702e-03 9.99963903e-01 -3.19722600e-03 3.44463549e+00] [-3.10563452e-03 3.22175830e-03 9.99989988e-01 5.38482782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98925976399997 meters 0.13337773884997955 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.45, Z:0.54 [[ 9.99964492e-01 -7.89349309e-03 2.95069252e-03 -9.16900583e-01] [ 7.90375075e-03 9.99962706e-01 -3.48101140e-03 3.44628884e+00] [-2.92310514e-03 3.50420934e-03 9.99989588e-01 5.38307634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04925976399997 meters 0.13102756515124672 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.45, Z:0.54 [[ 9.99964503e-01 -7.99656196e-03 2.65461316e-03 -9.16104732e-01] [ 8.00689489e-03 9.99960320e-01 -3.90490698e-03 3.44870819e+00] [-2.62328199e-03 3.92602358e-03 9.99988852e-01 5.38291530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10925976399994 meters 0.13004086800558493 Centerline is valid? [False, False] Translation: X:-0.92, Y:3.45, Z:0.54 [[ 9.99966948e-01 -7.71075818e-03 2.57828863e-03 -9.15290284e-01] [ 7.71989726e-03 9.99963887e-01 -3.55366664e-03 3.44837786e+00] [-2.55079406e-03 3.57345331e-03 9.99990362e-01 5.37336066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16925976399995 meters 0.12874974305863238 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.45, Z:0.54 [[ 9.99968713e-01 -7.46749815e-03 2.60948968e-03 -9.14873417e-01] [ 7.47579645e-03 9.99966984e-01 -3.18489649e-03 3.44760162e+00] [-2.58562032e-03 3.20430486e-03 9.99991523e-01 5.36548176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22925976399995 meters 0.13389415867825286 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.45, Z:0.54 [[ 9.99968565e-01 -7.52863732e-03 2.48762134e-03 -9.14664050e-01] [ 7.53700240e-03 9.99965916e-01 -3.37059456e-03 3.44849760e+00] [-2.46216056e-03 3.38923781e-03 9.99991225e-01 5.36718575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28925976399995 meters 0.13021452677205908 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.45, Z:0.54 [[ 9.99968106e-01 -7.73366400e-03 1.99446785e-03 -9.13752841e-01] [ 7.74211762e-03 9.99960929e-01 -4.26622477e-03 3.45223258e+00] [-1.96139637e-03 4.28153011e-03 9.99988911e-01 5.37398630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34925976399995 meters 0.12312870518841142 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.45, Z:0.54 [[ 9.99970185e-01 -7.51399380e-03 1.77993148e-03 -9.12485920e-01] [ 7.52136930e-03 9.99963003e-01 -4.17389537e-03 3.45329234e+00] [-1.74850300e-03 4.18715844e-03 9.99989705e-01 5.36312649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40925976399996 meters 0.12189442279447578 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99969975e-01 -7.60574417e-03 1.48404927e-03 -9.11640536e-01] [ 7.61254087e-03 9.99960309e-01 -4.62923366e-03 3.45580508e+00] [-1.44878160e-03 4.64039205e-03 9.99988184e-01 5.36217985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46925976399996 meters 0.12741667972968054 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99969611e-01 -7.66187275e-03 1.43950854e-03 -9.11426615e-01] [ 7.66866325e-03 9.99959207e-01 -4.77247123e-03 3.45673861e+00] [-1.40288375e-03 4.78336531e-03 9.99987576e-01 5.36071348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52925976399996 meters 0.11978388301805738 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99969924e-01 -7.58951507e-03 1.59696486e-03 -9.11598513e-01] [ 7.59668685e-03 9.99960867e-01 -4.53379024e-03 3.45616361e+00] [-1.56249310e-03 4.54578553e-03 9.99988447e-01 5.35635527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58925976399996 meters 0.12183480414913432 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99970339e-01 -7.49854435e-03 1.75857193e-03 -9.11891364e-01] [ 7.50596177e-03 9.99962799e-01 -4.24989162e-03 3.45519856e+00] [-1.72663851e-03 4.26296534e-03 9.99989423e-01 5.35374629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64925976399996 meters 0.1249988620672232 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99969687e-01 -7.56291431e-03 1.85123023e-03 -9.12089295e-01] [ 7.57070240e-03 9.99962366e-01 -4.23676042e-03 3.45535624e+00] [-1.81911830e-03 4.25064710e-03 9.99989311e-01 5.35247488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70925976399997 meters 0.12644475454664786 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.54 [[ 9.99969811e-01 -7.56124958e-03 1.78991439e-03 -9.11760012e-01] [ 7.56889712e-03 9.99962088e-01 -4.30507201e-03 3.45599377e+00] [-1.75729481e-03 4.31848972e-03 9.99989131e-01 5.35004484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76925976399997 meters 0.12017479083708224 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.53 [[ 9.99970798e-01 -7.53263755e-03 1.28944354e-03 -9.10103050e-01] [ 7.53878339e-03 9.99959920e-01 -4.82968304e-03 3.45940612e+00] [-1.25301161e-03 4.83926284e-03 9.99987506e-01 5.34523400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82925976399994 meters 0.12101197866831266 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.53 [[ 9.99971440e-01 -7.51898170e-03 7.63772373e-04 -9.08647209e-01] [ 7.52301500e-03 9.99956998e-01 -5.42278579e-03 3.46273008e+00] [-7.22965702e-04 5.42837679e-03 9.99985005e-01 5.34478573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88925976399995 meters 0.1159128702772592 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.53 [[ 9.99974467e-01 -7.13599720e-03 3.79131709e-04 -9.06884023e-01] [ 7.13792035e-03 9.99960268e-01 -5.33962172e-03 3.46381263e+00] [-3.41013120e-04 5.34219159e-03 9.99985672e-01 5.33361403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94925976399995 meters 0.1116615815826822 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.53 [[ 9.99977360e-01 -6.72899547e-03 2.05151281e-05 -9.05619131e-01] [ 6.72901306e-03 9.99964532e-01 -5.06505460e-03 3.46349369e+00] [ 1.35683290e-05 5.06507798e-03 9.99987172e-01 5.32896212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00925976399995 meters 0.109470715234536 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.46, Z:0.53 [[ 9.99979187e-01 -6.45092796e-03 -1.06257190e-04 -9.05126346e-01] [ 6.45035186e-03 9.99967961e-01 -4.74015844e-03 3.46253243e+00] [ 1.36832207e-04 4.73937439e-03 9.99988760e-01 5.32635464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06925976399995 meters 0.1072222409216329 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.46, Z:0.53 [[ 9.99984344e-01 -5.59526804e-03 -7.52113277e-05 -9.04405680e-01] [ 5.59497688e-03 9.99978455e-01 -3.43308050e-03 3.45817419e+00] [ 9.44187128e-05 3.43260595e-03 9.99994104e-01 5.31368364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12925976399995 meters 0.10708735031448512 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.45, Z:0.53 [[ 9.99987660e-01 -4.96743241e-03 5.99451738e-05 -9.04259361e-01] [ 4.96756237e-03 9.99984762e-01 -2.40812294e-03 3.45442659e+00] [-4.79820724e-05 2.40839101e-03 9.99997099e-01 5.30577780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18925976399996 meters 0.10715412432835086 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.45, Z:0.53 [[ 9.99990196e-01 -4.42559553e-03 1.48646087e-04 -9.04297190e-01] [ 4.42581241e-03 9.99989093e-01 -1.49186629e-03 3.45075248e+00] [-1.42042069e-04 1.49250955e-03 9.99998876e-01 5.30279693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24925976399996 meters 0.10899012649348522 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.45, Z:0.53 [[ 9.99964660e-01 -8.40696300e-03 4.21915442e-05 -9.04472582e-01] [ 8.40706869e-03 9.99951011e-01 -5.22458266e-03 3.44790391e+00] [ 1.73339582e-06 5.22475273e-03 9.99986351e-01 5.31010635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30925976399996 meters 0.11559648011914751 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.44, Z:0.53 [[ 9.99970737e-01 -7.62643202e-03 6.02348159e-04 -9.04997468e-01] [ 7.62849470e-03 9.99964778e-01 -3.49975625e-03 3.44141864e+00] [-5.75636290e-04 3.50424885e-03 9.99993694e-01 5.29547165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36925976399996 meters 0.11843523911548443 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.44, Z:0.53 [[ 9.99930702e-01 -1.17467042e-02 7.78905389e-04 -9.06016399e-01] [ 1.17519949e-02 9.99905188e-01 -7.17674182e-03 3.43786376e+00] [-6.94528476e-04 7.18539818e-03 9.99973944e-01 5.30499005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42925976399997 meters 0.12153590625815817 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.43, Z:0.53 [[ 9.99935259e-01 -1.13044744e-02 1.29837122e-03 -9.06919069e-01] [ 1.13119244e-02 9.99918720e-01 -5.88159077e-03 3.43280637e+00] [-1.23177740e-03 5.89589707e-03 9.99981860e-01 5.29819678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48925976399997 meters 0.1324073644001756 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.43, Z:0.53 [[ 9.99879926e-01 -1.54004851e-02 1.72010456e-03 -9.08167225e-01] [ 1.54157151e-02 9.99838635e-01 -9.22275998e-03 3.42842964e+00] [-1.57779202e-03 9.24816921e-03 9.99955990e-01 5.30173568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54925976399994 meters 0.13499814115077574 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.42, Z:0.53 [[ 9.99884503e-01 -1.50160571e-02 2.34508122e-03 -9.09143194e-01] [ 1.50340950e-02 9.99855981e-01 -7.87354490e-03 3.42360742e+00] [-2.22651388e-03 7.90789170e-03 9.99966253e-01 5.29083092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60925976399994 meters 0.14016641715449424 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.42, Z:0.53 [[ 9.99887019e-01 -1.46825299e-02 3.22068393e-03 -9.10723650e-01] [ 1.47025229e-02 9.99872226e-01 -6.27442813e-03 3.41763314e+00] [-3.12814793e-03 6.32107141e-03 9.99975129e-01 5.27977393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66925976399995 meters 0.1433524792957983 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 0.99988876 -0.01442648 0.0037867 -0.91167568] [ 0.01444624 0.9998819 -0.00524393 3.41393134] [-0.0037106 0.00529805 0.99997908 0.52716019] [ 0. 0. 0. 1. ]] SLAMing on 212.72925976399995 meters 0.15193028362444808 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 0.99989192 -0.01411424 0.00411494 -0.91201161] [ 0.01413256 0.9998902 -0.00445526 3.41146856] [-0.00405161 0.00451293 0.99998161 0.52628996] [ 0. 0. 0. 1. ]] SLAMing on 212.78925976399995 meters 0.16606820037296322 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 0.99989584 -0.0138632 0.0040154 -0.9115299 ] [ 0.01387975 0.99989517 -0.00412251 3.41074629] [-0.00395783 0.00417781 0.99998344 0.52592656] [ 0. 0. 0. 1. ]] SLAMing on 212.84925976399995 meters 0.16448732489623832 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 0.99989633 -0.01382921 0.00401059 -0.91172199] [ 0.01384567 0.99989571 -0.00410793 3.41045347] [-0.00395336 0.00416303 0.99998352 0.52627674] [ 0. 0. 0. 1. ]] SLAMing on 212.90925976399996 meters 0.1762090516890132 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99905922e-01 -1.30244746e-02 4.30235864e-03 -9.11407610e-01] [ 1.30364863e-02 9.99911169e-01 -2.77573629e-03 3.40623696e+00] [-4.26582395e-03 2.83156280e-03 9.99986892e-01 5.24602957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96925976399996 meters 0.16141598025244547 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99907179e-01 -1.29098404e-02 4.35540736e-03 -9.11539040e-01] [ 1.29208223e-02 9.99913390e-01 -2.50281243e-03 3.40537374e+00] [-4.32271924e-03 2.55885557e-03 9.99987383e-01 5.24545537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02925976399996 meters 0.16542672461342778 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99907852e-01 -1.28518123e-02 4.37255951e-03 -9.11636615e-01] [ 1.28624891e-02 9.99914340e-01 -2.42248669e-03 3.40507596e+00] [-4.34105161e-03 2.47850546e-03 9.99987506e-01 5.24649151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08925976399996 meters 0.17111296018508923 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.40, Z:0.53 [[ 9.99907786e-01 -1.28341583e-02 4.43889625e-03 -9.12050686e-01] [ 1.28447290e-02 9.99914715e-01 -2.36112469e-03 3.40443532e+00] [-4.40821464e-03 2.41792338e-03 9.99987361e-01 5.25043856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14925976399996 meters 0.16992080216734567 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.40, Z:0.52 [[ 9.99909509e-01 -1.27079939e-02 4.41372743e-03 -9.11720546e-01] [ 1.27177031e-02 9.99916753e-01 -2.17872139e-03 3.40434538e+00] [-4.38567283e-03 2.23465671e-03 9.99987886e-01 5.24637604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20925976399997 meters 0.16635168938303943 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.40, Z:0.52 [[ 9.99912950e-01 -1.25152110e-02 4.17879886e-03 -9.10676163e-01] [ 1.25240247e-02 9.99919388e-01 -2.08966931e-03 3.40497033e+00] [-4.15230935e-03 2.14182278e-03 9.99989085e-01 5.23955709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26925976399997 meters 0.16037520565950908 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99913634e-01 -1.26426310e-02 3.58990603e-03 -9.09645526e-01] [ 1.26527296e-02 9.99916018e-01 -2.80442303e-03 3.40803503e+00] [-3.55414926e-03 2.84960293e-03 9.99989624e-01 5.24790407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32925976399994 meters 0.1569590105862144 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99917158e-01 -1.23888281e-02 3.49197563e-03 -9.08838421e-01] [ 1.23977299e-02 9.99919921e-01 -2.53920056e-03 3.40805902e+00] [-3.46023828e-03 2.58228278e-03 9.99990679e-01 5.23940134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38925976399995 meters 0.15888758498253241 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99918675e-01 -1.22864475e-02 3.41870220e-03 -9.08326432e-01] [ 1.22949564e-02 9.99921341e-01 -2.47914341e-03 3.40847529e+00] [-3.38797342e-03 2.52097459e-03 9.99991083e-01 5.23477650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44925976399995 meters 0.15515291636608633 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99916111e-01 -1.24474012e-02 3.58224129e-03 -9.08953450e-01] [ 1.24565229e-02 9.99919200e-01 -2.53541798e-03 3.40851294e+00] [-3.55039249e-03 2.57982755e-03 9.99990370e-01 5.23781740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50925976399995 meters 0.15696994373333795 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 9.99911969e-01 -1.28051409e-02 3.47595254e-03 -9.09556655e-01] [ 1.28158849e-02 9.99913110e-01 -3.08650290e-03 3.40977372e+00] [-3.43612741e-03 3.13077860e-03 9.99989196e-01 5.25140089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56925976399995 meters 0.15276122292996527 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.53 [[ 9.99910425e-01 -1.29756790e-02 3.28227705e-03 -9.09172842e-01] [ 1.29873604e-02 9.99909313e-01 -3.56300448e-03 3.41192908e+00] [-3.23574699e-03 3.60531344e-03 9.99988266e-01 5.25382050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62925976399995 meters 0.15083093075966472 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99917940e-01 -1.24616724e-02 2.96980372e-03 -9.07175653e-01] [ 1.24708990e-02 9.99917403e-01 -3.10881252e-03 3.41233836e+00] [-2.93081742e-03 3.14559354e-03 9.99990758e-01 5.23533860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68925976399996 meters 0.16538283044704072 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.41, Z:0.52 [[ 9.99918512e-01 -1.24301994e-02 2.90841822e-03 -9.06670100e-01] [ 1.24393175e-02 9.99917704e-01 -3.13828758e-03 3.41315736e+00] [-2.86916932e-03 3.17421059e-03 9.99990846e-01 5.23017116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74925976399996 meters 0.14341461092427793 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.42, Z:0.52 [[ 9.99915590e-01 -1.27787974e-02 2.34842513e-03 -9.05984728e-01] [ 1.27882761e-02 9.99909958e-01 -4.06649961e-03 3.41681444e+00] [-2.29624869e-03 4.09618867e-03 9.99988974e-01 5.24220496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80925976399996 meters 0.14089343419002637 Centerline is valid? [False, False] Translation: X:-0.91, Y:3.42, Z:0.52 [[ 9.99914982e-01 -1.28842913e-02 2.00593151e-03 -9.05159803e-01] [ 1.28932815e-02 9.99906593e-01 -4.53532381e-03 3.41935743e+00] [-1.94730970e-03 4.56080127e-03 9.99987703e-01 5.24316414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86925976399996 meters 0.1572090414080114 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99919861e-01 -1.25189019e-02 1.88397470e-03 -9.03954697e-01] [ 1.25267043e-02 9.99912766e-01 -4.18829746e-03 3.41945078e+00] [-1.83137747e-03 4.21156180e-03 9.99989454e-01 5.22988176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92925976399997 meters 0.14343434123330065 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99921732e-01 -1.23688810e-02 1.88173683e-03 -9.03723003e-01] [ 1.23763430e-02 9.99915382e-01 -4.00690890e-03 3.41914158e+00] [-1.83201662e-03 4.02988431e-03 9.99990202e-01 5.22637833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98925976399997 meters 0.15474867195592054 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99921750e-01 -1.23719607e-02 1.85160379e-03 -9.03697538e-01] [ 1.23793008e-02 9.99915346e-01 -4.00665828e-03 3.41933140e+00] [-1.80187683e-03 4.02926632e-03 9.99990259e-01 5.22712362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04925976399994 meters 0.15301181698144728 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99922533e-01 -1.23163874e-02 1.79866048e-03 -9.03700891e-01] [ 1.23233883e-02 9.99916323e-01 -3.93449903e-03 3.41905358e+00] [-1.75005116e-03 3.95635983e-03 9.99990642e-01 5.22918531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10925976399994 meters 0.14980446621588642 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99925730e-01 -1.20503366e-02 1.82318517e-03 -9.03501793e-01] [ 1.20566743e-02 9.99921169e-01 -3.50609045e-03 3.41781418e+00] [-1.78079188e-03 3.52781160e-03 9.99992192e-01 5.22485693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16925976399995 meters 0.14789846744294302 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99931216e-01 -1.16364997e-02 1.46797134e-03 -9.02144592e-01] [ 1.16410856e-02 9.99927263e-01 -3.15505474e-03 3.41755778e+00] [-1.43115077e-03 3.17192650e-03 9.99993945e-01 5.21802855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22925976399995 meters 0.14493926960291034 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99934373e-01 -1.13977317e-02 1.15855136e-03 -9.01088107e-01] [ 1.14011787e-02 9.99930464e-01 -3.01351753e-03 3.41792277e+00] [-1.12412354e-03 3.02652861e-03 9.99994788e-01 5.21397960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28925976399995 meters 0.14054674603157574 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99938907e-01 -1.10044610e-02 1.04131779e-03 -9.00396283e-01] [ 1.10070089e-02 9.99936362e-01 -2.47356418e-03 3.41655995e+00] [-1.01403128e-03 2.48487486e-03 9.99996399e-01 5.20766055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34925976399995 meters 0.13952580725906913 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99941393e-01 -1.07662163e-02 1.13970216e-03 -9.00410134e-01] [ 1.07684767e-02 9.99940026e-01 -1.99617564e-03 3.41508037e+00] [-1.11814255e-03 2.00833151e-03 9.99997358e-01 5.20358149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40925976399996 meters 0.1400118514667012 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99943292e-01 -1.05747012e-02 1.26010620e-03 -9.00484475e-01] [ 1.05766906e-02 9.99942813e-01 -1.58271991e-03 3.41384206e+00] [-1.24329735e-03 1.59595791e-03 9.99997954e-01 5.19971442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46925976399996 meters 0.1426296980411862 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99947408e-01 -1.01630693e-02 1.37575729e-03 -9.00230341e-01] [ 1.01641906e-02 9.99948015e-01 -8.10468463e-04 3.41156242e+00] [-1.36744893e-03 8.24409298e-04 9.99998725e-01 5.19078672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52925976399996 meters 0.15075404311288426 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99949173e-01 -9.96314779e-03 1.54513974e-03 -9.00473240e-01] [ 9.96361519e-03 9.99950318e-01 -2.95092678e-04 3.40987566e+00] [-1.54212292e-03 3.10472857e-04 9.99998763e-01 5.18726188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58925976399996 meters 0.1497273345512265 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99950097e-01 -9.87243419e-03 1.52927226e-03 -9.00172304e-01] [ 9.87266533e-03 9.99951254e-01 -1.43669882e-04 3.40990127e+00] [-1.52777935e-03 1.58760706e-04 9.99998820e-01 5.18302035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64925976399996 meters 0.14484427978897535 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99951424e-01 -9.76741401e-03 1.32184432e-03 -8.99381443e-01] [ 9.76762968e-03 9.99952283e-01 -1.56797897e-04 3.41064057e+00] [-1.32024974e-03 1.69701567e-04 9.99999114e-01 5.17927796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70925976399997 meters 0.1390041556436368 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.41, Z:0.52 [[ 9.99950976e-01 -9.87741444e-03 6.94630188e-04 -8.97678547e-01] [ 9.87805560e-03 9.99950782e-01 -9.25722884e-04 3.41477248e+00] [-6.85452251e-04 9.32539097e-04 9.99999330e-01 5.17784308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76925976399997 meters 0.1382999013420131 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99950547e-01 -9.94057935e-03 2.97085901e-04 -8.96723920e-01] [ 9.94099876e-03 9.99949543e-01 -1.44526545e-03 3.41709017e+00] [-2.82704135e-04 1.44814731e-03 9.99998911e-01 5.17989333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82925976399994 meters 0.14233409873911732 Centerline is valid? [False, False] Translation: X:-0.90, Y:3.42, Z:0.52 [[ 9.99948756e-01 -1.01206324e-02 -2.41774797e-04 -8.95452518e-01] [ 1.01200686e-02 9.99946306e-01 -2.22910477e-03 3.42084366e+00] [ 2.64321765e-04 2.22654377e-03 9.99997486e-01 5.18256624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88925976399995 meters 0.14011727680131764 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.42, Z:0.52 [[ 9.99949420e-01 -1.00409308e-02 -5.80788924e-04 -8.93919480e-01] [ 1.00395036e-02 9.99946698e-01 -2.41020542e-03 3.42340240e+00] [ 6.04958673e-04 2.40425268e-03 9.99996927e-01 5.17204674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94925976399995 meters 0.13905346514958214 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.42, Z:0.52 [[ 9.99949819e-01 -9.99924041e-03 -6.11306927e-04 -8.93680213e-01] [ 9.99771489e-03 9.99947021e-01 -2.44959982e-03 3.42385227e+00] [ 6.35768678e-04 2.44336522e-03 9.99996813e-01 5.17004784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00925976399995 meters 0.1354814234342581 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.42, Z:0.52 [[ 9.99949249e-01 -1.00572961e-02 -5.91914071e-04 -8.93649099e-01] [ 1.00557488e-02 9.99946159e-01 -2.56145899e-03 3.42457308e+00] [ 6.17643554e-04 2.55537686e-03 9.99996544e-01 5.16887425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06925976399995 meters 0.13883579519669387 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.43, Z:0.52 [[ 9.99947754e-01 -1.02028172e-02 -6.25838293e-04 -8.93473155e-01] [ 1.02010261e-02 9.99944044e-01 -2.80134528e-03 3.42602200e+00] [ 6.54384888e-04 2.79481473e-03 9.99995880e-01 5.16741289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12925976399995 meters 0.13490376864305817 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.43, Z:0.52 [[ 9.99948075e-01 -1.01602101e-02 -7.85259335e-04 -8.92402823e-01] [ 1.01578436e-02 9.99944024e-01 -2.96107356e-03 3.42795808e+00] [ 8.15300509e-04 2.95294327e-03 9.99995308e-01 5.15754736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18925976399996 meters 0.13290180005038765 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.43, Z:0.52 [[ 9.99947421e-01 -1.01905509e-02 -1.14389058e-03 -8.91132764e-01] [ 1.01865184e-02 9.99942070e-01 -3.47735760e-03 3.43117763e+00] [ 1.17926050e-03 3.46552250e-03 9.99993300e-01 5.15280034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24925976399996 meters 0.12951372593006594 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.44, Z:0.52 [[ 9.99946591e-01 -1.01962233e-02 -1.68911434e-03 -8.89549823e-01] [ 1.01890673e-02 9.99939302e-01 -4.19229374e-03 3.43513638e+00] [ 1.73175738e-03 4.17485933e-03 9.99989786e-01 5.15062544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30925976399996 meters 0.12277909951250407 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.44, Z:0.51 [[ 9.99946251e-01 -1.01658030e-02 -2.03770817e-03 -8.88385592e-01] [ 1.01564299e-02 9.99938031e-01 -4.55860732e-03 3.43758132e+00] [ 2.08392380e-03 4.53766646e-03 9.99987533e-01 5.14712761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36925976399996 meters 0.1280543951833235 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.44, Z:0.51 [[ 9.99944697e-01 -1.02138351e-02 -2.50596284e-03 -8.87035964e-01] [ 1.02007476e-02 9.99934549e-01 -5.18090596e-03 3.44104246e+00] [ 2.55871574e-03 5.15505675e-03 9.99983439e-01 5.14529710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42925976399997 meters 0.12105576770945732 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.44, Z:0.51 [[ 9.99983288e-01 -5.32298382e-03 -2.25588300e-03 -8.86472688e-01] [ 5.32320665e-03 9.99985827e-01 9.27838478e-05 3.43889422e+00] [ 2.25535714e-03 -1.04790829e-04 9.99997451e-01 5.12524473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48925976399997 meters 0.12093468667874217 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99947664e-01 -9.63884198e-03 -3.42951802e-03 -8.84049326e-01] [ 9.62021123e-03 9.99939100e-01 -5.40811467e-03 3.44464785e+00] [ 3.48143713e-03 5.37483895e-03 9.99979495e-01 5.13547136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54925976399994 meters 0.11888001079722382 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 0.99994976 -0.00937206 -0.00355445 -0.88309411] [ 0.00935375 0.99994307 -0.00513369 3.4448137 ] [ 0.00360236 0.00510019 0.99998051 0.51256622] [ 0. 0. 0. 1. ]] SLAMing on 215.60925976399994 meters 0.11767233386861059 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.45, Z:0.51 [[ 0.99994959 -0.00937679 -0.00359148 -0.88309317] [ 0.00935799 0.99994261 -0.00521542 3.44509061] [ 0.00364017 0.00518155 0.99997995 0.51274573] [ 0. 0. 0. 1. ]] SLAMing on 215.66925976399995 meters 0.12053147126923631 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 0.99995134 -0.00918972 -0.00358775 -0.88283346] [ 0.00917194 0.99994573 -0.00494141 3.44452124] [ 0.00363296 0.00490827 0.99998136 0.51229883] [ 0. 0. 0. 1. ]] SLAMing on 215.72925976399995 meters 0.11990263050668158 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99954887e-01 -8.85465384e-03 -3.43787863e-03 -8.82499620e-01] [ 8.83988475e-03 9.99951735e-01 -4.28767661e-03 3.44307782e+00] [ 3.47567859e-03 4.25709273e-03 9.99984898e-01 5.11058562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78925976399995 meters 0.12109864906746527 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99958831e-01 -8.47681307e-03 -3.23715082e-03 -8.82499155e-01] [ 8.46543840e-03 9.99958002e-01 -3.51147299e-03 3.44063068e+00] [ 3.26678097e-03 3.48392453e-03 9.99988595e-01 5.10155947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84925976399995 meters 0.1219710702423174 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99961190e-01 -8.27208393e-03 -3.03158904e-03 -8.82784030e-01] [ 8.26312075e-03 9.99961487e-01 -2.95728933e-03 3.43882923e+00] [ 3.05593523e-03 2.93212417e-03 9.99991032e-01 5.09665163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90925976399996 meters 0.1232265661798673 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99961197e-01 -8.34774791e-03 -2.81414332e-03 -8.83592550e-01] [ 8.33981655e-03 9.99961251e-01 -2.81844316e-03 3.43790269e+00] [ 2.83756193e-03 2.79486436e-03 9.99992068e-01 5.09983675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96925976399996 meters 0.12579641369846115 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99963554e-01 -8.13929666e-03 -2.57729136e-03 -8.83906114e-01] [ 8.13343890e-03 9.99964335e-01 -2.27521770e-03 3.43612634e+00] [ 2.59571811e-03 2.25417254e-03 9.99994090e-01 5.09458971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02925976399996 meters 0.12902620085146058 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99921499e-01 -1.22500769e-02 -2.63258336e-03 -8.83524431e-01] [ 1.22333454e-02 9.99905447e-01 -6.28035645e-03 3.43523983e+00] [ 2.70926929e-03 6.24765814e-03 9.99976813e-01 5.09244222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08925976399996 meters 0.1314097458202587 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99924300e-01 -1.20048309e-02 -2.69797171e-03 -8.83098281e-01] [ 1.19886328e-02 9.99910479e-01 -5.94185749e-03 3.43443320e+00] [ 2.76906118e-03 5.90906269e-03 9.99978707e-01 5.08805174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14925976399996 meters 0.12834611737817042 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.44, Z:0.51 [[ 9.99923617e-01 -1.20232621e-02 -2.86387412e-03 -8.82718135e-01] [ 1.20054544e-02 9.99908982e-01 -6.15609667e-03 3.43548596e+00] [ 2.93762982e-03 6.12124434e-03 9.99976950e-01 5.08935422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20925976399997 meters 0.12802948032829584 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99929397e-01 -1.15018347e-02 -2.98468687e-03 -8.81511191e-01] [ 1.14851476e-02 9.99918646e-01 -5.54906471e-03 3.43454412e+00] [ 3.04826848e-03 5.51439337e-03 9.99980150e-01 5.07587259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26925976399997 meters 0.131700753923038 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99931505e-01 -1.13179326e-02 -2.98157673e-03 -8.81343091e-01] [ 1.13020636e-02 9.99922155e-01 -5.28649917e-03 3.43382353e+00] [ 3.04117687e-03 5.25243910e-03 9.99981581e-01 5.07292209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32925976399994 meters 0.12561875973963127 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99934888e-01 -1.10473403e-02 -2.85953287e-03 -8.81556031e-01] [ 1.10336429e-02 9.99927787e-01 -4.76232797e-03 3.43178062e+00] [ 2.91193743e-03 4.73046682e-03 9.99984572e-01 5.07090482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38925976399995 meters 0.1254550926827669 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99939139e-01 -1.06736141e-02 -2.79148195e-03 -8.81266156e-01] [ 1.06621825e-02 9.99934840e-01 -4.07850258e-03 3.42989479e+00] [ 2.83483242e-03 4.04849107e-03 9.99987787e-01 5.06275253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44925976399995 meters 0.12883714805686705 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.43, Z:0.51 [[ 9.99943328e-01 -1.03440720e-02 -2.51813874e-03 -8.81586800e-01] [ 1.03356288e-02 9.99940997e-01 -3.34316818e-03 3.42733530e+00] [ 2.55257214e-03 3.31695216e-03 9.99991241e-01 5.05629491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50925976399995 meters 0.13113074753132012 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.42, Z:0.51 [[ 9.99946567e-01 -1.00917982e-02 -2.24012493e-03 -8.82205664e-01] [ 1.00857769e-02 9.99945537e-01 -2.68314233e-03 3.42455235e+00] [ 2.26708066e-03 2.66040557e-03 9.99993891e-01 5.05444607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56925976399995 meters 0.12771544227668163 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.42, Z:0.51 [[ 9.99948878e-01 -9.93207371e-03 -1.89634561e-03 -8.83070308e-01] [ 9.92805030e-03 9.99948470e-01 -2.11941898e-03 3.42211749e+00] [ 1.91729812e-03 2.10048362e-03 9.99995956e-01 5.05392671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62925976399995 meters 0.13388468978604418 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.42, Z:0.51 [[ 9.99951001e-01 -9.77472261e-03 -1.56514801e-03 -8.84314467e-01] [ 9.77245409e-03 9.99951196e-01 -1.45054561e-03 3.41843803e+00] [ 1.57925031e-03 1.43517920e-03 9.99997723e-01 5.06027050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68925976399996 meters 0.13416753847432558 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.42, Z:0.51 [[ 9.99954508e-01 -9.45560259e-03 -1.25414962e-03 -8.84948272e-01] [ 9.45480182e-03 9.99955096e-01 -6.42889961e-04 3.41518928e+00] [ 1.26017222e-03 6.31002979e-04 9.99999007e-01 5.05751709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74925976399996 meters 0.1477423586587127 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.41, Z:0.50 [[ 9.99913800e-01 -1.30750515e-02 -1.19836977e-03 -8.84334008e-01] [ 1.30706218e-02 9.99907977e-01 -3.63262598e-03 3.41106363e+00] [ 1.24575626e-03 3.61664941e-03 9.99992684e-01 5.04582360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80925976399996 meters 0.14459930878229038 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.40, Z:0.50 [[ 9.99920528e-01 -1.25896156e-02 -6.63128946e-04 -8.85424201e-01] [ 1.25881900e-02 9.99918535e-01 -2.11189755e-03 3.40499507e+00] [ 6.89662903e-04 2.10338212e-03 9.99997550e-01 5.04010538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86925976399996 meters 0.14458022766569809 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.40, Z:0.50 [[ 9.99923889e-01 -1.23285628e-02 -4.72632157e-04 -8.85896805e-01] [ 1.23278389e-02 9.99922877e-01 -1.50495310e-03 3.40258281e+00] [ 4.91149615e-04 1.49901202e-03 9.99998756e-01 5.03946515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92925976399997 meters 0.14580180751799945 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.40, Z:0.50 [[ 9.99928223e-01 -1.19804726e-02 -1.27714115e-04 -8.86612387e-01] [ 1.19803929e-02 9.99928048e-01 -6.07982748e-04 3.39895250e+00] [ 1.34988846e-04 6.06409044e-04 9.99999807e-01 5.03668385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98925976399997 meters 0.14632481609425133 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99936384e-01 -1.12728589e-02 3.87173659e-04 -8.87149830e-01] [ 1.12724487e-02 9.99935917e-01 1.04566711e-03 3.39305163e+00] [-3.98936505e-04 -1.04123619e-03 9.99999378e-01 5.02286888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04925976399994 meters 0.15871908616677405 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99938973e-01 -1.10358066e-02 5.11252322e-04 -8.87695724e-01] [ 1.10349667e-02 9.99937805e-01 1.61742183e-03 3.39051764e+00] [-5.29070079e-04 -1.61168147e-03 9.99998561e-01 5.02596296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10925976399994 meters 0.16020773034639807 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99945728e-01 -1.03487309e-02 1.20188604e-03 -8.88863785e-01] [ 1.03446252e-02 9.99940802e-01 3.37347190e-03 3.38326392e+00] [-1.23672605e-03 -3.36085576e-03 9.99993588e-01 5.01770145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16925976399995 meters 0.15488543285849182 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99948857e-01 -1.00397735e-02 1.21946836e-03 -8.88983193e-01] [ 1.00349910e-02 9.99942173e-01 3.86656286e-03 3.38114416e+00] [-1.25821725e-03 -3.85412776e-03 9.99991781e-01 5.01870041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22925976399995 meters 0.16285673399840775 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99951771e-01 -9.73373334e-03 1.30807589e-03 -8.89465007e-01] [ 9.72781249e-03 9.99942742e-01 4.45897862e-03 3.37833033e+00] [-1.35140350e-03 -4.44603885e-03 9.99989203e-01 5.02261077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28925976399995 meters 0.16052785272288853 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99954780e-01 -9.39736187e-03 1.45894312e-03 -8.89732381e-01] [ 9.38991366e-03 9.99943259e-01 5.03077658e-03 3.37582352e+00] [-1.50613637e-03 -5.01684974e-03 9.99986281e-01 5.02095478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34925976399995 meters 0.16263127929325727 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99903625e-01 -1.38257309e-02 1.26076624e-03 -8.89568308e-01] [ 1.38250470e-02 9.99904278e-01 5.49546511e-04 3.37650136e+00] [-1.26824344e-03 -5.32063396e-04 9.99999054e-01 5.02720142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40925976399996 meters 0.16862561986283503 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.37, Z:0.50 [[ 9.99906455e-01 -1.35985930e-02 1.46922954e-03 -8.89846479e-01] [ 1.35969864e-02 9.99906954e-01 1.09800106e-03 3.37464615e+00] [-1.48402410e-03 -1.07792125e-03 9.99998318e-01 5.02324635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46925976399996 meters 0.1602930088464952 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.37, Z:0.50 [[ 9.99959418e-01 -8.87658619e-03 1.53900229e-03 -8.89267407e-01] [ 8.86728191e-03 9.99942979e-01 5.95059839e-03 3.37345942e+00] [-1.59173554e-03 -5.93671013e-03 9.99981111e-01 5.01054697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52925976399996 meters 0.15625101325732002 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99956394e-01 -9.25758390e-03 1.22732267e-03 -8.88861389e-01] [ 9.25130527e-03 9.99944573e-01 5.02632190e-03 3.37695970e+00] [-1.27378624e-03 -5.01474838e-03 9.99986615e-01 5.01689922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58925976399996 meters 0.15076843096248696 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99956336e-01 -9.28666914e-03 1.04139429e-03 -8.88370412e-01] [ 9.28174397e-03 9.99946165e-01 4.63850382e-03 3.37856648e+00] [-1.08441448e-03 -4.62863533e-03 9.99988700e-01 5.01725225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64925976399996 meters 0.15603903694904261 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99954681e-01 -9.46950686e-03 9.81610817e-04 -8.88445536e-01] [ 9.46523279e-03 9.99946083e-01 4.27099373e-03 3.37982302e+00] [-1.02200210e-03 -4.26150900e-03 9.99990397e-01 5.02099315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70925976399997 meters 0.14883054719789957 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99952063e-01 -9.76136125e-03 7.66734112e-04 -8.88360712e-01] [ 9.75846715e-03 9.99945570e-01 3.69174845e-03 3.38186378e+00] [-8.02728869e-04 -3.68408933e-03 9.99992892e-01 5.02819474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76925976399997 meters 0.15076807103214793 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.38, Z:0.50 [[ 9.99951475e-01 -9.83560922e-03 5.55301500e-04 -8.87775125e-01] [ 9.83368091e-03 9.99945954e-01 3.37458192e-03 3.38356751e+00] [-5.88462558e-04 -3.36895751e-03 9.99994152e-01 5.02752391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82925976399994 meters 0.14908567794284658 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99952149e-01 -9.77948806e-03 2.49024927e-04 -8.86733321e-01] [ 9.77866973e-03 9.99947386e-01 3.09892766e-03 3.38547258e+00] [-2.79317751e-04 -3.09634424e-03 9.99995167e-01 5.02360724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88925976399995 meters 0.1454453761751978 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99952307e-01 -9.76631844e-03 6.09412904e-05 -8.85976821e-01] [ 9.76610081e-03 9.99948110e-01 2.89840503e-03 3.38704139e+00] [-8.92448747e-05 -2.89767164e-03 9.99995798e-01 5.01941026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94925976399995 meters 0.14725802492110707 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99949535e-01 -1.00424807e-02 -2.74675077e-04 -8.85740744e-01] [ 1.00430457e-02 9.99947279e-01 2.13946208e-03 3.38965714e+00] [ 2.53175089e-04 -2.14211269e-03 9.99997674e-01 5.02937698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00925976399995 meters 0.1437996010408289 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99949149e-01 -1.00745970e-02 -4.48626306e-04 -8.85177115e-01] [ 1.00754461e-02 9.99947374e-01 1.93238696e-03 3.39118872e+00] [ 4.29134677e-04 -1.93680881e-03 9.99998032e-01 5.02734643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06925976399995 meters 0.1425408274948906 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99949760e-01 -1.00117348e-02 -4.93438496e-04 -8.85000448e-01] [ 1.00126888e-02 9.99947930e-01 1.97043374e-03 3.39126134e+00] [ 4.73685343e-04 -1.97527539e-03 9.99997937e-01 5.02653927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12925976399995 meters 0.1448524568445802 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99894157e-01 -1.45319463e-02 -7.05735625e-04 -8.84761016e-01] [ 1.45299419e-02 9.99890607e-01 -2.76679855e-03 3.39302780e+00] [ 7.45865391e-04 2.75625141e-03 9.99995923e-01 5.03255362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18925976399996 meters 0.159699423102852 Centerline is valid? [False, False] Translation: X:-0.89, Y:3.39, Z:0.50 [[ 9.99951124e-01 -9.88327713e-03 -2.66537000e-04 -8.85287095e-01] [ 9.88388541e-03 9.99948305e-01 2.38658262e-03 3.39020953e+00] [ 2.42935964e-04 -2.38910039e-03 9.99997117e-01 5.02167369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24925976399996 meters 0.15578104675557342 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99950034e-01 -9.98100689e-03 -5.56327486e-04 -8.84796738e-01] [ 9.98205582e-03 9.99948343e-01 1.91569964e-03 3.39215232e+00] [ 5.37178136e-04 -1.92115721e-03 9.99998010e-01 5.02614174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30925976399996 meters 0.15759733778966145 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99954482e-01 -9.52172869e-03 -6.08391940e-04 -8.83907776e-01] [ 9.52321449e-03 9.99951558e-01 2.48782246e-03 3.39105788e+00] [ 5.84674098e-04 -2.49350307e-03 9.99996720e-01 5.01481617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36925976399996 meters 0.15561685923422341 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99955263e-01 -9.43925905e-03 -6.09550613e-04 -8.83872236e-01] [ 9.44080916e-03 9.99952074e-01 2.59231140e-03 3.39083946e+00] [ 5.85051901e-04 -2.59795008e-03 9.99996454e-01 5.01431926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42925976399997 meters 0.15547651482432484 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99955698e-01 -9.38992613e-03 -6.57159367e-04 -8.83802139e-01] [ 9.39163199e-03 9.99952405e-01 2.64272660e-03 3.39067784e+00] [ 6.32313083e-04 -2.64878132e-03 9.99996292e-01 5.01518733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48925976399997 meters 0.1560134702528772 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99959556e-01 -8.97871104e-03 -5.19038124e-04 -8.83731401e-01] [ 8.98041924e-03 9.99953935e-01 3.38820244e-03 3.38828304e+00] [ 4.88592523e-04 -3.39272659e-03 9.99994125e-01 5.00877493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54925976399994 meters 0.15263035268324376 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99959727e-01 -8.96072354e-03 -4.99764677e-04 -8.84064779e-01] [ 8.96238529e-03 9.99953960e-01 3.42833575e-03 3.38768479e+00] [ 4.69021299e-04 -3.43267677e-03 9.99993998e-01 5.01317011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60925976399994 meters 0.15165229678311715 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99960173e-01 -8.90953782e-03 -5.23003643e-04 -8.84028256e-01] [ 8.91130469e-03 9.99954241e-01 3.47921405e-03 3.38748045e+00] [ 4.91981521e-04 -3.48373613e-03 9.99993811e-01 5.01363454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66925976399995 meters 0.15124506730868156 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99911979e-01 -1.32428546e-02 -8.12980450e-04 -8.83498827e-01] [ 1.32420107e-02 9.99911785e-01 -1.03472342e-03 3.38844462e+00] [ 8.26611425e-04 1.02386684e-03 9.99999134e-01 5.01849668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72925976399995 meters 0.14896407269811532 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99914810e-01 -1.30250626e-02 -8.48298311e-04 -8.83224515e-01] [ 1.30244628e-02 9.99914927e-01 -7.08726385e-04 3.38756330e+00] [ 8.57457349e-04 6.97617379e-04 9.99999389e-01 5.01562249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78925976399995 meters 0.1570096667202389 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99912646e-01 -1.31753593e-02 -1.05348308e-03 -8.83272800e-01] [ 1.31742411e-02 9.99912653e-01 -1.06139116e-03 3.38860203e+00] [ 1.06737527e-03 1.04741960e-03 9.99998882e-01 5.02448198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84925976399995 meters 0.15674429497484121 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99915677e-01 -1.29443458e-02 -1.04045532e-03 -8.83231957e-01] [ 1.29436178e-02 9.99915980e-01 -7.03380382e-04 3.38735065e+00] [ 1.04947271e-03 6.89853815e-04 9.99999211e-01 5.02329620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90925976399996 meters 0.15532386531416084 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.38, Z:0.50 [[ 9.99922429e-01 -1.24150113e-02 -1.00169390e-03 -8.82699020e-01] [ 1.24151505e-02 9.99922920e-01 1.32903634e-04 3.38493128e+00] [ 9.99966694e-04 -1.45329505e-04 9.99999489e-01 5.01360460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96925976399996 meters 0.1592641763596155 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99921381e-01 -1.24808869e-02 -1.20812372e-03 -8.82309819e-01] [ 1.24807380e-02 9.99922104e-01 -1.30715524e-04 3.38621411e+00] [ 1.20966106e-03 1.15626972e-04 9.99999262e-01 5.01602278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02925976399996 meters 0.15601525891329762 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99922513e-01 -1.23671765e-02 -1.42167942e-03 -8.81695954e-01] [ 1.23671660e-02 9.99923524e-01 -1.61177422e-05 3.38648631e+00] [ 1.42177003e-03 -1.46565219e-06 9.99998989e-01 5.01472039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08925976399996 meters 0.15172355329569287 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.38, Z:0.50 [[ 9.99926852e-01 -1.20214106e-02 -1.33311080e-03 -8.81414891e-01] [ 1.20222071e-02 9.99927556e-01 5.91043744e-04 3.38490299e+00] [ 1.32590905e-03 -6.07027444e-04 9.99998937e-01 5.00671625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14925976399996 meters 0.1523815842743026 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.38, Z:0.50 [[ 9.99930468e-01 -1.17240703e-02 -1.26723380e-03 -8.81023728e-01] [ 1.17255741e-02 9.99930550e-01 1.18580258e-03 3.38349046e+00] [ 1.25324335e-03 -1.20057917e-03 9.99998494e-01 4.99758915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20925976399997 meters 0.14695927148593113 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99928876e-01 -1.17723525e-02 -1.91159925e-03 -8.79637872e-01] [ 1.17734000e-02 9.99930547e-01 5.37653782e-04 3.38658403e+00] [ 1.90513703e-03 -5.60121565e-04 9.99998028e-01 5.00194444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26925976399997 meters 0.14755414565153 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99929056e-01 -1.16764928e-02 -2.35426249e-03 -8.78284302e-01] [ 1.16769960e-02 9.99931802e-01 2.00103860e-04 3.38889362e+00] [ 2.35176542e-03 -2.27580377e-04 9.99997209e-01 4.99918713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32925976399994 meters 0.142831868669598 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99928715e-01 -1.16696332e-02 -2.52668704e-03 -8.77653735e-01] [ 1.16697906e-02 9.99931905e-01 4.75496242e-05 3.39013497e+00] [ 2.52596010e-03 -7.70321434e-05 9.99996807e-01 4.99639504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38925976399995 meters 0.14995966550379775 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.39, Z:0.50 [[ 9.99924648e-01 -1.19265917e-02 -2.90785640e-03 -8.77042194e-01] [ 1.19248369e-02 9.99928704e-01 -6.20059829e-04 3.39317393e+00] [ 2.91504429e-03 5.85337393e-04 9.99995580e-01 5.00192571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44925976399995 meters 0.14575009968924008 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.40, Z:0.50 [[ 9.99921576e-01 -1.20720189e-02 -3.33286818e-03 -8.75994600e-01] [ 1.20682160e-02 9.99926505e-01 -1.15876682e-03 3.39616366e+00] [ 3.34661188e-03 1.11845417e-03 9.99993775e-01 5.00283546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50925976399995 meters 0.13660360661646093 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.40, Z:0.50 [[ 9.99920060e-01 -1.21787093e-02 -3.39880044e-03 -8.75925343e-01] [ 1.21740003e-02 9.99924910e-01 -1.40274498e-03 3.39717956e+00] [ 3.41562885e-03 1.36125584e-03 9.99993240e-01 5.00460417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56925976399995 meters 0.15850694752694816 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.40, Z:0.50 [[ 9.99918182e-01 -1.23065377e-02 -3.48962770e-03 -8.75725603e-01] [ 1.23008263e-02 9.99922975e-01 -1.65345371e-03 3.39846209e+00] [ 3.50970721e-03 1.61039312e-03 9.99992544e-01 5.00513671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62925976399995 meters 0.15640714076772608 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.40, Z:0.50 [[ 9.99917115e-01 -1.23448377e-02 -3.65627894e-03 -8.75361390e-01] [ 1.23383984e-02 9.99922297e-01 -1.77852545e-03 3.39929164e+00] [ 3.67795045e-03 1.73326541e-03 9.99991734e-01 5.00589274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68925976399996 meters 0.14073029018666608 Centerline is valid? [False, False] Translation: X:-0.88, Y:3.40, Z:0.50 [[ 9.99921726e-01 -1.20120977e-02 -3.50032833e-03 -8.75153932e-01] [ 1.20082564e-02 9.99927275e-01 -1.11638276e-03 3.39751501e+00] [ 3.51348387e-03 1.07426254e-03 9.99993251e-01 4.99638695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74925976399996 meters 0.1392122380890993 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.40, Z:0.50 [[ 9.99921809e-01 -1.19754581e-02 -3.60071073e-03 -8.74688403e-01] [ 1.19715998e-02 9.99927742e-01 -1.09118413e-03 3.39802776e+00] [ 3.61351798e-03 1.04799255e-03 9.99992922e-01 4.99324367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80925976399996 meters 0.13895616857836074 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.40, Z:0.50 [[ 9.99919427e-01 -1.19911639e-02 -4.16551052e-03 -8.73416276e-01] [ 1.19844742e-02 9.99926860e-01 -1.62725301e-03 3.40073281e+00] [ 4.18471851e-03 1.57720044e-03 9.99990000e-01 4.99601466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86925976399996 meters 0.14274317537702752 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.40, Z:0.50 [[ 9.99963279e-01 -7.39542052e-03 -4.32999402e-03 -8.72168998e-01] [ 7.40753649e-03 9.99968675e-01 2.78882945e-03 3.40188198e+00] [ 4.30923381e-03 -2.82080163e-03 9.99986737e-01 4.98283803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92925976399997 meters 0.13715416594872193 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99959029e-01 -7.67475871e-03 -4.79982445e-03 -8.71346375e-01] [ 7.68386198e-03 9.99968710e-01 1.88102848e-03 3.40581208e+00] [ 4.78523783e-03 -1.91783260e-03 9.99986712e-01 4.98848605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98925976399997 meters 0.13444715599120427 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99956211e-01 -7.90028021e-03 -5.01621227e-03 -8.71176298e-01] [ 7.90699287e-03 9.99967868e-01 1.31977481e-03 3.40767786e+00] [ 5.00562450e-03 -1.35938017e-03 9.99986548e-01 4.99490605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04925976399994 meters 0.13050724284339396 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99952326e-01 -8.14829091e-03 -5.38068787e-03 -8.70568919e-01] [ 8.15164114e-03 9.99966594e-01 6.01003561e-04 3.41063940e+00] [ 5.37561097e-03 -6.44836345e-04 9.99985343e-01 5.00013269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10925976399994 meters 0.12862625960339508 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99952064e-01 -8.14823673e-03 -5.42914037e-03 -8.70192187e-01] [ 8.15115438e-03 9.99966646e-01 5.15494616e-04 3.41154130e+00] [ 5.42475891e-03 -5.59723666e-04 9.99985129e-01 4.99640332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16925976399995 meters 0.12687868433763677 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99951421e-01 -8.21238786e-03 -5.45087523e-03 -8.70113763e-01] [ 8.21449803e-03 9.99966194e-01 3.64849447e-04 3.41227579e+00] [ 5.44769467e-03 -4.09607927e-04 9.99985077e-01 4.99624606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22925976399995 meters 0.12696562113159274 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99950753e-01 -8.30274019e-03 -5.43658594e-03 -8.70265293e-01] [ 8.30446926e-03 9.99965474e-01 2.95544729e-04 3.41263896e+00] [ 5.43394440e-03 -3.40678135e-04 9.99985178e-01 4.99748077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28925976399995 meters 0.1310188838328466 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99950657e-01 -8.31951661e-03 -5.42851615e-03 -8.70270753e-01] [ 8.32117462e-03 9.99965338e-01 2.82911832e-04 3.41281771e+00] [ 5.42597430e-03 -3.28069504e-04 9.99985225e-01 4.99721119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34925976399995 meters 0.12859360513113835 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.41, Z:0.50 [[ 9.99949469e-01 -8.29782091e-03 -5.67508362e-03 -8.69490635e-01] [ 8.29835626e-03 9.99965566e-01 7.07915401e-05 3.41419325e+00] [ 5.67430079e-03 -1.17881829e-04 9.99983894e-01 4.99528099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40925976399996 meters 0.13118947232578626 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.42, Z:0.50 [[ 9.99943705e-01 -8.50685484e-03 -6.34202142e-03 -8.67944376e-01] [ 8.50063435e-03 9.99963362e-01 -1.00714892e-03 3.41957885e+00] [ 6.35035672e-03 9.53181012e-04 9.99979382e-01 4.99746260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46925976399996 meters 0.12160955019082266 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.42, Z:0.50 [[ 9.99942135e-01 -8.35170710e-03 -6.78055449e-03 -8.66378190e-01] [ 8.34307811e-03 9.99964351e-01 -1.29989805e-03 3.42213378e+00] [ 6.79116913e-03 1.24325213e-03 9.99976167e-01 4.99135366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52925976399996 meters 0.12291474654167914 Centerline is valid? [False, False] Translation: X:-0.87, Y:3.42, Z:0.50 [[ 9.99940403e-01 -8.29288595e-03 -7.10057886e-03 -8.65280563e-01] [ 8.28174533e-03 9.99964431e-01 -1.59694193e-03 3.42428055e+00] [ 7.11356955e-03 1.53804157e-03 9.99973515e-01 4.98772905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58925976399996 meters 0.11785298018952389 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 9.99936322e-01 -8.12865776e-03 -7.82795177e-03 -8.63211892e-01] [ 8.11302487e-03 9.99965035e-01 -2.02674937e-03 3.42750247e+00] [ 7.84415282e-03 1.96311194e-03 9.99967307e-01 4.98481539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64925976399996 meters 0.11399839681418174 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 9.99934431e-01 -7.92953499e-03 -8.26173848e-03 -8.61633876e-01] [ 7.91154131e-03 9.99966265e-01 -2.20836426e-03 3.42966120e+00] [ 8.27897107e-03 2.14285637e-03 9.99963433e-01 4.97811137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70925976399997 meters 0.1172674086905479 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 9.99933684e-01 -7.94479922e-03 -8.33712927e-03 -8.61449235e-01] [ 7.92553938e-03 9.99965853e-01 -2.34063130e-03 3.43030059e+00] [ 8.35544043e-03 2.27439983e-03 9.99962506e-01 4.97851898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76925976399994 meters 0.1146035313081148 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 9.99929665e-01 -8.11176032e-03 -8.65236494e-03 -8.61030697e-01] [ 8.08685972e-03 9.99963069e-01 -2.90900994e-03 3.43237709e+00] [ 8.67564260e-03 2.83883487e-03 9.99958336e-01 4.98572028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82925976399994 meters 0.11057851472528188 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 9.99930786e-01 -7.99190794e-03 -8.63437435e-03 -8.60928833e-01] [ 7.96873104e-03 9.99964563e-01 -2.71533664e-03 3.43187219e+00] [ 8.65576909e-03 2.64634369e-03 9.99959036e-01 4.98335788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88925976399995 meters 0.11587327823281936 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 0.9998852 -0.01224688 -0.00892223 -0.86004428] [ 0.0121841 0.99990087 -0.00705696 3.43267274] [ 0.00900777 0.00694744 0.99993529 0.49823989] [ 0. 0. 0. 1. ]] SLAMing on 220.94925976399995 meters 0.11806327303183052 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 0.99988644 -0.01222392 -0.0088142 -0.8603235 ] [ 0.01216356 0.99990242 -0.0068698 3.43195361] [ 0.00889731 0.00676181 0.99993756 0.49817658] [ 0. 0. 0. 1. ]] SLAMing on 221.00925976399995 meters 0.11624497955957064 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 0.99988617 -0.01226571 -0.00878666 -0.8605821 ] [ 0.01220582 0.99990213 -0.00683705 3.43181101] [ 0.00886966 0.00672902 0.99993802 0.49840302] [ 0. 0. 0. 1. ]] SLAMing on 221.06925976399995 meters 0.11778787799019814 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 0.99989115 -0.01212262 -0.00841052 -0.86091526] [ 0.01207019 0.99990757 -0.00625764 3.43024897] [ 0.0084856 0.00615544 0.99994505 0.49731403] [ 0. 0. 0. 1. ]] SLAMing on 221.12925976399995 meters 0.11850830569061938 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.43, Z:0.50 [[ 0.99988837 -0.01229848 -0.00848442 -0.86061942] [ 0.01224268 0.99990329 -0.00659783 3.4320964 ] [ 0.00856475 0.00649322 0.99994224 0.49715337] [ 0. 0. 0. 1. ]] SLAMing on 221.18925976399996 meters 0.1138667438467881 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.44, Z:0.50 [[ 9.99930476e-01 -7.97887931e-03 -8.68225864e-03 -8.59574407e-01] [ 7.95521262e-03 9.99964556e-01 -2.75699741e-03 3.43536389e+00] [ 8.70394866e-03 2.68773652e-03 9.99958508e-01 4.96321390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24925976399996 meters 0.10959636429420996 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.44, Z:0.50 [[ 9.99926926e-01 -7.93676344e-03 -9.11864272e-03 -8.57869625e-01] [ 7.90652433e-03 9.99963140e-01 -3.34746246e-03 3.43948320e+00] [ 9.14487463e-03 3.27512107e-03 9.99952821e-01 4.95476878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30925976399996 meters 0.11755836095927903 Centerline is valid? [False, False] Translation: X:-0.86, Y:3.44, Z:0.49 [[ 9.99947596e-01 -3.66787355e-03 -9.55777623e-03 -8.55945824e-01] [ 3.66936078e-03 9.99993258e-01 1.38073605e-04 3.44498395e+00] [ 9.55720536e-03 -1.73137299e-04 9.99954314e-01 4.94376121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36925976399996 meters 0.10275233205741333 Centerline is valid? [False, False] Translation: X:-0.85, Y:3.45, Z:0.50 [[ 9.99936702e-01 -4.29462467e-03 -1.03994527e-02 -8.54852684e-01] [ 4.27238471e-03 9.99988541e-01 -2.15984300e-03 3.45290342e+00] [ 1.04086093e-02 2.11527582e-03 9.99943592e-01 4.96604546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42925976399997 meters 0.09594703588717299 Centerline is valid? [False, True] Translation: X:-0.85, Y:3.46, Z:0.50 [[ 9.99938083e-01 -3.68350171e-05 -1.11278141e-02 -8.52300114e-01] [ 4.73456516e-05 9.99999553e-01 9.44275258e-04 3.46036424e+00] [ 1.11277744e-02 -9.44743645e-04 9.99937638e-01 4.95587654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48925976399997 meters 0.09104428452949496 Centerline is valid? [True, True] Translation: X:-0.79, Y:3.48, Z:0.49 [[ 9.99868635e-01 1.00163047e-02 -1.27430599e-02 -7.92978695e-01] [-1.00100867e-02 9.99949746e-01 5.51640386e-04 3.47784066e+00] [ 1.27479449e-02 -4.24008785e-04 9.99918652e-01 4.94751312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54925976399994 meters 0.0885924679713286 Centerline is valid? [True, True] Translation: X:-0.73, Y:3.49, Z:0.49 [[ 9.99747112e-01 1.67332732e-02 -1.50236433e-02 -7.33722873e-01] [-1.67253940e-02 9.99859910e-01 6.49959960e-04 3.48836246e+00] [ 1.50324146e-02 -3.98519240e-04 9.99886927e-01 4.91515216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60925976399994 meters 0.08508912698725969 Centerline is valid? [True, True] Translation: X:-0.67, Y:3.50, Z:0.49 [[ 9.99564491e-01 2.41457283e-02 -1.69649983e-02 -6.72762446e-01] [-2.41367515e-02 9.99708397e-01 7.33717625e-04 3.50269207e+00] [ 1.69777674e-02 -3.23918136e-04 9.99855815e-01 4.89945915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66925976399995 meters 0.08192759403860411 Centerline is valid? [True, True] Translation: X:-0.61, Y:3.53, Z:0.49 [[ 9.99190631e-01 3.51512907e-02 -1.95568074e-02 -6.12963764e-01] [-3.51414953e-02 9.99381990e-01 8.44408029e-04 3.52569295e+00] [ 1.95744031e-02 -1.56469136e-04 9.99808391e-01 4.89541402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72925976399995 meters 0.08140291832493128 Centerline is valid? [True, True] Translation: X:-0.55, Y:3.54, Z:0.49 [[ 9.98889790e-01 4.20123417e-02 -2.13108113e-02 -5.53469400e-01] [-4.20023865e-02 9.99117092e-01 9.14727235e-04 3.54004934e+00] [ 2.13304257e-02 -1.86067621e-05 9.99772480e-01 4.87567620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78925976399995 meters 0.08168752249487608 Centerline is valid? [True, True] Translation: X:-0.49, Y:3.56, Z:0.49 [[ 9.98488908e-01 5.04814667e-02 -2.17145648e-02 -4.94475319e-01] [-5.04732462e-02 9.98724983e-01 9.26820776e-04 3.55593410e+00] [ 2.17336657e-02 1.70584312e-04 9.99763781e-01 4.86975170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84925976399995 meters 0.08409905180840199 Centerline is valid? [True, True] Translation: X:-0.43, Y:3.58, Z:0.49 [[ 9.97848791e-01 6.14472570e-02 -2.28478738e-02 -4.33137280e-01] [-6.14410139e-02 9.98110239e-01 9.75797335e-04 3.57537073e+00] [ 2.28646569e-02 4.30098344e-04 9.99738477e-01 4.85031731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90925976399996 meters 0.0851906368084025 Centerline is valid? [True, True] Translation: X:-0.37, Y:3.58, Z:0.48 [[ 9.97640042e-01 6.42619052e-02 -2.41816790e-02 -3.73376446e-01] [-6.42557615e-02 9.97932930e-01 1.03180174e-03 3.57737914e+00] [ 2.41979993e-02 5.24445464e-04 9.99707048e-01 4.83703655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96925976399996 meters 0.08645036631503072 Centerline is valid? [True, True] Translation: X:-0.32, Y:3.58, Z:0.48 [[ 9.97644361e-01 6.41778742e-02 -2.42266171e-02 -3.16575239e-01] [-6.41718072e-02 9.97938335e-01 1.02859404e-03 3.57733480e+00] [ 2.42426829e-02 5.28494759e-04 9.99705963e-01 4.77710269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02925976399996 meters 0.08584978966038215 Centerline is valid? [True, True] Translation: X:-0.26, Y:3.57, Z:0.48 [[ 9.97681376e-01 6.35692646e-02 -2.43068141e-02 -2.59071519e-01] [-6.35631496e-02 9.97977292e-01 1.02489959e-03 3.57360028e+00] [ 2.43228007e-02 5.22494431e-04 9.99704020e-01 4.77965680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08925976399996 meters 0.08544005494890683 Centerline is valid? [True, True] Translation: X:-0.20, Y:3.57, Z:0.48 [[ 9.97781766e-01 6.05086210e-02 -2.77534408e-02 -2.00400006e-01] [-6.04996582e-02 9.98167540e-01 1.16329936e-03 3.56798823e+00] [ 2.77729734e-02 5.18354788e-04 9.99614122e-01 4.76323412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14925976399996 meters 0.08785203849319186 Centerline is valid? [True, True] Translation: X:-0.14, Y:3.57, Z:0.46 [[ 9.97975293e-01 5.65853525e-02 -2.90415736e-02 -1.42353778e-01] [-5.65739410e-02 9.98397673e-01 1.21511743e-03 3.56807568e+00] [ 2.90637973e-02 4.30339094e-04 9.99577466e-01 4.59369017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20925976399997 meters 0.08603461262621692 Centerline is valid? [True, True] Translation: X:-0.08, Y:3.54, Z:0.46 [[ 9.98481285e-01 4.53110740e-02 -3.13373683e-02 -8.40958693e-02] [-4.52923433e-02 9.98972919e-01 1.30766475e-03 3.54432264e+00] [ 3.13644340e-02 1.13664061e-04 9.99508009e-01 4.55514540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26925976399994 meters 0.08614749103603819 Centerline is valid? [True, True] Translation: X:-0.03, Y:3.53, Z:0.45 [[ 9.98624071e-01 4.12201017e-02 -3.24170884e-02 -2.62218970e-02] [-4.11979769e-02 9.99150090e-01 1.35042530e-03 3.53477452e+00] [ 3.24452015e-02 -1.30487534e-05 9.99473516e-01 4.54827712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32925976399994 meters 0.08912422178802323 Centerline is valid? [True, True] Translation: X:0.03, Y:3.51, Z:0.45 [[ 9.99050066e-01 2.77882788e-02 -3.35675063e-02 3.16493834e-02] [-2.77570205e-02 9.99613724e-01 1.39693661e-03 3.50771825e+00] [ 3.35933584e-02 -4.63875649e-04 9.99435476e-01 4.51445911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38925976399995 meters 0.08915224035041075 Centerline is valid? [True, True] Translation: X:0.09, Y:3.51, Z:0.45 [[ 9.99003291e-01 2.74787938e-02 -3.51758639e-02 9.00725499e-02] [-2.74445508e-02 9.99622267e-01 1.45604545e-03 3.50779154e+00] [ 3.52025872e-02 -4.89208410e-04 9.99380077e-01 4.50727718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44925976399995 meters 0.09088340179416185 Centerline is valid? [True, True] Translation: X:0.15, Y:3.50, Z:0.44 [[ 9.98894255e-01 2.59353959e-02 -3.92125376e-02 1.49767678e-01] [-2.58916523e-02 9.99663437e-01 1.62306086e-03 3.50335736e+00] [ 3.92414348e-02 -6.05988781e-04 9.99229575e-01 4.43906270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50925976399995 meters 0.09298231823232021 Centerline is valid? [True, True] Translation: X:0.21, Y:3.49, Z:0.44 [[ 9.98831220e-01 2.24853109e-02 -4.27855674e-02 2.09421599e-01] [-2.24300960e-02 9.99746847e-01 1.77018919e-03 3.49118358e+00] [ 4.28145394e-02 -8.08435847e-04 9.99082710e-01 4.37191175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56925976399995 meters 0.09407503626836601 Centerline is valid? [True, True] Translation: X:0.27, Y:3.48, Z:0.43 [[ 9.98793210e-01 2.04655088e-02 -4.46462436e-02 2.68664841e-01] [-2.04034318e-02 9.99790125e-01 1.84571913e-03 3.48389225e+00] [ 4.46746470e-02 -9.32555143e-04 9.99001154e-01 4.33855396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62925976399995 meters 0.09512949007392345 Centerline is valid? [True, True] Translation: X:0.33, Y:3.48, Z:0.43 [[ 9.98765988e-01 1.88466557e-02 -4.59489461e-02 3.27691459e-01] [-1.87792916e-02 9.99821853e-01 1.89733493e-03 3.47783582e+00] [ 4.59765189e-02 -1.03210494e-03 9.98941988e-01 4.30023156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68925976399996 meters 0.09598345473822385 Centerline is valid? [True, True] Translation: X:0.39, Y:3.47, Z:0.43 [[ 9.98783508e-01 1.63950736e-02 -4.65048972e-02 3.86875340e-01] [-1.63234825e-02 9.99864922e-01 1.91880734e-03 3.46985570e+00] [ 4.65300744e-02 -1.15735125e-03 9.98916219e-01 4.29765869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74925976399996 meters 0.09777793349569255 Centerline is valid? [True, True] Translation: X:0.45, Y:3.46, Z:0.43 [[ 9.98747679e-01 1.27409538e-02 -4.83812198e-02 4.46604711e-01] [-1.26592179e-02 9.99917878e-01 1.99546511e-03 3.45973165e+00] [ 4.84026708e-02 -1.38049775e-03 9.98826950e-01 4.27444178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80925976399996 meters 0.10060185003441059 Centerline is valid? [True, False] Translation: X:0.44, Y:3.45, Z:0.42 [[ 9.99554359e-01 6.17843175e-03 -2.92046451e-02 4.39669248e-01] [-6.18686366e-03 9.99980842e-01 -1.98364430e-04 3.45329405e+00] [ 2.92028600e-02 3.78961188e-04 9.99573434e-01 4.16232493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86925976399996 meters 0.10268856369094197 Centerline is valid? [False, False] Translation: X:0.45, Y:3.45, Z:0.41 [[ 9.99759371e-01 -1.41889305e-04 -2.19358262e-02 4.49066388e-01] [ 2.75589449e-04 9.99981405e-01 6.09215565e-03 3.44744716e+00] [ 2.19345538e-02 -6.09673499e-03 9.99740819e-01 4.10620275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92925976399997 meters 0.10454099550233395 Centerline is valid? [False, False] Translation: X:0.44, Y:3.44, Z:0.40 [[ 9.99984295e-01 -4.58339105e-03 -3.22515693e-03 4.41677170e-01] [ 4.60474751e-03 9.99967314e-01 6.64586345e-03 3.44294959e+00] [ 3.19459092e-03 -6.66061011e-03 9.99972715e-01 4.01287425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98925976399997 meters 0.10947775856330245 Centerline is valid? [False, False] Translation: X:0.44, Y:3.43, Z:0.40 [[ 9.99920535e-01 -1.22608185e-02 -2.93193093e-03 4.41135020e-01] [ 1.22609539e-02 9.99924831e-01 2.81870467e-05 3.43365498e+00] [ 2.93136494e-03 -6.41330767e-05 9.99995701e-01 4.01045485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04925976399994 meters 0.11533654664732641 Centerline is valid? [False, False] Translation: X:0.44, Y:3.43, Z:0.40 [[ 9.99869797e-01 -1.59658305e-02 -2.34102853e-03 4.40127916e-01] [ 1.59602306e-02 9.99869767e-01 -2.39153171e-03 3.42595060e+00] [ 2.37890644e-03 2.35385697e-03 9.99994400e-01 4.00259361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10925976399994 meters 0.12236089581847809 Centerline is valid? [False, False] Translation: X:0.44, Y:3.42, Z:0.40 [[ 9.99879284e-01 -1.54639007e-02 -1.51189759e-03 4.38414681e-01] [ 1.54634802e-02 9.99880391e-01 -2.89402371e-04 3.41682413e+00] [ 1.51619204e-03 2.65988237e-04 9.99998815e-01 3.99463685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16925976399995 meters 0.13046063201851224 Centerline is valid? [False, False] Translation: X:0.44, Y:3.41, Z:0.40 [[ 9.99816742e-01 -1.91369791e-02 -5.08960701e-04 4.36372006e-01] [ 1.91359993e-02 9.99815151e-01 -1.86495440e-03 3.40534737e+00] [ 5.44556213e-04 1.85487316e-03 9.99998131e-01 3.98700563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22925976399995 meters 0.13329501410273817 Centerline is valid? [False, False] Translation: X:0.44, Y:3.40, Z:0.40 [[ 9.99833721e-01 -1.82354117e-02 4.59875594e-06 4.35881108e-01] [ 1.82354107e-02 9.99833707e-01 1.65360739e-04 3.39712505e+00] [-7.61341236e-06 -1.65249383e-04 9.99999986e-01 3.97255700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28925976399995 meters 0.13777243297025338 Centerline is valid? [False, False] Translation: X:0.44, Y:3.39, Z:0.40 [[ 9.99758596e-01 -2.19713234e-02 1.01299173e-04 4.36058991e-01] [ 2.19715315e-02 9.99753824e-01 -3.08904955e-03 3.39320987e+00] [-3.34037290e-05 3.09052954e-03 9.99995224e-01 3.96738398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34925976399995 meters 0.14587062818989768 Centerline is valid? [False, False] Translation: X:0.43, Y:3.38, Z:0.40 [[ 9.99648784e-01 -2.64672599e-02 1.33867702e-03 4.31704062e-01] [ 2.64750766e-02 9.99630222e-01 -6.20407562e-03 3.38441413e+00] [-1.17397712e-03 6.23733822e-03 9.99979858e-01 3.99421019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40925976399996 meters 0.1421557383690701 Centerline is valid? [False, False] Translation: X:0.43, Y:3.38, Z:0.40 [[ 9.99651077e-01 -2.63369111e-02 2.02276375e-03 4.29147231e-01] [ 2.63467300e-02 9.99640403e-01 -4.99148990e-03 3.37713948e+00] [-1.89057595e-03 5.04304146e-03 9.99985497e-01 4.00987945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46925976399996 meters 0.14481020111047285 Centerline is valid? [False, False] Translation: X:0.43, Y:3.37, Z:0.40 [[ 9.99649350e-01 -2.63230834e-02 2.87607474e-03 4.26634884e-01] [ 2.63349832e-02 9.99644430e-01 -4.18106563e-03 3.37114344e+00] [-2.76499355e-03 4.25534092e-03 9.99987123e-01 4.01720971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52925976399996 meters 0.15841006623472206 Centerline is valid? [False, False] Translation: X:0.42, Y:3.36, Z:0.40 [[ 0.99954189 -0.02998197 0.00413466 0.424174 ] [ 0.03000647 0.99953172 -0.00599685 3.35966685] [-0.00395293 0.00611817 0.99997347 0.40126599] [ 0. 0. 0. 1. ]] SLAMing on 223.58925976399996 meters 0.1602239996522607 Centerline is valid? [False, False] Translation: X:0.42, Y:3.35, Z:0.40 [[ 0.99951259 -0.03070347 0.00564633 0.41913876] [ 0.03073167 0.99951528 -0.00497683 3.35097447] [-0.00549079 0.00514793 0.99997167 0.40429745] [ 0. 0. 0. 1. ]] SLAMing on 223.64925976399996 meters 0.17562862032020282 Centerline is valid? [False, False] Translation: X:0.42, Y:3.35, Z:0.41 [[ 0.99949104 -0.03129202 0.00620201 0.4158406 ] [ 0.03132516 0.99949508 -0.00532066 3.34861801] [-0.00603239 0.00551223 0.99996661 0.40730809] [ 0. 0. 0. 1. ]] SLAMing on 223.70925976399997 meters 0.16638396607065467 Centerline is valid? [False, False] Translation: X:0.41, Y:3.34, Z:0.41 [[ 0.99933498 -0.03577867 0.00703515 0.41269628] [ 0.03584374 0.99931365 -0.00935162 3.34378988] [-0.00669573 0.00959756 0.99993152 0.40968482] [ 0. 0. 0. 1. ]] SLAMing on 223.76925976399994 meters 0.17807968905181573 Centerline is valid? [False, False] Translation: X:0.40, Y:3.34, Z:0.41 [[ 0.99937308 -0.03151351 0.01613537 0.39780575] [ 0.03171974 0.99941625 -0.01268888 3.33967126] [-0.01572608 0.01319273 0.9997893 0.4052995 ] [ 0. 0. 0. 1. ]] SLAMing on 223.82925976399994 meters 0.1782807577666586 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99599397e-01 -2.82999940e-02 -3.95015630e-04 4.01318649e-01] [ 2.82944438e-02 9.99546803e-01 -1.02768191e-02 3.33467833e+00] [ 6.85670530e-04 1.02615255e-02 9.99947114e-01 4.10856594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88925976399995 meters 0.177020015285578 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99720237e-01 -2.36484813e-02 4.44238533e-04 3.99223457e-01] [ 2.36502260e-02 9.99710387e-01 -4.45075798e-03 3.32711287e+00] [-3.38856209e-04 4.46001917e-03 9.99989997e-01 4.10737811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94925976399995 meters 0.17693644196725059 Centerline is valid? [False, False] Translation: X:0.40, Y:3.32, Z:0.41 [[ 9.99817464e-01 -1.90707779e-02 1.15967956e-03 3.97205181e-01] [ 1.90697532e-02 9.99817761e-01 8.88327756e-04 3.32123278e+00] [-1.17640933e-03 -8.66050801e-04 9.99998933e-01 4.11066977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00925976399995 meters 0.17254294125122566 Centerline is valid? [False, False] Translation: X:0.40, Y:3.32, Z:0.41 [[ 9.99810129e-01 -1.94512756e-02 1.16314624e-03 3.96122750e-01] [ 1.94509189e-02 9.99810763e-01 3.17200374e-04 3.32180124e+00] [-1.16909608e-03 -2.94515883e-04 9.99999273e-01 4.12692458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06925976399995 meters 0.17615426029003922 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.41 [[ 9.99883656e-01 -1.51930188e-02 1.35890127e-03 3.94710451e-01] [ 1.51865316e-02 9.99873804e-01 4.66315687e-03 3.32005916e+00] [-1.42957722e-03 -4.64197734e-03 9.99988204e-01 4.13888790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12925976399995 meters 0.16616387673892885 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.41 [[ 0.99990112 -0.00888999 0.01089611 0.39004478] [ 0.00893963 0.99994985 -0.00451538 3.32136688] [-0.01085542 0.00461234 0.99993044 0.41440382] [ 0. 0. 0. 1. ]] SLAMing on 224.18925976399996 meters 0.16529803894966646 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.41 [[ 0.99990118 -0.00901219 0.01078909 0.39001695] [ 0.00906503 0.99994711 -0.00485827 3.32241951] [-0.01074474 0.0049556 0.99992999 0.4149409 ] [ 0. 0. 0. 1. ]] SLAMing on 224.24925976399996 meters 0.17628936209872687 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.42 [[ 0.99990315 -0.00897614 0.01063579 0.39026113] [ 0.00902911 0.99994702 -0.00494323 3.32286222] [-0.01059085 0.00503878 0.99993122 0.41516648] [ 0. 0. 0. 1. ]] SLAMing on 224.30925976399996 meters 0.1735431325305457 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.42 [[ 9.99930379e-01 -4.57280346e-03 1.08778446e-02 3.89203942e-01] [ 4.57637144e-03 9.99989482e-01 -3.03135700e-04 3.32052119e+00] [-1.08763440e-02 3.52895652e-04 9.99940789e-01 4.15782573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36925976399996 meters 0.16768624940540358 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.42 [[ 9.99932077e-01 -4.71267800e-03 1.06598745e-02 3.89528145e-01] [ 4.71998327e-03 9.99988643e-01 -6.60251036e-04 3.32202787e+00] [-1.06566419e-02 7.10520619e-04 9.99942964e-01 4.16154497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42925976399997 meters 0.1731849505160179 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.42 [[ 9.99939715e-01 -4.20519242e-03 1.01430648e-02 3.91387800e-01] [ 4.20925171e-03 9.99991069e-01 -3.78889113e-04 3.32239511e+00] [-1.01413809e-02 4.21560985e-04 9.99948486e-01 4.15225248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48925976399997 meters 0.158079766621081 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.41 [[ 9.99943912e-01 -3.99917450e-03 9.80708529e-03 3.92389384e-01] [ 4.00297730e-03 9.99991920e-01 -3.68162294e-04 3.32302704e+00] [-9.80553371e-03 4.07399185e-04 9.99951842e-01 4.14953741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54925976399994 meters 0.16026779773377992 Centerline is valid? [False, False] Translation: X:0.39, Y:3.32, Z:0.42 [[ 9.99947114e-01 -4.00034176e-03 9.47454886e-03 3.92958586e-01] [ 4.00628563e-03 9.99991790e-01 -6.08454544e-04 3.32399729e+00] [-9.47203704e-03 6.46380114e-04 9.99954930e-01 4.15353554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60925976399994 meters 0.1447078432545652 Centerline is valid? [False, False] Translation: X:0.39, Y:3.33, Z:0.42 [[ 9.99951853e-01 -3.93790159e-03 8.98805658e-03 3.93814311e-01] [ 3.94589277e-03 9.99991835e-01 -8.71528315e-04 3.32523178e+00] [-8.98455121e-03 9.06952261e-04 9.99959227e-01 4.15853308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66925976399995 meters 0.14764825293473588 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99959440e-01 -3.59537662e-03 8.25779220e-03 3.96075376e-01] [ 3.60324177e-03 9.99993069e-01 -9.37772162e-04 3.32761667e+00] [-8.25436332e-03 9.67488948e-04 9.99965464e-01 4.14950926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72925976399995 meters 0.14406864308827982 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99963875e-01 -3.26381409e-03 7.84829320e-03 3.97833209e-01] [ 3.27033699e-03 9.99994318e-01 -8.18433564e-04 3.32906431e+00] [-7.84557738e-03 8.44070562e-04 9.99968867e-01 4.13769139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78925976399995 meters 0.13649427435605446 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99966956e-01 -3.58817405e-03 7.29462427e-03 3.98409154e-01] [ 3.60136589e-03 9.99991902e-01 -1.79610267e-03 3.33257767e+00] [-7.28812047e-03 1.82231393e-03 9.99971781e-01 4.14999827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84925976399995 meters 0.13235021583092335 Centerline is valid? [False, False] Translation: X:0.40, Y:3.33, Z:0.41 [[ 9.99970609e-01 -3.45488400e-03 6.84431272e-03 3.99700956e-01] [ 3.46847063e-03 9.99992036e-01 -1.97422353e-03 3.33433893e+00] [-6.83743750e-03 1.99790480e-03 9.99974629e-01 4.14688877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90925976399996 meters 0.12386900744647075 Centerline is valid? [False, False] Translation: X:0.40, Y:3.34, Z:0.41 [[ 9.99976163e-01 -3.29385333e-03 6.06830210e-03 4.01435850e-01] [ 3.30961586e-03 9.99991171e-01 -2.58931115e-03 3.33781577e+00] [-6.05971971e-03 2.60933318e-03 9.99978235e-01 4.14833791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96925976399996 meters 0.11894591500333727 Centerline is valid? [False, False] Translation: X:0.40, Y:3.34, Z:0.42 [[ 0.99998036 -0.0036806 0.00507269 0.40256307] [ 0.00370484 0.99998172 -0.0047776 3.34397063] [-0.00505501 0.0047963 0.99997572 0.41795272] [ 0. 0. 0. 1. ]] SLAMing on 225.02925976399996 meters 0.10529648183574888 Centerline is valid? [False, False] Translation: X:0.41, Y:3.35, Z:0.42 [[ 9.99997861e-01 -1.10368054e-03 1.74917468e-03 4.11592214e-01] [ 1.11780348e-03 9.99966620e-01 -8.09375168e-03 3.35159850e+00] [-1.74018337e-03 8.09568960e-03 9.99965715e-01 4.23072901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08925976399996 meters 0.09612785270942574 Centerline is valid? [False, True] Translation: X:0.41, Y:3.35, Z:0.42 [[ 9.99999573e-01 3.56147640e-05 9.23490988e-04 4.14998676e-01] [-2.81640548e-05 9.99967463e-01 -8.06674084e-03 3.35421694e+00] [-9.23748235e-04 8.06671139e-03 9.99967037e-01 4.20667596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14925976399996 meters 0.09223604428014995 Centerline is valid? [True, True] Translation: X:0.48, Y:3.36, Z:0.41 [[ 9.99957215e-01 9.24874990e-03 1.70834104e-04 4.75281915e-01] [-9.24874875e-03 9.99957229e-01 -7.50647874e-06 3.35511215e+00] [-1.70896223e-04 5.92615586e-06 9.99999985e-01 4.11988130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20925976399997 meters 0.08868819146466123 Centerline is valid? [True, True] Translation: X:0.54, Y:3.36, Z:0.41 [[ 9.99776097e-01 2.11540533e-02 -5.11197978e-04 5.35078234e-01] [-2.11540449e-02 9.99776228e-01 2.19547981e-05 3.36065986e+00] [ 5.11548019e-04 -1.11359774e-05 9.99999869e-01 4.08768474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26925976399994 meters 0.08504693277492412 Centerline is valid? [True, True] Translation: X:0.60, Y:3.37, Z:0.41 [[ 9.99520305e-01 3.09679055e-02 3.85303302e-04 5.95001976e-01] [-3.09679009e-02 9.99520379e-01 -1.76945168e-05 3.36851225e+00] [-3.85666465e-04 5.75399436e-06 9.99999926e-01 4.11098849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32925976399994 meters 0.08369969766711005 Centerline is valid? [True, True] Translation: X:0.65, Y:3.38, Z:0.41 [[ 9.99162501e-01 4.09173429e-02 2.60017227e-04 6.54093231e-01] [-4.09173398e-02 9.99162535e-01 -1.70739169e-05 3.37518440e+00] [-2.60498091e-04 6.42040423e-06 9.99999966e-01 4.11316134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38925976399995 meters 0.0849448590945685 Centerline is valid? [True, True] Translation: X:0.71, Y:3.39, Z:0.41 [[ 9.98240522e-01 5.92678569e-02 -1.78378713e-03 7.14677098e-01] [-5.92678143e-02 9.98242115e-01 7.67886925e-05 3.39112863e+00] [ 1.78520254e-03 2.90675800e-05 9.99998406e-01 4.10369601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44925976399995 meters 0.08858783949226684 Centerline is valid? [True, True] Translation: X:0.78, Y:3.40, Z:0.41 [[ 9.97241263e-01 7.42258219e-02 -6.24437806e-04 7.75464657e-01] [-7.42258195e-02 9.97241459e-01 2.69767062e-05 3.40246957e+00] [ 6.24717637e-04 1.94471233e-05 9.99999805e-01 4.09736069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50925976399995 meters 0.0991961493731289 Centerline is valid? [True, True] Translation: X:0.84, Y:3.42, Z:0.41 [[ 9.95180149e-01 9.79689622e-02 -4.30739750e-03 8.36124771e-01] [-9.79690684e-02 9.95189443e-01 1.86844452e-04 3.42177966e+00] [ 4.30498148e-03 2.36047831e-04 9.99990706e-01 4.09648522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56925976399995 meters 0.1144481386270531 Centerline is valid? [True, False] Translation: X:0.80, Y:3.42, Z:0.40 [[ 9.93084297e-01 1.14359000e-01 2.65630891e-02 8.03810154e-01] [-1.14313199e-01 9.93439473e-01 -3.24140574e-03 3.42077388e+00] [-2.67595051e-02 1.82477447e-04 9.99641884e-01 4.02955905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62925976399995 meters 0.1253961194136875 Centerline is valid? [False, False] Translation: X:0.80, Y:3.42, Z:0.40 [[ 9.92952536e-01 1.15461367e-01 2.67195526e-02 8.04691889e-01] [-1.15432197e-01 9.93311862e-01 -2.63675230e-03 3.41915791e+00] [-2.68452916e-02 -4.66126775e-04 9.99639492e-01 4.01285267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68925976399996 meters 0.1525941836105076 Centerline is valid? [False, False] Translation: X:0.76, Y:3.42, Z:0.39 [[ 0.98994337 0.1310783 0.05320332 0.75765009] [-0.13107734 0.99136589 -0.00352265 3.41611465] [-0.0532057 -0.00348653 0.99857749 0.39463155] [ 0. 0. 0. 1. ]] SLAMing on 225.74925976399996 meters 0.15381930679525424 Centerline is valid? [False, False] Translation: X:0.74, Y:3.42, Z:0.39 [[ 9.89121451e-01 1.34286287e-01 6.00495518e-02 7.44293764e-01] [-1.34599608e-01 9.90899360e-01 1.18508786e-03 3.41763159e+00] [-5.93439214e-02 -9.25484195e-03 9.98194694e-01 3.94797499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80925976399996 meters 0.1728350317656469 Centerline is valid? [False, False] Translation: X:0.73, Y:3.41, Z:0.39 [[ 0.98737276 0.14769848 0.05727294 0.73000684] [-0.14830107 0.98892159 0.00639432 3.41239557] [-0.05569401 -0.01480721 0.99833808 0.39131018] [ 0. 0. 0. 1. ]] SLAMing on 225.86925976399996 meters 0.19824072275427368 Centerline is valid? [False, False] Translation: X:0.68, Y:3.41, Z:0.38 [[ 0.98256879 0.16540668 0.08484812 0.68257008] [-0.16649425 0.98602503 0.00585661 3.41044889] [-0.08269365 -0.01988124 0.99637668 0.38140547] [ 0. 0. 0. 1. ]] SLAMing on 225.92925976399997 meters 0.2104682136190077 Centerline is valid? [False, False] Translation: X:0.62, Y:3.41, Z:0.38 [[ 0.97584642 0.19012362 0.10759544 0.62004771] [-0.19196541 0.98137721 0.00693127 3.40865896] [-0.10427392 -0.02741846 0.9941706 0.37808355] [ 0. 0. 0. 1. ]] SLAMing on 225.98925976399997 meters 0.23060608335594784 Centerline is valid? [False, False] Translation: X:0.53, Y:3.40, Z:0.38 [[ 9.61433171e-01 2.40627990e-01 1.33208217e-01 5.30284286e-01] [-2.43140769e-01 9.69987301e-01 2.68381679e-03 3.40101431e+00] [-1.28564477e-01 -3.49686589e-02 9.91084440e-01 3.79761247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04925976399994 meters 0.22910061079206537 Centerline is valid? [False, False] Translation: X:0.44, Y:3.40, Z:0.37 [[ 9.54255130e-01 2.49433397e-01 1.64863969e-01 4.41112082e-01] [-2.53365071e-01 9.67366328e-01 2.92027905e-03 3.39888916e+00] [-1.58755437e-01 -4.45574624e-02 9.86311991e-01 3.74848711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10925976399994 meters 0.23123837741348366 Centerline is valid? [False, False] Translation: X:0.31, Y:3.38, Z:0.38 [[ 9.31832929e-01 3.03849363e-01 1.98400999e-01 3.05593752e-01] [-3.10429297e-01 9.50593991e-01 2.17167533e-03 3.38314792e+00] [-1.87938935e-01 -6.36131212e-02 9.80118527e-01 3.84829531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16925976399995 meters 0.23317160425887998 Centerline is valid? [False, False] Translation: X:0.13, Y:3.36, Z:0.41 [[ 9.02401662e-01 3.60857560e-01 2.35484737e-01 1.28764542e-01] [-3.71243681e-01 9.28535443e-01 -2.46806545e-04 3.35789469e+00] [-2.18744986e-01 -8.71995020e-02 9.71878016e-01 4.12352478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22925976399995 meters 0.22425288895560827 Centerline is valid? [False, False] Translation: X:-0.09, Y:3.33, Z:0.46 [[ 0.8786912 0.40025955 0.26018082 -0.0888931 ] [-0.41268443 0.91084318 -0.00750056 3.32961334] [-0.2399861 -0.1007819 0.96553078 0.46482541] [ 0. 0. 0. 1. ]] SLAMing on 226.28925976399995 meters 0.2379290095985918 Centerline is valid? [False, False] Translation: X:-0.36, Y:3.28, Z:0.53 [[ 0.84252901 0.45328166 0.29099931 -0.36355077] [-0.46842984 0.88328277 -0.01962254 3.28326177] [-0.26592922 -0.1197802 0.95652201 0.53293823] [ 0. 0. 0. 1. ]] SLAMing on 226.34925976399995 meters 0.25440583519715715 Centerline is valid? [False, False] Translation: X:-0.66, Y:3.24, Z:0.61 [[ 0.8199868 0.47562945 0.31843094 -0.65544057] [-0.49718834 0.86750489 -0.01546017 3.23501106] [-0.28359371 -0.14564302 0.94781998 0.60502801] [ 0. 0. 0. 1. ]] SLAMing on 226.40925976399996 meters 0.21610902193399728 Centerline is valid? [False, False] Translation: X:-0.97, Y:3.17, Z:0.70 [[ 0.79004402 0.50688015 0.3448231 -0.97049274] [-0.53844076 0.84264843 -0.00501666 3.16730912] [-0.29310749 -0.18170343 0.93865428 0.69827739] [ 0. 0. 0. 1. ]] SLAMing on 226.46925976399996 meters 0.1955424504204444 Centerline is valid? [False, False] Translation: X:-1.32, Y:3.10, Z:0.82 [[ 7.68852575e-01 5.25181156e-01 3.64760841e-01 -1.31818121e+00] [-5.64347084e-01 8.25537088e-01 9.40855778e-04 3.10040463e+00] [-3.00629483e-01 -2.06575096e-01 9.31100770e-01 8.17472503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52925976399996 meters 0.18960772256180145 Centerline is valid? [False, False] Translation: X:-1.69, Y:3.03, Z:0.95 [[ 0.74958469 0.54291683 0.37863454 -1.68788626] [-0.58907793 0.80804081 0.00756625 3.02555301] [-0.30184431 -0.22871679 0.92551534 0.95181709] [ 0. 0. 0. 1. ]] SLAMing on 226.58925976399996 meters 0.18789546748962277 Centerline is valid? [False, False] Translation: X:-2.09, Y:2.93, Z:1.10 [[ 0.72473907 0.56712362 0.39131071 -2.08826545] [-0.62176233 0.78302752 0.01671831 2.9281075 ] [-0.29692571 -0.25541867 0.92010675 1.1034087 ] [ 0. 0. 0. 1. ]] SLAMing on 226.64925976399996 meters 0.21070329105200036 Centerline is valid? [False, False] Translation: X:-2.52, Y:2.82, Z:1.27 [[ 0.70613993 0.58077833 0.40504684 -2.51797396] [-0.6442719 0.76430967 0.0272848 2.81509314] [-0.29373479 -0.28022718 0.91388872 1.27396657] [ 0. 0. 0. 1. ]] SLAMing on 226.70925976399997 meters 0.21094759280161152 Centerline is valid? [False, False] Translation: X:-2.97, Y:2.71, Z:1.47 [[ 0.69588323 0.58241374 0.42016756 -2.97280341] [-0.65497087 0.75466289 0.0386922 2.70649836] [-0.29455 -0.30212276 0.90662128 1.47192545] [ 0. 0. 0. 1. ]] SLAMing on 226.76925976399994 meters 0.20947571958445702 Centerline is valid? [False, False] Translation: X:-3.43, Y:2.57, Z:1.68 [[ 0.68778039 0.58521205 0.42951717 -3.42792909] [-0.66624838 0.74381431 0.0534169 2.57330485] [-0.2882208 -0.32290422 0.90147748 1.68282832] [ 0. 0. 0. 1. ]] SLAMing on 226.82925976399994 meters 0.21144508774790363 Centerline is valid? [False, False] Translation: X:-3.90, Y:2.45, Z:1.91 [[ 0.68739055 0.5805745 0.43637997 -3.89630235] [-0.66686456 0.74255002 0.06253906 2.44574147] [-0.28772537 -0.3339951 0.89758642 1.90839833] [ 0. 0. 0. 1. ]] SLAMing on 226.88925976399995 meters 0.2204895086447884 Centerline is valid? [False, False] Translation: X:-4.36, Y:2.29, Z:2.14 [[ 0.68685963 0.57398263 0.44583381 -4.36465827] [-0.66687267 0.74162675 0.07259892 2.29269598] [-0.28897176 -0.34717965 0.89216681 2.14357433] [ 0. 0. 0. 1. ]] SLAMing on 226.94925976399995 meters 0.22569266122474163 Centerline is valid? [False, False] Translation: X:-4.84, Y:2.15, Z:2.40 [[ 0.69053345 0.56415173 0.45265481 -4.84220496] [-0.66293988 0.74392762 0.08415709 2.15145396] [-0.28926505 -0.35819621 0.88770559 2.39653164] [ 0. 0. 0. 1. ]] SLAMing on 227.00925976399995 meters 0.22368573190527838 Centerline is valid? [False, False] Translation: X:-5.31, Y:1.99, Z:2.65 [[ 0.69387001 0.55468095 0.4592096 -5.3093053 ] [-0.65895086 0.74625431 0.09427763 1.99405965] [-0.29039314 -0.36801298 0.88331097 2.65382947] [ 0. 0. 0. 1. ]] SLAMing on 227.06925976399995 meters 0.2316876581526246 Centerline is valid? [False, False] Translation: X:-5.78, Y:1.83, Z:2.92 [[ 0.69612078 0.54729888 0.46462866 -5.7801725 ] [-0.65601454 0.74782766 0.10197415 1.83423433] [-0.29165182 -0.37578948 0.87961439 2.92160063] [ 0. 0. 0. 1. ]] SLAMing on 227.12925976399995 meters 0.25567606675012006 Centerline is valid? [False, False] Translation: X:-6.25, Y:1.69, Z:3.19 [[ 0.69845363 0.543389 0.46571548 -6.25231231] [-0.65377975 0.74916925 0.10638364 1.69179603] [-0.29109202 -0.37877939 0.87851671 3.19460792] [ 0. 0. 0. 1. ]] SLAMing on 227.18925976399996 meters 0.24267266200739815 Centerline is valid? [False, False] Translation: X:-6.73, Y:1.54, Z:3.47 [[ 0.69783193 0.54445105 0.46540697 -6.72550398] [-0.65552454 0.74731631 0.10865502 1.53832908] [-0.28864888 -0.38090863 0.87840221 3.46921218] [ 0. 0. 0. 1. ]] SLAMing on 227.24925976399996 meters 0.2539361656689007 Centerline is valid? [False, False] Translation: X:-7.21, Y:1.40, Z:3.75 [[ 0.69697599 0.54371848 0.4675411 -7.20704989] [-0.65687941 0.74561093 0.11213288 1.39840405] [-0.28763504 -0.38527204 0.87683039 3.75274079] [ 0. 0. 0. 1. ]] SLAMing on 227.30925976399996 meters 0.25172400852193294 Centerline is valid? [False, False] Translation: X:-7.70, Y:1.25, Z:4.04 [[ 0.69333949 0.54506207 0.4713679 -7.69787821] [-0.66217824 0.73993558 0.11838632 1.24858664] [-0.28425399 -0.39421148 0.8739548 4.04442194] [ 0. 0. 0. 1. ]] SLAMing on 227.36925976399996 meters 0.26948174525261626 Centerline is valid? [False, False] Translation: X:-8.19, Y:1.10, Z:4.34 [[ 0.69107253 0.54531064 0.47439969 -8.19265587] [-0.66595546 0.73549856 0.12468038 1.10353587] [-0.28093075 -0.40209225 0.87143545 4.34313843] [ 0. 0. 0. 1. ]] SLAMing on 227.42925976399997 meters 0.2727959288185079 Centerline is valid? [False, False] Translation: X:-8.69, Y:0.94, Z:4.64 [[ 0.68871166 0.54741898 0.47540374 -8.68968372] [-0.67066253 0.73013043 0.13084847 0.94336224] [-0.2754778 -0.40895234 0.86998274 4.64326446] [ 0. 0. 0. 1. ]] SLAMing on 227.48925976399994 meters 0.276409005688906 Centerline is valid? [False, False] Translation: X:-9.19, Y:0.79, Z:4.95 [[ 0.68978969 0.54422265 0.4775059 -9.1917811 ] [-0.67029783 0.72932417 0.13706595 0.78594062] [-0.2736622 -0.41461785 0.86787156 4.94940976] [ 0. 0. 0. 1. ]] SLAMing on 227.54925976399994 meters 0.2919166121742806 Centerline is valid? [False, False] Translation: X:-9.70, Y:0.62, Z:5.26 [[ 0.6906597 0.54063828 0.4803118 -9.69572814] [-0.67070404 0.72724466 0.14584682 0.61628407] [-0.27045382 -0.42287758 0.86488686 5.26223661] [ 0. 0. 0. 1. ]] SLAMing on 227.60925976399994 meters 0.2842741793923035 Centerline is valid? [False, False] Translation: X:-10.19, Y:0.45, Z:5.58 [[ 0.69161966 0.53730106 0.48266947 -10.19389005] [ -0.66994281 0.72694969 0.15073416 0.44545255] [ -0.2698868 -0.42761165 0.86273368 5.58099266] [ 0. 0. 0. 1. ]] SLAMing on 227.66925976399995 meters 0.2841997947552139 Centerline is valid? [False, False] Translation: X:-10.69, Y:0.28, Z:5.90 [[ 0.69351879 0.53587847 0.48152462 -10.69218869] [ -0.66778937 0.72897003 0.15053255 0.28135612] [ -0.27034987 -0.42595418 0.86340835 5.89698173] [ 0. 0. 0. 1. ]] SLAMing on 227.72925976399995 meters 0.30922817110187883 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.11, Z:6.21 [[ 0.6980387 0.53328049 0.47786388 -11.18843314] [ -0.66402178 0.73183731 0.15326194 0.11164056] [ -0.26798702 -0.4242948 0.86496063 6.21363671] [ 0. 0. 0. 1. ]] SLAMing on 227.78925976399995 meters 0.29598972694015935 Centerline is valid? [False, False] Translation: X:-11.68, Y:-0.05, Z:6.53 [[ 0.70163197 0.52742762 0.47909569 -11.6839385 ] [ -0.65994574 0.73454705 0.15783618 -0.04932694] [ -0.26867117 -0.42692007 0.8634553 6.53316899] [ 0. 0. 0. 1. ]] SLAMing on 227.84925976399995 meters 0.30923550986545395 Centerline is valid? [False, False] Translation: X:-12.18, Y:-0.21, Z:6.85 [[ 0.70472268 0.52052366 0.48210067 -12.17592818] [ -0.65550589 0.73766558 0.16174524 -0.21224523] [ -0.27143685 -0.43000537 0.86105599 6.85289094] [ 0. 0. 0. 1. ]] SLAMing on 227.90925976399996 meters 0.31067030809602403 Centerline is valid? [False, False] Translation: X:-12.66, Y:-0.37, Z:7.16 [[ 0.70704782 0.52030847 0.47891803 -12.65848868] [ -0.65293404 0.74042077 0.15954378 -0.36958361] [ -0.27158887 -0.42550697 0.86324 7.16399031] [ 0. 0. 0. 1. ]] SLAMing on 227.96925976399996 meters 0.3017181604007827 Centerline is valid? [False, False] Translation: X:-13.14, Y:-0.52, Z:7.47 [[ 0.7090726 0.51850846 0.47787553 -13.13811305] [ -0.65087147 0.74198804 0.16068629 -0.52329845] [ -0.27126073 -0.42497379 0.86360575 7.47151521] [ 0. 0. 0. 1. ]] SLAMing on 228.02925976399996 meters 0.29531349816788094 Centerline is valid? [False, False] Translation: X:-13.62, Y:-0.68, Z:7.78 [[ 0.70946795 0.51883655 0.47693172 -13.62042371] [ -0.65141303 0.74103472 0.16287607 -0.67947914] [ -0.2689169 -0.42623489 0.86371727 7.78300374] [ 0. 0. 0. 1. ]] SLAMing on 228.08925976399996 meters 0.29214888585315046 Centerline is valid? [False, False] Translation: X:-14.11, Y:-0.84, Z:8.10 [[ 0.70593045 0.52342461 0.47716755 -14.10721396] [ -0.65687725 0.73579582 0.16467174 -0.83681543] [ -0.26490465 -0.42968731 0.8632464 8.09923135] [ 0. 0. 0. 1. ]] SLAMing on 228.14925976399996 meters 0.2947397328769868 Centerline is valid? [False, False] Translation: X:-14.60, Y:-1.00, Z:8.42 [[ 0.70386156 0.52709716 0.47618011 -14.59789625] [ -0.66044695 0.73240296 0.16551658 -0.99880237] [ -0.2615124 -0.43099246 0.86362999 8.41717862] [ 0. 0. 0. 1. ]] SLAMing on 228.20925976399997 meters 0.295592955306611 Centerline is valid? [False, False] Translation: X:-15.09, Y:-1.17, Z:8.74 [[ 0.7031976 0.5287496 0.4753283 -15.09014964] [ -0.66255872 0.7298566 0.16830119 -1.16505847] [ -0.25793231 -0.4332819 0.86356107 8.73862411] [ 0. 0. 0. 1. ]] SLAMing on 228.26925976399994 meters 0.3349501481474878 Centerline is valid? [False, False] Translation: X:-15.59, Y:-1.34, Z:9.06 [[ 0.70221517 0.53001983 0.47536601 -15.58678607] [ -0.6654934 0.7259102 0.17370354 -1.33560807] [ -0.25300671 -0.4383302 0.86246985 9.05984911] [ 0. 0. 0. 1. ]] SLAMing on 228.32925976399994 meters 0.30366384594069273 Centerline is valid? [False, False] Translation: X:-16.08, Y:-1.51, Z:9.38 [[ 0.70506767 0.5284259 0.47291187 -16.08244725] [ -0.66388374 0.72628163 0.17825084 -1.5100187 ] [ -0.24927485 -0.43963741 0.86289107 9.38415076] [ 0. 0. 0. 1. ]] SLAMing on 228.38925976399995 meters 0.3086307521527596 Centerline is valid? [False, False] Translation: X:-16.57, Y:-1.69, Z:9.70 [[ 0.71309355 0.5197995 0.47043179 -16.56939646] [ -0.65459705 0.73390873 0.18133029 -1.6887327 ] [ -0.2509986 -0.43724872 0.8636048 9.70361535] [ 0. 0. 0. 1. ]] SLAMing on 228.44925976399995 meters 0.2951985147187767 Centerline is valid? [False, False] Translation: X:-17.04, Y:-1.87, Z:10.02 [[ 0.72101737 0.50532734 0.47410784 -17.04385853] [ -0.64077318 0.74665245 0.17866125 -1.86679472] [ -0.26371137 -0.43261345 0.86214959 10.0173307 ] [ 0. 0. 0. 1. ]] SLAMing on 228.50925976399995 meters 0.2908057033136241 Centerline is valid? [False, False] Translation: X:-17.50, Y:-2.04, Z:10.32 [[ 0.72761017 0.49753042 0.47227844 -17.50292497] [ -0.63078636 0.75583401 0.17556626 -2.03733444] [ -0.26961455 -0.4256506 0.86378792 10.32035542] [ 0. 0. 0. 1. ]] SLAMing on 228.56925976399995 meters 0.2910334503954725 Centerline is valid? [False, False] Translation: X:-17.95, Y:-2.21, Z:10.61 [[ 0.73735433 0.48390252 0.47132467 -17.9489945 ] [ -0.61536775 0.76897542 0.17320318 -2.2084995 ] [ -0.27862363 -0.41775012 0.86478536 10.61428671] [ 0. 0. 0. 1. ]] SLAMing on 228.62925976399995 meters 0.29012565477257685 Centerline is valid? [False, False] Translation: X:-18.38, Y:-2.37, Z:10.89 [[ 0.74330173 0.47645708 0.46956489 -18.38325402] [ -0.60489211 0.7784639 0.16762902 -2.37109652] [ -0.28567129 -0.40863504 0.86683869 10.8938012 ] [ 0. 0. 0. 1. ]] SLAMing on 228.68925976399996 meters 0.28057037000572704 Centerline is valid? [False, False] Translation: X:-18.81, Y:-2.53, Z:11.17 [[ 0.7489029 0.46805925 0.46911085 -18.81295929] [ -0.59494267 0.78667702 0.16487112 -2.53418315] [ -0.29186927 -0.40256652 0.86761312 11.17127609] [ 0. 0. 0. 1. ]] SLAMing on 228.74925976399996 meters 0.2874237029949382 Centerline is valid? [False, False] Translation: X:-19.23, Y:-2.69, Z:11.44 [[ 0.75239143 0.46236927 0.4691714 -19.23285261] [ -0.58711535 0.79365793 0.15938209 -2.68859552] [ -0.29866822 -0.39537545 0.86860552 11.43998094] [ 0. 0. 0. 1. ]] SLAMing on 228.80925976399996 meters 0.2799643044537505 Centerline is valid? [False, False] Translation: X:-19.65, Y:-2.84, Z:11.71 [[ 0.75199297 0.46244506 0.46973518 -19.64940982] [ -0.58521387 0.79633611 0.15288404 -2.83876992] [ -0.30336662 -0.38986326 0.86946842 11.7052239 ] [ 0. 0. 0. 1. ]] SLAMing on 228.86925976399996 meters 0.28301292698486225 Centerline is valid? [False, False] Translation: X:-20.07, Y:-2.99, Z:11.97 [[ 0.74990893 0.46614162 0.46941303 -20.07056497] [ -0.58716714 0.79587732 0.14769581 -2.98950967] [ -0.30474802 -0.38638231 0.87053854 11.96871784] [ 0. 0. 0. 1. ]] SLAMing on 228.92925976399997 meters 0.2745240465931168 Centerline is valid? [False, False] Translation: X:-20.50, Y:-3.14, Z:12.23 [[ 0.744268 0.47391627 0.47060441 -20.49983626] [ -0.59451594 0.79117705 0.14349104 -3.1410236 ] [ -0.30432867 -0.38657761 0.87059854 12.23185701] [ 0. 0. 0. 1. ]] SLAMing on 228.98925976399994 meters 0.2863191745384054 Centerline is valid? [False, False] Translation: X:-20.95, Y:-3.30, Z:12.50 [[ 0.73903333 0.4814915 0.47116416 -20.94641935] [ -0.6036042 0.78385125 0.1457367 -3.30112728] [ -0.29915164 -0.39210094 0.8699225 12.50321123] [ 0. 0. 0. 1. ]] SLAMing on 229.04925976399994 meters 0.2940065806749879 Centerline is valid? [False, False] Translation: X:-21.41, Y:-3.47, Z:12.79 [[ 0.73381834 0.48541107 0.47527543 -21.4078056 ] [ -0.61174705 0.77639579 0.15157547 -3.47259614] [ -0.29542544 -0.40197721 0.86668226 12.78937484] [ 0. 0. 0. 1. ]] SLAMing on 229.10925976399994 meters 0.29308438752297955 Centerline is valid? [False, False] Translation: X:-21.87, Y:-3.65, Z:13.08 [[ 0.73197042 0.4871332 0.47636179 -21.86962618] [ -0.61466002 0.77376953 0.15321155 -3.65315193] [ -0.2939598 -0.40494687 0.86579771 13.07688995] [ 0. 0. 0. 1. ]] SLAMing on 229.16925976399995 meters 0.3010249852132577 Centerline is valid? [False, False] Translation: X:-22.33, Y:-3.84, Z:13.37 [[ 0.73159428 0.48746381 0.47660135 -22.32906967] [ -0.616477 0.77152028 0.15720231 -3.83770905] [ -0.29107717 -0.40882208 0.86495005 13.36525068] [ 0. 0. 0. 1. ]] SLAMing on 229.22925976399995 meters 0.2987490790959992 Centerline is valid? [False, False] Translation: X:-22.79, Y:-4.03, Z:13.67 [[ 0.72987881 0.48707343 0.47962109 -22.79216211] [ -0.61968988 0.76763364 0.16347188 -4.02940868] [ -0.28855047 -0.41653099 0.862114 13.66627785] [ 0. 0. 0. 1. ]] SLAMing on 229.28925976399995 meters 0.3010149345499464 Centerline is valid? [False, False] Translation: X:-23.25, Y:-4.22, Z:13.97 [[ 0.73027263 0.4825794 0.48354835 -23.25028283] [ -0.61841679 0.76773536 0.16775901 -4.2236326 ] [ -0.29028013 -0.42154423 0.85909133 13.96528006] [ 0. 0. 0. 1. ]] SLAMing on 229.34925976399995 meters 0.3012252045651862 Centerline is valid? [False, False] Translation: X:-23.70, Y:-4.42, Z:14.26 [[ 0.73220193 0.4797812 0.48341528 -23.70048564] [ -0.61554509 0.76995018 0.16816945 -4.4222502 ] [ -0.29152114 -0.42069789 0.85908597 14.26195315] [ 0. 0. 0. 1. ]] SLAMing on 229.40925976399996 meters 0.2995738859898172 Centerline is valid? [False, False] Translation: X:-24.15, Y:-4.62, Z:14.56 [[ 0.73613815 0.47318179 0.48394176 -24.14519364] [ -0.61004069 0.77356995 0.17158058 -4.62088744] [ -0.29317399 -0.42153117 0.85811449 14.5566491 ] [ 0. 0. 0. 1. ]] SLAMing on 229.46925976399996 meters 0.2927287485180637 Centerline is valid? [False, False] Translation: X:-24.58, Y:-4.82, Z:14.85 [[ 0.74275824 0.46251648 0.48413706 -24.57572397] [ -0.60020559 0.78040476 0.17527596 -4.82148805] [ -0.29675485 -0.42076944 0.85725705 14.84800064] [ 0. 0. 0. 1. ]] SLAMing on 229.52925976399996 meters 0.2928862945730927 Centerline is valid? [False, False] Translation: X:-24.99, Y:-5.02, Z:15.13 [[ 0.75116258 0.45085905 0.48216273 -24.9903878 ] [ -0.58758834 0.78953457 0.17713018 -5.01677477] [ -0.3008234 -0.41636676 0.85798835 15.13284311] [ 0. 0. 0. 1. ]] SLAMing on 229.58925976399996 meters 0.29987045324917516 Centerline is valid? [False, False] Translation: X:-25.39, Y:-5.20, Z:15.41 [[ 0.75746697 0.44115583 0.48127469 -25.3939639 ] [ -0.57589246 0.79874586 0.17422093 -5.2030747 ] [ -0.30755759 -0.40912906 0.85908192 15.41050786] [ 0. 0. 0. 1. ]] SLAMing on 229.64925976399996 meters 0.33882945421256916 Centerline is valid? [False, False] Translation: X:-25.78, Y:-5.38, Z:15.68 [[ 0.76245431 0.43213828 0.48158067 -25.78427352] [ -0.5648886 0.8075216 0.16973429 -5.38409962] [ -0.31553811 -0.40145407 0.85980831 15.67961922] [ 0. 0. 0. 1. ]] SLAMing on 229.70925976399997 meters 0.27865770891348524 Centerline is valid? [False, False] Translation: X:-26.17, Y:-5.56, Z:15.94 [[ 0.76421962 0.43038263 0.48035316 -26.16820145] [ -0.56091549 0.81113368 0.16563808 -5.55987425] [ -0.31834287 -0.3960214 0.86129256 15.93904369] [ 0. 0. 0. 1. ]] SLAMing on 229.76925976399994 meters 0.32272668122378084 Centerline is valid? [False, False] Translation: X:-26.56, Y:-5.74, Z:16.20 [[ 0.76450943 0.43192608 0.47850307 -26.55505869] [ -0.56076756 0.81172325 0.16323332 -5.73518683] [ -0.31790734 -0.39312241 0.86278021 16.20078751] [ 0. 0. 0. 1. ]] SLAMing on 229.82925976399994 meters 0.3185735791175666 Centerline is valid? [False, False] Translation: X:-26.94, Y:-5.91, Z:16.45 [[ 0.76732261 0.43303342 0.4729673 -26.9385029 ] [ -0.5578492 0.81451266 0.1592903 -5.9100118 ] [ -0.31625982 -0.38607148 0.86656133 16.45374738] [ 0. 0. 0. 1. ]] SLAMing on 229.88925976399995 meters 0.31782204257499524 Centerline is valid? [False, False] Translation: X:-27.32, Y:-6.09, Z:16.71 [[ 0.76884375 0.43265821 0.4708356 -27.32298335] [ -0.55566284 0.81642315 0.15713706 -6.08758187] [ -0.31641445 -0.38243969 0.86811392 16.70625195] [ 0. 0. 0. 1. ]] SLAMing on 229.94925976399995 meters 0.3113975099196157 Centerline is valid? [False, False] Translation: X:-27.70, Y:-6.26, Z:16.96 [[ 0.77087545 0.43035261 0.46962503 -27.7045404 ] [ -0.55180479 0.81947611 0.15482369 -6.26239768] [ -0.31821771 -0.37849112 0.86918465 16.95564819] [ 0. 0. 0. 1. ]] SLAMing on 230.00925976399995 meters 0.3058765489740319 Centerline is valid? [False, False] Translation: X:-28.08, Y:-6.43, Z:17.20 [[ 0.7728482 0.42627832 0.47009835 -28.0816227 ] [ -0.54648351 0.82364143 0.15156044 -6.43437562] [ -0.32258554 -0.37403421 0.86950387 17.20008495] [ 0. 0. 0. 1. ]] SLAMing on 230.06925976399995 meters 0.3023564919848831 Centerline is valid? [False, False] Translation: X:-28.45, Y:-6.61, Z:17.44 [[ 0.77513862 0.42151981 0.47061787 -28.45410268] [ -0.54119638 0.82734501 0.15035533 -6.60725515] [ -0.3259856 -0.37124291 0.86943205 17.43977263] [ 0. 0. 0. 1. ]] SLAMing on 230.12925976399995 meters 0.2984254507623593 Centerline is valid? [False, False] Translation: X:-28.82, Y:-6.78, Z:17.68 [[ 0.77767037 0.42169843 0.4662609 -28.82179497] [ -0.53900098 0.82897787 0.14924355 -6.78179838] [ -0.32358419 -0.36737737 0.8719674 17.67652621] [ 0. 0. 0. 1. ]] SLAMing on 230.18925976399996 meters 0.2873356412663038 Centerline is valid? [False, False] Translation: X:-29.18, Y:-6.96, Z:17.91 [[ 0.77945915 0.41965408 0.46511707 -29.18457891] [ -0.53619886 0.83084664 0.14894513 -6.95774748] [ -0.32393553 -0.36549188 0.87262905 17.91031465] [ 0. 0. 0. 1. ]] SLAMing on 230.24925976399996 meters 0.2881638374803191 Centerline is valid? [False, False] Translation: X:-29.55, Y:-7.13, Z:18.14 [[ 0.77994487 0.41767353 0.46608456 -29.54588931] [ -0.53461243 0.83182351 0.14919517 -7.13342234] [ -0.32538522 -0.36553861 0.87206994 18.14115022] [ 0. 0. 0. 1. ]] SLAMing on 230.30925976399996 meters 0.282042745076076 Centerline is valid? [False, False] Translation: X:-29.91, Y:-7.31, Z:18.37 [[ 0.78063983 0.41661695 0.46586669 -29.91000554] [ -0.53350856 0.83247411 0.14951748 -7.31071973] [ -0.32553044 -0.36526317 0.87213116 18.37364509] [ 0. 0. 0. 1. ]] SLAMing on 230.36925976399996 meters 0.2910018519368611 Centerline is valid? [False, False] Translation: X:-30.27, Y:-7.49, Z:18.60 [[ 0.7827519 0.41601403 0.4628518 -30.27047123] [ -0.5320882 0.83310841 0.15103812 -7.48994416] [ -0.32277175 -0.36450336 0.87347335 18.60304349] [ 0. 0. 0. 1. ]] SLAMing on 230.42925976399997 meters 0.28201174314184696 Centerline is valid? [False, False] Translation: X:-30.63, Y:-7.67, Z:18.83 [[ 0.78582813 0.413119 0.46022478 -30.62780211] [ -0.52786822 0.83577829 0.15109532 -7.66704657] [ -0.32222553 -0.36167299 0.87485048 18.8305141 ] [ 0. 0. 0. 1. ]] SLAMing on 230.48925976399994 meters 0.2699494267855364 Centerline is valid? [False, False] Translation: X:-30.97, Y:-7.84, Z:19.05 [[ 0.79360611 0.40131638 0.45731226 -30.97467896] [ -0.51264254 0.8458673 0.14733006 -7.8392444 ] [ -0.32769952 -0.35135976 0.8770173 19.04990898] [ 0. 0. 0. 1. ]] SLAMing on 230.54925976399994 meters 0.2954900817828373 Centerline is valid? [False, False] Translation: X:-31.32, Y:-8.01, Z:19.27 [[ 0.79445811 0.40025837 0.45675984 -31.31989899] [ -0.51155185 0.8464 0.14805993 -8.00899686] [ -0.32733931 -0.35128375 0.87718225 19.26875065] [ 0. 0. 0. 1. ]] SLAMing on 230.60925976399994 meters 0.29657310018871824 Centerline is valid? [False, False] Translation: X:-31.66, Y:-8.18, Z:19.48 [[ 0.79498116 0.4012118 0.45500995 -31.66272328] [ -0.51342076 0.84449848 0.15238585 -8.17522612] [ -0.32311621 -0.35475543 0.87735084 19.48302357] [ 0. 0. 0. 1. ]] SLAMing on 230.66925976399995 meters 0.3003698245596909 Centerline is valid? [False, False] Translation: X:-32.01, Y:-8.34, Z:19.70 [[ 0.79868743 0.39528642 0.45370369 -32.00768781] [ -0.50703569 0.84811872 0.15365364 -8.34093818] [ -0.3240574 -0.35276519 0.87780609 19.69785308] [ 0. 0. 0. 1. ]] SLAMing on 230.72925976399995 meters 0.2863452896769821 Centerline is valid? [False, False] Translation: X:-32.34, Y:-8.51, Z:19.91 [[ 0.79829614 0.3980184 0.45200069 -32.34203091] [ -0.50696533 0.84924338 0.14755284 -8.50570704] [ -0.32512985 -0.34693954 0.87972924 19.91116757] [ 0. 0. 0. 1. ]] SLAMing on 230.78925976399995 meters 0.2917988240387412 Centerline is valid? [False, False] Translation: X:-32.68, Y:-8.67, Z:20.13 [[ 0.79854278 0.39880786 0.45086774 -32.67925219] [ -0.50698977 0.84938887 0.14662852 -8.66840965] [ -0.32448543 -0.34567448 0.88046485 20.12523149] [ 0. 0. 0. 1. ]] SLAMing on 230.84925976399995 meters 0.28622423746924097 Centerline is valid? [False, False] Translation: X:-33.02, Y:-8.83, Z:20.34 [[ 0.79789757 0.39834614 0.45241554 -33.02377611] [ -0.5089107 0.84739877 0.15141076 -8.83485741] [ -0.32306248 -0.35104939 0.87886003 20.33994537] [ 0. 0. 0. 1. ]] SLAMing on 230.90925976399996 meters 0.2875262146457927 Centerline is valid? [False, False] Translation: X:-33.36, Y:-9.00, Z:20.55 [[ 0.80247679 0.39215984 0.44971286 -33.35992534] [ -0.50020214 0.85304602 0.14869536 -9.00119779] [ -0.32531341 -0.34427191 0.88070883 20.55097249] [ 0. 0. 0. 1. ]] SLAMing on 230.96925976399996 meters 0.27324245505274747 Centerline is valid? [False, False] Translation: X:-33.69, Y:-9.17, Z:20.76 [[ 0.80435248 0.39128227 0.44711886 -33.68723597] [ -0.4969588 0.85551751 0.14533319 -9.16644154] [ -0.32565171 -0.33909877 0.8825888 20.75581196] [ 0. 0. 0. 1. ]] SLAMing on 231.02925976399996 meters 0.2805573009703604 Centerline is valid? [False, False] Translation: X:-34.01, Y:-9.33, Z:20.96 [[ 0.81011795 0.38096835 0.44561421 -34.01036124] [ -0.4853276 0.86219067 0.14520461 -9.32821686] [ -0.32888605 -0.33390173 0.88337059 20.95827255] [ 0. 0. 0. 1. ]] SLAMing on 231.08925976399996 meters 0.2904835670104459 Centerline is valid? [False, False] Translation: X:-34.33, Y:-9.48, Z:21.16 [[ 0.81358827 0.37135214 0.44740554 -34.32915735] [ -0.47454032 0.86872409 0.14187999 -9.48498016] [ -0.33598453 -0.32774386 0.8830053 21.15569705] [ 0. 0. 0. 1. ]] SLAMing on 231.14925976399996 meters 0.30604309994919177 Centerline is valid? [False, False] Translation: X:-34.64, Y:-9.64, Z:21.35 [[ 0.81765285 0.36262406 0.44715501 -34.63784784] [ -0.4646047 0.87429376 0.140545 -9.63699203] [ -0.33997984 -0.32266734 0.88334563 21.34644804] [ 0. 0. 0. 1. ]] SLAMing on 231.20925976399997 meters 0.3171119535885476 Centerline is valid? [False, False] Translation: X:-34.94, Y:-9.79, Z:21.53 [[ 0.82118647 0.3568237 0.44534215 -34.94178585] [ -0.45701063 0.87857084 0.13876082 -9.78505378] [ -0.34175148 -0.3174746 0.88454271 21.53408988] [ 0. 0. 0. 1. ]] SLAMing on 231.26925976399994 meters 0.3186247975800235 Centerline is valid? [False, False] Translation: X:-35.23, Y:-9.93, Z:21.71 [[ 0.82831366 0.34398789 0.44223163 -35.23292409] [ -0.4402225 0.88784139 0.13394706 -9.92779483] [ -0.34655538 -0.30563049 0.88684236 21.7141515 ] [ 0. 0. 0. 1. ]] SLAMing on 231.32925976399994 meters 0.32576591008571515 Centerline is valid? [False, False] Translation: X:-35.52, Y:-10.07, Z:21.89 [[ 0.83035153 0.33895019 0.44229978 -35.52178935] [ -0.43399023 0.89122887 0.13177094 -10.06744558] [ -0.34952655 -0.30136999 0.88713433 21.8884825 ] [ 0. 0. 0. 1. ]] SLAMing on 231.38925976399995 meters 0.30317564909742806 Centerline is valid? [False, False] Translation: X:-35.81, Y:-10.21, Z:22.06 [[ 0.83089835 0.3402969 0.44023397 -35.81072929] [ -0.43479949 0.89079028 0.13206844 -10.20580253] [ -0.34721366 -0.30114895 0.8881171 22.06190655] [ 0. 0. 0. 1. ]] SLAMing on 231.44925976399995 meters 0.29765753113870214 Centerline is valid? [False, False] Translation: X:-36.10, Y:-10.34, Z:22.23 [[ 0.83222972 0.33989807 0.43802169 -36.09884807] [ -0.43273065 0.89211408 0.12991013 -10.34093863] [ -0.34660911 -0.29766048 0.88952817 22.23271484] [ 0. 0. 0. 1. ]] SLAMing on 231.50925976399995 meters 0.29455656320344026 Centerline is valid? [False, False] Translation: X:-36.39, Y:-10.47, Z:22.41 [[ 0.82808941 0.34992158 0.43797581 -36.3857151 ] [ -0.44150989 0.88852288 0.12488437 -10.47365787] [ -0.3454518 -0.29678608 0.89027023 22.40506104] [ 0. 0. 0. 1. ]] SLAMing on 231.56925976399995 meters 0.29382349097752325 Centerline is valid? [False, False] Translation: X:-36.68, Y:-10.61, Z:22.58 [[ 0.82755624 0.35369333 0.43594918 -36.67963036] [ -0.44412834 0.88747168 0.12306105 -10.60827599] [ -0.34336668 -0.29545733 0.89151797 22.57863275] [ 0. 0. 0. 1. ]] SLAMing on 231.62925976399995 meters 0.2857220405611892 Centerline is valid? [False, False] Translation: X:-36.98, Y:-10.74, Z:22.75 [[ 0.82331315 0.36552019 0.43422396 -36.97631114] [ -0.4549153 0.88245106 0.11971719 -10.74437075] [ -0.33942235 -0.29609986 0.89281428 22.75228201] [ 0. 0. 0. 1. ]] SLAMing on 231.68925976399996 meters 0.3068353779336403 Centerline is valid? [False, False] Translation: X:-37.27, Y:-10.88, Z:22.93 [[ 0.82249116 0.3718056 0.43042873 -37.27460555] [ -0.45838791 0.88132985 0.11462205 -10.8801894 ] [ -0.33673257 -0.29157895 0.8953172 22.92645912] [ 0. 0. 0. 1. ]] SLAMing on 231.74925976399996 meters 0.2916310521583762 Centerline is valid? [False, False] Translation: X:-37.58, Y:-11.02, Z:23.10 [[ 0.8174224 0.38417479 0.42922063 -37.58434258] [ -0.47039339 0.87526612 0.11242452 -11.02027942] [ -0.33249161 -0.29380087 0.89617542 23.10351741] [ 0. 0. 0. 1. ]] SLAMing on 231.80925976399996 meters 0.3029630528302076 Centerline is valid? [False, False] Translation: X:-37.91, Y:-11.17, Z:23.28 [[ 0.80962608 0.40030541 0.42925656 -37.90794857] [ -0.48836152 0.865119 0.1143335 -11.1652785 ] [ -0.32558969 -0.30219977 0.89591665 23.28479906] [ 0. 0. 0. 1. ]] SLAMing on 231.86925976399996 meters 0.2966571177535388 Centerline is valid? [False, False] Translation: X:-38.25, Y:-11.32, Z:23.47 [[ 0.80135851 0.41655995 0.42930449 -38.2482103 ] [ -0.50614609 0.85468069 0.11548616 -11.31568833] [ -0.31881135 -0.30983661 0.89574583 23.47267237] [ 0. 0. 0. 1. ]] SLAMing on 231.92925976399997 meters 0.2827536295832025 Centerline is valid? [False, False] Translation: X:-38.61, Y:-11.48, Z:23.67 [[ 0.79516775 0.42649249 0.43105963 -38.60501419] [ -0.51826041 0.84705016 0.11794987 -11.48025672] [ -0.3148244 -0.31719108 0.89458114 23.66843903] [ 0. 0. 0. 1. ]] SLAMing on 231.98925976399994 meters 0.29166573489229647 Centerline is valid? [False, False] Translation: X:-38.97, Y:-11.65, Z:23.87 [[ 0.79178908 0.4333876 0.43040125 -38.96634899] [ -0.52655734 0.84142402 0.1214207 -11.64715643] [ -0.30952772 -0.32277052 0.89443378 23.87005358] [ 0. 0. 0. 1. ]] SLAMing on 232.04925976399994 meters 0.29015010933376484 Centerline is valid? [False, False] Translation: X:-39.34, Y:-11.82, Z:24.08 [[ 0.78346824 0.44821038 0.43044741 -39.33597896] [ -0.54424979 0.82923124 0.12715231 -11.81948547] [ -0.29994945 -0.33389071 0.89361475 24.07749729] [ 0. 0. 0. 1. ]] SLAMing on 232.10925976399994 meters 0.28409966188086844 Centerline is valid? [False, False] Translation: X:-39.72, Y:-12.00, Z:24.30 [[ 0.7815747 0.45129166 0.4306702 -39.71670271] [ -0.54871022 0.82576661 0.13048601 -12.00059269] [ -0.29674583 -0.33829771 0.89302664 24.29614287] [ 0. 0. 0. 1. ]] SLAMing on 232.16925976399995 meters 0.287445745815917 Centerline is valid? [False, False] Translation: X:-40.10, Y:-12.18, Z:24.51 [[ 0.77692751 0.46002936 0.42983326 -40.09564397] [ -0.55895115 0.81819785 0.13463243 -12.18370739] [ -0.28975378 -0.34485543 0.89281436 24.51239907] [ 0. 0. 0. 1. ]] SLAMing on 232.22925976399995 meters 0.2896928599530769 Centerline is valid? [False, False] Translation: X:-40.49, Y:-12.37, Z:24.74 [[ 0.77556678 0.4621733 0.4299907 -40.48553191] [ -0.56329186 0.81415383 0.14091071 -12.37437109] [ -0.28495341 -0.35149593 0.89176912 24.74004567] [ 0. 0. 0. 1. ]] SLAMing on 232.28925976399995 meters 0.2898489932971966 Centerline is valid? [False, False] Translation: X:-40.88, Y:-12.57, Z:24.97 [[ 0.7767511 0.45790177 0.43241613 -40.87734762] [ -0.56159588 0.81434708 0.1464544 -12.56798618] [ -0.28507508 -0.35660173 0.88970074 24.97138929] [ 0. 0. 0. 1. ]] SLAMing on 232.34925976399995 meters 0.30537685150243005 Centerline is valid? [False, False] Translation: X:-41.26, Y:-12.76, Z:25.20 [[ 0.77939024 0.45483687 0.43089939 -41.26138184] [ -0.55834292 0.81624503 0.14831465 -12.75675966] [ -0.28426051 -0.35618462 0.89012835 25.19803688] [ 0. 0. 0. 1. ]] SLAMing on 232.40925976399996 meters 0.3002186692316617 Centerline is valid? [False, False] Translation: X:-41.64, Y:-12.95, Z:25.42 [[ 0.78155667 0.45261511 0.42931194 -41.64307475] [ -0.55592874 0.81756139 0.15012202 -12.94618364] [ -0.28304137 -0.35599571 0.89059229 25.42387743] [ 0. 0. 0. 1. ]] SLAMing on 232.46925976399996 meters 0.29602144337670966 Centerline is valid? [False, False] Translation: X:-42.02, Y:-13.14, Z:25.65 [[ 0.78190917 0.45045244 0.43094158 -42.0215391 ] [ -0.55508114 0.8177129 0.1524157 -13.13844821] [ -0.28373047 -0.35838278 0.88941487 25.6516309 ] [ 0. 0. 0. 1. ]] SLAMing on 232.52925976399996 meters 0.3105836382220888 Centerline is valid? [False, False] Translation: X:-42.40, Y:-13.33, Z:25.88 [[ 0.78474614 0.44573588 0.43068901 -42.40128905] [ -0.5508469 0.82010011 0.15493066 -13.32962448] [ -0.28414995 -0.35882494 0.88910262 25.88022448] [ 0. 0. 0. 1. ]] SLAMing on 232.58925976399996 meters 0.2975001415469961 Centerline is valid? [False, False] Translation: X:-42.77, Y:-13.52, Z:26.10 [[ 0.789311 0.44028032 0.42795021 -42.77191901] [ -0.54385429 0.82483827 0.15448085 -13.51608652] [ -0.28497483 -0.354676 0.89050226 26.10323668] [ 0. 0. 0. 1. ]] SLAMing on 232.64925976399996 meters 0.31295773852523656 Centerline is valid? [False, False] Translation: X:-43.13, Y:-13.70, Z:26.32 [[ 0.79284951 0.43361496 0.42821459 -43.13434775] [ -0.53670149 0.82967866 0.15357355 -13.69839923] [ -0.28868872 -0.35158412 0.89053211 26.32132027] [ 0. 0. 0. 1. ]] SLAMing on 232.70925976399997 meters 0.2871142171779322 Centerline is valid? [False, False] Translation: X:-43.49, Y:-13.88, Z:26.54 [[ 0.79370518 0.4325984 0.42765725 -43.49124171] [ -0.53504311 0.83095604 0.15244974 -13.87736129] [ -0.28941486 -0.34981521 0.8909929 26.53802631] [ 0. 0. 0. 1. ]] SLAMing on 232.76925976399994 meters 0.30637291074229056 Centerline is valid? [False, False] Translation: X:-43.85, Y:-14.06, Z:26.75 [[ 0.79371102 0.43557324 0.42461603 -43.85304502] [ -0.53639703 0.83037396 0.15085525 -14.0608797 ] [ -0.28688159 -0.34749825 0.89271716 26.75291612] [ 0. 0. 0. 1. ]] SLAMing on 232.82925976399994 meters 0.31182117694511663 Centerline is valid? [False, False] Translation: X:-44.22, Y:-14.24, Z:26.97 [[ 0.79337379 0.43742184 0.42334403 -44.21827365] [ -0.53769907 0.82959613 0.15049908 -14.24349372] [ -0.28537298 -0.34703372 0.89338114 26.96786755] [ 0. 0. 0. 1. ]] SLAMing on 232.88925976399995 meters 0.30899712644303395 Centerline is valid? [False, False] Translation: X:-44.59, Y:-14.43, Z:27.19 [[ 0.79285352 0.43817825 0.42353645 -44.59022335] [ -0.5391658 0.82830085 0.15237433 -14.43018436] [ -0.28404849 -0.3491669 0.89297197 27.18679408] [ 0. 0. 0. 1. ]] SLAMing on 232.94925976399995 meters 0.31005342332292746 Centerline is valid? [False, False] Translation: X:-44.96, Y:-14.62, Z:27.40 [[ 0.79229916 0.43953825 0.42316448 -44.96273297] [ -0.54038964 0.82752892 0.15223311 -14.61574588] [ -0.28326857 -0.34928786 0.89317238 27.40172643] [ 0. 0. 0. 1. ]] SLAMing on 233.00925976399995 meters 0.30145313733111717 Centerline is valid? [False, False] Translation: X:-45.34, Y:-14.81, Z:27.62 [[ 0.79277792 0.43965082 0.42214966 -45.33710837] [ -0.5402552 0.82752224 0.15274573 -14.80503396] [ -0.28218344 -0.34916199 0.893565 27.61905273] [ 0. 0. 0. 1. ]] SLAMing on 233.06925976399995 meters 0.30037633921510404 Centerline is valid? [False, False] Translation: X:-45.71, Y:-15.00, Z:27.84 [[ 0.79510832 0.43677511 0.42074965 -45.71250785] [ -0.53723337 0.82916475 0.15448664 -14.99627088] [ -0.28139486 -0.34887436 0.89392596 27.83699142] [ 0. 0. 0. 1. ]] SLAMing on 233.12925976399995 meters 0.2885485212321802 Centerline is valid? [False, False] Translation: X:-46.08, Y:-15.19, Z:28.06 [[ 0.79699856 0.43406128 0.41998107 -46.08310217] [ -0.53426001 0.83098392 0.15502249 -15.18685435] [ -0.28170825 -0.34793179 0.89419457 28.05564646] [ 0. 0. 0. 1. ]] SLAMing on 233.18925976399996 meters 0.2910261955551207 Centerline is valid? [False, False] Translation: X:-46.45, Y:-15.38, Z:28.27 [[ 0.79798068 0.42945668 0.42284015 -46.45235193] [ -0.53050908 0.83344631 0.15468471 -15.37896594] [ -0.28598418 -0.34775595 0.89290472 28.27326859] [ 0. 0. 0. 1. ]] SLAMing on 233.24925976399996 meters 0.28560368167249267 Centerline is valid? [False, False] Translation: X:-46.81, Y:-15.57, Z:28.49 [[ 0.80198896 0.42387196 0.42088748 -46.81290669] [ -0.52352135 0.83806187 0.15355033 -15.56503428] [ -0.28764407 -0.34348925 0.89402238 28.48500842] [ 0. 0. 0. 1. ]] SLAMing on 233.30925976399996 meters 0.29034068085517517 Centerline is valid? [False, False] Translation: X:-47.17, Y:-15.75, Z:28.69 [[ 0.80344923 0.42325213 0.41872063 -47.16986046] [ -0.5212358 0.8399215 0.15114599 -15.75198822] [ -0.2877196 -0.33969031 0.89544845 28.69404465] [ 0. 0. 0. 1. ]] SLAMing on 233.36925976399996 meters 0.28468093940500633 Centerline is valid? [False, False] Translation: X:-47.52, Y:-15.94, Z:28.90 [[ 0.8055929 0.41956645 0.41831097 -47.52378387] [ -0.51615851 0.84363279 0.14786516 -15.93702318] [ -0.29086159 -0.33503389 0.89618738 28.90150279] [ 0. 0. 0. 1. ]] SLAMing on 233.42925976399997 meters 0.2855807601935808 Centerline is valid? [False, False] Translation: X:-47.87, Y:-16.12, Z:29.11 [[ 0.80621476 0.41716158 0.41951636 -47.87267737] [ -0.51359908 0.84546568 0.14630028 -16.12032632] [ -0.29365582 -0.33341266 0.89588071 29.10523135] [ 0. 0. 0. 1. ]] SLAMing on 233.48925976399994 meters 0.27813661598561024 Centerline is valid? [False, False] Translation: X:-48.22, Y:-16.31, Z:29.31 [[ 0.80702916 0.4173746 0.41773481 -48.22308459] [ -0.51271003 0.84622601 0.14501713 -16.30516378] [ -0.2929716 -0.33120988 0.89692121 29.30905425] [ 0. 0. 0. 1. ]] SLAMing on 233.54925976399994 meters 0.288796785795127 Centerline is valid? [False, False] Translation: X:-48.57, Y:-16.49, Z:29.51 [[ 0.80655349 0.42055606 0.41545645 -48.5701687 ] [ -0.51526688 0.84461636 0.1453384 -16.49066033] [ -0.28977837 -0.33129414 0.89792688 29.50878891] [ 0. 0. 0. 1. ]] SLAMing on 233.60925976399994 meters 0.2907674663902823 Centerline is valid? [False, False] Translation: X:-48.92, Y:-16.68, Z:29.71 [[ 0.80783039 0.42098665 0.41252914 -48.92375739] [ -0.51522884 0.84429295 0.14733858 -16.67972155] [ -0.28626787 -0.33157149 0.89894997 29.71073255] [ 0. 0. 0. 1. ]] SLAMing on 233.66925976399995 meters 0.29389479424700987 Centerline is valid? [False, False] Translation: X:-49.27, Y:-16.87, Z:29.91 [[ 0.80908599 0.41927589 0.41181015 -49.27393709] [ -0.51335087 0.84533374 0.14792481 -16.86884116] [ -0.28609571 -0.33108699 0.89918332 29.9117545 ] [ 0. 0. 0. 1. ]] SLAMing on 233.72925976399995 meters 0.2929969941633209 Centerline is valid? [False, False] Translation: X:-49.63, Y:-17.06, Z:30.11 [[ 0.80745883 0.41940313 0.41486293 -49.62601384] [ -0.51504386 0.84409455 0.14911145 -17.06027119] [ -0.28764573 -0.33407396 0.8975826 30.11390372] [ 0. 0. 0. 1. ]] SLAMing on 233.78925976399995 meters 0.3129858899187168 Centerline is valid? [False, False] Translation: X:-49.98, Y:-17.25, Z:30.32 [[ 0.80848126 0.41896672 0.41330973 -49.97586197] [ -0.51387066 0.84487232 0.14875386 -17.25163153] [ -0.28687103 -0.33265245 0.89835815 30.31516209] [ 0. 0. 0. 1. ]] SLAMing on 233.84925976399995 meters 0.3084672092270947 Centerline is valid? [False, False] Translation: X:-50.33, Y:-17.45, Z:30.52 [[ 0.80982009 0.41850184 0.41115403 -50.32621512] [ -0.51264366 0.84556732 0.14903821 -17.4472324 ] [ -0.28528564 -0.33146964 0.89929972 30.51768024] [ 0. 0. 0. 1. ]] SLAMing on 233.90925976399996 meters 0.31242306465650127 Centerline is valid? [False, False] Translation: X:-50.67, Y:-17.64, Z:30.72 [[ 0.81154692 0.41714495 0.40912308 -50.67174059] [ -0.51066139 0.84664681 0.14971346 -17.64297098] [ -0.28393054 -0.33042286 0.90011343 30.71679655] [ 0. 0. 0. 1. ]] SLAMing on 233.96925976399996 meters 0.30471469343490676 Centerline is valid? [False, False] Translation: X:-51.02, Y:-17.84, Z:30.92 [[ 0.81222813 0.41411355 0.41084721 -51.01918811] [ -0.50895938 0.84722198 0.15223426 -17.84319574] [ -0.28503652 -0.33275349 0.8989045 30.91989596] [ 0. 0. 0. 1. ]] SLAMing on 234.02925976399996 meters 0.2988250365930783 Centerline is valid? [False, False] Translation: X:-51.36, Y:-18.04, Z:31.11 [[ 0.81393416 0.41174744 0.4098478 -51.35680071] [ -0.50558634 0.84953109 0.15059674 -18.03805981] [ -0.28617063 -0.32978928 0.89963626 31.11412678] [ 0. 0. 0. 1. ]] SLAMing on 234.08925976399996 meters 0.3087590105380695 Centerline is valid? [False, False] Translation: X:-51.69, Y:-18.23, Z:31.30 [[ 0.81750015 0.40875615 0.40572393 -51.69115452] [ -0.49992595 0.85341202 0.14751935 -18.23372657] [ -0.28595024 -0.32342901 0.90201227 31.30239828] [ 0. 0. 0. 1. ]] SLAMing on 234.14925976399996 meters 0.28964449477968446 Centerline is valid? [False, False] Translation: X:-52.02, Y:-18.43, Z:31.49 [[ 0.82158309 0.40372873 0.40249764 -52.01948772] [ -0.49390327 0.85667951 0.14886162 -18.42626411] [ -0.28471177 -0.32109708 0.90323633 31.49236875] [ 0. 0. 0. 1. ]] SLAMing on 234.20925976399997 meters 0.3010318682974807 Centerline is valid? [False, False] Translation: X:-52.34, Y:-18.61, Z:31.68 [[ 0.82552502 0.39755697 0.40057072 -52.34039078] [ -0.48683821 0.86066995 0.14911669 -18.61464862] [ -0.2854768 -0.31811269 0.9040505 31.67640096] [ 0. 0. 0. 1. ]] SLAMing on 234.26925976399994 meters 0.2910546383010639 Centerline is valid? [False, False] Translation: X:-52.65, Y:-18.80, Z:31.86 [[ 0.82775714 0.39522645 0.39826396 -52.65434511] [ -0.48334724 0.86275543 0.14842006 -18.80027408] [ -0.28494486 -0.31535555 0.90518358 31.85881754] [ 0. 0. 0. 1. ]] SLAMing on 234.32925976399994 meters 0.27674440667716066 Centerline is valid? [False, False] Translation: X:-52.96, Y:-18.98, Z:32.03 [[ 0.82913469 0.39477741 0.3958364 -52.96051656] [ -0.48156129 0.8639938 0.14701511 -18.97923668] [ -0.28396196 -0.31251481 0.90647675 32.03360954] [ 0. 0. 0. 1. ]] SLAMing on 234.38925976399995 meters 0.2850333587018821 Centerline is valid? [False, False] Translation: X:-53.27, Y:-19.16, Z:32.20 [[ 0.83199465 0.39166114 0.39292042 -53.26652403] [ -0.47617218 0.8675656 0.1434921 -19.15598497] [ -0.28468396 -0.30648243 0.90830808 32.20316854] [ 0. 0. 0. 1. ]] SLAMing on 234.44925976399995 meters 0.28135801326525484 Centerline is valid? [False, False] Translation: X:-53.57, Y:-19.33, Z:32.37 [[ 0.83283166 0.39169928 0.39110497 -53.57029872] [ -0.47507871 0.86842613 0.14190232 -19.33175915] [ -0.28406273 -0.30398639 0.90934077 32.3693698 ] [ 0. 0. 0. 1. ]] SLAMing on 234.50925976399995 meters 0.2837410977272189 Centerline is valid? [False, False] Translation: X:-53.88, Y:-19.51, Z:32.54 [[ 0.83244202 0.39466058 0.38895156 -53.88153249] [ -0.47800476 0.86650407 0.1438129 -19.51230629] [ -0.28027083 -0.3056366 0.90996403 32.53970164] [ 0. 0. 0. 1. ]] SLAMing on 234.56925976399995 meters 0.30866296351082717 Centerline is valid? [False, False] Translation: X:-54.20, Y:-19.70, Z:32.71 [[ 0.83107281 0.39745677 0.38903227 -54.19855237] [ -0.48068072 0.86516416 0.14295813 -19.69851543] [ -0.2797571 -0.30580892 0.91006421 32.71215336] [ 0. 0. 0. 1. ]] SLAMing on 234.62925976399995 meters 0.30436943607083683 Centerline is valid? [False, False] Translation: X:-54.51, Y:-19.88, Z:32.88 [[ 0.83104946 0.39792716 0.38860105 -54.51345674] [ -0.48089752 0.8651093 0.14256045 -19.88323714] [ -0.2794537 -0.30535207 0.9103108 32.88311156] [ 0. 0. 0. 1. ]] SLAMing on 234.68925976399996 meters 0.30190956016894854 Centerline is valid? [False, False] Translation: X:-54.83, Y:-20.07, Z:33.06 [[ 0.83171982 0.39735331 0.38775312 -54.83186174] [ -0.48008511 0.86551705 0.14282344 -20.06971883] [ -0.27885557 -0.30494358 0.91063109 33.05565344] [ 0. 0. 0. 1. ]] SLAMing on 234.74925976399996 meters 0.2870667635823875 Centerline is valid? [False, False] Translation: X:-55.15, Y:-20.26, Z:33.23 [[ 0.83241457 0.39718362 0.38643389 -55.15164405] [ -0.47940614 0.86591683 0.14268075 -20.25611433] [ -0.27794915 -0.30402832 0.91121406 33.22527094] [ 0. 0. 0. 1. ]] SLAMing on 234.80925976399996 meters 0.2859039282031427 Centerline is valid? [False, False] Translation: X:-55.47, Y:-20.44, Z:33.40 [[ 0.83282678 0.39826424 0.38442834 -55.46906044] [ -0.48030774 0.86515775 0.14424471 -20.44447576] [ -0.27514365 -0.30477477 0.91181594 33.39572252] [ 0. 0. 0. 1. ]] SLAMing on 234.86925976399996 meters 0.2817551408831351 Centerline is valid? [False, False] Translation: X:-55.78, Y:-20.63, Z:33.57 [[ 0.83618971 0.39330185 0.38223085 -55.78289571] [ -0.47481564 0.86795052 0.14564341 -20.6302262 ] [ -0.27447564 -0.3032747 0.91251716 33.56582529] [ 0. 0. 0. 1. ]] SLAMing on 234.92925976399997 meters 0.31378114279386615 Centerline is valid? [False, False] Translation: X:-56.09, Y:-20.81, Z:33.73 [[ 0.83780987 0.39169287 0.38033053 -56.09235336] [ -0.47199158 0.86976757 0.14397332 -20.81487216] [ -0.27440584 -0.30013507 0.9135756 33.73181199] [ 0. 0. 0. 1. ]] SLAMing on 234.98925976399994 meters 0.28286585669301667 Centerline is valid? [False, False] Translation: X:-56.40, Y:-21.00, Z:33.90 [[ 0.83768866 0.39168349 0.38060709 -56.39889529] [ -0.47223484 0.86954796 0.14450123 -20.99940291] [ -0.27435738 -0.30078297 0.91337705 33.89692158] [ 0. 0. 0. 1. ]] SLAMing on 235.04925976399994 meters 0.3128448821585511 Centerline is valid? [False, False] Translation: X:-56.70, Y:-21.18, Z:34.06 [[ 0.84180488 0.38489813 0.3784415 -56.70405695] [ -0.46402896 0.87418782 0.14308311 -21.18338706] [ -0.27575653 -0.29605588 0.91449946 34.05993355] [ 0. 0. 0. 1. ]] SLAMing on 235.10925976399994 meters 0.30135096424180935 Centerline is valid? [False, False] Translation: X:-57.00, Y:-21.36, Z:34.22 [[ 0.84527311 0.38126274 0.37436893 -57.00140214] [ -0.45815326 0.87768258 0.14060183 -21.36209559] [ -0.27497085 -0.29036529 0.91655825 34.21755271] [ 0. 0. 0. 1. ]] SLAMing on 235.16925976399995 meters 0.30180107808118206 Centerline is valid? [False, False] Translation: X:-57.30, Y:-21.54, Z:34.38 [[ 0.84619647 0.38177114 0.37175575 -57.2988027 ] [ -0.45785556 0.87782088 0.14070819 -21.540933 ] [ -0.27261663 -0.28927721 0.91760496 34.3756748 ] [ 0. 0. 0. 1. ]] SLAMing on 235.22925976399995 meters 0.2953497268442452 Centerline is valid? [False, False] Translation: X:-57.60, Y:-21.72, Z:34.53 [[ 0.84474935 0.38650698 0.37014983 -57.59696169] [ -0.46233991 0.87541297 0.1410459 -21.72103525] [ -0.26951874 -0.29028347 0.91820213 34.53250874] [ 0. 0. 0. 1. ]] SLAMing on 235.28925976399995 meters 0.28571748300932454 Centerline is valid? [False, False] Translation: X:-57.90, Y:-21.90, Z:34.69 [[ 0.84581843 0.3837186 0.37060926 -57.89953971] [ -0.45893508 0.87756155 0.13879594 -21.90005674] [ -0.27197385 -0.28748175 0.91835966 34.68644289] [ 0. 0. 0. 1. ]] SLAMing on 235.34925976399995 meters 0.28320949221800773 Centerline is valid? [False, False] Translation: X:-58.20, Y:-22.08, Z:34.84 [[ 0.8462718 0.38336623 0.36993835 -58.20175996] [ -0.45807764 0.87815546 0.13786902 -22.0783327 ] [ -0.27200906 -0.28613515 0.91876969 34.83948833] [ 0. 0. 0. 1. ]] SLAMing on 235.40925976399996 meters 0.27943735565995337 Centerline is valid? [False, False] Translation: X:-58.50, Y:-22.26, Z:34.99 [[ 0.84478626 0.38586598 0.3707339 -58.50204145] [ -0.46058542 0.8770245 0.13670807 -22.25616207] [ -0.27239172 -0.28624373 0.91862249 34.99292116] [ 0. 0. 0. 1. ]] SLAMing on 235.46925976399996 meters 0.27647504464044004 Centerline is valid? [False, False] Translation: X:-58.81, Y:-22.44, Z:35.15 [[ 0.84304762 0.3893388 0.37106066 -58.80919745] [ -0.46402208 0.87535542 0.13578072 -22.43826533] [ -0.27194526 -0.28664995 0.9186281 35.14678458] [ 0. 0. 0. 1. ]] SLAMing on 235.52925976399996 meters 0.2881574349617179 Centerline is valid? [False, False] Translation: X:-59.12, Y:-22.62, Z:35.30 [[ 0.84276442 0.39227522 0.36860315 -59.11807362] [ -0.46637864 0.87404677 0.13613677 -22.62235881] [ -0.26877331 -0.28663986 0.9195643 35.30035064] [ 0. 0. 0. 1. ]] SLAMing on 235.58925976399996 meters 0.29501270590688594 Centerline is valid? [False, False] Translation: X:-59.42, Y:-22.81, Z:35.45 [[ 0.84361049 0.39121301 0.36779576 -59.42387207] [ -0.46533636 0.87443066 0.13723372 -22.80783685] [ -0.26792427 -0.28692055 0.91972452 35.45167555] [ 0. 0. 0. 1. ]] SLAMing on 235.64925976399996 meters 0.28743988369875734 Centerline is valid? [False, False] Translation: X:-59.73, Y:-23.00, Z:35.61 [[ 0.8436404 0.39055062 0.36843059 -59.72895986] [ -0.46525714 0.87425549 0.13861144 -22.99743488] [ -0.26796768 -0.28835317 0.91926371 35.60564293] [ 0. 0. 0. 1. ]] SLAMing on 235.70925976399994 meters 0.29433493932110544 Centerline is valid? [False, False] Translation: X:-60.04, Y:-23.19, Z:35.76 [[ 0.84419742 0.38888366 0.36891762 -60.03598418] [ -0.46418924 0.87454927 0.14032792 -23.18947168] [ -0.2680654 -0.28971206 0.91880785 35.76197712] [ 0. 0. 0. 1. ]] SLAMing on 235.76925976399994 meters 0.29780903219039295 Centerline is valid? [False, False] Translation: X:-60.33, Y:-23.38, Z:35.91 [[ 0.84741428 0.38377711 0.3668844 -60.33255015] [ -0.45800423 0.87793243 0.13952338 -23.37862869] [ -0.26855384 -0.28626871 0.91974402 35.91221611] [ 0. 0. 0. 1. ]] SLAMing on 235.82925976399994 meters 0.3184497608109105 Centerline is valid? [False, False] Translation: X:-60.63, Y:-23.56, Z:36.06 [[ 0.85049431 0.37671263 0.36707905 -60.62757405] [ -0.45052695 0.88190985 0.13878217 -23.56474423] [ -0.27144964 -0.28341245 0.91977849 36.06202892] [ 0. 0. 0. 1. ]] SLAMing on 235.88925976399995 meters 0.30411176230057424 Centerline is valid? [False, False] Translation: X:-60.92, Y:-23.75, Z:36.21 [[ 0.85553145 0.36521092 0.36699718 -60.91500183] [ -0.4386183 0.887867 0.13894664 -23.74843419] [ -0.27509985 -0.2798449 0.91978634 36.21170587] [ 0. 0. 0. 1. ]] SLAMing on 235.94925976399995 meters 0.2715308222437027 Centerline is valid? [False, False] Translation: X:-61.19, Y:-23.93, Z:36.35 [[ 0.85866663 0.35943328 0.3653756 -61.19324331] [ -0.4322197 0.89094383 0.1393026 -23.92693432] [ -0.27545915 -0.27753703 0.92037789 36.35469105] [ 0. 0. 0. 1. ]] SLAMing on 236.00925976399995 meters 0.3007306120624472 Centerline is valid? [False, False] Translation: X:-61.46, Y:-24.10, Z:36.49 [[ 0.86680289 0.34306055 0.361887 -61.4585039 ] [ -0.413879 0.89975089 0.13839257 -24.09899478] [ -0.27813111 -0.26973651 0.92189224 36.49091552] [ 0. 0. 0. 1. ]] SLAMing on 236.06925976399995 meters 0.2965119076511731 Centerline is valid? [False, False] Translation: X:-61.72, Y:-24.26, Z:36.63 [[ 0.86953857 0.33399436 0.36379999 -61.71587251] [ -0.40430379 0.90445823 0.13599174 -24.26433014] [ -0.28362143 -0.26533578 0.92149651 36.62606146] [ 0. 0. 0. 1. ]] SLAMing on 236.12925976399995 meters 0.29127910370163823 Centerline is valid? [False, False] Translation: X:-61.97, Y:-24.43, Z:36.76 [[ 0.86979495 0.33403333 0.36315077 -61.97046383] [ -0.4031023 0.90549931 0.13258788 -24.42663947] [ -0.284544 -0.26171118 0.92224833 36.75898723] [ 0. 0. 0. 1. ]] SLAMing on 236.18925976399996 meters 0.2862979327752007 Centerline is valid? [False, False] Translation: X:-62.22, Y:-24.59, Z:36.89 [[ 0.87055327 0.33572488 0.35975798 -62.22006279] [ -0.40248547 0.90642261 0.12807617 -24.58553629] [ -0.28309441 -0.25629449 0.92421355 36.88504852] [ 0. 0. 0. 1. ]] SLAMing on 236.24925976399996 meters 0.30025130982019865 Centerline is valid? [False, False] Translation: X:-62.47, Y:-24.75, Z:37.01 [[ 0.87148425 0.33683916 0.35644716 -62.47345346] [ -0.40175583 0.9071773 0.12498639 -24.74606733] [ -0.28126046 -0.25212839 0.92591783 37.01131095] [ 0. 0. 0. 1. ]] SLAMing on 236.30925976399996 meters 0.2890815590093261 Centerline is valid? [False, False] Translation: X:-62.73, Y:-24.91, Z:37.14 [[ 0.87083578 0.33817211 0.35676978 -62.7295494 ] [ -0.40284898 0.90686653 0.12371659 -24.90601115] [ -0.28170508 -0.25146118 0.92596411 37.13825195] [ 0. 0. 0. 1. ]] SLAMing on 236.36925976399996 meters 0.28667347177361346 Centerline is valid? [False, False] Translation: X:-62.99, Y:-25.07, Z:37.26 [[ 0.86816614 0.34435762 0.3573589 -62.9861828 ] [ -0.4090421 0.90427627 0.12234783 -25.06696984] [ -0.28101977 -0.25239308 0.9259188 37.2644779 ] [ 0. 0. 0. 1. ]] SLAMing on 236.42925976399997 meters 0.2936637306752323 Centerline is valid? [False, False] Translation: X:-63.25, Y:-25.23, Z:37.39 [[ 0.86718523 0.34907915 0.35515281 -63.25020205] [ -0.41322333 0.90242193 0.12198832 -25.2315826 ] [ -0.27791411 -0.25254389 0.92681462 37.39012413] [ 0. 0. 0. 1. ]] SLAMing on 236.48925976399994 meters 0.30864907192360097 Centerline is valid? [False, False] Translation: X:-63.52, Y:-25.40, Z:37.52 [[ 0.86515473 0.35602187 0.35320775 -63.51827203] [ -0.4200828 0.89916138 0.12263465 -25.39927651] [ -0.27393015 -0.25447444 0.92747239 37.5160228 ] [ 0. 0. 0. 1. ]] SLAMing on 236.54925976399994 meters 0.2947835288677065 Centerline is valid? [False, False] Translation: X:-63.79, Y:-25.57, Z:37.64 [[ 0.86387452 0.35844469 0.35389012 -63.78902121] [ -0.42323454 0.89747778 0.12412154 -25.56935436] [ -0.27311782 -0.25700396 0.92701436 37.64493636] [ 0. 0. 0. 1. ]] SLAMing on 236.60925976399994 meters 0.29517888426619504 Centerline is valid? [False, False] Translation: X:-64.06, Y:-25.74, Z:37.78 [[ 0.86235022 0.36058579 0.3554293 -64.06365759] [ -0.4261754 0.89595728 0.12504031 -25.7422978 ] [ -0.27336171 -0.25930376 0.92630175 37.77627799] [ 0. 0. 0. 1. ]] SLAMing on 236.66925976399995 meters 0.317511317391741 Centerline is valid? [False, False] Translation: X:-64.34, Y:-25.92, Z:37.91 [[ 0.86238172 0.36098782 0.35494445 -64.33874999] [ -0.42664517 0.89564187 0.12569626 -25.91741087] [ -0.27252829 -0.25983349 0.92639888 37.90723192] [ 0. 0. 0. 1. ]] SLAMing on 236.72925976399995 meters 0.27514197830265347 Centerline is valid? [False, False] Translation: X:-64.61, Y:-26.09, Z:38.04 [[ 0.86301781 0.36081771 0.35356873 -64.60792218] [ -0.42627849 0.89571549 0.12641367 -26.09000511] [ -0.27108469 -0.25981599 0.92682724 38.03811824] [ 0. 0. 0. 1. ]] SLAMing on 236.78925976399995 meters 0.2772520605252088 Centerline is valid? [False, False] Translation: X:-64.87, Y:-26.26, Z:38.17 [[ 0.86326574 0.36059196 0.35319358 -64.87493066] [ -0.42683054 0.89501349 0.1294857 -26.26486215] [ -0.26942152 -0.26253437 0.92654614 38.1706301 ] [ 0. 0. 0. 1. ]] SLAMing on 236.84925976399995 meters 0.29419709685181955 Centerline is valid? [False, False] Translation: X:-65.14, Y:-26.44, Z:38.30 [[ 0.86683059 0.35459796 0.35052107 -65.14111924] [ -0.4200393 0.89812013 0.13018147 -26.43792613] [ -0.26864795 -0.26007791 0.92746308 38.30153176] [ 0. 0. 0. 1. ]] SLAMing on 236.90925976399996 meters 0.29260236686837815 Centerline is valid? [False, False] Translation: X:-65.40, Y:-26.61, Z:38.43 [[ 0.87030583 0.3470517 0.34946085 -65.3987192 ] [ -0.41124458 0.90250931 0.12788603 -26.60811351] [ -0.27100861 -0.25501384 0.92818224 38.42792188] [ 0. 0. 0. 1. ]] SLAMing on 236.96925976399996 meters 0.28821794414376317 Centerline is valid? [False, False] Translation: X:-65.65, Y:-26.77, Z:38.56 [[ 0.8715612 0.3417638 0.35153745 -65.65284344] [ -0.40595871 0.90508488 0.12656577 -26.77336999] [ -0.27491563 -0.25301951 0.92757885 38.55530656] [ 0. 0. 0. 1. ]] SLAMing on 237.02925976399996 meters 0.288432820565696 Centerline is valid? [False, False] Translation: X:-65.90, Y:-26.94, Z:38.68 [[ 0.87277032 0.33863585 0.35156467 -65.90255956] [ -0.40244408 0.90678104 0.12564595 -26.93727501] [ -0.27624396 -0.25114518 0.92769358 38.68091187] [ 0. 0. 0. 1. ]] SLAMing on 237.08925976399996 meters 0.28605069599516136 Centerline is valid? [False, False] Translation: X:-66.15, Y:-27.10, Z:38.80 [[ 0.87415054 0.33771153 0.34901539 -66.151747 ] [ -0.39990692 0.90830148 0.12273088 -27.09861765] [ -0.27556357 -0.24685894 0.92904542 38.80177697] [ 0. 0. 0. 1. ]] SLAMing on 237.14925976399996 meters 0.29570118306863935 Centerline is valid? [False, False] Translation: X:-66.40, Y:-27.26, Z:38.92 [[ 0.87223544 0.34210201 0.34953046 -66.401006 ] [ -0.40451752 0.90630042 0.12241371 -27.25819482] [ -0.27490162 -0.24816478 0.92889361 38.92356863] [ 0. 0. 0. 1. ]] SLAMing on 237.20925976399994 meters 0.29320801776060035 Centerline is valid? [False, False] Translation: X:-66.65, Y:-27.42, Z:39.05 [[ 0.87404391 0.33881452 0.34821253 -66.65217163] [ -0.40048898 0.90820069 0.12157336 -27.41684281] [ -0.27505605 -0.24571574 0.92949876 39.04562984] [ 0. 0. 0. 1. ]] SLAMing on 237.26925976399994 meters 0.28850864369638424 Centerline is valid? [False, False] Translation: X:-66.90, Y:-27.58, Z:39.17 [[ 0.87338352 0.34189633 0.34685461 -66.90057188] [ -0.40289601 0.90732637 0.12014017 -27.57512105] [ -0.27363485 -0.24467479 0.93019257 39.165863 ] [ 0. 0. 0. 1. ]] SLAMing on 237.32925976399994 meters 0.2838200416934928 Centerline is valid? [False, False] Translation: X:-67.15, Y:-27.74, Z:39.29 [[ 0.87234681 0.34583217 0.34555919 -67.15456047] [ -0.40655876 0.90572309 0.11989856 -27.73637717] [ -0.27151616 -0.24508325 0.93070574 39.28608508] [ 0. 0. 0. 1. ]] SLAMing on 237.38925976399995 meters 0.2784656600907393 Centerline is valid? [False, False] Translation: X:-67.41, Y:-27.90, Z:39.41 [[ 0.86918887 0.35151574 0.34777492 -67.41451367] [ -0.41326306 0.90259596 0.12055779 -27.90331123] [ -0.27152228 -0.24851002 0.92979483 39.41017309] [ 0. 0. 0. 1. ]] SLAMing on 237.44925976399995 meters 0.2710679996477574 Centerline is valid? [False, False] Translation: X:-67.68, Y:-28.07, Z:39.53 [[ 0.86808314 0.3546078 0.34739743 -67.677184 ] [ -0.4166973 0.90086346 0.12168969 -28.07052059] [ -0.26980554 -0.25039634 0.92978849 39.53454812] [ 0. 0. 0. 1. ]] SLAMing on 237.50925976399995 meters 0.2821637265708979 Centerline is valid? [False, False] Translation: X:-67.94, Y:-28.24, Z:39.66 [[ 0.86722783 0.35856309 0.34546837 -67.94365977] [ -0.42074931 0.89874588 0.12339309 -28.23863327] [ -0.26624406 -0.2523655 0.93028262 39.65795573] [ 0. 0. 0. 1. ]] SLAMing on 237.56925976399995 meters 0.2806660543543787 Centerline is valid? [False, False] Translation: X:-68.21, Y:-28.41, Z:39.78 [[ 0.86645112 0.36173 0.34411315 -68.21420569] [ -0.42391128 0.89713127 0.12431698 -28.41053703] [ -0.26374548 -0.25358804 0.93066182 39.784083 ] [ 0. 0. 0. 1. ]] SLAMing on 237.62925976399995 meters 0.2940096139126244 Centerline is valid? [False, False] Translation: X:-68.49, Y:-28.59, Z:39.91 [[ 0.86460985 0.36443993 0.34588053 -68.48937545] [ -0.42828844 0.89451744 0.12809201 -28.58620029] [ -0.26271432 -0.25888625 0.929494 39.91455266] [ 0. 0. 0. 1. ]] SLAMing on 237.68925976399996 meters 0.2865340356066878 Centerline is valid? [False, False] Translation: X:-68.76, Y:-28.76, Z:40.04 [[ 0.86462671 0.36334982 0.34698351 -68.7616205 ] [ -0.42819434 0.89419735 0.13061664 -28.76133326] [ -0.2628122 -0.26151101 0.92873125 40.04492297] [ 0. 0. 0. 1. ]] SLAMing on 237.74925976399996 meters 0.2911474439209766 Centerline is valid? [False, False] Translation: X:-69.03, Y:-28.94, Z:40.17 [[ 0.86551851 0.36309683 0.34501942 -69.03082302] [ -0.42743821 0.89451955 0.13088676 -28.93591431] [ -0.26110205 -0.2607594 0.92942469 40.17189208] [ 0. 0. 0. 1. ]] SLAMing on 237.80925976399996 meters 0.2809157394077715 Centerline is valid? [False, False] Translation: X:-69.30, Y:-29.11, Z:40.30 [[ 0.86599378 0.36253363 0.34441856 -69.2998994 ] [ -0.42714974 0.89441154 0.13255601 -29.11014925] [ -0.25999592 -0.26191098 0.92941097 40.30128421] [ 0. 0. 0. 1. ]] SLAMing on 237.86925976399996 meters 0.2832961372325366 Centerline is valid? [False, False] Translation: X:-69.57, Y:-29.29, Z:40.43 [[ 0.86562768 0.36165194 0.34626089 -69.57148721] [ -0.42745575 0.89390391 0.13497179 -29.28558958] [ -0.26071115 -0.26484653 0.92837816 40.43376981] [ 0. 0. 0. 1. ]] SLAMing on 237.92925976399997 meters 0.28446122019181863 Centerline is valid? [False, False] Translation: X:-69.84, Y:-29.46, Z:40.57 [[ 0.8643547 0.36366106 0.34733498 -69.84242321] [ -0.43006152 0.89253794 0.13573181 -29.46276391] [ -0.26064927 -0.26669584 0.92786599 40.56621657] [ 0. 0. 0. 1. ]] SLAMing on 237.98925976399994 meters 0.2814904299706363 Centerline is valid? [False, False] Translation: X:-70.11, Y:-29.64, Z:40.70 [[ 0.86552767 0.36159941 0.3465656 -70.10934282] [ -0.42728653 0.89409441 0.13424386 -29.63712116] [ -0.26131986 -0.26427459 0.92837001 40.6964786 ] [ 0. 0. 0. 1. ]] SLAMing on 238.04925976399994 meters 0.3115092814617918 Centerline is valid? [False, False] Translation: X:-70.38, Y:-29.81, Z:40.83 [[ 0.86729176 0.35703829 0.34688423 -70.37792473] [ -0.4230202 0.89593318 0.13549041 -29.81398896] [ -0.26240982 -0.26424875 0.92806987 40.82847615] [ 0. 0. 0. 1. ]] SLAMing on 238.10925976399994 meters 0.31739165276059833 Centerline is valid? [False, False] Translation: X:-70.64, Y:-29.99, Z:40.96 [[ 0.8687118 0.3540939 0.34634855 -70.64173765] [ -0.41988916 0.89736863 0.13573005 -29.98779527] [ -0.26274114 -0.26333829 0.9282349 40.95987701] [ 0. 0. 0. 1. ]] SLAMing on 238.16925976399995 meters 0.3069689687705105 Centerline is valid? [False, False] Translation: X:-70.90, Y:-30.16, Z:41.09 [[ 0.8707451 0.35412996 0.34116702 -70.90376609] [ -0.41866349 0.89780672 0.13661616 -30.16146571] [ -0.25792217 -0.26179203 0.93002209 41.08897926] [ 0. 0. 0. 1. ]] SLAMing on 238.22925976399995 meters 0.300550067350338 Centerline is valid? [False, False] Translation: X:-71.16, Y:-30.33, Z:41.22 [[ 0.87097567 0.35346885 0.34126404 -71.16363073] [ -0.41766309 0.89846148 0.13536805 -30.3327303 ] [ -0.25876421 -0.26043567 0.93016899 41.21717869] [ 0. 0. 0. 1. ]] SLAMing on 238.28925976399995 meters 0.29137213023249936 Centerline is valid? [False, False] Translation: X:-71.43, Y:-30.51, Z:41.35 [[ 0.86836085 0.35801606 0.34318207 -71.43037664] [ -0.42244972 0.89646896 0.13371476 -30.50951661] [ -0.25978004 -0.26108983 0.92970234 41.34907883] [ 0. 0. 0. 1. ]] SLAMing on 238.34925976399995 meters 0.31653225654884987 Centerline is valid? [False, False] Translation: X:-71.70, Y:-30.69, Z:41.48 [[ 0.86962908 0.35756186 0.34043322 -71.699245 ] [ -0.421081 0.89716965 0.13333195 -30.68812157] [ -0.25775194 -0.2592993 0.93076732 41.47729522] [ 0. 0. 0. 1. ]] SLAMing on 238.40925976399996 meters 0.30703247927226013 Centerline is valid? [False, False] Translation: X:-71.97, Y:-30.87, Z:41.61 [[ 0.87000965 0.3555435 0.34157288 -71.96683313] [ -0.41963288 0.8976835 0.13443431 -30.86617913] [ -0.25882709 -0.26029436 0.93019105 41.60638023] [ 0. 0. 0. 1. ]] SLAMing on 238.46925976399996 meters 0.2828756958358051 Centerline is valid? [False, False] Translation: X:-72.23, Y:-31.04, Z:41.74 [[ 0.87021257 0.35373285 0.34293317 -72.23163892] [ -0.41821316 0.89831586 0.13463416 -31.04326712] [ -0.26043778 -0.2605795 0.92966149 41.736213 ] [ 0. 0. 0. 1. ]] SLAMing on 238.52925976399996 meters 0.29891535459987983 Centerline is valid? [False, False] Translation: X:-72.49, Y:-31.22, Z:41.86 [[ 0.87114851 0.35401566 0.34025458 -72.49429281] [ -0.4176052 0.89866724 0.13417562 -31.22058767] [ -0.25827538 -0.25897897 0.93071141 41.86262588] [ 0. 0. 0. 1. ]] SLAMing on 238.58925976399996 meters 0.31330691474941 Centerline is valid? [False, False] Translation: X:-72.76, Y:-31.40, Z:41.99 [[ 0.87292722 0.35049805 0.33933641 -72.75564712] [ -0.41395767 0.90022181 0.13505458 -31.39832745] [ -0.25814167 -0.25836372 0.93091947 41.99066525] [ 0. 0. 0. 1. ]] SLAMing on 238.64925976399996 meters 0.2865043759288469 Centerline is valid? [False, False] Translation: X:-73.01, Y:-31.57, Z:42.12 [[ 0.87633636 0.34122725 0.33999786 -73.01070692] [ -0.4048211 0.90423945 0.13590765 -31.57322465] [ -0.26106409 -0.25673913 0.9305539 42.11934987] [ 0. 0. 0. 1. ]] SLAMing on 238.70925976399994 meters 0.2839040252956374 Centerline is valid? [False, False] Translation: X:-73.26, Y:-31.75, Z:42.25 [[ 0.87764074 0.33937265 0.33848625 -73.25957346] [ -0.40220902 0.90554849 0.13494384 -31.74588626] [ -0.26071947 -0.25457443 0.93124498 42.24588637] [ 0. 0. 0. 1. ]] SLAMing on 238.76925976399994 meters 0.2968298621092806 Centerline is valid? [False, False] Translation: X:-73.50, Y:-31.91, Z:42.37 [[ 0.88154259 0.33225721 0.33539202 -73.50185759] [ -0.39284884 0.91025061 0.13081902 -31.91230399] [ -0.26182522 -0.24708091 0.93295154 42.36637597] [ 0. 0. 0. 1. ]] SLAMing on 238.82925976399994 meters 0.2897109564341815 Centerline is valid? [False, False] Translation: X:-73.74, Y:-32.08, Z:42.48 [[ 0.88302588 0.33088543 0.33283648 -73.74155424] [ -0.39035881 0.91151488 0.1294628 -32.0794565 ] [ -0.26054805 -0.24424466 0.93405528 42.48360878] [ 0. 0. 0. 1. ]] SLAMing on 238.88925976399995 meters 0.30430943223162576 Centerline is valid? [False, False] Translation: X:-73.98, Y:-32.24, Z:42.60 [[ 0.88460093 0.32921484 0.33030105 -73.98268561] [ -0.38777228 0.91271072 0.12880916 -32.24406007] [ -0.25906342 -0.2420263 0.93504514 42.60070138] [ 0. 0. 0. 1. ]] SLAMing on 238.94925976399995 meters 0.3011809384100377 Centerline is valid? [False, False] Translation: X:-74.22, Y:-32.40, Z:42.71 [[ 0.88721929 0.32500391 0.32743607 -74.2172848 ] [ -0.38162897 0.91581834 0.12504438 -32.40409509] [ -0.25923205 -0.23590088 0.93656261 42.71134118] [ 0. 0. 0. 1. ]] SLAMing on 239.00925976399995 meters 0.289806798278995 Centerline is valid? [False, False] Translation: X:-74.45, Y:-32.57, Z:42.82 [[ 0.88797672 0.32398394 0.32639202 -74.45393019] [ -0.38019483 0.91646916 0.12464417 -32.56627742] [ -0.25874551 -0.23477367 0.9369803 42.82391553] [ 0. 0. 0. 1. ]] SLAMing on 239.06925976399995 meters 0.2916876161736863 Centerline is valid? [False, False] Translation: X:-74.69, Y:-32.73, Z:42.93 [[ 0.88930783 0.32365226 0.32308016 -74.68638696] [ -0.37883884 0.91711051 0.1240542 -32.72599994] [ -0.25614979 -0.23271768 0.93820561 42.93401821] [ 0. 0. 0. 1. ]] SLAMing on 239.12925976399995 meters 0.27957732697186083 Centerline is valid? [False, False] Translation: X:-74.91, Y:-32.88, Z:43.04 [[ 0.8929312 0.31927007 0.31739643 -74.91217052] [ -0.37189911 0.92043217 0.12039794 -32.88259764] [ -0.25370243 -0.22554653 0.94061886 43.03615312] [ 0. 0. 0. 1. ]] SLAMing on 239.18925976399996 meters 0.2840806406220602 Centerline is valid? [False, False] Translation: X:-75.14, Y:-33.04, Z:43.14 [[ 0.89608648 0.31237992 0.31535345 -75.13530698] [ -0.36423357 0.92352258 0.12016634 -33.04077876] [ -0.25369848 -0.22254175 0.94133536 43.13973535] [ 0. 0. 0. 1. ]] SLAMing on 239.24925976399996 meters 0.28199853162371713 Centerline is valid? [False, False] Translation: X:-75.35, Y:-33.20, Z:43.24 [[ 0.90103721 0.29922522 0.31400033 -75.35276397] [ -0.35054164 0.92871329 0.12088084 -33.19790165] [ -0.25544568 -0.21898833 0.94169614 43.2426715 ] [ 0. 0. 0. 1. ]] SLAMing on 239.30925976399996 meters 0.2896598829632509 Centerline is valid? [False, False] Translation: X:-75.56, Y:-33.34, Z:43.34 [[ 0.90502509 0.29298324 0.30836733 -75.55912791] [ -0.34175397 0.93247037 0.11706078 -33.3447311 ] [ -0.25324656 -0.2113287 0.94403727 43.33871907] [ 0. 0. 0. 1. ]] SLAMing on 239.36925976399996 meters 0.3282448014613703 Centerline is valid? [False, False] Translation: X:-75.76, Y:-33.49, Z:43.43 [[ 0.90765553 0.28805308 0.30526524 -75.76027191] [ -0.33474809 0.93556783 0.11250137 -33.48690431] [ -0.25318997 -0.20429945 0.94559853 43.43196195] [ 0. 0. 0. 1. ]] SLAMing on 239.42925976399997 meters 0.32832547738585105 Centerline is valid? [False, False] Translation: X:-75.96, Y:-33.62, Z:43.52 [[ 0.90965015 0.28388584 0.30322506 -75.95509779] [ -0.32914721 0.93793122 0.10930301 -33.62468026] [ -0.25337467 -0.19923318 0.9466295 43.52192873] [ 0. 0. 0. 1. ]] SLAMing on 239.48925976399994 meters 0.32331500585032824 Centerline is valid? [False, False] Translation: X:-76.14, Y:-33.76, Z:43.61 [[ 0.91283127 0.27701182 0.30000587 -76.14492705] [ -0.32024093 0.94149136 0.10507029 -33.76184467] [ -0.25334722 -0.1919856 0.94813328 43.60931193] [ 0. 0. 0. 1. ]] SLAMing on 239.54925976399994 meters 0.3171051024323453 Centerline is valid? [False, False] Translation: X:-76.33, Y:-33.89, Z:43.69 [[ 0.91609054 0.27178973 0.29480242 -76.32843637] [ -0.31241493 0.94467988 0.09988409 -33.89092138] [ -0.25134645 -0.18360355 0.95032347 43.69114541] [ 0. 0. 0. 1. ]] SLAMing on 239.60925976399994 meters 0.3137809990376985 Centerline is valid? [False, False] Translation: X:-76.51, Y:-34.02, Z:43.77 [[ 0.91839948 0.26684614 0.29212246 -76.50946887] [ -0.30585534 0.94719117 0.09633999 -34.01759823] [ -0.25098786 -0.17782581 0.9515162 43.76907967] [ 0. 0. 0. 1. ]] SLAMing on 239.66925976399995 meters 0.30313478757789364 Centerline is valid? [False, False] Translation: X:-76.69, Y:-34.14, Z:43.84 [[ 0.91853181 0.26845217 0.29022879 -76.692076 ] [ -0.30691501 0.94693802 0.09545447 -34.14294692] [ -0.24920372 -0.17675354 0.95218469 43.84418088] [ 0. 0. 0. 1. ]] SLAMing on 239.72925976399995 meters 0.2981234878149037 Centerline is valid? [False, False] Translation: X:-76.87, Y:-34.27, Z:43.92 [[ 0.92158355 0.26107765 0.2872668 -76.86976569] [ -0.29795038 0.95010139 0.09237382 -34.26541524] [ -0.24881585 -0.17072144 0.953386 43.91849994] [ 0. 0. 0. 1. ]] SLAMing on 239.78925976399995 meters 0.2910262342698683 Centerline is valid? [False, False] Translation: X:-77.04, Y:-34.39, Z:43.99 [[ 0.92271801 0.26107186 0.28360704 -77.04495208] [ -0.29681282 0.95062903 0.09059027 -34.38679304] [ -0.24595451 -0.16776748 0.95465201 43.98856973] [ 0. 0. 0. 1. ]] SLAMing on 239.84925976399995 meters 0.29029380355256335 Centerline is valid? [False, False] Translation: X:-77.22, Y:-34.51, Z:44.06 [[ 0.92316758 0.26302354 0.28032167 -77.22138781] [ -0.29823326 0.95018287 0.09060593 -34.50737738] [ -0.24252536 -0.1672457 0.95562039 44.05819048] [ 0. 0. 0. 1. ]] SLAMing on 239.90925976399996 meters 0.287431364362575 Centerline is valid? [False, False] Translation: X:-77.40, Y:-34.63, Z:44.12 [[ 0.9238348 0.26406999 0.27712148 -77.39593625] [ -0.2984207 0.95024296 0.08934993 -34.62513256] [ -0.2397381 -0.16524336 0.95667146 44.12454415] [ 0. 0. 0. 1. ]] SLAMing on 239.96925976399996 meters 0.3178072379657209 Centerline is valid? [False, False] Translation: X:-77.57, Y:-34.74, Z:44.19 [[ 0.92325791 0.2679092 0.2753534 -77.57374304] [ -0.30202302 0.94911596 0.08922441 -34.74328225] [ -0.23743827 -0.16554021 0.95719356 44.19173963] [ 0. 0. 0. 1. ]] SLAMing on 240.02925976399996 meters 0.3102208121264679 Centerline is valid? [False, False] Translation: X:-77.76, Y:-34.86, Z:44.26 [[ 0.92169774 0.27343658 0.27514671 -77.75540139] [ -0.30803562 0.94703989 0.09071664 -34.86395721] [ -0.23576966 -0.16836831 0.95711273 44.26103675] [ 0. 0. 0. 1. ]] SLAMing on 240.08925976399996 meters 0.2954964215989135 Centerline is valid? [False, False] Translation: X:-77.94, Y:-34.99, Z:44.33 [[ 0.92012074 0.27810854 0.27574166 -77.94459684] [ -0.31256564 0.94570059 0.08918027 -34.98809543] [ -0.23596726 -0.16824399 0.9570859 44.32946669] [ 0. 0. 0. 1. ]] SLAMing on 240.14925976399996 meters 0.2861129019880404 Centerline is valid? [False, False] Translation: X:-78.14, Y:-35.12, Z:44.40 [[ 0.91766246 0.28505346 0.27683953 -78.13545513] [ -0.32011021 0.94309381 0.09001956 -35.11513498] [ -0.23542526 -0.17122673 0.95669031 44.39744933] [ 0. 0. 0. 1. ]] SLAMing on 240.20925976399994 meters 0.2780326354550436 Centerline is valid? [False, False] Translation: X:-78.33, Y:-35.24, Z:44.47 [[ 0.91632823 0.2898831 0.27624331 -78.32853852] [ -0.32506423 0.94135804 0.09043383 -35.23967832] [ -0.23382862 -0.17266389 0.95682358 44.46607532] [ 0. 0. 0. 1. ]] SLAMing on 240.26925976399994 meters 0.30239971643704855 Centerline is valid? [False, False] Translation: X:-78.53, Y:-35.37, Z:44.54 [[ 0.91416842 0.29536915 0.2775845 -78.52892123] [ -0.33132703 0.93902251 0.09197353 -35.37182042] [ -0.23349195 -0.17605055 0.95628851 44.53855112] [ 0. 0. 0. 1. ]] SLAMing on 240.32925976399994 meters 0.2717588605488454 Centerline is valid? [False, False] Translation: X:-78.74, Y:-35.51, Z:44.62 [[ 0.90778821 0.31116921 0.28123706 -78.73871839] [ -0.34920824 0.93212986 0.09585159 -35.5070611 ] [ -0.23232339 -0.18522324 0.95483935 44.61570661] [ 0. 0. 0. 1. ]] SLAMing on 240.38925976399995 meters 0.27532424785170456 Centerline is valid? [False, False] Translation: X:-78.96, Y:-35.66, Z:44.70 [[ 0.90467175 0.31983914 0.28155276 -78.96033722] [ -0.35932534 0.92777033 0.10063557 -35.65513302] [ -0.2290291 -0.1922112 0.95425391 44.69562304] [ 0. 0. 0. 1. ]] SLAMing on 240.44925976399995 meters 0.2967003372790788 Centerline is valid? [False, False] Translation: X:-79.18, Y:-35.80, Z:44.78 [[ 0.90135877 0.32936662 0.28119387 -79.18418637] [ -0.3695518 0.92349708 0.10288148 -35.80310246] [ -0.225796 -0.19664883 0.95412023 44.77517816] [ 0. 0. 0. 1. ]] SLAMing on 240.50925976399995 meters 0.2839085353222727 Centerline is valid? [False, False] Translation: X:-79.42, Y:-35.96, Z:44.86 [[ 0.89894845 0.33514107 0.28208536 -79.41530582] [ -0.37689224 0.91992375 0.10813204 -35.96126722] [ -0.22325753 -0.20352092 0.95327609 44.8605537 ] [ 0. 0. 0. 1. ]] SLAMing on 240.56925976399995 meters 0.286245214294722 Centerline is valid? [False, False] Translation: X:-79.65, Y:-36.12, Z:44.95 [[ 0.89703944 0.33946487 0.28299089 -79.65053046] [ -0.38238001 0.91721217 0.11183627 -36.12133988] [ -0.22159821 -0.20853161 0.95258008 44.94929937] [ 0. 0. 0. 1. ]] SLAMing on 240.62925976399995 meters 0.2900212488593018 Centerline is valid? [False, False] Translation: X:-79.88, Y:-36.29, Z:45.04 [[ 0.89648427 0.34030516 0.28373993 -79.88483163] [ -0.3838137 0.91639844 0.1135823 -36.28683593] [ -0.22136619 -0.21072801 0.95215057 45.03737451] [ 0. 0. 0. 1. ]] SLAMing on 240.68925976399996 meters 0.2822220421412881 Centerline is valid? [False, False] Translation: X:-80.12, Y:-36.45, Z:45.13 [[ 0.89856789 0.33415462 0.28445815 -80.1179954 ] [ -0.37848037 0.91818866 0.1169709 -36.45120089] [ -0.22209988 -0.21276812 0.95152581 45.13098037] [ 0. 0. 0. 1. ]] SLAMing on 240.74925976399996 meters 0.28025237914944223 Centerline is valid? [False, False] Translation: X:-80.34, Y:-36.61, Z:45.22 [[ 0.90041714 0.3295258 0.28401008 -80.34370901] [ -0.37424348 0.91959613 0.11951896 -36.61308414] [ -0.22178999 -0.21390584 0.95134299 45.22086573] [ 0. 0. 0. 1. ]] SLAMing on 240.80925976399996 meters 0.29004023746191887 Centerline is valid? [False, False] Translation: X:-80.56, Y:-36.78, Z:45.31 [[ 0.90179776 0.32531792 0.2844803 -80.56255469] [ -0.3701838 0.92116538 0.12007619 -36.77611318] [ -0.22299047 -0.21359444 0.95113231 45.31162987] [ 0. 0. 0. 1. ]] SLAMing on 240.86925976399996 meters 0.2816370932216969 Centerline is valid? [False, False] Translation: X:-80.78, Y:-36.93, Z:45.40 [[ 0.905373 0.31378784 0.28607154 -80.77665784] [ -0.3579322 0.92643839 0.11660385 -36.93327426] [ -0.22843879 -0.20796419 0.95108707 45.40071292] [ 0. 0. 0. 1. ]] SLAMing on 240.92925976399997 meters 0.2931781851651854 Centerline is valid? [False, False] Translation: X:-80.99, Y:-37.09, Z:45.49 [[ 0.90755387 0.30748227 0.28600809 -80.98862665] [ -0.35133536 0.9290273 0.11606784 -37.08885639] [ -0.23002052 -0.20582257 0.95117171 45.48960344] [ 0. 0. 0. 1. ]] SLAMing on 240.98925976399994 meters 0.2931532881726694 Centerline is valid? [False, False] Translation: X:-81.19, Y:-37.24, Z:45.57 [[ 0.91089113 0.29919779 0.28417957 -81.19000274] [ -0.34199948 0.93273571 0.11419478 -37.23846859] [ -0.23089761 -0.20120828 0.95194618 45.57431037] [ 0. 0. 0. 1. ]] SLAMing on 241.04925976399994 meters 0.2796630709248448 Centerline is valid? [False, False] Translation: X:-81.39, Y:-37.38, Z:45.66 [[ 0.91388099 0.29151923 0.28255633 -81.38655155] [ -0.33307957 0.93630907 0.11128042 -37.38381502] [ -0.23211967 -0.1958108 0.95277415 45.65683535] [ 0. 0. 0. 1. ]] SLAMing on 241.10925976399994 meters 0.29041346863494794 Centerline is valid? [False, False] Translation: X:-81.58, Y:-37.53, Z:45.74 [[ 0.91661299 0.28386645 0.28149684 -81.57931626] [ -0.32433089 0.93970338 0.10847597 -37.52720817] [ -0.23373084 -0.1907286 0.95341098 45.73578769] [ 0. 0. 0. 1. ]] SLAMing on 241.16925976399995 meters 0.29180057246820085 Centerline is valid? [False, False] Translation: X:-81.77, Y:-37.67, Z:45.81 [[ 0.91746261 0.28259363 0.28000572 -81.76849318] [ -0.32281206 0.94018315 0.10884858 -37.66610134] [ -0.23249675 -0.19025373 0.95380752 45.8149218 ] [ 0. 0. 0. 1. ]] SLAMing on 241.22925976399995 meters 0.3047138517585113 Centerline is valid? [False, False] Translation: X:-81.96, Y:-37.80, Z:45.89 [[ 0.91702311 0.28552785 0.27846449 -81.95923943] [ -0.3251243 0.9395663 0.10728172 -37.80372124] [ -0.23100393 -0.18891538 0.95443604 45.89144509] [ 0. 0. 0. 1. ]] SLAMing on 241.28925976399995 meters 0.2881016010206415 Centerline is valid? [False, False] Translation: X:-82.15, Y:-37.94, Z:45.97 [[ 0.91643358 0.28732588 0.27855581 -82.1520073 ] [ -0.32694416 0.93895388 0.10711268 -37.94305607] [ -0.23077481 -0.18923385 0.95442838 45.96705307] [ 0. 0. 0. 1. ]] SLAMing on 241.34925976399995 meters 0.2734674226897972 Centerline is valid? [False, False] Translation: X:-82.35, Y:-38.08, Z:46.04 [[ 0.91506595 0.29103597 0.27919954 -82.34821827] [ -0.33076093 0.93767074 0.10663395 -38.08309793] [ -0.23076292 -0.1899254 0.95429389 46.0427821 ] [ 0. 0. 0. 1. ]] SLAMing on 241.40925976399996 meters 0.3228599194887562 Centerline is valid? [False, False] Translation: X:-82.55, Y:-38.23, Z:46.12 [[ 0.91240287 0.29847096 0.28006444 -82.55086601] [ -0.33874771 0.93472432 0.10742642 -38.22714353] [ -0.22971937 -0.19288736 0.95395151 46.121089 ] [ 0. 0. 0. 1. ]] SLAMing on 241.46925976399996 meters 0.27626747324770146 Centerline is valid? [False, False] Translation: X:-82.75, Y:-38.37, Z:46.20 [[ 0.91164404 0.2999942 0.2809068 -82.75389821] [ -0.34057658 0.9340149 0.10781353 -38.37162876] [ -0.2300277 -0.19395784 0.95366011 46.20007698] [ 0. 0. 0. 1. ]] SLAMing on 241.52925976399996 meters 0.2978957334842657 Centerline is valid? [False, False] Translation: X:-82.96, Y:-38.52, Z:46.28 [[ 0.90939477 0.30878881 0.27865862 -82.96351855] [ -0.34986153 0.93020448 0.11097993 -38.52395764] [ -0.22494014 -0.1984165 0.95395641 46.27975379] [ 0. 0. 0. 1. ]] SLAMing on 241.58925976399996 meters 0.29062029204928247 Centerline is valid? [False, False] Translation: X:-83.17, Y:-38.68, Z:46.36 [[ 0.90993971 0.30727013 0.2785584 -83.17260488] [ -0.34808971 0.93096805 0.11014556 -38.67836259] [ -0.22548453 -0.19718913 0.95408237 46.36406897] [ 0. 0. 0. 1. ]] SLAMing on 241.64925976399996 meters 0.30028649209418473 Centerline is valid? [False, False] Translation: X:-83.38, Y:-38.83, Z:46.45 [[ 0.90897884 0.3059208 0.28314295 -83.38470583] [ -0.34810478 0.93075344 0.11189769 -38.83490221] [ -0.22930445 -0.20027605 0.95252768 46.4483765 ] [ 0. 0. 0. 1. ]] SLAMing on 241.70925976399994 meters 0.29061275131665043 Centerline is valid? [False, False] Translation: X:-83.59, Y:-38.99, Z:46.54 [[ 0.90966494 0.30236827 0.28475099 -83.59387722] [ -0.34529319 0.93156021 0.11387797 -38.99052397] [ -0.23082961 -0.20191337 0.95181337 46.5360047 ] [ 0. 0. 0. 1. ]] SLAMing on 241.76925976399994 meters 0.29784936802013934 Centerline is valid? [False, False] Translation: X:-83.80, Y:-39.14, Z:46.62 [[ 0.90971143 0.30347193 0.28342531 -83.79949342] [ -0.34573748 0.93159568 0.1122278 -39.14495006] [ -0.22997981 -0.20008566 0.95240486 46.61936544] [ 0. 0. 0. 1. ]] SLAMing on 241.82925976399994 meters 0.28369075301371877 Centerline is valid? [False, False] Translation: X:-84.00, Y:-39.30, Z:46.70 [[ 0.91187762 0.29922228 0.28097194 -84.001278 ] [ -0.34097819 0.93328963 0.1127135 -39.30038911] [ -0.22850181 -0.19858622 0.9530742 46.70426196] [ 0. 0. 0. 1. ]] SLAMing on 241.88925976399995 meters 0.28878230227377716 Centerline is valid? [False, False] Translation: X:-84.20, Y:-39.45, Z:46.79 [[ 0.91296827 0.29524966 0.28163198 -84.20229574] [ -0.337668 0.93418047 0.11526998 -39.45467194] [ -0.22906167 -0.20033595 0.95257349 46.78914822] [ 0. 0. 0. 1. ]] SLAMing on 241.94925976399995 meters 0.30713551305425296 Centerline is valid? [False, False] Translation: X:-84.40, Y:-39.60, Z:46.87 [[ 0.9149816 0.29106251 0.27944818 -84.39526331] [ -0.33278078 0.93600244 0.11470128 -39.60187318] [ -0.22817893 -0.19794454 0.95328502 46.87072199] [ 0. 0. 0. 1. ]] SLAMing on 242.00925976399995 meters 0.28780601260032224 Centerline is valid? [False, False] Translation: X:-84.59, Y:-39.75, Z:46.95 [[ 0.91541653 0.29299978 0.27597772 -84.58695819] [ -0.33323212 0.93624846 0.11133361 -39.7492211 ] [ -0.225763 -0.19388127 0.95469426 46.94724417] [ 0. 0. 0. 1. ]] SLAMing on 242.06925976399995 meters 0.2930100033464733 Centerline is valid? [False, False] Translation: X:-84.78, Y:-39.89, Z:47.03 [[ 0.91793163 0.28835191 0.27249715 -84.78014386] [ -0.32709269 0.9387455 0.10847699 -39.89461533] [ -0.22452592 -0.18870628 0.95602199 47.02510971] [ 0. 0. 0. 1. ]] SLAMing on 242.12925976399995 meters 0.28179122536839785 Centerline is valid? [False, False] Translation: X:-84.98, Y:-40.04, Z:47.10 [[ 0.9164781 0.29182386 0.27369092 -84.97574827] [ -0.33142422 0.9369568 0.1107698 -40.04394917] [ -0.2241113 -0.19222589 0.95541788 47.10343308] [ 0. 0. 0. 1. ]] SLAMing on 242.18925976399996 meters 0.2925162771290996 Centerline is valid? [False, False] Translation: X:-85.17, Y:-40.19, Z:47.18 [[ 0.91576116 0.2954174 0.27223164 -85.17138251] [ -0.33459222 0.93593395 0.10988946 -40.19178101] [ -0.22232757 -0.19171909 0.95593632 47.18055422] [ 0. 0. 0. 1. ]] SLAMing on 242.24925976399996 meters 0.2760238738892308 Centerline is valid? [False, False] Translation: X:-85.37, Y:-40.34, Z:47.26 [[ 0.91613849 0.29652157 0.26975029 -85.3674047 ] [ -0.33521003 0.93571432 0.10987692 -40.34009149] [ -0.21982834 -0.19108548 0.95664092 47.25685283] [ 0. 0. 0. 1. ]] SLAMing on 242.30925976399996 meters 0.30432477817635745 Centerline is valid? [False, False] Translation: X:-85.56, Y:-40.49, Z:47.33 [[ 0.91604346 0.29818566 0.26823441 -85.56330744] [ -0.33709293 0.93478067 0.11204224 -40.49163305] [ -0.21733095 -0.19305548 0.95681599 47.33366531] [ 0. 0. 0. 1. ]] SLAMing on 242.36925976399996 meters 0.29437083722757224 Centerline is valid? [False, False] Translation: X:-85.76, Y:-40.64, Z:47.41 [[ 0.91609879 0.2983182 0.26789785 -85.75937341] [ -0.33761906 0.93434488 0.11407458 -40.64322305] [ -0.21627846 -0.19495101 0.95667013 47.41106217] [ 0. 0. 0. 1. ]] SLAMing on 242.42925976399994 meters 0.2954112596775325 Centerline is valid? [False, False] Translation: X:-85.96, Y:-40.79, Z:47.49 [[ 0.91618623 0.29843251 0.26747116 -85.95666927] [ -0.33771032 0.93427759 0.11435525 -40.79471215] [ -0.21576499 -0.19509848 0.956756 47.48854233] [ 0. 0. 0. 1. ]] SLAMing on 242.48925976399994 meters 0.28796031641992176 Centerline is valid? [False, False] Translation: X:-86.15, Y:-40.94, Z:47.56 [[ 0.91870914 0.29182903 0.26610024 -86.14770214] [ -0.33065725 0.93681643 0.11419611 -40.94303481] [ -0.21596134 -0.19290098 0.9571572 47.56417246] [ 0. 0. 0. 1. ]] SLAMing on 242.54925976399994 meters 0.2819320204842599 Centerline is valid? [False, False] Translation: X:-86.34, Y:-41.09, Z:47.64 [[ 0.92013998 0.28673081 0.26669808 -86.33589857] [ -0.32607282 0.93815535 0.11636604 -41.09288296] [ -0.2168385 -0.19403604 0.95672937 47.64067984] [ 0. 0. 0. 1. ]] SLAMing on 242.60925976399994 meters 0.3140620906537335 Centerline is valid? [False, False] Translation: X:-86.52, Y:-41.24, Z:47.71 [[ 0.92191441 0.28402426 0.26344647 -86.52137164] [ -0.32231769 0.93963206 0.11490389 -41.23940954] [ -0.21490725 -0.19084501 0.95780638 47.71349348] [ 0. 0. 0. 1. ]] SLAMing on 242.66925976399995 meters 0.30316248258689765 Centerline is valid? [False, False] Translation: X:-86.70, Y:-41.39, Z:47.79 [[ 0.92488728 0.2757415 0.26182081 -86.70301266] [ -0.31426418 0.94196084 0.11810082 -41.38574189] [ -0.21405965 -0.19151085 0.95786328 47.78775529] [ 0. 0. 0. 1. ]] SLAMing on 242.72925976399995 meters 0.2990910224816386 Centerline is valid? [False, False] Translation: X:-86.87, Y:-41.52, Z:47.86 [[ 0.92707968 0.27141371 0.25856889 -86.87240104] [ -0.30762568 0.94500901 0.11101538 -41.52344976] [ -0.21421883 -0.18246254 0.95959247 47.85964653] [ 0. 0. 0. 1. ]] SLAMing on 242.78925976399995 meters 0.28824840717511213 Centerline is valid? [False, False] Translation: X:-87.04, Y:-41.66, Z:47.93 [[ 0.9285514 0.26796534 0.25687911 -87.03911521] [ -0.3025286 0.94729661 0.10538302 -41.65631162] [ -0.21510171 -0.17556683 0.96068077 47.92559912] [ 0. 0. 0. 1. ]] SLAMing on 242.84925976399995 meters 0.28907029452662014 Centerline is valid? [False, False] Translation: X:-87.20, Y:-41.79, Z:47.99 [[ 0.92987437 0.26533181 0.25481893 -87.20347242] [ -0.29863258 0.94893713 0.10167053 -41.78792237] [ -0.21483072 -0.17063805 0.96162904 47.99177145] [ 0. 0. 0. 1. ]] SLAMing on 242.90925976399996 meters 0.3194517009745787 Centerline is valid? [False, False] Translation: X:-87.37, Y:-41.92, Z:48.06 [[ 0.93235744 0.25570873 0.25558297 -87.36748124] [ -0.28877795 0.9520621 0.10092099 -41.9187966 ] [ -0.21752448 -0.16790116 0.96150523 48.05563335] [ 0. 0. 0. 1. ]] SLAMing on 242.96925976399996 meters 0.31164204735411244 Centerline is valid? [False, False] Translation: X:-87.53, Y:-42.05, Z:48.12 [[ 0.93312806 0.25531026 0.25315745 -87.52589167] [ -0.28688547 0.95312007 0.09622293 -42.04558347] [ -0.21672274 -0.16241551 0.96262789 48.11717094] [ 0. 0. 0. 1. ]] SLAMing on 243.02925976399996 meters 0.2888671595211875 Centerline is valid? [False, False] Translation: X:-87.68, Y:-42.17, Z:48.18 [[ 0.93308751 0.25658861 0.25201188 -87.68367283] [ -0.28765149 0.95304224 0.09469485 -42.16969281] [ -0.21588034 -0.16085017 0.9630799 48.17692858] [ 0. 0. 0. 1. ]] SLAMing on 243.08925976399996 meters 0.3062975597986473 Centerline is valid? [False, False] Translation: X:-87.85, Y:-42.30, Z:48.24 [[ 0.93227613 0.25914908 0.25239448 -87.84724386] [ -0.29001012 0.95246882 0.09325916 -42.29741714] [ -0.21622985 -0.16014024 0.9631198 48.23739737] [ 0. 0. 0. 1. ]] SLAMing on 243.14925976399996 meters 0.30160650009483403 Centerline is valid? [False, False] Translation: X:-88.01, Y:-42.43, Z:48.30 [[ 0.93212569 0.26393411 0.24795258 -88.012724 ] [ -0.29426566 0.95110755 0.0938198 -42.4276681 ] [ -0.21106733 -0.16041578 0.96421852 48.29520327] [ 0. 0. 0. 1. ]] SLAMing on 243.20925976399994 meters 0.2929903816009492 Centerline is valid? [False, False] Translation: X:-88.18, Y:-42.56, Z:48.35 [[ 0.93365175 0.26165308 0.24460598 -88.17632543] [ -0.29189533 0.95159617 0.09623851 -42.55637262] [ -0.20758501 -0.16125259 0.96483474 48.35205095] [ 0. 0. 0. 1. ]] SLAMing on 243.26925976399994 meters 0.2847621737795264 Centerline is valid? [False, False] Translation: X:-88.34, Y:-42.68, Z:48.41 [[ 0.93422721 0.2578881 0.2464006 -88.33882069] [ -0.28824228 0.95276469 0.09568607 -42.68309233] [ -0.21008549 -0.1604156 0.96443295 48.41093749] [ 0. 0. 0. 1. ]] SLAMing on 243.32925976399994 meters 0.2856462338389002 Centerline is valid? [False, False] Translation: X:-88.50, Y:-42.81, Z:48.47 [[ 0.93535786 0.25282492 0.2473565 -88.49939301] [ -0.28308881 0.95437707 0.09500066 -42.80922072] [ -0.21205284 -0.15888347 0.964256 48.46902409] [ 0. 0. 0. 1. ]] SLAMing on 243.38925976399995 meters 0.29692948091124777 Centerline is valid? [False, False] Translation: X:-88.65, Y:-42.93, Z:48.53 [[ 0.93562101 0.25202543 0.24717709 -88.65385773] [ -0.28221778 0.95464638 0.09488629 -42.93160495] [ -0.21205295 -0.15853537 0.96431327 48.52667494] [ 0. 0. 0. 1. ]] SLAMing on 243.44925976399995 meters 0.2968809141201971 Centerline is valid? [False, False] Translation: X:-88.81, Y:-43.05, Z:48.58 [[ 0.93641282 0.25127736 0.24493004 -88.80799271] [ -0.28058354 0.955351 0.09261396 -43.05480333] [ -0.21072237 -0.15544824 0.96510721 48.5824578 ] [ 0. 0. 0. 1. ]] SLAMing on 243.50925976399995 meters 0.28455323691436146 Centerline is valid? [False, False] Translation: X:-88.96, Y:-43.18, Z:48.63 [[ 0.93704625 0.2511247 0.24265347 -88.96011126] [ -0.27953048 0.9558914 0.09019053 -43.17631949] [ -0.20930129 -0.15234174 0.96591147 48.63495639] [ 0. 0. 0. 1. ]] SLAMing on 243.56925976399995 meters 0.27796844771035883 Centerline is valid? [False, False] Translation: X:-89.12, Y:-43.30, Z:48.69 [[ 9.38204112e-01 2.46522423e-01 2.42898620e-01 -8.91158522e+01] [-2.74519436e-01 9.57494656e-01 8.85610702e-02 -4.32995021e+01] [-2.10741841e-01 -1.49768752e-01 9.66000620e-01 4.86902448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62925976399995 meters 0.2683638433309247 Centerline is valid? [False, False] Translation: X:-89.27, Y:-43.42, Z:48.75 [[ 9.38938638e-01 2.44185254e-01 2.42420700e-01 -8.92689455e+01] [-2.71820270e-01 9.58364821e-01 8.74677672e-02 -4.34210743e+01] [-2.10969132e-01 -1.48021726e-01 9.66220262e-01 4.87456326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68925976399996 meters 0.27029863614524424 Centerline is valid? [False, False] Translation: X:-89.42, Y:-43.54, Z:48.80 [[ 9.40200061e-01 2.41364451e-01 2.40347764e-01 -8.94166883e+01] [-2.68631191e-01 9.59258494e-01 8.75238509e-02 -4.35387007e+01] [-2.09430488e-01 -1.46854836e-01 9.66732914e-01 4.87973535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74925976399996 meters 0.3043861805064346 Centerline is valid? [False, False] Translation: X:-89.57, Y:-43.66, Z:48.85 [[ 9.41239685e-01 2.39174342e-01 2.38460667e-01 -8.95657469e+01] [-2.65771093e-01 9.60195326e-01 8.59689565e-02 -4.36576566e+01] [-2.08407249e-01 -1.44293346e-01 9.67339573e-01 4.88479701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80925976399996 meters 0.302233134799018 Centerline is valid? [False, False] Translation: X:-89.71, Y:-43.78, Z:48.90 [[ 9.41890741e-01 2.37419662e-01 2.37642034e-01 -8.97142399e+01] [-2.63731616e-01 9.60809484e-01 8.53860085e-02 -4.37757261e+01] [-2.08056402e-01 -1.43098008e-01 9.67592628e-01 4.88990212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86925976399996 meters 0.2927542421657795 Centerline is valid? [False, False] Translation: X:-89.86, Y:-43.89, Z:48.95 [[ 9.41558029e-01 2.37429734e-01 2.38946853e-01 -8.98628381e+01] [-2.64167769e-01 9.60595063e-01 8.64437142e-02 -4.38947784e+01] [-2.09006859e-01 -1.44513830e-01 9.67177277e-01 4.89485806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92925976399994 meters 0.27768774329078466 Centerline is valid? [False, False] Translation: X:-90.01, Y:-44.01, Z:49.00 [[ 9.42468867e-01 2.34981328e-01 2.37773443e-01 -9.00091279e+01] [-2.61297195e-01 9.61460696e-01 8.55400800e-02 -4.40101340e+01] [-2.08509499e-01 -1.42748396e-01 9.67546735e-01 4.89983281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98925976399994 meters 0.2791744697495139 Centerline is valid? [False, False] Translation: X:-90.16, Y:-44.13, Z:49.05 [[ 9.41532331e-01 2.38672425e-01 2.37807365e-01 -9.01573611e+01] [-2.65275768e-01 9.60283802e-01 8.65088792e-02 -4.41266618e+01] [-2.07715277e-01 -1.44535438e-01 9.67452258e-01 4.90484334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04925976399994 meters 0.30651408068366015 Centerline is valid? [False, False] Translation: X:-90.31, Y:-44.24, Z:49.10 [[ 9.41840366e-01 2.38000943e-01 2.37259933e-01 -9.03074626e+01] [-2.64546414e-01 9.60468664e-01 8.66899135e-02 -4.42446448e+01] [-2.07248450e-01 -1.44414324e-01 9.67570454e-01 4.91009308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10925976399994 meters 0.2943200697434786 Centerline is valid? [False, False] Translation: X:-90.45, Y:-44.36, Z:49.15 [[ 9.42247569e-01 2.35722816e-01 2.37916525e-01 -9.04546475e+01] [-2.62253981e-01 9.61125935e-01 8.63700599e-02 -4.43613405e+01] [-2.08308348e-01 -1.43776535e-01 9.67437822e-01 4.91505735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16925976399995 meters 0.28214163077244864 Centerline is valid? [False, False] Translation: X:-90.60, Y:-44.47, Z:49.20 [[ 9.42970651e-01 2.34022714e-01 2.36727101e-01 -9.05970617e+01] [-2.60150483e-01 9.61776459e-01 8.54854949e-02 -4.44741688e+01] [-2.07673005e-01 -1.42194983e-01 9.67808096e-01 4.91989979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22925976399995 meters 0.2802348906402703 Centerline is valid? [False, False] Translation: X:-90.74, Y:-44.59, Z:49.25 [[ 9.43225821e-01 2.34461024e-01 2.35272352e-01 -9.07405777e+01] [-2.60360127e-01 9.61727918e-01 8.53932971e-02 -4.45878370e+01] [-2.06246590e-01 -1.41800702e-01 9.68170907e-01 4.92490334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28925976399995 meters 0.28665467643350945 Centerline is valid? [False, False] Translation: X:-90.88, Y:-44.70, Z:49.30 [[ 9.44245840e-01 2.33367186e-01 2.32248895e-01 -9.08812844e+01] [-2.58279777e-01 9.62503170e-01 8.29409673e-02 -4.47016115e+01] [-2.04184598e-01 -1.38301856e-01 9.69113640e-01 4.92964344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34925976399995 meters 0.27839068213993173 Centerline is valid? [False, False] Translation: X:-91.01, Y:-44.81, Z:49.34 [[ 9.48464142e-01 2.24627594e-01 2.23513344e-01 -9.10111280e+01] [-2.46732348e-01 9.66092321e-01 7.60840069e-02 -4.48105256e+01] [-1.98843958e-01 -1.27310924e-01 9.71726818e-01 4.93360373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40925976399996 meters 0.30711992601721744 Centerline is valid? [False, False] Translation: X:-91.14, Y:-44.92, Z:49.37 [[ 9.52695766e-01 2.13604198e-01 2.16203664e-01 -9.11351324e+01] [-2.34353304e-01 9.69248147e-01 7.50770196e-02 -4.49161554e+01] [-1.93518234e-01 -1.22193602e-01 9.73457455e-01 4.93746226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46925976399996 meters 0.31172184907269773 Centerline is valid? [False, False] Translation: X:-91.25, Y:-45.01, Z:49.41 [[ 9.57188483e-01 2.03743097e-01 2.05618476e-01 -9.12477613e+01] [-2.21992827e-01 9.72551567e-01 6.97325916e-02 -4.50139675e+01] [-1.85767037e-01 -1.12393060e-01 9.76144665e-01 4.94077083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52925976399996 meters 0.30049430531958066 Centerline is valid? [False, False] Translation: X:-91.38, Y:-45.11, Z:49.44 [[ 9.50204113e-01 2.40683901e-01 1.97947980e-01 -9.13822636e+01] [-2.57228812e-01 9.64344974e-01 6.22262703e-02 -4.51093403e+01] [-1.75913279e-01 -1.10045582e-01 9.78235395e-01 4.94446529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58925976399996 meters 0.29690719315930625 Centerline is valid? [False, False] Translation: X:-91.54, Y:-45.23, Z:49.49 [[ 9.41645901e-01 2.73128950e-01 1.96732238e-01 -9.15417262e+01] [-2.91507861e-01 9.53936881e-01 7.09055295e-02 -4.52257662e+01] [-1.68303785e-01 -1.24116895e-01 9.77889990e-01 4.94912201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64925976399996 meters 0.31518041139121244 Centerline is valid? [False, False] Translation: X:-91.74, Y:-45.37, Z:49.55 [[ 9.26006456e-01 3.24054734e-01 1.93650646e-01 -9.17357863e+01] [-3.43812257e-01 9.35783623e-01 7.81162195e-02 -4.53674461e+01] [-1.55901172e-01 -1.38915589e-01 9.77955665e-01 4.95516329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70925976399994 meters 0.32685752410059155 Centerline is valid? [False, False] Translation: X:-91.95, Y:-45.53, Z:49.62 [[ 9.12944113e-01 3.61825409e-01 1.88720481e-01 -9.19497647e+01] [-3.82369055e-01 9.20015345e-01 8.58234827e-02 -4.55343684e+01] [-1.42572621e-01 -1.50512915e-01 9.78273433e-01 4.96220156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76925976399994 meters 0.37157558734955937 Centerline is valid? [False, False] Translation: X:-92.20, Y:-45.73, Z:49.71 [[ 0.89603573 0.40614988 0.17933835 -92.19786376] [ -0.42704941 0.89891214 0.09790696 -45.73206343] [ -0.12144452 -0.16431448 0.97890346 49.70582571] [ 0. 0. 0. 1. ]] SLAMing on 244.82925976399994 meters 0.4645775377592863 Centerline is valid? [False, False] Translation: X:-92.48, Y:-45.96, Z:49.80 [[ 8.60302014e-01 4.82515375e-01 1.64497289e-01 -9.24773691e+01] [-5.02074937e-01 8.57874960e-01 1.09413484e-01 -4.59551979e+01] [-8.83244170e-02 -1.76718606e-01 9.80290432e-01 4.98026868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88925976399995 meters 0.5767439894871292 Centerline is valid? [False, False] Translation: X:-92.77, Y:-46.21, Z:49.91 [[ 8.04394029e-01 5.76720123e-01 1.42632908e-01 -9.27694988e+01] [-5.92796147e-01 7.95032498e-01 1.28514810e-01 -4.62053275e+01] [-3.92807201e-02 -1.87928784e-01 9.81396860e-01 4.99093377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94925976399995 meters 0.641689232627955 Centerline is valid? [False, False] Translation: X:-92.97, Y:-46.39, Z:49.98 [[ 7.59923940e-01 6.38717542e-01 1.20646207e-01 -9.29663762e+01] [-6.49880784e-01 7.42839647e-01 1.60761393e-01 -4.63907897e+01] [ 1.30603352e-02 -2.00572083e-01 9.79591888e-01 4.99781861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00925976399995 meters 0.7121607355765424 Centerline is valid? [False, False] Translation: X:-93.00, Y:-46.43, Z:49.98 [[ 6.94301205e-01 7.11143973e-01 1.10544495e-01 -9.29984090e+01] [-7.15046724e-01 6.64230883e-01 2.17957602e-01 -4.64349357e+01] [ 8.15721677e-02 -2.30372705e-01 9.69677471e-01 4.99791855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06925976399995 meters 0.6855836961675366 Centerline is valid? [False, False] Translation: X:-93.14, Y:-46.59, Z:50.05 [[ 6.52156624e-01 7.52428633e-01 9.24277546e-02 -9.31444441e+01] [-7.45499864e-01 6.14422894e-01 2.58291425e-01 -4.65915291e+01] [ 1.37556136e-01 -2.37351343e-01 9.61635404e-01 5.00478170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12925976399995 meters 0.6706179309735325 Centerline is valid? [False, False] Translation: X:-93.36, Y:-46.80, Z:50.15 [[ 6.27757321e-01 7.75371032e-01 6.87059613e-02 -9.33607057e+01] [-7.55878162e-01 5.86125308e-01 2.91728174e-01 -4.68047712e+01] [ 1.85927273e-01 -2.35067833e-01 9.54030483e-01 5.01540855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18925976399996 meters 0.6807382693111648 Centerline is valid? [False, False] Translation: X:-93.63, Y:-47.06, Z:50.28 [[ 6.08281843e-01 7.92100707e-01 5.06919044e-02 -9.36329679e+01] [-7.58984076e-01 5.61785871e-01 3.29150131e-01 -4.70579058e+01] [ 2.32242056e-01 -2.38690396e-01 9.42915968e-01 5.02804275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24925976399996 meters 0.6793338390872591 Centerline is valid? [False, False] Translation: X:-93.84, Y:-47.25, Z:50.37 [[ 6.24327206e-01 7.80743138e-01 2.56064953e-02 -9.38365794e+01] [-7.37566823e-01 5.78369485e-01 3.48545435e-01 -4.72479951e+01] [ 2.57314441e-01 -2.36492899e-01 9.36942040e-01 5.03712886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30925976399996 meters 0.6795687350862257 Centerline is valid? [False, False] Translation: X:-93.98, Y:-47.37, Z:50.43 [[ 6.55702134e-01 7.54935632e-01 1.12651097e-02 -9.39756315e+01] [-7.04025863e-01 6.05957852e-01 3.70354783e-01 -4.73720287e+01] [ 2.72767840e-01 -2.50773350e-01 9.28822067e-01 5.04250955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36925976399996 meters 0.7284240121068933 Centerline is valid? [False, False] Translation: X:-93.89, Y:-47.25, Z:50.33 [[ 7.49380908e-01 6.62109752e-01 6.23944625e-03 -9.38905629e+01] [-6.08102434e-01 6.84465387e-01 4.02142468e-01 -4.72540697e+01] [ 2.61991765e-01 -3.05152110e-01 9.15555845e-01 5.03315814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42925976399994 meters 0.6854607763655668 Centerline is valid? [False, False] Translation: X:-93.76, Y:-47.11, Z:50.22 [[ 8.17159358e-01 5.76394470e-01 -4.47196030e-03 -9.37592545e+01] [-5.19659483e-01 7.40038279e-01 4.26962957e-01 -4.71142590e+01] [ 2.49408509e-01 -3.46572879e-01 9.04258058e-01 5.02235919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48925976399994 meters 0.5890257542950825 Centerline is valid? [False, False] Translation: X:-93.76, Y:-47.12, Z:50.22 [[ 8.97566083e-01 4.40866283e-01 3.47089991e-03 -9.37601519e+01] [-3.99833934e-01 8.10660156e-01 4.27741671e-01 -4.71207433e+01] [ 1.85763160e-01 -3.85314200e-01 9.03894361e-01 5.02198235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54925976399994 meters 0.5165282577404636 Centerline is valid? [False, False] Translation: X:-93.81, Y:-47.18, Z:50.29 [[ 9.33776387e-01 3.57564292e-01 1.44719109e-02 -9.38099266e+01] [-3.34316267e-01 8.57211221e-01 3.91690640e-01 -4.71796508e+01] [ 1.27649102e-01 -3.70589665e-01 9.19983156e-01 5.02858297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60925976399994 meters 0.38882875298241576 Centerline is valid? [False, False] Translation: X:-93.87, Y:-47.27, Z:50.39 [[ 9.65393386e-01 2.57739930e-01 3.98213351e-02 -9.38726381e+01] [-2.54966236e-01 9.00629400e-01 3.51935935e-01 -4.72701821e+01] [ 5.48436782e-02 -3.49909720e-01 9.35176646e-01 5.03914418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66925976399995 meters 0.34556436380347244 Centerline is valid? [False, False] Translation: X:-93.93, Y:-47.34, Z:50.50 [[ 9.71211786e-01 2.28195066e-01 6.83716286e-02 -9.39255018e+01] [-2.38167610e-01 9.24269151e-01 2.98333247e-01 -4.73354931e+01] [ 4.88438781e-03 -3.06028673e-01 9.52009766e-01 5.05009313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72925976399995 meters 0.31856438297293505 Centerline is valid? [False, False] Translation: X:-93.96, Y:-47.41, Z:50.59 [[ 9.73514834e-01 2.12787665e-01 8.36078747e-02 -9.39552596e+01] [-2.26911764e-01 9.43967903e-01 2.39657357e-01 -4.74050735e+01] [-2.79270207e-02 -2.52281602e-01 9.67250782e-01 5.05857457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78925976399995 meters 0.32304555822275005 Centerline is valid? [False, False] Translation: X:-94.00, Y:-47.49, Z:50.65 [[ 9.69389884e-01 2.27853913e-01 9.14650084e-02 -9.39975439e+01] [-2.41494687e-01 9.52075132e-01 1.87705247e-01 -4.74913693e+01] [-4.43121850e-02 -2.04047881e-01 9.77957511e-01 5.06475809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84925976399995 meters 0.3406470659194628 Centerline is valid? [False, False] Translation: X:-94.07, Y:-47.59, Z:50.70 [[ 9.60958498e-01 2.58571600e-01 9.84860051e-02 -9.40730464e+01] [-2.71505458e-01 9.49786857e-01 1.55530425e-01 -4.75924373e+01] [-5.33249623e-02 -1.76197772e-01 9.82909352e-01 5.06999771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90925976399996 meters 0.35852923590616886 Centerline is valid? [False, False] Translation: X:-94.19, Y:-47.70, Z:50.75 [[ 9.53546608e-01 2.83497157e-01 1.01873586e-01 -9.41870060e+01] [-2.95576341e-01 9.45777660e-01 1.34682011e-01 -4.76986884e+01] [-5.81677947e-02 -1.58536996e-01 9.85638133e-01 5.07501517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96925976399996 meters 0.3790393004491401 Centerline is valid? [False, False] Translation: X:-94.32, Y:-47.83, Z:50.80 [[ 9.45218391e-01 3.08451607e-01 1.06863465e-01 -9.43242560e+01] [-3.20379273e-01 9.39339027e-01 1.22471686e-01 -4.78300805e+01] [-6.26044344e-02 -1.49999329e-01 9.86702025e-01 5.08027758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02925976399996 meters 0.40338550096064113 Centerline is valid? [False, False] Translation: X:-94.48, Y:-47.98, Z:50.86 [[ 9.36209379e-01 3.32961065e-01 1.12467451e-01 -9.44777508e+01] [-3.45905866e-01 9.29583520e-01 1.27371937e-01 -4.79821459e+01] [-6.21379935e-02 -1.58149953e-01 9.85457996e-01 5.08609709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08925976399996 meters 0.4208383484231611 Centerline is valid? [False, False] Translation: X:-94.65, Y:-48.15, Z:50.93 [[ 9.29697504e-01 3.47082225e-01 1.23274005e-01 -9.46473858e+01] [-3.62453124e-01 9.21635251e-01 1.38622498e-01 -4.81546038e+01] [-6.55002636e-02 -1.73558039e-01 9.82643029e-01 5.09267487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14925976399996 meters 0.4218034374720629 Centerline is valid? [False, False] Translation: X:-94.81, Y:-48.32, Z:50.98 [[ 9.28760784e-01 3.48291871e-01 1.26870716e-01 -9.48068568e+01] [-3.63800557e-01 9.22104410e-01 1.31805204e-01 -4.83199183e+01] [-7.10813652e-02 -1.68571142e-01 9.83123192e-01 5.09831475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20925976399994 meters 0.4238411268550017 Centerline is valid? [False, False] Translation: X:-94.97, Y:-48.49, Z:51.04 [[ 9.28746179e-01 3.47655799e-01 1.28708898e-01 -9.49721493e+01] [-3.63506775e-01 9.22173497e-01 1.32132001e-01 -4.84908422e+01] [-7.27554784e-02 -1.69503648e-01 9.82840350e-01 5.10380320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26925976399994 meters 0.42761920918220525 Centerline is valid? [False, False] Translation: X:-95.14, Y:-48.67, Z:51.10 [[ 9.28180220e-01 3.46510595e-01 1.35690410e-01 -9.51426225e+01] [-3.64226294e-01 9.20674054e-01 1.40351317e-01 -4.86670107e+01] [-7.62934220e-02 -1.79693331e-01 9.80759716e-01 5.11008948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32925976399994 meters 0.42295132400068125 Centerline is valid? [False, False] Translation: X:-95.30, Y:-48.84, Z:51.16 [[ 9.29434359e-01 3.43490412e-01 1.34781710e-01 -9.52993169e+01] [-3.60719327e-01 9.22715885e-01 1.35929994e-01 -4.88366402e+01] [-7.76745753e-02 -1.74956374e-01 9.81507477e-01 5.11563932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38925976399995 meters 0.4111670498886314 Centerline is valid? [False, False] Translation: X:-95.46, Y:-49.01, Z:51.21 [[ 9.34447667e-01 3.29860727e-01 1.34162059e-01 -9.54582392e+01] [-3.46999743e-01 9.28101371e-01 1.34977860e-01 -4.90116839e+01] [-7.99920965e-02 -1.72683946e-01 9.81723749e-01 5.12121982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44925976399995 meters 0.40132245580055137 Centerline is valid? [False, False] Translation: X:-95.62, Y:-49.18, Z:51.27 [[ 9.35921157e-01 3.21387044e-01 1.44090094e-01 -9.56167111e+01] [-3.40140375e-01 9.30930069e-01 1.32942588e-01 -4.91755996e+01] [-9.14117758e-02 -1.73434640e-01 9.80593857e-01 5.12708075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50925976399995 meters 0.3888093301701662 Centerline is valid? [False, False] Translation: X:-95.76, Y:-49.33, Z:51.32 [[ 9.40491279e-01 3.08628141e-01 1.42214011e-01 -9.57647032e+01] [-3.26878658e-01 9.36030167e-01 1.30375876e-01 -4.93316941e+01] [-9.28789406e-02 -1.69104099e-01 9.81212162e-01 5.13242167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56925976399995 meters 0.37555313072747953 Centerline is valid? [False, False] Translation: X:-95.92, Y:-49.49, Z:51.38 [[ 0.94424547 0.29585903 0.14445736 -95.91629671] [ -0.31442298 0.94046544 0.12908502 -49.49276586] [ -0.09766619 -0.16730865 0.98105511 51.37809016] [ 0. 0. 0. 1. ]] SLAMing on 246.62925976399995 meters 0.3673227226887126 Centerline is valid? [False, False] Translation: X:-96.06, Y:-49.65, Z:51.43 [[ 0.94783091 0.28299967 0.14672339 -96.06270815] [ -0.30175151 0.94492454 0.1267424 -49.65111665] [ -0.10277447 -0.16440437 0.98102427 51.42924994] [ 0. 0. 0. 1. ]] SLAMing on 246.68925976399996 meters 0.3587684306882119 Centerline is valid? [False, False] Translation: X:-96.19, Y:-49.79, Z:51.47 [[ 0.94966623 0.27918074 0.14209917 -96.19292519] [ -0.29608539 0.94808023 0.11609189 -49.7863038 ] [ -0.10231079 -0.15232203 0.98302111 51.4708994 ] [ 0. 0. 0. 1. ]] SLAMing on 246.74925976399996 meters 0.35291087592707787 Centerline is valid? [False, False] Translation: X:-96.33, Y:-49.93, Z:51.51 [[ 0.95133264 0.27277693 0.14338394 -96.32950926] [ -0.28969128 0.95027937 0.11422817 -49.92702922] [ -0.10509599 -0.15020607 0.98305288 51.51412769] [ 0. 0. 0. 1. ]] SLAMing on 246.80925976399996 meters 0.35126428692308337 Centerline is valid? [False, False] Translation: X:-96.47, Y:-50.08, Z:51.56 [[ 0.95285895 0.2652955 0.14723492 -96.46704274] [ -0.28283487 0.95231012 0.1144983 -50.07593141] [ -0.10983742 -0.1507439 0.98245204 51.55885935] [ 0. 0. 0. 1. ]] SLAMing on 246.86925976399996 meters 0.3549069565494294 Centerline is valid? [False, False] Translation: X:-96.60, Y:-50.22, Z:51.60 [[ 0.95076296 0.27151542 0.14942951 -96.60174502] [ -0.28906745 0.95077505 0.11165488 -50.21648337] [ -0.11175783 -0.14935253 0.98244797 51.60145735] [ 0. 0. 0. 1. ]] SLAMing on 246.92925976399994 meters 0.35882585633032443 Centerline is valid? [False, False] Translation: X:-96.75, Y:-50.37, Z:51.65 [[ 0.94865948 0.27676208 0.15312721 -96.74652224] [ -0.29473471 0.94917983 0.11040422 -50.36622375] [ -0.11478956 -0.14986791 0.98201984 51.64714519] [ 0. 0. 0. 1. ]] SLAMing on 246.98925976399994 meters 0.36199567212150435 Centerline is valid? [False, False] Translation: X:-96.89, Y:-50.51, Z:51.69 [[ 0.94769262 0.27895457 0.15512268 -96.88858052] [ -0.29722 0.94841856 0.11028373 -50.51471118] [ -0.11635708 -0.15062064 0.98172015 51.69106223] [ 0. 0. 0. 1. ]] SLAMing on 247.04925976399994 meters 0.37816724926628403 Centerline is valid? [False, False] Translation: X:-97.04, Y:-50.67, Z:51.74 [[ 0.94282376 0.29478268 0.15552021 -97.03768273] [ -0.31293148 0.94353834 0.1086706 -50.66845049] [ -0.11470507 -0.15112439 0.98183714 51.73772845] [ 0. 0. 0. 1. ]] SLAMing on 247.10925976399994 meters 0.3889512064819247 Centerline is valid? [False, False] Translation: X:-97.20, Y:-50.83, Z:51.79 [[ 0.93934667 0.30428476 0.15823596 -97.19543719] [ -0.32329681 0.93960193 0.11237162 -50.83273147] [ -0.11448585 -0.15671309 0.98098624 51.78925372] [ 0. 0. 0. 1. ]] SLAMing on 247.16925976399995 meters 0.39732350315539466 Centerline is valid? [False, False] Translation: X:-97.36, Y:-51.01, Z:51.85 [[ 0.93609592 0.31373861 0.15903622 -97.36120958] [ -0.33294121 0.93616557 0.11289011 -51.00600138] [ -0.11346624 -0.15862568 0.98079728 51.8450899 ] [ 0. 0. 0. 1. ]] SLAMing on 247.22925976399995 meters 0.40620529795585114 Centerline is valid? [False, False] Translation: X:-97.53, Y:-51.19, Z:51.90 [[ 0.93506574 0.31802662 0.15656029 -97.53045225] [ -0.33767691 0.93351555 0.12051153 -51.19105743] [ -0.10782559 -0.165553 0.98028866 51.89903897] [ 0. 0. 0. 1. ]] SLAMing on 247.28925976399995 meters 0.41810913565135704 Centerline is valid? [False, False] Translation: X:-97.69, Y:-51.37, Z:51.96 [[ 0.93174103 0.32710643 0.15767068 -97.69311016] [ -0.34711855 0.92981968 0.12224597 -51.37324704] [ -0.10661786 -0.168632 0.97989585 51.95581171] [ 0. 0. 0. 1. ]] SLAMing on 247.34925976399995 meters 0.4198367833105902 Centerline is valid? [False, False] Translation: X:-97.86, Y:-51.55, Z:52.01 [[ 0.93206502 0.32566502 0.15873594 -97.85590122] [ -0.34590677 0.93021891 0.12264293 -51.54685437] [ -0.10771867 -0.16921902 0.97967424 52.01064719] [ 0. 0. 0. 1. ]] SLAMing on 247.40925976399996 meters 0.4218506268539724 Centerline is valid? [False, False] Translation: X:-98.02, Y:-51.72, Z:52.06 [[ 0.93304984 0.32706114 0.14982993 -98.01628407] [ -0.34596387 0.92995487 0.12447068 -51.72267063] [ -0.09862555 -0.16797309 0.98084557 52.06085644] [ 0. 0. 0. 1. ]] SLAMing on 247.46925976399996 meters 0.4200229344110998 Centerline is valid? [False, False] Translation: X:-98.18, Y:-51.90, Z:52.12 [[ 0.9348054 0.32161964 0.15066411 -98.17605048] [ -0.34110352 0.93118534 0.12861668 -51.89704153] [ -0.09893056 -0.17162362 0.98018267 52.11796742] [ 0. 0. 0. 1. ]] SLAMing on 247.52925976399996 meters 0.40358042757143975 Centerline is valid? [False, False] Translation: X:-98.34, Y:-52.07, Z:52.18 [[ 0.93956333 0.30288225 0.15963426 -98.33598982] [ -0.32499594 0.93565627 0.1375681 -52.07407701] [ -0.10769586 -0.18113443 0.97754382 52.17675612] [ 0. 0. 0. 1. ]] SLAMing on 247.58925976399996 meters 0.3878708211949265 Centerline is valid? [False, False] Translation: X:-98.48, Y:-52.23, Z:52.23 [[ 0.94515941 0.28618655 0.15738787 -98.47508744] [ -0.30695282 0.94298891 0.12865413 -52.22834604] [ -0.11159594 -0.16990932 0.97912061 52.22527851] [ 0. 0. 0. 1. ]] SLAMing on 247.64925976399996 meters 0.38130799593120596 Centerline is valid? [False, False] Translation: X:-98.61, Y:-52.38, Z:52.27 [[ 0.94759307 0.27887668 0.15586905 -98.60796182] [ -0.29887293 0.9461932 0.12407013 -52.37519008] [ -0.11288197 -0.16415303 0.97995482 52.27146376] [ 0. 0. 0. 1. ]] SLAMing on 247.70925976399994 meters 0.3680628727137423 Centerline is valid? [False, False] Translation: X:-98.74, Y:-52.53, Z:52.32 [[ 0.95149734 0.26373583 0.15841789 -98.74488987] [ -0.28448446 0.95027783 0.12665167 -52.52893693] [ -0.11713843 -0.16557616 0.97921557 52.3227802 ] [ 0. 0. 0. 1. ]] SLAMing on 247.76925976399994 meters 0.3607342742523278 Centerline is valid? [False, False] Translation: X:-98.87, Y:-52.67, Z:52.37 [[ 0.9533234 0.25715931 0.15825164 -98.87301666] [ -0.2771982 0.95316699 0.12097044 -52.6742048 ] [ -0.11973156 -0.15919102 0.9799605 52.37179905] [ 0. 0. 0. 1. ]] SLAMing on 247.82925976399994 meters 0.3554388102926217 Centerline is valid? [False, False] Translation: X:-99.00, Y:-52.81, Z:52.42 [[ 0.95360822 0.25275032 0.16355009 -98.99783542] [ -0.27330592 0.95462785 0.11827742 -52.81314395] [ -0.12623481 -0.15748953 0.97941912 52.42104068] [ 0. 0. 0. 1. ]] SLAMing on 247.88925976399995 meters 0.3572904523605993 Centerline is valid? [False, False] Translation: X:-99.13, Y:-52.95, Z:52.47 [[ 0.95334394 0.25352083 0.16389791 -99.12658087] [ -0.27374639 0.9548671 0.11528984 -52.95260678] [ -0.12727235 -0.15477733 0.97971717 52.46731757] [ 0. 0. 0. 1. ]] SLAMing on 247.94925976399995 meters 0.3555745877518047 Centerline is valid? [False, False] Translation: X:-99.26, Y:-53.09, Z:52.51 [[ 0.95366025 0.25341089 0.16221914 -99.25535274] [ -0.27257259 0.9559291 0.10910422 -53.08905117] [ -0.1274218 -0.14826485 0.98070445 52.50941916] [ 0. 0. 0. 1. ]] SLAMing on 248.00925976399995 meters 0.3652263822419297 Centerline is valid? [False, False] Translation: X:-99.39, Y:-53.23, Z:52.55 [[ 0.95201728 0.258955 0.16311163 -99.38623283] [ -0.27844538 0.95407556 0.1104898 -53.23377955] [ -0.12700893 -0.15060588 0.98040124 52.5535309 ] [ 0. 0. 0. 1. ]] SLAMing on 248.06925976399995 meters 0.3676612560937176 Centerline is valid? [False, False] Translation: X:-99.52, Y:-53.38, Z:52.60 [[ 0.95133976 0.26071694 0.16425387 -99.52019571] [ -0.28068508 0.95315108 0.11277814 -53.38126738] [ -0.12715558 -0.15339394 0.97994988 52.60068818] [ 0. 0. 0. 1. ]] SLAMing on 248.12925976399995 meters 0.370790684736476 Centerline is valid? [False, False] Translation: X:-99.65, Y:-53.53, Z:52.65 [[ 0.95048734 0.26338776 0.16492634 -99.65422817] [ -0.28329814 0.95253014 0.11148318 -53.53026164] [ -0.12773401 -0.15268668 0.9799851 52.64521856] [ 0. 0. 0. 1. ]] SLAMing on 248.18925976399996 meters 0.37459087983871736 Centerline is valid? [False, False] Translation: X:-99.79, Y:-53.68, Z:52.69 [[ 0.95025851 0.26302421 0.16681435 -99.7898186 ] [ -0.28347966 0.95225205 0.11338127 -53.68118401] [ -0.12902729 -0.15502999 0.97944763 52.69197417] [ 0. 0. 0. 1. ]] SLAMing on 248.24925976399996 meters 0.3758387573872322 Centerline is valid? [False, False] Translation: X:-99.93, Y:-53.83, Z:52.74 [[ 0.94958089 0.26438842 0.16850787 -99.92675048] [ -0.28525398 0.95159804 0.11441738 -53.83448616] [ -0.13010113 -0.1567161 0.97903716 52.73979541] [ 0. 0. 0. 1. ]] SLAMing on 248.30925976399996 meters 0.3814499048868087 Centerline is valid? [False, False] Translation: X:-100.06, Y:-53.98, Z:52.79 [[ 0.94773589 0.27068739 0.16889349 -100.06431905] [ -0.29175843 0.94950455 0.11540422 -53.98350344] [ -0.12912667 -0.15864882 0.97885487 52.78665459] [ 0. 0. 0. 1. ]] SLAMing on 248.36925976399996 meters 0.386502447211393 Centerline is valid? [False, False] Translation: X:-100.20, Y:-54.14, Z:52.83 [[ 0.94692768 0.27349862 0.1688978 -100.20424449] [ -0.29476888 0.94839384 0.11687782 -54.1396196 ] [ -0.12821571 -0.16046066 0.97867927 52.83496466] [ 0. 0. 0. 1. ]] SLAMing on 248.42925976399994 meters 0.38750120914481845 Centerline is valid? [False, False] Translation: X:-100.34, Y:-54.30, Z:52.89 [[ 0.94716554 0.27184558 0.17022756 -100.34486487] [ -0.2936701 0.94841581 0.1194375 -54.30012396] [ -0.12897795 -0.16311783 0.97813969 52.88513531] [ 0. 0. 0. 1. ]] SLAMing on 248.48925976399994 meters 0.38613388234074925 Centerline is valid? [False, False] Translation: X:-100.48, Y:-54.46, Z:52.93 [[ 0.94744014 0.26937988 0.17260259 -100.48209846] [ -0.29181151 0.94878792 0.12102693 -54.45656074] [ -0.13116103 -0.16503319 0.97752792 52.93204706] [ 0. 0. 0. 1. ]] SLAMing on 248.54925976399994 meters 0.39351646898080395 Centerline is valid? [False, False] Translation: X:-100.62, Y:-54.62, Z:52.98 [[ 0.94524573 0.27636632 0.1735862 -100.62411309] [ -0.29886935 0.94668858 0.12024079 -54.61885796] [ -0.13110157 -0.16553669 0.97745076 52.98361412] [ 0. 0. 0. 1. ]] SLAMing on 248.60925976399994 meters 0.3984077305882265 Centerline is valid? [False, False] Translation: X:-100.77, Y:-54.78, Z:53.04 [[ 0.94384723 0.28113822 0.173533 -100.76877372] [ -0.30370587 0.94508424 0.12074155 -54.78256506] [ -0.13005824 -0.16666457 0.97739847 53.03765375] [ 0. 0. 0. 1. ]] SLAMing on 248.66925976399995 meters 0.39826871297814004 Centerline is valid? [False, False] Translation: X:-100.91, Y:-54.95, Z:53.09 [[ 0.94400308 0.28159847 0.17193162 -100.91452821] [ -0.30381111 0.94513042 0.12011366 -54.95141475] [ -0.12867398 -0.1656224 0.97775878 53.08995901] [ 0. 0. 0. 1. ]] SLAMing on 248.72925976399995 meters 0.3967131510458413 Centerline is valid? [False, False] Translation: X:-101.06, Y:-55.12, Z:53.15 [[ 0.94530526 0.27596857 0.17389453 -101.05818717] [ -0.29922092 0.94590023 0.12545751 -55.1151787 ] [ -0.12986455 -0.17062853 0.97674004 53.14564555] [ 0. 0. 0. 1. ]] SLAMing on 248.78925976399995 meters 0.3926837300355007 Centerline is valid? [False, False] Translation: X:-101.20, Y:-55.28, Z:53.20 [[ 0.94641289 0.27137163 0.17510018 -101.19885757] [ -0.29506122 0.94697825 0.12716555 -55.28140413] [ -0.13130694 -0.17201639 0.97630367 53.20004774] [ 0. 0. 0. 1. ]] SLAMing on 248.84925976399995 meters 0.38782862473079793 Centerline is valid? [False, False] Translation: X:-101.33, Y:-55.44, Z:53.25 [[ 0.94876292 0.26495763 0.17218122 -101.32770686] [ -0.28772995 0.94963121 0.12414522 -55.43712155] [ -0.13061544 -0.16732608 0.97721113 53.25104291] [ 0. 0. 0. 1. ]] SLAMing on 248.90925976399996 meters 0.38603185527342354 Centerline is valid? [False, False] Translation: X:-101.46, Y:-55.59, Z:53.30 [[ 0.94981314 0.26191315 0.17104534 -101.45939069] [ -0.28434127 0.9507951 0.12303952 -55.59354141] [ -0.1304034 -0.1654998 0.97755039 53.30218279] [ 0. 0. 0. 1. ]] SLAMing on 248.96925976399996 meters 0.3762812377779943 Centerline is valid? [False, False] Translation: X:-101.59, Y:-55.74, Z:53.35 [[ 0.95237243 0.25341363 0.16961216 -101.58636683] [ -0.2752843 0.95374999 0.12074565 -55.74436638] [ -0.131169 -0.1616864 0.97808599 53.35128958] [ 0. 0. 0. 1. ]] SLAMing on 249.02925976399996 meters 0.3740844730531632 Centerline is valid? [False, False] Translation: X:-101.71, Y:-55.89, Z:53.40 [[ 0.95315861 0.25077341 0.16911938 -101.71159617] [ -0.27230972 0.95483626 0.11889123 -55.89080993] [ -0.13166656 -0.15937505 0.97839844 53.39804371] [ 0. 0. 0. 1. ]] SLAMing on 249.08925976399996 meters 0.3795560360609907 Centerline is valid? [False, False] Translation: X:-101.84, Y:-56.04, Z:53.45 [[ 0.95173173 0.25646395 0.16862074 -101.83683291] [ -0.27767523 0.9535244 0.11699442 -56.03502014] [ -0.13077914 -0.1581691 0.97871311 53.44511189] [ 0. 0. 0. 1. ]] SLAMing on 249.14925976399996 meters 0.38810064007580386 Centerline is valid? [False, False] Translation: X:-101.96, Y:-56.18, Z:53.49 [[ 0.95065598 0.26362685 0.16356678 -101.96167447] [ -0.2835505 0.95224904 0.11322933 -56.18102869] [ -0.12590602 -0.15402158 0.98001277 53.48895967] [ 0. 0. 0. 1. ]] SLAMing on 249.20925976399994 meters 0.38128065832144103 Centerline is valid? [False, False] Translation: X:-102.09, Y:-56.33, Z:53.53 [[ 0.95134916 0.26158988 0.16280514 -102.08993967] [ -0.2815492 0.95269436 0.11447054 -56.32936047] [ -0.12515921 -0.15473911 0.9799954 53.53225847] [ 0. 0. 0. 1. ]] SLAMing on 249.26925976399994 meters 0.383745148743182 Centerline is valid? [False, False] Translation: X:-102.22, Y:-56.48, Z:53.58 [[ 0.95109081 0.26131178 0.1647496 -102.22312569] [ -0.28187276 0.95232281 0.11674338 -56.48476795] [ -0.12638838 -0.15747198 0.97940214 53.57741192] [ 0. 0. 0. 1. ]] SLAMing on 249.32925976399994 meters 0.3895464859128545 Centerline is valid? [False, False] Translation: X:-102.35, Y:-56.63, Z:53.62 [[ 0.95007582 0.26506237 0.16461432 -102.35194982] [ -0.28548219 0.95136505 0.11577759 -56.63454036] [ -0.12592003 -0.15699195 0.97953952 53.62274586] [ 0. 0. 0. 1. ]] SLAMing on 249.38925976399995 meters 0.3973177478945476 Centerline is valid? [False, False] Translation: X:-102.49, Y:-56.79, Z:53.67 [[ 0.94833818 0.2723518 0.16272428 -102.48616156] [ -0.29246378 0.94925433 0.11567693 -56.78796268] [ -0.12296191 -0.15729181 0.97986716 53.67042346] [ 0. 0. 0. 1. ]] SLAMing on 249.44925976399995 meters 0.4053756059499099 Centerline is valid? [False, False] Translation: X:-102.62, Y:-56.95, Z:53.72 [[ 0.94674179 0.2771804 0.16386277 -102.62343216] [ -0.29806099 0.94693387 0.1203158 -56.9479018 ] [ -0.12181803 -0.16274909 0.97911853 53.71837698] [ 0. 0. 0. 1. ]] SLAMing on 249.50925976399995 meters 0.40919413297118934 Centerline is valid? [False, False] Translation: X:-102.76, Y:-57.11, Z:53.77 [[ 0.94676307 0.276818 0.16435168 -102.7614808 ] [ -0.29818991 0.94646883 0.12361043 -57.11163533] [ -0.12133615 -0.1660378 0.97862607 53.76740307] [ 0. 0. 0. 1. ]] SLAMing on 249.56925976399995 meters 0.3990147846864606 Centerline is valid? [False, False] Translation: X:-102.89, Y:-57.27, Z:53.81 [[ 0.94883965 0.27021119 0.1633684 -102.89447617] [ -0.2914162 0.94857912 0.12358906 -57.26826098] [ -0.12157271 -0.1648744 0.9787934 53.8143675 ] [ 0. 0. 0. 1. ]] SLAMing on 249.62925976399995 meters 0.3943827710079004 Centerline is valid? [False, False] Translation: X:-103.02, Y:-57.42, Z:53.86 [[ 0.95098746 0.2637489 0.16142916 -103.02117629] [ -0.28453292 0.95076921 0.12279632 -57.41988388] [ -0.12109448 -0.16270967 0.97921483 53.86039048] [ 0. 0. 0. 1. ]] SLAMing on 249.68925976399996 meters 0.3863306419681589 Centerline is valid? [False, False] Translation: X:-103.14, Y:-57.57, Z:53.91 [[ 0.95369025 0.25601234 0.15790054 -103.14246814] [ -0.27595302 0.95357123 0.12063102 -57.56703674] [ -0.11968639 -0.15861776 0.98005897 53.90543768] [ 0. 0. 0. 1. ]] SLAMing on 249.74925976399996 meters 0.3746753524373063 Centerline is valid? [False, False] Translation: X:-103.26, Y:-57.71, Z:53.95 [[ 0.95727454 0.24268361 0.15725811 -103.26311465] [ -0.26291044 0.95684628 0.12378734 -57.71491317] [ -0.12043068 -0.15984326 0.97976864 53.95144334] [ 0. 0. 0. 1. ]] SLAMing on 249.80925976399996 meters 0.3695557967532185 Centerline is valid? [False, False] Translation: X:-103.37, Y:-57.85, Z:54.00 [[ 0.95796078 0.23952394 0.15792224 -103.3730398 ] [ -0.25908862 0.95866626 0.11760992 -57.84620753] [ -0.12322433 -0.15358155 0.9804226 53.9964911 ] [ 0. 0. 0. 1. ]] SLAMing on 249.86925976399996 meters 0.36281473215424515 Centerline is valid? [False, False] Translation: X:-103.48, Y:-57.98, Z:54.03 [[ 0.96064966 0.23166108 0.15324935 -103.48227021] [ -0.24991697 0.96166176 0.1129078 -57.98069724] [ -0.1212177 -0.14676445 0.98171608 54.03442163] [ 0. 0. 0. 1. ]] SLAMing on 249.92925976399994 meters 0.3586807244142962 Centerline is valid? [False, False] Translation: X:-103.59, Y:-58.11, Z:54.07 [[ 0.96109546 0.22892458 0.15456083 -103.58835299] [ -0.24664089 0.96317201 0.10708852 -58.10632689] [ -0.12435347 -0.14104331 0.98216241 54.07467625] [ 0. 0. 0. 1. ]] SLAMing on 249.98925976399994 meters 0.35849411795863906 Centerline is valid? [False, False] Translation: X:-103.70, Y:-58.24, Z:54.12 [[ 0.9606994 0.22987476 0.1556093 -103.69851423] [ -0.24752195 0.96313796 0.10534774 -58.23947889] [ -0.12565644 -0.13972423 0.98218512 54.11564373] [ 0. 0. 0. 1. ]] SLAMing on 250.04925976399994 meters 0.3615284549851503 Centerline is valid? [False, False] Translation: X:-103.82, Y:-58.38, Z:54.15 [[ 0.96098498 0.22932331 0.15465666 -103.81799237] [ -0.24706297 0.96305619 0.10715723 -58.37526221] [ -0.1243694 -0.14118642 0.98213983 54.15472945] [ 0. 0. 0. 1. ]] SLAMing on 250.10925976399994 meters 0.3635204974039386 Centerline is valid? [False, False] Translation: X:-103.93, Y:-58.51, Z:54.19 [[ 9.60305172e-01 2.34307778e-01 1.51373185e-01 -1.03928793e+02] [-2.51070901e-01 9.62474489e-01 1.02986703e-01 -5.85060655e+01] [-1.21562243e-01 -1.36904065e-01 9.83097095e-01 5.41920313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16925976399995 meters 0.3687352662275373 Centerline is valid? [False, False] Translation: X:-104.05, Y:-58.64, Z:54.23 [[ 0.96041149 0.23439581 0.15056019 -104.04600183] [ -0.25129673 0.96219425 0.10503418 -58.64131212] [ -0.12024858 -0.13871132 0.98300531 54.22983604] [ 0. 0. 0. 1. ]] SLAMing on 250.22925976399995 meters 0.3675031570499231 Centerline is valid? [False, False] Translation: X:-104.16, Y:-58.78, Z:54.27 [[ 0.95994988 0.23707405 0.14930544 -104.16205921] [ -0.25386369 0.96146446 0.10554296 -58.77853292] [ -0.11853038 -0.13921918 0.98314219 54.26878088] [ 0. 0. 0. 1. ]] SLAMing on 250.28925976399995 meters 0.3679614729126379 Centerline is valid? [False, False] Translation: X:-104.28, Y:-58.92, Z:54.31 [[ 0.96003794 0.23748296 0.14808444 -104.27849822] [ -0.25410436 0.96139708 0.10557759 -58.91575037] [ -0.11729507 -0.13898739 0.98332313 54.30640729] [ 0. 0. 0. 1. ]] SLAMing on 250.34925976399995 meters 0.36846815272105926 Centerline is valid? [False, False] Translation: X:-104.39, Y:-59.05, Z:54.34 [[ 0.96105353 0.23448053 0.14627028 -104.39065117] [ -0.25080327 0.96229946 0.10524956 -59.05065284] [ -0.11607684 -0.13783552 0.98362978 54.34299349] [ 0. 0. 0. 1. ]] SLAMing on 250.40925976399996 meters 0.3673204874735267 Centerline is valid? [False, False] Translation: X:-104.50, Y:-59.18, Z:54.37 [[ 9.61445839e-01 2.35085239e-01 1.42677364e-01 -1.04500483e+02] [-2.50595466e-01 9.62646118e-01 1.02539570e-01 -5.91791108e+01] [-1.13242271e-01 -1.34340543e-01 9.84443399e-01 5.43748432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46925976399996 meters 0.36933032756274364 Centerline is valid? [False, False] Translation: X:-104.61, Y:-59.31, Z:54.41 [[ 0.96107089 0.23640507 0.14302229 -104.61421463] [ -0.25223601 0.96196245 0.10490589 -59.31378728] [ -0.11278179 -0.13689737 0.98414398 54.41217047] [ 0. 0. 0. 1. ]] SLAMing on 250.52925976399996 meters 0.3732538744149675 Centerline is valid? [False, False] Translation: X:-104.73, Y:-59.45, Z:54.45 [[ 0.95996153 0.23918612 0.14582131 -104.72694646] [ -0.25543108 0.96110058 0.10507445 -59.44638863] [ -0.1150166 -0.13811472 0.98371515 54.45138271] [ 0. 0. 0. 1. ]] SLAMing on 250.58925976399996 meters 0.3792597592001535 Centerline is valid? [False, False] Translation: X:-104.85, Y:-59.59, Z:54.49 [[ 0.95831143 0.24645925 0.1445581 -104.85118426] [ -0.26269702 0.95898287 0.1064994 -59.59089513] [ -0.11238098 -0.14003458 0.98374836 54.49099466] [ 0. 0. 0. 1. ]] SLAMing on 250.64925976399994 meters 0.3874401820747112 Centerline is valid? [False, False] Translation: X:-104.97, Y:-59.74, Z:54.53 [[ 0.95762857 0.24910312 0.1445516 -104.97487556] [ -0.26563992 0.9578762 0.10912661 -59.73606233] [ -0.11127876 -0.14290144 0.98346134 54.5309802 ] [ 0. 0. 0. 1. ]] SLAMing on 250.70925976399994 meters 0.38222238711943246 Centerline is valid? [False, False] Translation: X:-105.09, Y:-59.88, Z:54.57 [[ 0.95859206 0.24518144 0.14487004 -105.09272428] [ -0.26190091 0.95876694 0.11033529 -59.87886617] [ -0.11184444 -0.14370812 0.98327961 54.56985779] [ 0. 0. 0. 1. ]] SLAMing on 250.76925976399994 meters 0.3803106166443422 Centerline is valid? [False, False] Translation: X:-105.21, Y:-60.02, Z:54.61 [[ 0.95916014 0.24264552 0.14537871 -105.21090651] [ -0.25955225 0.95929088 0.11132675 -60.01967541] [ -0.11244753 -0.14451355 0.98309277 54.61043373] [ 0. 0. 0. 1. ]] SLAMing on 250.82925976399994 meters 0.38068800770821987 Centerline is valid? [False, False] Translation: X:-105.33, Y:-60.16, Z:54.65 [[ 0.95956612 0.24242818 0.14304351 -105.32760979] [ -0.25895399 0.95949227 0.11098383 -60.15909705] [ -0.11034353 -0.14353801 0.98347402 54.64947921] [ 0. 0. 0. 1. ]] SLAMing on 250.88925976399995 meters 0.3816439886759266 Centerline is valid? [False, False] Translation: X:-105.44, Y:-60.29, Z:54.68 [[ 0.9605207 0.24129102 0.13848691 -105.43643149] [ -0.25688672 0.96033193 0.10849789 -60.28921272] [ -0.10681383 -0.13978992 0.98440316 54.68476083] [ 0. 0. 0. 1. ]] SLAMing on 250.94925976399995 meters 0.37880908942349273 Centerline is valid? [False, False] Translation: X:-105.55, Y:-60.42, Z:54.72 [[ 0.96138557 0.23897391 0.13648901 -105.54506804] [ -0.25403101 0.9613584 0.10610504 -60.42049794] [ -0.10585852 -0.1366803 0.98494288 54.72120462] [ 0. 0. 0. 1. ]] SLAMing on 251.00925976399995 meters 0.3800566889175184 Centerline is valid? [False, False] Translation: X:-105.65, Y:-60.55, Z:54.76 [[ 9.61342919e-01 2.37741206e-01 1.38920517e-01 -1.05653736e+02] [-2.53025821e-01 9.61733542e-01 1.05102466e-01 -6.05512365e+01] [-1.08617334e-01 -1.36189989e-01 9.84710395e-01 5.47597809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06925976399995 meters 0.38012250287672367 Centerline is valid? [False, False] Translation: X:-105.76, Y:-60.68, Z:54.79 [[ 9.62787965e-01 2.34028592e-01 1.35166385e-01 -1.05762132e+02] [-2.49175381e-01 9.62343272e-01 1.08660278e-01 -6.06821721e+01] [-1.04646849e-01 -1.38296944e-01 9.84846685e-01 5.47941156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12925976399995 meters 0.3793940545216843 Centerline is valid? [False, False] Translation: X:-105.86, Y:-60.81, Z:54.83 [[ 9.63180690e-01 2.31399430e-01 1.36884119e-01 -1.05863456e+02] [-2.46269242e-01 9.63616938e-01 1.03893486e-01 -6.08054059e+01] [-1.07862962e-01 -1.33778548e-01 9.85123790e-01 5.48286082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18925976399996 meters 0.3723564265262222 Centerline is valid? [False, False] Translation: X:-105.96, Y:-60.93, Z:54.86 [[ 9.63363327e-01 2.29689058e-01 1.38470349e-01 -1.05962699e+02] [-2.44609306e-01 9.64197362e-01 1.02419403e-01 -6.09299812e+01] [-1.09988129e-01 -1.32538233e-01 9.85056459e-01 5.48636157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24925976399996 meters 0.3673551236823664 Centerline is valid? [False, False] Translation: X:-106.06, Y:-61.05, Z:54.90 [[ 9.64224961e-01 2.25997091e-01 1.38547969e-01 -1.06060444e+02] [-2.40400026e-01 9.65737455e-01 9.77701136e-02 -6.10520113e+01] [-1.11705202e-01 -1.27579319e-01 9.85517867e-01 5.48958828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30925976399996 meters 0.3671934068581898 Centerline is valid? [False, False] Translation: X:-106.16, Y:-61.18, Z:54.92 [[ 9.65673768e-01 2.22857445e-01 1.33449362e-01 -1.06162249e+02] [-2.36362316e-01 9.66951518e-01 9.55908881e-02 -6.11761426e+01] [-1.07735922e-01 -1.23852013e-01 9.86434818e-01 5.49238179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36925976399996 meters 0.3658783020564698 Centerline is valid? [False, False] Translation: X:-106.27, Y:-61.30, Z:54.96 [[ 9.65361211e-01 2.21975423e-01 1.37130029e-01 -1.06265849e+02] [-2.36267690e-01 9.66685695e-01 9.84700216e-02 -6.13038045e+01] [-1.10703713e-01 -1.27458534e-01 9.85646493e-01 5.49599416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42925976399994 meters 0.3687356936077397 Centerline is valid? [False, False] Translation: X:-106.37, Y:-61.43, Z:55.00 [[ 9.64560140e-01 2.24122919e-01 1.39257511e-01 -1.06371211e+02] [-2.38870848e-01 9.65886973e-01 1.00015367e-01 -6.14289724e+01] [-1.12091279e-01 -1.29735396e-01 9.85192505e-01 5.49967280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48925976399994 meters 0.37171220155621226 Centerline is valid? [False, False] Translation: X:-106.48, Y:-61.56, Z:55.03 [[ 9.64459482e-01 2.27262094e-01 1.34795576e-01 -1.06477284e+02] [-2.41241979e-01 9.65471724e-01 9.83191618e-02 -6.15574057e+01] [-1.07797099e-01 -1.27343199e-01 9.85983517e-01 5.50285656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54925976399994 meters 0.36952131210826644 Centerline is valid? [False, False] Translation: X:-106.59, Y:-61.70, Z:55.07 [[ 9.64440875e-01 2.27198638e-01 1.35035467e-01 -1.06589288e+02] [-2.41714156e-01 9.64870952e-01 1.02948104e-01 -6.16967954e+01] [-1.06902130e-01 -1.31927344e-01 9.85478113e-01 5.50659138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60925976399994 meters 0.375442433792847 Centerline is valid? [False, False] Translation: X:-106.69, Y:-61.82, Z:55.10 [[ 9.63749755e-01 2.27465472e-01 1.39448444e-01 -1.06691558e+02] [-2.42755179e-01 9.64437508e-01 1.04547678e-01 -6.18208129e+01] [-1.10708323e-01 -1.34609632e-01 9.84694833e-01 5.51020473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66925976399995 meters 0.37614086405421304 Centerline is valid? [False, False] Translation: X:-106.80, Y:-61.95, Z:55.14 [[ 9.62966753e-01 2.30750367e-01 1.39460747e-01 -1.06796702e+02] [-2.45501379e-01 9.64252906e-01 9.97266548e-02 -6.19468405e+01] [-1.11463469e-01 -1.30271259e-01 9.85193024e-01 5.51356083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72925976399995 meters 0.3821524371929072 Centerline is valid? [False, False] Translation: X:-106.91, Y:-62.08, Z:55.17 [[ 9.61642417e-01 2.37861872e-01 1.36622073e-01 -1.06907679e+02] [-2.52417030e-01 9.62301103e-01 1.01302671e-01 -6.20837088e+01] [-1.07375528e-01 -1.31902684e-01 9.85429946e-01 5.51690947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78925976399995 meters 0.39089816223374313 Centerline is valid? [False, False] Translation: X:-107.02, Y:-62.22, Z:55.20 [[ 9.60755350e-01 2.42082565e-01 1.35444411e-01 -1.07021970e+02] [-2.56785570e-01 9.60841314e-01 1.04139999e-01 -6.22237048e+01] [-1.04930108e-01 -1.34833231e-01 9.85296743e-01 5.52034658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84925976399995 meters 0.3910487007174237 Centerline is valid? [False, False] Translation: X:-107.13, Y:-62.36, Z:55.23 [[ 9.61022331e-01 2.42395525e-01 1.32967998e-01 -1.07131999e+02] [-2.56864664e-01 9.60710939e-01 1.05142936e-01 -6.23568414e+01] [-1.02257633e-01 -1.35199489e-01 9.85527511e-01 5.52340869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90925976399996 meters 0.3983850628624586 Centerline is valid? [False, False] Translation: X:-107.24, Y:-62.49, Z:55.27 [[ 9.60167352e-01 2.47414100e-01 1.29865007e-01 -1.07243355e+02] [-2.61437104e-01 9.59497069e-01 1.04957205e-01 -6.24945247e+01] [-9.86372011e-02 -1.34728012e-01 9.85960986e-01 5.52659302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96925976399996 meters 0.4026614739036267 Centerline is valid? [False, False] Translation: X:-107.36, Y:-62.64, Z:55.31 [[ 9.57948119e-01 2.52636541e-01 1.36052120e-01 -1.07364217e+02] [-2.68124481e-01 9.56987367e-01 1.10835203e-01 -6.26434266e+01] [-1.02199137e-01 -1.42653279e-01 9.84482290e-01 5.53092207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02925976399996 meters 0.4057654389920386 Centerline is valid? [False, False] Translation: X:-107.48, Y:-62.79, Z:55.35 [[ 0.95781702 0.24988201 0.141935 -107.4796327 ] [ -0.26641988 0.95725924 0.11258417 -62.78837858] [ -0.10773583 -0.14564933 0.98345273 55.34969898] [ 0. 0. 0. 1. ]] SLAMing on 252.08925976399996 meters 0.393211998528344 Centerline is valid? [False, False] Translation: X:-107.58, Y:-62.92, Z:55.38 [[ 9.60994671e-01 2.41816671e-01 1.34216017e-01 -1.07583483e+02] [-2.56655964e-01 9.60557435e-01 1.07037988e-01 -6.29203143e+01] [-1.03038623e-01 -1.37310277e-01 9.85154267e-01 5.53783463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14925976399994 meters 0.3896264421131099 Centerline is valid? [False, False] Translation: X:-107.69, Y:-63.06, Z:55.41 [[ 9.62261505e-01 2.37874279e-01 1.32168924e-01 -1.07693176e+02] [-2.52523231e-01 9.61552678e-01 1.07928054e-01 -6.30564925e+01] [-1.01414075e-01 -1.37230736e-01 9.85333908e-01 5.54130627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20925976399994 meters 0.389136934484126 Centerline is valid? [False, False] Translation: X:-107.80, Y:-63.19, Z:55.45 [[ 9.61908201e-01 2.37163843e-01 1.35962952e-01 -1.07798747e+02] [-2.52461266e-01 9.61443982e-01 1.09035677e-01 -6.31892391e+01] [-1.04861441e-01 -1.39207691e-01 9.84695535e-01 5.54511980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26925976399994 meters 0.3928206490442543 Centerline is valid? [False, False] Translation: X:-107.91, Y:-63.32, Z:55.49 [[ 9.60770905e-01 2.42451348e-01 1.34672241e-01 -1.07906313e+02] [-2.57188469e-01 9.60589109e-01 1.05464003e-01 -6.33187495e+01] [-1.03794798e-01 -1.35962893e-01 9.85261758e-01 5.54854318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32925976399994 meters 0.40100735555019695 Centerline is valid? [False, False] Translation: X:-108.01, Y:-63.45, Z:55.52 [[ 9.59404954e-01 2.48571353e-01 1.33245701e-01 -1.08014977e+02] [-2.63139145e-01 9.58944474e-01 1.05751056e-01 -6.34549777e+01] [-1.01488546e-01 -1.36520247e-01 9.85424932e-01 5.55215762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38925976399995 meters 0.4078352989698039 Centerline is valid? [False, False] Translation: X:-108.13, Y:-63.60, Z:55.56 [[ 9.59059754e-01 2.50852695e-01 1.31443197e-01 -1.08130296e+02] [-2.65489190e-01 9.57940402e-01 1.08929684e-01 -6.35977412e+01] [-9.85894437e-02 -1.39366824e-01 9.85320765e-01 5.55591863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44925976399995 meters 0.40685664155310686 Centerline is valid? [False, False] Translation: X:-108.25, Y:-63.74, Z:55.60 [[ 9.57411644e-01 2.53190866e-01 1.38770779e-01 -1.08249967e+02] [-2.69318588e-01 9.56381076e-01 1.13149175e-01 -6.37431088e+01] [-1.04069409e-01 -1.45703888e-01 9.83839385e-01 5.55998653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50925976399995 meters 0.4161623034272349 Centerline is valid? [False, False] Translation: X:-108.37, Y:-63.89, Z:55.64 [[ 9.56678165e-01 2.53738411e-01 1.42771520e-01 -1.08367268e+02] [-2.70484678e-01 9.56025440e-01 1.13372823e-01 -6.38883783e+01] [-1.07726165e-01 -1.47078813e-01 9.83241016e-01 5.56403682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56925976399995 meters 0.407784080178682 Centerline is valid? [False, False] Translation: X:-108.48, Y:-64.03, Z:55.68 [[ 9.58187750e-01 2.49862339e-01 1.39445503e-01 -1.08477673e+02] [-2.65926920e-01 9.57511805e-01 1.11597564e-01 -6.40298784e+01] [-1.05636687e-01 -1.44013732e-01 9.83921204e-01 5.56774535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62925976399995 meters 0.40585809342096435 Centerline is valid? [False, False] Translation: X:-108.59, Y:-64.17, Z:55.72 [[ 0.95929733 0.24419577 0.14183465 -108.58618692] [ -0.26050661 0.95911191 0.11063747 -64.16915358] [ -0.1090181 -0.1430831 0.9836881 55.7169347 ] [ 0. 0. 0. 1. ]] SLAMing on 252.68925976399996 meters 0.39416704247231615 Centerline is valid? [False, False] Translation: X:-108.69, Y:-64.31, Z:55.75 [[ 9.63491543e-01 2.30888211e-01 1.35553242e-01 -1.08686511e+02] [-2.46492791e-01 9.62600809e-01 1.12432141e-01 -6.43061515e+01] [-1.04524404e-01 -1.41740314e-01 9.84370018e-01 5.57518206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74925976399996 meters 0.391964899582011 Centerline is valid? [False, False] Translation: X:-108.79, Y:-64.45, Z:55.79 [[ 9.64543593e-01 2.26492811e-01 1.35486763e-01 -1.08793697e+02] [-2.41868081e-01 9.64014755e-01 1.10342117e-01 -6.44465093e+01] [-1.05619543e-01 -1.39199706e-01 9.84615638e-01 5.57925934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80925976399996 meters 0.3725563785782848 Centerline is valid? [False, False] Translation: X:-108.89, Y:-64.57, Z:55.83 [[ 0.968295 0.20770932 0.13878626 -108.89336142] [ -0.22339003 0.9686259 0.10890716 -64.57437133] [ -0.11181093 -0.13645773 0.98431581 55.82968537] [ 0. 0. 0. 1. ]] SLAMing on 252.86925976399996 meters 0.3680875876580917 Centerline is valid? [False, False] Translation: X:-108.98, Y:-64.69, Z:55.86 [[ 9.70443362e-01 1.98792061e-01 1.36826160e-01 -1.08983544e+02] [-2.13334223e-01 9.71713888e-01 1.01294766e-01 -6.46900373e+01] [-1.12819284e-01 -1.27490536e-01 9.85402442e-01 5.58640909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92925976399994 meters 0.3604295803360422 Centerline is valid? [False, False] Translation: X:-109.07, Y:-64.81, Z:55.90 [[ 9.72192381e-01 1.90192781e-01 1.36633379e-01 -1.09074622e+02] [-2.04210290e-01 9.74101231e-01 9.70821763e-02 -6.48086079e+01] [-1.14630414e-01 -1.22284494e-01 9.85853118e-01 5.58975027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98925976399994 meters 0.34688914296878104 Centerline is valid? [False, False] Translation: X:-109.16, Y:-64.91, Z:55.93 [[ 9.72692110e-01 1.88769060e-01 1.35041847e-01 -1.09157963e+02] [-2.01939631e-01 9.75116562e-01 9.14771899e-02 -6.49142058e+01] [-1.14413478e-01 -1.16249442e-01 9.86608141e-01 5.59265712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04925976399994 meters 0.3516311206142789 Centerline is valid? [False, False] Translation: X:-109.24, Y:-65.02, Z:55.95 [[ 9.73293282e-01 1.86586193e-01 1.33737729e-01 -1.09244708e+02] [-1.99102491e-01 9.76092883e-01 8.71830406e-02 -6.50236992e+01] [-1.14273294e-01 -1.11482183e-01 9.87174421e-01 5.59544198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10925976399994 meters 0.34477591131152696 Centerline is valid? [False, False] Translation: X:-109.34, Y:-65.13, Z:55.98 [[ 9.73888394e-01 1.82500514e-01 1.35036877e-01 -1.09335347e+02] [-1.95324087e-01 9.76723785e-01 8.86518423e-02 -6.51333203e+01] [-1.15714723e-01 -1.12712955e-01 9.86866705e-01 5.59844002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16925976399995 meters 0.35023689173683287 Centerline is valid? [False, False] Translation: X:-109.42, Y:-65.24, Z:56.01 [[ 9.72395332e-01 1.92347512e-01 1.32097510e-01 -1.09421836e+02] [-2.04406850e-01 9.75218119e-01 8.46608565e-02 -6.52411704e+01] [-1.12539580e-01 -1.09325458e-01 9.87614696e-01 5.60099482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22925976399995 meters 0.3563781363027735 Centerline is valid? [False, False] Translation: X:-109.52, Y:-65.36, Z:56.04 [[ 9.71524185e-01 2.00362173e-01 1.26474337e-01 -1.09517630e+02] [-2.12041632e-01 9.73403628e-01 8.67394015e-02 -6.53560801e+01] [-1.05731283e-01 -1.11087251e-01 9.88170288e-01 5.60353988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28925976399995 meters 0.3599910634005123 Centerline is valid? [False, False] Translation: X:-109.61, Y:-65.47, Z:56.06 [[ 9.71181775e-01 2.03194294e-01 1.24571421e-01 -1.09614208e+02] [-2.14913249e-01 9.72558700e-01 8.91171707e-02 -6.54703681e+01] [-1.03044918e-01 -1.13321021e-01 9.88200431e-01 5.60600461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34925976399995 meters 0.37555377791935335 Centerline is valid? [False, False] Translation: X:-109.71, Y:-65.58, Z:56.09 [[ 9.68022086e-01 2.16052298e-01 1.27493708e-01 -1.09709810e+02] [-2.28263161e-01 9.69394674e-01 9.03874774e-02 -6.55836288e+01] [-1.04063300e-01 -1.16599191e-01 9.87712235e-01 5.60872007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40925976399996 meters 0.38465060396209555 Centerline is valid? [False, False] Translation: X:-109.81, Y:-65.70, Z:56.12 [[ 9.65515205e-01 2.24886322e-01 1.31173666e-01 -1.09809624e+02] [-2.38001323e-01 9.66647604e-01 9.45927032e-02 -6.57042400e+01] [-1.05526105e-01 -1.22550199e-01 9.86836202e-01 5.61196161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46925976399996 meters 0.3958718135269192 Centerline is valid? [False, False] Translation: X:-109.91, Y:-65.83, Z:56.15 [[ 9.62706586e-01 2.35410862e-01 1.33333250e-01 -1.09911121e+02] [-2.48985755e-01 9.63714011e-01 9.62361595e-02 -6.58335014e+01] [-1.05840084e-01 -1.25845264e-01 9.86387777e-01 5.61507292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52925976399996 meters 0.4009960455706153 Centerline is valid? [False, False] Translation: X:-110.02, Y:-65.98, Z:56.18 [[ 9.62373488e-01 2.38965001e-01 1.29356088e-01 -1.10021386e+02] [-2.52369625e-01 9.62502869e-01 9.94876859e-02 -6.59781294e+01] [-1.00731531e-01 -1.28389859e-01 9.86594751e-01 5.61825528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58925976399996 meters 0.4016114246131603 Centerline is valid? [False, False] Translation: X:-110.13, Y:-66.12, Z:56.21 [[ 9.63267715e-01 2.37544508e-01 1.25251411e-01 -1.10133243e+02] [-2.50580130e-01 9.62797735e-01 1.01144056e-01 -6.61196133e+01] [-9.65655599e-02 -1.28814318e-01 9.86955908e-01 5.62133388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64925976399994 meters 0.40380378576277437 Centerline is valid? [False, False] Translation: X:-110.24, Y:-66.25, Z:56.25 [[ 9.62389023e-01 2.39690068e-01 1.27890732e-01 -1.10236718e+02] [-2.53194557e-01 9.61982259e-01 1.02384816e-01 -6.62490098e+01] [-9.84879920e-02 -1.30915261e-01 9.86489387e-01 5.62465916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70925976399994 meters 0.4039912004925675 Centerline is valid? [False, False] Translation: X:-110.34, Y:-66.39, Z:56.28 [[ 9.63102862e-01 2.37382489e-01 1.26816529e-01 -1.10344998e+02] [-2.51143493e-01 9.62082210e-01 1.06417888e-01 -6.63875520e+01] [-9.67461836e-02 -1.34340518e-01 9.86201197e-01 5.62814944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76925976399994 meters 0.3975275648046558 Centerline is valid? [False, False] Translation: X:-110.44, Y:-66.52, Z:56.32 [[ 9.64869867e-01 2.29992997e-01 1.27001422e-01 -1.10444275e+02] [-2.43523986e-01 9.64326188e-01 1.03783768e-01 -6.65170687e+01] [-9.86012573e-02 -1.31065723e-01 9.86458093e-01 5.63158153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82925976399994 meters 0.3868307427539382 Centerline is valid? [False, False] Translation: X:-110.54, Y:-66.65, Z:56.35 [[ 9.67593221e-01 2.17838702e-01 1.27709271e-01 -1.10540781e+02] [-2.31082545e-01 9.67778727e-01 1.00025962e-01 -6.66451903e+01] [-1.01804790e-01 -1.26295826e-01 9.86754858e-01 5.63473458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88925976399995 meters 0.38207409280716703 Centerline is valid? [False, False] Translation: X:-110.63, Y:-66.76, Z:56.38 [[ 9.68411377e-01 2.13881582e-01 1.28195455e-01 -1.10633624e+02] [-2.27067234e-01 9.68846199e-01 9.88813156e-02 -6.67647322e+01] [-1.03052787e-01 -1.24866778e-01 9.86807180e-01 5.63788167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94925976399995 meters 0.37883423589652865 Centerline is valid? [False, False] Translation: X:-110.73, Y:-66.89, Z:56.41 [[ 9.69640411e-01 2.07348081e-01 1.29631199e-01 -1.10726717e+02] [-2.20749674e-01 9.70268626e-01 9.92389777e-02 -6.68888749e+01] [-1.05200074e-01 -1.24842168e-01 9.86583690e-01 5.64128328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00925976399995 meters 0.37267791611321105 Centerline is valid? [False, False] Translation: X:-110.82, Y:-67.00, Z:56.44 [[ 9.70484222e-01 2.03436964e-01 1.29513616e-01 -1.10815369e+02] [-2.16451297e-01 9.71582240e-01 9.57955490e-02 -6.70025969e+01] [-1.06344773e-01 -1.21001459e-01 9.86939429e-01 5.64427660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06925976399995 meters 0.37693223528360464 Centerline is valid? [False, False] Translation: X:-110.90, Y:-67.12, Z:56.47 [[ 9.70612451e-01 2.04908318e-01 1.26190536e-01 -1.10904989e+02] [-2.17263948e-01 9.71636815e-01 9.33717178e-02 -6.71175083e+01] [-1.03478729e-01 -1.18044406e-01 9.87601980e-01 5.64741877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12925976399995 meters 0.3735344162677684 Centerline is valid? [False, False] Translation: X:-110.99, Y:-67.23, Z:56.50 [[ 9.70241574e-01 2.06327991e-01 1.26728246e-01 -1.10994960e+02] [-2.18645888e-01 9.71420963e-01 9.23866245e-02 -6.72317857e+01] [-1.04044528e-01 -1.17345954e-01 9.87625771e-01 5.65034658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18925976399996 meters 0.374982923871234 Centerline is valid? [False, False] Translation: X:-111.09, Y:-67.35, Z:56.53 [[ 9.69867104e-01 2.06542783e-01 1.29220272e-01 -1.11086259e+02] [-2.19301541e-01 9.71145623e-01 9.37177282e-02 -6.73482474e+01] [-1.06134981e-01 -1.19231946e-01 9.87177344e-01 5.65324367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24925976399996 meters 0.37659247487369585 Centerline is valid? [False, False] Translation: X:-111.18, Y:-67.46, Z:56.56 [[ 9.69693458e-01 2.07098488e-01 1.29633384e-01 -1.11176420e+02] [-2.19575576e-01 9.71375325e-01 9.06451608e-02 -6.74637912e+01] [-1.07150195e-01 -1.16362344e-01 9.87410067e-01 5.65590471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30925976399996 meters 0.3802297116667634 Centerline is valid? [False, False] Translation: X:-111.27, Y:-67.59, Z:56.58 [[ 9.69784518e-01 2.11051878e-01 1.22372768e-01 -1.11267307e+02] [-2.22654152e-01 9.70700243e-01 9.03668399e-02 -6.75866780e+01] [-9.97151840e-02 -1.14883167e-01 9.88361644e-01 5.65829837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36925976399996 meters 0.38075621730771836 Centerline is valid? [False, False] Translation: X:-111.36, Y:-67.71, Z:56.61 [[ 9.69977658e-01 2.08611804e-01 1.24997829e-01 -1.11359114e+02] [-2.20835206e-01 9.70824877e-01 9.34391225e-02 -6.77064302e+01] [-1.01858498e-01 -1.18237783e-01 9.87747272e-01 5.66127093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42925976399994 meters 0.3813925584842844 Centerline is valid? [False, False] Translation: X:-111.45, Y:-67.83, Z:56.65 [[ 9.69420511e-01 2.07445106e-01 1.31112165e-01 -1.11453799e+02] [-2.21133454e-01 9.70087145e-01 1.00154510e-01 -6.78333179e+01] [-1.06413663e-01 -1.26085122e-01 9.86295430e-01 5.66463653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48925976399994 meters 0.38544799911157185 Centerline is valid? [False, False] Translation: X:-111.55, Y:-67.95, Z:56.67 [[ 9.68399526e-01 2.11975172e-01 1.31411126e-01 -1.11546994e+02] [-2.25004158e-01 9.69843463e-01 9.36845007e-02 -6.79518046e+01] [-1.07589433e-01 -1.20292076e-01 9.86891245e-01 5.66730709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54925976399994 meters 0.3873487083055501 Centerline is valid? [False, False] Translation: X:-111.65, Y:-68.08, Z:56.70 [[ 9.68313879e-01 2.15299077e-01 1.26548562e-01 -1.11645440e+02] [-2.27854382e-01 9.69071146e-01 9.47812984e-02 -6.80825021e+01] [-1.02228234e-01 -1.20612691e-01 9.87421879e-01 5.67016112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60925976399994 meters 0.3930067430953686 Centerline is valid? [False, False] Translation: X:-111.74, Y:-68.21, Z:56.73 [[ 9.67956517e-01 2.17075824e-01 1.26246854e-01 -1.11741960e+02] [-2.29697141e-01 9.68538917e-01 9.57684183e-02 -6.82095189e+01] [-1.01485983e-01 -1.21698206e-01 9.87365253e-01 5.67329500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66925976399995 meters 0.38762558102944766 Centerline is valid? [False, False] Translation: X:-111.84, Y:-68.34, Z:56.76 [[ 9.68434890e-01 2.15085106e-01 1.25985160e-01 -1.11838460e+02] [-2.27711307e-01 9.68970790e-01 9.61413971e-02 -6.83361084e+01] [-1.01397358e-01 -1.21794929e-01 9.87362432e-01 5.67641795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72925976399995 meters 0.38268999522478053 Centerline is valid? [False, False] Translation: X:-111.93, Y:-68.46, Z:56.79 [[ 9.69519735e-01 2.09618204e-01 1.26853037e-01 -1.11932031e+02] [-2.22116113e-01 9.70485889e-01 9.39232204e-02 -6.84574339e+01] [-1.03421066e-01 -1.19236519e-01 9.87464802e-01 5.67916745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78925976399995 meters 0.3765536480813564 Centerline is valid? [False, False] Translation: X:-112.02, Y:-68.58, Z:56.82 [[ 9.70899154e-01 2.02621358e-01 1.27669176e-01 -1.12023082e+02] [-2.15176066e-01 9.72079028e-01 9.36035497e-02 -6.85791568e+01] [-1.05138450e-01 -1.18350958e-01 9.87389972e-01 5.68203136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84925976399995 meters 0.37324049127175096 Centerline is valid? [False, False] Translation: X:-112.11, Y:-68.70, Z:56.85 [[ 9.72162261e-01 1.97076210e-01 1.26733997e-01 -1.12106000e+02] [-2.09315362e-01 9.73534115e-01 9.17518724e-02 -6.86950195e+01] [-1.05297759e-01 -1.15725080e-01 9.87684204e-01 5.68462803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90925976399996 meters 0.3685053029355205 Centerline is valid? [False, False] Translation: X:-112.19, Y:-68.80, Z:56.87 [[ 9.74142771e-01 1.89890337e-01 1.22423537e-01 -1.12185762e+02] [-2.01254611e-01 9.75556965e-01 8.82337181e-02 -6.88045695e+01] [-1.02676404e-01 -1.10590540e-01 9.88548071e-01 5.68711293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96925976399996 meters 0.35874779745878815 Centerline is valid? [False, False] Translation: X:-112.26, Y:-68.91, Z:56.90 [[ 9.76369115e-01 1.79414569e-01 1.20473080e-01 -1.12262730e+02] [-1.90586250e-01 9.77662756e-01 8.86138674e-02 -6.89111511e+01] [-1.01883425e-01 -1.09480356e-01 9.88753670e-01 5.68955145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02925976399996 meters 0.3517654554458703 Centerline is valid? [False, False] Translation: X:-112.33, Y:-69.01, Z:56.92 [[ 9.77996309e-01 1.72357248e-01 1.17542325e-01 -1.12332736e+02] [-1.82951490e-01 9.79337250e-01 8.61817971e-02 -6.90089066e+01] [-1.00259520e-01 -1.05790023e-01 9.89321232e-01 5.69202452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08925976399996 meters 0.34504050095516137 Centerline is valid? [False, False] Translation: X:-112.40, Y:-69.11, Z:56.95 [[ 9.79179090e-01 1.67015717e-01 1.15386567e-01 -1.12404942e+02] [-1.77150188e-01 9.80596889e-01 8.39496954e-02 -6.91074177e+01] [-9.91267899e-02 -1.02642538e-01 9.89766836e-01 5.69453339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14925976399994 meters 0.344042071246522 Centerline is valid? [False, False] Translation: X:-112.47, Y:-69.20, Z:56.97 [[ 9.79623682e-01 1.65853923e-01 1.13269227e-01 -1.12474020e+02] [-1.75608415e-01 9.81011352e-01 8.23311101e-02 -6.91999361e+01] [-9.74634596e-02 -1.00544535e-01 9.90147297e-01 5.69669945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20925976399994 meters 0.3518493387802025 Centerline is valid? [False, False] Translation: X:-112.55, Y:-69.30, Z:56.99 [[ 9.78285524e-01 1.74664051e-01 1.11579131e-01 -1.12549133e+02] [-1.84012270e-01 9.79681115e-01 7.97771730e-02 -6.92965597e+01] [-9.53777632e-02 -9.85767827e-02 9.90548182e-01 5.69871833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26925976399994 meters 0.3568599284265399 Centerline is valid? [False, False] Translation: X:-112.63, Y:-69.40, Z:57.01 [[ 9.77274277e-01 1.81168604e-01 1.10058730e-01 -1.12628556e+02] [-1.90141519e-01 9.78707504e-01 7.73163909e-02 -6.93977962e+01] [-9.37080027e-02 -9.64860542e-02 9.90913342e-01 5.70092054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32925976399994 meters 0.3674845081111731 Centerline is valid? [False, False] Translation: X:-112.71, Y:-69.50, Z:57.03 [[ 9.76253781e-01 1.87245562e-01 1.08938762e-01 -1.12709741e+02] [-1.96164518e-01 9.77477899e-01 7.78231233e-02 -6.95030683e+01] [-9.19131973e-02 -9.73450381e-02 9.90997431e-01 5.70307327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38925976399995 meters 0.36827695477013817 Centerline is valid? [False, False] Translation: X:-112.80, Y:-69.62, Z:57.05 [[ 9.75493699e-01 1.90301540e-01 1.10441694e-01 -1.12796565e+02] [-1.99596656e-01 9.76589556e-01 8.02123074e-02 -6.96159467e+01] [-9.25916795e-02 -1.00290393e-01 9.90640509e-01 5.70541675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44925976399995 meters 0.3694269280128125 Centerline is valid? [False, False] Translation: X:-112.89, Y:-69.73, Z:57.08 [[ 9.74752788e-01 1.91727187e-01 1.14445134e-01 -1.12886475e+02] [-2.01983584e-01 9.75613337e-01 8.59141908e-02 -6.97333791e+01] [-9.51821128e-02 -1.06861135e-01 9.89707564e-01 5.70808603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50925976399995 meters 0.371203482398858 Centerline is valid? [False, False] Translation: X:-112.97, Y:-69.85, Z:57.10 [[ 9.74832867e-01 1.91345685e-01 1.14401530e-01 -1.12968468e+02] [-2.01501949e-01 9.75799394e-01 8.49264788e-02 -6.98456689e+01] [-9.53826284e-02 -1.05841254e-01 9.89797850e-01 5.71030687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56925976399995 meters 0.37309392553593546 Centerline is valid? [False, False] Translation: X:-113.05, Y:-69.95, Z:57.12 [[ 9.74701411e-01 1.92262751e-01 1.13983306e-01 -1.13050700e+02] [-2.02125119e-01 9.75893449e-01 8.23250350e-02 -6.99524397e+01] [-9.54075244e-02 -1.03281217e-01 9.90065854e-01 5.71237607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62925976399995 meters 0.3766923801534618 Centerline is valid? [False, False] Translation: X:-113.13, Y:-70.06, Z:57.15 [[ 9.74468097e-01 1.93866838e-01 1.13258895e-01 -1.13134115e+02] [-2.03460370e-01 9.75785840e-01 8.02861845e-02 -7.00605042e+01] [-9.49515970e-02 -1.01280022e-01 9.90316390e-01 5.71460125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68925976399996 meters 0.38349215860910774 Centerline is valid? [False, False] Translation: X:-113.22, Y:-70.17, Z:57.17 [[ 9.73718408e-01 1.96817473e-01 1.14609534e-01 -1.13219241e+02] [-2.06951264e-01 9.74703572e-01 8.44045078e-02 -7.01731164e+01] [-9.50980403e-02 -1.05904811e-01 9.89818435e-01 5.71703255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74925976399996 meters 0.38215035481544823 Centerline is valid? [False, False] Translation: X:-113.30, Y:-70.29, Z:57.19 [[ 9.73361326e-01 1.97735943e-01 1.16052690e-01 -1.13304247e+02] [-2.08229597e-01 9.74247197e-01 8.65033708e-02 -7.02870860e+01] [-9.59591826e-02 -1.08364641e-01 9.89469019e-01 5.71933861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80925976399996 meters 0.38598309844716944 Centerline is valid? [False, False] Translation: X:-113.38, Y:-70.39, Z:57.21 [[ 9.73549909e-01 1.97872317e-01 1.14223995e-01 -1.13384263e+02] [-2.07790551e-01 9.74681811e-01 8.25739295e-02 -7.03949218e+01] [-9.49929559e-02 -1.04124509e-01 9.90017386e-01 5.72145192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86925976399996 meters 0.38449715114091226 Centerline is valid? [False, False] Translation: X:-113.47, Y:-70.51, Z:57.24 [[ 9.73459388e-01 1.97965820e-01 1.14831853e-01 -1.13469965e+02] [-2.08240622e-01 9.74323540e-01 8.56123961e-02 -7.05121745e+01] [-9.49350491e-02 -1.07252847e-01 9.89688922e-01 5.72386335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92925976399994 meters 0.3858678675029578 Centerline is valid? [False, False] Translation: X:-113.55, Y:-70.62, Z:57.26 [[ 9.74187209e-01 1.95293939e-01 1.13223492e-01 -1.13550868e+02] [-2.05363083e-01 9.74961445e-01 8.53005554e-02 -7.06229415e+01] [-9.37298581e-02 -1.06350635e-01 9.89901134e-01 5.72604378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98925976399994 meters 0.3837157424955209 Centerline is valid? [False, False] Translation: X:-113.63, Y:-70.74, Z:57.28 [[ 9.74700790e-01 1.92843464e-01 1.13003399e-01 -1.13633915e+02] [-2.02994712e-01 9.75357118e-01 8.64386402e-02 -7.07363075e+01] [-9.35495427e-02 -1.07190903e-01 9.89827557e-01 5.72822694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.049259764 meters 0.38364437098318105 Centerline is valid? [False, False] Translation: X:-113.71, Y:-70.85, Z:57.30 [[ 9.75356472e-01 1.89465027e-01 1.13060847e-01 -1.13714805e+02] [-1.99746209e-01 9.75908904e-01 8.77682340e-02 -7.08469913e+01] [-9.37080762e-02 -1.08188791e-01 9.89703987e-01 5.73037712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.109259764 meters 0.3810161560424752 Centerline is valid? [False, False] Translation: X:-113.80, Y:-70.96, Z:57.33 [[ 9.75804597e-01 1.87619974e-01 1.12268137e-01 -1.13795560e+02] [-1.97671195e-01 9.76465966e-01 8.62572630e-02 -7.09562970e+01] [-9.34424299e-02 -1.06362411e-01 9.89927043e-01 5.73259717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.169259764 meters 0.37752048747269124 Centerline is valid? [False, False] Translation: X:-113.87, Y:-71.06, Z:57.35 [[ 9.77160890e-01 1.81052473e-01 1.11250155e-01 -1.13873223e+02] [-1.90872653e-01 9.77926999e-01 8.50083267e-02 -7.10624070e+01] [-9.34035629e-02 -1.04301424e-01 9.90149982e-01 5.73456856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.229259764 meters 0.3696324216034034 Centerline is valid? [False, False] Translation: X:-113.95, Y:-71.17, Z:57.36 [[ 9.78432093e-01 1.74420231e-01 1.10671688e-01 -1.13949855e+02] [-1.84004881e-01 9.79396325e-01 8.32168369e-02 -7.11689678e+01] [-9.38767447e-02 -1.01786155e-01 9.90366970e-01 5.73649878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28925976399995 meters 0.3602275773405736 Centerline is valid? [False, False] Translation: X:-114.02, Y:-71.27, Z:57.38 [[ 9.80437051e-01 1.63263437e-01 1.09946525e-01 -1.14024300e+02] [-1.72609256e-01 9.81603906e-01 8.16076948e-02 -7.12731860e+01] [-9.46003853e-02 -9.89889955e-02 9.90581620e-01 5.73843514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34925976399995 meters 0.36106380295481744 Centerline is valid? [False, False] Translation: X:-114.10, Y:-71.37, Z:57.41 [[ 9.80259487e-01 1.64188273e-01 1.10152387e-01 -1.14097981e+02] [-1.73678050e-01 9.81308090e-01 8.28876772e-02 -7.13749131e+01] [-9.44842440e-02 -1.00382484e-01 9.90452465e-01 5.74070372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40925976399996 meters 0.36373311752697424 Centerline is valid? [False, False] Translation: X:-114.17, Y:-71.48, Z:57.43 [[ 9.79605582e-01 1.68597890e-01 1.09305330e-01 -1.14172629e+02] [-1.78086240e-01 9.80445218e-01 8.37404650e-02 -7.14757181e+01] [-9.30494225e-02 -1.01498402e-01 9.90474573e-01 5.74288675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46925976399996 meters 0.36763558464941415 Centerline is valid? [False, False] Translation: X:-114.25, Y:-71.58, Z:57.45 [[ 9.79214025e-01 1.71799057e-01 1.07819190e-01 -1.14245582e+02] [-1.80955991e-01 9.80085644e-01 8.17744476e-02 -7.15755859e+01] [-9.16232672e-02 -9.95852143e-02 9.90801676e-01 5.74478445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52925976399996 meters 0.36698516615391535 Centerline is valid? [False, False] Translation: X:-114.32, Y:-71.68, Z:57.47 [[ 9.79340717e-01 1.71910529e-01 1.06482532e-01 -1.14318205e+02] [-1.80750806e-01 9.80288180e-01 7.97761292e-02 -7.16754495e+01] [-9.06692105e-02 -9.73748150e-02 9.91109096e-01 5.74665426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58925976399996 meters 0.36492379551707205 Centerline is valid? [False, False] Translation: X:-114.39, Y:-71.77, Z:57.49 [[ 9.80119918e-01 1.68175979e-01 1.05270063e-01 -1.14389343e+02] [-1.76958420e-01 9.80921686e-01 8.04882855e-02 -7.17746866e+01] [-8.97254911e-02 -9.75165958e-02 9.91181038e-01 5.74855024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64925976399996 meters 0.3636210233747635 Centerline is valid? [False, False] Translation: X:-114.46, Y:-71.87, Z:57.50 [[ 9.80786359e-01 1.65489385e-01 1.03302376e-01 -1.14456687e+02] [-1.73854888e-01 9.81677617e-01 7.79970173e-02 -7.18714315e+01] [-8.85019516e-02 -9.44580336e-02 9.91587154e-01 5.75018406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70925976399997 meters 0.3616379057931178 Centerline is valid? [False, False] Translation: X:-114.52, Y:-71.96, Z:57.51 [[ 9.81847741e-01 1.61667874e-01 9.91892757e-02 -1.14521037e+02] [-1.69113062e-01 9.82973255e-01 7.18634276e-02 -7.19591833e+01] [-8.58823976e-02 -8.73331462e-02 9.92470219e-01 5.75142367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76925976399997 meters 0.362076603857285 Centerline is valid? [False, False] Translation: X:-114.59, Y:-72.05, Z:57.53 [[ 9.82246933e-01 1.60520168e-01 9.70785168e-02 -1.14586127e+02] [-1.67875110e-01 9.83101322e-01 7.30050552e-02 -7.20496502e+01] [-8.37192345e-02 -8.80060582e-02 9.92595599e-01 5.75286562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82925976399997 meters 0.3691802475923515 Centerline is valid? [False, False] Translation: X:-114.66, Y:-72.15, Z:57.55 [[ 9.80810821e-01 1.67477377e-01 9.98071190e-02 -1.14661751e+02] [-1.75515339e-01 9.81378991e-01 7.80361576e-02 -7.21541696e+01] [-8.48793187e-02 -9.40563881e-02 9.91941983e-01 5.75480128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.889259764 meters 0.37910416053907636 Centerline is valid? [False, False] Translation: X:-114.73, Y:-72.24, Z:57.56 [[ 9.80156510e-01 1.73235555e-01 9.63465512e-02 -1.14728809e+02] [-1.80737981e-01 9.80631460e-01 7.54700002e-02 -7.22412461e+01] [-8.14063719e-02 -9.13858933e-02 9.92482555e-01 5.75618430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.949259764 meters 0.381114375030351 Centerline is valid? [False, False] Translation: X:-114.80, Y:-72.34, Z:57.58 [[ 9.80074697e-01 1.73946449e-01 9.58969289e-02 -1.14799430e+02] [-1.81556288e-01 9.80338066e-01 7.72954748e-02 -7.23380359e+01] [-8.05661364e-02 -9.31660296e-02 9.92385605e-01 5.75781776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.009259764 meters 0.3858645945093389 Centerline is valid? [False, False] Translation: X:-114.87, Y:-72.44, Z:57.60 [[ 9.79502073e-01 1.76397856e-01 9.72598841e-02 -1.14873086e+02] [-1.84341913e-01 9.79617715e-01 7.97946844e-02 -7.24387767e+01] [-8.12018942e-02 -9.60881319e-02 9.92055101e-01 5.75976624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.069259764 meters 0.39313526615440086 Centerline is valid? [False, False] Translation: X:-114.95, Y:-72.53, Z:57.61 [[ 9.78783766e-01 1.80906779e-01 9.62033109e-02 -1.14945167e+02] [-1.88722951e-01 9.78809171e-01 7.94748717e-02 -7.25337676e+01] [-7.97871399e-02 -9.59444869e-02 9.92183787e-01 5.76133105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.129259764 meters 0.4025253436119433 Centerline is valid? [False, False] Translation: X:-115.02, Y:-72.63, Z:57.63 [[ 9.77825724e-01 1.86585892e-01 9.50923658e-02 -1.15017327e+02] [-1.94357907e-01 9.77639772e-01 8.02837472e-02 -7.26313312e+01] [-7.79862642e-02 -9.69854664e-02 9.92225762e-01 5.76291961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.189259764 meters 0.394323437136889 Centerline is valid? [False, False] Translation: X:-115.10, Y:-72.74, Z:57.65 [[ 9.77862194e-01 1.86592997e-01 9.47026055e-02 -1.15096083e+02] [-1.94408091e-01 9.77543917e-01 8.13227147e-02 -7.27426781e+01] [-7.74017069e-02 -9.79333609e-02 9.92178428e-01 5.76478145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.249259764 meters 0.3971419525452675 Centerline is valid? [False, False] Translation: X:-115.17, Y:-72.85, Z:57.67 [[ 9.77262851e-01 1.89972287e-01 9.41692601e-02 -1.15171821e+02] [-1.97964637e-01 9.76574822e-01 8.43304181e-02 -7.28538034e+01] [-7.59428860e-02 -1.01055168e-01 9.91978090e-01 5.76661763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.309259764 meters 0.39865622780128623 Centerline is valid? [False, False] Translation: X:-115.24, Y:-72.96, Z:57.68 [[ 9.77624578e-01 1.88831684e-01 9.26972515e-02 -1.15244611e+02] [-1.96777951e-01 9.76695693e-01 8.56969142e-02 -7.29560087e+01] [-7.43547136e-02 -1.02020185e-01 9.91999626e-01 5.76838238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.369259764 meters 0.3894693231245423 Centerline is valid? [False, False] Translation: X:-115.31, Y:-73.05, Z:57.70 [[ 9.80082500e-01 1.76207338e-01 9.15929413e-02 -1.15314207e+02] [-1.84106616e-01 9.79100167e-01 8.64153754e-02 -7.30491672e+01] [-7.44516409e-02 -1.01557064e-01 9.92039876e-01 5.76999419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.429259764 meters 0.3816294315071119 Centerline is valid? [False, False] Translation: X:-115.38, Y:-73.14, Z:57.72 [[ 9.80362132e-01 1.71189538e-01 9.78990911e-02 -1.15380030e+02] [-1.79440074e-01 9.80281443e-01 8.27620164e-02 -7.31398576e+01] [-8.18006710e-02 -9.87037670e-02 9.91749069e-01 5.77192685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.489259764 meters 0.3744242653801404 Centerline is valid? [False, False] Translation: X:-115.44, Y:-73.23, Z:57.74 [[ 9.81830993e-01 1.64087747e-01 9.53053693e-02 -1.15443705e+02] [-1.72151719e-01 9.81515005e-01 8.36186588e-02 -7.32333321e+01] [-7.98228527e-02 -9.85063739e-02 9.91929839e-01 5.77387309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.549259764 meters 0.3704998216256223 Centerline is valid? [False, False] Translation: X:-115.50, Y:-73.31, Z:57.76 [[ 9.82720300e-01 1.56187671e-01 9.93288682e-02 -1.15500531e+02] [-1.64108654e-01 9.83410307e-01 7.72820610e-02 -7.33118630e+01] [-8.56105277e-02 -9.22473770e-02 9.92049020e-01 5.77561284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.609259764 meters 0.363691500970227 Centerline is valid? [False, False] Translation: X:-115.56, Y:-73.39, Z:57.77 [[ 9.83481292e-01 1.53658674e-01 9.56742430e-02 -1.15556484e+02] [-1.60958263e-01 9.84190927e-01 7.38962506e-02 -7.33936264e+01] [-8.28069221e-02 -8.80751400e-02 9.92665998e-01 5.77694164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.669259764 meters 0.36416883153242785 Centerline is valid? [False, False] Translation: X:-115.61, Y:-73.47, Z:57.78 [[ 9.84734813e-01 1.49305756e-01 8.94714399e-02 -1.15608476e+02] [-1.56011515e-01 9.85030968e-01 7.33102885e-02 -7.34702905e+01] [-7.71864910e-02 -8.61497682e-02 9.93287704e-01 5.77820208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.729259764 meters 0.3612830309830625 Centerline is valid? [False, False] Translation: X:-115.66, Y:-73.55, Z:57.80 [[ 9.84648105e-01 1.47874636e-01 9.27426639e-02 -1.15659888e+02] [-1.54618742e-01 9.85470578e-01 7.02907205e-02 -7.35452447e+01] [-8.10009519e-02 -8.35513788e-02 9.93205927e-01 5.77971248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78925976399995 meters 0.36067456770736867 Centerline is valid? [False, False] Translation: X:-115.72, Y:-73.63, Z:57.81 [[ 9.84758449e-01 1.48617569e-01 9.03527329e-02 -1.15717360e+02] [-1.55163688e-01 9.85382879e-01 7.03193485e-02 -7.36256618e+01] [-7.85813455e-02 -8.32670359e-02 9.93424166e-01 5.78096584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84925976399995 meters 0.3693779163580077 Centerline is valid? [False, False] Translation: X:-115.78, Y:-73.70, Z:57.82 [[ 9.83781634e-01 1.57237136e-01 8.63144294e-02 -1.15776241e+02] [-1.63205862e-01 9.84309824e-01 6.70672589e-02 -7.37038084e+01] [-7.44146771e-02 -8.00665584e-02 9.94007949e-01 5.78195797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90925976399996 meters 0.5477354719560712 Centerline is valid? [False, False] Translation: X:-115.84, Y:-73.80, Z:57.84 [[ 9.83111546e-01 1.61590585e-01 8.59079164e-02 -1.15844207e+02] [-1.67890098e-01 9.83175014e-01 7.19708774e-02 -7.37992701e+01] [-7.28327007e-02 -8.51784891e-02 9.93700167e-01 5.78354285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96925976399996 meters 0.5366765741409442 Centerline is valid? [False, False] Translation: X:-115.91, Y:-73.89, Z:57.85 [[ 9.83166290e-01 1.61570690e-01 8.53168090e-02 -1.15911881e+02] [-1.67988048e-01 9.82985441e-01 7.42942689e-02 -7.38943528e+01] [-7.18614048e-02 -8.73758249e-02 9.93580094e-01 5.78500883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02925976399996 meters 0.5372306382132587 Centerline is valid? [False, False] Translation: X:-115.98, Y:-73.99, Z:57.86 [[ 9.83404392e-01 1.61015168e-01 8.36057201e-02 -1.15978312e+02] [-1.67189659e-01 9.83219810e-01 7.29823469e-02 -7.39871350e+01] [-7.04515353e-02 -8.57491724e-02 9.93822751e-01 5.78623025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08925976399996 meters 0.5224982572666009 Centerline is valid? [False, False] Translation: X:-116.04, Y:-74.08, Z:57.88 [[ 9.83762182e-01 1.59528396e-01 8.22353883e-02 -1.16043059e+02] [-1.65673286e-01 9.83381723e-01 7.42478855e-02 -7.40804652e+01] [-6.90241317e-02 -8.66664689e-02 9.93843344e-01 5.78757021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14925976399996 meters 0.513193387309883 Centerline is valid? [False, False] Translation: X:-116.11, Y:-74.18, Z:57.89 [[ 9.83540949e-01 1.61011062e-01 8.19917084e-02 -1.16108185e+02] [-1.67312468e-01 9.82905125e-01 7.68378422e-02 -7.41763720e+01] [-6.82183278e-02 -8.92913993e-02 9.93666597e-01 5.78910609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20925976399997 meters 0.506262216150718 Centerline is valid? [False, False] Translation: X:-116.18, Y:-74.27, Z:57.91 [[ 9.82781453e-01 1.66019477e-01 8.11057830e-02 -1.16175053e+02] [-1.72340810e-01 9.81914740e-01 7.83714792e-02 -7.42697647e+01] [-6.66277718e-02 -9.09998725e-02 9.93619526e-01 5.79060780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26925976399997 meters 0.5051479551582256 Centerline is valid? [False, False] Translation: X:-116.24, Y:-74.36, Z:57.92 [[ 9.82256284e-01 1.70570965e-01 7.79624196e-02 -1.16241545e+02] [-1.76516098e-01 9.81277893e-01 7.70439051e-02 -7.43620074e+01] [-6.33613456e-02 -8.94384820e-02 9.93974898e-01 5.79204065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32925976399997 meters 0.48424777923394785 Centerline is valid? [False, False] Translation: X:-116.31, Y:-74.46, Z:57.94 [[ 9.82250878e-01 1.71828284e-01 7.52213665e-02 -1.16309418e+02] [-1.77612079e-01 9.80968236e-01 7.84555246e-02 -7.44558857e+01] [-6.03088930e-02 -9.04232312e-02 9.94075690e-01 5.79366469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.389259764 meters 0.4835860123967577 Centerline is valid? [False, False] Translation: X:-116.38, Y:-74.55, Z:57.95 [[ 9.82981177e-01 1.67594123e-01 7.52344056e-02 -1.16377897e+02] [-1.73590939e-01 9.81410544e-01 8.18506589e-02 -7.45531921e+01] [-6.01181494e-02 -9.35176681e-02 9.93800913e-01 5.79538038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.449259764 meters 0.4799185486021713 Centerline is valid? [False, False] Translation: X:-116.44, Y:-74.64, Z:57.97 [[ 9.82832854e-01 1.65860250e-01 8.08081610e-02 -1.16438936e+02] [-1.72266268e-01 9.81792503e-01 8.00488219e-02 -7.46403053e+01] [-6.60599291e-02 -9.25951324e-02 9.93510054e-01 5.79701193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.509259764 meters 0.473853663583338 Centerline is valid? [False, False] Translation: X:-116.50, Y:-74.73, Z:57.99 [[ 9.82945338e-01 1.65827300e-01 7.94969786e-02 -1.16504552e+02] [-1.72024401e-01 9.81942666e-01 7.87159827e-02 -7.47336470e+01] [-6.50082163e-02 -9.10489284e-02 9.93722308e-01 5.79852045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.569259764 meters 0.5298646788611556 Centerline is valid? [False, False] Translation: X:-116.57, Y:-74.82, Z:58.00 [[ 9.82138530e-01 1.68192604e-01 8.43513815e-02 -1.16566965e+02] [-1.74786045e-01 9.81510180e-01 7.80231039e-02 -7.48178141e+01] [-6.96688306e-02 -9.13729410e-02 9.93376686e-01 5.80031968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.629259764 meters 0.5318520827894113 Centerline is valid? [False, False] Translation: X:-116.64, Y:-74.92, Z:58.02 [[ 9.81702146e-01 1.70199830e-01 8.53985631e-02 -1.16638375e+02] [-1.77048643e-01 9.80922018e-01 8.02855716e-02 -7.49210954e+01] [-7.01047403e-02 -9.39362176e-02 9.93106899e-01 5.80215222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.689259764 meters 0.5191990259171263 Centerline is valid? [False, False] Translation: X:-116.70, Y:-75.02, Z:58.04 [[ 9.81936924e-01 1.69983892e-01 8.30984545e-02 -1.16704389e+02] [-1.76502512e-01 9.81154703e-01 7.86276826e-02 -7.50157024e+01] [-6.81669999e-02 -9.18745108e-02 9.93434615e-01 5.80353529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.749259764 meters 0.5204207418029482 Centerline is valid? [False, False] Translation: X:-116.76, Y:-75.10, Z:58.05 [[ 9.81304998e-01 1.71980172e-01 8.63905230e-02 -1.16763962e+02] [-1.78748175e-01 9.80808925e-01 7.78649066e-02 -7.50987832e+01] [-7.13413760e-02 -9.18513703e-02 9.93213841e-01 5.80541400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.809259764 meters 0.5119241165930273 Centerline is valid? [False, False] Translation: X:-116.83, Y:-75.20, Z:58.07 [[ 9.81134726e-01 1.73724177e-01 8.48207498e-02 -1.16834250e+02] [-1.80552326e-01 9.80239616e-01 8.08155542e-02 -7.51994875e+01] [-6.91050436e-02 -9.46055303e-02 9.93113431e-01 5.80729076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.869259764 meters 0.5090367462798887 Centerline is valid? [False, False] Translation: X:-116.89, Y:-75.28, Z:58.09 [[ 9.81228514e-01 1.70698994e-01 8.97354866e-02 -1.16894588e+02] [-1.77982940e-01 9.80727005e-01 8.06015783e-02 -7.52845415e+01] [-7.42474066e-02 -9.50599526e-02 9.92698810e-01 5.80911393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.929259764 meters 0.4839817764325996 Centerline is valid? [False, False] Translation: X:-116.95, Y:-75.38, Z:58.10 [[ 9.82896424e-01 1.63146898e-01 8.54266367e-02 -1.16954410e+02] [-1.69876648e-01 9.82333296e-01 7.85061835e-02 -7.53755894e+01] [-7.11093893e-02 -9.16754376e-02 9.93246731e-01 5.81042161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.989259764 meters 0.48900754966314 Centerline is valid? [False, False] Translation: X:-117.01, Y:-75.45, Z:58.12 [[ 9.83939488e-01 1.54709014e-01 8.90404679e-02 -1.17006802e+02] [-1.61599625e-01 9.83910517e-01 7.61948546e-02 -7.54506460e+01] [-7.58198220e-02 -8.93600324e-02 9.93109329e-01 5.81190647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.049259764 meters 0.4925526617241535 Centerline is valid? [False, False] Translation: X:-117.05, Y:-75.52, Z:58.13 [[ 9.86240716e-01 1.38352143e-01 9.04872040e-02 -1.17050751e+02] [-1.45278832e-01 9.86541258e-01 7.50360451e-02 -7.55207663e+01] [-7.88879624e-02 -8.71494781e-02 9.93066794e-01 5.81324157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.109259764 meters 0.4886568449907071 Centerline is valid? [False, False] Translation: X:-117.09, Y:-75.58, Z:58.15 [[ 9.87459824e-01 1.28812050e-01 9.12718581e-02 -1.17093997e+02] [-1.35249259e-01 9.88459370e-01 6.82327712e-02 -7.55836917e+01] [-8.14293203e-02 -7.97215714e-02 9.93485650e-01 5.81462892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.169259764 meters 0.4848487984771397 Centerline is valid? [False, False] Translation: X:-117.13, Y:-75.64, Z:58.16 [[ 9.89240457e-01 1.13612423e-01 9.21712321e-02 -1.17133803e+02] [-1.19950608e-01 9.90556654e-01 6.64030645e-02 -7.56420967e+01] [-8.37566142e-02 -7.67445932e-02 9.93526596e-01 5.81588136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.229259764 meters 0.4789450600838533 Centerline is valid? [False, False] Translation: X:-117.17, Y:-75.69, Z:58.17 [[ 9.89977414e-01 1.08935687e-01 8.98762264e-02 -1.17166040e+02] [-1.14391727e-01 9.91743683e-01 5.79568845e-02 -7.56917134e+01] [-8.28206067e-02 -6.76571034e-02 9.94265188e-01 5.81683068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28925976399995 meters 0.4713353375255782 Centerline is valid? [False, False] Translation: X:-117.21, Y:-75.75, Z:58.18 [[ 9.89890695e-01 1.08946066e-01 9.08139086e-02 -1.17208084e+02] [-1.14297381e-01 9.91869428e-01 5.59566482e-02 -7.57507723e+01] [-8.39792829e-02 -6.57707573e-02 9.94294568e-01 5.81806846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34925976399995 meters 0.46833632162854555 Centerline is valid? [False, False] Translation: X:-117.24, Y:-75.80, Z:58.19 [[ 9.89449847e-01 1.13060353e-01 9.05889398e-02 -1.17242238e+02] [-1.18340945e-01 9.91437768e-01 5.51957619e-02 -7.57988446e+01] [-8.35728440e-02 -6.53338189e-02 9.94357618e-01 5.81876919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40925976399996 meters 0.4535468009985034 Centerline is valid? [False, False] Translation: X:-117.27, Y:-75.84, Z:58.19 [[ 9.89742952e-01 1.11920852e-01 8.87840788e-02 -1.17274877e+02] [-1.16685263e-01 9.91888934e-01 5.04072577e-02 -7.58449061e+01] [-8.24223221e-02 -6.02500216e-02 9.94774595e-01 5.81948601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46925976399996 meters 0.4523586429830744 Centerline is valid? [False, False] Translation: X:-117.31, Y:-75.89, Z:58.20 [[ 9.89781700e-01 1.12724546e-01 8.73233207e-02 -1.17306090e+02] [-1.17233554e-01 9.91927259e-01 4.83384697e-02 -7.58913306e+01] [-8.11694500e-02 -5.80817559e-02 9.95006548e-01 5.82013456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52925976399996 meters 0.4398315861333378 Centerline is valid? [False, False] Translation: X:-117.34, Y:-75.95, Z:58.21 [[ 9.89489076e-01 1.16186254e-01 8.60936871e-02 -1.17338918e+02] [-1.20686912e-01 9.91478464e-01 4.90420712e-02 -7.59453462e+01] [-7.96620221e-02 -5.89169750e-02 9.95079269e-01 5.82086887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58925976399996 meters 0.4361484575583599 Centerline is valid? [False, False] Translation: X:-117.37, Y:-75.99, Z:58.22 [[ 9.90115724e-01 1.12436144e-01 8.38389331e-02 -1.17369827e+02] [-1.16398559e-01 9.92229225e-01 4.39606666e-02 -7.59897369e+01] [-7.82446718e-02 -5.32848782e-02 9.95509163e-01 5.82155993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64925976399996 meters 0.43305482316065286 Centerline is valid? [False, False] Translation: X:-117.41, Y:-76.04, Z:58.22 [[ 9.90677229e-01 1.06368587e-01 8.51137598e-02 -1.17408178e+02] [-1.10575528e-01 9.92787305e-01 4.63294587e-02 -7.60420713e+01] [-7.95718611e-02 -5.53090387e-02 9.95293539e-01 5.82221937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70925976399997 meters 0.4256767711713321 Centerline is valid? [False, False] Translation: X:-117.44, Y:-76.09, Z:58.23 [[ 9.91196109e-01 1.01955427e-01 8.44710845e-02 -1.17441094e+02] [-1.06252245e-01 9.93178691e-01 4.80265352e-02 -7.60889943e+01] [-7.89983153e-02 -5.65789572e-02 9.95267847e-01 5.82267717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76925976399997 meters 0.415121223157019 Centerline is valid? [False, False] Translation: X:-117.48, Y:-76.14, Z:58.24 [[ 9.90574640e-01 1.07629159e-01 8.47221717e-02 -1.17477047e+02] [-1.12193159e-01 9.92372772e-01 5.10781454e-02 -7.61382265e+01] [-7.85784786e-02 -6.01019636e-02 9.95094557e-01 5.82367912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82925976399997 meters 0.4069232222475159 Centerline is valid? [False, False] Translation: X:-117.52, Y:-76.19, Z:58.24 [[ 9.89075383e-01 1.18894900e-01 8.71429224e-02 -1.17518195e+02] [-1.23656895e-01 9.90991124e-01 5.14350467e-02 -7.61872721e+01] [-8.02424979e-02 -6.16489617e-02 9.94867100e-01 5.82415942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.889259764 meters 0.4049795612682723 Centerline is valid? [False, False] Translation: X:-117.56, Y:-76.25, Z:58.25 [[ 9.87253773e-01 1.32165834e-01 8.86689340e-02 -1.17562499e+02] [-1.37195048e-01 9.89113063e-01 5.32246872e-02 -7.62455386e+01] [-8.06691158e-02 -6.47112119e-02 9.94638101e-01 5.82496209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.949259764 meters 0.4028980141975045 Centerline is valid? [False, False] Translation: X:-117.61, Y:-76.31, Z:58.26 [[ 9.84953702e-01 1.46783635e-01 9.12182496e-02 -1.17609533e+02] [-1.52305779e-01 9.86698834e-01 5.68186678e-02 -7.63066794e+01] [-8.16648899e-02 -6.98568238e-02 9.94208665e-01 5.82580800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.009259764 meters 0.4112527501440233 Centerline is valid? [False, False] Translation: X:-117.67, Y:-76.38, Z:58.26 [[ 9.82314343e-01 1.66489598e-01 8.56723090e-02 -1.17665444e+02] [-1.71836795e-01 9.83337693e-01 5.93219812e-02 -7.63807593e+01] [-7.43683179e-02 -7.29944880e-02 9.94555759e-01 5.82627891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.069259764 meters 0.4175428708601192 Centerline is valid? [False, False] Translation: X:-117.72, Y:-76.46, Z:58.27 [[ 9.80769068e-01 1.78098277e-01 7.98313216e-02 -1.17719433e+02] [-1.83212341e-01 9.81112331e-01 6.20631234e-02 -7.64562384e+01] [-6.72701587e-02 -7.54956750e-02 9.94874429e-01 5.82707520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.129259764 meters 0.41722545870827127 Centerline is valid? [False, False] Translation: X:-117.78, Y:-76.55, Z:58.28 [[ 9.79450350e-01 1.87371478e-01 7.46253326e-02 -1.17776816e+02] [-1.92522040e-01 9.78857466e-01 6.90892616e-02 -7.65450678e+01] [-6.01022069e-02 -8.20365227e-02 9.94815427e-01 5.82822089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.189259764 meters 0.4192528798001386 Centerline is valid? [False, False] Translation: X:-117.83, Y:-76.62, Z:58.30 [[ 9.79804812e-01 1.84140035e-01 7.79421396e-02 -1.17827845e+02] [-1.89840824e-01 9.79066777e-01 7.34078151e-02 -7.66236601e+01] [-6.27932417e-02 -8.67219305e-02 9.94251636e-01 5.82954596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.249259764 meters 0.40241591118198017 Centerline is valid? [False, False] Translation: X:-117.88, Y:-76.70, Z:58.31 [[ 9.82516536e-01 1.67985860e-01 8.02621162e-02 -1.17875235e+02] [-1.74056651e-01 9.81815322e-01 7.57822858e-02 -7.66953868e+01] [-6.60722230e-02 -8.84275040e-02 9.93888846e-01 5.83074583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.309259764 meters 0.39503919462123155 Centerline is valid? [False, False] Translation: X:-117.91, Y:-76.76, Z:58.32 [[ 9.83711746e-01 1.61363540e-01 7.92023302e-02 -1.17913907e+02] [-1.66964397e-01 9.83471033e-01 7.00543923e-02 -7.67589654e+01] [-6.65889727e-02 -8.21372979e-02 9.94393973e-01 5.83168793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.369259764 meters 0.39095746605793064 Centerline is valid? [False, False] Translation: X:-117.96, Y:-76.82, Z:58.33 [[ 9.84155181e-01 1.57695462e-01 8.10599814e-02 -1.17959931e+02] [-1.63347702e-01 9.84182698e-01 6.85707288e-02 -7.68244187e+01] [-6.89645384e-02 -8.07251997e-02 9.94347693e-01 5.83280969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.429259764 meters 0.3896319081173081 Centerline is valid? [False, False] Translation: X:-118.00, Y:-76.88, Z:58.34 [[ 9.85423023e-01 1.49483118e-01 8.12173815e-02 -1.17999004e+02] [-1.55153345e-01 9.85502057e-01 6.86522773e-02 -7.68820674e+01] [-6.97775401e-02 -8.02526830e-02 9.94329222e-01 5.83360069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.489259764 meters 0.3779201876576677 Centerline is valid? [False, False] Translation: X:-118.03, Y:-76.94, Z:58.34 [[ 9.87070981e-01 1.38819261e-01 8.01254688e-02 -1.18034537e+02] [-1.44395251e-01 9.87141493e-01 6.85688262e-02 -7.69392135e+01] [-6.95765011e-02 -7.92520357e-02 9.94423564e-01 5.83445901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.549259764 meters 0.37165008872504235 Centerline is valid? [False, False] Translation: X:-118.07, Y:-76.99, Z:58.35 [[ 9.88040447e-01 1.33380865e-01 7.73667880e-02 -1.18067206e+02] [-1.38197539e-01 9.88546484e-01 6.06406609e-02 -7.69878460e+01] [-6.83923625e-02 -7.06073254e-02 9.95156817e-01 5.83525788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.609259764 meters 0.3674220902350187 Centerline is valid? [False, False] Translation: X:-118.11, Y:-77.05, Z:58.36 [[ 9.88420351e-01 1.29854907e-01 7.85042280e-02 -1.18107262e+02] [-1.34792465e-01 9.88979460e-01 6.12423049e-02 -7.70509876e+01] [-6.96864552e-02 -7.11149189e-02 9.95030887e-01 5.83629880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.669259764 meters 0.36708305949851555 Centerline is valid? [False, False] Translation: X:-118.15, Y:-77.11, Z:58.37 [[ 9.88264033e-01 1.30933375e-01 7.86806995e-02 -1.18145915e+02] [-1.35767316e-01 9.88947733e-01 5.95786579e-02 -7.71055497e+01] [-7.00102646e-02 -6.95617121e-02 9.95117948e-01 5.83722367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72925976399995 meters 0.36840707059010686 Centerline is valid? [False, False] Translation: X:-118.19, Y:-77.17, Z:58.38 [[ 9.87797382e-01 1.33973668e-01 7.94190734e-02 -1.18186188e+02] [-1.38856523e-01 9.88522978e-01 5.95078752e-02 -7.71659125e+01] [-7.05350906e-02 -6.98095797e-02 9.95063527e-01 5.83816281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78925976399995 meters 0.3710040631459323 Centerline is valid? [False, False] Translation: X:-118.23, Y:-77.23, Z:58.39 [[ 9.87549163e-01 1.34281987e-01 8.19450919e-02 -1.18230364e+02] [-1.39419103e-01 9.88380710e-01 6.05465634e-02 -7.72310716e+01] [-7.28626353e-02 -7.12174193e-02 9.94796017e-01 5.83931964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84925976399995 meters 0.3739726154974276 Centerline is valid? [False, False] Translation: X:-118.27, Y:-77.30, Z:58.40 [[ 9.86848873e-01 1.37797093e-01 8.45060005e-02 -1.18274298e+02] [-1.43316423e-01 9.87661450e-01 6.31289394e-02 -7.72951682e+01] [-7.47643346e-02 -7.44098204e-02 9.94421175e-01 5.84043910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90925976399996 meters 0.37484429600111746 Centerline is valid? [False, False] Translation: X:-118.31, Y:-77.36, Z:58.41 [[ 9.86641979e-01 1.39681264e-01 8.38257120e-02 -1.18313924e+02] [-1.44930526e-01 9.87610568e-01 6.01706652e-02 -7.73551461e+01] [-7.43824445e-02 -7.15158087e-02 9.94662124e-01 5.84135699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96925976399996 meters 0.3740886968314 Centerline is valid? [False, False] Translation: X:-118.35, Y:-77.41, Z:58.42 [[ 9.87048264e-01 1.38136663e-01 8.15719776e-02 -1.18352054e+02] [-1.42610932e-01 9.88421667e-01 5.18143800e-02 -7.74100523e+01] [-7.34700445e-02 -6.27763495e-02 9.95319689e-01 5.84218622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02925976399996 meters 0.4034364247372608 Centerline is valid? [False, False] Translation: X:-118.41, Y:-77.50, Z:58.43 [[ 9.88003579e-01 1.33274849e-01 7.80175791e-02 -1.18410616e+02] [-1.37874607e-01 9.88816071e-01 5.68627300e-02 -7.74980244e+01] [-6.95666643e-02 -6.69372238e-02 9.95329035e-01 5.84301464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08925976399996 meters 0.3950010173276312 Centerline is valid? [False, False] Translation: X:-118.47, Y:-77.58, Z:58.44 [[ 9.88542440e-01 1.31534361e-01 7.40442881e-02 -1.18467577e+02] [-1.36066125e-01 9.88887956e-01 5.98884001e-02 -7.75814475e+01] [-6.53441223e-02 -6.92771446e-02 9.95455083e-01 5.84386496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14925976399996 meters 0.39483485229912035 Centerline is valid? [False, False] Translation: X:-118.52, Y:-77.67, Z:58.45 [[ 9.88370107e-01 1.33539884e-01 7.27436038e-02 -1.18523012e+02] [-1.38170910e-01 9.88412586e-01 6.28439369e-02 -7.76687999e+01] [-6.35085215e-02 -7.21641185e-02 9.95368780e-01 5.84512348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20925976399997 meters 0.3803245441514687 Centerline is valid? [False, False] Translation: X:-118.57, Y:-77.73, Z:58.46 [[ 9.87256867e-01 1.40712475e-01 7.43227984e-02 -1.18565502e+02] [-1.45487914e-01 9.87333703e-01 6.32884299e-02 -7.77339339e+01] [-6.44759322e-02 -7.32950059e-02 9.95223943e-01 5.84599589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26925976399997 meters 0.3921858109293058 Centerline is valid? [False, False] Translation: X:-118.62, Y:-77.83, Z:58.47 [[ 9.87230753e-01 1.42730799e-01 7.07344252e-02 -1.18623431e+02] [-1.47468012e-01 9.86795213e-01 6.69954779e-02 -7.78266075e+01] [-6.02380740e-02 -7.65710611e-02 9.95242808e-01 5.84734437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32925976399997 meters 0.3856124167235202 Centerline is valid? [False, False] Translation: X:-118.68, Y:-77.91, Z:58.48 [[ 9.87737153e-01 1.41822135e-01 6.52824509e-02 -1.18677221e+02] [-1.46092856e-01 9.87061074e-01 6.60856536e-02 -7.79094314e+01] [-5.50653576e-02 -7.48125551e-02 9.95676096e-01 5.84828527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.389259764 meters 0.3920838965038464 Centerline is valid? [False, False] Translation: X:-118.73, Y:-77.99, Z:58.50 [[ 9.87860997e-01 1.38812388e-01 6.97264040e-02 -1.18731612e+02] [-1.43344719e-01 9.87546585e-01 6.48385223e-02 -7.79897496e+01] [-5.98576821e-02 -7.40463590e-02 9.95456777e-01 5.84965654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.449259764 meters 0.38193090735187385 Centerline is valid? [False, False] Translation: X:-118.78, Y:-78.07, Z:58.51 [[ 9.88425229e-01 1.32452489e-01 7.39723237e-02 -1.18783882e+02] [-1.37349883e-01 9.88349609e-01 6.55748485e-02 -7.80707892e+01] [-6.44249653e-02 -7.49759247e-02 9.95102022e-01 5.85126034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.509259764 meters 0.3736564449664661 Centerline is valid? [False, False] Translation: X:-118.83, Y:-78.15, Z:58.53 [[ 9.88588678e-01 1.29293296e-01 7.73024519e-02 -1.18833152e+02] [-1.34311249e-01 9.88891913e-01 6.36653213e-02 -7.81451848e+01] [-6.82122702e-02 -7.33214048e-02 9.94972893e-01 5.85263301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.569259764 meters 0.36707404719864944 Centerline is valid? [False, False] Translation: X:-118.87, Y:-78.21, Z:58.53 [[ 9.90555609e-01 1.19476903e-01 6.72670440e-02 -1.18874696e+02] [-1.23558071e-01 9.90511027e-01 6.01773110e-02 -7.82144536e+01] [-5.94389501e-02 -6.79203591e-02 9.95918589e-01 5.85327575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.629259764 meters 0.36007130637902196 Centerline is valid? [False, False] Translation: X:-118.91, Y:-78.28, Z:58.54 [[ 9.91485731e-01 1.11666746e-01 6.69819592e-02 -1.18911195e+02] [-1.15371174e-01 9.91840313e-01 5.42428464e-02 -7.82761497e+01] [-6.03782852e-02 -6.15087955e-02 9.96278641e-01 5.85407827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.689259764 meters 0.3594890565678898 Centerline is valid? [False, False] Translation: X:-118.95, Y:-78.34, Z:58.55 [[ 9.91694344e-01 1.09393328e-01 6.76419167e-02 -1.18950019e+02] [-1.13006024e-01 9.92227210e-01 5.21037561e-02 -7.83354760e+01] [-6.14163470e-02 -5.93149442e-02 9.96348217e-01 5.85501617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.749259764 meters 0.3544151919542832 Centerline is valid? [False, False] Translation: X:-118.99, Y:-78.39, Z:58.56 [[ 9.92090225e-01 1.05566509e-01 6.79168417e-02 -1.18986763e+02] [-1.09100068e-01 9.92741902e-01 5.06032757e-02 -7.83931501e+01] [-6.20818835e-02 -5.76127472e-02 9.96406850e-01 5.85587613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.809259764 meters 0.3453458584811134 Centerline is valid? [False, False] Translation: X:-119.02, Y:-78.45, Z:58.56 [[ 9.93158939e-01 9.55264485e-02 6.71566800e-02 -1.19019975e+02] [-9.87487946e-02 9.94029279e-01 4.64162525e-02 -7.84452673e+01] [-6.23217264e-02 -5.27303573e-02 9.96662185e-01 5.85633795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.869259764 meters 0.341878677294466 Centerline is valid? [False, False] Translation: X:-119.05, Y:-78.49, Z:58.57 [[ 9.93626756e-01 9.20676935e-02 6.50339110e-02 -1.19049968e+02] [-9.49275436e-02 9.94583363e-01 4.23402334e-02 -7.84936336e+01] [-6.07834783e-02 -4.82438982e-02 9.96984401e-01 5.85697552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.929259764 meters 0.3387497766327496 Centerline is valid? [False, False] Translation: X:-119.09, Y:-78.55, Z:58.58 [[ 9.93938125e-01 8.76599633e-02 6.63531095e-02 -1.19086452e+02] [-9.09279491e-02 9.94702773e-01 4.79426918e-02 -7.85500537e+01] [-6.17989674e-02 -5.36854214e-02 9.96643749e-01 5.85780168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.989259764 meters 0.33626859167022516 Centerline is valid? [False, False] Translation: X:-119.11, Y:-78.59, Z:58.58 [[ 9.94293059e-01 8.53143814e-02 6.40528577e-02 -1.19114095e+02] [-8.82014060e-02 9.95144439e-01 4.36813234e-02 -7.85911556e+01] [-6.00152001e-02 -4.90815888e-02 9.96990057e-01 5.85832138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.049259764 meters 0.3319380030761838 Centerline is valid? [False, False] Translation: X:-119.14, Y:-78.63, Z:58.59 [[ 9.95228448e-01 7.62746955e-02 6.08482335e-02 -1.19140289e+02] [-7.87901549e-02 9.96085669e-01 4.00680894e-02 -7.86310523e+01] [-5.75538720e-02 -4.46711442e-02 9.97342489e-01 5.85862467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.109259764 meters 0.33332303487831433 Centerline is valid? [False, False] Translation: X:-119.16, Y:-78.66, Z:58.59 [[ 9.95822829e-01 7.39223020e-02 5.35946497e-02 -1.19156183e+02] [-7.58346843e-02 9.96520943e-01 3.45703855e-02 -7.86623621e+01] [-5.08526684e-02 -3.84903124e-02 9.97964179e-01 5.85887008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.169259764 meters 0.3254796221036193 Centerline is valid? [False, False] Translation: X:-119.18, Y:-78.70, Z:58.60 [[ 9.96516929e-01 6.62467086e-02 5.06496253e-02 -1.19180649e+02] [-6.83236968e-02 9.96843371e-01 4.04371823e-02 -7.87005656e+01] [-4.78109130e-02 -4.37569063e-02 9.97897515e-01 5.85958316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22925976399995 meters 0.32511714112452006 Centerline is valid? [False, False] Translation: X:-119.19, Y:-78.73, Z:58.60 [[ 9.96813201e-01 6.69885580e-02 4.33125427e-02 -1.19194977e+02] [-6.86048080e-02 9.96958594e-01 3.69721929e-02 -7.87251572e+01] [-4.07040978e-02 -3.98258186e-02 9.98377224e-01 5.85962415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28925976399995 meters 0.3279737811045807 Centerline is valid? [False, False] Translation: X:-119.21, Y:-78.75, Z:58.60 [[ 9.96794646e-01 7.08018477e-02 3.72495798e-02 -1.19211396e+02] [-7.21480785e-02 9.96739317e-01 3.61301547e-02 -7.87532532e+01] [-3.45700390e-02 -3.87018304e-02 9.98652633e-01 5.85956909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34925976399995 meters 0.3288538751540415 Centerline is valid? [False, False] Translation: X:-119.24, Y:-78.78, Z:58.60 [[ 9.96961667e-01 6.96182102e-02 3.49390941e-02 -1.19236305e+02] [-7.09760698e-02 9.96705235e-01 3.92564905e-02 -7.87838568e+01] [-3.20910113e-02 -4.16170558e-02 9.98618139e-01 5.85968783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40925976399996 meters 0.3376062618012778 Centerline is valid? [False, False] Translation: X:-119.27, Y:-78.83, Z:58.60 [[ 9.96473014e-01 7.64918357e-02 3.45040823e-02 -1.19265378e+02] [-7.78792127e-02 9.96126109e-01 4.08363003e-02 -7.88252955e+01] [-3.12467737e-02 -4.33794220e-02 9.98569910e-01 5.85978588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46925976399996 meters 0.34181271533141877 Centerline is valid? [False, False] Translation: X:-119.29, Y:-78.86, Z:58.60 [[ 9.96353379e-01 7.82442005e-02 3.40262929e-02 -1.19294419e+02] [-7.95452894e-02 9.96078569e-01 3.87302453e-02 -7.88637338e+01] [-3.08624441e-02 -4.12956421e-02 9.98670206e-01 5.85994165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52925976399996 meters 0.3479565687449457 Centerline is valid? [False, False] Translation: X:-119.33, Y:-78.91, Z:58.60 [[ 9.95330372e-01 9.06459314e-02 3.31777922e-02 -1.19326616e+02] [-9.19618418e-02 9.94936394e-01 4.05535743e-02 -7.89123330e+01] [-2.93337764e-02 -4.34152951e-02 9.98626377e-01 5.85996371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58925976399996 meters 0.3499418513885707 Centerline is valid? [False, False] Translation: X:-119.36, Y:-78.97, Z:58.61 [[ 9.95175163e-01 9.17900928e-02 3.46550812e-02 -1.19363753e+02] [-9.32229678e-02 9.94747099e-01 4.22810596e-02 -7.89661112e+01] [-3.05920591e-02 -4.53077098e-02 9.98504550e-01 5.86056915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64925976399996 meters 0.3504006595189347 Centerline is valid? [False, False] Translation: X:-119.39, Y:-79.01, Z:58.61 [[ 9.95720814e-01 8.64280214e-02 3.27148015e-02 -1.19389146e+02] [-8.77463403e-02 9.95287607e-01 4.12693579e-02 -7.90075270e+01] [-2.89938076e-02 -4.39633627e-02 9.98612328e-01 5.86078662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70925976399997 meters 0.35186546913824757 Centerline is valid? [False, False] Translation: X:-119.42, Y:-79.05, Z:58.61 [[ 9.95847176e-01 8.52766774e-02 3.18793189e-02 -1.19418981e+02] [-8.64554901e-02 9.95544679e-01 3.76329645e-02 -7.90512759e+01] [-2.85280721e-02 -4.02328235e-02 9.98782994e-01 5.86110553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76925976399997 meters 0.3560998723602021 Centerline is valid? [False, False] Translation: X:-119.44, Y:-79.08, Z:58.62 [[ 9.95429888e-01 8.81928178e-02 3.66246396e-02 -1.19440304e+02] [-8.95013579e-02 9.95344108e-01 3.57716867e-02 -7.90780348e+01] [-3.32993134e-02 -3.88861611e-02 9.98688651e-01 5.86162808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82925976399997 meters 0.35430803744620554 Centerline is valid? [False, False] Translation: X:-119.48, Y:-79.13, Z:58.62 [[ 9.95630174e-01 8.50036022e-02 3.86645000e-02 -1.19477081e+02] [-8.66961610e-02 9.95243356e-01 4.44346534e-02 -7.91289099e+01] [-3.47034812e-02 -4.75925454e-02 9.98263802e-01 5.86215559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.889259764 meters 0.35483959843923674 Centerline is valid? [False, False] Translation: X:-119.50, Y:-79.16, Z:58.63 [[ 9.95482714e-01 8.42695184e-02 4.37357263e-02 -1.19498839e+02] [-8.60500170e-02 9.95464817e-01 4.05609763e-02 -7.91604314e+01] [-4.01193228e-02 -4.41412108e-02 9.98219411e-01 5.86276617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.949259764 meters 0.36013906176072763 Centerline is valid? [False, False] Translation: X:-119.53, Y:-79.20, Z:58.63 [[ 9.95189592e-01 8.82807975e-02 4.24755990e-02 -1.19530444e+02] [-8.98672665e-02 9.95265783e-01 3.70121050e-02 -7.92020620e+01] [-3.90070522e-02 -4.06512277e-02 9.98411702e-01 5.86294889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.009259764 meters 0.37866242927197885 Centerline is valid? [False, False] Translation: X:-119.56, Y:-79.24, Z:58.63 [[ 9.94835938e-01 9.34598982e-02 3.95816165e-02 -1.19556344e+02] [-9.49465380e-02 9.94775522e-01 3.75075424e-02 -7.92437812e+01] [-3.58693721e-02 -4.10719886e-02 9.98512133e-01 5.86329424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.069259764 meters 0.3729798460613025 Centerline is valid? [False, False] Translation: X:-119.59, Y:-79.30, Z:58.64 [[ 9.94578536e-01 9.53664242e-02 4.14581756e-02 -1.19594761e+02] [-9.69972230e-02 9.94509142e-01 3.92823680e-02 -7.92956011e+01] [-3.74843157e-02 -4.30907280e-02 9.98367725e-01 5.86390094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.129259764 meters 0.37686349833745586 Centerline is valid? [False, False] Translation: X:-119.62, Y:-79.34, Z:58.64 [[ 9.94351584e-01 9.88919014e-02 3.85398290e-02 -1.19621764e+02] [-1.00345602e-01 9.94234034e-01 3.78080102e-02 -7.93391147e+01] [-3.45787036e-02 -4.14617572e-02 9.98541554e-01 5.86414215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.189259764 meters 0.3814804289689073 Centerline is valid? [False, False] Translation: X:-119.66, Y:-79.39, Z:58.65 [[ 9.94049917e-01 1.02306445e-01 3.73919013e-02 -1.19657303e+02] [-1.03701722e-01 9.93901268e-01 3.74996238e-02 -7.93939965e+01] [-3.33274049e-02 -4.11541024e-02 9.98596828e-01 5.86480542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.249259764 meters 0.38511735419649207 Centerline is valid? [False, False] Translation: X:-119.68, Y:-79.44, Z:58.65 [[ 9.93860278e-01 1.05074481e-01 3.46569072e-02 -1.19684486e+02] [-1.06351133e-01 9.93628244e-01 3.73141931e-02 -7.94372740e+01] [-3.05153124e-02 -4.07708957e-02 9.98702433e-01 5.86521273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.309259764 meters 0.3884277702276807 Centerline is valid? [False, False] Translation: X:-119.72, Y:-79.50, Z:58.66 [[ 9.93623579e-01 1.07508214e-01 3.39730264e-02 -1.19722010e+02] [-1.08697819e-01 9.93445924e-01 3.53550675e-02 -7.94963960e+01] [-2.99494044e-02 -3.88224226e-02 9.98797203e-01 5.86574420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.369259764 meters 0.39205635078514567 Centerline is valid? [False, False] Translation: X:-119.75, Y:-79.54, Z:58.66 [[ 9.93642191e-01 1.08312375e-01 3.07184845e-02 -1.19750248e+02] [-1.09316318e-01 9.93454558e-01 3.31358466e-02 -7.95436093e+01] [-2.69283962e-02 -3.62832068e-02 9.98978674e-01 5.86614157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.429259764 meters 0.39174907552428917 Centerline is valid? [False, False] Translation: X:-119.79, Y:-79.60, Z:58.67 [[ 9.94255975e-01 1.02410640e-01 3.10985212e-02 -1.19787368e+02] [-1.03510364e-01 9.93973397e-01 3.60900277e-02 -7.96041990e+01] [-2.72150999e-02 -3.91017449e-02 9.98864551e-01 5.86655928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.489259764 meters 0.3874306308655789 Centerline is valid? [False, False] Translation: X:-119.82, Y:-79.66, Z:58.67 [[ 9.95534138e-01 8.92103090e-02 3.08755709e-02 -1.19817967e+02] [-9.03788986e-02 9.95151997e-01 3.87834701e-02 -7.96590882e+01] [-2.72660007e-02 -4.14007685e-02 9.98770515e-01 5.86698435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.549259764 meters 0.3878399892215793 Centerline is valid? [False, False] Translation: X:-119.84, Y:-79.69, Z:58.67 [[ 9.96015542e-01 8.15454288e-02 3.61024033e-02 -1.19838837e+02] [-8.25917809e-02 9.96175700e-01 2.85056604e-02 -7.96855221e+01] [-3.36398306e-02 -3.13738426e-02 9.98941462e-01 5.86738456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.609259764 meters 0.3861359641775652 Centerline is valid? [False, False] Translation: X:-119.86, Y:-79.73, Z:58.68 [[ 9.96964683e-01 7.08336165e-02 3.23112931e-02 -1.19864780e+02] [-7.18563021e-02 9.96912064e-01 3.16703085e-02 -7.97329120e+01] [-2.99681954e-02 -3.38959491e-02 9.98975962e-01 5.86778864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.669259764 meters 0.3831193583188916 Centerline is valid? [False, False] Translation: X:-119.89, Y:-79.77, Z:58.68 [[ 9.97112517e-01 6.46350489e-02 3.98614972e-02 -1.19887977e+02] [-6.59579049e-02 9.97282688e-01 3.28145538e-02 -7.97670680e+01] [-3.76322108e-02 -3.53489832e-02 9.98666244e-01 5.86829565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72925976399995 meters 0.38733886837477827 Centerline is valid? [False, False] Translation: X:-119.90, Y:-79.80, Z:58.69 [[ 9.98243724e-01 4.87351412e-02 3.36801741e-02 -1.19899789e+02] [-4.98905117e-02 9.98163476e-01 3.43600437e-02 -7.97963077e+01] [-3.19437780e-02 -3.59800191e-02 9.98841846e-01 5.86887339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78925976399995 meters 0.3763824092677317 Centerline is valid? [False, False] Translation: X:-119.88, Y:-79.80, Z:58.70 [[ 9.99414956e-01 2.17591754e-02 2.63871987e-02 -1.19884638e+02] [-2.21660618e-02 9.99638343e-01 1.52266141e-02 -7.97965546e+01] [-2.60463370e-02 -1.58026062e-02 9.99535825e-01 5.86955214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84925976399995 meters 0.37175412362560295 Centerline is valid? [False, False] Translation: X:-119.90, Y:-79.83, Z:58.70 [[ 9.99747127e-01 1.33365134e-02 1.81058073e-02 -1.19899145e+02] [-1.35960417e-02 9.99805490e-01 1.42873676e-02 -7.98300700e+01] [-1.79117419e-02 -1.45299220e-02 9.99733990e-01 5.87020522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90925976399996 meters 0.3820530794611231 Centerline is valid? [False, False] Translation: X:-119.88, Y:-79.82, Z:58.71 [[ 9.99905390e-01 -8.11049801e-03 1.11099402e-02 -1.19882892e+02] [ 8.09441046e-03 9.99966126e-01 1.49223438e-03 -7.98236974e+01] [-1.11216666e-02 -1.40216478e-03 9.99937169e-01 5.87093854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96925976399996 meters 0.39065013042352503 Centerline is valid? [False, False] Translation: X:-119.87, Y:-79.82, Z:58.72 [[ 9.99586594e-01 -2.82194478e-02 5.50481414e-03 -1.19868623e+02] [ 2.82792670e-02 9.99538322e-01 -1.11096771e-02 -7.98190908e+01] [-5.18876374e-03 1.12607564e-02 9.99923133e-01 5.87152332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02925976399996 meters 0.38056677946559525 Centerline is valid? [False, False] Translation: X:-119.86, Y:-79.82, Z:58.72 [[ 9.98972419e-01 -4.53203140e-02 -4.18132758e-04 -1.19856692e+02] [ 4.53017129e-02 9.98755069e-01 -2.08821998e-02 -7.98211715e+01] [ 1.36400006e-03 2.08417995e-02 9.99781856e-01 5.87241477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08925976399996 meters 0.3955720522377339 Centerline is valid? [False, False] Translation: X:-119.86, Y:-79.82, Z:58.73 [[ 9.98977649e-01 -4.51953335e-02 -1.01917208e-03 -1.19856717e+02] [ 4.51660144e-02 9.98779896e-01 -1.99687301e-02 -7.98246849e+01] [ 1.92042200e-03 1.99022831e-02 9.99800086e-01 5.87263143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14925976399996 meters 0.3861409849105213 Centerline is valid? [False, False] Translation: X:-119.85, Y:-79.83, Z:58.73 [[ 9.98732627e-01 -5.03072450e-02 -1.52346887e-03 -1.19854668e+02] [ 5.02547462e-02 9.98434289e-01 -2.45648323e-02 -7.98250897e+01] [ 2.75687260e-03 2.44571379e-02 9.99697078e-01 5.87259831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20925976399997 meters 0.40475099784582597 Centerline is valid? [False, False] Translation: X:-119.86, Y:-79.83, Z:58.73 [[ 9.98341425e-01 -5.75647670e-02 -8.34137592e-04 -1.19855710e+02] [ 5.75111695e-02 9.97861842e-01 -3.10517300e-02 -7.98311479e+01] [ 2.61983968e-03 3.09522562e-02 9.99517431e-01 5.87263587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26925976399997 meters 0.43319694997179786 Centerline is valid? [False, False] Translation: X:-119.85, Y:-79.85, Z:58.73 [[ 9.98175448e-01 -5.82544393e-02 -1.58806846e-02 -1.19851463e+02] [ 5.76977503e-02 9.97771575e-01 -3.35090091e-02 -7.98472912e+01] [ 1.77973442e-02 3.25315904e-02 9.99312239e-01 5.87324965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32925976399997 meters 0.43503780152395854 Centerline is valid? [False, False] Translation: X:-119.87, Y:-79.88, Z:58.73 [[ 9.97697657e-01 -6.44473111e-02 -2.11170511e-02 -1.19868859e+02] [ 6.38269562e-02 9.97544147e-01 -2.88408333e-02 -7.98767667e+01] [ 2.29239049e-02 2.74265947e-02 9.99360934e-01 5.87312922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 6876.13 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/8812 [00:00